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B-61224E/07
 • No part of this manual may be reproduced in any form.
• The appearance and specifications of this product are subject to change without notice.

The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export of Series 15 from Japan is subject to an export license by
the government of Japan. Other models in this manual may also be subject to export
controls.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.

In this manual, we endeavor to include all pertinent matters.

There are, however, a very large number of operations that must not or cannot be
performed, and if the manual contained them all, it would be enormous in volume.
It is, therefore, requested to assume that any operations that are not explicitly described as
being possible are "not possible".
 CONTENTS

I. GENERAL

1. OVERVIEW ............................................................. 3

1.1 General Flow of Operation of CNC Machine Tool ••••••••••••••••.•••• 5

1.2 Notes on Reading this Manual •••••••••••••••••••••••••••••••••••••• 6

II. PROGRAMMING

1. INTRODUCTION 9

2. CONTROLLED AXES ....................................

..,............... . 19
2.1 Controlled Axes 19
2.2 Name of Axes 19
2.3 Increment System ...........•...................................... 21
2.4 Maximum Stroke 21

3. PREPARATORY FUNCTION (G FUNCTION) 22

4. INTERPOLATION FUNCTIONS 25
4.1 Positioning (GOO) 25
4.2 Single Direction Positioning (G60) •••••••••••••••••••••••••••••••• 25
4.3 Linear Interpolation (G01) •••••••••••••••••••••••••••••••••••••••• 26
4.4 Circular Interpolation (G02, G03) ••••••••••••••••••••••••••••••••• 28
4.5 Helical Interpolation (G02, G03) 33
4.6 Helical Interpolation B (G02, G03) 34
4.7 Hypothetical Axis Interpolation (G07) ••••••••••••••••••••••••••••• 35
4.8 Polar Coordinate Interpolation •••••••••••••••••••••••••••••••••••• 36
4.9 Cylindrical Interpolation (G07.1) 40
4.10 Exponential Function Interpolation (G02.3, G03.3) ••••••••••••••••• 43
4.11 Circler Threading B (G02.1, G03.1) 48
4.12 Involute Interpolation •••••••••••••••••••••••••••••••••••••••••••• 50
4.12.1 Involute interpolation by linear axis and rotating axis ••••••• 55
4.13 Spline Interpolation ••••••••••••••••••••••••••••••••• ~ •••••••••••• 57
4.14 Spline Interpolation B ............................................ 64
4.14.1 Command method 64
4.14.2 3-dimensional offset command •••••••••••.••••••••••••••••••••••• 65

5. THREAD CUTTING (G33) 70

5.1 Equal Lead Thread Cutting (G33) 70
5.2 Inch Threading (G33) 72
5.3 Continuous Thread Cutting 73

6. FEED FUNCTIONS • • • • • • • • • • • • • • • • • • • • • • • • it • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 74
6.1 Rapid Traverse 74
6.2 Cutting Feed Rate 74
6.2.1 Tangential speed constant control ••••••••••••••••••••••••••••• 74
6.2.2 Cutting feed rate clamp ••••••••••••••••••••••••••••••••••••••• 74
6.2.3 Feed per minute (G94) 75
6.2.4 Feed per revolution (G95) ••••••••••••••••••••••••••••••••••••• 75
6.2.5 Inverse time (G93) .......................•.................... 77
6.2.6 One-digit F code feed .•.......................•....•.......•.. 78
6.2.7 Setting input of feed rate •••••••••••••••••••••••••••••••••••• 78
6.3 Override .......................................................... 79
6.3.1 Feed rate override 79
 6.3.2 Second feed rate override ...••..•..•.•.......•.•...••••..•...• 79
6.3.3 Rapid traverse override .... ~ ...•.......•.•.....••..•..•...•..• 79
6.3.4 Override cancel .•...•..•.•..........•...•...••...••....••..•.. 79
6.3.5 Rigid tap return speed override function .....•...•••••••••••.• 79
6.4 Automatic .Acceleration/Deceleration •.•..••..••..•.••.•..•••..•.... 80
6.4.1 Automatic acceleration/deceleration after interpolation •••.••• 80
6.4.2 Linear acceleration/deceleration before cutting feed
interpolation ................................................. 82
6.4.3 Linear acceleration/deceleration after cutting feed
interpolation ................................................. 82
6.4.4 Bell-shaped acceleration/deceleration after cutting feed
interpolation ................................................. 85
6.4.5 Acceleration/deceleration before pre-read interpolation ••..••• 86
6.5 Speed Control at Corners of Blocks ••.•••.••.•.••••.•••.••••••••••• 90
6.5.1 Exact stop (G09) .••.•••••••••••.•.••.••..••••..••.•.•.••.••.•• 91
6.5.2 Exact stop mode (G61) •••.•..•.•.•..•.•••.•••••.••....••••••••. 91
6.5.3 Cutting mode (G64) •.••••.••••.•.••.••••.••••.••.••••.••••..••• 91
6.5.4 Tapping mode (G63) •....•.•••.••••.•..•.••..••••••••••••••••••• 91
6.5.5 Automatic corner override (G62) •••...••••••..•..•••••••••••.•• 91
6.6 Speed Control Commands............................................ 95
6.6.1 Automatic speed control in involute interpolation ...••..•••..• 95
6.6.2 Polar coordinate interpolation automatic speed control •••••.•• 97
6.7 Dwell (G04) .•••.•...••...•••.•....•..••.••..••••••••..••..•....••• 99

7• REFERENCE PO INT ..•••••••••••••••.•.•...••.•••.••••..•••••••.•••.••••• 100

7.1 Automatic Reference Point Return (G28, G29) .••.••••••••••••••.•••• 100
7.1.1 Automatic return to reference point (G28) •..••••••.••••••.•••. 100
7.1.2 Automatic return from reference point (G29) ••••.•••••••••••••• 101
7.2 Reference Point Return Check (G27) •.••.••.••••••.•••••••••••••••.• 101
7.3 2nd, 3rd and 4th Reference Point Return (G30) •••••••.•.••••••••••• 102
7.4 Floating Reference Point Return (G30.1) ...•••••••.••.••••••••....• 102

8. COORDINATE SYSTEM AND COORDINATE VALUE ••.••.••.•.••.••••••••••••••••. 104

8.1 Machine Coordinate System •.••.•••••••••.•••.••••••••••••••••.••••• 104
8.1.1 Setting machine coordinate system •••.••••••••••••••••••••••••• 105
8.1.2 Selection of machine coordinate system (G53) •••.•••••••••••••• 105
8.2 Work Coordinate System •••••••••••••••••.••••••••••••••••.••••.•.•. 105
8.2.1 Setting work coordinate system - Method by G92 •••..••.•••••••• 106
8.2.2 Setting work coordinate system - Method by G54 - G59 •••••••.•• 107
8.2.3 Selecting work coordinate system (G54 - G59) •••••••••••••••••• 109
8.2.4 Changing work coordinate systems - (G54 - G59) .•••••..•••••••. 110
8.2.5 Additional work coordinate systems (G54.1) ••.•.••••.•••.•••••• 111
8.2.6 Presetting work coordinate system ..•..•.••.•.•••••••..•••••••. 112
8.3 Local Coordinate System (G52) •.•••••••••••••••••••••.•.••••••.••••• 114
8.4 Plane Selection (G17, G18, G19) ••••••••••.••••••••••••••.••••••••• 116

9. COORDINATE VALUE AND DIMENSION .••...•••••••...••••••..•••.•••.•.•.••• 117

9.1 Absolute and Incremental Programming (G90, G91) ••••••••••••••••••• 117
9.2 Polar Coordinate System Command (G15, G16) •••••••••••••••••••••••• 117
9.3 Inch/Metric Conversion (G20, G21) •••••••••••••••••••••••••••.•••.• 119
9.4 Decimal Point Programming/Pocket Ca~culator Type
Decimal Point Programming •••••••.••••••••••••0..................... 119
9.5 Diameter and Radius Programming •••••••••••••••••••••••••••••••••.•• 121

10. SPINDLE SPEED FUNCTION ••••••••••••••••••.•••••••••••••••••••••••••••• 123

10.1 Spindle Speed Command •••••••••••••••••••.•••••••••••••••.•••••••.• 123
10.2 Constant Surface Speed Control (G96, G97) .••••••••••••••••••••• ~ .• 123
10.2.1 Specification method .•••••••••••••••.••••••••••••••••••••••••• 123
10~2.2 Clamp of maximum spindle speed (G92) •••••••••••••••.•••••••••. 125
 10.2.3 Rapid traverse (GOO) in constant surface speed control ••.••••. 125
10.2.4 Constant surface speed control axis ••••••••• ~ ••••••••••••••••. 125'
10.3 Spindle Positioning (Index) •••••••••••••••••••••••••••••••.••••••. 125
10.3.1 Comm.and system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . • . . . . . . . . . . . 127
10.3.2 Orientation ................................................... 128
10.3.3 Detection unit in spindle indexing •••••••••••••.••••.•.••••••• 129
10.3.4 Feedrate in spindle positioning .- ••••••••.•••.•••••••••••.••••. 129
10.3.5 Release of spindle • • • • • . • • • • • • • . • • • . . . • • . • • • • • . • . • • • . • • • • • . •• 130
10.4 Spindle Speed Fluctuation Detection Function (G25, G26) ••.••.••••. 130

11 . TOOL FUNCTION (T FUNCTION) •••••••••••••••••••••••.•••••••••••.•.••••. 134

11.1 Tool Selection Command ••••••••••••••.••••••••••.•••••••••.•••••••• 134
11.2 Tool Life Management .•••••••••••••••••..•••••••••••.•••••••..•.••• 134
11.3 Expanded Tool Life Management ••••••••••••••••••••••••••••••••••••. 140
11.3.1 Setting tool life management data for tool group ••••••••••..•• 140
11.3.2 Specifying a life count type per tool group (P_L_Qn) •..•.•..•• 141
11.3.3 Tool selection ................................................ 141
11 . 3 . 4 Life count .................................................... 141

12. MISCELLANEOUS FUNCTION (M, B FUNCTIONS) ••••••.•.•••.•.•.•••••.•••.••• 142

12.1 Miscellaneous Function (M Function) ..••••••••.•.•.•.••••••••••.•.• 142
12.2 Auxiliary Functions •.•.••••••.•••••••••.•••.••••••.••••••...•••••• 143
12.3 Plural M Commands in One Block .•••••••••••••••••••••••••••...•.••• 143

13 . PROGRAM CONFI GURATI ON •••••••••••..•••••••••••••.•.••.••••••••.••.•••• 145

13.1 Tape Start ........................................................ 147
13.2 Leader Section and Label Skip .••••••••••..•••••••...••••.••.••••.. 147
13 . 3 Pro gram S t art ..................................................... 147
13.4 Program Section ................................................... 148
13.4.1 Main program and subprogram •••..••••••.••.•.••••.••••..•.•..•• 148
13.4.2 Program number and program name .••••..•••.•.••..•••••.•..••..• 153
,13.4.3 Sequence number and block .••••••••••••.•••..•••.•••••••••••••• 154
13.4.4 Optional block skip •••••..•••••••...••••••••.••.•••••.•.••••.• 154
13.4.5 Word and address .............................................. 155
13.4.6 Basic addresses and command value range •••.••.•.••••••.•.•.••• 158
13.5 COlllIllent Section •••••••••••.••••.••••••••••..••.•.••.•.•••.•.•••••• 158
13.6 Program End ....................................................... 160
13 . 7 Tap e End •••.•..••••••.••..•••..•..•..•••....••.....••••..•....•..• 160
13 . 8 T ape Fa rma t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
13 . 9 Tape Cad e s ......................................................... 160
13.10 External Memory Subprogram Call Function ••••••.••••.•.•••...••••.• 160
13 • 10 • 1 Prag r am ...•.................................................... 16 1

14. FUNCTIONS TO SIMPLIFY PROGRAMMING ••••.••••••••••••.•••..••••..•.•••.• 162

14.1 Canned Cycles (G73, G74, G76, G80 to G89) ........••.•.•••...••.... 162
14.2 Rigid Tap .............. ...................................... . * ••••• 180
14.2.1 Basic operation of rigid tap ..•..••.....•.........•.•....•..•• 180
14.2.2 Additional functions ••.•..•..•.••••.••••.•••......••...•.••... 183
.14.2.3 Rigid tap pecking cycle function ..•.••••••.••..••.•.•....•.••. 184
14.3 External Motion Function (G80, G81) •.•...•.••••••.•.•••••....•..•. 185
14.4 Optional Angle Chamfering and Corner Rounding ...••.•.•••••.••••••• 186
14.5 Programmable Mirror Image (G50.1, G51.1) •..••..••••••.••....•••••• 188
14.6 Index Table Indexing Function ..•.••••••••.•••••••.•..•••.••.•..•.• 190
14. 7 Figure Copy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
14.8 Normal Direction Control (G40.1, G41.1, G42.1) •••••••••••.••.•••.• 197
14.9 3-dimensional Coordinate Conversion ••••••••.•••.••.•.•..•.•.••.... 199

15. COMPENSATION FUNCTIONS ••••.•••.••••••••••••..••••.••.•••.•••.•.••.•.• 205

15.1 'Tool Length Offset (G43, G44, G49) ••.•.•.•••••••...•••.••...•....• 205
 15.2 Tool Offset (G45 to G48) 207
15.3 Cutter Compensation (G40 to G42) ••.••••••••••••••••••••••••••••••• 213
15.3.1 Cutter compensation function •••••••••••••••••••••••••••••••••• 213
15.3.2 Offset amount (D code) 213
15.3.3 Offset vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
15.3.4 Plane selection and vector ••••••••••••.••••••••••••••.••••.••. 213
15.3.5 G40, G41 and, G42 .•....•••••••••.•••.•••••.•..•••.••••...•••.•. 214
15.3.6 Vector hold (G38) and corner arc (G39) •••••••.••••.•••.••••••• 216
15.3.7 Details of cutter compensation C ••••••••••••••••••••••••••.••• 217
15.4 Three-Dimensional Tool Offset (G40, G41) •••..•••.•.••••••••.•.•.•• 245
15.4.1 Starting up of three-dimensional tool offset (G40, G41) •••••.• 245
15.4.2 Three-dimensional tool offset cancel ••••••••••••.••••••••••••• 246
15.4.3 Three-dimensional tool offset vector •••••••••••••••••••••••••• 246
15.4.4 Relationship with other offset functions ••••••••••••••••••• ~ •• 247
15.5 Tool Compensation Amount .••••••••••••••••••••••••••••••••••.•••••• 248
15.5.1 Tool compensation memory A ••••••••••••••.••••••••••••.••••••.• 248
15.5.2 Tool compensation memory B ••.•••••••••••••••••••••••••••.••••• 248
15.5.3 Tool compensation memory C ••••.•••••••••••.••••••••••••••••.•• 249
15 . 6 Numb e r 0 f Tool 0 f f set s ........................................... . 249
15.7 Changing of Tool Offset Amount (Programmable Data Input) (G10) 249
15.8 Scaling (GSO, GSl) . . . • . . . . . . . . . . . . . . . . . . • . . . . . . . . . . . ........•...... 250
15.9 Coordinate System Rotation (G68, G69) ••••••••••••••••••••••••.•••• 254
15.9.1 Command f o-rma t ••• "••••••••••••••••••••••••••••••••••••••••••••• 254
15.9.2 Relationship to other functions ••.••••••••••••.•••.•••.•.•.••. 256
15.10 Tool Offset by Tool Number •••••••••••••••••••••••••••••••••••••••• 259
15.11 Programmable Parameter Entry ••••••••••••••••.•••••••••••••••••.•.• 264
15.12 Tool Length Compensation in Tool Axis Direction •••••••.••••••••••• 265
15.12.1 COlllID.and format •••••••••••••••••••••••••••••••••••••••••••••••• 265
15.12.2 Tool axis direction tool length compensation vector ••••••.•••• 265
15.12.3 Precautions .................................................. . 266

16. MEASUREMENT FUNCTIONS 268

16.1 Skip Function (G31) ....... ........................... ............ . 268
' '

16.2 Multi-step Skip (G31.1 - G31.4) 269

16.3 Automatic Tool Measurement (G37) ... ... ........................... . 270
" "

17. CUSTOM MACRO ••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 273

17.1 Macro Call Instruction (Custom Macro Instruction) ••••••••••••••••• 275
17.1.1 Simple calls .'............................... '................. . 275
17.1.2 Modal call 279
17.1.3 Macro call using G codes •••••••••••••••••••••••••••••••••••••• 280
17.1.4 Custom macro call with M code ••.•••••••••.••••••••••••.• ~ •••.• 281
17.1.5 Subprogram call with M code •.••••••••••••.•••.••••.••••••••••• 281
17.1.6 Subprogram call with T code •.•••••••••••••••••••••••••.••••••. 282
17.1.7 Subprogram call with S code •.••••••••••••••••••••••••••••••••• 282
17.1.8 Subprogram call with B code •••.•••••••••••..•••••.•••••••••• -. 283
17.1.9 Difference between M98 (subprogram call)
and G65 (custom macro body call) •••••••••••••••••••.•••••••••. 283
17.1.10 Multiplex calls ............ . '................................. . 283
17.2 Creation of Custom Macro Body •••••••••••••••••••••••.••••••••••••• 285
17.2.1 Custom macro body format ••••••••••••••••••••••••••••••••••••.• 285
17.2.2- Variables 286
17.2.3 Types of variables .................. . _................. "......... 288
17.2.4 Display and setting of variable names ................. ....... . , 303
17.2.5 Ari t hme tic command s •................................. '........ . 303
17.2.6 Control commands 307
17.2.,7 Macro and eNC statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
17.2.8 Codes and words used in custom macro •••••••••••••••••••••••.•• 315
17.2.9 Write protection of common variable 315
 17.2.10 Display of macro alarm & macro messa~es in Japanese ••••••••••• 316
17.3 Registration of Custom Macro Body ••••••••••••••••••••••••••••••••• 316
17 . 4 Limitations ...................................................... . 316
17.5 External Output C01IlIIlands •••••••••••••••••••••••••••••••••••••••••• 318
17 • 6 Interruption Type Custom Macro •••••••••••••••••••••••••••••••••••• 322
17.6.1 C01IlIIland i ng •••••••••••••••••••••••••••••••••••••••••••••••••••• 323
17.6.2 Detailed descriptions ••••••••••••••••••••••••••••••••••••••••• 324
17.6.3 Parameters on interruption type custom macro •••••••••••••••••• 330

18. FUNCTIONS FOR HIGH-SPEED MACHINING ••••••••••••••••••••••••••••••••••• 331

18.1 High-Speed Machining Function (G10.3, G11.3, G65.3) ••••••••••••••• 331
18.2 Multi Buffer (G05.1) 334
18.3 Feedrate Clamp by Circular Radius 336
18.4 High Precision Contour Control •••••••••••••••••••••••••••••••••••• 338
18.4.1 Automatic feedrate control •••••••••••••••••••••••••••••••••••• 339
18.4.2 Condition to decide feedrate •••••••••••••••••••••••••••••••••• 340
18.4.3 Notes •••••••••••••••••.•••••••••••••••••••••••••••••••••.••••• 344

19. STROKE CHECK (G22, G23) 345

19.1 FANUC Series 10 Type's Software Limit Function •••••••••••••••••••• 347

20. AXIS CONTROL 349

20.1 Axis Interchange ................................................. . 349
20.2 Twin Table Control ............................................... . 350
20.3 Simple Synchronous Control •••••••••••••••••••••••••••••••••••••••• 353
20.4 Chopp ing Func t ion ................................................ . 353
20.5 Parallel Operation •••••••••••••••••••••••••••••••••••••••••••••••• 356
20.5.1 Parallel axis control 356
20.5.2 Selection of the coordinate system in parallel axes ••••••••••• 357
20.5.3 Tool length compensation and tool offset in parallel axes 358
20.5.4 Matters to be attended to concerning parallel operation ••••••• 359
20.5.5 Parallel axis control and external signal ••••••••••••••••••••• 360
20.6 Rotary Axis Control ••••••••••••••••••••••••••••••••••••••••••••••• 361
20.6.1 Progra1IlIIling 361
20.7 Multiple Rotary Control Axis Function ••••••••••••••••••••••••••••• 363
20.7.1 C01IlIIland method ......... ..................................... .
~ 363

21. CNC COMMAND TO PMC (G10.1) 365

22. TOOL RETRACT AND RECOVER (G10.6) 366

III. OPERATION

1. INTRODUCTION 369

2. OPERATION UNIT 386

2.1 CRT/MDI Panel 386
2.1.1 CRT/MDI panel keys 389
2.1.2 Display and control of the 150-MA ••••••••••••••••••••••••••••• 393
2.1.3 Key input and key input buffer •••••••••••••••••••••••••••••••• 393
2.1.4 Key input buffer contents change method ••••••••••••••••••••••• 394
2.1.5 Warning Message .............................................. . 394
2.1.6 Sof t key notation ............................................ . 394
2.1.7 When soft keys are insufficient 395
2.1.8 Soft key changeover method •••••••••••••••••••••••••••••••••••• 395
2.1.9 Summary of operations 398
2.1.10 Function selection key •••••••••••••••••••••••• ~ ••••••••••••••• 398
2.1.11 Chapter selection key ••••••••••••••••••••••••••••••••••••••••• 399
 2.1.12 Operation selection key ••••••••••••••••••••••••••••••••••••••• 401
2.1.13 Operation guide key .......................................... . 402
2.1.14 Language selection •••••••••••••••••••••••••••••••••••••••••••• 403
2.1.15 Calculator key 404
2.2 Machine Operator's Panel •••••••••••••••••••••••••••••••••••••••••• 407
2.3 Tape Reader 409
2.3.1 Tape reader without reels ••••••••••••••••••••••••••••••••••••• 409
2.3.2 Tape reader with reels •••••••••••••••••••••••••••••••••••••••• 411
2.3.3 Portable tape reader •••••••••••••••••••••••••••••••••••••••••• 418
2.3.4 Note for handling tape reader 420
2.4 FANUC CASSETTE B1/B2/F1 421
2.5 FANUC PPR 422

3. POWER ON/OFF 423

4. MANUAL OPERATION 424

4.1 Manual Reference Point Return .................................... . 424
4.2 Manual Continuous Feed 425
4.3 Incremental Feed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ,0 ••••••••••• 426
4.4 Manual Handle Feed ............................................... . 427
4.5 Manual Arbitrary Angle Feed ••••••••••••••••••••••••••••••••••••••• 429
4.6 Manual Numeric Command •••••••••••••••••••••••••••••••••••••••••••• 430
4.7 Manual Absolute ON and OFF •••••••••••••••••••••••••••••••••••••••• 431
4.8 About Manual Intervention Amount •••••••••••••••••••••••••••••••••• 436
4.9 3-dimensional Handle Feed •.••••••••••••••••••••••••••••••••••••••• 437
4.9.1 Tool axis direction handle feed ••••••••••••••••••••••••••••••• 437
4.9.2 Handle feed in tool axis perpendicular direction •••••••••••••• 440
4.9.3 Handle feed in tool tip center rotation ••••••••••••••••••••••• 443
4.9.4 Modification of tool length compensation amount in tool
axis direction ............................................... . 445
4.9.5 Precautions about 3-dimensional handle feed ••••••••••••••••••• 445
4.9.6 Display of tool tip coordinates ••••••••••••••••••••••••••••••• 447
4.9.7 Display of handle interrupt pulse amount and move amount •••••• 449

5. AUTOMATIC OPERATION •••••••••••••••••••••••••••••••••••••••••••••••••• 451

5.1 Operation Mode 451
5.1.1 Tape operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
5.1.2 Memory operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
5.1.3 l-IDI operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
5.2 Execution Program Selection ••••••••••••••••••••••••••••••••••••••• 453
5.2.1 Program number search/sequence number search ••••••••••.••••••• 453
5.2.2 Searching for a program using the name •••••••••••••••••••••••• 454
5 • 2 • 3 Rewind .....................•.........................••....... 455
5.3 Starting Automatic Operation •••••••••••••••••••••••••••••••••••••• 455
5.4 Executing Automatic Operation ••••••••••••••••••••••••••••••••••••• 456
5.5 Stopping Automatic Operation •••••••••••••••••••••••••••••••••••••• 456
5.5.1 Program stop (MOO) 456
5.5.2 Optional stop (MOl) 456
5.5.3 Program end (M02, M30) 456
5.5.4 Feed hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ~57
5.5.5 Reset 457
5.5.6 Sequence number comparison and stop 457
5.6 Restart of Automatic Operation 458
5.6.1 Restarting the program ••••••••••••••••••••••••••••••••••••••• 459
5.6.2 Block restart ............................................... . 465
5.6.3 Tool retract and recover •••••••••••••••••••••••••••••••••••••• 471
5.6.4 Retrace 482
5.7 Manual Intervention during Cycle Operation 485
5.7.1 Manual handle interruption 485
 5.7.2 Simultaneous automatic and manual operation ••••••••••••••• 486
5.8 Override Play Back ••.•••••••••.•••••••••••••••••••••••••••••••• 489

6. TEST OPERATION 493

6.1 All Axes Machine Lock ............................................ . 493
6.2 Machine Lock on Each Axis 493
6.3 Auxiliary Function Lock ••••••••••••••••••••••••••••••••••••••••••• 493
6.4 Dry Run ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 493
6.5 Single Block ........ ~ a .•• •••••••••••••••••••••••••••••••••••••••••• 494

7. SAFETY FUNCTIONS 495

7.1 Emergency Stop 495
7.2 Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495
7.3 Stroke Check before Movement 495

8. WHEN ALARM ARISES 498

9. PART PROGRAM STORAGE & EDIT (INCLUDING PROGRAM REGISTRATION) ••••••••• 499
9.1 Preparation for Part Program Storage and Editing Operation •••••••• 499
9.2 Program Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
9.2.1 Registration from tape reader ••••••••••••••••••••••••••••••••• 500
9.2.2 Registration from CRT/MDI panel ••••••••••••••••••••••••••••••• 501
9.3 Program Deletion ................................................. . 502
9.4 Alteration, Insertion, and Deletion of Program •••••••••••••••••••• 503
9.4.1 Moving the cursor to the portion to be edited ••••••••••••••••• 503
9.4.2 Alteration, insertion, and deletion of program •••••••••••••••• 504
9.5 Program Collation ................................................ . 505
9.6 Program Output ................................................... . 506
9.7 Background Edit .................................................. . 507
9.8 Number of Registered Programs ••••••••••••••••••••••••••••••••••••• 508
9.9 Part Program Storage Length ••••••••••••••••••••••••••••••••••••••• 508
9.10 Extended Part Program Editing ..................................... 510
9.10.1 Program copy and move ••••••••••••••••••••••••••••••••••••••••• 510
9.10.2 Program merge ................................................ . 513
9.10.3 Word and address change ••••••••••••••••••••••••••••••••••••••• 515
9.10.4 Sequence number automatic insertion ••••••••••••••••••••••••••• 516
9.11 Playback ......................................................... . 519
9.12 Format Guidance .................................................. . 521
9.12.1 NC format guidance ........................................... . 521
9.12.2 Format guidance with figure ••••••••••••••••••••••••••••••••••• 525
9.13 Program Encryption ....... , ........................................ . 526
9.14 Machining Time Stamp Function ••••••••••••••••••••••••••••••••••••• 530
9.15 Simple Conversation Programming ••••••••••••••••••••••••••••••••••• 534

10. DATA DISPLAY AND SETTING ••••••••••••••••••••••••••••••••••••••••••••• 549

10.1 Offset Values .................................................... . 549
10.1.1 Display and setting .......................................... . 549
10.1.2 Clearing all tool offset values ••••••••••••••••••••••••••••••• 550
10.2 Work Zero Point Offset Value •••••••••••••••••••••••••••••••••••••• 551
10.3 Set ting Data ..................................................... . 552
10.4 Custom Macro Variables •••••••••••••••••••••••••••••••••••••••••••• 554
10.5 Parameters ........................................................ 556
10.6 Pitch Error Compensation Data ••••••••••••••••••••••••••••••••••••• 558
10.7 Data Protection Key ••••••••••••••••••••••••••••••••••••••••••••••• 559
10.8 Tool Length Measurement ••••••••••••••••••••••••••••••••••••••••••• 560
10.9 Tool Length/Work Zero Point Measurement B ••••••••••••••••••••••••• 564
10.9.1 Tool length measurement B ••••••••••••••••••••••••••••••••••••• 564
10.9.2 Work zero point measurement B ••••••••••••••••••••••••••••••••• 570
10.9.3 Z axis work zero point offset amount •••••••••••••••••••••••••• 570
 10.10 Menu Switch 579
10.11 Tool Life Management Data •• ~ •••••••••••••••••••••••••••••••••••••• 580
10.11.1 Display and correction of tool groups ••••••••••••••••••••••••• 580
10.11.2 Tool life data display during execution
of machining program •••••••••••••••••••••••••••••••••••••••••• 580
10.11.3 How to preset tool life counter ••••••••••••••••••••••••••••••• 580
10.11.4 How to clear execution data ••••••••••••••••••••••••••••••••••• 581
10.11.5 Tool life data display format ••••••••••••••••••••••••••••••••• 581
10.11.6 Tool change signal •••••••••••••••••••••••••••••••••••••••••••• 582
10.11.7 Tool change signal reset •••••••••••••••••••••••••••••••••••••• 582
10.11.8 New tool selection signal ••••••••••••••••••••••••••••••••••••• 582
10.11.9 Tool skip signal 582
10.11.10 Expanded tool life management •••••••••••••••••••••••••••••••• 583
10.12 Software Operator's Panel ••••••••••••••••••••••••••••••••••••••••• 587
10.13 Tool Offset by Tool Number •••••••••••••••••••••••••••••••••••••••• 589
10.13.1 Selecting tool data screen •••••••••••••••••••••••••••••••••••• 589
10.13.2 Setting tool data ••••••••••••••••••••••••••••••••••••••••••••• 590
10.14 Setting the Floating Reference Point •••••••••••••••••••••••••••••• 592
10.15 Servo Setting Screen, Servo Adjus~ment Screen, Spindle Setting
Screen, Spindle Adjustment Screen, Spindle Monitor Screen ••••••••• 593
10 • 15 . 1 S e rv 0 S ere en ................................................. . 593
10.15.2 Spindle screen ............................................... . 595
10.15.3 Operation description ••••••••••••••••••••••••••••••••••••••••• 601

11. DISPLAY 603

11.1 Program Display ...............................................•... 603
11.1.1Execution program and program directory ••••••••••••••••••••••• 603
11.1.2Program check screens ••••••••••••••••••••••••••••••••••••••••• 605
11.1.3Directory display and punching on each group •••••••••••••••••• 606
11.2 Status Display ................................................... . 610
11.3 Current Position Display •••••••••••••••••••••••••••••••••••••••••• 612
11.3.1 Current position display screen ••••••••••••••••••••••••••••••• 612
11.3.2 Presetting the current position display ••••••••••••••••••••••• 613
11.3.3 Presetting the work coordinate system ••••••••••••••••••••••••• 614
11.4 Operator Message Display •••••••••••••••••••••••••••••••••••••••••• 615
11.5 Alarm Message Display 616
11.6 Graphic Display Function •••••••••••••••••••••••••••••••••••••••••• 617
11.6.1 Selecting the graphic screen •••••••••••••••••••••••••••••••••• 618
11.6.2 Setting graphic parameters •••••••••••••••••••••••••••••••••••• 619
11.6.3 Drawing the tool path ......................................... . 625
11.7 Position Display by External Position Display Unit •••••••••••••••• 628
11.8 Display of Actual Spindle Speed ••••••••••••••••••••••••••••••••••• 628
11.9 Directory of File Floppy Cassette ••••••••••••••••••••••••••••••••• 629
11.10 Load Meter Display ............................................... . 631
11.11 Run Hours and Parts Number Display •••••••••••••••••••••••••••••••• 632
11.12 Clock ............................................................ . 634
11.13 Background Graphic Display •••••••••••••••••••••••••••••••••••••••• 637
11.13.1 Outline 637
11.13.2 Setting of graphic parameters 639
11.13.3 Graphic setting method •••••••••••••••••••••••••••••••••••••••• 643
11.13.4 Method of drawing 644
11.13.5 Figure to be drawn. ............ ~ .............................. . 645
11.13.6 Start coordinates and position •••••••••••••••••••••••••••••••• 645
11.13.7 Drawing position after drawing start •••••••••••••••••••••••••• 646
11.13.8 Figure movement ••••••••••••••••••••••••••••••••••••••••••••••• 646
11.13.9 Figure expansion ............................................•. 646
11.13.10 Initial values at the beginning of drawing 646
11.14 Display Positional Deviation •••••••••••••••••••••••••••••••••••••• 647
11.14.1 Outline 647
 11.14.2 Displaying the positional deviatiori waveform screen ••••••••••• 647
11.14.3 Display screen ............................................... . 647

12. DATA OUTPUT ••••••••••.••••••••••••••••••••••••••••••••••••••••••••••• 654

12.1 Tool Offsets 654
12.2 Par ame t e r s •.•••••••••.•••••••.•.•••••••••••..••••••••••••••••••••• 655
12.3 Work Zero Point Offset Amount ••••••••••••••••••••••••••••••••••••• 656
12.4 Tool Offset Data by Tool Number ••••••••••••••••••••••••••.•••••••• 657

13. DATA INPUT/OUTPUT TO AND FROM FANUC CASSETTE ••••••••••••••••••••••••• 658

13.1 File 658
13.2 File Search-out 658
13.3 Data Output Operation ............................................. .660
13.3.1 CNC program output •••••••••••••••••••••••••••••••••••••••••••• 660
13.3.2 Offset data output ••••••••••••••••••••••••••••••••••••••••.••• 661
13.3.3 CNC parameter output •••••.•••••••••••••••••••••••••••••••••••• 661
13.4 Data Input Operation ••••.••••••••••••••••••••••••••••••••••••••••• 661
13.4.1 CNC program input ............................................ . 661
13.4.2 Offset data input ••••••••••••••••••••••••••••••••••••••••••••• 661
13.4.3 CNC parameter input ••••••••••••••••••••••••••••••••••••••••••• 662
662
13.5 File Deletion .................................................... -..
13.6 Precautions ...................................................... . 663
13.6.1 Request for cassette replacement •••••••••••••••••••••••••••••. 663
13.6.2 Write-protect key/tab 663
13.7 File Name of Floppy Cassette (FANUC CASSETTE F1) ••••••.••••••••••• 663

14. ABSOLUTE POSITION DETECTION •••••••••••••••••••••••••••••••••••••••••• 664

14.1 Initial Setting Status when Power Applied ••••••••••••••••••••••••• 664
14.2 Manual Reference Point Return when Machine is Installed ••••••••••• 664
14.3 Alarms ........................................................... . 665
14.4 Setting Origin of Absolute' Pulse Coder by. MDI Operation ••••••••••• 667

15. AXIS CONTROL ......................................................... 668

15.1 Axis Control with PMC 668

IV. MAINTENANCE

1. DAILY MAINTENANCE •••••••••••••••••••••••••••••••••••••••••••••••••••• 671

1.1 Tape Reader Cleaning .................... ~ ........................ . 671
1.2 Tape Reader Lubrication ••••••••••••••••••••••••••••••••••••••••••• 673
1.3 How to Adjust the Photo~amplifier of the Tape Reader with Reels 675
1.4 Air Filter Cleaning (For free standing type cabinet) •••••••••••••• 678

2. REPLACEMENT OF BLOWN FUSE 679

2.1 Fuse Specifications ............................................... 679
2.2 Fuse Mounting Position ••••••••••••••••••••••••••••••••• ~ •••••••••• 683
2.2.1 Power supply unit ............................................ . 683
2.2.2 Control unit Al A6 ......................................... . 684
2.2.3 Control unit B1 B6 •••••••••••••••••••••••••••••••••••••••••• 684
2.2.4 Connec t ion uni t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684
2.2.5 Operator's console connection unit ••••.••••••••••••••••••••••• 685
2.2.6 I/O unit ...................................................... 685
2.2.7 Input unit .................................................... 685

3. REPLACING BATTERY ....................................................

686
3.1 To Replace Battery for Control Unit (For Memory Back-up): ••••••••• 686
3.2 To Replace Batteries for Absolute Pulse Coder ••••••••••••••••••••• 687
4. TROUBLESHOOTING •••••••••••••••••••••••••••••••• 688
8, • • • • • • • • • • • • • • • • • • • • •

4.1 General .......................................................... . 688

4.2 Checking Input Voltage, Peripheral Conditions, Operation,
Programming, Drives, Machine and Interface Control •••••••••••••••• 688
4.3 CNC System Check (No tools required) •••••••••••••••••••••••••••••• 690
4.4 CNC Status 690
4.4.1 Displaying the CNC internal status •••••••••••••••••••••••••••• 691
4.4.2 Internal status details ••••••••••••••••••••••••••••••••••••••• 692

5. FAILURE DIAGNOSIS GUIDANCE 697

I. GENERAL
 1-1

1. OVERVIEW

This manual applies to the following FANUC Series ls-MA, ls-MF, and ls0-MA
systems:
1) FANUC Series Is-MA and Is-MF standard systems
2) FANUC Series Is-MA mu1tiaxis system
3) FANUC Series Is0-MA (MMG-I) standard system
4) FANUC Series Is0-MA (MMC-I) mu1tiaxis system
5) FANUC Series Is0-MA (MMC-II) standard system
6) FANUC Series Is0-MA (MMC-II) mu1tiaxis system
FANUC Series Is-MF is a CNC with a conversational function.
For the conversational function, refer to the following manuals:
1) Conversational Function: Operator's Manual for Machining Centers (B-61264)
2) Conversational Function: Creation Manual (B-61263)
FANUC Series Is0-MA is a CNC that has the functions of FANUC Series Is-MA and
additional man-machine control (MMC) functions.
Series ls0-MA has the same CNC functions as Series Is-MA.
MMC software is created by the machine tool builder like the programmable
machine control (PMC) software. Since the specifications of MMC depend on the
specifications of the machine operator's panel, be sure to refer to the MMC
manual issued by the machine tool builder.
This manual describes program coding, operation and daily maintenance.
For the following technical information, refer to the appendixes in the separate
manual (B-61220E).
1) Functions and tape formats
2) Range of command values
3) Calculation figures and tables on incomplete thread, tool path at corners,
and radial error during circular cutting
4) NC tape joining
5) States at power on and at reset
6) Parameters
7) Codes used for a program
8) Kanji and hiragana codes
9) G codes
10) Error codes
11) Warning messages
12) Operations.
13) Functions
This manual also describes all the optional functions. For using functions for
each CNC, refer to Appendix 13 in the separate manual (B-61220E).
For options to be installed in the delivered unit, refer to the manual issued by
the machine tool builder.

- 3 -
 1-1

For the following functions, refer to the separate manuals shown below.

No. Function Manual Model

1 Improved function of step FANUC Series 15/150 Operator's 15-MA

II Manual (Supplement for Improved 15-MF
Function of Step II) (B-61214E-3) 150-MA

2 Tracing/digitizing FANUC Series 15-MA Operator's 15-MA

Manual (Supplement for Tracing/
Digitizing) (B-61534E)

3 Remote buffer FANUC Series 15-TA/TF/MA/MF 15-MA

Descriptions (Supplement for 15-MF
Remote Buffer) (B-61222E-l)

4 Trouble diagnosis guidance FANUC Series 15 Operator's Manual 15-MA

(Supplement for Trouble Diagnosis 15-MF
Guid.ance) (B-61214E-l)

5 Gas, plasma, and laser FANUC Series 15-MA Descriptions 15-MA

cutting (for Gas, Plasma, and Laser
Cutting Machines) (B-61622E)

The following abbreviations are used in this manual.

Model Abbreviation

FANUC Series 15-MA 15-MA Series 15

FANUC Series 15-MF 15-MF

FANUC Series 150-MA 150-MA Series 150

- 4 -
 1-1.~

1.1 General Flow of Operation of CNC Machine Tool

When machining the part using the CNC machine tool, prepare the program; then
operate the CNC machine by using the program.
1) Prepare the program from a part drawing to operate the CNC machine tool.
Punch the program on to the paper tape to be read into the CNC system.
How to compose a program is described in Chapter 11. PROGRAMMING.
2) Paper tape is to be read into the CNC system. Mount the work pieces and
tools on the machine, and operate the tools as the programming. Execute the
machining.
----- How to operate the CNC systems are described in the Chapter III.
OPERATION. -----

I
Part drawing -- Part programinng - IT - D
Paper tape CNC MACHINE TOOL

~------------v~----------~ ~------------~v~----------~

CHAPTER II PROGRAMMING CHAPTER III OPERATION

Before the actual programming, make the machining plan of how to machine the
part.
Machining plan
1. Determination of workpieces machining range
2. Method of mounting workpieces on the machine tool
3. Machining sequence in every cutting process
4. Cutting tools and cutting conditions
Decide the cutting method in every cutting process.

1 2 3

Cutting procedure Face Side Hole

cutting cutting machining

1. Cutting method : Rough

Semi
Finish

2. Cutting tool : Tools

3. Cutting conditions: Feedrate

Cutting
Depth

4. Tool path

- 5 -
 1-1.2

I
IL _____________ _

Compose the program of the ,tool path and cutting condition according to the
workpiece figure for each cutting.

1.2 Notes on Reading this Manual

1) The function of a CNC machine tool system depends not only on the CNC, but on
the combination of the machine tool, its magnetic cabinet, the servo system,
the CNC, the operator's panels, etc. It is too difficult to describe the
function, programming, and operation relating to all combinations. This
manual generally describes these from the view of the CNC. Therefore, for
details on a particular CNC machine tool, refer to the manual issued by the
machine tool builder, which should take precedence over this manual.
2) Notes refer to detailed and specific items. Therefore, when a note is
encountered, the terms used in it are sometimes not explained. In this case,
first skip the note, then return to it after having read over the manual for
details.

Machining programs, parameters, variables, etc. are stored in the CNC unit
internal non-volatile memory. In general, these contents are not lost by the
switching ON/OFF of the power. However, it is possible that a state can
occur where precious d~ta stored in the non-volatile memory has to be
deleted, because of deletions from a maloperation, or by a failure
restoration. In order to restore rapidly when this kind of mishap occurs, it
is recommended that you create a copy of the various kinds of data
beforehand.

- 6 -
II. PROGRAMMING
 II-I

1. INTRODUCTION

1) Tool movement along workpiece parts figure ----- Interpolation (See 11-4)
The tool moves along straight lines and arcs constituting the workpiece parts
figure. (See Note)
a) Tool movement along straight line

---~
,--------... "-
"-
"-
"-
"- Program
'I GOIY_;
I
Work 6 X_Y_;

Tool

b) Tool movement along arc

Program
G03X--Y--R--;

Work
Tool

(Note) Though the table may be moved in an actual machine without moving
the tool, this manual assumes that the tool moves with respect to
the workpiece.

The function of moving the tool along straight lines and arcs is called
the interpolation.
Symbols of the programmed commands G01, G02, are called the
preparatory function. These specify the type of interpolation conducted in
the control unit.

Control unit

X axis
a) Movement along ""
straight line
GOI Y - - - ; Interpolation
/
a
" Tool movement
X--Y-- ; /
Yaxis
j I
/-:::::~-_./
b) Movement along ( I a) Movement along
arc \ straight line
G03X--Y--R; " b) Movement along
arc

(Note) Though the table may be moved in an actual machine without·moving

the tool, this manual assumes that the tool moves with respect to
the workpiece.

- 9 -
 II-I

2) Feed ----- Feed function (See II-6)

mm/min

Workpiece

Table

The movement of the tool at a specified speed for cutting a work is called
the feed. Feedrates can be specified by using actual numerics. For example,
to feed the tool at a rate of 150 mm/min, specify the following in the
program:
F150.0
The function of deciding the feed rate is called the feed function.

3) Part drawing and tool movement

a) Reference point (fixed position on machine)
An CNC machine tool is provided with a fixed position called the reference
point. Normally, tool change and programming of absolute zero point, as
described later, are performed at this position.

Reference point

Workpiece

Table

The tool can be moved to the reference point in two ways:

i} Manual reference point return (See III-4.1)
Reference point return is performed by manual button operation.
ii} Automatic reference point return (See II-7.1)
Reference point . return is performed in accordance with programmed
commands.
In general, manual reference point return is performed after the power is
turned on. Thereafter, in order to move the tool to reference point for
tool change, the function of automatic reference point return is used.

- 10 -
 II-I

b) Coordinate system on part drawing and coordinate system specified by CNC

--- Coordinate system (See 111-8)

Z
Z
y y

Program Command

Coordinate system
Part drawing Machine tool
CNC

There are two types of coordinate systems.

i) Coordinate system on part drawing
The coordinate system is written on the part drawing. The coordinate
values on this coordinate system are used as the program data.
ii) Coordinate system specified by CNC
The coordinate system is prepared on the machine tool table. This can
be achieved by programming the distance from the present position of
the tool to zero point of the coordinate to be set.

x
200
Present position of tool

Distance to zero point of

coordinate system to be set

Zero point

When a work is set on the table, these two coordinate systems lay as
follows:

y y

f-------++------x
Coordinate system on
' - -_ _ _ _ _- J

part drawing established

on the work
~-----------------------__ X
Coordinate system specified
by CNC established on the table

- 11 -
 II-I

The tool moves on the coordinate system specified by the CNC in

accordance with the command program generated with respect to the
coordinate system on the part drawing, and cut a work piece into the
shape on the drawing.
Therefore, in order to correctly cut the workpiece as specified on the
drawing, the two coordinate systems must be set at the same position.
To set the two coordinate systems at the same position, simple methods
are used according to workpiece shape, machined number.
Some examples are shown below:
i) Using a standard point of the work.

Bring the tool center to the standard

point, and set the coordinate system
specified by the CNC at this position.
Work standard point

Fixed
distance

ii) Mounting a work directly against the jig.

Bring the tool center to the reference

point, and' set the coordinate system
specified by the CNC at this position.
Jig Reference point
Jig shall be mounted on the
predetermined point from the reference
point.

iii) Mounting a pallet with a work against the jig.

Jig and coordinate system are specified

the same as ii).
Pallet

Jig Work

- 12 -
 11-1

c) How to indicate command dimensions for moving the tool ----- Absolute,
incremental commands (See 11-9.1)
. Coordinate values of command for moving the tool can be indicated by
absolute or incremental designation.
i) Absolute coordinate values
The tool moves to a point at the distance from zero point of the
coordinate system. (i.e. to the position of the coordinate values.)

z
¥- A (15,60,40)

(10,30,20)
y

x
Specify the tool movement from point A to point B by using the
coordinate values of point B as follows:
G90X10.0Y30.0Z20.0;

ii) Incremental coordinate values

Specify the distance from the previous tool position to the next tool
position.

Tool

z
30
I
I A
---j 0
.-4

r----j----
/ /
~r::::, /
/ /
/ __ ...1 /

~-----------+---+--------~y

Specify the tool movement from point A to point B as follows:

G91X40.0Y-30.0Z-10.0;

- 13 -
 II-I

4) Cutting speed ----- Spindle speed function (See 11-10)

Tool

V mm/min

Workpiece

The cutting is the speed of the tool with respect to the work when the
workpiece is cut.
In the CNC, the cutting speed can be specified by the spindle speed in rpm
units.
For example, when a workpiece has a diameter of 100 mm, it should be machined
at a cutting speed of 80 mm/min; the cutting speed in rpm units is calculated
to be approximately. 250 rpm from N = 1000 VhrD. Therefore, specify the
following:
S250;
Spindle speed command is called spindle speed function.

5) Selection of a tool used for various machining ----- Tool Function (See
II-II)

Tool number

ATC magazine

When drilling, tapping, bearing, milling, etc. is performed, it is necessary

to select a suitable tool. When a number is assigned to each tool and the
number is specified in the program, the CNC selects the corresponding tool.
For example, when No.OI is assigned to a drilling tool and the tool is stored
at No.OI of the ATC magazine, the tool can be selected by specifying:
TOI
This function is called the tool function.

6) Command for machine operations ----- Miscellaneous function (See 11-12)

When machining is actually started, it is necessary to rotate the spindle and
feed coolant. For this purpose, on-off operations of spindle motor and
coolant valve should be controlled.

- 14 -
 11-1

Tool

l;+:
;#
oolant
on/off

Workpiece

The function of specifying the on-off operations of the components of the

machine is called the miscellaneous function. In general, the function is
specified by an M code.
For example, when M03 is specified, the spindle is rotated clockwise at the
specified spindle speed.

7) Program configuration (See 11-13)

The program is a group of commands given to the CNC for operating the
machine. By specifying commands, the tool is moved along a straight line or
an arc, and the spinQle motor is turned on and off.
In the program, specify the commands in the sequence of actual tool
movements.

Block

Block

Block
Program Tool movement sequence
Block

Block

A group of commands at each step of the sequence is called the block. The
program consists of a group of blocks for a series of machining. The number
for discriminating each block is called the sequence numh~r, and the number
for discriminating each program is called the program numb~r~
The block and the program have the following configurations.
a) Block

Block

NOOOOO GOO XOO. 0 ZOOO. 0 MOO S 00 T O() CRI

~ ~ '~---_-.r- _ _ _~I ~~'--v----'

Sequence Preparatory Interpolation Spindle End of

number function function function block
Miscellaneous Tool
function function

- 15 -
 11-1

Each block consists of a sequence number for indicating the CNC operation
sequence at the beginning of the block, and a CR code for indicating the
end of the block.
b) Program

CR
00000 Program number
I I Block
Block
Bloak

M30CR end of program

Normally, a program number is specified after the CR code at the beginning

of the program, and a program end code (M02, M30) is specified at the end
of the program.

c) Main program and subprogram

Main program
Subprogram #1

__--~~----------J01OO1
M98P1OO1 Program for hole #1

M98P1OO2
M99

M98P1OO1 Subprogram #2

01002

Program for hole #2

M99

o 0
Hole #1

Hole #2
o

When machining of the same pattern appears at many portions of a program,

a program for this pattern is created. This is called a subprogram. The
original program is called the main program. When a subprogram execution

- 16 -
 II-I

command appears during the execution of the main program, the subprogram
commands are executed. When execution of the subprogram is finished, the
sequence returns to the main program. The operation using the subprogram
is possible only in memory mode. (111-5.1.2)

8) Tool figure and tool motion by program

a) Machining using the end of cutter ----- Tool length compensation function
(See 11-15.1)
Usually, several tools are used for machining one workpiece. The tools
have different tool length. It is very troublesome to change the program
in accordance with the tools.

Hi H2 H3 H4

Standard tool

Workpiece

Therefore a standard tool is selected, and the difference between the

position of the nose of the standard tool and the position of the nose of
each other tool used is measured in advance. By setting the measured
value in the CNC (data display and setting: see 111-10), machining can be
performed without altering the program even when the tool is changed.
This function is called the tool length compensation.

b) Machining using the side of cutter ----- Cutter radius compensation (See
11-15.3)
Because a cutter has a radius, the center of the cutter path goes around
the workpiece with the cutter radius deviated.

,----------------,
I I
I I
I I
I I
I I
I I
I \\
l %~~~ ---------V Cutter path using
Cutter radius compensation

I I
I I
I Machining part figure
I
I
IL Cutter
_________________________ ~

If radii of cutters are stored in memory (See 111-10), the tool can be
moved by cutter radius apart from the machining part figure. This
function is called cutter radius compensation.

- 17 -
 11-1

9) Tool movement range ----- Stroke check (See 11-19)

A limit switch is positioned at each end of the axis of the machine so the
tool does not move beyond the machine end.
The tool movement range is called the stroke.

r I
........ Table
~
Motor ~
1
-
6 Limit switch

Machine zero point Q- ........

Specify the distances

-
---
Forbidden area specified by
data in program or memory

Besides the stroke defined by limit switches, an area which the tool cannot
enter can be specified by data in the program or by data in the memory (data
display and setting: , See 111-10).
This function is called the stroke check.

- 18 -
 II-2

2. CONTROLLED AXES

2.1 Controlled Axes

No. of basic 3 axes

controlled axes

Controlled axes Max. 3 axes (Max. 6 axes in total)

expansion

Basic simultaneously 2 axes

controlled axes

Simultaneously Positioning, linear interpolation, jog feed and

controlled axes incremental feed are controlled all axes at a time.
expansion

2.2 Name of Axes

Name of axes can be optionally selected from A, B, C, U, V, W, X, Y, Z (Set by

parameter).

(Note) If the axis name expansion function is used, I, J, K and E can be also
used as the axis name. In a multi-axis machine such as one having
multiple heads, nine or more axis names are necessary for the case that
nine axes or more are to be independently operated by the command. In
such a case, the addresses that can be set as the axis name can be
expanded up to 13 kinds including I, J, K and E since nine kinds of
A, B, C, U, V, W, X, Y and Z are not enough to serve as the axis names.
If I,J,K and E are designated as the axis name, the function and related
restrictions are as follows:

1) Address is represented with the coordinate language.

Example) G17I-K-; I and K planes are selected.

2) Number of digits of the maximum comrnandable figure is eight.

3) Decimal point input is possible.

If the decimal point is omitted, the place of decimal point is decided
by the setting unit of the axis at the address.
Example) GOO E 0.5 I 100 K 100.0 ;

4) Command with a sign is possible.

Example) G01 E-10.5 F 100

5) These addresses become impossible to use for other than the axis name.

- 19 -
 11-2.2

G code and Usage of the

Address Normal usage Remarks
the like controlled axis

I, J, K G02 Central position Coordinate R command is used for

G03 of the circle language of the central point of
I, J and K the circle.

G41 Three- The same as Three-dimensional

G42 dimensional above. tool offset is
offset vector impossible.

G76 Shift amount of The same as Commanding the shift

G87 the fixed cycle above. amount is impossible.

G22 Coordinate value The same as Commanding the limit

of the stroke above. position is im-
limit possible.

G65 Argument Argument Decimal point

G66 position is decided
G66.1 by the setting unit.

E G33 Thread lead Coordinate Thread number

(thread number language of designation of the
of the inch the E axis inch screw thread can
screw thread) not be used in
G33 mode.

114108 The macro Has no Custom macro

variables significant variables 114108 can
Modal information meaning. not be used.
of address 'E'

6) If anyone of I, J, K or E is designated as the axis name, the second

auxiliary function can not be used.

- 20 -
 11-2.3

2.3 I ncrement System

Least input Least command

Maximum stroke Abbreviation
increment increment

0.01 nun 0.01 mm 999999.99 mm IS-A

0.001 nun 0.001 nun 999Q9.999 mm IS-B

0.0001 mm 0.0001 rom 9999.9999 mm IS-C

0.00001 rom 0.00001 nun 999.99999 mm IS-D

0.001 inch 0.001 inch 99999.999 inch IS-A

0.0001 inch 0.0001 inch 9999.9999 inch IS-B

0.00001 inch 0.00001 inch 999.99999 inch IS-C

0.000001 inch 0.000001 inch 99.99999 inch IS-D

0.01 deg 0.01 deg 999999.99 deg IS-A

0.001 deg 0.001 deg 99999.999 deg IS-B

0.0001 deg 0.0001 deg 9999.9999 deg IS-C

0.00001 deg 0.00001 deg 999.99999 deg IS-D

The increment system can be selected per axis (set by parameters). Combined use
of the inch system and the metric system is not allowed. There are functions
that cannot be used between axes with different unit systems (circular
interpolation, cutter radius compensation, etc.)
By parameter IPRx (Data No. 1004) setting of input unit 10 times, input units
become as follows in case of IS-B and IS-C:

Least input Least command

Maximum stroke Abbreviation
increment increment

0.01 mm 0.001 mm 99999.999 nun

0.001 inch 0.0001 inch 9999.9999 inch IS-B

0.01 deg 0.001 deg 99999.999 deg

0.001 mm 0.0001 nun 9999.9999 mm

0.0001 inch 0.00001 inch 999.99999 inch IS-C

0.001 deg 0.0001 deg 9999.9999 deg

For the setting unit, see the machine tool builder's manual.

2.4 Maximum Stroke

Maximum stroke = Least command increment x 99999999

See 2.3 Increment System.

- 21 -
 II-3

3. PREPARATORY FUNCTION (G FUNCTION)

A number following address G determines the meaning of the command for the
concerned block.
G codes are divided into the following two types:

Type Meaning

One-shot G code The G code is effective only in the block in which it is

specified.

Modal G code The G code is effective until another G code of the same
group is specified.

(Example)
GOI and GOO are modal G codes in group 01.
GOlX - - ;
Z -----; GOI is effective in this range.
X ---;
GOOZ - - ;
The following G codes are offered.

G code Group Function

~ GOO Positioning
~ GOI Linear interpolation
G02 Circular/Helical interpolation CW
G03 Circular/Helical interpolation CCW
G02.1 Circular threading B CW
01
G03.1 Circular threading B CCW
G02.2 Involute interpolation CW
G03.2 Involute interpolation CCW
G02.3 Exponential function interpolation CW
G03.3 Exponential function interpolation CCW
'G04 Dwell
GOS.l Multi buffer
G06.1 Spline interpolation
G07 Hypothetical axis interpolation
G07.1 Cylindrical interpola~ion
G09 Exact stop
00
GlO Data setting
GlO.l PMC data setting
GlO.3 High speed machining registration start
GlO.6 Tool retract escape data
GIl Data setting mode cancel
Gll.3 High speed machining registration end
G12.l Polar coordinate interpolation mode
26
. G13.l Polar coordinate interpolation cancel mode
~ GIS Polar coordinates command cancel
17
G16 Polar coordinates command
P"" G17 XpYp plane Xp: X axis or its parallel axis
~ G18 02 ZpXp plane Yp: Y axis or its parallel axis
G19 YpZp plane Zp: Z axis or its parallel axis
G20 Inch input
06
G2l Metric input
P"" G22 Stored stroke check function on
04
G23 Stored stroke check function off

- 22 -
 11-3

G code Group Function

G25 Spindle speed fluctuation detection off
..... G26 25
Spindle speed fluctuation detection on
G27 Reference point return check
G28 Reference point return
G29 Return from reference point
G30 Return to 2nd, 3rd, 4th reference point
G30.1 00 Floating reference point return
G31 Skip function
G31.1 Multi-step skip function 1
G31.2 Multi-step skip function 2
G31.3 Multi-step skip function 3
G33 01 Thread cutting
......G37 Tool length automatic measurement
G38 00 Cutter compensation C vector hold
G39 Cutter compensation C corner arc
G40 07 Cutter radius compensation cancel/3 dimensional tool
compensation cancel
G40.1 19 Normal direction control cancel
G41 07 Cutter radius compensation left/3 dimensional tool
compensation
G41.1 19 Normal direction control left on
G42 07 Cutter radius compensation right
G42.1 19 Normal direction control right on
G43 Tool length compensation +
G43.1 Tool length compensation in tool axis direction
08
G44 Tool length compensation -
G45 Tool offset increase
G46 Tool offset decrease
00
G47 Tool offset double increase
G48 Tool offset double decrease
.......G49 08 Tool length compensation cancel
G50 Scaling cancel
11
.G51 Scaling
G50.1 Programmable mirror image cancel
18
G51.1 Programmable mirror image
G52 Local coordinate system setting
00
G53 Machine coordinate system selection
IIII"""'G54 Work coordinate system 1 selection
G54.1 Additional work coordinate system selection
G55 Work coordinate system 2 selection
G56 14 Work coordinate system 3 selection
G57 Work coordinate system 4 selection
G58 Work coordinate system 5 selection
G59 Work coordinate system 6 selection
G60 00 Single direction positioning
G61 Exact stop mode
G62 Automatic corner override mode
15
G63 Tapping mode
...... G64 Cutting mode
G65 Macro call
00
G65.3 Call of high speed machining program
G66 Macro modal call A
G66.1 12 Macro modal call B
IIII"""'G67 Macro modal call A/B cancel
G68 Coordinate system rotation
...... G69 16
Coordinate system rotation cancel

- 23 -
 11-3

G -code Group Function

G72.l Rotation copy
00
G72.2 Parallel copy
G73 Peck drilling cycle
G74 Counter tapping cycle
G76 09 Fine boring cycle
GSO Canned cycle cancel/external operation function cancel
GSI Drilling cycle, sQot boring/external operation
GSl.l 00 Chopping mode on
GS2 Drilling cycle, counter boring
GS3 Peck drilling cycle
GS4 Tapping cycle
GS4.2 Rigid tap cycle
GS4.3 Rigid counter tap cycle
09
GS5 Boring cycle
GS6 Boring cycle
GS7 Back boring cycle
GSS Boring cycle
GS9 Boring cycle
,... G90 Absolute command
,... G9l
03
Incremental command
G92 Work coordinates cha~ge/Maximum spindle speed setting
00
G92.l Work coordinate system preset
G93 Inverse time feed
G94 05 Feed per minute
G95 Feed per revolution
G96 Constant surface speed control
,... G97 13
Constant surface speed control cancel
,... G9S Canned cycle initial level return
10
G99 Canned cycle R point level return

(Note 1) The G codes marked wi th ~ are the ini tial G codes in each group.
That is, these G codes are set when the power is turned on or when the
reset button is pressed while the system parameter specifying to
initialize G codes is effe~tive. For G22 and G23, G22 is selected when
the power is turned on. After reset, G22 or G23 (the one effective
before resetting) is set.
For GOO and GOl, G17 and GIS, G43, G44 and G49, G94 and G95, G90 and
G9l, the value selected for the initial G codes is specified by
parameter No. 2401 (GOl, GIS, G43, G44, G95 and G90), respectively.
For G20 and G2l, the one in effect before the power was cut or the
reset button was pressed is selected.
(Note 2) The G codes in the group 00 are not modal. They are effective only in
the block in which they are specified.
(Note 3) An alarm occurs when. a G code not listed in the above table is
specified or when an optional G code not defined in the controller is
specified (PSOlO).
(Note 4) A number of G codes can be specified in a block even if they do not
belong to the same group. When a number of G codes of the same grqup
are specified, the G code specified last is effective.

- 24 -
 11-4

4. INTERPOLATION FUNCTIONS

4.1 Positioning (GOO)

GOO specifies positioning.

A tool moves to a certain position in the work coordinate system with an
absolute command, or to a position a specified distance from the current
position with an incremental command at a rapid traverse rate.
Format
GOO IP-;
where IP-: Combination of optional axis address (of X, Y, Z, U, V, W, A, B, C)
as X-Y-Z-A- •••
This manual uses this notation hereinafter
; : End of block (LF for ISO code, CR for EIA code)
This manual uses this notation hereinafter.
The tool path can be selected from either of the following by parameter LRP
(Data number 1400).
- Linear interpolation type positioning
The tool path is the same as linear interpolation (GOl). Positioning is done
at a speed which allows for minimum positioning time without exceeding rapid
traverse rate of each axis.
Non linear interpolation type positioning
Positioning is done with each axis separately. Tool path does not generally
become a line.

Starting point

",,/
/"P
/

,
~",,//~/
./~ Non linear interpolation positioning
",,"" I
~- - - - - - .J Linear interpolation positioning
End point

(Note I) The rapid traverse rate in the GOO command is set for each axis
independently by the machine tool builder. Accordingly, the rapid
traverse rate cannot be specified in the address F.
In the positioning mode actuated by GOO, the tool is accelerated to a
predetermined speed at the start of the block and is decelerated at the
end of the block. Then if the parameter (CIP, data number 1000)
specifying in-position checking has been set, execution proceeds to the
next block after confirming the in-position. (See Note 2).
(Note 2) "In-position" means the feed motor is within the specified range.
(This range is determined by the machine tool builder) (Data No. 1827).

4.2 Single Direction Positioning (G60)

For accurate positioning without backlash, final positioning from only one
direction is available.
(Direction for
final
0 )
Start point positioning is
0"
End point right to
left}.
G60 is used instead of GOO as below.
G60IP __ ,
An overrun and a positioning direction are set by the parameter (Data No. 6820 -
6834). Even when a commanded positioning direction coincides with that set by
the parameter, the tool stops once before the end point.
- 25 -
 II-4.3

Overrun
I

o
Start point I
I
I
I
I~·------~~ll~------------------~O
: ~ Start point

End point Temporary stop

(Note 1) One shot G code, G60, can ~lso be used as a mordal G code of 01 group
by the parameter setting. This eliminates the necessity of specifying
G60 for each block.
Set the parameter MDL (data No. 761 bit 0) to 1 to make G60 a mordal G
code of 01 group.
The G code is the same as one-shot G60, except that it is mordal.

(Example) When the mordan G60 is used When the one-shot G60 is used

G60 GOO
G90 XO. yO. G90G60 XO. yO.
Xl 00. ; G60 X100. ;
Y1 00. ; G60 Y100.;
G04 X10. G04 X10.
GOO XO yO. GOO XO. yO.

Like the G code of another group, when the one-shot G code is

specified, the positioning in one direction is not performed.

(Note 2) During drilling canned cycle, no Single Direction Positioning is

effected in Z.
(Note 3) No Single Direction Positioning is effected in an axis for which no
overrun has been set by the parameter.
(Note 4) When the move distance 0 is commanded, the Single Direction Positioning
is not performed.
(Note 5) The direction set by the parameter is not effected by mirror image.
(Note 6) The Single Direction Positioning does not apply to the shift motion in
the canned cycles of G76 and G87.
(Note 7) The Single Direction Positioning is always non linear interpolation
type positioning.
(Note 8) The parameter FPSN (data No. 1000) can be used to determine whether the
in-position check is to be done or not at the temporary stop point.

4.3 Linear Interpolation (G01)

GO 11P __ F __ ,
This command actuates the linear interpolation mode. The values of IP define
the distance of tool travel which will be conducted in an absolute or
incremental mode, according to the current status of G90/G91. The feed rate is
set to a cutting feed speed commanded by F code and is a modal 'data.

- 26 -
 11-4.3

(Program example)
(G9l) GOl X200. 0 YlOO. 0 F200. 0

Yaxis

100.0 1-------------,0 (End point)

X axis
(Start point) 200.0

If it is

f
a
Feed rate of a axis direction: Fa = - - •
L
a
Feed rate of a axis direction: Fa = - - • f
L
Feed rate of y axis direction: Fy = -L..
L
• f
Feed rate of r; axis direction: Fr; = _r;_ • f
L
L = la 2 + 62 + y2 + r;2

(Note 2) The feed rate of the rotational axis is commanded by deg/min (the unit
is decimal point position).
G9l GOl B-90. 0 F300. ;

(Start point)

(End point) ~ Rotation rate is 300 dog/min.

- 27 -
 11-4.4

(Note 3) When the straight line axis ex (such as X, Y, or Z) and the rotating
axis a (such as A, B, or C) are linearly interpolated, the feed rate is
that in which the tangential feed rate in the ex and a Cartesian
coordinate system is commanded by F (rom/min), providing that the a-axis
feed rate is obtained, (Note 1) and its unit is changed to deg/min.
(Example) G91 G01 X20. 0 B40. 0 F300. 0 ;
This changes the unit of the C axis from 40.0 deg to 40 rnrn
with metric input. The time required for distribution is
calculated as follows:

120 2 + 40 2 = 0.14907 (min)

300
The feed rate for the C axis is
0.1~~07 = 268.3 deg/min

(Note 4) In simultaneous 3 or 4 axes control, the feed rate is calculated the

same way as in 2 axes control.
(Note 5) In inch input and metric output, the upper limit of feed rate along the
rotational axis become about 6000 deg./min (with increment system B).
Even if a feed rate larger than the upper limit is commanded, the feed
rate is clamped at the upper limit value.

4.4 Circular Interpolation (G02, G03)

The command below will move a tool along a circular arc.
Arc on X-Y plane
G02 Yp {R } F
G17 {G03} Xp I J
Arc on Z-X plane-
G02 {R
G18 {G03} Xp Zp } F
I K
Arc on Y-Z plane
G02 {R
G19 {G03} Yp Zp } F
J K
Xp: X axis or its parallel ax.is (Parameter setting, Data No. 1022)
Yp: Y axis or its parallel axis (Parameter setting, Data No. 1022)
Zp: Z axis or its parallel axis (Parameter setting, Data No. 1022)

- 28 -
 11-4.4

Date to be given Command Meaning

1 Plane selection GI7 Specification of arc on XpYp

plane

GI8 Specification of arc on ZpXp

plane

GI9 Specification of arc on YpZp

plane

2 Direction of rotation G02 Clockwise direction (CW)

G03 Counterclockwise direction (CCW)

3 End point G90 mode Two of the End point position in the work
position Xp, Yp, and coordinate system
Zp axes

G91 mode Two of the Distance from start point to

Xp, Yp, and end point
Zp axes

4 Distance from start Two of the I, The signed distance from start
point to center J, and K axes point to center

Arc radius R Arc· radius

5 Feed rate F Feed rate along arc.

GI7 (XY plane) is selected when the power is turned on. The clockwise and
counterclockwise directions are shown below.
The view is from the positive direction of the Zp axis (Yp axis or Xp axis) to
the negative direction on XpYp plane (ZpXp plane or YpZp plane) in the right
hand Cartesian coordinate system.

Yp Xp Zp

~G03 ~
GO~ G03 G~ \
G03

-1------__ Xp -+---------1.... Zp -+----------- Yp

G17 GIS G19

Clockwise and counterclockwise direction

The end point of an arc is specified by address Xp, Yp or Zp, and is expressed
as an absolute or incremental value according to G90 or G9I. For the
incremental value, the coordinate of the end point which is viewed from the
start point of the arc is specified. The arc center is specified by addresses
I, J, and K for the Xp, Yp, and Zp axes, respectively. The numerical value
following I, J, or K, however, is a vector component in which the arc center is
seen from the s~art point, and is always specified as an incremental value
irrespective of G90 and G9I, (shown below).

- 29 -
 11-4.4

End point (x; y) End point (z, x) Edn point (y, z)

Y /~ X~Z ZL ,/
L X I I
I
/ I

y /
/ Start point / Start point /
/ /
/ / /
Center CenterO====------~

k Center - - -

Programming for circular interpolation

I, J, and K must be signed according to the direction.

The radius can be specified with address R instead of specifying the center by
I, J, or K.
The command format is as follows:
G02
G03} Xp Yp R _ _ __
In this case, two types of arcs (one arc is less than 180°, the other is more
than 180°) are considered, (shown in the figure below). When an arc exceeding
180° is commanded, the radius must be specified with a negative value.
(Examples)
For arc 1 (less than 180°)
G02X50.0Y20.0R50.0F300.0;
For arc 2 (grea~han 180°)
G02X60.0Y20.0R-50.0F300.0;

r = SO mm

"-
" ",
\
Start point \
I \
y
I r =SO mm ~
I I
\ I
\ I
\ I
\
, /
/

""
'----_/ /'
/

- 30 -
 II-4.4

(Program examples)
Yaxis

100

60

40

X axis
o 90 120 140 200

The above tool path can be programmed as follows:

1) In absolute programming
G92 X200.0 Y 40.0 ZO
G90 G03 X140.0 Y100.0 1-60.0 F300.
G02 X120.0 Y 60.0 1-50.0
or
G92 X200.0 Y 40.0 ZO
G90 G03 X140.0 Y100.0 R60.0 F300.
G02 X120.0 Y 60.0 R50.0
2} In incremental programming
G91 G03 X-60.0 Y 60.0 1-60.0 F300.
G02 X-20.0 Y-40.0 1-50.0
or
G91 G03 X-60.0 Y 60.0 R 60.0 F300.
G02 X-20.0 Y-40.0 R 50.0 .
,
The feed rate in circular interpolation is equal to the feed rate specified by
the F code, and the feed rate along the arc (the tangential feed rate of the
arc) is controlled to be the specified feed rate.

(Note I) 10, JO, and KO can be omitted.

(Note 2) If Xp, Yp, and Zp are all omitted, or if the end point is located at
the same position as the start point, and the center is commanded by I,
J,' and K, an arc of 360 0 (a complete circle) is assumed.
G02I ; (A complete circle)
When R is used, an arc of 0 0 is programmed.
G02R ; (The cutter does not move.)
(Note 3) The error between the specified feed rate and the actual tool feed rate
is +2% o'r less. However, this feed rate is measured along the arc
after the cutter compensation is applied.
(Note 4) If I, J, K, and R addresses are specified simultaneously, the arc
specified by address R takes precedence and the other are ignored.
(Note 5) If an axis not comprising the specified plane is commanded, an alarm is
displayed. When the XY plane is specified, for example if the U axis
which is parallel with the X axis is commanded, an alarm is displayed.
(Note 6) When the difference in the radius values at the start and end points of
an arc is greater than that set by the parameter (data number: 2410),
an alarm (PS191) is displayed.

- 31 -
 11-4.4

(Note 7) If the end point is not on the arc, the tool moves spirally as shown
below.
Radius

Start point
rs
yet) ys + (ye - ys)
End point
ret)
x --
e
--------Center ' - - - - -_ _ _--1.._ ___. Center angle
o

Namely, the circular radius varies linearly according to the center

angle Q(t). Spiral interpolation can be made by specifying a circular
with different radius at the start point and the end point. For the
spiral interpolation, set a large value in the error limit parameter
(data No. 2410).

(Heart cam cutting)

Heart cam cutting is enabled by the spiral interpolation.

(Example)

--f-- '" " ,

\
\

~-----------<·r-~-X

\
\
\
" .......
G91 G17 G02X(a+b)Ia FI000 (Upper side
surface)
G02X-(a+b)I-b ; (Lower side
surface)

- 32 -
 11-4.5

(Conical cutting)

The circular part of helical interpolation can be made spiral. Conical

cutting is possible by using the helical interpolation.

(Example)
2b

G9l G17 G02 Y-(2a-b)J-a Zp F1000;

Y(2a-3b)J(a-b)Zp;
Y-(2a-Sb)J-(a-2b)Zp;
Y(2a-7b)J(a-3b)Zp;

+x

4.5 Helical Interpolation (G02, G03)

Helical interpolation is enabled by specifying a maximum of 2 axes that move

synchronously with the circular interpolation by circular commands. That is,
the tool can be moved helically.
G17 {G02} Xp __ Yp {R _ } a «(3_) F - - ; (Xp-Yp plane)
G03 I J
G02 R-
G1S {G03} Xp Zp {I - K } a «(3_) F (Zp-Xp plane)
--'
G19 {G02} Yp
G03
Zp {R
J K
===
} a «(3_) F (Yp-Zp plane)
a or (3 is an axis which is not axes-COmposing the circular plane.
The command method is to simply add a move command axis or two move command axes
which are not circular interpolation axes.

An F command specifies a feed rate along a circular arc. Therefore, the feed
rate of the linear axis is as follows:

F x Length of Linear axis

Length of circular arc

Determine the feed rate so the linear axis feed rate does not exceed any of the
various limit values.

- 33 -
 11-4.6

Tool path

y
x

The feedrate along the circumference

of two circular interpolated axes is
the specified feedrate.
(Note 1) Cutter compensation is applied only for a circular arc.
(Note 2) Tool offset and tool length compensation cannot be used in a block in
which a helical interpolation is commanded.

4.6 Helical Interpolation B (G02, G03)

In a normal helical cutting, optional 2-axis circular interpolation and the

other I-axis linear interpolation can be carried out at the same time; in
helical cutting B, however, optional 2-axis circular interpolation and the other
4-axis linear interpolation can be carried out at the same time. The axis which
performs 4-axis linear interpolation must be an axis other than on the circular
interpolation plane.
Format
GI7 {G02} Xp-- Yp-- {R-- } a-- 13-- y-- <5-- Xp-Yp plane·
G03 I--J--
G18 {G02} Zp-- Xp-- {R-- } a-- 13-- y-- <5-- Zp-Xp plane
G03 K--I--
GI9 {G02} Yp-- Zp-- {R-- } a-- 13-- y-- <5-- Yp-Zp plane
G03 J--K--
where
a, B, y, <5: Optional axis other than the circulator interpolation axes

- 34 -
 11-4.7

4.7 Hypothetical Axis Interpolation (G07)

With one of the circular interpolation axis in helical interpolation as a

hypothetical axis, sine interpolation can be performed with the other 2 axes by
distributing pulses of the hypothetical axis.
By' distributing pulses of the hypothetical axis (one axis of the circular
interpolation), the operation speed of the other axis can be variated to a sine
curve.
By setting a long axis (an axis along which the tool travels a long distance) as
hypothetical axis, odd lead thread cutting is done.
Use G07 to command which axis to be the hypothetical axis.
Format
G07 a 0; Hypothetical axis setting
G07 a 1; Hypothetical axis cancel
where a: Optional address of one of the additional control axes.
The a axis serves as the hypothetical axis after G07 aO command until G07 al
command is given. Regarding the one-cycle SIN interpolation on the YZ plane,
the X axis serves as the hypothetical axis.
X2 + y2 = r2 (r: circular radius)

y = rSIN{2~)Z
~
(~: one-cycle Z-axis move amount)
Y

o~r-----------~------------~--~ Z

Program Example (Sine interpolation)

Y'

10.0

z
o 20.0

NOOl G07 XO;

N002 G91 G17 G03 X-20.0 YO.O I-IO.O Z20~0 FIOO
N003 GOI XIO.O ;
N004 G07 Xl ;
The X axis serves as the hypothetical axis during N002 ~ N003 blocks.
In N002 block, the helical cutting command is given in such a way as the Z axis
serves as a linear axis. However, since the X axis does not move, the Y axis
moves while executing the SIN interpolation to the Z axis.
In N003 bloc~, the machine is set to the dwell condition until the interpolation
ends because the X axis does not move.

- 35 -
 II-4.8

(Program example)
G07Z0; Z axis is specified as the hypothetical axis.
G02XOZOII0.0F4.0; X axis feed rate changes sinusolidary.
G07ZI; Z axis hypothetical axis is cancelled.
F

4.0

(Note 1) The hypothetical axis interpolation is effective during automatic

operation only. It is ineffective for manual operation. If specified,
the specified axis moves linearly.
(Note 2) The interlock, stroke limit, and external deceleration are effective
for the hypothetical axis, too.
(Note 3) The handle interrupt is also effective for the hypothetical axis. In
other words, the axis moves by the handle interrupt component.
(Note 4) Specify the hypothetical axis interpolation with an incremental
conunand.

4.8 Polar Coord inate Interpolation

The function in which contour control is done in converting the conunand

programmed in a cartesian coordinate system to the movement of a linear axis
(movement of a tool) and the movement of a rotary axis (rotation of a workpiece)
is the polar coordinate interpolation. It is an effective function when a cam
shaft is ground.
Whether the polar coordinate interpolation is done or not is commanded by G
codes (group 25) as shown below.

GI2.1: Polar coordinate interpolation mode (Polar coordinate interpolation

shall be done.)
GI3.1: Polar coordinate interpolation cancel mode (Polar coordinate
interpolation is not done)

These G codes shall be conunanded in a single block.

When power supply is switched on and reset, the mode becomes polar coordinate
interpolation cancel mode (GI3.1).

The linear axis and rotary axis on which polar coordinate interpolation is done
are set beforehand by parameters (number: 1032, 1033).
Change the mode to polar coordinate interpolation mode by conunanding GI2.1, and
the zero point of the local coordinate system (when the local coordinate system
(G52) is not set, the zero point of work coordinate system) is set to the zero
point of the coordinate system (Note 2), and a plane (hereinafter referred to as
polar coordinate interpolation plane) is selected in which linear axis is made
to the first axis of the plane, and a virtual axis which makes a right angle
with a linear axis is made to the second axis of the plane (Note 3). Polar
coordinate interpolation is carried out on this plane.

- 36 -
 II-4.8

The program command in the polar coordinate interpolation mode is commanded by a

cartesian coordinate value on the polar coordinate interpolation plane. For the
command axis address of the second axis of the plane (the virtual axis) the axis
address of rotary axis (parameter 1033) is used. But the unit of command is not
Deg., the command is made by the same unit (mm or inch) as that of the first
axis of the plane (the command by the axis address of linear axis). Whether the
specification is the diameter programming or the radius programming depends on
that of rotary axis irrespective of that of the first axis of the plane. In the
polar coordinate interpolation mode, the command of linear interpolation (G01)
and circular interpolation (G02, G03) is possible (Note 4). And both absolute
command (G90) and incremental command (G91) are possible.

For the program command it is possible to apply cutter compensation. For the
path after cutter compensation is done, polar coordinate interpolation can be
made. But in the cutter compensation mode (G41, G42), the switching over of
polar coordinate interpolation mode is not possible. G12.1 or G13.1 shall be
commanded in G40 mode (cutter compensation cancel mode).
As for feed rate, specify the tangential speed (relative speed between the
workpiece and the tool) on the polar coordinate interpolation plane (cartesian
coordinate system) with F. (The unit of F is mm/min or inch/min.)
When G12.1 is commanded, the coordinate value of the virtual axis becomes "0".
That is, the position where G12.1 commanded is regarded that the degree = 0, and
the polar coordinate interpolation is started.
(Note 1) Before G12.1 is commanded a local coordinate system (or a work
coordinate system) in which the center of the rotary axis is made to
the zero point of the coordinate system must be set. When the mode is
G12.1 the coordinate system must not be changed (G92, G52, origin, G54
to G59 etc.).
(Note 2) The plain before G12. 1 is commanded (the plain which is selected by
G17, G18, G19) is once canceled and when G13.1 (polar coordinate
interpolation cancel) is commanded it is restored. At the reset time
the polar coordinate interpolation mode is canceled and it becomes the
plane by G17, G18 or G19.
(Note 3) When circular interpolation (G02, G03) is made in the polar coordinate
interpolation plane, the command method of circular radius
specification (which address out of I, J, K is used?) is decided
depending upon which axis in the basic coordinate system the first axis
of the plane (linear axis) corresponds to. (Parameter setting: number
1022)
• When the linear axis is X axis or its parallel axis, the plane is
regarded as Xp-Yp plane and the circular radius specification is made
by I, J.
• When the linear axis is Y axis or its parallel axis, the plane is
regarded as Yp-Zp plane and the circular radius specification is made
by J, K.
· When the linear axis is Z axis or its parallel axis, the plane is
regarded as Zp-Xp plane and the circular radius specification is made
by K, I.
The specification of a circular radius by R command is also possible.
(Note 4) G codes commandable in G12.1 are limited to those as shown below. G04,
G65, G66, G67, G09, G01, G02, G03,G90, G91, G94, G95, G40, G41, G42
(Note 5) For the movement command of axes except those on the plane, they move
independently of polar coordinate interpolation.
(Note 6) The tool length compensation shall be commanded before G12.1 is
commanded ,(in polar coordinate interpolation cancel mode).
• It is impossible to command it in the polar coordinate interpolation
mode. These offset values shall not be altered in the polar
coordinate interpolation mode.

- 37 -
 11-4.8

(Note 7) Present position display in G12.1 mode

The display of "DIST-TO-GO (residual move distance of the block) is the
residual move distance of the block on the polar coordinate
interpolation plane (cartesian coordinate).
(Note 8) It is impossible to execute the program restart nor the block restart
for a block under the G12.1 mode.
(Note 9) The figure programmed by a cartesian coordinate system does change to
rotary axis (C axis) and linear axis (X axis) movement in polar
coordinate interpolation, but the C axis velocity component gets bigger
as the center of the workpiece is approached. For example, as shown in
the figure below, consider the straight lines Ll, L2 and L3 when making
the movement AX per unit of time with rapid traverse in a cartesian
coordinate system commanded with Address F. With· a cartesian
coordinate system, for the same movement AX per unit of time the amount
of C· axis movement increases from 91 + 92 + 93 as the center is
approached (Ll + L2 + L3). A large C axis movement amount per unit of
time means the C axis velocity component gets bigger when approaching
the center of the workpiece.
Changing from a cartesian coordinate system to C axis and X axis
movement results in a OT512 Alarm when the C axis velocity component
exceeds the maximum cutting feed rate (parameter 1422 setting value).
As a result, either reduce the feed rate commanded by Address F or make
sure not to make programs in such a way that it approaches the center
of the workpiece (a program whereby the center of the tool approaches
the center of the workpiece when the cutter compensation is operated).

r----------k~~~~~~----------~ L3

L: the disance between the center of the tool and the center of the
workpiece when they are at their closest point.
R: Maximum C axis cutting feed rate (deg/min)
In the above example, the speed that can be commanded by Address F in
polar coordinate interpolation is obtained in the following formula and
should be used within that range. Note that the formula is a·
theoretical value and because in reality there are slight differences
in calculation, a value that is just a little bit smaller than the
theoretical value is necessary.
F < L * R * -rso-
7T
(mm/min)

- 38 -
 11-4.8

Polar coordinate interpolation by X axis (linear axis) and C axis (rotary axis)

C' (Virtual axis)

Path after cutter compensation

N204

N20S
-+----i---i----;JIIIIi::::-----li.ooa---If-os----i-+----+_1_ X axis
I
t
\ N206
\ N207
\
\ , Z axis
"~--~-------~

00001

NOlO T0101

N100 G90 GOO X60.0 CO Z__ ; Positioning to the start position

N200 G12.1; Start of polar coordinate interpolation
N201 G42 G01 X20.0 F__ ;
N202 C10.0j
N203 G03 X10.0 C20.0 R10.0;
N204 G01 X-20.0; Geometry programs
N20S C-10.0; (Programs by cartesian coordinate
N206 G03 X-10.0 C-20.0 I 10.0 JO; values on X-C' plane)
N207 G01 X20.0;
N208 CO;
N209 G40 X60.0;
N210 G13.1; Polar coordinate interpolation cancel
N300 Z ;
N400 X- C .
-'

M30;

- 39 -
 11-4.9

4.9 Cylindrical Interpolation (G07.1)

In the cylindrical interpolation mode, a move distance of a rotary axis

specified with an angle is once converted to a distance' of a linear axis on the
cylindrical surface and it is interpolated with another axis to perform linear
interpolation or circular interpolation.
After interpolation, it is reversary converted into a move distance of the
rotary axis.
The cylindrical interpolation function enables programming in the state of
development of a cylinder side surface, so that it helps preparation of the
grooving program of cylindrical cams etc., simply.

G7.1 Name of rotary axis Cylinder radius; (1)

G7.1 Name of rotary axis 0 (2)

The cylindrical interpolation mode can be obtained by command (1). It commands

the name of rotary axis which mades cylindrical interpolation as a word address
and the cylinder radius to be machined as a command value.
The cylindrical interpolation mode can be canceled by command (2).
(Examples) 00001;
N1 G28 XO ZO CO ;
N2 ••.•••.•••••.

N6 G7.1 C125.; The rotary axis which performs cylindrical

interpolation is C axis, and ihe radius of the
workpiece is 125 mm.

N9 G7.1 CO; The cylindrical interpolation mode is canceled.

M30;

Relation between circular interpolation mode and other functions

1) Feed rate programming
The feed rate commanded in the cylindrical interpolation mode is that
attained on the cylindrical developed plane.
2) Circular interpolation (G02/G03)
a) Plane selection
To perform circular interpolation between the rotary axis and the other
linear axis in the cylindrical interpolation mode, the command of plane
selection (G17, G18, G19) is necessary.
(Example) When circular interpolation is performed between Z axis and C
axis
At first for C axis for parameter 1022, 5 (parallel axis to X
axis) shall be set.
In this case the command of circular interpolation shall be as
follows.
G18 Z C ;
G02 (G03)Z C R ;
C axis of para;;ter 1022 can be 6 (parallel axis to Y axis). In
this case, the command of circular interpolation shall be
changed to that as shown below.
G19 C Z ;
G02 (G03-)Z_C_R_;
b) Radius programming
It is impossible to specify the arc radius by word addresses I.J.K in the
cylindrical interpolation mode. Specify the arc radius by word address R.
Specify the radius by mm (in the case of metric input) or inch (in the
case of inch input) not by degree.

- 40 -
 II-4.9

3) Cutter compensation
To perform cutter compensation in the cylindrical interpolation mode, command
plane selection in the same way as in the case of circular interpolation.
But when you perform cutter compensation, execute START UP and CANCEL in the
cylindrical interpolation mode. In the state where cutter compensation is
exercised even if the cylindrical interpolation mode is set, compensation is
not correctly performed.
4) Positionings
It is impossible to perform positionings (including those which make rapid
traverse cycles such as G28, GS3, G80 to G89) in the cylindrical
interpolation mode. When you perform positionings, cancel the cylindrical
interpolation mode.
S) Setting of coordinate systems
In the cylindrical interpolation mode, you cannot command work coordinate
systems (G92, GS4 to GS9) or a local coordinate system (GS2).
6) Block restart
It is impossible to perform the block restart in the cylindrical
interpolation mode. But the program restart for the program including the
command of cylindrical interpolation is possible.

An example of cylindrical interpolation program c

~
00001 (CYLINDRICAL INTERPOLATION) I

NOI GOO G90 ZlOO.O CO ;

N02 GOI G9l G18 ZO CO ;
N03 G07.1 CS7299 ;
N04 G90 GOI G42 Z120.0 DOl F2S0
NOS C30.0 ;
N06 G02 Z90.0 C60.0 R30.0
N07 GOI Z70.0 ;
N08 G03 Z60.0 C70.0 RlO.O
N09 GOI ClSO.O ;
NlO G03 Z70,.0 C190.0 R7S.0 ;
NIl GOI ZllO.O C230.0
N12 G02 Z120.0 C270.0 R7S.0
N13 GOI C360.0
N14 G40 ZlOO.O
NlS G07.1 CO ; I
I
N16 M30 ; I
I
I
I
I
I
I
I
I
I
I
270 ,
230
/ ,/J

190
I
//;/
,//
150
I
I
I
I
I
I
I
I
I
I

60 I
\~
------~
30

" '.
I
I
I
I
I

o
¢
o 70 90 120 rnm z

- 41 -
 114.9

(Note 1) Command G7.1 in an independent block

(Note 2) Do not reset a cylindrical interpolation mode in the cylindrical
interpolation mode. When you reset, cancel the cylindrical
interpolation mode once.
(Note 3) The rotary axis which can be set in the cylindrical interpolation is
only one, so that it is not possible to command more than 2 axes by
G7.l.
(Note 4) It is not possible to command cylindrical interpolation (G7.1) in the
positioning mode (GOO).
(Note 5) The rotary axis which performs cylindrical interpolation must not be
one of parallel axes.
(Note 6) On precision
i) On the automatic operation
In the cylindrical interpolation mode, the move distance of a rotary
axis commanded by degrees is once converted internally to the
distance on the periphery of a circle and after the calculation of
linear and circular interpolation is finished it is reconverted to
that by degrees.
When the conversion is performed the move distance is rounded in the
least input increment. Therefore when the radius of the cylinder is
small the actual move distance can be different from the commanded
value, but the error in this case is not accumulated.

MOTION REV ] 2 x 2~R ]]

Actual move distance = [ 2 x 2~R x Commanded value x MOTION REV

MOTION REV: Move distance per revolution of a rotary axis

(parameter 1260)
R: Radius of a workpiece
[]: Round to the nearest least input increment
ii) On the manual operation
In the state of manual absolute on, if the manual operation is done
in the cylindrical interpolation mode, an error can occur due to the
reason above-mentioned.
(Note 7) Designate the cylindrical radius specified by G7.1 command in least
input increment.
(Designate this without using the decimal point.)
Increment system Least input increment
IS-A 0.01 mm or 0.001 inch
IS-B 0.001 mm or 0.0001 inch
IS-C 0.0001 mm or 0.00001 inch
(Note 8) It is impossible to command canned cycles (G81 to G89) for hole
machining in the cylindrical interpolation mode.

- 42 -
 11-4.10

4.10 Exponential Function Interpolation (G02.3, G03.3)

In synchronization with the travel of the rotary axis, the linear axis (X axis)
performs the exponential function interpolation. With the other axes, the
linear interpolation with the X axis is performed. In the exponential function
interpolation system, the linear approximation syste~ is taken where the move
distance of the rotary axis is obtained in reference to a fixed amount of
variation of the X axis.
This function is effective for the tapered constant helix machining in the tool
grinding machine.
(Example) X (linear axis)

/
/
/
/1 A (rotary axis)
t:,.A_

The exponential function relation expression between the linear axis and the
rotary axis is defined as in the following:

9
R * (e
K _ 1) * -ta-n~(:-=I~)
1
X(9) •••••••••• (Travel of linear axis) (1)

A(9) (_1)00 * 360 *~

2'lf
•••••••••• (Travel of rotary axis) (2)

where
K = tan(J)
tan(I)
00 = 0/1 (Rotational direction)
The R, I, and J are constants and 9 is an angle of rotation (radian).

Also, from the expression (1), the following results:

9(X) = K * In { X * tan(I} + I}
R

The expressions (1) and (2) are specified in the following formats:
(Positive revolution) 00 = 0

G02.3 X-¥-Z-I-J--K--R:-F-Q-

(Negative revolution) 00 =1

G03.3 X-¥-Z-I-J--K--R:-F-Q-

- 43 -
 II-4.10

X- Command of terminal point by Absolute or Incremental

y- Command of terminal point by Absolute or Incremental
z- Command of terminal point by Absolute or Incremental
1- Command of angle 1 (The command unit is based on the reference axis
(Parameter: refer to data number 1031). The range of command is 1 to
+89°.)
J- Command of angle J (The command unit is based on the reference axis. The
range of command is 1 to ±89°.)
K- Amount of division of the linear axis in the exponential function
interpolation (amount of span). (The command unit is based on the
reference axis. The command range is a positive value.)
R- Command of constant value R in the exponential function interpolation.
(The command unit is based on the reference axis.)
F- Command of initial feed rate.
The command is the same as the normal F code. The feed rate shall be
given by the synthesized speed including the rotary axis.
Q- Command of feed rate at terminal point.
The command unit is based on the reference axis. Within the CNC, the tool
is interpolated between the initial speed (F-) and final feed rate (Q-)
depending on the amount of X-axis travel.

Usage example (Tool grinding machine, end mill grinding machine)

Tapered constant helix machining

z
I
I
I
I
I
IL _ _ _ _ _

L---+-----
p- X----IID-!

Reverse tapered constant helix machining

I
I
I
I
I
I
_____ J.
,---------

- 44 -
 11-4.10

Relational expression

e
Z(Q) { -f- - U * tan(l) } * (e
K
1) * tan (B) + Z(O)
tan(I) •••••••.•• (3)

X(Q) { -f- - U * tan(l) } * (e

K
- 1) * ta!(I) • • • • • • • • •• (4)

A(Q) (_I)W * 360 *~

21T

where
K = tan(J)
tan(l)
X(Q), Z(Q), and A(e) are the absolute value of the X, Z, and A axes from the
zero point.
r: Left edge radius
U: Allowance length
I: Gradient angle
B: Groove bottom gradient angle
J: Torsional angle
X: Move distance of linear axis
w: Torsional direction (0: positive direction, 1: negative direction)
Q: Work revolution

From the expressions (3) and (4), the following expression can be obtained:

I Z(9) = tan (B) * X(9) + Z(O) .......... (5)

According to the expression (5), the groove bottom gradient angle (B) can be
determined from the final positions of the X and Z axes. Then, the move
distance of Z axis is determined by the groove bottom gradient angle (B) and X.
From the expression (1) and (4), the following expression can be obtained;

I R - r/2 - U * tan(I) • • • • • • • • •• (6)

According to the expression (6), the left edge radius (r) is determined. Also,
the constant value R is determined by the allowance length (U).
Also, the gradient angle (I) and the torsional angle (J) are given by the
addresses I and J, respectively. However, in the case of the reverse tapered
constant helix machining, the gradient angle (I) is given by a negative value.
The torsional command is switched by the G. code (G02.3/G03.3). As described
above, the tapered constant helix machining and reverse tapered constant helix
machining etc. becomes possible.
(Note 1) The amount of division (span value) of the linear axis in the
exponential function interpolation affects the shape precision.
However, if an extremely small value is set, the machine may stop
during interpolation. Therefore, set a proper value to the amount of
division with actual machine.
(Note 2) The initial feed rate command F in the exponential function
interpolation processes as normal F code was commanded.
(Note 3) The G02.3/G03.3 becomes the modal G code of the group 1. Therefore, it
is exclusive with the G code of the same group.

- 45 -
 11-4.10

(Note 4) Even in the G02.3/G03.3 mode, the linear interpolation is performed in

the following:
• The linear axis specified by the parameter No. 7636 'is not commanded
or the move distance of the linear axis is O.
• The rotary axis specified by the parameter No. 7637 is commanded.
• The amount of division (span value) of the linear axis in the
exponential function interpolation is O.
(Note 5) During the G02.3/G03.3 mode, the tool length compensation, cutter
compensation, three-dimensional tool compensation cannot be used.
(Note 6) Refer to parameters of data No. 7616, 7636, and 7685.
(Note 7) With exponential interpolation, coordinate X on the X-axis and a~ular
displacement Q of the A-axis are represented by expression W as
follows:

Q (X) =K * In (x * t:n (I) + I) •••••••••••••••••••••••••• CD

where I inclination angle

The natural logarithm, ln, in expression CD

must satisfy expression @
according to the In condition that the value enclosed in parentheses is
positive.

x * tan (I)
> - 1 ••••••••••••••••••••••••••••••••••••••••• ®
R

If the value of x * tan (I) / R ~ -1, point (A) and subsequent points
are obtained as shown below, resulting in an impossible figure. In
this case, the system issues alarm PS897.

x
x
u x: Position of the head in the workpiece
coordinate system

R
(A)

Origin of the
workpiece
coordinate
system

Note} The X, Y, Z, and U values of the formula for exponential

interpolation '(refer to the relevant operator's manual) are used
as the coordinates in the workpiece coordinate system. That is,
even when the values are specified as positive numbers for the
incremental command, they are negative in the formula if the
position in the workpiece coordinate system indicates negative
coordinates.

- 46 -
 11-4.10

(Note 8) The relationship between the machining profile and the inclination
angle I is as follows:
CD When the inclination is upward to the right, I is positive.
QD When the inclination is upward to the left, I is negative.
Example)

y y
I >0 1<0

x x

y y
1<0 I >0

x x

(Note 9) The sign of torsion angle J is determined as shown below in the same
way as for inclination angle I.

J>O J>O

x x

J<O J<O

x x

- 47 -
 11-4.11

4.11 Circler Threading B (G02.1, G03.1)

Circular interpolation is made between two axes and simultaneously linear

interpolation is made between the optional two axes and the long axis of circle
interpolation in the circular threading B. This circular thread cutting' is not
the one that the tool is moved in synchronization with rotation of the spindle
(work) of the spindle motor, but the one that the servo motor controls the
rotation of the workpiece. Therefore, this function can be used for thread
cutting in the same pitch on the barrel type surface, grooving, tool grinding,
and etc. The speed along the long axis of the circle shall be specified as the
feed rate.
Format
1--J-- F--o, Xp-Yp plane
GI7 {G02.I} Xp-- Yp-- a.-- B-- {R--
G03.I }
GI8 {G02.I} Zp-- Xp-- a.-- B-- {K--1--} F--o, Zp-Xp plane
G03.I R--
GI9 {G02.I} Yp-- Zp-- a.-- B-- {J--K--} F--·, Yp-Zp plane
G03.I R--
where a., B: Optional 2 axes other than circular interpolation

Starting point
x

End point
(x, z)

Fig. 4.11

- 48 -
 11-4.11

(Note 1) The relationship between the longer axis and shorter axis' is as shown
in the following:

When I~xl is greater than

Start I ~x I , the longer and
point shorter axes become the X
0------+-1 I t::. Y and- Y axes, respectively.

(Note 2) When the arc exceeds the following range, the PS alarm 201 results.

Shorter
axis

Range where inter-

polation is possible

LLo.ngeI
aXIs
45 .... 135
225 .... 315 )

(Note 3) When the command speed of the longer axis is F, the speed of shorter
axis (Fs) and the speed of a axis (Fa) become as in the following:

Length of a axis
Fa F * Length -of longer axis
Fs F * TANQ
Q: Angle of line of tangency in reference to the longer axis

.
Shorter

L <sf
axis
End point

Start
point
Longer
axis
Center

(Note 4) The cutter compensation is applied to the arc only.

(Note 5) In the block where the circular thread cutting B is commanded, the tool
offset and the tool length compensation cannot be commanded.

- 49 -
 11-4.12

4.12 Involute Interpolation

An involute curve machining can be performed by using the involute
interpolation. Cutter compensation is also possible with this function. The
involute interpolation eliminates the necessity of approximating an involute
curve by micro straight line or circular, and makes the pulse distribution
uninterrupte~ in the high speed machining of a micro block, realizing the high
speed smooth .operation. Apart programming tape can be easily prepared with the
reduced tape length.
1) Involute curve
An involute curve on the XY plane is defined as follows:
X(Q) = R [cos9 + (Q-90)sin9] + Xo
Y(9) = R [sin9 + (9-90)cos9] + Yo
where,
Xo,Yo: Coordinates of the center of basic circle
r: Radius of basic circle
90: Angle of the start point of involute curve
9: Angle of the contact point of the tangent from the current position to
basic circle
x(Q),Y(Q): current position of X and Yaxes

End point

Basic circle
x

fig. 4.12 (a) Involute curve

An involute curve on the other planes is defined by replacing X and Y by the

axis names of the corresponding plane.
2) Command format
The involute interpolation is commanded in the following format.
Involute interpolation of XpYp plane
G17G02.2 Xp-Yp-I--J--R--F--j
G17G03.2 Xp-Yp-I--J--R--F--j
Involute interpolation of ZpXp plane
G18G02.2 Zp-Xp-K--I--R--F--j
G18G03.2 Zp-Xp-K--I--R--F--;
Involute interpolation of YpZp
G19G02.2 Yp-Zp-J--K--R--F--j
G19G03.2 Yp-Zp-J--K--R--F--;

- 50 -
 11-4.12

where, G02.2: Involute interpolation of clockwise turn

G03.2: Involute interpolation of counterclockwise turn
GI7/GI8/GI9: Selection of XpY/ZpXp/YpZp plane
Xp,Yp,Zp: Coordinates of the end point of involute curve
Xp: X axis or the axis parallel to X axis
(Parameter setting: Data No. 1022)
Yp: Y axis or the axis parallel to Y axis
(Parameter setting: Data No. 1022)
Zp: Z axis or the axis parallel to Z axis
(Parameter setting: Data No. 1022)
I,J,K: Center position of basic circle of involute curve seen
from the start point
R: Radius of basic circle
F: Cutting feedrate

Yp Yp

Ps

Basic circlr

Pe

L-----------------------------Xp ~---------------------------Xp

Ps: Start point Pe: End point

fig. 4.12 (b) Involute interpolation of clockwise turn (G02.2)

- 51 -
 11-4.12

Yp Yp

Ps

~----------------------------Xp ~----------------------------Xp

Ps: Start point Pe: End point

Fig. 4.12 (c) Involute interpolation of counterclockwise turn (G03.2)

The end point of involute curve is specified by Xp, Yp or Zp address, and

expressed by an absolute value or an incremental value corresponding to G90
or G9I.
When it is expressed by an incremental value, the coordinates of the end
point seen from the start point of involute curve are specified.
Either the start point or the end point must be present within 100 turns from
the start point of involute curve. Even an involute curve that makes more
than one turn can be specified in one block.
The center of basic circle is specified by I, J or K address corresponding to
Xp, Yp or Zp. Note that the numeric value coming after I, J or K is the
vector component obtained when the center of basic circle is seen from the
start point of involute curve, and usually specified by an incremental value
irrespectively of G90 and G9I.
Add a sign to I, J or K according to the direction of involute curve.
Only with the start point and I, J or K, two types of involute curve are
considerable. One approaches to a basic circle. The other goes away from a
basic circle. When the end point is set nearer to the basic circle center,
compared with the start point, the involute curve approaches to the basic
circle. When the end point is farther than the start point, the involute
curve goes away from the basic circle.
The feedrate in the involute interpolation is the cutting feedrate specified
by the F code. The feedrate is controlled so that the feedrate along the
involute curve (the feedrate in the tangent direction of involute curve) is
the specified feedrate.
Select the plane for the involute interpolation by GI7, GI8 or GI9, like in
the case of circular interpolation.

- 52 -
 I1-4.12

3) Involute interpolation and cutter compensation

An involute curve can be machined with'the cutter compensation. The cutter
compensation is specified by G40, G41 or G42, like in the case of linear or
circular interpolation.
The offset memory No. is specified by the D code.
G40: Cancel of cutter compensation
G41: Offset on the left side of tool advancing direction
G42: Offset on the right side of tool advancing direction
Obtain the intersections with a straight line or a circular at the start
point and the end point by the approximate calculation. The involute curve
that passes through the obtained intersections at the start and end points is
considered as the path of the tool center.
In the involute interpolation mode, the start-up or cancel of tool
compensation can not be specified.
4) Example of program

N3
( 1.0 , 9.425) ( 10.0, 9.425)

--~r-----------~~+---------+----------X
o

N 1 G 90 G 17 GOO X - 1. 0 YO ;
N2G02.2X1.0Y9.42511.0 JO Rl.O FlOO.;
N 3 G 01 X 10.0 ;

(Note 1) When the end point is not specified, an alarm is given.

(Note 2) When none of I, J and K is specified, or all of them are 0, an alarm is
given.
(Note 3) When R is not specified, or R is 0, an alarm is given.
(Note 4) When the start point or the end point is set in a basic circle, an
alarm is given.
(Note 5) In the involute interpolation mode, the optional angle chamfering,
corner rounding can not be specified.
(Note 6) In the cylindrical interpolation mode, the involute interpolation
cannot be specified.
(Note 7) When the end point is not set on the involute curve passing through the
start point, the following curve is drawn.

- 53 -
 II-4.12

Path after
compensation

Ps: Start point Pe: End point

True involute curve

Involute interpolation of counterclockwise turn (G03.2)

(Note 8) When the displacement between the involute curves passing through the
start point and end point is greater than the value set in the
parameter (data No. 3510), an alarm is given.

Pe

Path after
compensation·

Ps: Start point Pe: End point

True involu te curve

Involute interpolation of counterclockwise turn (G03.2)

(Note 9) The following G codes can be specified in the involute interpolation

mode.
G04, GI0, G17, G18, G19, G65, G66, G67, G90, G91
(Note 10) The involute interpolation is possible even in the cutter compensation
mode (G41, G42), in the programmable mirror image mode (G51.1) or the
coordinate system rotation mode.

- 54 -
 11-4.12.1

4.12.1 Involute interpolation by linear axis and rotating axis

Machining of involute curves can be performed by using involute interpolation
during polar coordinate interpolation mode. It is possible to perform machining
of involute curves to be drawn in the plane of the linear axis and rotating
axis.
Position display is displayed by the distance and angle from the center during
polar coordinate interpolation mode, but the command end point coordinates are
commanded by the rectangular coordinate value in the polar coordinate
interpolation plane.

1) Command method
Involute interpolation (G02.2, G03.2) in the polar coordinate interpolation
plane is commanded as follows.
The end point coordinates of the involute curve use the axis address of the
plane No.1 axis (linear axis) and plane No.2 axis (rotating axis), and are
commanded by a rectangular coordinate value. The center position of the
fundamental circle of the involute curve seen from the start point is determined
by which axis of the basic coordinate system is the plane No. 1 axis.
When the lin~ar axis is the X axis or its parallel axis, it is regarded as
the Xp-Yp plane, and commanded by I, J •
• When the linear axis is the Y axis or its parallel axis, it is regarded as
the Yp-Zp plane, and commanded by J, K•
• When the linear axis is the Z axis or its parallel axis, it is regarded as
the Zp-Xp plane, and commanded by K, I.
The setting of the plane No. 1 axis (linear axis) and plane No. 2 axis (rotating
axis) is performed by parameters 1032 and 1033.

G02.2 X-- C-- 1-- J-- R-- F-- X is the linear axis
G03.2 X-- C-- 1-- J-- R-- F--

However, G02.2: Involute interpolation of clockwise turn

G03.2: Involute interpolation of counterclockwise turn
X, C End point coordinates, linear axis, rotating axis of
involute curve
I, J Center position of fundamental circle of involute curve seen
from start point
R Radius of fundamental circle
F Cutting feed speed

G02.2 Y-- C-- J-- K-- R-- F-- Y is the linear axis
G03.2 Y-- C-- J--- K-- R-- F--
G02.2 Z-- C-- K-- 1--- R-- F-- Z is the linear axis
G03.2 Z-- C-- K-- 1-- R-- F--

2) Precautions
The G codes which can be commanded by involute interpolation in the polar
coordinate interpolation plane are only the G codes which can be used in
common for involute interpolation and polar coordinate interpolation.
Therefore, the following G codes cannot be commanded.

G17 Xp-Yp plane selection

G18 Zp-Xp plane selection
G19 Yp-Zp plane selection
GI0 Data setting

Furthermore, before commanding this function, cancel the following modes.

G51.1: Programmable mirror image

G68 Coordinate rotation

- 55 -
 11-4.12.1

3) Program example
Program example of involute interpolation during polar coordinate
interpolation by X axis (linear axis) and C axis (rotating axis)

C (Imaginary axis)

Path after tool compensation

Program path

X axis

N0 2 0 2

Z axis

N 0 203

00001 ;

I
N0010 T0101;

N0100 G90 GOO X15.0 CO ZO; Positioning to start position

N0200 G12.1; Polar coordinate interpolation start
N0201 G41 GOO X-1. 0 ;
N0202 G01 Z-2.0 F ;
N0203 G02.2 X1.0 C9.425 11.0 JO R1.0 Involute interpolation during polar
N0204 G01 ZO ; coordinate interpolation
N0205 G40 GOO X15.0 CO;
N0206 G13.1; Polar coordinate interpolation cancel
N0300 Z
N0400 X C

M30;

- 56 -
 11-4.13

4.13 Spline Interpolation

A spline curve passing through the specified curve connecting a series of dots
is interpolated. This permits smooth machining of a fitting curve. Use of the
spline interpolation command eliminates the necessity of approximating a smooth
fitting. curve by micro straight line or circular arc. The part programming tape
length is also reduced.
1) Command format
The spline interpolation mode is set by the command G06.1. When the G code
specifying another interpolation is specified, the spline interpolation mode
is canceled.
Set primary and secondary derivation vectors at the start point in the block
of G06.1. According to these data, the CNC prepares the first spline curve
and the subsequent curves sequentially. Basic three axes are used for the
spline interpolation axes. Set the primary and secondary derivation vectors
as a floating-point data.

G06. 1 X~Y-L-Z_z_I~JiK~P-.LQ--L~F~;

xx : A mantissa of primary derivation vector component of X axis.

(Set it without a decimal point.)
Y..:L..: A mantissa of primary derivation vector component of Y axis.
(Set it without a decimal point.)
Z z : A mantissa of primary derivation vector component of Z axis.
(Set it without a decimal point.)
I i : A mantissa of secondary derivation vector component of X axis.
(Set it without a decimal point.)
A mantissa of secondary derivation vector component of Y axis.
(Set it without a decimal point.)
K k : A mantissa of secondary derivation vector component of Z axis.
(Set it without a decimal point.)
An exponent of primary and secondary derivation vector components of X
axis. Set it in 4· digits without a decimal point. The lower two
digits are the exponent of primary derivation vector, and the higher
two digits are the exponent of secondary derivation vector.
Assuming that P = DO DO .
P2 PI ' P2
Primary derivation vector component of X axis = x x 10-
P1
Secondary derivation vector component of X axis = i x 10-
(Example) When setting G06.1 X12345 19876 P0302:
Primary derivation vector component of X axis = 123.45
Secondary derivation vector component of X axis = 9.876
Q--L: An exponent of primary and secondary derivation vector components of Y
axis. The command value format is the same as P.
R r : An exponent of primary and secondary derivation vector components of Z
axis. The command value format is the same as P.
F f : A feedrate. A feedrate of a tool moving along a tangent. This is a
tangential speed in the cartesian coordinate system made by the
specified axes. During the spline interpolation, the speed component
in each axis direction is changed every moment. Assuming that the
speed components of each axis at a certain timing are Fx, Fy and Fz;

f =! Fx 2 + Fy 2 + Fz 2

- 57 -
 11-4.13

(Example of program)
N120 - N500 in the following program specify the spline interpolation
mode.
NII0 GOI x Y Z
---
N120 G06.1 X Y Z I J K F
N130 X-Y-Z---
N140
---
X Y Z
N150
---
X Y Z

N500 X Y Z
N510 GOI X-Y-Z-

PI': Primary derivation vector

PI": Secondary derivation vector

.. ,
'~
P Pn+l
Pn-l D

(Note 1) Pr.imary and secondary derivation vectors of the spline interpolation

axis must be specified in the block of G06.1. However, when P, Q and R
that specify an exponent are not specified, the format of the command
value for that axis is the same as that of a normal CNC command input.
(Example) When setting G06.1 X12345 123456 P0201:
Primary derivation vector of X axis = 1234.5
Secondary derivation vector of X axis = 234.56
If setting G06.1 X12345 123456, the increment system is IS~B:
Primary derivation vector of X axis = 12.345
Secondary derivation vector of X axis = 23.456
(Note 2) Specify the primary and secondary derivation vectors as accurately as
possible.
2) Spline curve
A spline curve is a group of parametric three-dimensional curve passing
through a series of points, n + 1. Expressing the position vector of the
point on the curve by W, the parameter by t, and the vector coefficients by
~,m, ~ and ID, a general equation f(t) of the three-dimensional curve is:

W= f (t) =~ e + me + ~ t+ ID

- 58 -
 11-4.13

The CNC obtains these coefficients from the command point, and realizes the
spline interpolation by varying the value of t •

....
"~
Pn+l

At the command point in the spline interpolation, the following conditions

are satisfied between the curves before and after that point. This makes the
curve machining smooth.
OD The connection point (command point) is identical.
CD The tangent vector is identical at the connection point. (The vector of
primary derivation related to "t" is identical in the curves before and
after that point.)
® The curvature is identical at the connection point. (The vector of
secondary derivation related to "t" is identical in the curves before and
after that point.)
3) Range of parameter t
Assuming the parameter range of spline ~ to be 0 ~t ~Ti and the chord
length from the point P1 to P1+1 to be Pi Pi+1 (i = 1 - n):

T1 = P 1 Pz
T = P P
Z z 3
Tn-1 = Pn-1 Pn / P P
1 z
However, when setting the parameter No. 1001, Ncon to 1:

T = T = ···Tn-1 = 1
1 Z

- 59 -
 II-4.13

4) Initial conditions of spline curve

Expressing the primary and secondary derivation vectors commanded in the
block of G06.1 by IP' 1 and IP" 1, the vector coefficients 1Al, 18 1, a; 1 and ID 1 of
the first spline curve are calculated by the following four equations.

fl (0) =Dl =P 1
fl (1 ) =Al +B 1 +Cl +D 1 =P2
f'I(O) =C 1
f" 1 (0 ) =2Bl =P"2

Thereafter, each spline curve is prepared by using IP', lP"at the end point of
the previous curve as IP', IP" at the start point of each curve. The following
four equations are established for the ith spline curve.
fi (0) =Di =Pi
fi (Ti)=Ai Ti 3 +Bi+Ti 2 +Ci Ti +Di=Pi+ 1
f'i (0 )=Ci =f'i - 1 (Ti- 1)
f"i (0 )=2Bi =f"i - 1 (Ii - 1)

P1 , •• Primary derivation vector at PI

P1 " •• Secondary derivation vector at PI
Pi' Primary derivation vector at Pi
Pi" : Secondary derivation vector at Pi

P i +1

~P./~
I
" , ,

.......
I P n _I n

PI

- 60 -
 II-4.13

(Note 3) The primary and secondary derivation vectors specified in the block of
G06.1 should be calculated by referring to the following method.
The primary derivation vector at each point of the spline curve defined
by n command points is expressed by the following equation.

T3 2 (T2+T3) T2 0, o o o PI'
o T4 2(T3+T4) T3 o o o P2'
o 0 TS 2(T4+TS) T4 o o P3'

o•••• ~ ••••••.•••.••.•••• 0 Tn 2 (Tn-1+Tn) Tn-1 Pn-1

Pn'

2 2
3 [T2 (P3 - P2) + T3 (P2 - PI)]
T2 T3
2 2
3 [T3 (P4 - P3) + T4 (P3 - P2)]
T3 T4
Equation 1
2
3 [T4 (PS -P4) + TS2 (P4 - P3)]
T4 TS
.....................................
2 2
3 [Tn-1 (Pn - Pn-1) + Tn (Pn-1 - Pn-2)]
Tn-1 Tn

where,

Tn:The parameter value of the end point Pn of the spline curve

from Pn-1 to pn.
Expressing the parameter by t, O~T~Tn.
Pn: The position vector of the command point.
Pn': The primary derivation vector at the point Pn.
At this time, the equation can be expressed as follows:

[A] [P' ] = [B] Equation 2

where,
[A] : Matrix of (n - 2) x n
[P' ] : Matrix of n x 1
[B] : Matric of (n - 2) x 1

As [A] is a non-square matrix, the equation 1 can not be solved in

respect to [P']. To solve this equation for [P'], make a square matrix
[A] by specifying the boundary condition at both ends of a curve. In
this case, the equation 2 becomes as follows:

[A] [P'] = [B] Equation 3

where,
[A]: Matric of n x n
[B]: Matrix of n x 1

At this time, [P'] is given by the following equation.

[P'] = [A]-1 [B] Equation 4

-1
where, [A] is an inverse matrix of [A].

- 61 -
 11-4.13

Use the value of PI' obtained by the equation 4 for the primary
derivation vector specified in the block of G06.1. Calculate the
secondary vector PI" by the following equation by using the values PI'
and P2' obtained by the equation 4.

PI" = 2 [3(P2 - PI) 2PI' + P2']

Equation S
T22 T2

Two examples given below show how to give the boundary condition at both ends of
spline curve.
1) When the secondary derivation vector is 0 at both ends
Namely, when PI" = Pn" = 0, [A] and [B] are as follows:

[A]
1 O.S o ••••••.••••••••••••••••••••.•• 0
T2 2 (T2+T3) T2 0 •••..•••••••••••.••• 0
o T4 2 (T3+T4) T3 0 ......••.•• 0
o 0 TS 2 (T4+TS) T4 0 .• 0

o ..................... 0 Tn 2 (Tn-I+Tn) Tn-l

o ................•.......•... o, • • • • 0 1 2

[B]

3 (P2 - PI)
-2- T2
3 [T2 2 (P3 - P2) + T32 (P2 - PI)
T2 T3
2 2
3 [T3 (P4 - P3) + T4 (P3 - P2)
= T3 T4
3 [T4 2 (PS - P4) + TS2 (P4 - P3)
T4 TS

2 2
3 [Tn-1 (Pn - Pn-l) + Tn (Pn-l - Pn-2)J
Tn-l Tn
3 (Pn - Pn-l)
Tn .

2) When the primary derivation vector is specified at both ends

Namely, when PI' and Pn' are specified, [A] and [B] are as follows:

[AJ

1 0 0 .............................. 0
T3 2 (T2+T3) T2 0 .................... 0
0 T4 2 (T3+T4) T3 0 ........... 0
0 0 TS 2 (T4+TS) T4 0 .. 0

o •••••••••• '••••••••••• 0 Tn 2 (Tn-l+Tn) Tn-l

o ••••••••••••••••••••••••••••••••• 0 0 1

- 62 -
 11-4.13

[B]

P1'
2 2
3 [T2 (P3 - P2) + T3 (P2 - P1)
T2 T3
2 2
3 [T3 (P4 - P3) + T4 (P3 - P2)
T3 T4
2 P4) + Ts2 (P4 - P3)
3 [T4 (Ps
T4 Ts

2 2
3 [Tn-1 (Pn - Pn-1) + Tn (Pn-1 - Pn-2)]
Tn-1 Tn
Pn'

(Note 4) The spline interpolation command (G06.1) is equivalent to the group 01

of G codes.
(Note 5) The G codes specifiable in the spline interpolation mode are listed
below.
G04: Dwell
GOs.1: Multi-buffer
G09: Exact stop
G61: Exact stop mode
G64: Cutting mode
G6s: Macro call
G66: Macro mordal call A
G66.1: Macro mordal call B
G67: Macro mordal call AlB cancel
G90: Absolute command
G91: Incremental command
(Note 6) The spline interpolation mode can be specified in the following G code
modes.
G20: Inch input
G21: Metric input
G22: Stored stroke check ON
Gs1: Scaling
Gs1.1: Programmable mirror image
G61: Exact stop mode
G64: Cutting mode
G68: Coordinate system rotation
G90: Absolute command
G91: Incremental command
G94: Per minute feed
(Note 7) Cancel the canned cycle mode, and specify G06.1.
(Note 8) Cancel the tool length offset, tool position offset, cutter
compensation and three-dimensional cutter compensation modes, and
specify G06.1.

- 63 -
 11-4.14

4.14 Spline Interpolation B

In the spline interpolation B, the spline curve passing through the point
specified is interpolated. By means of this, the curve smoothly passing through
the points can be machined. Furthermore, it ceases to be necessary that the
curve smoothly passing through the points by commanding the spline interpolation
command resembles the precise line or arc, and the tape length of the machining
tape also becomes shortened.

4.14.1 Command method

Spline interpolation mode results from the following command.

G06.1 ;

When a G code of another group 01 is commanded, the spline interpolation mode is

cancelled.

Program example) The following programs N120 -NSOO are spline interpolation
modes.

NllO GOI X Y Z PI
N120 G06.1
N130 X Y Z P
2
N140 X Y Z P
NlSO X Y Z- P 3
4

NSOO X Y z
NSlO GOI X Y z

PI

- 64 -
 11-4.14.2

During spline interpolation, fulfill the following conditions between the curves
before and after the command point. By means of this, a smooth curve can be
machined.

ffi Connection points (command points) are in agreement.

Connecting vectors at connection points are in agreement.
(Step CD
micro vectors relating to t at curves before and after are in
agreement.)
CD Curvatures at connection points are in agreement.
(Step @ micro vectors relating to t at curves before and after are in
agreement.)
CNC automatically creates the first spline curve from the command point
continuing after G06.1, and the successive spline curves are created.
The tangential direction vector for the start point to the G06.1 block can be
commanded.

G06.1 X Y Z

However,
The X component of tangential direction vector of X axis
The Y component of tangential direction vector of Y axis
The Z component of tangential direction vector of Z axis

As for the G06.1 (spline interpolation) mode feed speed, command the connecting
direction feed speed by F code.
This tangential speed becomes the tangential speed for the rectangular
coordinate system to be made· by the commanded axis. During spline
interpolation, the speed component of each· axis direction will change during
time. If the speed component of each axis at a certain point in time is set as
Fx, Fy, Fz, then

Connecting speed F = (Fx 2 + Fy2 + Fz2)1/2

will result.
Spline interpolation can be set during 3-dimensional tool compensation mode. At
this time the 3-dimensional tool compensation vector is automatically generated
by the spline interpolation function.

Function form
The spline curve is an n points parametric 3-dimensional curve passing through
an n+1 points array.
If the position vector of a point on one curve is P, the parameter is t, and A,
B, C, D are the vector coefficients, the general form of the 3-dimensional curve
will be:
3 2
P = At + Bt + Ct + D
(However, set 0 ~ t < 1)

Spline interpolation is achieved by the CNC by obtaining these coefficients from

the command point and changing t.

4.14.2 3-dimensional offset command

Spline interpolation can be set during 3-dimensional tool compensation mode.
However, the 3-dimensional tool compensation vector during the spline
interpolation mode is automatically generated by the spline interpolation
function. The spline curve during the 3-dimensional tool compensation mode is
made by passing through the points which added this 3-dimensional tool
compensation vector to each command point.
The 3-dimensional tool compensation vector of the spline interpolation function
is as follows.

- 6S -
 11-4.14.2

CD 3-dimensional tool compensation vector at start point

Uses 3-dimensional tool compensation vector commanded by 3-dimensional tool
compensation command block.
When G41 I!JiK~.n.~; is commanded, if the 3-dimensional tool compensation
vector is K, its vector component (Kx, Ky, Kz) will be given as follows.

Kx (i r) / p
Ky (j r) / p
Kz (k r) / p

At this time, r is the offset amount corresponding to the commanded offset

number d. 2 2 2 1/2
Further,. p = (i + j + k) •

CD 3-dimensional tool compensation vector after 2nd point

1) Vector Perpendicular to plane of that point, previous point, and
next point, and line between previous point and next point.
2) Direction: Has direction close to 3-dimensional tool compensation vector
of previous point.
(Close direction means that if 3-dimensional tool
compensation vector of previous point is V0' 3-dimensional
tool compensation vector of that point is V, and angle
between V and V is 9, then 191 < 90°.)
3) Size Offset amount ~ecomes size corresponding to offset number
commanded by G41.
3-dimensional tool compensation vector of end point
1) Vector Perpendicular to plane of end point, previous point, and
point previous to that, and line between end point and its
previous point.
2) Direction: Has direction close to 3-dimensional tool compensation vector
of previous point.
(Close direction means that if 3-dimensional tool
compensation vector of previous point is V0' 3-dimensional
tool compensation vector of that point is V, and angle
between V and V is 9, then 191 < 90°.)
3) Size Offset amount ~ecomes size corresponding to offset number
commanded by G41.
When spline interpolation mode finishes, the 3-dimensional tool compensation
vector created at end point is continued as it is.

Program example) The following programs N120 - N600 are spline interpolations
during 3-dimensional tool compensation vector mode.

01000 Command point Offset point

N110 G01 G41 X Y Z I J K D F Q1
N120 G06.1 - - - - PI
P Q2
2
N130 X Y Z P Q3
N140 X Y
-
Z P
3
Q4
N1S0 X Y
-
Z P
4
QS
- - s
N600 X Y Z P Qn
GOl X- y n
N610 Z Pn +1
- -

- 66 -
 11-4.14.2

3-dimensional tool compensation vector commanded by G41

3-dimensional tool compensation vector during spline interpolation
mode
(VI = K results.)

Path where offsets applied

Path by program command

\K
\
\
\

\ I 0 I < 90°
Pn+l

Note 1) When making a 3-dimensional tool compensation vector of a point after

2nd point, when that point, previous point, and next point are on the
same line, the vector plane cannot be decided. In this case, for the
vector plane create a vector pl~ne from the 3-dimensional tool
compensation vector of this line and the previous point.

Note 2) When making a 3-dimensional tool compensation vector of a point after

2nd point, when previous point and next point are the same point, a
3-dimensional tool compensation vector is created in the linear
direction connecting the. previous point (next point) and that point.

Note 3) When making a 3-dimensional tool compensation vector of a point after

2nd point, when that point, previous point, and next point are the same
point, the 3-dimensional tool compensation vector of the previous point
is used as it is.

- 67 -
 11-4.14.2

Note 4) Command the angle formed by the 3 points during spline interpolation
which generates the 3-dimensional tool compensation vector such that it
is an obtuse angle. There are some cases when the correct vector
direction cannot be obtained when 90 0 or less is commanded.

<Precautions>
1) The multi buffer option is necessary for this function.
2) Set equal intervals for the intervals of command points to set spline
interpolation as much as possible. If equal intervals are set as much as
possible, a smooth spline curve can be generated.
3) Make the size of the connecting vector to command by the G06.1 block agree
with the distance between the spline interpolation start point and 2nd point
as much as possible. If it is in agreement as much as possible, a smooth
spline curve can be generated.
4) Spline interpolation command (G06.1) becomes G code group Ot.
S) It is necessary to give all commands for the axis to command during spline
interpolation mode by G06.1 block (when commanding connecting vector at start
point) or the next block (when not commanding connecting vector at start
point).

Example) When commanding connecting When not commanding connecting

vector at start point vector at start point

NIOO G06.1 XIO. YIO. Z-lO.; NIOO G06.1

NIIO XIS. NIIO XIS. YO. ZOo
N120 Y20. ZlO. N120 Y20. ZlO.
N130 X20. Y2S. Z-lO N130 X20. Y2S. Z-lO

6) Be sure to set the block during spline interpolation mode as a block which is
move command. Further, do not command a G code or Mcode which does not
perform buffering. If a block without move or G code or M code which does
not perform buffering is commanded, that block will not be able to generate a
smooth spline curve.
7) Be sure to command auxiliary functions during spline interpolation mode by a
block the same as the move command.
8) The following are the G codes which can be commanded during spline
interpolation mode.

G61: Exact stop check

G64: Cutting mode
G6S: Macro call
G90: Absolute command
G91: Incremental command

However, be sure to command the following G codes by a block the same as the
move command.

G61, G64, G90, G91

- 68 -
 11-4.14.2

9) Spline interpolation mode can be commanded during the following G code

modes.

G17 XY plane selection

G18 ZX plane selection
G19 YZ plane selection
G20 Inch input
G21 Millimeter input
G22 Stored stroke check function ON
G23 Stored stroke check function OFF
G40 Tool diameter compensation cancel/3-dimensional tool diameter
compensation cancel
G41 3-dimensional tool compensation
G43 Tool length compensation mode
G49 Tool length compensation cancel
GSO Scaling cancel
GS1 Scaling
GSO.1: Programmable mirror image cancel
GS1.1 : Programmable mirror image
GS4 Work coordinate system 1 selection
GSS Work coordinate system 2 selection
GS6 Work coordinate system 3 selection
GS7 Work coordinate system 4 selection
GS8 Work coordinate system S selection
GS9 Work coordinate system 6 selection
G61 Exact stop check
G64 Cutting mode
G66 Macro modal call A
G66.1: Macro modal call B
G67 Macro modal call AlB cancel
G68 Coordinate rotation
G69 Coordinate rotation cancel
G80 Canned cycle cancel
G90 Absolute command
G91 Incremental command
G94 Feed per minute

10) For canned cycle mode, command G06.1 after cancelling.

11) For tool position offset and tool diameter offset modes, command G06.1 after
cancelling.
12) Be sure to insert the move command at the head block of the sub program to
be called during spline interpolation mode.

Example) 01000; - - - 01000 X Y Z

- 69 -
 u-s

5. THREAD CUTTING (G33)

5.1 Equal Lead Thread Cutting (G33)

Equal lead straight and taper threads can be cut with a G33 command.
The command shown below is used for thread cutting and the lead is specified
numerically following address F. The thread start angle can be shifted.
Multiple threads can easily be cut by the thread start angle shift.
G33 IP F Q ,
F ---:--Lea~the long axis
Q Shift angle of thread start angle (0° - 360°)
In general, thread cutting is repeated along the same tool path in rough cutting
through finish cutting for a screw. Since thread cutting starts when the
position coder mounted on the spindle detects a I-turn signal, threading is
started at a fixed point and the tool path on the workpiece is unchanged for
repeated thread cutting. Note that the spindle speed must remain constant from
rough cutting through finish cutting. If not, incorrect thread lead will occur.
In cutting tapered screws, the lead with the greater value in the X or Z
direction must be specified.

~
If ex < 0
45 Leadis LZ
LX If ex < 0
45 Leadis LX

Z
LZ

In general, the lag of the servo system, etc. will produce somewhat incorrect
leads at the starting and ending points of Cl thread cut. To compensate for
this, a threading length somewhat longer than required should be specified.
Programmable lead length is as follows:

Least command increment Lead range

l-1etric input 0.01 mm 0.0001-5000.0000 mm/rev

0.001 mm 0.00001-500.00000 mm/rev

,
0.0001 mm 0.000001-50.000000 mm/rev

Inch input 0.001 inch 0.00001-500.00000 inch/rev

0.0001 inch 0.000001-50.000000 inch/rev

0.00001 inch 0.0000001-5.000000 inch/rev

- 70 -
 11-5.1

The spindle speed is limited as follows:

1 < R < Maximum feedrate
- - Thread lead
R Allowable number of position coder revolutions
R Spindle speed (rpm)
Thread lead mm or inch
Maximum feed rate: mm/min or inch/min
The smaller value of the maximum command value in the feed
per minute or of the maximum feed rate subject to
restriction by motors and machine tool.
Allowable number of position coder revolutions: 4000 rpm (position coder A)
6000 rpm (position coder B)
(Note 1) Spindle speed is read continuously from the position coder mounted on
the spindle and converted into the feed rate per minute to feed the
tool.
(Note 2) Feedrate override is applied to the converted feedrate, but is fixed to
100%.
(Note 3) The converted feed rate is applied with the feed rate clamp.
(Note 4) The feed hold is ineffective during thread cutting. If the feed hold
button is pushed during thread cutting, the tool stops at the end point
of the block immediately following the block in which thread cutting is
completed.

(Example)

N20G90GOOX100.0Y ••• S4S M3;

N21Z200.0;
_______ X N22G33Z120.0FS.0;
.N23M19;
z N24GOOX10S.0;
N2SZ200.0MO;
N26X100.0M3;
N27G04X2.0;
N28G33Z120.0FS.0;

- 71 -
 11-5.2

Explanation
N20, N2I: The tool center is positioned at the central point of the lower
hole. The spindle rotates clockwise.
N22 The first thread cutting operation starts. Thread lead is
specified by address F.
N23 As shown in the above diagram, the spindle stops at a fixed
position on the circumference as commanded by MI9. (MI9: Oriented
spindle stop)
N24 The tool is retracted in the X-axis direction.
N25 The tool is pulled to the upper position of the hole. The MO
commands a program to stop, allowing the operator to adjust the
tool for the second thread cutting operation.
N26 The tool center is repositioned at the central point of the lower
hole and the spindle resumes clockwise rotation.
N27 When the move command of the N26 block is short, specify a dwell
command so the spindle can reach the rated speed.
N28 The second thread cutting operation starts.

5.2 Inch Threading (G33)

Specifying the number of thread ridges per inch; inch threads can be cut
accurately.
G33 IP _ _ E _ _ Q _ _ ,
E Number of ridges per inch
Q Shift angle of thread start angle
(Example inch-threading)

Z axis

70mm

Thread lead: 3 ridges/inch (= 8.4666 ••• )

01: 3mm
02: 1.5 mm
Cutting depth in the X axis direction is 1 mm (Cut twice)
G9IG33Z - 74.5E3.0; (Three ridges/inch)
GOO X - 10.0;
Z 74.5;
X 11.0; (Second 1 ram cut)
G33 Z - 74.5 E3.0;
GOO X - 10.0;
Z 74.5;
(Note 1) Whether E code is used for inch-thread cutting (specifying the number
of ridges) or for precision thread cutting (specifying lead), it is
selected by parameter SLE (Data No. 2402).

- 72 -
 11-5.3

5.3 Continuous Thread Cutting

Continuous thread cutting in which thread cutting command block is continuously

commanded is available.
It is controlled so that the spindle synchronism shift (occurred when shifting
from one block to another) is kept to a minimum; therefore, special threads,
like threads which leads or shape change during the cycle, can also be cut.

G33

In case of threading the same positions while changing the cutting depth, thread
ridges are not broken.
(Note 1) The thread cutting start angle shift is effective only at the start of
the first thread cutting block.

- 73 -
 11-6

6. FEED FUNCTIONS

6.1 Rapid Traverse

Positioning is done in rapid motion by the positioning command (GOO).

There is no need to program rapid traverse rate because the rates are set in the
parameter (data No.1420) (Per axis).
Rapid traverse rate can be overridden by a switch on the machine operator's
panel:
FO, F1, 50, 100%.
FO: A constant speed per axis set by parameter (data No.1421)
F1: A constant % set by parameter (data No.1412)

Note) In IS-B, an error of up to 8 mm/min will result to the feedrate set by

parameter.

6.2 Cutting Feed Rate

Feed speed of linear interpolation (GOl) and circular interpolation (G02, G03)
are commanded with numbers after the F code.

6.2.1 Tangential speed constant control

In cutting feed, it is controlled so the speed of the tangential direction is
always the same commanded speed.

x
x Starting point

End point

Fx
End point
Starting Fz
point
L -________________________ ~ Z
z
For arc

F: Feedrate along tangential direction

Fx: Feedrate component along X-axis direction
Fz: Feedrate component along Z-axis direction

F = IFxz + Fz2

6.2.2 Cutting feed rate clamp

The cutting feed rate upper limit can be set as parameters (data No .1422) of
each axis. If the actual cutting feed rate (feed rate with override) is
commanded exceeding the upper limit, it is clamped to a speed not exceeding the
upper limit value.
The clamped values are set in mm/min or inch/min.
Convert the feed rate per spindle revolution into mm/min or inch/min with the
following equation:
fm = fr x R
where fm: Feed rate per minute (mm/min or inch/min)
fr: Feed rate per spindle revolution (mm/rev or inch/rev)
R: Spindle speed (rpm)

- 74 -
 11-6.2.3

Except during acceleration or deceleration, the CNC arithmetic error for the
command value of the feed rate is within +2%. This error is applied to the time
measured for the tool to move a dista~e of 500 mm or more after becoming
stationary.

6.2.3 Feed per minute (G94)

With the per minute feed mode G94, tool feed rate per minute is directly
commanded by numerical value after F.

Feed per minute

(mm/min or inch/min)

Tool

Workpiece

Table
Per minute feed

G94 is modal. Once commanded, it is effective until G95 (per revolution feed)
is commanded.

6.2.4 Feed per revolution (G95)

Specify feed per revolution mode by G95.
Following F, directly specify the feed of tool per spindle revolution. It is
necessary to mount a position coder on the spindle.
G95 is modal. After G95 is specified, it is effective until G94 (feed per
minute) is specified.

Feed per spindle revolution

(mm/rev or inch/rev)

Per revolution feed

(Note) When the rotation speed of the position coder is 1 rpm or less, the feed
rate becomes nonuniform.
In cases where machining is not adversely affected by feed rate
nonuniformity, the position coder can be used at 1 rpm or less.
Though the degree of nonuniformity differs according to the case, the
degree becomes large as the rotation speed becomes low under 1 rpm.

- 75 -
 II-6.2,4

Units for F for feed per minute and feed per revolution
1) Units where there is no decimal point

Per Revolution
Input System Per Minute Command (G94)
Command (G9S)

Metric F41 *1 0 1

Command range F1 - F24000*2 F1 - F24000*2 -------------

F1 - FSOOOO*2

Linear axis 1 mm/min 0.1 mm/min 0.1 mm/rev

Rotary axis 1 deg/min 0.1 deg/min 0.01 deg/rev

Inches Output system Metric Inches

Command range F1 - F96000*2 F1 - F240000*2 -------------

F1 - FSOOOOO*2

Linear axis 0.01 inch/min 0.01 inch/min 0.0001 inch/rev

Rotary axis 0.01 deg/min 0.01 deg/min 0.0001 deg/rev

*1: Parameter 2400111 is the F41 setting. (However, this is invalid when the
setting unit is IS-A)
*2; Where there is a high resolution sensor interface the maximum value is
mUltiplied by 10.

2) When there is a decimal point

The decimal places are read as rom, degrees or inches.

3) Speed where commands are for simultaneously operating axes using different
setting units
Degrees are converted to mm and inches.

(Example 1)

For F41 = 0 and the following setting units when input units are metric and feed
per minute:

X: IS-B (0.001 mm)

Y: IS-B (0.001 mm)
C: IS-C (0.0001 deg)

G01 G91 G94 X 100.0 Y 200.0 C 300.0 F1000;

2 2
L =J1002 + 200 + 300 = 374.17 mm
: 300 deg is converted to 300 mm.

Distribution time T

374.17 rom
T = 0.37417min
1000 rom/min

C axis speed Fe

300 deg
Fe = 801. 784deg/min
0.37417 min

- 76 -
 11-6.2.5

(Example 2)

For the following setting units when input units are inches and feed per minute:

X: IS-B (0.0001 inch)

Y: IS-B (0.0001 inch)
C: IS-C (0.0001 deg)

G01 G91 G94 X 100.0 Y 200.0 C 300.0 F1000;

L =J1002 + 200 2 + 300 2

= 374. 17inch
: 300 deg is converted to 300 inch.

Distribution time T

T = 374.17 mm 37.417min
10 inch/min

C axis speed Fc

300 deg
Fc 8.0184deg/min
37.417 min

6.2.5 Inverse time (G93)

Inverse time specifying mode (G93 mode) is selected when the G code (G93) is
commanded.
Command the inverse time (FRN) by the F code. The format of the F code is F4.3
(0.001-9999.999). For FRN, specify the following:
1) For linear interpolation (G01)
Feed rate mm/inch (for mm input)
Feed rate or inch/min ,(for inch input)
FRN mm (for mm input) ,
Distance Distance
or inch (for inch input)
2) For circular interpolation (G02, G03)
Feed rate Feed rate : mm/min or inch/min
FRN arc radius Arc radius: mm or inch

(Note 1) In G93 mode, the F code is regarded as non-modal. Therefore, the F

code must be specified in each block. If no F code is specified, an
alarm is indicated.
(Note 2) G93 belongs to the same group (group 05) as that of G95 (feed per
revolution) and G94 (feed per minute), and is modal.
(Note 3) When FO is commanded in G93 mode, the feed rate becomes the max.
cutting feed rate.

- 77 -
 1I-6.2.6

Format of G93, G94 and G95 are shown below.

Inverse time
Feed per minute Feed per revolution
specifying

Meaning Inverse time Tool feed amount Tool feed amount

specifying per minute per spindle revolution

Address F F F

G code G93 G94 G95

Override In G93, G94 and G95, overrides can be applied.

Clamp Value The feed rate is clamped at the maximum feedrate.

The clamp value is set by the machine tool builder.
(The feed rate after the override is applied is clamped.)

6.2.6 One-digit F code feed

Specifying a one-digit number (1 to 9) following F produces a feed rate set
correspondingly to that number. The feed rate is set in advance as a parameter
for each number. FO produces rapid traverse speed.
Rotating the manual pulse generator with the F I-digit feed rate change switch
on the machine operator's panel ON, increases or decreases the feed rate for the
currently selected number. .
Fmax i
The increase or decrease of feed rate 6F = 100X per scale of manual pulse
generator,
where, Fmax 1: feed rate upper limit for FI-F4 (parameter setting)
Fmax 2: feed rate upper limit for F5-F9 (parameter setting)
X any value of 1-127 (parameter setting)
The feed rate set or altered is kept even while the power is off. The current
feed rate is displayed on the CRT.
When plural manual pulse generators are available, use the 1st manual pulse
generator without fail.

6.2.7 Setting input of feed rate

For machines which are not required to change cutting feed rates while
machining, cutting feed rates can be instructed with a parameter. Then, to
instruct cutting feed rates (F code) in the NC command data is not required any
more. When a numerical value except 0 is set in the parameter (No. 1493), the
cutting feed rate is initialized with the value set in the parameter when the
power is turned on. When set 0, this means "Cutting feed rates are not
instructed with the parameter",and then cutting feed rates will not initialized
when applying the power.
However, even when instructing cutting feed rate with the parameter, its command
in the NC command data is in effect. In addition, its value will be maintained
until another cutting feed rate is commanded or the power is removed.
Besides, when the cutting feed rate is specified with the parameter (parameter
No. 1493 is not 0), F code, the modal information, is not cleared by reset
irrespective of the content of parameter NCM (No. 2401 bit 7).

- 78 -
 11-6.3

6.3 Override

Refer to machine tool builder's manual for details of overrides.

6.3.1 Feed rate override

The per minute feed (G94) and per rotation feed (G95) can be overridden using
the switch on the machine operator's panel by:
o to 254% (per every 1%) or 0 to 200% (per every 10%).
Feed rate override cannot be applied to such functions as thread cutting and
tapping in which override is inhibited.

6.3.2 Second feed rate override

All cutting feed rate can be overridden by:
o to 254% (per every 1%).
A second override can be performed on feed rates once overrided.
No override can be performed on functions such as thread cutting and tapping in
which override is inhibited.

6.3.3 Rapid traverse override

The rapid traverse rate can be overridden using the switch on the machine
operator's panel by:
FO, F1, 50, 100%.
FO: A constant speed per axis can be set by parameter (data No.1421)
F1: A constant % can be set by parameter (data No.1412)

6.3.4 Override cancel

Feed rate override and the second feed rate override can be clamped to 100% by a
signal from the machine side.

6.3.5 Rigid tap return speed override function

In rigid tap machining, after cutting, override can be applied to the return
speed when withdrawing from the tap bottom position up to the position of the R
point.
It is possible to apply the override in 10% intervals in the range of 10 - 200%
by the parameter (data No. 5705).

- 79 -
 11-6.4

G84.2/G84.3(G98) G84.2/G84.3(G99)

U Initial point
.............. -," ..........................................-~
.U_______ ,_________________ ,'~
,,,
,, I

,, ,,
,, ,,,
I

, .,'
." , R point R point

F F X q F Fxq

,
Z point Z point

(Tap bottom position) (Tap bottom position)

F: Cutting speed q: Override

Fig. 6.3.5 Override of rigid tap

6.4 Automatic Acceleration/Deceleration

6.4.1 Automatic acceleration/deceleration after interpolation

Acceleration and deceleration is performed when starting and ending movement.
This results in smooth starts and stops.
Automatic acceleration/deceleration is also performed when feed rate changes.
Therefore, changes in speed are also smooth.
It is not necessary to take acceleration/deceleration into consideration when
programming.
Rapid traverse: Liner acceleration/deceleration (time constant is parameter
set per axis) (Data No. 1620)
Cutting feed Exponential acceleration/deceleration (time constant is set
by parameters on each axis) (Data No. 1622)
Jogging Exponential acceleration/deceleration (time constant is
parameter set per axis) (Data No. 1624)

- 80 -
 11-6.4.1

Rate after acceleration/deceleration

Rate after interpolation control
CNC
command

Acceleration Servo control Servo motor

/ decelera tion
Pulse distribution control
(Interpolation)
Acceleration Servo control
/ decelera tion
control

Ra'te after interpolation

r
/ _ - - - Rate after acceleration/deceleration
/ control
/
/
/
/ Rate after acceleration/deceleration
control

Rapid traverse
F : Rapid traverse
RMAX
Acceleration/
deceleration time
Speed constant (data
No.1620)

JOG feed F : Jog feed rate

J
Jog feed time constant
(data No.1624)
Speed
Low feed rate after
deceleration
~~__-f~____r-____________~~____~~(data No.1625)

Feed, Dry run

F : Feed rate, Dry run rate
c
j--a----i-~--~------------------~~----F c : Acceleration/deceleration
time consant
(data No. 1622)

Time

- 81 -
 11-6.4.2

6.4.2 Linear acceleration/deceleration before cutting feed interpolation

Linear acceleration/ deceleration can be applied to cut ting feed command speed
before performing interpolation. Machined shape error caused by delay of
acceleration/ deceleration can thus be excluded. Compared to the exponential
acceleration/deceleration, the linear acceleration/deceleration can greatly
decrease acceler.ation/ decelera tion time.

CNC
command

Pulse distribution Servo control Servo meter

motor
(Interpolation)

Servo control
'--------~
......--------0
Feed rate

Linear acceleration/
F deceleration before
interpolation
Feed rate F: Feedrate command
command

Feed rate

Time

Linear acceleration/deceleration before cutting feed interpolation is done to

the tangential direction feed rate command value.

6.4.3 Linear acceleration/deceleration after cutting feed interpolation

When this function is added the following acceleration/deceleration are applied.
Rapid traverse: Linear acceleration/deceleration
(Constant acceleration/deceleration)
Acceleration/deceleration time constant of each axis is set by
parameter (Data No. 1620)
Cutting feed Linear acceleration/deceleration
(Constant acceleration time)
Acceleration/deceleration time constant of each axis is set by
parameter (Data No. 1622)
Jogging feed Linear acceleration/deceleration
(Constant acceleration time)
Acceleration/deceleration time constant of each axis is set by
parameter (Data No. 1624)
That is to say, when this function is equipped with, linear acceleration and
deceleration (acceleration time constant) are applied to cutting feed, jogging
feed and dry run. In the linear acceleration/deceleration, if the time con~tant
is the same, the delay for the command is 1/2 smaller than that in exponential
acceleration/deceleration, thus making it possible to substantially reduce the
time required for acceleration and deceleration. For circular interpolation,
when a high-speed circle cutting operation is performed in particular, the
actual tool path to which acceleration and deceleration are applied will have an
error for the commanded circle in the radius direction, but this error is
significantly reduced, compared with the exponential acceleration/deceleration.

- 82 -
 11-6.4.3

Speed

Acceleration/
deceleration
circuit

Time

Fig. 1 Exponential acceleration/deceleration

Speed Speed

Acceleration/
deceleration
circuit

Time

Fig. 2 linear acceleration/deceleration after interpolation

When the function "Linear Acceleration/Deceleration after Cutting Feed

Interpolation" is provided, the time constants of cutting feed and jogging feed
on each axis should be set to parameters 1622 and 1624 respectively as is the
case with the exponential acceleration/ deceleration. The setting of cutting
feed FL speed (parameter 1623) and jogging feed FL speed (parameter 1625)
becomes invalid, which is equivalent-to "0" setting.
(Note 1) When the function "Linear Acceleration/Deceleration after Cutting Feed
Interpolation" is provided, linear acceleration and deceleration are
applied to cutting feed, jogging feed and dry run; however, the
parameter setting permits the exponential acceleration/deceleration for
jogging feed. It also permits the exponential
acceleration/deceleration for cutting feed and dry run.

7 6 543 2 1 o
JGEx ICTExl

Parameter input
Data format: Bit axis type
CTEx Cutting feed and dry run:
0: Linear acceleration/deceleration after interpolation
1: Exponential acceleration/deceleration

JGEx Jogging feed:

0: Linear acceleration/deceleration after interpolation
1: Exponential acceleration/deceleration
CTEx and JGEx are significant only when the optional function "Linear
Acceleration/Deceleration after Cutting Feed Interpolation" is
provided, while when it is not available, the exponential acceleration/
deceleration are applied regardless of the preset value.

- 83 -
 II-6.4.3

(Note 2) For circular interpolation, when a high-speed circle cutting operation

is performed in particular, the actual tool path to which acceleration
and deceleration are applied has an error for the command circle in the
radius direction.
y

Command path

~r: Maximum value for radius error (mm)

v: Feed rate (rom/sec)
r: Circle radius (mm)
T: Acceleration/deceleration time constant (sec)
T: Servo loop time constant (sec)

The maximum value of error in this radius direction is obtained

approximately by the following equation.

2
~r (.!.T 2 + .!.T 2) v ••••• For exponential acceleration/deceleration
2 1 2 2 r

~r For linear acceleration/deceleration after

interpolation

Consequently, in case of the linear acceleration/deceleration after

interpolation if an error caused by the servo loop time constant is
excluded, the radius directional error will be reduced to 1/12,
compared with the exponential acceleration/deceleration.

- 84 -
 11-6.4.4

6.4.4 Bell-shaped acceleration/deceleration after cutting feed interpolation

This function smooths acceleration/deceleration to m1n1m1ze a shock to the
machine system. With this function, the acceleration/deceleration is as
follows:
Rapid traverse: Linear acceleration/deceleration
(Acceleration speed is constant.)
Cutting feed Bell-shaped acceleration/deceleration
(Acceleration time is constant.)
Jog feed Bell-shaped acceleration/deceleration
(Acceleration time is constant.)
Dry run Bell-shaped acceleration/deceleration
(Acceleration time is constant.)

Speed
Speed
---....,. - - - - - - l
I

Time
Time

I
1-- !' ,- !'
Bell-shaped acceleration/deceleration 1
I

!' : Time constant

The cutting feed time constant and the jog feed time constant for each axis
are set in the parameters (data Nos. 1622 and 1624, respectively).
The cutting speed is accelerated or decelerated accprding to the time
constant.
The type of acceleration/deceleration, exponential function or bell-shaped,
can be selected also by the parameter setting (data No. 1600).
When the bell-shaped acceleration/deceleration is selected, the setting of FL
speed in cutting feed (data No. 1623) and the FL speed in jog feed (data No.
16259) becomes invalid (regarded ,usually 0).

- 85 -
 11-6.4.5

6.4.5 Acceleration/deceleration before pre-read interpolation

It is possible to eliminate the figure error caused by interpolation by
accelerating and decelerating the speed to be interpolated (Pulse distribution)
in the tangential direction. However, even if the speed in the tangential
direction is constant, since the speed changes forming steps in the block in
which the movement direction changes as far as the speed component in the each
axis direction is concerned, it is necessary to decelerate the speed in the
block in which the speed change is remarkable. The look-ahead acceleration/
deceleration before interpolation function looks several blocks ahead, and
checks whether the change of speed component in each axis is greater than the
value specified by parameter. If it exceeds the specified value, the function
determines a target feedrate at the end of the corner so that the speed
component in each axis does not exceed the specified value, and decreases the
speed so that the target feedrate is reached at the end of the block (See
Example 1). The constant acceleration method is applied to reduce the time
spent during acceleration or deceleration.
If blocks in which the distance is not sufficient for the desired deceleration
continue, the deceleration must (start at a preceding block to meet the speed
requirement for the target block. This is achieved by the look-ahead
acceleration/deceleration 'before interpolation.
Servo
motor
Servo Ln
L--c_o_ntr_o_I---J1U
Pluse
distribution
K)
Servo

-------
control

F Acceleration!
deceleration
before pre-read
Feedrate interpolation
command

Speed

F: Feedrate command value

F

~------------~------~--~ Time

1) Commands
The following commands enable and disable the look-ahead acceleration/
deceleration before interpolation function:
GOS.1 Q1 Enables the acceleration/deceleration before pre-read inter-
polation:
GOS.1 PI QO; Disables the acceleration/deceleration before pre-read inter-
polation:
Parameters are available which determine whether to enable or disable this
function at power-on time or in the cleared status (the data No. 2401#6 MBF).

- 86 -
 11-6.4.5

2) Changing the feedrate

Changing the feedrate causes the following:
Deceleration: Deceleration starts at a preceding block so that before the
target block is reached, the deceleration is completed.
Acceleration: Acceleration starts at the target block.

Example of deceleration

Speed
t
Point! - - Specified feedrate
F3 ------... . ... --. --. Feedrate after
acceleration/deceleration
before interpolation

Point2
F2 --------,
\

\
\
\

\
\
\
\

Fl '--------'--------''--- Time
'N 1 N2

Example of acceleration

Speed
t
- - Specified feedrate
F3 .--.-----. Feedrate after
acceleration/deceleration
before interpolation

F2 1--------,-"...-1.

F1 L -_ _ _ _---'--_ _ _ _ _---'L...--_ Time

Nl N2

- 87 -
 11-6.4.5

3) Determining the permissible speed change at a corner

Since the feedrate is decreased so that the speed change does not exceed a
value specified for a corner, the smaller the specified speed change is, the
weaker a chock at a corner becomes. Therefore, if a value small enough is
specified as the permissible speed change, it is not necessary to use the
acceleration/deceleration after interpolation function, in which case
machining preclusion is improved. A smaller permissible speed change,
however, causes deceleration at the corner section, thus resulting in the
prolonged machining time.
The user should determine the time constants for the permissible speed change
and the acceleration/deceleration after interpolation after seeking a
tradeoff between the desired machining time and the target precision.

Permissible speed change Small • II' Large

(No. 1478)

Time constant after interpolation Can be smaller ---- Should be larger

(No'. 1622)

Machining error Small- Large

Machining time Large • .. Small

4) Determining the time constant for acceleration/deceleration before inter-

polation
Theoretically, machining error does not vary with the time constant for
acceleration/deceleration before interpolation. In reality, however, the
machine cannot keep pace with the time constant if it is too small, thus
causing machining error.
On the other hand, too large a time constant prolongs the machining time.
The best way' is to select the smallest possible time constant in the range
which the machine can bear with.
Before determining the optimum time constant, move a machine in a simple
manner (like one-axis reciprocating motion), and check whether there is not
too strong a shock on the machine and whether the VCMD does not overshoot.

(Example 1) 00001 ; N3
GOS.1 Q1
N1 G01 G91 X10. F1000
N2 Y10. ;
N3 X-10.
N4 Y-10. N4 ' N2
GOS.1 PI QO
M30 ;

Nl

Speed

Permissible
speed change
Time

- 88 -
 11-6.4.5

(Example 2) 00002 ;
GOS.1 Q1 ; N14
N01 G01 G91 Y-10. F1000
N02 XS.
N03 Y2. , N7
N04 Xl. Y2.
NOS X2. Y2.
N06 X2. Y1.
N07 X2. Nl N13
N08 X2. Y-1
N09 X2. Y-2.
N10 Xl. Y-2.
N11 Y-2. ;
N12 XS. ; N3 Nll
N13 Y10. ;
N14 X-22. ; N2 N12
GOS.1 P1 QO
M30

Speed

Permissible speed
change

~----------~----~--~~~--~------~------~--~ TIme

N3 -- Nll
(Note 1) This function requires an optional multi-buffer feature.
(Note 2) Do not perform the following operations during machining. Otherwise,
the block may be ended before deceleration is completed, or the block
may not be completely shifted even after deceleration is completed.
(1) Turning on and off a dry run.
(2) Applying external deceleration.
(3) OperB;tion in the feed mode where the CNC command program cannot
specify a feedrate.
(Note 3) F1-digit feed can not be specified in the acceleration/deceleration
before pre-read interpolation mode.
(Note 4) The override data is read and calculated in the pre-read phase. When
the override data is changed during the acceleration/deceleration
before pre-read interpolation mode, it does not have an immediate
effect. It takes effect after the lS blocks remaining in the buffer
are processed.
(Note S) Do not enter the following commands during the acceleration/decelera-
tion before pre-read interpolation mode:
G02.3, G03.3: Exponential interpolation
G06.1 Spline interpolation
G07 Hyphothetical axis interpolation
G07.1 Cylindrical interpolation
G12.1, G13.1: Polar coordinate interpolation
(Note 6) The acceleration rate for the acceleration/deceleration mode is set by
the parameter defined by the data No. 1630 and No. 1631.
The permissible speed change is set by parameter No. 1478.

- 89 -
 11-6.5

6.5 Speed Control at Corners of Blocks

For linear acceleration/deceleration after interpolation, the acceleration or

deceleration is applied in feed start or feed stop automatically with a time
constant, so the machine tool system is not jarred. Therefore, this need not be
considered when programming.
Because of automatic acceleration and deceleration, corners are not cut sharply.
In this case, deceleration command (GOg or G61) must be inserted between the
blocks to cut a sharp corner.
For example, if the tool moves along the X axis only in one block and along the
Z axis in the next block, the feed rate for the X axis decelerates while motion
along the Z axis accelerates and the actual tool path is as follows.
Insert a deceleration command here

L -
--- Z
Programmed path

Actual tool path

If the deceleration command is inserted, the actual tool path matches the
programmed path. The faster the feed rate and the larger the
acceleration/deceleration time constant, the larger the error at the corner.
In circular interpolation, the actual arc radius is smaller than that of the
programmed arc. (See the Appendix. 3) This error can be minimized by making
the acceleration/deceleration time constant of feed rate small.
With linear acceleration/deceleration before interpolation, the machine tool
system may be jarred at the corner. In this case, insert a deceleration command
(GOg or G61) at the corner .
. (Note 1) The following chart shows feed rate changes between blocks of
information specifying different types of movement.

~New block

Positioning
block Positioning

x
Feed

x
Not moving

Feed x 0 x

Not moving x x x

x: The next block is executed after commanded rate has decelerated to

zero.
0: The next block is executed sequentially so that the feed rate is not
changed by very much. In a GOg block or G61 mode block, however,
the next block is executed after the feedrate becomes O.

- gO -
 11-6.5.1

6.5.1 Exact stop (G09)

Move couunand in blocks couunanded with G09 decelerates at the end point, and
in-position check (Note) is performed. G09 command is not necessary for
deceleration at the end point, for positioning and inposition check is also done
automatically. This function is used when sharp edges are required for
workpiece corners in cutting feed.

Note) In-position check gives notice of the next check to be carried out. The
next check can be selected by parameter (No.1000#0 CIP).
QD Checks that the command speed during deceleration becomes 0
(acceleration/deceleration delay disappears).
GD Checks that the command speed becomes 0 during deceleration and that
the machine position reaches the command position (the amount of error
is within a set limit.)

6.5.2 Exact stop mode (G61)

When G61 is commanded, deceleration is applied to the end point of cutting block
and in-position check is performed per block thereafter. This G61 is valid till
G64 (cutting mode), G62 (automatic corner override), or G63 (tapping mode) is
commanded.

6.5.3 Cutting mode (G64)

When G64 is commanded, deceleration at the end point of each block thereafter is
not performed, and cutting goes on to the next block. This command is valid
till G61 (exact stop mode), G62 (automatic corner override), or G63 (tapping
mode) is commanded.

6.5.4 Tapping mode (G63)

When G63 is commanded, feed rate override is ignored (always regarded as 100%),
and feed hold also becomes invalid. Cutting feed does not decelerate at the end
of block to transfer to the next block. This command is valid till G61 (exact
stop mode), G62 (automatic corner override), or G64 (cutting mode) is commanded.

6.5.5 Automatic corner override (G62)

When G62 is commanded during cutter compensation, cutting feed rate is
automatically overridden at corner. The cutting quantity per unit time of the
corner is thus controlled so as not to increase. This command is valid till G61
(exact stop mode), G64 (cutting mode), or G63 (tapping mode) is commanded.
If cutting is made at a programmed feedrate at inner circular region during the
execution of the cutter compensation, the cutter may be overloaded to rough cut
surfaces. This function automatically decelerates the tool movement to lighten
the cutter load at these region so as to obtain clean cut surfaces.
1) Autom~tic override at inner corners
a) Operating conditions
The feedrate is automatically overridden when all the following
conditions are satisfied in both blocks before and after a corner.
i) G code of group 01 is G01, G02, or G03.
ii) The offset quantity is not 0 in the offset mode.
iii) The offset is made inside at a corner to be machined.
iv) An axis moves along the offset plane.
v) Neither G41 nor G42 command is included in the subsequent block.
vi) Neither G41 nor G42 command is included in the previous block, or the
block is not started up, if either command is included.
vii) An inner corner is smaller than 9 preset by a parameter.
The angle is judged about the programmed path.

- 91 -
 II-6.S.2

i) Straight line - straight line

------ Programmed path.

Cutter center path

ii) Straight line-arc

iii) Arc - straight line

4{Y------
iv) Arc - arc

When Q S 9p, the corner is regarded as inside.

9p value is set by parameter (No. 6611) (2S9pS178 unitO)
If 9 is almost equal to 9p, the decision may include an error within
0.001°.
b) Motion area
When a corner is judged as inside, the feedrate is overridden from the
distance range within Le of the block on this side from the intersection
of the corner to the distance range within Ls of the next block from the
intersection of the corner. Distances Ls and Le are linear distances
from a point on the cutter center. path to the intersection of the
corner. Le and Ls are set by parameters (No. 6613 and 6614),
respectively.

- 92 -
 11-6.5.5

--~~~
-a -.::::---::-
__

-
Cutter center pat].!. _ " ,
~
_--
~
'b
, ,
" ,

The feedrate is overriden from point a to point b •

"

.- - ;:.~\\'
"....
/
,,/
/
"..
", ......Le
, \\
~"" \,~
a/ '

/
/
" "-~b
........
Programmed path

I """ Cutter center Pllth

The feedrate is overridden from point a to b.

In case of an arc, this override function to the end point of a block is
effective when the following condition is satisfied.
1) The distance is within Le.

The override function to the end point of a block is effective when the
following condition is satisfied.
1) The distance is within Ls.

(Example) In case of disc

Programmed path

Cutter center path

Regarding program ® of an arc, the feedrate is overridden from point a

to point b and from point c to point d.
(Note) Ls and Le are the distances between point a and b and between c and d
along the straight line in case of FS6, while they are the distances
along the arc in case of IS-MA.

- 93 -
 11-6.5.5

c) Override quantity
The override quantity is set by parameter No.
I~Override quantity (1% step)~100(%)
It is also effective for the dry run and Fl digit command.
In case of an F4 digit command, actual feedrate becomes
F x (internal corner override) x (feedrate override)
d) Whether internal corner override is effective or not
Whether the internal corner is overridden or not is selectable by G
codes. G62 is added to G61 and G64 in group 15 as shown in the follow-
ing table. These G codes are also related to whether the exact stop
check mode is effective or not.

Exact stop check mode Internal corner override

G61 Effective Ineffective

G62 Ineffective Effective

G64 Ineffective Ineffective

(Note 1) G64 functions when power is turned on or under the clear condition.
(Note 2) Specify G09, if you want to check the exact stop in G62 mode.
(Note 3) The internal circular cutting feedrate change described in (2) is
always effective without being affected by these G codes.
2) Internal circular cutting feedrate change
In case of the internal offset circular cutting, the feedrate in the
programmed path is set to the specified F by setting actual feedrate to F x
Rc/Rp (where, Rc: Cutter center path radius Rp: programmed radius) with
reference to the specified feedrate (F).
This change is also effective for dry run and Fl digit command.

(Example 1)

"
" \
\
\
\
\
Cutter center path Programmed path

However, if Rc is very small as compared with Rp II Rc/Rp = 0, causing the

cutter to stop. Accordingly, the minimum reduction ratio (MDR) is set to
make the actual feedrate F x (MDR) when Rc/Rp~R.
MDR is set by parameter No. 6610.
I~R (1% step)~100
This is also applicable to Fl digit' and dry run.
The reduction ratio of the automatic override at internal corners is not
affected by MDR.
(Note 1) If the automatic override at internal corner overlaps the internal
circular cutting, actual feedrate becomes as follows.
FxRc/Rpx(override at corner)x(feedrate override)

- 94 -
 11-6.6

6.6 Speed Control Commands

6.6.1 Automatic speed control in involute interpolation

1) Outline
Automatic speed control in involute interpolation is a function to enable
cutting of a cutting surface with a higher level of machining precision by
automatically applying the following two types of override to the programmed
feedrate during involute interpolation •
• Override at cutter compensation inner offset
• Override in proximity of a basic circle
a) Override at cutter compensation inner offset
When cutter compensation is applied to involute interpolation, the speed
along the tangential direction in the center path (tool center path) is
controlled by regular involute interpolation to ensure that the programmed
feedrate is obtained.
At this time, the speed at the periphery of the tool (cutting point) in
the programmed path which becomes the actual cutting speed changes because
the curvature of the involute curve changes continuously.
Particularly, when offset is applied to the tool inside the involute
curve, the closer the tool approaches the basic circle, the more the
actual cutting speed increases in comparison with the commanded feedrate.
In order to conduct smooth machining, it is preferable that the actual
cutting speed be controlled so that the programmed feedrate is obtained.
This function calculates the override corresponding to the curvature of
the involute curve which is always subj ect to change, particularly in
involute interpolation at inner offset. This ensures that the actual
cutting speed, which is the speed in the tangential direction at the
cutting point, is controlled to obtain the programmed feedrate.

Tool center path

Program command path

b) Override in proximity of a basic circle

At times when there is relatively severe change in the curvature of the
involute curve in the proximity 9f a basic curve, if cutting is performed
at the programmed feedrate, considerable load is placed on the cutter and
a clean cutting surface is not obtained.
By this function, when there is relatively severe change in the curvature
of the involute curve in the proximity of a basic circle, tool movement is
automatically decelerated according to the parameter settings in order to
reduce load on the cutter, thereby obtaining a clean cutting surface.

- 95 -
 11-6.6.1

2) Override at cutter compensation inner offset (OVRa)

When inner cutter compensation has been applied in relation to an involute
curve, override (OVRa) is applied automatically so that the cutting tip of
the tool, and not the tool center, attains the programmed f~edrate. As a
result, the tangential speed at the cutting point is kept constant. (Refer
to the figure below.)

OVRa = Rcp x 100

Rcp + Rofs

Where, Rcp Radius of curvature at the tool center of the involute curve
passing through the tool center
Rofs: Tool radius

Programmed path
Rep

Cutting point

Basic circle

3) Override in proximity of basic circle (OVRb)

Override can be applied in proportion to the size of the radius of curvature
when change in the curvature in the proximity of a basic circle is severe.
In other words, the following override (OVRb) will be applied to bring the
radius of curvature at the cutting point to a size within the range set of
parameters (Rlmtl) - (RlmtS).

In the case of Rlmtl > Rcp ± Rofs ~ Rlmt2

100 - OVR2
OVRb = Rlmtl - Rlmt2 * (Rcp ± Rofs - Rlmt2) + OVR2

In the case of Rlmt2 > Rcp + Rofs ~ Rlmt3

OVR2 - OVR3
OVRb = Rlmt2 - Rlmt3 * (Rcp ± Rofs - Rlmt3) + OVR3

In the case of Rlmt3 > Rcp ± Rofs ~ Rlmt4

OVR3 - OVR4
OVRb = Rlmt3 - Rlmt4
* (Rcp ± Rofs - Rlmt4) + OVR4

In the case of Rlmt4 > Rcp ± Rofs ~ RlmtS

OVR4 - OVRS
OVRb
Rlmt4 - RlmtS * (Rcp ± Rofs - RlmtS) + OVRS

- 96 -
 11-6.6.2

However, Rlmt1 - Rlmt5, and OVR2 - OVR5 are set by parameters 6620 - 6624,
and 6631 - 6634.
Rcp + Rofs indic"ates Rcp + Rofs at inner side offset and Rcp - Pofs at outer
side-offset.

OVR

- ---.- --- - - - - - -.-- -._ ••••• -. _ •• - -- - _.- -. - • __ • • - - -. - - • • • • _ •• _. - _ • • • • -;;0-- - - - - -

OVR2
OVR3
OVR4
OVR5
oVR 10 1------""
o Rcp± Rofs
Rlmt5 Rlmt4 Rlmt3 Rlmt2 Rlmtl [O.OOlmm]

4) Lower limit of override (OVRlo)

When override is applied at cutter compensation inner offset or in the
proximity of a basic circle, the speed of the tool center in the proximity of
the basic circle is likely to become o. To avoid this situation, a lower
limit of override should be set (OVRlo) by parameter.
If override less than the value set by parameter 6630 (OVRlo) is applied, the
speed (OVRlo) will be clamped.

OVRa < OVRlo

or

OVRb < OVRlo

or

OVRa * OVRb < OVRlo

where F is the programmed feedrate and F' is the actual feedrate in the
tangential direction.

F' = F * OVRlo

6.6.2 Polar coordinate interpolation automatic speed control

Conventionally, when the speed component of the rotating axis during polar
coordinate interpolation mode exceeds the setting value of the maximum cutting
feed speed (parameter No. 1422), the OT512 alarm (speed excess alarm) occurs,
but by this function the speed is automatically controlled so that the speed
excess alarm will not occur.
The speed is controlled by the following two methods.
1) Automatic override
When the speed component of the rotating axis has exceeded the permissible
speed (Note 1), override (Note 2) is applied automatically to the cutting
feed speed.

- 97 -
 11-6.6.2

Note 1) The permissible speed is that for which the permissible percentage
(parameter No. 1056) is applied to the maximum cutting feedrate of the
rotating axis.
Note 2) The override is found by the following expression; the permissible speed
divided -by the speed component of the rotating axis multipled by 100%.

2) Automatic speed clamp

When the speed component of the rotating axis has exceeded the maximum
cutting feedrate even though the automatic override of 1) was performed, the
speed of the rotating axis is clamped so that it will not exceed the maximum
cutting feedrate.
Normally, the automatic speed clamp is only performed when the tool center is
extremely close to the rotating axis center.

Note 1) When machine lock and interlock have come on during automatic speed
clamp, sometimes the machine lock and interlock do not immediately
become effective.
Note 2) When feed hold has come on during automatic speed clamp, the 8PL signal
(automatic operation stop) is outputted after receiving feed hold.
However, sometimes it does not stop immediately.

Example) G90 GOO X10.0 CO. C axis

G12.1 ;
G01 CO.1 F1000
X -10.0
G13.1 ;
X axis

When the above program is executed after setting the 360 (3600 deg/min)
for the maximum cutting feedrate (parameter No. 1422) of the rotating
axis, and 0 (90%) for the polar coordinate interpolation automatic
override permissible percentage (parameter No. 1056), override begins
to be applied automatically at X = 2.273 (point A) and automatic speed
clamp starts at X = 0.524 (point B). At this time, the minimum value
of the automatic override is 3%. Then, automatic speed clamp is
performed up to X = -0.524 (point C) and automatic override is applied
up to X = -2.273 (point D).

Note) At this point the coordinate value is the value in the rectangular
coordinate system.

- 98 -
 11-6.7

6.7 Dwell (G04)

With the G04 command, shifting to the next block can be delayed.
When commanded with a per minute feed mode (G94), shifting to the next block can
be delayed for the commanded minutes.
When commanded with a per rotation feed mode (G9S), shifting to the next block
can be delayed till the spindle rotates for the commanded angles.
Dwell may always be specified by time, irrespective of G94 and G9S by parameter
selection.
Format
Dwell specified in seconds
G94G04 {~ - - '-} ;
p orx-- Dwell time commanded in seconds (0.01 - 99999.999
sec)
Dwell specified in revolutions
G94G04 {~ --} ;
P orx-- Spindle rotation angle commanded in rev. (0.001 -
99999.999 rev)

- 99 -
 11-7

~ REFERENCE POINT

The reference point is a fixed position on a machine tool to which the tool is
easily moved to by the reference point return function.
The relationship between the reference point and the machine zero point is set
as a parameter (Data No. 1240 - 1243). Also, the relationship between the
machine zero point and the work coordinate system (G54 - G59) is set as a
parameter (Data No. 1221 - 1226). Therefore,. by performing reference point
return after the power is turned on, it is possible to set the machine
coordinate system and the work coordinate system.

Machine
zero point

r~----~--------------z
Work
zero
point

Reference point

a, S: Parameter
y,~: Parameter (Work zero point offset value)

7.1 Automatic Reference Point Return (G28, G29)

7.1.1 Automatic return to reference point (G28)

G28IP _ _ ;
This command specifies automatic return to the reference point for the specified
axes. IP is an intermediate coordinate and is commanded by absolute or
incrementar-values. The intermediate coordinate specified in this block is
stored in memory_
The G28 block is used to position the tool at the intermediate point of all
specified axes at the rapid traverse speed, then move the tool to the reference
point at the rapid traverse rate. If the machine lock has not been set, the
Reference Return lamp goes on.
Intermediate point or reference point positioning is done with rapid traverse
rate of each axis. (Non linear positioning).
Generally, this command is used for automatic tool changing (ATC). Therefore,
for safety, the cutter radius compensation, tool offset and tool length
compensation should be cancelled before executing this command.
(Note 1) When the G28 command is specified when manual return to the reference
point has not been performed a~ter the power has been turned on, the
movement from the intermediate point is the same as in manual return to
the reference point. In this case, the direction from the intermediate
point is equal to that for return to the reference point selected by
parameter setting (Data No. 1006, ZMI).
(Note 2) The coordinate value specified in G28 command is memorized for all axes
as i~ the coordinate value of the intermediate point. In other words,
for axes not specified in the G28 block, the coordinate value memorized
for the intermediate point earlier is taken as the coordinate value of
the intermediate point for the axis.

- 100 -
 11-7.1.2

Example:
N1Xl.OZ2.0;
N2G28X4.0; Intermediate point (4.0, )
N3G28Z6.0; Intermediate point (4.0,15.0)

7.1.2 Automatic return from reference point (G29)

G29IP _ _ ,
This command positions the tool at the commanded position via the intermediate
point of a commanded axis. Generally, it is commanded immediately following the
G28 command or G30.
For incremental programming, the command value specifies the incremental value
from the intermediate point.
In the G29 block operation, all commanded axes are positioned at the
intermediate point defined by the previous G28 command, and then to the
commanded point from the intermediate point at the rapid traverse speed.
Application examples of G28 and G29

R
y
Reference point

Tool is changed
at R point.
B

700

500

300

x (mm)
o 300 1300 1800

(G9l)
G28X1000.OY200.0; (Program A to B)
Tllll;
G29X1800.0Y300.0; (Program B to C)
As shown in the examples, the programmer is'not required to calculate the actual
move distance from the intermediate point to the reference point.
(Note 1) When the work coordinate system is changed after the tool reaches the
reference point through the intermediate point by the G28 and G30
commands, the intermediate point also shifts to a new coordinate
system. If G29 is then commanded, the tool moves to the commanded
position through the intermediate point which has been shifted to the
new coordinate system.

1.2 Reference Point Return Check (G21)

A reference point is fixed on the machine tool, and the cutter can be moved to
that point by the reference point return function.
The G27 reference point return check function checks whether or not the program
returns to the reference point normally, as programmed.
G27IP _ _ ,

- 101 -
 11-7.3

This command positions the tool at rapid traverse rate. If the tool reaches the
reference point, the reference point return lamp lights up and the next block is
executed. However, if the position reached by the tool is not the reference
point, an alarm is displayed.
(Note 1) In cutter compensation 'mode, the position to be reached by the tool
with the G27 command is the position obtained by adding the offset
value. Therefore, if the position with the offset value added is not
the reference point, the lamp does not light up, but an alarm is
displayed instead. Usually, compensations should be cancelled before
G27 is commanded.
(Note 2) When the machine tool system is an inch system with metric input, the
reference point return lamp may also light up even if the programmed
position is shifted from the reference point by 1)..1. This is because
the least input increment of the machine tool system is smaller than
its least command increment.
(Note 3) If G27 is commanded with machine lock on, the reference point return
check is not done.

7.3 2nd, 3rd and 4th Reference Point Return (G30)

P2
G30 P3 IP _____ ; (P2 can be omitted.)
P4
P2: 2nd reference point
P3: 3rd reference point
P4: 4th reference point
This command returns the commanded axis to the 2nd, 3rd, or 4th reference point
automatically.
The positions of the 2nd, 3rd, and 4th reference points are determined by
presetting the distance from the reference point as a parameter (Data No. 1241 -
1243) during field adjustment. This function is the same as the G28 reference
point return, except that this function returns the tool to the 2nd, 3rd, or 4th
reference point instead of the primary reference point.
If G29 is commanded immediately following G30, the tool is positioned to the
point commanded by G29 through the intermediate point commanded by G30. This
motion is the same as that by the G29 command following the G28 command.
The G30 command is generally used when the automatic tool changer (ATC) position
differs from the reference point.
(Note 1) At least one manual reference point return or automatic reference point
return must be performed by the G28 command after the power supply is
turned on and prior to issuing G30 command.
(Note 2) Like the G28 command, cancel the cutter compensation, tool offset, and
tool length offset before this command is executed.

7.4 Floating Reference Point Return (G30.1)

A tool can be returned to the floating reference point by the command

G30.1 F ___ ;.
The floating reference point is a position used as a reference for some
mechanical operation at a certain point on the machine.
It is not a fixed point, and may be varied in some cases. Generally, in the
machining center and the milling machine, the position in which the tool can be
changed is the fixed position which is determined in the machine.
At such position, the tool is not always changed no matter where the machine is
located.
Accordingly, the tool change position is located at the 2nd or 3rd reference
point, and the tool can be returned to the position easily by the G30 command.
If the tool does not contact with the workpiece, depending upon the type of
machine used, the tool may be changed at any position in some cases.

- 102 -
 11-7.4

In such machine, it is better to change the tool at a position which is not so

far away from the workpiece as to shorten the cycle time.
For this purpose, it is recommended to change the tool change position each time
the profile of the workpiece is changed.
This operation can be performed easily by this function. In other words, the
optimum tool change posi tion for the workpiece is memorized as a floating
reference point, thereby, it becomes possible to return to the tool change
position simply by command G30.1.
Specify the "lP "command in absolute or incremental value at the
intermediate point to the floating reference point. The floating reference
point is the machine coordinate position obtained when it is stored by pressing
the MEM FRP softkey in the current position display screen.
The operation of G30.1 block is started by positioning of the specified axis to
the intermediate point by rapid traverse, and followed by positioning to the
floating reference point by rapid traverse. Each axis is moved to the
intermediate point and the floating reference point in the rapid traverse mode
(non-linear type positioning).

Example of using G30.1

Intermediate point
(40, 50) ~ Floating reference
#------- 'f' point

Workpiece

__ ~~____________________________________________________________________________________________ X

G30.1G90X50.0Y40.0;

(Note 1) When G30.1 is executed, tool nose radius compensation and tool position
offset should be cancelled.
(Note 2) The floating reference point is preserved even if the power is turned
off.

- 103 -
 11-8

8. COORDINATE SYSTEM AND COORDINATE VALUE

When the position to be reached by the tool is given, the CNC moves the tool to
that position. The position to be reached by the tool is given as a coordinate
value in a coordinate system. The following three types of coordinate systems
are available.
(i) Machine coordinate system
(ii) Work coordinate system
(iii) Local coordinate system
The position to be reached by the tool is commanded with a coordinate value of
one of the above coordinate systems, as required. The coordinate value consists
of one component for each program axis.
If there are three program axes (X, Y, and Z), the coordinate value is expressed
as follows:
X Y Z

25.0

y
30.0

Position of a tool when X40.0Y30.0Z35.0 is commanded

If there are three linear axes (X, Y, and Z) and one rotating axis (C), the
coordinate value can be expressed with four components, shown below:
X Y Z C
Since the number of program axes, that is, the number of components for the
coordinate value, varies with the machine tools, the coordinate value is
referred to as IP in this manual.

8.1 Machine Coordinate System

The machine zero point. is a standard point on' the machine. The machine zero
point is normally decided in accordance with the machine by the machine tool
builder.
A coordinate system having the zero point at the machine zero point is called
the machine c90rdinate system.
The tool cannot always move to the machine zero point, because in some cases,
the machine· zero point is set at a position to which the tool cannot move.
The machine coordinate system is established when the reference point return is
first executed after the power is on.

- 104 -
 I1-S.1.l

Once the machine coordinate system is established, it is not changed by reset,

change of work coordinate system (G92), local coordinate system setting (GS2) or
other operations unless the power is turned off.
The stored stroke limit (G22 or G23), which specifies the stroke of the machine,
can be set by using the coordinates of the machine coordinate system.

8.1. 1 Setting machine coordinate system

The machine coordinate system is inherent to each machine. It can be set'
through manual return to the reference point. The machine coordinate system in
which the reference point is the predetermined coordinate value (by parameter
1240) is established.

Machine coordinate system

Machine origin

a and {j: Parameter set values

~
~~~--------------~ ....
~..1 ~
Reference point

8.1.2 Selection of machine coordinate system (G53)

(G90)GS3IP _ _ ,
When this command is specified, the tool moves to the position of the IP
coordinate value in the machine coordinate system at rapid traverse. Since GS3
is a one-shot G code, it is effective only in the block in which GS3 is
specified. It is effective only in absolute mode (G90) and is ignored in
incremental mode (G91).
When the tool moves to a position specially determined for the machine tool,
such as tool change position, programming is performed in the machine coordinate
system by using the GS3 command.
(Note 1) When the GS3 command is specified, canGe! the cutter compensation, tool
length offset, and tool offset.
(Note 2) Generally, the machine zero point is different from the reference point
for the reference point return function.
(Note 3) Since the machine coordinate system must be set before the GS3 command
is specified, at least one manual reference point return or automatic
reference point return by the G28 command must be performed after the
power is turned on.

8.2 Work Coordinate System

A coordinate system used for work machining is call the work coordinate system.
The work coordinate system is set by either of the following method:

- 105 -
 11-8.2.1

1) Using G92 command.

2) Using G54 to G59 command.
In case of 1), a work coordinate system is established by specifying coordinate
values after G92.
In case of 2), six work coordinate systems are preset from MDI/CRT panel as
setting data and any of them can be selected by G54 to G59 command.

8.2.1 Setting work coordinate system - Method by G92

1) Establishing coordinate system
G92IP _ _ ;
This command establishes the work coordinate system so that a certain point
of the tool, for example the tool tip, becomes IP in the established work
coordinate system.
Any subsequent absolute commands use the position in this work coordinate
system.
(Example 1)
Meet the program-
ming start point
Z with the tool tip
and command G92 at
the start of the
program.

23.0

25.2

G92X25.2Z23.0;

- 106 -
 11-8.2.2

(Example 2)

1200.01--------'--..--0---'

x
600.0

Coordinate system setting by the G92X600.0Z1200.0; command

(When a start point is based on the base point of the tool holder)

As shown above, G92 is also used to align the base point of the tool holder with
the start point and to establish a coordinate system at the beginning of the
program. If an absolute command is issued, the base point moves to the
commanded position. In order to move the tool tip to the commanded position,
the difference from the tool tip to the base point is compensated by tool length
offset •.
(Note 1) If a coordinate system is set with the G92 command in the offset mode,
the coordinate system is set so the position, before cutter radius
compensation, tool length compensation or tool offset is applied,
becomes that specified by G92.
(Note 2) In the cutter radius compensation, offset is temporarily cancelled by a
G92 command.
(Note 3) When the manual reference point return is performed under the reset
state (OP signal off), the work zero point offset value is cancelled
and the original work coordinate system is established. When the
manual reference point return is performed under automatic operation
state (OP signal on), whether the original work coordinate system is
set or not is selected by parameter.

8.2.2 Setting work coordinate system - Method by G54 - G59

1) Setting work coordinate system
Six work coordinate systems can be set.
These six systems are decided by setting the distances of each axis ·from the
machine zero point to the zero points of the coordinate systems, (i.e. the
work zero point offset value, by using the CRT/MDI panel).

- 107 -
 11-8.2.2

Work coordinate Work coordinate Work coordinate Work coordinate

system 1 system 2 system 3 system 4

Work coordinate
system 5

ZOFS
ZOFSl: Work zero point offset value (Data No.1221) Work coordinate
system 6
of work coordinate system 1
ZOFS2: Work zero point offset value (Data No.1222)
of work coordinate system 2
ZOFS3: Work zero point offset value (Data No.1223)
of work coordinate system 3
ZOFS4: Work zero point offset value (Data No.1224)
of work coordinate system 4
ZOFS5: Work zero point offset value (Data No.1225)
of work coordinate system 5
ZOFS6: Work zero point offset value (Data No. 1226)
of work coordinate system 6

2) Shifting work coordin.ate system

Six work coordinate systems can be shifted by a specified value (external
work zero point offset value).

Work coordinate Work coordinate Work coordinate Work coordinate

system 1 system 2 system 3 system 4

Work coordinate
system 5

- 108 -
 II-8.2.3

EXOFS: External work zero point offset value (Data No. 1220)
External work zero point offset value can be changed in three ways.
CD Using CRT /MDI panel
Refer to Chapter III.
QD Using program (GI0)
Refer to B.2.4.
Q) Using external data input.
An input sign enables you to change work coordinate systems. Refer to
machine tool builder's manual for details.
(Note 1) When a shift value is specified, the work coordinate systems shift
at once.
(Note 2) When G92 is specified after a shift value has been specified, the
shift value is ignored.

(Example)
When G92XI00.0ZBO.0; is commanded, a work co.ordinate system in which present
tool position is X = 100.0, Z = BO.O is established, irrespective of set
shift value.

(Note 3) Whether the shift value of the X axis is a diameter value or a

radius value depends on the diameter specification or radius
specification of the part program.

8.2.3 Selecting work coordinate system (G54 - G59)

Six coordinate systems proper to the machine tool are set in advance, permitting
the selection of any of them by GS4 to GS9.
GS4 •••••••••• Work coordinate system 1
GSS •••••••••• Work coordinate system 2
GS6 •••••••••• Work coordinate system.3
GS7 •••••••••• Work coordinate system 4
GSB •••••••••• Work coordinate system S
'GS9 •••••••••• Work coordinate system 6
The six coordinate systems are determined by setting distances (work zero offset
values) in each axis from the machine zero point to their respective zen'
points.
Example: GSSGOOX20.0Zl00.0;
X 40.0Z20.0;
In the above example, positioning is made to positions (X=20.0, Z=lOO.O) and
(X=40.0, Z=20.0) in work coordinate system 2.
Where the tool is positioned on the machine depends on work zero point offset
values.
x x Work coordinate
Work coordinate sys tern 1 to 6 are
Work coordinate System 2
System 1 established after
--T (40.0,20.0) reference point
--1----- -- --1 (20.0,100.0)
I I
return after the
power is turned on.
100.0 Z When the power is
turned on, GS4
coordinate system
Machine zero is selected.

- 109 -
 11-8.2.4

8.2.4 Changing work coordinate systems - (G54 - G59)

Six work coordinate systems (G54 to G59) are provided, but when they are not
sufficient or when they are to be moved for each program, a programmed command
can be used to shift them.
1) Using GI0
GI0 L2 PE. IP _ _ ,
p = 0 External work zero point offset value.
p = 1 to 6: Correspond to work coordinate system 1 to 6~
IP : Work zero point offset value of each axis.
Either the IPcommanded value when execute in G90 mode, or the IP commanded
value plus the current work zero offset value when execute in G91 mode is are
set as work zero offset value.
2) Using G92
G92IP _ ;
By this command, six work coordinate systems move to create a new work
coordinate system so that the tool tip becomes the coordinate value IP
commanded by G92.
Since the distance shifted at this time is added to all subsequent work zero
point offset values, all work coordinate systems move by the same distance.

y y' If G92XI00YI00; is
commanded when the
tool is positioned
160 100 o Tool position
at (200, 160) in
G54 mode, work
coordinate system 1
(X' - Y') shifted
100 by vec tor A is
created.
X'
100

X
100 200

When creating a new work coordinate system with the G92 command, a certain point
of the tool becomes a certain coordinate value; therefore, the new work
coordinate system can be determined irrespective of the old work coordinate
system. If the G92 command is used to determine a start point for machining
based on workpieces, a new coordinate system can be created even if there is an
error in the old work coordinate system. If the relative relationship among the
G54 to G59 work coordinate systems are correctly set at the beginning, all work
coordinate systems become new coordinate systems as desired.

- 110 -
 11-8.2.5

12000 z

G54 work 12000 ~-----'--r-"""--r'

coordinate
system
G55 work
z· coordinate
system

6000 x
r*I"--\-------- Work zero point
shift value created
byG92
x
6000

_ _ _ _ _ _ _ _ _ X'

Work zero point offset value

specified by parameter

x' - Z, Old work coordinate system

x - z New work coordinate system

If G92X600.0Z1200.0; is commanded,(shown in the diagram above) when the G54 work

coordinate system is specified, the G55 work coordinate system is set in so that
the black point on the tool shown in the diagram above becomes position (600.0,
1200.0); provided that the relative relationship between the G54 andG55 work
coordinate systems is set correctly.
Therefore, in loading pallets at two different positions, the two pallet
coordinate systems are set as G54 and G55 work . coordinate systems. When the
coordinate system of one pallet is moved by the G92 command, the coordinate
system of the· other pallet is also moved in the same manner, provided that the
relative relationship of the two work coordinate systems is set correctly.
Accordingly, a workpiece placed on two pallets can be machined with the same
program by merely specifying either G54 or G55.

8.2.5 Additional work coordinate systems (G54.1)

In addition to 6 sets of G54 to G59 work coordinate systems, 48 sets of work
coordinate systems can be used. Additional work coordinate systems can be
selected by the following command:
G54.1 Pn ; (n = 1 to 48)
The coordinate systems selected by G54 to G59 are called standard work
coordinate system and the coordinate systems selected by G54.1 Pn (n = 1 to 48)
are called additional work coordinate system.

- 111 -
 11-8.2.6

When P code is specified together with GS4.1, additional work coordinate systems
1 to 48 are selected according to the P code.
The work coordinate system once selected is valid until other work coordinate
systems are selected. When power is turned ON, GS4 is selected.
(Note 1) Direct P code subsequent to GS4.1.
In the absence of P code within the same block after GS4.1, the
additional work coordinate system 1 (GS4.1P1) is selected.
(Note 2) When a value out of the range is specified for P code, alarm (PS30S) is
produced.
For the work zero point offset value of the added work coordinate systems, the
following operation is available as in the case with the standard work
coordinate system.
1) Function key "OFFSET" can be used for display and setting.
2) G10 function can be used for setting the work zero point offset value
according to a program.
3) The offset value can be handled as system variables with custom macro.
4) The work zero point offset value can be inputted and outputted, using
external data I/O.
S) PMC window function can be used to read out this value as a program command
modal data.

GS4 Standard work coordinate GS4.1 PI Additional work

system 1 coordi~ate system 1
GSS Standard work coordinate GS4.1 P2 Additional work
system 2 coordinate system 2
GS6 Standard work coordinate
system 3
GS7 Standard
system 4
work coordinate j
GS8 Standard work coordinate GS4.1 P47 Additional work
system S coordinate system 47
GS9 Standard work coordinate GS4.1 P48 Additional work
system 6 coordinate system 48

The standard work coordinate system lis referred to as a work coordinate system
selected by GS4.
The additional work coordinate system 1 is referred to as a work coordinate
system selected by GS4.1P1.
The following command sets the work zero point offset values of the additional
work coordinate systems:
G10L20PnIP ; (n = 1 to 48)
For Pn, designate a work coordinate system to be .preset, using the coordinate
system number.
For IP, command the preset value together with the address on each axis. If
this value is of absolute, the specified value ,becomes new offset values. If it
is of incremental, the specified offset value is added to the currently set
offset value; and the sum becomes new offset values.

8.2.6 Presetting work coordinate system

When manual reference point return is performed in the reset state, '. the work
coordinate system, which is shifted from origin on the machine coordinate system
by the work origin offset amount, is preset. For example, when manual reference
point return is performed in the state when the work coordinate system of GS4 is
being selected, the work coordinate system whose origin is separated from the
machine origin by the offset amount of work origin of GS4 is automatically set
(preset), and the distance from the origin on the work coordinate system to the
reference point is considered the current position of the work coordinate
system.

- 112 -
 11-8.2.6

Work coordinate system ofG54

Work origin offset

amount of G54

Reference point (Generally, the reference

point is the same as the machine origin
in most cases.)

Manual reference point return

On the. other hand, when the absolute value detector is provided, the ·work
coordinate system whose origin is separated from the machine origin by the work
origin offset value of G54 is. automatically set. (preset) at power on. The
position of the machine switched on is read from the absolute position coder,
and the value obtained by subtracting the G54 work origin offset value from that
read value is considered the current position of the work coordinate system.
However, the work coordinate system preset in this way is shifted from the
machine coordinate system by the following command or operation:
a) Manual interference with the manual absolute signal turned off.
b) Movement command is executed with the machine locked.
c) Handle interruption, or movement by manual/automatic simultaneous operation.
d) Operation with mirror image.
e) Local coordinate system is set by G52, or work coordinate system is shifted
by G92.
f) Origin of work coordinate system by MDI operation.
Taking the case a) as an example, the work coordinate system is shifted by the
distance of manual interference.

I Work coodinate system ofG54

I before manual interference
I
I
I
I
I
XZO I
Manual interference
value
Work origin offset
amount of G54

Pn

WZn

- 113 -
 11-8.3

It is possible by G code command or MDI operation to preset the work coordinate

system ~hifted once by the above operation to the work coordinate system that is
offset from the machine origin by the work origin offset value just like when
manual reference return is performed. Namely, in the above drawing, this
corresponds to return the origin WZn of the shifted work coordinate system to
the original point W20, and the distance from W20 to Pn is taken as the current
position of the work coordinate system.
1) Presetting the work coordinate system by G code command
The work coordinate system can be preset by specifying G92.1.
By this command, cutter compensation, tool length compensation and tool
offset are also cancelled.
G92.1 IPO;
IP 0: Specifies the address of the axis of which work coordinate system is
desired to preset.
The axis not specified in its address is not preset.
2) Presetting the work coordinate system by MDI operation
The work coordinate system can be preset by MDI operation using the softkey.

8.3 Local Coordinate System (G52)

While programming in a work coordinate system, it is sometimes more convenient

to have a child coordinate system within the work coordinate system. Such a
child coordinate system is called a local coordinate system.
G52 IP
---' specifies child coordinate systems, (i.e., local coordinate
This command
systems)~ for all work coordinate systems (G54 to G59). The zero point of each
local coordinate system is equal to the IP position of each work coordinate
system.

(Local coordinate
lP system)

(Work coordinate
(Local coordinate system)
system: G54)
(Work coordinate
system: G55)
(Local coordinate
system)

Value set by --- --- -- -- (Work coordinate

system: G59)

parameter

(Machine coordinate system)

Zero point of machine coordinate system

~
Reference point

- 114 -
 11-8.3

When a local coordinate system is set, the move commands in absolute mode (G90),
which is subsequently commanded, as are the coordinate values in the local
coordinate system. The local coordinate system can be changed by specifying the
G52 command with the ~ero point of a new local coordinate system in the work
coordinate system. To cancel the local coordinate system and specify the coor-
dinate value in the work coordinate system, match the zero point of the local
coordinate system with that of the work coordinate system.
That is, G521PO; should be specified.

(Note 1) When an axis returns to the reference point by the manual referenc~
point return function, the zero point of the local coordinate system of
the axis matches that of the work coordinate system. The same is true
when the following command is issued:
G52aO;
a: Axis which returns to the reference point
(Note 2) The local coordinate system setting does not change the work and
machine coordinate systems.
(Note 3) The local coordinate system is cancelled when the reset operation is
performed.
(Note 4) If coordinate values are not specified for all axes when setting a work
coordinate system with the G92 command, the local coordinate systems of
axes for which coordinate values were not specified are not cancelled,
but remain unchanged.
(Note 5) G52 cancels the offset temporarily in cutter radius compensation.
(Note 6) Command a move command immediately after the G52 block in the abosolute
mode.

- 115 -
 I1-8.4

8.4 Plane Selection (G17, G18, G19)

A plane in which circular interpolation, cutter compensation, coordinate

rotation or drilling is performed, can be selected with one of these G codes:
G17 •••••••••• XpYp plane
G18 ••••.••.•• ZpXp plane
G19 •••••••••• YpZp plane
where, Xp •.•••••••• X axis or its parallel axis
Yp •••••••••• Y axis or its parallel axis
Zp •••••••••• Z axis or its parallel axis
Which axis, of, several parallel axes is actually assumed, is determined by the
axis address appearing in the block !,n which G17, G18, or G19was specified.
(Example)
When X and U, Y and V, and Z and Ware parallel axes:
G17X Y XY plane
G17U Y YU plane
G18X W WX plane
G18U W WU plane
G19Y Z YZ plane
G19V Z VZ plane
If G17,~ or~is not specified in a block, the plane remains unchanged.
(Example)
G17X Y XY plane
U ----- Y ----- The plane is not changed (XY plane)
When the axis address is omitted in blocks G17, G18, and G19, three basic axis
addresses are assumed to be omitted.
(Example)
G17 XY plane
G17X XY plane
G17Y XY plane
G17U --- UY Plane
G17V XV plane
G18 ZX plane
G18W WX plane

(Note 1) An additional axis can be made a parallel axis of the X, Y, or Z axes

by parameter setting (parameter numbers: 1022).
The movement command is not related to the plane selection.
For example, when G17Z ; is specified, the Z axis does not exist in the XpYp
plane. Only the XY plane is selected and Z moves independently of the plane.
(Note 2) G17 (XY plane) or G18 (ZX plane) is selected when powered on or reset
according to parameter G18 (Data No. 2401).

- 116 -
 11-9

9. COORDINATE VALUE AND DIMENSION

9.1 Absolute and Incremental Programming (G90, G91)

There are two ways to command travels to the axes; the absolute command and the
incremental command. In the absolute command, coordinate value of the end point
is programmed; in the incremental command, move distance of the axis itself is
programmed. G90 and G91 are used to command absolute or incremental command.
G90: Absolute command
G9I: Incremental command

Z
End point
70.0
I
I
I
I
I
I
~~ -----r-------- Start point
I
I
I
I
x
40.0 100.0

For the above figure, incremental command programming results in:

G91 X-60.0 Z40.0;
While absolute command programming results in:
G90 X40.0 Z70.0;

9.2 Polar Coordinate System Command (G15, G16)

The end point coordinate value can be input in polar coordinates (radius ~nd
angle). Use GI5, GI6 for polar coordinates command.
GI5: Polar coordinate system command cancel
GI6: Polar coordinate system command
Plane selection of the polar coordinates is done the same as plane selection in
circular interpolation, using GI7, GI8, GI9.
Command radius in the first axis of the selected plane, and angle in the second
axis. For example, when the X-Y plane is selected, command radius with address
X, and angle with address Y. The plus direction of the angle is
counterclockwise of the selected plane first axis + direction, and the minus
direction is clockwise.
Both radius and angle can be commanded in either absolute or incremental command
(G90, G9I).
(1) When the radius is specified with absolute command
The zero point of the local coordinate system becomes the center of the
polar coordinate system.

Command position
Present position

_~~==:::::::==-.::.Pr~e:sent position

When the angle is specified with When the angle is specified with
absolute. incremental.

- 117 -
 11-9,2

(2) When the radius is specified with incremental command

Command position
/
/
/ r.~\e .
~ Command position

/ r:::~_.'''m
Present position

(Example) Bolt hole cycle (Both radius and angle are absolute.)
NI GI7 G90 GI6; Polar coordinates command, X-Y plane
N2 G8I.XIOO. Y30. Z-20. R-S. F200.; IOOmm radius, 30 0 angle
N3 YISO; IOOmm radius, ISO o angle
N4 Y270; IOOmm radius, 270 0 angle
NS GIS G80; Polar coordinates cancel
(Radius is absolute and angle is incremental)
NI GI7 GI6; Polar coordinates command, X-Y plane
N2 G81 G90 XIOO. Y30. Z-20. R-S. F200.; IOOmm radius, 30 0 angle
N3 G91 YI20.; IOOmm radius, 120 0 angle
N4 YI20; IOOmm radius, 120 0 angle
NS GIS G80; Polar coordinates cancel

Local coordinate system

(Note 1) The following commands are not regarded as polar coordinate commands
even if specified with an axis address.
1) Dwell (G04)
2) Change of offset value by programming (GIO)
3) PMC data setting (GIO.I)
4) Setting of local coordinate system (GS2)
S) Change of work coordinate system (G92)
6) Selection of machine coordinate system (GS3)
7) S~ored stroke check' (G22)
8) Coordinate system rotation (G68)
9) Programmable mirror image (GSO.I)
(Note 2) Specify a radius value in circular interpulation or in helical cutting
(G02, G03) when polar coordinate system is selected.

- 118 -
 11-9.3

9.3 Inch/Metric Conversion (G20, G21)

Either inch or metric input can be selected by G code.

Least input increment

Unit systems G code
IS-A IS-B IS-C

Inch G20 0.001 inch 0.0001 inch 0.00001 inch

Millimeter G21 0.01 mm 0.001 mm 0.0001 inch

This G code must be specified in an independent block before setting the

coordinate system at the beginning of the program. The unit systems of the
following items can be changed with G codes:
(1) Feedrate commanded by F code
(2) Positional command
(3) Work zero point offset value
(4) Unit of scale for manual pulse generator
(5) Movement distance in incremental feed
(6) Some parameters
(Note 1) When the power is turned on, the CNC status is the same as before the
power was turned off.
(Note 2) G20 and G21 must not be switched during a program.
(Note 3) When the machine unit and the input unit systems are different, the
maximum error is half of the least command increment. This error is
not accumulated.
(Note 4) When switching inch input (G20) to metric input (G21) or vice versa,
the work zero point offset value must be reset according to the input
unit. Tool offset values are automatically switched between inch and
nnn.

9.4 Decimal Point Programming/Pocket Calculator Type Decimal Point Programming

This control can input numerical values with a decimal point. Some addresses,
however, cannot use a decimal point. A decimal point may be used with mm,
inches or second values. The location of the decimal point is mm, inch or
second.
Z15.0 Z15 millimeters or Z15 inches.
FI0.0 10 mm/rev, 10 mm/min., 10 inch/rev or 10 inch/min.
G04Xl. Dwell for one second
The following addresses can be used with a decimal point:

- 119 -
 11-9.4

Table 9.4 Addre ••e. for which Decimal Fraction Entry ia Available

System System System

Address Address Address
M M M
A 0 J 0 S 0

B 0 K 0 T

C 0 L U 0

D M V 0

E 0 N W 0

F 0 0 X 0

G 0 P Y 0

H Q o 1) Z 0

I o 1) R 0

0: Available

Note 1) Unavailable in the G26 block (in the spindle-speed fluctuation detection
mode)

Use a parameter (DPI" Data No. 2400) to select input method,· whether by pocket
calculator type input, or by the former type decimal point input.

(Example)

Pocket calculator type Former type decimal

Program command
decimal point input point input

XI000 1000 mm 1 mm

XI000. 1000 mm 1000 mm

(Note 1) In the dwell command, a decimal point can be used with address X but
not with address P. (This is because P is also used for a sequence
number. )
(Note 2) The appropriate G code should be specified before the numerical values
are specified in one block.
1) G20; (inch dimension)
Xl. OG04; •••••••••• Because the value Xl.0 is not regarded as the
number of seconds, but the distance of motion
(in inches), XI0000G04 is assumed which results
in dwelling for 10 seconds. Indication also
changes from 1.0 to 10.0 when G04 is input.
G04Xl.0 ••••••••••• This is regarded as G04XI000 and dwell is
performed for a second.
2) G94; (mm/min specification)
Fl.G95; ••••••••••• FIG95 is assumed, resulting in 0.01 mm/rev.
(G95; mm/rev specification)
G94; mm/min specification
G95Fl.; ••••••••••• G95FI00 is assumed, resulting in 1 mm/rev.

- 120 -
 11-9.5

(Note 3) There is a great difference in values with or without the decimal point
when programmed by conventional decimal point programming.
G21; (millimeter dimensions)
Xl. ......•........... Xl mm
Xl • • . • • • • • • . • • • • • • •• XO. 001 mm
G20; (inch dimensions)
Xl. . ................ . Xl inch
Xl XO.0001 inch
(Note 4) Values with or without a decimal point can be specified together.
X1000Z23.7;
X10. Y22359;
(Note 5) Values less than the least input increment are rounded off.
When X1.23456 is specified, X1.235 is assumed in millimeter input and
X1.2346 is assumed in inch input.
In incremental dimensions, errors accumulate.
In absolute dimensions, errors are not accumulated, but an error
rounded off exists in absolute programming. Also, the number of digits
must not exceed the maximum number of digits allowed.
X1.23456789 •••••••••• This is an error because it exceeds 8 digits.
X1.2345678 •••••••••• This is not an error because it is within 8
digits.
(Note 6) When a number with a decimal point has been input, the number is
converted into an integer of the least input increment.
Example:
X12.34 - - X123400 (input in inches)
This converted integer is checked for its number of digits.
Example:
X1234567.8 ------ X12345678000 (input in inch)
An alarm occurs because the converted integer exceeds 8 digits.

9.5 Diameter and Radius Programming

Since the work cross section is usually circular in CNC lathe control
programming, its dimensions can be specified in two ways:

Diameter and Radius

X-axis
A

L Z-axis

D , D2 ............... Diameter programming

1
Rl' R2 ............... Radius programming

When the diameter is specified, it is called diameter programming and when the
radius is specified, it is called radius programming. Radius programming or
diameter programming can be specified in each axis by parameter (Data No. 1006
DIA). When using diameter programming on the X axis, note the conditions listed
in the following table.

- 121 -
 11-9.5

Item Notes

Z axis command Specified independently of diameter or radius

value.

X axis command Specified with a diameter value.

Incremental command of X axis Specified with a diameter value.

In the above figure, specifies from D2 to Dl
for tool path B to A.

Coordinate system setting (G92) Specifies a X axis coordinate value with a

diameter.

Radius designation in circular Specifies a radius value.

interpolation (R,I,K)

Feedrate along X axis Change of radius/rev

Change of radius/min.

Display of X-axis position Displayed as diameter value.

(Note 1) In the following explanations, although the type of programming

(diameter or radius) is not specified, a X axis graduation indicates a
diameter value in diameter programming and a radius value in radius
programming.

- 122 -
 11-10

10. SPINDLE SPEED FUNCTION

10.1 Spindle Speed Command

By specifying a numerical value following address S, a code signal and a strobe

signal are transmitted to the CNC machine tool. This is mainly used to control
the spindle speed.
An S code can be commanded in a block. Refer to the machine tool builder's
manual for the number of digits commandable with address S and the
correspondence between the S codes and machine operations.
When a move command and an S code are specified in the same block, the commands
are executed in one of the following two ways:
i) Simultaneous execution of the move command and S function commands.
ii) Executing S function commands upon completion of move command execution.
The selection of either sequence depends on the machine tool builder's
specifications. In certain cases these sequences may be provided together in an
CNC machine. Refer to the manual issued by the machine tool builder for
details.

10.2 Constant Surface Speed Control (G96, G97)

The constant surface speed control is provided to calculate the spindle speed so
the surface speed is kept as specified with a tool position change. It then
supplies a voltage, corresponding to the calculated spindle speed, to the
spindle control to rotate the spindle at the correct surface speed when the
surface speed (relative speed of tool and a workpiece) is specified after S.
The surface speed unit is a shown below.

Input unit Surface speed unit

Millimeter m/min

Inch feet/min

This surface speed unit may change according to machine tool builders.

10.2.1 Specification method

For the constant surface speed control, specify the following G codes.
Command constant surface speed as follows:
G96S ;
C::::Surface speed (m/min or feet/min)
Cancel constant surface speed as follows:
G97S ;
C::::Spindle speed (rpm)
To execute the constant surface speed control, it is necessary to set the work
coordinate system so the coordinate value at the e~nter of the rotary axis, for
example, Z axis, (axis to which the constant surface speed control applies)
becomes zero.

_-+---- Z (X =0)

- 123 -
 11-10.2.1

The surface speed (8) in G96 mode is regarded as 8 = 0 until either M03 or M04
is specified; 8 is not effectuated until M03 or M04 is specified.

Spindle speed (rpm)

(n)
3000

2800
2600

2400

2200

2000 As shown in the graph, the spindle speed

(rpm) almost agrees with the surface
1800 speed (rnlmin) at 160 mm (radius)
1600

1400

1200

1000

800

600
400

o 20 40 60 80 100 120 140 160 181.) 200 2ro 240 260 280 300 Radius of work

Relation between work radius, spindle speed and surface speed

(Note 1) The 8 value specified in G96 mode is stored even after G96 mode has
turned to G97 mode, and is recovered when G97 mode has returned to G96
mode.
G96850 (50 m/min or 50 feet/min)
G9781000: (1000 rpm)
G96X3000: (50 m/min or 50 feet/min)
(Note 2) With machine lock, the constant surface speed is calculated according
to a change of the coordinate values of the axis to which the constant
surface speed control is applied, even if the machine tool does not
move.
(Note 3) The constant surface speed control is also effective during threading.
Accordingly, it is recommended that the constant surface speed control
with G97 command be invalidated before starting the face threading and
taper threading, because the response problem in the servo system may
not be considered when the spindle speed changes.
(Note 4) The constant surface speed control mode (G96) is allowable in G94 (feed
per minute).
(Note 5) If 8 (rpm) is not specified in advance in G97 block when G96 mode has
turned to G97 mode, the last spindle speed in G96 mode is employed as 8
in G97 mode.

- 124 -
 11-10.2.2

Nl11G97S800; 800rpm

N222G96S100; 100 m/min

N333G97; X rpm
X shows spindle speed X rpm in the block before N333. In other words,
the spindle speed remains unchanged when the mode has changed from G96
to G97.
The S value specified last in G96 mode becomes effective when G97 turns
to G96.
S = 0 m/min (feed/min)~ if S is not specified.

10.2.2 Clamp of maximum spindle speed (G92)

The maximum spindle speed can be specified by rpm with a numeric value following
G92S during the constant surface speed control.
G92S _ _ ;
If the spindle speed becomes higher than the programmed value during the
constant surface speed control, it is clamped to the maximum spindle speed.
(Note 6) When power is turned on, spindle speed is not clamped.
(Note 7) ~he spindle speed is clamped to the maximum speed in the G96 mode only •
. It is not clamped in G97 mode.
(Note 8) G92S0j means the spindle speed is clamped to 0 rpm.
(Note 9) Whether or not an S code commanded in the same block as G92 can be
regarded as maxium spindle speed command is decided by parameter
(No.2402 SMX).

10.2.3 Rapid traverse (GOO) in constant surface speed control

In a rapid traverse block specified by GOO, the constant surface speed control
is not made by calculating the surface speed to a transient change of the tool
position, but is made by calculating the surface speed based on the position at
the end point of the rapid traverse block, on the condition that cutting is not
executed at rapid traverse.
(Note 10) When parameter RSC (data No.5602) is 0, surface speed is also
calculated during rapid traverse from time to time according to tool
positions.

10.2.4 Constant surface speed control axis

The constant surface speed controlled axis is selectable by a programmed
command.
When it is specified by the program, specify the axis for the constant surface
speed control by address P of the block of G96·. When address P is omitted, or
if PO is specified, an axis set by parameter becomes effective.
PI X, P4 U, P7 A
P2 Y, P5 V, P8 B
P3 Z, P6 W, P9 C

10.3 Spindle Positioning (Index)

In turning operation, a spindle coupled to a spindle motor is turned at a given

speed, allowing a workpiece mounte'd to the spindle to be rotated accordingly for
turning operation.
In this connection, the spindle positioning function moves a spindle coupled to
the spindle motor up to a given angle in order to position a workpiece installed
to the spindle to a given angle.

- 125 -
 11-10.3

The spindle control system is as illustrated below.

When the spindle is rotated for turning operation (hereinafter called "spindle
swirl mode"), the value corresponding to the spindle speed rpm is inputted to
D/A converter from the spindle control unit.
When the spindle is positioned (hereinafter called "spindle positioning mode"),
the instructed movement is inputted into an error counter, which is in turn a
speed command to the spindle motor through D/ A converter, and the spindle
position is thus detected by a position coder installed on the spindle.

Spindle control

CMR
r--- r---

- xM r-- x 1 -.-- Error counter - D/A converter I-- Spindle AMP I-- Spindle motor

,---1 __ ,
I I
I I
:Gear ratio:
I . I
In. m I

DMR 1 024 pu 1se/rev

L_r_J
r--- r-----'
I I
~---~
- x4 I------i IG ear
i--l~ · I
rabor- Spindle
Position coder I l' I
I . P I
I I
I'- _____ ..1I

Gear ratio of spindle Minimum movement unit

to position coder (1:p) (detection unit) deg

1: 1 0.088 (1x360/4096)
1:2 0.176 (2x360/4Q96)
1:4 0.352 (4x360/4096)
1:8 0.703 (8x360/4096)

The spindle positioning fun~tion is classified into the following three

operation.
1. Spindle swirl mode is released to select the spindle positioning mode.
2. In the spindle positioning mode, the spindle is positioned.
3. Spindle positioning mode is released to select the spindle swirl mode.

- 126 -
 11-10.3.1

10.3.1 Command system

1) Least command increment
360
4096 = 0.088 deg
2) Command method
There are two command methods; one is optional angle indexing command, the
other is semi-fixed angle indexing command.
a) Semi-fixed angle indexing by M code
This semi-fixed angle indexing is commanded by a 2-digit numerical value
following address M. Six values from Ma to M(a+5) can be commanded, in
which a is preset to parameter (Data No. 5682). The indexing angles
corresponding to Ma to M(a+5) are as shown in the following table. 6 is
preset to parameter (Data No. 5683).

M code Indexing angle (Example) 6=30°

M 6 30°

M(a+1) 26 60°

M(a+2) 36 90°

M(a+3) 46 120°

M(a+4) 56 150°

M(a+5) 66 180°

b) Optional angle indexing by address C

This optional angle indexing is commanded by a certain digit numerical
value following address C (Plug(+) or minus(-) sign may be prefixed to the
numerical value). Absolute command and incremental command is available.
Command address C in GOO mode.
(Example) C - 1000
i) Least input increment
0.001 deg
ii) Maximum programmable dimensions
±.99999.999 deg
iii) Decimal point programming
A numerical value with decimal point can be inputted. The decimal
point is positioned at "degree".
(Example) C35.0 = C35 degrees
3) Program zero point
The orientation (see 10.3.2) end position is r@~~rded as the program zero
point; provided that the program zero point ca.n be changed by coordinate
system setting (G92) or automatic coordin~t@ sy§tem ~etting (option).
4) Absolute command and incremental command
In command method (a) (by M code), numerical val.u~~ are always given by an
incremental value. In command method (b), n.umerig~l values are always given
by an absolute value or incremental value.

- 127 -
 11-10.3.2

Program zero point

5) Revolution direction
The revolution direction can be set in either direction by parameter IDM
(Data No. 5605).

10.3.2 Orientation
If spindle positioning (indexing) is performed first after the spindle motor was
used as a normal spindle or spindle positioning is interrupted, orientation
shall be performed in advance. Orientation is performed with grid method
reference point return using a low speed type of automatic reference point
return (G28). Since the position coder connected to the spindle automatically
creates grids in reference point return operation for spindle positioning
(indexing), a deceleration signal for reference point return is not required.
The grid shift function allows the orientation position to be shifted in the
range of +180 degrees. In orientation, reference point return operation is
performed by starting movement at the rapid 'traverse rate (data number 1420),
detecting one rotation signal by position coder, and decelerating to FL speed
(data number 1425) automatically. The orientation command is issued by M code
with preset parameters (data number 5680). When orientation is completed, the
point is regarded as program zero point of the spindle (C-axis) and the
coordinate values are set to zero.

(Note) For the C-axis, set the parameter (data number 1005 #3) PLZx (setting to
always preset a work coordinate system in manual reference' point return)
to "1".

- 128 -
 11-10.3.3

10.3.3 Detection unit in spindle indexing

The detection unit differs according to gear ratio between position coder and
spindle.

Gear ratio between spindle and

Detection unit (deg/pulse)
position coder

360
1 : 1 0.088 (= 1 x 4096)

360
1 : 2 0.176 (= 2 x 4096)

1 .4 360
0.352 (= 4 x 4096)

360
1 : 8 0.703 (= 8 x 4096)

(Note) The gear ratio between spindle and position coder is set to parameter
(Data No. 5610).

10.3.4 Feedrate in spindle positioning

1) Positioning speed
Indexing is made at rapid traverse rate as designated by parameter (Data No.
1420), and linearly accelerated or decelerated. When the rapid traverse
override option is provided, the specified rate can be overriden by 100%,
50%, Fl%, and FO (Fl, FO are set by parameters (Data No. 1412, 1421».
2) Orientation speed
In orientation, reference point return operation is performed by starting
movement at rapid traverse rate (data number 1420), detecting one rotation
signal by position coder ,and decelerating to FL speed (data number 1425)
automatically. For allowable speed in orientation, if the rapid traverse
rate in orientation does not satisfy the (formula 1), orientation cannot be
performed properly because one rotation signal cannot be detected.

{(6!G)/Oe088*P} ~ 128 (pulse) (Formula-I)

F: Feedrate (deg/min)
G: Loop gain (-sec)
P: Gear rate between spindle and position coder

While moving at rapid traverse rate, the position deviation of the servo
(diagnose No. 3000) shall be greater than 128 pulses. The rapid traverse
rate (data number 1420) and FL speed (data number 1425) in orientation cannot
be set to values which cause the position deviation of the servo to be
greater than 1024 pulses in (formula-I).

- 129 -
 11-10.3.5

10.3.5 Release of spindle

The spindle indexing is switched to ordinary spindle revolution by commanding
specified M code (set to parameter Data No. 5681).
In addition, by setting parameter #4 (data number 5605). namely reset, spindle
positioning mode can be reset. If a servo alarm occurs during spindle
positioning (indexing), reset the spindle positioning mode.
(Note 1) Commando spindle positioning in an independent block. X, Z-axis
movement command can not be included in the same block.
(Note 2) Spindle positioning can not be done by manual oper~tion.
(Note 3) Program restart and block restart is not done for spindle indexing.
Give the command through MDI in this case.
(Note 4) Feed hold during spindle positioning is invalid.
(Note 5) If the emergency stop is done during spindle positioning, it is soon
stopped. Restart from the orientation.
(Note 6) During indexing, dry run, machine lock, and miscellaneous function lock
are invalid.

10.4 Spindle Speed Fluctuation Detection Function (G25, G26)

This function monitors spindle speed, detects a higher level of fluctuation than
the commanded speed and signals an abnormality, if any, to the machine side,
using an alarm, thereby preventing the spindle from seizure, for example.
1) Detecting method
a) When an alarm occurs after the spindle speed becomes the commanded speed.

Spindle speed

- - Commanded
speed

Actual speed

CHECK NO CHECK CHECK

II' ... II

~------~----------~----------------~~~----------~ Time
Another speed Check Alarm
is commanded start

Commanded speed: (Speed commanded °by S4 digits) x (Spindle override)

Actual speed: Speed detected by position coder
q: Allowable rate for starting checkup
r: Fluctuation rate in which an alarm is given
i: Fluctuation width in which an alarm is given

- 130 -
 11-10.4

b) When an alarm occurs before the spindle speed becomes the commanded speed.

Spindle speed

r-
d
·h Comm anded
tq d
speed
r
.J'~

/ p
Actual
sp eed

CHECK NO CHECK CHECK

Time
Another speed Check Alarm
is commanded start

p: Time between changes in commanded speed and check start

(Note) No checkup is performed until either of the following is satisfied after

the commanded speed varies.
i) Until the actual speed falls within a given error for the commanded
speed (check start allowable rate q) •.
ii) Until more than a given time is elapsed after the commanded speed
varies (check start timer p).
2) Alarm detection (
If command speed and actual speed fluctuation exceed the predetermined level,
an alarm will be given.
These fluctuations are converted to spindle motor speed as follows.

- 131 -
 11-10.4

Actual speed

Commanded speed

r: Fluctuation rate when an alarm is given (BNLMT): Preset in percent in

relation to the commanded speed.
i: Fluctuation width when an alarm is given (BNWDT): Preset in fluctuation
speed in relation to the commanded speed.

When both rand i are exceeded, and alarm is given. However, in area A, an
alarm is given when actual speed is 0 rpm continuously for more than 1
second.
3) Command method
Check or No check can be switched, using G code.
(G code group No. 18)
G25: No check
G26: Checked
When power ON, and in clear conditions, G26 is selected, and it is effective
until other G codes are commanded, once commanded.
Check start timer (p), check starting allowable rate (q), fluctuation rate
(r) handled as alarm and fluctuation width (i) handled as alarm can be preset
as parameter shown in para. 3 below, but further, these values can be
modified as program command.
These values, once updated, become effective until the command is modified
and remain unchanged even when power is OFF.
The command is carried out with the same block as G26 command.
G26 PE Os R! I! :
(Note 1) Be sure to command "G26" at the top of each block.
(Note 2) Perform "G25/G26" commands independently.
4) Actual speed
Actual speed is calculated from a value in which pulses from the position
coder are counted at intervals of 64 ms.
5) Commanded speed
For 3/6 interface, the commanded speed means the speed commanded in S4 digits
in G97 mode (constant surface speed control OFF) or the speed in which the
following consideration is given to the spindle speed calculated in G96 mode
(constant surface speed control ON).
a) Spindle ove~ride
b) Maximum speed commanded by G92S in G96 mode.
c) Upper limit of output value to spindle motor preset to parameter No. 5619.
d) Minimum spindle speed of each gear preset to parameter No. 5641.
e) Minimum clamp speed of spindle motor (0-4095) (Parameter No. 5618)
Maximum clamp speed of spindle motor (0-4095) (Parameter No. 5619)
For BMI interface, the speed range should be calculated from spindle motor
command voltage signals (RIO to RII2).

- 132 -
 11-10.4

6) Check conditions
In any of the following cases, no checkup is performed.
a) G25 mode
b) Spindle stop (*SSTP) is low in 3/6 interface. In BMI interface, all
spindle motor command voltage singlas (RIO to RII2) are low.
c) During searching when the program is re-started.
d) S indirect signal (SIND) is high in 3/6 interface.
e) In 3/6 interface, gear shift signal (GST) is high.
7) Alarm detection
When an alarm is detected, spindle alarm signal is sent out to the machine
side.
Also, overt ravel alarm signal OTALM is sent out. If the machine is in
automatic operation, it comes to a single block stop.
The alarm is displayed as "OT117 SPINDLE OVERHEAT".
8) Alarm reset
If an alarm occurs, remove the cause, then reset the alarm.
9) Command speed fluctuation
No checkup is performed, as shown in para. (1) (Note) until either of the two
conditions is satisfied after the commanded speed varies. In contrast to the
above, it should be noted that while X-axis is moving in the constant surface
speed control mode, the commanded speed will vary frequently.
10) Parameter setting by programming
Parameter can be set, changed by following command.
G26 I! P£ QS R! ;

Parameter
Data Contents Unit Range
No.
q 5701 Allowable error for the commanded % 1 - 50
speed

r 5702 Fluctuation rate in which spindle % 1 - 50

fluctuation alarm is given

i 5721 Fluctuation width in which spindle rpm o- 32767

fluctuation alarm is given

p 5722 Delay timer between changes in msec o- 32767

commanded speed and check start (Note)

(Note) Specify the command in multiples of 64 msec.

- 133 -
 11-11

11. TOOL FUNCTION (T FUNCTION)

11. 1 Tool Selection Command

By specifying a numerical value following address T, a code signal and a strobe

signal are transmitted to the CNC machine tool. This is mainly used to select
tools on the machine.
One T code can be commanded in a block. Refer to the machine tool builder's
manual for the number of digits commandable with address T and the
correspondence between the T codes and machine operations.
When a move command and a T code are specified in the same block, the commands
are executed in one of the following two ways:
(i) Simultaneous execution of the move command and T function commands.
(ii) Executing T function commands upon completion of move command execution.
The selection of either sequence depends on the machine tool builder's
specifications. Refer to the manual issued by the machine tool builde'c for
details.

11.2 Tool Life Management

Tools are classified into various grQups, with the tool life (time or frequency
of use) for each group being specified. The function of accumulating the tool
life of each group in use and selecting and using the next tool previously
sequenced in the same group, is called the tool life management function.

1) Setting the tool life data

Tools used sequentially in each group and their respective tool life are
previously set by the following format tape in the CNC eq~ipment.

Tape format Meaning

o Program number

G10L3 ; Start of setting tool life data

P L /). /). /). P followed by group No. (1 to 128)

L followed by tool life (1 to 9999) (Note 1)

T /). /). /). /). H 0 0 D (1)

--
T /). /). /). /). H0 0 D (2) T followed by tool No.
--
· H followed by tool length offset No.
· D followed by cutter compensation No.

·· Tools are selected in the sequence of (1)

through (2) to (N).

T /). /). /). /). · 0 0 D --

H (N)

P
--- L /). /). /). /). ;
} Data for the next group
T /). /). /). /). H 0 0 D .
-- ,
·
·
GIl ., · End of setting tool life data

M02 (M30) ·, End of program

- 134 -
 11-11.2.1

The setting operation is as follows.

(i) Insert the above tape into the tape
reader and load the tape in the EDIT
(iii) TAPE mode
mode, as with an ordinary CNC tape.
The program will be registered in
the part program memory and will be
(i) EDIT
made ready for display and editing.
mode (ii) Perform a cycle start operation in
the MEMORY mode to run the program.
Part program Display
storage & The data will be stored in the tool
editing area life data area of the memory; at the
same time, the already existing tool
life data of all groups will be
cancelled and the life counters will
be cleared. Data once stored is not
Presetting erased by turning the power off.
Z ; (iii) Executing a cycle start operation in
Display
Toollife data area the TAPE mode instead of the
operation of (i), stores the program
contents directly from the tape onto
the tool life data area. In this
case, however, display and editing
cannot be done as in (i).
(Note 1) Whether tool life is to be indicated by time (minutes) or by frequency,
it is set by a parameter. (Data No. 7400)
Maximum value of tool life is either 4,300 minutes or 9,999 times.
(Note 2) Tool number is up to 4 digits.
(Note 3) Neither H99 nor D99 can be registered.
(Note 4) The number of groups and the number of tools per group that can be
registered are combined by setting in one of four ways as follows:
In any combination, up to 256 tools can be registered.

No. of groups No. of tools No. of groups No. of tools

CD 16 16 CD 64 32

CD 32 8 CD 128 16

G) 64 4 CD 256 8

® 128 2 ® 512 4

Without tool life management pairs With tool life management pairs
512 (option) 512 (option)

After this parameter has been altered, set the tool life management data
again by G10L3;
(Note 5) When the tool life management 512 pairs (option) is not provided, even
if offset memory is 254 or more, D and H codes that can be set as the
tool life data is D254 or H254 or less. When the tool life management
51'2 pairs is provided, the D, H codes. of all offset numbers can be
used.
(Note 6) Codes Hand D, when not in use, can be omitted.
(Note 7) The same tool No. can appear at any frequency and at any place in the
set data.

- 135 -
 11-11.2.2

The following is a concrete example of the tape format.

00001 ;
G10L3 ;
P001L0150
T0011H02D13
T0132H05D08 ) Data of group 1
T0068H14D16
P002L1400 ;
T0061H15D07
T0241H25D04 ) Data of group 2
T0134H17D03
T0074H08D21
P003L0700 ;
T0012H14D08 } Data of group 3
T0202H22D02
GIl
M02

(Note 8) Group Nos. specified by' P need not be consecutive. All registerable
groups need not be set, either.
(Note 9) When this function is provided, the part program storage length
decreases 6 m. If" the tool life management pairs are 512, it
decreases 45 m.
(Note 10) The tool compensation numbers registered as the tool life management
data is limited to the tool compensation numbers permitted to the CNC.

2) Specifying tool life data, etc. in a machining program

In a machining program, tool groups, etc. are specified by using the T codes as
follows.

Tape format Meaning

T ~ Group No. of tools which are to be used after

I~________________~._ the next M06 command + tool life management
ignore No. (Note 1)

M06T 0 D D D ; Terminates the tool specified by DODO

(Note 2) and begins to use the tool specified by
'i/ 'i/ 'i/ 'i/o

Hgp ; 99: makes the tool offset specified by group No.

~________________~.~I effective.
{00: Cancels tool length offset.
----- __
D¥ 99: Makes cutter compensation, specified by
~----------------- group No. effective.
{00: Cancels cutter compensation.
-- ... --
T !J. !J. !J. !J. ., Uses a tool specified by !J. !J. !J. !J. after the next
M06 command.
-----
M06T 'i/ 'i/ 'i/ 'i/ ; Terminates the tools of 'i/ 'i/ 'i/ 'i/ and begins to
use the tool of !J. !J. !J. lJ..
-----
M02 (M30) ; End of the machining program.

- 136 -
 11-11.2.2

(Note 1) From TOOOO to T8888, stipulated by the tool life management ignore No.
8888, are handled as ordinary T code commands, and no tool life
management is performed. When the T code of 8888 plus the group No. is
designated, tool life management is executed for the related group.
The value of the tool life management ignore No. is set by a parameter.
When the value is 100, for example, from TOOOO to T0100 are output as
ordinary T codes; and when the T0101 is designated, a T code of a tool,
which has not reached its life end among the tools of group 1, is
output.
(Note 2) The above tape format uses the tool return No. command method (Type A),
which requires a tool return command at the time of tool change. Type
B and Type C are also available.

Concrete examples of the tape format when the tool life management ignore No. is
100 are described on each type.

Type A

Format Meaning

T101 ; Set the tool of group 01 to the waiting position.

M06 (T[[[[]) ; Set the tool of group 01 to the spindle. (Note 1)

I
I
Set the tool of group 02 to the waiting position.
I
I
I Machining using the tool of group 01.
I

M06T101; Set the tool of group 02 to the spindle.

Load the tool of group 01 to the magazine.

T103; Set the tool of group 03 to the waiting position.

I
I
I Machining using the tool of group 02.
I

M06T102; Bring the tool of group 03 to the spindle.

I Load the tool of group 02 to the magazine.
I
I
I Machining using the tool of group 03.
I

G43H99; Uses the tool length compensation value of the

I
I
tool of group 03.
I
G41D99; Uses the cutter compensation value of the tool of
I
I
group 03.
I
DOO; Cutter compensation cancel.
I
I
HOO; Tool length compensation cancel.

(Note 1) The return tool may not be specified. If a T code is specified in

the same block as M06, the T code shall be the tool number of the tool
to be loaded in the magazine. The tool number is of the tool attached
to the spindle at present. If the tool is under the tool life
management, specify the tool group of the tool. When the tool group
must be specified, if the tool group specified here (group of return
tool) and the tool group currently under management is different for
each other, an alarm is generated.. (No alarm is issued if parameter
7400-ABT is set).

- 137 -
 II-ll.2.2

Type B

Format Meaning

T101; Set the tool of group 01 to the waiting position.

M06T102; Set the tool of group 01 to the spindle.

I Set th~ tool of group 02 to the waiting position.
I
I
I Machingin using the tool of group 01.
I
M06T103; Set the tool of group 02 to the spindle.
I Load the tool of group 01 to the magazine.
I Load the tool of group 03 to the waiting
I
I position.
I
I Machining using the tool of group 02.
I
I
G43H99; Uses the tool length compensation value of the
I tool of group 02.
I
I
G41D99 Uses the cutter compensation value of the tool of
I
I
group 02.
I
DOO; Cutter compensation cancel.
I
I
HOO; Tool length compensation cancel.
I
I
M06T104; Bring the tool of group 03 to the spindle.
Load the tool of group 02 to the magazine.
Bring the tool of group 04 to the waiting
position.

Machining using the tool of group 03.

- 138 -
 11-11.2.2

Type C

Format Meaning

M06T101 ; Bring the tool of group 01 to the waiting

position.

M06T102; Bring the tool of group 01 to the spindle.

I Bring the tool of group 02 to the waiting
I position.
I
I
I
Machinign using the tool of group 01.
I
M06T103; Set the tool of group 02 to the spindle.
I Load the tool of group 01 to the magazine.
I Load the tool of group 03 to the waiting
I position.
I
I
I Machining usign the tool of group 02.
I
G43H99; Uses the tool length compensation value of the
I tool of group 02.
I
I
G41D99; Uses the cutter compensation value of the tool of
I group 02.
I
I
DOO; Cutter compensation cancel.
I
I
HOO; Tool length compensation cancel.

3) Counting tool life

Tool life is counted by time or by frequency. The life count is executed
every group and the contents of life counter is not cleared by turning off
power.
a) When tool life is specified by time (minutes)
In this case, a T code in the machining program specifies tool life
management group and the time during which the tool is used in the cutting
mode from the M06 specification to the next M06 specification is counted
at certain intervals (four seconds). The time for single block stop, feed
hold, rapid traverse, dwell, machine lock, time to wait for FIN signal
etc., is disregarded.
b) When tool life is specified by frequency
The counter for groups of tools that were used is increased by one, every
process from the time that a cycle start operation is performed until the
time that M02 or M30 is commanded and the CNC is reset. Even if the
command for the same group is given a number of times in one process, the
counter increase stays at one.
(Note) When having executed M02 or M30 with life specified by the frequency of
use, input the External Reset (ERS) or Reset & Rewind (RRW) signal to the
CNC.

- 139 -
 11-11.3

11.3 Expanded Tool Life Management

To improve the ease of use, the following functions are available in addition to
the tool life management functions including 512 pairs.
1) Programming a setting of tool life management date for a tool group
2) Programming a.setting of tool life count type per a tool group
3) Displaying details of tool life management data
4) Editing tool life management data
5) Overriding a tool life count
Refer to 111-10.11.10 for (3), (4) and (5).

11.3.1 . Setting tool life management data for tool group

It is possible to add, modify, or delete a tool management data of a specified
group without altering other group's data.
1) Addition and modification (G10L3P1)
Use a PI with G10L3 in the same block.
G10L3P1;
P_L_;
T_H_D_;
T_H_D_;
P_L_;
T_H_D_;
T_H_D_;
GIl;

G10L3P 1: Start of group addition and modification

P Group number (I-MAX group (note 1»
L Life value (minute: 1-4300 cycle: 1-9999)
T Tool number
H H code
D D code
GIl End of addition and modification

If a specified group already exists, it will be taken as a modification.

Otherwise, it wi1l be taken as an addition.
(Note 1) A MAX group is the maximum group of the group set specified by
parameter (No. 7400 GS1, GS2).
(Note 2) If PI of G10L3P1 is omitted, it specifies the setting of an ordinary
tool life management data, that is, after clearing all the groups.
2) Deletion (G10L3P2)
Use P2 with G10L3 in the same block.
G10L3P2;
P_;
P
P_,
P_;
GIl;

G10L3P2: Group deletion start

P Group number
GIl End of group deletion

Groups specified between G10L3P2 and GIl (P__) are deleted.

- 140 -
 11-11.3.2

11.3.2 Specifying a life count type per tool group (P_ L~Qn)
Use Qn (life count type) with P (group number) and L (life value) in the same
block.
Qn: Life count type (Q1: frequency, Q2: time)
(Note) If Q is omitted, a life count type will be set according to parameter
(No. 7400 LTM).

11.3.3 Tool selection

When a tool has been consumed, the tool life management selects a usable tool
automatically.
The selection is made by searching backward from the tool now in use. When the
end of the tool list is encountered, a new search begins from the top of the
list.
It selects the tool used last, if there is no unconsumed tool.
In the following case, for example, when tool "6279" has been consumed, tool
"0700" is selected.

GROUP 0001: LIFE 3000 COUNT 0200

,..-------,
, I

*1186 *3601 0700 @6279

11.3.4 Life count

Life count is carried out according to the life count type specifications (time,
frequency) of a group. If it is of hours, it is possible to override it with an
external signal.

- 141 -
 11-12

12. MISCELLANEOUS FUNCTION (M, B FUNCTIONS)

When a move command and M or B codes are specified in the same block, the
commands are executed in one of the following two ways:
i} Simultaneous execution of the move command and M or B function commands.
ii} Executing M and B function commands upon completion of move command
execution.
(Example) Nl GOl G91X50.0Y-50.0 M05; (Spindle stop)

y
Move command and
spindle stop command
are sta~ted at the
f same time.

r-
50 ~
~ ~
50 The spindle stops at

L'----~ -'---Lso J the end of move

command execution.

1- 50
X X
Sequence (i) Sequence (ii)

The selection of either sequence depends on the machine tool builder's

specification. Refer to the manual issued by the machine tool builder for
details.

12.1 Miscellaneous Function (M Function)

When a figure is specified following address M, a code signal and a strobe

signal are transmitted. These signals are used for ON/OFF control of a machine
function. One M code can be specified in one block. Selection of M codes for
functions varies with the machine tool builder.
The following M codes indicate special meaning.
l} M02, M30: End of program
i} This indicates the end of the main program and is necessary for the
registration of CNC commands from tape to memory_
ii} Cycle operation is stopped and the CNC unit is reset. (This differs with
the machine tool builder.)
iii} Only M30
The CNC tape is rewound to the start of the program in both memory and
tape operation. However, when using a tape reader without reels, the tape
is not rewound. When using a tape reader with reels, the tape returns to
the ER (%) code at the start of the tape even if several programs exist.
(This differs with the machine tool builder. Some machines indicate tape
rewind with M02.)
2} MOO: Program stop
Cycle operation is stopped after a block containing MOO is executed. When
the program is stopped, all existing modal information remains unchanged as
in single block operation. The cycle operation can be restarted by
specifying an CNC start. (This differs with the machine tool builder.)
3} MOl: Optional stop
Similar to MOO, cycle operation is stopped after a block containing MOl is
executed. This code is only effective when the Optional Stop switch on the
machine control panel has been pressed.

- 142 -
 11-12.2

4) M98: Calling of subprogram

This code is used to enter a subprogram. See section 13.4.1 (2) for details.
5) M99: End of subprogram
This code indicates the end of a subprogram. M99 execution returns control
to the main program. See the subprogram control section for details.
(Section 13.4.1 (2»
(Note 1) The block following MO, Ml, M2 and M30 is not read into the input
buffer register .i£ available. Similarly, an M code which does not
buffer the next block can be set by eight parameters (parameter Nos.
2411 to 2418). Refer to the machine tool builder's instruction manual
for this M code.
(Note 2) The code and strobe signals are not sent to the machine tool side for
the M98, M99.
(Note 3) Except M98 and M99, all M codes are processed by the machine tool, but
they are not done by the CNC unit. Refer to the machine tool builder's
instruction manual for details.

12.2 Auxiliary Functions

When a number after address B is commanded, a code is output. This code is kept
until the next B code is commanded. This function is used for indexing a rotary
table on the machine side. A single B code can be commanded in one block. By
parameter setting (Data No. 1030), A, C, U, V or W can also be used in place of
address Bj however, the same address as the control axes cannot be used. Refer
to machine tool builder's manual for details.

12.3 Plural M Commands in One Block

Conventionally, only one M code can be set in one block. With this function, up
to 5 M codes can be simultaneously set in one block.
The M codes (max. 5) set in the same block are simultaneously sent to the
machine tool. Compared with the conventional function with one M code in one
block, the machining cycle time is reduced.

(Example) (i) 1M command in 1 block

M40;
M50;
M60;
G28G91XOYOZO;

(ii) Plural M codes in 1 block

M40MSOM60;
G28G91XOYOZO;

(Note 1) As a control unit, up to 5 M codea can be set in one block. However,

some of M code can not be simultaneQU61y set owing to the restriction
in mechanical operation. For example, M42 can not be specified before
the mechanical operation. of M41 is completed. For more information as
to whether or not to set plural M codes, refer to the manual issued by
the machine tool builder.
(Note 2) Don't specify MOO, MOl, M02, M30, M98 and M99 simultaneously with the
other M codes.

- 143 -
 11-12.3

(Note 3) Some of the other M codes than MOO, MOl, M02, M30, M98 a~d M99 can not
be simultaneously specified. For example, the M code for calling the
program Nos. 9001 - 9009, the M code for positioning the spindle, the M
code for stopping the pre-reading of next block (not buffering), etc.
These M codes do not only send the signals to the machine tool, but
also are used by the control unit to execute internal processing.
These M codes must be specified one in one block. The M codes
specifiable in plural number in one block are limited to those which
the control unit simply transmits the M code signal to the machine
tool.
(Note 4) When plural M codes are specified in one block, only the one specified
first is displayed on the ACTIVE/LAST command value list screen for
program checking.
(Note 5) This function is invalid for the manual numerical command M codes.

- 144 -
 11-13

13. PROGRAM CONFIGURATION

A program is composed of the following sections:

(i) Tape Start
(ii) Leader
(iii) Program Start
(iv) Program Section
(v) Comment
(vi) Program End
(vii) Tape End

1) A main program on a tape

< 1%1
~ Leader
4
I ;I
Program
Section
I(I
--l-- Comment
(if necessary)
I )I
-I-
Tape Start Program Start

Program
<
Section
Main progrlm End ' " Tape End

(Note 1) M02 can be used instead of M30 at the end of the main program.
(Note 2) When in ISO code, LF is used for ;, while in EIA code, CR is used.

2) One subprogram on a tape

< ~ ~ader .l.J tl

Tape Start
\
Program
Section
Program Start
Comment
(if necessary)
It
Program
Section

Subprogram End ~ Tape End

A subprogram must be used after being entered into the part program memory
area.

- 145 -
 11-13

3) One main program and a number of subprograms on a tape

<,------!--
%.. 1. - 1~II----
I I Reader _ ..~_~ _ _ _ _ _ _ _ _ Main Program
1\1\ section - .,_... (if necessary, insert a comment
section in the proper section.)
Tape Start Program Start

----------.,. . 1·_-----1
. . \ . . 1. ._--- Subprogram
·1· ·1·
Main Program
~UbPrOgram End
End

Subprogram
·1· ·1· 1
A program including subprograms on a tape must be used after being entered
into the part program memory area •

. 4) A number of programs on a tape

< 1% I I ;I I(I I)I

~ Leade,--h+-
Tape Start
Program Section

Program Start
-+-- Comment . I. .

- PIol!""" Section. .,. ".,. Program Section

Program End

- 146 -
 II-13.1

Program -. .~
<
Section
,/
Program End
"
Tape End

A program number must be put at the first block of each main program section
or subprogram section.
A program number is a four-digit number following address O. (When' in ISO,:
can also be used instead of 0.)
Program numbers are not necessarily given. See Section 13.4.2 for details.

< II %
I I
: 1001 G01 X12300 . . . . . . . . .

'-----v---'
Program
Number
)
13.1 Tape Start

The Tape Start must be punched at the top of the paper tape by using the
following code. This section is necessary to stop the rewinding of the tape
when used with a Tape Reader with Reels. This· section may be omitted when the
tape is used with a Tape Reader without Reels.

EIA ISO Meaning

ER % Tape Start (Rewind Stop)

13.2 Leader Section and Label Skip

Information punched before the first LF (for ISO code) or CR (for EIA code) on a
paper tape is called the Leader Section. Normally, the CNC unit is set to the
Label Skip condition when turning the power on or when resetting; this section
of paper tape is loaded on a Tape Reader. The Tape Reader reads but skips this
section (by the Label Skip function). Generally, a label for a tape is punched
in this section. Since no parity check is performed on the skipped leader
section, any combination of codes other than LF and CR may be punched in this
section.
(Note) The label skip function is used to skip all information encountered from
the time the power is turned on or a resetting is performed until reading
the first EOB code. (There is no parameter used to delete label skip
function. )

13.3 Program Start

Punching the following code immediately after the end of the Leader section, (at
the top of the first block of a program) indicates the start of a program. This
code is necessary to release the Label S~ip function.

EIA ISO Meaning

CR LF Program Start

- 147 -
 11-13.4

13.4 Program Section

The part of the paper tape punched between the Program Start and Program End
code (except the Comment section explained in Section 13.5) is called the
Program Section. Information specifying tool travel and machine ON/OFF function
is punched in this section. This section is called the significant section and
is different from the non-significant section which includes the Leader and
Comment Section.
A program section is composed of a number of blocks. A block is partitioned
into a number of words, and the end of a block is identified by an End of Block
Code (LF in ISO code and CR in EIA code).

(Note 1) TV check (vertical parity check)

A parity check is performed in the vertical direction of a block, and
alarm SR591 is generated if the block is found to contain an odd number
of characters (between a code immediately following an EOB and the next
EOB). The TV check is not performed for the part of tape which is read
but skipped by the Label Skip function, but the Command Section between
"(" and ")" is checked for the total number of characters in each
block. The TV check function can be specified Valid/Invalid by using
the MDI unit. (See Section 10.3 in Chapter III.)
(Note 2) The program examples in this manual use ; instead of the End of Block
code eLF for ISO and CR for EIA), but the proper EOB code LF (ISO) or
CR (EIA) must be used in actual programming.

13.4.1 Main program and subprogram

1) Main program
A program is divided into a main program and subprograms: Normally, the CNC
operates according to the main program, but when a command calling a
subprogram is encountered in the main program, control is passed to the
subprogram. When a command indicating to return to the main program is
encountered in the subprogram, control is returned to the main program.

- 148 -
 11-13.4.1

Main program Subprogram

Information 1 Information 1
Information 2 Information 2
I
I
I
I
'l'~f~ ~~t~~~~~non
Infonnation n
Information n + 1

Return to main program

The CNC system stores a total of 100 main programs and subprograms in memory
and selects one of the main p'rograms to operate the CNC machine tool under
control of the selected main program.
(Note 1) The options allow 200,.400 or 1,000 programs to be registered.
CNC
Program Memory

IPro~am I
#1

IPro~am I
#2
;~ogr/? I

C
I
• I
I
I
I
I

I:~aml
Program

#j/
Refer to III. 9.2 for how to register programs.

- 149 -
 11-13.4.1

2) Subprograms
When a program contains certain fixed sequences. or frequently repeated
patterns, these sequences or patterns may be entered into memory as
subprograms to simplify programming.
A subprogram can be called in either tape command mode or memory command
mode. A subprogram can call another subprogram.
When the main program calls a subprogram, it is regarded as a one loop
subprogram call; however, max. eight loop subprogram call (eight loop -
custom macro multiplex calls) can be executed as shown below. (Refer to
"11-17.1.9")
Main program Sub program Sub program Sub. program Sub program

00001; 01000; 02000; 03000; 04000;

I
I
I
I
M98P2000; M98P4000;

M98PI000; M98P3000;
I I
I I
I I
I
I I
I I

M30; M99; M99; M99; M99;

I-loop nesting Hoop nesting Hoop nesting 4-1oop nesting

A call command can call a subprogram repeatedly. A call command can specify
up to 9999 repetitions of a subprogram.
a) Preparation of subprogram
A subprogram is prepared in the following format:
O(:)XXXX; Subprogram number

M99;
At the top of a subprogram, a subprogram No. identifying the subprogram is
specified after "0" (EIA) or ":" (ISO). Specify M99 at the end of a
subprogram. The subprogram end command, "M99", need not be specified in a
block by itself.
(Example) X. • • • • • • • • • • • • • • • • • • • • • • •• M99 ,
For instructions on entering subprograms into memory, see Chapter III
Section 9.2.
(Note 1) For compatibility of the CNC tape with other devices, "Nxxxx" is also
used as a subprogram No. instead of 0(:).
A sequence number' under N is registered as a subprogram number.
b) Subprogram execution
A subprogram is executed when called by the main program or by another
subprogram.
A subprogram call has the following format:
M98P •••••••••••••••• L •••••••••••••••• ;
~Number of times the subprogram is to be
repeated.
~--------------------------------------------Subprogram No.

- 150 -
 11-13.4.1

When "L" is omitted, the subprogram is repeated once.

(Example) M98P 1002Ls;
This command is read "Call the subprogram (subprogram number 1002) five
times."
The subprogram call command (M98P L _________ ) and a move command can be
specified in the same block.
(Example) X1000 M98P 1200;
In this example, the subprogram (subprogram number 1200) is called after
completing a movement in the X-axis direction.
(Example)
The execution sequence of a main program which calls a subprogram is as
follows:
Main program Subprogram
N0010 - - - - 01010;
N0020 ; N1020 - - - -
N0030M98P1010L2; N1030 - - - -
N0040 - - - - N1040 - - - -
NOOsOM98P1010; N10s0 - - - -
N0060 - - - - N1060 - - M99;

When a subprogram is called by another subprogram, it is executed in the

same sequence as shown in the above example.
(Note 1) M98 and M99 signals are not issued to the machine tool.
(Note 2) If the subprogram number specified by address P cannot be found, an
alarm is displayed.
(Note 3) A single block stop is not effective in blocks containing M98P ,
M99; however, it is effective when the block contains an address other
than 0, N, Land P.
(Note 4) When M98P- is specified in the canned cycle or G04 block, the P will
also indicate a dwell amount. In this case, specify M98P_; by dividing
this block.
(Example) G82X_Y_Z_R_M98P_;
1-
G82X Y Z R ;
M98 P_; - -
N0010----
N0020 ;
N0030 ;
op:~ona
. I bl
oc
k N0040
NOOsO
;
;
sk~p OFF [ N0060'
/N0070M99P0030~ ~ Optional block
N0080---- ~ skip ON
N0090M02;
c) Notes on subprogram control
The following special specifications can be used to control subprogram
execution.
i) When a sequence number is specified in address P in the last block of a
subprogram, control does not return to the block after the block in
which the subprogram was called, but rather to the block with the
sequence number specified in address P. This, however, is only' effec-
tive in memory operation.

- 151 -
 11-13.4.1

The processing time for return to the specified block is considerably

longer than that for normal return.
Main program Subprogram
NOOI0 . ; 01010;---
N0020 ;~ NI020
N0030; NI030 - - -
N0040M9BPI0I0; NI040 - - -
N0050 j __ NI050 - - -
N0060 - - - k""-- _ NI060 ;
N0070 ; . NI070M99P0070;

ii) If the M99 command is executed in the main program, control returns to
the start of the main program. For example, a "/M99;" block is
inserted in the proper position of the main program and the optional
block skip is off; M99 is executed, and control returns to the start of
the main program and the program is executed again.
If the optional block skip is turned on, "/M99;u is omitted and control
is passed to the next block.
If "/M99Pn;" has been inserted, control does not return to the start,
but to the block whose sequence number is "n". The processing time for
return to sequence number n is longer than return to the start.
iii) It is possible to execute a subprogram from the start by specifying a
search the subprogram from the MDI keyboard as well as the main
program. (See Section III 5.2.1 for search.)
In this case, if the M99 command is executed, control returns to the
top of the subprogram and execution is repeated. If "M99Pnj" is
executed, control returns to the block whose sequence number is un" and
execution is repeated.
In the above operation, you can stop execution by inserting "/M02;" or
the "/M30;" at the appropriate position. When the optional block skip
switch is turned off, the above command is executed and the program is
terminated. In the example below, execution will continue while the
optional block skip is on and will stop when the optional block skip is
turned off.
NI040
NI050
NI060
/NI070 M02;
NI0BO M99 PI050;
iv) M99Lcx;
This command automatically specifies the number of subprogram calls as
the cxth one.
Main program Subprogram

I
M9BP L99

If the optional block switch is off, the number of calls is reset to 0 and
control returns to the main program.

- 152 -
 11-13.4.2

13.4.2 Program number and program name

This control can store programs in it's memory.
A 4-digit program number following address 0 is used to differentiate one
program from another.
A program name can be attached following a program number.
Program number and program name:
o DODO (~ ~ ~ ~ ..... ~)

I o
I
~---------------------------Program

~--------------------------------Address

1 111 M02; o
Program name (16 digits)

2 222
number (1-9999, Leading zero
suppression)
0

M30;

'V

Program 1111 Program 2222

M02; or M30; means the end of a main program.

M99; means the end of a subprogram.

o 5 5 5 5 M99;

~----------~v,----------~

Subprogram 5555

(Note 1) In ISO code, colon (:) can be used instead of o.

(Note 2) A block with an optional block skip code such as /M02j, /M30; or /M99;
is not regarded as the end of a program.
(Note 3) When the program number is not specified at the start of the program,
the first sequence number (N.~.) in that program is regarded as the
program number; however, NO is not used as the program number.
(Note 4) When neither program number nor sequence number are specified, a
program number must be specified from the MDI keyboard when the
program is registered. (See 111.9.2)
(Note 5) When a tape contains more than one program, an EOB code is unnecessary
before the second and subsequent programs. However, because of the
label skip feature, when a preceding program ends with ER (EIA code)
or % (ISO code), an EOB code is necessary at the head of the program.
(Note 6) A programmed tape operation can be performed even when using a
programmed tape without a program number. Program numbers are
necessary for subprograms.
(Note 7) In some cases, program numbers 9000-9899 are reserved and cannot be
used.
(Note 8) When the robot option is used, program numbers 9900-9999 are used for
robot data.
(Note 9) There is a parameter (NPE, Data No. 2200) to specify that a program
end is not assumed by M02, M30 or M99 but ER (EIA) , % (ISO) or the
next program number (0).
(Note 10) Program name length is 16 characters maximum. With the optional
"48-character program name", it can be specified up to 48 characters.
(Note 11) In a paper tape, be sure to take interval of more than 2 m between
programs.

- 153 -
 11-13.4.3

13.4.3 Sequence number and block

A program is composed of several commands
One command is called a block.
One block is separated from another block with an end of block code. This
manual uses ; as the end of block code.

< I; 1

~
I; 1

~
I; 1
~ ~
Block
--~ Block Block

(Note 1) The end of block code is CR in EIA code and LF in ISO code.

A 5-digit sequence number can be specified (1 -- 99999) following address N at

the head of a block. The order of sequence numbers is arbitrary and nee'd not be
consecutive. Sequence numbers can be specified in all blocks or only in blocks
requiring them.
It is recommended that sequence numbers be specified sequentially at important
points, i.e., when a tool is changed and a new tool is used.
(Note 2) Sequence number NO should not be used for compatibility with other CNC
equipment.
(Note 3) Because program number 0 is invalid, a sequence number regarded as a
program number must not be O.

13.4.4 Optional block skip

When a slash followed by a number (/n n = 1 - 9) is specified at the beginning
of a block and the optional block skip switch n on the machine operator panel is
set ON, the block with In corresponding to switch number n is ignored in the
tape or memory operation.
When the optional block skip switch n is set OFF, the block with In is valid.
Therefore, the operator can skip a block with In at his discretion. 1 in II may
be omitted.
The following range is ignored when the optional block skip switch is ON.
12NI23GOIX4 •••••••••• ; N7856

I---Range ignored-I
Example:
N100X100;
12N101Z100;
12/3N102X200;
13N103Z200j

In the above example, the blocks of N101 and N102 when switch No.2 is ON, and
the blocks of NI02 and N103 when switch No.3 is ON, are skipped.

(Note 1) A slash (I) must be specified at th'e start of a block. If it is placed

elsewhere in the block, the information from the slash (I) to the EOB
code is ignored, while information before the slash' (I) is effective.
(Note 2) When, the optional block' skip switch is ON, TH and TV checks are
performed for skipped portions, as when the switch is OFF.
(Note 3) The optional block skip is identified when the information is read into
the buffer storage from the tape or memory. When a block preceded by a
slash has been read into the buffer, it is not ignored even if the
OPTIONAL BLOCK SKIP switch is turned on.
(Note 4) This function is also effective during a sequence number search.

-- 154 --
 11-13.4.5

(Note 5) When storing the program in memory, this function is ineffective. A

block with a slash (/) is also stored in the memory regardless of the
position of the OPTIONAL BLOCK SKIP switch.
(Note 6) When punching out the program from memory, the program is punched out
regardless of the position of the OPTIONAL BLOCK SKIP switch.
(Note 7) Some of the op~ional block skip switches (1 to 9) may not be used on
some machine tools. Ask the machine tool manufacturer how many
switches can be used.
(Note 8) If more than one optional block skip code is specified in a block for
the system with additional optional block skip function, 1 in /1 cannot
be omitted.
Please specify /1 under the above condition.
(Example)
Error
-m GOOXI0.0;
Correct
/1/3 GOOXI0.0;

13.4.5 Word and address

A block is composed of one or more words. A word is composed of an address
followed by numbers, as shown below. (An algebraic sign (+ or -) may be added
before the numerical value.)
X 1000
t -t
Address Numerical value
~

Word

The address is a letter which indicates the meaning of the numerical value
following the address.
Addresses and their meanings are shown below.
Some addresses may vary in meaning depending on preparatory functions specified
in the program.

- 155 -
 11-13.4.5

Function Address Meaning

Program number 0 Program number

Sequence number N Sequence number

Preparatory function G Motion mode (Linear, arc, etc.)

Dimension word X,Y,Z Coordinate axis motion command

A,B,C,U,V,W Additional axis motion command

R Arc radius, corner R

I,J,K Coordinate values of arc center,

chamfering

Feed function F Feedrate, thread lead

Spindle speed function S Spindle speed

Tool function T Tool number, tool offset number

Miscellaneous function M ON/OFF control on the machine .tool

B Index of table, etc.

Offset number H,D Designation of offset number

Dwell P,X Dwell time

Program number designation P Designation of the subprogram

number

Sequence number designation P Designation of the sequence number

where the program is to be
repeated.

Repetitive count L Repetitive count in subprogram

Parameter P,Q,R Parameters in canned cycles

For example, the following block is composed of words:

\ I; N_IG_IX_IV_IF_ls_IT_IM_I;1
1
I --r- I --,-- - . - - ---.- - . - -
~
Sequence Preparatory Dimension Feed Spindle Tool Miscellaneous
number function word function function function function

- 156 -
 11-13.4.5

Program name Note Date Page

Test Program 2 '79.10.10 I
Program number Programmer
o ( : ) 2002
I N G X Y z AlBIc R/I J K F 8 T H B HID L P Q ;
N20 G92 X100.0 Y200.0 Z300.0
N21 GOO X196.0 Y315.0 8400 T15 H03
N22 G01 Z500.0 F10.0

(Note) End of block code (;) is CR in EIA code or LF in ISO code.

- 157 -
 11-13.4.6

13.4.6 Basic addresses and command value range

The basic addresses and command value ranges are listed in Table 13.4.6. Note
that these figures give the maximum numerical limit, not the mechanical limit of
the CNC machine tool. Under CNC control, the tool may traverse up to 100 m (in
millimeter input) along the X axis; however, traveling distance may be limited
to 2 m for the specific machine tool. Similarly, CNC control may permit a
maximum cutting feed of 24 m/min., but the CNC machine tool may be limited to 6
m/min. The manual issued by the machine tool manufacturer should be frequently
consulted in addition to this manual when programming to ensure that the actual
limitations of the specific machine tool are not exceeded.

Table 13.4.6 Basic addresses and command value range

Functions Address Metric input Inch input

Program number O(Note 1) 1 - 9999 1 - 9999

Sequence number N 1 - 99999 1 - 99999
Preparatory functions G o - 99 1 - 99
Dimension words X,Y,Z
Input unit IS-A A,B,C,I,J,K +999999.99 rom +99999.999 inch
IS-B R,U,V,W +99999.999 mm +9999.9999 inch
IS-C +9999.9999 mm ±999.99999 inch
Per minute feed speed F
Input unit IS-A 0.0001 - 240000.00 0.0001 - 24000.000
mm/min inch/min
IS-B 0.0001 - 24000.000 0.0001 - 2400.0000
mm/min inch/min
IS-C 0.0001 - 2400.000 0.0001 - 240.0000
mm/min inch/min
Per revolution feed speed F
Input unit IS-A 0.0001 - 5000.0000 0.00001 - 500.00000
mm/rev inch/rev
IS-B 0.00001 - 500.00000 0.000001 - 50.000000
rom/rev inch/rev
IS-C 0.0001 - 50.000000 O~OOOI - 5.0000000
mm/rev inch/rev
Thread cutting lead F Same as per revolution feed
Tool functions T o - 99999999 o - 99999999
Spindle functions S 0 - +99999999 o - +99999999
Miscellaneous functions M o - 99999999 o - 99999999
2nd Miscellanous functions B,A,C o - +99999999 o - +99999999
Sequence numbers P,Q 1 - 99999 1 - 99999
Per second dwell P,X o - 99999.999 sec o - 99999.999 sec
Per rotation dwell P,X o - 99999.999 rev o - 99999.999 rev
Repeated times L o - 9999 o - 9999

(Note 1) : can be used for 0 in ISO Code.

(Note 2) Coordinates the maximum command value for inch input/metric output is
limited to:
+39370.078 inch/i3937.0078 inch

13.5 Comment Section

The information punched between the control out and in codes shown below is
considered as a comment and is skipped. Since a TH check is not performed, a
heading, comments, and indications for the operator can be punched by combining
any code of arbitrary holes. A TV check is performed on the comment section.

- 158 -
 11-13.5

EIA ISO Meaning

2-4-5* ( Control out (start of comment)

2-4-7* ) Control in (end of comment)

* Indicates the hole combinatlon for the EIA code.

Channel 7 o
ChannelS -- o
Channel4 - o
000000000
Channel 4 o
00000000

Channel 2 --- o Channel 2 o

Control Out Control In

(Example) In ISO code

LF
N1000GOOX •••••••••• LF
(MEASURE WORK ••••••••• ) LF
N1001G01X •••••••••• LF
LF
When a command tape is read into memory, for memory-controlled operation, the
comment section is read into memory. However, codes not listed in App~ndix 7
are ignored and are not read into memory. When data in the memory is punched
out, information in the Comment Section is also punched out. The Comment Sec-
tion is displayed on the program screen. However, codes ignored when read-in
are neither punched nor displayed on the CRT screen.
During a memory-controlled operation in memory command mode, the comment section
in memory is ignored and operation is executed.
(Example) Used as heading

F1000CR( )NllO
I
Significant section Name of the tape, etc. Significant section

(Note 1) The rewind stop code (% or ER) cannot be used in the comment section.
Reading this code resets the CNC.
(Note 2) When a comment section is in the middle of a progr~Jll section and is
long, movement is interrupted for a long time. Therefore, insert
comment sections in a place where movement can be interrupted or a
place specifying no movement.
(Note 3) When the control out code does not come first and only the control in
code is read in, it is ignored.
(Note 4) The TV check for the comment section can be disabled by specifying
parameter TVC. (Data No. 0000)

- 159 -
 11-13.6

13.6 Program End

The end of a program is indicated by punching the following code at the end of
the Program Section.

EIA ISO Meaning

M02CR M02LF Program End

M30CR "M30LF Program End and Rewind

M99CR M99LF Subprogram End

When the End of Program is sensed during the execution a program, the CNC unit
terminates the execution of the program and enters a cleared status. In case of
M30CR or M30LF, the tape is rewound (in Tape Command mode) or the program is
returned to its beginning (in Memory Command mode). When the code is sensed in
a subprogram, control is returned to the program which called the subprogram.
(Whether or not the tape is rewound by execution of M30 depends on the machine
tool.)

13.1 Tape End

The end of a tape is indicated by punching the code below immediately following
the Program End of the last program on a tape.

EIA ISO Meaning

ER % Tape End

(Note I) If M02 and M30 are not at the end of the program section, and ER (EIA)
or % (ISO) is about to be executed, the CNC informs an alarm.
(Note 2) The tape will advance about 2 meters after the ER (EIA) or % (ISO) code
has been recognized on the program tape.

13.8 Tape Format

The variable block word address format with decimal point is adopted as tape
format.

13.9 Tape Codes

Either the EIA or the ISO code can be used as tape codes. The input program
code is distinguished with the first end of block code. See Tape Codes in
Appendix 7.

13.10 External Memory Subprogram Call Function

This function allows programs registered in a bubble cassette, FA card, floppy
cassette, and program file mate to be called and executed during memory
operation. If a remote buffer is installed, programs registered in a bubble
cassette, FA card, floppy cassette, and program file mate connected to the
remote buffer can be called and executed during memory operation.

- 160 -
 11-13.10.1

- Memory mode RS232c/RS422 Bubble cassette

FA card

Floppy cassette

Program file mate

Remote buffer RS232c/RS422 ~--- Bubble cassette

FA card

Floppy cassette

Program file mate

13. 1O. 1 Program

If the following block is executed, programs registered in a bubble cassette, FA
card, floppy cassette, and PROGRAM FILE Mate can be called and executed during
memory operation.
If a remote buffer is installed, programs registered in a bubble cassette, FA
card, floppy cassette, and PROGRAM FILE Mate connected to the remote buffer can
be called and executed during memory operation.
This function is implemented by setting parameter No. 7616#3 to 1.

M198 P [Program Number] L [Repetition Frequency]

[Precaution] When using a bubble cassette or remote buffer as the external

memory, the program number cannot be specified. Therefore, an
alarm may occur when calling the external memory subprogram by
program number specification. To overcome this problem, execute by
specifying the file number.
In order to change from program number specification to file number
specification, set parameter No. 2404#5 to 1.

Call can be made by M code set to parameter No. 2431. (At this time, M198 is a
regular M code.)
The PIs alarm (No. 79) will occur when programs that are not registered in a
floppy cassette, etc. are specified.
Selection of external memory with external memory subprogram call function is
implemented by making the following settings for parameter No. 20.

Setting External memory

1 External memory connected to CD41 of BASE 0

2 External memory connected to CD4 of BASE 0
3 External memory connected to CD4 of serial port;
10 Remote buffer
13 External memory connected to CD3 of serial port

Note 1) Subprogram call cannot be conducted from programs that have been called
by the external memory subprogram call function.
Note 2) External memory subprogram call can be executed by MEM operation only.

- 161 -
 11-14

14. FUNCTIONS TO SIMPLIFY PROGRAMMING

14.1 Canned Cycles (G13, G14, G16, GSO to GSg)

A canned cycle simplifies a program by using a single block containing G func-

tions to specify, the machining operations usually specified in several blocks.
These canned cycles comply with the JIS B6314 specifications. Table 14.1 lists
canned cycles.

Table 14.1 Canned cycles

Drilling Operation at the Retraction

G code Application
(~Z direction) bottom of a hole (+Z direction)
G73 Intermittent - Rapid traverse High-speed peck
feed drilling cycle

G74 Feed Spindle CW Feed Left-hand tapping

cycle

G76 Feed Oriented spindle Rapid traverse Fine boring cycle'

stop (canned cycle II
only)

G80 - - - Cancel

G81 Feed - Rapid traverse Drilling cycle, spot

drilling cycle

G82 Feed 'Dwell Rapid traverse Drilling cycle,

counter boring cycle

G83 Intermittent - Rapid traverse Peck drilling cycle

feed

G84 Feed Spindle CCW Feed Tapping cycle

G8S Feed - Feed Boring cycle

G86 Feed Spindle stop Rapid traverse Boring cycle

G87 Feed Spindle stop Manual/rapid Boring cycle, back

traverse boring cycle

G88 Feed Dwell -+ spindle Manual/rapid Boring cycle

stop traverse

G89 Feed Dwell Feed Boring cycle

(Note 1) G87 specifies a different operation in canned cycles I and II.

Generally, a canned cycle consists of a sequence of six operations, as shown
below.
Operation 1 Positioning of axes X and Y (also including another
axis)
Operation 2 Rapid traverse up to point R
Operation 3 Drilling
Operation 4 Operation at the bottom of a hole
Operation S Retraction to point R
Operation 6 Rapid traverse up to the initial point

- 162 -
 11-14.1

Q---------rf-
Operation 1
Initial point
II
Operation 2 _I I
I I - Operation 6
II
Point R
h
I- Operation 5
I
Operation 3--- I Rapid traverse
I
I - Feed
I

Operation 4

fig. 14.1.1 Canned cycle operation

A canned cycle has a positioning plane and a drilling axis. The positioning
plane is determined by GI7, GI8, and GI9.
The drilling axis consists of the basic axis (X, Y, or Z) which does not
constitute the positioning plane or its parallel axis.

G code Positioning plane Drilling axis

GI7 XpYp plane Zp

GI8 ZpXp plane Yp

GI9 YpZp plane Xp

Xp: X axis or its parallel axis

Yp: Y axis or its parallel axis
Zp: Z axis or its parallel ~xis

Whether the drilling axis is basic or parallel, the axis is determined by the
axial address of the drilling axis specified in the same block as G codes G73 to
G89. Unless the axis address of the drilling axis was specified, one basic axis
is used as the drilling axis.
The axes other than the drilling axis are called the positioning axes.
(Example)
Assume that the parameter is set so the U, V, and Ware parallel axes of X, Y,
and Z, respectively.
GI7G8I Z_____ ; Drilling axis is the Z axis
GI7G8I W_ _ , Drilling axis is the W axis
GI8G8I Y_____ ; Drilling axis is the Y axis
GI8G8I V_ _ ; Drilling axis is the V axis
GI9G8I X_ _ ; Drilling axis is the X axis
GI9G8I U ; Drilling axis is the U axis
GI7, GI8, and GI9 may not be specified in the same block as G73 to G89.
(Note 1) A parameter (Data No.6200, FXY) can be set so the Z axis is always used
as the drilling axis. When FXY = 0, the Z axis is always the drilling
axis.

- 163 -
 II-14.1

(Note 2) Switch the drilling axis after cancelling a canned cycle.

Another axis other than the drilling axis can be specified for positioning.
After positioning, the drilling cycle is performed.
In the following explanation, the XY plane is selected and the Z-axis is assumed
to be the drilling axis.
Three modes specify the canned cycle operation, each mode is specified by a
modal G code.
(i) Data format G90 Absolute
G91 Incremental
(ii) Return point level G98 Initial level

r
(iii) Drilling mode ~~~\pOint R level

G80

I
G~11 See Table 14.1

G89
(Note) The initial level represents the absolute position of the drilling axis
when switched from the canned cycle cancel status to the canned cycle
mode.
a) Fig. 14.1 (b) shows how to specify data according to the mode (G90 or G91).

G90 G91

0----_. I 0---- 4
I: IR I z=o I
I
I
t
R

pomtR:UJ
t~
pomtR-jr+ I
I
Z

__ 0 : t
Point Z Point Z

Absolute Incremental

Fig. 14.1 (b) Absolute and incremental programming

b) It is specified whether the tool is to be returned to point R or to the

initial level according to G98 or G99. This is s~own in Fig. 14.1 (c).
Use G99 for the first drilling and G98 for the last drilling. When there is
a counting designation by L in G98, G99 mode, tool is returned to the initial
level from the first drilling.
In the G99 mode, the initial level does not change even when drilling is
performed.

- 164 -
 11-14.1

G98 G99

Q-----~/
Initial
Initial
level
(J-----l( level

I
I I I
I I Point R
~/ level

Ii
0 1
Initial level return
I0
I1
Point R level return

Fig. 14.1 (c) Initial level and point R level

c) The drilling data can be specified , following G73/G74/G76/G81 to G89 and a

single block can be formed.
This command permits the data to be stored in the control unit as a modal
value.
The machining data in a canned cycle is specified as shown below:

G x Y z R __ Q p F L ___ ,

~L~ ~HOle position data

~Drilling data L-Number
of
repeats
Drilling mode

Drilling mode • • • •• G See Table 14.1

Hole position data [X}-- Specifies the hole position
or absolute value.·
by an incremental

tY Whether the path and feed rate conform to current

group, 01G code (G01 is assumed for G02 or G03) or
GOO can be selected by setting parameter Feu (Data
No.6200).
Drilling data z .....•.• Specifies the distance from point R to the bottom
of the hole in Fig. 14.1 (a) with an incremental
value, or the position of the bottom of the hole
with an absolute value. The feed rate is specified
in the F code in operation 3.
In operation 5, it becomes the rapid traverse rate
or the feed rate specified in the F code, according
to the drilling mode.
R •••••••• Specifies the distance from the initial level to
point R level in Fig. 14.1 (a) with an absolute
value. The feed rate is the rapid traverse rate in
operation 2 and 6.
Q •••••••• Specifies each cut-in value with G73 and G83 or the
shift value with G76 and G87. (Always specified
with an incremental value.)
p •••••••• Specifies the dwell time at the bottom of the hole.
The relationship between the time and the specified
value is the same as for G04.
F •••••••• Specifies the feed rate.

- 165 -
 11-14.1

Number of L •••••••• Specifies- the number of repetitions for a series of

repetitions operation 1 to 6.
When L is not specified, L = 1 is assumed.
When L = 0 is specified, the drilling data is
simply stored, and drilling is not performed.
Since the drilling mode (G ) remains unchanged until another drilling mode
is specified or until the canned cycle is cancelled with a G code, it must
not be specified in any blocks when the same drilling mode continues. GSO
and the 01 group G code are used to cancel a canned cycle. Once the drilling
data has been specified in the canned cycle, it is retained until it is
changed or until the canned cycle is cancelled. Therefore, all -requi red
drilling data shall be specified when the canned cycle is started and only
data to be changed shall be specified during the cycle.
The number of repetitions, L, shall be specified only when operation must be
repeated. Data L is not retained. The feed rate specified with the F code
is retained even if the canned cycle is cancelled.
When the system is reset during the canned cycle, the drilling mode, drilling
data, hole position data and repetition count are deleted.
An example of the above data retention and deletion is shown below.
CD GOO X M03;
(6) G81 X - - Y Z R F L , •••••
In the beginning-:-Z:- R,--a:ncr F specify necessary
values. Drilling is repeated L times according to
G81.
Y ___ ; Since the drilling mode and drilling data are the
same as those specified in @, GSl, Z ,R
and F can be omitted. The hole position moves
only for Y and drilling is performed only once
according to-GSI.
G82 X P L , •••••
The hole position moves only for X from ®,
and the hole is drilled according to GS2 with Z, R,
and F specified in (6) and the drilling data P
specified in ®. This is repeated L times.
GSO X Y MS; •••••
Drilling is not performed. All drilling data
(except F) is cancelled.
® GSS X Z R P ; •••••
Since drilling data is cancelled in (2), Z and R
must be respecified. Since F is the same as F
specified in (l), it can be omitted. P is not
required in this block, but it is stored.
(j) X Z _ _, Performs drilling which differs only for the Z
value with ® by moving the hole position only for
X.
® G89 X Y ___ ,
Performs drilling according to G89 by using the Z
specified in (j). Rand P specified in ®, and F
specified in (6) as drilling data.
® GOI X Y ___ ;
The drilling mode and all drilling data (except F)
are deleted.
d) Repeat of canned cycle
When holes are repeatedly drilled at equal intervals in the same canned
cycle, the number of repetitions can be specified by using address L.
The maximum value of L is 9999.
L is effective only for the specified block.

- 166 -
 11-14.1

(Example)

Last machining position

First
machining position

G81 X y z R LSF _ _ _ ,

X Y specifies the first drilling position for an incremental

command (G9~If it is specified for an absolute command (G90), a hole is
repeatedly drilled at the same position. The canned cycle automatic decel-
eration time constant is automatically switched to the rapid traverse or feed
time constant according to the feed used for each operation. At the end
point, the tool decelerates and moves on to the next sequence. However, when
return from the bottom of the hole to the R level is performed at the rapid
traverse rate with G98 (initial level return) (for example, G81), the tool
does not decelerate, but immediately returns to the initial level at the
rapid traverse rate~

Each drilling operation is detailed below.

1) G73 (High-speed peck drilling cycle)

G73 (G98) G73 (G99)

lJ--- o
I
I
Initial point

t lJ-- 9
I
I I
I I
I I
Point R ~ ~ Point R

I
,,
q t
I
~

~
d
t
q

~
t
I 1 ••d
t

q
,, tI
J
q

I
t
I
I

q q

t \
~
\
\
\ ,, \
\
\
\
\

l } PomtZ
Pomt Z

- 167 -
 11-14.1

The retraction is set by parameter (Data No.6210) or setting. Since the

Z-axis direction intermittent feed simplifies chip disposal and permits a
very small retraction value to be set in deep hole drilling, efficient ma-
chining is performed. Retraction is performed at the rapid traverse rate.

2) G74 (Left-handed tapping cycle)

G74 (G98) G74 (G99)

Q--- --0I1 Initial

point
Q------
I I
: /CCW
: Spindle
Rapid

1
111:~i:&e
traverse

!
- Feed
0 Point R

Point Z
Point Z
o
"- Spindle
CW
, Spindle
CW

At the bottom of the hole, the spindle rotates ciockwise and left-handed
tapping is performed.
(Note) During left-handed tapping specified in G74, the feed rate override is
ignored and the cycle does not stop until the end of the return oper-
ation, even if a feed hold is applied.

3) G76 (Fine boring cycle)

G76(G98) G76 (G99)

)1 Spindle CW
jL~~ Initial --y
I t point I
I
: I I
I I
I
I
I Point R

11l
I Point R
I
P I
I P I
#
Dwell I
o~1 Point Z Dwell--
OSS OSS o=;> Point Z
lqj 1--1
q

OSS Oriented Spindle Stop

====t> Shift (rapid traverse)

- 168 -
 11-14.1

Oriented Tool
spindle stop

-- Shift amount q

(Note 1) G76 can be used only when the FXB parameter, (Data No. 6201#0) that
which specifies output of the M code (canned cycle II) as the spin-
dle CCW, spindle CW and oriented spindle stop output signal, is set.
Since a spindle oriented stop is performed at the bottom of the hole, and the
spindle retracts after shifting in the direction opposite to t.he cutter
direction, high precision and efficient boring is performed without scratch-
ing the machine tool surface.
Depending on the positioning plane, the shift value is specified as shown
below:
GI7 (XpYp plane) Specified by I and J.
GI8 (ZpXp plane) Specified by K and I.
GI9 (YpZp plane) Specified by J and K.
Where, Xp: X-axis or its parallel axis
Yp: Y-axis or its parallel axis
Zp: Z-axis or its parallel axis
For example, when the XY plane is selected, the machine tool is shifted along
the X and Y axes by linear interpolation only for the incremental value spe-
cified by I and J. Therefore, it can be shifted in any desired direction on
the positioning plane. The feed rate conforms to the F command. I, J, and K
are modal in a canned cycle. Specify I, J and K in the same block as the
hole position data.
(Note 2) ~~en a parameter that always specifies the Z axis as the drilling
axis (FXY: data No. 6200) is set, the shift value can be specified
by Q. instead of I and J. The Q value is always a positive value.
If a negative value is specified, the sign is ignored. For the
shift direction, any of +X, -X, +Y and -Y is selected by setting the
parameter (data No. 6240). The Q value is modal in the canned
cycle. Since it is also used as the cut-in value for G73 and G83,
specify it carefully.

- 169 -
 11-14.1

4) G80 Canned cycle cancel

The canned cycle (G73, G74, G76, G8l to G89) is cancelled and normal oper-
ation is subsequently performed. The points Rand Z are also cancelled.
(That is, R = 0 and Z = 0 for the incremental command.) Other drilling data
is also cancelled.

5) G8l (drilling cycle, spot boring cycle)

G8l (G98) G81 (G99)

O------_? t I
I I
Initial
point
Q------- f
I
I I I
I I I
I I I
~ I
Point R

Ii
Point R

Point Z !l Point Z

---_Rapid traverse
--_bE Cutting feed
6) G82 (drilling cycle, counter boring cycle)
G82 (G98) G82 (G99)

Q-------y t I
Initial
point Q------y I
I I I

!
I I I
I I I
I
~ I
Point R
Pomt R 1
r!
0 Point Z ~
Dwe~
PointZ
Dwell

This is the same· as G8l. Dwell (specified by the P code) is. performed at the
bottom of the hole and the spindle is raised. Dwell at the bottom of the
hole improves the hole depth precision in blind hole drilling.

- 170 -
 11-14.1

7) G83 (Peck drilling cycle)

G83 (G98) G83 (G99)

Initial
point
I
I
I

~t~'dPOintR I I

~t- I
1-
d
Point Z Point Z

G83 X Y Z Q R F ;
The command above specifies the peck drilling cycle. Q is the cut-in value
each time and is specified with an incremental value. When the second and
subsequent cut-in is performed, rapid traverse is switched to feed by d mm
(or inch) before the position where cut-in is performed. The specified Q
value must always be positive. If a negative value is specified, the signal
is ignored. The d value is set by parameter (data No.6211).

8) G84 (tapping cycle)

G84 (G98) G84 (G99)

Q_----. Q_-----,! /SPindle

I
Initial
I I point
I I cw

!<~~:d1e cw
Point Z
!. Point R
Point Z
~ Spindle CCW ~ Spindle CCW

.... - - - Rapid uaverse

- Feed

The spindle is reversed at the bottom of the hole and the tapping cycle is
performed.
(Note) During tapping specified in G84, the feed rate override is ignored
and the cycle does not stop until the end of the return operation,
even if teed hold is applied.

- 171 -
 II-14.1

9) G85 (boring cycle)

G8S (G98) G8S (G99)

Q-----rt I
Initial
point Q----, I
I
I I I

Point R
I Point R

Ii Point Z I Point Z

This is the same as G84, but the spindle is not reversed at the bottom of the
hole.

10) G86 (boring cycle)

G86 (G98) G86 (G99)

O-----1 t / Spindle CW

O----i
Initial I
: I point : Spindle CW

i Pom'R
t : Point Z
"sPindle stop
I lom'R
I Point Z

' " Spindle stop

- - _ _ Rapid traverse
- - _ . _ Feed

This is the same as G8l, but the spindle stops at the bottom of the hole and
is retracted at the rapid traverse rate.

- 172 -
 11-14.1

11) G87 (boring cycle/back boring cycle)

G87 (G98) G87 (G99)

Q-----y /
Spindle CW

I t
I SpindleCW

I :::R
I
Canned
cycle I Ii t Point R
I

"- "-
Point Z l Point Z
, Spindle stop
Spindle stop

JL ----o~,
@§)--I Initial
/<:=4\ point Rated traverse

Canned
cycle II
Spindle CW

®o~1 Point Z
I \
I I
Not used
---
--
Feed

Manual Feed

/' 1
Spindle stop
after dwell ¢=:; Point R
I
~
r::::;> Shift

}.pmdleCW

Canned cycle I (boring cycle)

At the bottom of the hole, the spindle stops and the system enters the halt
status. Therefore, the tool can be operated manually by switching to the
manual mode. Any manual operation can be performed, but it is safer to
remove the tool from the hole. When machining is restarted in tape or
memory mode, the tool returns to the initial level or point R level accord-
ing to G98 and G99.
The spindle then rotates clockwise and operation is restarted by executing
the next block on the CNC tape.
Canned cycle I I (back boring cycle)
After the tool is positioned along the X and Y axes, the spindle stops at
the orientation position. The spindle is then shifted in the direction
opposite of the tool and is positioned at the bottom of the hole (point R)
at the rapid traverse rate. At this point, the tool returns only for the
shift value, and the spindle rotates clockwise. Machining is performed up
to the. point Z in the positive direction of the Z axis. At this point, the
spindle again stops at the orientation position and shifts in the direction
opposite of the tool and the tool is withdrawn from the hole. The tool
returns to the initial point only for the shift value. The spindle rotates
clockwise and the tool moves according to the command of the next block.
The shift value and direction are the same as those for G76.
(Direction setting is cornmon to both G76 and G87,)
(Note) Canned cycle I ...••. When a parameter was set specifying that inde-
pendent signals (SRV/ SSp) be used as the
spindle reversing and spindle stop output
signals (FXB = 0; data No.6201).
Canned cycle I I ••••• When a parameter was set specifying that M
codes be used as the spindle reversing, spindle
stop and oriented spindle stop output signals
(FXB = 1;)

- 173 -
 11-14.1

12) G88 (boring cycle)

G88 (G98) G88 (G99)

Q---- i t-- SpindleCW Q---, I

!t/
I I I
I Spindle CW
I 4
) Point R

!
)
Point R

Point Z
PointZ
\
®_ Spindle stop
®-- Spindle stop after dwell
after dwell

Rapid traverse

Feed

~ ~anualfeed

This is the same as canned cycle I in G87 except that the spindle stops
after dwelling at the bottom of the hole.

13) G89 (boring cycle)

G89 (G98) G89 (G99)

Q-----, t I
I I
lilitial
point
(3'--__1
I I I
I

Point R

Ii
Point R

Point Z 11 Point Z

®~Dwell .® - - - Dwell

This is the same as G8S, but dwell is performed at the bottom of the hole.

- 174 -
 11-14.1

(Notes on canned cycle specifications)

(Note 1) The spindle must be rotated by the miscellaneous function (M code)
before a canned cycle is specified.
M3; Spindle CW

G DO .......... , Correct

M5; Spindle stop

GOD .......... , Incorrect (M3 or M4 must be specified before. this

block. )
(Note 2) If the block contains X, Y, Z, R, or additional axis data, drilling is
performed in canned cycle mode. If the block does not contain the X,
Y, Z, R, or additional axis· data, drilling is not performed. However,
when G04X _; is specified, drilling is not performed even if X is
specified.
GOO X __ ;
G81X Y Z R F P L ___ ; (Drilling is not per-
formed)
(Drilling is not performed)
F __ ; (Drilling is not performed. Value F is updated.)
M __ , (Drilling is not performed.) (Only the miscellaneous
function is executed.)
G04P __ , (Drilling is not performed. Drilling data P is not
changed by G04P.)
(Note 3) Specify drilling data Q, P, I, J, and K in the block where drilling is
performed. In other words, specify it in the block for which the X, Y,
Z, R, or additional axis data is specified. This data is not stored as
modal data if specified in a block where drilling is not performed.
(Note 4) When the' canned cycle {G74, G84; G86) , .which performs the rotational
control of the spindle, is used and drilling with a short distance
between the hole positions {X, Y)or the initial level to the R point
level is short, the spindle may not reach the normal rotation before it
enters the cutting operation (-Z) of the hole.
When this occurs, a time lag must be provided by inserting a dwell
command (G04) between each drilling operation. In this case, program
as shown below without specifying the number of repetitions with L.

Dwell is applied and waits for.the no.rIDal

Q spindle rotation is awaited.

-----If--Ir--Ir-----

- 175 -
 11-14.1

GOO M
G86 X Y Z R F
G04 P ___ ; ---(Dwell is performed, but drilling is not performed)
X Y __ ,
G04 P ___ , (Dwell is performed, but drilling is not performed)
X Y __ ;
G04 P ___ , (Dwell is performed, but drilling is not performed)

This may not have to be considered, depending on the machine tool.

Refer to the machine tool builder's instruction manual
(Note 5) As previously mentioned, a canned cycle may also be cancelled with GOO
to G03 or G33 (group 01 G code). This cancel is performed when GOO to
G03 or G33 is read if it is specified in the same block as G (II
indicates 0 to 3 or 33, indicates the canned cycle code):
Gil G X Y -Z- R Q P F L _;
(The canned cycle is performed.)--
G Gil X Y Z R Q P F L ; .
(Movement along the X and Y axesls performed as specified
in Gil; R, P, Q and L are ignored and F is stored.)
(Note 6) When the miscellaneous function is specified in the same block as a
canned cycle command, the M code and MF signals are sent at the first
positioning operation (operation 1). The control waits for the finish
signal (FIN) at the end of positioning. before starting the next drill-
ing oper~tion. When the number of repetitions (L) is specified, the M
code and MF signals are sent only the first time.
(Note 7) The tool offset commands (G45 or G48) are ignored in canned cycle mode.
(Note 8) When tool length offset (G43, G44, G49) .is specified in canned cycle
mode, offset is applied when the tool is positioned to point R (oper-
ation 2).
(Note 9) Operator precautions
a) Single block
When a canned cycle is performed in the single block mode, the
control stops at the end of operation 1, 2, and 6, as shown iil Fig.
14 .1 (a). Therefore, it must be started three times to drill one
hole. The feed hold. lamp lights at the end of operations 1 and 2.
When the number of repetitions is left at the end of operation 6,
the system stops in the feed hold status; when not, the system stops
in stop status.
b) Feed hold
When a feed hold is applied between operations 3 to 5 in canned
cycle G74 or G87, the feed hold lamp immediately lights; however,
the control continues to operate up to operation 6 and stops. If a
feed hold is applied again during operation 6, it immediately stops.
c) Override
The feed rate override is assumed to be 100% during the operation of
canned cycle G74 or G84.
d) Manual absolute operation
Manual operation specified in G87 (canned cycle I) and G88 is shown
below, depending upon the status of the Manual Absolute switch on
the operator's panel:
ON •••••• The R and initial points are matched to the programmed
value.
OFF ••••• The R and initial points are shifted by the manual move-
ment value.
e) ORIGIN
Do not press the "ORIGIN" during the canned cycle mode.

- 176 -
 11-14.1

(Note 10) G74 and G84 can also be specified by setting parameters; Therefore,
dwell is executed only for the time indicated by P before the spindle
rotates clockwise or counter-clockwise. This is effective for the use
of a special taper.
(While the tool does not move along the Z-axis and dwell in being
executed, the taper advances and retracts by a turning force and
threads are cut.)
a) G74 (left-handed tapping cycle)
G74 X Y Z R P F

G74 (G98) G74 (G99)

Q-----;1 a----~
r/
Initial
point
I
110 I Spindle CCW
I I Spindle CCW
~ :/ after dwell afterdweD

®
II :~:::
~ SpindleCW
after dwell
r
o
(!)-
mtR

Point Z
Spindle CW
after dwell

Rapid traverse Feed

b) G84 (tapping cycle)

G84 X Y Z R P F __ ,

G84 (G98) G84 (G99)

Q-----~ I 0 11
Inltialpomt Q------i I
I
Spindle CW
! I Spindle CW after dwell
I®/
f 1/
r
o
I after dwell

PomtR

Point Z
11 PomtR

®-
P
Spindle CCW
after dwell ---
0
Point Z
SpindleCCW
after dwell

- - __ Rapid traverse Feed

- 177 -
 11-14.1

Program example using tool length offset and a canned cycle

Reference point

0
\I")
('f')

~!1
t#10 t~
#1

8...-4 #7
I

8...-4
I #2
!f#12 I ~f I
Y M

L
#3 #13

X
400 150 250 250 - - 150

/I 1 tV 6 Drilling of a 10 nun diameter

hole

m
/I 7 tV 10 Drilling of a 20 mm diameter
hole
1111 tV 13 Boring of a 95 mm diameter
I I Retract position hole (depth 50 nun)

Initial level

Tll T15 T31

L
Offset value +200.0 is set in offset No.11, +190.0 is set in offset No.15, and
+150.0 is set in offset No.31.

- 178 -
 11-14.1

Program example
;
NOOI G92 XO YO ZO; Coordinate setting at reference point
N002 G90 GOO Z2S0.0 TIl M6; Tool change
N003 G43 ZO Hll; Initial level, tool length offset
N004 S30 M3; Spindle start
NOOS G99 G8l X400.0 Y-3S0.0
Z-lS3.0 R-97.0 F120; Positioning, then 111 drilling
N006 Y-SSO.O; Positioning, then 112 drilling and point R
level return
N007 G98 Y-7S0.0; Positioning, then iJ3 drilling and initial
level return
N008 G99 X1200.0; Positioning, then 114 drilling and point R
level return
N009 Y-SSO.O; Positioning, then 115 drilling and point R
level return
NOlO G98 Y-3S0.0; Positioning, then 116 drilling and initial
level return
NOll GOO XO YO MS; Reference point return, spindle stop
N012 G49 Z2S0.0 TIS M6; Tool length offset cancel, tool change
N013 G43 ZO HIS; Initial level, tool length offset
N014 S20 M3; Spindle start
NOlS G99 G82 XSSO.O Y-4S0.0 Positioning, then 117 drilling, point R level
ret~rn
Z-130.0 R... 97.0 P300 F70;
N016 G98 Y-6S0.0; Positioning, then 118 drilling, initial level
return
N017 G99 XlOSO.O; Positioning, then 119 drilling, point R level
return
N018 G98 Y-4S0.0j Positioning, then 1110 drilling, initial
level return
N019 GOO XO YO MS; Reference point return, spindle stop
N020 G49 Z2S0.0 T3l M6; Tool length offset cancel, tool change
N02l G43 ZO H3l; Initial level, tool length offset
N022 SlO M3; Spindle start
N023 G8S G99 X800.0 Y-3S0.0 Positioning, then 1111 drilling, point R
level return
Z-lS3.0 R47.0 FSOj
N024 G9l Y-200.0 L2; Positioning then #12, 13 drilling, point R
level return
N02S G28 XO YO MS; Reference point return, spindle stop
N026 G49 ZOj Tool length offset cancel
N027 MO; Program stop

(Note) When the number of repetitions is specified by L in G98 and G99, the tool
returns from the first hole to the initial level (G98) or point R level
(G99).

- 179 -
 11-14.2

14.2 Rigid Tap

14.2.1 Basic operation of rigid tap

In tapping, the feed amount of the Z axis per one spindle rotation needs to be
equal to the thread pitch of the tapper.
In other words, the most desirable tapping is machining which satisfies the
following conditions at all times.
P = F/S

where, P: Thread pitch of tapper (mm)·

F: Feedrate of Z axis (rom/min.)
S: Spindle speed (r.p.m.)

Under the tapping cycle (GS4) and counter tapping cycle (G74) , the spindle
rotation and Z-axis feed are controlled completely independently. Accordingly,
the above conditions are not always satisfied.
Especially in the case of the hole bottom, the spindle rotation and Z-axis feed
are both decelerated and stopped, and moved, while being accelerated to the
opposite direction.
However, the acceleration/deceleration are executed independently, and
consequently, the above conditions will not generally be satisfied.
To improve the tapping accuracy, therefore, the spring is attached to the inside
of the tapper holder to compensate the feedrate.
In the case of rigid tapping cycle (GS4. 2) and rigid counter tapping cycle
(GS4.3), it is controlled to synchronize the spindle rotation with the Z axis
feed at all times.
In other words, control is made only on the spindle speed in the case of
ordinary rotation, whereas the position control is also made on the spindle
rotation in the case of rigid tapping to control the spindle rotation and Z axis
feed as linear interpolation of two axes.
Accordingly, the condition of P = F/S can be . satisfied during the acceleration/
deceleration at the hole bottom, thus assuring high-precision tapping.
GS4.2 is used for the rigid tapping cycle and GS4. 3 for the rigid counter,
tapping cycle.

GS4.2
x y Z R P F S L '.
~Number
GS4.3

L LL of repetition
Spindle speed
Cutting feedrate
Dwell time in returning to Z-point and R-point
(in case parameter is selected to validate "P")
(R-point coordinate value
Z-point coordinate value
Drilling position

When GS4.2 or GS4.3 is commanded under the feed per revolution mode (G95) , the
unit of F-- for the cutting feedrate will be "mm/rev., inch/rev.", therefore,
the tap thread pitch can be specified directly.

- ISO -
 11-14.2.1

1) G84.2 (rigid tapping cycle)

G84.2 (G98) G84.2 (G99)

Q ----? pnltlal point Q ----'l I

Initial point
I I
Spindle stop I I Spindle stop I
I I I
I
> Point R ( Point R
Linear interpolation Linear interpolation
between Z axis and Linear interpolation between Z axis and Linear interpolation
spindle (CW) between Z axis and spindle (CW) between Z axis and
spindle (CCW) spindle (CCW)

C) Point Z C Point Z

- - - - -- Rapid traverse
-~-'---.- Cutting feed

2) G84.3 (rigid counter tapping cycle)

G84.3 (G98) G84.3 (G99)

Q----'l.I I
Initial point
Q-----1 I Initial point
Spindle stop Spindle stop I
I I
I I I
I Point R Point R
c c
Linear interpolation Linear interpolation Linear interpolation Linear interpolation
between Z axis and between Z axis and between Z axis and between Z axis and
spindle (CCW) spindle (CW) spindle (CCW) spindle (CW)

( Point Z C Point Z

- - - - ...... Rapid traverse

- - - - 1.... Cutting feed

(Note 1) The differences between the rigid tapping cycle (G84. 2) and tapping
cycle (G84) , and the rigid counter .tapping cycle (G84.3) and counter
tapping cycle are only that the control method for the spindle is
different when the Z axis moves from the R-point to the Z-point and
from the Z-point to the R-point respectively.
In other words, in the case of rigid tapping, the spindle detects the
movement amount of the spindle from the position coder as shown in the
following figure, executes position control and the spindle motor is so
controlled in exactly the same manner as the servo motor,' for the
linear interpolation of the two axes of the Z axis and spindle.

-- 181 --
 11-14.2.1

Spindle control
(calculation of speed
voltage for the spindle
speed)

D/A converter Spindle

Error counter ampHfier

r- -,
I Ge~r
ratIo I
L_r_J
I n:m
DMR 1024pulse/rev
r---,H
Gear ratio Spindle
Position coder
lI ___
l:p
J
I .....- - - - -

The move amount and feedrate for linear interpolation of the Z axis and
spindle are as follows, respectively.

Move amount Feedrate

Z axis z = distance from point R to Fz = F command value

point Z (mm, inch) (mm/min. , inch/min.)

Spindle S = Z x (S-command value/ Fs = S,command value

F-command value) x 360 (deg) (rpm)

G84.2 and G84. 3 are the same as G84 and G74respectively except that
the control method for the spindle is different when the Z axis is
moved from the point R to the point Z, and from the point R to the
point Z.
For the precautions on programming, etc., which are not covered in this
section, refer to the section "canned cycle".
(Note 2) The above description is given on the assumption that the Z axis is
used for drilling. However, the axis to use may be an other axis such
as the X axis or Y axis.
Example: G18G84.2X Z Y R F ;
(Y axis is-for drilling)
(Note 3) The feedrate override is invalid and is fixed at 100% in the case of
rigid tapping cycle (G84.2) and rigid counter tapping cycle (G84.3).

- 182 --
 11-14.2.2

14.2.2 Additional functions

In the conventional rigid tap, the gear ratio between the spindle and the
position coder can be set to any chosen value, and there was only one gear.
However, now any chosen gear can be taken by all the gears (8 steps) by the
specifications.
Further, before rigid tap, commands G84.2IO and G84.3IO to perform orientation
have been added.

1) Arbitrary setting of gear ratio

Rigid tap can be performed by all the gears by means of setting the followj
parameters.

Gear switching possible at rigid tap (Parameter SFGB data number 5604)
Gear ratio of each gear (Tooth of gear of (Data number 5771 - 5778)
spindle side)
Gear ratio of each gear (Tooth of gear of (Data number 5781 - 5788)
position coder side)
Loop gain square of each gear (Data number 5691 - 5698)
Backlash compensation amount of each gear (Data number 5791 - 5798)

2) Orientation
a) Commanding orientation
Orientation of the spindle is performed by means of including the I
command in the blocks of G84.2 and G84.3.

G84.2 (G84.3) 10 Orientation to the positive direction

G84.2 (G84.3) 1-0 Orientation to the negative direction

The command of orientation is possible only once during rigid tap mode.
b) Operation of orientation
If orientation is commanded, first start the movement by the rapid
traverse speed (data No. 5801). After detecting one rotation signal by
the position coder, the zero point return operation is performed
automatically by decelerating to the FL speed (data No. 5802).
Orientation is performed by a sequence the same as the zero point return
of the grid method by the low speed type of the automatic reference point
return (G28). In orientation, the low speed signal is not necessary
because the grid is created automatically according to the position coder
which is coupled to the spindle.
Depending on the grid shift function, shift is possible of the orientation
position in a range of +180 degrees (data No. 5803).
c) Speed of orientation -
Set the rapid traverse speed at orientation so as to satisfy the following
conditions. When they are not satisfied, it continues to rotate at the
rapid traverse speed because one rotation signal cannot be detected from
the position coder.

F *P ~ 128 (pulse)
60 * G * 0.088
F: Feed speed (deg/min)
G: Loop gain (l/sec)
P: Gear ratio of spindle and position coder

Note) The orientation command is effective only when there is no gear switching
(parameter SFGB = 0 data No. 5604) and the gear ratio of the spindle and
position coder is not arbitrary (parameter RTG = 0 data No. 5604). When
it is commanded under any other conditions, the PS alarm (PS534) occurs.

- 183 -
 11-14.2.3

14.2.3 Rigid tap pecking cycle function

When cutting a deep tap in rigid tap machining, cutting particles become
attached or the cutting resistance becomes great, and sometimes where machining
becomes difficult. Therefore, it becomes possible to use the pecking cycle
function for cutting after dividing a few times from R point up the Z point.
The ~ommand for the pecking cycle is performed by adding the command for cutting
amount Q-- each time to the command format for the conventional rigid tap.
Details of the hole machining operation during pecking cycle are shown in Fig.
14.2.3.

G84.2/G84.3(G98) G84.2/G84.3(G99)

u__-'.
~
"
I
I
Initia~ point
'I'
I
I
u_ _ ~:I
: II I
I

I
I
II I
I
I
I I I
I
: I

-1
I

q-~l-l
I

' R point
d--+- Rpoint

q • I
q q

, \
\
\
\
,
\
, \

\
, \
\
\ \
,,
'.,
, \
\

\ ,
':' ':'
Z point
Z point

q: Cutting amount d: Return amount

fig.14.2.3 Pecking cycle of G84.2/G84.3

When the holding axis as shown in the diagram is in the minus direction, the
various spindle rotation directions are:
At G84.2, Z point direction cutting feed forward rotates from R point, and
reverse rotates when R point direction from Z point.
At G84.3, Z point direction cutting feed reverse rotates from R point, and
forward rotates when R point direction from Z point.

- 184 -
 11-14.3

Program format

G84.2(G84.3)X---Y---Z---R---P---Q---F---S---L---;

x, Y Hole position data

Z Distance' from R point up to hole bottom, or hole bottom position
R Distance from initial level up to R point or R point position
P Dwell time at Z point and R point return
(However, when P is set as effective by the parameter selection)
Q Cutting amount at each time. Commanded by an incremental value.
When Q is not commanded, or when QO is commanded, the pecking cycle is
not performed.
F Cutting feed rate
S Spindle rotation count
L Repeat count

Note 1) The return amount d for each time is set according to the parameter or
setting (data No. 6221)
Note 2) As for the speed at return for each time, it is possible to apply the
override at 10% intervals in the range of 10 - 200% to the parameter
(data No. 5705).
Note 3) The return speed override during rigid tap becomes enabled even though
there is an operation to withdraw from Z point up to R point.
Note 4) The pecking cycle command for rigid tap machining will become effective
by the Q command during the rigid tapping cycle mode or the blocks which
commanded G84.2 (G84.3).
However, when QO is commanded the pecking cycle is not performed.

14.3 External Motion Function (G80, G81)

G81 IP _ _ L _ _ ;
This command enables an external motion function signal to be sent to the
machine tool side from the CNC unit every time the positioning to IP is com-
pleted. This signal is used to perform operations such as clamping, drilling,
punching and cycles on the machine tool side.
This signal is sent to every positioning until it is cancelled with a G80 com-
mand. Mode is changed to G80 mode by a reset. The eNC unit is set to the G80
cancel status when the power is turned on.
Positioning is repeated by the specified value following address L, and the
external motion signal is output at each positioning. The external motion
signal is not sent during execution of a block that does not contain a move
command. Option specification determines whether G81 is used as an external
operation function or as a canned cycle.

- 185 -
 11-14.4

14.4 Optional Angle Chamfering and Corner Rounding

Chamferring or corner rounding blocks can be inserted automatically.between two

optional linear interpolations, between a linear interpolation and a circular
interpolation, between a circular interpolation and a linear interpolation and
between two circular interpolations. Inputting the command,
, C
at the-end of a block that commands a linear interpolation (GOl) or a circular
interpolation (G02, G03) inserts a chamferring block. Inputting the command,
, R
insert-a-corner rounding block.

The value following the C indicates the distance of the chamferring start and
end points from a hypothetical corner intersection point when no chamferring is
presumed. (Refer to drawing below)

Q) G9l GOl X100.O, C10.O ;

GD X100.O Y100.O ;

Result of inserted
chamferring block

/''/'
v
CD II

I _ - - - i~ ~ypothe~ical c~>rner
r-- C --I'~_:"""- mtersectlon pomt

The value following the R indicates the radius of the corner R. (Refer to
drawing below)
CD G9l GOl XlOO.O , R10.O
CD XlOO.O Y100.O ;

Center of circle
of corner R

CD

- 186 -
 11-14.4

Note however, that the block immediately following a chamferring or corner

rounding block must be a movement command for a linear interpolation (GOI) or a
circular interpolation (G02, G03). Other commands will produce the pis alarm
431.
Multiple blocks for chamferring or corner rounding can be input consecutively.
(Refer to sample program below.) y

70;0 ,.------~

NOOI G92 G90 XO YO ; 60.0

N002 GOO XIO.O YlO.O
N003 GOI XSO.O FlO.O ~ CS.O ; 50.0
N004 Y2S.0 , RS.O ; 40.0
NOOS G03 XSO.O YSO.O R30.0 , RS.O
N006 GOI XSO.O , RS.O 30.0
N007 Y70.0 CS.O
NOOS XlO.O , CS.O 20.0
N009 YlO.O ;
10.0
NOlO GOO XO YO
NOll MO ;
o 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0 X

(Note 1) Chamferring and corner rounding blocks can only be inserted between
move commands in the same plane. Therefore, if work is being done in
the XY plane (G17), the chamferring or corner rounding blocks must be
created to produce movement in the XY plane. Chamferring or corner
rounding commands cannot be input immediately following a G17, GIS or
G19 command which switches the plane.

(Note 2) A pis alarm 429 is given when the movement due to the chamferring or
corner rounding block exceeds the limit of movement of the original
linear or circular interpolation. (Refer to drawing below.)

~
G9l GOI X30.0 ;
2 G03.X7.S Y16.0 R37.0 , C2S.0
3 G03X67.0 Y-27.0 RSS.O ;

The unbroken line shows

the tool path when no
chamferring is performed.

The inserted chamferring block

would produce this tool path.

(Note 3) When a chamferring or corner rounding block is executed by the single

block operation, the machine will execute commands continuously until
the end point of newly inserted chamferring and corner rounding blocks.
The machine will stop in feed hold at that end point.

(Note 4) The system ignores chamferring (, C ) and corner rounding (, R )

commands inserted between blocks other than linear interpolation (GOl)
and circular interpolation (G02, G03) blocks.

(Note S) Chamferring and corner rounding blocks cannot be input immediately

after a command to change the coordinate system (G92, GS2 - GS9) or
after a reference point return (G2S - G30).

- lS7 -
 11-14.5

(Note 6) The amount 'of movement due to a chamferring or corner rounding block
inserted between two linear interpolations when the angle between the
two straight lines in those interpolations is less than +1 0 will be O.
The amount of movement due to a corner rounding block inserted between
a linear interpolation and a circular interpolation when the difference
in the ~ngle between the straight line and the tangent to the circle at
the point of intersection is less than +1 0 will be O.
The amount of movement due to a corner-rounding block inserted between
two circular interpolations when the angle between the tangents to the
circles at the point of intersection is less than +1 0 will beO.

14.5 Programmable Mirror Image (G50.1, G51.1)

Mirror image can be commanded on each axis by programming. Ordinary mirror

image (commanded by remote switch or setting) comes after the programmed mirror
image.
1) Setting of programmable mirror image
G51. 1 X _ Y_ Z _;
By this command, mirror image is commanded to each axis (as if mirror was set
on the ·axis).
2) Programmable mirror image cancel
G50.1 X _ Y _ Z _,
Each axis mirror image is cancelled. Any value may be specified after axes's
addresses are commanded and the programmable mirror images are cancelled.
(Note 1) When the mirror image is applied to only one axis composing a plane,
the following results depending on each command:
(1) Circular command ; CW and CCW are reversed.
(2) Cutter compensation C ; Right offset and left offset are reversed.
(3) Coordinate rotation ; Rotation angle becomes reverse.
(Note 2) G50.1 or G51.1 .command must not be specified in the .G68 or G51 mode.
(Note 3) The first movement command after G51.1 or G50.1 must be of absolute.
When shape of the workpiece is symmetric to an axis, a program for
machining the whole part can be prepared by programming a part of the
workpiece using programmable mirror image and subprograms.

- 188 -
 11-14.5

(Example)

100

60
50

o 50 60 100 x

o Subprogram
09000;
GOO G90 X60.0 Y60.0;
GOI X100.O Y60.0 F100;
GOI X100.O Y100.O;
GOI X60.0 Y60.0;
M99

o Main program
N10 GOO G90;
N20 M98 P9000;
N30 GS1.l XSO.O;
N40 M98 P9000;
NSO GS1.l YSO.O;
N60 M98 P9000;
N70 GSO.l XO; (X axis only is cancelled)
N80 M98 P9000;
N90 GSO.l YO;

- 189 -
 11-14.6

14.6 Index Table Indexing Function

An index table can be indexed on the machining center by setting up the axis of
indexing (arbitrary I-axis).
To command for indexing, an indexing angle is only to be specified following a
programmed axis (arbitrary I-axis of X, Y, Z, A, B, C, U, V, W) assigned for
indexing. It is not necessary to command the special M code in order to clamp
or unclamp the table and therefore programming will become easy.
1) Command procedure
a) Least indexing angle
It is possible to move by a mUltiple integral of the least indexing angle
specified by parameters.
When commanding the amount 'of travelling other than multiple integral, it
causes an alarm. (No. 198)
b) Absolute/incremental commands
The absolute/incremental commands can be designated by G90/G91.
Example (Present position is -45°)
Absolute command G90 G45 Indexing at the position of 45°
Incremental command G91 B-45: Indexing by 45 rotating in minus direction
The motion by absolute/incremental commands is shown in the figure below:

- - + - - - - - - - I f - - - - - - t - - t - 00

Starting point
_45 0

G91 B45°

c) Number of simultaneous controllable axes

The indexing command of the index table must be independently issued. If
other control axes are commanded together with the indexi~g axis of the
index table simultaneously, it causes a PS alarm. (No. 197)
2) Least command increment
0.01 deg (IS-A)
0.001 deg (IS-B)
3) Feed rate
The feed rate of the indexing axis of the index table becomes always rapid
traverse positioning, irrespective of the status of G codes (GOO, G01, G02,
G03) in the group 01. When the index axis of the index table is specified in
G01, G02 or G03 mode, these G codes are effective within blocks hereafter
regarding others axes. It is not necessary to command G01, G02 and G03
again.
G01 X10. F5: X-axis moves at the cutting feed
G45 B-axis indexes the table at the rapid traverse
X20 X-axis moves at the cutting feed (G01 is in effect)
The dry run is ineffective against the indexing axis of the index table.

- 190 -
 11-14.6

4) Clamp/unclamp of index table

Before starting/after completing the indexing of the index table, the index
table is automatically clamped/unclamped.

(Note 1) When reset while indexing the index table, a reference point return
operation must be performed hereafter before indexing the index table.
(Note 2) When reset under the status of clamp completion standby or unclamp
completion standby, clamping or unclamping signals will be cleared and
CNC will be released from the condition of completion standby.
(Note 3) It is impossible to move the indexing axis by the command of automatic
return from the reference point (G29), 2nd reference point return (G30)
or selection of the machine coordinate system (G53).

5) Jog/step/handle
Operations for the indexing axis of the index table with JOG/STEP/HANDLE are
ineffective. However, the manual reference point return operation is
possible. When the axis selection signal is set to "0" while returning to a
reference point manually, the motion is immediately suspended, and then the
clamping command will never be executed.
If this is inconvenient, machine side operation shall be designed so that the
axis selection signal may not be set to "0" until reference point return is
completed after setting the axis selection signal to "1".
6) PARAMETER
Parameters on the indexing of index table are as follows:
Data Nos. 7602, 7631, 7632 and 7682. Refer to Appendix 6 for details.

(Note 1) Set the indexing axis of the index table as the rotary axis.
(Note 2) The 2nd auxiliary function is in effect, however, set so that its
address may not be overlapped with the address of the indexing axis of
the index table.
(Note 3) Set the following bits of the parameter number 1006 to 1.
ROTx: Setup whether the axis (axis of rotation) is not required to
execute inch/metric switching.
ROSx: Setup whether the machine coordinate system for stroke checking
and automatic reference point return is the linear axis type or
rotating axis type.
ROPx: Setup whether the machine coordinate system to perform stored
pitch error compensation is the linear axis type or rotary axis
type.
(Note 4) All of the present position indication on the CRT display, indications
by external position display units, etc. are displayed with a decimal
point.
Example: B180.000
(Note 5) FEED HOLD, INTERLOCK and EMERGENCY STOP while moving the indexing axis
of the index table are in effect. If a halt at an arbitrary position
is inconvenient, a proper sequence must be taken on the machine side.
(Note 6) MACHINE LOCK is effective, however, when the machine was locked while
executing indexing, it will.be ignored until indexing is completed.
(Note 7) Set up the indexing axis of the index table so that the servo-off
signal may be ineffective. Parameter SVFx (No. 1802). Normally, the
indexing axis of the index table shall be set to servo off state.
(Note 8) When using the incremental command to index the index table (in the
case of parameter 7603#3 G90-0), work zero offset of the index table
axis shall be zero, i.e., the machine coordinate system of the index
table axis and the work coordinate system must always be coincident.
(Note 9) When the move amount is zero, clamping/unclamping are not executed.
However, on automatic reference point return with G28, they will be
executed, although the move amount is zero.
(Note 10) It is not possible to command with single direction positioning (G60).

- 191 -
 11-14.7

14.7 Figure Copy

It is possible to perform repeated machining, while applying rotation or

translation to the profile commanded by subprogram.
The plane for the figure copy is selected by plane selection command GI7, GI8,
or G19.
1) Rotation copy
With the following commands, it is possible to execute repeated machining,
while rotating the profile commanded by the sub-program.
Format
GI7 G72.l P_L_Xp_Yp_R_ Xp-Yp plane
G18 G72.l P_ L_ Zp_ Xp_ R_ Zp-Xp plane
G19 G72.l P_ L_ Yp_ Zp_ R_ Yp-Zp plane

P : Subprogram Number
L : Number of repetitions
Xp: Coordinate at center of Xp axis
(Xp: X axis or axis in parallel to X axis)
Yp: Coordinate at center of Yp axis
(Yp: Y axis or axis in parallel to Y axis)
Zp: Coordinate center at Zp axis
(Zp: Z axis or axis in parallel to Z axis)
R : Rotation angle
(Counterclockwise direction is +. Enter the rotation angle in absolute
value).

Rotation copy program Ex. 1

y

Start point

_ _ _ _ _~-___{ ~-~-------- X

Main program Subprogram

01000 ; 02000 G03 X Y R30.0 (P2)
NlO G92 X40.0 YSO.O NlOOO GOI X- Y- ; (P3)
N20 GOO G90 X Y (PO) N200 G03 X Y -RIO.O; (P4)
N30 GOI GI7 G41 X- Y D.Ol FlO (PI) N300 GOI X- Y (PS)
N40 G72.l P2000 L~XO-YO R120.0
-
N400 G03 X Y R30.0 (P6)
NSO G40 GOI X Y I J (PO) NSOO M99
N60 GOO X40.0-YSO:O
N70 M30 ;

- 192 -
 11-14.7

Rotation copy program Ex. 2 (bolt hole circle)

~-----------4--------------~-X

Main program Sub program

03000 ; 04000 N100 e90 G81 X Y R
N10 G92 G17 X80.0 Y50.0 (PO) Z= F= ;-(P1)
N20 G72.1 P4000 L6 XO YO R60.0, N200 M99 ;
N30 G80 GOO X80.0 Y50.0 (PO)
N40 M30 ;

2) Parallel copy
With the following commands, it is possible to execute repeated machining,
while in translating the profile commanded by the sub program.
The parallel copy plane is selected by the plane selection command G17, G18
or G19. '
Format
G17 G72.2 P L I J Xp-Yp plane
G18 G72.2 P- L- K- I- Zp-Xp plane
G19 G72.2 P- L- J K --
Yp-Zp plane

P: Subprogram number
L: Number of repetitions
I: Shift amount to Xp direction
J: Shift amount to Yp direction
K: Shift amount to Zp direction

Program example of parallel copy

y

P5

P7

Start point P8
r--L-+--------------~------------~------------~~-X

70 70

- 193 -
 11-14.7

Main program Subprogram

01000 ; 02000 G90 G01 X (P3)
N10 G92 X-20.0 YO NIOO Y (P4)
N20 GOO G90 XO YO N200 G02 X I (PS)
N30 G01 G17 G41 X Y DOl FlO (PO) N300 G01 Y- (P6)
N40 Y - - (PI) N400 X (P7)
NSO X (P2) NSOO M99 ;
N60 G72.2 P2000 L3 170.0 JO
N70 X Y (P3)
N80 XO; -
N90 GOO G40 X-20.0 YO
N100 M30

Precautions on the figure copy

(Note 1) Be sure to enter the movement command to the initial block of the sub-
program performing rotation or parallel copy.
If there is no movement command in such case as when the program No. is
located independently in the initial block (01234; for instance), the
movement may be stopped at the n-th startpoint (n=l, 2, 3 ••• ) of the
figure copy.
Be sure to enter the initial movement command under the absolute mode.
(Incorrect example) (Correct example)
01000 ; 01000 GOO G90 X100. Y200.0
GOO G90 XIOO.O Y200.0 ••• ;
M99 M99 ;
(Note 2) It is not possible to re-enter G72.1 in the subprogram which executes
the rotation copy by G72.1. Similarly, it is not possible to re-enter
G72.2 in the subprogram which executes the parallel copy by G72.2.
However, it is possible to command the parallel copy in the subprogram
which executes ~he rotation copy.
Similarly, it is also possible to command the rotation copy in the sub-
program which executes the parallel copy.
Calling subprogram by M98 and macro calling by G6S can be commanded in
the subprogram which executes the rotation copy or parallel copy.
(Combination example for rotation copy and parallel copy:
Bolt hole circle)

~----------~-------------------x

- 194 -
 11-14.7

Main program Subprogram (rotation copy)

01000 ; 02000 N100 G72.2 P3000 10 J L3;
NI0 G92 G17 XI00.0 Y80.0 ; (PO) N200 M99 ;
N20 G72.1 P2000 XO YO L8 R45.0 ;
N30 G30 GOO XI00.0 Y30.0 ; (PO) Subprogram (parallel copy)
N40 M30 ; 03000 N110 G90 G81 X Y R
Z= F= ;(P1)
N210 M99 ;

(Note 3) The command of rotation center coordinate by G72.1 is regarded as

absolute command even if it is of incremental mode.
(Note 4) In the block of G72.1 address other than P, L, Xp, Yp, Zp, and Rare
ignored.
Be ~ure to specify the subprogram No. (P), rotation center coordinate
(Xp, Yp, Zp) and rotation angle (R).
In the block of G72.2, on the other hand, addresses other than P, L, I,
J, and K will be ignored.
In this case, be sure to specify the subprogram No. (P), and shift
amount (I, J, K).
(Note 5) In case the subprogram No. commanded by P cannot be found, an alarm
(PS076) will occur.
(Note 6) If L is omitted, the number of repetitions will be one.
In other words, the subprogram is called only one time.
(Note 7) The rotation angle "R" by G72.1 is used to command the amount of
increment.
The rotation angle for N-th profile will be R* (N-l) degree.
The shift amount (I, J, K) by G72.2 is used to command the amount of
increment.
The shift amount for the N-th profile (command shift amount) will be *
(N-1).
(Note 8) Calling the subprogram by G72.1, G72.2 will be added as the
multiplexity 1 in the same manner as M98.
(Note 9) The following cannot be commanded during rotation or parallel copy.
• Command of polar coordinate
• Reference point return
• Coordinate rotation, scaling, programmable mirror image
(It is possible to command the rotation or parallel copy after
applying coordinate rotation, scaling, or programmable mirror image
in advance).
(Note 10) Two axes on the figure copy plane must be in the same increment
system.
(Note 11) The single block stop will not be performed in the blocks of G72.1 and
G72.2.
(Note 12) Specify the movement command in the absolute mode right after the
blocks of G72.1 and G72.2.
If it is commanded by incremental mode, it will be the incremental
movement amount from the position where the execution of G72.1 and
G72.2 is completed.
(Note 13) If the end point of n-th copy figure is not consistent with the start
point of the (n+l)-th copy figure (normally in case the rotation angle
or shift amount is not correct), the copy is started after the
movement from end point to start point.

- 195 -
 11-14.7

lst copy end point

Start point
PO
x
1---- 90 ----I

Main program Subprogram

01000 ; 02000 G90 G01 X40. (P3)
N10 G92 X-20. 0 YO N100 Y40. ; (P4)
N20 GOO G90 XO YO N200 G01 X80. (Ps)
N30 ·G01 G17 G41 X20. YO DOl FlO (PO) N300 G01 Y20. (P6)
N40 Y20. ; (P1) N400 X100. (P7)
NsO X30. ; (P2) NsOO M99
N60 G72.2 P2000 L3 190.0 JO ;
--':::Since the shift amount is 70 rom, it should be
commanded as "170.0".
However, "190.0" is actually commanded, and
the end point of the n-th copy figure is not
consistent with the' start point of the
"n+1"-th copy figure.
(Note 14) The coordinate value of profile which rotation or parallel movement
is not applied are read from the variables #5001 (block end
position) of the custom macro rotation and parallel

- 196 -
 11-14.8

14.8 Normal Direction Control (G40.1, G41.1, G42.1)

It is possible to control the rotation axis (C axis) with a G41. 1 and G42.1
command in such a way that a cutting tool will maintain a right angle with
respect to the advance direction.
G40.1: Normal direction control cancel
(Normal direction control cannot be performed)
G41.1: Left-side normal direction control on
(This is to control the tool to maintain the perpendicular angle on the
left-side with respect to the advance direction)
G42.1: Right-side normal direction control on
(This is to control the tool to maintain a perpendicular angle on the
right-side with respect to the advance direction)

On the normal direction control, a +Y

tool will be controlled to maintain a
perpendicular angle with respect to
the advance direction.
As for the C axis angle, it is requested
to define the +X axis at 0 degrees, the
+Y axis at 90 degrees, the -x axis at +x
180 degrees, and -Y axis at 270 degrees,
respectively.

Center of rotation

When returning to normal direction control mode from cancel mode, the C axis
becomes perpendicular against the program direction at the beginning of a block
in which the G41.1 or G42.1 command is on.
At the boundary between blocks in the normal direction mode, the C axis movement
will be automatically inserted due to the change in the movement direction so
that the C axis becomes perpendicular to the advance direction at the beginning
of each of those blocks. In other words, at first the C axis rotates until it
forms a right angle with the advance direction in response to the movement
command. Then the X axis and Y axis start to move accordingly.

In cutter compensation, the C axis is s

controlled to form a perpendicular angle Nl
with respect to the advance direction of ~----------------~. \
G4l.l \
the path after the compensation. \
With the single blcck operation, the \
single block stop takes place only after \
the X and Y axes have been moved. \
\

s
r-------~~===-----~~
____ -,. .,.,.,."N! _ _ ,.,/
\sJ
--
t,
,..-,
\
G40.1 \
\
\
\
\
\

- 197 -
 II-14.8

The feedrate of the C axis movement that is inserted at the beginning of each
block will be the one specified by parameter No. 1472. However, if a dry run is
possible, it will be equal to the dry run speed.
If rapid traverse (GOO) is used with an X or Y axis movement command, it will be
equal to the rapid traverse rate.
A circular interpolation begins only after the C Bxis is rotated so that it will
take the perpendicular angle against the starting point of an arc. During the
execution of circular interpolation, the Caxis is controlled constantly to face
the normal direction along with the circular interpolation movement.
The C axis speed during a circular interpolation operation can be obtained using
the following equations:

C axis movement amount (deg)

F x deg/min
Arc length (mm or inch)

F: Feedrate (mm/miri or inch/min) specified by an arc block command

The C axis movement amount is the difference in angle between the
beginning and the end of a block.

The C axis is controlled constantly to face

the normal direction along with the
cir<;ular interpolation movement. An extra rotation is performed so
that the C axis will face the normal
""- ,,~ ___ ----- _________ ,_ directi/onat the be~inning of an arc.

~/~"
,./;'
'-'-'--- ''''' ....,
;' ,
/ \
/; \
/
/ ,,
/ I
/ I
I I
I I
I I
/ I
/ G42.1 :
I
/ :
I

!
,
I
G42.1
I
!
,
I I
, I
,I ,
I

Arc center

(Note 1) In cases like when the feedrate of the C axis exceeds the maximum
cutting speed of the C axis specified by the parameter (data No. 1422),
the feedrate of each of the other axes are clamped to keep it below the
maximum cutting speed of t-he C axis.
(Note 2) The rotation direction of the - C axis during the normal direction
control is that which makes the rotation less than 180 degrees.
(Note 3) Do not give a command to the C axis during the normal direction·
control. If this is tried, it will be ignored.
(Note 4) Before starting processing, it is necessary to set up a proper
correspondence between the work coordinate value of the C axis and the
actual position of the C axis on the machine. Use either the origin
key or coordinate system specification G92.
(Note 5) The C axis should be a rotation axis.
(Note 6) No command for helical cutting along two linear axes can be issued in
the normal-direction control mode. However, the command for helical
cutting along only one linear axis can be issued in that mode.
(Note 7) The normal direction control cannot be performed by the G53 movement
command.
(Note 8) PS470 alarm will be occurred if normal direction control related
parameter has an error.
(Note 9) Calculation of the C axis speed during above mentioned circular command
is the case when HTG of parameter No. 1401 is set to O. (Helical
interpolation velocity command is specified with tangential speed of
the arc.)

- 198 -
 11-14.9

14.9 3-dimensional Coordinate Conversion

It is possible to convert the coordinate around an arbitrary axis by setting the
rotation center, the rotation direction, and the rotation angle. This function
is useful for three-dimensional machining with a die sinking machine. For
example, by applying three-dimensional conversion to a program which has been
created on a two-dimensional XY plane, arbitrary three-dimensional machining
will become possible.

;-.--_.y

X ~-dlmenSlonal conversion

The three-dimensional coordinate conversion mode can be specified by the G68

command and cancelled by the G69 command.

Nl G68X Xl Y Yl Z g I il J i!. K kl R ~
N2 G68X X2 Y Y2 Z Z2 I i2 J j1 K k2 R !
X, Y, Z: Rotation center (absolute)
I, J, K: Direction of center axis of rotation
R Rotation angle

First, specify the rotation center, the center axis of rotation and the rotation
angle at block Nl. By reviewing the original work coordinate system, the
rotation center will be shifted by Xl, Yl, and Zl and the rotation angle will be
specified as iI, j 1, and kl. As a result, a new X'y' Z' three-dimensional
coordinate system will be created. Next, specify the rotation center, the
center axis of rotation, and the rotation angle at block N2. This time, X, Y,
Z, I, J, K, and R stand for the coordinate values and the angles in the
coordinate system which have been created after the three-dimensional conversion
at block Nl. The rotational center will be shifted by X2, Y2, and Z2 and the
rotation angle will be specified as i2, j2, and k2, then a new X"y"Z"
three-dimensional coordinate system will be created. At block N3, program
commands X, Y, and Z will be considered as the coordinate values of the most
recent X"Y"Z" coordinate system. This system is called a program coordinate
system.
If X, Y, and Z are not specified at block N2, the X, Y, and Z at block Nl will
be carried over. In other words, block Nl and block N2 will share the same
rotation center. If the first rotation is sufficient, no further rotation is
called for. Absolute values should be used in specifying the rotation center by
the G68 command. The rotation angle R should be specified clockwise. The
specification unit of the rotation angle R is set by parameter (No. 6400 RTR).

- 199 '-
 11-14.9

Example) G68X ~ Y l£ Z zo I Q J Q K 1 R a
G68 I 1 J 0 K 0 R B

XYZ Work coordinate system

X'Y'Z' Coordinate system after the first conversion
X"Y"Z" Coordinate system after the second conversion
a Rotation angle of the first conversion
B Rotation angle of the second conversion
o (xo, yo, zo): Rotation center
p (x, y, z) Coordinate value on the X"y"Z" (program coordinate system)
coordinate system

- 200 -
 11-14.9

Sample program of the three-dimensional coordinate conversion

N1 G90XOYOZO; Positioning of origin H.

N2 G68XIO. YOZO IOJIKO R30. New coordinate system X'Y'Z' has been created
with origin H' •
Points (X,Y,Z) at the X'Y'Z' coordinate
system
N3 G68XOY-10. ZO IOJOK1R-90. New coordinate system X"Y"Z" with origin H"
(0, -10., 0) has been created.
N4 G90XOYOZO Positioning of origin H" in the X"y"Z"
coordinate system.
NS XIO. YIO. ZO Positioning of origin H" at (10, 10, 0) in the
X"y"Z" coordinate system.

Y Y'

I
Z " I
NS' I
---'''S (10. 10.0)
/
30. /

'Z"

Note 1) Three-dimensional coordinate conversion formula

In general, the following conversion formula is used to express the
relations between the coordinate value (X, Y, Z) of a program coordinate
system and that of the original coordinate system (work coordinate
system).

- 201 -
 11-14.9

The following formula is used when the second conversion is required.

x, Y, Z Coordinate value of the original coordinate system (work

coordinate or machine coordinate)
x, y, z Program command values (th~ coordinate values of the
program coordinate system)
xl, y1, z 1: Rotation center of the first conversion
x2, y2, z2 : Rotation center of the second conversion (the coordinate
values after the first conversion)
M2 Second conversion matrix
M1 First conversion matrix

In general, M1 and M2 are expressed as follows which are conversion

matrices determined by the rotation angle and the center axis of
rotation.

[n12+ (1 -ni 2) cose n1n2 (1 -cose) -n3sine n1n3 (1 -cose) +n2SineJ

n1n2 (1 -cose) +n3sine n22+ (1 -n22) cose n2n3 (1 -cose) -n1sine
n1n3 (1 -cose) -n2sine n2n3 (1 -cose) +n1sine n3 2+ (1 -n3 2 ) cose

i
n1: X axis cosine of the center axis of rotation
li 2+j2+k 2

j
n2: Y axis cosine of the center axis of rotation

k
n3: Z axis cosine of the center axis of rotation

e: Rotation angle

In a two dimensional plane, a conversion matrix is expressed as follows:

i) Coordinate conversion on the XY plane

M=
[ cose
sin~
-sine
cose
0
0
0
1 ]
ii) Coordinate conversion on the YZ plane

M
[~ 0
cose
sine
0
-sine
cose ]
iii) Coordinate conversion on the ZX plane

M=
[ cose
0
-sine
0
1
0
sine
0
cose ]

-. 202 -
 11-14.9

Note 2) The following G-codes can be used in the three-dimensional conversion

mode.

GOO Positioning
G01 Linear interpolation
G02 Circular interpolation (CCW)
G03 Circular interpolation (CW)
G04 Dwell
G10 Data setting
G17 Plane selection (XY)
G18 Plane selection (XZ)
G19 Plane selection (YZ)
G28 Reference point return
G29 Return from reference point
G30 Return to 2nd, 3rd, 4th reference point
G40 Cutter radius compensation cancel
G41 Cutter radius compensation left
G42 Cutter radius compensation right
G50.1 Programmable mirror image cancel
G51.1 Programmable mirror image
G53 Machine coordinate system selection
G65 Custom macro (one shot)
G66 Custom macro mode
G67 Custom macro cancel
G73 Canned cycle (peck drilling cycle)
G74 Canned cycle (counter tapping cycle)
G76 Canned cycle (fine boring cycle)
G80 Canned cycle cancel
G81
Canned cycle
G89
G90 Absolute command
G91 Incremental command
G94 Feed per minute
G95 Feed per revolution
G98 Canned cycle Initial level return
G99 Canned cycle Point R level return

Note" 3) In the three-dimensional coordinate conversion mode, rapid traverse for

canned cycle drilling is switched to cutting feed at the speed specified
by parameter 2052. When this parameter is 0, the maximum cutting feed
is used.
Note 4) No coordinate conversion takes place for the amount of manual
interference or interruption.
Note 5) In case of length, diameter, or position compensation, three-dimensional
coordinate conversion takes place after the compensation.
Note 6) A coordinate conversion is invalid in machine triggered positioning such
as G28, G30, or G53.
Note 7) When three-dimensional coordinate conversion is applied, specify linear
rapid traverse, i.e., set LRP in parameter 1400 to 1.
Note 8) Do not use any G code on a block if G68 or G69 is already on. In the
case that G68 is specified, be sure to command I, J and K.
Note 9) A common G code (G68) is shared between the three- and two-dimensional
conversions. If I, J, and K are specified, it will be regarded as
three-dimensional conversion. Otherwise, it will be regarded as
two-dimensional conversion.

- 203 -
 11-14.9

Note 10) An external mirror image is applied in each control axis to the travel
after three-dimensional conversion (by DI or setting).

The travel is Three- Mirror image

calculated by dimensional
the specified coordinate
program. conversion
Mirror image

Mirror image

Note 11) Set the DTL and the DCR of parameter 2202 to 0 to display absolute
position on the three-dimensional coordinate conversion.
Note 12) Rotation angle R shares the same unit parameter No. 6400, DTR with the
coordinate rotation.
Note 13) When a parking signal is given to an axis, three-dimensional coordinate
conversion may still take place if a move command is already on other
axes. For this reason, an axis with a parking command may move.
Note 14) Use the same increment system (ISUFx, ISRx, ISFx, and IPRx in parameter
1004) for the three basic axes.
Note 15) G41, G42, Gsl.l or canned cycle command should be properly nested in
G68 and inside G68 and G69.
For example,

,,,
r----- G68XI00;YI00.ZI00.IOJOKI.R4s.

I r-- G41DOI ;
I I
I I
I L__ G40 ;
,I
L ____ _ G90GOOXI00.Y100.Z0. + The move command in absolute value is
G69 ; required

In addition, G40 (GsO.1, G80) and G69 should not be specified next to
each other. GOO and G01 move commands need to be specified in absolute
value in the G40's succeeding block.
Note 16) The absolute dimensioning display in the three-dimensional coordinate
conversion mode can be switched between the program and workpiece
coordinate systems with DAK in parameter 2204.
Note 17) The display of the remaining travel in the three-dimensional coordinate
conversion mode can be switched between the program and workpiece
coordinate systems with DP3D in parameter 2208.

- 204 -
 11-15

15. COMPENSATION FUNCTIONS

15.1 Tool Length Offset (G43, G44, G49)

G43 and G44 are used to set the CNC unit in the tool length offset mode. The
axis address IP specified in the G43 or G44 block specifies the axis to which
the tool length offset is applied.
G43
G44 IP _ _ H _ _ ; (IP is any axis)
The above command shift~ the end point of the IP-axis move command in the posi-
tive or negative direction by the value set in the offset memory. This function
can compensate tool length without altering the program, by setting in the off-
set memory the difference in the values between the assumed tool length for
programming and the tool length used for actual machining.
G43 and G44 specify the offset direction, and the H code specifies the number of
the offset memory in which the offset value is stored.
1) Offset direction
G43: + offset
G44: - offset
For both absolute and incremental programming, the offset value stored in the
offset memory which was specified by the H code is added to the end point
coordinate value for G43 and is subtracted from it for G44.
The resultant coordinate value becomes the end point. When the IP-axis move-
ment command is omitted,
G43 G91IPOH
G44
is assumed, and the tool is moved along the IP-axis by the offset value in
the positive direction for G43 and the negative direction for G44. Both G43
and G44 are modal G codes and remain in effect until another G code in the
same group is specified.
The CNC unit can become the G43 or G44 status when the power is turned on by
setting a parameter.
2) Offset value specification
The H code specifies the offset number. The offset value stored in the off-
set memory of this specified offset number is added to or subtracted from the
programmed IP-axis command value. Offset numbers can be specified with
codes.
The offset value is preset in the offset memory by the MOl/CRT panel or a
tape reader corresponding to the offset numbers.
The offset value corresponding to offset number 00, (i.e. HOO) always indi-
c~tes 0 and cannot be set •
. 3) Tool length offset cancel
Tool length offset can be cancelled by specifying G49 or HOO. Specifying G49
or HOO immediately cancels the specified offset command.

- 205 -
 11-15.1

4) Tool length offset examples

a) Tool length offset (drilling #1, #2, and #3)

#1

#3
20
--+-~--4-------~~~

9--- --
\
®
--
\ /'
--- "/'
/®
/' +y

-I----I--.".........::::..--+_

- --30
#2

, 120 --L30 50 +z

~
Actual position . I '
~-'
! ---------r-----~d---t' -----~
1
i t :t
Dp. d' .
rogramme position

~f~;:'lU. +--
35
I

-----1- - - - - f - - - - - - - . . J
I
Q)

22
30

~~----+-®~~~~----~~

HOI = Offset value is -4.0

NIG91 GOO X120.0 Y80.0 1
N2 G43 Z-32.0 HOI ; 2
N3 GOI Z-21.0 FlOOO ; ••••••• 3
N4 G04 P2000 ; ••••••• 4
NS GOO Z2l.0 5
N6 X30.0 Y-SO.O 6
N7 GOI Z-4l.0 7
N8 GOO Z41.0 8
N9 XSO.O Y30.0 9
NIO GOI Z-2S.0 10
NIl G04 P2000 ; .•••••• 11
N12 GOO ZS7.0 HOD ; ••••••••• 12
N13 X-200.0 Y-60.0 13
N14M2

- 206 -
 11-15.2

(Note 1) When the offse"t value is changed by changing the offset number, it is
changed to a new offset value; and the new offset value is not added to
the old offset value.
HOI...................... Offset value 20.0
H02 •••••••••••••••••••••• Offset value 30.0
G90G43Z100.0H01 ; •••••••• Z moves to 120.0
G90G43Z100.0H02 ; •••••••• Z moves to 130.0
(Note 2) The D code cannot be used in tool length offset.
(Note 3) Offset can be applied to the Z-axis by setting a parameter no matter
what IP is in a block in which G43 or G44 was specified.

15.2 Tool Offset (G45 to G48)

By specifying G45 to G48, the movement distance of the axis specified on CNC
tape, etc. can be expanded or reduced by the value set in the offset memory.
Table 15.2 shows the G codes and their functions.

Table 15.2 Tool offset and G codes

G code Function

G45 Increases the movement amount by the value stored in the offset value
memory

G46 Decreases the movement amount by the value stored in the offset
value memory

G47 Increases the movement amount by twice the value stored in the
offset value memory

G48 Decreases the movement amount by twice the value stored in the
offset value memory

Slnce these G codes are not modal, they are effective only for the specified
block.
Once selected by D code, the offset value remains unchanged until another offset
value is selected.
Offset values can be set within the following range:

inch input

-----------
mm input

0 '" +999.999 mm 0 '" +99.9999 inches

Offset value - -
0 '" +999.999 deg 0 '" +999.999 deg
- -
This tool offset is also effective for additional axes. The DOO offset value is
always zero.
Increase and decrease is performed in the move direction of an axis in which the
move is performed.
For absolute programming, increase and decrease are performed in the move direc-
tion from the end point of the previous block toward the position specified in
the block containing G45 to G48.

- 207 -
 11-15.2

1) G45 command (increase by the offset value)

Move command value
Offset value
Actual movement

a) Move command: +12.34 b) Move command: +12.34

Offset value: + 5.67 Offset value: - 5.67

End point
Start point End point
~o----o

f--12.34 -+ 5.67 __
~---18.01

c) Move command: -12.34 d) Move command: -12.34

Offset value: + 5.67 Offset value: - 5.67
End point
End point Start point Start point

+-
o---~

5.67 12.34
.. 18.07
6.67

2) G46 command (decrease by offset value)

This is equivalent to reversing the positive or negative direction of the
offset value specified in G45.
a) Move command: +12.34 b) to d) Omitted
Offset value: + 5.67
End point
Start point
___ ~o

_~12'34
5.67

':6.67

3) G47 command (double increase of offset value)

a) Move command: +12.34 b) Move command: +12.34
Offset value: + 1.23 Offset value: - 1.23

Start point End point End point

Start point
~---o

12.34 -
_ _ 14.80

- 208 -
 11-15.2

c) Move command: -12.34 d) Move command: -12.34

Offset value: + 1.23 Offset value: - 1.23
End point
Start point
o----o~

~- - 0 - - - - - - - - 1
j~--12.34
-tt·
46
I--- 14.80 12.34
9.88

4) G48command (double decrease of offset value)

This is equivalent to reversing the positive or negative direction of the
offset value specified in G47.
a) Move command: +12.34 b) to d) Omitted
Offset value: + 1.23

End point
St~

~ F .46
12.34
9.88

When the tool is moved by the offset value in incremental command (G91) mode,
the movement value shall be specified as zero. In an absolute command (G90)
mode, no operation is performed even if the movement value is specified as
zero.

(Example) Offset value: +12.34 (offset No.01)

CNC command G91G45XOD01; G91G46XODOl; G91G45X-OD01; G91G46X-OD01;

Equivalent command X12.34; X-12.34; X-12.34; X12.34;

Notes on tool offset

(Note 1) When G45 to G48 is specified to n axes simultaneously in a motion
block, offset is applied to all n axes.
G45 specified for two axes
Move command: X1000.0, Y500.0
Offset value: +200.0, offset No.02
Program command: G45 G01 X1000.0 Y500.0 D02;

End point

~
//
+
Offset value
cf --

~
Offset value

Start point

- 209 -
 11-15.2

(Note 2) When the cutter radius value is set in the offset memory, the workpiece
shape can be programmed as the cutter path.

Offset value
/
Programmed path

Cutter center path

When the cutter is offset only for cutter radius or diameter in taper
cutting, overcutting or undercutting occurs. Therefore, use cutter
compensation (G40 or G42) shown in section 15.3.

G01 X F
G47 X Y D
Y

Y~xis

Overcu tting L X~xis

G01G45 X F D
X Y
G45 Y

Undercutting

- 210 -
 11-15.2

(Note 3) When the specified direction is reversed by decrease as shown in the

. figure below, the tool moves in the opposite direction.

Tool movement
Program command
(Example) 1
"
:"
Start
point 6n~p:int G46X2.50;
Tool offset· Equivalent
setting J command X - 1.20;
~
I +3.70
I--- Offset value --i
(Note 4) Tool offset can be applied to circular interpolation (G02, G03) with
the G45 to G48 commands only for 1/4 and 3/4 circles using addresses I,
J and K by the parameter setting, providing that the coordinate rota-
tion or parallel operation cannot be specified at the same time. How-
ever, since this function is provided for compatibility with the conven-
tional CNC tape without any cutter compensation, it should not be used
when a new CNC program is prepared.

(Example 1) Tool offset for circular interpolation

Program
Nl G46GOOX-Y-D-;
N2 G45GOIY-F-;
N3 G45G03X-Y-I-;
N4 GOIX-;

- 211 -
 11-15.2

(Example 2) Program using tool offset

-,--_ _ _ _ _ _-+1_
r--------9------~@30R
1 .~
@®
40
:'-,®
1

1 1
-+------~~~-----
1 @) I

40 @i
1
r-lW
31
1 I I Y-axis
j L
Lx-a~
)- __ (j)__ I

50 ,'CD
/'

j @//

0"-
Zero I
point ____ 80 - - - 50 - - 40 30 30

Tool diameter 20 cJ>

Offset No. 01 Offset value +10.0

Program
CD G9l G46 GOO X80.0 Y50.0 DOl
(2) G47 GOl X50.0 F120
Q) Y40.0;
® G48 X40.0
~ Y-40.0 ;
® G45 X30.0
Q) G45 G03 X30.0 Y30.0 J30.0;
@ G45 GOl Y20.0
® G46 XO; •••••••••••••••••••• Decreases. toward the positive direction for
movement amount "0". The tool moves in the
-x direction by the offset value.
G46 G02 X-30.0 Y30.0 J30.0;
G45 GOl YO ; •..••••.•••..•• Increase toward the positive direction for
movement amount "0". The tool moves in the
+Y direction by the offset value.
G47 X-120.0 ;
G47 Y-80.0 ;
G46 GOO X-80.0 Y-50.0 ;

(Note 5) D code should be used in tool offset mode (G45 to G48). However, H
code can be used by setting the parameter because of compatibility with
conventional CNC tape format. The H code must be used under tool
length offset cancel (G49).
(Note 6) G45 to G48 are ignored in canned cycle mode. Perform tool offset by
specifying G45 to G48 before entering canned cycle mode and cancel the
offset after releasing the canned cycle mode.
(Note 7) G45 to G48 must not be used in the G4l or G42 mode.

- 212 -
 11-15.3

15.3 Cutter Compensation (G40 to G42)

15.3.1 Cutter compensation function

In the figure below, in order to cut a workpiece indicated as A with an R-radius
tool, the path for the center of the tool must be B, which is separated R dis-
tance from the A. The tool being separated at a distance like this is called
offset. By the cutter compensation function, the tool path being separated at a
distance (namely, offset) is computed.
Therefore, the workpiece shape is programmed with the cutter compensation mode
by a programmer, and in machining, if the cutter radius (offset amount) is
measured and sent to the CNC, the tool path is offset (path B) regardless of the
program.

B (Offset tool center path)

t Vector

----------------
Offset and Vector

Cutter compensation has two types (B and C). In this section, only tape C is
explained. The difference between Band C is as follows.
In the cutter compensation B mode, the inside offset at the acute corner of 90
deg. or less cannot be performed. In this case, the proper corner arc must be
inserted in programming. .

15.3.2 Offset amount (0 code)

The offset amount can be set in the offset memory. The offset amount depends on
the D code commanded in the program, and has been sent via the MDI/CRT panel or
the tape reader.
The offset amount corresponding to offset No.OO or DOO always means O.
It is impossible to set DOO to any other offset amount.

15.3.3 Offset vector

The offset vector is the two-dimensional vector that is equal to the offset
amount assigned by D code. It is calculated inside the control unit, and its
direction is up-dated in accordance with the progress of the tool in each block.
This offset vector (hereinafter called vector) is produced inside the control
unit in order to find out how much the tool motion should be offset. It is used
to compute a path offset from the programmed path by the tool radius. The off-
set vector is deleted by reset.
This vector always follows the tool as it progresses. It is very important,
when making a program, to understand the state· of the vector. Read the follow-
ing description carefully to understand how the vector is generated.

15.3.4 Plane selection and vector

Offset calculation is carried out in the plane determined by G17, G18 and G19,
(G codes for plane selection.) This plane is called the offset plane. For
instance, when the XY plane has been selected, the off set calculations are
carried out using (X, Y) or (I, J) in the program tape and the vector is com-
puted. The coordinate values of an axis not in the offset plane are not subject
to the offset, and the command values for that axis on the program tape are used
as they are.

- 213 -
 11-15.3.5

In simultaneous 3 axes control, the tool path projected on the offset plane is
compensated.
The offset plane must be changed during the offset cancel mode. If it is per-
formed during the offset mode, an alarm is generated.

G code Offset plane

GI7 XpYp plane

GIS ZpXp plane Xp: X-axis or its parallel axis

Yp: Y-axis or its parallel axis
GI9 YpZp plane Zp: Z-axis or its parallel axis

(Note) See section S.6 for a detailed explanation of plane selection.

It is required for specifying an offset plane, including an additional axis, to
set the parameters for which axis is parallel with the additional axis.
If the additional axis is not parallel with any X, Y, or Z axes, no offset plane
can be created. Specify an additional axis with GI7, GIS or GI9 to set an off-
set plane including an additional axis.
(i) GI7X Y _ , ••••••••••••• XY plane
(ii) GI7U Y ___ , ••••••••••••• UY Plane (U axis is parallel with X axis)
(iii) GI7Y ___ , ••••••••••••••••••• XY plane
(iv) GI7; •••••••••••••••••••••••• XY plane
(v) GI7X Y U ___ , ••••••• Alarm
(vi) GISX W ___ ; ••••••••••••• XW plane (W axis is parallel with Y axis)

15.3.5 G40, G41 and G42

Using G40, G41 and G42, the deletion and generation of cutter radius compensa-
tion vectors is commanded. They are commanded simultaneously with GOO, GOI, G02
or G03 to define a mode which determines the amount and direction of offset
vectors, and the direction of tool motion.

G code Function

G40 Cutter compensation cancel

G41 Cutter compensation left

G42 Cutter compensation right

A G41 or G42 command causes the equipment to enter the offset mode. A G40
command causes the equipment to enter the cancel mode.
The offset procedure, for example, is explained in the figure below.
The block CD is called the start-up. In this block, the offset cancel mode is
changed to the offset mode (G4I). At the end point of this block, the tool
center is translated by the cutter radius in the direction which is vertical to
the next block path (from PI to P2). The cutter compensation value is specified
by 007, namely the offset number is 7, and G41 means the cutter compensation
left.
After being start-up, when the workpiece shape is programmed as PI+ P2 ••••• +
PS + P9 + PI the cutter compensation is performed automatically.
In the block @,the cutter' returns to the start point by commanding G40
(offset cancel). At the end point of the block @, the cutter center is
translated vertically to the programmed path (from P9 to PI).
At the end of the program, the G40 (offset cancel) must be commanded.

- 214 -
 11-15.3.5

Example of program of cutter compensation C

0---- .............
~
",
/
/
/' /"
,
\
I \
I \
I ,
I ,
\ I
\ I
\
0',
C3 I
(-150,1150)
I
P6 (950,900)

/ I
Unit: mm
/ I
/ I
all
//@ Yaxis
II

L
II

o
II

X axis

Start point

G92 XO YO ZO;
N1 G90 G17 GOO G4l D07 X250.0 Y550.0 In advance, the offset
N2 GOI Y900.0 F150; amount must be set to
N3 X450.0; the offset number 07.
N04 G03 X500.0 Yl150.0 1-600.0 J250.0
N5 G02 X900.0 1200.0 J150.0;
N6 G03 X950.0 Y900.0 1650.0 JO;
N7 G01 Xl150.0;
N8 Y550.0;
N9 X700.0 Y650.0
N10 X250.0 Y550.0;
NIl GOO G40 XO YO

- 215 -
 11-15.3.6

15.3.6 Vector hold (G3B) and corner arc (G39)

In cutter compensation C function, the offset vector in the end position of the
previous block can be held without intersection calculation by commanding G38 in
the offset mode. Further, the corner arc interpolation with the offset value as
radius can be carried out in the corner by commanding G39.
1) G38 (Vector hold)
In offset mode, by commanding G38 X Y Z ;, the offset vector is not
prepared but the offset vector at the-endlposition of the previous block is
held. G38 is one-shot G code. Consequently, the offset vector is reproduced
by the next move command with no G38 command.

Block N2

Block Nl

Tool center path t-------- Offset vector

II
Program command
/I
I ~ ( 1 5. 0 , 5. 0 )
i l ·....
/7 ...... Block N3
II
II

(Program example) (Cutter compensation C mode, G90)

N1 G38 X 10.0 Offset vector hold

N2 G38 X 15.0 Y 5.0 Offset vector hold
N3 G38 X 10.0 Y 0.0 Offset vector hold
N4 X 20.0

(Note 1) Use G38 in GOO or G01 mode.

(Note 2) When the move command is given in G38 block, do not specify I, J, and
K.
(Note 3) When no move command is present but the I, J and K command is present
in G38 block, no offset vector is held but a block with no move is
produced.

2) G39 (Corner arc)

In the offset mode, by commanding G39 ; or G39 I J K ;, corner arc
interpolation with the offset amount as radius can be carried out at the
corner. Whether the arc is clockwise or counterclockwise is determined by
G41, G42 specified previuosly. G39 is one-shot G code.
i) G39 in the absence of I, J, K command
If G39 ; is specified, the corner arc such that an arc end point vector
vertical to the next block start point is produced.

- 216 -
 11-15.3.7

... Block Nt
Offset vector

············Block N2

~I'
( 10.0 ,0.0 )

~L. . . . . . . Program command

~ ....... Tool center path

~ ···········BlockNJ
................ (10.0, -10.0 )

(Program example) (Cutter compensation C mode, G90)

N1 X 10.0
N2 G39 Corner arc interpolation
N3 Y -10.0

ii) G39 in the presence of I, J, K command

If I, J, K command is given, the corner arc such that the end vector
vertical to the vector specified by I, J, K command is produced.
Tool center path

Program command Block Nt

......... Block N2
······· ... (10.0,0.0)

(I = 1.0, J =-3.0)

(Program example) (Cutter compensation C mode, G90)

N1 X 10.0
N2 G39 I 1.0 J -3.0 Corner arc interpolation
N3 X 5.0 Y -8.0

(Note 4) In G39 block, the move cannot be specified.

15.3.7 Details of cutter compensation C

Details of the cutter compensation C are explained.
1) Cancel mode
At the beginning, when power is applied, after reset has been performed or
when the program has been terminated by execution of M02 and M30, the control
is in the cutter compensation cancel mode. (Cancel mode is not set depending
on Machine Tool Builder.)

- 217 -
 11-15.3.7

In the cancel mode, "the vector is always 0, and the tool center path coin-
cides with the programmed path. The cancel mode (G40) should be programmed
before the end of a program.
When the program ends in the offset mode, positioning cannot be made to the
terminal point of the program, and the tool position will be separated from
the terminal position by the vector value.
2) Start up
In the cancel mode, when a block which satisfies all of the following condi-
tions is executed, the equipment enters the offset mode. This is called the
start up block.
a) G41 or G42 has been commanded, or it has already been commanded, and the
control enters the G41 or G42 mode.
b) The offset number for cutter compensation is not DOO.
c) A move in any of the axes (I, J, K are excluded) in the offset plane has
been commanded, and its commanded move is not O.
In the start up block, arc commands (G02, G03) are not allowed, or the alarm
will be generated. At start up, two blocks are read. After the first block
is read and executed, the next block enters the cutter compensation buffer
(which cannot be indicated).
In the meantime, in the case of a single block mode, two blocks are read and
the machine stops after the first block execution.
Thereaf ter, 2 blocks are normally read in advance. Therefore, inside the
CNC, there are three blocks; the block under execution, and the next two
blocks which are entered into the buffer.
(Note) The meaning of "inner-side" and "outer-side" encountered later are as
follows:
An angle of intersection created by two blocks of move commands is
referred to as "inner-side" when over 180°, and as "outer side" when
0° to 180°, as measured at the workpiece side.
a) Inner side
Workpiece side

Programmed path

b) Outer side

Programmed path

Workpiece side

-:- 218 -
 11-15.3.7

a) When going around an inside corner (180° ~ a)

i) Linear + Linear ii) Linear + Circular

Programmed path
r: Offset amount

------------ -----
/'s L Tool center path
,, . /s- ........... ,
I
"
.IL Hereafter. in the flgUres /' C',
S means a single block stop point. /' "
I "" { L indicates a straight line. I "
'I
C indicates an arc. /'L "
'I
"" \ path
Tool center
(Note) Single block stop point has
been changed, compared with
SYSTEM 6 or 9.

b) When the tool goes around the outside of a corner at an obtuse angle (90° <
a < 180°) Tool path in start-up or cancel has two types, A and B; and they-
ar; selected by parameter CSU (Data No. 6001).

Type A i) Linear + Linear ii) Linear + Circular

,
\
,,
\
L \
, ~......- - - - - - -.... Programmed path
\
, r
'.
s - - - - - - - - L-- - - - • • _. Tool center path
Programmed
Tool center path path

Type B i) Linear + Linear ii) Linear + Circular

Programmed path

----~---------------
L Intersection L Tool center path
S

Programmed path
(Note) The intersection is the point Intersection Tool center path
where two offset paths,
calculated by a continuous
two blocks, are intersected.

- 219 -
 11-15.3.7

c) When going around the outside of an acute angle (a < 90°)

Type A i) Linear ~ Linear ii) Linear ~ Circular

Programmed path
,
r I
I
- - - - - - - - -. - Tool center path " ,C'\
s L
\ Programmed
Tooi center path path

Type B i) Linear ~ Linear ii) Linear ~ Circular

Programmed path

, t ..... ,",
\ -_~I-_J:L __ --- -_ -- ___ _
S L L Tool center path C"
\. Programmed path
Tool center path

d) When the tool goes around the outside linear ~ linear at an acute angle
less than 1 degree, compensation is performed as follows.

L Tool center path

s --------------------
.......
...........
L ..........
'
=-
..... ..........
(041 )................ Programmed path
~==~~0~4~1~::::. . . ;..........
Less than 1 deg.

- 220 -
 11-15.3.7

3) In offset mode
In the offset mode, offset is performed correctly as long as non-positioning
commands such as auxiliary functions or dwell are not programmed in two or
more successive blocks. Otherwise overcutting or undercutting will occur.

a) When going around the inside (a ~ 180°)

i) Linear + Linear ii) Linear + Circular

a a

Programmed path -::::--

/ S L Tool center path /S",

/ Int~rsecting I "
IL pomt I Intersecting :\
I /IL point e\
I I , Programmed path
I
I / Tool center path
I
,I I
I

iii) Circular + Linear iv) Circular + Circular

Programmed path

I
"
/
I S
Intersecting
point
L Tool center path

Ie
I
/I
I
IS ........
'
~"
'
Tool center path
Programmed path

,~e
I
I Intersecting
I point

v) Straight line to straight line in a case in which it goes around at a

narrow angle (less than 1°) and the offset vector becames abnormally
large.
S
----- -----...---
----- ---- -----Tool center path

Offset
vector

Programmed
path
Also in case of arc to straight line, straight line to arc and arc to
arc, the reader should infer in the same procedure.

- 221 -
 11-15.3.7

b) When going around an outside corner at an obtuse angle (90 ~ a < 180°)

i) Linear + Linear ii) Linear + Circular

,, ,,
,,
", ,
" Programmed path ,L',
L ""
" ,
"",
s
Intersecting point
L Tool center path ''sr:-/ --.. .... ~ .... , Programmed path
L \
In~ersecting Tool ~enter path
pOlDt

iii) Circular + Linear iv) Circular + Circular

,
....
" ,, ~, ,
C\, ,
\
\ Programmed path
\

-.............
------------~-------- " Programmed path
Intersecting S L Tool center path C', ,
point
Tool center path

- 222 -
 11-15.3.7

c) When going around an outside corner at an acute angle

i) Linear + Linear ii) Linear + Circular

L /"
/

/
/
/ "
LA
" 'r
/ /11 " ,
"
,,
\

Programmed path L' \

\
--+--
t r
___ ... _.Ji. ____._________ - -
S L
Programmed path
S L L Tool center path
Tool center path

iii) Circular + Linear iv) Circular + Circular

I
I
I
I
c/

Programmed path

_--f __ A- ---- ---------- ~" Programmed path

s L L Tool center path '"
Tool center path

- 223 -
 11-15.3.7

d) Exceptional case

i) When the end point of an arc is not

not on the arc
When the end point specified
in the program is not on the
arc formed by the specified
radius the control generates
new vectors by assuming that
the tool has cut the arc
having the same arc center
point as the arc actually
cut, and a radius value of
the distance, from the arc
center to the specified end
point. The tool then con-
L tinues to the next command
by following normal proce-
dures.

ii) When an inside intersecting point

is not present
In this figure, when the
offset amount is small, the
intersecting point is
An alrm occures present; however, if large,
When the offset and the NC stops it is not always present.
amount is large The center of In this case, an alarm (No.
the arc B
299) is generated at the end
point of the previous block
Programmed -r"7""'1"r>"""T"?"r7'7'777~
and the program stops.
path When the offset amount is
large, as in the figure
above, the intersecting
point, as that in the small
offset amount, (point p) is
not present.

4) Offset cancel
In the offset mode, when a block which satisfies anyone of the following
conditions is executed, the equipment enters the cutter compensation cancel
mode, and the action of this block is called the offset cancel.
a) G40 has been commanded.
b) DOO has been commanded as the offse~ number for cutter compensation.
When performing offset cancel, circular arc commands (G02 and G03) are not
available. If a circular arc is commanded, an alarm (No. 270) is gener-
ated and the CNC stops.
In the offset cancel, the control executes the instructions in that bloc~
and the block in the cutter compensation buffer. In the meantime, in the
case of a single block mode, after reading one block, the control executes
it and stops. By pushing the cycle start button once more, one block is
executed without reading of the next block.
The control is then in the cancel mode, and, normally, the block to be
executed next will be stored in the buffer register and the next block is
not read into the buffer for cutter compensation.

- 224 -
 II-lS.3.7

a) When going around an inside corner (a ~ 180°)

i) Linear + Linear ii) Circular + Linear

ex ex
Programmed path

Tool center path

---- - - - - - .... --------- . . . . --s', ,
L S',
,, , ," ,,
/
L'\, II C '
,, I

Tool center
,

L "
path "
"
b) When going around an outside corner at an obtuse angle (90° ~ a < 180°)

Type A i) Linear + Linear ii) Circular + Linear

Programmed path
(042)

Tool center path

------ L
... --
Programmed
path Tool center path

Type B i) Linear + Linear ii) Circular + Linear

,I
I
I
,I
Programmed path ,/L
,
I
I
, I

Tool center path

",-.- ..... --
----- ---- --- - ----- Programmed path /" C
L / Intersection

"
Tool center path

- 225 -
 11-15.3.7

c) When going around an outside corner at an acute angle (a < 90°)

Type A i) Linear + Linear ii) Circular + Linear

Programmed
path
(042)

Tool~nter
path
------
L
--- S
I
I
Programmed Tool center
path path

Type B i) Linear + Linear ii) Circular + Linear

L
L

',LIt:
,,
, L
...
Programmed path , S
--~----~------~~----'---~, S I
I

I
I
I
IL
IL I
Tool center path , I

- - --- - --L- -- ----- Programmed

path
Tool center path

d) When the tool goes around the outside linear + linear at an acute angle less
than 1 degree, compensation is performed as follows.

L ----
s ----.,.,----
r
--- --L--- ......
Tool cent,er path

~-- Programmed path

Less than 1 deg.

- 226 -
 11-15.3.7

5) Change of offset direction while in the offset mode

The offset direction-is decided by G codes (G41 and G42) for cutter compen-
sation and the sign of offset amount is as follows.

~G code

G41
amount +

Left side offset Right side offset

-

G42 Right side offset Le(t side offset

In a special case, the offset direction may be changed in the offset mode.
However, the change is not available in the start-up block and the block
following it. When the offset direction is changed, the conception of inside
and outside disappears to become common for all cases. What will be de-
scribed hereafter is the case when the offset direction is changed by G41 and
G42. The offset amount in the following example is assumed to be positive.

i) Linear + Linear ii) Linear + Circular

I
I
I
I
I
Programmed path ,I
042 I
I
I
I
I
--~- ----~
L S

iii) Circular + Linear iv) Circular + Circular

Tool center path

"...... c-----------.. .
. . 'r Programmed path

- 227 -
 11-15.3.7

v) When an intersection is not obtained if offset is normally performed.

When changing the offset direction in block A to block Busing G41 and
G42, if intersection with the offset path is not required, the vector
normal to block B is created at the start point of block B.
i) Linear + Linear

S L
---- ---
/'
/ Block B
Block A
/' G41
/'
(G42) (G42) /
Programmed
path /"

Tool center
path
L S

Block A
(G42)
Programmed
path

Tool center
path

ii) Linear + Circular

- 228 -
 11-15.3.7

iii) Circular ~ Circular

....-
G--------
/
./
,/

s
Block B

I (G42)

r
/\
I An arc whose end
point is not on
the arc.

C/-
Programmed /'
path /
I
Tool center Center
path

Center

iv) When the length of the tool center path becomes more than a circle
because of cutter compensation
There is rarely the possibility of generating the above situation.
However, when G41 and G42 are changed, or when a G40 was commanded
with address I, J, and K the above situation can occur.

Programmed
path
Tool center
path '\ (G42)
'\ N5 G02 G91 X5000 Y-7000;
"\ N6 G41 G02 J-5000;
N7 G42 GOI X5000 Y7000;

In this case, the cutter

compensation is not per-
\ formed with more than one
'circle circumference: an
\ arc is formed from PI to
P2 as shown. (Depending
on the circumstances, an
\
I
alarm (No. 272) may be
displayed due to the
"Interference Check"
/ described later.)
execute a circle with
To

more than one circum-

ference, the circle must
be specified in segments.

- 229 -
 II-IS.3.?

6) Cutter compensation G code in the offset mode

The offset vector can be set to form a right angle to the moving direction in
the previous block, irrespective of machining on an inner or outer wall, by
commanding the cutter compensation G code (G41, G42) in the offset mode inde-
pendently.
If this code is specified in a circular command, correct circular motion will
not be obtained.
When the direction of offset is expected to reverse by the command of cutter
compensation G code (G41, G42), refer to (5).
Linear -+- Linear

G42 mode)

L s

Circular -+- Linear

,,-- S
/'/ C
/'
/
/
7) Command for temporary cancel of offset vector
During offset mode, if G92 (absolute zero point programming) is commanded,
the offset vector is temporarily cancelled and thereafter offset mode is
automatically restored.
In this case, without movement of offset cancel, the tool moves directly from
the intersecting point to thecornrnanded point where offset vector is cancel-
led. Also when restored to offset mode, the tool moves directly to the inter-
secting point.

- 230 -
 II-I 5.3.7

Tool center path

S (Intersection) S (Intersection)
,/ '-......
L,/ ----\ '/'--........... L
// \ / "'- "-.. "-..
// r \ / r
,// \ / ......... "

G92 block
N7
(G4l mode)
NS G9l GOI X 3000 Y7000;
N6 X-3000 Y6000;
N7 G92 X 1000 Y2000;
N8 GOI X 4000 Y8000;

(Note) SS indicates the point where the tool stops twice in the single block
mode.

8) A block without tool movement

The following blocks have no tool movement. In these blocks, a tool will not
move even if cutter radius compensation is effected.

MOS; •.••••••••••••••••••••••• M code output

S2l ; •••••••••••••••••••••••• S code output
G04 XlOOOO; ••••••••••••••••• Dwell
G22 XlOOOOO; •••••••••••••••• Cutting area setting
GlO POI XlOO; ••••••••••••••• Offset value setting No movement
(G17) Z2000; •••••••••••••••• Move command not included
in the offset plane.
(j) G90; ,010; ,N20; •••••••••••••• No movement command such as
as O,N code only.
® G9l XO; Move distance is zero.

a) When commanded at start-up

If a block without tool movement is commanded at start-up, the offset
vector is not produced.
SS

\ G40 G9l
\
\
\ N6 XlOOO.O YlOOO.O;
\ N7 G4l XO;
N8 Y-lOOO.O;
N9 XlOOO.O Y-lOOO.O;

- 231 -
 11-15.3.7

b) When commanded in offset mode

When a single block without tool movement is commanded in the offset mode,
the vector and tool center path are the same as when the block is not
commanded. (Refer to item (3) Offset mode) This block is executed at the
single block stop point.

N7 N8
N6 G9I XIOO.O Y200.0;
N7 G04 XIOO.O;
N8 XIOO.O;

N8
/
I
/
/
/ N6
/
/

However, when the move distance is zero, even if the block is commanded
singly, tool motion becomes the same as that when more than one block
without tool movement is commanded, which will be. described subsequently.

N6 G9I XIOOO Y2000;

N7 N8
N7 XO;
N8 XIOOO;

/
-- ----
/
/
/
/
I
/
/
/

- 232 -
 11-15.3.7

Two blocks without tool movement should not be commanded consecutively.

If commanded, a vector whose length is equal to the offset value is pro-
duced in a normal direction to tool motion in an earlier block, so over-
cutting may result.

N7 N8 N9
(Note 4) N6 G91 XIOO.O Y200.0
N7 S21;

/
.-- N9

- --- N8
N9
G04 XI.O;
XIOO.O;
/
/
I
/
/
/ N6 are executed here.

/
/

(Note) SSS means that the tool stops three times by single block operation.

c) When commanded together with offset cancel

When a block without tool movement is commanded together with an offset
cancel, a vector whose length is equal to the offset value is produced in
a direction normal to tool motion in the earlier block, the vector is
cancelled in the next move command.

N7 N8
N6 G91 XIOO.O YIOO.O
N7 G40;
N8 XI00.0 YO;

/ ss
/
/
/
/
/
/
/
/
/
/

9) When a block contains a G40 and I ___J ___K___ included in the offset
plane
i) When the mode of the previous block is G41 or G42
In this case the CNC assumes that the movement from the end point of the
previous block in the direction of (I, J or K) has been commanded.

- 233 -
 11-15.3.7

(x, y) Tool comes here

by 040 block.

Center of tool goes

- - -- - - -,. - - to X in (042) block.

Programmed path
(G42)

(G42 mode)
G40X_x_Y---L-I _ _J _ _ ;

In this case, note that the CNC obtains an intersection of the tool path
irrespective of whether inner or outer wall machining is specified.

---- --
---
.....,""""'-- ----
X

-- -----
__ ---
Tool center path

--
fE:--:----------
--..............
---- ----- --. --.
--. --. 042
Programmed path

--- -- -..... (I, J)

When an intersection is not obtainable, the tool comes to the position

-----
normal to the previous block at the end ,of the previous block.

X
S - - --- - - - - Tool center path

Programmed path
(I, J)

- 234 -
 11-15.3.7

ii) When the length of the tool center path becomes more than a circle.

Tool center path PI

-------------

Programmed path
NS

/
/
/
/ /
(I,J) /

(G41)
N5 GOI G91 XI0000;
N6 G02J-6000;
N7 G40 GOI X5000 Y5000 I-I00J-I00;

In the above case, the tool center path does not go around a circle but
moves only from point PI to P2 along an arc.
Under some circumstances, an alarm (No. 272) may be generated by the
interference check described later. (To move a tool around a circle, a
circle must be commanded with partitions.)

10) Corner movement

When two or more vectors are produced at the end of a block, the tool moves
linearly from one vector to another.
If these vectors almost coincide with each other, the corner movement isn't
performed and the latter vector is ignored.

_+--.--- t:Nx

/'
./'
/'
....- -
./
/
/
I Thi3 vectQr il ignored,
if t:NxSt,AV limit,
/ !:Ny~!:NUmit
/
/

- 235 -
 11-15.3.7

If 6Vx<6V and 6Vy<6V ,the latter vector· is ignored. The 6V

limit limit limit
is set in aavance by parame t er 6010 •
If these vectors do not coincide, a move is generated to turn around the
corner. This move belongs to the latter block.

This move belongs to block N6,

thus, the feed rate is equal to
that in block ~6

If the block N6 is GOO mode, the

/ tool is moved at the rapid
/ \ traverse
/ \ rate, while if it is GOl, G02,
/ \ G03,
/ \
\ the tool is moved at the cutting
I \ feed rate.
/ \
/ \
/ \
/ \

However, if the path of the next block is semicircular or more, the above
function is not performed.
The reason for this is as follows:

P2 P3, P4 PS

N4 G4l G9l GOI X1500 Y2000;

N5 X1500 Y2000;
N6 G02 J-6000;
N7 GO] X1500 Y-2000;
N8 G40 X1500 Y-2000;

Tool
center path

If the v.ector is not ignored, the tool path is as follows:

PO + PI + P2 + P3 + (Circle) + P4 + P5 + P6 + P7
But if the distance between P2 and P4 is negligible, the point P3 is
ignored. Therefore, the tool path is as follows:
PO + PI + P2 + P4 + P5 + P6 + P7
Namely, circle cutting by the block N6 is ignored.

- 236 -
 11-15.3.7

11) Interference check

Tool overcutting is called 'interference'. The interference check"function
checks for tool overcutting in advance. However, all interference cannot be
checked by this function. The interference check is performed even if over-
cutting does not occur.
a) Reference conditions for interference
CD The direction of the tool path is different from that of the pro-
grammed ;?ath. (From 90 degrees to 270 degrees between these paths)
As for UU, the parameter (data No.6001 #1: CNC) which is not checked
for, is prepared.
CD In addition to the above condition, the angle between the start point
and end point on the tool center path is quite different from that
between the start point and end point on the programmed path in cir-
cular machining. (More than 180 degrees) "

Example of condition CD
Tool nose

Programmed
path
The directions of these two
paths are. quite different
(1800 to each other)

---------------
Tool nose center path

Programmed path

The directions of these two paths are

quite different (180 0 to each other)

- 237 -
 11-15.3.7

Example of condition 2

\ /
\ /
\ /
\ /
\ /
\ /

"

When the movement amount of the N2 block becomes zero as a result of

offset, the tool tends to move along the whole circle if an arc is spec-
ified in the N2 block. If an interference check is made, an alarm is
generated and the machine stops.

b) Correction of interference in advance

QD Removal of the vector causing the interference
When cutter radius compensation is performed for blocks A, Band C and
vectors VI, V2, V3 and V4 between blocks A and B, and VS, V6, V7 and
Va between Band C are produced, the nearest vectors are checked
first. If interference occurs, they are ignored. But if the vectors
to be ignored due to interference are the last vectors at the corner,
they cannot be ignored.
Interference check between vectors V4 and VS.--- Interference --- V4
and Vs are ignored
Check between V3 and V6 Interference ---
Ignored
Check between Vi and V7 Interference - -
Ignored
Check between VI and Va . Interference ---
Cannot be ignored
If while checking, a vector with no interference is detected, sub-
sequent vectors are not checked. If blockB is a circular movement, a
linear movement is produced if the vectors are interfered.

- 238 -
 11-15.3.7

(Example 1) The tool moves linearly from VI to Va-

Tool nose
center path

Programmed
path

\I
V 4, V 5: Interference
V 3, V 6: Interference
V 2, V 7 : Interference
V 1, V 8: No interfere

\I
(Example 2) The tool moves linearly as follows:
Tool path: VI + V2 + V7 + Va

C /'
.,."..-- ...... ,
/
~/
" "-

",,
/
Tool nose / " C
center path /
/
\
\
\

\j V4, V 5 : Interference
V 3, V6:' Interference
V 2, V 7: No interfere

@ If the interference occurs after correction CD, the tool is stopped

with an alarm (No. 272).
If the interference occurs after correction or, if there are only CD,
one pair of vectors from the beginning of checking and the vectors
interfere, the alarm (No.272) is displayed and the tool is stopped
immediately after execution of the preceding block. (If the block is
executed by the single block operation, the tool is stopped at the end
of the block.)

- 239 -
 11·15.3.7

Tool nose center path /Stopped

---------

Programmed path
\ I
\'/ c

V2, V 5 : Interference
VI, V 6 : Interference

After ignoring vectors V2 and Vs because of interference, interference

also occurs between vectors VI and V6. The alarm is displayed and the
tool is stopped.

c) When interference is supposed though there is no actual interference

Several examples will be given.
CD Depression which is smaller than the offset value
Tool center path
Stop
Programmed path

A c
B

There is no actual interference, but since the direction programmed in

block B is opposite that of the path after cutter compensation, the
tool stops.

- 240 -
 11-15.3.7

CD Groove which is smaller than the offset value

Programmed path Tool center path

I

I
I
I
I
I Stop

!I
~.

A
B c
Like CD, the direction is reversed in block B.

12) Input command from MDI

Compensation is not performed for commands input from the MDI.
However, when automatic operation using the CNC tape composed of absolute
commands is temporarily stopped by the single block function, MDI operation
is performed; then, automatic operation starts again and the tool path is as
follows:
In this case, the vectors at the starting point of the next block are trans-
lated and the other vectors are produced by the next two blocks.
Therefore, from point Pc, compensation is accurately performed.
v'C I

- - - - ---- --- - ---- --- - /'7"<'----1

/"
/"
/
Programmed path in /
absolute. command /'
/
/
/' /
/' /
/' /
/
MDI /
/
/
/
/
/
VB
I

When points P ,P and P are programmed in an absolute command, the tool is

stopped by the single block function after executing the block from P to
P , and the tool is moved by MDI operation. Vectors V and V are trans-
lated to V' and V' and offset vectors are recalculated for the vectors V
and V between block P -P and P -P •
However, since vector V' is not calculated again, compensation is accu-
rately performed from point P •

13) Manual operation

For manual operation during the cutter compensation, refer to item 111.4.5.

- 241 -
 11-15.3.7

14) General precautions on offset

a) Offset value command
The offset value is commanded by a D code which specifies an offset value
number.
Once commanded, a D code remains valid until another D code is commanded
or cleared.
In addition to specifying the offset value for cutter compensation, the D
code is also used to command the offset value for the tool offset.
b) Changing the offset value
In general, the offset value shall be changed in the cancel mode, when
changing tools. If the offset value is changed in the offset mode, the
vector at the end point of the block is calculated for the new offset
value.

Calculated from offset

value in block 6.

/
/
/
/~---- Calculated from offset
/ value in block 7.
/
/ N7
/

If several vectors exist between block N6 and N7, those vectors are
calculated from the offset value specified in block N6.

c) Positive/negative offset amount and tool center path

If the offset amount is negative (-), distribution is made for a figure
in which G41's and G42's are all replaced with each other on the process
sheet. Consequently, if the tool center is passing around the outside of
the workpiece, it will pass around the inside, and vise versa.
The figure below shows one example. Generally, the off set amount is
programmed to be positive (+).
When a tool path is programmed as in (a), if the offset amount is made
negative (-), the tool center moves as in (b), and vise versa. Con-
sequently, the same tape permits cutting both male and female shapes, and
any gap between them can be adjusted by the selection of the offset
amount. (applicable if start-up and cancel is A type).

--- -
(a) Tool center path (b)

- 242 -
 11-15.3.7

d) Overcutting by cutter compensation

i) Machining an inside corner at a radius smaller than the cutter radius
When the radius of a corner is smaller than the cutter radius, because
the inner offsetting of the cutter will result in overcutting, an
alarm is generated and the CNC stops at the start of the block. In
single block operation, the overcutting is generated because the tool
is stopped after the block execution.
Tool center path

Programmed path
An alarm is generated
and the operation stops here
in single block operation.

~-+~-------------

\\

If the NC does not stop,

overcutting occurs.

ii) Machining a groove smaller than the too'l diameter

Since the cutter compensation forces the path of the center of the
tool to move in the 'reverse of the programed direction, overcutting
will result.
In this case an alarm is generated and the CNC stops at the start of
the block.

An alarm is generated and

the operation stops.

Tool center path

Overcutting

- 243 -
 11-15.3.7

iii) When machining a step smaller than the tool,radius

When machining of a step is commanded by circular machining in the
case of a prqgram containing a step smaller than the tool radius, the
path of the center of the tool with the ordinary offset becomes
reverse to the programmed direction. In this case, the first vector
is ignored and the tool moves linearly to the second vector position.
The single block operation is stopped at this point. If the machining
is not in the single block mode, the cycle operation is continued. If
the step is of linear movement, no alarm will be generated and the cut
will be correct. However, an uncut part will remain.

Linear movement

End point of single block

Tool center path

- - -- __

Circular
machining
------- Programmed path

----
Centw: of circular machining

The fust vector is ignored

An overcutting will result if the fust vector is not ignored

iv) The start-up and the movement in Z axis on the cutter compensation C
It is usually used as a method so that the tool is moved along the Z
axis after the cutter compensation is effected at some distance from
the workpiece at the start of the machining.
In the case above, to divide the motion along the Z axis into rapid
traverse and cutting feed, follow the procedure below.

NI G91 GOO G41 X50000 Y50000 DI;

N3 GOI Z-30000 FI; N6: Offset mode
N6 YIOOOOO F2;

In the program example above,

when executing block NI, blocks
N3: Move command
N3 and N6 are also entered into in Z axis.
the buffer storage; and, by the
relationship among them, the
correct compensation is per-
formed as in the figure to the
right. ,
I
I
I
I
I
N6
I

Then, if the block N3 (move /

....... ,I I
....

command in Z axis) is divided "I I " N3, NS; Move

\ / / command in Z axis.
as follows: \
'I
/"--
1

1
1
1

NI G91 GOO G41 X50000 Y50000 DI; 1

1
1

N3 Z-25000; /
1

1
N5 GOI Z-5000 FI;] /
1
I

N6 YIOOOOO F2;
- 244 -
 11-15.4

As there are two move command blocks not included in the selected
plane and the block N6 cannot be entered into the buffer storage, the
tool center path is calculated by the information of N1 in the figure
above. That is, a vertical vector is calculated at the end point
during start-up and overcutting may result.
The above example should be modified as follows:
The move command in the same direction as that of the move command
after the motion in Z axis should be programmed.

N1 G91 GOO G4I X50000 Y40000 DI;

N2 YIOOOO;
N3 Z-25000;
N5 GOI Z-5000 FI;
N6 YIOOOOO F2;

(The direction of the move command N3,N5

Move command
N2 is the same as that' of N6.) in Z axis

When executing the block NI, the blocks N2 and N3 are entered into the
buffer storage and the correct compensation is performed by the rela-
tionship between NI and N2.

15.4 Three-Dimensional Tool Offset (G40, G41)

Whereas cutter compensation C offsets the tool two-dimensionally in the selected

plane, the tool can be offset three-dimensionally with three-dimensional tool
offset by programming the three-dimensional offset direction. .

15.4.1 Starting up of three-dimensional tool offset (G40, G41)

When the following command is executed in the cutter compensation cancel mode,
the system is set in the three dimensional tool offset mode.

G4I Xp_ _Yp_ _Zp_ _I _ _,_J_ _K_ _D_ _ ;

Xp: X-axis or its parallel axis

Yp: Y-axis or its parallel axis
Zp: Z-axis or its parallel axis

The three-dimensional space in which three-dimensional tool offset is performed

is determined by the axis address that appears in the start-up block specifying
G4I. When Xp, Yp, or Zp was not specified, X, Y, or Z is assumed.
(Example) When X and U, Y and V, and Z and Ware parallel axes, respectively.

G41 X_______I _____J _______K_________ ; X,Y,Z space

G41 U_________V_________Z_________I _________J _________K_________ , U,V,Z space
G41 W_______I _____J _____K_________ ; X,Y,W space

(Note 1) I, J, and K must all be specified during start-up. If one of these is

not specified, the start-up of two-dimensional cutter compensation C
is performed.
(Note 2) Generally, G41 is used. Even if G42 is specified, start-up is per-
formed and the tool is offset in the direction opposite that specified
By G41.

- 245 -
 11-15.4.2

15.4.2 Three-dimensional tool offset cancel

When the following command is executed in three-dimensional tool offset mode,
the tool is set in tool offset cancel mode.
When cancelling compensation together with movement:

G40 Xp_ _Yp_ _Zp_ _ ; or Xp_ _Yp_ _Zp_ _DOO_ _ ,

When cancelling only the vector component:

G40; or DOO;

15.4.3 Three-dimensional tool offset vector

A three-dimensional tool offset vector is produced at the end point of each
block in three-dimensional tool offset mode, as described below.

Three-dimensional
. tool offset vector A,
Off///'-.~I
:/_ _ _ _ _ _ . _ _ (/ I I""
I \,

~ " 040
~'
041
Programmed path

The vector is:

Vx= i·r (Xp, axial direction vector component)

p

Vy= i:!. (Yp axial direction vector component)

p
k·r
Vz= - - (Zp axial direction vector component)
p
i,j, and k are the address values specified in the block. r is the offset value
corresponding to the specified offset number. p is determined from the equa-
tion:

(Note 1) The vector created in the preceding block is stored when circular
interpolation and helical cutting (G02, G03) are specified.

The preceding block

vector of an arc
..
,/- - -,~
I The same vector
can be created.

~--t ',~
__ ~ - - ~ , Offset path
,,

Programmed path

- 246 -
 11-15.4.4

(Note 2) The return to a reference point (G28) or return to the 2nd, 3rd or 4th
reference point (G30) is to be specified after three-dimensional tool
offset is cancelled.
(Note 3) When the size component, as well as the direction of a three-
dimensional tool offset vector is specified in the program, the value
of p can be set as a constant in the offset vector equations by a para-
meter (No. 6011).

Vx i·r/p
Vy j ·r/p
Vz k-r/p

However, when the set value is 0,

is assumed.
The range of pis:

mm input inch input

0 to +99999.999 mm 0 to +9999.9999 inches

(Note 4) In a block in which I, J, and K are all omitted in three-dimensional

offset mode, the vector created in the preceding block is stored as is.

15.4.4 Relationship with other offset functions

1) Tool length. offset
Three-dimensional tool offset is performed first. Tool length offset is then
perfo.rmed for the offset path.
2) Tool offset
Tool offset cannot be specified in three~dimensional tool offset mode.
3) Cutter compensation C
When cu'tter compensation is specified in start-up and address I, J, and K are
all specified, the three-dimensional tool offset is performed. When two or
fewer addresses are specified, cutter compensation C is performed.' As a
result, the three-dimensional tool offset mode cannot be specified at the
same time as the cutter compensation C mode.

- 247 -
 11-15.5

15.5 Tool Compensation Amount

One of the tool compensation memories, A/B/C, can be selected according to

offset amount.
The tool offset amount range, which can be set, is as follows:

Increment system Geometry compensation Tool wear compensation

Metric input Inch input Metric input Inch input

IS-A +999.99 mm +99.999 inch +99.99 mm +9.999 inch

IS-B +999.999 mm +99.9999 inch +99.999 rom +9.9999 inch
IS-C +999.9999 mm +99.99999 inch +99.9999 nun +9.99999 inch

15.5.1 Tool compensation mem~ry A

There is no difference between geometry compensa'tion memory and tool wear
compensation memory in tool comp.ensation memory A. Therefore, the amount of
geometry offset and tool wear offset together is set as the offset memory.
There is also no differences between cutter radius compensation (D code) and
tool length compensation (H code).
(Example)

Offset number Compensation (geometry + wear) D code/H code common

001 10.1 For D code

002 20.2 For D code
003 100.1 For H code

Tool offset amount range is the same as that of geometry compensation.

15.5.2 Tool compensation memory B

The memory for geometry compensation and tool wear compensation is prepared
separately in tool compensation memory B. Geometry compensation and tool wear
compensation can thus be set separately. There is no difference between cutter
radius compensation (D code) and tool length compensation (H code).

-.,..----+--- . Reference point

r
OFS OFSG: Geometry compensation
OFSW: Wear compensation

Offset number Geometry compensation Wear compensation D code/H code common

001 10.0 0.1 For D code

002 20.0 0.2 For D code
003 100.0 0.1 For H code

- 248 -
 11-15.5.3

15.5.3 Tool compensation memory C

The memory for geometry compensation as well as for tool wear compensation is
prepared separately in tool compensation memory C. Geometry compensation and
tool wear compensation can thus be set separately. Separate memories are
prepared for cutter radius compensation (for D code) and for tool length
compensation (for H code).
(Example)

For D code For H code

Offset number
Geometry Wear Geometry Wear
compensation compensation compensation compensation

001 10.0 0.1 100.0 0.1

002 20.0 0.2 300.0 0.3

15.6 Number of Tool Offsets

1) 32 tool offsets
Offset numbers (D code/H code) 0 - 32 can be used.
DOO - D32, or HOO - H32
2) 99 tool offsets
Offset numbers (D code/H code) 0 - 99 can be used.
DOO - D99, or HOO - H99
3) 200 tool offsets
Offset numbers (D code/H code) 0 - 200 can be used.
DOO - D200, or HOO - H200
4) 499 tool offsets
Offset numbers (D code/H code) 0 - 499 can be used.
DOO - D499 or HOO - H499
5) 999 tool offsets
Offset numbers (D code/H code) 0 - 999 can be used.
DOO - D999 or HOO - H999

15.7 Changing of Tool Offset Amount (Programmable Data Input) (G 10)

The tool offset amount can be set/changed with the G10 command.
When the G10 is commanded in absolute input (G90) , the commanded offset amount
becomes the new tool offset amount. When G10 is commanded in incremental input
(G91), the current tool offset amount plus the commanded offset amount is the
new tool offset amount.
Format
1) Tool compensation memory A
G10L 11P-R-;
where
P-: Offset number
R-: Tool offset amount
2) Tool compensation memory B
Setting/changing of geometry offset amount
G10L10P-R-;
Setting/changing of tool wear offset amount
G10L11P-R-;

- 249 -
 11-15.8

3) Tool compensation memory C

Setting/changing of geometry offset amount for H code
GI0LI0P-R-;
Setting/changing of geometry offset amount for D code
GI0LI2P-R-;
Setting/changing of tool wear offset amount for H code
GI0LIIP-R-;
Setting/changing of tool wear offset amount for D code
GI0L13P-R-;
(Note) Ll may be used instead of Lll for compatibility with the conventional
CNC's format.

15.8 Scaling (G50, G51)

Scaling is commanded to figures specified by machining programs. To specify

scaling, effectuate it by setting parameter first.
G51I_ _J_ _K_ _P_ _ ,
I,J,K Scaling center X,Y,Z coordinate values
(Specify the absolute position)
P Scale factor (Least input increment: 0.001 or 0.00001
parameter selection)
By this command, the subsequent move command is scaled by the scale factor
specified by P, starting with the point specified by I,J,K as the scaling
center.
This scaling mode is cancelled by G50.
G50: Scaling mode cancel command
G51: Scaling mode command
The scale factor can be specified within the following range:
0.00001 - 9.99999 or 0.001 ~ 999.999 times
y

P2 " ' .....

~-------------------------- X

PI - P4 Figures of machining program

pi' - P4': Figures after scaling
Po Scaling center
If P is not specified, the scaling factor preset by the MDI & CRT is applicable.
If I,J,K are omitted, the G51 command point serves as the scaling center.
This scaling is not applicable to the offset quantities such as cutter
compensation amount, tool length compensation amount, tool offset amount, and
others.

- 250 --
 11-15.8

--------0
!~
I
I 1/2 scaling
I

8---------0
The scaling factor is common to all axes, however, it is also possible to set it
for each axis independently by selection of parameter No. 7611#4 XSC.
The scaling factor is set by the setting data No. 6421 for each axis.
The scaling is not applicable for an axis of which the factor setting value is
O.
In the case of scaling factor for each axis, it is not possible to execute the
factor setting by the command program.

Yaxis

r
b/a Scaling factor of X axis
dlc Scaling factor"of Y axis
o Scaling center

Shape of the machining program

Shape after scaling

o
X axis

Scaling factor by each axis

(Note 1) Specify G51 in an independent block. Cancel G51 by G50 without fail
after scaling.
(Note 2) The position display represents the coordinate value after scaling.
(Note 3) If a setting value is employed as a scale factor without specifying P,
the setting value at G51 command time is employed as the scale factor,
and a change of this value by another command, if any, is not
effective.
(Note 4) Whether the scaling function is effective or not, it can be set by a
parameter No. 12 for each axis.
(Note 5) Scaling is not effective for manual operation, but is effective for the
tape, memory, or MDI operations.
(Note 6) 'Scaling is not applicable to the following movement in case of the
canned cycle Z-axis movement.
* Cutting depth Q and return relief of deep hole cycle (G83, G73).
* X, Y shift quantity in fine boring (G76) and back boring (G87).
(Note 7) Specify G27, G28, G29, 'G30, and G92 in G50 mode without fail.

- 251 -
 II-IS.8

(Note 8) If scaling results are rounded by counting fractions of 5 and over as a

unit and disregarding the rest, the move amount may become zero. In
this a case, the block is regarded as a no movement block, and
therefore, it may affect the cutter movement by cutter compensation C.
(See 15.3.6(8»
(Note 9) Wi th circular interpolation (G02, G03), no oval will be created by
applying a different magnification rate per axis.

(Ex.) G90GOOXOY100. ;
G51XOYO ; (magnification rate of the X axis: 2,
magnification rate of the Y axis: 1)
G02X100.YOIOJ-100.F500 ;

The above instruction is equivalent to the following.

G90GOOXOY100. ;
G02X200.YOIOJ-100.F500 ;
In this case, because the end point does not agree with the radius, a
spiral interpolation will result.

y
When scaling is not performed

-+________ ~~ ______ ~~ ______ ~x

Scaling center

(Note 10) If scaling and coordinate rotation are commanded simultaneously, the
coordinate rotation follows the scaling. In this case, the scaling is
applicable to the rotation center.

(Ex.) 00001 ; 01000 ;

G90GOOX20.0Y10.0 G01X50.0F500
M98P1000 ; G01Y30.0
G51X20.0Y10.0 ; G01X20.0
M98P1000 ; G01Y10.0
G17G68X35.0Y20.0R3000 M99
M98P1000
G69
G50
M30

- 252 -
 11-15.8

y
Rotation center Rotation center
before scaling after scaling

~~
,~-_\~
-+- ~),
/,
-.. 7::"\---.J
\ lOX
o
Shape after the scaling
(magnification rate of the X
axis: 3, magnification rate
Shape after the of the Y axis: 2)
coordinate rotation

Scaling center

(Note 11) Scaling will be applied if optional angle chamfering is commanded

during scaling.

Scaling
II<

2 times in X axis direction

1 time in Y axis direction

Scaling center

(Note 12) If different magnification rates are used for different axes, scaling
will be applied to both the radius and the end of the circular. As a
result, the corner radius will not be a circular but a spiral arc.

Scaling
II<

2 times in X axis direction

1 time in Y axis direction

Scaling center

(Note 13) After Block G51, the scaling center is not regarded as having been
commanded (that is, the G51 commanded point is the scaling center).
For an incremental command after a G51 block and before an absolute
position command arrives, it is considered that the scaling center has
not been commanded (that is, the G51 commanded point is the scaling
center).

- 253 -
 11-15.9

15.9 Coordinate System Rotation (G6S, G69)

A programmed shape can be rotated. By using this function it becomes possible,

for example, to modify a program using a rotation command when a workpiece has
been placed with some angle rotated from the programmed position on the machine.
Further, when there is a pattern comprising some identical shapes in the
positions rotated from a shape, the time required for programming and the length
of the program can be reduced by preparing a subprogram of the shape and calling
it after rotation.

Center of
rotation

~----------------------------------------~X

15.9.1 Command format

{ G19
~~~} G68 a _ _ S_ _R_ _ ;

a,S Designate two axes among X, Y and Z (coordinate value of rotational

center) that correspond t.o G17, G18 and G19. (G90/G91 mode is
effective.)
R Angle of rotation ("+" is the CCW direction. Command with an
absolute value. An incremental value can also be commanded by the
setting of a parameter.)

After this command is specified, the subsequent commands are rotated by the
angle specified with R around the point designated with a and S. Command the
angle of rotation within the range of 0~R~360,OOO in 0.001 deg. or 0.00001 deg.
(selected by parameter) increment.

- 254 -
 11-15.9.1

(a, (3)

The rotation plane depends on the plane (G17, G18, G19) selected when G68 is
designated. G17, G18 or G19 is not required to be designated in the same block
as G68.
When a and a are omitted, the position where G68 is commanded is set as the
center of rotation.
As for the incremental commands up to an absolute position command following a
G68 command, it is assumed that the rotary center were not specified (the point
where G68 was commanded is the center of rotation).
When R is omitted, the value set to parameter (setting input enable) is regarded
as the angle.
The coordinate system rotation is cancelled by G69;
Tool offset, such as cutter compensation, tool length compensation, or tool
offset, is performed after the coordinate system is rotated for· the command
program.
As for the incremental position commands designated between the G68 block and a
block with an absolute command; it is regarded that the center of rotation is
not designated (that is, it is regarded that the point where G68 was designated
is the center of rotation).

(Note 1) When a value with a decimal point is designated for R, the position of
the de.cimal point becomes the unit of angle.
(Note 2) If a movement command is specified with G69, the following incremental
command does not move the tool in the incremental motion.
(Note 3) Command G68 in either GOO or GOI mode.
(Note 4) Command G27, G28, G29, G30 and G92 in G69 mode.

- 255 -
 11-15.9.2

(Example 1)
N1 G92 X-5000 Y-5000 G17; ,
/""\ Tool path when the incremental
\ ~ command iJ designated in the N3
N2 G68 G90 X7000 Y3000 R60000; / . " • block (in puentheaiJ)

N3 G90 G01 XO YO F200; . "- Oriainally programmed

(G91 X5000 Y5000)
! '''-'---71
tool path

N4 G91 X10000;
N5 G02 Y10000 R10000;
N6 G03 X-10000 1-5000 J-5000;
l I
/ ", -
,,"- \
\
,,
N7 G01 Y-10000; // ,
N8 G69; " • / ' II
" " ..... ,
N9 G90 X-5000 Y-5000 M02; "'-..."'-.. /,'
'1' :
Center or
rotation

(7000, 3000)
I (0,0)

(-5000, -5000)

(Note 5) Do not change the plane selection in the G68 mode (command G17, G18 or
G19 in the G69 mode).

15.9.2 Relationship to other functions

1) Cutter Compensation C
It is possible to specify G68 and G69 within cutter compensation C. The
rotation plane must coincide with the plane of cutter compensation C.

(Example 2)
N1 G92 XO YO G01;
N2 G42 G90 X1000 Y1000 F1000 DOl;
N3 G68 R-30000;
N4 G91 X2000;
N5 G03 Y1000 1-1000 J500;
N6 G01 X-2000;
N7 Y-1000;
N8 G69;
N9 G40 G90 XO YO M30;

r---- ----------, \
I \
I
I
-----, \
\
\ Programmed shape before
I ~ coordinate system rotation
I , I
I I
I I

Programmed shape after

~--T-- coordinate system rotation

(0,0)

Tool path

- 256 -
 11-15.9.2

2) Coordinate system rotation in the scaling mode.

If a coordinate system rotation command is executed in the scaling mode (G51
mode), the coordinate value (0.,13) of the rotation center will also be scaled,
but not the rotation angle (R). When a move command is issued, the scaling
is applied first and then the coordinates are rotated. Therefore, the
commands must be specified in the order shown below for programming.

(Example 1)
G51 ·..... , (Scaling mode)
G68 ·..... , (Coordinate system rotation ON)

G69 ·..... , (Coordinate system rotation OFF)

G50 ·..... , (Scaling mode cancel)

A coordinate system rotation command (G68) should not be issued in cutter

compensation C mode (G4l, G42) on scaling mode (G51). The coordinate system
rotation command should always be specified prior to setting the cutter
compensation C mode.

(Example 2)
(Cutter compensation cancel)
G51 .•••.• , (Scaling mode)
G68 .•.••. ; (Coordinate system rotation ON)

G4l ·..... , (Cutter compensation C)

(Example 3)
G92XOYOj
G51X3000Y1500P500;
G68X2000YIOOOR45000;
GOIX4000YIOOO;
YIOOO;
X-2000;
Y-IOOO;
X2000;
y

When scaling and coordinate

system rotation are applied.

2000

When only scaling

is applied.

A cutting program

1000
A

--~=--------------------- __L -_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _~L-____________~ X

o 2000 4000

- 257 -
 11-15.9.2

3) Repetitive Commands
It is possible to store one program as a subprogram and recall the subprogram
by changing the angle.

(Example 4) Setting the parameter RIN (No. 6400110) tol

G92 XO YO G17;
GOI F200 DOl;
M98 P2100;
M98 P2200 L7;
GOO G90 XO YO M30;

2200 G68 XO YO G91 R45.0j

G90 M98 P2100;
M99;

2100 G90 GOI G42 XO Y-IO.O;

X4.142 Y-IO.O;
X7.071 Y-7.071;
G40;
M99;

I
When offset is
I not applied
I I
I I
I (0,0) I When offset is
I ~applied

I I
I I
I I
\ )
~ /
~ /
~ /
~ /

"" "" 1(0,-10.0) / / / / /

. ~ ~ _ _ _ _ _ II_ _ _ _ _ -.J
/ ~

- 258 -
 11-15.10

15.10 Tool Offset by Tool Number

Cutter compensation value, tool length compensation value and tool pot number
can be set corresponding to the tool number (T code). A total of 300 groups of
data can be set. When a tool number is specified, a pot number corresponding to
the tool number is output to the PMC as a T code. When a cutter compensation or
a tool length compensation is specified, compensation is effected with the
cutter compensation value or tool length compensation value being set
corresponding to the tool number.
1) Setting tool data
The tool data can be set by MDI or by program.
Format of program
a) When registering the tool data after clearing the tool data currently
registered.
G10L70;
T-- P-- R-- K--;
T-- P-- R-- K--;

T-- P-- R-- K--j

GIl;
where
G10L70: Start of registration after clearing the tool data registered up
to now
T Tool number (0 - 99999999)
P Pot number (0 - 9999)
R Cutter compensation value
K Tool length compensation value
GIl End of registration
b) When registering the tool data after the tool data currently registered.
G10L71;
T-- P-- R-- K--;
T-- P-- R-- K--;

T-- P-- R-- K--;

GIl;
where
G10L71: Start of additional registration
(Note 1) The units of cutter compensation value and tool length compensation
value and the data range are applied correspondingly to ORG (#0) and
OFN (#1) of the parameter No. 6002 as shown in the lists below.
1) Unit

OFN ORG Metric input Inch input

0 0 0.001 mm 0.0001 inch

0 1 0.01 mm 0.001 inch
1 0 0.0001 mm 0.00001 inch

2) Data range

OFN ORG Metric input Inch input

0 0 o- +999.999 mm o- +99.9999 inch

0 1 o- +999.99 mm o- +99.999 inch
1 0 o- +999.9999 mm o- +99.'99999 inch

(Note 2) Data of the latter entry gets effective when the same tool number as
the registered tool number is registered.

- 259 -
 11-15.10

2) Deleting the registered tool data

The registered tool data can be deleted in two methods, the MDI key and the
program command.
For the MDI method, refer to III, 10.13.
The program command method is divided into:
Deletion by specifying the tool No.
Deletion by specifying the pot No.
Deletion by specifying the tool No. and the Pot No.
In the case of the pot No., all the tool data corresponding to the specified
pot No. are deleted.
The format for the deletion by the program command is as follows:

GIOL72; Start of deletion of tool data

T-- Deletion of the tool data corresponding to the specified tool
No.
P-- Deletion of all tool data corresponding to the specified pot No.
T-- P-- Deletion of the tool data corresponding to the specified tool
No. and pot No.
T-- P-- Deletion of the tool data corresponding to the specified tool
No. and pot No.
GIl;

where,

GIOL72: Start of deletion of tool data

T--: Tool No. (0 - 99999999)
P--: Pot No. (0 - 9999)
GIl: End of deletion of tool data

When the tool data of the tool being selected is deleted, an alarm is given.
For deleting the tool data by specifying the tool No. and the pot No., if
some tool data does not correspond with both specified No., deletion is not
performed.

Example of program: Deletion of tool data by the program command

NOI GOIL72;
N02 TOl; The tool data corresponding to TOI is deleted.
N03 P20; All the tool data corresponding to P20 are deleted.
N04 T04P20; An alarm is given.
NOS T04P30j The tool data corresponding to T04 and P30 are deleted.
N06 GIl;
3) Output of tool pot number
The corresponding tool pot number is picked up from the tool data file and
output for the machine as T code upon command of tool number (T code).
To be added to the end of the item of output of tool pot No.
When the tool of the same pot No. is set, the "*" is displayed at the pot No.
displayed on the tool data screen.
When the tool with "*" is specified, the pot No. is output in T code and the
signal notifying that the same pot is simultaneously specified for another
tool is also output.

Example
[Setting of tool data]
NOI GIOL70;
N02 TOIPIOR12. OKII. 0;
N03 T02P20R22. OK21. 0;
N04 T03P20R32. OK31. 0;
NOS T04P30R42. OK32. 0;
N06 GIl;
N07 M02;

- 260 -
 11-15.10

[Machining program]
NOI TOl: The tool pot No. 10 corresponding to TOI is output as a T code.
N02 T02: The tool pot No. 20 corresponding to T02 is output as a T code and
at the same time, the same pot specified signal is output to
inform that the same pot No. is duplicatedly specified.

4) Compensation by cutter compensation value and tool length compensation value

Cutter compensation value and tool length compensation value corresponding to
the formerly commanded tool value number (T code) become effective upon
command of M code for tool change (Note 1).
Example of programming:
Setting of tool data
NOI GlOL70;
N02 TOlPlOR12. OKII. 0;
N03 T02P20R22. OK2l. 0;
N04 GIl;
NOS M02;
Compensation by tool data (when M code for tool change is M06).
NOI TOl; (Tool pot number 10 corresponding to TOl, is output as T code.)
N20 M06; (Cutter compensation value and tool length compensation value
corresponds to TOI become effective.)
N30 G43---; (Compensation corresponding to TOl, Tool length compensation is
performed by 11.0.)
N40 T02j (Tool pot number 20 corresponding to T02, is output as T code.)
NSO G4l---j (Compensation corresponding to TOl, Cutter compensation is
performed by 12.0.)
N60.G40G49;
N70 M06j (Cutter compensation value and tool length compensation value,
corresponding to T02 become effective.)
NBO G43j (Compensation corresponding to T02; Tool length compensation is
performed by 21.0.)
(Note 3) M code for tool,change is specified with parameter No. 2429.
(Note 4) When M code for tool change and tool number (T code) are commanded in
the same block, execution is made accordingly to CTI and· CT2 of the
tool life management parameter No. 7401 as shown in the list below.

CT2 CTI Tool change Contents

0 0 Method A Compensation value corresponding to the

formerly commanded tool number (T code) gets
effective and the tool pot number correspond-
ing to the tool number is output. The
corresponding compensation value to this tool
number does not get effective with only M code
for tool change.

1 0 Method B The compensation value corresponding to the

formerly commanded tool number (T code) gets
effective and the tool pot number correspond-
ing to the tool number is output. It gets
effective with next M code for tool change.

0 1 Method C The same method as for B is applied.

1 1 Method D The tool pot number corresponding to the tool

number is output, and the compensation value
gets effective immediately.

- 261 -
 II-1S.10

Ex.) (When M code for tool change is M06.)

1) Method of tool change, A (Tool return number command method)
NOI TIO; (The tool pot number corresponding to TIO is output.)
N02 M06TII; (The compensation value corresponding to TIO gets
effective, and the tool pot number corresponding to TIl
is output.)
N03 M06; (The compensation value corresponding to TIl does not
get effective.)
The compensation value for the tool number (TIl) commanded in the
same block as M06's cannot be made effective upon command of M code
(M06) for tool change.
2) Methods of tool change, Band C
NOI TIO; The tool pot number corresponding to TIO is output.
N02 M06TII; The compensation value corresponding to TIO gets
effective, and the corresponding tool pot number
corresponding to TIl is output.
N03 M06TIO; The compensation value corresponding to TIl gets
effective, and the tool pot number corresponding to TIO
is output.
3) Method of tool change, D
NOI TIOM06; The tool pot number corresponding to TIO is otput, and
the compensation value corresponding to TIO test
effective.
N02 TIIM06; The tool pot number corresponding to TIl is output, and
the compensation value corresponding to TIl gets
effective.
(Note 5) T codes, one of which can be displayed on the program check screen, and
the other which can be read with system variable ,can be selected to
take either a tool pot number or a tool number at TLN of the parameter
No. 2203. T code is displayed on the program check screen when the
next block to that of the tool number command is finished with its
execution. As for the system variable, T code can be read in the next
block to that of the tool number command.
(Note 6) Offset numbers of the tool length compensation and the cutter
compensation cannot be commanded H code/D code, although offset number
of the offset can be specified with H code/D code.
However, tool length compensation and cutter compensation can be
effected by commanding its offset number with H code/D code by setting
TOFS of setting parameter No. 11. In such a case, the tool pot number
output by tool number and the compensation by the compensation value
corresponding to the tool number cannot be made.
Set the parameters in the reset state.
5) Relationships with other functions
a) Tool life management
i) D code or H code cannot be registered on the tool life management
data.
ii) H99 command or D99 command cannot be used.
iii) Tool select number can be commanded with 8-digit command and the
T-code on the tool life management data can be indicated with 8-digit
number. The memory length is the same as before.
iv) Relationship between the "tool offset by the tool number" and the
tool life management is as follows; the tool number (T-code) selected
in the tool life management specifies the tool number used in "Tool
offset by tool number".

- 262 -
 II-IS.IO

(Examples) Tool life management select data

GROUPO 1 LIFE300 COUNT20

@OOOI 0002

Tool offset data by tool number

NO TOOL POTI! LENGTH RADIUS

001 1 0100 123.456 789.012

Program (Set the M code for tool change to 6 and the tool life
management ignore number is set to 100.)
CD Nl TlOl;
o N2 M06;
CD"01" group of the tool life management is selected by "TlOl"
of Nl, and "tool number @0001" is selected by the tool life
management. Then, the pot number (100) corresponding to "Tl"
is selected and output as the T-code for the machine as for
the tool offset by the tool number.
o Life management (life count) is started for the tool "@0001"
by M06 of N2, and the compensation value of "Tl" is made
effective with the tool offset by tool number.
v) The tool life management ignore number can be specified in eight
digits maximum.

Data number Data

~ Tool life management ignore number (upper four digits)

Parameter input
Data type Word type
Data unit Integral
Data range: ·0 - 9999 (0 - 99999999, including No. 7440)

Se't the tool life management ignore number (upper four digits). When
it is set to 50000000, for example:
Parameter No. 7440
Parameter No. 7441
I I
0 (Lower four digits)
5000 (Upper four digits)
b) External data input/output
Input/output of the tool data can be made with the external data input/
output function. It is effective only for the BMI interface, however.
c) Automatic tool length measurement
Tool length compensation value of the effective tool number is renewed
upon command of automatic tool length measurement. Make sure that command
is not made in the same block for the command of automatic tool length
measurement and the M code for tool change.
d) System Variable (Custom Macro)
Compensation amount of the tool offset by tool number can not be read or
changed with the system variable for tool offset value.
e) NC window
Tool offset data (tool data) by tool number cannot be read or changed
through NC window.

- 263 -
 11-15.11

15.11 Programmable Parameter Entry

Parameters and pitch errors data can be set by tape commands. Therefore,
following uses can be done for example.
1) Parameter setting such as pitch errors compensation data, etc. when the
attachment is replaced.
2) Parameters such as max. cutting speed and cutting feed time constant can be
changed according to the machining conditions.
This function can be applied for various purposes.
1) Command format
G10L50j
N--- R---;
N--- P--- R---;

N--- R---;
G1l;
where G10L50: Parameter input mode
G11 Parameter input mode cancel
N--- Parameter No. (or pitch errors data No. +10000)
P--- Axis No. (in the case of axis type parameter)
R--- Parameter s~tting value (or pitch errors data)
(Note 1) When pitch error compensation data or backlash compensation data is
changed, it must be changed after that data has been cancelled.
When data change operation is done without cancelling the data, the
machine position will deviate from the correct position.
(Note 2) When commanding to change the amount of grid shift, the machine will
move by only a difference between the new grid shift and old grid
shift.
(Note 3) Other NC statements cannot be issued while in parameter inp~t mode.
(Note 4) As a rule, do not use a decimal point for address R. The actually set
values are different from the input values depending on the increment
system of the standard axis.
In addition, when used custom macro variable is used, it is also the
same as with a decimal point and therefore be careful.
(Note 5) Electronic calculator-type decimal point input is ineffective for
address R in the parameter input mode.
(Note 6) The canned-cycle mode must be cancelled before programming the entry of
parameters.
When not cancelled, the drilling motion will be activated.
(Note 7) Parameters of the following numbers can be set by using this function.

0000. 0010~0012. 0020~0023. 0100~0107. 01l1~01l4

1000. 1004. 1005. 1020-1022. 1030. 1031. 1220~1226. 1241~1243. 1400. 1401.
1410. 1412-1414. 1420~1428. 1450-1461. 1493. 1600. 1620~1631, 1800. 1802.
1825~1832. 1834. 1850. 1851

2000. 2002. 2003. 2010. 2011. 2014~2016. 2020. 2021. 2030-2033. 2049.
2200~2204. 2291. 2311~2318. 2321~2328, 2331~2338. 2341~2348. 2351-2358,
2361~2368. 2371-2378. 2381-2388. 2400~2402. 2410-2418. 2900

5001~5003. 5011. 5013. 5110~51l2. 5120~5122. 5130-5132. 5140~5142.

5150-5152. 5160-5162. 5200. 5210. 5220-5225. 5600-5605. 5610-5628.

5631 -5637. 5640 - 5648. 5660 -5664. 5670, 5680 - 5683. 5691- 5698. 5701. 5702.
5721

- 264 -
 11-1·5.12

6000~6002. 6010. 6011. 6200~6202. 6210~6220. 6240. 6400. 6410. 6411.

6610~6614. 6820

7000~7002. 7010~7017. 7031~7034. 7050~7059. 7071~7089. 7110. 7200~7202.

721l~7214. 7300. 731l~7313. 7321~7323. 7331~7333. 7600. 7601. 7603. 7605.
7607. 7632. 7633. 7682. 7683. 7701. 7702

8000. 8010

15.12 Tool Length Compensation in Tool Axis Direction

The tool axis direction is not always the Z axis direction, and even when
rotating, the tool length of the tool axis direction can be compensated. If
there is not this function, the tool axis is the command program for rotating,
and when the tool length differs from the length planned at programming, because
machining cannot be performed it is necessary to newly create the command
program in conjunction with the tool length.
If this function is used, even if the tool length is changed, it ceases to be
necessary to create the command program.

15.12.1 Command format

G43.1X__Y__ Z__H__A(B) __C__ ;

'G43.1: Tool axis direction tool length compensation on

G49 Tool axis direction tool length compensation off

G43.1 and G49 are modal G codes.

After G43. 1 is commanded, if there is a rotating axis or H code command, the
compensation vector is recalculated.
The preset offset number of the tool length compensation is specified by the H
code.

15.12.2 Tool axis direction tool length compensation vector

During tool axis direction tool length compensation mode the following kind of
vectors are created at the end points of each block.
The axis configuration of the rotating axis is set by parameter BC of data No.
6001 and parameter TLAX of data No. 7550.
a) When A & C axes (When tool axis is Z axis direction)
Vx Lc * SIN (a) * SIN (c)
Vy = -Lc * SIN(a) * COS (c)
Vz = Lc * COS (a)
b) When B & C axes (When tool axis is Z axis direction)
Vx Lc * SIN(b) * COS (c)
Vy = Lc * SIN (b) * SIN (c)
Vz = Lc * COS (b)
c) When A & B axes (When tool axis is X axis direction)
Vx Lc * COS (b)
Vy Lc * SIN (b) * SIN (a)
Vz -Lc * SIN(b) * COS (a)

Vx, Vy Vz: Tool length compensation vector of X, Y, Z axis direction

Lc Tool length compensation amount (offset amount)
a, b, c Absolute coordinate value in program coordinate system of A, B, C
axis

- 265 :-
 11-15.12.3

A axis & C axis

x
y

15.12.3 Precautions
1) Automatic reference point return (G28, G29, G30)
During the tool length compensation mode (G43.1) in tool axis direction, G28,
G29, and G30 cannot be commanded.
2) Tool length compensation (G43, G44, G49)
The tool length compensation (G43.1) in tool axis direction is normally the G
code of the same group as the tool length compensation (G43, G44). There-
fore, these two tool length compensations cannot be applied simultaneously.
Cancelling the tool length compensation uses the same G49.
3) The device configuration which can perform tool length compensation in tool
axis direction is the following kind of axis configuration, and the tool axis
rotates around one tool rotation center.

A axis & C axis

B axis & C axis

_ Rotation center

Tool

B&C z
C

y
o_J
'------c-::_rkPie: x
B

~ 266 -
 11-15.12.3

A axis & B axis (When tool axis is X axis direction)

A.

z
Workpiece

ToOl/' )

Tool axis direction

x

-267 -
 11-16

16. MEASUREMENT FUNCTIONS

16.1 Skip Function (G31)

Linear interpolation can be commanded by specifying an axial move following the

G31 command, like G01. If an external skip signal is input during the execution
of this command', execution of the command is interrupted and the next block is
executed. G31 is a one-shot command and is effective only in the block in which
it is specified. The motion after the input of the skip signal depends on
whether the next block is an incremental or absolute command.
1) When the next block is an incremental command:
The motion in the next block is performed incrementally from the position at
which it is interrupted by the skip signal.
(Example) G31G91X100.0;
Y 50.0;

Skip signal is
input here.
\50.0
Actual motion

Motion without
skip signal

100.0

2) When the next block is an absolute command with only one axis specified:
The specified axis moves to the commanded position. The axis which was not
specified remains at the position where the skip signal is input.
(Example) G31G90X200.0;
Y100.0;

(y =100.0) Actual motion

+I Motion without
skip signal
Skip signal is I
input here. I
I
I
I
--- b (X =200.0)

3) When the next block is an absolute command with two axes specified:
The tool moves to the position specified by the next block even if the skip
signal is input.
(Example) G31G90X200.0;
X300.0Y100.0;

- 268 -
 11-16.2

Actual motion

Motion without
skip signal
Skip signal is
input here.
100 (300,100)

~----------------------------------------- X
100 200 300

Parameter SKF (Data No. 1400) specifies the feed rate of the G31 block in the
following two ways:
a) Feed rate specified by F. (Can be specified before or in the G31 block.)
b) Feed rate set in parameter No. 1428.
The coordinate values, when the skip signal is turned on; can be used in a
custom macro because they are stored in the custom macro system variable
#5061 to #5066, as follows:
#5061 X axis coordinate value
#5062 Y axis coordinate value
#5063 Z axis coordinate value
#5064 4th axis coordinate value

#5066 •••••• 6th axis coordinate value

The skip function can be used when the movement distance is not known as
in the following cases:
1) Standard-size feed in grinders
2) Measurement of tools by touch sensors
Refer to the manuals published by the machine tool builder.
(Note 1) If the G31 command is issued while the cutter compensation C is
applied, an alarm is displayed. Cancel the cutter compensation with
the G40 command before the G31 command is specified.
(Note 2) When the feed rate set by the G31 command is subject to that set by
parameters, automatic acceleration and deceleration are not applied so
the accuracy of automatic measurement can increase when using the skip
function.

16.2 Multi-step Skip (G31.1 - G31.4)

In blocks with either G3l.1, G31. 2, G31. 3 or G3l. 4 commanded, the coordinate
value where the skip signal (4 types) was input is stored in the custom macro
variables; and, at the same time, the remaining movement of the block is
skipped. It is also possible to skip the remaining dwell with the skip si~na1
by parameter, in a block where: G04 is commanded (dwell).
Parameters decide which G code is valid to which of the three skip signals. The
skip signal is not necessarily unique to a single G code; it is also possible to
set a skip signal to multiple G codes.

- 269 -
 11-16.3

(Example) In grinding, end point of machining is not commanded in the program,

but is skipped by machining condition signals from the machine side,
and proceeded to the next block.
Machining is done in the following procedure:
1. Feed in feed rate of 10 mm/min., till machining condition 1 is
satisfied.
2. Feed in feed rate of 3 mm/min., till machining condition 2 is
satisfied.
3. Dwell till machining condition 3 is satisfied.
Machining conditions, skip signals, and G codes in this case
correspond as follows:
Machining condition 1 - Skip signal 1 - G31.1
Machining condition 2 - Skip signal 2 - G31.1, G31.2
Machining condition 3 - Skip signal 3 - G31.1, G31.2, G04
And prepare program as follows:
NIG31.1XI00.0FI0.0; (Feed)
N2G31.2XI00.0F3.0; (Feed)
N3 G04XI00.0; (Dwell)
In cases when machining condition 2 is already satisfied, machining
is done from the N3 block (dwell).
Delay and error of skip signal input is 0 - 2 msec at the CNC side (not
considering those at the PMC side).
The high-speed skip signal input function keeps this value to .0.1 msec or less ,
allowing for high precision measurement. See the machine tool builder's manual
for details.

16.3 Automatic Tool Measurement (G37)

By Commanding:
G37a-;
the tool starts moving to the measurement position and keeps on moving till the
measuring position reach signal from the measurement device is output. Movement
of the tool is stopped when the tool head reaches the measurement position.
Difference between coordinate values when tool has reached the measurement
position and coordinate value commanded by G37 is added to the tool length
compensation amount currently used.
(1) Coordinate system
When moving the tool to a position for measurement, the coordinate system
must be set in advance. (the work coordinate system for programming is used
in common).
(2) Movement to measurement position
A movement to a measurement position is performed by specifying as follows
in the MDI, Tape, or Memory mode.

G37 ex •••• ;
ex; an axis among X, Y, or Z.

In this case, the measurement position should be a- -(absolute command).

Execution of this command moves the tool at the rapid traverse rate toward
the measurement position, lowers the feedrate halfway, then continues to
move it until the approach end signal from the measuring instrument is
issued. When the tool tip reaches the measurement position, the measuring
instrument sends a signal to the NC which stops the tool.
(Note) Approach end signal 1 is used for the measurement position signal.
(3) Offset
The current tool offset amount is further offset by the difference between
the coordinate value (a.) when the tool has reached the measurement pos'ition
and the value of x , y , or z specified under G37 command.
a a a

- 270 -
 11-16.3

Offset amount x = current offset amount x + (a - x a )

Offset amount z current offset amount z + (a -.za)
Offset amount y current offset amount y + (a - Ya)
These offset amounts can also be altered from the MDI keyboard.
(4) Feedrate and alarm

Predicated measurement position

y
t-- FR I-- Fp
Xor Z or Y
A B c
S (xs, zs, ys) T
Startmg
position E E

'Y

I xa - xs I' Iza - zs I ' Iya - ys I xa,za,ya

F r: Rapid traverse rate
F p: Measurement feedrate (set by parameter)

The tool, when moving from the starting position toward the measurement
position predicted by Xa or za or Ya with G37, is fed at the rapid traverse
rate across area A. Then the tool stops at point T(x - y or z - y or
a x a z
Y - YY) and moves at the measurement feedrate set by parameter across areas
a
B , C, and D. If the approach end signal turns on during movement
across area B, an alarm is generated. If the approach end signal does not
turn on before point V, the tool stops at point V and alarm is generated.

Program Example

760 -- -- -- - ---- --- -----~:-= - ¥

:~
I
I

200 - - - - - - - - - - - - - - - -- ---.
/:
I

Z-axis measurhig position :

I I
I • I
I I
I I

850 1100 x

Offset amount Offset amount

(Before measurement) (After measurement)
Z 100000 98000

- 271 -
 11-16.3

(Note 1) In case of compensation memory A

Change of compensation value
In case of compensation memory B
Change of wear compensation value
In case of compensation memory C
Change of wear compensation value for H code
G92Z760.0X1100.0; Programming of absolute zero point (Coordinate system
setting)
G90 G43 GOOX850.; Select offset number 1
Moves some distance away from the Z measurement position
Moves to the measurement position
If the tool has reached the measurement position at Z198.0;
since the correct measurement position is 200 mm, the offset
amount is altered by 198.0 - 200.0 = 2.0 mm.
GOOZ204.0; Retracts a little along the Z axis.
(Note 2) When a H code is specified in the same block as G37, an alarm is
generated. Specify H code before the block of G37.
(Note 3) Measurement speed, y, and E are set as parameters. These values have
already been set by machine tool builder.
(Note 4) E and y must be positive numbers such that y > E.
(Note 5) The approach end signal is monitored usually every 2 ms. High speed
approach end signal is monitored under 0.1 ms. The following measuring
error is generated:

ERR Fm x 1/60 x TS/1000

max.
where
TS: Sampling period,
For usual; (ms)
For high speed approach end signal 0.1 (ms)

ERR maximum measuring error (mm)

max
Fm: • measurement feedrate (mm/min.)
When Fm = 100 mm/min., for example, ERR • 0.003 m
(Note 6) When a manual movement is inserted in~'tr a movement at a measurement
feedrate, return the tool to the position before the inserted manual
movement for restart.
(Note 7) The tool stops a maximum of 16 ms after the approach end signal is
detected. But the value of the position when the approach end signal
was detected (not the value when the tool stopped) is used for a and a
(see (3)) to determine the offset amount. The overrun for 16 ms is:
Qmax. -- Fm x 1/60 x 16/1000
wnere
~ . maximum overrun (mm)
x
Fmf •· measurement feedrate (mm/min.)
(Note 8) When using this function, set parameter EV 0 (Data No. 6000) to O.
EV 0=0: The offset amount, when altered, becomes valid with
specification of the next T code.
Parameters regarding the automatic tool compensation are No. 7200, 7300, 7311,
7321, 7331 and 7600. Refer to Appendix 6 for these parameters.

- 272 -
 11-17

17. CUSTOM MACRO

Request:
Machine tools btiilders: You are requested to attach your custom macro
program tape or program list to the CNC un±t without fail.
If it is necessary to replace part program storage memory due to a failure,
FANUC servicemen or end user operators in charge of maintenance should know
the contents of your custom macro for the purpose of repairing the trouble
immediately.

A function covering a group of instructions is stored in memory the same as a

subprogram. The stored function is represented by one instruction, so that only
the representative instruction need be specified to execute the function. This
group of registered instructions is called a "custom macro body" and the
representative instruction is called a "custom macro instruction". The custom
macro body may simply be called a macro. And the custom macro instruction may
be called a macro call command.

Regular Custom macro body

program

A group of instructions
for a certain function
Custom macro
instruction

Programmers need only remember representative macro instructions without having

to remember all the instructions in a custom macro body.
The three most significant points on custom macros are that variables can be
used in the custom macro body, operations can be performed on variables and
actual values can be assigned to the variables in custom macro instructions.

- 273 -
 11-17

G6SP9011AI0IS;

Calls custom macro body 9011

and defmes variables #1 and
#4 10 and 5 respectively.

Variables #1 and #4 can be

used instead of the unknown
traverse distance.

This enables the user to improve the CNC performance by themselves. Custom
macro bodies may be provided by the machine tool builder t but they can be
created by users, too.

Bolt hole circles as shown in the above figure can be made easily.
Once a custom macro body for the bolt hole circle is programmed and registered,
the CNC can operate as if it has the bolt hole circle cutting function.
Programmers can use the bolt hole circle function by using the following command
only:
G65P P R r A a B B K k
P Macro number of bolt hole circle
r Radius
a Start angle
B Angle between circles
k Number of circles

- 274 -
 11-17.1

17~1 Macro Call Instruction (Custom Macro Instruction)

A macro can be called from a single block, or modally from each block in the
call mode.

17.1.1 Simple calls

When the following command is executed, the custom macro body identified by P
(program number) is called.
G65 P(program number) L(iteration times) <argument assignment>;
When it is necessary to transfer arguments to a custom macro body, the argument
is specified by <argument assignment>. The following two types of <argument
assignment> can be specified. The argument mentioned here is the actual
numerical value assigned to a variable.
(Note) G65 must be specified before arguments in the G65 block. The negative
sign and the decimal point can be used regardless of addresses in
<argument assignment>.

a) Argument assignment 1
ABC D ••••• Z
An argument ca~ assigned for all addresses except G, L, N, 0, and P.
Assignment need not be made in alphabetical order. Specification is made
according to word address format. Addresses not required may be omitted.
However, when 1, J, and K are used, assignment mus t be made in the
alphabetical order.
BAD ••••• 1 K valid
B-----A-----D-----••••• J-----l-----••••• invalid
Addresses assigned in argument assignment 1 and the number of the variable in
custom macro body correspond as follows:

Address of the argument assignment 1 Variable in custom macro body

A 111
B 112

C 113
D 117

E 118

F 119
H 1111

1 114

J 115
K 116

M 1113

Q 1117

R 1118

- 275 -
 II-I?1.I

Address of the argument assignment I Variable in custom macro body

S 1119

T 1120

U 1121

V 1122

W 1123

X 1124
y 1125

Z 1126

b) Argument assignment II
ABC I J K I J K .....
In addition to the fact that arguments can be assigned in addresses A, B, and
C, a maximum of ten sets of arguments can be set for addresses I, J and K.
When several numbers are assigned in the same address, they must be assigned
in the determined sequence.
Addresses not required can be omitted.
Addresses assigned in argument assignment II and the number of the variable
used in the macro correspond as follows:

Address of the argument assignment II Variable in user macro body

A IH

B 112

C 113

II 114

J liS
1
K1 116

I2 117

J 118
2
K2 119

I3 IHO

J IH1
3
K3 1112

I4 IH3

- 276 -
 11-17.1.1

Address of the argument assignment II Variable in user macro body

J 1114
4
K4 IllS

IS 1116

J 1117
s
Ks 1118

16 1119

J 1120
6
K6 1121

17 1122

J 1123
7
K7 1124

18 1125

J 1126
8
K8 1127

19 1128

J 1129
9
K9 1130

1 1131
10
J 1132
10
K 1133
10

Suffixes 1 to 10 of I, J and K indicate the sequence of the assigned set.

c) Coexistence of argument assignment I and II
No alarm is generated even if arguments of both assignment I and II are
specified in the same block with a G6s command.
If an argument of type I and an argument of type II are specified to the same
variable, the argument specified later is effective.

- 277 -
 11-17.1.1

(Example)
G6SA1.0B2.0I-3.0I4.0DS.OP1000;
<Variable> ~T
111:1.0 --:~
112:2.0
113:
114:-3.0 -----~
lis:
116
117: »A( S.O
In this example, even if arguments 14.0 and DS.O are specified to variable
117, the latter is effective.

d) Number of places following the decimal point when argument specified without
decimal point
A decimal point can be used in an argument regardless of the address, and
when an argument is specified without a decimal point the digits following
the decimal point are as follows.

Address Metric input Inch input

D,E,H,M,S,T 0 0
Notel a+1(a)Note1,2
A,B,C a

F G99 mode 2 4

G98 mode O(1)Note 4 2

Note 1 Note 1
I,J,K,Q,R,U,V,W,X,Y,Z a a+1

(Note 1) The setting of the setting unit of parameter 1004 gives the following
value for a

Setting unit (a) IS-A (2) IS-B (3) IS-C (4)

Also when the IPR-X of parameter 1004 is 1 (input unit x10), the value
of a in respect to IS-B and IS-C assumes the above value minus 1.
(Note 2) When the address is used as the axis address of the rotary axis the
decimal place assumes the value in the brackets.
(Note 3) When the SLE for parameter 2402 is 1 (The E code specification
specifies the secrew's lead) the decimal place assumes the value in the
brackets.
(Note 4) When F41 for parameter 2400 is 1 (the F code unit fo the metric input
feed per minutes is 0.1 mm/min) the decimal place assumes the value in
the brackets.
(Note S) With calculator type decimal point input (parameter No. 2400110:
DPI = 1) all digits after the decimal point become O.

- 278 -
 11-17.1.2

17.1.2 Modal call

Modal call comes in macro call in every motion command, and macro call from each
block.
The macro call mode can be specified by executing the following command.
G66p program number L repetitive count <argument assignment>;
or
G66.1P program number L repetitive count <argument assignment>;
The <argument assignment> is the same as for a simple call. The macro call mode
can be cancelled by executing the following command;
G67;
(Note 1) In a G66 or G66.1 block, G66 or G66.1 must be specified before any
arguments. Decimal points and signs can be used in the arguments.
(Note 2) G66 or G66.1 and G67 should make a pair in the same program.

a) Macro call in every motion command (G66)

During this macro call mode, the specified macro call instruction is called
every time a motion command is executed.
(Example 1) Drilling Cycle
At each positioning point, the drilling cycle is operated.
z
Auxiliary
X move function Ymove
I - - - - - - - c - - - - - - - - - - < : r - - - - - - - - Q - - - Flow of program
II
II
II
II

~
Dwell Dwell

G66 P9082R(R point)X(Z point)X(Dwell);

X
M
Y The drilling cycle is performed at each end of
the motion block in this region.

G67;
Macro is as follows. (In case of incremental programming)
o 9082;
GOO Z 1118;
GOI Z 1126;
G04 X 1124;
GOO Z- [ROUND [1118] + ROUND [#26]];
M99;

- 279 -
 11-17.1.3

b) Call from each block (G66.1)

In the macro call mode, the macro unconditionally designated in each CNC
command block is called. The commands other than 0, Nand G code in each
block are set as arguments instead of being executed. (For the G code, only
that designated last is set as the argument.)
Namely, this mode gives the same result as when G65P is designated at
the beginning of each CNC command block or after the o-orlN code, if any.
For example, in the mode of G66.1 P100;
N001 G01 G91 X100 Y200 D1 R1000;
is the same as
N001 G65 P100 G01 G91 X100 Y200 D1 R1000;
However, take care of the following:
i) G66.1 block
a) Calling is effected even from the G66.1 block.
b) The relationship between the address of the argument and the variable
is the same as in the simple call.
ii) The block from which the call is effected after the G66.1 ,block (not
including the G66.1 block)
a) G,P and L are also set as the arguments.
G: 111 0, L: 1112 , P: 1116
However, the data is normally subject to the limitation of the input
format for the CNC command. For example, it is impossible to designate
G1000. PO.12L-4.
b) When there are many G codes, only the last one is set as the argument.
c) The 0, Nand G codes succeed to the subsequent blocks as the model
information.
(Note 1) Each block is regarded as the CNC command when an address other than 0
and N is designated, and call from each block is effected. When N is
designated after an address other than 0 and N, N is regarded as the
argument. It corresponds to variable #14.
(Note 2) Addresses S, T and a second auxiliary function address cannot be
specified.
Example) Error code PS093 is informed if the following cmmands are
. specified with parameter No. 7000#0=1 (Subprogram call by T
code):
G66.1 P1000;
T12;

17.1.3 Macro call using G codes

A G code can be set by a parameter to call a macro. That is, instead of
specifying N G65P6.6.6.6. <argument assignment>; the following simple command
can be used.-----
N Gxx<argument assignment>;
The correspondence between the calling G code xx and the program number 6.6.6.6. of
the called macro must be set as a parameter.
A calling G code xx and the program number 6.6.6.6. of a called macro are set in a
parameter.
Up to ten G01 to G255 commands can be used to call macros. GOO, G65 to G67
cannot be used. Additionally, G05 cannot be used when the remote buffer option
is present. In case of macro call by G code, the P code does not indicate a
program number but an argument. The P code is stored in #16 as an argument.
These G codes cannot be specified in a macro called with a G code. These G
codes cannot be specified in a subprogram called with an M code or a T code.
Set the following parameters.
If a negative value is set, modal macro is assigned. If -11 is set, for
example, GIl specifies modal call. Whether the modal 'call corresponds to G66 or
G66.1 is set by another parameter.

- 280 -
 11-17.1.4

Data No.

~ G code used to call macro: 9010

EJ G code used to call macro: 9011

G code used to call macro: 9019

17.1.4 Custom macro call with M code

Macro can be called with an M code set by a parameter, namely, the following
command:
N_____ G65 p~~~~ <argument assignment>;
is equivalent to the following command:
N M X X <argument assignment>;
Coordinate with the M code X X which executes macro calling and the macro
program 'No. ~~~~ acces~ed with a parameter. MF and M codes are not issued the
same as to call the subprogram with an M code.
When this M code is specified in a macro called with a G code, or in a
subprogram called with an M, S, T or B code, the macro is not called; but this M
code is treated as ordinary M code.
Up to 10 codes of MO 1 - M97 can be used to call macro. Set the following
parameters.

M code to call macro: 9020

M code to call macro: 9021

I M code to call macro: 9029

(Note) These M codes are different from usual M codes and they must be
commanded at the start of a block (just after the sequence No., if there
is).

17.1.5 Subprogram call with M code

An M code can be set by a parameter to call a subprogram. That is, instead of
N G X Y ••••• M98P~~~~;
the following simple command can be specified.
N G X Y •...• Mxx;
As for M98, the instruction is not displayed on the program check screen, and MF
and M codes are not transmitted.
The correspondence between the calling M code xx and the program number ~~~~ of
the called subprogram must be set as a parameter.
Up to nine M codes can be used for a subprogram call.
When these M codes are specified' in a macro called with a G code or in a
subprogram called with an M code or a T code, the subprogram is not called, but
these M codes are treated as ordinary M codes. Set the following parameters.

- 281 -
 11-17.1.6

M code used to call subprogram: 9001

I M code used to call subprogram: 9002

I M code used to call subprogram: 9009

17.1.6 Subprogram call with T code

A T code can be set by a parameter to call a subprogram.
N G X Z ••••• T t; is equivalent to the following two blocks.
11149=tj-- - - - -
N G X Z ••••• M98 P9000j
T code ~ stored-as-an argument in common variable #149. The T code is not
displayed on the program check screen, and TF and T codes are not transmitted.
When this T code is specified in a macro called with a G code, or in a
subprogram called with an M, 8, T code or a B code the subprogram is not called;
but this T code is treated as ordinary T code.
8et the following parameter.

7 I0 I0 I 0 Te8

When parameter Te8 1, a subprogram is called in a block with a T code.

17.1.7 Subprogram call with S code

An 8 code can be set by a parameter to call a subprogram.
N G X Z ••••• 8 Sj is equivalent to the following two blocks.
11147=s;-- - - - -
N G X Z ••••• M98 P9029;
8 code -;-IS stor'ed ~n argument in common variable #147. The 8 code is not
displayed on the program check screen, and 8F and 8 codes are not transmitted.
When this 8 code is specified in a macro called with a G code, or in a
subprogram called with an M, 8, T or a B code the subprogram is not called; but
this 8 code is treated as ordinary 8 code.
8et the following parameter.

7 I0 I 0 I 0 8e8

When parameter 8e8 = 1, a subprogram is called in a block with an 8 code.

- 282 -
 11-17.1.8

17.1.8 Subprogram call with B code

A specified code (set by parameter 1030) dedicated for 2nd auxiliary function
can be set by a parameter to call a subprogram.
N_____G_____X_____Z_____ ••••• B b; (where B is a 2nd auxiliary function code) is
equivalent to the following two blocks.
11146=bj
N G X Z ••••• M98 P9028;
B code ~ stored-as-an argument in common variable #146. The 2nd auxiliary
function code is not displayed on the program check screen, and BF and 2nd
auxiliary function codes are not transmitted.
When this 2nd auxiliary function code is specified in a macro called with a G
code, or in a subprogram called with an M, S, T or a 2nd auxiliary function
code, the subprogram is not called; but this 2nd auxiliary function code is
treated as ordinary 2nd auxiliary.function code.
Set the following parameter.

7 I I I
0 0 0 I
BeS

When parameter BGS 1, a subprogram is called in a block with a B code.

17.1.9 Difference·between M98 (subprogram call) and G65 (custom macro body call)
a) G65 can include arguments; M98 cannot.
b) M98 is used to branch to a subprogram after executing a command other than M,
P or L in the block; G65 is used to branch only.
c) When a M98 block includes an address other than 0, N, P and L, execution of
the block stops as single block stop, a G65 block does not.
d) G65 changes the level of local variable; M98 does not. That is, III specified
before G65 is one thing and III in the calling custom macro body is another.
#1 specified before M98 is the same as #1 in the calling subprogram.
e) Up to four G65 calls, including G66, can be made in addition, M98 calls can
be made up to eight calls together with calls by G65 and G66.

17.1.10 Multiplex calls

1) Multiplex calls
Similarly to a subprogram called from another subprogram, a macro can be
called from another macro.
The multiplicity should be less than or equal to four including simple and
modal calls.
2) Multiplex modal calls
In modal calls, the specified macro is called each time a motion command is
executed. When several modal macros are specified, the next macro is called
each time a motion command in the first macro is executed. Macros are
successively called from those assigned later.

- 283 -
 11-17.1.10

(Example 1)
G66 P9100;
Z 10000; ( 1-1 )
G66 P9200;
Z 15000; (1-2)
G67; P9200 cancelled
G67; P9100 cancelled
Z-25000; (1-3)

o 9100;
X 5000; (2-1)
M99;

o9200;
Z 6000; (3-1)
Z 7000; (3-2)
M99;
Sequence of execution (A block without a motion command is omitted in
this chart.)
(1 - 1) (1 - 2) (1 - 3)

(2 - 1) (3 - 1) (3 - 2)

(2 - 1) (2 - 1)

(Note) A modal macro is not called after (1-3), which is not in macro call
mode.
3) Custom macro level and local variable
When a macro is called with G65, G66, G66.1 or a G code which calls a macro,
the level of the macro increases by one. As a result, the level of the local
variable also increases by one. Namely, the relationship between the macro
call and local variable is as follows.

- 284 -
 11-17.2

Macro Macro Macro Macro

Main program (Levell) (Level 2) (Level 3) (Level 4)
0 0 0 0

G65P -
/ G65P-
II G65P - -
/ G65P - -
I
\ M99
\ M99
\ M99
\ M99

Local variable
(Level 0) (Levell) (Level 2) (Level 3) (Level 4)

#1 #1 #1 #1 #1

#33 #33 #33 #33 #33

1) The main program'is provided with 111 to 1133 local variables (level 0).
2) When the macro (level 1) is called with G65, etc., the local variable
(level 0) of the main program is stored, and 111 to 1133 local variables
(level 1) for the macro (level 1) are prepared. Argument transfer is
possible for this purpose. (This also applies to (3) below).
3) The local variables (levell, 2, 3) are stored each time the macros (level
2, 3, 4) are called, and new local variables (level 2, 3, 4) are prepared.
4) When the operation returns from each macro with M99, the local variables
(level 0, 1, 2, 3) stored in (2) and (3) are set in the same conditions as
when they were stored.

17.2 Creation of Custom Macro Body

17.2.1 Custom macro body format

The format of a custom macro body is the same as that of a subprogram as shown
below.

o (Program Number);

Commands

(Variables, arithmetic
operation and control
instruction can be
specified.)

M99;

Program numbers are determined as follows:

1) 01 tV 07999 for programs that can be freely registered, cancelled and
edited.
2) 08000 tV 08999 for programs that cannot be registered, cancelled, or
edited without setting.

- 285 -
 11-17.2.2

3) 09000 tV for special call-type macros

09019
4) 09020 tV 09899
for programs that cannot be registered, cancelled or edited
without setting a parameter
5) 09900 tV 09999 for robot operating programs
Variables can be used in a custom macro body. Also arithmetic instructions and
control instructions are commandable.
Actual values for variables are specified with a macro call command. (See
17.1.1.)

17.2.2 Variables
Variables can be used in the macro instead of numerical data. The user can
assign any value (within the allowed range) to them. Using variables allow
custom macros to become much more flexible than the conventional sub-routines.
Several variables can be used, and each variable is identified by a variable
number.
1) Variable expressions
A variable is composed of the code # and a number as shown below.
#i(i=1,2,3,4 ••••• )
(Example 1) #5
11109
#1005
The following format can also be used where numbers are replaced by OFormulaJ
#[<Formula>]
(Example 2) #[#100]
# [111001-1]
# [116/2]
Variable IIi explained hereafter can always be r,eplaced with variable #
[<Formula>]
2) Quotation variables
The numerical value following an address can be replaced with a variable.
<address>#i or OaddressJ-#i indicates that the value of the variable or its
complement is substituted for the command value of the address.

(Example 3) FI133 If #33 = 1.5, it is the same as Fl.5.

z-1118 If #18 = 20.0, it is the same as Z-20.0.
G/1130 If #130 = 3.0, it is the same as G3.
a) Using a variable with addresses/,:, 0 and N is prohibited, (i.e.,:#27 or
N#l cannot be used).
The value of n(n =1 to 9) in an optional block skip/n cannot be used as a
variable.
b) A variable number cannot be replaced by a variable. When 5 in 115 is
replaced with 1130, it does not become 111130 but 11[#30].
c) The value of a variable cannot exceed the maximum set for each address.
For example, when #140 = 120, M#140 exceeds the maximum (an M code must be
less than 99).
d) When a variable is used for address data, its value is rounded to the
significant digit.
e) By using <Formula>, as explained later, a numerical value following the
address can also be replaced with <Formula>. <address> [<Formula>] or
<address>- [<formula>] indicates that the value of the <formula> or its
complement is substituted for the command value of the address.
Note that a constant with no decimal point used between brackets is
assumed to have a decimal point at its end.
(Example 4) X[#24+#IS*COS[#I]]
Z- [1118+#26]

- 286 -
 11-17.2.2

3) Undefined variables
The value of a variable which has not yet been defined is called <vacant>.
Variable #0 is used for a variable that is always <vacant>.
An undefined variable has the following nature:
a) Quotation
When an undefined variable is quoted, the address itself is also ignored.

When #1 = <vacant> When 111 = 0

,
G90XI00Z#1

G90XI00
,
G90XI00z/I1

G90XI00Z0

b) Operation
<vacant> is the same as 0 except when replaced by <vacant>.

When #1 = <vacant> When #1 = 0

,
#2=/11

#2=<vacant>
,
#2=/11

#2=0

#2=/11*5
l ,
#2=/11*5

#2=0 #2=0

#2=#1+#1 #2=#1+#1
~
#2=0 #2=0
l

c) Conditional expressions
<vacant> differs from 0 only for EQ and NE.

When #1 = <vacant> When 111 = 0

,
111 EQ #0

Established
#1 EQ #0
~
Not established

,
111 NE 0

Established
,
111 NE 0

Not established

,
#1 GE #0

Established
,
#1 GE #0

Established

,
#1 GT 0

Not established
#1 GT 0
l
Not established

d) Display and setting variable values

Variable values can be displayed on the CRT screen. Variable values can
also be set in the MDI mode. See Chapter III Section 10.4.

- 287 -
 II-17.2.3

17.2.3 Types of variables

Variables are classified into local variables, common variables and system
variables, depending on the variable number. Usage and properties are different
for each type of variable.
1) Local variable #1 to #33
The local variable is a variable locally used in the macro. That is, a local
variable Iii used in the macro and called at one point in time, is different
from #i used in the macro (whether it is the same macro or not) called at
another point in time. Accordingly, when macro B is called from macro A, as
in a multiplex call, a local variable used in macro A is not destroyed by
being used in macro B.
A local variable is used for an argument transfer. For information on the
correspondence to the argument address, see section 17.1. A local variable
without a transferred argument is vacant in its initial status and can be
used freely.

2) Common variable #100 - #199, #500 - #999

Just as a local variable is used locally in the macro, a common variable is
in common use throughout the main program, throughout each subprogram called
from the main program, and throughout each macro. That is, #i used in a
certain macro is the same as #i used in another macro. Accordingly, the cal-
culated value of a common variable #i in a certain macro can be used in
another macro.
The use of common variables is not specially determined in the system. They
can be used freely.
Select common variables from the following (Option)
a) Common variables A
Common variables #100 - #149, #500 - #549 can be used.
#100 - #149 will be cleared when power is turned off, but #500 - #549 will
be kept after power is off.
b) Common variables B
Common variables #100 - #199, #500 - #599 can be used.
#100 - #199 will be cleared when power is turned off, but #500 - #599 will
be kept after power is off.
c) Common variables C
Common variables #100 - #199, #500 - #699 can be used.
#100 - #199 will be cleared when power is turned off, but #500 - #699 will
be kept after power is off.

(Note) Part program storage length will become short by 2.2 m.

d) Common variables D
Common variables #100 - #199, #500 - #999 can be used.
Common variables #100 to #999 are cleared by turning off the power, but
common variable #500 to #999 are not cleared by power off.

(Note) Part program storage length will become short by 7.4 m.

3) System variables
Use of a system variable is fixed in the system.

- 288 -
 11-17.2.3

List of System Variables

Variable number Variable number

'11000 - '11035 DI "5041 - 115046 Work coordinates

'11100 - 111135 DO "5061 - 115066 Skip signal position

112000 - 112999 Tool compensation value "5081 - 115086 Tool compensation

113000, 113006 Macro alarm, Program stop 115101 - 115106 Servo deviation

113001, 113002 Clock 115201 - 115206 Work offset value

(External)

113003, 113004 Cycle operation control 115221 - 115226 Work offset value
(G54)
113007 Mirror image 115241 - 115246 Work offset value
(G55)
114001 - 114120 Modal information 115261 - 115266 Work offset value
(Pre-reading block) . (G56)

114201 - 114320 Modal information 115281 - 115286 Work offset value

(Executing block) (G57)

115001 - 115006 Block end position 115301 - 115306 Work offset value
(G58)
115021 - 115026 Machine coordinates "5321 - 115326 Work offset value
(G59)

a) Interface signals 111000 to 111031 and 111032, 111033 ~ 111035, 111100 to 111155
and 111132, 111133 ~ 111135
Input signal
The status of the interface input signal is determined by reading the
values of the system variables 111000 to 111032.

- 289 -
 11-17.2.3

System variable Point Interface System variable Point. Interface

input signal input signal
0 16
111000 1 2 UIOOO 111016 1 2 UI016 .

111001 1 21 UIOOI 111017 1 217 UI017

22 18
111002 1 UI002 111018 1 2 UI018
19
111003 1 23 UI003 111019 1 2 UI019
111004 1 24 UI004 111020 1 220 UI020
111005 1 25 UI005 111021 1 221 UI021
111006 1 26 UI006 111022 1 222 UI022
111007 1 27 UI007 111023 1 223 UI023
8 224 UI024
111008 1 2 UI008 111024 1
111009 1 29 UI009 111025 1 225 UI025
10 226
111010 1 211 UIOI0 111026 1 UI026
111011 1 UIOll 111027 1 227 UI027
212 228
111012 1 2 UI012 111028 1 UI028
13 229 UI029
111013 1 214 UI013 111029 1
30 UI030 .
111014 1 2 UI014 111030 1 2
15 31
IIl0r5 1 2 UI015 111031 1 2 UI031

(Note) Only UIOOO to UI015 are available in case of FS6M/3M interface.

System variable Point Interface

input signal

111032 32 UIO 'V UI31

111033 32 UII00 'V UI131
111034 32 UI200 'V UI231
111035 32 UI300 'V UI331

Value of variable Input signal

1 Contact closed (HIGH)

0 Contact open (LOW)

Since the variable value read is 1.0 or 0.0 regardless of the unit system,
the unit system must be considered in preparing a macro.
The reading system variable 111032 to 111035 is used to read 32 points input
signals at one time.

30 31
i
111032 E #[1000+iJ *2 - 111031 x 2
i=O

1I[1032+nJ

When Ulqi is Low, Vi=O

When Ulni is High, Vi=1
n = 0 to 3

- 290 -
 II-17.2.3

System variables #1000 to #1035 cannot be used as a left side term in a

calculation command.

Output signal
Interface output signals can be issued by assigning values to system
variables #1100 to #1132.

System variable Point Interface System variable Point Interface

output signal output signal
0 16
#1100 1 2 UOOOO #1116 1 2 UOO16
#1101 1 21 UOOOI 111117 1 217 UOO17
22 18
111102 1 UOO02 #1118 1 2 UOO18
3 19
#1103 1 2 UOO03 111119 1 2 UOO19
#1104 1 24 UOO04 111120 1 220 U0020
5 221
#1105 1 2 UOO05 111121 1 U0021
6 222 U0022
#1106 1 2 UOO06 111122 1
#1107 1 27 UOO07 #1123 1 223 U0023
8 224
111108 1 2 UOO08 111124 1 U0024
9 225
#1109 1 2 UOO09 111125 1 U0025
10 226
111110 1 211 U0010 #1126 1 U0026
#1111 1 U0011 111127 1 227 U0027
212 228
#1112 1 2 UOO12 #1128 1 U0028
13 229
111113 1 214 UOO13 111129 1 U0029
30
#1114 1 2 UOO14 111130 1 2 U0030
15 31
111115 1 2 UOO15 111131 1 2 U0031

(Note) Only UOOOO to U0015 are available in case of FS6M/3M interface.

System variable Point Interface

output signal

111132 32 UOO 'V U031

111133 32 U100 'V U0131
111134 32 U200 'V U0231
111135 32 U300 'V U0331

Value of variable Output signal

1 Contact closed (HIGH)

0 Contact open (LOW)

Thirty-two point output signals can be issued at one time by assigning a

value to the system variable #1132 to #1135.

30
i 31
#1132 L #[1100+i] *2 - #1131 x 2
i=O

30
i 31
#[1132+n] L {2 * Vi} - 2 * V
i=O 31

- 291 -
 11-17.2.3

When UOni is Low, Vi=O

When UOni is High, Vi=l
n = 0 to 3

The last values of the system variable #1100 to #1132 issued aie stored as
1. 0 or 0.0.
(Note) When a value other than 1.0 or 0.0 is assigned to #1100 to #1115,
<vacant> is assumed as 0 and values other than <vacant> and 0 are
assumed as 1. A value under 0.00000001 is indefinite.
(Example 1)
1) Macro used to read three digits of BCD data with a sign by address
switching.
Structure of DI

I IIII '-------,.-----'-...,..----' ~

Used for Sign 102 10 1 10°

other purposes

Structure of DO

I IIIII IIII
Not used Used for Address
other purpose
Macro call command
G65P9100D (address);
The custom macro body is specified as follows:
09100;
#1132=#1132 AND 496 OR#7; Address feed out
G65P9101T60; Timer macro
#100=BIN[#1032 AND 4095J; Reading in of 3-digit BCD data
IF[#1012EQ OJ GOT09100; Sign
11100=-1/100 ;
N9100M99;

2) Read eight types of signed 6-digit BCD data (three digits to the left
of the decimal point and three digits to the right of the decimal
point) by address switching in #101.
Machine tool composition
When DO 2 0 0, three digits to the right of the decimal point
3 = l'lthree digits to the left of the decimal point
When DO 2 to 2 = 000, data No.1
001, data No.2

111, data No.8

Macro call command
G65P9101D (data number);
The custom macro body is specified as follows:
09101;
G65P910QD[#7*2+1J;
11101 =# 100 ;
G65P9100D[l17*2J;
#101=#101+#100/1000;
M99;

- 292 -
 11-17.2.3

b) Tool offset amount #2000 to #2800, #10001 to #13999

The tool offset amount can be determined by reading the value of the
system variable #2001 to 112800 and 1110001 to 1113999. The offset values
can also be modified by assigning a value to the system variable IIi.

System variable numbers for tool offset amount

(In case of memory C and compensation numbers are up to 200)

H D
Offset number
Geometry Wear Geometry Wear

1 112001 112201 112401 112601

2 #2002 #2202 #2402 #2602
3 #2003 #2203 #2403 #2603
· . · · ·
· . · · ·
·
199 #2199
·
#2399 ·
#2599 ·
#2799
~ 200 #2200 112400 #2600 112800

(Note 1) In case of memory B, there is no difference between D and Hand

variable numbers range from 112001 to 112400.
(Note 2) In case of memory A, there is no difference between D and H, geometry
and wear, and variable numbers range from #2001 to 112200.
(Note 3) The value of variable number #2000 is only used to read the value.
The value is always O.

In case the tool compensation numbers is more than 200, the system
variables become as follows:

Tool compensation memory A Tool compensation memory B

Offset number Geometry + wear Offset number Geometry Wear

1 1110001 1 1110001 1111001

· . · ·
· . · ·
· . · ·
999 #10999 999 1110999 #11999

Tool compensation memory C

H D
Offset number
Geometry Wear Geometry Wear

1 1110001 1111001 1112001 1113001

· · · · ·
· · · · ·
·
999
·
1110999
·
1111999 ·
1112999 ·
1113999

The compensation amounts of offset Nos. 200 can also be referred to by system
variables #2000 to #2800.

- 293 -
 II-17.2.3

c) System variables for work zero point offset values #5201 - #5326, #7001 -
#7946
By reading the values of system variables #5201 - #5326, #7001 - #7946
work zero point offset values are determined.
By assigning values to these variables, work zero point offset values can
be changed.
Variable numbers (112500 - #2906) used in SYSTEM 6 can also be used if
parameter #F6W (Data No. 7001) is set to 1. However, tool offset values
of #2500 and later cannot be used in this case.

Variable Value Work coordinate

No. system

115201 External work zero point offset value of the 1st External work
axis zero point offset
115202 External work zero point offset value of the 2nd zero point offset
value
axis
·
~
(Applied to all
·
· coordinate
systems)
115206 External work zero point offset value of the
6th axis

115221 Work zero point offset value of the 1st axis G54
115222 Work zero point offset value of the 2nd axis

) ·
·
115226 Work zero point offset value of the 6th axis

115241 Work zero point offset value of the 1st axis G55
115242 Work zero point offset value of the 2nd axis

) ·
115246 Work zero point offset
·
value of the 6th axis

115261 Work zero point offset value of the 1st axis G56
115262 Work zero point offset value of the 2nd axis

)
115266 Work zero point offset value of the 6th axis

115281 Work zero point offset value of the 1st axis G57
115282 Work zero point offset value of the 2nd axis
·
~
115286
·
·
Work zero point offset value of the 6th axis

115301 Work zero point offset value of the 1st axis G58
115302 Work zero point offset value of the 2nd axis
·
~
115306 Work zero point offset
·
·
value of the 6th axis

- 294 -
 11-17.2.3

Variable Value Work coordinate

No. system

115321 Work zero point offset value of the 1st axis G59
115322 Work zero point offset value of the 2nd axis

~ ·
115326 Work zero point offset ·
value of the 6th axis

The work zero point offset value of additional work coordinate system can
be handled as a system variable as that of standard work coordinate
system. The system variable numbers are as follows.

System Additional work

variable Controlled axis coordinate
No. system No.

117001 1st axis work zero point offset value 1

117002 2nd axis work zero point offset value (G54-:-1Pl)

~ ·
117006 6th axis work zero point offset value

1/7021 1st axis work zero point offset value 2

117022 2nd axis work zero point offset value (G54-:-1P2 )

)
1/7026
·
6th axis work zero point offset value

) ·
·
117941 1st axis work zero point offset value 48
117942 2nd axis work zero point offset value (G54-:!P48)
·
)
1/7946 ·
6th axis work zero point offset value

System variable No. = 7000 + (Coordinate system No. -1) *20 + Axis No.
Coordinate system No.: 1 to 48
Axis No. : 1 to 6

- 295 -
 11-17.2.3

d) Alarm 113000
When detecting an error in the macro, an alarm can be generated. When an
alarm number is specified in the system variable 113000, the alarm lamp is
turned on and the alarm status is entered after the proceeding block is
processed.
113000=n(ALARM MESSAGE);
(n~999)
An alarm message of less than 26 characters can be specified in the
section between control-out and control-in.
e) Clock 113001, 113002
The clock time can be determined by reading the values of the system
variables 113001, 113002. The time can be preset by assigning a value to
the system variable.

Kind System variable Unit time At the time of Counting

power-on

Clock 1 113001 1 msec. Reset to 0 Always

Clock 2 113002 1 hour Same as at the time While STL signal

of power-off. is on.

The accuracy of each clock is within 16 msec.

(Example 2) Timer
Micro call command
G65P9101 T (Awaiting time) msec;
This macro may be specified as follows:
09101;
113001 = 0; Initial setting
WHILE[1I3001 LE 1120]DOl; Wait for the prescribed length of time
END 1 ;
M99;
f) The suppression of the single block stop and the wait for the auxiliary
function end signal.
When the following values are assigned to the system variable 113003, the
single block stop function is suppressed and execution advances from one
block to the next without awaiting the end signal (FIN) of auxiliary
functions (S, T, M and B). When the end signal is not awaited, the
dist ribution end signal (DEN) is not transmit ted. Be careful Qot to
specify a subsequent auxiliary function without awaiting the end signal.

113003 Single block stop Auxiliary function end signal

0 Not suppressed Awaited

1 Suppressed Awaited

2 Not suppressed Not awaited

3 Suppressed Not awaited

- 296 -
 11-17.2.3

(Example 3) Drill cycle (For incremental programming)

(Equivalent to G81)
Macro call command
G65 P9081 L (Repetition time) R (R point) W (Z-point);
The custom macro body is specified as follows:
09081 ;
113003=1 ;
GOOW 1118; 1
The single block stop is not
G01W 1123; executed. 1118 corresponds to
GOOW-[ROUND[1I18] + ROUND [1123]]; I Rand #23 corresponds to W.
113003=0;
M99;

(Note) The state of 113003 is cleared by resetting.

g) Feed hold, feed rate override, and exact stop check suppression specified
in 113004
When the following values are assigned to the system variable 113004, feed
hold and feed rate override are suppressed for subsequent blocks and the
exact stop check is not performed. Pressing the feed hold button during
execution of a block for which feed hold has been suppressed:
CD Executes feed hold at the start of the first block outside the
suppression range (when the button is kept pushed).
@ Lights the feed hold lamp, and does not execute feed hold at this
point, but at the end of the first block outside the suppression
range, (when the button is pushed and released).

113004 Feed hold Feed rate override Exact stop check

0 0 0 0

1 X 0 0

2 0 X 0

3 X X 0

4 0 0 X

5 X 0 X

6 0 X X

7 X X X

0: Effective, X: Suppressed

(Note 1) The state of 113004 is cleared by resetting.

(Note 2) When exact stop is invalidated, an exact stop check is not
carried out even in existing exact stop locations of cutting
feed positioning blocks etc. Take note of "Mistakes during
operation" in the Macro and CNC statements part of section
17.2.7. As a rule, make sure that exact stop is not
invalidated by 113004 in exact stop locations.

- 297 -
 11-17.2.3

h) Stop with message #3006

When the following is designated in the macro,
#3006=1 (MESSAGE);
the operation stops after executing up to the preceding block. In case a
message of 26 characters or less is programmed between Control In and
Control Out in the same block, the message is displayed on the page of the
external operator message.
i) Condition of mirror image #3007
By reading #3007, it is possible to know the condition of the mirror image
of each axis at that time. As shown below, axes correspond to the bits
indicated by the binary system.

#3007 6th 5th 4th 3rd 2nd 1st axis

1
Each bit indicates the following:
0: Mirror image invalid
1: Mirror image effective
(Example) When the value of #3007 is 3, the mirror image is applied to
the 1st and 2nd axis.
j) Modal information #4001 to #4130, #4201 to #4330
Modal commands specified up to buffering can be determined by reading the
values of the system variables 114001 to 114130. Modal commands of the
presently executed block can be known by reading the values of system
variables #4201 to #4330. The unit specified is effective ..

Modal information
Modal information
System variable System variable of presently
of preceding block
executed block

114001 G code (group 01) 114201 G code (group 01)

114021 G code (group 21) 114221 G code (group 21)

114102 B code 114302 B code
114107 D code #4307 D code
114108 E code 114308 E code
114109 F code #4309 F code
114111 H code 114311 H code
114113 M code #4313 M code
114114 Sequence number #4314 Sequence number
114115 Program number 114315 Program number
114119 S code 114319 S code
114120 T code 114320 T code
114130 Additional work 114330 Additional work
coordinate system coordinate system
number number

- 298 -
 11-17.2.3

(Note 1) Next and current blocks

Since the CNC reads the next block during execution of the
current block in the machining program, the currently executed
block usually disagrees with the block the CNC is reading. (See
Subsection 17.2.7.)
The next block refers to the' block after the block the CNC is now
executing, i.e., the block after the block where #4001 to #4130
are already specified.
An example is given below.

(Example) 01234;
N10 GOO X200. Y200.;
N20 G01 XI000. YI000. FlO.;

N50 GOO X500. Y500.;

N60 111 = #4001;

Assume that the CNC is now executing N20 and, as shown

above, that the CNC already reads blocks ahead to N60
(this may be done in the multibuffer mode).
In this case, the current block is N20 while the next
block is N50.
Therefore, GO! is modal information of group 01 for the
current block, and GOO is modal information of group 01
for the next block.
For N60 #1 #4201; #1 1.
For N60 #1 = #4001; #1 O.

- 299 -
 II-17.2.3

k) Positional information #5001 to #5106

Reading in
System variable Positional information
during movement

#5001 1st axis block end coordinate (ABSIO)

#5002 2nd axis block end coordinate (ABSIO)
#5003 3rd axis block end coordinate (ABSIO)
· Possible
·
·
#5006 6th axis block end coordinate (ABSIO)

#5021 1st axis present coordinate (ABSMT)

#5022 2nd axis present coordinate (ABSMT)
#5023 3rd axis pres~nt coordinate (ABSMT)
· Impossible
·
·
#5026 6th axis present coordinate (ABSMT)

#5041 1st axis present coordinate (ABSOT)

115042 2nd axis present coordinate (ABSOT)
#5043 3rd axis present coordinate (ABSOT)
·· Impossible

·
#5046 6th axis present coordinate (ABSOT)

115061 1st axis skip signal position (ABSKP)

#5062 2nd axis skip signal position (ABSKP)
#5063 3rd axis skip signal position (ABSKP)
·· Possible

·
#5066 6th axis skip signal position (ABSKP)

#5081 1st axis Tool length offset value

#5082 2nd axis Tool length offset value
#5083 3rd axis tool length offset value
· Impossible
·
·
#5086 6th axis tool offset value

115101 1st axis servo position deviation

#5102 2nd axis servo position deviation
#5103 3rd axis servo position deviation
·· Impossible

·
#5106 6th axis servo position deviation

(Note) Reading up to the 6th axis is possible, but variables for more than the
number of controlled axes (servo) are undefined.

- 300 -
 11-17.2.3

Abbreviation ABSIO ABSMT ABSOT ABSKP

Meaning End point· Command Command Position

coordinate present present where skip
of the preceding coordinate coordinate signal has
block turned on in
the G31 block

Coordinate Work coordinate Machine Work Work

system system coordinate coordinate coordinate
system system system

Tool offset Not considered Considered Considered Considered

Tool length Tool top Tool standard Tool standard Tool standard
offset position point point point
Cutter
compen-
sation

(Note 1) 'The tool length offset amount is not the amount in effect just
before the block is executed; it is the amount for the current
block.
(Note 2) The skip signal position is the end point of the block if
no skip signal is input in block G31.
(Note 3) The block end point (ABSIO) of the skip (G31) is the position where
the skip signal has turned on or the end point of the block if the
skip signal has not turned on.

(Example 4)
The tool moves to a point appropriate to the machine tool (xp, yp, zp
distant from a reference point) through a programmed intermediate point;
and after processing a sequence of operations, returns to the original
point.
Macro call command
G65 P9300 X(Intermediate point)Y(Intermediate point)Z(Intermediate
point);
The custom macro body is specified as follows:
09300;
111=115001 ;
112=115002;
113=115003;
GOO z1I26;
xII24 Y1I25;
G04; (Move is interrupted to read #5021 to 115023)
.
G91 X[xp-#5021]Y[yp-#5022]Z[zp-#5023]:
(processing)

XII24 YII25 z1I26;

xIII Y1I2;
Z1l3;
M99;

- 301 -
 11-17.2.3

1) Time #3011, #3012

Year, month, day, hour, minute and second can be known by reading the
system variables #3011 and #3012.

Type System variable

Year/month/day #3011

Hour/minute/second #3012

(Example) 1987.5.20 PM: 4:17:05

#3011 = 19870520
#3012 = 161705

(Note) Refer to III, 11.14 Clock.

m) Total number of parts and required number of parts, #3901,#3902
The required number of parts and the number of machined parts can be
displayed on the CRT screen by the run hour/part number display function.
(Refer to III, 11.13.)
When the number of machined parts (the total number) reaches the required
number of parts, a signal is generated to notify it to the machine tool
(PMC).
The total number of parts and the required number of parts can be read and
written in system variables.

Type System variable

Total number of parts #3901

Required number of parts #3902

- 302 -
 11-17.2.4

17.2.4 Display and setting of variable names

A name of up to 8 characters can be assigned to the variables #500 to #519 using
the following command.
SETVNn ala2 ••••• aa'SlS2 ••••• SS ••••• ;
n is a leading variabte number of variables to which names are assigned.
a a 2 ••••• as is a name of a variable number n,SlS2 •••••• SS is a name of a
1
varIable number n+1, and so on.
Discriminate character strings with ",".
All the codes usable in the significant information zone can be used for
characters except for the following:
Control in, Control out, " EOB, EOR,:.
Variable names are not cleared by power off.
(Example)
SETVN 500 ABCDEFGH, COUNTER, POINTER

MACRO VAL: 06: 01234 N3456

No. Name Data

0500 ABCDEFGH -1234.5678
0501 COUNTER 00020.000
0502 POINTER
0503 1ST -0000.4025
0504 2ND 00004.500
0505 124000.00
0506
0507
0508 START
0509
0510 TOOL-PT 000045.00
0511
P LSK

17.2.5 Arithmetic commands

A variety of arithmetic operations can be performed on variables. An arithmetic
comm~nd must be specified the same as in general arithmetic expressions.
#i=<Formula>
<Formula>, the right-hand-side of an arithmetic command is a combination of
constants, variables, functions and operators. A constant can be used instead
of #i and Uk. A constant without a decimal point used in <Formula> is
considered to have a decimal point at the end.
1) Definition and substitution of variables
#i=#j Definition, substitution
2) Addition arithmetic
#i=#j+#k Sum
lIi=lIj-lIk Subtraction
lIi=lIj OR Ilk Logical sum (at every bit of 32 bits)
lIi=lIj XOR Ilk Exclusive OR (at every bit of 32 bits)
3) Multiplication arithmetic (Custom macro B option)
lIi=#j*lIk Product
lIi=lIj/llk Quotient
lIi=lIj AND Ilk Logical product (at every bit of 32 bits)
lIi=lIj MOD Ilk Remainder
(The IIj and Ilk values are rounded to integers and
the remainder is obtained. If #j is a negative
value, IIi is also a negative.)

- 303 -
 11-17.2.5

4) Functions
lIi=SIN Ulj ] Sine (degree unit)
lIi=COS[lIj] Cosine (degree unit)
lIi=TAN[lIj] Tangent (degree unit)
lIi=ATAN[lIj]/[lIk] Arctangent (degree unit)
lIi=SQRT[lIj] Square root
lIi=ABS[lIj] Absolute value
lIi=BIN [lIj ] Conversion from BCD to BIN
lIi=BCD[lIj] Conversion from BIN to BCD
lIi=ROUND[lIj] Rounding off
lIi=FIX[lIj] Discard fractions less than 1
lIi=FUP [llj ] Add 1 for fractions less than 1
lIi=ACOS[lIj] Arc cosine
lIi=ASIN[lIj] Arc sine
lIi=LN[lIj] Logalism nature
lIi=EXP [llj] Exponent with base e
IIl=ADP [llj ] Decimal point addition

About ADP (Add Decimal Point)

By specifying ADP[lIn] (n=1-33), a decimal point can be added to the value of
an argument in the subprogram which was transferred without decimal point.
(Example)
The value of ADP[1I24] in the subprogram called by G65xxxxXI0; is 10.0, that
is, the decimal point is added to the argument. This is used when it is
desired not to conscious about the increment system in the subprogram.
However, when parameter CVA of No. 7000 is 1, because this value is converted
into 0.01 immediately after the argument is transferred, no ADP function can
be used.
(Note) It is recommended that the argument be specified with a decimal point
and ADP function is not used because of the compatibility of the
program.

How to use function ROUND

1) If function ROUND is employed in an arithmetic operation command or in an'
IF or WHILE conditional expression, the figure in function ROUND is
rounded off (counting fractions of 5 and over as a unit and disregarding
the rest) as is ordinary data with a decimal point.
(Example)
IIl=ROUND[1.2345];
111 becomes 1.0.
IF[lIl LE ROUND[1I2]] GOTO 10j
ROUND [112] is 4.0 if 112 is 3.567.
2) If function ROUND is employed in a command to an address, it is rounded
off to the least input increment of the address.
(Example)
GOIX[ROUND[llllJ ;
If III is 1.4567 and the least input increment of X is 0.001, this
block becomes GOI Xl.45l.
In this example, the command is the same as GOI X Ill; command.
Function ROUND in an address command is used mainly in the following
case.
(Example)
Program to move incrementally by III and 112 only and then return to
the starting point
Nl 111 = 1. 2345;
N2 112 = 2.3456;
N3 GOI X III FI00; X moves 1. 231.
N4 X 112; X moves 2.34§..
N5 X -[111+112]; X moves -3.58, since III + 112 is 3.5801.

- 304 -
 II-17.2.S

Since 1. 235 + 2.346 = 3.581, the program does not return to the starting
point by N5.
Assume N5 X-[ROUND[#l] + ROUND[#2]];
It becomes equal to N5 X- [1. 235+2.346]; and the program returns to the
starting point.
5) Combination of arithmetic operations
The above arithmetic operations and functions can be combined. The order of
priority in an arithmetic operation is function, multiplication arithmetic
then addition arithmetic.
(Example 1) #i=#j+#k*SIN rUt]

Sequence of
arithmetic operations

6) Modification of arithmetic sequence using

A portion to be assigned priority in an ar.ithmetic sequence can be enclosed
in [ ].
[ ] can be nested up to five times (including [ ] used in functions).
(Example 2) #i=SIN [[[#j+#k]*#r+#mJ*#n] (Three fold nesting)

CD /

CD
-------.-----/
..
CD
CD Sequence of
arthimeticoperation
7) Precision
Always consider the precision of a custom macro function used for preparation
of programs.
a) Data format
Numeric data handled by a custom macro is in a floating decimal point
format as follows:
E
M*2
where M: I-bit sign + 31-bit binary data
E: I-bit sign + 7-bit binary data
b) Operational precision
An operation executed once generates the following error. These errors
are accumulated with each repeated operation.

- 305 -
 11-17.2.5

Operation format Average error Maximum error Type of error

10 10
a = b*c 1.55 x 10- 4.66 x 10-
Relative error
10 9
= b/e 4.66 x 10- 1.86 x 10-
a

a = fl) 1.24 x 10-

9
3.73 x 10-
9 K-l
=b + 10 10
a
a =b -
c
c
2.33 x 10_ 5.32 x 10- min.
It I , I~ I
a = SIN b
5.0 x 10-
9
1.0 x 10-
8
Absolute error
b = COS b
Ie: I degrees
6 6
a = ATAN b/c 1.-8 x 10- 3.6 x 10-

(Note) Function TAN performs SIN/COS.

8) Notes on decreased precision

a) Addition and subtraction
Note that when absolute values are used subtractivel~8 in addition or
subtraction, the relative error cannot be held under 10 • For example,
suppose that the real values of #1 and #2 are as follows.
#1 = 9876543210123.456
#2 = 9876543277777.777
Performing operation #2 - #1 does not produce
#2 - #1 = 67654.321,
since the custom macro has a precision of only eight decimal digits, the
values of #1 and #2 have a precision as low as approximately
#1 = 9876543200000.000
#2 = 9876543300000.000, respectively. (The internal values differ
somewhat from the above values because they are binary numbers.)
Consequently,
#2 - #1 = 100000.000
which generates a large error.
b) Logical operation
EQ, NE, GT, LT, GE and LE are basically the same as addition and
subtraction. Therefore, be careful of errors. To determine whether or
not #1 and #2 are equal in the above, for example,
IF #1 EQ #2
is not always evaluated correctly. When the error is evaluated as in
IF ABS #1 - #2 LT 50000
and the difference between #1 and #2 falls within the range error, both
values must be considered equal.
c) Trigonometric functions
Absolute =Srors occur in trigonometric functions; but, since they are not
under 10 be careful of integration or division after using a
trigonometric function.

- 306 -
 II-17.2.6

d) FIX function
The precision of FIX function shall be taken care when the function is
used to the calculation result.
For example, the value of #3 is not always equal to 2 in the following
examples.
N10/1l 0.002;
N20#2 = #1 * 1000;
N30#3 = FIX [#2J;
This is because an error is generated at the calculation of #2, and the
value of #2 is not #2 = 2.000000000 but #2 = 1.999999997. To escape such
an error, change N30 as follows:
N30#3 = FIX[#2+0.1J;
Generally, use FIX function as follows:
FIX [expression] + FIX [expression ±£]
(If the value of expression is positive, +£; and if it is negative, -E.
E shall-be 0.1, 0.01, 0.001, ••• etc.)

17.2.6 Control commands

The program flow can be controlled by using the following commands.
1) Divergence (GOTO)
CD IF [ <Conditional expression>] GOTOn
When <conditional expression> is satisfied, the next operation is
executed in the block with the sequence number n in the same program.
Sequence number n can be replaced by a variable or [<Formula>].
When the condition is not satisfied, the control proceeds to the next
block.
IF [<conditional expression>] can also be omitted; and when it is, the
control passes to block n unconditionally.
The following expressions can be used for <conditional expression>.
IIj EQ Ilk
IIj NE Ilk
ilj GT ilk >
IIj LT Ilk <
IIj GE ilk >
=
ilj LE ilk <
=
<Formula> can be used instead of IIj and Ilk, and a variable or <Formula>
can be used instead of n.
(Note) In the block with the sequence number "n" which will be executed after a
GOTO n command, the sequence number must be at the top of the block.
Branching in the reverse direction takes more time than that in the
forward direction.
GD If [<conditional expression» macro statement;
If the <conditional expression> is satisfied, the specified macro
statement in executed. However, the number of macro statements must be
one.
(Example)
If [#lEQ#2JTHEN#3 = 0;
If #1 is equal to #2, 0 is substituted for #3.
2) Iteration
WHILE [<conditional expression>] DO m (m = 1,2,3)

END m
While <conditional expression> is satisfied, blocks DO m to END mare
repeatedly executed. That is, the condition of DO m block is examined and
when the <conditional expression> is satisfied, control passes to the next
block. But when it is not satisfied, the block after END m is executed.

- 307 -
 11-17.2.6

WHILE [<conditional expression>] can also be omitted as with IF, and if

omitted, blocks from DO m to END m are executed eternally.
WHILE [<conditional expression>] DO m and END m must be used as a pair.
Identification number m identifies this pair.
(Example 1)
11120=1;
Nl WHILE 11120 LE 10 DO 1;

~---+------- Repeated ten

N2 wHILE 1130 EQI D02; times

Repeated while
N3END 2; variab le 1130= 1

11120=11120+1;
N4END 1;

(Note) Notes on REPEAT programming.

CD DO m must be specified before END m.

END 1;

(No)

DO 1;
CD DO m and END m must correspond to each other in one program.

DO 1;

DO 1; (No)

END 1;

DO 1

END 1; (No)

END 1;

- 308 -
 II-17.2.6

aD The same identification number can be used many times.

DO 1;

END 1;

(Yes)

DO 1;

END 1;

QD DO statement can be nested up to three times.

DO 1;

DO 2;

DO 3;

(Yes)

END 3;

END 2;

END 1;

- 309 -
 11-17.2.6

CD DO ranges cannot be intersected.

DO 1;

DO 2;

(No)

END 1;

END 2;

~ A branch can be made from inside to outside a DO range.

DO 1;

GOTO 9000;

(Yes)

END 1;

N9000 ••••• ;

- 310 -
 11-17.2.6

CD A branch cannot be made from outside. to inside a DO range.

GOTO 9000;

DO 1; (No)

N9000 ••••• ;

END 1;

DO 1;

N9000 ••••• ;

(No)

END 1;

GO TO 9000;

- 311 -
 11-17.2.7

® Custom macro bodies or subprograms can be called from inside a DO

range. DO statements can be nested up to three times more in the
custom macro body or in the subprogram.

DO 1;

G65 •.•.• ; (Yes)

G66 ••••• ; (Yes)

G67 ••••• ; (Yes)

END 1;

DO 1;

M98 ••••• ; (Yes)

END 1;

17.2.7 Macro and tNt statements

The following blocks are called macro statements.
i) Operation command (block including=)
ii) Control command (block including GOTO, DO or END)
iii) Macro call command (block including G65, G66, G67 or G codes calling macro)
The following blocks have the same features as the macro statements:
i) A subprogram call block (a block including subprogram call command by M98,
M, S, T or B code) -which does not include any command address other than 0,
N, P and L.
ii) A block which includes M99 but does not include any command address other
than 0, N, P and L.

- 312 -
 11-17.2.7

Blocks other than macro statements are sometimes referred to as CNC statements.
The macro statement differs from the CNC statement in the following points:
i) In the normal single block mode, the single block stop does not occur.
(See item (3), Chapter 8)
ii) The macro statement is not regarded as the no movement block in the cutter
compensation C.
iii) The time of execution differ~.
iii) is described below in further detail.
a) The macro statement existing next to the block which does not buffer the
next one (block of non-buffering M code, or G31 block) is executed- after
that block is executed.
(Example 1)
N1X1000MOO; Block currently executed
N2/1l100= 1; Macro statement

Execution N2
r---
of macro statement

Nl
Execution of
CNC statement
Time I
b) Macro statement existing next to the block buffering the next one.
i) When not in cutter compensation C mode
When the current block starts to· be executed, the next macro
statement is immediately executed. The macro statement up to the
next CNC statement is executed.
(Example 2)
N1G01X1000; Block currently executed
N2111100= 1; Macro statement executed
N3111=10; Macro statement executed
N4X2000; Next CNC statement

Execution of N2 N3
macro statement -
Execution of
CNC statement - ~1

ii) When in cutter compensation C mode

(a)
When the first CNC statement next to the block currently executed is
not the no-movement block (block containing no movement command in
the cutter compensation plan).
CD .
When the second CNC statement is not the no-movement block.
The macro statement, after the first CNC statement next to the block
currently executed, is executed.

- 313 -
 11-17.2.7

(Example 3)
N1X1000; Block currently executed
N21110= 100; Macro statement already executed
N3Y1000j First CNC statement
N4/11100=1 ; Macro statement executed
N5/11=10j Macro statement executed
N6X-1000; Second CNC statement

Execution of N4 NS
macro statement -
Execution of Nl
CNC statement -

I I
o
When the second CNC statement after the block currently executed is
the no-movement block, macro statements up to that and next to the
second CNC statement (i. e. the no-movement block) after the block
currently executed are executed.
(Example 4)
N1X1000; Block currently executed
N2/110= 100; Macro statement already executed
N3Y1000j First CNC statement
N4/111 00= 1; Macro statement executed
N5111=10; Macro statement executed
N6Z1000j Second CNC statement (no-movement block)
N7111101=1; Macro statement executed
N8112=20j Macro statement executed
N9X-1000; Third CNC statement

Execution of N4 NS N7 N8
macro statement -
Execution of
- Nl
CNC statement

I I
(b)
When the first CNC statement after the block currently executed is the
no-movement block, the macro statement is not executed.
(Example 5)
N1Y1000; Block currently executed
N2111100= 1; Macro statement already executed
N3/11=10j Macro statement already executed
N4Z1000j First CNC statement (no~movement block)
N5/1110 1= 1; Macro statement executed
N6112=20; Macro statement executed
N7X-1000j

Execution of
CNC .tatomont .
i Second eNC statement

Nl

~----~~------ ______________ ~L- ____________ ~._

- 314 -
 11-17.2.8

17.2.8 Codes and words used in custom macro

The following code can be used in the program of the custom macro in addition to
codes used in conventional programs.
1) ISO

Meaning 8 7 6 5 4 3 2 1 Character

[ 0 0 0 0 0
0 0 l.
] 0 0 0 0 0
0 0 ]
0
/I 0 0 0 0 II
0

*
=
0
0
0
0 0
0
0 0
0
0
0
*=
0
0 0 0 0 0 0 0 0

2) EIA

Meaning 8 7 6 5 4 3 2 1 Character

[ Parameter (Data No. 7010)

] Parameter (Data No. 7011)
II Parameter (Data No. 7012)
Parameter (Data No. 7013)
*
= Parameter (Data No. 7014)
&
,

0, the same code 0 as in the program number, must be used. The hole pattern
for , , II, + and = in EIA code must be set as parameters (Data No.
7010-7014). However, the character with no punched hole cannot be used.
Note that alphabetic characters can be used, but when used as II, they are not
used in their proper sense.
Special words used in custom macro are:
OR, XOR, IF, GOTO, EQ, NE, GT, LT, GE, and LE.
AND, SIN, COS, TAN, ATAN, SQRT, ASS, BIN, BCD, ROUND, FIX, FUP, WHILE,
DO, END, ASIN, ACOS, MOD, LN, EXP

17.2.9 Write protection of common variable

1) It is possible to apply write protection for multiple common variable (11500 -
11699). This is also effective for all of setting with the MDI, all clearing
and writing with the macro program.
2) Set up the following parameters.

Prefix number of variable desired to protect - 500

Number of variables desired to protect

When desired to protect from 11545 to 11550, for instance, set 45 for the
parameter 7031 and 6 for 7032.
3) Executing setting with the MDI or writing with the macro program causes the
PS alarm 116.

- 315 -
 11-17.2.10

17.2.10 Display of macro alarm & macro messages in Japanese

1) On the alarm screen and external operator message screen by system variables
113000 and 113006, Kanj i, Katakana and Hiragana in addition to alphanumeric
characters and special characters can be displayed,
2) To display macro alarms and macro messages, input alphanumeric characters and
special chara~ters as they are. . .•...••••..••••.••••.••• (Direct input)
When desired to display Japanese, close before and· behind of the internal
code of characters (Hexadecimal 4 characters for Kanji and Hiragana, Hex. 2
characters for katakana) with "@". • . • •• .•• • • • . . . • • •• (Internal code input)

Internal code input

#3000 =n (. • • • • @ -------.@-,--.--,@-.------,---,--.@ •• •• ) ;
(113006 1) Japanese Japanese
Alphanumeric Alphanumeric Alphanumeric
character character character
I I
I
Direct input

For instance, when desiring to display "MADE IN JAPAN FANUC" with a macro
message,
113006 = 1
(MADE IN @867C8B5C0020CCA7C5AFB8@);
JAPAN FANUC

3) "@" of special characters which can be displayed usually becomes useless.

4) Under the internal code inputting condition, displaying of character-string
will be ended in following cases of (a) or (b).
a) A character which cannot be recognized as the internal code was input,
b) A "control in" was appeared.
c) If there were odd numbers of hexadecimal characters closed with @, the
internal inputting condition will be ended.
5) Please see FANUC Internal Code List in Appendix 8 for internal codes of
Kanji, Hiragana and Katakana.

17.3 Registration of Custom Macro Body

A custom macro body is similar to a subprogram; it is registered and edited in

the same way as a subprogram.
The memory used to register custom macro bodies is included in the storage
capacity of the CNC.

17.4 Limitations

1) Sequence number search

Sequence numbers in the custom macro body cannot be searched for.
2) Single block
A block, other than one including a macro call command, arithmetic command,
or control command, can be executed as a single block stop even when in the
macro.
A block including a macro call command (G65, G66, G66. 1, G6 7), arithmetic
command and control command is not stopped even by single block operation.
The following settings or parameter setting executes a single block stop for
commands other than macro call commands. This function is used for testing a
custom macro body.

- 316 -
 II-17.4

2 2 0 1
I SB9
I
0 0 1 0 SBM SB8 SB7
I I
When SBM=l, single stop is done in every macro statement.
When SB7=1, a macro statement in programs numbered 07000 to 7999 executes a
single block stop.
When SB8=1, a macro statement in programs numbered 08000 to 8999 executes a
single block stop.
When SB9=1, a macro statement in programs numbered 09000 to 9999 executes a
single block stop.
A block in which a macro statement has executed a single block stop, is
assumed to have no movement in the cutter compensation mode. Sometimes
incorrect compensation is performed. (This case is handled the same as it is
for a movement amount of 0 although a move has been specified.)
3) Optional block skip
I, appearing in the middle of <expression>(right~hand-side of an arithmetic
formula, or in ), is treated as division, and not an optional block skip.
4) Operation in EDIT mode
The following settings can be used to protect registered custom macro bodies
and subprograms from accidental destruction.

2 2 0 1 I I NE9

o 0 1 1 I I I
(Setting operation is effective)
NEB

Setting NE8 and NE9 to 1 specifies that custom macro bodies or subprograms
with program numbers 8000 to 8999 and 9000 to 9899 cannot be registe'red,
cancelled, and edited, respectively.
However, this does not affect the deletion of all programs by turning on the
power or the punching of a program.
5) PRGRM page display in other than EDIT mode
Generally, when a custom macro body or a subprogram is called, the called
program is displayed. The following setting is used to keep displaying the
previous program.

2 2 o 1

o o 1 1

Setting ND8 and ND9 to 1 specifies that custom macro bodies or subprograms
with program numbers 8000 to 8999 and 9000 to 9899 cannot be displayed on the
PROGRAM page in other than the EDIT mode, respectively.
6) Reset
When a cleared status is produced by a reset, all local variables and common
variables #100 to #149 become <vacant>.
System variables #1000 ~ #1132 are not cleared.
Call condition and DO condition are cleared by reset.

- 317 -
 II-17.5

7) Display in PROGRAM RESTART page

The M and T,codes used for subprogram calling are not displayed like M98.
8) Feed hold
Macro statement execution stops at the end of the block by turning on feed
hold. (It also stops by resetting or by alarm generation).
9) Other limitations
a) Usable variables
#0, #1 to #33, #100 to #149 or #199, #500 to #509, #549 or #599 or #699,
system variables .•
b) Valid variable values
Maximum value +10 47
Minimum value +10- 29
c) Constant value-valid in <Formula>
Maximum value +99999999
Minimum value +0.000001
Decimal point ~an be used
d) Arithmetic precision
Eight-digit decimal number
e) Macro nesting
Maximum of four
f) Iteration identification number
1 to 3
g) Nesting of
Maximum of five
h) Subprogram nesting
Maximum of four
10) No tape operation can be executed for control commands.

17.5 External Output Commands

The following macro commands can be executed in addition to the standard custom
macro commands. (These commands are called external output commands.)
a) BPRNT
b) DPRNT
c) POPEN
d) PCLOS
These commands are provided ~o output variable values and characters through the
reader /puncher interface. Specify these commands according to the following
procedure.
1) Open command: POPEN
The connection processing to external I/O units is made before executing a
series of data output commands.
2) Data output command: BPRNT or DPRNT
Necessary data output commands are executed.
3) Close command: PCLOS
This command is specified after all data output commands have been completed
in order to disconnect external I/O units.

1) Open command POPEN

POPEN:
This command is provided to connect to external I/O units, and it is
specified before sending a series of data output commands. The DC2 control
code is output from CNC.

-- 318 -
 11-17.5

2) Data output commands BPRNT, DPRNT

a) BPRNT

point [a it [~J •••••••••• J Number of effective digits below decimal

~------------------Variable

~-------------Character

Characters are- output and variable values are binary-output when BPRNT is
given.
i) The specified characters are output by ISO codes.
The following characters are commandable.
* Alphabetic characters (A ~ z)
* Numeric characters
* Special characters (*,/,+,-)
Asterisk (*) is output by the space code.
ii) Since all variables are being stored with a decimal point, the number
of effective digits below the decimal point must be specified by
parenthesizing them just after specifying variables. Variable values
are treated as 2-word (32-bit) data by taking the number of digits
below decimal point into account, and they are output as binary data,
starting with high-order bytes.
iii) EOB code is output by an ISO code after the command data output.
iv) "vacant" variable is outputtable as O.
b) DPRNT
[a lib bC d] •••••••••• j

I'[~--------------Number of digits below decimal point

~-----------Number of digits above decimal point
' - - - - - - - - Variable
'-------- Character

When DPRNT is specified, characters and numeric characters and every

variable value digit are output by ISO codes.
i) Same as in (i), (iii), (iv) of BPRNT command
ii) For outputting variable values, specify the variable number following
#; then, specify the number of digits above the decimal point and the
number of digits below the decimal point by parenthesizing these
values.
Variable values are output by the specified number of digits, every
digit starting with a higher significant digit by ISO codes. The
decimal point is also output by an ISO code.
A variable value is regarded as being composed of a max. 8-digit
numeric value. If the higher significant digits are 0, no code is
output when parameter No.7000 PRT=l, and the space code is output when
PRT=O.
Whenever the number of digits below the decimal point is other than 0,
the numeric value below the decimal point is output. When the number
of digits below the decimal point is 0, the decimal point is not
output.
For the plus (+) code in case of a positive sign, the space code is
output when parameter No.7000 PRT=O, but no code is output when PRT=l.
(Note) An alarm is generated unless c + d ~ 8.

- 319 -
 11-17.5

(Example 1) BPRNT C**X#100 3 Y#101 3 M#10 0

Variable value
#100 0.40956
111 0 1 -1638 . 4
#10 12.34

'-.-' '--v--' '--v--' ---.....-.--

1 I'----_~: ( OOOOOOOC)
'--------M
'--__________ -1638400 (FFE70000)

'----------- y
' - - - - - - - - - - - 410 (0000019A)
'----------------- X
L-_______________________
L -_ _ _ _ _ _ _ _ _ _ _ _ _ _ _
C
Space

(Example 2) DPRNT X#2 53 Y#5 53 T#30 20

Variable value
# 2 128.47398
# 5 = -91. 2
#30 = 123.456
Q) Parameter PRT 0

LF
T ® 23

y - @ @ @ 9 1.200

X @ @ @ 1 28.474

- 320 -
 11-17.5

Parameter PRT 1

Y-91.20 0

Xl 2,8.474

3) Close command PCLOS

PCLOS:
This command is specified when all data output commands are completed, to
release the processing connection to external I/O units. DC4control code is
output from CNC.
4) Setting required for using this function
a) Set parameter No.21 so that the output unit reader/puncher interface is
employed for punch-out. However, the output to the FANUC cassette is not
allowable in this case~
b) Set a various data of reader/puncher interface (baud rate, etc.) to one of
parameter No. 5001 to 5162 according to the number of the output units
preset to the above parameter No.21.
c) Set parameter No.7000 to determine whether leading zeroes are spaced or
not when data are output by DPRNT command.

7 0 0 0 PRT

7 6 5 4 3 2 0

Leading zeroes are treated by the PRT DPRNT command during data output as
follows:
0: Spaced 1 : No output

5) Cautions
a) It is not necessary to sequentially specify open command (POPEN), data
output commands (BPRNT, DPRNT) and close command (PCLOS). When the open
command is specified at the start of a program, it is no longer necessary
to specify the open command again until after the close command is
specified.
b) Specify the open command and close command as a pair of commands without
fail.
In other words, send the close command at the end of a program. Don't
specify the close command independently without the open command.
c) A data output command in progress is stopped and subsequent data are
erased by reset processing.
Accordingly, if reset processing is specified by M30, or the like, at the
end of a data output program, specify the 'close command at the end of the
program and wait until all data are output before starting M30 process~ng
'or other reset processing.

- 321 -
 11-17.6

17.6 Interruption Type Custom Macro

Entering an interrupt signal (UNIT) from the machine during execution of a

program permits call-out of another program. This function is called the
interruption type custom macro.
The interrupt co~and is executed by specifying, in programming,
M96Pxxxx; (Custom macro interrupt on)
M97; (Custom macro interrupt off)
This function permits any execution block of the program to callout another
program, thus enabling program operations according to the ever changing
conditions.
Applications
1) Processing for tool error detection is initiated by an external signal.
2) Another program is inserted in a machining series without the stopping of
machining operation.
3) The current machining information is read at fixed time intervals, etc.
Thus, adaptive control-like applications are possible.

o~;

M96 Pxxxx;
o xxxx ;

Interrupt signal (UINT) Interrupt

f f signal
(UINT)'"

--- --- ---

N99 (P 0000) ;

N 0000 ;
----

M97
Interrupt signal (UINT)'"

;
Outline of interruption type custom macro

The figure shows that specifying M96 Pxxxx in programming permits a program
specified by Pxxxx to interrupt the current program and be executed, when the
interrupt signal (UNIT) is' entered. The interrupt signal is ignored during
execution of the interrupt program or after M97 (interrupt signals marked *).

- 322 -
 11-17.6.1

17.6.1 Commanding
1) Effective Conditions
Custom macro interruption can be used only during program execution •.
Therefore, it is effective when:
1) The memory, tape, or MDI mode has been selected;
2) The start lamp (STL) is on;
3) The custom macro interruption is not in progress.
The macro interruption cannot be applied during manual operations (jog, step,
handle, etc.).
2) Command Format
The custom macro interrupt function is, in principle, executed by making the
interrupt signal effective and ineffective by M96 and M97. That is, the
interrupt signal entered until M97 is commanded or the NC is reset, after M96
is commanded, initiates the custom macro interruption. On the other hand,
entering the interrupt signal after M97 is commanded or after the NC is
reset, does not initiate the custom macro interruption, but the interrupt
signal entered until M96 is commanded is ignored.
[Fomat]

M96 Pxxxx; Custom macro interrupt on.

L Specifies the interrupt program number.

M97; Custom macro interr pt off.

M96

M97

/ Interrupt Interrupts
/
___ __ l __ . ,
I
o
Interrupt signal

Interrupt // Interrupts /
/I
___I ,--I II
Effective interrupt signal

' - When UlNT is maintained.

Relations between M96, M97, and interrupt signal

- 323 -
 11-17.6.2

The interrupt signal (UNIT) becomes effective after M96 is entered.

If the signal is input in the M97mode, it is ignored. But if the signal is
held until M96 is specified, the custom macro interruption is immediately
started by M96 specification in case of the status trigger method. In case of
the edge trigger method, the custom macro interruption is not started by this
specif icat}on.

17.6.2 Detailed descriptions

1) Subprogram-type interrupt and macro-type interrupt
The custom macro interrupt method includes subprogram type and macro type.
Thus, the parameter which selects between the two types is available (MSB,
7002).
o Subprogram type
The interrupt program is called out as a subprogram. That is, the local
variable level does not change before and after the interruption. Also,
this interruption is not added to the degrees of multiple subprogram
calling.
o Macro type
The interrupt program is called out as a custom macro. That is, the local
variable level changes before and after the interruption. Also, this
interruption is not added to the degrees of multiple macro calling.
A subprogram call and a custom macro call executed in the interrupt program
are added to their respective degrees of multiple calling.
The execution program cannot pass arguments in the custom macro interruption,
even if it is macro type.
2) Custom macro interruption control M codes
The custom macro interruption is, in principle, controlled by M96 and M97.
However, they can be used for other uses (M functions, macro call-out, etc.),
depending on the machine manufacturer. Therefore, the parameter which can
set these M codes is available (MPR, 7002).
When this parameter is designed to set the M codes, set them in:
parameter #7013 for custom macro interrupt on;
parameter #7034 for custom macro interrupt off.
When parameter MPR is designed for not setting of M codes, M96 and M97 become
the custom macro control M codes, regardless of the contents of #7033 and
#7034.
In either case, the custom macro interruption control M codes are processed
internally and are not output externally.
It is not preferable, from the viewpoint of program compatibility, that M
codes other than M96 and M97 control custom macro interruption.
3) Custom macro interruption and CNC command
Two types of custom macro interruption are considered: interruption
performed by stopping an NC command being executed prematurely; and
interruption performed after completion of that block. Therefore, the
parameter which selects between the interrupts during, and after completion
of, the block is available (7002-MIN).
a) In case OF TYPE-1 (Interrupt during execution of a block)
i) Entering the interrupt signal interrupts the movement or dwell being
executed and executes the interrupt program;
ii) If CNC statements exist in the interrupt program, the interrupted block
of command disappears and interrupt programs are executed. When having
returned to the original program, the execution continues from the next
block on;
iii) If CNC statements do not exist in the interrupt program, when having
returned to the original program by M99, the execution continues from
the interrupted command on.
b) In case of TYPE-2 (Interrupt after completion of a block)
i) If the executing block is not of a cycle block in which the block is
divided into several blocks like a drilling canned cycle or automatic
reference point return (G28).

- 324 -
 11-17.6.2

When an interruption signal (UNIT) is input, the macro statements in

the interrupt program are momentarily e~ecuted up to the first NC
statement, but the NC statement is executed after completion of a block
being executed.
ii) If the executing block is of a cycle block in which the block is
divided into several blocks.
When an interruption signal (UNIT) is input, the macro statements in
the interrupt program are executed when the last move of the cycle
operation has started. The NC statement is executed after completion
of all the cycle operation.

Duning execution
r Interruption by macro Interrupt

_--......f-- - - - ---

Ordinary program
\ NC command restart
(When interrupt program
has no NC ststements)
Interrupt signal input

During execution

Interrupt

In case of Type I (Interruption during execution of block)

During execution

Ordinary program
I1

Interruption signal input

During execution
~
Interrupt
' - NC statement in
interrupt program

In case of Type II (Interruption after execution of block)

- 325 -
 11-17.6.2

4) Effective/ineffective conditions of custom macro interruption

The interrupt signal becomes effective when an M96 block makes custom macro
interruption effective and it becomes ineffective when a block which includes
an M97 has started execution.
The interrupt signal is not effective during execution of an interrupt
program. After returning from the interrupt program, when the next block to
the interrupted block in the main program has been started, the interrupt
signal becomes effective.
In case of Type-I, if interrupt program is made of only macro statements, the
interruption becomes effective from the time when the interrupted block is
s~arted execution after returning from the interrupt program.

5) Custom macro interrupt during execution of a block of a cycle operation

(a) Type-I
The interrupt program is executed by interrupting the block being
executed.
If there is no NC statements in the interrupt program, the cycle
operation is started execution after returning to the main program. If
there is an NC statement, the interrupted cycle is discarded and the next
block is executed.
(b) In case of Type-II
Macro statements up to the first NC statement in the interrupt program
are executed when the last move of the cycle operation has started.
The NC statement is executed after completion of the cycle operation.

6) Acceptance of custom macro interrupt signal (UNIT)

There are two methods of accepting the custom macro interrupt signal: status
trigger and edge trigger. The status trigger makes the signal effective when
it is on; the edge trigger makes it effective when it turns from off to on.
The parameter selects between the two types (7002-TSE).
When this parameter specifies the status trigger, if the interrupt signal is
on (1) when it has become effective, the custom macro interrupt occurs.
Therefore, while the signal is on, the interrupt program can be executed
repeatedly.
When this parameter specifies the edge trigger, the interrupt signal becomes
effective only when it turns on, and the interrupt program is terminated in a
moment (programs of macro statements alone, etc.). Therefore, when the
status trigger is not suitable, or when the custom macro interrupt is to be
performed only once through the whole program (the interrupt signal stays
on), this type may be used.
Either type will provide the same effect in practice, except for special
uses, such as noted above. (There are no differences, e.g., one type takes
longer than the other from the input of the signal to the execution of the
custom macro interrupt.)

- 326 -
 11-17.6.2

o
Interrupt signal

During execution / / I /
Interrupt
Ir II II I
Status trigger type

I
I
Edge trigger type

Custom macro interru pt signal

The status trigger type executes the custom macro interrupt when the signal
is on; the edge trigger type executes it when the signal turns on.
Therefore, the example above shows that four interrupts are executed in the
former type; only one in the latter type.

7} Return from custom macro interrupt

M99 commands return from the custom macro interrupt to the original program.
Also, address P specifies a sequence number in the program to be returned to.
In this case, the corresponding program is searched from its beginning and
the sequence number appearing first is returned to (same as M98).
Another interrupt does not occur during execution of a custom macro interrupt
program, but M99 clears this situation. When M99 is specified independent-
ly*, it is executed before completion of the preceding command. Therefore,
the custom macro interrupt also becomes effective for the last command of the
interrupt program. If this is inconvenient, control the custom macro inter-
rupt by M96 and M97 in the program.
*: block with M99 alone
The M99 block, which consists of addresses 0, N, P, L, or/and M alone, is
assumed to be the same block as the preceding block in programming.
Therefore, the single block stop is not performed. In programming,
Gxx Xxxxx;
M99; and
Gxx Xxxxx M99;
provide the same effect.
(They differ in whether Gxx is executed or not before M99 is known).

- 327 -
 11-17.6.2

o 1000;

M96 P1234;

01234 -
-, Interrupt

I~
Gxx Xxxxx; _.J
M96
05678
M97 --l
Gxx Xxxxx;
M96 ;
M99; __ _
J X

M97
f Interrupt

Return from custom macro interrupt

A custom macro interrupt does not overlap with another which is being
executed. That is, if an interrupt occurs, another is prohibited
automatically; if M99 is executed, the custom macro interrupt pecomes
effective again. Since the M99 block is executed independently before
completion of the preceding block, it can also interrupt the Gxx blo.ck of
01234, and if the signal is input, the 01234 program is executed again. On
the other hand, the 05678 program is controlled by M96 and M97 and the
interrupt becomes effective after it returns to 01000.

8) Custom macro interruption and modal information

The custom macro interrupt, unlike the ordinary program call, is initiated by
the interrupt signal. Therefore, it is not desirable that modal information
is modified in the interrupt program and as a result, the original program is
affected. Thus, even if modal information is modified in the interrupt
program, when the original program is returned to by M99, the modal
information is restored to that before interruption.
When the interrupt program returns to the original program by M99 Pxxxx,
modal information can be controlled in the program. Therefore, the modal
information modified in the interrupt program is taken over. (Conversely,
when modal information in the original program is to be taken over, movement
after return may vary depending on the modal information at the time of
interruption.) Therefore, in this case:
1) Command modal information in the interrupt program
or
2) Command necessary modal information at the returned point.

- 328 -
 11-17.6.2

o~;

M96 Pxxxx;

o xxxx ;

Modal information
is modified.

The same modal information as

that when no interrupt occurs.

---- -----
M99 (P 0000) ;

N 0000 ;
____ - - - (P specification)

'\ modal information modified

in the interrupt program.

Custom macro interruption and modal information

When modal information is modified in the interrupt program.

1) Return by M99
The modal information before interruption remains valid, and the modal
information modified in the interrupt program is neglected;
2) Return by M99 Poooo
The modal information modified in the interrupt program also becomes valid
after return (same as M98, etc.).
Modal information of the interrupted block is stored in system variables
#4001 to #4120. (These values are effective until modal information is
changed in the interrupt program)

9) Values of system variables (positional information) in the interrupt program

Interrupt

/ B
,
,,/
Tool center

"", ,
,,

Programmed path

- 329 -
 11-17.6.3

(a) Coordinate of position A is stored in #5001 and later until the first NC
statement is encountered.
(b) Coordinate of position A' is stored in #5001 and later after the first
CNC statement (without movement) is encountered.
(c) Machine coordinate and work coordinate of position B' are stored in
#5021 ~ and #5041, respectively.

10) Custom macro interruption and custom macro modal call

The custom macro call is in the cancelled condition (G67) when the interrupt
program is called for after the interrupt signal (UNIT) is input.
However, if G66 or G66.1 is specified in the interrupt program, it is
effective.
When the execution returns from the interrupt program by M99, the modal call
status returns to the one effective before interruption. If the execution
returns by M99Pxxxx;, the modal call status remains as it is effective in
the interrupt program.

17.6.3 Parameters on inte,rruption type custom macro

Parameters on the interruption type custom macro are Nos. 7002, 7033 and 7034.
Refer to Appendix 6 for details of these parameters.
(Note) M97 must be specified so that it does not perform buffering. Specify 97
for any of parameters 2411 to 2418.

- 330 -
 11-18

18. FUNCTIONS FOR HIGH-SPEED MACHINING

18.1 High-Speed Machining Function (G10.3, G11.3, GS5.3)

The high-speed machining function allows the machining program, which is to be

pre-processed and stored in the memory before the execution to be called and
executed at a high speed.
1) High-speed machining data
The data converted into one for the high-speed machining by pre-processing
the machining program is called high-speed machining data. Two or more
pieces of the high-speed machining data can be registered in the memory. The
pieces of data are distinguished from each other by the data number (which is
equivalent to the program number of a cycle program in general).
2) Cluster
A group of blocks from the high-speed machining start (GI0. 3) block .to the
high-speed machining end (Gll.3) block in the machining program is called the
cluster. It doesn't matter how many clusters are existirig in one machining
program. There are limitations, to be described later in the text, however,
on the commands that can be written in the cluster.
Two or more clusters can be registered in one piece of the high-speed
machining data. The clusters are distinguished from each other by the
cluster ID (Identification) number (which is equivalent to the sequence
number of a machining program in general). The cluster ID number may be
assigned freely as the requirement arises, and but the double check is not
made on it as it is registered. So note that it is impossible to call the
obj ective cluster correctly if more than one clusters having the same ID
number are registered in one piece of the high-speed machining data.
3) Operation mode
There are two high-speed machining operation modes, i.e. the register
operation mode, in which the machine is run while creating' the high-speed
machining data, and the call operation mode, in which the machining only is
executed by calling the previously created high-speed machining data. Either
of these modes is selected by setting HSO (Data No. 0011#6).
a) Register operation
If the program which is being run in the register operation mode (setting
HSO=I) contains the following command, all the commands in that cluster
are converted into the high-speed machining data,' and are registered in
the tape storage area. Then the commands are executed (high-speed
operation) by using the created high-speed machining data.

G10.3 L1 Pp Qq;
(Block command 1);
(Block command 2);

(Block command n);

G11.3

CD G10.3: High-speed machining start G code

@ L1 Register operation programming
L1 Create the high-speed machining data of the designated
number newly, and register ,the cluster there.
L2 Additionally register the cluster at the end of the
existing high-speed machining data of the designated
number. If this is omitted, "L1" is assumed to have
been given as a command.

- 331 -
 II-18.1

® Pp The high-speed machining data number (1 - 9999). If this is

omitted, the same number as the main program being run is
assumed to have been given as a command.
® Qq : Cluster ID number (1 - 9999)
CD G11.3: High-speed machining end G code
If the hig~-speed machining data of the designated number by the G10.3 L1
block is existing, it is possible to select whether to issue an alarm or
to register new data after erasing the existing data by the parameter RPD
(Data No. 7607#0).
An alarm is issued if the high-speed machining data of the designated
number by the G10.3 L2 block does not exist.
b) Call operation
If the program being run in the call operation mode (setting HSO=O)
contains the G10.3 L1 or L2 command, the commands up to the G11.3 block
are skipped. Instead one cluster of the designated high-speed machining
data which has previously been created is called, and the machining
(high-speed operation) is .executed.
Also if the program being run contains the G10.3 L3 command, the commands
are skipped and the high-speed machining is executed just as in the above
case irrespective of the HSO setting. It is possible, therefore, to
select register or call by changing the L command by using the optional
block skip switch, etc. while setting HSO always to "1".
It is possible to execute the cycle efficiently by executing the same
machining program by the register operation only at firse and by executing
it by the call operation for the second time onwards.
4) Call command
It is possible by using the following command to call and execute (high-speed
operation) one cluster of the designated high-speed machining data by
repeating it the programmed number of times irrespective of whether the
register operation mode or the call operation mode is selected.
G65.3 Pp Qq L1;
aD G65.3: The G code to command call
<l) Pp : The high-speed machining data number (1 - 9999). If this is
omitted, the same number as the main program being run is assumed
to have been given as a command.
G) Qq Cluster ID number (1 - 9999)
@ L1 The repetition machining (1 - 9999). If this is omitted, "L1" is
assumed to have been given as a command.
It is possible to execute the machining very efficiently by previously
preparing a program which is obtained by substituting the clusters of the
original machining program with the G65.3 command and by running the machine
by using that program after the register operation, since this economizes the
time to skip G10.3 - G11.3 in each cluster.
5) Data erase command
It is possible to erase the registered high-speed machining data by using the
following command:
G10.3 LO Pp
aD G10.3 LO: Data erase command
<l) Pp The high-speed machining data number (1 - 9999). If this is
omitted, the same number as the main program being run is
assumed to have been given as a command.
The erase command is effective only in the register operation mode (setting
HSO=1). The command is 'ignored in the call operation. mode or if there is no
data of the designated number.

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 II-IB.I

6) Relationship between machining program registration and memory capacity

When the high-speed machining function is provided, the number of the
programs registered in an ordinary tape storage memory is 87.5%. The tape
storage length does not change unless the high-speed machining data is
created. If the high-speed machining data is created, the memory capacity
decreases by that amount. Such an amount of decrease depends on the content
of the command. For the block of simultaneous 3-axis linear move commands
only, it is about 0.06 m per block.
(Note 1) Each of G10. 3, G1l. 3 and G65. 3 should be given as a separate block
command.
(Note 2) During the register/call operation:
The single block stoppage is impossible.
Though the machine can be halted by the feed hold, the mode cannot be
changed from that state.
Though the machine can be stopped by resetting, it cannot be
continuously run thereafter.
The background editing should not be done. (An alarm may be issued.)
The interruption type custom macro cannot be used.
The machined form does not change even if the offsetting amount is
changed.
The work coordinate system offsetting amount must not be changed.
The cutting feed rate clamp by parameter #1422 is not effected.
The dry run/external deceleration speed during cutting is zero.
The one-digit F code feed cannot be given as a c~mmand.
Pre-interpolation acceleration/deceleration is not available.
The automatic corner override is not effected.
(Note 3) The custom macro is available. Call, arithmetic operation, etc. are
executed during registration. Only the registered execution format is
executed during execution. The modal call should be given as a command
or cancelled in the cluster. Neither G10.3 nor G11.3 can be given as a
command in the G66 mode.
(Note 4) Only the following addresses can be given as commands by the block to
be registered:
G: GOO, G01, G02, G03, G33
G40, G41, G42
G65, G66, G67
G90, G91
F, E
M, S, T and 2nd auxiliary function
(The tool life management and constant surface speed control commands
and resettable commands such as M02, M30, etc. are not available.)
M98, M99
Axis command, I, J, K, R
0, N (Neither the 0 display nor the N display is updated during the
high-speed machining execution.)
P, L
(Note 5) All the moving amounts are incremental value. Namely even if an
absolute command is registered, it is executed by incremental moves as
a result calculated from absolute command.
(Note 6) The ~ool diameter offset C should be started up/cancelled in the
cluster. Neither G10.3 nor G11.3 can be given as a command in the tool
diameter offset C mode.
(Note 7) It is impossible to call another piece of the high-speed machining data
by using G65.3 in the cluster.

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 11-18.2

18.2 Multi Buffer (G05.1)

Normally the CNC calculates the next one block while executing a certain block
and transforms it into executable data (execution format). This is called
buffering. By using the multi-buffer function, it is possible to increase the
number of such buffering blocks up to fifteen. This prevents stoppage of pulse
distribution between very small, consecutive blocks.
(Note 1) Macro messages are not counted in the number of blocks as referred to
here. The macro message which is given as a command before the CNC
message to be transformed into the execution format is executed when
the CNC message is'transformed into the execution format.
(Example) NOlO G01 X100.0 F100
N020 G90 X200.0
N021 111=100.0
N022 112=200.0
N030 X300.0 ;
N031 113=300.0
N040 X400 •. 0 ;
N050 X500.0 ;
N060 X600.0 ;
N061 114=400.0
N070 X700.0 ;
While executing the NOlO block, up to the N060 block are buffered, and
the N021, N022 and N031 macro messages are executed. When the N020
block starts to be executed, the N061 macro message is executed, and
N070 is buffered.
(Note 2) In some cases the pulse distribution may stop between blocks if many
very small blocks occur consecutively. It is possible to prevent
stoppage of pulse distribution between very small, consecutive blocks
when "the execution time of the pre-read blocks (up to fifteen blocks:
up to fifteen blocks are read as long as there is enough time) is
longer than the time required to pre-read the succeeding one block".
(Note 3) The above-mentioned blocks include the cycles created in the NC. An
amount equivalent to fifteen blocks including canned cycles or the
cycles created by cutter compensation C is buffered.
1) Commands method
The multi-buffer mode on and off is controlled by using the one-shot G code
G05.1.

G05.1P1 Multi-buffer mode off

G05.1 ; Multi-buffer mode on

No other addresses than 0 and N must be given as commands to this block.

When "multi-buffer mode on" is given as a command:
Up to fifteen blocks from that block are pre-read.
When "multi-buffer mode off" is given as a command:
Normal pre-reading is restarted from that block.

(Example of programming)
N1 G92 XOYO G01 ;
N2 G05.1 ; (Multi-buffer mode on)
N3 G42 G90 X1000 Y1000 F1000 DOl
N4 G68 R-30000

N20 G05.1P1 ; (Multi-buffer mode off)

N21 G69 G40 G90 XO YO M30 ;
It is possible by a parameter (Data No. 2401116) to turn the multi-buffer mode
on and off at power on and in the cleared status.

- 334 -
 11-18.2

2) Suppression of multi-buffer
Some G and M codes suppress buffering even in the multi-buffer mode. Namely
the buffering of the block where any of these G and M codes is given and the
succeeding bl~cks is suppressed until the execution of that block is over.
This applies not only in the multi-buffer mode but also in the normal
automatic mode.
Shown below are the lists of such G and M codes.

List of G codes to suppress buffering

Code Description
GI0 Data set
GI0.1 PMC data set
GIl Data set mode cancel
G20 Inches input
G21 Metric input
G22 Stored stroke check on
G23 Stored stroke check off
G31 Skip function
G31.1 Multi-step skip function 1
G31. 2 Multi-:-step skip function 2
G31. 3 Multi-step skip function 3
G31.4 Multi-step skip function 4
G37 Automatic tool length measurement
G28 Reference .point return
G30 Second, third and fourth reference
point return
G53 Machine coordinate system select

List of M codes to suppress buffering

Code Description
MOO Program stop
MOl Optional stop
M02 End of program
M30 End of program

In addition eight M codes to suppress buffering can be set by parameters.

(Note 4) Caution when using system parameters 5021 - 5055 in multi-buffer mode
When reading the present position information by a system variables in
the multi-buffer mode, G53 should be given as a command independently
in the preceding block.
(Example) #3=#5003 ;
GOOX#24 Y#25 ;
G53 (Stop buffering in order to read #5021 .- #5023)
G91 X [10.0-#5021J Y [20.0-#5022J
z [30.0-#5023J ;
It is possible to suppress pre-reading by giving G53 as a command not
only in the multi-buffer mode but also in the normal operation mode.
(Note 5) In regard to canned cycle display
Normally the ">" mark is displayed at the left end of the block
currently under execution in the program or program check display. In
some cases it may not be displayed, however, when executing a fixed
cycle of the L programming in the multi-buffer mode. This concerns
display only, and does not affect the operation at all.

- 335 -
 11-18.3

(Note 6) Processes executed during buffering

The following processes executed during buffering are also executed
during buffering in the multi-buffer mode:
1) Tool select in tool life management
2) Parking signal pick-up
(Example) Nl G01G91XIOO.0
N2 Y100.0
N3 XIOO.O
N4 Y100.0
NS XIOO.O
N6 M06TI01 ;
Even if the life of group 01 runs out during executing the Nl - NS
blocks while up to the N6 block have been buffered during executing the
Nl block, the next tool is not assumed, since N6 has already been
buffered.
(Note 7) The single block stop and the feed hold stop and restart are possible
even in the multi-buffer mode.

18.3 Feedrate Clamp by Circular Radius

When performing the high-speed arc cutting, however, the actual tool passage may
bring about some error against the designated arc during circular interpolation.
This error can approximately be given by the following formula;

y Maximum value of radius error (rnrn)

Feedrate (rnrn/sec)
Command path Circular radius (rnrn)
Time constant of exponential accel-
eration/deceleration after inter-
polation of cutting feed (sec)
Time constant of servo motor (sec-I)

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. ('Formula 1)
When performing the actual machining, the actual arc machining radius (r) and
tolerance (~r) are given, therefore, the maximum permissible speed (v (rnrn/min.)
can be given by the formula-I.
"Feedrate clamp by circular radius" is such function that the circular cutting
feed is automatically clamped when the feedrate designated may exceed the
permissible tolerance to radial direction against the circular arc having
optional radius designated by the program.
When the permissible tolerance (~r) is found, the maximum permissible speed (V)
at the circular radius of "R" can be given by the following formula:
2
~r = t (Ti + Ti) i (Formula 2)

- 336 -
 II-I 8.3

On the other hand, in case the arc radius is "r", the maximum permissible speed
"v"to make the permissible tolerance "~r" can be given by the formula-l, the
following is given from the above formula-i.
Consequently, the following is given from the formula-l and formula-2;
2 2
1.(T 2 + T2) ~ = 1. (T 2 + T2) J..
2 1 2 r 2 1 2 R
r = IfV ••.••••••••••••••••••••••••••••••••••••••••••••••••• (Formula 3)
If the radius (R) of certain arc and maximum permissible speed (v) are set as
parameters, the maximum permissible speed (v) against the arc with radius of "r"
designated by the program can be found from the formula-3.
If the designated feed rate is found to exceed the speed (v), the feed rate is
clamped automatically at the speed (v).
The maximum permissible speed (v) determined by formula-3 will be decreased as
the designated arc radius becomes small. Not to allow the maximum permissible
speed to be decreased extremely, it is possible to set the maximum permissible
speed (v) to the value equal to RVMIN when the maximum permissible speed (v)
found by'the formula-3 is smaller than the setting value (RVMIN) of parameter
1941.
As a matter of fact, the arc cutting is executed at the designated feed rate in
case the designated feed rate is smaller than the allowable maximum speed (v)
determined by formula-3.
(Note 1) When the "Cutting feed linear acceleration" function is applied, the
error in the arc cutting will be given approximately by the above
formula-4.
y ~r: Maximum radius error (m)
v : Feed rate (mm/sec)
r : Arc radius (mm)
Command passage
T : Time constant in linear accelera-
1
Actual passage tion/deceleration in cutting feed
(sec)
Time constant of DC motor (sec)

~~---- ________________ ~_x

2
21 1 2 v
~r = (24 Tl + 2 T2 ) r . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. (Formula-4)
Even in case of linear acceleration/deceleration after interpolation, since the
formula-3 is established as shown in formula-4, the feed rate clamp by circular
radius is effective.
(Note 2) Since the formula-l, formula-2 and formula-3 are given to find the
approximated theoretical error in the NC, but riot the error in actual
machining. If the error in actual machining is "~rall", the following
formula is given;
~ raIl = ~r no + ~ r machine • • • • • • • • • • • • • • • • • • • • • • • • • • • • •• (Formula-S)

I I ~----------Error resulting from machine

. . .--------------Er.ror resulting from acceleration/

deceleration time constant (T ) and time
1
constant (T ) of servo motor
2

- 337 -
 II-18.4

Since this function is intended to keep the 1st item at right side of formula-5,
to constant level, it has nothing to do with the error resulting from machine.
In addition, the formula-I, formula-2 and formula-4 are approximation formulas
and the approximation accuracy may be worsened as the arc radius becomes
smaller, the permissible error may not be given even if the feed rate is clamped
at the maximum permissible speed (v) found by the formula-3.

18.4 High Precision Contour Control

The high precision contour control calculates a feedrate suitable for a

machining profile and controls it (automatic feedrate control). This enables
high-precision and high-speed machining during sculptured surface machining such
as die machining.
To use this function, the option of multi-buffer (J986) is required.
The function contains the option of look~ahead acceleration/deceleration before
interpolation (J668).
The system enters the automatic ·feedrate control mode when the following command
is issued:
G05.1 Ql ,
In the automatic feedrate control mode, the feedrate is controlled by reading
the next 15 blocks in advance. The feedrate is determined according to the
following conditions. If the specified feedrate exceeds the obtained feedrate,
the feedrate is controlled so that the actual feedrate does not exceed the
obtained feedrate.
G),Estimated speed change of each axis at corners and specified permissible
speed change
CD Estimated acceleration of each axis and specified permissible acceleration
CD Change in cutting load estimated from the direction of Z axis motion
By controlling the feedrate based on these conditions, the machining error is
reduced, and the high-precision and high-speed machining is made possible.
In addition, automatic feedrate control uses acceleration/deceleration before
interpolation, which does not cause error due to the acceleration/deceleration.
High-precision machining is therefore made possible with less shock, because no
machining error occurs even when the time constant is increased.
The time constant for acceleration/deceleration after interpolation during
automatic feedrate control mode can be set separately from the one in normal
mode. Specifying a reduced time constant for the automatic feedrate control can
reduce the machining error due to the acceleration/deceleration delay.

Commanded tool path

Feedrate control according to the
speed change of each axis reduces Tool path when the
---~""'"
I machining error. automatic feedrate control
is not appl ied.
Tool path when the
automatic feedrate control
is applied.

control according to the acceleration of

each axis reduces the machining error.

- 338 -
 11-18.4.1

18.4.1 Automatic 'eedrate control

By the following command, CNC enters the automatic feedrate control mode.
GOS.1 Q1 ;
By the following command, automatic feedrate control mode is cancelled.
GOS.1 PI QO ;
During automatic feedrate control mode, CNC controls the feedrate as follows.
a) Calculates the appropriate feedrate from axis speed change and axis
acceleration rate, and decelerates at the corner.

j.
(Example)

N2 Command F ~

b) Calculates the appropriate feedrate from the moving direction of Z axis, and
controls the feedrate below the calculated feedrate.

(Example)

Command
F ~------------------7S
Nl
\ '-~)--

N3 Nl N2 N3 t

c) When the length of the block is shorter than the specified length, the
feedrate of the block is decided by the feedrate calculated at the corner.

(Example)
o Corner f eedr ate

~
Nl ~__ -N2 Comman~ ________ ___________________ ~_~~_~~_~_ fe~~~~_~~.
y ~_-N3 0 0

L X
N6 ""·N4
""N5 Nl N2 N3 N4 N5 N6 t

- 339 -
 11-18.4.2

18.4.2 Condition to decide feedrate

1) Determining the feedrate according to the speed change of each axis
CNC calculates the feedrate at the corner from the axis speed change as
follows.
CNC compares the axis speed change (Vc(X) , Vc(Y), Vc(Z)) with the maximum
axis speed change (Vmax(X) , Vmax(Y), Vmax(Z)) specified by parameter (Data
No. 1478). If Vc is greater than Vmax in one of the axes, CNC calculates
Vc
R
Vmax
for every axis and finds Rmax, largest of R, and calculates the corner feed
Fc as follows, and decelerates at the corner.
1
Fc = F * Rmax
(Example)

Nl GOl G9l X80. Y40. F3000

N2 X40. Y80. ;

When this program is commanded, the feed rate is controlled as the figure
below.
If we look at each axis speed, speed change of X axis exceeds Vmax.
Therefore, by calculating
Vc[X] _
Rmax = VmaxLX] and Fc - F
* 1
Rmax
and controlling the corner feed rate to Fc, axis speed change for all the
axes becomes less than Vmax.

r------~-_+' --1,\--------1,\---------
Speed Normal mode
of _~
______"'________ Y:,c Ymax
.,;., [x ]
Automatic feedrate control
X axis Ymax [x J~~....-_____
------y-------- ~

Speed
of
Y axis

i~:~~;i!e 1 F j______
Rmax
uuuuy :
Nt N2

- 340 -
 11-18.4.2

2) Determining the feedrate according to acceleration along each axis

In the example below, deceleration is applied by determining the feedrate at
a corner according to the speed change described in Section 2.3.1, because of
the great change in axis speed between N1 and N2. Since change in the axis
speed at N2 and N3, and N3 and N4 is less than the permissible speed change,
deceleration may not be applied by determining the feedrate at corners
according to the speed change of each axis. However, because the total speed
change from N2 to N7 is large, motor torque may be insufficient, or the
machine tool may sustain substantial damage.
The feedrate is reduced so that the rate of speed change (acceleration) does
not exceed the permissible value. In the graph of the feedrate below, the
sloping dotted lines refer to the acceleration applied along the X axis at
the corners. This acceleration is obtained using the following formula:
Acceleration = Speed change of each axis at corners
i (Length of the previous block Length of the next block)
m n F ' F
Let acceleration along the X axis be A(X), acceleration along the Y axis be
A(Y), and acceleration along the Z axis be A(Z). Let the maximum permissible
acceleration be Ap(X) , Ap(Y), and Ap (Z) • The feedrate Fc at corners is
obtained using the following formula:
_
Fc - F x
j Ap(X}
min ( A(X) ,
Ap(Y} Ap(Z)
A(Y) , A(Z)) (Note)
Since the feedrate is reduced to Fc or a smaller value, acceleration within
the permissible value is applied at the corners.

(Example)

" "" /,\

Nl Ns' N4/ ,'/ /

N5 N!6

Speed /

10.,
of I.l.,

axis /
/

~
/

Nl N2
/',rr
N7
I "
N3 N4 N5 N6 t

(Note 1) This formula is based on the fact that acceleration along each axis
due to the change of direction of the tool motion is proportional to
the square of the feedrate.

- 341 -
 II-18.4.2

3) Determining the feedrate according to the cutting load

The cutting load when using the bottom of the cutter in (B) is usually
greater than that of cutting with the side of the cutter in (A). In this
case J deceleration may be required. The direction the tool travels is
therefore used as the condition for calculating the machining feedrate during
automatic feedrate control.
The angle of descent J e J which is the angle at which the XY plane crosses
with the cutter path, is illustrated in (B) for when the tool descends along
the Z axis. The descent angles are classified into four areas. Override is
specified for each area by parameters.
However, since a parameter for area 1 is not provided J the override for
area 1 is always 100%. The feedrate obtained during other feedrate control
is multiplied by the override of the area to which the descent angle belongs.

(A) When the Z axis is ascending (B) When the Z axis is descending

Area 1 0° ~ e < 30°

Area 2 30° ~ e < 45°
Area 3 45° ~ e < 60°
Area 4 60° ~ e ~ 90°
Z

0
30 Area 1

2
Area 4

(Note) The function for determining the feedrate according to the cutting
load determines the travel direction along the Z axis using NC
commands. If the manual absolute function is enabled for manual
intervention of the Z axis or if the mirror image function is used for
the Z axis, the Z axis direction cannot be determined. Do not use
these functions when using the function for determining the feedrate
according to the cutting load.

- 342 -
 II-18.4.2

4) Determining the feedrate in a block by comparing the feedrate at the

beginning of the block with that at the end of the block
Suppose that deceleration is specified for each corner, and the feedrate is
reduced to that value at each corner. If a set of consecutive short blocks
is executed, the machine starts decelerating for the next block before the
feedrate specified in a block is attained. As shown in the figure below,
frequent repetition of acceleration and deceleration may cause excess machine
vibration.

Therefore, for a block whose travel distance is shorter than the specified
value, the feedrate calculated at the beginning of the block is compared with
the feedrate calculated at the end of the block, and the smaller value is
selected for th~ feedrate in the block.

Feedrate
/-- When the feedrate is reduced only at corners
F command i---_,-------------------,----------rr--------

"---When the feedrate is determined by comparing

the feedrate calculated at the start and end
'-----------------------3» of the block

Whether the travel in a block exceeds the specified value is determined by

parameter 7569. By setting CDEC of parameter 7559 to 0, the feedrates of
blocks whose travel distances are larger than the specified value can also be
determined in this way.
5) Ignoring F commands
In a block in which the automatic feedrate control function is enabled, the
following feed (F) commands can be igno~ed by setting the parameter No.
756511NOF.
Q) Modal F command in blocks before the automatic feedrate control function
is commanded.
QD F command in a block in which the automatic feedrate control function is
effective.
Specified F commands and modal F commands are all stored in the CNC.
In a block in which the automatic feedrate control function is disabled,
modal information specified in the F commands of Q) and QD above are used
instead of the F command calculated by the automatic feedrate control
function.
6) Other conditions for determining the feedrate
a) If the calculated feedrate exceeds the maximum feedrate for the automatic
feedrate control function specified in parameter 7567, or if it exceeds
the feedrate specified by the F command, the actual feedrate is clamped to
the lower value of these two.
b) If the difference between the feedrate calculated by the automatic
feedrate control function and the feedrate calculated in the previous
block is within the range of the ignorable feedrate variation specified in
parameter 7566, the feedrate remains unchanged from the previous block.

- 343 -
 11-18.4.3

18.4.3 Notes
1) The optional multi-buffer is required for this function.
2) Using this function together with the following optional functions enables
high-speed, higher-precision machining to be performed.
• Function for clamping feedrates by the radius of an arc (J607)
• Linear acceleration/deceleration after interpolation in cutting feed (J614)
or bell-shaped acceleration/deceleration (J822)
• Look-ahead feed-forward function
A special servo software is required for the look-ahead feed-forward
function.
In this function, automatic feedrate control is only applied to the G01 mode.
To improve accuracy in a program which contains G02 or G03 codes, the
function for clamping feedrates by the radius of an arc is effective.
3) Cutting feed override is calculated when blocks are buffered. When an
override value is changed, the new value is not effective for blocks which
have already been buffered.
4) When automatic feedrate control is specified, BLK and DST of parameter
No. 7614 determine when the machine starts moving. The machine starts moving
either immediately, or when the area for the stored blocks exceeds half of
the buffer, or when blocks which correspond to the distance required for
deceleration are stored in the buffer.
5) The automatic feedrate control function calculates the feedrates only along
the three basic axes. The basic axes are those whose axis numbers are set to
1, 2, and 3 in parameter No. 1022, normally the X-, Y-, and Z-axes. Other
axes can be specified in automatic feedrate control. In this case, the
feedrates along axes other than the basic axes are determined based on the
feedrates along the basic axes.
6) To use the high-precision contour control function in DNC operation, DNC, bit
o of parameter No. 0, must be set to 1 to disable high-speed distribution.
7) Turn off the automatic feedrate control mode when the following functions are
used.
G10.3, G11.3, G65.3: High-speed machining
G07: Hypothetical axis interpolation
G07.1: Cylindrical interpolation
G12.1: Polar coordinate interpolation
G84.2, G84.3: Rigid tapping
8) A feedrate is determined only in the following modes. In the other modes,
the specified feedrates are used.
G01: Linear interpolation
G94: Feed per minute
G80: Canceling canned cycles
G64: Cutting feed
9) Even if the machine is in the above modes, automatic feedrate control is not
used when the machine moves with the following codes:
G31: Skip function
G37: Automatic measurement of tool length

- 344 -
 11-19

19. STROKE CHECK (G22, G23)

The movable range of a tool can be restricted in the following two ways.

(Tools cannot enter into the shaded areas)

(I, J, K)

Forbidden area on the outside Forbidden area on the inside

Stored stroke limit 1:

Parameters set boundary. Outside the area of the set limits is a forbidden
area. Once the machine tool builder sets this area, it is not normally changed.
Usually this area is set at the maximum stroke; this is equivalent to a
conventional software limit.

Stored stroke limit 2:

Parameters or commands set these boundaries. 'Inside or outside the area of the
limit can be set as the forbidden area. Parameter selects either inside or
outside as the forbidden area.
A G22 command forbids a tool to enter the forbidden area, and a G23 command
permits a tool to enter the forbidden area.
The command below creates or changes the forbidden area.
G22 X Y Z I K
--- --- --- --- --- ----
J

_-----------..u (X, Y, Z)

(I, J, K)

X> I, Y > J, Z > K

X.I > 2000 (In least command increment)
Y.J > 2000 (In least command increment)
Z.K > 2000 (In least command increment)
In the parameter setting, points A and B in the figure below must be set.

- 345 -
 II-19

Xl > X2' YI > Y2 , Zl > Z2

XI.X2 > 2000 (In least command increment)
YI.Y2 > 2000 (In least command increment)
ZI.Z2 > 2000 (In least command increment)

If the forbidden area is set by parameter setting, the data are specified by the
distance from the reference point in the least command increment. (Output
increment)
If it is set by a G22 command, the data are programmed by the distance from the
reference point in the least input increment. The programmed data are then
converted into the numerical values in the least command increment, and the
values are set'as the parameters.
Confirm the' checking position (the top of the tool or the tool chuck) before
programming by this stored stroke limit function.

The position of
the tool after
reference point
return

Forbidden area

If point A (The top of the tool) is checked, the distance "a" should be set as
the data for the stored stroke limit function. If point B (The tool chuck) is
checked, the distance "b" must be set.
When checking the tool tip (like point A), and if the tool length varies for
each tool, setting of the forbidden area for the longest tool requires no
re-setting and results in safe operation.

- 346 -
 11-19

Area can be set in piles.

(Note 1) Each limit becomes effective after the power is turned on and manual
reference point return or automatic reference point return by G28 has
been performed.
(Note 2) After turning on the power and performing the reference point return,
the reference point is in the forbidden area of each limit, an alarm
is generated immediately. (Only in G22 mode for stored stroke limit
2) •
When G23 is switched to G22 while the tool is in the forbidden area,
an alarm will be generated in the next block.
(Note 3) When the tool has become unmovable in the forbidden area under the
condition of (Note 2), push the emergency stop button to release the
forbidden condition and move the tool out of the forbidden area in
the G23 mode; then, if the setting is wrong, correct it and perform
the reference point return again.
(Note 4) Because an axis not equipped with reference point return function has
no forbidden area, the alarm associated with that axis forbidden area
does not exist.
(Note 5) In setting a forbidden area, if the two points to be set are the
same, the area is as follows.
When the forbidden area is the outside of the specified area, all
areas are forbidden areas.
When the forbidden area is the inside of the specified area, in G22
mode, all areas are movable areas.
(Note 6) Unnecessary limits should be set beyond the machine stroke.
(Note 7) When the tool enters a forbidden area and an alarm is generated, the
tool can be moved in the reverse direction from which the tool came.
(Note 8) In setting the area, even if you mistake the order of the coordinate
value of the two points, a rectangular, with the two points being the
apexes, will be set as the area.
(Note 9) Each of G22 -----; and G23; should be commanded singly in a block.
(Note 10) The stored stroke limit function is not available for additional
axis.

19.1 FANUC Series 10 Type's Software limit Function

It is possible to select the mode of stored stroke limit from ,two kinds of mode
as follows.
1) Stored stroke limit is checked just after power ON. It is called "EFFECTIVE
MODE".
2) Stored stroke limit is not checked until the reference point return by G28 or
the manual reference point return are completed after power ON. It is called
"INVALID MODE".
Which mode is selected, EFFECTIVE MODE or INVALID MODE, is decided by setting
the parameter (number 5200 # BZR).

- 347 -
 11-19.1

Setting Procedure
How to select EFFECTIVE MODE
Set the parameter No. 5200 1/ BZR to "1".
Turn the power OFF once, and then turn it ON again.
As a result, EFFECTIVE MODE is selected and stored stroke limit is checked at
once after power ON.
How to select INVALID MODE
There are two kinds of methods to select INVALID MODE of the following.
1) Set the parameter No. 5200 1/ BZR to "0".
Turn the power OFF once, and then turn it ON again.
2) The power supply is turned on pushing both "p" key and "CANCEL" key.
However, even if the parameter No. 5200 1/ BZR is set to "1", INVALID MODE is
selected.
As a result, INVALID MODE is selected and stored stroke limit is not checked
until the reference point return by G28 or the manual reference point return is
completed after power ON.
(Note 1) This function is not added to the multiple axis system of FANUC Series
15.
(Note 2) When EFFECTIVE MODE is selected, stored stroke limit is checked
according to the position which is memorized in a parameter just
before power OFF on machine coordinate system. Therefore, in case
that an axis moved after power OFF, this position is not renewed, and
stored stroke limit check is incorrect at next power ON.

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 11-20

20. AXIS CONTROL

20.1 Axis Interchange

Machine axis moved by the move command of X, Y and Z axes commanded with memory,
tape, or MDI can be converted by the signal from the setting data or the machine
side. For example, this function is effective in such a case that the work
needed to be mounted as shown in figure 2 while the program command is made in
the coordinate system of the figure 1 as follows.

y
y

o 0
c;> X-~xis
aXIs y.
command is output to machine <>
o o c;> Y-~xis command is output to machine
aXIs x.
c:t>
c;> Z-~xis
aXIS Z.
command is output to machine <>
o
~--------------~__
0 X ~
o 0
______ ~~ ______ ~_X

Fig. 1 Fig. 2

Six way of the axis interchange can be done. Machine axes x, y and z
corresponding to the program addresses X, Y and Z are as follows.

Program address
Axis interchange number
X y Z
O(Note 1) x y z

1 x z Y

2 y x z

3 y z x

4 z x Y

5 z y x

(Note 1) means that the number with this mark does not make axis interchange.
Axis interchange can not be made at manual operation.
Axis interchange cannot be made with the specific commands such as move command
to the machine position, commands related to the machine coordinate system, and
commands for setting of the coordinate system, shown as follows.
i) Automatic reference point return (Axis interchange cannot be made on move
to the intermediate point.) (G28, G30)
ii) Return from the reference point (Axis interchange cannot be made on move to
the intermediate point.) (G29) (Note 2)
iii) Stored stroke limit (G23)
iv) Setting of coordinate system (G92)
v) Setting of offset value (GIO)
vi) Other

- 349 -
 II-20.2

(Note 2) Axis conversion can be made with parameter (Data No. 1001, bit 0)
Result of axis interchange is displayed on the present position display of the
CRT~
(Example) Start point XO, YO
Move command G90X100.Y200. ;
Axis interchange: X-axis command is output to machine axis y.
Y-axis command is output to machine axis x.
Present position display of CRT after end of move
(Absolute, relative, machine):
X 200.0
Y 100.0
Axis interchange number is specified by the signal from the machine or with
setting of the setting data from MDI.
Setting of setting data:

Data No. Data

8 Axis interchange number (0 - 5)

When the axis interchange number of either the setting of the setting data or
the signal from the machine is not "0", axis interchange is made according to
the axis number that is not·"O".
When neither of the numbers is "0", axis interchange is made according to the
axis number by the signal from the machine. Set the axis interchange number "0"
when no axis interchange is necessary.
Both the drilling axis at canned cycle and tool length compensation, and the
axis that tool length compensation is given to can be fixed on the Z axis with
parameter. However, those axes are converted when the program address Z is
converted into the machine axes x or y by axis interchange.
(Note 3) Read system variables of the macro with the variable corresponding to
the switched axis.
(Example) When an axis is switched between the X- and Y-axes
Use #5022 to read the machine coordinates specified with X10. ;.

20.2 Twin Table Control

It is possible to change over the operation mode for more than the two axes
designated, to either simultaneous operation, independent operation, or normal
operation by an input signal sent from the machine side.
The following operations are applicable to the machine having two tables, in
which each table is independently driven by the separate control axis.
The following exemplifies the machine of which two tables are' driven by the
X-axis and Y-axis independently. Where the axis name is different, substitute
that axis name for the other name.

- 350 -
 11-20.2

1) Synchronous operation
This operation mode is used when machining a large workpiece which extends on
two tables.
In this case, it is possible to operate one axis, while synchronously moving
the other axis in accordance with the movement command.
In synchronous operation, the axis to which the movement command is
applicable is called the "master axis", while the axis operated synchronously
with the master axis is called the "slave axis."
If the master axis is tty axis", and the slave axis is "V axis", the Y axis of
the master axis will move synchronously with the slave axis of the V axis in
accordance with the program command "Yyyyy" to the master axis.
The synchronous operation in this case is such that the movement command for
the master axis is sent to two servo motors for the master axis and slave
axis at the same time, however, it is not such that the deviation between the
two servo motors is detected at all times for compensation of synchronous
deviation, which provides the servo motor of the slave axis with compensation
for elimination of deviation.
In this case, the synchronous deviation alarm is not generated.
In this case, it is possible to execute synchronous automatic operation,
manual handle feed, and incremental feed.
The synchronous operation of manual reference point return is not executable
in this case.
2) Independent operation
This operation mode is used to machine the small workpiece on either one of
the tables. In this case, it is possible to move the master axis or slave
axis independently using the movement command of master axis.
i) Move the Y axis only in accordance with the program command "Yyyyy" for
the master axis.
ii) Move the V axis only in accordance with the program command "Yyyyy" for
the master axis.
Since the independent operation of the slave axis only requires the same
command as the master axis, the same command program can be used, whichever
table the workpiece may be located on.
The independent operation is applicable to the automatic operation.
The manual operation procedure is the same as that of normal operation.
3) Normal control
The operation mode is used to machine each workpiece on respective tables.
This operation is the same as the ordinary CNC control.
The movement of the master axis and slave axis is commanded by the address of
the independent axis.
It is also possible to command the movement command to the master axis and
slave axis in the same block.
i) The Y axis is normally moved in accordance with the program command
"Yyyyy" for the master axis.
ii) The Y axis is normally moved in accordance with the program command
"Vvvvv" for the slave axis.
iii) The Y and Z axes are moved simultaneously in accordance with the program
command "Yyyyy Vvvvv."

- 351 -
 11-20.2

Both automatic and manual operations are the same as that of ordinary CNC
control.

II

(Note 1) In the command of the automatic reference point return (G28) , and the
2nd/3rd/4th reference point return (G30) during synchronous operation,
the V axis makes the same movement as that of the Y axis.
After properly completing return operation, the reference point return
completion lamp is turned on respectively. Command G28 and G30 during
the normal operation mode.
(Note 2) In the command of automatic reference point return check (G27) during
synchronous operation, the V axis makes the same movement as that of
the Y axis.
If the positions where the Y and V axes reached are located at the
reference points, the reference point return completion lamp is turned
on respectively.
If it is not located at the reference point, an alarm occurs.
Command G27 during the normal operation mode.
(Note 3) When commanding G28, G30, or G27, the manual reference point return
must have been completed'after turning on the power.
(Note 4) If there is no axis movement, such as work coordinate setting (G92),
local coordinate setting (G52), etc., the Y axis is set to the Y axis
in the case of synchronous axis control, and to the V axis in the case
of slave axis independent control by the program command "Yyyyy" for
the master axis.
(Note 5) Be sure to perform manual reference point return in the normal
operation mode.
(Note 6) Only the signal of the slave axis is valid in the case of slave axis
independent control, and only that of master axis is valid in the case
of synchronous operation against signals such as external deceleration,
interlock, machine lock, etc.
In this case, the opposite side signal will be ignored.
(Note 7) To select the axis to be used for the master and slave axes is set by
parameter No. 7702.
(Note 8) The pitch error compensation and backlash compensation are executed for
the master and slave axes independently.
(Note 9) Turn the manual absolute switch ON (ABS=l) during synchronous
operation. If this switch is OFF slave axis movement is not always
correct.

- 352 -
 II-20.3

20.3 Simple Synchronous Control

This function is almost similar to the twin table control except that it is
different in the following points.
1) "Independent operation" referred in the twin table control is not prepared in
this control, but the "Synchronous operation" and "Normal operation" are
included in the control system.
Accordingly, it is not possible to move the slave axis by the master axis
movement command.
2) It is also possible to execute synchronous operation even during the manual
reference point return.
The master and only slave axes move synchronously until deceleration is
started, and the grid detection thereafter will be performed independently.
Since the other points for the control system are the same as those for the twin
table control, refer to the Section "Twin table control" for details.

20.4 Chopping Function

In grinding contour, it is possible to perform side cutting of the workpiece by

executing a contour program on another axis while maintaining the grinding axis
(the axis with the grindstone) on a perpendicular motion.
G81.1 command starts chopping and chopping is cancelled by G80; command.

Command format
G81.1 Z_ Q_ R_ F
Z: Top dead center position (Applicable to axes other than the Z axis. Use the
axis' address in this case.)
Q: Distance between the top and between dead centers (Use an increment value.)
R: The distance between the top dead center and point R (Use an increment
value. )
F: Chopping feedrate
Chopping consists of the following steps:
CD Positioning is performed in rapid traverse mode up to point R.
CD Then at the feedrate specified by the F command, the tool moves to the
bottom dead center.
eD At the feedrate specified by the F command, the tool returns to the top dead
center.
QD The machine continues a reciprocating motion between the top and bottom dead
centers at the feedrate specified by the F command. It is possible to apply
an override to the chopping rate using the switch on machine operator's
panel.

- 353 -
 11-20.4

The chopping operation will continue after switching to manual mode or stopping
the automatic operation with a feed hold.
In chopping mode, the chopping axis movement command and the canned cycle
command cannot be specified.
With a G80 command, a reset, an emergency stop, or a servo alarm, the tool stops
the chopping operation and returns to point R.

(Ex.) G90G81.1Z100.Q-25.R10.F3000
G01X Y F1200
X Y

G80 ;

Point R = 110. Top dead center = 100. Bottom dead center = 75.
Chopping speed = 3000 mm/min Feedrate of the XY plane = 1200 mm/min

jeD
PointR
(ZllO.)
Top dead center
(ZIOO.)

Bottom dead center---------..,.---!l...----'----..l--

(Z7S.)
Time

(Note 1) When rapid chopping is applied to the grinding axis, the tool will not
reach the programmed position due to a delay in servo or in
acceleration/deceleration. The control ~nit automatically compensates
the difference between the programmed position "and the actual tool
position. This is achieved by increasing the movement command amount
as to compensate the actual distance between the top and bottom
centers. Also, the chopping command is performed at a such rate ehat
the number of chopping operations per unit time becomes the programmed
one. In other words, compensation is applied when the value specified
by parameter 1881 exceeds the difference between the amounts not
reaching the top and bottom dead centers from the beginning of
chopping. When compensation begins, the chopping axis exceeds the top
and bottom dead centers. Also, the chopping speed will increase
gradually. The compensation will stop when the difference between the
machine and command positions becomes lower than the imposition
(parameter 1827). From that point on, the machine will operate at this
rate. The compensation stops with a cancel command (G80). Also, it
stops when the chopping stop switch is turned on or the chopping speed
override is changed. At the 12M, compensation of this delay in the
servo cannot be executed.

- 354 -
 11-20.4

Point R

Top dead center

Bottom dead center _ _ _- L ._ _- - ' -_ _ _ _L - -_ _ _ _ _ _ __

Time III

• Values short of the top dead center : L2, L4, L6

• Values short of the bottom dead center: L1, L3, L5
Compensation is started when IL3 - L21 < parameter 1081.
When IL61 < imposition (parameter 1827), compensation more than that is
stopped, and the equipment continues moving at the speed of that time.

(Note 2) The chopping speed is clamped by the rapid traverse rate of the
chopping axis.
(Note 3) If a movement command is specified to the chopping axis during chopping
mode (G81.l), error message PS472 will be given. Also, using a G8l.l
command will result in error message PS472. Cancel the chopping
operation once using a G80 command before attempting to change the top
dead center, the bottom dead center, or point R.
(Note 4) The unit of command Q and the command R of G8l.l differ depending on
the unit set by the basic axis specified by parameter 1031.
(Note 5) It is possible to stop the chopping operation for a moment by turning
on the chopping stop switch on the machine operator's panel. The
following table shows chopping stop positions and operations after a
chopping stop.

Operation/command Stop position Operation after stop

G80 Point R Cancel

Emergency stop Immediate stop Cancel

Servo alarm Immediate stop Cancel

Reset Point R Cancel

Chopping stop switch Point R Restart after turning

off the chopping switch

- 355 -
 11-20.5

20.5 Parallel Operation

20.5.1 Parallel axis control

When machining is simultaneously executed on multiple workpieces using multiple

heads and tables on one machine, mUltiple controlled axes having the same axis
names can be simultaneously controlled by the move command to one programmed
axis. This is called parallel operation.
More than one axis moving in parallel when a command to one programmed axis,
that is a command at one address, is executed, are referred to as parallel axes.
This function is valid at automatic operation and MDI operation, or to the
manual numerical command. Parallel operation can not be executed in the normal
manual operation, so that each controlled axis moves independently of one
another.
In the parallel operation, although the controlled. axes that belong to one
programmed axis in principle move similarly, the operation called parking, in
which a designated axis (or axes) is selected from among the multiple parallel
axes, is possible using an external signal.

Parallel axes

In the above figure, Yl and Y2 are parallel axes and move in parallel by the
command to one address Y.
The following two types of movement exist for each parallel axis and the
selection thereof can be made by the external signal •

• Normal (parking: OFF)

axes move as commanded •
. Parking (parking: ON)
axes do not move as commanded since the command is ignored.

- 356 -
 11-20.5.2

20.5.2 Selection ~f the coordinate system in parallel axes

Since it is possible to set the independent offset amounts of the workpiece

coordinate system in relation to the controlled axes belonging to the same
programmed axis, progra~ing can be performed considering the coordinate systems
independently in relation to each controlled axis.
When, for example, two heads exist and each head has two controlled axes (X and
Y) respectively, the movement of the tool is as follows:

Reference point of head 1

Current position of
the tool of head 2

Current position of the

tool of head 1

--~------------------------------Xl

Workpiece coordinate
system of head 2

Workpiece reference point offset of head 2

a) Movement by incremental command

Example) G91 X_Y_,
b) Movement by absolute command
Example) G90 X 0 YO;
c) Movement command in the machine ,coordinate system
Each axis moves to the point in the machine coordinate system
Example) G90 G53 X_Y_,
d) Automatic reference point return (G27 to G30)
Each axis moves to the reference point of each controlled axis independently
designated by the parameter
Example) G91 G28 X 0 YO;

- 357 -
 11-20.5.3

20.5.3 Tool length compensation and tool offset in parallel axes

Tool length compensation which is different for each tool at each axis can be
executed by setting parameters for each axis for the bias amount, namely, the
difference between the H code number and the number of the offset data selected
corresponding to this H code number. For the tool offset, offset can be also'
executed in the same manner.

Tool at head 2
Tool at head 1

€1
I €2
~I~I -.. -.. .., ,
...... ...... ... ..,
Programmed
position
............... ~

Number Bias Number of the Offset

Head
of offset amount offset data amount

Head 1 07 10 17 E:1
Head 2 07 20 27 E:2

When parallel operation is executed designating the third axis and the fourth
axis as the Zl and Z2 axes respectively, tool length compensation can be
executed using the value of the offset data number 17 (= 07 + 10) as the offset
amount for the tool at head 1, and the value of the offset data number 27 (= 07
+ 27) for the tool at head 2, if the bias amounts 10 and 20 are set to the Zl
and Z2 axes of parameter number 6021 'respectively, and if the command of the
tool length compensation "G43H07;" is executed.

(Note 1) The offset amount to the offset number 00 i.e. HOO is always 0
independent of the bias amount.
(Note 2) If the result obtained by adding a bias set in the parameter to a
specified H-code number exceeds the specified number of tool groups to
be compensated, an alarm is issued.
(Note ~) The bias amount of the tool offset is designated by the parameter
number 6020 and that of the tool length compensation is designated by
the parameter number 6021.

- 358 -
 11-20.5.4

20.5.4 Matters to be attended to concerning parallel operation

(Note 1) In parallel operation, the movement amounts by the incremental command

and absolute command are different as described below.
• In the case of the incremental command
Rapid traverse and linear interpolation:
The movement amounts of the parallel axes are the same.
Circular interpolation and helical interpolation:
The movement amounts of the parallel axes are the same. That is,
identical multiple circles can be drawn simultaneously.
• In the case of the absolute command
Rapid traverse and linear interpolation:
If the coordinates of the start position are different, the
movement distances of the parallel axes are naturally different
since the movement is specified to extend up to the end point
determined by the commanded coordinates.
Circular interpolation and helical interpolation:
Pulse distribution processing is executed using the data of the
axis having the lowest number which represents the assignment of
the controlled axis, and the other axes only output the same
pulses, so that the coordinates of the end points do not coincide
with one another in this case.

(Note 2) In case of the linear interpolation, feed rate in the parallel

operation is calculated at then-longest axis among the parallel axes.
The data of other axes do not reflect to the feed rate calculation.
Example)
Command
G01G90X10. OY20. OF500;
Coordinates of the start point
X1:0.0
X2:5.0
Y :0.0
Feed rate of each axis
F x 1 = 500 x 10/SQRT (10**2 + 20**2)
F x 2 = 500 x 5/SQRT (10**2 + 20**2)
Fy = 500 x 20/SQRT (10**2 + 20**2)

(Note 3) Tool length compensation and tool offset can be independently executed
to each axis.

(Note 4) In the manual operation, each axis moves independently. For the manual
numerical command, however, execute all the procedures in the same
manner as in the automatic operation.

(Note 5) Parking signal

• In the case where the parking signal is OFF
Movement of the axis is executed.
• In case where the parking signal is ON
Movement command to the axis is ignored.
In the commands like G92, G10 and so on, command to the axis of
which parking signal is ON is regarded as no-command and no
processing therof is taken.
Since the parking signal is processed in the state of tape read of
the automatic operation, swiching-over of the parking signal is not
immediately reflected in operation.

- 359 -
 11-20.5:5

(Note 6) I/O signals to each axis such as over travel, interlock and so on
always independently exist in relation to each axis whether or not the
axes are parallel.

(Note 7) Cutter compensation can not be independently exercised at every

parallel axis. The same offset is exercised to parallel axes.

(Note 8) If the same axis name is designated to the axis name of parameter 1020,
the axis is treated as a parallel axis. In addition, in order to
discriminate multiple parallel axes, additional characters can be added
by parameter 1021 setting when displaying in the CRT screen.

(Note 9) When circular interpolation or cutter compensation is executed by

parameter 1022, the coordinate axis to which the commanded axis is to
be parallel, must be specified. However the same setting must be
specified for the parallel axes.

20.5.5 Parallel axis control and external signal

The operation of the parallel axes can be stopped (i.e. parking) or can be moved
in the reverse direction (i.e. mirror image.)

a) Parking signal
This is a signal to independently stop the controlled axes belonging to the
same programmed axis. All the program commands to the axes during parking
are ignored. Operation, however, can not be executed after putting all the
controlled axes belonging to the same programmed axis into parking status.
If the operation is executed in this status, the PS alarm number 180 may
occur.
Switching-over of the parking signal must be executed without fail in the
clear state or in a similarly prepared state (in the state that all the
commands of offset, coordinate system rotation and scaling are canceled.)

b) External mirror image

Mirror image can be independently executed to the controlled axes belonging
to the same programmed axis.
The above-mentioned external signals can be normally switched over with the
switch on the operator's panel or by the command or M code. However, for
details refer to the operation manual issued by the machine builder.

- 360 -
 11-20.6

20.6 Rotary Axis Control

It is possible to control the. ro.tating axis by the following specifications by
means of this function.
In the case of an incremental command, the command value itself becomes the
amount of movement.
In the case of an absolute command, the following two motions can be switched by
parameter (data No. 7617 SREV).

1) When commanded as absolute (G90) , the command value is rounded to within 1

rotation by the NC internal section, and the difference of the rounded result
and current position is set as the movement ·amount. Short path control is
also possible by the setting of the parameter (data No. 7602 IINC). Short
path control means moving up to the commanded position by moving in the
opposite direction when the difference of the rounded results and current
position exceeds a half roiation.
2) Determine the rotation direction (counterclockwise rotation when +, clockwise
rotation when -) by the encoding of the command value, and rotate to the
position of the absolute value of the command value.
Furthermore, synchronous control with other control axes is possible.
The current position display in the workpiece coordinate system is also
displayed. by rounding to within 1 rotation.

20.6.1 Programming
In the case that the rotary control axis is set as the B axis, when the
following program is commanded, the rotary control axis rotates in the following
manner.

CD When parameter No. 7617 SREV is 0, and parameter No. 7602 IINC is 0, the
command value is rounded to within 1 rotation by the NC internal section,
and the difference between the rounded result and the current position is
set as the movement amount.

Example) G90BO; Moves to position of 0 deg.

G90B380.0; Moves to position of 20 deg. by rotating 20 deg. in the
positive direction
G90B-90.0; Moves to position of 270 deg. by rotating 250 deg. in the
positive direction
G90B60.0; Moves to position of 60 deg. by rotating 210 deg. in the
negative direction

CD When parameter No. 7617 SREV is 0, and 7602 IINC is 1; short path is
performed for CD
Example) G90BO; Moves to position of 0 deg.
G90B380.0; Moves to position of 20 deg. by rotating 20 deg. in the
positive direction
G90B-90.0; Moves to position of 270 deg. by rotating 110 deg. in the
negative direction
G90B60.0; Moves to position of 60 deg. by rotating 150 deg. in the
positive direction

CD When parameter No. 7617 SREV is 1, the rotation direction is determined by

the encoding of the command value, and it rotates to the position of the
absolute value of the command value.

- 361 -
 11-20.6.1

Example) G90BO; Moves to position of 0 deg.

G90B380.0j Moves to position of 20 deg. by rotating 20 deg. in the
positive direction
G90B-90.0; Moves to position of 90 deg. by rotating 290 deg. in the
negative direction
G90B60.0; Moves to position of 60 deg. by rotating 330 deg. in the
positive direction

<Precautions>
1) When using this function, the index table indexing cannot be used.
2) Setting of parameters related to rotary control axis function
Set the following bits of data No. 1006 to 1.
110 :ROTx Sets whether or not it is not necessary to perform inch/metric
switching for the axis (rotating axis).
#1 :ROSx Sets whether machine tool coordinate system for stroke check and
automatic reference po.int return is linear axis type or rotating
axis type.
112 : ROPx: Sets whether machine tool coordinate system for stored pitch
error compensation is linear axis type or rotating axis type.
Set 0 (rotating axis) to rotary control axis of data No. 1022.
Set movement amount for each 1 rotation of rotating axis to data No. 1260.
Set bit of SVFx of data No. 1802 to 1.
3) If manual intervention is performed when the manual absolute switch is on,
according to the next absolute move command, it moves (pull-back) the extra
amount in the reverse direction of the manual intervention amount, but as
regards the movement of this pull-back, rotation direction control by short
path control or encoding is not performed.

Example) N10 B90.0 ;

Manual intervention moves to position of 720 deg.
<--- (= 0 deg.) by turning +630 deg.
N20 B350.0 ;

• When short path not set, moves (350 deg. - 90 deg.) - 630 deg. = -370 deg.
• When short path set, moves {(350 deg. - 90 deg.) - 360 deg} - 630 deg.
= -730 deg.

-10 0 0 0

( 350 0
')

Movement (N1.0 block)

Manual intervention 630 deg.

When short path not set (- 370 deg.)

Movement (N20 block)

When short path set (- 730 deg.)

Movement (N20 block)

4) Set the workpiece zero point offset of the rotary control axis to O.
Further, for the rotary control axis, workpiece coordinate system setting by
G92 must not be perfprmed.

- 362 -
 11-20.7

20.7 Multiple Rotary Control Axis Function

In the multiple rotary control axis function, rotation of the rotary table can
be performed by means of setting the rotary control axis (PROT of parameter No.
1008).
In ·the case of an incremental command, the command value itself becomes the
movement amount.
In the case of an absolute command, the following two motions can be switched by
parameter (data No. 1007 RSRV).

1) When commanded in absolute mode (G90), the command value is rounded to within
1 rotation by the NC internal section, and the difference of the rounded
result and current position is set as the movement amount. Short path
control is also possible by the setting of the parameter (data No. 1007
RINC) • Short path control means the control to move up to the commanded
position in the opposite direction when' the difference of the rounded results
and current position exceeds a half rotation.
2) Determine the rotation direction (counterclockwise rotation when +, clockwise
rotation when -) by the end coding of the command value and rotate to the
position of the absolute value of the command value.
Furthermore, synchronous control with other control axes is possible.
The current position display in the workpiece coordinate system is also
displayed by rounding to within 1 rotation.

20.7.1 Command method

In the case that the rotary control axis is set as the B axis, when the
following program is commanded the rotary control axis moves in the following
manner.

1) When parameter No. 1007 RSRV is 0, and parameter No. 1007 RINVC is 0, the
command value is rounded to within 1 rotation by the NC internal section, and
the difference between the rounded result and the current position is set as
the movement amount.

Example) G90BO ; Moves to position of 0 deg.

G90B380. Moves to position of 20 deg. by rotating 20 deg. in the
positive direction
G90B-90. Moves to position of 270 deg. by rotating 250 deg. in
the positive direction
G90B60. ; Moves to position of 60 deg. by rotating 210 deg." in the
negative direction

2) When RINC of parameter No. 1007 is 1, short path is performed for 1).

Example) G90BO ; Moves to position of 0 deg.

G90B380. Moves to position of 20 deg. by rotating 20 deg. in the
positive direction
G90B-90. Moves·to position of 270 deg. by rotating 110 deg. in
the negative direction
G90B60. ; Moves to position of 60 deg. by rotating 150 deg. in the
positive direction

3) When parameter No. 1007 RSRV is 1, and parameter No. 1007 RINC is 0, the
rotation direction is determined by the encoding·of the command value, and it
rotates to the position of the absolute value of the command value.

- 363 -
 11-20.7.1

Example) G90BO ; Moves to position of o deg.

G90B380. Moves to position of 20 deg. by rotating 20 deg. in the
positive direction
G90B-90. Moves to position of 90 deg. by rotating 290 deg. in the
negative direction
G90B60. ; Moves to position of 60 deg. by rotattng 330 deg. in the
positive direction

<Precautions>
1) This function functions when only the parameter (data No. 1008 PROT) for the
rotating axis has been set.
When modifying the setting of this parameter, it is necessary to once set the
power to OFF.
2) Setting of parameters related to multiple rotary control axis function
Set the following bits of data No. 1006 to 1.
/10 :ROTx Sets whether or not it is not necessary to perform inch/metric
switching for the axis (rotating axis).
111 :ROSx Sets whether machine tool coordinate system for stroke check and
automatic reference point return is linear axis type or rotating
axis type.
112 :ROPx: Sets whether machine tool coordinate system for stored pitch
error compensation is linear axis type or rotating axis type.
Set 0 (rotating axis) to rotary control axis of data No. 1022.
Set movement amount for each 1 rotation of rotating axis to data No. 1260.
Set bit of SVFx of data No. 1802 to 1.
3) During automatic operation of absolute mode when this function is being used,
if manual intervention by the manual absolute switch on is performed, the
rewind of the manual intervention amount is performed by rounding to within 1
rotation.

Example) G90 BO ;
G90 B180. Restarts manual intervention during movement at 700
deg.

Re1a~ive coordinates 0 0

Absolute coordinates 0 0

Movement
-:
Manual inter.vention 700 deg.
:---- ,..,..,."~,..,.""",-.."..."~,....,.,"""',....,.,,.....,.,.,,...,,,.,,....,.,,......,,.,....,.,,,.......,,,,.......,""'-'''''''''''''''''-',,,...,,,.,~

FDH

Restart

- 364 -
 11-21

21. CNC COMMAND TO PMC (G10.1)

The GlO.l command transfers data to PMC.

Format
GlO.l P R L ;
The data transferred~, Rand L can be read on the PMC by the procedure
"READ".
Refer to the manual issued by machine tool builder for details.

- 365 -
 II-22

22. TOOL RETRACT AND RECOVER (G10.6)

The tool retract and recover function is to retract a tool from a wOTkpiece for
replacing a tool broken during operation or verifying the machining state, and
return a tool efficiently for restarting operation.
GI0.6 lP command specifies the retract axis and amount for the tool retract and
recover function.

Ex) GI0.6G91XI0. Z5.

The retract amount specified by GI0.6 may be either an absolute or incremental

command. With the absolute command, a tool can be retracted to the specified
position in the work coordinate system. A command can usually be made as an
incremental by setting the parameter (data No. 7614110 TRI) irrespective of
absolute/incremental.
Once the retract axis and amount are specified, they will be preserved as modal
data until they are changed by re-specifying GI0. 6]P ;. The retract axis and
amount are cancelled by executing the GI0. 6; command or pressing the RESET
switch.

Ex) GOOX20. YI0.

GI0.6G91XI0. (Retract axis is +10 mm in X axis. )
GOIY-50.F2 ;
GI0.6XI0. Y5. (Retract axis is +10 mm in X axis and 5mm in Y axis.)
GOIXI00.Y-40.
GI0.6Y5. ; (Retract axis is 5 mm in Y axis.)
GOIX50. ;
GI0.6XI0. ; (Retract axis is +10 mm in X axis.)
GOIY-50.
GIO.6 (Retract of all axes is cancelled.)

+Y

(20,10)

--~~----------------------------------------+X

(20, -40)
~ Retract direction

____+.;......._ _ (170,-80)
(120, -80)

(Note) For the tool retract and recover operation, refer to section 5.6.3.

- 366 -
III OPERATION
 111-1

1. INTRODUCTION

1) Manual operation
a) Manual reference point return (See Section III-4.1.)
The CNC machine tool has a position used to determine the machine posi-
tion.
This position is called the reference point, where the tool is replaced or
the coordinates are set. Ordinarily, after the power is turned on, the
tool is moved to the reference point.
Manual reference point return is to move the tool to the reference point
using switches and pushbuttons located on the operator's panel.

Operator's panel
Reference
point

000 0
o
o 0
o 0 o

The tool can also be moved to the reference point with program commands.
This operation is called automatic reference point return. (See Section
II-7.1-.)

b) Tool movement by manual operation

Using operator's panel switches, pushbuttons, or the manual handle, the
tool can be moved along each axis.

Operator's panel

0 0 0 0 Q Manual
handle

0
o 0
0 0 0

b
Work

The tool can be moved in the following ways:

i) Manual continuous feed (See Section III-4.2.)
The tool moves continuously while a pushbutton remains pressed.
ii) Incremental feed (See Section II-4.3.)
The tool moves a predetermined distance each time a pushbutton is
pressed.

- 369 -
 111-1

iii) Manual handle feed (See Section 111-4.4.)

By rotating the manual handle, the tool moves the distance correspond-
ing to the degree of handle rotation.
iv) Manual optional angular feed
The tool moves in optional directions on the plane.
v) Manual numeric command
By entering numeric data from the MDI keyboard, the tool moves the
distance specified by this data.

2) Tool movement by programing - Automatic operation (See Section 111-5.)

Program

01000 ;
M·S·T·;
G92X·Y·Z· ;
GOO ... ;
iii
G01 ...... ;

Automatic operation operates the machine according to the created program.

It includes tape, memory, and MDI operations.
i) Tape operation

NC Machine

IT]
Tape
recorder 'I
n I, v
~NCtape

Tape operption

The machine can be run while the program is being read from the tape
reader. This operation is called the tape operation.

- 370 -
 111-1

ii) Memory operation

CNC Machine

CD
Memory

Memory operation

After the program has been registered in memory, the machine can be run
according to the program instructions. This operation is called the
memory operation.

iii) MDI operation

CNC Machine

MDI Keyboard

~
~

b Manual program
input

MDI operation

After the program is entered, as a command group, from the MDI keyboard,
the machine can be run according to the program. This operation is called
the MDI operation.

- 371 -
 III-l

3) Automatic operation
i) Program selection (See Section 111-5.2.1.)

futa fornat in
mennry or on tape

OlOcn - - - - - - - Program rn.mber

G92 ••••••••••••

)l>bIk_l program
M30
01002 - - - - - - - Program rn.mber
G92 •••••••••••• Program I1UlIber
................. search

M30
)l>bIk-2 program
--> Automatic
operation

01003 - - - - - - - Program rn.mber

G92 ••••••••••••

)l>bIk_3 program
M30

Select the program used for the work. Ordinarily, one program is prepared
for one work. If two or more programs are on tape or in memory, select
the program to be used by searching for the program number (Section
111-5.2.1.).

ii) Start and stop (See Section 111-5.5.)

Cycle start

Feed hold Manual stop

reset ~----' Automatic operation
}

Stop caused
Program stop by program
~

Program end }

Pressing the cycle start pushbutton causes automatic operation to start.

By pressing the feed hold or reset pushbutton, automatic running pauses or
stops. By specifying the program stop or program termination command in
the program, the running will.stop during automatic operation. When each
machining is completed, automatic operation stops.

- 372 -
 III-l

iii) Restart

Tool I After-recess
machining
Tool

Tool breakage

Work
Work

When machining continues after a recess When tool has broken

After a recess, running can continue with a middle step of machining a

work. When tool breakage occurs during machining, replace the tool. The
machining can be restarted.

iv) Handle interruption

Tool
,--;,
,
rl
I I
I:
I I
______~I
I V~: I J
: ~I--_rl__~I~__
----- ___ u ----n---u-----r-tF],~LJ----f --
f
I
Workpiece I
Depth of Depth-of-
manual cut specified
handle by the program
feed

While automatic running is being executed,

tool movement can overlap automatic opera-
tion through rotation of the manual handle.

- 373 -
 Ill-!

4) Program test
Before machining is started, the automatic running check can be executed. It
checks whether the created program can operate the machine as desired. This
check is accomplished by actual running of the machine or by viewing the
position display change (without running the machine).
a) Check by running
i) Dry run (See Section III~6.4.)

Remove the work, check only

movement of the tool.
Select the tool movement rate
using the dial on the operator's
panel.

Dry run

ii) Feed rate override

Feed rate specified by program:

50 mm/min. ----'----II
~ Adjust the rate value smaller
than that specified by the
I program.
Feed rate after feed rate override: __- - - l
10 mm/min.

Work

Feed rate override

- 374 -
 111-1

iii) Single block (See Section 111-6.5)

Cycle

Cycle Cycle ~
~--~~ ..
Stop

When the cycle start

pushbutton is pressed, the
Work tool executes one operation
then stops. By pressing the
cycle start again, the tool
executes the next operation then
stops. The program is checked
in this manner.

Stop - + - - - - - -

Single block

b) How to view the position display change without running the machine
i) Machine lock (See Sections 111-6.1 and 111-6.2)

CRT/MDI

i I : I
x
y
cx:x:x:x:J r +-
I--t'-I-
f-J.~_LL
I I I I
~~i -1-t-
I I I i

f----L W_orkPlece ;1 Change caused by

I V machine movement

The tool remains stopped, and only the posi-

tional displays of the axes change.

Machine lock

ii) Auxiliary function lock

When automatic running is placed into the auxiliary function lock mode
during the machine lock mode, all auxiliary functions (spindle rota-
tion, tool replacement, coolant on/off, etc.) are disabled.

- 375 -
 111-1

5) Program editing (See Section 111-9.)

After a created program is registered in memory, it can be corrected or modi-
fied from the CRT/MDI panel.
Program correction
Program registration or modification

om ~
LJEj
MOl/CRT

1
nJ
~
Tape reader

- (program)
NC tape
G[J
NC CNC

This operation is executed using the part program storage/edit function.

6) Data display/setting (See Section 111-10.)

_ _ _ Data setting _ _ _ _ _ _ _

-----------,Data display ...-----+1---+--

1
l
----..

Screen Keys
1 t

CRT/MOl
c:JCNCmemory

With keys, data stored in CNC memory can be updated or displayed on the
CRT/MDI screen. CRT/MDI ~creen.

- 376 -
 III-l

i) Offset value (See Section 111-10.1.)

,...------Geometry Offset
Setting
i-- - - - - - - Tool compensation
number 1
12.3 25.0
Tool compensation
Display number 2
20.0 40.0
-- - - - - - - Tool compensation
Screen Keys number 3

CRT/MOl

CNCmemory

The tool has a tool dimension

(length, diameter).
When a workpiece is machined,
the tool movement route depends
on the tool dimensions.

By setting tool dimension data Machined

in the CNC memory beforehand, you shape
automatically generate tool routes
that permit any tool to cut the
work shape specified by the
program. Tool dimension data
is called the offset value.
I Offset value of
r-r--
I I
the 1st tool
I I
I ' - - - Offset value of
I I the 2nd tool
I I

- 377 -
 111-1

ii) Parameter display and setting (See Section 111-10.5.)

om
Setting
Parameters
Rapid traverse rate
Display Positional control system
Reference point return system
Screen Keys
Backlash compensation data
Pitch error compensation data
CRT/MOl

CNC memory
Operational
characteristics

Automatic Machine
Program operation operation

The CNC fu~ctions have versatility in order to take action in character-

istics of various machines. For example, CNC can specify the following:
1) Rapid traverse rate of each axis
2) Whether positional detection is based on the digital or analog amount
3). Whether reference point return is executed by the grid or analog
method.
Data to make the above specification is called parameters. (See Section
111-10.5.) Parameters differ depending on the machine tool.

- 378 -
 111-1

iii) Setting data display and setting (See Section 111-10.3.)

[I
Setting

Setting data
Display Stroke check data
Canned - cycle variables
Screen Keys I/O device data
Mirror image machining on/
off setting
CRT/MOl

CNCmemory

Operational
characteristics

Automatic Machine
Program operation operation

Apart from parameters, there is data that is set by the operator in ope-
ration. This data causes machine characteristics to change. For example,
it specifies the following:
1) Intrusion-inhibited area for the tool (stroke check)
2) Data concerning I/O devices
3) Amount of return and minimum depth of cut during the canned cycles
The above data is called setting data.

iv) Data protection key (See Section 111-10;7.)

[I
Data setting

Operator's panel
r---

Screen Keys
o Data
~:ot~ protection

~
S·19nal
CRT/MOl ~. tion
key
.. key

Program Registration/
input setting inhibition

U Program
Offset value
Parameters
Setting data
Tap e reader
CNCmemory

A key called the data protection key can be defined. It is used to pre-
vent the program, offset, parameters, setting data, etc. from being re-
gistered, set, modified, or deleted erroneously.

- 379 -
 111-1

v) Menu switches, software operator's panel (See Sections 111-10.9.)

I
MACHINE
LOCK
ON OFF
0
MACHINE SINGLE
6 0
000
0
SINGLE LOCK BLOCK
BLOCK ON OFF I I I I I
------- I I I I I
-- -- -------
------- 0 0 0 0 0
CRT screen Operator's panel

Some switches on the operator's panel are controlled on the CRT screen.

7) Display

[
I

Screen Keys

CRT/MOl Tool position

Data
0
Running status

/ \ Operator's panel

/
/ \ ~
/ \

Program Operator
message

The CRT/MDI screen displays the memory contents.

Information concerning the program, tool position, etc. is included in the
memory contents.

- 380 -
 111-1

i) Program display (See Section 111-11.1.)

Active program
number
I r - - -_ _ _ Active
, - - - - - - - ----L--+---+-
- .--- sequence number
01234Nl0123
G92X300.0Y250.0 ... .
GOO ............... .
GOl ............. . f Program content
VN 1 0 1 2 3 G 33 ....... .
The cursor indicates / ......................... .
I
the currently executed
location.
Program contents

01002 (WOR K 1.) 01046

01057 01245 01556 .... .
02006 02567 03456 ... .

Program list

The contents of the currently active program are displayed.

In addition, the programs scheduled next and the program list are dis-
played.

ii) System status display

- - - t - - - Displays the classification that

indicates the current system status.

CRT screen

Automatic operation Memory operation, MDI operation, tape

operation, etc.

Manual operation type Jog feed, handle feed, incremental

feed, etc.

Automatic operation status Reset status, stop status, pause status,

sequence number search status, etc.
I I
I I
I I

- 381 -
 111-1

iii) Current position display (See Section 111-11.3.)

y
X
0 X 0000 000
y
0000 000
jy z 0000 000
X
Work coordinate
system

The current position of the tool is displayed with the coordinate values.
The distance from the current position to the target position can also be
displayed.

iv) Operator message display (See Section 111-11.4.)

Memory

Set the workpiece

r--
I Message 1
I
CRT screen
I
I
Message 2 ] Message display
signal

I Message 3
I
During machining, messages registered in the memory may be displayed as
instructions to the operator.

- 382 -
 111-1

v) Alarm display (See Section III-11.5.)

PS133 MISSING '='

_P_S_80_5_I_L_L_EG_A_L_C_o_M_M_A_N_D..."r--l __
PIS (program!
Alarm number
setting) alarm
CRT screen
00000 }
00000
00000 Servo alarm

} ,Memory alarm

Error code
list
}
Code Meaning

PSOOO

PS133

Operator's Manual

When trouble occurs during running, the CRT screen displays the error code
and an alarm message.
See Appendix 9 for error code details.

vi) Run hour display

The following 3 kinds of running time are displayed on the CRT:
(i) Integrated time of automatic operation
Integrated time for automatic operation (time while cycle start lamp
is lit) is displayed.
Example of display: 10 HOURS 43 MINUTES 8 SECONDS
(ii) Integrated time of cutting feed
Integrated time of cutting feed (linear interpolation, circular
interpolation) is displayed.
(iii) General purpose
Integrated time while run hour count command signal (Input signal)
is on.
Refer to the machine tool builder's manual for what integrated time
is displayed.
The 3 kinds of run hour are displayed on the setting data screen. For how
to display the setting data screen, refer to III 10.3.

- -383 -
 111-1

vii) Graphic display (See Section III-11.6.)

z
z
Display on the
YZ plane

Display on the
XZ plane

x
Three-dimensional Y
display (isometric)

Display on the X
XY plane

The programmed tool movement is displayed in the three-dimensional co-

ordinate system.
In addition, programmed tool movement can be displayed on the following
planes:
1) XY plane
2) YZ plane
3) XZ plane

- 384 -
 111-1

8) Data output (See Section III-12)

Tape reader
Portable tape read er
r---

8 FANUCPPR
o Paper tape

Memory

Program

FANUC cassette,and
Offset

D
Reader/puncher

~
- -- -
cassette adapter

interface
Parameters

Floppy disk

NC
P-G

Automatic programming
system
G
The program, offset, parameters, etc. input in the CNC memory can be output
to paper tape, cassette ~ or a floppy disk for saving. After output to a
medium, the data can be input into CNC memory_

- 385 -
 111-2

2. OPERATION UNIT

2.1 CRT fMDI Panel

The following CRT/MDl panels are available.

Type Notes

Small CRT/MDl panel Figure 2.1 (a)

(9" monochrome)

Standard CRT/MDl panel Figure 2.1 (b)

(9" monochrome)

14" color CRT/MDl panel Figure 2.1 (c)

(Note) The 14" color CRT/MDI panel is set on the machine side.
Color graphic display is'possible on the 14" color CRT/MDl panel.

a) Small CRT/MDl panel

Address keys Numeral keys
e If) e C9

0 <D (f)

l ~~~~rnLa
[SJ~~BEJ8
~~~~rn~
0[§J~5J5JD
[3]~G5J~~ CNC/PMC
B-
RESET BGI/jlsHm:-L_
switch key

B- I-IG CAN INPUT

~[~ (OJ [][O) [OJ(DJ~ k (f)

~ I j f) II C9
I I
Function menu Soft key Operation Cursor move Input
key menu key key· Shift key
Start key- key
Reset key Cancel
key

Fig. 2.1 (a) Small CRT/MOl panel

- 386 -
 111-2.1

b) Standard CRT/MDI panel

Address keys Numeral keys

o o 0 0
o 0 0

G0G~G~~0 Reset key

5J~[3J~~ QJ~QJ Start key

QJ00~[s:J G~0
POWER
Power on
Calculation
switch (3)[3][]~~ o~D key
Bl[5][3J~u ~DEJ Input key
PAGE aJRSOR
Power off CNC/PMC
switch [DBB switch key
IGG Auxiliary
key
o C
o 0

Function • Soft key Cursor move Shift key

'menu key keys
Page keys

Fig. 2.1 (b) Standard CRT/MOl panel (9" monochrome)

c) 14" color CRT/MDt panel

Start key
Reset key
It It
• I •
• • I
•
I I B 8
0000
ISJ~~~
0000 r-- r- Address key
00~1Sl
~[5]~u
Bl[31[2J~
® I @
~00[;J
QJ~~El r-- f - Shift key
QJQJ00 I - - r-- Numeral keys
OQJOEJ I - - I-- Calculation key

-~ [] /OJ !OJ (CJ) [Q) [lJ (OJ (OJ !OJ [Q) (9J GDElB Input key

SPOWE \I Soft key Operation [!JEJB~ r--

L CNC/PMC
II I
S menu key
'8~B- switch key

• 1 Auxiliary key
eN Oot'!

••
~

I
~
e e • «I

Fu nction menu L Power off switch Page keys- Cursor move key
key - Power on sWltch

fig. 2.1 (c) 14" color CRT/MOl panel

- 387 -
 111-2.1

d) The following should be added after section "2.1 The lS-MA CRT/MDI panel" in
the Operator's Manual, Part III.

MMC CNC/PMC
Reset selection change· Start
key key over key key

\ \ / /
0 0 0
\ \ 0

FANUC
<0 0

- - Address key

- Calculation key

Numeric key
- - Shift key
Input key

- -Cancel key

Ope~ation
/'
Function o OFF I
Soft key
menu key menu key

o
DD
Power Power
o
Man Machine Control
o
o o
o
on button off button

Page change
key
,,-
Cursor move key

Fig. 2-1 (d) 150·MA CRT/MOl Panel

- 388 -
 111-2.1.1

2.1.1 CRTIMDI panel keys

1) For IS-TA, IS-TTA

Table 2.1.1 MDI keyboard functions (1/3)

No. Name Functions

(1) POWER ON/OFF key This key turns the CNC power on and off.

(2) RESET key Press this key to reset the CNC, to cancel an alarm,
etc.

(3) START key Press this key to start the MDI commands, or to start
the automatic operation cycle. Since this key's
operating method differs according to the machine
tool, refer to the machine tool builder's operation
manual.

(4) Soft keys The soft key have various function, according to the
Applications.
The soft key func'tions are displayed at the bottom of
the CRT screen.

(5) Function menu When the function menu key is pressed with the soft
key keys switched to functions other than the function
selection, described in 2.1.9, the soft keys are
brought back to the function selection. When the
function menu key is pressed with the soft keys
switched to the function selection, the soft keys are
switched to function selection keys other than
those currently shown on the CRT. (The 9" CRT/MDI
panel is provided with five soft keys. The 14"
CRT/MDI panel is provided with 10 soft keys.
However, these five or ten keys are riot sufficient
for some applications. In this case, sign + shown at
the right end of the bottom line on the CRT indicates
that there are some keys which have not been
indicated.)

(6) Operation menu The function of the soft keys are changed in various
key ways according to applications. When the operation
menu key is pressed with the soft keys switched to
functions other than the operation selection, the
soft keys are switched to possible operation
selection keys, described in 2.1.1, shown on the CRT.
When the operation menu key is pressed with the soft
keys switched to the operation selection, the soft
keys are switched to the operation selection keys
other than those currently shown on the CRT. (The 9"
CRT/MDI panel is provided with the five soft keys.
The 14" CRT/MDI panel is provided with 10 soft keys.
However, these five or ten keys are not sufficient
for some applications. In this case, the sign +
shown at the right end of the bottom line on the CRT
indicates that there are some keys which have not
been indicated.)

(7) Address and Press these keys to input alphabetic, numeric, and
numerical key other characters.

- 389 -
 111-2.1.1

Table 2.1.1 MOl keyboard functions (2/3)

No. Name Functions

(8) SHIFT key Some address keys have two characters on top. Press
the shift key and an address key in that order. The
character on the lower right can then be input. When
the shift key is pressed, II II is displayed in the key
input buffer. This indicates that the character on
the lower right side of an address key can be input
by pressing the address key.

(9) INPUT key When an address or a numerical key is pressed, the

alphabet or the numeral is input once to the key
input buffer, and is displayed on the CRT screen. To
set the data input to the key input buffer in the
offset register, etc., press the INPUT key. This key
is equivalent to the INPUT key of the soft keys; the
same results can be obtained by pressing either of
them.

(10) Cancel (CAN) key Press this key to delete the last character or symbol
input to the key input buffer. The contents of the
key input buffer are displayed on the CRT screen.
When the address key or the numerical key is pressed
next, the position where the alphabet or the numeral
is inserted next is indicated by II " . When the
cancel (CAN) key is pressed, the character immedi-
ately before the. If_" is cancelled.

Example: When the key input buffer displays >NOOIXI000Z and the cancel
(CAN) key is pressed, Z is cancelled and >NOOIXI000_ is
displayed.

(II) Cursor shift There are four kinds of cursor shift key described
keys below.
+: This key is used to shift the cursor a short
distance in the forward direction.
+: This key is used to shift the cursor a short
distance in the reverse direction.
++: This key is used to shift the cursor in the key
input buffer, when the character(s} is input
into it. The cursor position in the key input
buffer is indicated by "". The II " indicates
the position where the alphabet or-the numeral
is inserted when the next address or numerical
key is pressed. When the cancel (CAN) key is
pressed, the character immediately before II " is
cancelled. When nothing is input to the key
input buffer, this key is used to shift the
cursor on the CRT screen a long distance in the
forward direction.
++: When the character(s} is input to the key input
buffer, thi~ key is used to shift the cursor in
the key input buffer. When nothing is input in
the key input buffer, this key is used to shift
the cursor on the CRT screen a long i=distance
in the reverse direction.

- 390 -
 111-2.1.1

Table 2.1.1 MOl keyboard functions (3/3)

No. Name Functions

(12) Page changeover Two kinds of page changeover keys are described
key below.
t : This key is used to changeover the page on the
CRT screen in the forward direction.
t : This key is used to changeover the page on the
CRT screen in the reverse direction. The 9"
monochrome small CRT/MDI panel (FSI0) is not
equipped with a page changeover key. However,
when pressing the cursor shift~keys ~ and ~ at
the same time, the effect is the same as
pressing the page change over key t. When
pressing the cursor shift keys + and ++ at the
same time, the effect is the same as pressing
the page changeover key t.

(13) CNC/PMC change- When the CNC is equipped with the PMC model-N, this
over key key is used to changeover the use of the CRT/MDI
pahel from the CNC to the PMC, and vice versa.

(14) Calculation Press this key to execute the calculation instruction

(CALC) key in the key input buffer.

Example: When pressing the calculation key with the

data (10+20 *30+400/8) in the key input
buffer, the data changes to 660.

The calculator key is not an option, but is standard

on this model.

(15) AUX key This is a spare key.

- 391 -
 111-2.1.1

2) For I50-MA
The keyboard for 150-MA is the same as that for I5-MA except that the MMC
selection key is added and the key marks for cursor shift key and page
changeover key are different from those for I5-MA.

Table 2.2.1 Explanation of keyboard

No. Name Explanation

(1) KMC selection Press this key to use the CRT/MDI with MMC.
key

(2) Cursor shift There are four kinds of cursor shift key described
keys below.
+: This key is used to shift the cursor a short
distance in the forward direction.
+: This key is used to shift the cursor a short
distance in the reverse direction.
t : This key is used to shift the cursor in the key
input buffer, when the character(s) is input into
it. The cursor position in the key input buffer is
indicated by "". The"" indicates the position
where the alphabet or the numeral is inserted when
the next address or numerical key is pressed.
When the cancel (CAN) key is pressed, the character
immediately before " " is cancelled. When nothing
is input to the key input buffer, this key is used
to shift the cursor on the CRT screen a long
distance in the forward direction.
+: When the character(s) is input to the key input
buffer, this key is used to shift the cursor in the
key input buffer. When nothing is input in the key
input buffer, this key is used to shift the cursor
on the CRT screen a long distance in the reverse
direction.

(3) Page changeover Two keys are available:

key : Used to change the CRT screen in the forward
direction.
Used to change the CRT screen in the reverse
direction.

(4) Other keys Same as those for I5-MA.

However, on the CNC or PMC screen, the following keys
not existing with I5-MA cannot be used:
!, ", $, ¥, -, <, >, ., ;, %, '

- 392 -
 III-2.1.2

2.1.2 Display and control of the 150-MA

The contents to be displayed and the key input operation are different according
to whether the CRT/MDI panel displays MMC screen on CNC/PMC screen.
Whether to display the MMC screen or CNC/FMC screen depends on MMC change key
and CNC/PMC change key. When the CNC/PMC screen is selected, contents to be
displayed and operation method for the CRT/MDI is identical to that for FANUC
IS-MA. This manual explains the case when CNC screen is selected. For display
contents and operation method when the MMC screen is selected, refer to the
manual issued by Machine Tool Builder.
1) Selection of MMC screen
The MMC.screen is selected when MMC change key was pressed.
2) Selection of CNC/PMC screen
When CNC/PMC change key is pressed, CNC/PMC screen is displayed. When
CNC/PMC change key is pressed while CNC screen is displayed, PMC screen is
displayed.
When CNC/PMC change key is pressed while the PMC screen is displayed, CNC
screen is displayed.
When CNC/PMC change key is pressed when MMC screen is displayed, the screen
changes to the display before MMC change key is pressed.

2.1.3 Key input and key input buffer

When the address key or the numerical key is pressed, the corresponding char-
acter is input to the key input buffer. The contents of the key input buffer
are displayed at the bottom of the CRT screen. The symbol ">" is displayed in
front of it, to indicate that this is the data input by pressing the key(s). At
the end of the key input data, " " is displayed to indicate the input position
of the next character. When the address or the numerical key has two char-
acters, one in the upper and one in the lower section, press the shift key to
input the character in the lower section, and then press the address or the
numerical key. When the shift key is pressed, " ", indicating the input posi-
tion of the next character, changes to "A", indic;ting that the character in the
lower section is input (shift status). When one character is input in the shift
status, the shift status is cancelled.
Therefore, to continuously input the character in the lower section, press the
shift key each time the address or the numerical key is pressed. Press the
shift key in the shift status to release the shift status.
Up to 78 characters at a time can be input to the key input buffer.

- 393 -
 III-2.1.4

2.1.4 Key inpu,t buffer contents change method

I} Character{s} insertion
The contents of the key input buffer are displayed on the CRT screen. When
the address or the numerical key is pressed, the position where the corre-
sponding character is input {i.e., the cursor position} is indicated by " I f .
The cursor position" " can be shifted by pressing a cursor shift key, ++-or
++.
Shift the cursor to the position where the character is input and key in the
character to be inserted.
Example:
When inserting G90 after NOOI of >NOOIXIOO.OY200.0FIOO.O; as the contents of
the key input buffer, follow the procedure described below.
- Press the cursor shift key ++ to shift the cursor to the following posi-
tion:
>NOOI XIOO.OY200.0FIOO.O;
- Key in G90; the display changes as follows:
>NOOIG90 XIOO.OY200.0FIOO.O;
- Press the cursor shift key ++ to shi-ft the cursor to the following posi-
tion:
>NOOIG90XIOO.OY200.0FIOO.O;
2} Character{s} deletion
Shift the cursor to the position next to the character{s} to be deleted and
'depress the CAN key. If you press CAN key in the shift state, the contents
in the key-input buffer is all deleted.
Example:
To delete Y200.0 from >NOOIXIOO.OY200.0FIOO.O; as the contents of the key
input buffer, follow the procedure described below.
- Press the cursor shift key ++ to shift the cursor to the following posi-
tion:
>NOOIXIOO.OY200.0 FIOO.O;
- Press the CAN key-S times. The display changes as follows:
>NOOIXIOO.O FI00.0;
- Press the CUrsor shift key ++ to shift the cursor to the following posi-
tion:
>NOOIXIOO.OFI00.0;_

2.1.5' Warning Message

The data must be input in the specified format. When the data is erroneously
input to the key input buffer and an operation is executed, a warning message is
displayed. On the 9" monochrome CRT, the warning message is displayed with
brighter character(s}. On the 14" color CRT, it is displayed in purple on the
top line of the key input buffer.
When the warning message is displayed, the soft key changes to the cancel key.
When the cancel key {the soft key} is pressed, the warning message is cancelled.
In this case, the data in the key input buffer can be executed again after the
format of the data in the key input buffer is changed to the specified format.

2.1.6 Soft key notation

The 9" CRT/MDI panel is equipped with five soft keys. The 14" CRT/MDI panel is
equipped with ten soft keys. In this manual, the 9" CRT/MDI panel equipped with
five soft keys will be described. The soft keys are displayed as follows:

POSITION PROGRAM OFFSET PRG-CHK CHAPTER I + I

- 394 -
 111-2.1.7

The characters in the frames are the names of the soft keys displayed at the
bottom of the CRT screen. The "+" mark at the far right of the frame shows that
"+" is displayed at the far right of the lowest line on the CRT screen. This
means that a key is not displayed on the CRT screen because of insufficient soft
keys.
The basic operation of the 9" CRT/MDI panel equipped with five soft keys is the
same as that of the 14" CRT/MDI panel equipped with ten soft keys. With the
latter, because there is less frequent changeover of the soft keys, more keys
can be operated simultaneously.
When some of the operation setting keys (soft keys) or the operation guide keys
(soft keys), are pressed, processing is executed immediately. These keys are
underlined to indicate that processing is executed immediately after they are
pressed.

EXEC

On the 9" monochrome CRT, these keys are displayed in brighter

I I
characters. On
the 14" color CRT, they are displayed in green.
The keys in parentheses request input of the data corresponding to the contents
of the parentheses. They are also displayed in parentheses on the CRT. When
these keys are pressed, the message requesting input of the data is displayed.

(PROGII)
I I
2.1.7 When soft keys are insufficient
As described above, the 9" CRT/MID panel is equipped with five soft keys, and
the 14" CRT/MDI panel with ten soft keys. However, these five or ten soft keys
are not sufficient for some applications. For example, when the soft keys are
used as function selection keys, seven kinds of functions can be selected;
therefore, five soft keys are insufficient. In this case, "+" is displayed at
the far right end in the lowest line on the CRT.
1) When the soft keys are used as function selection keys
The soft keys can be used as the function selection keys; the functions which
have not been shown on the CRT after the function menu key at the far left
are indicated with the sign " +", indicated at the far right of the bottom
line on the CRT.
2) When the soft keys are used as operation selection keys
The soft keys can be used as the operation selection keys; the functions
which have not been shown on the CRT after the operation menu key at far
right is pressed are indicated with the sign "+" indicated at the far right
of the bottom line on the CRT.
3) When the soft keys are used as chapter selection keys
The soft keys can be used as the chapter selection keys; the functions which
have not been shown on the CRT after the chapter selection menu key (a soft
key) is pressed are indicated with the sign "+" indicated at the far right of
the bottom line on the CRT.

2.1.8 Soft key changeover method

The soft keys are chiefly used as function selection keys, chapter selection
keys, operation selection keys and operation guide keys.
The soft keys must be changed over to one of the above mentioned keys.
The soft keys are changed over by the procedure described below.
1) Changeover method to function selection key
Press the function menu key at the far left end and the soft keys turn to
function selection keys.

- 395 -
 111-2.1.8

2) Changeover method to chapter selection key

a) Chapter selection in function selection key status
The function selection key, cur~ently selected, is indicated brightly on
the 9" CRT /MDI panel or indicated in green on the 14" CRT /MDI panel.
Whenever this function selection key is pressed, the beginning of the next
chapter is shown on the CRT.
b) Switching from function selection keys to chapter selection keys
When the CHAPTER key at the far right is pressed, the function of. the soft
key is switched from the function selection to the chapter selection. The
desired chapter can be selected by pressing the soft key.
When bringing the soft keys back to the function selection or the opera-
tion selection, press the function menu key or operation menu key, re-
spectively.
c) Chapter selection in operation selection key status
The soft keys are used as the operation selection keys or chapter selec-
tion keys to allow a chapter to be selected while the soft keys are kept
as operation selection keys.
The soft keys are switched to the chapter selection keys by pressing the
operation menu key. The new chapter is shown on the CRT when the chapter
selection key is pressed. When bringing the soft keys back to the opera-
tion selection, press the operation menu key.

3) Switching to the operation selection keys

a) When the operation menu key at the far right is pressed, the soft keys are
switched to the operation selection keys, regardless of the current status
of the soft keys.
b) When data is entered to the key-in buffer using the keyboard with the soft
keys switched to the function selection, the control unit considers, that
subsequent operations will be done by the operator and automatically
switches the soft keys to the operation selection.

4) Changeover method to operation guide key

a) The changeover method from the operation selection key to the operation
guide key
Press an operation selection key.
The block diagram below shows the soft key changeover method.

- 396 -
 111-2.1.8

r····· ........,:
• Chapter
rL.~~~~:.--..l I
After Chapter selection key
change '

l
:
r···· ......... ..
Chapter i
i"'..........
change
-...,! -sunel Chapter selection
(Soft key)

_ ir ..·--··········,
Function !
! change
,...............•I
-Different l Chapter
r
Function Operation
After selection key menu key menu key
change
I

Function

:~:~-~~~
[l r••

:selection
r.~:.
....
!Next ~unctio~
:
.....__...J
Function selection
(Soft key)

..............................
j
:
Next operation
selection key
i• Key input
----r-
Operation
menu key

,··j················L···..1 ,
Operation
menu key
Operation selection
(Soft key)

I
Operation key
When not empty I
<l.s the key input buffer empty>

When empty J

Operation guide
(Soft key)
,
Key input

Execution key

,
(Soft key)

r·_· •••••...••.•. ····1

i Execution !
\........ ···r········J
After execution

- 397 -
 111-2.1. 9

2.1.9 Su mmary of operations

1) Select the data to be displayed on the CRT/MDI panel, and the major item to
be input, with the function selection key (the soft key).
2) Each item is subdivided into smaller items (chapters). Select the small item
(chapter) with the chapter selection key (the soft key).
3) To input dat~, etc., select the operation with the operation selection key
(the soft key).
4) Press the operation selection key. The soft key is then changed over to the
operation guide key. Possible operations can be determined with the opera-
tion guide key.
5) Some operation guide keys start the corresponding operation immediately after
they are pressed. Some of the operation guide keys, when pressed, request
the input of the data required for the corresponding operations.
The characters of the keys which start the corresponding operations are dis-
played in brighter characters on the 9" monochrome CRT. The characters of
these keys are displayed in green on the 14" color CRT. The, names of the
keys which do not start corresponding operations immediately after they are
pressed are displayed in bluish-green.
6) When an operation guide key which, when pressed, requests the input of data
required for the corresponding operation, and when the address of the re-
quired data is determined, this address is automatically input to the key
input buffer. When the operator must determine the address of the required
data, the message requesting the input of the data is displayed on the CRT.
7) When inputting the required data to the key input buffer, the soft key is
changed over to the EXEC key which instructs the execution.
8) When the EXEC key is pressed after the required data is input to the key
input buffer, the corresponding operation is performed.

2.1.10 function selection key

To select a function, change over the soft key to the function selection key and
depress the required function selection key.
The function can be selected in any mode.
The detailed function is selected by the chapter selection key.
The function selection keys (soft keys) are as follows:

POSITION PROGRAM OFFSET PRG-CHK CHAPTER I + I

SETTING SERVICE MESSAGE CHAPTER I+ I

1) POSITION key
Press this key to select the present position display screen.
2) PROGRAM key
Press this key to select the part program display screen.
3) OFFSET key
Press this key to display the tool offset or the work zero point offset.
4) PRG-CHK key
Press this key to display the program check screen.
5) SETTING key
Press this key to select the setting screen.
6) SERVICE key
Press this key to display the parameter, diagnosis, etc.
7) MESSAGE key
Pre~s this key to display the alarm message or the operator message.

- 398 -
 111-2.1.11

2.1.11 Chapter selection key

The function selection key is used to select major items. Each major item is
subdivided into smaller items (chapters). The chapter selection key is used to
select the small items (chapters).

To select a chapter, set the soft key to the chapter selection key and press the
required chapter selection key.
1) Chapter selection key to display position (Function key to select the chapter
of the POSITION)
The chapter selection keys to display the position are as follows:

I OVERALL RELATIV ABSOLUT MACHINE

I I
a) OVERALL key
Press this key to select the overall position display screen from the
position display screen.
b) RELATIV key
Press this key to select the relative position display screen from the
position display screens.
c) ABSOLUT key
Press this key to select the position display screen in the work coordi-
nate system from the position display screens.
d) MACHINE
Press this key to select the position display screen in the machine co-
ordinate system from the position display screens.
2) Program chapter selection key (Function key to select the chapter of the
PROGRAM)
The program chapter selection keys are as follows:

TEXT DIR.MEN
I I
a) TEXT key
Press this key to select the program text screen.
b) DIR.MEN key
Press this key to display the directory of the programs stored in the
program memory.
When this key is pressed, the program numbers, program names, etc. are
displayed.
3) Offset chapter selection key (Function key to select the chapter of the
OFFSET)
The offset chapter selection keys are as follows:

TOOL WRK.ZER
I I
a) TOOL key
Press this key to select the tool offset screen from the offset screens.
b) WRK.ZER key
Press this key to select the work zero point offset screen from the offset
screens.

- 399 -
 111-2.1.11

4) Command value chapter selection key (Function key to select the chapter of
the PRG_CHK)
The command value chapter selection keys are as follows:

CHECK LAST I ACTIVE

I I
a) CHECK key is used to select the screen on which a program, position
(RELATIVE or ABSOLUTE), modal information and PMC data are displayed at a
time.
b) LAST key
Press this key to display the command value in the block immediately pre-
ceding the block currently being executed. The screen will display the
modal values, such as G code, F code, etc. of the command values specified
until then.
c) ACTIVE key
Press this key to display the command value in the block currently being
executed. The screen will display the modal values such as G code, F
code, etc. of the command values specified until then.
5) Setting chapter selection key (Function key to select the chapter of the
SETTNG)
The setting chapter selection keys are as follows:

HANDY I
GENERAL OP.PANEL I MACRO
I I
a) HANDY key
Press this key to select the set ting screen regarding the input/output
from setting screens.
b) GENERAL key
Press this key to select the settable parameter screen from the setting
screens.
c) OPe PANL key
Press this key to select the menu switch or the software operator panel
screen from the setting screens.
d) MACRO key
Press this key to select the custom macro variable screen from the setting
screens.

- 400 -
 111-2.1.12

6) Service chapter selection key (Function key to select the SERVICE chapter)
The service chapter selection keys are as follows:

PARAM I PITCH I
DIAGNOS I DSP .MEM
I I
a) PARAM key
Press this key to select the parameter screen.
b) PITCH key
Press this key to select the pitch error compensation data screen.
c) DIAGNOS key
Press this key to select the diagnosis screen.
d) DSP.MEM key
Press this key to select the screen that displays the contents of the CNC
control software memory.
7) Message chapter selection key (Function key to select chapter of the MESSAGE)
The message chapter selection keys are as follows:

I ALARM I OPERATOR
I I
a) ALARM key
Press this key to select the alarm message screen •
. b) OPERATOR key
Press this key to select the operator message screen.
2.1.12 Operation selection key
The possible operation(s) differs according to the screen selected by the func-
tion selection key or the chapter selection key. Only the possible operation(s)
in the current screen is displayed as the operation selection key(s) (the soft
key(s», so the operability is improved.
To select the operation, set the soft key to the operation selection key and
press the required operation selection key.
Refer to the description of the individual operation of the operation selection
keys.

Note: When the operation selection key is pressed with nothing keyed in to the
key input buffer, the soft keys change to the operation guide keys. The
operation guide keys will show you the operation method and the possible
operation(s). The operation guide keys are convenient for determining
the unknown operation methods and the possible operations.
Input the required data to the key input buffer and press an operation
selection key. This data is executed immediately. When the operation
method is known without using the operation guide key, frequency with
which the key must be pressed can be decreased with this method. How-
ever, some operations require the operation guide key.
The· operation methods using the operation guide key will be described
below.

- 401 -
 111-2.1.13

Example: Offset value setting

The operation selection keys are as follows:

INPUT I +INPUT MEASURE PUNCH INP-NO.

1) When nothing is keyed into the key input buffer

a) Press the INPUT key. The soft key is changed over to the operation guide
key.

(VALUE) I I
b) Press the (VALUE) key. The message to request the key-in of the offset
value is displayed.
c) Key in the offset data. The soft key is changed over as follows:

EXEC I I

d) Press the EXEC key. The data in the key input buffer is set in the memory
of the offset number where the cursor is located.
2) When the offset value is input to the key input buffer
a) Press the INPUT key. The data in the key input buffer is set in the
memory of the offset number where the cursor is located.

2.1.13 Operation guide key

The possible operations differ according to which operation selection key is
pressed. Only the possible operations of the pressed operation selection key
are displayed as the operation guide keys (the soft keys), so operability is
improved.
Some of the operation guide keys start the corresponding operation immediately
",,,hen pressed.
However, some of them request the keying-in of data required for the start of
the corresponding operation.
The names of the operation guide keys which start the corresponding operation
immediately are displayed by the brighter characters on the 9" monochrome CRT,
and in green on the 14" color CRT.
In this manual, the notation of these soft key~ is underlined.
When pressing the operation guide key to request the key-in of the data, the
message requesting the key-in of the data is displayed.
When keying in the data, the soft keys are changed over as follows, regardless
of the depression of the operation guide keys.

EXEC
I I
When the EXEC key is pressed, the data in the key input buffer is executed.
Refer to the description of the individual operation for the operation guide
keys.

- 402 -
 111-2.1.14

2.1.14 Language selection

As the language to be displayed on the CRT screen, Japanese, English, Germany,
French, Italian, Spanish, and Swedish are prepared, which can be selected by the
parameter.

000a1 ~ SEn 1H3(~Y) 00001 I'6l000

1\1 In? I (0::t7 1::t/) 1\1 C>£O( I

(0:CFF 1:0-0
ll":.-f >-~. o (0: ISO l:EIA) f'\..N)i OJDE o
(0: ISO l:EIA)
o IH"UT \.N I T o
(0:1'11 1: l/'Oi)
~~ Ii (0:,') l:f/~)
2 Cl-3:RS232C IH"UT DEV I CE 2 Cl-3:RS232C
10:RMT-El..F 13:RS422) 10:RMT-El..F l3:RS422)
m1J 1111 2 (1-3:RS232C aJTPUT DEV I CE = 2 (1-3: RS232C
13:RS422) 13:RS422)
3 - lUa~- IH"UT DEVICE =3 -ai. ED IT-
$~ II 3 - lUa~- aJTPUT DEVICE =3 -ai. EDIT-

MOl ••• STCP ••••••• MOl ••• STCF ..... '0, ••• 11: 1&:54 L9-.
!BBII f.i "i' }/..,t:-". IIIIB SERIJ ICE I'E~ OWTER+

Japanese English

=:INSTEL(~U 000a 1 HCl0OO0 00001 HCl0OO0

I(0:1=l.JS l:EIN) UERIF 1\1 I (0:~ 1:~)

o(0: ISO l:EIA) ceDE PEWO o
(0: ISO l:EIA)
o(0:1'11 l:ZCl..U \.N IT ENTl'E o
(0:1'11 l:PaXE)
2 Cl-3:RS232C DISP D' ENTl'E 2 (l-3:RS232C
10:RMT-El,F 13:RS422) 10:RMT-El..F 13:RS422)
~ = 2 .(l-3:RS232C FF'REIL SCRTIE = 2 Cl-3:RS232C
13:RS422) l3:RS422)
EI~ = 3 -ai.EOIT- DISP D'~ = 3 -ai. ED IT-
~ = 3 -ai.EOIT- FF'REIL ~T1E = 3 -ai.EDIT-

MOE ••• STCP •••••••••• 10:55:5.'3 LSI- 10M ... STCP •••••••••• 10:59:52 LSI-.
lIIIiiDI ~n N3 .. I'EU:Oli I<J:fII Ta· ~ SERVI CE I'ESSI=G: OWITR+

Germany French

00001 I'6l000 I/-sT LL(EH<ER) 00001 I'6l000

UERIF 1\1 I
(0: OISIH 1: INS) TU-I<ll..L I (0:~l:P)
aJ)IC PEWO (0: ISO o l:EIA) STFHS1<DD o
(0: ISO l:EIA)
\.NITA It-GR o
(0:1'11 l:PCLLICE) I ,,",T et-t. o
(0:1'11 l:TI..M)
DISP It-GR 2 Cl-3:RS232C I,,",T. urn 2 (l-3:RS232C
10:RMT-El..F 13:RS422) 10:RMT-El..F 13:RS422)
~ USCITA = 2 Cl-3:RS232C UTG IGSl.11'RJST = 2 (1-3: RS2'J2C
13:RS422) l3:RS422)
DISP It-GR 3 -ai. EDIT- I,,",T. urn 3 -8 R. RED-
~ USCITA =
3 -ai. ED IT- UTG IGSl.11'RJST = 3 -8 R. RED-

Ittl ••• STCP •••••••••• 11:07:26 LSI<. MDI••• STCF ••••••• '0' 11: 12:06 L9<
Bali! SERVZ I a I'ESSFG3 ~I m.. + _ _ SERV ICE· BESI<ED OWITR+

Italian Spanish

- 403 -
 111-2.1.15

FIIAClo-l(~)

I.ERIF TV I (0:[ESC l:CGO

CD)11il f'EJ'F = 0 (0: ISO l:EIA)
LtlIDFlD ~ 0 (0:1'1'1 l:P'...LG)
019" ENTRADA = 2 Cl-3:RS232C
10:RMT-B.F 13:RS422)
019" SFLIDA 2 (1-3:RS232C
13:RS422)
019" ~ = 3 -EOI-+() PRIG-
019" 5R...IDA = 3 -EOI-+() PRIG-

MOl ••• STCP •••••••••• 11:08:59 LSI<

_ _ SERV I C I '''ENSA1E Off'1 TR+

Swedish

2.1.15 Calculator key

The calculator key is not an option, but is standard on this model.
With this key, compute calculating expressions in key input buffer entered from
.the MDI panel with a keyboard.
1) Operation
CD Key-in calculating expression from the MDI panel. 100.0 + 10.0
(6) Depress the CALC key. I CALC I)
Q) Computing and its result is given as contents 110.0
in the key input buffer.
2) Calculating expression
Input calculating expressions like a general arithmetical formula.
CD Suppose alphabetical character/special character-strings in key input
buffer are processed as a terminal symbol of the expression. With the
terminal symbol, multiple expressions can be entered in the key input
buffer. The CALC key executes each calculation.
(Example 1) 100.0/2;200.0/2;300.0/2_
4-
50.0;100.0;150.0
(Example 2) X350.0*3Y120.0/5;X20.0*3.5;_
4-
X1050.0Y24.0;X70.0;
3) Type of numerical value· -
There are the integer type and real type in the numerical values which this
facility handles.
a) Input format
Integer type: Numerical string of 0 to 9
(Example) 10735
Real type Numerical string with a decimal point
(Example) 10.23
b) Internal data layout
Integer type: Sig~ 1 bit, Data 31 bits binary
Real type M*2
M means Sign 1 bit, Data 31 bits binary.
E means Sign 1 bit, Data 7 bits binary.

- 404 -
 111-2.1.15

c) Calculating result
i) Operated results of the integer type and real type become the real
type.
ii) Operated results are converted to character-string within the following
range, and then set in the key input buffer.
Integer type: -99999999 - 99999999
Real type -99999999.0 - -.00000001
, .0
, .00000001 - 99999999.0
4) Function
The following functions can be used in this facility.

No. Function name Type Explanations

1 SIN Real type Sine (deg.)

2 COS Real type Cosine (deg.)
3 TAN Real type Tangent (deg.)
4 ATAN Real type Arc tangent
5 SQRT Real type Square root
6 ABS Real type Absolute value
7 ACOS Real type Arc cosine
8 ASIN Real type Arc sine
9 LN Real type Natural logarithm
10 EXP Real type Exponent to base e (= 2.718 ••• )

(Note) Descriptions for the argument of the function of ATAN are as follows:
ATAN [<Expression 1>] / [<Expression 2>]

~I
I x ,I
y =Expression 1
x =Expression 2

(Example 1) ATAN [0] / [0] + 0

(Example 2) ATAN [1] / [0] + 90.0
(Example 3) AT AN [1] / [1] + 45.0
(Example 4) ATAN [-1] / [~11 + -135.0
5) Precedence of operation
a) Function > Multiplicational operation > Additive operation
b) With [ ], the precedence of operation can be modified.
(Example) SIN [[[10 + 15] *·0.1 + 0.5] * 10]

Operational
sequence

Then, the result of QD should be the argument of SIN.

6) Operating accuracy'
The operating accuracy of real type data on this facility is applied
correspondingly to the operating accuracy of custom macro operation commands.

- 405 -
 111-2.1.15
7) Syntax rules of the expression
<Numeral> Following characters are used.
0, 1,2,3,4,5,6, 7,8,9
<Sign> Following characters are used and the sign of a
number is indicated.
+, -
<Additive operator> <Sign> is used to perform addition and
substruction.
<Sign>
<Multiplication operator> Following characters are used to express
multiplication and division.
*, /
Integer without sign String of Numeral
Numeral
(Example) 4567
<Function name 1> The following character strings are used.
Then express the following functions.
Sine, Cosine, Tangent, Square root, Absolute
value, Arc-cosine, Arc-tangent, Logarithm nature
and Exponent of base e of logarithm nature
SINlcoslTANISQRTIABSIACOSIASINILNIEXPI
<Function name 2> The following character string is used to
express the function of arc-tangent.
ATAN
<Parenthesized expression>: This is an expression parenthesized with [ J.
[<Expression>J
<Simple factor> <Numeral without sign> and <Parenthesized
expression>
<Numeral without sign> <Parenthesized
expression>
(Example) <Numeral without sign>: 12.34
(Example) <Parenthesized expression>
[10.1 + 3.3J
<Function call> The following 2 types are available.
i) Call of <Function name 1>
Expressed with <Parenthesized expression>
following <Function name 1>. A function of
<Function name 1> corresponding to
<Parenthesized expression> is executed.
ii) Call of <Function name 2>
Expressed by division arithemetic of two
<Parenthesized expression>. A function of
<Function name 2> corresponding to two
<Parenthesized expression> is executed.
<Function name 1> <Parenthesized expression> I
<Function name. 1> <Parenthesized expression> /
<Parenthesized expression>
(Example) SIN [30.0J
(Example) ATAN [2.5J / [5.0J
<Factor> <Simple factor> and <Function call>
<Simple factor> I <Function call>
(Example) <Simple factor>: [1.0 + 2.5 * 3.333J
(Example) <Function call>: SQRT [3.0 * 2.0J

- 406 -
 III-2.2

<Item> <Factor> and Multiplication/division between

<Item> and <Factor>
<Factor> I <Item><Multiplication operator><Factor>
(Example) <Factor: ATAN [2.5] / 5.0
(Example) <Item><Multiplication operator><Factor>
12.3/SIN [1.1 * 3.0]
<Expression> <Item> with <Sign> and addition/subtraction
between <Expression> and <Item>.
{{Sign}}<Item>I<Expression><Additive operator>
<Item>
(Example) {{Sign}}<Item>: -2.2 * 5.1
(Example) <Expression><Additive operator><Item>
-1.2/3.0 + EXP [2.0]

2.2 Machine Operator's Panel

The operator's panel varies in functioning and switch arrangement in the dif-
ferent machine tools. The operations of a typical operator's panel are
explained as shown in Fig. 2.2. However, for details, refer to the manual
issued by the mach.ine manufacturer.

TAJ>~ MOl
®
M"MO~IANf)L. JOG & INCREMENTAL

CYCLE FEED
E"'T ~ J~:C
MODE
Oo-tX o+Y 0+:'.
RAPID
START HOLD SELECT
X Y :'. - - -',

QOQ 10 so 0 0 0
RAPID TRAVERSE
OVERRIDE
®
SINGLE OPTIONAL DRY RUN REFERENCE MANUAL PULSE GENERATOR
BLOCK BLOCK SKIP RETURN

~ERGENCY~wg:mJ'~N @ (05 ~,S :~~T:PLlER

STOP MODE ABSOLUTE 0
FEED RATE
200 CI
JOG FEED RATE
211()() SELECT

OVERRIDE mm/min.

Fig.2.2 Machine operator's panel example

- 407 -
 111-2.2

Element functions

Name Function

Cycle start button Select an execution program and press this button
to start automatic operation. During automatic
operation, the lamp indicating automatic operation
is on.

Feed hold button Press this button during automatic operation and
the tool decelerates, then stops.

Mode selection switch Press this button to select a mode, depending on

the operation type.

Rapid traverse Press this button and the tool is fed rapidly.

Jog & incremental feed Press this button and manual continuous or incremental
feed is executed.

Handle Rotate the handle and the tool is rotated in the

corresponding direction.

Single block Place the single block switch in the ON position and
automatic operation is executed by one block.

Optional block skip Place this switch in the ON position and the optional
block skip is executed.

Dry run Place this switch in the ON position and the dry run
is executed.

Reference point return Place this switch in the ON position and the reference
point returns is executed.

Rapid override When the rapid traverse override is to be executed,

traverse this element selects the amount of the override.

Incremental feed This element selects the amount of one step of

amount incremental feed.

Emergency stop Presse this button to stop the machine in an

emergency.

Lock selection Selects display or machine Lock.

Manual absolute When manual operation is to intervene during automatic

operation, this element selects the amount of movement
by manual operation to be set in the absolute register
or not.

Feed rate override Selects the amount of override for automatic or manual
operation.

Jog feed rate Selects the manual continuous feed rate.

- 408 -
 I~I-2.3

Name Function

Handle axis Selects the axis moved by the manual handle.

selection

Handle multiplying During manual handle feed, select the multiplier of

selection the moving amount per step,.

2.3 Tape Reader

There are three types of tape reader.

1) Tape reader without reel
2) Tape reader with reel
3) Portable tape reader

2.3.1 Tape reader without reels

1) Name and description of each section
3. Capstan
roll Light sources

4. Tape reader control switch

NC tape

II I' ," .

: ,/' ~'
': Pulled up
I , / 'I
, , I I
I ' - : :-;::~_ I I
\/"" ',-"', / I
\ \ I ' , I
\ ....... _-- -- , .... ~/ ' I Belt to draw out
I ,-- _ ... -/ I I ____ an NC tape
",', ',_...',/ ~
\ '.: _-==-..:....
\
;
I
.
~ ' , _______ __ ,,,1 :
5. Tape box L ______________ .I

Fig. 2.3.1 Name of each section

No. Name Description

1. Light Sources An LED (Light emitting diode) is mounted for each

channel and for the feed hole (9 diodes in total). A
built-in Stop Shoe functions to decelerate the tape.
The light source is attracted to the optical reader by
a magnet so that the tape will be held in the correct
position. This unit can be opened upward, by turning
the tape readei control switch to the RELEASE position
(this turns off the magnet).

- 409 -
 111-2.3.1

Name Description
No.
i
2. Optical Reader Reads data punched on the tape, through a glass window.
Dust or scratches on the glass window can result in
reading errors. Keep this window clean.

3. Capstan Roller Controls the feeding of tape as specified by the

control unit.

4. Tape Reader A 3-position switch used to control the Tape Reader.

Control Switch
RELEASE ••. The tape is allowed to be free, or used to
open the light source. When loading or
unloading the tape, this position is
selected.
AUTO •••••• The tape is set to fixed position by the
Stop Shoe. The feed and stop of the tape is
controlled by commands from the Control Unit.
During a tape-controlled operation or data
input from tape, the Light Source must be
closed and this position must be selected.
MANUAL •••• The tape can be fed in the forward reading
direction. If another position is selected,
the tape feed is stopped.

5. Tape Box A Tape Box is located below the Tape Reader. A belt
used to draw out a paper ·tape is located inside the
box. The paper tape can easily be pulled out using
this belt.

2) Tape reader heading

a) Tape loading
CD Open the Tape Reader Door.
CD Set the Tape Reader switch to the RELEASE position.
Q) Lift the Light Source Unit, and insert an CNC tape between the gap.
The tape must be positioned as shown in the figure, when viewed look-
ing downward.

Feed hole

<: I Direction of tape feeding

QV Pull the tape until the top of the tape goes past the Capstan roller.
~ Check that the CNC tape is correctly positioned by the Tape Guide.
~ Lower the Light Source.
~ Turn the switch to the AUTO position.
aD Suspend the top and rear-end of the tape in the Tape Box.
~ Close the Tape Reader Door.

- 410 -
 111-2.3.2

b) Unloading the CNC tape

CD Open the tape reader door.
(2) Turn the switch to the RELEASE position.
GD Lift the Light Source and remove the tape.
® Lower the Light Source.
G) Close the door.

2.3.2 Tape reader with reels

1) Name and description of each section
2. Optical reader unit
I. Light
3. Capstan roller

Tension
arm

4. Reel

Reel boss
5.
9. ALARM
Tape reader
8. AUTO lamp lamp control switch
10. FORWARD 12. REWIND
button button

NC tape

I
,
I
Pulled up

,I
, - - -- .... I
I Tape to draw out
. -- -
.. '--- ............
,
_-- I
a paper tape
I
I
................ , ,,"
:....... - - - '-,,"
''\" - _-.-.-.'_.--
......

..........
. "
... ............
.
,
13. Tape - - - - - - I r - 1 , _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ ..... '
box

fig. 2.3.2 ~ame of each section

- 411 -
 111-2.3.2

Table 2.3.2 Description of each section

No. Name Description

1. Light Source An LED (light emitting diode) is mounted for each channel
and for the feed hole (9 diodes in total). A built-in Stop
Shoe acts to decelerate the tape.
The light source is attracted to the optical reader by a
magnet so the tape will be held in the correct position
adequately pressurized. The light source can be opened
upward by turning the tape reader control switch to the
RELEASE position (Turn off the magnet).

2. Optical Reads data punched on the tape through a glass window.

Reader Unit Dust or scratches on the glass window can result in reading
errors. Keep this window clean.

3. Capstan Control the feeding of the tape as specified by the Control

Roller Unit.

4. Reel Used to feed out and take up the CNC tape. AlSO m CNC
tape can be used.

5. Reel Boss A boss used to accept the reel. Driven by a real motor,
the boss turns the reel as specified by the control unit.

6. Tension Arm Absorbs the internal delay of the reel motor response at
the start/stop of tape motion. This arm also adjusts the
feeding of the tape from the feed reel.

7. Tape Reader A 3-position switch us~d to change the operating mode of

Control the Tape Reader.
Switch
RELEASE ••• The tape is allowed to be freed. The Light
Source unit can be opened. This position must
be selected when loading/unloading an CNC tape.
REEL ON ••• The tape is secured by the Stop Shoe and the
reel motor starts running. This position is
selected to operate the Tape Reader with a
reeled tape.
REEL OFF •• The tape is secured by the Stop Shoe, but the
reel motor is not started. This position is
selected to operate the Tape Reader without
using reels. No rewinding is done without reels.

When the Tape Reader is operated, or when inputting data

from a CNC tape, the Light Source must be closed and the
switch must be set to the REEL ON or REEL OFF position.

8. Auto Lamp Lights while the Tape Reader is operated automatically from
the Control Unit. While this lamp is lit, the manual con-
trol buttons on the Tape Reader (FORWARD, STOP, and REWIND)
cannot·be used.

- 412 -
 111-2.3.2

No. Name Description

9• ALARM LAMP Lights when alarm is generated in the tape reader. If this
lamp lights, remove the cause of the alarm, then turn the
operation switch to the RELEASE position or press the RESET
button. The following list shows the cause of the ALARM.

No. LIGHTS FLICKER CONTENTS

1. ALARM Reel operation error

1. When reel is on.
Tape is run short.
Tape is loosened.
2. When reel is off.
Reel is used.

2. ALARM FORWARD Tape reed error

1. On/off rate is not adjusting
well.
2. Punched hole is not good.

3. STOP Tape end

1. Tape is run short.

4. REWIND Tape is not stopped on EOR at re-

winding.
1. Stop magnet error.
2. Tape reading error.

5. ALARM Reading in the reverse direction

REWIND is done at REEL OFF.
1. When AUTO
Rewind command or reverse
direction reading command is
specified.
2. When Manual operation
REWIND switch is pressed.

6. ALARM Serial date error.

FORWARD 1. Bardrate is not fitted.
STOP 2. Stop bit is not adjusted.
REWIND 3. Host side does no stop the
transmission when
CS=OFF or DC3 receipt status.
(PTR BUFFER FULL)

7. AUTO 1. Watch dog.

ALARM 2. Power source error.
FORWARD
STOP
REWIND

- 413 -
 111-2.3.2

No. Name Description

10. FORWARD A button used to feed tape in the reading direction (for
Button ward). When the AUTO lamp is OFF and the switch is at REEL
ON or REEL OFF, the tape can be fed forward by pushing this
button until it is stopped by one of the following condi-
tions:
(i) STOP button is pushed.
(ii) ER in EIA code or % in ISO code is read.
(iii) RESET button on the CRT/MDI panel is pushed.

11. STOP Button A button used to stop tape feed performed by pressing the
10. FORWARD or 12. REWIND button.

12. REWIND A button used to feed ~he CNC tape in the reverse
Button direction. The CNC tape is fed in the reverse direction
when this button is pushed while the AUTO lamp is OFF and
the switch is set to REEL ON or REEL OFF. Once fed in the
reverse direction, the tape is rewound until one of the
following conditions is sensed:
(i) STOP button is pushed.
(ii) ER in EIA code or % in ISO code is read.
(iii) RESET button on CRT/MDI panel is pushed.
If you press this button at REEL OFF position, an
alarm may be displayed. In other words, the remind
operation cannot be done without reels.

13. Tape Box A Tape Box is located below the Tape Reader. A belt to
draw out a paper tape in the box facilitates the removal of
an CNC tape.

- 414 -
 111-2-3-2

2) Handling
a) Loading/unloading the CNC tape when reels are not used
Handling is identical to the steps in the tape reader without reels,
except the switch is set to the REEL OFF position at operation (j) (see
2.3.1).

b) Loading the CNC tape when reels are used

i) Loading the CNC tape
CD Correctly reel the CNC tape.

(i) The reel can be dismantled by

twisting the reel hub in the
direction of the arrow.

(ii) Separate the reel.

, Paper tape

(iii) Load the CNC tape

(iv) Twist the reel hub in the

direction of the arrows, until
the hubs are secured.

Open the Tape Reader door.

Set the control switch to the RELEASE position.
Mount the reel with the CNC tape on the boss located on the right
side, and the empty reel in the left boss. The reel with the CNC
tape must be loaded to allow counterclockwise feeding of the CNC
tape (see the figure below).

- 415 -
 111-2.3.2

Draw out the paper tape

0""e

® Set the tape to the tape guide A.

Tape guide A.

Set the tape to the tention arm.

Tape guide B.
Thread the tape under the tape
guide B. Tense the paper tape as
illustrated for tape threading.

- 416 -
 111-2.3.2
Tape guide C

Make sure that the paper tape is

threaded under tape guide C.

Tape

fANUC

Thread the left side paper tape

like the right side.

Cl a L1

Roll the top of the CNC tape on the take-up reel. Roll the tape several
turns to protect idle running of the reel.
Check that the tape is received as shown in the figure below (when viewed
downward).

IIIIIII_~ Feed hole

< I Direction of tape feeding

If this condition is not obtained, the reel is mounted incorrectly.

Check that the tape is correctly positioned by the Tape Guide.
Lower the Light Source.
Change the Tape Reader control switch to the REEL ON position. The reel
should be turned slightly and tensioned by the Tension Arms. If the reel
turns continually, tape is not received by the reel correctly~ . Repeat steps
from 0 for the take-up reel, or from G) for the feed reel. If the reel
boss runs idly while the reel stays still, repeat steps from ® to secure
the reel.
Close the door.

- 417 -
 111-2.3.3

ii) Unloading the CNC tape

CD Open the Tape reader door.
® Push .the REWIND button to rewind the tape. When the ER (EIA) or %
(ISO) code is re'ad, the rewind stops. Push the REWIND button again
to rewind the tape completely. Push the STOP button to stop the
rewinding.
Change the Tape Reader switch to the RELEASE position.
Take out the reel from the reel boss.
ffi4 Close the door.

2.3.3 Portable tape reader

1) Name and description of each section

4.
Tape
reader
11. Cable stored part

2.
Optical
13. Reader/puncher
reader part
interface
adapter

10.-
Lowering
lock 12. Photo
lever amplifier

5. Tape
box

Fig.2.3.3 Name of each section

- 418 -
 111-2.3.3

Table 2.3.3 Descriptions for each part

No. Name Description

1. Light source

2. Optical reader part

See the item for the tape reader without
3. Capstan roller
reel (see item 2.3.1).
4. Tape reader operation switch

5. Tape box Slack part of supplied tape (up to 15 m)

is contained in this box.

6. Grips For carrying the portable tape reader.

7. Winder Used to supply or rewind tape.

8. Metal fitting A

o ~I ~
II

Fastener
(Usually, keep it open.)

Push
~10 \.

"
"'-'\..
Insert
..=... / Paper tape Paper tape
~

To remove rewound tape, decrease the

internal diameter by pushing the fastener
as shown in the left figure.

9. Cover lock While the tape reader is being carried,

be sure to keep the cover under this lock.

- 419 -
 111-2.3.4

No. Name Description

10. Lowering lock lever When the tape reader is raised, the latch
mechanism fixes the reader. As a result,
the tape reader is not lowered. The
latch is locked with the downward
locklever. Thus, the latch is not
released by raising the tape reader with
the grips.
While the tape reader is kept under the
lock, the .lever remains horizontal. When
storing the tape reader, release the lock
by pressing this lever.
Then, raise the reader with the grips,
and release the latch.
After the latch is released, the tape
reader can be stored in the tape box.
After storage, fix the tape reader with
the cover lock.

11. Cable storage block The power and signal cables are rolled up.
The cable length is 1.5 m.

12. Photoamplifier Tape reader photoamplifier.

13. Reader/puncher interface 200 VAC + 5 VDC power supply + Reader/

adapter puncher interface adapter PCB.

2) Operation
Operation is the same as that of the tape readers without reels.
See item 2.4.1.
The following explains preparations and storage.
a) Preparations
Q) Remove the cover lock (9). Raise the tape reader with the grips (6)
until a click is heard. Then, lower the tape reader. At this time,
the tape reader is viewed and fixed. Check that the downward lever
(10) is horizontal.
® Take out the signal and power cables from the cable storage box (11).
Connect the signal cable and the power cable to CNC's RS232C port and
power source, respectively.
b) Storage

~;
Store the cables into the cable box (11).
Press the lowering lock lever (10) down at both sides.
Raise the tape reader with the grips (6) (latch release operation).
Then, lower it.
~ After setting the cover lock (9), carry the tape reader with the grips
(6) •

2.3.4 Note for handling tape reader

1) Precautions in tape loading
When the CNC tape is loaded, the Label Skip function should be activated to
read but skip data until the first End of Block code (CR. in EIA code or LF in'
ISO code) is read. When loading an CNC tape, the location within the tape
from which data reading should be started, must be properly selected and the
CNC tape should be set as shown in the figure below.

- 420 -
 111-2.4

<~~I;1L..----.-----1---1;.L--I_~<
""'1.------------t.1 L The program which should be read.
Actually, the end of block code (;) is
Set the tape so that this section is
CR in EIA code or is LF in ISO code.
under at the glass window.

2) Disconnection and connection of the tape reader connection cable

Do not disconnect or connect CNC ++ tape reader connection cable (signal
cable) without turning off the CNC and tape reader power supply when using a
separate tape reader, otherw~se the PCB of the tape reader and master PCB of
the CNC controller may be broken. Turn off the CNC and tape reader power
supply before disconnecting or connectin'g the connection cable, accordingly.

2.4 FANUC CASSETTE B1/B2/F1

Data can be stored in the cassette using a bubble memory (Bl/B2) or floppy (Fl).
CNC data can also be input from this cassette to the CNC.

F ANUC CASSETTE

F ANUC CASSETTE ADAPTOR

'"'---++----*'---- Eject lever

)..---- Power button

CNC connecting connector

See the FANUC CASSETTE Operator's Manual (B-53484E) for the FANUC CASSETTE ope-
ration.
See Chapter 111-13 in this manual for I/O from and to FANUC cassette.

- 421 -
 111-2.5

2.5 FAN UC PPR

An I/O device with paper tape reader, tape punch, and printer in one system.
Interface is reader/puncher interface.

Paper tape puncher

Paper tape reader

Printer Reel unit

Switch unit
. FANUC PPR

Paper tape reader reading speed: 150 ch/sec or more

Paper tape punch punching speed: 50 ch/sec
Printer characters per line 40 ch. (dot impact method)
Printing speed 1.2 line/sec

See the FANUC PPR Operator's Manual (B-54584E) for the FANUC PPR Operation.

- 422 -
 111-3

3. ,POWER ON/OFF

1) Turning on the power

CD Check that the appearance of the CNC machine tool is normal. (For
example, check that the front and rear doors are closed.)'

~
Turn on the power according to th,e instructions in the machine manual.
3 Check that data is being displayed on the CRT screen.
4 Check that the fan motor is rotating.

NOTE: When pressing the POWER ON key, do not touch any other CRT /MDI
panel keys. Do not touch them until the positional or alarm screen
is displayed. Some keys are used for maintenance or special opera-
tion purposes. When they are pressed, unexpected operation may be
caused. I

2) Turning off the power

CD Check that the lamp, indicating the cycle start, is off on the operator's
panel.
Check that all movable blocks of the CNC machine tool are stopping.
Place the tape reader into the RELEASE state.
If I/O devices such as the tape punch unit are attached to the CNC
machine tool, turn off the power to these devices.
Continue to press the POWER OFF pushbutton for about 5 seconds.,
Refer to the machine tool builder's manual for turning off the power to
the machine.
3) Note
When connecting or disconnecting a cable of an I/O device connected through
RS-232-C interface, be sure to turn off the power of the I/O device.

- 423 -
 111-4

4. MANUAL OPERATION

4.1 Manual Reference Point Return

Q) Set the MODE SELECT switch to the JOG position.

TAPE MDI

MEMORY

INC
EDIT

GD Turn on the REFERENCE POINT RETURN switch.

OFF ON

r/))
REFERENCE POINT RETURN Switch

CD Jog Feed to the reference point direction by each axis

+X +Y +z

0 0 0
-X -y -z
Keep this switch on until
the reference point is reached.

0 0 0
The tool moves along the selected axis to the decelerated point at the
rapid traverse rate. It then moves to the reference point at the FL
speed. A rapid traverse override is effective during rapid traverse
motion.

- 424 -
 111-4.2

® The machine stops at the reference point li~hting the. REFERENCE POINT
RETURN COMPLETION LED.
x Y Z

©©©
REFERENCE POINT RETURN
COMPLETION LED

(Note 1) Once the REFERENCE POINT RETURN COMPLETION LED lights at the
completion of reference point return, the tool does not move
unless the REFERENCE POINT RETURN switch is turned off.
(Note 2) The REFERENCE POINT RETURN COMPLETION LED is extinguished by
either of the following operations:
(i) Moving from the reference point.
(ii) Entering an emergency stop status.
(Note 3) For the distance to return the tool to reference point, refer
to the manual issued by the machine tool builder.

4.2 Manual Continuous Feed

The machine tool can be continuously moved manually as follows.
CD Set the MODE SELECT switch to the JOG position.
TAPE MDI

MEMORY
INC

EDIT

GD Select the axis to be moved.

+X +Y +Z

000
000
The selected axis moves in its direction.
(Note 1) If 3 axes are selected simultaneously by a switch, the previously
selected 2 axes only move because Manual operation is for simul-
taneous 2 axes
(Note 2) When the mode is switched to the JOG mode while power is on, axis
will not move even if it has already been selected. Axis selection
must be performed again.

- 425 -
 111-4.3

® Select the jog feed rate.

JOG
FEED RATE
mm/min

® RAPID TRAVERSE
To perform rapid traverse manually, press the RAPID TRAVERSE button.

o
Rapid Traverse

The selected axis moves in its direction while this button is pressed.
(Note 1) The feed rate, time constant, and acceleration/deceleration system
are the same as those of programmed rapid traverse (positioning by
GOO).
(Note 2) Rapid traverse is not performed even if the RAPID TRAVERSE button
is pressed if reference point return is not performed for axes
having a reference point return function after power is turned on
or an emergency stop is performed. This is intended to prevent
that axes from reach stroke end at rapid traverse because the
stored stroke limit function also does not become effective.

4.3 Incremental Feed

CD Set the MODE SELECTOR to the INC position.

TAPE MDI

MEMORY
INC

- 426 -
 111-4.4

CD Select the desired amount of movement.

XIO~Xl0000
Xl~XIOOOOO
Input
Xl XI0 XI00 XI000 XI0000 XI00000
system

Millimeter
0.001 mm 0.01 mm 0.1 mm 1 nun 10 mm 100 mm
input

Inch
.0.000 1 inch 0.001 inch 0.01 inch 0.1 inch 1 inch 10 inch
input

G) Select the axis

+x +y +Z

000
b60
When the switch is pressed once, the axis moves by the amount specified in
its direction •.
When the switch is pressed after releasing it once, the axis moves by the
specified amount.
(Note 1) The feed rate is the same as the jog feed rate.
(Note 2) The rapid traverse button is also' effective. Rapid traverse over-
ride is effective during rapid traverse.
(Note 3) All the multipliers from Xl to XI00000 may be changed depending
upon the machine tool.
4.4 Manual Handle Feed

The feed rate can be adjusted precisely by using the manual pulse generator.
GD Set the MODE SELECT switch to the HANDLE position.
TAPE MDI

MEMORY

EDIT

- 427 -
 111-4.4

@ Select an axis.

(]) Rotate the handle of the manual pulse generator.

clockwise rotation •••••••••• + direction

counterclockwise rotation •••• - direction
{The direction varies with the machine tool builder.}

~ Movement amount
In some cases the operator's panel is provided with the following selector
switch. X10 multiplies the movement amount by 10;X100 by 100.

Handle Multiplier

Movement amount per degree

Input system Xl X10 X100

Metric input 0.001 mm 0.01 mm 0.1 mm

Inch input 0.0001 inch 0.001 inch 0.01 inch

- 428 -
 111-4.5

(Note 1) Other amounts may be used depending on the machine tool.

(Note 2) If the handle is rotated in excess of 5 turns/sec, there is a dif-
ference between he handle rotation amount and the machine movement
distance.
(Note 3) Rotating the handle too fast when XI00 is selected moves the tool
or table at a rate as'fast as the rapid traverse rate. A sudden
stop gives the machine tool a shock. The Automatic Acceleration/
Deceleration option provided applies automatic acceleration/
deceleration to the manual handle feed also, reducing mechanical
shock.

4.!;i Manual Arbitrary Angle Feed

The tool can be moved to an optional direction on an optional plane by manual

operation. Simple plane cutting can be performed with this function because
feed rate, feed direction, feed plane can always be' changed.
1) Plane selection
Specify 1st and 2nd axis of the plane to perform manual optional angle feed
by external signals.
2) Feed direction assignment
Specify feed direction of manual .arbitrary angle feed by external signals.
Every 1/16 degrees between 0 0 - 360 0 can be specified.
The angles are ~s follows.

(Second axis + direction)

90 0

( First axis + direction)

Angles of 360 0 or more' can be specified, for the CNC can convert the angle.
Feed direction can be optionaly changed during manual arbitrary angle feed.
In position check will not be performed even when feed direction changes, and
move command to the new direction is immediately executed.
3) Feed rate assignment
Feed rate of manual arbitrary angle feed (tangential direction speed) is
specified with the jogging speed set dial. Feed rate can be freely changed
during manual arbitrary angle feed.
4) Manual arbitraty angle feed start, stop command
Manual arbitrary angle feed is performed while manual arbitrary angle feed
signal is on.
Manual arbitrary angle feed signal for forward direction feed and reverse
direction (180 0 reversed direction) feed are available.

(Note 1) When manual arbitrary angle feed mode is selected, only the plane
axis movement that has been selected is possible.
(Note 2) Automatic/manual synchronous operation is not available regarding
the manual arbitrary angle feed.

- 429 -
 111-4.6

4.6 Manual Numeric Command

Program format data commanded via the MOT can be executed in JOG mode.
Manual numerical command can be executed any time the JOG feed is available.
The following commands can be executed:
- Positioning (GOO)
- Linear interpolation (GOl)
- Automatic reference point return (G28)
- 2nd/3rd/4th reference point return (G30)
- M, S, T, B (2nd miscellaneous function)
Execute manual numeric commands as follows:
Select the JOG mode. The reference point return switch must be set to OFF.
2 Press the function menu ·key.
; 3 Press the PROGRAM key and ~ program screen is displayed.
4 If the program screen is not the program text screen,
(i) Press CHAPTER key, then TEXT key, or
(ii) Press the PROGRAM key repeatedly until the program text screen is
displayed.
CD Press the operation menu key to change over the soft key to the operation
selection key.
(§) Key in the command from the address and numeric keys. The following
commands can be input:
(i) GOO (positioning) ••• The amount of movement is given by the address of
X, Y, Z, etc. followed by a number. GOO is always comm'anded by an
incremental value without regard to G90/G9l. The rate of movement is
rapid traverse or jog according to the setting of the manual rapid
traverse selector switch (RT).
(ii) GOl (linear interpolation) ••• The amount of movement is the same as
GOO. The feedrate is always the rate for a dry run. It cannot be
commanded by F and is unrelated to the setting (ON/OFF) of the dry run
switch. '
(iii) G28 (Reference Point Return) ••• Automatic return to the reference point
can be executed bya G28 command.
Different from the reference point return during automatic operation,
the tool directly returns to the reference point (does not return via
the intermediate point). The reference point return is not executed
along the axes in which no movement command is specified.
(iv) G30 (2nd to 4th Reference Point Return)
The tool can be positioned to the 2nd, 3rd or 4th reference point by a
G30 command as the same as that by G28. One of three reference points
is selected by a number following address P as the same as that during
automatic operation.
(v) M, s, T, B function
A number of addresses can be input as long as the characters can be
entered.
Press the 1INPW key.
Repeat steps 6 and (j) up to the end of input of the necessary commands.
After the end of input, the display can be switched to another screen.
Position display and other screens are displayed as required.
Press and rele~se the cycle start button on the operator's panel or on the
CRT/MOl panel start key. Execution begins and STRM is shown on the status
display. For some machine tools, the cycle start lamp may light (parameter
setting).

- 430 -
 111-4.7

QP At the end of execution, the status display returns to STOP or HOLD and the
cycle start lamp goes out. If any of the following cases occur during
program execution, the stop or hold status is displayed and the remaining
movement is cancelled.
(i) Feed hold is applied.
(ii) Mode is switched to a mode other than the JOG mode.
(iii) An alarm occurs.
(iv) The system is reset or emergency stop is applied.
The M, S, T or B function continues except for (iv).
(Note 1) Manual numeric commands can be executed in any status in which JOG
feed is accepted.
Manual numeric commands may also be executed when the system is
stopped by feed hold, etc. (automatic operation hold status) during
a block. However, note the following restrictions:
(i) When an M, S, T, or B function is being executed, manual
numeric commands containing an M, S, T, or B function cannot be,
executed.
(ii) When an M, S, T, or B function is being executed, manual
numeric commands are not executed in the following cases:
a) The M, S, T or B function is specified in the single block
or
b) Execution of another function specified in the same block as
the M, S, T or B, has already finished.
(Note 2) No subprogram nor custom macro can be called by M, S, T or B code.
(Note 3) No, S code can be specified in the constant surface speed control
mode.

4.7 Manual Absolute ON and OFF

This switch selects whether the amount of manual movement is to be added to the
absolute value.
1) When the switch is ON.
Y-axis

Manual operation

PI

o~----------------------------e. X-axis

The coordinate values change by the amount of manual operation.

2) When the switch is OFF.
YI Y2

02
L0
PI
~~------------------------~X2

OIO---------------------------------e.XI
The coordinate values do not change.

- 431 -
 111-4.7

(Example 1) Suppose the next tape commands

GOIG90XI00.0YI00.0FOI0; ~
X200.0YI50.0 2
X300.0Y200.0 ; 3
a) When block ® has been executed after manual operation (X-axis +20.0,
Y-axis +100.0) at the end of movement of block CD.
y
( 120.0,200.0) (220.0,250.0)

(200.0,150.0 )
Manual operation_

When manual absolute switch is ON.

( 100.0 , 100.0 )
~___________________________________x

b) When the feed hold button is pressed while block is being executed, ®
manual operation (Y-axis +75.0) is performed and the cycle start button is
pressed and released.

Manual ab~olute switch OFF

(300.0,275.0)
j -- _0

( 200.0,225.0) _ - ...".. ---

( 150.0 ,200.0 ) --

c) When the feed hold button is pressed while block @ is being executed,
manual operation (Y-axis +75.0) is performed the control unit is reset
with the RESET button, and block is read again. ®
(300.0,275.0 )

(200.0,225.0)
..0---
_
-- .-0

(150.0,200.0 )
- - - , Manual absolute switch OFF

(100.0,100.0)

- 432 -
 111-4.7

d) When there is only one axis in the following commands, only the commanded
axis returns.
NIGOIG90XI00.0YI00.0F500;
N2 X200.0;
N3 YI50.0;

«I
t
I

~--~~~~r--J~
N3 " - Manual absolute switch
OFF
N2

e) When the following commands are incremental commands, operation is the

same as when the MANUAL ABSOLUTE switch is set to OFF.
(Note 1) The following occurs when manual operation is performed during cut-
ter compensation C.
1) The MANUAL ABSOLUTE switch is OFF and the cutter compensation C is being
performed.
After the manual operation is performed with the MANUAL ABSOLUTE switch in
the OFF position during cutter compensation C, automatic operation is re-
started and moves parallel to the movement that would have been performed if
manual movement had not been performed. The amount of separation equals the
amount that was performed manually.

/
~ - ----- --- -- - --~

\
/ \
// \
/ )
/
/
,
Manual operation / / ,

/
/
/
/ /
/ / "
/
/

Cutter center path , /

Programmed path
/

- 433 -
 111-4.7

2) The MANUAL ABSOLUTE switch is ON and cutter .compensation C is being per-

formed ..
Operation of the machine upon return to automatic operation after manual
intervention with the manual absolute switch in the ON . position during
execution with an absolute command program in the cutter compensation C mode
will be described. When the program consists of incremental commands and
parameter INC (Data No. 2402) = 1, operation is the same as if an axis was
moved with the absolute switch OFF. When parameter INC = 0, the motion for
the incremental commands is the same as when absolute commands are given as
described below:
a) During block execution
(Example 1)
vel

VBl

PD

Absolute command program path

\
\
\ \

\
\
\
\
Tool center path before maIlJ.Ulloperation
\
\
\
\
Tool center path \
\

\\ -- Manual operation

The tool center goes to the top of the next vector created on the program
after manual intervention.

- 434 -
 111-4.7

(Example 2) VCI

\
\
\
\ Absolute command program path
\
\ I
\ I
\ I
I
\
I

Tool center path

After a manual operation is performed during corner movement, the tool

center goes to the top of the next vector created on the program as the
same as example 1.

b) Manual operation was performed after execution of a block was terminated

by single block stop.

VC2
I
I
Manual I
operation I
I
I
I
/

\
\
\ Absolute command program path
\
Tool center path

The tool center goes to the top of the next vector created in the program
the same as a).

- 435 -
 Ill-4.8

4.8 About Manual Intervention Amount

The execution of a program after the manual intervention was described in 4.7
"Manual Absolute ON and OFF". This section summarizes relation between the
operation and the conditions: Parameter No. 2402/11: INC, Manual absolute
switch and G90/G91 mode:

.... ~"
"
"" CD
""
"

Manual
Intervention

1) When the manual absolute switch is off, the movement is CD.

2) When the manual absolute switch is on,
a) In case of G90 mode, the movement is (]).
b) In case of G91 mode,
i) The movement is CD
in case of parameter INC 1.
ii) The movement is (]) in case of parameter INC O.

- 436 -
 111-4.9

4.9 3-dimensional Handle Feed

In the 3-dimensional handle feed, there are three special handle feed modes, the
function to modify the tool length compensation amount in the tool axis
direction, and two screen display functions. It is the function to perform the
special handle feed of the machine tool for 5 axis type carving. Further, these
handle feed modes function even during manual handle interrupt.

0iScial handle feed mode

1 Handle feed mode in tool axis direction
2 Handle feed mode in tool axis perpendicular direction
3 Handle feed mode in tool tip center rotation
• Hereafter, these 3 handle feeds are called special handle feeds.
• Function to modification tool length compensation amount in the tool axis
direction
• Screen display function
QD Display of tool tip coordinates
GD Display of pulse amount and move amount for manual interruption
The following shows the various variables which appear in the arithmetic
expression.
Xp, Yp, Zp: Handle feed pulse of each axis (Integrated value)
Hp Handle feed command pulse count (Integrated value)
A, B, C Machine tool position of A, B, C axes
L Distance from tool rotation center to tool tip

4.9.1 Tool axis direction handle feed

If the manual pulse generator is turned after selecting the handle mode in tool
axis direction, the tool moves only the specified movement amount in the tool
axis direction of the inclined tool by the rotation of the rotating axis.
At this time, if this is during automatic operation of the handle interruption
mode, the axis direction movement by the manual pulse generator is superimposed
on the move by the automatic operation.

- 437 -
 111-4.9.1

The distributed pulse to each axis by the handle interruption in tool axis
direction is as shown below.
1) When B, C axes

Zp
,- -
--
,,
,,
,
,,
y Xp

Xp = Hp x SIN (B) x·COS(C)

Yp = Hp x SIN (B) x SIN (C)
Zp = Hp x COS (B)
However, when setting C = 0 0 (Parameter CCLR = 1 of data number 7550)
Xp = Hp x SIN (B)
Zp = Hp x COS (B)
results.

2) When A, C axes
Z

x y

Xp Hp x SIN (A) x SIN (C)

Yp -Hp x SIN(A) x COS (C)
Zp Hp x COS (A)
However, when setting C = 0 0 (Parameter CCLR = 1 of data number 7550)
Yp = -Hp x SIN (A)
Zp = Hp x COS (A)
results.

- 438 -
 111-4.9.1

3) When A, B axes

<A axis master>

Z

A
Zp

"
Yp

Y
p
X

Xp = Hp x SIN (B)
Yp = -Hp x COS (B) x SIN (A)
Zp = Hp x COS (B) x cos (A)
results.

< B axis master>

Zp

y
X

Xp = Hp x COS (A) x SIN (B)

Yp = -Hp x SIN (A)
Zp = Hp x COS (A) x COS (B)
results.

- 439 -
 111-4.9.2

4) When A, B axes (When tool axis is X axis direction)

...........

:
I
B Xp
I
I
I
Zp Z
····A:=·l~;;;~;;;:::: ~: ..... .
I

y
Xp Hp x COS (B)
Yp Hp x SIN(B) x SIN (A)
Zp -Hp x SIN (B) x COS (A)
results.

4.9.2 Handle feed in tool axis perpendicular direction

If the manual pulse generator is turned after selecting the handle mode in tool
axis perpendicular direction, the tool moves only the specified movement amount
in the specified perpendicular direction to the tool axis of the inclined tool
by the rotation of the rotating axis.
At this time, if this is during automatic operation of the handle interruption
mode, the perpendicular direction movement by the manual pulse generator is
superimposed on the movement by the automatic operation.

A axis & C axis

B axis & C axis

Rotation center

Tool perpendicular direction Z

(X axis) Tool axis direction ~

Tool perpendicular dire.Ction

~ _ _ _ _ _ _ (Yaxis) Y
/ Workpi~ce j X A B

- 440 -
 111-4.9.2

The distributed pulse to each axis by the handle interruption in tool axis
direction is as shown below.
1) When B, C axes

< X axis direction>

z

Hp (X axis direction) Xp 0'

X Zp

Xp Hp x COS (B) x COS (C)

Yp Hp x COS (B) X SIN(C)
Zp -Hp X SIN (B)
results.

<Y axis direction>

X ~---------,.--- 0 Draw in the XY plane because there is no
rotation of the Y axis tool tip by the
rotation of the B axis which is in the Y
axis because of the setting of the B, C
O'tf---+ axis, and consider that the forward
direction of the Z axis is +.
YP 'C Hp (Y axis direction)

_______ \J Y' 1Y
Xp -Hp x SIN (C)
Yp Hp x COS (C)
Zp 0
results.

- 441 -
 111-4.9.2

2) . When A, C axes

< X axis direction>

o y
Draw in the XY plane because there is no
rotation of the X axis tool tip by the
rotation of the A axis which is in the X
axis because of the setting of the A, C
,e:;;---~, YP axes, and consider that the forward
I

Hp ~ a:, dkec,[ direction of the Z axis is +.

I

Xp

Xp Hp x COS (C)
Yp Hp x SIN(C)
Zp 0
results.

< Y axis direction>

z
Hpxy t

x Y

Xp -Hp x COS (A) x SIN(C)

Yp Hp x COS (A) x COS (C)
Zp Hp x SIN (A)
results.

:- 442 --
 111-4.9.3

3} When A, B axes (Tool axis is X axis direction)

z(+)
Z axis direction' feed

Z '(+)

Z axis direction feed

Hp

Xz
Zy

Y axis direction
Xy 0
Yy =. Hp x COS (A)
Zy = Hp x SIN (A)
Z axis direction
Xz Hp x SIN(B}
Yz = -Hp x cOS(B} x SIN (A)
Zz = Hp x COS (B) x COS (A)
results.

4.9.3 Handle feed in. tool tip center rotation

When the rotating axis (either A or B axis, or C axis) is moved by the manual
pulse generator after selecting the handle mode in tool tip center rotation, X,
Y, Z axes are also moved by controlling the tip position of the tool such that
it does not move by the movement of this rotating axis.
At this time, if this is during automatic operation of the manual handle
interrupt mode, the tool tip center rotation movement by the manual pulse
generator is superimposed on the movement by the automatic . operation.
When tool tip center rotation, the movement amount (Xp, Yp, Zp) of the linear
axis obtained by the following calculation expression is outputted at the same
time as the movement of the rotating axis. As a result, the position of the
tool tip hardly moves. The distribution pulse to each axis by the tool tip
center rotation handle feed is as follows.

Note) When the rotary axis is rotated at high speed, the tool nose position may
move.

- 443 -
 111-4.9.3

1) When B, C axes

z
T

Move amount of linear axis

Xp L x [SIN(B+Bp) x COS(C+Cp) - SIN(B) x COS(C)]
Yp = L x [SIN(B+Bp) x SIN(C+Cp) - S!N(B) x SIN(C)]
Zp = L x [COS(B+Bp) - COS (B) ]

Rotation amount of rotating axis

Bp = Hp or Cp Hp

2) When A, C axes
z
T

x y

Move amount of linear axis

Xp L x [SIN(A+Ap) x SIN(C+Cp) - SIN(A) x SIN(C)]
Yp = -L x [SIN(A+Ap) x COS(C+Cp) - SIN(A) x COS(C)]
Zp = L x [COS(A+Ap) - COS (A) ]

Rotation amount of rotating axis

Ap = Hp or Cp Hp

- 444 -
 111-4.9.4

3) When A, B axes (Tool axis is X axis direction)

Tool tip center rotation

Handle interruption or
Handle feed
(A+Ap), (B+Bp)
Z(+)

Pe

I if I
I ' I

: ¥'S :
I I I I
I

4:. _............
\I~ I I
~"''',,:''

Xs
Tool tip position

y (+)

Movement amount of linear axis

Xp L x [COS(B+Bp) - COS (B) ]
Yp L x [SIN(B+Bp) x SIN(A+Ap) - SIN(B) x SIN(A)]
Zp -L x [SIN(B+Bp) x COS(A+Ap) - SIN(B) x COS(A)]

Rotation amount of rotating axis

Ap = Hp or Bp Hp

4.9.4 Modification of tool length compensation amount in tool axis direction

During tool length compensation mode (G43.1) in tool axis direction, and during
handle interruption mode (MOVL, H-on) J select the tool length compensation
amount change mode in tool axis direction and modify the tool axis direction
tool length compensation amount by turning the manual pulse generator.
Further, the modification of the compensation amount is cleared by modifying the
reset,G49 command, and offset number.

4.9.5 Precautions about 3-dimensional handle feed

1) The 3-dimensinal handle feed function is disabled if parallel axis control is
added.
2) The handle interruption operation of the 3-dimensional handle feed function
is enabled when the handle interruption is added.
3) When performing handle interruption, there must not, be a command for the
rotating axis.

- 445 -
 111-4.9.5

4) The machine tool configuration is the following axis, configuration.

A axis & C axis

B axis & C axis

Rotation center

A axis & B axis (When tool axis is X axis direction)

,
\ z
Rotation center / ", "" Workpiece

Tool /
X A
Tool axis direction

5) Handle interruption operation of 3-dimensional handle feed function

In the following state, handle interrupt is performed by rotating the manual
pulse generator.
a. Mode
Automatic operation mode (TAPE, MDI, MEMORY)
b. Operation state
Cutting feed (GOl, G02, G03) mode
c. Inter~uption disable
Handle interrupt is not performed during operation, alarm, interlock, and
positioning.
6) When not specifying parameter (HLB), or A axis and Caxis as the axis at A, C
axis selection, the alarm (PSOll) results. The same also applies when B, C
axis and A, B axis selection.
7) The manual pulse generator uses the first unit.
Enabling the various 3-dimensional handle feeds is when the axis selection of
these 3-dimensional handle feed modes to the manual handle feed axis
selection signal of the first manual pulse generator is inputted, and when
each handle mode signal (one of G156.0 - Gl56.3) is inputt~d.
8) The incorporation of the machine tool coordinates of rotating axes A, H, C,
when performing handle feed in tool axis direction and handle feed in tool
axis perpendicular direction, is performed when these 2 handle feed modes are
selected. Therefore, even if the rotating axis is moved in the state in
which these 2 handle feed modes are selected, the machine tool coordinates
after this movement are not reflected.

- 446 -
 111-4.9.6

9) The compensation amount modified by the change of the tool axis direction
tool length compensation amount is enabled from the block to have buffering
performed.

4.9.6 Display of tool tip coordinates

This performs the display of the absolute coordinates and actual speed of the
tool tip position by the handle feed in tool axis direction, handle feed in tool
axis perpendicular direction, and the tool tip center rotation handle feed. The
same display is performed even during the manual handle interrupt mode.
The absolute coordinates of the tool tip position are calculated from the
current position of each axis by setting the tool length L, and displayed.
There are the following two methods for selecting the display screen of the tip
coorqinates.
a) Selection by function select key
Press the function menu key, and set the soft key in the function select key
state. Select the screen of the tool tip coordinates after pressing the
position key of the function select.
b) Selection by chapter select key
Press the function menu key, and select the position screen by the soft key.
Press the operation select key in the position screen, set in the chapter
select key state, and select the item of the tool tip position display.
1) Calculation expression of tool tip position display
By setting the tool length L, the following tool tip position is obtained by
the current position of each axis and displayed.
a) When B, C axes
Xd X - L x SIN(B) x COS (C)
Yd = Y - L x SIN(B) x SIN(C)
Zd = Z - L x COS (B)
However, when' setting C = 0 0 (Parameter CCLR 1 of data number 7550)
Xd X - L x SIN(B)
Yd = Y
Zd = Z - L x COS (B)
b) When A, C axes
Xd X - L x SIN(A) x SIN(C)
Yd = Y + L x SIN(A) x COS (C)
Zd = Z - L x COS (A)
However, when setting C = 0 0 (Parameter CCLR 1 of data number 7550)
Xd X
Yd = Y + L x SIN (A)
Zd = Z - L x COS (A)
c) When A, B axes (Restricted to handle interruption/handle feed in tool axis
direction)
A axis master
Xd X - L x SIN(B)
Yd = Y + L x COS (B) x SIN(A)
Zd = Z - L x COS (B) x COS (A)
B axis master
Xd X - L x COS (A) x SIN(B)
Yd = Y + L x SIN(A)
Zd = Z - L x COS (A) x COS (B)
results.
When A, B axes (When tool axis is X-axis direction)
Xd X - L x COS (B)
Yd Y L x SIN(B) x SIN(A)
Zd Z - L x SIN(B) x COS (A)

- 447 -
 111-4.9.6

At this point,
Xd, Yd, Zd: Tool tip position
X, Y, Z Current position of each axis (workpiece coordinates)
A, B, C Current position from work coordinate system zero point
of A, B, C axes
L Tool length which has been set
2) Display format
a) 9-inch CRT

TOOL HEAD POSITION 00001 NOOOOI

(ABSOLUTE)
X 1 23.. 456 (MM)
y 234. 567 (MM)

Z 56.. 789 (MM)

B 78.. 893 (DEG. )

G, 2 1.. 8 9 3 (D E G. )

ACT, F: 1 5 (MM/M I N) S: a (P RM)

TL HEAD HDL PLS

b) 14-inch CRT

TOOL HEAD POSITION 00001 NOOOOI

(ABSOLUTE)

X 1 2 3. 456 (MM)
y 2 3 4. 567 (MM)
Z 5 6. 789 (MM)
B 7 8. 901 (DEG.)
C 2 1 .. 893 (DEG. )

(ACTUAL SPEED)
F 15 S a
(MM/MIN) (PRM)

TOOL HANDLE
HEAD PULSE

- 448 -
 111-4.9.7

4.9.7 Display of handle interrupt pulse amount and move amount

This performs the summation display of the handle interruption amount and the
movement amount of each' axis by the handle feed in the tool axis direction,
handle feed in tool axis perpendicular direction, and the handle feed in tool
tip center rotation. The same display is performed even during the handle
interruption mode.
There are the following two methods for selecting the summation display screen
of the handle interruption amount and the movement amount of each axis.
a) Selection by function select key
Press the function menu key and set the soft key in the function select key
state.
Select the screen for the interruption amount and movement amount of each
axis by pressing the position key of the function select.
b) Selection by chapter select key
Press the function menu key and select the position screen by the soft key.
Press the operation select key in' the position screen, set in the chapter
select key state, and select the item of the interruption amount and movement
amount display of each axis.
1) Display format
a) 9-inch CRT

TOOL HEAD POSITION o0 0 0 1 N0 0 0 0 1

(PULSE) (D IS TA.N C E)
X o. 0 0 0 X t. 234
YO. 0 0 0 Y 2. 0 9 8
Z 1.215 Z 3. 7 8 9
B O. 000 B 4.123
C O. 000 C O. 000

TOOL: O. 789
ACT. F 1 5 (MM/M I N) s o (P RM)

T L HE AD HD· L__ P L S

- 449 -
 111-4.9.7

b) 14-inch CRT

TOOL HEAD POSITION 00001 NOOOOI

(PULSE) (DISTANCE)
X O. 000 X 1 . 234
Y O. 000 y 2. 098
Z 1 . 215 Z 3. 789
B O. 000 B 4. 123
C O. 000 C O. 000

(TOOL)
L O. 789
(ACTUAL SPEED)
F 15 S 0
(MM/MIN) (PRM)

TOOL HANDLE
HEAD PULSE

Note) The axis names X, Y, Z, B (or A), and C (or B) of the "(PULSE)" display
are not the amount of each axis interrupted by the handle.
Each of the special handle functions corresponds to the following.
"[ ]" is the case when the tool axis is X axis direction and the rotating
axis is A, B axis.
QD Tool axis perpendicular direction Displays interrupt amount by
mode X axis direction handle to 1st axis.
[Y axis direction]
CD Tool axis perpendicular direction Displays interrupt a~ount by
mode Y axis direction handle to 2nd axis.
[Z axis direction]
CD Tool axis direction mode Displays interrupt amount by
handle to 3rd axis.
QD Tool tip center rotation mode Displays interrupt amount by
A, B axis handle to 4th axis.
[B axis]
~ Tool tip center rotation mode Displays interrupt amount by
C axis handle to 5th axis.
[A axis]
QD Modification of tool length Displays interrupt amount (tool
compensation amount in the tool length compensation amount) by
axis direction handle to "L" or "TOOL".
(Displayed at the time
compensation amount becomes
enabled)

- 450 -
 111-5

5. AUTOMATIC OPERATION

5. 1 Operation Mode

5.1. 1 Tape operation

CD Load the CNC tape onto the tape reader.
~ Set the mode selector to the TAPE position.

TAPE MOl

MEMORY HANDLE

INC

.'EDIT JOG

CD Press the cycle start button.

o . ...---- Cycle start lamp lights

co
Cycle start

When pressed, automatic operation begins and the cycle start lamp lights.

5.1.2 Memory operation

§2
3
Load the program to the memory (111-9)
Select the program to be operated (111-5.2)
Set the mode selector to the MEMORY position
TAPE MOl

MEMORY
INC

EDIT JOG

® Press the cycle start button.

- - - - - - Cycle start lamp lights

Cycle start

When pressed, automatic operation begins and the cycle start lamp lights.

- 451 -
 111-5.1.3

5.1.3 MOl operation

1) Program input to MDI operation
buffer memory
The command of the multiple blocks
can be input from the CRT/MDI panel
to the MDI operation buffer memory.
The capacity of the MDI buffer • 9" CRT unit
memory is 200 characters.
1 1
~I ~JJ I
(1)21 Set the mode to the MDI mode.
CD Press the function menu key to
change over the soft key to the
function selection key.
111®l9'01 0 0 0'
~ Press the PROGRAM key. The Function Soft key Operation
program is displayed on the menu key selection menu key
screen.
9" CRT function selection key
® When the program text is not
displayed on the screen, follow
the procedure described below.
i) Press the CHAPTER key to
9" CRT operation selection key
change over the soft key to
the chapter selection key
and press TEXT key.
I I I I
ALT ER IN S ERT DELETE DLT-\VRD BG -ED IT + II
or t
ii) Press the PROGRAM key re- • 14" CRT unit
peatedly until the program
text is displayed.
Press the operation menu key to
change over the soft key to the
operation selection key.
Key in the program to be input
Function Soft key Operation menu
using address keys and numerical menu key key
keys. Keyed in program is 14" CRT function selection key
entered in the key input buffer.
Press the INSERT key, the pro-
gram in the key input buffer is
transmitted to the MDI operation
14" CRT operation selection key
buffer memory.
The content of the MDI operation
buffer memory is displayed on
the CRT.
(j) To input more programs, repeat
the operation described in ®.
2) Program editing in the MDI operation buffer memory
The program in the MDI operation buffer memory can be edited in the same
method as that for the program registered in the memory.
The following editing is possible:
a) Forward search (Refer to 9.4.1)
b) Reverse search (Refer to 9.4.1)
c) Word change (Refer to 9.4.2)
d) Word insertion (Refer to 9.4.2)
e) Word deletion (Refer to 9.4.2)
f) Program rewinding (Refer, to 5.2.2)
3) Operation of a program in the MDI operation buffer memory
Press the START key of the CRT/MDI panel; the program in the MDI operation
buffer mernQry will be executed. However, when the parameter DSC of the data
number 2000 is 0, the cycle start button on the machine side must be pressed
for this purpose. Refer to the machine tool builder's operation manual for
the operation of this program.

- 452 -
 111-5.2

5.2 Execution Program Selection

5.2.1 Program number search/sequence number search

CD Select MEMORY mode for memory ope-

9" CRT function selection key
ration.
Select TAPE mode for tape operation.
(In case of tape operation, only the
sequence number searc~ is possible.
The program number search cannot be 9" CRT operation selection key
done.)
Press function menu key.
Press PROGRAM key; the program is
II
displayed on the screen.
When the program text is not dis-
played on the screen, follow the
14" CRT function selection key
procedure described below.
i) Press the CHAPTER key to change
over the soft key to the chapter
selection key and press TEXT key.
or 14" CRT operation selection key
ii) Press the PROGRAM key repeatedly
until the program text is dis-
played.
Press operation menu key to change
over the soft key to operation
selection key.
Press FW-SRCH (FORE SEARCH) key.
i) When the (PROG#) key is pressed
for program number search, "0"
is input into the key input
buffer. The operator is
prompted to enter the program
number to be searched.
ii) When the (SEQ#) key is pressed
for sequence number search, "N"
is input into the key input
buffer. The operator is
prompted to enter the sequence
number to be searched.
® Enter the program number or
sequence number to be searched.
® Press the EXEC key and the program
number or sequence number is
searched.

- 453 -
 111-5.2.2

5.2.2 Searching for a program using the name

Possible in the EDIT or MEM mode.
The procedure is as follows (the figure of soft keys indicates apex~mpleof the
9-inch CRT):
1) Press the function menu key and program key to display the program display
screen.
2) Press the IPROGRAM I key several times or press the ICHAPTERI key, then press
the chapter select key to display the program text screen.
3) Press the operation select key to change soft keys. .
* The above steps are the same as those for searching for a program with the
number.
4) Press the IID-SRCHI' key.

I ID_SRCH
t
5) Press the (r-N-AM-E-.)......I key.
"""1

(NAME)
t
6) Enter the name of the program to be searched for.
The search target is the first 48 characters staiting at the beginning of the
program name.
One of the following two methods can be used when searching for the de~ired
program:
- Entering the whole program name
- Entering part of the program name together with a symbol that represents
any character string, generally called a wild card
The following two symbols can be used as wild'cards:
*: Represents any character string including a null character.
?: Represents any character.
7) Pressing the IEXECI key selects the prograql that agrees with the entered
program name.

EXEC
t
The following is an example describing the use of a wild card:
00001 (GEAR-1000.MAIN)
00002 (SHAFT-1000.MAIN)
01000(GEAR-1000.SUB)
Assume that the above three programs are already registered •.
Entering SHAFT* or SHAFT-????MAIN searches for program 00002. Either of the
wild cards (asterisks or question marks) may be entered anywhere.
The program name must not be repeated when entered. If *1000* is entered,
all programs are searched for, and the correct program is not selected.
[Remarks]
On the small CRT/MDI .panel, press numeric key CD
while pressi~ the ISHIFTI key
to enter SP (null character). To enter ?, press numeric key ~ while pressing
the ISHIFTI key. However, these marks are not indicated.

- 454 -
 Ill-S.2.3

5.2.3 Rewind
Head of the execution program is 9" CRT function selection key
searched.
CD Select MEMORY mode for memory ope-
ration.
Select TAPE mode for tape operation. 9" CRT operation selection key
Press function menu key.
Press PROGRAM key; the program is
displayed on the screen.
When the program text is not dis-
H
played on the screen, follow the
procedure described below: 14" CRT function selection key
i) Press the CHAPTER key to change
over the soft key to the chapter
selection key and press TEXT Key.
or 14" CRT operation selection key
ii) Press the PROGRAM key repeatedly
until the program text is dis-
played.
Press. operation menu key to change
over the soft key to operation
selection key.
® Press REWIND key. The head of the
program is searched.
The soft key display remains the
operation selection key.

5.3 Starting Automatic Operation

1) Memory operation
CD Select MEMORY mode.
CD Select execution program
(See 5.2)
® Press cycle start button on the
machine operator's panel.
2) Tape operation
CD Load a part program tape and
select TAPE mode.
® Select execution program
(See 5.2)
® Press cycle start button on the
machine operator's panel.

- 455 -
 111-5.4

5.4 Executing Automatic Operation

While executing a block, the CNC usually calculate the next block to convert the
data to the easy executing format. This is called buff~ring.
By extending the buffering block to 2 blocks and pre-reading the blocks as long
as the time permits it, an interruption in the pulse distribution between two
continued micro blocks can be prevented.
Whether or not to extend the number .of buffering block to two blocks is
determined by the parameter XBUF (data No. 7616).

(Note 1) When there is no need to operate micro blocks at high speed, keep
one-block buffer (XBUF=O) to maintain the compatibility with the
conventional NC in operationability, etc.
(Note 2) When the parameter (data No. 7616, XBUF) setting is changed, the power
supply needs to be turned off.
(Note 3) When the multi-buffer option is provided, the multi-buffer function is
preferential and the buffering function is invalid.
(Note 4) The block of cycle (canned cycle, cutter compensation C, etc.) prepared
in the NC is also regarded as a block.

After automatic operation is started, the following steps are executed:

CD A one-block command is read from the specified program.
Q) The block command is decoded.
CD The command execution is started.
@ The command in the next block is read.
(i) Buffering is executed. That is, the command is decoded to allow immediate
execution.
® Immediately after the preceding block is executed, execution of the next
block can be started. This is because buffering has been executed.
CD Hereafter, automatic operation can be executed by repeating the steps (4) to
(6) •

5.5 Stopping Automatic Operation

There are two ways to stop the automatic operation. One is to command a stop
command in a program where the execution is~o be stopped (See 5.5.1 - 5.5.3).
The other, is to stop the operation at any time by pushing an appropriate button
on the operator's panel.

5.5.1 Program stop (MOO)

Cycle operation is stopped after a block containing MOO is executed. When the
program is stopped, all existing modal information remains unchanged as in
single block operation. The cycle operation can be restarted by specifying an
CNC start. (This differs with the machine tool builder.)

5.5.2 Optional stop (M01)

Similarly to MOO, cycle operation is stopped after a block containing MOl is
executed. This code is only effective when the Optional Stop switch on the
machine control panel as been pressed.

5.5.3 Program end (M02, M30)

1) This indicates the end of the main program and it is necessary to store CNC
commands from tape to memory.
2) Cycle operation is stopped and the CNC unit is reset. (This differs with the
machine tool builder.)
3) Only l130
The CNC tape is rewound to the start of the program in both memory and tape
operation. However, when using a tape reader without reels, the tape is not
rewound. When using a tape reader with reels, the tape returns to the ER (%)
code at the start of the tape, even if several programs exist. (This differs
'with the machine tool builder. Some machines indicate tape rewind with M02.)

- 456 -
 111-5.5.4

5.5.4 Feed hold

When the Feed Hold button on the operator's panel is pressed during automatic
operation; the tool decelerates to a stop.
CD Press the feed hold button.

Feed hold lamp lights

Feed hold button

When pressed, the feed hold lamp lights and the cycle start lamp turns off.

o ------- Turns off

0)Cycle start

At this time,
i) Feeding stops if the tool is moving.
ii) Dwell execution stops, if executing.
iii) M, S, T or B operation continues up to the end of the block.

5.5.5 Reset
Automatic operation can be stopped and the system can be returned to the reset
status by using the RESET button on the CRT/MDI panel or external reset signal.

5.5~6 Sequence number comparison and stop

When a program is executing, and the same sequence number as the preset sequence
number appears in the program, the system stops in a single block stop after
execution of the current block is complete.
1) Setting sequence number
Set the mode selector to MDI mode, and set the desired sequence number in the
data number 7681.
Set values 1 - 9999
Initial value: 0 (Immediately after power on)
The set value is 0 either when sequence numbers match or after resetting.
2) Conditions when stopped
a) Comparison does not stop even when there is a match with a sequence number
of a block which has a command being processed internally by the CNC.
Example:
Nl 111 = 1;
N2 IF #1 EQI GOT08;
N3 GOT09;
N4 M98PI000L3;
N5 M99;

Comparison does not stop in the case of the block shown above even if the
sequence numbers match. Nor will the set value change.
b) When the same sequence number appears several times in the same program,
comparison will stop after execution of the block in which there is a
first match.

- 457 -
 111-5.6

c) Stopping at the block which is executed by a specified number of

repetitions
When the sequence number of a block. with a repetition count of execution
matches, comparison stops after completion of the specified repetitions.
Example: Set value: 3
N1 G91;
N2 G81X1000Y1000R-5000Z-2000FIOO;
N3 X1000Y1000L3;

G80;
In the above example a single block stop occurs after the 3rd execution of
the cycle of the N3 block.

5.6 Restart of Automatic Operation

This is the function of restarting the operation by specifying a desired block

when a tool is broken or after a holiday. The operation is restarted in two
ways, specifying a sequence No. and specifying a block No.
1) Restart by specifying the sequence No.
Specify the sequence No. of desired block, the program No. corresponding to
that sequence No., and the number of repetition of that sequence No.
The specification is available in the following methods.
a) Sequence No. only
b) Sequence No. and number of repetition
c) Sequence No. and program No.
d) Sequence No., number of repetition and program No.
2) Restart by specifying the block No.
The operation can be restarted from the block that has no sequence No. When
the CNC stops, the number of blocks executed up to that time is displayed on
the program screen or the program restart screen. By referring to the screen
display, the operator specifies the block from which the operation i~
restarted.
The block No. displayed on the screen indicates the number of blocks executed
before the CNC stopped. To restart the operation from the last block, for
example, specify the displayed block No ~ + 1.
The displayed block No. will be stored even if the power switch is turned
off.
The block No. mentioned here is counted by censidering the single block stop
permitted part of the blocks converted from a CNC program to the format
executable in the CNC, as one block.

(Example 1)
CNC program Number of block

00001 ; 1
G90G92XOYOZO; 2
G01X100.F100; 3
G03XOI-50.F50 ; 4
M30 ; 5

- 458 -
 111-5.6.1

(Example 2)
CNC program Number of block

00002 ; 1
G90G92XOYOZO; 2
G90GOOZ100. ; 3
G81X100.YO.Z-120.R~80.F50 ; 4, 5, 6
111=/11+1 ; 6
112=112+ 1; 6
113=113+1 ; 6
GOOXOZO ; 7
M30 ; 8

A canned cycle for drilling is considered as 3 blocks. A macro

statement is not counted as a block.

5.6.1 Restarting the program

1) When a tool is broken (P type)
a) Push the feed hold switch to escape the tool, and replace it by a new one.
If the offset amount is changed, change it.
b) Turn on the program restart switch on the machine operator's panel.
c) Search the head of the program.
i) In the memory operation mode
QD Select the memory mode.
@ Press the function menu key to use the soft key as a function
selection key. Press the soft key "PROGRAM" to display the
program.
G) Press the operation menu key to use the soft key as a operation
selection key. Press the soft key "REWIND".
ii) In the tape operation mode, set the tape head on the tape reader and
set the tape mode.
d) Select the opera'tion selection key of PRGRAM and press the "P. RSTR" key.
e) Specify the block to be restarted.
i) S~ecifying by the sequence No.
\!) Press the soft key "P-SQII". Enter the sequence No. of the desired
block, the program No. and the number of repetition by the numeric
key.
@ Press the soft key "EXEC". The block of the sequence No. to be
restarted is searched.
When the same sequence No. appears repeatedly or when only the
sequence No. included in a certain program is searched, for
example, when the subprogram is called several times in searching
the sequence No. included in a certain subprogram, first set the
order of the block of that sequence No, and then set the sequence
No. by delimitting by"," and finally set the "0" + program No. by
delimitting by",". For example, when searching the 5th appearance
of the sequence No. 999 in the program No. 1000, enter P5,999,01000
and press the soft key "EXEC".
P5,999,01000 "EXEC"
When the block appears only once or the specification of the
program No. is unnecessary, the specification of the repetition
number and the program No. can be omitted.

- 459 -
 111-5.6.1

i) Sequence No. only

P999 "EXEC"
ii) Sequence No. and repetition number
P5,999 "EXEC"
iii) Sequence No. and program No.
P999,OlOOO "EXEC"
iv) Sequence No., repetition number and program No.
P5,999,OlOOO "EXEC"
ii) Specifyig the block No.
CD Press the soft key "P-BKII", and enter the block No. to be restarted
by the numeric key. To search the 100th block, for example, enter
100.
PBlOO "EXEC"
Ci) Press the soft key -"EXEC". The specified block No. is searched.
f) After the specified block No. is searched, the CRT display is changed to
the program restart screen.

~ RESTART CXi:l000 Ne0em

CDESTI~TIGD BC:00123456
X 41. 200
..........
M •• •• •• • •••
..........
Y
Z
-31. 300
-115.600
.. .. .. .. ..
.. .. .. .. ..
CDIST TO GO) ••••••••••
x 0.000 ••••••••••
Y 0.000
Z 0.000 T ••••
S ••
B ••
ACT.F: o (I'W'VMIN) S: o (RPM)

MDI .... STOP •••• ••• .... ••• ...... • ...

POS I TON PRCX3RAM OFFSET PRG_CH< . CHAPTER+

The term (DESTINATION) indicates the position at which work is to restart.

The term (DIST TO GO) indicates the distance between the current tool
position and this (DESTINATION).
M: Shows the 35 most recent M codes. The total 35 M codes will only
be displayed when each code is two digits. When the M codes
contain more than two digits the display will show the maximum
number possible.
Negative M codes are not displayed.
T: The most recent two T codes.
S: The last commanded S code.
B: The last commanded B code.
BC: Block number
g) Turn off the program restart switch.
h) Check the screen to see if any M, S, T and B codes to be output are
present on the screen. It" present, then set to MDI mode to output these
codes from MDI. In this case, these output codes will not be displayed
on the program restart display.
i) Set to memory mode for memory operation, or to tape mode for tape
operation. Check that the (DIST TO GO) is correct, and that the tool will
not collide with the work or other objects when moving to the position for
restart of work.
If the tool looks likely to collide, move it by manual operation to a
position where it will not do so, then press the cycle start button. The
tool will begin to move in a dry run, along one axis at a time in the
order set in parameter 7110, to the restart position. Work will then
recommence.

- 460 -
 1II-5.6.1

2) When the machining is restarted after the following cases (Q type)

a) When the Power has been turned off temporarily.
b) When the coordinate system has been changed after the interruption of the
cycle operation;
For example) i) A G92 command was specified from the MDI.
ii) The coordinate system was shifted.
iii) Automatic coordinate system setting has been executed by
the reference point return.
iv) When the ORIGIN button was pressed.
v) The coordinate system was altered by the RESET operation.
QD Perform the reference point return operation or other set up after the
power is turned on.
® Move the tool to the starting point (machining start point) of the
program by the manual operation and set the modal information and the
coordinate system to the same state as starting the machining.
CD Set or change the offset value if required.
~ Turn on the Program Restart switch on the machine Operator's Panel.
~ Execute the program heading.
i) In case of memory operation
1) Select the memory mode.
2) Press the function menu key to change over the soft key to the
function selection key and press the soft key PROGRAM to
display the program.
3) Press the operation menu key and press the soft key REWIND.
ii) In case of tape operation, set the head of the tape on the tape
reader and set the mode to the tape mode.
<§) Select the operation selection key of PRGRAM and press the soft key
P.RSTR.
(j) Specify the block to be restarted.
i) Specifying by the sequence No.
1) Press the soft key "Q-SQII". Enter the sequence No. of the
desired block, the program No. and the number of repetition by
the numeric key.
2) Press the soft key "EXEC". The block of the entered sequence
No. is searched.
When the same sequence No. appears repeatedly or when only the
sequence No. included in a certain program is searched, for
example, when the subprogram is called several times in
searching the sequence No. included in a certain subprogram,
first set the order of the block of that sequence No. and then
set the sequence No. by delimitting by "," and finally set the
"0" + program No. by delimitting by",". For example, when
searching the 5th appearance of the sequence No. 999 in the
program No. 1000, enter Q5,999,01000 and press the soft key
"EXEC".
Q5,999,01000 "EXEC"
When the block appears only once or the specification of the
program No. is unnecessary, the specification of the repetition
number and the program No. can be omitted.
Specify the sequence No. in the following cases.
i) Sequence No. only
Q999 "EXEC"
ii) Sequence No. and repetition number
Q5,999 "EXEC"
iii) Sequence No. and program No.
Q999,01000 "EXEC"
iv) Sequence No., repetition number and program No.
Q5,999,01000 "EXEC"

- 461 -
 111-5.6.1

ii) Specifying by the block No.

1) Press the soft key "Q-BKtI", and enter the block No. to be
restarted by the numeric key. To search the 100th block, for
example, enter 100.
QBI00 (EXEC)
2) Press the soft key "EXEC". The specified block No. is searched.
When the search is complete, the CRT will display the format for
program restart.
Turn off the program restart switch.
Check the screen to see if any M, S, T and B codes to be output are
present on the screen. If present, then set to MDI mode to output
these codes from MDI. In this case, these output codes will not be
displayed on the program restart display.
Set to memory mode for memory operation, or to tape mode for tape
op~ration. Check that the (DIST TO GO) is correct, and that the tool
will not collide with the work or other objects when moving to the
position for restart of work.
If the tool looks likely to collide, move it by manual operation to a
position where it will. not do so, then press the cycle start button.
The tool will begin to move in a dry run, along one ax~s at a time in
the order set in parameter 7110, to the restart poaition. Work will
then recommence.

(Note 1) Under the following conditions, the program cannot be

restarted with the type P method.
(1) When no automatic operation have been done after power is
turned on.
(2) When no automatic operation has been done after setting,
altering or shifting (altering the amount of external
work zero point offset) the coordinate system.
The tool can only correctly return to those blocks after
which the last coordinate system setting or alteration
was made before the interruption to work with P type
program restarting.
(Note 2) In both P type and Q type methods, a single block stop can be
performed after the tool has finished moving along an axis to
the restart position. In this case, however, it is not pos-
sible to intervene with the MDI. It is possible to intervene
a manual operation, but the axes which have already finished
their return will not move.
(Note 3) If, during the search, conditions such as the input signal
and the amount of offset are not the same as when machining,
the tool ,will not return to the corr:ect restart position.
Furthermore, turning on the single block switch, or switching
between memory mode and tape mode will not interrupt the
search.
(Note 4) When a feed hold is applied during the search, or a reset is
performed during or after the search, the operations for
restarting the program must be repeated from the beginning.
(Note 5) A warning message will be output if the cycle start switch is
pressed when the program restart switch is on.
(Note 6) All manual operations must be performed in "manual absolute
on", regardless of whether before or after working.

- 462 -
 111-5.6.1

(Note 7) As a general rule, the following operations will prevent

return to the correct position:
(i) Moving the tool manually in "manual absolute off";
(ii) Moving the tool with the machine lock on, or with the Z
axis neglect;
(iii) Use of a mirror image;
(iv) Missing of a coordinate system setting at the beginning
of the program in incremental mode;
(v) Manual intervention while axes are returning;
(vi) Turning off a machine lock after making the command to
restart the program with the machine lock on;
(vii) Making the command to restart the program for the block
between a block which performed skip cutting and a
subsequent block with an absolute command;
(viii) Setting, altering or shifting the coordinate system after
the completion of the search;
In case (3), however, P type return is possible for a
block which follows the block where the last switching of
the mirror image has been done. In this case, the mirror
image signal must be kept in the same condition as when
the in~erruption occurred. In either case, careful
attention is required since no alarm is outputted.
(Note 8) No move command can be specified from the MDI after the
completion of the search and before the movement of the axis.
(Note 9) The characters "PRSR" appear on the bottom line of the CRT
from when the command to restart the program is made until
the last axis has returned to position.
(Note 10) Notes when the program restarting is performed on a program
which includes macro variables:
(i) Common variables
In the program restarting, preceding values are used for
the values of common variables. They are not preset
automatically. By this reason, before restarting a
program, required data must be initialized to the values
when previous automatic operation was started.
(ii) DI/DO
Values of DI can be read by system variables, but DO
cannot be output during program restarting.
(iii) Clock
Time of clock can be known by system variables during
program restarting but time cannot be preset.
(iv) Tool offset value, work zero point offset value
Offset values can be read by system variables during
program restarting but offset values can be changed only
with type Q.
(Note 11) For a program for high speed machining
The program restarting cannot be done for a block for high
speed machining. It can be done for a block other than high
speed machining.
(Note 12) The number of blocks reamins stored after the power is turned
off. The number of blocks stored is cleared on
cycle-starting from the reset state. It also is stored every
60 seconds during automatic operation.

- 463 -
 111-5.6.2

(Note 13) The number of blocks displayed on the program screen

indicates the number of blocks being executed. If execution
is completed or in the state of reset or when a single block
is suspended, the number of blocks executed is displayed.
To explain this, when the CNC program is stopped or suspended
due to feed hold, reset or single-block suspension, then the
number of displayed blocks are as follows.
Feed hold ••••••••••••••••• Blocks being executed
Reset ••••••••••••••••••••• Blocks executed
Single-block suspension ••• Blocks executed
For example, when the operation is reset during the execution
of the block No. 10, the displayed block No. is changed from
10 to 9.
(Note 14) When a single block is suspended while running the program to
allow intervention by the MDI, the eNC com.mand issued then
also is added to the number of blocks.

- 464 -
 111-5.6.2

5.6.2 Block restart

The block restart function is used to restart an automatic operation that was
interrupted due to a damaged tool or for some other problem. The restart can
occur from the starting point or from an intermediate point in the block in
which the automatic operation was interrupted.
1) Restart operation sequence
The restart operation must always be performed in the sequence given below.
The block return switch is provided on the machine operato~'s panel for use
with this function.

CD An abnormality occurred

Stop the automatic operation by The automatic operation cannot be

pushing the feed hold button or restarted from the reset status which
switching the mode results when the reset or emergency
stop button is used.

CD Retract the tool manually and take

necessary actions

o Reset the offset value if necessary

I
.
Turn on the block return switch in The character "RSTR"
the manual continuous mode blink at the bottom of
the screen

,Ir 1 In cutter compensation

mode, a vector is formed
0a Move the tool as close to the point
where the automatic operation was
Move the tool toward the starting
point by jogging. The tool automati- perpendicular to the
cally stops when it reaches the program path in the
interrupted as possible (Carefully interrupted block at the
observe the tool movement) starting point.
starting point, and the
tool returns to edge of
vector.
I

Return to the mode selected prior The characters "RSTR" may be

to the interruption of the automatic displayed or blink at the bottom
operation, and turn on the block of the screen depending on the
return switch if it is off situation.

® Push the cycle start button while

the block return switch is on

When the cycle start lamp lights up

and the automatic operation is re-
started, turn off the block return switch

In the above operations, the following applies only to the restart function:
~b Manual operation while the block return switch is on
QD Restarting the automatic operation while the block return switch is on

- 465 -
 111-5.6.2

a) Manual operation while block return switch is on

Move the tool by jogging toward the starting point of the' in~errupted
block while the block return switch is on; the tool aut'omatically stops
when it reaches the starting point. When all axes have returned to the
starting point, the characters "RSTR" displayed at the bottom of the
screen go off. However, if the block return switch is turned on in the
JOG mode, the distance between the current position of the tool and the
starting point of the interrupted block is calculated. The starting point
of the interrupted block refers to the point calculated as follows:

(Absolute coordinate of the starting point on the program)

+
(Previously compensated tool offset value)
+
(Newly calculated tool length compensation value)
+
(Newly calculated cutter compensation value perpendicular to the
interrupted block at the starting point)

If the tool offset value is changed, the new compensation value (vector)
is calculated based on the new offset value for the tool length
compensation (G43, G44) of the fixed compensation axis (parameter 6000
LXY=O) and the cutter compensation (G41, G42). However, the offset value
for the tool length compensation of the arbitrary compensation axes
(parameter 6000 LXY=l) and the tool offset (G45 - G48) remains unchanged.
The calculated distance to the starting point is displayed on the CRT
screen by function key POSITION and chapter selection key RESTART. In
general, when the block return switch is turned on in the JOG mode, this
screen is automatically displayed.
(referred to as restart display from now on.)
The following values are displayed on the screen in restart display:

BLOCK RESTART: 01234 N5678

(DESTINATION) (ABSOLUTE)
X 100.000 X 0.000
Y 200.000 Y 100.000
Z -100.000 Z 200.000
A -200.000 A -100.000
B 0.000 'B -200.000
(MACHINE) (DISTANCE TO .GO)
X 0.000 X 100.000
Y 100.000 Y 100.000
Z 200.000 Z -300.000
A -100.000 A -100.000
B -200.000 B 200.000

**** JOG RSTR **** *** *** *** ***

i) (DESTINATION) .••.•. Absolute coordinate value of the tool center at

the starting point of the interrupted block
ii) (DISTANCE TO GO) •.• Distance from the current position (ABSOLUTE) to
the starting point of the interrupted block (DES-
TINATION)

- 466 -
 1II-5.6.2

iii) Status of "RSTR" display

Various conditions (modes, cutter

"RSTR" display
compensation, etc. )

JOG mode Blinking

AUTO mode When the outer corner Blinking

(MEMORY, is being compensated in
TAPE or the tool nose radius
MDI) compens~tion mode

Other than above Display

RESET status Always blank regardless of mode

(Note 1) When returning the tool to the starting point 'of the block by
a manual operation using the restart function, the tool is
returned to the edge of the vector formed vertically in the
block at its starting point. Therefore, if the starting point
of the interrupted block is inside the corner, a cut may be
made while the tool is returning to the starting point.

The automatic operation

is stopped at this point

A cu t will be made Programmed path

when returning The tool should be manually
the tool to the returned to an arbitrary
starting point point in the block

- 467 -
 111-5.6.2

(Note 2) If the tool movement is interrupted during a drilling opera-

tion at a canned cycle and the movement is restarted, the tool
always returns to the positioning' point, regardless of the
initial level return (G98) or R-point level ieturn (G99) mode.
The position to which the tool is

U
returned by the restart function,
regardless of the initial level return
(G98) or R-point level return (G99)
mode.
/
_ _ -.!~ia-o-l
pO_int- , - - - - r - - - -

Rpomto---~--~-

Point of interruption ~--~-----7-----'--

I
I

Z point !I--...&.--....I.-----

If only one drilling operation is performed, the tool returns

to the initial point (positioning point) regardless of the G98
or G99 mode.
If two or more drilling operations are performed, the tool may
return to different positions according to the G98 or G99

U·
mode~

~(~~~~fu~~~1ob:
U
, Initiai point
- - - - "4"" 1- -0---..-___.._-
I
I
I
- - - - 4
,
,
I
Return point by
I I
I I restart function
I I

R point
R point \J'--r----~~-r--___,r_/-

,
¥"
'1'-.
I Pomt of
1'K
, Point of
I interruption : : interruption
Z point I
Z point_"__---''--_ _"__--'-_ _ _ _ __
For initial level return For R pomt level return
(G98 mode) (G99 mode)

- 468 -
 111-5.6.2

b) Restarting an automatic operation while the block return switch is on

If the cycle start button is pushed while the block return switch is on,
tool length compensation value and the cutter compensation value are
recalculated and the automatic operation is restarted toward the
compensated end point from the current position.

The tool is retracted to Path after the automatic

this position for replacement operation is restarted

""--, Newly calculated

end point
,\
I

--r - -
,
\
Target end point
prior to interruption

Path prior to interruption

The tool moves toward the recalculated end point from its current position
regardless of whether it has been returned to the start point or to an
arbitrary point of the interrupted block prior to pushing the cycle start
button.
(Note 1) A cut may be made while the tool is being moved toward the end
point of the interrupted block by the restart function. In this
case, a warning is displayed to prohibit the tool from being
moved to the end point. This function is referred to as the
restart interference check.
Point at which automatic / Manual operation
operation is restarted
If automatic operation End point of
is interrupted at this point interrupted block
•/ Correct path

--'-- -----

A cut will ·be made when automatic

operation is restarted

- 469 -
 111-5.6.2

Clear the warning immediately in such a case (push the CANCEL

key). Then, move the tool to a proper position visually and
perform the restart operations again.
The restart interference check is performed based on the value
that is set in parameter No. 7651 (d: Error limit at the start
of block restart).
If the distance between the normal path and the point where the
block restart is done is d, an interference check alarm is
generated.

Manual operation
Point at which automatic
operation is to be restarted End point of
/ When automatic operation the interrupted
is interrupted at this point block
~ Normal path
---- ....... --

A cut will be made when automatic

operation is restarted

Programmed path

The restart interference check function may be validated or

invalidated by setting it in a parameter (parameter 7605 117).
However, the interference check will not be performed in the
following cases even though it has been validated:
o When the tool is manually moved to the start point of the
interrupted block while the block return switch is on.
o When the interrupted automatic operation is restarted with
cutter compensation mode cancelled.
o When no vector is available for the cutter compensation at the
start point of the block in which the tool movement was
interrupted. (Startup of cutter compensation)

2) Notes on block restart function

a) The command for the automatic reference point return (G28, G30) in the
cutter compensation mode does not return the tool to a correct position
even though the restart operations are performed in the block.
b) The restart operations cannot be performed in the block for which a dwell
(G04) has been specified.
c) The compensation v.alue must always be set prior' to turning on the block
return switch.
d) If the tool movement is interrupted, the offset value is changed, and the
restart operations are performed in the three dimensional cutter
compensation mode with zero offset value, the vector for the cutter
compensation will not be recalculated.
If the compensation values are changed by the large extent, note that the
accuracy of recalculation of vectors are coarse.
e) If "RSTR" is not displayed or does not blink when the block return switch
is on, the cycle start command will be ignored.
f) If the status of the block return switch is changed during jogging, the
tool stops.
g) The restart operations must not be performed in a block without the move
command.
h) The restart operations after the single block stop are performed for the
next to block that has already been executed by the single block function.

- 470 -
 111-5.6.3

5.6.3 Tool retract and recover

The tool retract and recover function is to retract a tool from a workpiece for
replacing a tool broken during operation or verifying the machining state, and
return a tool efficiently for restarting operation.
The tool retract and recover function is divided into the following four basic
operations:
1) Retract
When the TOOL RETRACT switch is pressed on the machine operator's panel
during automatic operation start, automatic operation stop or automatic
operation hold, the retract operation is performed in the distance specified
in program. The retract end position is called a retract position. When the
retract is completed, the RETRACT POSITION lamp is lit on the machine
operator's panel. When the TOOL RETRACT switch is turned on during automatic
operation start, if it is on the way of block execution, the block execution
is held at that timing, and then the retract operation is performed. When
the retract operation ends, the machine goes to the automatic operation hold
state. The escape amount and direction can be. specified in program. If
these values are not specified in program, the retract operation is not
performed. When the TOOL RETRACT switch is turned on during automatic
operation stop or automatic operation hold, the retract operation is
performed, and then the machine is reset to the automatic operation stop or
hold state.
When the TOOL RETRACT switch is turned on the machine goes into the tool
retract mode, and the TOOL RETRACTING lamp is lit on the machine operator's
panel.
2) Manual retract
Setting to the manual mode, a tool is moved for replacement or workpiece
measurement by manual operation (manual continuous feed, manual incremental
feed, manual handle feed). This operation is called "manual retract". The
tool retract path is automatically stored in the control unit.
3) Recover
When the automatic operation mode is reset and the "TOOL RECOVER" switch is
turned on the machine operator's panel, the control unit automatically
returns the tool to the retract position going back over the path on which
the tool was moved by manual operation. This operation is called "recover".
When the tool has been returned' to the retract position, the retract position
lamp is lit.
4) Repositioning
When the cycle start is applied at the. retract position, first the tool is
returned to the position where the TOOL RETRACT switch was turned on. This
operation is called repositioning." When the repositioning is completed, the
TOOL RETRACTING lamp is lit to indicate the end of tool retract mode. The
operation to be taken next differs according to the status of automatic
operation when the machine went into the tool retract mode.
i) When the machine goes into the tool retract mode during automatic
operation start, the automatic operation that has been held is resumed
after completion of repositioning.
ii) When the machine goes into the tool retract mode during automatic
operation stop or automatic operati.on hold, the machine once goes back to
these modes. If the cycle start is applied again, the automatic operation
is resumed.

- 471 -
 111-5.6.3

® Position where the tool retract

switch is turned on
• Programmed retract position
o operation Retracted position by manual

Retract path /~
fl
Manual operation (Retract path)
--- ....... : Return path

r
---~: Repositioning z

.-~
/'------.,- X

f!
y

i!

a) General operation procedure

CD Specify the retract axis and retract amount beforehand by t~e program
command GIO. 61P_.
In the following program example, it is specified in N20 block that the
retract axis is X axis and the retract amount is-50 mm.

(Program example)
NIO G9I Z-50. ;
N20 GIO.6 Z-50. ;
N30 GOI X150. F500.

-472 -
 111-5.6.3

CD During execution of N30 block, turn on the TOOL RETRACT switch on the
machine operator's panel at the point A, for example.

Machine operator's panel

o 0
TOOL RETRACT
RETRACTING POSITION

TOOL TOOL
RETRACT RECOVER

CD The tool retract mode is set, and the TOOL RETRACTING 'lamp is lit on the
machine operator's panel. At the same time, the automatic operation is
held and the tool is retracted by the distance specified in program. If
point A. is the end of the block, the retract operation is performed after
the automatic operation is stopped. The retract operation is linear
interpolation, and executed at the dry run speed. When the retract
operation is completed, the RETRACT POSITION lamp is lit on the machine
operator's panel.

Machine operator's panel

,I,
1'POinIE 'Yl'
";7"(,::'

TOOL RETRACT
RETRACTING POSITION

TOOL TOOL
RETRACT RETURN

During the retract operation, the CRT displays as follows:

"PTRR" flickers where automatic

operation mode is indicated.
"***" is indicated where manual
operation mode is indicated.
"STRT" is indicated where automatic
operation state is indicated.

If the retract operation is not specified by GIO.6, the retract operation

is not performed, execution of the block in the automatic operation mode
is suspended, and the automatic operation is held or stopped.

- 473 -
 1II-5.6.3

If the single block switch is turned on during automatic operation start

or the TOOL RETRACT switch is turned on after effecting the feed hold
to hold or stop automatic operation, the retract operation is performed
and the machine goes back to the automatic operation hold or stop state
aft~r completion of the retract operation.
During the retract operation, the feed hold is invalid. The RESET switch
is effective, and the retract operation is stopped immediately after the
RESET switch is pressed. When any alarm is given during the retract
operation, the retract operation is immediately stopped.
It is ~ossible to shift from the retract end state to repositi.oning of
step ~ without retracting or recovering the tool.
Set the manual operation mode. One of jog feed, incremental feed, handle
feed and manual numeric value specification is possible in this mode.
(Manual arbitrary angle feed is impossible.)
Move the axis by manual operation. This operation is called "manual
retract". Be sure to select only one axis for this operatipn, and avoid
specifying two or more axis selection signals at one time.

(Note) Automatic/manual simultaneous operation is impossible in the tool retract

mode. If the automatic/manual simultaneous operation is selected, shift
to manual operation from jog feed, incremental feed or handle feed is not
performed in the tool retract mode. If two or more axes are specified at
one time for moving the axis by manual numeric value specification in the
tool retract mode, a PS alarm (PS 183) is given.

If each axis is moved by manual operation, the control unit stores the
route up to ten positions.
When another axis is selected and moved after one axis is selected, moved
and stopped, the axis movement switching position is stored. When the
number of stored positions of route exceeds ten, the position of an axis
moved thereafter will not be stored.
When the reset operation is executed, the stored position data is lost
and the tool retract mode is cancelled.

- 474 -
 111-5.6.3

Point E IIIr'-r~~""'"
z

./'------ X

CD When the retract operation ends and the tool is replaced, it is necessary
to return the tool to the original retract position.
First~ change the mode to the automatic operation mode. Then, turn on
the TOOL RECOVER switch on the machine operator's panel, and turn it off.
By this operation, the tool returns to the retract position at the dry
run speed (irrespective of whether the dry run switch is on or off).
During the return operation, the CRT displays as follows:

" i) "PTRR" flickers where automatic

operation mode is indicated.
ii) "***" is indicated where manual
operation mode is indicated.
iii) "MSTR" is indicated where automatic
operation state is indicated.

When the retract path exceeds 10 positions, first move the tool to the
10th position and then, move it back to the 9th, 8th, ••• , sequentially
and return to the retract position.

- 475 -
 111-5.6.3

Point E

/'---........ x
y
®
Point A

During recovering, the single block switch is effective. If the switch

is set off, the recovering operation is continuously executed. If the
switch is set on, the tool stops at each stored position. To resume the
recovering operation, turn on the TOOL RECOVER switch once, and then turn
it off.
When any alarm is given during recovering, the tool stops. During
recovering, the feed hold is effective.
When the tool has returned to the retract position, the RETRACT POSITION
lamp is lit.

QD When the cycle start is applied while the tool is_ staying at the retract
position (point E in the following figure) or while the RETRACT POSITION
lamp is lit, the tool is returned to the retract operation start position
or the position where the TOOL RETRACT switch was . turned on. This
operation is called "repositioning". During the repositioning, the feed
hold is effective.

1i
I

- 476 -
 111-5.6.3

The operation to be done after the repositioning is different depending

upon the automatic operation state when the "TOOL RETRACT" switch is
turned on.
i) During automatic operation start
After the repositioning, suspended execution of the block is
resumed. Namely, the remaining block of N30 is executed.

(Note) It is also possible by setting parameter 7614111 (TRS) to stop at the

position after the repositioning once when the signal block switch is on,
and execute the residual block of N30 by effecting the cycle start once
more.

ii) During automatic operation hold or stop

After the repositioning, the tool stops at that position and the
machine goes back to the automatic operation hold or stop state.
When the cycle start is effected, the automatic operation is
resumed.
When the repositioning is completed, the tool retract mode is cancelled and
the TOOL RETRACTING lamp goes out. The above is the general procedure of
tool retract and recover operation.

b) Thread cutting operation procedure

CD The tool retract and recover function is also effective for thread
cutting.
For example, a thread cutting is performed with the following program.

Dn-_ _ _ _N_4_ _ _ _-o A L

x 01234 ;
NO GI0.6 X40. ;
Nl G91 GOO X-50.
N2 G33 Z-100. ;
N3 Nl z N3 GOO X50. ;
N4 Z100.
M02 ;
C N2 B

CD It is assumed that the TOOL RETRACT switch is turned on on the machine

operator's panel while the thread cutting at N2 block program is
executing.

Machine operator's panel

D <; () A

o 0
--- N
TOOL
RETRACTING
RETRACT
POSITION

-----"~ N2 F I'll
,,)B

TOOL TOOL
- - - RETRACT RECOVER

- 477 -
 111-5.6.3

CD Retract the tool in the direction of 45° to the thread cutting block. In
the example, the retract· axis is the X axis and the retract distance is
400 mm. The thread cutting axis (long axis) is the Z axis. The
retracting is not executed only in the X axis direction. The retract
distance of the X and Z axes is 40 mm. However, if the Z axis retract
distance is 40 mm, the thread cutting end point if run over with some
timing when the TOOL RETRACT switch was turned on. After reaching the
thread cutting end point in the long axis direction, the tool will be
moved only in the retract axis direction to the specified retract
position. If the tool does not reach the end point in the long axis
direction when the retract axis has reached the retract position, the
tool is moved to the end point.

--------

If the retract axis is specified as a long axis for thread cutting in a

program, the retract operation is not performed even if the TOOL RETRACT
switch is turned on, and an alarm (PS 215 ESCAPE ERROR (PTRR» will be
given after the tool stops at the position where the block, not a thread
cutting block, is terminated.

® After the retract operation is completed, the tool will stop after
executing the next block, not a thread cutting block.

------, \.
\.
'\
'\
\.

- 478 -
 111-5.6.3

<V Repositioning is performed so that the tool comes back to the thread
cutting end position (point D in the following figure) specified in
program •.

EV
Dl~---------N-4------~.~o

c) Operation procedure in drilling canned cycle

CD When the TOOL RETRACT switch is turned on during the drilling canned
cycle (hereinafter abbreviated as a canned cycle), the retract operation
becomes different according to the operation being executed at that
timing.

Motion 1 : Positioning of X and Y axes

Motion 2: Rapid traverse to point R
Motion 3: Hole machining
Motion 4: Operation at hole bottom
Motion 5: Retract to point R
Motion 6: Rapid traverse to initial
point

- - - - 0 Initial point

/ !t Motion 6
Motion 2 ,1~:------------------1

t c) c::>

i) In motion 1, usually like retract, the tool is moved by the retract

distance specified by G10.6.
ii) In motion 2, after the motion is suspended, the tool moves to the
initial point and stops there.
iii) In motion 3, motion 2 is suspended, cycle motions 4, 5, and 6 are
executed from that position, and the tool stops at the initial
point.

- 479 -
 111-5.6.3

iv}In motions 4, 5, and 6, the motion is continued and stopped at the

initial point.
In motions 2 to 6, the retract motion specified by GIO.6 is not performed
even if the TOOL RETRACT switch is turned on. However, the tool retract
mode is set after the TOOL RETRACT switch is turned on and the tool is
moved to the initial point.
If the TOOL RETRACT switch is turned on .in one of motions 2 to 6 while
the canned cycle operation is stepping into the 2nd or later cycle, the
retract position is different according to G98/G99 (initial level return/
Point R level return).
G98 (Initial level return): The tool is moved to the initial level.
G99 (Point R level return): The tool is moved to the point R.
Canned cycle repositioning is performed by effecting the cycle start at
the retract position.
i} Repositioning when the TOOL RETRACT switch is turned on in motion 1
Like normal repositioning, the automatic operation is resumed after
completion of repositioning.
ii} Repositioning when the TOOL RETRACT switch is turned on in motion 2
Operation is resumed from the canned cycle motion 2.
iii} Repositioning when the TOOL RETRACT switch is turned on in motion 2
Operation is resumed from canned cycle motion 2.
iv} Repositioning when the TOOL RETRACT switch is turned on in motions
4, 5 and ,6
Operation is resumed from canned cycle motion 2 with the same hole
position.

d} Combination of block restart and tool retract and recover

The operation procedure for the combined function of tool retract and recover
and block restart is as follows.
When a tool is broken, for example, the automatic operation is suspended, the
tool is replaced, and the offset amount is changed and the operation is
restarted from the start point or the suspended point of the suspended block.

- 480 -
 111-5.6.3

CD Automatic operation start

® When any problem occurs and the TOOL RETRACT switch is turned
on, the retract operation is performed and the automatic
operation is held. The tool retract mode is set.

~
Move the tool by manual operation, and replace the tool or take
an appropriate remedy.

~
® Change the tool offset amount if necessary.
t
+ t
Return to the automatic Turn on the block return
operation mode, and return switch and move the tool
the tool to the retract to the start point by
position by turning on the manual continuous feed.
"TOOL RETURN" switch once, The tool automatically
and then turn it off. stops at the start point.
I I
t
Return to the automatic operation mode, and turn on the block
return switch. If the blo'ck return switch is on, the block
execution can be resumed by restarting it at the arbitrary
position. The position may not be the retract position.

~
Start the cycle with the block return' switch turned on.

~
® When the automatic operation is resume4, the tool retract mode
is cancelled. Turn off the block return restart switch.

Notes on tool retract and recover

(Note 1) Manual numeric command option is necessary for tool retract.
(Note 2) The retract axis specified by GI0.6 and its move distance specification
need to be changed in the necessary block according to the machining
figure. If correct retract is not specified, it may cause damage to
the tool or workpiece.
(Note 3) If origin, preset and work offset are' changed after the retract
position is specified by the absplute command of GI0.6, these changes
are not reflected in the retract position. After these operations or
the work offs,et is changed , re-specify the retract position by GI0. 6.
(Note 4) When retracting the ,tool by manual operation during the tool retract
mode, perform without machine lock or mirror image.

- 481 -
 111-5.6.4

5.6.4 Retrace
The retrace allows the trace back to a specific point through the path covered.
In addition, it is possible to progress again through the' path traced back.
Once returned to the point where the retrace has been initiated, it will
continue processing according to the program.
The retrace can be triggered by the retrace switch located on the machine
operator's panel. It can also be automatically triggered when a tool damage is
detected. Refer to the manual published by the MTB to find out the conditions
which the retrace will be triggered or the' progress will be performed again.
Upon receiving the retrace on/off signal from the machine, the control unit
switches to retrace' and reprogress.
Tracing back on the path so far covered while the retrace signal is on is called
retracing, and progressing again on the traced-back path to the start point of
retracing as a result that the retrace signal turns from on to off in the course
of retracing is called re-progressing.

Ends retrace, starts re-progressing

I Retrace signal on
I
I """- Starts retract
I
I ""- "-
\ "-
\ "-
"

"RVRS" message keeps blinking on the CRT screen during retrace and "RTRY"
message during reprogressing. The blinking of "aTRY" continues until a normal
operation is resumed after the return to the block where retracing was started.
When there is no more block to retrace~ "RVED" blinks to signal the end of the
current retrace.
The number of blocks that can be traced back is between 40 and 80 blocks which
may be executed in the automatic operation mode (i.e., memory, tape, or MDI
operation).
The retrace speed can be specified by either a command or a parameter.
(Note 1) Starting retrace or reprogress at the end of a block
Retrace or reprogress can be started at a block such as rapid traverse
in the automatic operation mode (memory, tape or MDI operations) (GOO),
linear interpolation (G01), circular interpolation (G02, G03) , dwell
(G04), skip cutting (G31), or auxiliary ~unction block. However, it.,
does not begin as soon as the retrace sigpal changes, but only after,
the completion of movement, dwell, or auxiliary function block.
(Note 2) Starting retrace and reprogress after a feed hold stop
Changing a retrace signal and making restart feed hold sto,p during the
execution time of rapid traverse (GOO), linear interpolation (GOl) ,
circular interpolation (G02, G03), or skip cutting (G31), the retrace
or reprogress starts immediately from that position. However, this is
not so during the execution time of dwell (G04) or auxiliary function.
If retrace gets started after feed hold stop in a certain block, the
space between the beginning of that block and the point ,where the feed
hold stop has been ordered is considered as one block. Therefore, if
reprogress gets started with the single block switch on, it' will be
cancelled as soon as the program has returned to the point where the
current retract was initiated.

- 482 -
 111-5.6.4

Feed hold stop

Retrace signal off
Cycle start

#_
......
......
......
.......
End feed hold ......
Retrace signal on - - - - Starts retrace
,
Cycle start
I

6, •
"
Ends retrace, starts reprogress

(Note 3) Starting retrace and reprogress after a single block stop

After a single ·block stop, it is possible to perform retrace or
reprogress by switching the retrace signal.
(Note 4) To perform retrace after feed hold stop or single block stop, it is
necessary to return to the original position first if manually
interrupted. Then turn on the retrace signal.
(Note 5) The retrace or reprogress path in rapid traverse (GOO)
The retrace path differs by selecting the rapid traverse path using
. parameter No. 1400 LRP. The retrace and reprogress paths will be the
same in executing a linear interpolation positioning. However, they
are different in executing a non-linear interpolation positioning.
(Note 6) Even in the case of retracing and reprogressing, dwell command is
executed just as in the normal operation.
(Note 7) The retrace and reprogress paths in skip cutting (G31)
The retrace and reprogress distance is not the programmed one but the
actual travelling distance equal to those that the program has gone
through until the skip signal is turned on in the current block. The
skip signal is ignored in the skip cutting during retracing and
reprogressing.

/
/
/
Starts retrace _ ./ /

-- -- -- (
/
/

Ends retrace, starts reprogress

I
\
\
\
Retrace signal on
-- I
I
\ Retrace signal off I
\ \ I

_____ J
\ \ I
\ \
\ \ ~========~~
\ \
\
\ (Skip cutting)
Il.

(Note 8) Refer to the manual published by the MTB regarding the M, S, T, and
second auxiliary function (B function) operations during retrace.
(Note 9) Those blocks created internally in the control unit will be included in
the retrace path.

- 483 -
 111-5.6.4

",Path after compensation

",'"

",'" '"
'" Program path
",'"

'"

---
Path in cutter compensation C

In the above figure four blocks of move command are created instead of
two programmed blocks.
In this case, there are times when the single block stop positions
during forward and reverse are different.
(Note 10) As long as there is vacant memory to store the retrace blocks, the
blocks e~ecuted are stored. It is possible to retrace more than 80
blocks in some cases.
(Note 11) A program input (GI0) of tool offset amount is ignored during trace or
reprogress.
(Note 12) If a coordinate syatem setting command (G92) shows up during retrace,
the display of the current position may differ from its actual
position. However, the machine position stays unchanged.
(Note 13) A retrace through blocks in the programmable mirror image (GSO.l,
GSl.l) mode will be carried out in mirror image. Blocks that have
been mirror imaged by a setting data command or a machine signal will
be memorized without mirror image. Mirror image set by setting data
or machine signal is valid in both retrace and rep~ogress.
(Note 14) A change of cutter compensation amount or tool length offset alIlount
during retrace or reprogress is invalid. The valid offset is the one
set at the beginning of the current block.
(Note 15) Retrace on a block containing any of the following commands is
invalid. In addition, if any of them shows up during retrace, it will
be terminated at that point and "RVED" appears on the CRT screen.
- Inch/milimeter conversion (G20, G21)
- Reference point return function (G28, G29, G30)
- Thread cutting (G33)
- Remote buffer (GOS)
(Note 16) When any of the following optional functions is being executed,
retrace is invalid. In addition, if any of them shows up during
retrace, it will be terminated at that point and "RVED" will appear on
the CRT screen.
- Circular threading B (G02.1, G03.1)
- Polar coordinate interpolation (GI2.1, GI3.1)
- Cylindrical interpolation (G7.1)
- High-speed processing (GI0.3, Gll.3)
- Exponential function interpolation (G02.3, G03.3)
(Note 17) The reverse function is invalid if the following option is available.
- Multi-buffer
(Note 18) The reverse function is invalid if the two-block read ahead function
is valid (bit 1 (XBUF) in par~meter 7616 = 1).

- 484 -
 111-5.7

5.7 Manual Intervention during Cycle Operation

Refer to the manual issued from machine tool builder for the detailed operation.

5.7.1 Manual handle interruption

This function allows for movement of the tool by superposing a move command
generated by the manual pulse generator on another move command during automatic
operation of the machine. The actual tool path diverts from the programmed path
by the amount that the operator turns the manual pulse generator, so as to allow
the operator some influence over the machining.
Interrupt procedure
1) The system accepts the manual handle interrupt in modes other than rapid
traverse' (GOO etc.). The system accepts manual handle interrupt in other
modes such as when in a block that does not move or in automatic operation.
(Note) The system accepts the manual handle interrupt even when the feed rate
override signal is 0%.
2) Axis performing manual handle interrupt are determined by the manual handle
selector signal. The interrupt is only possible on one axis for each manual
pulse generator.
3) The speed at which a manual handle interrupt is possible is limited to the
maximum machine feed speed for the particular axis. This speed is calculated
algebraically by adding the speed of an axis to which an interrupt is not
applied, to the speed with a manual handle interrupt.
Example:
Supposing that the maximum machine feed speed of a certain axis is 5 m/min,
when that axis is moving in the + direction at 2 m/min, an interrupt
generated by turning the manual pulse generator at a speed equivalent to
3 m/min will be accepted. Similarly, an interrupt will be accepted until the
generator is turned up to 7 m/min in the - direction.
If the manual pulse generator is turned so that the speed exceeds this
permissible limit, the pulses from the pulse generator in excess of the limit
are lost, and the reading on the manual pulse generator will differ from the
amount of actual movement.
4) Magnification during manual handle interrupts follow the conditions of
signals MP1, MP2 and MP4.
5) When a .manual handle interrupt causes the direction of movement to be
reversed, backlash compensation will occur. Pitch error compensation is
performed for the. position after the interrupt.

Manual handle interrupts and the coordinate systems

1) The work coordinate and the local coordinate systems shift by the amount of
the manual handle interrupt. Consequently, when absolute commands are given
for the work coordinate or local coordinate systems, the end point will be
out by the amount of the interrupt.
All the work coordinate systems and the local coordinate system shift by the
same value at the same time irrespective of whether the coordinate system
selected when the interrupt is done.,
2) A manual handle interrupt does not change the basic machine coordinate
system. The end point of an absolute command specified in the machine
coordinate system command (G53) or the end point of an automatic reference
point return (G28) is not influenced by the manual handle interrupt.

- 485 -
 111-5.7.2

----~(o
, "gOo
,s'Il'
", "'J
I
/
/
/ Amount of shift due to
/ manual handle interrupt
/
/
/
-----{I
/
/ I I
I //
(Work coordinate system and local
coordinate system before interrupt)
-
/ 1/
(Work coordinate system and local
coordinate system after interrupt)

(Basic machine coordinate system)

3) The amount of movement due to a manual handle interrupt is not included in

the display of current position in the work coordinate system. The amount of
movement due to a manual handle interrupt is included in the display of cur-
rent position in the machine coordinate system and the relative coordinate
system.
4) The amount of movement due to a manual handle interrupt can be displayed on
the current position display.

5.7.2 Simultaneous automatic and manual operation

Simultaneous automatic and manual operation is possible by setting the relevant
signal to on, and selecting an automatic operating mode (tape, MDl, memory or
part program editing) and a manual operating mode (manual continuous feed, in-
cremental feed). This allows the operator, for example, to interrupt the axis
movement currently in operation to change the amount being cut, or to set up the
next piece of work even during automatic operation.
1) Operation
a) Selecting mode
The following chart illustrates the method for selecting simultaneous
automatic and manual operation.

Mode selection input signal

T I I MEM I EDT D MOVL S I J AJG
Simultaneous automatic One of these must be set 1 One of these 0
and manual operation to 1 must be set
to 1

(0: Signal low, 1: Signal high)

- 486 -
 111-5.7.2

b) Manual operation in simultaneous automatic and manual operating mode

There are two types.
(1) Interrupt type
This interrupt applies to an axis whose parking signal is low. Manual
continuous feed or incremental feed movement can be piled up with that
of cycle operation, that is, this type is the same. as the manual
handle interrupt. Parameter EMI (Data No. 1000, bit 6) selects
whether the interrupt type is made valid or not.
(2) Set-up type
An axis of parking signal being HIG~ can be moved by the manual
continuous feed or the incremental feed during a cycle operation. In
other word, setting up of the next w~rkpiece can be done during the
cycle operation.
Axes on which the parking signal is high cannot be controlled by the
automatic operation. An alarm will be outputted if automatic
operation is attempted to such axes.
CD When simultaneous automatic and manual operating mode has been
selected (strictly speaking, when the manual mode of the simultaneous
mode is selected)
Simultaneous automatic and manual operation is possible after a manual
mode is selected.
@ When the state of the parking Signal is made changed
During automatic operation, the timing of the changes in the inter-
rupts is slightly. different for single block operation and for
continuous operation •
. Single block operation
The simultaneous autom~tic and mariual operation is possible from the
block next to the current block.
Continuous operation
The simultaneous automatic and manual operation is possible from the
block following the block next to the current block.
When reset
The simultaneous automatic and manual operation is possible from the
time that the system is reset.
2) Machine performance
Automatic operation in the simultaneous mode is the same as in ordinary
automatic operation. We will therefore only explain manual operation.
a) Conditions when the simultaneous operation is possible (in relation to
automatic operation)
Manual operations are possible in the situations shown in the following
chart.

Interrupt type Set-up type

In positioning mode (Note 1) Not possible Possible

In cutting modes Possible Possible

(G01, G02, G03 etc.)

In thread cutting mode Possible Possible

As the above chart shows, set-up type is not influenced by automatic

operation. Interrupt type is possible at all times except for positioning
mode.

(Note 1) Shows that the mode moves in rapid traverse in positioning mode
and therefore includes blocks such as G28, G29.

- 487 -
 111-5.7.2

b) Feedrate and acceleration/deceleration time constant

The following chart shows the relation among the feed rate, the distance
moved, the feedrate and the acceleration/deceleration time constant.

Interrupt type Set-up type

Distance moved Same as regular manual Same as regular manual

operation operation

Feedrate See Note 1 Same as regular manual

operation

Time constant The time constant Same as regular manual

chosen for automatic operation
operation applies

(Note 1) In the interrupt type, the speed of an axis is the result of

superposing the speed of movement due to the manual interrupt on
the speed of movement due to automatic operation. Consequently,
when this speed exceeds the maximum speed for that axis, the
speed of the axis will be clamped at its maximum speed.
c) Relation with other signals
The following chart shows the relation with v'arious other signals.

Interrupt type Set-up type

Absolute on/off No influence Influenced

(always off)

Interlock Influenced, no movement when signal on

Machine lock Influenced, no movement when signal on

Mirror image No influence. Even when signal is on, the

machine will move in a plus direction when it
receives a plus command.

d) Interrupt types and displays

The following chart shows the relation between interrupt type and dis-
plays.

Interrupt type Set-up type

Absolute coordinate Note updated Updated

values

Relative coordinate Updated Updated

values

Machine coordinate Updated Updated

values

- 488 -
 111-5.8

5.8 Override Play Back

At the time of the program execution, it is possible to memorize the cutting

feedrate override and the spindle speed override. When the same program is run
again, it is possible to do it with the override value in the memory. Storing
an override in the memory is called override teaching. Operation with the
override which has been taught is called override playback.
Teaching is possible only during memory operation.
When override teaching is attempted during memory operation, an override value
will be stored in the command program block located in the succeeding block
currently executed. This will be done in the following format:

(Command of the block

currently executed)
--------------------,L1F--R--S--

,L1: Indicating that F, R, and S are override value commands.

F--: Override value of the cu~ting feedrate (0 - 254, unit: 1%)
R--: In the linear, the distance of the long axis up to the end point. The
unit is the least input increment of the basic axis. In the circular, the
center angle up to the end point~ The unit is 0.01 degree when the basic
axis is IS-A, or 0.001 degree for IS-B. ,
During the playback operation, the specified feedrate override value will
become effective either when the remaining distance of the long axis
becomes shorter than the value specified by the R or when the remaining
angle of the arc becomes smaller than the value specified by the 'R.
S--: Override value of spindle speed (50 - 120, unit: 1%)
During the playback operation, the override value of spindle speed becomes
valid when the block taught is executed.
With the override playback operation, set the override switches of the feedrate
and spindle on the machine operator's panel at 100%. Otherwise, the override
value specified by the program will be multiplied by the override value
specified by the switches on the machine operator's panel.
1) Teaching methods
Teaching can be carried out either with the MDI key or with a switch or
button on the machine operator's panel.
a) With the MDI key

~
Press the function menu key to use the function selection softkey.
2 Press the SETTING softkey. .
3 Select the override playback screen by pressing the SETTING softkey
several times or pressing the TEACH softkey.
® The override playback screen has TCR-ON, TCH-OFF, FED-MEM, SPN-MEM,
and F/S-MEM as operation selection softkeys.
Press the TCH-ON softkey for teaching. When the teaching mode is
enabled, "TEACHING MODE = ON" is shown on the screen. Press the
TCH-OFF softkey to disable the teaching mode. When the teaching mode
is disabled, "TEACHING MODE = OFF" is shown on the screen.
0)6 Select the memory operation mode to activate the memory operation.
@) i) It is possible to store a f~edrate override value in the memory by
pressing the FED-MEM softkey at the position where this is
desired.
ii) It is possible to store a spindle speed override value in the
memory by pressing the SPN-MEM softkey at the position where this
is desired.
iii) If it is desired to store in the memory, both the feedrate
override and the spindle speed override, press the F/S-MEM
softkey.

- 489 -
 I1I-S .8

SETTINGCOVERRIDE) 01234 ~

TEACH 1NG MODE= ON

CM::RRIDE FEED SPINDLE
01 OVRD 55 % 100 %
PRG OVRD 100 % 100 %
ACT OVRD 100 % 100 %
TCH OVRD 100 % 100 %
SPEED
CMD SPEED 2000.
ACT SPEED o

!'EM .• • • STOP •••• • • • • • • • •• LSI<

T~ TOLIFF FED....I'EM SPN.../'EM F /S.J'EM+

b) At the machine operator's panel

§ Turn on the override teaching mode switch.

2 Select the memory operation mode to activate the memory ope,ration.
3 Press the feedrate override teaching switch to the position for
storing the feedrate override in the memory. Similarly, press the
spindle override teaching switch to the position for storing the
spindle speed override in the memory.
If it is desired to perform only the feedrate override, insert ,L1F--R-- at
the end of the program currently executed.
If it is desired to perform only the spindle override, insert ,L1S-- at the
end of the program currently executed.
If it is desired to store both feedrate override and spindle speed override,
insert ,L1F--R--S--.
While executing a block, if more than one override teaching is carried out,
it will be the last override value that will be inserted in the command
program.
Teaching is valid only in memory operation mode, but not in tape operation
mode nor in MDI operation mode.
2) Playback methods
When running a program with override teaching (playback), it is possible to
do it with feedrate override or with spindle speed override.
CD Set at 100% both the feedrate override switch and the spindle speed
override switch on the machine operator's panel.
GD To cancel it, either press the TCH-OFF softkey of MDI keys or turn off
the override teaching mode switch on the operator's panel.
CD Select memory operation mode to perform memory operation.
QD
4 If ••••• ,L1F--R--; is commanded in the command program;
For linear, the override value specified by F will become effective when
the value specified by R and the distance of the long axis up to the end
of that block becomes equal.
For circular, the value specified by R and the override value become
equal.
If ••••• ,L1S--; is commanded, the spindle spped override specified by S
will become effective when the block starts. Every previously override
value remains effective until a new value will be specified.
CD If M02 or M03 is commanded, all the override values previously specified
will be cancelled and considered as 100%.

- 490 -
 111-5.8

(Note 1) By using the tape memory editing operation, it is possible to edit the
override value added to the end of block as well as other commands. In
other words, an override value can be inserted, modified, or deleted.
(Note 2) It is possible to use the override switch on the operator's panel
during the playback.operation. For example, ••• ,L1F80R--;.
The override value of the feedrate is set at 80%. If the override
switch on the operator's panel is 70% capacity, the actual override of
the specified feedrate will be 56% capacity.
(Note 3) An override playback is effective on all the automatic operation modes
(memory, tape, and MDI operations).
(Note 4) In override playback mode, if M02 or M30 is commanded,all the override
values previously specified will be cancelled and considered as 100%.
This is true for a situation where a program number search is carried
out. It is possible to specify through parameter No. 2401 NCM, whether
to cancel all the override values previously specified and consider
100%.
(Note 5) If the override value specified by F is over 254%, it will b~
considered 254%. If the override value specified by S is below 50%, it
will be considered 50%. If it is over 120%, it will be considered
120%.
(Note 6) When the cutting feedrate override cancel switch is on, 100% will be
stored in the memory as the speed override value if teaching is carried
out.
(Note 7) If it is attempted to teach a program which has already been taught,
the following override value will be stored in the memory. A new value
inserted in the program will be the product of multiplying override
value currently played back by the override value specified by the
override switch. By storing in the control unit the override value of
the override switch at this point, it will be possible to insert as a
new override value the product of that stored value by an override
value that may be specified later on in the program.
(Note 8) It depends on the parameter No. 0011 NE8, ND8 and No. 2201 NE9, ND9
whether to make teaching effective for programs 08000-09999. If it is
attempted to teach a block whose parameter specification is either NO
EDITING (NE8=1 or NE9=1) or NO DISPLAY (ND8=1 or ND9=1) , a warning
message ('WRITE PROTECT' in the former case and 'INVISIBLE PROGRAM' in
the latter case) will be indicated and no teaching will be carried out
in that block.
The processing will remain unchanged.
(Note 9) Override teaching is invalid when executing any of the following,
irrespective of valid parameter specifications. If teaching is
attempted, it will become effective at the first block after the
present function has been finished. It is necessary to insert an
override value by means of tape memory editing into non teaching
blocks.
• Only feedrate override teaching is invalid
- In a block with no cutting feedrate specification
- During dry run operation
• Both feedrate override teaching and spindle speed override teaching
are invalid
- During canned cycle operation
-During multiple repetitive canned cycle operation
- During high-speed remote buffer operation
- During high-speed processing operation
- On a block created internally at the corner portion on tool radius
compensation C

- 491 -
 111-5.8

(Note 10) The R of an override playback is invalid when executing any of the
following:
-- Drilling canned cycle
- Skip function
- Chamfering corner radius
- Direct input of the drawing dimensions
(Note 11) If a feed hold or resetting is attempted for a blo~k that has already
been taught, the teaching will not be effective.
(Note 12) Only during axis movement, teaching is accepted.
(Note 13) Do not specify an override by teaching or the tape editing to block
executed repeatedly.
The blocks executed repeatedly are the followings:
1) Blocks in the subprogram that are called by M98 or G65
2) Blocks in the main program that are repeated by M99
3) Blocks repeated by WHILE or GO TO statement

-- 492 -
 111-6

6. TEST OPERATION

6.1 All Axes Machine Lock

When the switch is set to the MACHINE LOCK position, movecofumand pulses are
suppressed. Consequently, the position display is updated as specified by the
program, but the tool does not move.
This function is used to check a program.
OFF

DISPLAY LOCK~ MACHINE LOCK

Display lock/machine lock switch

(Note 1) Even if a G27, G28 or G30 command is specified, the tool does not go to
the reference point and the REFERENCE POINT RETURN COMPLETION LED does
not go on.
(Note 2) The M, S, T and 2nd auxiliary function (B) are executed.

6.2 Machine Lock on Each Axis

When the switch is set to a certain axis position, the axis does not move during
manual/automatic operation.
Position display updates as if the axis were moving.

(Note) Manual operation of the axis is not locked during manual/automatic simul-
taneous operation.

6.3 Auxiliary Function Lock

When the Auxiliary function lock switch is turned on, (on the machine operator's
panel) M, S, T and B function operations are locked.
This switch is used to check a program together with a machine lock switch.
(Note) MOO, MOl, M02, M30, M98 and M99 are executed, even if the switch is on.

6.4 Dry Run

If this switch is set to ON in the Cycle Operation, the feed rate specified by
the program is ignored and becomes as follows:

OF@)
DRY RUN switch

- 493 -
 111-6.5

Program Command
'Rapid traverse button ON/OFF
Rapid traverse Cutting feed

Rapid traverse button ON Rapid traverse Max. JOG feed rate

Rapid traverse button OFF JOG feed rate (Note 1) JOG feed rate

(Note 1) This speed can be set to the rapid traverse ra~e by setting parameter
RDR No. 1400.

6.5 Single Block

This function stops the machine after executing one block of the program.
1) Set the single block switch to ON.

Single block

One block of the program is executed, then the execution is stopped. If the
cycle start button is pressed, the next block is executed and the execution
is stopped again.
(Note 1) For G28, G29 and G30, the single block function is effective at an
intermediate point.
(Note 2) In a canned cycle, the single block stop points are the end of 1 ,
2 , and 6 as shown below. When the single block function is
effective at points 1 or 2, the feed hold lamp lights.

CD
.... -------4
I I
I I
®II I
I
®
I I
I I

tI
I
I
® I ®
I
I
I
I
~ - - -- - - Rapid traverse

- - - - . Feed-

(Note 3) Single block stop is not performed in blocks containing M98P ; M99;
and G65, G66, or G67. However, single block stop is even performed
in a block with M98P or M99 command, if the block contains an
address other than 0, N or P.

- 494 -
 111-7

7. SAFETY FUNCTIONS

7. 1 Emergency Stop

If you press the Emergency Stop button on the machine operator's panel, the
machine movement stops in a movement.

Red

EMERGENCY STOP

This button is locked when pressed. Although it varies with the machine tool
builder, the button can usually be unlocked by twisting it.

(Note 1) EMERGENCY STOP interrupts the current to the motor.

(Note 2) The control enters reset status or alarm status when this button is
pressed. (Either is selected by parameter ENR (Data No. 2001».
(Note 3) Causes of the trouble must be removed before the button is released.

7.2 Overtravel

When the tool tries to move beyond the stroke end set by the machine tool limit
switch, or when it enters the stored stroke limit inhibition area specified by
the setting data or the program, an error code (OTOOI - OT008) is displayed and
the tool slows down and stops. In this case (see 11-18), press the reset button
to reset the alarm and move the tool to the safety direction by manual opera-
tion. For details on operation, refer to the operator's manual of the machine
tool builder.

7.3 Stroke Check before Movement

When the tool starts to move in a block, this function checks the end point
coordinates from the machine's current position and the specified amount of
movement. It checks if the tool will enter a forbidden area of stored stroke
limit or stored stroke limit 2, and if it does, it stops the tool immediately
after the start of movement for that block and displays an alarm.

(Note 1) This function checks whether the end point coordinates of the tool
enter a forbidden area or not, but does not check the path of the tool
during the move command.
The stored stroke limit, or the stored stroke limit 2, however, will
output an alarm when the tool reaches a forbidden area.

- 495 -
 III-7.3

End point

Example 1: ,.- .....- ~

Stopped by stored
Start point stroke limit 2 at
point a.

,/
"..,-/
/
......
,/
,/

~
Start point ~
Stopped immediately after start of movement by
function for checking stroke limit before movement.
Example 2:

End point

Start point
Stopped at point a by stored stroke
limit 1 or stored stroke limit 2

I
I
I
/
t
Start point ..... Stopped immediately after start of
movement by function for checking
stroke limit before movement

- 496 -
 111-7.3

(Note 2) The function for checking the stroke limit before movement will not
operate at the start of movement with the machine 10ck on~
(Note 3) When the stored stroke limit 2 is not valid (in G23 mode), no check is
performed for the forbidden areas of this limit.
(Note 4) No check is performed for manual numeric commands.

- 497 -
 111-8

8. WHEN ALARM ARISES

Check the following items if normal operation cannot be accomplished.

1) When an error code is displayed on the CRT
If an error code is displayed refer to APPENDIX 9 '!List of Error Codes" to
check the cause of the error. If it is displayed PS ,the error is related
to the program or setting data. Correct the program or the setting data.
2) When no error code is displayed on the CRT
There are cases in which the system is executing some process and it seems
like the machine operation is stopping. Refer to Maintenance Volume, Section
4.4 "CNC status display".
3) Refer to Maintenance Volume, Chapter 4 "Troubleshooting".

- 498 -
 III-9

9. PART PROGRAM STORAGE & EDIT (INCLUDING PROGRAM REGISTRATION)

9.1 Preparation for Part Program Storage and Editing Operation

The following preparation is necessary for the part program storage and editing
ratione ,

i1 Set the I/O devices

2 Set the data on I/O devices. (See 10.3)
3 Turn on the data protection key (KEY 3).
Some system do not provide this key~
QD Set the operation mode to the EDIT mode.
~s Press the function menu key and the soft key is changed over to function
selection key.
QD Press the PROGRAM key and display the program.
If the screen of the program does not display the program text,
i) Press the CHAPTER key to change over the soft key to the chapter selec-
tion key, then press TEXT.
or
ii) Press the' PROGRAM key again and again until the program text is dis-
played.

,Jjll
.9" CRT unit

H
I_l-@3,DD~DDt~j _
II I I I

Function Soft key Operation

menu key selection menu key

9" CRT function-selection key

• 14" CRT unit

Function Soft key Operation

menu key menu key
14" CRT function selection key •

- 499 -
 111-9.2

9.2 Program Registration

9.2.1 Registration from tape reader

The following operation is described.
1) Registering all part programs
2) Registering one part program
3) Registering one part program (The program number is to be changed or newly
added)
CD Set to the part program enable condition. ((See 9.1)
@ When the program is to be added after an already registered programs,
search the program number. (See 5.2.1)

9" CRT operation selection key

ICONDF,NS' , READ 'PUNOH·I VERIFY 1+1

t
9" CRT operation-guide key

IALL 1I-PRORIII 1 (PROO#)I 1(F ILE#) 1

T
Search this
t t 1
14" CRT operation-selection key
Added new
program number. program.

14" CRT operation-guide key

Press the operation menu key to II
set the soft key to the ope-
ration selection key.
t t
Press READ key and the soft key
is turned to the operation guide
key.

All part programs are One part program is One part program is
registered registered registered. (The pro-
gram number is changed
or newly added.)

G)-I @-l G)-I

Press All key. Press I-PROGM key. Press (PROGII) key~
®-2 G)-2
(i) Press NEW for Press EXEC key after
newly registra- inputting the pro-
tion. gram number from
(ii) Press ADD for CRT/MDI panel.
adding.

QD Press the STOP key to stop the program from registering.

After this key is pressed, registration of the remaining program cannot
be restarted.
CD Soft key returns to the operation selection key after registration of the
program.

- 500 -
 111-9.2.2

9" CRT operation selection key

9.2.2 Registration from CRT/MOl panel
Q) Set to the part program editable
condition. (See 9.1)
GU Press the operati~n men key.
CD Input the program to be resistered
14" CRT operation selection key
with address keys and numeric keys.
The programs input with these keys
are entered to the key-input buffer.
Press the INSTR key and progr~ms in the
key-input buffer are loaded into the
memory.
@) Repeat operation ®
for more
program input.

- 501 -
 III-9.3

9.3 Program D~letion

If a program is inhibited from being edited, it cannot be deleted.

When parameter NE8 (Data No. 0011) is '1', programs 08000 to 08999 are not
deleted.
When parameter NE9 (Data No. 2201) is '1', programs 09000 to 09999 are not
deleted.

ffi Set to the part program editable condition. (See 9.1)

Press operation menu key and the soft key is changed to the operation
selection key.
Press DELETE key. 9" CRT operation selection key
Press PROGRAM key.
• When all programs are to be ALTER I INSERT I DELETE IDLT-wRDI ilO-EDIT I 1+
deleted.
®
-1 Press All key.
All registered programs are 9" CRT soft keys when DELETE is pressed.
deleted.
However, the programs which are
inhibited from being edited are
not deleted.
Soft key is turned to the opera- 9" CRT soft keys when PROGRAM is pressed.
tion selection key.
®
-2 When the soft key EXEC is ALL THIS
pressed, all the programs is 1 I
deleted.
When the soft key CANCEL is 9"CRT soft keys when ALL is pressed.
pressed, the deletion operation
of programs becomes ineffective
and the soft key status becomes
EXEC
'I 1
CD·
• When the currently selected 14" CRT operation selection key
program is to be deleted.
® -1 Press THIS l(ey.
The currently selected program
14" CRT soft keys when DELETE is pressed.
is deleted, and each soft key is
changed to an operation menu key. II
• When the designated program is
deleted. 14" CRT soft keys when PROGRAM is pressed.
®
-1 Press (PROGII) key.
II
CD-2 Input the program number, and
press the EXEC key.
®
-2' If several programs in a
14" CRT soft keys when ALL is pressed.
specified range are to be
deleted, input the range
by delimiting program
II
numbers by commas"''',
Ex) Input as 0100, 0200, and press
EXEC key.

Programs for 0100 to 0200 are deleted.

- 502 -
 111-9.4

9.4 Alteration, Insertion, and Deletion of Program

The contents of the program stored in memory can be edited.

The procedure is as follows.
CD21 Enable part program storage & .editing. .(See 9.1)
~ Search the program to be edited. (See 5.3)
If the program to be edited is already selected, skip this step.
GD Move the cursor to the portion to be edited.
Q Edit (alter, insert, delete) the program conten~.s.
Steps G) and ® are detailed below.

9.4.1 Moving the cursor to the portion to be edited

to be edited.
G) Press the operation menu key.
GD · The portion to pe edited is 9" CRT operation selection key
located after the cursor portion.
eD-I Press FW-SRCH (or FORE
SEARCH).
• The portion to be edited is
located before the cursor 9" CRT operation guide key
(When FW-SRCH is pressed.)
position.
eD -1 Press BW-SRCH (or BACK
SEARCH).
(BW~SRCH cannot be done for a 9'" CRT operation guide key
II
word in the same block) (When BW-SRCH is pressed.)
• The cursor is to be returned t6
the program head.
CD-I Press REWIND
II
® . For word or address search. 14" CRT operation selection key
G) -1 Press WORD key.
(D-2 Enter the address (for t t
14' , CRT operation guide key
example, N) or word (for (When FORE SEARCH is pressed.)
example, NI00) to be
searched from the keyboard, II
then press the EXEC key. 14" CRT operation guide key
Specified address or word is . (When BACK SEARCH is pressed.)
searched in the forward
di.rection (FW-SRCH) or in
II
the reverse direction
(BW-SRCH).
The cursor moves to the
searched word or address
when searching ends normally.
· When the cursor is moved to the
program end (FW-SRCH) or head
(BW-SRCH)
G)-I Press BOTTOM key (for
FW-SRCH), and the cursor
moves to the program end.
eD-I' Press the TOP key (FOR
BW-SRCH), and the cursor
moves to the program head.

- 503 -
 111-9.4.2

9.4.2 Alteration, insertion, and deletion of program

Following alteration, insertion, and deletion is enable.
(i) Alteration
- Alteration from one word to one word
- Alteration from one word to two or more words
- Alteration from one word to two or'more blocks
(ii) Insertion
- Inserting one word
- Inserting two or more words
- Inserting two or more blocks
(iii) Deletion
- Deleting one word
- Deleting the range to the EOB (End of Block) code from the word contain-
ing the cursor
- Deleting the range to the specified word (entered from the keyboard)
from the word containing the cursor.
l Set to the program edition enable condition.

~;
(See 9.1)
Move the cursor to the position to be edited.
Press the operation menu key~

9" CRT operation selection key

14" CRT operation selection key

® Alteration
• Alteration

~
-1 Press ALTER key.
9" CRT operation guide key
4 -2 Press WORD key. (When ALTER/INSERT key is pressed.)
-3 i) For alteration from one word
to one word, enter one word
from the key board. II
ii) For alteration from one word
to two or more words, enter 9" CRT soft key when DELETE is pressed.
two or more words from the
key board.
iii) For alteration from one word
lMJRD 1- EOB I-IWORD) 1
to two or more blocks, enter
two or more blocks.
® -4 Press EXEC key. 14" CRT operation guide key
(When ALTER/INSERT key is pressed.)
The word containing the cursor
is replaced by the entered 1III\lIIJ'lu'lU;'1 II
character string. The cursor
is moved to the last entered 14" CRT soft key when DELETE is pressed.
word. Each soft key returns to
an operation selection key. II

- 504 -
 111-9.5

• Insertion

~
-1 Press INSERT key •.
4 -2 Press WORD Key.
-3 i) When inserting one word, enter one word from the keyboard.
ii) When inserting two or more words, enter two or more words from the
keyboard.
iii) When inserting two or more blocks, enter two or more blocks from the
keyboard.
(0-4 Press EXEC key.
The entered word(s) are inserted immediately after the word containing
the cursor.
The cursor is moved to the last inserted word.
Each soft key returns to an operation selection key.
• Deletion
(0-1 i) Press DLT-WRD key (DELET WORD) key for.one word deletion.
ii) For the other case, press DELETE key and continue the following
operation.
® -2 i) When the WORD key is pressed, the word containing the cursor is
deleted.
Each soft key returns to an operation selection key.
ii) When the EOB key is pressed, the range to the EOB code from the word
containing the cursor is deleted. Each soft key returns to an ope-
ration selection key.
iii) To delete the range to the specified word from the word containing
the cursor CD press the ",,(WORD) key, CD input a word Q) press
EXEC key. The range from the cursor positioned word to the speci-
fied word is deleted and soft key returns to an operation menu key.

9.5 Program Collation

CD Set to the part program editing 9" CRT operation selection key
enable condition. (See 9.1)
CD Press the operation menu key and ICONDENS 1 RF.AD PUNCH 1VERIFY 1+ 1
each soft key is changed over to
an operation selection key.
0)43 Press VERIFY key. 9" CRT operation guide key
(0 i) To collate all part program on (When VERIFY key is pressed.)
tape with the programs re-
gistered in memory, press the 1 (FIl,E#) 1

ALL key.
ii) To collate one part program on 14" CRT operation selection key
tape with the programs re-
gistered in memory, press the
I-PRGRM key.
iii) To start collation with the
character containing the cursor 14" CRT operation guide key
in the currently selected memory (When VERIFY key is pressed.)
program, press the HERE key.
However, HERE key is available
/I
to restart the collation when
program was not collated.
To stop the collation, press the
stop key. When this key is
pressed, collation of the programs
on the remaining part of the part
program cannot be restared.

- 505 -
 111-9.6

QD After program collation terminates,

each soft key returns to an opera-
tion selection key.
CD When program collation detects no
match, a message is 'displayed on
the soft key.
Pressing the CANCEL key causes the
alarm status to be cancelled.
QD When the collation is to be re-
started using the HERE key, take
the following procedure.
i) When the program screen is
displayed with an alarm indi-
cated, the contents of the tape
buffer is displayed. The first
line displays the uncollated
block.
ii) Then cancel the alarm and display the program screen.
The contents of the memory is displayed starting with the uncollated
block. '
iii) The cursor indicates the uncollated word.
iv) Move the cursor to the head of the next block in this state. (Move the
cursor to the head of the next 2nd block if the uncollation occurred at
the word immediately before the EOB.
v) Press the HERE key.
vi) The collation begins with the next block in the tape buffer.

9.6 Program Output

The following operations are described.

(1) Outputting all programs
(2) Outputting the currently selected
program
(3) Outputting a specified program

CD Enable part program edit operation.

(See 9.1)
CD Set to EIA or ISO. code for punch
codes by setting operation 9" .CRT operation selection key
(See 10.3)
CD Press operation menu key. Each
soft key turns to an operation
I
CONDENS I READ PUNCH I VERII'Y I+ I
selection key.
®5 Press PUNCH key.
CV i) Press ALL key for all programs 9" CRT soft key when PUNCH is pressed.
output. Program output is
started.
ii) When the currently selected
program is to be output,
Press THIS key. Program output
is started.
iii) When a specified program is to
be output, Press (PROG#) key,
input the program number, and
press EXEC key. Program output
is started.

- 506 -
 111-9.7

® To stop program output, press the

STOP key. After this key is
14" CRT operation selection key

pressed, outputting of the pro-

grams or the remaining parts of
the programs cannot be restarted.
When the PAUSE key is pressed,
14" CRT soft key when PUNCH is pressed.
program output stops temporarily
after the EOB (End of Block) code
is output. At this time, the soft
II
keys are changed as follows.

EXEC IEX-SNGL I %-FEED I

II
- When the %-FEED key is pressed, the EOR (End of Record) code and feed codes
are output. At this time, program output terminates.
- When the EX-SNGL key is pressed, program output is executed until the next EOB
code is encountered.
- When the EXEC key is pressed, program output is restarted.

To terminate feed-code output while the feed code (without punch) is being
output at the tape head ore end, press the NO-FEED key •
• When program registration is completed, each soft key returns to operation
selection key.

9.7 Background Edit

If a mode other than EDIT is selected, a part program can be stored and edited
in the background at any time.
When an alarm or warning occurs in the background while a part program is being
stored or edited, it has no influence on foreground operation; and vice versa.
(1) Start of the background edit
CD Enable part program edit opera- 9" CRT operation selection key
tion. (See 9.1) Note to set a
mode other than EDIT. Set the
I/O interface for background.
(See 10.3)
Press the operation menu key, 9" CRT operation guide key
(When BG-EDIT is pressed.)
and each soft key is changed
over to an operation selection
key. .
Press BG-EDIT (BACK EDIT) key. t f
Soft keys ar changed over to
operation guide keys.
To select the program that was 14" CRT operation selection key
edited previously in the
background, press the PRV-PRG.
Its program is displayed, and 14" CRT operation guide key
each soft key returns to an
operation selection key.
Procedure ® is .not necessary.
To select a program, press
(PROG#) •. Enter the program
number, then press the EXEC key.
"
The selected. program is dis-
played. The soft keys return
to operation selection keys.
PROGRAM (BG-EDIT) is displayed

- 507 -
 111-9.8

an the top right area of the

screen. It indicates that
background edit is enabled.
QD. For the actual part program
editing operation, see each
item.
(2) End of Background edit
CD Press the operation menu' key.
The soft keys are changed over
to operation selection keys.
CD Pressing the BG-END key causes
the background edit to
terminate.

9.8 Number of Registered Programs

The number of registered programs can be selected from the following.

~ Number of registered programs

A 100

B 200 (Note 1)

C 400 (Note 2)

D 1000 (Note 2)

(Note 1) Storage requires 80 m or more of tape.

(Note 2) Storage requires 320 m or more of tape.

9.9 Part Program Storage length

The following part program storage length can be selected.

80/160/320/640/1280/2560/5120 m

(Note) Part program storage length may decrease according to options selected.

1) Custom macro common variables

Table 9.9 (a) Common variables and shortened part program length

Shortened part program length

Common variable
~ Notes

Common variable A 0 11100 - 11149, 11500 - 11549

Common variable B 0 11100 - 11199, 11500 - 11599

Common variable C 2.2 m 11100 - 11199, 11500 - 11699

Common variable D 7.4 m 11100 - 11199, 11500 - 11999

- 508 -
 111-9.9

2) Number of offset pairs

Table 9.9 (b) Offset pairs and shortened part program length

Shortened part
Offset memory Offset pairs Notes
program length

A 32 0 m No differences between
geometry/wear,
99 0 m

200 1.5 m

499 4.4 m ,

999 10.3 m

B 32 0 m Differences between
'geometry /wear
99 1.5 m

200 3 • .7 m

499 10.3 m

999 22.0 m

C 32 0 m Differences between
geometry/wear
99 3.7 m Differences between cutter
diameter/tool length
200 8.1 m

499 22.0 m

999 44.7 m

3) Tool life management

- Part program length shortens by 5.9"m. In case of 512 groups of tool life
management, the part program length shortens by 45 m.
4) Tool offset by tool number
The part program length shortens by 14 m.
5) Additional work coordinate systems
The part program storage length decreases 4.4 m.

- 509 -
 111-9.10

9.10 Extended Part Program Editing

The expanded part program editing function enables the following by the MDI key
operation for a program registered in the memory:
1) Copy or move the whole or a part of a program into the program or the key-in
buffer.
2) Merge two programs into one.
3) Change the programmed word or address in the program into another word or
address.
By using this function, it is easily possible to create a new program which is
identical to the original program, to be left as it is, create a program which
contains similar points, change the program commanding order, command value,
address, etc., and so on.
The operation is possible only on the program display screen or on the program
directory screen (excluding in the MDI mode) in the EDIT or MDI mode, or in the
background editing mode.

9.10.1 Program copy and move

1) Changes in soft keys during operation (9" CRT)
a) Copy

MERGE CHANGE

* Copy in the MDI mode covers to-KEY IN BUFFER (TO-BUFF) only.

* Copy in the program directory screen covers to-PROGRAM (TO-PROG) only.
Soft keys change as shown in the figure below. (9" CRT). The arrow ("')
indicate the sequence of changing the soft keys.

- 510 -
 111-9.10.1

b) Move

CHANGE

STOP

* Move in the MDI mode covers to-KEY IN BUFFER (TO-BUFF) only.

* Move in the program directory screen covers to-PROGRAM (TO-PROG) only.
2) Copy and move into another program
a) Copy of whole program
Depress the soft keys "COPY", "TO-PROG", "ALL", "(PROGII)", program number
and "EXEC" in that order.

oxxxx 0 ••••

D D Copy

A program of program number OXXXX is copied as a program of program number

0****.
The copied program is identical to the original program ex<:ept for the
program number.

- 511 -
 111-9.10.1

b) Copy and move of a part of program

Depress the soft keys "COpy" or "MOVE", "TO-PROG", "CURSOR"''', ""'CURSOR" or
""'BOTTOM", "(PROGII)", program number and "EXEC" in that order.

oxxxx OXXXX 0 ••••

A A
Start
point

B .. B

End Copy
point
C C

The program part B of program OXXXX is copied to the program of program

number 0****.
The program from the edit range start point to end point is copied into
"0****".
The program the range of which is specified does not change after copy.
OXXXX oxxxx 0 ••••

Start
point

End
A

B _.EBD
Move
point
C

The program part B of program OXXXX is deleted,· and the program part B is
copied to the program of program number 0****.
The program from the edit range start point to end point is moved to
"0****".
The moved content of the program the range of which is specified
disappears after move.
After depressing "(PROGII)" (or "0" as well), key-input the program number
to be created anew by copy or move in the operation of a) and' b) • A
warning is issued if number 0 is programmed or if number 0 is existing.
If "CURSOR"''' or ""'CURSOR" or ""'BOTTOM" is depressed, the cursor positions
("'BOTTOM" is the end of the program) are specified the e~it range start
point and end point respectively.
(Note 1) It is possible to re-specify the edit range start point ("CURSOR"''') as
many times as you wish until the edit range end point is specified
("'CURSOR/"'BOTTOM).
(Note 2) A warning is issued if the edit range end point is specified without
specifying the edit range start ·point.
(Note 3) If the edit range start point is behind the end point of the edit
range, a warning is issued during the execution when the program number
position is specified.
(Note 4) Setting of the edit range start point and end point is effective until
the operation to invalidate that setting is made.
Opera·tion to invalidate setting
Setting is invalidated if:
• Editing except for word search, rewind and search bottom, such as
insert, delete, change, etc., is made after setting the start point
or the end point or when the merging position to merge programs is
specified after setting the start point or the end point.

- 512 -
 111-9.10.2

• The operation select mode is resumed after setting the end point.
(Not invalidated after setting the start point.)
(Note 5) If the area runs out during copy, a warning is issued, and copy is
suspended on the spot.
(Note 6) Only copying of the whole program is possible in the background editing
of a program which is selected at present in the foreground editing and
which is not in the reset and rewind status. (A warning is issued in
other cases.) .
(Note 7) Only copy or move into the key in buffer is possible in the MDI mode.
(Note 8) "Copy and move of a part of program" is impossible unless the number of
the remaining registered programs is two or more. (Warning)
(Note 9) If power supply is broken during the "copy and move of a part of
program", the original program to be copied or moved may sometimes be
divided into two so that the latter half of it is turned into program
number O. In such a case, change program number 0 into another number,
and then perform the "program merge".
3) Copy and move into key in buffer
a) Copy and move of one word (where cursor is)
Depress the soft keys "COpy" or "MOVE", "TO-BUFF" and "WORD" in that
order.
b) Copy and move from cursor to EOB (End of Block)
Depress the soft keys "COpy" or "MOVE", "TO-BUFF" and "rvEOB" in tha t
order.
(Note 1) Copy and move into the key in buffer are performed always in units of
words. It is impossible, therefore, to copy or move words which are
longer than the key in buffer.
(Note 2) Copy and move into the key in buffer are performed always in the form
of addition. Also copy and move in the status of having already been
input into the key in buffer always cover one word only.
(Note 3) Copy and move into the key in buffer is impossible on the program
directory screen.

9.10.2 Program merge

1) Changes in soft keys during operation (9" CRT)

DLT-ORG

- 513 -
 111-9.10.2

2) Merge by copying original program to be merged

Depress the soft keys "MERGE", "(PROGII)", Program number, "CURSOR" or
"BOTTOM" and "CPY-ORG" in that order.

Merging
position rn c=J
o>~xxx

C
0 ••••

Merge
III
oxxxx
A

B
0 ••••

c=J
C

The programs of program numberXXXX and of program number **** are merged.
"0****" does not change before and after merge.
3) Merge by deleting original program to be merged
Depress the soft keys "MERGE", "(PROG/I)", "CURSOR" or "BOTTOM" and "DLT-ORG"
in that order.

oxxxx 0 •••• oxxxx

A

Merge
B

A program of program number XXXX and a program of program number **** are
merged.
"0****" disappears after merge.
The merging positions of "CURSOR>" and "BOTTOM" are immediately after the
cursor and the end of the program respectively in case of operations 2) and
3).
(Note 1) "Merge by copying original program to be merged" is performed whenever
"MERGE" is depressed after inputting the number of the original program
to be merged into the key in buffer.
(Note 2) A warning is issued if program number 0 is existing.
(Note 3) If the area runs out during merge, a warning is issued, and merge is
suspended on the spot.
(Note 4) The program merge is impossible unless· the number of the remaining
registered programs is three or more for "merge by copying original
program to be merged" and two or more for "merge by deleting original
program to be merged". (Warning)
(Note 5) If power supply is broken during merging, the original program to be
merged may sometimes be divided into two so that the latter half of it
is turned into program number O. In such a case, change program number
o into another number, and then perform the "program merge".
(Note 6) The program merge is impossible in the MDI mode.

- 514 -
 111-9.10.3

9.10.3 Word and address change

1) Changes in soft keys during operation (9" CRT)

MERGE

(ADRES)

,(WORD) ,(ADRS)
I
EXEC EX-SNGL
I
STOP

* When EX-SNGL, the soft keys change automatically after

search.

SKIP STOP

2) Word change
a) Change one word into one word or two or more consecutive words.
b) Change two or more consecutive words into one word or two or more
consecutive words.
Depress the soft keys "CHANGE", "(WORD)", ",(WORD)" and "EXEC" or
. "EX-SNGL" in that order.
3) Address change
Depress the soft keys "CHANGE", "(ADRES)", ",(ADRS)" and "EXEC" or "EX-SNGL"
in that order.
Key-input the address to be changed and those to replace it at "(ADRES)" and
",(ADRS)".
The first "," except for the first character of the key in buffer is regarded
as the partition between the word or address to change and that to replace it
on the operations 2) and 3). Namely:
• "XlOO, YlOO" - - - > Change "XlOO" into. tty 100"
• "XlYl" ClO" - - - > Change "XlYl" into "ClO"
• If, ClO, XlOO" - - - > Change It, ClO" into "XlOO"

• It"~, ClO" - - - > Change "," into ", ClO"

"EXEC" changes all the programmed words and addresses after the cursor.
"EX-SNGL" (Single block change) searches for first programmed word or address
after the cursor, and stop son finding it to allow change or no change to be
selected.
(Note 1) Two or more words which contain the EOB (End of Block) and which
precedes another word cannot be .changed. ("X100; NlO, X200; N20" etc.
--:> Warning)
(Note 2) The single block change is performed if "CHANGE" is depressed after
making an input into the key in buffer.
(Note 3) If the change ends normally, the total number of the words and
addresses changed is displayed at the head of the key in buffer display
line •.
(Note 4) The word and address change is impossible on the program directory
screen.

- 515 -
 111-9.10.4

9.10.4 Sequence number automatic insertion

A sequence number can be automatically inserted for each block at a certain
increment value when producing a program by operating the MDI key in the part
program storage and editing mode (including background editing).
When the INSERT key is pressed after entering EOB (End of Block), the sequence
number obtained by adding a certain increment value to the current sequence
number is automatically inserted into the memory together with address N.
However, except when EOB is entered at the end of program (the cursor is located
at the position before "%"), the sequence number is inserted after EOB. When
EOB is inserted in the middle of a program, the sequence number is not inserted
automatically. '
Q) For automatic insertion of a sequence number at producing a program by MDI
key, first set 1 in parameter SEQ (No. 0010, bit 1). Next, set the initial
value of the sequence number in parameter 0031, and set the increment value
in the parameter 0032.
® Select the part program sotrage and editing (EDIT) mode or set a state in
which background editing is available.
(V4 Enter the program number from the keyboard, and press the INSERT key.
QD Enter EOB, and press the INSERT key. EOB is'stored in the memory. At the
same time, if 10, for example, has been set as the initial value parameter,
N10 is inserted in the next line and displayed.

PF'OLiF.'HI'1 (11E1'10RY:' 00040 I mooClo

.-
r riiT ..... STOP ..... * ......... + • • • • ++ EDIT ••• STOP •••• ••• ••• ••• ••• • ••
ilL TEl" I t-lSERT DELETE DL T _l<lRD BG_ErlJ T. AL TER I NSERT DELETE IlL T _~D BG_ED IT +

® Insert the data of one block or several blocks (the format delimited by
EOB).
® Enter EOB, and press the INSERT key. EOB is st,ored in the memory and at the
same time, if 2, for examp1e,'has been set in the increment value. parameter,
N12 is inserted in the next line and displayed.

."
PROORl=V'1 (1'EI'mV)

000413 ;
Nie G92 xe ve ze

>G92><0Y0Z0:_
EDIT ••• STOP •••• ••• ••• ••• ••• • •• EDIT ••• STOP •••• ••• ••• ••• ••• • ••
AL TER I NSERT DELETE IlL T _~D BG_ED I T+ AL TER I NSERT DELETE IlL T _~D BLED IT +

- 516 -
 111-9.10.4

(j) When avoiding entering N12 into the next block in step ®, press the DELETE
key to erase N12.
(Note 1 ) When the data of several blocks is entered, the sequence number is
inserted only next to the EOB code of the last block.

F'RCGRI=V1(I'E~Y) 000413 NOOee0

00040 ; 000413 ;

_%
Nle G92 xe ye ze ;
N12 Gel Xl00.e Fl00.e
N120 X-50.e F150. 13
Nle G92 xe ye ze ;
N12 Gel Xl00.e Fl00.e

_%
N120 X-50. 13 Fl50. 13
N122 Y150.e Fl00.e
z-le. F90.e

)Y150.BFl00.0:Z-10.F90.0:_
EDIT ••• STOP • • • • • • • • • • • • • EDIT ••• STOP • • • • • • • • • • • • • • • •
At... TER I NSERT DELETE DLT _~D BG_ED IT + At... TER I NSERT DELETE DL T _~D BG_ED I T+

(Note 2) When the sequence number to be automatically inserted exceeds 99999,

the initial value is recalled.
(Note 3) The sequence number is automatically inserted even if the EOB code of
-the last entry (M30, for example) of the program is entered. Delete
sequence number pressing the DELETE key.
(Note 4) When the ALTER key is pressed after the sequence number to be changed
is entered by moving the cursor to the last sequence number of program
("%" comes next), the sequence number is changed and thereafter, the
number obtained by adding the increment value sequentially to that
sequence number will be automatically inserted. For example, when
typing in N120 and pressing the ALTER key, the sequence number is
changed to N120 and thereafter changed to 122, 124, 126, •••

r
F'~(I'EMORY) 000413 N00000 F'RCGRI=V1(I'EMORY)

000413 ;

.%
Nle G92 xe ye ze ;
N12 Gel Xl00.e Fl00.e _%
000413 ;
Nle G92 xe ye ze ;
N12 Gel Xl00.e Fl00.e

)N12(L
EDIT ••• STOP • • • • • • • • • • • • • • • • EDIT ••• STOP • • • • • • • • • • • • • • • •
At... TER I NSERT DELETE DL T _~D BG_ED IT + AI- TER I NSERT DELETE DL T _~D BG_ED I T+

~(I'EMORY) ~(I'EI'mY)

_%
000413 ;
Nle G92 xe ye ze ;
N12 Gel Xl00.e Fl00.e
000413 ;

_%
Nle G92 xe ye ze ;
N12 Gel Xl00.e Fl00.e
N120 X-50. 13 Fl50.e

>X-50. BF150. 0:_

EDIT ••• STOP •••• ••• ••• ••• ••• • •• EDIT ••• STOP • • • • • • • • • • • • • • • •
At... TER INSERT DELETE DL T _~D BG_EDIT+ At... TER I NSERT DELETE DLT _~D BG_ED I T+

- 517 ..-
 Ill-9.1O.4

However, in the case of data entry as shown in the following examples,

ALTER is valid as tape editing but the data cannot ~e used as the first
digit of the sequence number to be automatically inserted thereafter.
Ex 1) N123456 ALTER •••••• Number of digits is over.
(more than 5 digits)
Ex 2) N1234X100 ALTER •••• Data other than an N command exists.
Ex 3) X100 N1234 ALTER ••• Data other than N command exists.
Ex 4) N-100 ALTER •••••••• Data other than numeric exists after N.
(Note 5) As another method of changing the first digit of the sequence number to
be automatically inserted thereafter, you can enter a new sequence
number after deleting the last sequence number as shown below.

PR~(!'EMORY) PR~(I'EI'mY)

00040 ; 00040 ;
N10 G92 X0 Y0 Z0 ; N10 G92 X0 Y0 Z0 ;
N12 Gel Xl00.0 Fl00.0 N12 Gel Xl00.0 Fl00.0
Nl20 X-50. 0 F150.0 ; Nl20 X-50. 0 F150.0 ;

_%
N122 Y150.0 Fl00.0 ;
Z-10. F90.0 ;
N124 X10.0 Y20.0 Fl00'0
N122 Y150.0 Fl00.0 ;
Z-10. F90.0 ;
N124 X10'0 Y20.0 Fl00.0
I

EDIT ••• STOP • • • • • • • • • • • • • • • • EDIT ••• STOP • • • • • • • • • • • • • • • •

~ TER I NSERT DELETE DL T _WRD EIG_ED I T+ ~ TER . I NSERT DELETE DL T _WRD EIG_ED I T+

PROGRI=V1 (!'EMORY) 00040 N00000 F'ROORAM (!'EI'mY)

00040 ; 00040 ;
N10 G92 X0 Y0 Z0 ; Nf0 G92 X0 Y0 Z0 ;
N12 Gel Xl00.0 Fl00'0 N12 Gel Xl00.0 Fl00.0
Nl20 X-50. 0 F150'0 ; Nl20 X-50. 0 F150.0 ;
N122 Y150.0 Fl00.0 ;
Z-10. F90.0 ;
N124 X10.0 Y20'0 Fl00'0
I
_%
N122 Y150.0 Fl00.0 ;
Z-10. F90.0 ;
N124 X10.0 Y20.0 Fl00.0

)N201L
EDIT ••• STOP •••• • •••••••• EDIT ••• STOP • • • • • • • • • • • • • • • •
RL TER I NSERT DELETE DL T _WRD .EIG_ED I T + RL TER I NSERT DELETE DL T _WRD EIG_ED IT +

(Note 6) Leave at least six characters at the end of the key-in buffer.

- 518 -
 111-9.11

9.11 Playback

The playback option permits the "Teach in Jog" mode and the "Teach in Handle"
mode. These modes allows the system to record the machine positions in memory
obtained using manual operation, and to create programs.
The words (0, N, G, R, F, M, S, T, P, Q, EOB, etc.) other than the names of the
axes can also be loaded in memory by the same operation as that performed in the
EDIT mode. The machines positions are loaded in memory as follows.
1) Select Teach in Jog mode or Teach in Handle mode.
2) Move the machine to the desired position.
3) Select the program with the soft keys.
4) Key in address "X".
5) Press the "INSERT". soft key. This records the machine position on the X
axis.
Example: X 10.521 (Absolute position with metric system)
X 10.521 (Contents recorded in memory)
6) Similarly, key in "z" "INSERT" to record the machine position on the Z axis.
Note 1) When you key in a value and press "INSERT" after keying in the axis
name address (X, Y, Z, etc.), the value you keyed in is added to the
machine position and stored. This procedure can be used when
compensating the machine position using the keys.
- Values in excess of the maximum command value cannot be stored.
- When the value keyed in has a decimal point and is less than the
least input increment, it is rounded off to the least input
increment.
Example: Supposing that the machine position is "0", and the least
input increment is 1/1000:
Value keyed in Stored value
Z123456.78 Not stored
ZI.2345678 ZI.235
Note 2) Coordinate values stored by this method all become absolute
coordinates. Coordinate values are stored with decimal points.
However, no decimal point is stored for a coordinate value of "0".
Example: Coordinate values stored in memory
XOOO.OOO XO
XOOO.987 XO.987
X12345678 X12345.678
Note 3) Commands input before and after the machine positions are stored
using exactly the same operations as in the EDIT mode.
Note 4) Values of more than eight digits cannot be recorded from the numeric
keys.
Note 5) The maximum number of characters to be stored at once is 79 with a
9-inch CRT and 74 with a 14-inch CRT. Greater numbers of characters
cannot be edited. If these limits are exceeded, first clear all the
data input from the keys, and repeat.
Note 6) Do not edit macro statements in playback mode. If, for instance, the
macro statement #1 = #1 XOR #2 is edited in this mode, the exclusive
"XOR" instruction will be processed as the address "X" and may lead
to malfunctions.

- 519 -
 111-9.11

Example: 01234 N1 G92X Z • • • • • • • •• PO

N2 GOOG90X -Z PI
N3 G01Z F300-;- P2
N4 M02;-
x PO

P2

The above sample ~rogram is stored with the following procedures.

(1) Select TEACH IN HANDLE mode.
(2) Position the machine to the pO position using the manual pulse
generator.
(3) Select PROGRAM.
(4) Store the program number in memory.
(5) Key in address N and the value 1. Press INSERT.
(6) Key in address G and the value 92. Press INSERT. G92 will be
stored in memory.
(7) Key in address X and press INSERT. Key in address Z and press
INSERT. Pressing EOB will store the PO machine position in
memory.
(8) Position the machine at PI using the manual pulse generator.
(9) Key in, in order, addr.ess G, the value 00, INSERT, address G90,
INSERT, address X, INSERT, address Z, then EOB to s tore the
machine position PI in memory.
(10) Position the machine at P2.
(11) Key in, in order, address G, the value 01, INSERT, address Z,
INSERT, address F, the value 300, then EOB to store the third
block in memory.
(12) Store N4 in memory. After keying in address M, the value 02 then
EOB to store the last block N4M02; in memory, the entire program
will be stored.
The contents of the program can be checked in the TEACH IN mode
in the same way. a~ in the EDIT mode.
Note that it is not necessary to press INSERT for every word as
in the EDIT mode. It is possible, therefore, to input the
following: N, 1, G, 9, 2, X, Z, EOB, INSERT in place of steps
(5) to (7).

- 520 -
 111-9.12

9.12 Format Guidance

9.12.1 . NC format guidance

As a part programming guide using the NC format, the following two types of
guidance are available:
1) Guidance to list of G codes
2) Standard format guitlance to one block for G code

1) Guidance to list of G codes

To use the programming guide by displaying the guidance to the list of G
codes on the CRT, the operation is as follows.
aD Select the program display screen.
® Enable the part program storage and edit operation by either selecting
the program edit (EDIT) mode or assuming! the background edit state.
CD Key-input G, and then depress
the "INPUT" key.
In the program display screen, 01234 teeeoo
the "INPUT" key has a role to 012J4NU' ;
display the guidance. NiZ0 Gee G517 TeB0B SJ60 M42 :
NJB XIS!. ZIB2. :
I

'G..
EDIT ••• STOP ••••••••••••••••
~ 'fER INSERT DELETE lILT. . . . BG..£Dr T.

® The guidance to the list of G codes

~(r'El'(RY) 01234 tmlOO
is displayed in the lower half of
the program display pattern. 01234 H1B :
NiZ0 Gee G517 T0B08 SJ60 M42 :
Five G codes and the meaning of
each of them are displayed at once~
iii :150. ZIB2. :

(G CODE GUI DFNE)

Gee : POSITIONING
Gel : LItEM JPL.
Ge2 : CIRCl..l..M/1ERICA.. IA... CLI
GIlD I CIRCl..l..M/1ERICA.. IA-. COd
G04 I ~

'G..
EDIT ••• STOP ••••••••••••••••
~ 'fER INSERT DELETE lILT. . . . IIG...EDI T.

- 521 -
 111-9.12.1

® It is a possible to turn the page r ~

of the guidance to the list of G ~(~) 01234 tG!IOOO

codes by depressing the ~ key 01234 N10 =

or the ~ key. II
N29 G1i!I0 G'in Teeee S360 M42 =
~1se. Z1B2. =
The screen shown at the right is
displayed when the ~ key is (G CODE GUIDFNE)
depressed once from the state (4). G09 : EXACT STCP
G10 : DATA SETT It-G
G10.11 DATA SETTIt-G(PC)
G17 : 'If:'( PI...At£
GIS I ZX PI...At£
)(i-
EDIT ••• STOP ••••••••••••••••
~ TER INSERT DEL..ETE ILT. . . . EG..£D I T.

2) Standard format guidance to one block for G code

To use the programming guide by displaying on the CRT the standard format
guidance to one block for a certain G code, the operation is as follows.
G) Select the program display screen.
GD Enable the part program st~rage and edit operation by either selecting
the program edit (EDIT) mode or assuming the background edit state.
CD Key-input the G code, and then
depress the I INPUT I key. ~ IINPUT I
01234 t-e0OOO
To display the standard format
guidance to one block for G02, 01234 N10 =
N29 G1i!I0 G'in T080B S360 M42 =
for example, key-input [QJ[QJ H38 X1S. Z1B2. =
[IJ, and then depress the I INPUT, I
key.

'G82-
EDIT ••• STOP ••••••••••••••••
~ TER INSERT DEL..ETE ILT. . . . EG..£DI T.

QD The standard format guidance to

one block for the input G code is 01234 taBi50
displayed in the lower half of
01234 N10 =
the program display screen.
Shown at the right is the standard iii
N20 G1i!I0 G97 Teeee S360 M42 =
~lse. ZlB2. =

format guidance to ope block for

(GB2 : C1RCl..LM/1-£R 1CR. IR. OJ)
G02 being displayed. GB2 X- Y- 1- J - F- ; ('If:'( FUtE)
G02 X- Z- 1- 1<- F- ; (ZX FUtE)
G02 Y- Z- J - 1<- F- ; (yz P\.AE)
IF tERl CR. 1Pl. •• SPEC 1FY a-E r'IH AX I S
RAD I us CA-t BE SPEC I F I ED BY R-
>G82-
EDIT ••• STCP ••••••••••••••••
~ TER INSERT DEL..ETE ILT. . . . EG..£DIT.

- 522 -
 111-9.12.1

3)' Example of NC format guidance operation

Described below is an example of part programming using the NC format
guidance function.
eD Suppose that you have. inserted ~(I'£1'(RY) 01234 talIOOO
IINPUTI
up to N40 by the part program
edit operation (see the illus-
tration at the right), and that
you became aware at the very
moment to program the drilling
01234 H10 ;
H20 G90 Gee )(100. Y200.
II~ M03 ; D
cycle that you have forget
the G code. In such a case,
key-input G, and depress
the I PUT key. 'G...
EDIT ••• STOP ••••••••••••••••
e:lL TER INSERT DeI...ETE ILT..... IG...EDIT+

o The guidance to the list of G

codes is displayed in the lower ~(I'£1'(RY) 01234 ~

half of the program display screen. _H10;

tGB age Gee )(100. Y200.
NJ0 SJ000 M03 :
N40 "
(G am GUI Df:N:E)
GI09 : EXACT STtP
G10 : DATA SETTIt-G
Gle. I: DATA SETTIt-G(PC)
G17 1)(:( PL..f:N::
GUt I ZX PL..f:N::
~G...
EDIT ••• STOP • • • • • • • • • • • • • • • •
e:lL TER INSERT DeI...ETE ILT..... IG...ED I T+

GU Search for the G code of the

drilling cycle by depressing the . PRQ;RA1(I'£1'(RY) 01234 teee00
EJ key or the EJ key a number _NUl:
;:ge-age G00 )(100. Y200.
of times. NJ0 SJ000 M03 :
It is known from the guidance to N40 "
the list of G codes shown at the (G am GUI Df:N:E)
G73 : DR ILL It-GCDEEP 1-0..£)
right that the G code of the 674 : TAPPIt-G CCQ.NTER)
drilling cycle is G8l. G76 I:
_
ICRIt-GCFltE)
a:NED CYa..E CANCEL..
Gal I IlRILLltG
>G...
EDIT ••• STOP ••••••••••••••••
~ TER INSERT DeI...ETE ILT..... IG...EDIT+

Key-input !?? m. _-------'---------_ IINPUT\

Depress th~INPUT I key to display ~(reI:RV)

11
01234 talIOOO
the standard format guidance to 01234 H10 :
the G8l block. tGB age G00 )(100. Y200. :
If you know that 'the G code of 1I~M03 :
the drilling cycle is G8l and have (G COOE GUIDf:N:E)
forgot the G8l format, omit steps G73 : DRILL I t-GCDEEP 1-0..£)
674 I TAPPIt-G CCQ.NTER)
(1) - (3), and just depress the
IjNfiUI I.key after inputting [£]
G76 I ICRIt-GCFltE)
_ I a:NED CYa..E CANCEL..
Gal I IlRILLltG
>Gal_
EDIT ••• STOP • • • • • • • • • • • • • • • •
~ 'fER INSERT DeI...ETE ILT..... IG...EDI T+

- 523 -
 111-9.12.1

CD The standard format guidance to ~(rer::RY) 01234 . . .

the G81 block is displayed in
01234 N1B J
the lower half of the screen. N2B G90 GBB Xl.. V2B1B.
iiI~~ J

(Gel : MILLlfIG)
Gel X- y - Z- R- F- L- J

ZIZ POINT
RIR POINT
LIAEFETITION TltES CUt. DATA SET CN.,Y)
)GB1_
EDIT ••• STOP ••••••••••••••••
~ TER INSERT DELETE lILT. . . . BG..EDIT+

QD Key-input while referring to the ~(rer::RY) 01234 ta!IeeO

guidance. 01234 N1B J
N2B G90 GBB Xl.. V2B1B.
iiI~~ J

(Gel : MILLlfIG)
Gel X- Y- Z- R- F- L- J

ZIZ POINT
RIR POINT
LIAEFETITION TltES CUt. DATA SET CN.,V)
>G99GB1Xl!a.Y2SB.Z-173.R-l•• Fle8,_
EDIT ••• STOP ••••••••••••••••
~ TER INSERT DELETE lILT. . . . BG..EDI T+

()
(j) Key-input the data of one block, ~(rer::RY) 01234 HIi!IBOOO
and then depress the soft key
I INSERT I, and it will be inserted 01234 N1B :
N2B G90 GBB Xl.. V2B1B.
into the program. At the same NJIB SJBeB ~ :
N4B G9I Gel Xl50. Y250. Z-l73. Roo1BB.
time the guidance 4isplay will FUI!I I
disappear.
"

EDIT ••• STOP ••••••••••••••••

~ TER I NSERT DELETE IILT.JaIIID BG..ED I T+

(Note 1) The guidance to the list of G codes does not include some G codes which
are generally less frequently used, for example G31.2 (multi-step
skip).
(Note 2) In the standard format guidance to one block for each G code-', an
absolutely standard format is displayed. In some cases, therefore, it
may not be necessary to program according to the guidance~
(Note 3) In the standard format guidance to one block for each G code, some word
addresses have comments to explain the meaning. However, those the
function of each of which is clear, such as the dimension word
addresses X, Y, Z, etc., the feed rate F, the auxiliary function M, the
spindle function S or the tool function T, etc., do not have comment.

- 524 -
 111-9.12.2

9.12.2 Format guidance with figure

The guidance to the standard format of each G code can be displayed with a
figuie on the CRT screen and used as a guide to the preparation of part program.
The operation procedure is the same as that for the NC format guidance.
Proceed in the sequence below.
QD Set the mode selector switch on the operator's panel to the tape
memory/edit (EDIT) mode or the background edit mode. (Refer to III, 9.7.)
GD Select the program display screen.
i) Press the function menu key to change the soft key to the function
selection key.
ii) Press the PROGRAM key to display the program.
If the 'screen is not the one for displaying the program text, press the
CHAPTER key to change the soft key to the chapter selection key, and
press the TEXT key.
Otherwise, press the PROGRAM key repeatedly until the text is
displayed.
CD Press the operation menu key to change the soft key to operation selection
key.
@) To use the format guidance with a figure for G8'7, for example, press the
INPUT key after input the G87.
The description for the input G code is displayed in the upper right half of
the program display screen, and the standard format guidance is displayed in
the lower right half of the screen.
The following drawing shows the state with the description for G87
displayed.
PROORAM (ME).{ORY)
01111 N00000
01111 ; GIr.(G'38) G8':'·:G~)
NOOI 092 XO YO ZO ;
NOO2 090 000 Z2S0.0.TII M6;
<'l_p'i ~ "-p"
. NOO3 043 ZO HII ;
NOO4 530 M3 ;
NOO5 _ j¥
: 1~ : 1~
I ""--::'~{'
r=>l<:
¢::> .~

(G87 : ~ING(r-¥'ItU'L))
G87 :(-- ',-- :-- ~-- 0-- F-- L-- ;

:::: Palm O:SHIFT (T','FE 2:'

~;~ PaiNT
L:REPETlTI~ TIres (LO:r-.:.TA SET CtL,:'

CD While observing the format guidance, key in the data in one block and then,
press the INSERT key. The data is inserted into the program, and the
guidance display disappears.
When the CAN key is pressed, the format guidance display disappears and the
display is returned to the tape memory/edit or the background edit program
screen.

When the CAN key is pressed, the format guidance display disappears and the
display is returned to the tape memory/edit or the background edit program
screen.

(Note 1) The function of format guidance with figure can be added when a 14" CRT
is used.
(Note 2) Nothing is drawn for some G codes.
When nothing is drawn for the G code, the message "THIS G CODE HAS NO
PICTURE" is displayed.

- 525 -
 1II-9.13

9.13 Program Encryption

For protection of program contents, the following can be achieved by presetting

machine tool builder's peculiar code (password) to system parameters.
1) Program secrecy protection by password .
When a password parameter is preset, the following operation becomes
impossible for programs within the protection range.
a) Program input (read)
b) Program output (punch-out)
c) Program display
d) Program editing .
Thus, this parameter setting can prevent end users from inadvertently editing
and modifying custom macro programs, etc. prepared by machine tool builders.
These program contents are not displayed in any case, thereby protecting
their secrecy completely.
2) Encrypted program input/output
A program registered in memory can be encrypted and punched out as well.,
Also, the program thus encrypted and punched out can be read into the memory.
Even when the program thus punched out is checked, the contents cannot be
decoded since it is encrypted.
Consequently, as is the case with custom macro program generated by machine
tool builder, it becomes possible to encrypt and punch out a program to keep
the contents secret, and attach it to the machine for maintenance prior to
delivery to end users.
Consequently, a custom macro program is attached to the shipment, thus
allowing FANUC serviceman or end user to carry out resetting operation when
bubble memory contents a~e destructed for some cause, without calling machine
tool builder's serviceman.

1) Parameter

Data No. Data

~ Password (PSW)

Set a password.
If other values than 0 are preset here, the program is placed in locked
conditions. The display is blank, thus showing that it is in locked
conditions.
Setting value: 0 to 99999999

- 526 -
 111-9.13

Data No. Data

~ Key (KEY)

If the same value as a passw6rd is preset here, the key i~ placed in unlocked
conditions. The contents preset are not displa~ed.'
Setting value: 0 to 99999999

Data. No. Data

~ Program protection range: Minimum value (PMIN)

~ Program pro.tection range: maximum value (PMAX)

A program with the number within the range preset here is' placed in locked
conditions. Preset the respective maximum and minimum values of Program No.
within the range for setting.
Setting value: 0 to 9999
Example: PRM2212 = 7000, and PRM2213 8499, 07000 to 08499 programs are
placed in locked conditions.

a) Password (PSW) setting

When (Password) = 0 or (Password) = (Key), a password can be preset.
For secrecy protection, the password thus preset is not displayed. To
place a password in unlocked conditions, set the same value as a password
to the key. Consequently, utmost care should be given to avoid that a:'
password cannot be unlocked since a wrong value is set to a password and
the value is not known accordingly.
When the preset password value is unknown, it is necessary to clear a
program within the protection range described later completely for
unlocking.
This operation causes the password to be 0 and to be placed in unlocked
conditions. At this time, all programs within the protection range are
cleared simultaneously, thereby keeping them secret.
b) KEY setting
Key setting is possible at any time. The preset value is not displayed.
With power ON, the value is always 0 internally.
c) Program protection range-Minimum value (PMIN)/Maximum value (PMAX) setting
When (password) = 0 or (Password) = (Key), these values can be preset.
When PMIN = 0, PMIN = 9000
When PMAX = 0, PMAX = 9999.
Preset a value such that PMAX > PMIN.

(Note 1) Parameter punch-out and reading

The above four types of parameters are not punched out and read.
(Note 2) Parameter clearing
The above four types of parameters are not cleared even when parameter
files are cleared under IPL conditions.
(Note 3) Display
The contents of password and key are not displayed. However, when
(Password) = 0, 0 is displayed for the password, showing that the
password is in unlocked conditions.

- 527 -
 111-9.13

(Note 4) Password (PSW)/Key (KEY) setting

. When "+INPUT" is pressed while PSW or KEY setting, it is equivalent
that "INPUT" is pressed.
(Example) When 99 is set to the KEY, if 1"+INPUT" is pressed, "1" is
set to the key, but 99 + 1 = 100 is not set.
2) Locked and unlocked conditions
a) Unlocked conditions
(Password) = 0 or (Password) = (Key) is called "unlocked conditions".
b) Locked conditions
(Password) < > 0 and (Password) < > (Key) are called "locked conditions".
3) Inputting and outputting programs and parameters
a) Punching out a program

Classification
State of parameters Result
of operation

PUNCH (ALL) (Password) < > 0 (Password) < > All programs outside the
(Key) protection range are
normally punched out.

(Password) = All programs inside. the

(Key) protection range are
encrypted and punched out.

(Password) =0 All programs are normally

punched.

PUNCH (Password) < > 0 (Password) < > A program outside the
(program (Key) protection range is
number) normally punched o~t. For
a program inside the'
protection range, only %
is output and the warning
message is displayed.

(Password) = A program outside the

(Key) protection range is
normally punched out. A
program inside the protec-
tion range is encrypted
and punched out.

(Password) = 0 The specified program is

punched out normally.

- 528 -
 111-9.13

b) Reading of encrypted tape

Classification State of Password

Result
of operation' parameters on tape

Normal (Password) < > 0 (Password) :::; The reading operation is

operation (Password on correctly done.
tape)

(Password) < > Alarm PS580·is generated.

(Password on
tape)

(Password) = 0 Password on tape is set to

PSW, the tape is read in
and at the end of reading ;
or interruption, the lock
state is entered.

(Note 1) Password on punched tape

Passwords (PSW) on encrypted and punched tape, ar,e al~o encrypted and
outputted.
This is called a password on the tape.
(Note 2) When a program is encrypted and punched out,it should be parameter No.
o EIA=O (Punch code ISO). If a program is encrypted and,punched out
with EIA=1, an alarm (PS581) is given. '
(Note 3) Encrypted tape cannot be read by READ (1 ,PROGRAM ADD)., operation
(program additional registration).
(Note 4) Program out of the protection range cannot be, read.,
(Note 5) Encrypted tape can be read correctly even in l,ocked c~ndi~ions. ,At
this time, parameter 2200/REP is also,valid.
REP: When attempting to register a program having thE! same pro~ram No.
as the already registered program;
0: Alarm
1: Delete the already registered program before a new
registration.
4) Encrypted tape collation
By a normal tape collating operation, a program on the memory is collated
with a encrypted tape. However, when (Password) = 0 or (Password) < > (Key),
the contents of tape which is being collated are not displayed.
5) Program display in locked conditions
In locked conditions, the contents of program within the protection range are
not displayed. In unlocked conditions, a program within the protection range
is also displayed as is the case with a normal program.
(Note 1) Immediately after the program is changed from locked to unlocked
conditions and vice versa, the display remains unchanged. When a
program is searched, for example, anew condition is selected.
6) Program edit/delete in locked conditions
In locked conditions, a program within the protection range cannot be edited
and deleted.
However, as an exception, the following operation allows the deletion of all
programs within the protection range even in locked conditions.
(Delete Steps)
CD Turn power ON, while pressing "=" and "CAN" keys simultaneously.
o Message "ALL LOCKED PROGRAMS DELETE OK?" is displayed on CRT screen.
When "y" is keyed in, all locked programs are deleted and (Password) = 0,
thus placing the programs in unlocked conditions. When "N" is keyed in,
no program deletion is carried out.

- 529 -
 111-9.14

9.14 Machining Time Stamp Function

When a program is executed, the machining time of the main program is displayed
on the program machining time display screen. Machining time of up to 10
programs is displayed in hour/minute/second units. When more than 10 programs
are executed, the machining time is thrown away in the order of programs
executed.
The time between initial start and the next start is counted when the RESET
switch is pressed in the memory operation mode. Otherwise, when the RESET
switch is not pressed during operation, the time between start and M02 (M30) is
counted. The pause time is not included, but the time waiting for completion of
M/S/T/B function is included.
The displayed machining time can be inserted into the program stored in the
memory as a notice called stamp. The machining time is added as a notice after
the program number.
The machining time added after the program number can be displayed instead of
program length (memory using amount) in the program list screen. Which is
displayed, the machining time or the tape length, can be selected by parameter
setting.
As the machining time of each program can be known with this function, it is
useful in process planning in the field.
Calculation and display of machining time
CD Select the mem.ory operation mode, and press the RESET key.
GD Select the program screen, and select the program of which machining time is
to be calculated.
Execute the program to perform actual machining.
Provided with the graphic drawing screen, the machining time is displayed
second by second as the machining path is drawn if that screen is selected
beforehand.
When the RESET key is pressed or when M02 or M30 is executed, the machining
time counting is ended at that timing. When the machining time display
screen is selected, the counted machining' time is displayed with the number
of the main 'program executed. The machining time displayed on the graphic
drawing screen will be reset to 0 when the operation is finished.

~( T If'E ) 00B20 NlJBJB

NO. Tlf'E
00020 12H48M1a2S

MEM ••• STOP •••• ••• ••• • • • • • •

POS I T~ PRCERA1 OFFSET flR(LOI< o-A'TER+

- 530 -
 1II-9.14

® If a program requiring calculation' of machining time is available, the

executed main program number and the machining time can be sequentially
displayed on the machining screen by repeating steps CD
to G). The number
of main programs of which machining time can be displayed is a maximum of
ten. When more than ten programs are eX,ecuted, the machining time is thrown
away in the order of programs executed. The figures below show the
transition of display fro~ the state displaying the machining time of 10
programs, 00020, 00040, ••• , 00200 to the state when the machining time of
00220 is calculated.

~( TlI'E ) ~( TlI'E )

t-D. TlI'E t-D. TlI'E

00B20 . 12H4et1B1S CIl040 ~lS
CIl040 ~lS 0B060 4Hl6MalS
0B060 4Hl6MalS CD380 l1IHl6MalS
CD380 l1IHl6MB1S 00100 lH20MB1S
00100 lH20MB1S 00120 2HI1leI'mS
00120 2HI1leI'mS 00140 2H32MB1S
00140 2H32MB1S 00160 eH511'1111S
0121160 etf511'1111S 00180 1SH041'1111S
0121180 1SH041'1111S CIB2I2!0 caH56I'I!11S
CIB2I2!0 caH56I'I!11S IE220 eHB3M01S

MEN ••• STOP •••• ••• ••• ••• • •• MEN ••• STRT ••••••• FIN ••••••
TEXT DIR.MEN DIR.HSC DIR.FLP TIME POS I TC1-4 PRQGRF:lM CFFSET PR(L0f< OWTER+

Stamping of machining time (inserting into progr~m as notice)

CD When the calculated machining time is to be inserted into a program as a
notice, the machining time of that program must be displayed on the
machining time display screen. Therefore, first verify that the number of
the program of which machining time is to be stamped is displayed on the
machining time display screen. ' ,
CD Set the part program storage and editing,· mode or the background editing
state, select the program screen, and select 'the program of which machining
time is to be inserted. For example, the machining time of 00100 is
displayed on the machining time display screen.
CD Press the operation menu key and switch the softkey to the operation
selection mode, and press the INS-TIM key. The program is rewound, and the
machining time of that program is inserted after the program number.

_:
~(I'EI"mY)

N10 G92 Xl00. 210.

H20 SlSBB MB3 :
N3B G00 X2B.5 25. T0101
~(I'EI"mY)

00100 • • • • •
N10 G92 Xl00. 210.
H20 SlSBB' MB3 ;
N3B G00 X2B. 5 25. T0101
N4B GOl 2-10. F25. : N4B GOl 2-10. F25. :
N5B GB2 X16.5 2-12. R2. N5e GB2 X16.5 2-12. R2.
N60 GOl X40. : N60 GOl X40. ;
H70 ><42. 2-13. : H70 ><42. 2-13. ;
N80 Z-50. : N80 Z-50. :
N90 )(44 Z-51. : N90 )(44 Z-51. :
1'41")(80. : N1")(80. :

EDIT ••• STOP •••• ••• ••• ••• ••• • •• EDIT ••• STOP •••• ••• ••• • •••••
a:JPV ~ I'ERGE INS-TIM 0iFNE + a:JPV ~ I'ERGE INS-TIM 0iFNE +

- 531 -
 111-9.14

~ If a notice has existed in the program number block when the machining time
is inserted into a program, the machining time is put after the notice.

PROORA1(I'EJ1:RV) 00100 te0BIlI0 PROORA1(I'EJ1:RV) 00100 te0BIlI0

_ (st-WT X'5f'001) 00100 (st-WT XSF001) • • • • •
H10 G92 Xl00. 210. : H10 G92 Xl00. 210. :
N20 Sl500 MB3 : N20 Sl500 MID ;
tee GB0 ><20. 5 25. 10101 N30 GB0 ><20. 5 25. Te101
N40 601 2-10. F25. : N40 601 2-10. F25. ;
N50 G02 X16.5 2-12. R2. N50 G02 X16.5 2-12. R2.
N60 601 ><40. : N60 601 ><40. ;
N70 X42. 2-13. : N70 X42. 2-13. ;
t-e0 Z-50. : t-e0 Z-50. ;
N90 X44 Z-51. : N90 X44 Z-51. :
HI0B XBIi!I. : HI0B XBIi!I. :

EDIT ••• STOP •••• ••• ••• ••• ••• • •• EDIT ••• STOP •••• ••• ••• ••• ••• • ••
Ft..TER I NSERT DELETE IlL TJoRI) EIG..ED I T+ Ft..TER I NSERT DELETE IlLTJoRI) EIG..ED I T+

CD If the parameter No. 0011 TIM is set to 1, the machining time inserted into
a program as a notice can be displayed instead of program execution time in
the program number and name list screen.

DIRECTORY(MEMQRY)
Il2I020 (~ XGR001 ) : (0I2DelM25S)
00040 (~ XGR002 ) : (000H4En)lS)
00060 (IlLT YBT001 ) : (004H16MB1S)
C8i!IB0 (IlLT YBT002 ) : (EB!IH16MB1S)
00100 (SKFT X'5f'001 ): (001H2B'lJ1S)
00120 (SKFT XSF002 ) : (002HB'1J2S)
00140 (SKFT XSF011 ): (B1I2H32I1B1S)
0111160 (SI-R=T XSF021 ) : (BIiDt511'81S)
00180 (PLATE ><PL.100 ) : (01SHlJ41"1!J1S)
002Ii!I0 (PLATE ><PL.101 ) : (&!BiI156I1B1S)
0022Ii!t (PLATE ><fIl.202 ) : (~IS)
~ PF&$: 191C 37M) ~ FILES: 3B
EDIT ••• STOP •••• ••• ••• ••• ••• • ••
POSI104 PIU3RA1 tFF5ET PRG..CH< OWTER+

(Note 1) When the program execution is suspended by an alarm during the i.

machining time counting, the counting is continued until the alarm is

reset by pressing of the RESET switch.
(Note 2) When the program is continuously restarted from the beginning (1 is set
in M30 of parameter No. 2400) by returning the end signal FIN without
resetting the control unit by M30, the counting of machining time is
finished when the end signal FIN is returned by M30.
(Note 3) In the case of stamping the machining time in a program, if the
machining time of the program to be stamped is not displayed on the
machining time display screen, the machining time cannot be inserted
into the program even if the INS-TIM key is pressed.
(Note 4) In the case of displaying the machining time inserted into a program on
the program list screen, if only the machining time is added as a
notice after the program number, the machining time is displayed in
both the program name display area and the machining time. display area.
(Note 5) When the machining time inserted into a program is shown in the
following examples, the machining time is not displayed in the program
list screen.

- 532 -
 111-9.14

Ex 1) 'Program name is 16 characters or more.

r
DIRECTORYCMEMQRY)

_ (94FT XSF301 MATERIFl.=F(25) 00240 CSH=FT XSF301 MAT): C

(BB1H2B'lJ1S) ;
N10 G92 X1BB. Z,10. :
N20 51500 M03 ;
N30 GB0 ><20.5 ZS. Te101
N40 001 Z-10. F25. ;
N50 GB2 X16.S Z-12. R2.
N60 Gel ><40. ;
N?0 X42. 2-13. ;
NBB 2-50. ;
N90 X44 2-51.
FREE PFG::S: 189( 36M) FREE FILES: 38
EDIT ••• STOP •••• • •••••••• EDIT ••• STOP ••• ••• ••• ••• • ••
POS I TON PRD3RAM IJFFSET PRG..ot< Q-IFPTER+ POS I T~ PRCGRA'1 CFFSET PRG..ot< Q-IFPTER+

Ex 2) Two or more machining times are inserted.

PROORF!M(/'EJ'IR() PRlllRR'I C/'EJ'IR()

_ C94FT XSF302) (BB1Hl51'59S) (B260 (94FT XSF302) C001Hl5M59S)
N10 G92 X1BB. 210. ;
N20 51500 M03 ; N10 G92 Xl00. Z10. :
N30 GB0 ><20.5 ZS. Te101 N20 51500 M03 ;
N40 001 Z-10. F25. ; N30 GB0 ><20. 5 ZS. Te101
N50 GB2 X16.S Z-12. R2. N40 Gel Z-10. F25. ;
N60 001 ><40. ; N50 GB2 X16.S 2-12. R2.
N?0 X42. 2-13. ; N60 Gel ><40. ;
NBB 2-50. ; N?0 X42. 2-13. ;
N90 X44 2-51. NBB 2-50. ;
Nl_ XEI!J. ; N90 X44 2-51.

EDIT ••• STOP •••• ••• ••• ••• ••• • •• EDIT ••• STOP ••• ••• ••• ••• • ••
A..TER I N5ERT DELETE IlLT.J.RI) EG...£DI T+ A..TER I N5ERT DELETE IlLT.J.RI) EG...£DI T+

(Initial machining time is displayed)

Il2I260 NI1B:I00

) : (001Hl51'59S)

FREE PFG::S: 189( 36M) FREE FILES: 38

EDIT ••• STOP ••••••••••••
POS I TON PROORA1 CFFSET PRG..ot< Q-IFPTER+

- 533 -
 111-9.15

Ex 3) The inserted machining time is changed to a state other .than the

"hhhHmmMssS" format (H after 3-digit number, M after 2-digit
number, and S after 2-digit number, in this order).

PROORA1 CI'EJ'IR() PROORA1CI'B'lR()

_ (SKFT XSF303) (001 H2O"131 5) cm80 CSKFT XSF303)

N10 G92 Xl00. Z10. ; N10 G92 Xl00. 210. ;
N20 51500 MB3 ; N20 51500 MB3 ;
N30 GB0 X2B.5 25. T0101 N30 GB0 X2B.5 25. T0101
N40 Gel 2-10. F25. ; N40 Gel 2-10. F25. ;
N50 GB2 X16.5 Z-12. R2. N50 GB2 X16.5 2-12. R2.
H60 601 X40. ; H60 Gel X40. ;
N70 ><42. Z-13. ; N70 ><42. Z-13. ;
N80 Z-50. ; N80 Z-50. ;
H90 X44 Z-51. ; H90 X44 Z-51. ;
Nl00 XB0. ; Nl00 XB0. ;

EDIT ••• STCF> ••••••••• '. ••• ••• • •• EDIT ••• STCF> .•••• ••• ••• ••• ••• • ••
Ft...TER I NSERT DELETE DLTJ&RD EIG...ED IT+ Ft...TER I N5ERT DELETE DLTJ&RD EIG...ED I T+

DIRECTQRYCMEMQRY) 00280 NI2I0000

00260 CSKFT XSF302 ) : C001Hl5M59S)

cm80 (SHFT XSF303 ): C ' )

~ PFIGES: 186( 36M) ~ FILES: 37

EDIT ••• STCF> •••• ••• ••• ••• ••• • ••
POSI T~ PRtERA1 CFFSET PRG..0f< OWTER+

(Note 6) When a wrong machining time is calculated by mistake, for example,

pressing the RESET switch during program execution, calculate correct
machining time by the same program. When two or more machining times
are displayed for one program in th emachining time display screen,
insert the latest machining time into a program.

9.15 Simple Conversation Programming

The CNC cycle program can be prepared by selecting the menu displayed on the CRT
or inputting data according to the menu instead of programming by using the CNC
format. The data required for each process, for example the drilling position,
the drilling depth, etc. is asked in the menu. The programmer can prepare the
program by simply inputting numeric values in response to these questions.' For
details of this function, refer to the manual issued by Machine Tool Builders.

(Note) This function is applicable only to the 9" CRT/MDI. It is not applicable
to the 14" CRT/MDI.

First of all let us explain the programming operation procedure using this
function to be followed by the end user. Then the procedure to be followed by
the machine tool builder to realize his own conversational function by preparing
a machining menu incorporating his own processing know-how by using the custom
macro, etc. will be explained.

- 534 -
 1II-9.1S

1) Outline of simple conversational programming operation

1
I Selection of part program edit mode (EDIT)

2
I Selection of simple conversational schedule pattern
Schedule the machining by selecting
the machining menu in the processing I'ENJ PROORA1 01234 ~
order. ~01

,.1: INITIA.. SET

te2:DRILLltfi
r--(t1EMJ>
01l1NITIA.. SET
82:DRILLltfi
~:ED..T IG..E CIRCLE m:T~ltfi
,...: TFfIF'ltfi 84:BCRltfi
NIiJ!5: ED..T IG..E CIRCLE 85: AS:tUtfi
HB6: DR ILL I tfi 06: ED.T IG..E CIRCLE
:::u1Wnc 157:LltE AT ~
_'GRID _ _
IN.!!-

EDIT ••• STOP ••••

INSERT DELETE
... ... ... ...
5RC....PII1G &II.JW)M'

3 Selection of simple conversational data input pattern

Input the data of each machining

menu. I'ENJ~ 01234 Nooooo
~01
~:IIll..T I-D...E CIRCLE
11•• _
01: X CENTER
G:V CENTER 200._
SlI._
03:AADIUS
04:~
05:1'U'1 CF I-D..ES
06:
vn:
•
ea:
EDIT ••• STOP ••••
It4IVT IIIII'PI'V IHD

4 Selection of memory command mode Execution of machining

- 535 -
 111-9.15

2) Simple conversation al programming program configuration

The simple conversational programming program (hereinafter referred to as the
"simple conversational program") configuration is as follows.
a) Number of programs
The number of the simple conversational programs that can be registered in
the memory is 4.
b) Number of blocks
One simple conversational program has a capacity of 16 blocks. ,
Each of the machining menus that were prepared by the machine tool builder
forms one block. It should be considered as equivalent to the block
spanning two EOB codes as referred to in the NC format program.
c) Number of words
One block has a capacity of 16 words.
One machining menu inputs some data required for that cycle. Suppose that
you have prepared such data as the hole depth, the spindle speed, etc. for
a tapping machining menu, each piece of such data becomes the one word
unit. It should be considered as equivalent to the works X--, Y--, etc.
as referred to. in the NC format program.

J
~--~----------------~
04 I
~I,,-----_----, 03 I
~Ii..---_----' 02 I
MENU PROGRAM 01

NOl INITIAL SET 1 block

N02 DRILLING 1 block
N03 BOLT HOLE CIRCLE
N04 TAPPING

N04 TAPPING
N15 END .PROGRAM
N16 01 DEPTH 1 word
02 SPINDLE RPM 1 word

15
16

3) Simple convers~tional schedule screen

Select the tape storage edit (EDIT) mode, and depress the soft key MNU PRG,
and the simple conversational schedule pattern as shown below will be
displayed. The machining menu, or the menu of the drilling, tapping, thread
cut ting, etc. for example, is displayed in the right half of the screen.
Schedule the machining by selecting in the processing order from this
machining menu those which are required for the actual machining.

- 536 -
 111-9.15

Simple conversational program number

01234 NEIIBeB0

Block
number "1 tel:
tf!I2:
NB3:
te4:
...,:
. . .:
r--<tENJ>----
Bl:INITIf:L SET
11121 DR ILL I tG
03: Tf:FPJlG
64:a::RltG
B!51 REFf1ltG
B611D..T IG..E CIRO..E
H1iS7II• • • • •I~rn~I~L.~UE~AT~AtG..E;
tal _IGRID
----- Machining
menu
INJIE-

EDIT ••• STOP ••••••••••••••••

I N5IERT DELETE SRCJIRG II..JW)AT

a) Selection of program
Input the number (1 - 4) of the simple conversational program t;o be
selected, and then depress the soft key ISRC PRG\.
(Example) To select the simple conversational program 02 anew while the
simple conversational program 01 is selected at present:
(Operation 1) .
Q) Key-input [IJ, and then depress the soft key IS RC_PRGI.
INSERT DELETE -I SRC-PRG BLK-DAT

(Operation 2)
CD Depress the soft key
QD The soft key changes Then depress INXT PRGI •

(PROGII) NXT-PRG

~
eration 3)
1 Depress the soft key
2 Key-input ~
3 The soft key changes as follows. Then depress I EXEC I.
EXEC

b) Selection of block
One simple conversational program has a capacity of 16 blocks. Block
numbers N01, N02, ••• , N15, Nl6 are assigned to these blocks in the
processing order. The block which is selected at present is indicated by
the cursor. It is possible to select the block by depr~ssing the cur~or
move key ~ or ~.
One pattern displays S blocks. Block numbers NOl through NOS and N09
through Nl6 are displayed in separate patterns. If the cursor move key
G is depressed while the cursor is at block number NOS or Nl6, the
pattern changes, and the cursor moves to N09 and N01 respectively. If the
cursor move key G is depressed while the cursor is at N01 or N09,
meanwhile, the pattern changes, and the cursor moves to Nl6 and NOS
respectively.

- 537 -
 111-9.15

The pattern can also be changed by using the page change key [IJ or [}]
(in the 9" small CRT/MDI, either depress the cursor move k~ and ~
at the same time or depress the cursor move keys ~ and ~ at the same
time).
c) Heading of block
By depressing the RESET key, you can head the block by bringing the cursor
to the first block number, or the N01 block, no matter at which block
number the cursor is.
d) Machining menu display
Up to 16 machining menus are available. The number of the available
machining menus depends on the machine tool builder's specifications. The
16 menus are numbered, and are displayed being divided into the groups of
menu numbers 01 through 08 and of menu numbers 09 through 16. The
machining menu display is switched by using the ~ and ~ keys.
e) Block editing
i) Deletion of all blocks
1) Depress the soft key I DELETE I.

INSERT DELETE SRC-PRG BLK-DAT

11
2) The soft key changes as follows. Then depress I ALL I.
ALL THIS

{}
3) The contents of all the blocks of block numbers N01 through N16 are
deleted so that nothing is input.
ii) Deletion of one block
1) Bring the cursor to the block to be deleted.
2) Depress the soft key I DELETE I.

INSERT DELETE SRC-PRG BLK-DAT

{1
3) The soft key changes as follows. Then depress I THIS /.
ALL THIS
I
0
4) The content of the block where the cursor is situated is deleted,
and all the succeeding blocks are moved backward by one each.
iii) Insertion of one block
1) Bring the cursor to the block to be inserted.
2) Input the number of the machining menu to be inserted by using the
numeric key.
3) Depress the soft key I INSERT I.

.1 INSERT DELETE SRC-PRG BLK-DAT

{}

- 538 -
 III-9.1S

4) If nothing is programmed in the block where the cursor is, the

machining menu which was input in item 2) is programmed in that
block.

01234 teBOOB 01234 tea000

r-<I'ENJ>---- r-<1'EttJ>---
""1: INITIA. SET 01: INITIA. SET ""1:INITIA. SET 01:INITIA. SET
~:MI~I~ G:MI~I~ ~:MI~I~ G:MI~I~
tel: aT
H04:_. _
tRnE 111_
SlEd 1213: TFFPI~
04:BCRI~
tel: aT
H04:_11 _
tRnE 1111_
SIN 1213: TFFPI~
04:BCRI~
te!: 05:REA1I~ te!: ' 8!5: REA11~
te6: 06: ID..T I-D..E C IRCL.E te6: 06: ID..T I-D..E C IRCL.E
te7: 1i!l71L.ltE AT AtG..E te7: Ii!I7:LltE AT AtG..E
.... .:GRID . . .: • • GRID
_ ItoUE-

>. .-
EDIT ••• STOP •••••••••• ,•••••• EDIT ••• STOP ••••
I N5ERT IlEL.ETE SRC..PfIG ILJU)AT I HSIERT IlEL.ETE

If a machining menu whatsoever has already been programmed in the

block where the cursor is, that block and all the succeeding blocks
are moved forward by one each J and the machining menu which was
input in item 2) is programmed in that block.

01234 te!JIe00 01234 te!JIe00

PIOiIIR1 01 PIOiIIR1 01
r--<I'ENJ>'--- -<1'EttJ>,----
""UINITIA. SET 01: INITIA. SET ""1:INITIA. SET 01:INITIA. SET
~:MI~I~ G:MI~I~ ~.MI~I~ G:MI~I~
tel:W tRnE SlEd B3:TFFPI~
H04: _ _ 111_ 04:BCRI~ tel: aT tRnE 111_
SIN 1213: TFFPI~
H04:_. _ 04:BCRI~
te!: L ItE AT f:fG..E 8!5: REA11~ te!: DI~ 8!5:REA1I~
te6: 06: ID..T I-D..E CIRCL.E te6:LltE AT FIG..E 06:ID..T I-D..E CIRCLE
te7: Ii!I7:LltE AT AtG..E te7. Ii!I7:LltE AT AtG..E
.... .-GRID .... ..GRID
......---c::rNr-ltoUE- ItoUE-
>83-
EDIT ••• STOP ••••
IHSIERT IlEL.ETE
... ... .IIJ<.J.IAT
..
SRC..PfIG
EDIT ••• STOP •••• ..
... ... .IIJ<.J.IAT
I HSIERT IlEL.ETE SRC..PfIG

When inputting the machining menu number in item 2), the cursor
position does not change after the insertion unless the EOB code is
input after the number. If the EOB code is input after the number,
the cursor position shifts to the position of the next block after
the insertion.
iv) Insertion of two or more blocks
1) Bring the cursor to the block to be inserted.
2) Input the numbers of the two or more machining menus to be inserted
in the inserting order. Separate the cycle menu numbers from each
other with the EOB code. To insert machining menu numbers 01, 03
and 07 continuously for example, input [QJ [!]I EOB I [QJ [IJ I EOB I
[QJ m.Whether to fit the EOB code to the last number or not
depends on whether the cursor position after the insertion will
become the position of the last block inserted or the one of the
next block.

- 539 -
 111-9.15

3) Depress the soft key INSERT I.

INSERT DELETE SRC-PRG BLK-DAT

4) If nothing is programmed in the block where the cursor is and in the

succeeding blocks, the two or more machining menus which were input
in item 2) are programmed one by one from that block.

01234 ....., 01234 .....,

~Bl
r-<f'ENJ>--- r-<f'ENJ>----
. .lIIHITI,:a,. SET 8111HITI,:a,. SET "1: INITI,:a,. SET Bl: IHITI,:a,. SET
~:~I~I~ G:~I~I~ ~:~I~I~ G:~I~I~
~:&! ' f K Slw 83:T~I~
.... : _ _ 111_
~:ID..T H1E CIRCLE 83:T~I~
84:~I~ .... :Tj:fIpl~ B4:~I~
NI/JI!5: a!5:Aaf1I~ NI/JI!5:ID..T H1E CIRCLE a!5:Aaf1I~
. .:
te'7.
06:III1.T H1E CIRCLE
e7IL.ltE AT f:MLE
":IIILb'"
te'71.1...
06:III1.T H1E CIRCLE
e7:LltE AT ~
NIB. aBlGRID NIB I aBlGRID
""'----.a_,.rr"INJE-
ll

>1iD ••• G.8'7_

EDIT ••• STeP •••• EDIT ••• STeP ••••••••••••••••
INSERT DEL.E'TE INSERT DEL.E'TE SRCJiIAG 1lU<-DAT

Q
If a machining menu whatsoever has already been programmed in the
block where the cursor is or in any of the succeeding blocks, that
block and all the succeeding blocks are moved forw~rd by the number
of the input machining menus, and the two or more. machining menus
which were input in item 2) are programmed one by one from that
block.
r
I"EMJ PAC:&A1 01234 ....., 01234 .....,
~Bl

. .lIINITI,:a,. SET

......
~:~I~I~
~:

NI/JI!5
te'7.
NIB I
:
:
Bl: IHITI,:a,. SET
G:~I~I~
83:T~I~
B4:~I~
a!5:Aaf1I~
06:III1.T H1E CIRCLE
e7ILltE AT f:MLE
aBlGRID
'-----conINJE-
. . :.1.
"lIINITI,:a,. SET
~:~I~I~
~:ID..T H1E

NI/JI!5:
NB6:
te'7ILltE AT
NIB I
~
I

~
CIRCLE
--<f'ENJ>----
81:IHITI,:a,. SET
G:~I~I~
83:T~I~
B4:~I~
a!5:Aaf1I~
06:III1.T H1E CIRCLE
8'7ILltE AT f:MLE
aBlGRID
'"-----Cl=I:NY'-INJE-
>1iD.E-
EDIT ••• STeP ••••
INSERT DEL.E'TE
... ... ... EDIT ••• STeP •••• ...SRCJiIAG
... ...
INSERT DEL.E'TE 1lU<-MT

D
v) Block change
To change a certain block in which a machining menu whatsoever has
already been programmed into another machining menu, the operation is
as follows.
1) Bring the cursor to the block to be changed.
2) Delete that block. For the deleting procedure, see (2) "Deletion of
one block".

- 540 -
 111-9.15

3) Then input the number of the machining menu to be changed, and

insert that machining menu into that block. For the inserting
procedure, see (3) "Insertion of one block".
(Example) To change the ~achining menu of block number N03 from "06:
BOLT HOLE CIRCLE" to "07: LINE AT ANGLE":
CD Bring the cursor to block
number -N03. 01234 tai'BI!IO
Depress the soft key
I DELETE I. Then depress 1'&1.1)----
the soft key I THIS I. 01: IHITIA.. SET
02:DRILLltG
03:TFFPltG
NI4: TFFPltG 04: EIOR I tG
NBI!5& ID..T IG.E C I RQ..E 05: REA1ltG
H06:DRILLltG 06:ID..T ..u...E CIRCLE
NB'?: L lIE AT FVG..E 07: L lIE AT FIG..E
"'1 0B:GRID
........---oCIHTII'UE-

EDIT ••• STOP ••••

INSERT DB.ETE

® Input [QJ [TI, and depress

01234 taa000
the soft key I INSERT I.
1'&1.1)----

NID: _1_1_
N01&IHITIA.. SET
~:DRI*IW
01:IHITIA.. SET
02:DRILLltG
03: TFFPltG
NI4: ID..T IG.E C 1RCl..£ 04: EIOR ItG
NBI!5:DRILLltG 05:REA1ltG
H06& L lIE AT FVG..E 06: ID..T ..u...E CIRCLE
NB'?I 07: L lIE AT FIG..E
"'1 0BIGRID
'-----otNrltUE-
>07_
EDIT ••• STOP ••••
INSERT DB.ETE

GD As a result, block number

tetJ~ 01234 taa000
N03 is changed.
PACIGfR1 01
N01&IHITIA.. SET 0111HITIA.. SET
~I 82: DRILLltG
NID m:TFFPltG
NI4: 04:EIORltG
NBl!5alD..T IG.E C I RQ..E 05: REA1ltG
H06:DRILLltG 06:ID..T ..u...E CIRCLE
NB'?: L lIE AT FVG..E 07: L lIE AT FIG..E
"'1 0BIGRID
ItUE-

EDIT ••• STOP ••••

INSERT DB.ETE
... ... ...
SRC..PFIG a.i<..DM'

4) Simple conversational data input screen

The simple conversational data input pattern is used to input the data of
each of the machining menus whi~h were programmed in the simple
conversational schedule pattern.
a) Switchover to simple conversational data input pattern
Either of the following methods may be used: 1) input the data of each
machining menu after programming all the machining menus in the actual
processing order by using the simple conversational schedule pattern; and
2) input the data of one machining menu always after programming that
machining menu by using the simple conversational schedule pattern.

- 541 -
 111-9.15

Regardless of which of the above two methods is adopted, the simple

conversational schedule pat tern is to be switched over to the simple
conversational data input pattern as follows.
Q) Bring the cursor to the block
of the machining menu to input 01234 teOO00
the data in the simple conver-
PROGRFI'I 01
sational schedule pattern. -<I'ENJ)----
Net: IHITIFl. SET 01: IHITIFl. SET
Then depress the soft key
IBLK DATI. =:;'tt'l
....:
G:DRILLIIG
f/t3:Tf:FP11G
04:a:R11G
te: 1i!5: REA111G
NB61 06: BeLT Hl..E C I RCI..E
NB7: I/J7I L ItE AT AtG..E
toE 1 _IGRID
'-----oClI:NrIN..E-
__

EDIT ••• STOP ••••••••••••••••

INSERT J:lELETE SRCJIRG BI.J<..DAT

GD The simple conversational data

input pattern of the machining
I'Et«J ~ 01234 HBBIi!IOO
menu of that block is displayed.
PROGRFI'I 01
HBJ: ID..T Hl..E C I RCl.E
01:X CEHTER III • • •
82:'( CEHTER
m:RADIUS ::
04:AtG..E
m 1 t-U"I
_I
06:
07:
OF to..ES

EDIT ••• STOP ••••

I~ 8PTV 111M)

Simple conversational data input pattern

b) Selection of data menu

Up to 16 data menus are available for one machining menu. The number of
the available data menQs differs from one machining menu to another. It
always depends on the machine tool builder's specifications.
The cursor is displayed in the data section of the data menu which is
selected at present to inform that the machine is ready for data to be
input into that data menu. It is possible to select the data menu by
depressing the cursor move key [!] or EJ.
Eight data menus are displayed in one pattern. Data menu numbers 01
through 08 and 09 through 16 are displayed in separate patterns. While
the pattern automatically changes when the data menu of the next pattern
is selected by using the cursor move key, it is also possible to change
the pattern by using the page change key.

- 542 -
 III-9.15

c) Data input
Q) Bring the cursor to the data relJ PROORFI1 01234 te0000
menu to input the data. ~01
Key-input the numeric value, 1'eJ: sa... T IG..E C I RCL.E
and then depress the soft key 01:X CENTER
I INPUT I. B2:Y CENTER
B3:RADIUS
04:~
05: N.I'I CF H1.ES
06:
fln:
09:
:>11110.0..
EDIT ••• STOP •••• • ••••••••
I t-PUT IiIII'PTY IIli!N)

{)
GD The data is input. If it is
relJ~ 01234 I'eeooD
input without fitting the EOB
code at the end of the numeric ~01
1'eJ: sa...T IG..E C I RCL.E
value, the cursor position
does not change after the 01:X CENTER
B2:Y CENTER
input. If the data is input B3:RADIUS
04:~
by fitting the EOB code at 05: N.I'I CF t-D...ES
06:
the end of the numeric value, fln:
the cursor position moves to 09:

the next data menu after the EDIT ••• STOP ••••
input. I t-PUT IiIII'PTY IIli!N)

It is also possible to input two or more pieces of data at once. Input

the data by separating' the pieces of data from each other with the EOB
code.
If the soft key I EMPTY I is depressed for the data menu into which data was
input, the condition in which no data is input is created.

reIJ PROORFI1 01234 HIiI!I00O

MENJ PROC.-RAM 01234 NOOOO0

PROGRAM 01 ~01
N03: BOL THOLE CIRCLE t-e3: sa...T IG..E CIRCLE

01:X CENTER 100.000 01:X CENTER

02:V CENTER 200.000 B2:Y CENTER
03:RADIUS B3:RADIUS
04: ANGLE 30.000 04:~
05: N.I'I CF t-D...ES S.B00
05: NU1 OF HOLES 5.000
06: 06:
07: flnl
08: 09:

EDIT··· STOP···· •••••••••••• EDIT ••• STOP •••••••

INPUT aPTY END I t-PUT IiIII'PTY 111M)

- 543 -
 111-9.15

d) Return to simple conversational schedule pattern

To return to the simple conversational schedule pattern after inputting
all the data for the machining menu in a certain block, depress the soft
key I END I.

NENU PROGRAM 01234 N00000 retJ~ 01234 , . . , .

PROGRAM 131 ~91
N03:BOLT HOLE CIRCLE -(rt:NJ)----
Nltt: INITIA. SET 91: INITIA. SET
1a1:X CENTER 100.000 B2:DRILLltG
02:Y CENTER
213: RADIUS
200.000
50.000 ~:"ttf'
te4:
B3:TAFPltG
04:BCRltG
1a4:~E 30.000 NBS: e5:~ltG
05:NUM OF HOLES NB6: 96: BCLT to..E C IRO.E
06: N97: 8'71 L lIE AT fMI..E
07: eBlGRID
....1
08:

EDI T ••• STOP

INPUT EMPTY END
EDIT ••• STOP ••••
I NSERT DELETE
.........
SAC.JI'AG III.JW.)IAT

Simple conversational data Simple conversational schedule

input pattern pattern

5) Simple conve.rsational program run

CD Select the simple conversational program to be processed. ,(For the
operating procedure, see 3) a) "Selection of program".)
GD Select the memory command mode.
Q)
3 Set the menu program operation switch on the machine side operator's
panel to ON.
@ Start the operation by setting the start button on the machine side
operator's panel to ON.
(Note) In some machines, steps Q) and C0 may be different from the above
description. See the manual issued by the machine tool builder.
6) Registration of menu
Basically the simple conversational programming function is realized bY,the
custom macro, etc. to be prepared by each machine tool builder. The machine
tool builder determines on the menu of which cycle to be prepared or how to
deal with the data menu for each machining menu. The items which the machine
tool builder must prepare for the simple conversational programming are
described one by one below.
First of all let us explain how to register the machining and data menus.
To register the machining and data menus, the GIO (Programmable data input)
function is used. The program to register the name of the menu is prepared
as follows. As this program is executed only once at first, the name of the
menu is stored in the cont~ol unit memory, and the machining and data menus
are displayed thereafter based on this content.

- 544 -
 1II-9.15

09859 ;
G10L60POl (INITIAL SET) ; Registration of machining menu "INITIAL
GiOL61P01QOl (Z SAFETY LIMIT) SET" and its data menu
G10L61P01Q02 (X START POINT)
G10L61P01Q03 (Y START POINT)
G10L61P01Q04 (Z START POINT)
G10L60P02 (DRILLING) ; Registration of machining menu
G10L61P02QOl (WORK SURFACE) ; "DRILLING" and its data menu
G10L61P02Q02 (DRILL DEPTH)

G10L61P02Q-- (-------------),
G10L60P03 (TAPPING) ; Registration of machining menu "TAPPING"
G10L61P03QOl (WORK SURFACE) ; and its data menu
G10L61P03Q02 (DRILL DEPTH)

G10L61P03Q-- (-------------)

.....................
M30 Program end

a) Registration of machining menu

The machining menu is registered by the following command.

G10L60P02 (DRILLING)

T .. I----Name of machining menu (Max. 16 characters)

'---------------Machining menu number (01 - 16)

b) Registration of data menu

The data menu is registered by the following command.

G10L61P02QOl (WORK SURFACE) ;

--I --I ~Name of data menu (Max. 16 characters)

Data menu number (01 - 16)
'---------------Machining menu number (01 - 16)

c) Programming of menu characters

To program the machining menu and data menu character strings, the
following methods are available.
i) Alphanumeric, -, ., space (Direct programming)
Alphabet (capital letters A - Z), numerals (O - 9), - . and space are
directly programmable.
(Example) G10L60P-- (F10MA) ;
ii) Katakana, special symbols (Internal code programming)
Katakana and special symbols, that are not directly programmable, are
programmed by internal codes.
It is possible to program the characters specified in the list of
internal codes on the next page. The internal code is to be programmed
in hexadecimal 2 digits between @'s.
(Example) G10L60P-- (@ CC A7 C5 AF B8 @) ;

~iSPlayed as "FANUC"

- 545 -
 111-9.15

List of internal codes

0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1
0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1
1 1

II ,
0 0 0 0 1 1 0 0 1 1 0 0 1 1
0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1
..
'"
17 1 6 1 5 I 4 3 2 1 0 0 1 2 3 5 6 7 8 9 A B C D E F
0 0 0 0 0 0 @ p - ~ ~

0 0 0 1 1 / 1 A Q 0 '7 If' J..

0 0 1 0 2 " 2- B R r -1 '7 /-

0 0 1 1 3 # 3 C s J ? ~ ~

0 4 $ 4 D T .:. t- "'\P
0
0
1
1
0
0 1 5 % 5 .E U .
...

., * =-., 7-
0 1 1 0 6 & 6 F V .:.

0 1 1 1 7
...
7 G W '"
~ :it 7
,*
7

1 0 0 0 8 ( 8 H X .( 9
1 0 0 I 9 ) 9 I Y ~ ". I ,L-

* ..J
I 0 I 0 A Z .... :2 , ... v
1 0 1 1 B + ; K [ -;-+t I::. D

1 1 0 0 C • <: L ¥ .... ? '7

-
.,;..-

1 1 0 1 D - = M ] .. 7-. :.-'
,
1 1 1 0 E > N " • -t: ;t;
0
1 1 1 1 F / '1 0 - "? 'I ""f'

iii) Kanji, hiragana (Internal code programming)

Kanji and hiragana, that are not directly programmable, are programmed
by internal codes.
It is possible to program the characters specified in the list of
internal codes of kanj i and hiragana in the appendix. The internal
code is to be programmed in hexadecimal 4 digits between @'s.
(Example) GI0L60P-- (@ 8177 646A 822E 8559@) ;

LDiSPlayed as "feeding speed"

If the first character of an internal code is anyone of 6 - 8, it is
regarded as an internal code of kanji or hiragana.
One kanji or hiragana should be counted as two characters.
7) Simple conversational program execution procedure
The programmer selects the machining menus from among the available machining
menus in the actual processing order, and then creates the machining program
by inputting the data of each of the selected machining menus. Then start up
the machine. At this time the machine must execute the cycle in the
programmed order and according to the input data. To realize this, the
following program is prepared at first and is registered in the memory. Such
a program becomes the main program for executing the simple conversational
program.

09420 ;
Nl 116091=01
N2 IF[1I6000 EQ OJ GOTO 7
N3 M98 p[1I6000 + 9500J
N4 116091=116091 + 1
N5 IF[1I6091 GT 16J GOTO 7
N6 GOTO 2
N7 M30 ;

- 546 -
 111-9.15

The above program gives as commands two custom macro system variables which
have not yet been explained. The command in each block is described below
together with these system variables.
a) Nl block
System variable 116091 has been prepared to program the simple
conversational program block number. The' Nl command has a meaning to
program the block number of the simple conversational program which is
selected at present to 01. Moreover, if #6091 is the left side number of
the expression, namely if a numeric value is substituted into 116091, the
machining menu number which is programmed at the block number of the
programmed menu program is substituted (stored) into system variable
#6000, and the contents of the 16 data menus which were input for the
machining menu of that block number are substituted (stored) into system
variables #6001 - #6016.
It is possible to know what is the machining menu of the block number
programmed by #6091, therefore, from #6000, and the content of that data
menu from 116001 - #6016. "0" is substituted into #6000 unless a machining
menu is programmed at the block number which is programmed by 116091.
"Vacant" is substituted into system variables #6001 - 116016 for the data
menu where no numeric values are programmed.
b) N2 block
A jump is made to the N7 block to end the execution unless a machining
menu is programmed at the designated block number.
c) N3 block
The sub-program is called by the M98 command. The program number to be
called is obtained by adding the machining menu number to 9500. For
example, suppose the following machining menu was prepared:

01: INITIAL SET

02: DRILLING
03: TAPPING
04: BORING

:::::y::::
- - - - - - - Name of cycle menu
1- '--

Cycle menu number

If the TAPPING cycle menu is programmed at the programmed block number,

program number 09503 is called after all, since "03" is stored in #6000.
This means that an execution program for the TAPPING cycle menu must have
previously been created at 09503. In the afore-mentioned example of the
machining menu, therefore, the machine tool builder must previously create
the execution programs for each machining menu at the following program
numbers:

09501 : INITIAL SET execution program

09502 : DRILLING execution program
09503: TAPPING execution program
09504: BORING execution program

- 547 -
 111-9.15

If the execution program of each machining menu is called, the program is

to be created previously by referring to 116001 - 116016 so that the
specified machining can be executed, since the content of that data menu
is stored in system variables 116001 - 116016. Of course there is no
problem at all as to using the custom macro common variable, etc. which
has previously been prepared in the execution program of these machining
menus. Generally the execution program of these machining menus gives M99
as a command at last to return to the main program.
d) N4 block
After finishing the execution of the machining menu of the programmed
block number, and "1" to the content of system variable 116001 and increase
the block number by one to continue the execution of the machining menu
which is programmed at the next block num1;>er.
e) N5 block
A jump is made to the N7 block to end the execution if the programmed
block number exceeds 16.
f) N6 block
The program execution is returned to N2 in order to repeat the process for
a new block number.
g) N7 block
The N7 block gives the program end as a command.
When the operator starts up the machine to execute the simple conversational
program, actually the afore-mentioned main program (09420 in the
afore-mentioned example) for executing the simple conversational program is
executed, and then the execution program for the machining menu which was
prepared by the machine tool builder is called to execute the cycle.
When the operator starts up the machine to execute the simple conversational
program, therefore, it is essential that the main program to execute the
simple conversational program has been selected as the main program of memory
operation. If another program has been selected as the main program of
memory operation, only that program is executed, and the simple
conversational program is not executed.
It is for this reason that the machine side operator's panel is equipped with
the simple conversational program operation switch. While this switch is set
to ON, the memory operation should be started after searching for the number
of the main program for executing the simple conversational program by using
the "work number search" or "external data input" function.
8) Additional custom macro system variables
The details of the custom macro system variables added for the simple
conversational programming, which were described in the preceding ite~, are
summarized below.

System variable Meaning

116000 The machining menu number which is programmed at the

block number stored in 116091

116001 - 116016 The setting values of the 16 data menus for the
machining menus programmed at the block number stored
in 116091 (The data menu number and the lower 2-digit
number of the system variable are the same.)

116091 Designation of the block number

- 548 -
 111-10

10. DATA DISPLAY AND SETTING

10.1 Offset Values

10.1.1 Display and setting

~
offset value setting, turn on the data protection key (KEY 1).
1 Press the function menu key.
2 Press the OFFSET key.
One of the following screens is displayed:

TIXL CF'FSET 0'11!00 HIil000IiI I«R< 2EJIl CF'FSET 0IiIlIat HIlIiB2D

(l..9GlH) (~IUS)
I'«l. IEI'ETRV IoEM GECI'ElRY \oEM 1Il.1il0(~) 1'«l.1iIil (695)
001 12. 354 3. 624 12. 000 -3.623 )( 0.000 X 0.000
002 11.000 II. 000 11.000 0.000 V 0.000 V 0.000
003~ 11.000 0.000 0.000 Z 0.000 Z 0.000
00 0.1!00 11.000 11.000
005 II. 000 II. 1!00 11.000 0.000 1Il.B1 (G54)
006 II. 000 II. 1!00 11"000 0.000 )( 0.000
flJIlJ7 II. 000 II. 1!00 11.000 11.000 V 123._
00B II. 000 1I.1!00 0.000 0.000 Z 12.1_
Iil09 0.000 II. 000 0.000 0.000
010 0.000 0.000 0.000 0.000
Clt'l) 090
t1DJ ..., tcLJ) •••• ••• ••• ••• ••• • ••
MDI ••• STCF' •••• ••• ••• ••• ••• • •• IHF'UT +IHF'UT - . . . . lLlt-P I. ....KI. +
ItRJT + ItRJT I'EA5LI<E PlHCH It-PJIJ. +

The switchover between the screens can be made by pressing the OFFSET key.
It can also be made in the following way:
Press CHAPTER key; Soft keys are changed to Chapter selection keys.
When the TOOL key is pressed, the tool offset screen is displayed.
G) Move the cursor to the desired offset number in one of the following two
ways:
(1) Using the page change keys .9" CRT unit
~, ~ and cursor movement
keys ([!j, ~, c::::J, C!!.J),
move the cursor to the desired
offset number.
(2) <D
Press the operation menu key.
Soft keys are changed over to
the operation selection key. Function Soft key Operation
~ Press the INP-NO. key. menu key menu key
Enter the offset number of
the offset to be displayed. 9" CRT operation menu key
Press the EXEC key.
QD Press the operation menu key.
Soft keys are changed to opera-
tion selection key.
® To set the key input numerical 9" CRT OFFSET chapter selection key
value as the offset value
(absolute input)
Press INPUT key.
II
To add the key input numerical 9" CRT operation menu key
value to the offset value which
was already set. (incremental
input).
INPUT I +INPUT IORIO IN I MEASURE INP-NO·I + I I
Press +INPUT key.

- 549 -
 111-10.1.2

~ Key in the offset value. • 14" CRT unit

To enter offset values consecutive-
ly, delimit the values by EOB code.
On the CRT screen, the EOB (end of
block) is represented by a semi-
@.
colon (;).
Example: 100.0; 200.0; 300.0;
400.0 Operation
Function Soft key
Each time a semicolon is menu key menu key
encountered, the cursor
is moved one character
position to the right.
(Same effect as pressing
the cursor movement key
~ once). 14" CRT OFFSET chapter selection key
Press the EXEC key and the entered
offset value is set in the offset
II
memory location containing the 14" CRT operation menu key
cursor. Soft keys are changed to
the operation selection keys.

10.1.2 Clearing all tool offset values 9" CRT function selection key
CD Press function menu key. Soft keys
are set to the function menu keys.
~32 Press OFFSET key.
eD Press operation menu key. Soft keys
9" CRT operation selection key
are set to the operation selection
keys.
QD Press ALL-CLR key. Soft keys are
set to the operation guide keys.
I I
9" CRT operation guide key
(I) To clear all tool offset values to
'0', press the ALL key. To clear IOEOMTRvl WEAR
all geometry offset values to '0',
press the GEOMTRY key. To clear
ALL
II
14" CRT function selection key
all tool wear offset values to '0',
press the WEAR key.
(§) When the ALL, GEOMTRY, or WEAR key
is pressed, corresponding offset
14" CRT operation selection key
values are cleared to '0'. At this
time, each soft key returns to an
operation selection key.
Il
14" CRT operation guide key

II

- 550 -
 111-10.2

10.2 Work Zero Point Offset Value

To set the offset value, turn on the data protection key (KEY 1).
CD Press the function menu key.
GD Press OFFSET key.

One of the following screen is

displayed.

(Tool offset) (Standard work coordinate system) (Additional work coordinate system)
r r

x_
Too.. CFFSET 01234 HililOO0 t.mK ZERO CFFSET 01234 HililOO0 t.mK ZERO CFFSET 01234 HililOO0
t-ll. t-Il. 00 (CCM'Dl) t-Il.1!I2 (GSS) p, 03 (G54. 1)
001
DATA
12.500
t-ll.
1311
DATA
13.000 • X 13._ X 13.000 Page p, 131
x
(G54.1)
113.000 X 13.000
002 23.400 1312 13.000 Y 13._ Y -30.000 key '( 13.000 Y 60.000

=IIIIIiII
00J 15.300 1313 1.234 Z 13._ Z -40.000 Z -50.000 Z -25.000
1314 3.456

006
IlIiT1
60.000
4.250
1315
1316
1317
13.000
13.000
13.000
t-Il.e1
X
(654)
123._
t-Il.03 (G56) [TIUJ p, 02
Z
(G54. 1)
100.000 P~04~
000
009
13._
13.000
1318
1319
-1.200
-4.300 '" Y
Z
45._
13._
Y
Z
13.000
13.000
Y
Z
200.000
13.000
Y
Z
13.000
13.000
13113 13._ Iil20 0.000
(11'1)
(11'1)
•••• JOG STCP •••• oil • • oil • • oil • • oil.. oil • • •••• Joo STOP •••• oil • • oil • • oil • • oil.. oil • •
(11'1)
EtJ1T .... STCP ••••••• oil • • oil • • L9< oil • •
•

It-AJT +It-AJT t'ERSLRE F'I..tlCH ItF_t-IJ. + I t-AJT + II'R.IT t'ERSLRE TL_I tF I tF..NJ. + !tFUT +IN"UT t'ERSLRE TL_ltF ItF_t-IJ. +

The switch over between the screens

9" CRT function selection key
can be made by pressing the OFFSET
key. It can also be made in the
following way: Press CHAPTER key.
Soft keys are changed to chapter 9" CRT OFFSET chapter selection key
selection keys. Press WRK ZERO key.
The screen is set to the work zero
point offset values.
Move the cursor to the desired work
I TOOL IWRK-ZERI
9" CRT operation menu key
II
coordinate system number in one of
two ways:
(1) Use the page change keys
and cursor movement keys
ru, ill
(~, ~, ~, ~) move the 14" CRT function selection key
cursor to the desired work coordi-
nate system number.
(2) CD Press the operation menu key.
Soft keys are set to the ope-
14" CRT OFFSET chapter selection key
ration selection keys.
CD
Press the INP-NO. key. Enter I II
the work coordinate system 14" CRT operation menu key
number to be displayed/set.
(0: External work zero point
I I II
offset.
1 to 6: Work coordinate system
numbers, which correspond to
G54 to G59 respectively.)
Press EXEC key.

- 551 --
 III~ 10.3

Press the operation menu keys.

Soft keys are set to the opera-
tion selection keys.
If the entered numeric data is If the entered numeric data is to
to be set as the offset value be added to the already set offset
(absolute input), press INPUT value (Increment input), press
key. +INPUT key.
Enter offset values
To enter offset values consecutively, delimit the specified values by
EOB keys.
On the screen, the EOB (End of Block) is represented by semicolon (;).
Example: 1000.0; 200.0; 300.0; 400.0
Each time a semicolon is encountered, the cur~or is moved one character
~ition to the right. (Same effect as pressing the cursor movement key
L:.J once)
® When the EXEC key is pressed, the entered offset value is set in the
offset memory location containing the cursor. Each soft key returns to
an operation select key.

10.3 Setting Data

There are two methods of setting data:

(1) I/O setting data
(2) Parameters that can be set
G) Set to MDI mode.
GD
Press the function menu key.
Soft keys are set to the
function selection keys.
CD
Press the SETTING key. One
of the following screens is
displayed. 9" CRT function selection key

!IlTT IMiOR41'f)
"SET -I-~-(CXDiD-I-t4'\-TE-)--CIlIlIIJ--HilIlIlOO-1 S ETT I NO IS ERV ICEI NOTICE I I
CHAPTER I+ I
tv oex • I(IICFJI' 110.)
PUOI a:JIIE • • (III!ID IIIIR)
~ UtIT • • (II"" 1111'04) 12211 Io[H( 2ERD CD'I'Dl ~ IIIIIIRIJB 9" CRT SETTING chapter selection key

.; i
IIf'\IT 1lllU1e&: • 2 <t~311!!!ZS2C Y

~'~-~
1111Ot!T-JaI IJIIiS'22)
I1JTIIUT ClUIe&:. a U~lllSZlaC
IIf'\IT DlEVICZ • J -iii. iDIT-
I1JTIIUT I!lVICil. 3_ -lIi.iDIT-
IJ.IiS'22)
HANDY I
1GENERAL GPEPANL 1 MACRO 1.1

",1 ••• STCP . . . . . . . . . . 11.1&.:501 LSI( EDIT ••• STtP •••• ••• ••• ••• ••• • ••
BIIIiII SEllVICE 1'£ss:GE ~ SETTI~ SERVICE HJTICE ~

14" CRT function selection key

I~t:l'TIN I~ERVIC I NOTICEI

14" CRT SETTING chapter selection key.

~\mIAll..E

t«J. DATA t«J.

OOIlIlIlHilIlIlOO
DATA
I1EMJ SWITCH
rflCHltE LOCJ( =I (B.(FF I.(JO
I . II
BlOO
IIIBI
12.1D!l IIIIB
0111
DI!R.AY LOCJ( =B (B.(FF 1.0.)
0102 Ieee. see 0112
SIIG.E B..llCI( = 0 (B.(FF 1.(JO
DRY RLH = I (0,(FF llCJll
BIII3 0113
0114 _ IU( A.NC.LOCJ( = 0 (B.(FF 1.[Il)
BIIl4
BI05 0115
tfMA.. AllS(LUTE =
II (0.(FF 1 •[Ill
Z Al<IS I£lLECT = 0 (B.(FF 1.[Ill
BIIl6 600.200 BIIG
BIll? BU7
11100 BUB
0111'3 BU9

MDI ••• ST~ •••••••••••••••• • •••••• S1l:F' •••• ••• ••• ••• ••• • ••
IIRIT +ltRlT FI..LQ..R ~ Itf'JI).+ IIRIT +ltRlT [Ill 1 (FF.B Itf'-t«l. +

- 552 -
 111-10.3

To display the setting data screen, there are following two ways.
i) Press the SETTING key several times until the setting data screen
appears.
ii) Press the CHAPTER key. Soft keys are set to the chapter selection
keys.
a) To display the setting data relating input/output, press HANDY
key.
b) To display the parameter which can be set, press GENERAL key.

I/O setting data Parameters that can be set

QD Use the cursor movement keys Move the cursor to the parameter
(~, [±]) to move the cursor number to be set by one of the follow-
to the item to be set. ing procedures.
a) Use t~age change keys
a=±J, ~ and cursor movement
keys G, G,
E], to move B>
the cursor to the desired parameter
number.
b) i) Press the operation menu key.
Soft key are set to the opera-
tion selection keys.
ii) Press INP-NO. key. Enter the
data number to be displayed.
Press the EXEC key.

G) Press operation menu key.

QD Set the data in one of the
following ways.
a) To set to 1, press ION: 1 9" CRT operation selection key
key. (When GENERAL key)
To set to 0, press I OFF: If
key. INPUT ! ! Q!!-'..! !!2IT..:...!! INP-NO.! + !
b) To set the data other than 9".CRT operation selection key
(Whe1.l HANDY key)
land O.
i) Press INPUT key.
ii) Enter the data to be set
with the keys.
To set data that follows
consecutive parameters,
delimit data items by EOB
(End of Block) keys.
Example) 100; 200; 300
When a semicolon (;) is
encountered, the cursor is
automatically moved one
character position to the
right.
iii) Press EXEC key.

- 553 -
 111-10.4

10.4 Custom Macro Variables

Local variables, common variable l's, and common variable 2's can be displayed.
Common variable l's and 2's can be set.
#1 to #33 Local variables
11100 to 11199: Common variable 1 (When the power is turned off, these common
variables are cleared.)
#500 to #699: Common variable 2 (When the power is turned off, these common
variable are saved.)
C021 Turn to the MDI mode.
~ Press the function menu key.
Soft keys are set to the function selection keys.
CD Press SETTING key.
One of the following screen is displayed.

---
9" CRT function selection key
SETTltG(_) SETTltG(CIXlRDIMlTE) 0IlIlIIJ1j'lIlI1II!Iil
lV O£O( = II (0'IFF 1,(Il) 12211 IDI( 2ERD CD'tOl )(
f'lH)l aD! ~ 11 (B'ISO I'EIA) Z B
ItflIT LNIT = B (B,1't1 I,IHOO Y B
ItflIT OOIICE = I (B'PT!I 1-2'RS2J2C B
IB,RMT U'A5R 1~'RS4Z!) 1221 IDI( 2ERD 5fT III )(
ruTPUT OOIICE I = ( 1-2,RS2J2C Z B
U,A5R 13'RS4Z!) Y o
ItflIT OOIICE = I -OO.EDIT- o
ruTPUT OOIICE· I -00. EDIT- 9" CRT SETTING chapter selection key

1'11)1 ••• STCF ••••••••••••• L9< EDIT ••• 5TCFJ •••• ••• ••• ••• ••• • ••
!lETT Ita 5ERV I CE I'ESSAGE OA"TSI+ SETTltG SERVICE IOTICE ~

1 SETTING 11 11 SETTING 1
14" CRT function selection key

CIl'I'OlI-"lIAILE
0IIJI!BiI_ I'£If.J SWITCH

t«l. DATA
I'fICHIIE LOCJ(
DI!I'I.IW LOCJ(
= I
• II
(II'IFF
(I1,IFF
U(Il)
I ,ttl)
t«l. DATA
BI00
01BI
12._ BUB
0UI
SIIG..E ILOO(
M'I' _
• II
• I
(a'IFF
(a,IFF
1,(Il)
1,(Il) 14" CRT SETTING chapter selection key
0102 1_._
0183
11104
0U2
0U3
I1U4_
~~
Z AXIS t£a.ECT
:=I11 (O.IFF
~::~ ~:g:~
1.(Il)
I111l5 BUS
01116
BIB?
0100
6BB.2IlIl OU6
III I?
IIUB
------
BI89 0119
••••••• STCF •••• ••• ••• ••• ••• • ••
11)1 ••• ST~ ••••••••••••••••••• INPUT +1tf'UT <H. I IFF.B 11f'.J<D.+
ItRlT +1tf'UT FU._CLR EJ9'7Y 11f'.J<D. +

The macro variable screen can be selected in two ways:

i) Continue to press the SETTING key until the macro variable
screen is displayed.
ii) Press the CHAPTER key. Soft keys are set to the chapter
selection keys. Press MACRO key.

- 554 -
 111-10.4

Move the cursor to the number of the desired macro variable in one of the
following ways:
a) Use the page change keys ~, ~ and cursor movement keys ~,
~) to move the cursor to the number of the desired macro variables.
b) i) Press the operation menu key. Soft keys are set to the operation
selection keys.
ii) Press the INP.NO key. Enter the number of the desired macro variable
from the keyboard.
Press the EXEC key.
Press the operation men key. Soft keys are set to the operation selection
keys.'
9" CRT operation selection key

14" CRT operation selection key

® To set entered To add numeric To set "vacant" Variables are to

numeric data as data to already as the variable be cleared.
the variable set variable value
value values
(Absolute (Incremental
input) i~ut)
@-1 ®-l Press EMPTY key. Press All-CLR
Press INPUT key, Press + INPUT key, and soft
and enter vari- ~. keys are turned
able value. ®-2 to operation
(To set variable Enter increment guide keys.
values consecu- value, and press • To clear both
tively, delimit EXEC key. common variable
data items by 1 and 2 values,
EOB (End of press ALL key.
Block) keys.) • To clear common
Example: 100.0; variable 1
200.0; 300.0 values, press
When a semicolon COMMON 1 key.
(;) is en- • To clear cornmon
countered, the variable 2
cursor is auto- values, press
matically moved COMMON 2 key.
one character Soft keys are
position to the returned to ope-
right. ration selection
®-2 keys.
Press EXEC key.

9" CRT operation guide key

I I
14" CRT operation guide key,

11

- 555 -
 111-10.5

(Note) The macro variable in the custom macro variable display becomes "UNDER
FLOW" in the following conditions:
o < macro variable value < +0.0000001 +UNDER FLOW
o > macro variable value> -0.0000001 -UNDER FLOW
10.5 Parameters

Parameters are used to adjust the CNC in conformity with the characteristics and
features of the motor and machine connected to the CNC. The parameter contents
depend on the machine type. When parameter setting is incorrect, the CNC may
operate abnormally. End users must not change any parameters unless otherwise
noted.

CD Press the function menu key.

The soft key is changed over to
the function selection key.
Press I SERVICE I key.

9" CRT function selection key

PH'<H'E I ERCAX I S)
1023 SRVO AXIS ~ X
Z 2
Y 3
o 9" CRT SERVICE chapter selection key
1024 x o
z o
y o PARAM I PITOH IDiAGNOS IDSPoMEMI
o II

MDI ••• STOP •••• ••• ••• ••• ••• • •• 14 .. CRT function selection key
SRV_SET PMAM PITCH DII=¥NlS OSP.I'EM

If the parameter screen is not 14" CRT SERVICE chapter selection key.
displayed, select the parameter
screen in one of two ways:
i) Continue to press the ~I~SE=R~V=I~C~E~I
key until the parameter screen
is display~e_d_._ _.....
ii) Press the I CHAPTER I key to
change over the soft key to
chapter selection key. And
press PARAMETER key.

- 556 -
 111-10.5

Move the cursor to the data number of the desired parameter in one of the
following ways:
a) Using the page change keys ~, ~ and cursor movement keys ~,
G5 move the cursor to the desired position.
b) i) Press operation menu key to change over the soft key to operation
selection key.
ii) Press I INP-NO I key, enter data number of its parameter to be displayed
or set and press EXEC key.
Parameters are displayed up to the step, to set data to parameters, proceed
as follows:
Select MDI mode or press the EMERGENCY step button to set the control to
emergency stop condition.
Set parameter PWE of data NO.8000 to 1 to enable the parameter setting.
For how to set the parameter see section 10.3.
Set data in either of the following ways:
a) To set 1, press I ON: 1 I keys; to set 0, press I OFF: 0 I key.
b) To set data other than 1 and 0, press operation menu key to change over
the soft key to operation menu key.

To set the key input value as To add the key-input value to the
parameter value previous parameter value
(Absolute input) (Incremental input)
{B-1 (B-1
Press INPUT key and enter parameter Press +INPUT Key.
value. (B-2
(To set data that follows con- Enter the incremental value and press
secutive parameters, delimit data EXEC key.
it~ms by EOB (End of Block) key.)
(Example) 100.0; 200.0; 300.0; 400.0
When a semicolon (;) is encountered,
the cursor is automatically moved one
character position to the right.
®-2
Press I EXEC I key.
CD After completion of parameter setting, make sure to set the parameter PWE
(data number: 8000) to '0'. (This parameter allows parameter setting.)

9" CRT operation selection key

INPUT I
+INPUT I ON: 1 I OFF: 0 IINP-NO·I

14" CRT operation selection key

- 557 -
 111-10.6

10.6 Pitch Error Compensation Data

The pitch error compensation data is set according to the characteristics of the
machine connected to the CNC. The content of this data varies according to the
machine model. If it is changed, the machine accuracy is reduced.
The end user must not alter this data.

<D Press the function menu key.

The soft key is changed over to
the function selection key.
Press ISERVICE I key.

9" CRT function selection key

PITCH ERROR DATA

I'D. DATA t-D. DATA t-D. DATA I'D. DATA

0000. 0010 0 0020 0 0030 0
0001 2 0011 0 0021 0 0031 0
0002 -3 0012 0 0022 0 0032 0 9" CRT SERVICE chapter selection key
0003 4 0013 0 0023 0 0033 0
0004 7
0005 -6
0006 0
0007 0
0008 0
0014
0015
0016
0017
0018
0
0
0
0
0
0024
0025
0026
0027
0028
0
0
0
0
0
0034 0
0035 0
0036 0
0037 0
0038 0
II
0009 0 0019 0 0029 0 0039 0

MDI ••• STOP •••• ••• ••• ••• ••• • ••

14" CRT function selection key
SETT 11'6 SERV 1CE t-DT 1CE OWTER+

If the parameter screen is not

displayed, select the parameter 14" CRT SERVICE chapter selection key
screen in one of two ways~:________,
i) Continue to press the I SERVICE I
key until the parameter screen
is displayed.
ii) Press the I~-CHA~P-T-E-R~I key to
change over the soft keys to
chapter selection keys. And
press PITCH key.

- 558 -
 III-I 0.7

Move the cursor to the data number of the desired parameter in one of the
following ways:
a) Use the page change keys. (OJ,
[±J) and cursor movement keys (6,
~ to move the cursor to the desired position.
b) i) Press the operation menu key to change over the soft keys to operation
selection keys.
ii) Press I INP-NO I key. Enter data number .and its parameter to be dis-
played or set. Press EXEC key.
Parameters are displayed up to this step, to set data to parameters, proceed
as follows:
C0 Select MDI mode. Or press the EMERGENCY stop button to set the control to
emergency stop condition.
CD Set parameter PWE of data No.8000 to 1 to enable the parameter setting.
For how to set the parameter see section 10.3.
® Press the operation menu key to set the soft key to operation selection
keys.
(j) Press the INPUT key and enter the compensation data.
(To set data consecutively to consecutive data number, delimit data by EOB
(End of Block) key. .
(Example) 1; 2; -3; -4
When a semicolon (;) is encountered, the cursor is automatically moved one
character position to the right.
9" CRT operation selection key

INPUT I +INPUT I ON: 1 I OFF: 0 I

INP-NO·I

Press EXEC key

After completion of parameter setting, make sure to set the parameter PWE
(data number: 8000) to '0'. (This parameter allows parameter setting.)

10.7 Data Protection Key

A data protection key. can be installed on the machine side for. protection of
various CNC data. The following three input signaLs. are offered, according to
type of data to be protected.
1) KEY 1
Allows input of tool compensation .amount and work offset amount.
2) KEY 2
Allows setting data input, and absolute coordinate value preset.
3) KEY 3
Allows part program input and editing.
Refer to the manual issued by machine tool builder for information on which
protection keys are used on the machine side and where they are mounted,

- 559 -
 111-10.8

10.8 Tool Length Measurement

1) When the function of "tool offset by tool number" is not equipped

CD Press function menu key to change over the soft key to function selection
key.
eD Press OFFSET key.
One of the following screens is displayed.

I'll. X f:O<lS Z FOCIS fR)ILS TIP m.oo t-IJ.92

(EX'f'ERt.A..) (G55)
81
B2
12.!5EI!I
B.eea
e._
.,1i!II8
0._
8._ e
B )(
Z
le.Bii!IB)(
B.eea Z
a.BIBB
B._

= :::
e6
ro
BJ

B.BBB
D.BBS

B.1iJi!IB •• am
:5.234

-1~:=
B.ese
0._
IIIIIIiII
0._
a.eBB a
:
e
B

~ ~'I~~(~~:)t 8.~) B
)( a.Bee Z a._
MDI .... 5TtP •••• ••• ••• ••• ••• • ••
EDIT ••• STCP •••• ••• ••• ••• ••• '101'
• ••
It-FUT +It-FUT (RIGIH Cll.HTER , ....J.O. +
It-FUT +ltR.IT I"EA9...J£ I ....JI).+

1
The switchover between the
screens can be made by pressing
the OFFSET key. It can also be
made in one of the following ways:
i) Press CHAPTER key.
ii) When the TOOL key is pressed,
the tool offset screen is dis-
9" CRT function selection key
played.
Move the cursor to the desired
offset number in one of the
IpOSITO~PROGRAMIOFFSET~-CHKI OIjAPTER + I 1

following tow ways: f f

a) Use the page change keys 9" CRT OFFSET chapter selection key
([£J, []J) and cursor movement
keys c:!J, ~, ~, 13) to
move the cursor to the desired
offset number. 9" CRT operation selection key
b) i) Press operation menu key
to change over the soft INPUT 1+ INPUT 1ORIGIN 1MEASURE 1INP -NO 1
keys to operation selection
keys.
I
ii) Press INP.NO key. Enter I 9" CRT operation guide key

an offset number and its

data to be displayed or set. 1 I
Press EXEC key.

Press MEASURE key and enter an axis name for the tool length measurem~nt
to be performed.
Press SELECT key. The axis selection in remains effective until ®
another axis is entered.
Select the reference tool and let it hit a certain point on the machine
by a manual operation.

- 560 -
 Ill-! 0.8

Press MEASURE key.

14" CRT function selection key
Press ORIGIN key to set the counter
to zero. The soft key is changed
over to an operating guide key.

14" CRT OFFSET chapter selection key

II
14" CRT operation selection key

14" CRT operation guide key

II
Select the tool of its offset value to be measured. Let in hit the same
point on the machine by a manual operation.
The offset (the distance between the contact points of the reference tool
and the measurement tool) is displayed in the relative position display.
Press the I MEASURE I key and the soft keys are changed over to the
operation guide keys.
Press INPUT key.
An offset value displayed in the relative position ,display is set to the
memory location i,ndicated ~ the cursor.
Repeat operations ® to Qj) on each tool.

(Note) If LXY of parameter No. 6000 is set to 0 (tool length compensation is

always performed in Z axis), Z axis is used as the tool length
measurement axis.

- 561 -
 III-lO.8

2) When the function of "tool offset by tool number" is equipped

Q) Press function menu key to change over the soft key to function selection
key.
eD Press OFFSET key.
One of the following screens is displayed.
r

...
TCXL CFFSET

HJ.
IilB1

...
ee2
IlII1J

eB!I

- -
ee6
rtII11
eaa
111111
DATA
12.5lI1I
23."
EiIiI.eee
".2S!I
liI.eee
1iI._
1iI._
III."
HJ.
au
812
813
a1..
a15
a16
at?
liIlS
IiIt9
OG!BB1 taB!9
DATA
e.eee
e.eee
12. . .
3.«16
e.eee
e.eee
e.eee
-t.ZJIII
e. . .
e. . .
(1'tO
IOFFSET I.
.
k(R( 2ERl a=1'SET

HJ.ee
X
y
z
HJ.81
X
y
Z
(~)
a.eee
a.eee
a.eee

(G154)
11._
123. . .
12.1_
HJ.82
xy
z
HJ.83
)(
Y
Z
OG!BB1 taB!9

..
(655)
e.eee
e.eee
e.eee

(EI!!6)

(1'tO
1 OFFSET

II
I
TOCL DATA

t-.O.
001
002
003
004
005_
006
f!!IlT?
008
009
010
T_CODE
1000
1001
. 1010
1011

1050
1051
1052
1053
1100
POTII
0010
0011
0030
0031
0032
0055
0020
0022
0028
0060
LeGTH
01234
E:002

15.000
20.000
60.000
22.000
18. 650
5.500
15. 008
62.780
15.550
6.240
N00000
5:003
RADIUS
2.500
5.000
10.000
6.400
8. 560
0.008
2.050
20.000
5.200
5.000
C,.,."
I'1DI ..., t-D...D •••• ••• ••• ••• ••• • •• 1'1)1 ..., t«L.D •••••••••••••••• EDIT ••• STCP • • • • • • • • • • • • • LSI< •••
1-.sT + 1-.sT I'£AEl.RE PU«:H I.....JCJ. + 1-.sT +1-.sT I'£AEl.RE 'fL.1'" I.....JCJ.+ ItFUT INSERT DELETE SEARCH.

I
The switchover between the
9" CRT function sel.,ction key
screens can be made by pressing
the OFFSET key. It can also be
made in one of the following ways:
IPOS ITO~PROGRAMI OFF SETfRG-CHKI OHAPTER I+ I
i) Press CHAPTER key. I I
ii) When the TOOL DATA key is 9" CRT OFFSET chapter selection key
pressed, the "tool offset by
tool number" screen is dis-
played.
TOOL. IWRK'ZERI ITL'DATAI I I
Use the page change keys 9" CRT operation selection key
([iJ, [±]) and cursor movement PUNCH IMEASUREI
keys ~, ~, ~, ~ to I I I 1
move the cursor to the d'esire-d
offset number. 9" CRT operation guide key

INPUT ORIGIN
I
(AXIS)
I I I
Press MEASURE key and enter an axis name for the tool length measurement
to be performed.
Press SELECT key. The axis selection in ® remains effective until
another axis is entered.
Select the reference tool and let it hit a certain point on the machine
by a manual operation.

- 562 -
 111-10.8

G) Press MEASURE key.

~ Press ORIGIN key to set the counter
to zero. The soft key is changed 14" CRT function selection key
over to an operating guide key.

14 " CRT OFFSET chapter selection key

14" CRT operation selection key

14" CRT operation guide key

Select the tool of its offset value to be measured. Let in hit the same
point on the machine by a manual operation.
The offset (the distance between the contact points of the reference tool
and the measurement tool) is displayed in the relative position display.
Press the I MEASURE I key and the soft keys are changed over to the
operation guide keys.
Press INPUT key.
An offset value displayed in the relative position display is set to the
memory location indicated ~ the cursor.
Repeat operations ®to Qj) on each tool.

- 563 -
 111-10.9

10.9 Tool Length/Work Zero Point Measurement B

10.9.1 Tool length measurement B

This function aims at further simplifying the operation of the tool length
measurement and can measure tool length simply and in a short time.
In general, there are following two methods for defining the tool length
compensa'tion value. In either method, there is no change in the basic concept
that the distance from the cutting edge of each tool to that of the reference
tool is defined to be the tool length compensation value.
1) Method 1
In the first approach, the actual tool length is considered to be the tool
length compensation value. The reference tool in this method is a virtual
tool where the cutting edge' is located at the machine zero point when the
machine is located at the zero point of the machine coordinate system of the
Z axis. The difference between the cutting edge position of each tool and
that of the reference tool, namely the distance on Z axis from the cutting
edge position of each tool to the machine zero point when the machine is at
the machine zero point of Z axis, is set to the tool length compensation
value.

:
I

i
,'Refer- I
'ence '
Machine zero point !tool I
(cutting edge posi- I

tion of reference
tool) Tool
OFSLOI TO!
Tool
Tool T03
T02 OFSL03
OFSL02

1
OFSL01 : Tool length compensation value of the tool T01
OFSL02: Tool length compensation value of the tool T02
OFSL03: Tool length compensation value of the tool T03

In this function, the tool is shifted by the manual feed and the cutting edge
of the tool is allowed to hit the upper surface of the work of the reference
block. This surface is called the measurement surface. In reality, this
measurement surface cannot be used for the upper surface of the machine table
from viewpoint of mechanical damage. However, let's suppose that the
measurement surface was made to be the upper surface of the machine table.
Let the distance from the machine zero point to the upper surface of the
machine table to be L, then the L is a value peculiar to the machine. Thus,
set the distance L to a parameter and suppose that the measurement surface is
the upper surface of the machine table. And then let the mach~ne coordinates
of the tool when the tool is allowed to contact the upper surface of the
machine table to be Zt. Then, the tool length compensation value OFSL can be
easily obtained by the Land Zt. However, actual measurement surface cannot
be the upper surface of the machine table. Therefore, by defining the upper
surface of the machine table as the reference measurement surface and by
setting the distance from the reference measurement surface to actual
measurement surface (work) or the height of the reference block (Hm) , the
tool length compensation value can be obtained from the following expression:

- 564 -
 III-10.9.1

Machine zero Ah
point (cutting edge 'f'
position of reference
tool) . Tool Tool
OFSL 01
OFSL TOI

i----r--- -"-- "----

Zm
Zt Zm

Measurement
surface ,...----"'-----...,

Work
T
Hm
Measureme;=.ln~t_ _-'--_ __.
surface
Reference
block Hm
Reference measure-
ment surface
Machine table Machine table

L Distance from the cutting edge position to the reference measurement

surface (machine coordinate value of the reference measurement
surface) of the reference tool
Hm Distance from the reference measurement surface to actual measurement
surface
Zm Distance from the cutting edge position to the measurement surface of
the measuring tool at the machine zero point
(Zt Distance from the cutting edge position to the reference measurement
surface of the measuring tool at the machine zero point)
OFSL: Tool length compensation value (OFSL = Zm - Hm - L)

Since the actual tool length is set as the tool length offset amount in this
method, it is a great advantage that there is no need for remeasurement even
if the work changes, supposing there is no wear. Also, when machining a
number of works at the same time, the work coordinate systems G54 ~ G59 are
to be assigned to each work and each work zero point offset amount is to be
set specially, thus eliminating the need for setting the tool length
compensation value. This is another advantage.

- 565 -
 111-10.9.1

2) Method 2
In the second method, the distance from the tool edge position to the zero
point of the work coordinate system, when the machine is located at the
machine coordinate system zero point of the Z axis, is regarded as the tool
length offset amount. This method is no different from the method 1 from the
standpoint that the difference with the tool length of the reference tool is
regarded as the tool length compensation value. What is different is that
the reference tool in this method is a virtual tool in that the cutting edge
is located at the zero point of the work coordinate system when the machine
is at the zero point of the Z axis machine coordinate system.

Machine
zero point ,,!
-i"'\oI~h---Y---------'r------Y-------Y-----'-------'-----r--­
!
Tool
TOl Tool
T03
-- Tool
T02

--
Refer-
ence -;--
'tool

OFSLOl

OFSL02 OFSL03

Work
coordinate
L ____ J system zero
point
Work

OFSL01: Tool length compensation value of the tool TOl

OFSL02: Tool length compensation value of the tool T02
OFSL03: Tool length compensation value of the tool T03

In the second method, the reference measurement surface becomes the zero
point of the work coordinate system. Since the cutting edge position of the
reference tool is also the zero point of the work coordinate system, the
distance from the edge position of the reference tool to the reference
measurement surface (L) becomes O. Thus, set 0 to the parameter of the
distance L. In general, actual measurement surface is the same as the
reference measurement surface which is the zero point of the work coordinate
system. However, when the measurement surface is set to the supper surface
of the reference block or the upper surface of the work is not set to the
zero point of the work coordinate system (for example, the zero point of the
work coordinate system is shifted from the upper surface of the work by the
clearance amount, the tool length compensation value (OFSL) can be obtained
from the same expression used in the method 1 by specially setting the
distance from the reference measurement surface to actual measurement surface
to Hm.

- 566 -
 111-10.9.1

Machine
zero point
Tool Tool
TOl TOl

Zm
OFSL
OFSL Zm

Measurement

-. ------ ----r---------
Work coordinate system surface
zero point (reference
measurement surface)

Hm Work

Reference block

Machine table Machine table

L Distance from the cutting edg~ position of the reference tool to the
reference measurement surface (= 0)
Hm Distance from the reference measurement surface to actual measurement
surface
Zm Distance from the cutting edge position of the measurement tool to the
measurement surface in the machine zero point
OFSL: Tool length compensation value (OFSL = Zm - Hm - L)

Since the reference tool is considered to be the tool where the cutting edge
position is located at the zero point of the work coordinate system when the
machine is at the machine zero point in the second method, the tool length
compensation value generally must be measured again too when the work
changes. However, even if another work is used, the tool length compensation
value needs not be measured again if the tool length compensation value is
left as it is and the difference between the work coordinate system zero
point of a new work and the one when the tool length compensation value is
measured is set to either of G54 to G59.
The tool length compensation value in this method means "The work zero point
offset amount is set to the tool length compensation value of each tool" from
another point of view.

- 567 -
 111-10.9.1

Procedu~es for measurement of tool compensation value

Allow the machine to be shifted to the tool change position by the manual
reference point return.
Select either the manual handle feed or the manual continuous feed mode.
Turn on the "TOOL LENGTH MEASUREMENT" switch located on the machine side
control panel. Then, the control unit automatically changes the CRT screen
to the screen for measuring the tool length compensation value as shown
below and then allows the "OFST" status indication to blink at the bottom of
the screen, indicating the completion of preparation for measuring the tool
length compensation value.
The screen for measuring the tool length compensation value differs slightly
depending on the tool compensation value memories A, B (There are two types,
namely 9,or geometry compensation and for wear compensation), and C (There
are twos types, namely for geometry compensation and for wear compensation.
In addition, there are two other types, namely for radius compensation and
for length compensation.). The following shows the screen for measuring the
tool length compensation value in the case of the tool compensation value
memory A. See the note 1 for the tool compensation value memories Band C.

TOOL OFFSET 00000 1100000

Cl1ACH I ~..jE)
NO. DATA X -123.000
001 eiMiiii.. y 0.000
002 12.3130 Z -12.300
003 13.0130
004 13.131313
005 -11313.131313
006 16.51313 en 1234
007 13.131313
008 13.01313 CM) 6
009 13.131313
13113 13.131313 CHM) -20.000

•••• JOG STOP •••• ••• ••• ••• • ••

I t1PUT + INPUT HM_ I NP MEASURE I NP _I',{). +

~ Measure the distance from the reference measurement surface to the

measurement surface. Enter the distance with the Numeric keys and then
press the Soft key I MH-INP I.
® Select the tool whose tool length compensation value is to be measured.
While the screen for measuring the tool length compensation value is being
selected and the "OFST" is blinking at the stat"us indication area at the
bottom of the screen, the program commands such as the T and M commands can
be executed through this screen even if the manual handle feed or the manual
continuous feed mode is selected. First, Key in the Ttttt and then press
the Cycle Start button on the machine control panel or the CRT/MDI panel.
Then, the program command, Ttttt, is executed and the tool to be measured is
selected. In general, the tool is selected at the waiting position of the
spindle so that the M06 command must be keyed in for bringing the tool to
the position of the spindle and the execution is initiated. From the above
operation, the tool which is to be subject to the measurement of the tool
length compensation value is selected at the position of the spindle. After
this,. bring the cursor to the tool compensation number where the tool length
compensation value of that tool is to .be set.
~ Bring the tool closer to the measurement surface of the work or reference
block using the manual handle feed or the manual continuous feed and then
allow the tool to contact to the surface.

- 568 -
 III-10.9.1

(J) Press the Soft key I MEASURE I. Then, the control unit sets the tool length
compensation value to the tool compensation memory based on the expression
described before. In the case of the tool compensation memories Band C,
the tool length c.ompensation value ob'tained is set to the tool geometry
compensation value and the tool wear compensation value is set to O. The
location of the cursor of the tool compensation number does not change. If
the cursor is requested to be automatically advanced to the next
compensation number, press the Soft key I MEASUR+ I. At the same time that
the tool length compensation value is set, the tool automatically moves to
the tool change position.
~ The above completes all procedures for measuring the tool length
compensation value for one tool. For the following tools, simply repeat the
procedures from CD. above. After the ~easurement of the tool length
compensation value for all tools is completed, turn off the "TOOL LENGTH
COMPENSATION" switch on the machine control' panel. When this switch turns
off, the "OFST" under the measurement screen of the tool length compensation
value stops blinking.
(Note 1) 1. The measurement screen for the tool length compensation value in the
case of the tool compensation memory B

TID... CFFSET 01234 N00eOO

Cf'KH I1'£)
f'.().
00~1
OO~I
003
.50•.
GECl"ETRY
11100~
0.11100
lAEAR X
-1. 000 Y
0.000 Z
0.000
-123.000
0.000
-12.300

004 0.11100 0.000

005 100. 11100 0.000
006 16.500 0.000 cn 1234
007 0.11100 0.000
008 0.11100 0.000 (M) 6
009 0.11100 0.000
010 0.11100 0.000(1-1'1) -20.000

•••• JOG STOP •••••••••••••

\t-.PUT +It-FUT H'LII'F' I'E~ It-P_I'-O. +

2. The measurement screen for the tool length compensation value in the
case of the tool compensation memory C

TID... CFFSET 01234 N00eOO

CLEt-GTH) Cf'KH I 1'£)
f'.(). GEO'ETRY lAEAR X -123.000
001 50. 000 -1. 000 Y 0.000
002 0.000 Z -12.300
003 0. 000 0. 000
004 0. 000 0. 000
005 100. 11100 0. 000
006 16. 500 0. 000 (n 1234
007 0. 000 0. 000
008 0. 000 0. 000 (M) 6
009 0. 00111 0. 000
010 0.00111 0.00111 (1-1'1) -20. 000

•••• JOG STOP •••••••

I t-.PUT + I t-FUT 1-I'1_11'F' I'E~ I t-P _1'-0. +

- 569 -
 111-10.9.2

(Note 2) Since the tool is generally mounted horizontally to the Z axis, the
tool must be shifted in the direction of Z axis for measuring the tool
length compensation value. However, some machines are provided with
the W axis which is parallel to the Z axis so that it may be requested
to measure the tool length compensation value by shifting the tool in
the W axis direction. Also, in some machines, use of such tool as an
attachment allows the tool to be mounted parallel to the axis other
than the Z axis. The tool length compensation value can be measured on
any axis in addition to the Z axis for these machines. The following
describes the points to be noted for performing the measurement on any.
axis. First of all, set parameters for all axes in addition to the Z
axis regarding the distance L from the cutting edge position to the
reference measurement surface. With the distance (Hm) from the
reference measurement surface to the actual measurement surface, the
distance in the direction of axis to be measured must be set. Move the
tool in the direction of axis to be measured to allow it to contact the
work or the reference block. And then, it is required to key in the
name of the measurement axis before pressing the Soft key I MEASURE I or
I MEASUR+ I. For example, when the measurement axis is the W axis, key
in the W before pressing the Soft key I MEASURE I or I MEASUR+ I.
(Note 3) An operator selects a compensation number where the measured tool
length compensation value is set by moving the cursor to the
compensation number. However, on some machine tools, when a tool is
selected, the cursor may automatically move to a pre-determined
position. Refer to the manual issued by the machine tool builder for
details.

10.9.2 Work zero point measurement B

The work zero point offset amount can be measured simply by the following
method. Not only the work zero point offset amount in the direction of the tool
length axis, namely the Z axis but also that of the X and Y axes which are
orthogonal to the Z axis can be simply measured. The work zero point offset
amount of the X and Y axes can be simply measured for both cases: when a
certain surface of the work is made to be the work zero point and when the
center of a certain machined hole is made to be the work zero point.

10.9.3 Z axis work zero point offset amount

The general concept and the measuring procedures on the work zero point offset
amount in the direction of the Z axis in the methods 1 and 2 described in the
"10.9.1 Tool length measurement B" are described in the following:
1) Z axis work zero poInt offset amount
a) Method 1
In the method 1, the work zero point offset amount in the direction of the
Z axis is the distance from the zero point of the machine coordinate
system to tha.t of the work coordinate system as shown in the following
diagram:

- 570 -
 III-IO.9.3

Machine
zero point
~
OFSL Tool

OFSWG54
ZmG54 OFSWG55 ZmG55

Work zero
point
(G55) A
V
Workzero
point A Work (G55)
(G54) V
Work (G54)

OFSL The tool length compensation value of the tool when the work
zero point offset amount is measured
ZmG54 The move distance from the machine zero point to the work zero
point of the G54 when the tool with its tool length being OFSL
is measured
ZmG55 The move distance from the machine zero point to the work zero
point of the G55when the tool with its tool length being OFSL
is measured
OFSWG54: The work zero point offset amount of the G54
OFSWG55: The work zero point offset amount of the G55

As shown in the above diagram, the Z axis work zero point offset amount
can be obtained from the following expression:
OFSW = Zm - OFSL
where OFSW: The work zero point offset amount
OFSL: The tool length compensation value of the tool when the work
zero point offset amount was measur.ed
Zm The move amount from the machine zero point to the work zero
point when the measurement was made with the tool having its
tool length of OFSL.

b) Method 2
The tool length compensation value in the method 2 equals to the work zero
point offset amount in the direction of the Z axis as described
previously. Therefore, in general, the work zero point offset amount
needs not be set. However, when a new work is used after the tool length
compensation value is measured for some work or when a number of works are
to be machined at the same time, the setting of the work zero point offset
amount as shown in the following will eliminate the need for measuring the
tool length compensation value when assigning the work coordinate system
of the G54 - G59.

- 571 -
 111-10.9.3

Machine
zeropomt~~-------r---.r--------------------------------

OFSL ZmGSS

Work zero
pomt (GSS)
t4
Wo rkzero
po mt (GS4)
-+ Work (GS4)
OFSWGSS

I
Work (GSS)

OFSL The tool length compensation value when the measurement was made
with the G54 work
ZmG55 The move amount from the machine zero point to the work zero
point of G55 when work zero point of G55, was measured with the
tool having its tool length of OFSL
OFSWG55: G55 work zero point offset amount (G54 work zero point offset
amount is 0)

In the method 2, the work zero point offset amount can be obtained using
the same expression as in the method 1.
OFSW = Zm - OFSL
where OFSW: The work zero point offset amount
OFSL: The tool length compensation value of the tool when the work
zero point offset amount was measured.
Zm The move amount from the machine ,zero point to the work zero
point when the measurement was made with the tool having its
tool length of OFSL.

- 572 -
 III-10.9.3

2) X axis/Y axis work zero point offset amount

The work zero point offset amount of the X and Y axes can be simply measured
for both cases: when a certain surface of the work is made to be the work
zero point and when the center of a certain machined hole is made to be the
work zero point.
a) When the surface is the work zero point

+y

Work

Work zero point

Y axis work
zero point
offset amount

Machine
zero point X axis work zero point
offset amount

This is the case where the side of the work becomes the work zero point as
shown in .the above figure. The .measurement of the offset amount when the
work zero point of the X or Y a~is is set to a certain surface of the work
is basically the same as the-"3.1.1 Z axis work zero point offset amount".
What is different is that the wqrk zero point offset amount is obtained
with the tool length of the to6l taken into consideration when the
measurement was. made ~or the Z axis, while the tool diameter shall be
taken into consideration in place of tooL,-length .in case of t~e X or Y
axis.

- 573 -
 111-10.9.3

+z

OFSR

Xm

OFSW

Machine Work
zero point zero point

OFSR: The cutter compensation value when the work zero point offset
amount was measured
Xm The move distance from the machine zero point to the work' zero
point when the measurement was' made wi th ··the tool having its tool
diameter of OFSR.
OFSE: The work zero point offset amount.

As shown in the above figure, the work zero point offset amount can be
obtained from the following expression:
OFSW = Xm - OFSR
Be careful of the sign of the OFSR (cutter compensation value). When the
measurement surface is located to the + direction from the tool center,
the sign of the OFSR becomes - When it is located to the - direction,
the sign becomes +.

- 574 -
 111-10.9.3

b) When the hole center is the work zero point

+Y

L +X Work

r; ~

Yaxis
work zero
Work zero point YV
point
offset
amount

,,,
.111~

Machine
zer0 X axis work zero point offset amount
point

This is the case where the center of a hole is set to the work zero point
as shown in the above. In this case, any three points on the outer
periphery of the hole are measured using the probe for measurement with
the sensor at the tip as shown in the following. The circle passing the
three points is determined uniquely so that its center is set to the work
zero point of the X and Y axes.

Probe for measurement

with a sensor

+Y

- 575 -
 111-10.9.3

3) Procedure for measuring the work zero point offset amount

a) The procedures for measuring the Z axis work zero point offset amount
CD First, select a tool and take it to the position of the spindle.
Select the tool by the MDI command. However, the tool length
compensation value of the selected tool must already have been
measured.
CD Select either the manual handle feed or the manual continuous feed
mode.
® Turn on the "work zero point compensation measurement" switch located
on the machine side control panel. Then, the CRT screen changes to
the screen for measuring the work zero point offset amount as shown
below and then allows the "WOFS" status indication to blink at the
bottom of the screen, indicating the completion of preparation of
measuring the work zero point offset amount.
Enter the tool length compensation value of the selected tool via the
Numeric key and press the Soft key TL-INP (The following is the screen
indicating the parameter setting when the measurement according to the
reference hole is not to be made).

,"ORI, :ERO OFFSET 00000 1100000

(~~CHINE) Z -135. 000 (TL) -12.300
NO.00 (COMMON) NO.02 (G55)
X 0.000 X 0.000
Y 0. 000 Y 0. 000
Z 0. 000 Z 0. 000

NO. 01 (G54) NO.03 (G56)

X -150.000 X 0.000
Y -30.000 Y 0.000
Z Z 0.000

(1't1)
•••• JOG STOP ••••
I I PUT + I NPUT MEASURE TL_ I NP I NP _1'-0. +

Move the cursor to the location of either work zero point offset
amount of G54 to G59 to be set. The cursor needs not be in contact
with the work zero point offset amount of the Z axis.
Bring the tool to the upper surface of the work using the lIlanual
handle feed or the manual continuous feed and allow it to contact the
surface.
(j) After keying in the axis name Z, press the Soft key I MEASURE I and then
the I INPUT I. This enables the work zero point offset amount of the Z
axis to be set based on the expression described above. The cursor is
located at the position of the work zero point offset amount of the Z
axis which was set. For the parameter setting' which allows the
measurement of the work zero point offset amount to be made for the Z
axis only, it is not necessary to key in the axis name Z.
If the upper surface of the work is not to be the zero point of the
work coordinate system, namely if the zero point of the work
coordinate system is to be shifted from the upper surface of the work
by the clearance amount, enter this amount (S in the figure below)
with the Numeric key and then press the Soft key I MEASURE I.

- 576 -
 111-10.9.3

s
Work zero
point

Work

QD When measuring the subsequent work zero point offset amount, keep the
tool away from the work and then repeat the procedures from ® above.

b) Procedures for measuring X axis/Y axis work zero point offset amount
according to reference surface '
The measuring procedure ,for setting the work zero point of the X or Y axis
to 'a certain surface of the ,work is basically the same as that for
measuring the work zero point offset amount of the Z axis. What is
different is step ® of the measurement procedure of Z-axis work zero
point compensation amount. Namely, enter the cutter compensation value of
the selected tool from the screen of WORK ZERO OFFSET in the ®. After
entering the cutter compensation value using the Numeric key, press the
Soft key TL-INP. However, pay attention to the sign when keying in the
cutter compensation value.

When setting the measurement surface to the + direction of the tool,

add - sign for keying in.
When setting the measurement surface to the - direction of the tool,
add + sign for keying in.

c) The procedures for measuring the X axis/Y axis work zero point offset
amount according to reference hole
GU First, mount the measuring probe with a sensor to the spindle.
CD Select either the manual handle feed or the manual continuous feed
mode.
® Turn on the "work zero point compensation amount measurement" switch,
located on the machine side control panel. Then, the CRT screen
automatically changes to the screen for measuring the work zero point
offset amount as shown below and then allows the "WOFS" status
indication to blink at the bottom of the screen, indicating the
completion of preparation for measuring the work zero point offset
amount.
® Move the cursor to the location of either work zero point offset
amount of G54 to G59 to be set. The cursor needs not be in contact
with the work zero point offset amount of the X or Y axis.
Bring the measuring probe to the outer periphery of the hole using the
manual handle feed or the manual continuous feed and allow it to
contact the surface. Always operate only one axis simultaneously.
When the sensor detected that the probe contacted the outer periphery,
the control unit stops the axis move of the manual handle feed or
manual continuous feed. At the same time, this position is memorized
as the first measuring point. The machine coordinate value of the
memorized measuring point is displayed at the lower right corner of
the CRT screen.

- 577 -
 111-10.9.3

(j) Move the measuring probe to the second measuring point. At this time,
the control unit is interlocked so that it does not move in the
direction where the probe has contacted with the current measuring
point. For example, when the probe is to be moved to the next
measuring point after it has been moved in the direction of +X and was
allowed to contact the measuring point, the move in the direction of
-X, +Y, and -Y is made possible and, for the move in the direction of
+X, the control unit is interlocked until the measurement probe leaves
internal surface of the hole. The processing after the contact with
the second measuring point is the same as that of the first measuring
point.
® After the contact with the third measuring point, press the Soft key
I MEASURE I and then the I CENTER I. As a result, the center of a hole is
obtained from the coordinate values of the measured three points and
then the work zero point offset amount of the X and Y axes is set. If
the measurement is to be made halfway again, reset the control unit.
Then, all coordinate values of the measuring points in memory are
cleared.

~ ZERO OFFSET CM1I000 ~

(TU 12.300
HJ.02 (G55) HJ.03 (G56)
X X 0.000
Y 13.000 Y 0.000
Z 0.000 Z 0.000

(I'~'Ht-E) l"o..E~
X -43.712 "lX -43.712
Y 45.500 Y 45.500
Z -135.000 "2X 0.000
Y 0.000
"3>< 0.000
Y 0.000
•••• JOO STOP ••••••••••••
It-FUT +It-PUT I"E~ TL_It-P It-P_HJ. +

- 578 -
 111-10.10

10.10 Menu Switch

CD Press function menu key to change over the soft keys to function selection'
keys.
CD Press the I SETTING] key.
One of the following screens is displayed:

9" CRT function selection key

SETTltG(_) SlETTltG(aDlDINlTE) DaIlB3 ~
I:~)

ISEITING
tv OEO< • (lI:tFI' 122II1oIR(2ERl~)( __
e (e: ISO I.EUn
PUOI CXJIE
IIf'UT \lilT
IIf'UT !ll\IICE
3
=
• I
I
le:RPIT
(1.1'11 I: IHOI>
(I:PTR 1-2.RS2J:IC
1I:A5R 13:R5oI22)
I Z
Y
I
I
I
1221 IoIR( 2ERl 5FT. III )( _
IlJTI'U1' !ll\IICE = I ( 1-2.RS2J:IC
1I:A5R 13.R5oI22) Z II
IIf'UT !ll\IICE 3 I -iii. EDIT- Y II
II
IlJTI'U1' !ll\IICE· I -iii. EDIT- 9" CRT SETTING chapter selection key

1'1)1 ••• STCP ••••••••••••• LSI(

SlETTIIli SERVICE _ 0-..
•••
EDIT ••• STeP •••• ••• ••• ••• •••
SETTltG SERVICE NOTICE
• ••
0WlB!+
II
9" CRT operation selection key

ISEITING Ir 11 SETTING I I ON: 1 IOFF: 0 I

INPUT

f f
II
14" CRT function menu key
I1EIIJ SWITOi
CXJtOI UMIFIILE
~- moliNE LOO< • I (lI'tFI' I:~)
tel.
11111
11111
IlIIl2
111113
DATA
12."
1. . . _
tel.
11111
11111
11112
11113
DATA

ISETTING I D I _ LOO<
SIIG.E II..OCI<
IlRI' lUI
~~ : I ~::~ ~:::~
•
•
•
I <1.tFI'
II <1.tFI'
1 <I.tFI'
I:~)
I.~)
I'~)

11184 IIU~_ Z I'OCIS HEB.ECT '. I <1.tFI' I:~)

lUll
IIa; _.2111
IU5
IU6
14" CRT SETTING chapter selection key
111'7 IIU?
liE Iue
el., 1119
••••••• S'TtP' •••••••••••••••••••
...,. • •• STtI' •••• ••• ••• ••• ••• • •• IIf'UT +IN'UT 1lH'1 tFI'.1I IIf'JO.+
IIf'UT +IIPJT R.La..R EI9'JY 11f'..Hl.+
14" CRT operation selection key

II

If the menu switch is not displayed, the menu switch can be

displayed -,in one of the following ways:
i) Press the SETTING key repeatedl •
ii) Press the. CHAPTER. key and OP.PANEL key.
I I
eD Use the cursor movement keys to move the cursor to
the item to be set.
QD Press operation menu key to change over the soft keys to operation
selection keys.
G) Set, the menu switch to on or off by pressing ION: 1 or IOFF: 0 I key.
The soft key remains operation selection key.

- 579 -
 111-10.11

10.11 Tool Life Management Data

10.11.1 Display and correction of tool groups

The tool group data registered in the part program storage and editing area can
be displayed and corrected in the same way as ordinary part program editing.
However, the corrected program must b.e executed as mentioned in Programming
Volume 11.2 (1) "Tool group setting". If not executed as mentioned, the cor-
rected program will not be stored in the tool life data area.

10.11.2 Tool life data display during execution of machining program

The tool life man~gement data is displayed on the CRT with the following opera-
tion.
The mode selection is optional. Press SETTING key repeatedly until the tool
life data appears on the CRT display. 0, when SETTING is already selected,
press CHAPTER, and then press TL.LIFE; the previously displayed page will be
displayed. (However, the first display, right after turning on the power, is
done from the first group.) The number of groups displayed on one page is shown
in the following table, according to limitations by the parameter setting and by
the CRT. (See Figure 10.11.5 for display format.)

Table 10.11.2 Number of groups displayable in one screen

Size of screen
No. of tool Max. number Max. number
compensations of tools of groups
9 inch 14 inch

256 2 128 groups 5 groups/page 14 groups/page

4 64 groups 5 groups/page 14 groups/page

8 32 groups 3 groups/page 10 groups/page

16 16 groups 2 groups/page 6 groups/page

512 4 512 groups 5 groups/page 14 groups/page

8 256 groups 3 groups/page 10 groups/page

16 128 groups 2 groups/page 6 groups/page

32 64 groups 1 group /page 2 groups/page

Up to 7 (15 for 14-inch screens) group numbers generating tool change signals
are displayed in the lower part of the screen. In case there are more than 7
(15 for 14-inch screens) groups generating this signal, an arrow will appear on
the screen. For information f a specified group, input the group number, press
the INPUT.NO button and the page which the group starts will be displayed. (If
the specified group is already displayed, the cursor moves to the specified
group's life counter.) Information of the previous (next) group can be seen by
pressing the t (+).
Press + (+) to move the cursor to the previous (next) group's life counter. If
the cursor is currently at the head (last) group, the page will just change.

10.11.3 How to preset tool life counter

To change the life counter of a group, first select MDI mode, set the value,
then press PRESET; the life counter of the group over the cursor is then preset.
Other data on this group does not change.

- 580 -
 111-10.11.4

10.11.4 How to clear execution data

Specify the group nu~ber generating the tool change signal, press CANCEL; all
execution data up to the point is cleared. This is equivalent to the tool reset
of one group. (Note 1)
(Note 1) CANCEL is accepted only when it is under a RESET status. (It is not,
however, accepted during RESET process.)

10.11.5 Tool life data display format

The following is an example of a display format on a 9-inch CRT.

TOOL LIFE DATA 01234 N01234

SELECTED GROUP 001
GROUP 001 : LIFE 4300 COUNT 0240
*0100 *0110 *0120 *0130
#0140 *0150 @0160 0170
GROUP 002 : LIFE 4300 COUNT 4300
*0200 *0210 #0220 *0230
*0240 #0250 *0260 0270
GROUP 003 : LIFE 3800 COUNT 1350
*0300 *0310 0320 0330
0340 0350 0360 0370
GROUP TO BE CHANGE
002 005 013 027 055 060 062 -+

Fig.10.11.5 Display format

1) The first line is the title line.

2) The second line displays the currently commanded group number. If there is
no group currently commanded, *** will be displayed. instead of the group
number.
3) The 3rd to 5th lines displays tool life data of the group. (The display
lines will vary according to the maximum number of tools. In this example,
the maximum number of tools is 8.)
The 3rd line displays the group number, setting life, and the tool use count
up to now. The setting life count can be selected from hours unit or times
of use unit by parameter. (See II-II. 2.) The 4th and the 5th lines
displays setting tool numbers. In this example, the tools are selected in
0100 -+ 0110 -+ 0120 -+ 0130 -+ 0140 -+ 0150 -+ 0160 -+ 0170 order.
The descriptions of the signs are as follows:
*: Indicates that the life is over.
#: Indicates that a skip was commanded.
@: Indicates the tool currently used.
The tool life counter shows the count of the tool wit·h @ in the currently
commanded group, and the first tool. without a mark in other group. The * and
the # will be displayed the next time the belonging group is commanded.
4) The 6th to the 11th lines are the life data of group 2 and group 3.
5) The 13th line is displayed with the group number generating the tool change
signals. The group numbers are displayed so that younger numbers come first,
and so on. If all group numbers cannot be displayed on one screen, a -+ is
displayed at the en4; *** will be· displayed in other cases.

- 581 -
 III -1 0.11. 6

10.11.6 Tool change signal

Each time the life of a tool is over, the next tool in the group is selected in
order. When the life of the last tool of a group is over, a tool change signal
will be output. When the tool life is specified in hours, the signal is output
when the life is over, even if it is during machining. The machining, however,
will continue. When the life is specified in times of use, this signal will be
output when the CNC is reset by M02/M30 after the life is over.
The group in which life is over will not only output a tool change signal, but
it will also be displayed on the CRT. If the group is commanded again without
performing the reset operation (see 10.10. 7), it will be used from the. first
tool on.

10. 11.1 Tool change signal reset

There are the following ways to reset the tool change signal. By resetting, the
tool change signal is automatically released.
1) Resetting by tool
Change reset signals the tools of the group in which life is over, specify
the group externally, and input the tool change reset signal. Then, the life
counter, the ", the @ and other execution data are all cleared. Perform this
operation to all groups in which life is· over. If there is still a single
group in which life is over, the tool change signal will still be output.
All groups can also be cleared by parameter (7400-PAG), without specifying
the grOi.lp in which life is over externally. If a parameter which specifies
the group in which life is over externally is set, tool data clear is valid
only to the group in which life is over. When all groups are specified,
groups in which life are not over are also cleared.
2) Resetting by reset operation via the MID
Perform the reset operation via the MDI (see III. 10.10.4) to all groups in
which life is over.
(Note) The reset operation can be done only when the CNC is under reset
status (but not when resetting). After the reset operation, if the
group is specified again, it is selected from the first tool on.

10.11.8 New tool selection signal

When it shifts to a new tool selection in a group, the T code of the tool is
output, and at the same time, a new tool .selection signal is output. This
signal can be used when automatically measuring the offset amount of the new
tool.

10.11.9 Tool skip signal

Tools in which life is still not over, can be changed ·compulsorily in one of the
following ways. Set parameter (7400-SNG) to decide whether this is valid only
when tool life management tools are used, or when tools other than the tool life
management tools are also used.
1) Specify the group which the tool belongs to from outside, and input tool skip
signal. By this operation, the next tool will be selected for the group
which is specified skip by the next T code command.
2) Input skip signal without specifying the group number. When the tool used is
a tool with tool life management, it is regarded that the current group was
specified; and when the tool is a tool without tool life management but para-
meter is set to regard it also valid, the last group is regarded as speci-
fied, and the skip processing is done. In the group which is specified skip
the next tool is selected by the nextT code command.
When tool skip signal was input to the last tool, tool change signal is out-
put for both hour commands and times-of-use commands. The tool skip signal
is not accepted during reset processes.

- 582 -
 III -1 O. 11. 10

10.11.10 Expanded tool life management

It is possible to display details of tool management data, to edit it by MDI,
and to override the life count.
1) Displaying details of tool life management data
Details of the tool life management data of a group can be displayed by
moving the cursor to that group on the ordinary tool life management listing
menu.
(Expanded tool life management menu)

EDIT LIFE DATA GROUP: 005 01234 N01234

NEXT GRP: 006
TYPE : l(l:C 2:M) USE GRP : 008
LIFE : 4300 SLCT GRP: 008
COUNT: 2000
NO. STATE T-CODE H-CODE D-CODE
01 * 10001 1 2
02 */I 10002 10 12
03 10003 11 13
04 @ 10004 20 25

NEXT GRP: Tool group number whose life count starts by the next M06 command
USE GRP : Tool group number whose life count is currently performed
SLCT GRP: Tool group number whose life count is currently performed or was
performed at last.
TYPE 1 (frequency)
2 (times)
LIFE Life value
COUNT Life count
STATE State of tools

State of tools In use No in use

Usable @ Vacant

Skip

Consumed @
"
-
/ -* (Note)
/I

*
" " indicating
"reversed"

(No·te) Parameter No. 7401 EMD selects the timing when the life
expiration mark "*" should be displayed; either when the
next tool is placed, or when the old tool has been consumed.
T-CODE Tool number
H-CODE H code
D-CODE D code
The following information will be included in the ordinary tool life
management menu.
1 Displaying "NEXT GRP" and "USE GRP"
2 Displaying a life count type (M: time, C: frequency) per tool group
3 Displaying a tool condition as of the expanded tool life management menu

- 583 -
 111-10.11.10

2) Editing tool life management data

This operation works in the MDI mode if CNC is at a standstill, paused, or
reset (except while the "under-reset" signal is on).
While the program is setting data, editing is invalid.
In editing a tool life management data, it is possible to perform the
following:
1 Life value setting
2 Life count setting
3 Addition, modification, or deletion of a tool number (T code)
4 H or D code setting
5 Life count type setting
Tool state setting

(Note 1) Do not edit a group whose life count will be started with the next M06
command or life count is performed currently. If this is forced, the
program will terminate the life management of that group.
(~ote 2) The editing operation might turn on or off the tool change signal.
Q) Cases when the tool change signal might turn on .
i) When a tool state skip for the last tool used is tried.
ii) When a tool number deletion leaves only consumed tools
(including skipped tools).
QD Cases when the tool change signal might turn off
i) When a tool number addition leaves only unconsumed tools.
ii) When a tool state clear is carried out. The tool change signal
will not change if there is a consumed group.
3) Editing operations
a) Selecting the edit menu (expanded tool management menu)
Start editing a group by moving the cursor to the list position of that
group on the ordinary tool life management menu. Then press the EDIT key.
As a result, the expanded tool life management menu will be selected.
b) Selecting the ordinary tool life management menu
To return to the ordinary tool life management menu, press the END key.
c) Setting life count type, life value, life counter, tool number, H code, or
D code

Move the cursor to the item to be modified, press the INPUT key, key
in a value, and press the EXEC key.
Move the cursor to the item to be moidified, key in a value, and press
INPUT key.

(Note 1) Modifying the life value or count has no effect on the tool state or
change signal.
(Note 2) Reset a life value and counter after a life count type has been
modified.

- 584 -
 III-IO.I1.10

d) Addition of a tool group and a tool number

INPUT I [NSERT DELETE STATE

Addition of tool group

This sets data in a group where no data has been set yet.
i) Press the INSERT key and key in a tool number. Then press the EXEC
key. The type of tool life will be set according to the current
parameter (LTM,'No. 7400). Both the life value and counter will be
set at O.
(Note) The cursor will not move until the tool number is set.
Addition of tool number
It is possible to add a new tool number using one of the following
ways:
i) Move the cursor to the previous tool data position to be added
(either tool number or HID code). Press the INSERT softkey and
type in the tool number. Then press the EXEC softkey •.
ii} Move the cursor to the previous tool data position to be added
(either tool number or HID code). Type in the tool number and
press the INSERT softkey.

(Ex) Adding tool number 1500 between No. 01 and No. 02, move the
cursor to D-CODE(20}. PreSs the INSERT key. Key in 1500.
Press the EXEC key.
NO. STATE T-CODE H-CODE D-CODE
01 * 1320 10 I 20 I
02 @ 1400 30 40
4-
NO. STATE T-CODE H-CODE D-CODE
01 * 1320 10 20
02 1500 0 0
03 1400 30 40
(Note) HID code will be set at O.

e} Deleting a tool group and a tool number

INPUT I INSERT I
DELETE STATE

<CRSR> GRP

EXEC

Deleting tool group

i} Press the DELETE, GRP and EXEC softkeys.
Deleting tool number
i} Move the cursor to the tool data position to be deleted (either
tool number or HID code}. Press the DELETE and <CRSR> softkeys.

- 585 -
 III -1 O. 11. 10

(Note 1) Deleting all the tools has the same effect as deleting the tool group.
(Note 2) .When a tool with an "@" (in-use marker) is deleted, the marker will
shift to the previous tool which is either already consumed or skipped.

f) Specifying a tool state

INPUT I
INSERT I
DELETE STATE

SKIP CLEAR

CD Tool skipping
i) Move the cursor to the tool data position to be skipped (either
tool number or HID code). Press the STATE and SKIP softkeys.
@ Tool clearing
i) Move the cursor to the tool data position to be cleared (either
tool number or HID code). Press the STATE and CLEAR softkeys.
4) The tool life count override
When the life count of a tool group is specified in terms of hours, it is
possible to override it.
The override value is specified using switches on the machine operator's
panel. The override value range should be between 0 and 99.9. No counting
occurs when setting it to zero.
Set parameter No. 7401 LEV to make the override effective.

(Ex) With an override value of 0.1, the count time of the tool life management
is one minute if the actual cutting takes ten minutes.

(Note) An accumulated count value is ignored if the actual cutting time is less
than four sceconds.

- 586 -
 111-10.12

10. 12 Software Operator's Panel

With this function, functions of the switches on the machine operator's panel
can be conducted from the CRT/MDI panel:
In other words, mode selection or feedrate override selection can be done from
the CRT/MDI panel and existing selection switches on the machine tool can be
eliminated.
The following can be conducted with the CRT/MDI panel:
(a) Group 1: Mode selection
(b) Group 2: Selection of jog feed axis, jog rapid traverse
(c) Group 3: Selection of manual pulse generator feed axis, selection of manual
pulse magnification xl, x10, xn (n: Parameter setting)
(d) Group 4: Jog feedrate, feedrate override, rapid traverse override
(e) Group 5: Optional block skip (block delete), single block, machine lock,
dry run
(f) Group 6: Memory protect
(g) Group 7: Feed hold
(h) Group General-purpose switch (8 general-purpose switches supplied, which
maybe named with 8 alphanumerics or less)
Whether to operate from CRT or machine operator's panel can be determined by the
parameter (No. 7603) for each group.
1) Setting ~or mode selection
Q) Press the function menu key to change over the soft key to the function
selection key.
o Press the SETTING key several times to display the screen for menu
switch.
G) Press the PAGE key several times to display the screen "OPERATOR'S
PANEL".

ItDE :' EDT te1 TFF MDI • REF ....., IN:

tAIllE AXIS : ... Z . .-
tAIllE I'U..TI: .10. 1
RfPID D.Rm: " 1 . F0
.JCIi 0 • • (DEGlttIN)

FEED
ACT\.R. PDSI T I ct-t (ABSCUJTE)
)( 49. 324 V -64. 0'76
Z !!IiB.224
ACT. FI e (I'I'YMIN) 51 e (fA'I)

MDI HHD HOLD •••• ••• ••• ••• ••• • ••

SETT IIG SERVICE I'ESSAE rM.J....FIRG ORI'TER+

ILOO<
SItG.E
JJr(
DELETE
I'1ACHltEIUlQ(
LOCK::
RLH :
I •
: . Ctt
Ctt
Ctt
ret:R'1' fRJ'TECT: PRD1ECT _
FEED to..D : CFF. -

ACT\.R. PDSITIct-t (ABSCUJTE)

)( 49. 324 V -64.0'76
Z !!IiB.224
ACT. FI e (I'I'YMIN) 51 e (fA'I)

MDI HHD HOLD •••• ••• ••• ••• ••• • ••

SETT IIG SERVICE ~ roHJ.,..PRG OWTER+

- 587 -
 111-10.12

CFERATCR'S Pf:N3...

ClXl.NT
(P. STtP
:: CFF
_ •
a..
iIlsP.L.OO< :: CFF
_ •a..
FF L.OO<
~. a:tt : CFF •
SP. 18C
: . g:
: CFF •
AC1\.R.. POS I T ItH CABStLUTE)
)( ota. 324 V ;.4.0'76
Z !!lB. 224
ACT.FI B (~IN) 51 B C~)

MDI HND HOLD •••• ••• ••• ••• ••• • ••

ETTltG SERVICE I'ES5AE I'N.J...fW3 OWTER+

The above screen is for general-purpose switches and user can allocate
eight signals on this panel. A name of 8 characters or less can be
assigned to each signal by parameters.

® Press the cursor move key <G

8) to match the cursor mark) with <II
a desired switch.
~ Press the cursor move key G G) to match the cursor with a desired
status position. (Effective status of the switch is displayed with
highlight).

2) Jog Feed (Available any in case of 9" small CRT/MDI unit)

~
Display the "OPERATOR'S PANEL" screen using the soft keys.
2 Select JOG mode.
3
m1m~ Jog feed can be performed by pressing the desired
arrow key.
EJ EJ B Jog rapid traverse can be conducted by pushing F::5J
[a QJ ~ key together with the arrow key.

~~
=..,
0
(EO~)
~ 0
(Note 1) When the CRT indicates other than the software operator's panel
screen, jog feed is not conducted even if the arrow key is
pressed.
(Note 2) The feed axis and direction with the arrow key can be set by
parameters (No. 2020, 2021).

3) General purpose switches

As an extension of software operator's panel, arbitrary 8 switches can be
additionally specified. These 8 switches are named within 8 characters by
parameters. Refer to MTB's manual for details.

- 588 -
 111-10.13

10.13 Tool Offset by Tool Number

10.13.1 Selecting tool data screen

(!) Press function menu key.
CD Press OFFSET key several times to display the following screen.

9" CRT function selection key

TOOL DATA 01234 Nl01360
E:002 5:003
NO. T_CODE pont LENGTH RADIUS
001 1000 0010 15.000 2.500
0011 20. 000 5. 000
002
003
•••
100.1 0030 60.000 10.000
004 1011 0031 22.000 6.400 9" CRT OFFSET chapter selection key/function selection key
005 1012 0032 18.650 8.560
006
007
008
009
1050
1051
1052
1053
0055
0020
0022
0028
5.500
15.000
62.780
15.550
0.008
2.050
20.000
5.200
TOOL IWRK'ZER I I I II
+

010 1100 0060 6.240 5.000

(f'I1)

MEM ••• STOP ••••••••••••• LSK 14" CRT function selection key"
PQS 1TON PROGRAM CFFSET PRG_CHK OWTER+

14" CRT OFFSET chapter selection key

Press OFFSET key, then CHAPTER key
to change over the soft key to the
chapter selection keys. Then press II
TOOL DATA key to select the tool
data' screen.

a} In this specification, the' numbers displayed on the "NO." column are called
DISPLAY NUMBERS. They are used for editing of tool data, search, etc.
However, it is changed when deletion or insertion·of the tool data is made.
b} The 3-digit number preceded by "E:" in the second line of the above example
indicates the display number of the tool data whose compensation is effective
presently {after M06 command}. The 3-digit number proceeded by "S:"
indicates the display number of the selected tool data {before M06 command}.
Display of "***" is made during execution or when no selected tool is found.
c} "*" is displayed before the pot number when setting of the same pot number is
made.
d} The part of data display with no setting is blank.
e) The display number "001" is "***" and the rest of data display are blank when
no registered data is found or for about 15 seconds max. after the power is
supplied.
f} As for the 14" CRT, the above example is displayed on the left, the items
related to {b} are on the center, and the present position {relative
coordinate system} is on the right.

- 589 -
 111-10.13.2

10.13.2 Setting tool data

1) Input and change of data
CD Move the cursor to the position of data to be input or changed using page
change key ([±] [IJ) and cursor movement key (~~ ~ ~).
o Press operation menu key to
change the soft key as follows:
9" CRT operation selection key

INPUf I I INSERT IDELETE ISEARCH II

14" CRT operation selection key
CD Input and change the data by
II
the following method:
i) Press operation menu key.
ii) Press INPUT key. 9" CRT operation selection key
iii) Key in data to be input.
iv) Press EXEC key. INPUT I INSERT I DELETE ISEARCH I
(Note) Operation of i) can be
omitted.

I<VALUE) I

14" CRT operation selection key

2) Insertion of T-code
II
<D21 Press operation menu key.
o T-code can be newly inserted
under the present cursor position
~~ALU I II
upon insert command.
Press the keys, in order of
"INSERT", "(TII)", and "EXEC". II
TOCL DATA 01234 N00000 TOCL DATA 01234 N00000
E:002 5:003 E:002 5:003
NO. T_CODE POTI:* LE~TH RADIUS NO. T_CODE POTI:* LE~TH RADIUS
001 1000 0010 15.000 2.500 001 1000 0010 15.000 2.500
002 1001 0011 20.000 5.000 'iNSERT..,I TI030 002 1001 0011 20.000 5.000
003 1010 0030 60.000 10.000 003 1010 0030 60.000 10.000
004 1011 0031 22.000 6.400 rEXEC..,I 004 1011 0031 22.000 6.400
OOS 0032 18.6S0 8.560 OOS 1012 0032 18.650 8.560
1*
006 1050 OOSS 5.SOO 0.008 006
007 1051 0020 15.000 2.050 007 1050 OOS5 5.SOO 0.008
008 1052 0022 62.780 20.000 008 1051 0020 15.000 2.050
009 1053 0029 15.550 5.200 009 1052 0022 62.780 20.000
010 1100 0060 6.240 5.000 010 1053 0029 15.550 5.200

...
(1"1'1) (1"1'1)

EDIT ••• STOP ••••••••••••• LSK EDIT ••• STOP ••••••••••••• LSK
ItFUT INSERT DELETE SEARCH + IIFUT INSERT DELETE SEARCH +

CD Key in the T-code newly inserted

after pressing the key "(Til)"
(or "Ttt). Warning is made when
300 sets are already registered,
or the same T-code is found there.

- 590 -
 III -1 O. 13 . 2

@ When "EXEC" is pressed without 9" CRT operation selection key

keying in the T-code '(value)
(only with "T"), only the region
is maintained with no setting of
the T-code.
Ex.) T1234 "EXEC": T-code is inserted
as 1, 2, 3, and 4.
T "EXEC" T-code becomes blank
and only the region
is inserted.

3) Deletion of registered data 14" CRT operation selection key

a) Method to delete by one line
i) Press DELETE key.
ii) Key input the display number
of the line to be deleted.
iii) Press EXEC key.
I I (T#)
II
b) Method to delete by one line
i) Press operation menu key.
ii) Move the cursor to the line to
be deleted.
I II
iii) Press DELETE key.
9" CRT operation selection key
iv) Press CRSR key.
c) Method to delete continuous lines
i) Press operation menu key.
INPUT INSERT IDELETE ISEARCH I
ii) Press DELETE key.
iii) Key in DISPLAY NUMBER (M) and
DISPLAY NUMBER (N).
(NO.) I <CRSR> I
iv) Press EXEC key to delet~ from
display number M to N.
EXEC I (NO.)

EXEC

14" CRT operation selection key

4) Data search
a) Searching display number II
i) Press operation menu key.
ii) Press SEARCH key.
iii) Key input the display number II
to be searched.
iv) Press EXEC key.,
b) Searching T code I
EXEC \. (NO.) I II
i) Press operation menu key.
ii) Press SEARCH key.
iii) Key in alphabet T and key in
T code to be searched.
II
1v) Press EXEC key. 9" CRT operation selection key

INPUT I INSERT I I
DELETE SEARCH II
(NO.) (T#) (P#) I I i II
BOTTOM

~ II
- 591 -
 111-10.14

c) Searching POT number

i) Press operation menu key. 14" CRT operation selection key
ii) Press SEARCH key.
iii) Key input alphabet P and pot II
number to be searched.
iv) Press EXEC key.
v) Press SEARCH key.
I(NO.) I I
(T#) (P#) ~~ITOI
II
vi) Key in only alphabet P.
vii) Press EXEC key.
d) Searching last registered data
i) Press operation menu key.
II
ii) Press SEARCH key.
iii) Press BOTTOM key.

10.14 Setting the Floating Reference Point

Set the floating reference point using the following procedure.

CD Select the current position display screen; any of the overall position
display, relative position display and current position display, in a work
coordinate system.
Move the machine to the floating reference point by manual jog feed, for
example.
Press the operation menu key, and switch the softkey to the operation
selection mode.
Press the MEM-FRP softkey. The softkey is switched to the operation guide
mode.
~ 1) To store the machine coordinate values of all axes as a floating
reference point, press the ALL-AX softkey.
2) To store the machine coordinate value of specific axis as a floating
reference point, type in the axis name (X, Y, ••• ) and press the EXEC
softkey.
6) Selecting parameter No. 1200 FPC allows to preset the relative position
display to 0 as well as to store the floating reference point.

9" CRT operation selection keys of POSITION

I ORIGIN I PRESET I
MEM-FRP
II
9" CRT operation guide keys of MEM-FRP

I ALL-AXSI (AXIS)
II
14" CRT operation selection keys of POSITION

I ORIGIN IPRESET I ~:- I II

14" CRT operation guide keys of MEM-FRP

ALL
AXS I AXIS
II
(Note 1) The floating reference point is preserved even if the power is turned
off.
(Note 2) The stored floating reference point (machine coordinate value) can be
verified on the parameter screen. (Data No. 1244)

- 592 -
 111-10.15

10.15 Servo Setting Screen, Servo Adjustment Screen, Spindle Setting Screen, Spindle Adjustment
Screen, Spindle Monitor Screen
The "Servo setting screen", "Servo adjustment screen", "Spindle setting screen",
"Spindle adjustment screen", and "Spindle monitor screen" have been added to the
function selection SERVICE key, and setting and adjustment of the servo motor
and spindle motor can be easily performed.

10.15.1 Servo screen

1) Servo setting screen
When performing the initial standard setting of the servo motor, this is the
screen which brings together the necessary parameters.

SERVO SETTING o 1 000 N0 0 0 0 0

X AXIS Z AXIS
INITIAL SET BITS (lOnDOn 11 o0 0 0 0 0 11
MOTOR I D NO. 12 1 2
AMR 00011111 00011111
CMR 2 2
FEEDGEAR N 2 2
(N/M) M 3 3
DIRECTION SET 1 1 1 111
VELOCITY PULSE NO. 800 0 8000
POSITION PULSE NO. 8 000 8000
REF. COUNTER 8.000 8 000

MDI *** STOP **** *** ***

SPINDLE
14 48: 2 0
CHAPTER+
LSK

The following shows the correspondence with the parameter numbers.

INITIAL SET BITS Parameter No. 1804
MOTOR ID NO. Parameter No. 1874
AMR Parameter No. 1806
CMR Parameter No. 1820
FEEDGEAR N Parameter No. 1977
(N/M) M Parameter No. 1978
DIRECTION SET Parameter No. 1879
VELOCITY PULSE NO. Parameter No. 1876
POSITION PULSE NO. Parameter No. 1891
REF. COUNTER Parameter No. 1896

- 593 -
 111-10.15.1

2) Servo adjustment screen

This is the screen which brings together the parameters necessary for the
basic adjustment of the servo motor and the status monitor for each axis.

SERVO MOTOR TUNING o 1 000 N 0 0 0 0 0

X AXIS
(PARAMETER) (MON I TOR)
FUNC. BIT ()(JIIOIOO ALARM 1 00110100
LOOP GAIN 3000 ALARM 2 00110100
TUN I NG ST. 1 ALARM 3 00000000
SET PERIOD 5 0 ALARM 4 00000000
INT. GAIN 251 LOOP GAIN 3000
PROP. GAIN 2 4 '6 0 POS ERROR 100
FILTER 2 4 5 0 CURRENT % 5
VELOC. GAIN % 150 S PEE D (R PM) 5 0

MD I *** S ESTOP
I~ V ()
**** *** ***
SPINDLE
14 48:20 LSK
CHAPTER+

The following shows the correspondence with the parameter numbers.

FUNC. BIT Parameter No. 1808
LOOP GAIN Parameter No. 1825
SET PERIOD Parameter No. 1972
INT. GAIN Parameter No. 1855
PROP. GAIN Parameter No. 1856
FILTER Parameter No. 1895
VELOC. GAIN % (L~~~T + 1) x 100

Note) LDINT: Parameter No. 1875

Adjustment start: If 1 is set, automatic adjustment of the digital servo is

performed.
The following shows the contents of the monitor.
ALARM 1 Data for diagnosis of servo alarm
ALARM 2 Data for diagnosis of servo alarm
ALARM 3 Data for diagnosis of servo alarm
ALARM 4 Data for diagnosis of servo alarm
LOOP GAIN Displays the loop gain obtained from the output pulse
and position deviation.
POS ERROR Displays the error amount for each axis.
CURRENT % Actual current x 100·
Displays PRM. 1979
SPEED (RPM) Displays the actual speed for each axis.

- 594 -
 111-10.15.2

10.15.2 Spindle screen

1) Spindle setting screen
When performing the initial standard setting of the spindle, this is the
screen which brings together the necessary parameters.

SPINDLE SETTING o 1 0 '0 0 N0 0 0 0 0

GEAR SELECT 1
SPINDLE Sl
(PARAMETER)
GEAR RATIO Wli
MAX MOTOR SPEED 6 000
MAX CS AXIS SPEED 100
MAX SPINDLE SPEED 3 000

MDI *** SERVO

STOP **** *** *** 14 48:20 LSK
S I) I [\i I) I, E CHAPTER+

Gear selection Displays one of the following from a combination of CTH1,

CTH2 of the control input signal.

CTH1 CTH2 Mode Display

0 0 HIGH 'GEAR 4

0 1 MEDIUM HIGH GEAR 3

1 0 MEDIUM LOW GEAR 2

1 1 LOW GEAR 1

Spindle Displays which spindle is being adjusted.

Sll Main spindle of No. 1 spindle amplifier
S12 Sub spindle of No. 1 spindle amplifier
S21 Main spindle of No. 2 spindle amplifier
S22 Sub spindle of No. 2 spindle amplifier

Parameter Displays one of the following parameter numbers by the

gear selection.

HIGH M.H M.L LOW

Gear rati() 3056 3057 3058 3059

Motor maximum rotation count 3020 3020 3020 3020

C axis maximum rotation 3021 3021 3021 3021

- 595 -
 111-10.15.2

Spindle maximum
rotation count Displays the value obtained from the gear ratio and motor
maximum rotation count.
The cursor is not moved to the position of this item.

2) Spindle adjustment screen

This is the screen which brings together the parameters necessary for the
basic adjustment of the spindle and the status monitor.

SPINDLE TUNING o 1 000 N 0 0 000

OPERATION SYNCHRONIZATION CONTROL
GEAR SELECT 1
SPINDLE S 1 1
(PARAMETER) _ _I (MON I TOR)
PROP. GAIN MOTOR 100
INT. GAIN 251 SPINDLE 150
LOOP GAIN 300 0 POS ERR Sl 100
MOTOR VOLT 3 0 POS ERR S2 5 0
ZRN GAIN % 300 SYN. ERROR 128
REF. SH 1FT 300

MDI *** SERVO

STOP **** *** *** 14 48: 2 0 LSK
S I) 1 N I) L 1-: CHAPTER+

Operation mode Displays one of the following from the spindle setting.

1 Normal operation 3 Synchronous control 5 Orientation

2 CS control 4 Rigid tap 6 (Blank display)

Parameter Displays one of the following parameter numbers from the

gear ratio and operation mode.

(When normal operation)

HIGH M.H M.L LOW

Proportional gain. 3040 3040 3041 3041

Integrated gain 3048 3048 3049 3049

Motor voltage 3083 3083 3083 3083

Generative power 3080 3080 3080 3080

- 596 -
 111-10.15.2

(When CS control)

HIGH M.H M.L LOW

Proportional gain 3046 3046 ' 3047 3047

Integrated gain 3054 3054 3055 3055

Loop gain 3069 3070 3071 3072

Motor voltage 3086 3086 3086 3086

ZRN gain ,(%) 3092 3092 3092 3092

Reference point shift 3135 3135 3135 3135

(When synchronous control)

HIGH M.H M.L LOW

Proportional gain 3044 3044 3045 3045

Integrated gain 3052 3052 3053 3053

Loop gain 3065 3066 3067 3068

Motor voltage 3085 3085 3085 3085

Acceleration/
3032 3032 3032 3032
elerationconstant
Reference point shift 3034 3034 3034 3034

(When rigid tap)

HIGH M.H M.L LOW

Proportional gain 3044 3044 3045 3045

Integrated gain 3052 3052 3053 3053

Loop gain 3065 3066 3067 3068

Motor vol~age 3085 3085 3085 3085

-
ZRN gain (%) 3091 3091 3091 3091

Reference point shift 3073 3073 3073 3073

- 597 -
 111-10.15.2

(When orientation)

HIGH M.H M.L LOW

Proportional gain 3042 3042 3043 3043

Integrated gain 3050 3050 3051 3051

Loop gain 3060 3061 3062 3063

Motor voltage 3084 3084 3084 3084

ORAR gain (%) 3064 3064 3064 3064

Stop position shift 3077 3077 3077 3077

Reference point shift 3031 3031 3031 3031

Monitor Displays one of the following from the operation mode.

Normal Synchronous
CS control Rigid tap Orientation
operation control
Motor speed Motor speed Motor speed Motor speed Motor speed

Spindle speed Feedrate Spindle speed Spindle speed Spindle speed

Position Position Position Position

deviation S1 deviation S1 deviation S1 deviation S1

Position Position
deviation S2 deviation Z

Synchronous Synchronous
error error

Motor speed Displays speed of spindle motor. (Unit: RPM)

Spindle speed Displays spindle speed. (Unit: RPM)
Feed speed Displays feed rate of spindle. (Unit: DEG/MIN)
Position deviation S1 Displays spindle position deviation amount of 1st
unit.
Position deviation S2 Displays spindle position deviation amount of 2nd
unit.
Synchronous error When rigid tap, displays the instantaneous value of
the synchronous position deviational amount of
spindle - Z axis; when synchronous control, displays
the instantaneous value of the synchronous position
differential amount of MAIN -- SUB.
Further, displays peak hold value by parameter
(PRM5820IlpKHD).

Note) During No. 2 spindle display when orientation or CS control, S2 is

displayed for the position differential.

-- 598 -
 III-IO.lS.2

3) Spindle monitor screen

This screen brings together the various information relating to spindles.

SPINDLE MONITOR o 1 000 N0 0 0 0 0

ALARM : A L - 2 7 (PC DIS CON.
OPERATION : SP. CONTOURING CONTRO.L
FEE D. S PEE D 100 DEG/MIN
MOTOR SPEED 150 RPM
o 50 100 150 200 (%)
LOAD METER I I I I I I I I I I I I I I I
=============

CONTROL INPUT :MRDY *ESP ORCM

CONTROL OUTPUT:ORAR SST

MDI *** STOP **** *** *** 14 48:20 LSK

SERVO S I> I N I) I, I': CHAPTER+

Spindle.alarm Displays one of the following from the spindle alarm

number.

Number Display contents Number Display contents

01 MOTOR OVERHEAT 25 SERI.TRANS.STOP

02 SPEED ER.EXCESS 26 C-VEL.DISCON.

07 OVER SPEED 27 PC DISCON.

09 HEATS INK OVERHEAT 28 C-POS.DISCON.

10 LOW VOLTAGE 29 OVERLOAD

11 DC LINK OVER VOLT 30 INPUT OVER CUR.

12 DC LINK OVER CUR. 31 PG DISCON

13 MEMORY ABNOR. 32 SERI. RAM ABNOR.

18 SUM CHECK ER. 33 DC LINK LOW VOLT

19 U PHASE OFFSET 34 PARA. SET ABNOR.

20 V PHASE OFFSET 35 GEAR RATIO SET ER

24 SERI.DATA ABNOR. 36 ER. COUNT. OVERFLOW

- 599 -
 111-10.15.2

Loadmeter The loadmeter is that which displays the load value

(%) of the spindle motor.
Control input signal Displays ON only from among the following signals up
to a maximum of 10.

Symbol Name Symbol Name

TLML Torque restrict command LOW *ESP External stop instruction

TLMH Torque restrict command HIGH SPSL Spindle select command

Power line switching complete
CTH1 Clutch/gear ratio MCFN
signal
CTH2 Clutch/gear ratio SOCN Soft start stop cancel
Output switching request
SRV Reverse rotate command RSL
signal
SFR Forward rotate command RCH Power line status check signal
Orientation stop position
ORCM Orientation command INDX change
Orientation stop rotation
MRDY Machine tool ready ROTA
direction
ARST Alarm reset signal NRRO Orientation short-path

Control output signal: Displays ON only from among the following signals up
to a maximum of 10 •

Number . Display contents Number Display contents

ALM Alarm signal TLMS Torque restricting signal

SST Speed zero signal ORAR Orientation complete signal

SDT Speed detect signal CHP Power line switching signal

Spindle switching complete
SAR Speed arrival signal CFIN
signal
L})T1 Load detect signal 1 RCHP Output switching signal
Output switching complete
LDT2 Load detect signal 2 RCFN
si_gnal

- 600 -
 111-10.15.3

10.15.3 Operation description

The "Servo setting screen", "Servo adjustment screen", "Spindle setting screen",
"Spindle adjustment screen", and "Spindle monitor screen" have been added to the
conventional function selection SERVICE key.
CD Press function menu key.
GD Press SERVICE key.
9" CRT Function select key

I POSITION PROGRAM OFFSET PRG CHK I CHAPTER I + I

SETTING SERVICE IMESSAGE CHAPTER
I+ I
t

G) If SERVO key is pressed, "Servo set ting screen" and "Servo adjustment
screen" are displayed.
If SPINDLE key is pressed, "Spindle setting s'creen", "Spindle adjustment
screen"" and "Spindle monitor screen" are displayed.

9" CRT SERVICE select key

PRAM PITCH IDIAGNOS DSP.MEM CHAPTER

I+ I
IMAP_SRV SYSTEM ICHAPTER
I+ I
SERVO SPINDLE CHAPTER
I+ I
t t

Select by one of the following methods.

a) "Servo setting screen" and "Servo adjustment screen"
i) Using SERVICE key, press until either "Servo setting screen" or
"Servo adjustment screen" is displayed.
ii) Press CHAPTER key, and then press SERVO key.
After "Servo setting screen" and "Servo adjustment screen" are displayed,
if page key is pressed, screen displays for each axis "Servo setting
screen" and "Servo adjustment screen" can be performed.
b) "Spindle setting screen", "Spindle adjustment screen", and "Spindle
monitor screen"
i) Using SERVICE key, press until one of "Spindle setting screen",
"Spindle adjustment screen" , and "Spindle monitor screen" is
displayed.
ii) Press CHAPTER key, and then press SPINDLE key.
After "Spindle setting screen", "Spindle adjustment screen", or "Spindle
monitor screen" are displayed, if page key is pressed, displays for
"Spindle setting screen", "Spindle adjustment screen", and "Spindle
monitor screen" can be performed.

- 601 -
 111-10.15.3

® Either the operation menu key can be pressed, or operation key for one of
the following can be selected if data input is performed.
If CHAPTER key is pressed, it returns to 3.
a) "Servo setting screen" and "Servo adjustment screen"

Operation select key of 9" CRT servo

INPUT +INPUT ON: 1 OFF:O ICHAPTER

1+ I
SV SET SV TUN ICHAPTER
1+ I
If SV SET key is pressed, "Servo setting screen" can be selected; if
SV TUN-key is pressed, "Servo adjustment screen" can be selected.
b) "Spindle setting screen", "Spindle adjustment screen", and "Spindle
monitor screen"

Operation select key of 9" CRT spindle

INPUT +INPUT I CHAPTER I+ I

SP SET SP TUN SP MON I CHAPTER I + I
If SP_SET key is pressed, "Spindle setting screen" can be selected; if
SP TUN key is pressed, "Spindle adjustment screen" can be selected; and
if-SP MON key is pressed, "Spindle monitor screen" can be selected.

- 602 -
 III-II

11. DISPLAY

11. 1 Program Display

11.1.1 Execution program and program directory

CD Press the function menu key.
GD Press the PROGRAM key.
One of the following screens are displayed.
i) Program screen
ii) Program number screen
iii) Program number and program name screen
Screens are switched over as follows.

~(~y) 00001 N00010

N10 G96 S2S00 l

>000 X1000. l
• 641 X0 F100.
X10. 25. ;
XS. 23. l [ TEXT [ [D I R.IIEY [( DRCTRY ) is displayed by pressing
Z12.25 l
XS0. l MEMORY CHAPTER key.
G40 ><20.
M99 ;

"
t"EM ••• ..u...D ••••••••••••••••
POS J To-I ~ CFFSET f'R(L0f< CH'lPTER+

Program screen

EJ
DRCTRY)
key II
( MEMORY
~R.lEM I
. DRCTRY)
(
MEMORY
DIRECllR( (1'EI'mY) DIRECTIRi (1'EI'mY)

00001 00002 00003 00004 00015 01025 00001 (t..D<I(~II" 2 PAlES

08000 08001 08002 08003 CI9990 Cl00B2 (t..D<I(ttS11i10--m1N1 PAlES
CBlB3 ( 1 PAlES
00004 ( 1 PAlES
CBt15 ( 1 PAlES
01025 ( 1 PAlES
CBI!l0 (5UB--1 1 PAlES
08001 (5UB--2 1 PAlES
(BilB2 (51.&-3 1 PAlES
08003 (5lJB--4 ) 1 PAlES
0999B (lEST PRIJGRA'I 111 ) 1 PAlES
~ PFGES & FILES ( 193: 39) FREE PFGES & FILES. ( 193: 39)
,EDIT ••• STOP ••••••••••••••••
PAGE key EDIT ••• 5T(p • • • • ••• ••• ••• ••• • ••
~TER INSERT DEl..ETE BLED I T+ ~TER INSERT DEl..ETE BLED I T+

Program number screen ) ProgIam number and progIam name screen

F or small type
CRT/MDI panel

On the program directory screen, remaining area of the part program memory and
the remaining No. of registerable programs are displayed as follows:
FREE PAGES & FILES (193:39)-
The page is a unit to store a program into the memory. One page corresponds to
77 characters (or 0.2 m of part program length). In the above example, the
remaining area of memory is 193 pages (About 38.6 m) and the No. of registerable
programs is 39.

- 603 -
 111-11.1.1

In the screen of program number and names, a program name is displayed in 16

characters. However, if an optional 48-character program name is provided, a
program name is displayed in 48 characters as shown below.

Example of display: 14" CRT 18 programs in one screen

011~1 N00000
:.:'2C: .EflGlIlE O;,L1trCEP POJGH-~It~ PAPTl PRQG, Al11B-0) e::' PH:;ES
:0002 .EffGltE o;,L1trCEP POLfGH-~It~ PAPT2 PRQG, Al11B-2) 84 Po:.GES
::!!l '.EffGIfE PIST()f FltE CUTTH6 P~Tl F'I<OGPI'W1 A112B-0) 8'5 PH:;ES
::::2 .EffGlfE PISTell FltE CUTTII'.G PART2 F'I<OGPI'W1 "112B-2) 8'5 Po:.GES
:?cc: :EtfGlfE CoLltrCEP POJGH-~H6 SUB F'I<OGPI'W1 >l211B-0) 9 PH:;ES
:"-'02 :EffGlfE o;·,l.ItfCER POUGH-BORII'.G SUB PPCJGRI:I1 >l211B-1) S F!>'(;ES
:"'-'0:: Ef.:;ltE C,l-ItrCEP ROUGH-~ING SUB F'I<OGP~ >l211B-2) 10 PH:;ES
:?!01 ·:EtfGIfE PIST()f FHE CUTTlt6 SUB PROOPI'W1 "212B-0) :3 Po:.GES
:?!02 .EfIGItE PISTell FItE CUTTING SUB PROGRI'W1 A212B-1) S PH:;ES
:?!CO:: :EflGlffE PISTOr FirE CUTTING SUB F'I<OGPI'W1 >l212B-2) 8'5 PH:;ES

FPEE p.:r.>ES: 6497( 119611) FPEE FILES:. SO

EDIT .... STOP •••••••••• 12:27:18 L9

In the case of 9" CRT, five program names and numbers are displayed in one
screen.

(Note) The page employed here is a data unit in the part program memory and it
is not related with the size of one page of the CRT display screen.

- 604 -
 Ill-ll.1.2

11.1.2 Program check screens

There are three program check screens
1) The command values of the next executed block and the modal values in this
block.
The command values of the fourth or after blocks located after the currently
executed block, and the modal values in that block (For some commands, this
information is not displayed.)
2) The 'command values of the last executed block and the modal values in this
block.
3) The command values of the currently executed block and the modal values in
t.,W-s block.
UJ Press function menu key.
GD Press PRG-CHK (PROGRAM CHECK) 9" CRT function selection key
key. One of above 1) to 3)
screens is displayed. One of
I
POSITION IPROGRAM! OFF SET!PRG-CHK IrnAPrER I+ !

them is selected by the follow- t f

ing operation. 9" CRT program check chapter selection key
i) Press the PRG-CHK (PROGRAM
CHECK) repeatedly until the
desired screen is displayed.
ii) Press the CHAPTER key. Press 9" CRT operation guide key after CHECK is selected.
the corresponding soft key. (The other chapter is the same as above.)
iii) The selection of either relative
or absolute in current position
display after CHECK is selected
I
ORIGIN PRESET I I 0 II
depends on parameter #2203 DAP.
For the operation method (ORIGIN, 14" CRT function selection key
PRESET) after this screen is
selected, see 11.3.2 preset for
the current position display.
14" CRT program check chapter selection key
I
LAST IACTln:1
,CffECK II
14" CRT operation guide key after CHECK is selected.
(The other chapter is the same as above.)

- 605 -
 111-11.1.3

GBI2I X 123. I2B!I F

V 123.12B!1 S
G91 Z 123. I2B!I T
A M
B B
C D
U H
V P
W Q
I R
:s L
K
MEN HHD HOLD •••• ••• ••• ••• ••• • •• MEN HHD HOLD •••• ••• ••• ••• ••• • ••
POSI'TO-I PRa3RAM CFFSET PRG-CH< OWTER+ POS I 'TO-I PFICEIRA1 0F'F5ET PRG-CH< 0WlER+

The command values of the The command values of the

last executed block (LAST) currently executed block (ACTIVE)

(PfUiR'I) CBiI!I1 HIIJIi!II!I,'29

CD!IB1 H1S Gel X1S. '(20. Z30. Flee.
>tQ8 G91 GBI2I Xl23. Vl23. Zl23. ;
/'CIB ;

"
(RELATI'-E>
X 48.324
CDIST TO
X
(0)
85.676 G91
(fi;D,'H)
G54
(M)

V 59. 324 V 85. 676 G00 GIBB

Z 79.324 Z 85.676 617 G64
G4Ci!I G49
B D e H B
(F) leB. (ACT.F) B (L)
(S) (ACT.S) B
(T)

MEN HHD HOLD •••• ••• ••• ••• ••• • ••

POSI'TOt PF03IRFII1 0F'F5ET PRG-CH< OWTER+

Execution program and position

display, etc. (CHECK)
• Remaining number of repetitions
is displayed for L valve.

11.1.3 Directory display and punching on each group

In addition to program list display (directory) of all registered program names
and numbers, the directory display is available for each group of workpieces,
for example.
Several programs belonging to the same group need to include the same character
string in a certain part of the program name.
In the directory display for each group, the programs having the specified
character string as a program name are searched and the numbers and names of
these programs are rlisp1ayed as a list.
It is also possible to punch out the programs belonging to a certain group. For
example, a character string "GEAR-1000" is assumed to be included in the program
names of main and subprograms for machining a gear of part No. 1000. The
programs having the character string ','GEAR-1000" in the program name are
searched among all the programs stored in the memory, and the numbers and names
of these programs are displayed as a list.
This function facilitates management of the programs stored in a large capacity
memory.

- 606 -
 111-11.1.3

oIRECTORY (MEMORY) 01110te0000

00001 (Sl-WT-l000.I1=IIN ): 10 Pl=G::S
00002 (Sl-WT-2000.I1=IIN ): 5 Pl=G::S
00010 (GE~-l000.I1=IIN ):. 1 Pl=G::S
00015 (GE~-2000. I1=IIN ): 12 Pl=G::S
00020 (FRFN;E-l000.I1=IIN): 6 Pl=G::S
00026 (FRFN;E-2000.I1=IIN): 14 Pl=G::S
01000 (Sl-WT-l000. SUB ): 25 Pl=G::S
01010 (Sl-WT-1001. SUB ): 1 Pl=G::S
01110 (Sl-WT-2000. SUB ): 11 Pl=G::S
01200 (~-1000. SUB ): 1 Pl=G::S
01300 (GE~-2000. SUB ): 7 Pl=G::S
FREE PI=G::: 6739 ( 1232M) FREE FILE: 77

EDIT ••• STOP •••••••••• 20:46:31 LSK

POSITON _ CFFSET PRG_CH< OWTER+

Directory display of programs registered at present (Screen of program numbers

and names)

DIRECTORY(GROP) 01110 te0000

00001 (Sl-WT-l000.I1=IIN ): 10 Pl=G::S
00002 (Sl-WT-2000.I1=IIN ): 5 Pl=G::S
01000 (Sl-WT-l000.SUB ): 25 Pl=G::S
01010 (Sl-WT-1001.SUB ): 1 PFGES
01110 (Sl-WT-2000.SUB ): 11 Pl=G::S

FREE PI=G::: 6739 ( 1232M) FREE FILE: 77

EDIT ••• STOP •••••••••• 15:07:2fr. LSK

SEMCH PlN:H OWTER

Directory display of programs for machining gear of part No. GEAR-1000

1) Procedure of directory display for each group

Proceed using the following step. (Softkey is for 9" CRT.)

~
Set the part program storage and editing mode.
2 Press the function menu key, and press the PROGRAM key.
3 Select the chapter selec'tion key by pressing the PROGRAM key repeatedly
or pressing the CHAPTER key.
Press the DIR.MEM softkey to select the screen of program numbers and
names.
Press the operation selection key, and switch the softkey to the
operation selection mode.
Press the DIR.GRP softkey.

COpy , MOVE MERGE I DIR.GRP I

t

® Press the (NAME) softkey.

(NAME) I PRV-GRP I
t

- 607 -
 111-11.1.3

Type in the character string included in the program name belonging to

the group to be searched.
The program name length is not limited, but only 48 characters from the
beginning of the program name is to be searched. For example, when the
prog'ram having a character string "GEAR-1000" at the beginning of its
program name is to be searched, enter "GEAR-1000*". Be sure to enter
"*". It indicates an arbitrary character string. Namely, the first 9
characters of the program name are "GEAR-1000", and the entry of "*"
means that this program is to be searched irrespective of the characters
entered after "*". (Such "*" is generally called a wild card.)
If only the "GEAR-1000" is entered, only the program whose name is the 9
characters "GEAR-1000" will be searched. To enter one arbitrary
character, type in "?". For example, when typing "????-1000", the first
four characters are used to search the arbitrary program name.
® Press the EXEC softkey.

EXEC
t

® The group directory screen is selected, and the list of all programs
having the entered character string in the program name is displayed.
If none of the corresponding program is found, "DATA NOT FOUND" warning
message is displayed.
~ When a list of programs spreads over several pages, change the page by
pressing the PAGE key •.
QD The list of programs belonging to the group searched once is stored as
long as the power is on, unless another group is searched. To switch the
group directory display to another screen and to display the directory of
the group searched first, proceed with the following steps.
i) Press the function menu softkey, and then the PRGRM key.
ii) Select the chapter selection key by pressing the PRGRM key repeatedly
or pressing the CHAPTER softkey. Press the DIR.MEM softkey to select
the screen of program numbers and names.
iii) Press the operation selection softkey, to indicate the operation
selection softkey.
iv) Press the DIR.GRP softkey.
v) Press the PRV-GRP softkey.

(NAME) I PRV-GRP I
t

vi) The group directory screen is selected, and the list of programs
belonging to the group searched before is displayed.
This procedure saves the trouble of re-entering the character string
when it is desired to switch the display to another screen and
re-display the group directory.

- 608 -
 III-l1.1.3

2) Output (punch out) of programs for each group

CD Display the directory of programs of a certain group according to item
1) • .
o Press the PUNCH softkey.

SEARCH PUNCH TEXT I

DIR.MEM I
t

(l) Press the GRP.ALL softkey.

GRP.ALL THIS (PROGII)I

t

The programs of the group searched are punched out.

With the group directory display screen, it is also possible to punch out
programs by pressing the following keys.

THIS softkey The main program being selected is punched out.

(PROG#) softkey: The program of the number searched is punched out.

- 609 -
 111-11.2

11.2 Status Display

This function displays whether an alarm is occurring; whether the program is

being edited; whether the buffer already contains the next block; etc.
The second lowest line (immediately above the soft key display line) on the
screen is used as the status display line.

The figure shows

the 9" CRT. The
same display is
done on the 14"
CRT (second line
from the bottom,

26
CD
TAPE
®
JOB
®
STOP
C0
READ
~
MIN
®
FIN
(j)
16:52:13
®
@
®
ALM
from the right)

27 (Soft Key)

1 40
The status line is separated into 10 fields (fields toCD ®). These fields
display the following information (common to all CNC screens):

CD Automatic operation mode selection (MEM, MDI, TAPE, EDIT, or ****)

This field displays the automatic operation mode being set during display.
When automatic operation is not selected, this field displays '****'.
Manual operation mode selection (JOG, HND, INC, AGJ, J+REF, or ***)
This field displays the manual operation mode being set during display.
When manual operation is not selected, this field displays '***'.
Automatic operation status (RSET, STOP, HOLD, STRT, MSTR, or SRCH)
This field displays the status in which automatic operation is being placed.
RSET: Reset in progress
STOP: Automatic operation is stopping.
HOLD: Automatic operation is in pause.
STRT: Automatic operation is being started.
MSTR: A manual numeric command is being started.
NSRC: A sequence number is being searched.
® Program edit status (READ, PNCH, VERY, SRCH, COND, EDIT, or ****)
This field displays the program edit status.
READ: Registration is in progress.
PNCH: Punching is in progress.
VRFY: Collation is in progress.
SRCH: Search is in progress.
COND: Memory arrangement is in progress.
EDIT: Other edit operation (insertion, alteration, etc.) is in progress.
****: No edit operation is in progress.
Axis movement/dwell status (MIN, DWL,.or ***)
This field displays 'MIN' during axis movement. It displays 'DWL' while
dwelling is in progress. In other cases, this field displays '***'.
M, S, T, B function status (FIN or ***)
This field displays 'FIN' while an auxiliary function such as M, S, T, or B
is being executed, that is, the CNC is waiting for the completion signal
generated.by the PC. Otherwise, this field displays '***'

- 610 -
 111-11.2

0' CD' Emergency stop status (EMG)

When an emergency stop occurs, the displays 0, ~ disappear;
instead, '-EMG--' is displayed in reverse video.
CZ) Current time display
The current time is displayed in hours, minutes and seconds.
(Ex) 16:52:13 (Sixteen hours, fifty-two minutes, thirteen seconds)
® State of data written in nonvolatile memory (@ or space)
"@" appears indicating data is being written in nonvolatile memory.
® Alarm status and label skip status (ALM, BAT, WRN, LSK or ***)
This field displays "ALM" (flashing in reverse) while an alarm is occurring.
When a warning message is displayed on the CRT screen, "WRN" appears
flashing.
"BAT" is displayed when either the nonvolatile memory for storing the
parameters, tool compensation data, and tape or the battery of the absolute
position detector is approaching its end of life.
Resetting after battery replacement will cause "BAT" to disappear.
When neither of the alarm, warning and battery alarm statuses appear, "LSK"
is displayed if the tape reader label is skipping and "***" is displayed if
the tape reader label is not skipping.

- 611 -
 111-11.3

11.3 Current Position Display

There are four current position display screens:

1) Overall position display screen

Current position in the relative coordinate system
Current position in the work coordinate system
Current position in the machine coordinate system
Residual amount of movement .
2) Screen displaying the current position in the relative coordinate system
3) Screen displaying the current position in the work coordinate system
4) Screen displaying the current posi.tion in the machine coordinate system

11.3.1 Current position display screen

CD Press function menu key.
~ Press POSITION key.
One of the following screens is 9" CRT function selection key
displayed. .

9" CRT POSITION chapter selection key

AC:T\A. PIlSITIOI 1881 . -

I
AC:T\A. PIlSITIOI (RELATII.E)
(REUlTII.E)
)(
V
Z
• • ::sz4
!19.::sz4
'III.::sz4
X
Y
48.324191
59.324191 I
(1fOiINE) CDIST 10 11)
Z 70.324191
)( • • ::sz4 )( III!. &16
V !19.::sz4 V III!. &16
Z 'III.::sz4 Z 115.11'1'5

• <,","IN> ., • <JIIOOO
• ("""""Ito •• • CJIIIItO
...,1 ...-,t«I..D •••••••••••••••••••
_11llH_~PI'IILOt<~
..., • ..., tD.D •••• ••• ••• ••• •••
_11llH_~PI'IILOt<~
• ••
14" CRT function selection key

Overall position Relative position

display display

14" CRT POSITION chapter selection key

AC:T\A. PIlSITIOI - .- AC:T\A. PIlSITIOI _ .-

X
(AIIDJIT'E)

48.324191 X
(1fOfINE)

48.324191
II
Y -64.076191 Y 59.324191
Z 58.224191 Z 70.324191

• <'"'"IN) ., • <JIIOOO • <'"'"IN> ., • <JIIOOO

...,• ....,t«1.D •••••••••••••••••••
_11llH_~PI'IILOt<~
...,. ..., tc1.D •••• ••• ••• ••• ••• • ••
_11llH_Cl"l'STPI'IILOt<~

Current position display in Current position display in

the work coordinate system the machine coordinate system

- 612 -
 111-11.3.2

The desired screen can be selected in one of the following ways:

i) Press the POSITION. key repeatedly until the desired screen is displayed.
ii) Press the CHAPTER key. Press the corresponding soft key.
OVERALL key: Over·a11 position display screen
RELATIVE key: Screen displaying the current position in the relative
coordinate system
ABSOLUTE key: Screen displaying the current position in the work coordi-
nate system
MACHINE key: Screen displaying the current position in the machine
coordinate system

11.3.2 Presetting the current position display

The current position in the relative coordinate system or in the work coordinate
s~stem can be preset.
Q) Select the current position display screen in the relative coordinate system
or work coordinate system. (See 11.3.1)
GD Press the operation menu key. Soft keys are changed over to. the operation
selection keys.
G) To set the current position to O. To set the current position to a certain
Press RESET key coordinate value.
Soft keys are set to the operation Press RESET key.
keys. Soft keys are set to·the operation guide
key.

'~-l To clear the coordinate values

of all axes to '0', press the
ALL-AXS key.
~-2 To clear the coordinate values
of a specific axis to '0', enter
the axis name (X, Z, ••• ).
Press EXEC key.
QD-2' To clear the coordinate values Enter the coordinate value to be set.
of two or more axes to '0', EX.) XI00.0Y2000.0 EXEC key
enter the axis name{s) sub-
sequently, then press EXEC.
~ When the above operation is When the above operation is executed
executed on the screen displaying on the screen displaying current
current position in the work position in the work coordinate
coordinate system, the same system the same effect as the fol-
effect as the following command lowing command in the program is
in the program is produced:, prqduced:
G92XOYO ••••• ; G92X-Y-;
The work coordinate system is The work coordinate system is shifted
shifted so that the current posi- so that the current position be set to
tion be set to zero point the coordinate value in the shifted
coordinate system.
9" CRT POSITION operation selection key
14" CRT POSITION operation selection key
I ORIGIN IRE SET I II
9" CRT ORIGIN operation guide key 14" CRT ORIGIN operation guide key

IALL-AXEl (AXIS) I II 14" CRT PRESET operation guide key

9" ·CRT PRESET operation guide key
II
II
- 613 -
 111-11.3.3

11.3.3 Presetting the work coordinate system

a) Manual interference with the manual absolute signal turned off.
b) Movement command is executed with the machine locked.
c) Handle interruption, or movement by manual/automatic simultaneous operation.
d) Operation with mirror image.
e) Local coordinate system setting by G52, or work coordinate system shifting by
G92.
f) Origin of work c~ordinate system by MDI operation.
The work coordinate system is shifted by the above operation~
It is, however, possible by MDI operation to cancel the shifted coordinate
system, and preset the work coordinate system at the original position that is
offset from the machine origin by the work origin offset value.
Proceed using the following steps:

~
Select the overall position display screen.
2 Press the operation menu key, to select the operation selection softkey.
3 Set the machine in the reset or automatic operation stop mode and press the
WRK-CRD softkey.
QD i) To preset all axes, press the ALL-AXS softkey.
ii) To preset a specific axis, type in the axis name and press the 0 key and
the EXEC softkey in this order.

9" CRT POSITION operation selection keys

ORIGIN PRESET I MEM-FRP I WRK-CRD I II

t

9" CRT WORK-CRD operation guide keys

IALL-AXS I (AXIS)
II
t t

14" CRT POSITION operation selection keys

IORIGIN I
PRESET I ~: WORK
COORD I II
t

14" CRT WORK COORD operation guide keys

ALL
AXS I (AXIS) I II
CD Cutter compensation, tool length compensation and tool position compensation
are cancelled, and the origin of the selected work coordinate system (G54 to
G59) is preset at the position that is offset from the origin of the machine
coordinate system by the work origin offset value. As a result, the current
position (absolute coordinate value) in the work coordinate system is the
value obtained by subtracting the work origin offset value from the machine
coordinate value. Whether the relative position display (RELATIVE) is
preset like the absolute coordinate value or not is determined by the
parameter (data No. 2202#DSE).

- 614 -
 111-11.4

11.4 Operator Message Display

The operator messages are divided into two categories:

i) External operator messages
ii) Operator messages reported by custom macro commands
When an operator message is reported, the operator message screen is auto-
matically displayed.
CD Press the function menu key to turn the soft keys to the function selection
keys.
GD Press MESSAGE key.
One of the following screens are displayed.

9" CRT function selection key

9" CRT MESSAGE chapter selection key

14" CRT function selection key

14" CRT NOTICE chapter selection key

ALARM MESSAGE
II

The operator message screen is displayed

in one of two ways:
i) Press the MESSAGE softkey repeatedly
until the operator message screen is
displayed.
ii) Press the CHAPTER and OPERATOR softkeys
in this order.

- 615 -
 111-11.5

Clearing operator messages:

External operator messages are cleared by external commands. Refer to the
machine tool builder's manual for details concerning external operator
messages, how to clear them, etc.
When an operator message reported by a custom macro command is displayed,
operation stops as if a single block operation were executed.
When the next cycle is started, this message is erased from the screen.
For display of operator messages reported by custom macro commands, refer to
the manual of the customer who has prepared the macro commands.

11.5 Alarm Message Display

The alarm messages are divided into the following categories:

i) Alarm messages reported by CNC self-diagnosis
ii) External alarm messages
iii) Alarm messages reported by custom macro commands
When an alarm message is reported, the alarm message screen is automatically
displayed.
GO Press the function menu key to turn the softkey to operation selection keys.
CD Press the MESSAGE softkey.
One of the following screens are displayed.

9" CRT function selection key

OPERA1UR MESSAGE

9"'CRT MESSAGE chapter selection key

14" CRT function selection key

14" CRT MESSAGE chapter selection key

AlARM MESSAGE II

The alarm message screen is displayed

in one of two ways:
i) Press the MESSAGE softkey repeatedly
until the alarm message screen is
displayed.
ii) Press the CHAPTER and ALARM softkeys
in this order.

- 616 -
 111-11.6

Clearing alarm messages:

External alarm messages are cleared by external commands.
Refer to the machine tool builder's manual for details concerning external
alarm messages, how to clear them, etc.
To clear an alarm message reported by the CNC's self diagnostic function or
a custom macro command, reset the CNC.
Refer to Appendix 10 of a separate volume for details concerning the alarms
reported by CNC self-diagnosis.
For the alarm messages reported by customer macro commands, refer to the
manual of the customer who has prepared the macro commands.

11.6 Graphic Display Function

Drawing of the tool movement during automatic operation or manual operation can
be done to check the machining process or current position of the tool, via the
CRT screen.
Moreover, there are the following functions.
i) Tool path for rapid feed and cutting feed can be drawn in different colors.
Seven colors are offered.
ii) The 0, N, F, S, T value of the drawing program and the work coordinate
system coordinate value are displayed.
iii) Drawing can be done in optional planes. 3-dimensiona1 drawing as well as
Bi-plane drawing can also be done.

Optional plane drawing Three·dimensional drawing Bi-p1ane drawing

iv) Horizontal and vertical rotation of the drawing can also be done in
3-dimensional drawing.

Horizontal rotation

Vertical rotation
x y

v) Graphic axes X, Y, Z can be assigned to the controlled axes by parameter

(Data No. 7703). An axis name of controlled axis selected by parameter is
indicated on the screen.

- 617 -
 111-11.6.1

vi) Shift and enlargement of the figure can be done on the screen.
Current screen New screen
--
-- ---
13T
-
~-----

---- - ---- ---------- ~~------

--
__________ ~3W

Enlargement
Current screen New screen

,.........,.......
f.-"""'-
----- --- --- -
.......-
F-------V-
I ~ _-
i~-~-
I

Shift

11.6.1 Selectillg the graphic screen ',' '.

CD Press the function menu key to set the softkey to the function':· selection.
® Press the GRAPHIC softkey to display the graphic screen.

08002 N00000
)(

zv
..
.. . .
_
F •
S •
T •

... • •• IInfT •••• • •• FIN ••• U\II(

/1

- 618 -
 111-11.6.2

11.6.2 Setting graphic parameters

1) o~ration method
1 Select the graph. ic screen (Refer to, item 11. 6.1)
2 Press the GRAPH PARAM key to display the graphic parameter •
....... ICCMllllttm• .,

. lCYZ
08002 N000ee
CJIT CIIItmIIt ICe .....
..........
--....
....... IC I'UIHI

-
CailC'!' lllVZ 31Z)( 41lCYZ y.
'1 VIC II ZV '1IlCZ 811CZ'1 Za
tllC'l'Z2)
IIW'HIC fW& "" )( •
IOU FACTIIt y- lS. . .
(H) •
z·
NJTATI~ IIG.E 21B
(V) • B GRR'HIC RAG: I1IN )( • -lS8
y. -35.8
Z .. -JB.8

.... • •• IITRT •••• • •• FIN ••• UIIC

II
CD Move the cursor to an item to be set using the cursor key.
~ ~ The cursor moves horizontally
~ ~ The cursor moves vertically
QD Key in the setting data and press the INPUT softkey.
CD After setting the parameter, press GRAPH softkey to return to the graphic
screen.
2) Graphic parameters
a) Graphic plane: Graphic plane is set. The followings are the kinds of
graphic planes.
y Z X Z

Xy YZ ZX XYZ

X Y Z
X Y

X Y Y
Z

YX ZY XZ XZY·

v- Z X
Z X

r XYZ2
.. X
r
Bi-plane diagram

X
II'>

- 619 -
 111-11.6.2

b} Rotation angle {horizontal}

Specify the coordinate system rotation angle during isometric display.
You may specify values from -360 to 360.
You can set initial value in conversational parameter No. 4831.
If you set 180 in conversational parameter No. 4831 and specify angle of
rotation as 30, the angle of rotation will be assumed to be 210.
z
X"

y'
I , X'

I
/
30;" /
/
/
/
/

X Y

X"Y'Z: Represents end

XYZ coordinates.

GRAPHIC fGRA"H)
08002 N00000
zv
)( . ..
__
.. . .

F •
II •
T •

....... 1'J1IIt ............. ...

--
GRAPHIC fGRAPH)
08002 NeeeeS
.
IC ... _
V
Z ... __
_

,
II •
T •

...... snm ••••••• 'IN •••

--
&Jill(

- 620 -
 111-11.6.2

c) Rotation angle (vertical)

When a profile is to be drawn, on the graphic plane XYZ or XZY, vertical
rotation angle can be specified in addition to horizontal rotation angle.

Horizontal rotation

.----f.-----'-----:700:::---~-----_+_-+_. Vertical rotational axis

Vertical rotation

The vertical rotation axis may be made to rotate in horizontal plane by

the value specified in conversational setting parameter No. 4832. When
this parameter is set to 0, the vertical rotation axis may be horizontal
on the screen as shown in the above figure.
(Example) Drawing plane = XZY
Rotation angle (Horizontal) +20
Rotation angle (Vertical) +10
Parameter 4832 = +65

\
\

-~ '~ ..
\ Initial
vertical
rotation axis

0: End XZY coordinates

- 621 -
 111-11.6.2

O""'HIC CO""'HI 08002 N00000

zIey .. . .
__
.. . .

F •
I •
T •

--
"'----""'"

... ••• I'1tP •••• ••• ••• ••• &.II

D
O"""'IC CO""'HI 08002 N00000
Ie .. _
z __
y .. -

F •
I •
T •

tt9t ••• I'TtP •••• ••• ••• ••• LIK

--
, sma \-- \~IFT l:u-I:lrMIH 1= I II

d) Scale factor
Specify the screen image magnifying ratio. You can specifY,values in the
range from 0.01 to 100.00. When minimum and maximum values are determined
automatically, they do not exceed this range.

- 622 -
 111-11.6.2

e) Graphic range max., graphic range min.

Specify the maximum value and minimum value of the screen drawing range of
each axis. Once these values are specified the center of the drawing
range (coordinates), scale factor are calculated automatically to optimum
values for the specified maximum and minimum values. This entry must be
specified in case of dual plane figures.
Maximum and minimum values must meet the following condition

Maximum value ~ Minimum value

If you specify 0 for all values, scale factor and the center of the
drawing range are not calculated automatically and scale factor and the
center of the drawing range currently set are made effective.
There is an allowance of 10% in the scal~ factor calculated automatically.
An axis along which drawing is restricted by the scale factor on the
screen are drawn by the scale factor,. Whereas other axes which are not
restricted by the scale factor, the center of the minimum and maximum
values meets the center of the graphic display. (See the drawing in the
following page.) Therefore, if the difference between the set maximum and
minimum values differs considerably between different axes, the maximum
and minimum values that have been set may be different from the ones
displayed on the screen on an axis.
(Example) X-Y plane
y
Maximum value X 100. Y 5.
Minimum value X -100. Y -5. 100

o
-100 '----'---'----£...-X
-100 0 100

When the setting is made as shown above, the center "0" of axis Y is
automatically put in the center of the screen in order for the screen to
arrange the values +100.0 to -100.0 of the axis X inside of it, and the
maximum and minimum values of the axis Yare different from the setting
values. (See the figure below.)
Screen

r- - -'- - - --- -- - -,..., , Area set by

I maximum or
minimum value
I
I

10% 10%

When graphic plane = XYZ2 is specified (dual plane view) if the ratio of
the differences between maximum and minimum" yalues of Y and Z axes is
greater than 2:,1.or 1:2, the screen is clamped to this ratio.,

- 623 -
 III-l 1.6.2

Screen
y
r------,
I
t
L _____ ...JI 1

z
I r- -, X
--.l
I
I
I
I
I
I 1
2
I I
I

J
I
I
L _____ ..JI

If the ratio between difference of the maximum and m1n1mum values of Z

axis and that of Y axis is greater than 2, the screen is clamped as above
figure. When graphic plane XYZ or XZY is specified the rectangular solid
obtained by the maximum and minimum values rotates horizontally and
optimum scale factor is determined for the rectangular solid with
refp.rence to maximum and minimum values.

10%

"1\
/' /
_ -
..... ""'1 - -

1\
-=------""""'f\ - - _
I'
\ '
- ...... ,
10%

'
I
, I '\ : \ tl Rectangular solid
. I ' ..... _ I ~ ___ "- \ / / I of maximum and
minimum value
I , ..... ~.::::-= -'r===~:?::-=-r-- I
I ,/ \ I \ I', 1
L/ \ I 'J
I \ I 'I
\. .\ I \ I /./
'........ \ I \ / Rectangular
-- _ _ \,1 _---::::..~-
........._-_.- solid rotates

f) CRT center
Specify the screen center coordinate of each axis in the work coordinate
system. If maximum and minimum values have been specified the center
point between maximum and minimum values is set automatically. The
drawing scale (coordinate system) is calculated and indicated on the
screen using the CRT center coordinates and scale factor. Scale is in mm
or inch units.
g) Caution
i) Decimal point of the setting value in regard to the position is given
in mm or inch.
ii) As for the magnification rate, the minimum and maximum values of
drawing, and the screen drawing center, these data are given
independently between data that specifies the drawing screen and data
that is displayed on the graphic parameter screen. This is because the
screen is easily brought back to the former state after the graphic
enlargement and the graphic move (it is described later). Normally the
data for drawing and the setting value are the same, but they become
different after the graphic enl~rgement and the graphic move. When
this happens, @ is given before each data of the setting value.

- 624 -
 111-11.6.3

When the AFTER SHIFT softkey is pressed, the data for drawing is
transferred to the setting value. (A in figure)
The setting value is transferred to the data for drawing when the
BEFORE SHIFT softkey is pressed. (B in figure)

A
----------
Data for drawing Setting value
B
---------

Drawing
u Drawing is made
by using the data
for it.

Change of
u
setting value,

*
In graphic enlargement, maximum, and m1n1mum values are changed with
the cursors of red and yellow. In graphic move, magnification rate
is changed with the relative magnification rate and the drawing
center data is changed with the red cursor.
iii) Parameters for drawing are not cleared even when the power supply is
cut off. '

11.6.3 Drawing the tool path

You can check the current position of the tool and the progress of machining
operation on the CRT in both automatic and manual machining operations by
drawing the tool path of the current machining program on the screen.
1) Graphic start
CD Select the graphic screen. (See 16.6)
Ci) Press START MACHIN key. The tool motion by automatic operation or manual
operation can be drawn and DRAWING in, displayed at the lower right corner
of the screen.
® Execute a prog'ram on which the tool path is to be drawn by tape operation
or by memory operation. If it' is not desired to move the machine durillg
drawing, operate it with machine lock. The cutting path and rapid
traverse path can be drawn by different colors set by parameters (Data
No. 4821, 4822).
The position where the current position in the work coordinate system is
subtracted by tool length offset value with the screen center position
and magnification determined by graphic parameter (i tem 11.6.2) set by
item 11.6.2 id drawn.
When the ,position in the work coordinate system changes irregularly by
the ORIGIN setting or the change of work coordinate system it is assumed
that the tool has moved.
If the feedrate is low, the graphic cannot catch up with the rate,
therefore correct drawing may sometimes not be done.
Only the tool path drawing is possible, but the machining shape cannot be
drawn.

- 625 -
 III-l1.6.3

The graphic continues even if another screen has been selected, provided
that "DRAWING" is shown on the screen. When the screen is returned to
the graphic screen, the changes are reflected in the graphic display.
However, the follow-up capability is reduced.
2) Graphic end
CD Select the graphic screen (see item 16.6.1)
'GD Press the STOP key to terminate the drawing.
3) Deleting graphic screen
Press ERASE key to erase the tool path drawing after terminating the graphic.
4) Shift
If you press the SHIFT softkey, the display will change to the SHIFT screen.
Next, move the red mark I appearing at the center of the screen using the
'cursor keys t of -+- + to specify the new graphic center. If you input any
value from 0.01 to 99.99 as a relative scale factor appearing at the lower
right corner, then press the INPUT key, the ~ew relative scale factor is the
multiple of the former scale factor by the input value.
By pressing the SET END softkey, then pressing the ERASE and START MACHIN
softkeys, the drawing is done on the specified new screen.
Relative magnification rate is added to the magnification rate automatically
set by the maximum and minimum values when the graphic parameters of GRAPHIC
RANGE MAX, GRAPHIC RANGE MIN have been made previously.
Set GRAPHIC RANGE MAX and GRAPHIC RANGE MIN to "0" when drawing must be made
by the center and by the magnification rate.

Current graphic New graphic

display display

Relative scale factor = 2.00

GRAPHIC CGRAPHI
08002 H0000B
IC
z
y

,s
_ ..
.
... .
.. . .

•
GRAPHIC CGRAPHI
08002 H00000
z
)(
y

,
.
__
.. -
-.
T • •T ••

te1
... 63.M

IlBArIIAE IOU

••• Sl'CP • ••• ••• ••• ••• LIIC . . . . . . I1'IP ............. ...

- 626 -
 111-11.6.3

5) Graphic enlargement
The graphic enlargement screen is given when the ENLARGE softkey is pressed.
Specify the diagonal point on the new screen by moving the marks of r~d I and
yellow. in the middle of the screen to the directions of up, down, right,
and left using the cursor keys t -I- -+- +. Next drawing.is made in the manner
that the rectangle with the set diagonal points can be arranged in the
screen.
Drawing is made in the specified new sc.reen by pressing the SET END first,
then ERASE a~d START MACHIN softkeys.

Present screen New screen

-~ ----
r~-f-----~'
L.----"- --
---- -- -----
~--------------------------------~
----:.
... ----
(Note 1) Reduction can not be made. Use the relative magnification rate of
graphic move when reduction is necessary.
(Note 2) @ mark may be given on the GRAPH PARAM screen after the operation of
graphic move or graphic enlargement is made. It indicates that the
data for drawing (set in graphic move or graphic enlargement) and the
setting value set on the graphic parameter screen do not correspond to
each other. (See the Chapter 4 (7).) .
(Note 3) When two planes are selected, the plane marked with red. is enlarged.

........ ..s.._..
OR~IC IORAP'HI
08002 N0ee00 08002 Nee000
IC
V IC
Z
V 4 ....
Z

•• ,s
•••
F
S
T
• T

te1 ••• STtP •••• ••• ••• ••• LDC tEJlIt ••• sn:JID •••••••••• ··.LIK
II II11P \__ \IHIFT I~I=I~ 1= I II

- 627 -
 111-11. 7

11.7 Position Display by External Position Display Unit

The position display unit displays the present position. The coordinate values
displayed on the external position display is the same as the, relative
coordinate values on the CRT. Position display reset buttons are located on~he
position display unit with one button for each axis. When one of these buttons
is pushed, the position display for the corresponding axis is cleared. This
position is referred to as zero point in subsequent representation.
When the coordinate system setting G92 is specified by the program or MDI, the
current coordinate values can be set on the position display depending on the
system parameter PPD.

(Note 1) When the DISPLAY LOCK switch is set to ON, position pulses are not
applied to the position display unit.
Position display can be shifted by moving the machine with DISPLAY LOCK
on, by the movement amount.
(Note 2) For inch input, position display is displayed in inch format.
For metric input, position display is displayed using the metric
system.
When the input system is switched from inch to metric or from metric to
inch, the reset buttons should be pushed to make the indication on the
position display zero.
If the input system is changed while the data is being displayed, only
the decimal point is shifted; the data remains. unchanged.
(Note 3) Compensation data on the machine tool such as the backlash compensation
amount are not displayed on the position display unit.

11.8 Display of Actual Spindle Speed

The actual spindle speed is displayed on various screens, such as position

display screen. The spindle speed (RPM) is displayed on each screen with the
decimal number following "s" or "(ACT. S)", etc.
Displaying format and displaying position are slightly different depending on
the size of CRTs and kind of screens.
This spindle speed can be so arranged with the parameter NOS (bit 0 of No. 2204)
that it may not be displayed including heading character of "S" or "(ACT.S)" and
unit (R.P.M.).

- 628 -
 111-11.11

11.9 Directory of File Floppy Cassette

Directory of files for programs, parameters and offset data stored in the floppy
cassette can be displayed.

~
Press the function menu key.
Press the PROGRAM softkey.
Press the DIR.FLP softkey.
Here, the file directory screen of floppy cassette appears. But the file
name is not displayed yet.
~ Press the operation menu softkey to changeover the softkey to the operation
selection key.
® ® -1 Press the TOP softkey if it is desired to display data from the
beginning of the file.
®"'2 To display data from the specified file, press the (FILEII) softkey,
. input a file number to be displayed, then press the EXEC softkey.
CD Preceding or following file directory can be displayed by page key.

DIRECTtRV(FUfIP'() Cl!IIi!lIi!IllI NIiJiJ1JIiJi)

t(). FILE t-RE (t£TER) U1
1. FCAJ 31.2
2. AJ... PRmRFlM 35.1
J. 01_ 0.7
4. OUIIIU 0.7
5. PAR1.~. PIlot 53.3
6. 01aE 0.7
7. 01eB2 0.7
B. OUID 0.7
9. OUIM 0.7
u,.
11.
01liJ!l5
PITCH.ERROR
e.7
11.1
12. hCd dE i EN 9.1
EDIT ••• STOP •••• ••• ••• ••• ••• • ••
POS I TON PRIJGRA1 CFf'5ET PRG..Ot< 0fFPTER+

1) Selection of the screen "DIRECTORY (FLOPPY)"

a) Selection can· be made by pressing the PROGRAM function selection key
several times.

I POSITION IPROGRAM OFFSET PRG. CHK CHAPTER I+ I

1

... 629 ...

 111-11.11

b) Selection can be made by pressing the function selection key PROGRAM and
the chapter selection key DIR.FLP as well.

POSITION OFFSET PRG-CHK CHAPTER

TEXT IDIR.MEM DIR.FLP

* Directory is not yet displayed at this time.

2) Press the operation selection key "SRH FIL."

READ PUNCH SRH FIL DELFILE TEXT I+I

3) Display the directory

a) When the operation guide key "TOP" is pressed, the first file is
displayed.

TOP (FILEfI)

b) Press the operation guide key "(FILE")" then input an optional file number
and press the EXEC softkey to make a display of the optional file.

TOP I (FILED) I
o
File number input

I EXEC

U
4) Directory can be continuously displayed by page UP.DOWN.
* Directory display is deleted on mode change or screen change over. Repeat
the above procedures in such a case.

- 630 -
 111-11.12

11.10 Load Meter 0 isplay

Load values (torque values) of the spindle motor and the servo motor are
displayed in a bar graph on the CRT screen. In the case of a 14" CRT, the load
value fluctuation waveform is also graphically displayed.
The latest sampling values are displayed in the bar graph, and the one-minute
fluctuation status is displayed in the waveform display. Rated load values of
the motor corresponding to each load meter should be set in parameters. When
the load is equal to the rated value, the load meter indicates 100 percent.
The load meter screen also displays a load meter, an absolute position,
specified speed, actual speed, override value, number of machining parts, and
run hours. Load meter for the servo motor can be displayed up to three axes.
The load value of which axis" to be displayed is determined by the parameter.
For displaying the load of the spindle motor, it is necessary to connect the
load value of the spindle motor to the AID converter of CNC.
The load meter display screen is selected in the following procedure:
aD Press the function selection key.
GO Press the PRG-CHK softkey.
There are two methods of selecting the load meter display screen:
a) Press the PRG-CHK softkey repeatedly until the load meter display screen
appears.
b) Press the CHAPTER and then OPE. METER softkeys.

9" CRT function selection softkeys

PRG-CHK
t

9" CRT chapter selection softkeys for program check

CHECK LAST ACTIVE OPE.MNTR

t

14" CRT function selection softkeys

14" CRT chapter selection softkeys for program check

CHECK LAST ACTIVE lOPE.

MONITR
t
II

- 631 -
 111-11.13

14" CRT chapter selection softkeys for program check

OPERATING MONITOR 01234 ~

(ABSOLUTE) (FEEDRATE/SPI NDLE/TOOL)

X ,123.456 CMD. F: 211100., 100.00%
Y 234.567 ACT.F: 0(MM/MIN)
Z 345.678
CMD. S: 4000 100%
ACT. S: 0CRPM)
(LOAD METER) T: 12
S====== 150% CT II'ER) PffiTS: 58
X= 7% OPERAT It£: 6H 421'1 595
y= 17% CUTTlt£ 5H 11M 03S
Z== 25% FREE 0H 20M 02S

MDI ••• STRT ••••••• FIN ••• LSK

POS I TON PROGRAM OFFSET PRG..0f< CHAPTER+

(Note 1) The axis of which load meter is to be displayed should be se,t by

parameters 2231 to 2233. Rated load values of motor corresponding to
each load meter should be set in parameters 2234 to 2237. When the
load is equal to ~he rated value, the load meter indicates 100 percent.
(Note 2) The load meter is displayed in bar graph and percentage (%). The bar
graph displays the range from 0 to 200 'percent (A turning point of
color (brightness in the case of a 9" CRT) is 100 percent).
(Note 3) Transition of load value of one load meter is displayed on one screen.
The load meter of which load.,value transition is to be displayed should
be selected using the cursor keys "++" and "-H'''.

(ABSQ..UTE)

345.678

(LO'\D /'ETER)
5
(FEEIlRATE..-sP1 Nrt.E"TCXl..)
123. 4!56 CMIl. F:
234.567 ACT. F:

CMIl.S:
ACT. 5:
T:
2IIlI1IIil. 100. ""'"
1!l(I1VMIN)

4I!lI!lI!l
1!l(RF'!1)
I!l
00123 N00000

1""'"
(xl"""')

- -j\
X =
Y =
Z=

CT 119) !>MTS: 6I!l

CFERATI~ TII'E : 9H 26M 48S
a.rrrl~ TII'E I 51-! IBM 145
FREEf'I.J<P05E : 1i'Jot2lill11iJ2S I!l (SEC) 6I!l

1"1)[ ••• STRT ••••••• FIN ••• lSK •••

11.11 Run Hours and Parts Number Display

Integrated values of power-on hours, automatic operation hours, cutting hours,

and timer usable freely for each machine are displ'ayed on the CRT screen. The
integrated values except for the power-on hours can be changed or preset by the
operator through MDI operation.
Further, the integrated values of the number of required parts and the number of
parts are displayed on t~e CRT screen. The integrated value of the number of
parts is available in two types. One is changed only by changing parameter
setting and used for integrating the total number of machined parts. (This type
is hereinafter called "integrated total number of parts".) The other can be
changed or preset by the operator through MDI operation. It is generally used
for integrating the number of machined parts, by presetting 0 each time the kind

- 632 -
 111-11.13

of work is changed. (Unless otherwise specified, this type is hereinafter

called "integrated number of parts".) Either type is counted up by one each
time M02, M30 or M-code set in parameter is executed. Therefore, if a program
is designed so that M02, M30, or M-code set in parameter is executed each time
machining of one part is finished, the number of machined parts is automatically
counted.
When the integrated number of parts reaches the required number of parts, a
signal is transmitted to the machine for notification. The required number of
parts can be changed by the operator using MDI operation.
The run hour and number of parts display screen are selected and the integrated
value is changed or preset in the following procedure:
QD. Press the function menu key to select the function selection softkey.
@ Press the SETTING softkey.
There are two methods of selecting the run hour and number of parts display
screen:
a) Press the SETTING softkey repeatedly until the run hour /part number
display screen appears.
b) Press the CHAPTER softkey, and then the TIME softkey.

SETT 11'6 (TlI'ER) 01300 ~

PARTS TOTAL 41
PARTS REQUIRED =•••
PARTS ca..J.lT = 30

PCL.ER Cl'l 34H 2M as

CFERATI t-6 TI I'E = 12H 27M 155
aJTTIt-6 T11'E 1H 59M 30S
FREE PrnPOSE 0H 20M 2S

DATE = 1988/ 01/ 18

T11'E = 20: 14: 28

MDI ••• STCP •••••••••• 20: 14:29 LSI<

1t-R.JT + 1t-FUT 0fPTER

Q) Select the MDI mode. Move the cursor to the integrated number of parts
(PARTS COUNT) by operating the cursor shift key. Enter the presetting value
by pressing the corresponding numeric keys, and press the INPUT key. The
number of required parts (REQUIRED PARTS) can be preset in the same way. If
"0" is set for the number of required parts, it is regarded as an infinite
number of required parts is set. The integrated total number of parts
cannot be preset in this screen. It should be set in the parameter screen.
~ As for the hour/minute/second of the integrated values of automatic
operation hours, cutting hours, and timer freely usable, change each unit by
pressing the cursor shift key and moving the cursor to the corresponding
position.

(Note) The integrated number of parts and the number of required parts can be
read and written using custom macro system variables.
Integrated number of parts (#3901)
Number of required parts (#3902)

- 633 -
 111-11.14

11.12 Clock

The current time is displayed in hour, minute and second on each CRT screen. On
t he clock display screen, the current titne is displayed in year, month, day,
hour, minute and second. The current time can also be set on the clock displays
screen.
It is also possible to read the current time (year, month, day, hour, minute and
second) from the custom macro and PMC window.
1) Display
The current time is displayed in hour, minute and second on ,the status
display line of each CRT screen.

The status display line is displayed

as shown in the right drawing, SETTIt-6(I-A'U)Y)
common to all CNC screens. 1V O£Q( I (0: CFF 1: (J.l)
PI.N:H a::JDE 0 (0: ISO 1 :EIFI)
ItfIUT LNIT 0 (0:1'11 1: It-K:H)
ItfIUT DEVICE 2 (1N3:RS232C
10: RMT-EIlF 11: ASR 13: RS422)
CIJTFIUT DEVICE = 2 (1N3:RS232C
11:ASR 13:RS422)
ItfIUT DEVICE = 3 -OO.EDIT-
CIJTFIUT DEVICE = 3 -00. EDIT-

MDI ••• STOP •••••••••• 11:14:23 LSK

_ SERVICE I'E~ CJWTa+

On the clock display screen, the current time is displayed in year, month,
day, hour, minute and second.

CD Press the function menu key,

and change the soft key to SETT I t-6 (TlI'ER) 01300 ~
the function selection key.

@ Press the SETTING key.

DATE = 1988/ 01/ 18

TlI'E = 20: 14: 28

MDI ••• STOP •••••••••• 20: 14:29 LSI<

I tRlT + I t-FUT OWTER

Not in the clock display screen, display the clock screen by one of the
following methods. .
i) Press the SETTING key repeatedly until the clock screen is displayed.
ii) Press the CHARACTER key to change the soft key to the chapter
selection key, and press the TIMER key.

- 634 -
 111-11.14

9" CRT function selection key

SETTING SERVICE MESSAGE CHAPTER

t
9" CRT SETTING chapter selection key

t
9" CRT Clock operation selection key

t
14" CRT Function selection key

POSITI PROGRA OFFSET PRGRAM SETTIN SERVIC MESSAG CHAPTE

ON M CHECK G E E R

14" CRT SETTING chapter selection key

HANDY GENERA OPERAT MACRO TOOL TIMER CHAPTE

L PANEL VAR. LIFE R

14" CRT Operation selection key

I I I I I II
2) Setting
The time is set on the clock display screen.
Display the clock display screen. (Refer to (1).)

$
2 Move the cursor to the item to be set.
3 Key in the value to be set, and press the INPUT key.

- 635 -
 111-11.14

Item Maximum value

Year 99

Month 12

Day 31

Hour 23

Minute 59

Second 59

(Note) Year is set by the lower two digits.

A negative value and the value greater than the maximum value of each
item can not be set.
3) Custom macro and clock
Year, month, day, hour, minute and second can be known by reading the system
variables #3011 and #3012.

Type System variable

Year/month/day #3011

Hour/minute/second #3012

(Example) 1987.5.20 PM: 4:17:05

#3011 = 19870520
113012 = 161705

- 636 -
 111-11.13

11.13 Background Graphic Display

11.13.1 Outline
The background graphic display has the following functions.
Tool path drawing This draws the path o{ the tool center instructed by the
part program.

GRA'HIC IGRA'HI 08002 'N00000

lC .. . .
y .. . .
z S ..

F •
•T ••

".
lC
y

f'EJ1 ••• S"f"[Jl •••••••••• ••• -L!IC

Tool path drawing "

The tool path graphic function executes a detailed check of the part program in
order to draw a line showing the path through which the tool travels.

1) Precautions
a) The drawing corresponding to the program registered in memory is executed
in the background (background drawing).
b) Drawing can only be executed along the X-, Y- and Z-axes or axes parallel
to these '. Drawings can not be made along the rotary axis, PMC axis, etc.
c) The following lists the functions that can be drawn.
GOO Positioning
G01 Linear interpolation
G02/G03 Circular interpolation
G17/G18/G19 Plane selection
G90/G91 Absolute/incremental command
G40/G41/G42 Cutter compensation/cancel
G43/G44/G49 Tool length compensation/cancel
G50/G51 Scaling/cancel
G50.1/G51.1 Programmable mirror image/cancel
G68/G69 Coordinate rotation/cancel
G72.1/G72.1 Figure copy
G52 Local coordinate system setting
G92 Work coordinate system conversion
G92.1 Work coordinate system presetting
G73/G74/G76/G80/G81/G82/G83/G84/G85/G86/G87/G88/G98/G99
Canned cycle/cancel
G65 Macro call
M98 Subprogarm call
Arbitrary angle chamfering, Corner R
Custom macro (restrictions)

- 637 -
 111-11.13.1

2) Features
The tool path drawing has function to draw the path of the tool center. It
has following features.
a) High-speed drawing
Compared with graphic display A, high-speed drawing is executed, thereby
allowing a rapid check of the NC program to be conducted.
b) Partially expanded drawing
The partially expanded center and relative magnification (graphic
movement), or corresponding point (graphic expansion) can be instructed
while looking at the drawn tool path, therefore an expanded drawing of a
required section can be drawn by means of a simple operation.
c) Three-dimensional drawing
In addition to a plane figure, three-dimensional drawing can be performed.
The figure can be rotated horizontally or vertically.
d) Two-plane drawing
Drawings can be made simultaneously in two planes - XY planes and XZ
planes.
e) Scale display (plane drawing, two-plane drawing) or coordinate axis and
standard dimensions display (three-dimensional drawing)
As a scale display (plane drawing, two-plane drawing) or coordinate axis
and standard dimensions display (three-dimensional drawing) can be
conducted in every screen, the dimensions of each graphic figure can be
correctly determined.
f) Rapid traverse, cutting feed color
The tool path can be drawn with different colors for rapid traverse and
cutting feed.
g) Position display
The 0, N, T values and work coordinate values of the program being drawn
are displayed.
h) Graphic display axis
Selection of graphic display axis X, Y,or Z from among the control axes
can be made by parameter (data number 7703). The name of the axis on the
CRT is that of the control axis selected by parameter.

- 638 -
 111-11.13.2

11.13.2 Setting of graphic parameters

In order to draw the tool path, the required data must be set beforehand in the
"Graphic (Set value change)". The following setting items exist.

1) Drawing plane
This is for setting the drawing plane.
The types available are as follows.

XYZ

x Y
Y

IX YX.. IY ZY Z

LLL Z
XZY

(Bi-plane drawing)

2) Rotation angle (horizontal)

This sets the angle of rotation in the horizontal direction in degree units.
Set the value from -360 to +360. .In addition, the initial value can be set
by parameter (4831). For example, if 180 is set beforehand to parameter
4331, and 30 is set as the angle of rotation, the angle of drawing rotation
will be 210.

The () mark represents the final XYZ coordinates.

- 639 -
 111-11.13.2

3) Angle of rotation (perpendicular)

If the drawing plane is XYZ or XZY, rotation is possible in the vertical as
well as horizontal direction.

z
Horizontal rotation

Vertical rotary axis

Vertical rotation

x y

The vertical rotary axis can rotate horizontally a result of parameter

setting (4852). If the parameter setting is 0, the direction is parallel to
the screen.

Example) Drawing plane XZY

Angle of rotation (Horizontal) +20
Angle of rotation (Vertical) +10
Parameter 4832 +65

y
Vertical ratary axis

Initial vertical rotary axis

The () mark represents the final XYZ coordinates.

4) Magnification
Values from 0.01 to 100.00 can be set. Even when automatically determined
from maximum and minimum values, magnification is clamped within this range.

- 640 -
 111-11.13.2

5) Screen-center coordinates
The screen center coordinates are set by the work coordinate values in the
program to be drawn. If the maximum and minimum values are set, the center
of the maximum and minimum values is set automatically.
The scale of the coordinate system in the graphic screen is calculated from
the screen center coordinates and magnification.
The result of calculation is displayed.
The units of graduation are mm or inch.
6) Graphic maximum a~d minimum values
If the maximum and minimum values of .each axis in the specified plane are
set, magnification and the screen center coordinates are determined
automatically to realize these maximum and minimum values in the screen. If
all of these are set as 0, magnification and the screen center coordinates
are not automatically determined, and the ,xisting magnification and screen
center position settings become valid. .
7) Color specification
The tool path can be drawn using different colors for rapid traverse and
cutting feed. Seven colors are available.
8) Graphic program number specification
This sets the number of the program .to be drawn. If the softwar key [REWIND]
is pressed, the screen program ,pointer will return to the start of the
program. number specified here. If the sof tware key [START, MACHINE] is
pressed, drawing is executed from the start of the program that has been
specified here.
9) Graphic offset number "
In back drawing part programs, fundamentally, the amount of offset cannot be
changed by G10 or system variable when drawing is being executed. (These
commands are ignored even if executed.) However, for three offset numbers
set as graphic offset numbers, the amount of offset can be changed when
drawing is being executed. (This has no effect on the amount of offset used
in machining.)
10) Graphic start program number, sequence number, end program number, sequence
number
When drawing of part of a program only is required, by specifying the
program number (4 digits), and sequence number (5 digits), the start and end
blocks of drawing can be specified. If all settings are 0, then these are
ignored and the entire range is drawn. Normally, these values are set as O.

Example) Graphic start program number 0001

Sequence number 00010
Graphic end program number 0002
Sequence number 00020

00001 ; 00002
-r
I
I
I
N10

I I
I
I
I
M98 P2
I
I
I
N20

I I
--L.... -L
M02 ; M99 ;

The program indicated by a solid line is drawn, and that indicated by a

broken line is not.

- 641 -
 111-11.13.2

Note) The Oxxxx, Nxxxx blocks corresponding to the program and sequence numbers
specified here, must be single blocks or blocks containing an NC
statement. If commands that call subprograms and macro programs, and
macro programs, etc. are specified to these blocks, the specification will
be ignored.

Example) Specifiable case Non-specifiable case

01234 ; 01234 M1 ; Macro call by M code

N234 N234 M98 P4500 Subprogram call
N235 G92 XO YO N345 1110 = 1120 Macro program

11) Graphic tool number (Maximum, minimum)

Drawing of only part of a program can be executed not only by setting the
graphic start program number, sequence number, end program number and
sequence number, but also by setting the maximum and minimum graphic tool
numbers. This specifies the range of tool numbers, thereby determining
drawing of the machining conducted by the tools in that range.
If 0 is set as the maximum and minimum, these settings are ignored. If the
minimum setting only is 0, all of the tool numbers below the maximum tool
number will be subjects for the graphic function. If the maximum setting
only is 0, all of the tool numbers above the minimum will be subj ects for
the graphic function.
Specification of the drawing tool number can be used in combination with the
graphic start program number, sequence number, end p1;ogram number, and
sequence number.

- 642 -
 111-11.13.3

11.13.3 Graphic setting method

Setting of the graphic function is conducted in accordance with the following
sequence.

10 20 30 40 50 60 70
GRAPHIC (PARAMETER)

GRAPHIC PLANE XY2 CRT CENTER X = -40,000

5 (l:XY 2:Y2 3:ZX 4:XY2 Y = -10,000
5:YX 6:ZY 7:XZ 8:X2Y 2 = 20, 000
9:XY22)
GRAPHIC RANGE MAX X= 70, 000
SCALE FACTOR = 1. 00 Y= 15, 000
10 2= 70, 000
ROTATION ANGLE (H) = 210
01) 0 GRAPHIC RANGE MIN X = -150,000
GRAPHIC START PROGRAM 0 = IUIIIII Y = -35,000
SEQUENCE N = 1111111111 2 = -30,000
15 GRAPHIC END PROGRAM o= 11111111
SEQUENCE . N = 1111111111 GRAPHIC PROGRAM 0= 11111111
GRAPHIC TOOL' MAX T = 11111111
MIN T = 11111111 COLOR (CUTTING) = II
GRAPH TOOL NO.01 D = 11111111 (RAPID) II
20 OFFSET NO.02 D = 11111111
NO.03 D = 11111111

25

Note) Numbers are displayed in H.

1) Press the function menu key to set the software key to function selection
key.
2) Press the [GRAPHIC] key several times to display the graphic screen.
3) Press the [GRAPH PARAM] key to display the graphic parameter screen.
4) By using the cursor key [« .... ,-»,<-,->], the cursor will be moved to the item
to be set.
5) Enter the setting data, then press the [INPUT] key and [+INPUT] key to set
. the data.
6) After setting the parameters, press the [GRAPH] key to return to the graphic
screen.

- 643 -
 111-11. 13.4

11.13.4 Method of drawing

Drawing is conducted in the "GRAPHIC (GRAPH)" screen.

10 20 30 40 50 60 70

GRAPHIC (GRAPH)
Y
x -'400, 000
5 y -100,000
Z 200,000
100, 000
F 0
S 0
o T 0

0, 000
5

o
-100,000
L---~------------~------------~---X
-100,000 0, 000 100,000
5

Functions of the software keys in the "GRAPHIC (GRAPH)"

Software keys Function

STOP Stops the drawing.

ERASE This deletes the tool path figure which has been
drawn. The graphic data is valid until the
[ERASE] key is pressed, even if the parameters have
been changed. The [ERASE] key is valid when the
drawing is not in progress.

SHIFT This sets the figure movement screen.

ENLARGE This sets the figure expansion screen.

START MACHIN This starts the drawing. If [START MACHIN] is

pressed without "STOPPED" at the bottom right of
the screen, drawing begins from the start of the
program. If [START MACHIN] is pressed with
"STOPPED" at the bottom right of the screen,
drawing continues.

- 644 -
 111-11.13.5

Software keys Function

GRAPH No effect.

GRAPH PARAM Sets the setting value modification screen.

REWIND Press this key to start drawing from the program

start.

SINGLE Stops after drawing one block.

The tool center path specified in the part program can be drawn by the following
procedure.
1) If drawing for the first time, set the required parameters by referring to
"6. Explanation of Parameters."
2) Select the "Graphic (Setting'va1ue modification)" screen and set the required
parameters.
3) If the part program to be drawn is not regist~red in,memory, register it in
the memory. The, part program cannot be drawn unless it is registered in
memory. It is also necessary for M02 or M30 to be specified at the end of
the part p r o g r a m . ' ,
4) Press the software key [REWIND] to c~lil the part program, to be drawn.
5) Press the software key [START MACHIN] to start the drawing. If
[START MACHIN] is pressed without "STOPPED" displayed at the ~ottom right of
the sC,reen, drawing begins from, the start of the, program.' During the
execution of drawing, "DRWING" is displayed at the 'bottom right of the
screen. If another screen is selected, drawing will stop. If you want to
start drawing again, return to the graphic screen, then press the software
key [START MACHIN]. • .
6) When you want to temporarily stop the drawing, either include MOO within the
part program, or press the software key [STOP]. During a temporary stop,
"STOPPED" is displayed at the bottom right of the' CRT screen. ' If you want to
start the drawing again from where you left o'£f, press the software key
[START MACHIN], or if you want to redraw from the start of the program, press
the software key [REWIND] then press [START MACHIN].
7) If the end (M02, M30) , of the part program is executed, drawing ends. The
tool path figure that has been drawn is stored until the power'is turned off,
as 'long as the [ERASE] key is not pressed,' or graphics are not used by
another' function, or a new tool path figure is not drawn.

11.13.5 Figure to be drawn ,

In the case of rapid traverse, the tool path figure is drawn at the speed of
rapid traverse in proportion to the speed of rapid traverse set by ,parameter for
machining. However, in the case of rapid traverse in linear interpolation, a
linear drawing is made. Helical cutting can also be drawn.

11.13.6 Start coordinates and position

The first starting point in a program is restricted by one of the following
cases:
1) G92, G52, G92.1
If there is an initial movement specification after the G92, G52, and G92.1
specifications, the point specified by G92, G52, G92.1 becomes the start
point.
2) G92, G52, G92.1
If the initial start command is specified without G92, G52, G92.1, the value
of the work coordinates of the end point of this initial movement instruction
becomes the drawing start point.

- 645 -
 111-11.13.7

11.13.7 Drawing position after drawing start

The drawing proceeds on the basis of the instructed amount of movement.
1) Ignored functions
Blocks containing G04 (dwell), G10 (setting offset amount), G20, G21 (inch/rom
selection), and M06, G22, G23 of ATC (stored stroke limit ON/OFF) are
ignored. G28, G30 are drawn to the intermediate point, and G29 is drawn from
G29.
M, S, T, B (second auxiliary functions) are ignored.
A reference point return check is not conducted with G27.
A stored stroke limit check is not conducted.
2) Blocks which do not conduct a cycle
Blocks containing G31 (skip function) and G60 (single direction positioning)
do not conduct a cycle and draw to the instructed end point position.
3) Custom macro
a) I/O instruction to D1/DO by #1000 - #1035, #1100 - #1135 (interface
signal) is ignored.
#1000 #1035 is regarded as O.
#1100 - #1135 is not output. In addition if referenced it is regarded as
O.
b) The offset amount cannot be changed by #2000 - 112799 (tool offset amount).
c) The work zero point offset amount cannot be changed by 115201 - 115335
(work zero point offset amount) or by #2500 - #2806 (FS6 type work zero
point offset amount).
d) No message is displayed by #3000 (alarm message), but a warning message
"NC STATEMENT ERROR (B. G.)" is displayed. The drawing does not proceed
any further.
e) #3001 - #3002 (clock) is ignored.
Therefore, #3001=0 :
WHILE [#3001 LE 100J DOl
END1 ;
if the above instruction exists, the drawing will not proceed. Care
should be taken in this regard.
f) The values of #5001 - #5104 (position information) are not guaranteed.
g) Variables (111 to #33, 11100 to 11199, and 11500 to 11699) specified in the
drawing program are unrelated to the machining program, and have no effect
on machining.
h) The common variables of #500 to #699 are not deleted when the power is
turned off, and 'can be modified in the drawing program. However, they are
deleted when a power failure occurs.
i) Values of 11700 to #999 can be referenced in the drawing program, but
cannot be rewritten.

11.13.8 figure movement

Refer to the item about figure movement of graphic display.

11.13.9 figure expansion

Refer to the item about figure expansion of graphic display.

11.13.10 Initial values at the beginning of drawing

1) Local variables Null
2) Macro variables Foreground values are specified for 11100 to
#199 and #500 to #599.
3) Workpiece coordinate offsets: For~ground values are specified for COMMON and
G54 to G59.
4) Tool offsets Foreground values are specified only for three
offsets set by the parameter.

- 646 -
 111-11.14

11.14 Display Positional Deviation

11.14.1 Outline
A function that displays positional deviation (servo error) shown in the
diagnose screen in the existing circumstances in Series 15. This function can
display the graphic drawing.
The details of the new function are described below:
1) The positional deviation waveforms of up to two axes can be displayed. Each
color of the waveforms can be set by parameters. The desired color can be
selected from seven colors: white, red, green, yellow, blue, purple, and
light blue.
2) The statuses of up to four signals can be displayed.
3) The zero point for positional deviation and time can be shifted, allowing the
necessary part of the waveforms to be displayed.
4) The value corresponding to a graduation can be specified for each of the
positional deviation (vertical axis) and time (horizontal axis), enabling
various waveforms to be displayed.
With display data of positional deviation waveforms, the value of the error
counter is sampled at a constant interval,. stored in memory, and displayed.

Pulse distribution Accelera tion +

(i nterpol a t ion) /deceleration ----+- Error
circuit - counter -

Note) This function is applied only to the series having a 14-inch CRT.

11.14.2 Displaying the positional deviation waveform screen

To display the positional deviation waveform screen, use the following steps:
1) Press the [SERVICE] soft key.
~----~----~------~----~------r------r-----//----~~----~
POSITI
ON
PROGRA
M
OFFSET COMMAN
D
SETTIN
G
SERVIS
E
t
li I
HAPTE

2) Press the [SERVO ERROR] soft key. Then, the positional deviation waveform
screen appears.

I //~
PARAME
TER
PITCH DIAGNO
SE
DISPLA
Y MEM
MAP SE
RVICE
SYSTEM
CONFIG
SERVO
ERROR IiHAPTE I
t

11.14.3 Display screen

This function supports three display screens:
- Screen for displaying positional deviation waveforms (Fig. 11.14.3 (a»
- Zero-point shift screen for displayed positional deviation waveforms (Fig.
11.14.3 (b»
- Drawing parameter setting screen (Fig. 11.14.3 (c»

- 647 -
 111-11.14.3

[Changing the screen]

(Another screen)

.1 SERVISE
Maintenance screen

1 CHAPTER

Maintenance screen

1 SERVO ERROR

Screen for displaying positional

deviation waveforms

SET END SHIFT PARAMETER SET END

Zero-point shift screen for Drawing parameter setting

displayed positional deviation screen
waveforms

- 648 -
 111-11.14.3

1) Screen for displaying positional deviation waveforms

The positional deviation waveforms of up to two axes and up to four signals
can be displayed at the same time on this screen.
The increments for positional deviation (vertical axis) are the minimum
positional deviation that can be detected (detection unit). The increments
for time (horizontal axis) are ms.

00100 N00000
~IS
1.)(
2.V

rl-
/
/
1\
V\ -- \
......

!-h

r-
T1tE(MII)

I1S1 ••• tnt1P •••••••••• 81.l1li5.15 UK

Fig. 11.14.3 (a) Example of the Screen for Displaying Positional

Deviation Waveforms

- The following soft keys are provided:

TRACE Used to display data on positional deviation and signals while
receiving them.
STOP Used to stop displaying waveforms.
ERASE Used to erase displayed data.
PARAMETER: Used to display the drawing parameter setting screen.
SHIFT Used to display the zero-point shift screen of displayed
positional deviation waveforms.

Note 1) Pressing the TRACE key starts sampling the value of the error counter
and displaying positional deviation waveforms.
When 1000 errors are sampled, the sampling process is completed.
Note 2) If the parameters for displaying the positional deviation waveforms and
signals are not set, they are not displayed.
Note 3) To identify the 1st-axis and 2nd-~xis waveforms, different colors should
be specified for them on the· drawing parameter setting screen. The
name, zero point, and waveform of the 1st axis are displayed in the same
color. This is also true for the 2rid axis.

- 649 -
 111-11.14.3

2) Zero-point shift screen for displayed positional deviation waveforms

The zero point of both the positional deviation and time can be shifted on
this screen.

00100 N00000
ReIS
S.X
a.Y
II
K' r-....
/ \

...........
Ii.",

......
- - TlltEa.I)

I1EI1 ••• STtP . . . . . . . . . . 112••• 4S Uk

Fig. 11.14.3 (b) Example of the Zero-point Shift Screen for Displayed
Positional Deviation Waveforms

The zero point of positional deviation (vertical axis) can be shifted using
the t and + soft keys. When the zero point is shifted, the graduations move
up and down while blinking.
The zero point of the time (horizontal axis) can be shifted using the + and ~
soft keys. When the zero point is shifted, the graduations moves right and
left while blinking.
Whenever the above soft key is pressed, each zero point of the positional
deviation and time is shifted one graduation.
Pressing the SET END key stops the blinking and redisplays the waveforms
according to the specified parameter. If the SET END key is not pressed, no
waveforms are redisplayed in the specified unit.
Whenever the soft key is pressed, the zero point is shifted by the following
value:

Shift range

1st axis to be displayed 2nd axis to be displayed

Vertical Value of ERROR RANGE 1 Value of ERROR RANGE 2

Horizontal Value of TIME RANGE

- 650 -
 111-11.14.3

Note 1) The maximum number of times a zero point is shifted varies according to
TIME RANGE as follows:

TIME RANGE 25 50 100 200 400 500

Shift count 60 20 0 0 0 0

However, the shift count does not apply where the waveforms are
redisplayed after TIME RANGE is changed. If the TIME RANGE is changed,
the shift count for new TIME RANGE is determined (as following table)
according to the relationship between the time (ms) during which data
was traced and the time allotted to one display screen for the TIME
RANGE.
If the time during which data was traced is longer than the time
allotted to one display screen for the new TIME RANGE, the difference
can be used to shift the zero point.

TIME RANGE 25 50 100 200 400 500

Data range 2000 2000 2000 4000 8000 16000 (ms)

Note 2) If data is traced, and the waveforms are displayed after the zero point
for time is shifted, the zero point automatically moves from the shifted
position to the original position, namely, the leftmost position of the
horizontal aX,is. Then displaying waveforms starts.
Note 3) Do not change the zero-point shift screen for displayed positional
deviation waveforms to the screen using graphic data such as the GRAPHIC
screen. Upon return again to the zero-point shift screen for displayed
positional deviation waveforms, the screen is not displayed in the
normal state, i.e., graduation li;nes and waveforms disappear.
If the zero-point shift screen for displayed positional deviation
waveforms is destroyed by displaying another screen using graphic data,
press the CHAPTER soft, key to" display the SERVO ERROR soft key.
Pressing the SERVO ERROR soft key returns the screen to the zero-point
shift screen for displayed positional deviation waveforms, and enables
normal use of the zero-point shift screen.

- 651 -
 In-l 1.14.3

3) Drawing parameter setting screen

This screen is used to set the parameters for displaying positional deviation
waveforms.

TIItE fIINIE

DI!iF'I..AV ~IS

DI!iF'I..AV ~IS 2 •
EllUl fIINIE 1 ·
•

1 •
2IiII
<25.S8.11lB.2IiII ••• 1!IIIII15)

...
00100 N00000
DI;1)O

CI1CR (AXIS 1)

CI1CR (AXIS 2 ) .
.-
•
- '1
,....2
F1I&8.2

:3
(811oH1TE .1IfE])
EllUl fIINIE 2 · ... 21GIEH .:3I'1'E1.UlW
41LLE .i!lIVIa.ET
III.IGHT'-LLE
7110HlTE

•••• JIB 8TCP •••••••••• 181331111 I.IIC

Fig. 11.14.3 (c) Example of the Drawing Parameter Setting Screen

a) Setting procedure
i) Parameters can be entered regardless of the modes.
The cursor keys -+-, +, t, and '" are used to move the cursor to the
position of the parameter to be specified or modified. Pressing the
-+- or -+- keys moves the cursor forward. Pressing the + or + keys moves
the cursor backward.
ii) To set a parameter, enter the value and press the INPUT soft key.
iii) Pressing the SET END key returns the drawing parameter setting screen
to the zero-point shift screen for displayed positional deviation
waveforms, and redisplays the waveforms according to the specified
parameters.

Note) Redisplaying data refers to changing individual ranges and colors of trace
data to redisplay it. If the INPUT key is pressed under the following
conditions, the waveforms are not displayed.
- If the following parameters are changed
- If the cursor is placed at the position of either of the following
parameters even when they are not changed
CD DISPLAY AXIS
CD DI/DO
b) Setting items:
The setting items are explained below:
i) Waveform display axis 1:
Selects the control axis to be displayed first.
Specify a control axis number. If 0 is specified, no control axis
is displayed.
When a non-existing control axis number is entered, 0 is assumed.
ii) Waveform display axis 2:
Selects the control axis to be displayed second.
Specify a control axis number. If 0 is specified, no control axis
is displayed.
When a non-existing control axis number is entered, 0 is assumed.

- 652 -
 In-l 1.14.3

iii) Positional deviation 1:

Specifies the value corresponding to a graduation of the positional
deviation to be displayed first.
The increments are the detection units.
Setting range: 0 to 524287
If a value out of the range is entered, the maximum value, 524287,
is assumed.
iv) Positional deviation 2:
Specifies the value corresponding to a graduation of the positional
deviation to be displayed second.
The increments are the detection units.
Setting range: 0 to 524287
If a value out of the range is entered, the maximum value, 524287,
is assumed.
v) Time:
Specifies the value corresponding to a graduation of time.
One of the following values can be specified: 25, 50, 100, 200,
.400, and 800 (ms).
If the value out of the range is entered, the maximum value, 800 ms,
is assumed.
vi) External I/O signal 1:
Specifies the address of the signal to be displayed first. If 0 is
specified, the 1st signal is not,displayed.
Setting range: GOOO.O to G511.7, FOOO.O to F319.7,
YOOO.O to Y127.7, XOOO.O to X127.7
Enter a correct signal type, address, and bit position such as
X040.1.
If a non-existing signal type is entered, or if incorrect data is
entered, a warning is issued.
vii) External I/O signal 2:
Specifies the address of the signal to be displayed second. If 0 is
specified, the 2nd signal is displayed.
viii) External I/O signal 3:
Specifies the address of the signal to be displayed third. If 0 is
specified, the 3rd signal is disp~ayed.
ix) External I/O signal 4:
Specifies the address of the signal to be displayed fourth. If 0 is
specified, the 4th signal is displayed.
x) Color (waveform axis 1):
Specifies the color of the name, zero point, and waveform of the
control axis to be displayed first.
0: White, 1: Red 2: Green 3: Yellow
4: Blue 5: Purple 6: Light blue 7: White
If a value other than the above is entered, 7 (white) is assumed.
xi) Color (waveform axis 2):
Specifies the color of the name, zero point, and waveform of the
control axis to be displayed second.

- 653 -
 111-12

12. DATA OUTPUT

12. 1 Tool Offsets

The tool offsets set in the offset memory can be output to the output device.
The output data format is the same as the offset data input (programmable data
input - GI0 -) format specified by the tape command.
Q) Setting the data output interface
Set the data output interface in the setting data foreground OUTPUT DEVICE.
(See Section 10.3)
Data can be output via the reader/puncher interface or 20 mA current loop
interface.
GD Setting the output code
.9" CRT unit

Set whether the output data code

is EIA or ISO. Set this selection
to setting data PUNCH CODE.
(See Section 10.3)
CV43 Set the mode to EDIT.
[~L'
@:±DD~DD @
I I I I I~![
@) Press function menu key to change Function
menu key
Soft key Operation
menu key
over the soft keys to .function
selection keys.
GD Press OFFSET key. 9" CRT function selection key
~6 Press operation menu key to change
over the soft keys to function
selection keys.
CD Press PUNCH key to change over the
soft keys to operation guide keys.
®9 Press TOOL key~· 9" CRT OFFSET operation selection key
~ Offset values .are started to be
output and STOP key is displayed
on the soft key.
{9 To stop the outputting, press STOP
key. 9" CRT operation guide key (PUNCH)
After the STOP key is pressed, the

QY
output of the remaining offset data
cannot be started.
After completion of the offset
~ILE#)
II
output, each soft key returns to • 14" CRT unit
an operation select key.

Function Soft key Operation

menu key menu key

14" CRT function selection key

14" CRT OFFSET operation selection key

14" CRT operation guide key

II

- 654 -
 111-12.2

12.2 Parameters

The parameters set in the CNC memory can be output to the output device. The
output data format is the same as the parameter tape format.
CD Setting the data output interface .
Set the data output interface in the setting data foreground OUTPUT DEVICE.
<See S~ction 10.3)
Data can be output via the reader/puncher interface or 20mA current loop
interface.
(]0 Setting the output code
Set whether the output data code 9" CRT function selection key
is EIA or ISO. Set this selection
to setting data PUNCH.CODE.
([)43 Set the mode to .EDIT.
~ Press function menu key to change
over the S9ft keys to function
9" CRT operation selection key
.selection keys.
(5)6 Press SERVICE key.
QD Press operation menu key to change
over the soft keys to operation
I I
PUNCH READ
II
selection keys.
CD Press PUNCH key to change over the 9" CRT Operation guide key
soft keys to operation guide keys.
~ To output parameters other than ALL I
PARM IPITCH I I )1
(FIlE # I
pi.tch error compensation amount,
press PARAM key. To output only
the pitch error compensation 14" CRT function selection key
amount, press PITCH key. To
output all parameters at one time,
press ALL key.
GD Parameters are started to be output
and STOP key is displayed on the 14" CRT operation selection key
soft key.
Q9 To stop the outputting, press STOP /I
key. After the STOP key is pressed,
the output of the remaining para- 14" CRT operation guide key
meters cannot be started.
Q) After' completion of the parameter II
output, each soft key returns to an
operation select key.

- 655 -
 111-12.3

12.3 Work Zero Point Offset Amount

The work zero point offsets set in the offset memory can be output to the output
device. The output data format is the same as the offset data input
(programmable data input - G10 -) format specified by the tape command.
Q) Setting the data output interface
Set the data output interface in the setting data foreground OUTPUT DEVICE.
(See Section 10.3)
Data can be output via the reader/puncher interface or 20 rnA current loop
interface.
CD Setting the output code 9" CRT function Hlection key
Set whether the output data code
IPOsmON rROG~ OFFSET IPRG-CHXICHAPTERI + I
is EIA or ISO. Set this selection
to setting data PUNCH CODE. t
(See Section 10.3) 9" CRT OFFSET operation selection key
0)43 Set the mode to EDIT.
QD Press function menu key to change I I
INPUT ! +INPUT MEASURE! PUNCH !INP-NO.!+ I
over the soft keys to function I
selection keys.
~65 Press OFFSET key. 9" CRT operation guide key (PUNCH)

~ Press operation menu key to change TOOL FRK'ZER.\ \ (FILE#) \

over the soft keys to function
selection keys.
14" CRT function selection key
CD Press PUNCH key to change over the
soft keys to operation guide keys.
® Press WRI<. ZER.
~ Offset values are started to be
output and STOP key is displ~yed
on the soft key.

E::r·. . r. "'j'"
Q9 To stop the outputting, press STOP
:~i~r the
output of
STOP key is pressed. the ITOOLI~~R"J'I
the remaining offset data ~~~~--~--~--~--~--~~~~--~~
II
cannot be started.
(D After completion of the offset
output, each soft key returns to
an operation select key.
(Note) The output of work zero point offset
is possible if additional work coor-
dinate systems (option) are combined.

- 656 -
 1II-12.4

12.4 Tool Offset Data by Tool Number

The tool offset data by tool number is output to the output device. The output
data format is the same as that input of offset data by tape command.

GlOL70 ;
TOOOOPOOOOROOOOKOOOO

GIl
M2 ;

CD Setting the data output interface

Set the data output interface in the setting data foreground OUTPUT DEVICE.
(See Section 10.3)
Data can be output via the reader/puncher interface or ASR33 interface.
Setting the output code
Set whether the output data code 9" CRT function selection key
is EIA or ISO. Set this selection PUNCH
to setting data PUNCH CODE.
(See Section 10.3)
Set the mode to EDIT. 9" CRT operation guide key
Press function menu key to change
over the soft keys to function
selection keys.
Press OFFSET key several times to 9" CRT operation guide key (PUNCH)
display the "tool offset by tool
number" data screen.
Press operation menu key to change
over the soft keys to function 14" CRT function selection key
selection keys.
Press PUNCH key to change over the
soft keys to operation guide keys.
Press TL-DATA key. 14" CRT OFFSET operation selection key
Tool offset data are started to be
output.
After completion of the offset
output, each soft key returns to 14" CRT operation guide key
an operation select key. II

- 657 -
 111-13

13. DATA INPUT/OUTPUT TO AND fROM fANUC CASSETTE

13.1 file

The unit of data, which is input/output between the cassette and the CNC by one
input/output operation on the NC (pressing the IREADI or IpUNCHI key), is called a
"file". When inputting NC' programs from, or outputting them to, the cassette,
for example, one or all programs within the NC memory are handled as one file.
Files are assigned file numbers 1,2,3,4 and soon, with the lead file as 1.

~__F_i_l_e__l _____F_i_l_e__2__~__F_i_l_e__3 __~__~~\~__~____F_i_le__n______B_l_a_n_k__~

One file can also be written over two cassettes as follows:

Cas-
sette 1
~_F_i_l_e__l__~_F_1_'1_e__2__~_F_i_l_e__3__~__-J~~__~_F_i_l_e_(k_-_l_)~I___F_i_l_e__K~
Cas-
sette 2 _ of __~_c_on
t1_'n_u_a_t_i_o_n
file k __ ~_F_i_l_e_(_k_+_l_)~________-J(~
JL__~__F_i_Ie__n____~__B_l_a_n_k__~
Once written in the cassette, data can subsequently be read out by the corre-
spondence between the data contents and the file numbers. This correspondence
cannot be verified unless the data contents and file numbers are output to the
CNC and displayed. Therefore, when writing data in the cassette, enter the file
numbers and "data contents in the memo column.

Entry example on MEMO

File 1 CNC parameters

File 2 Offset data

File 3 CNC program 00100

File (n-l) CNC program 00500

File n CNC program 00600

13.2 file Search-out

Data to be input/output in the cassette must be specified by 'using file numbers.

Called "file search-out", this operation is performed according to the following
procedure.
Be sure to perform the file search-out and data input/output operation simul-
taneously. File search-out cannot be performed independently.
CD Select a mode in which the desired input/output operation can be done. (See
each item)
® Select a screen in which the desired input/output operation can be done
using soft keys. (See each item)
Q) Display the soft keys to execute the desired input/output operation by"
pressing the operation menu key.
eD Select the desired input/output operation by pressing the soft key ( I READ
or I PUNCH I )
GU Press soft key (FILE#) and input a file number respectively.
QD Perform data input output operation.
- 658 -
 111-13.2

When this sequence of operation is complete, file search-out is performed

according to the number keyed in step 5); that is, before the data input/output
operation is performed as follows:

File number Contents of file search-out

0 (zero) The beginning of the cassette is searched out.

1 to 9999 The file of a specified file number (1 to 9999) is searched out.

(Note 1) The results of file search-out are different when a file has been
written-in and when nothing has been written for file number NO and N1.

~
File search-out

A file has been written in. Nothing has been written.

NO File search-out for the cassette The beginning of the cassette

(File 1 is searched out.) is searched out.

N1 File 1 is searched out. Since the file has not been

written in, if input/output
operation is performed, pis
alarm will activate.

When entering data in a new cassette for the first time or when invalidating all
written data and writing data from the beginning of the cassette, perform
search-out for the cassette by using NO.
(Note 2) When correct file search-out is not performed (no file is found out,
etc.), the CNC does not activate the alarm. When the input/output
operation is performed after file search-out, pis alarm 820, 830 or 840
is displayed according to the used input/output channel.
Operating examples of data input/output following file search-out are shown
below. See 13.3 and 13.4 for a detailed description of the data input/output
operation.
(Example 1) When outputting a program (program number 1234) stored in the CNC
memory to file 5 of the cassette.
Select the EDIT Mode.
Select the program display screen by the soft key operation.
Display the soft key I PUNCH I by an operation menu key.
Press the soft key IPUNCHI.
soft key soft key
Key in I (FILEt!) I, ~PROGII) ,
Press the soft key~.
OJ, 1I1, m, and rn, in that order.

When the EXEC key has been pressed, the file which corres'ponds to file number 5
following N will be searched out and the program of program number 1234 follow-
ing 0 will be output to that file as a ne~ file.
(Example 2) When inputting file 3 (entered in the cassette) to the CNC memory.

~
Select the EDIT mode.
2 Display the program screen by soft key operation.
3 Press the operation menu key and display the soft key I READ I.
4 Press the soft ke READ.
(5) Key in I (FJLEII) I
@ Press the soft key
When the ALL key has been pressed, the file which corresponds to the file number
following N will be searched out and the CNC program in that file will be input
to the CNC memory_

- 659 -
 111-13.3

13.3 Data Output Operation

Observe the following procedure to output data from the CNC to the cassette.
Slide the write-protect key to RECORD side before the output operation so the
data can be entered.
Any attempt to execute output operation will write-protected status will display
pis alarm 820, 830 or 840 by the used input/output channel. Also, check that
the I/O interface setting has been made to the proper cassette. (See 4.11 in
Appendix 6.)

13.3.1 CNC program output

The following operation enables CNC program output to the cassette. When, how-
ever, outputting an CNC program(s) to a specific file, perform file search-out
operation first (see 13.2). Note that, the files preceding a file which has b~en
searched out remain unchanged, but the subsequent files are deleted. When out-
putting an CNC program without sp~cifying the file 'search-out, the program is
added to the last of the files which have been written in the cassette.
CD Select the EDIT mode.
GD Select the program display screen by the soft key operation.
@) Press the operation menu key and display the soft key I PUNCH I .

~
Press the soft key I PUNCH 1 •
Specify file search-out when rjqUired .
Key in I (PROG#) I Pro ram No. l
EXEC (output of one program in CNC memory),
or key ~n ALL output of all programs on CNC memory) in this order.

(Example 1) Output ofm

a) When no file search-out specified

(Before
File 1 File 2 File 3 Blank
I output)

~
A (After
File 1 File 2 File'3 Blank
I (File 4) output)

b) When file search-out is specified

File 1 File 2 I File 3 Blank

(Before
output)
L Search-out
file
A (After
File 1 Blank
(File 2) output)

- 660 -
 111-13.3.2

(Note 1) When pis alarm 820, 830, or 840 activates during the output of an CNC
,program to the cassette, the contents of the cassette are restored to
the condition before output.
When, however, pis alarm 820, 830, or 840 activates during the output
of an CNC program after file search-out operation has been performed,
only the files preceding the file which has been searched out are re-
stored.

13.3.2 Offset data output

following operation enables the output of offset data to the cassette.
Select the EDIT mode.
Select the tool offset data display screen by the soft key operation
Display the soft key I PUNCH I by pressing an operation menu key.
Press the soft key IpUNCHI.
Specify file search-out when required.
Press the soft key ITOOLI.
See 13.3.1 "CNC program output" for information on which file off set data are
output to.

13.3.3 CNC.parameter output

The following operation enables the output of CNC p~rameters to the cassette.

~
Select the EDIT mode.
Select the parameter display screen by soft key operation.
3 Display the soft key I PUNCH 1 by pressing an operation menu key.

~
Press the soft key IpUNCHI.
Specify file search-out when required.
Press the soft key IPARAMI (Output of common parameter.) or IALLI (Output of
common parameter and pitch error compensation data.)
See 13.3.1 "CNC program output" for information on which file CNC parameters are
output to.

13.4 Data Input Operation

Observe the following procedures to input data from the cassette to the CNC.

13.4.1 CNC program input

The following operation enables CNC program input from the cassette to the CNC.

Select the EDIT mode.

Display the program screen by an operation menu key.
Display the soft kerl REf I.
Press the soft key READ.
Specify the file search-out for the file in which a program to be input is
contained.
(See 13.2 for file search-out)
I
Key in I ALL I (for ordinary operation) or (PROG#) I, I Program number I ,
I EXEC I (when changing the program number of a program to be input), in that
order.

13.4.2 Offset data input

The following operation enables offset data input from the cassette to the CNC.
Select the EDIT mode.

!
Display the program screen by soft key operation.
Display the soft key I READ 1 by pressing an operation menu key.
Press the soft key IREADI.
Specify th,e file search-out for the file in which offset data to be input fs
contained.

- 661 -
 111-13.4.3

Key in I PROG" I and the I Program number I and press the I EXEC I key in that
order. This operation enters the offset data in the file as one CNC pro-
gram. Therefore, be sure to specify the program number. Otherwise, a
WARNING will activate.
The input offset data will be displayed on the screen in the form of offset
value input by programming (GI0), after completion of input operation.
GI0L_ _P_ _R_ _ ,
® Change the mode to MEMORY and press the cycle start button to execute the
program. The offset data will be input to the CNC offset memory.
® Select the offset data display screen and check that the offset data has
been correctly set.

enables CNC parameters input from the cassette to the

Press the EMERGENCY STOP button on the machine side.

Select the service setting screen by soft key operation.
Set PARAM, WRITE ENABLE to 1. Alarm SWOOO is displayed at this time.
Display the program screen by soft key operation.
Press the operation menu key and display the soft key I READI.
Press the soft key I READ I.
Specify the file search-out.
Press the soft key I PARAM I (for ordinary parameter), or I ALL I (for ordinary
parameter and pitch error compensation data).
® The CNC parameter is input to the memory for CNC parameter by this opera-
tion. Normally, alarm PWOOO will activate after completion of parameter
reading.
Select the service setting screen, and set PARAM, WRITE ENABLE to O~
Turn the eNC power on again if alarm PWOOO activates.
Release the emergency stop button of the machine side.

13.5 File Deletion

Data written in the cassette can be deleted in file units.

~4~
1 Select the EDIT mode.
Select the program display screen by soft key operation.
Unlock the program-protect switch ( ~).
Slide the write-protect key of the cassette to the RECORD side and insert
the cassette into the adaptor. The red lamp, which displays the status of
the adaptor, will light.

~~
Display the soft key I~D=E=L~F=I=L~E~I by pressing an operation menu key.
Press the soft key I DEL FILE I.
Key in I (FILEt!) I I File number I I EXEC I. The file specified by the file
number will be deleted and the file numbers of the files succeeding the
deleted file will be decremented by one respectively.
(Note) The execution of steps (1) to (j) without sliding the write-protect key
to RECORD side in step @) activates no alarm. However, note that file
deletion is not performed.
(Example) When keying in I FILEt} I [IJ I EXEC I key (performing deleting operation
for file 2).

(Before
File 1 Blank
deletion)

(After
File 1 Blank
deletion)

- 662 -
 111-13.6

13.6 Precautions

13.6.1 Request for cassette replacement

When one file has been entered over two cassettes, the red and green lamps on
the adaptor flash alternately on completion of data input/output between the
first cassette and the CNC, prompting cassette repla"cement. In this case, take
the first cassette out of the adaptor and insert a second cassette in its place.
Then, data input/output will automatically continue.
Cassette replacement is prompted when the second cassette is required during
file search-out, data input/output between the CNC and the cassette, or file
deletion.
(Note 1) Since cassette replacement is processed by the adaptor, no special
operation is required. The"CNC will interrupt data input/output opera-
tion unit the next cassette is inserted into the adaptor.
(Note 2) When reset operation is applied to the CNC during a request for cas-
sette replacement, the CNC is not reset at once, but is reset after the
cassette has been replaced.

13.6.2 Write-protect key/tab

The cassette is provided with a write-protect key/tab in order to protect data
written in the cassette when data is input, when file deletion is performed,
etc.
1) FANUC CASSETTE B1/B2
Slide the write-protect key in the. direction indicated by the arrow (see
diagram). Data can now be written in the cassette.
2) FANUC CASSETTE F1
Slide the write-protect tab in the direction indicated by the arrow (see
diagram). Data can now be written in the cassette.

FANUC CASSETTE B1/B2 FANUC CASSETTE F1

13.7 File Name of Floppy Cassette (FANUC CASSETTE F1)

When files are output, the files are named. The file name regulation is as
follows:
1) CNC program = Oxxxx
xxxx: selected program number
2) CNC parameter = PARAMETER
3) Pitch error data = PITCH ERROR
4) Parameter and pitch error = PARAM. AND .PITCH
5) Tool offset data = OFFSET
6) All programs (At operation of PUNCH ALL) = ALL. PROGRAM

- 663 -
 III-14

14. ABSOLUTE POSITION DETECTION

For axes attached the absolute pulse coder, the machine positions are calculated
even if the CNC power is turned off, and no reference point return operation is
required.
The absolute pulse coder detects the absolute position based on counting values,
providing a counter in the conventional incremental pulse coder.
Even if the CNC power is interrupted, the absolute pulse coder can always count
the machine position because it is backed up by a battery.
For axes provided with the absolute pulse coder, the automatic operation can be
got started immediately after the power is turned on because the present
position is read from the absolute counter when the eNC power is turned on and
the machine coordinate system and the work coordinate system are automatically
set at the time of powe+ on.
There are no restrictions as "reference point return is required after power on"
or "operable after reference point return" written in this manual for axes with
absolute pulse coder.
(Note 1) The absolute pulse coder cannot be used for the axes on which the
control axis (servo axis) detach function is applied.
(Note 2) The time required until the servo ready signal (SA) is output after
applying the power is different depending on the distances from the
machine position, where the power was applied, to the reference point.
If a distance of 1 m is apart, the time required until the servo ready
signal (SA) is output will be extended for approximately 1 sec.

14.1 Initial Setting Status when Power Applied

1) The machine coordinate system and work coordinate system will be

automatically set up. G54 coordinate system will be selected as the work
coordinate system.
2) G92 and the amount of work zero offset by G52 will be cleared.
3) The relative coordinate values (RELATIVE) are set by parameter 2202, #1 DSE.
4) Other initial setting status when applied the power are the same as the
machine without the absolute position detection system.

14.2 Manual Reference Point Return when Machine is Installed

In order to coordinate the reference point and counted values of the absolute
pulse coder, manual reference point return must be executed in the following
cases.
1) In the case of first-field adj ustment (after the position of the reference
point is decided).
2) When the position of the reference point is changed.
3) When the absolute pulse coder is changed.
4) When alarm OT32 is generated.
5) When the CMOS memory is changed.
6) When data in the CMOS memory is cleared.
Execute manual reference point return according to the following procedure.
1) Set the Data No. 1815 bit 4 parameter APLC-ZRN to "0".
2) Turn off the power once and apply again. Alarm OT32 will be displayed.
3) Execute manual reference point return. When completed, the parameter
APLC-ZRN will be set to "1" automatically.
4) When depressed the RESET, alarm OT32 will be released.

- 664 -
 111-14.3

14.3 Alarms

The following alarms will be detected when applying the power.

1) Alarm OT32 NEED ZRN (ABS PCDR)
• When the reference point and counting values of the absolute pulse coder
are not coordinated, i.e., the parameter APLC-ZRN is "0".
• In the case that the voltage of the battery for the absolute pulse coder
has become 0 volt under the status the power for the system off, and then
the counting values of the absolute pulse coder was erased.
• When an error is detected in the counting values of the absolute pulse
coder. When the alarm OT32 is generated, manual reference point return
must be executed. Refer to Section 14.2.
2) Alarm SVI01 DATA ERROR (ABS PCDR)
An error occurs when reading the data from the absolute pulse coder. (Ex.
Failure of the absolute pulse coder, etc.)
If the machine moves by a considerable amount, the motor excess deviation
alarm will be generated.
When this alarm has generated, once turn off the power and apply again.
3) Voltage drop alarm of the battery
The voltage drop alarm of the battery, "BAT", will be indicated on the CRT
display.
For changing procedure of the battery, refer to Chapter IV.

(Note) When "BAT" is indicated on the CRT display, be certain whether it is the
voltage drop alarm of the battery for the system or for the absolute
pulse coder by monitoring the signal output status on the Service Screen.

Q) Change over the soft key to the function selection key by pressing function
menu key.

I SETTING SERVICE MESSAGE CHAPTER I+ I

Press the SERVICE key, then the maintenance items are displayed on the
screen.
When the diagnosis data is not displayed on the screen, follow the procedure
described below.
- Press the CHAPTER key to change over the soft key to the chapter selection
key.

PARAM PITCH DIAGNOS I DSP .MEM I I

Press the DIAGNOS softkey •.
or
Press the SERVICE softkey repeatedly until the diagnosis data is
displayed.
QD When the required diagnosis data is not displayed on the screen, follow the
procedure described below.
QD-l) Procedure by the page changeover key
Change over the page by the page changeover key.
QD-2) Procedure by the softkey
i) Change over the softkey to the operation selection key by pressing
operation menu key.

INP-NO. I+ I

- 665 -
 111-14.3

ii) Press the INP-NO. softkey, then the softkey is changed over to the
operation guide key.

I (VALUE) I II
iii) Key in the data number of the diagnosis data to be displayed. When
the data number is keyed in, the softkey is changed over as shown in
the table below.

EXEC
I I
Display the diagnostic data No.' 240 by the above procedure. If the 7th bit
(Left end bit) displays 1, it indicates the voltage drop of the battery of the
system.
Display the diagnostic data No. 240. If the 6th bit shows 1, it indicates the
voltage drop of the battery for the absolute pulse coder.
(Note) The voltage of the absolute pulse coder backup battery is 6 volts, but
decreases as time elapses.
v
6V

4,5 V -

DO. PBATL

1.5V ---------i-----------
DO. PBATZ

DO.PBATL: Low battery voltage alarm

This alarm is given when the battery voltage decreases to about 4.5 V
or less. "BAT" is displayed on CRT/MDI when the alarm occurs.
DO.PBATZ: Battery zero alarm
This alarm is given when the battery voltage is about 1.5 V or less
and the NC powers off. When the alarm is given, "OT32 NEED ZRNCABS
PCDR" is displayed and parameter 1815114 (storage completion bit of
absolute pulse coder) changes to O. When this alarm is given, the low
battery voltage alarm is also generated.

- 666 -
 III-14.4

14.4 Setting Origin of Absolute Pulse Coder by MOl Operation

When an absolute pulse coder or a servo motor is replaced, it is necessary to

set the origin of absolute pulse coder (to store the count value of the absolute
pulse coder on a reference point).
There are two methods of origin setting. One uses the manual reference point
return. The other uses MDl operation after jogging the machine to the reference
point.
Origin setting by· MDl operation eliminates the necessity of the dog for
deceleration for manual reference point return and the manual reference point
return mode selection switch. However, this method requires some means to know
that the machine is on a reference point. The machine is moved to a reference
point by manual jog feed or manual handle feed, and parameters are set by MDl
operation.
Proceed using the following steps for origin setting:
CD Set parameter No. 1815, bit 4 APLC-ZRN to o. Alarm message "POWER-MUST BE
OFF" is displayed.
GD Turn off the power, and then turn it on.
Alarm message "OT32 NEED ZRN (ABS PCDR)" is displayed.
CD Move the machine to a reference point by manual jog feed, manual handle feed
or manual incremental feed.
QD Set parameter No. 1815, bit 4 APLC-ZRN to 1.
Alarm message "POWER-MUST BE OFF" is displayed.
~ Turn off the power, and turn it on.
Origin position has been set.

- 667 -
 111-15

15. AXIS CONTROL

15.1 Axis Control with PMC

Any axis can be released from the control of CNC and directly controlled from
PMC. That is, input of commands such as moving distance and feedrate commands
from PMC allows the axis to move independently of other axes moving under
control of CNC. Therefore, use of an axis of CNC enables control of peripheral
devices such as a turret, pallet, and index table. Which of CNC and PMC
controls each axis can be selected by the input signal.
The following operations can be directly controlled from PMC:
i) Rapid traverse with the specified moving distance
ii) Cutting feed with the specified moving distance
o The feedrate and override can also be specified.
o The cutting feed can be started simultaneously with another PMC control
axis.
iii) Reference point return
iv) Positioning on a machine coordinate point
v) Dwell

PMC CNC

BMI

First axis:
PMC axis control t - - - t - - - - - - - - '
data

Second axis:
PMC axis control
Command data

Third axis:
PMC axis control
data

Refer to the manuals issued by machine tool builders for details.

- 668 -
IV. MAINTENANCE
 IV-!

1. DAI L Y MAINTENANCE

1.1 Tape Reader Cleaning

a) Tape reader without reels

Cleaning
Item Cleaning point Reference drawing Cleaning method
period
1 Surface of read head
(light sensing part)
Fig. 1.1 (a) CD Daily Clean with gauze
or a thin brush
with absolute
2 Surface of read head Fig. 1.1 (a) 0 Daily alchhol.
(light emitting part)

3 Tape retainer Fig. 1.1 (a) G) Daily

4 Tape path Fig. 1.1 (a) ® Daily

5 Capstan roller Fig. 1.1 (a) 0) Weekly

6 Guide roller Fig. 1.1 (a) ® Weekly

7 Pinch roller Fig. 1.1 (a) (j) Weekly

8 Assembly under tape Fig. 1.1 (a) ® Monthly Clean with a

path plate cloth or brush.

9 Inside tape reader Fig. 1.1 (b) ® Monthly

cover

A860-0060-V009

Feed magnet
A860-0060-V003

@
Brake magnet
A860-0060-V004

fig. 1.1 (a) Tape reader without reels front view fig. 1.1 (b) Tape reader side view
(with cover removed)
(with cover removed)

- 671 -
 IV-I.!

b) Tape reader with reels

Cleaning
Item Cleaning point Reference drawing Cleaning method
period
1 Surface of read head Fig. 1.1 (c) CD Daily Clean with gauze
(light sensing part) or a thin brush
with absolute
2 Surface of read head Fig. 1.1 (c) CD Daily alcohol.
(light emitting part)

3 Tape retainer Fig. 1.1 (c) ® Daily

4 Tape path Fig. 1.1 (c) ® Daily

5 Capstan roller Fig. 1.1 (c) ~ Weekly

6 Guide roller Fig. 1.1 (c) ® Weekly

7 Pinch roller Fig. 1.1 (c) (J) Weekly

8 Assembly under tape Fig. 1.1 (c) ® Monthly Clean with a

path plate cloth or
a brush.
9 Inside tape reader Fig. 1.1 (d) ® Monthly
cover

® CD

® ®
AUTO
o IIaL Oft
AlARM ® AD..£U£
o limon:
®

Fig. 1.1 (c) Tape reader with reels front view Fig. 1.1 (d) Tape reader side view
(with cover removed)

- 672 -
 IV-1.2

1.2 Tape Reader Lubrication

a) Tape reader without reels

Routine lubrication points and lubrication periods are as follows:

Item Lubrication point Period Lubircant (Note) Amount

1 Magnet section 3 months Light machine oil 1 drop

See Fig. 1.1 (a) (J)
1 year Rocol paste Sufficient
to form a
Luna oil thin film

- 673 -
 IV-1.2

b) Tape reader with reels

Routine lubrication points and lubrication periods are as follows:

Rocol paste

2 Guide roller 6 months Rocol oil 2 to 3

See Fig. 1.2(e) ® drops

Rocoloil !

3 Tension arm guide roller 6 months Rocol oil 2 to 3

See Fig. 1.2(e) Q) drops
Rocoloil

- 674 -
 IV-1.3

CD AUTO
o REEL ON
AlARM ® R£LEASE
o REEL OFF

FORWARO STOP REWIND

o
o o

Fig. 1.2 Tape reader with reels front view (with cover removed)

NOTE: Lubricants

Item Name Manufacturer

1 Rocol oil RoeOL CO. , Ltd. (D .K.)

2 Rocol paste RoeOL CO. , Ltd. (U.K. )

3 Luna oil Nippon Sekiyu

1.3 How to Adjust the Photo-amplifier of the Tape Reader with Reels

CD Punch about 40 cm of test tape of the pattern as shown below (see Note 1,
Note 2), and connect both ends to make an endless tape.

•• • • • •• • • • • • • •• • •
• • • • • • • • • •• • •• • • •
•·...............
• • • • • • • •. or

••• • •• ••• • •• •••• •• • •• • •• •

OF-LEn:
CR

Adjustment is donw using the adjustment program incorporated in the tape

reader with reels.

- 675 -
 IV-1.3

o 0 Start adjustment program

a) Press the FOWARD AND REWIND

~~
switches at once, under
RELEASE status.
b) The Auto, alarm LEDs will go
no and off.
c) It is now set to the adjust-
ment program mode.
A'::,TO REEL O N @ O ? O o
ALAR'" G RELEASE
a REE~ OFF

o o

d) Set the test tape (Note 3).

e) Switch REEL OFF.
f) Press the FORWARD switch.
g) Start running the tape.

a RE
ALAR'" Gil RELEASE
a REE~ OFF

FORWARD STOP REWIND

gg
o o

G) Adjustment
a) The adjustment part is at the
right of the tape reader with
reels, seen from the rear.
(If it is not at the place
shown in the figure, it is at
the "A" section. See Note
4.).
b) Turn "SP", to light LD5.
c) Turn "DATA" so that LDI lights
on and off (Note 5). The
adjustment cannot be done
without the LD5 lighting on
and off.

- 676 -
 IV-1.3

o o ® Adjustment' end
a) Press STOP.

FORWARD STOP REWIND

[Q] [g]
@
o o

b) Set it to RELEASE.
c) Press FORWARD and STOP at the
same time.
d) It is now back to the ordinary
mode.
e) Perform this operation with
o REEL ON the signal cable connected
ALARN <\y RELEASE
normally.
o REEL OFr

FORWARD STOP REWIND

lE1J
o o

(Note 1) Paper tapes used must be of the following standards.

Information exchange paper tape: JIS C6243
Information exchange paper tape hole position and size: JIS C6246
(Note 2) When the tape reader is adjusted with black paper tape, it may be
misread if paper tape of other colors is used.
When adjusting the output wave form of the photo-amplifier, use paper
tapes of colors other than black or gray; like blue, white, pink,
yellow, orange, etc. This is because when blue, white, pink, etc.
colored paper tape was set on tape reader adjusted with black or gray
paper tape, it may cause misread. (If black tape only is to be used
for a tape reader, adjustment can also be done with black paper tape.)
(Note 3) EIA test tapes are also accepted for programs incorporated in the tape
reader of edition B and after.
(Note 4) The printed circuit board will open with the bottom screws as fulcurm
to the direction shown by the arrow, when the following four points are
loosened, tighten the screws after adjustment.

PCB Loosen screw DATA

@)

l!]
~
0 }

Rear

Screw ----
- - Front

/
/ SP

Be careful not to touch the

LDO-7

power source where 5V and 24V

Screw are made from 200V AC.

- 677 -
 IV-l.4

(Note 5) If LDO or LD3 lights on and off when "DATA" was turned, adjust it as
follows.

~
@] (@~r\
DATA DATA

-'0-
" I \
-0-
/
"I

I "
/

LD3 LDI
1) Light on and off LD3.
2) Turn to the center till LD1 also lights on and off.

1.4 Air Filter Cleaning (For free standing type cabinet)

When the air filter installed at the bottom rear of the equipment is dusty, the
dust collection efficiency will drop and the temperature in the equipment will
rise. Therefore, the filter must be cleaned weekly, as follow~:
1) Remove the fastener and remove the air filter from the bottom rear of the
equipment.
2) Blow the air filter out with compressed air from the inside while shaking the
filter lightly.
3) When the filter is very dirty, wash it in a neutral cleaner, then dry it in
the shade.
4) Make sure that the filter is completely dry prior to reinstallation. Other-
wise, the control can be damaged.
Jl JL
,/

I
* 1
0

~~O~ ==~ =~ ~__-~~O~

~
. fIlter
Air /~

............
0

"- ~I I

Rear view of free-standing type cabinet

(When two servo power transformers are mounted.)

- 678 -
 IV-2

2. REPLACEMENT OF BLOWN FUSE

When the fuse of each part of the CNC system is blown out, se.arch the cause and
take a corrective measure and replace the blown fuse.

2.1 Fuse Specifications

The fuses used in the CNC system ar~ as shown below.

Table 2.1 (a) Units with fuses and fuse specifications (In control unit)

Type of Symbol
Unit Capac-
control of Specifications Application
name ity
unit parts
Control Power FII, 5.0 A A60L-000I-0194#5.0 Used for 200VAC
unit supply FI2 input.
Al - A3 unit
FI3 3.2 A A60L-000I-0075#3.2 For 24VDC used in
the control unit,
the 9" monochrome
CRT and the cas-
sette adaptor 3.

FI4 5.0 A A60L-000I-0046#5.0 For 24VDC used in

the built-in I/O
and the operator's
panel connection
unit.

Back FSI 3.2 A A60L-000I-0046#3.2 Used for pro-

panel tecting the 24VDC
line of the machine
against an external
failure.

Control Power Used for 200VAC

unit supply input.
A3 - A6 unit
Bl - B3 For 24VDC used in
the control unit,
9" monochrome CRT
and cassette
adaptor 3.

For 24VDC used in

the built-in I/O
and the operator's
panel connection
unit.

Back FSI 3.2 A A60L-000I-0046#3.2 Used for protecting

panel the 24VDC line of
the machine against
an external failure.

- 679 -
 IV-2.1

Type of Symbol
Unit Capac- Application
control of Specifications
name ity
unit parts
Control Power FII, 7.5 A A60L-OOOI-0245#GP75 Used for 200VAC
unit supply FI2 input.
B4 - B6 unit
FI3 3.2 A A60L-OOOI-OO46#3.2 For 24VDC used in
the control unit,
the 9" monochrome
CRT and the cas-
sette adaptor 3.

FI4 7.5 A A60L-OOOI-OO46#7.5 For 24VDC used in

the built-in I/O
and the operator's
panel connecting
unit.

Back FSI 3.2 A A60L-OOOI-OO46#3.2 Used for protecting

panel the 24VDC line of
the machine against
an external
fa·illure.

Control Power Used for 200VAC

unit supply input.
CI, C3 unit
For 24VDC used in
the control unit,
the 9" monochrome
CRT and the cas-
sette adaptor 3.

For 24VDC used in

the connection unit
and the operator's
panel connection
unit.

Control Power FII, 7.5 A A60L-OOOI-0245#GP75 Usef for 200VAC

unit supply FI2 input.
C2, C4, unit
DI FI3 3.2A A60L-OOOI-OO46#3.2 For 24VDC used in
the control unit,
the 9" monochrome
CRT and the cas-
sette adaptor 3.

FI4 7.5 A A60L-OOOI-OO46#7.5 For 24VDC used in

the connecting unit
and the operator's
panel connecting
unit.

- 680 -
 IV-2.1

Table 2.1 (b) Units with fuses and unit specifications (Out of control unit)

Symbol
Unit Capac-
of Specifications Application
name ity
parts
Connec- F51 1.6 A A60L-0001-0046#1.6 Used for pro-
tion tecting the
unit 24VDC line of
the machine
against an ex-
ternal failure.

Opera- F61 1.6 A A60L-0001-0046#1.6 Used for pro-

tor's tecting the
panel common line of
connec- the machine
tion against an ex-
unit ternal failure.

Power F31, 5 A A60L-0001-0194#5.0 Used for 200VAC

supply F32 input.
unit
(I/O F34 2 A A60L-0001-0194#2.0 Used for pro-
unit) tecting the
24VDC line of
the machine
,against an ex-
ternal failure.

F33 0.5 A A60L-0001-0194#0.5 For 24VDC used

in the I/O
module.

I/O F35 2 A A60L-0001-0194#2.0 Used for pro-

base tecting the
unit 24VDC line of
the machine
against an ex-
ternal failure.

- 681 -
 IV-2.1

Symbol
Unit Capac-
of Specifications Application
name ity
parts
Input Fl, F2 10 A A60L-000I-0194#10 Used for 200VAC
unit input.

F3 0.3 A A60L-000I-0194#DM03 Used for the PC type

ON/OFF control made by
circuit. Utsuno-
miya
F4, IS A A60L-000I-0036#PCl-IS An input fuse Electric
FS, for the servo Co., Ltd.
F6 unit. Input
voltage is
200 - 220VAC.
Servo capacity
is I.SkVA or
less.

20 A A60L-000I-0036#PCI-20 An input fuse

for the servo
unit. Input
voltage is
200 - 220VAC.
Servo capacity
is 2.SkVA or
less.

30 A A60L-000I-0036#PCI-30 An input fuse FCF type

for the servo made by
unit. Input Fuji
voltage is Electric
200 - 220VAC. Co. Ltd.
Servo capacity
is SkVA or
less.

IS A A60L-000I-0042#JGl-lS An input fuse

for the servo
unit. Input
voltage is
200 - SSOVAC.
Servo capacity
is 1.SkVA or
less.

20 A A60L-000I-0042#JGl-20 An input fuse

for the servo
unit. Input
voltage is
200 - SSOVAC.
Servo capacity
is 2.SkVA or
less.

- 682 -
 IV-2.2

Symbol
Unit Capac-
of Specifications Application
name ity
parts
Input 30 A A60L-000I-0042#JGl-30 An input fuse FCF type
unit for the servo made by
unit. Input Fuji
voltage is Electric
200 - 550VAC. Co. , Ltd.
Servo capacity
is 5kVA or
less.

40 A A60L-000I-0042#JGl-40 An input fuse

for the servo
unit. Input
voltage is
200 - 550VAC.
Servo capacity
is 10kVA.

Rl, Sl lOA A60L-000I-0042#JGI-10 Used for the

control input
transformer.

2.2 Fuse Mounting Position

2.2.1 Power supply unit

Fuse
(F 13)

Fuse
(F15 )

Fuse
(Fll,F12)

- 683 -
 IV-2.2.7

2.2.2 Control unit A 1 '" A6

3.2A fuse

J.
(FS1)

j
DO
DO
o
2.2.3 Control unit B 1 '" B6

3.2 A fuse (FSl)

00
i
o0
o
2.2.4 Connection unit

1.6 A fuse (F51)

DIlDO, connector

- 684 -
 IV-2.2.S

2.2.5 Operator's console connection unit

1.6A fuse (F61)

CJ
1..-------.

2.2.6 I/O unit

I/O base unit

I/O unit power supply

Terminal blo<;:k

2.0A fuse

O.SA fuse (F3S)

S.OA fuse (F31, F32)

2.2.7 Input unit

1) For the control unit 2) For the .control and servo unit

EON EON
EOF EOF R4

CJ F3
COM
FA
FB
O F3
COM
FA
FB
F5

DIJ CfiJ F6
[EJ [BJ

R1

UVW
RS . RS S1

- 685 -
 IV-3

3. REPLACING BATTERY

3.1 To Replace Battery for Control Unit (For Memory Back-up):

1) Prepare 3 alkali dry batteries size R20 (size D) commercially available.

2) Turn machine (CNC) power ON. (Replace batteries with CNC power ON. It
should be noted that important memory contents are erased if the battery is
replaced with power OFF.)
3) Loosen. the screws on the battery case to remove the cover.
The battery case is installed on the door for FANUC standard cabinet. (Refer
to the illustration below)

o
..

D
Battery case

Example of built-in Type 1 cabinet

Some machines are provided with a battery case in the cabinet arranged by the
machine tool builder. Also refer to the manual issued by the machine tool
builder.
4) Replace the battery in the case. At that time, note the battery direction.
(The direction of the battery in the center is reversed.)

.c-
I ........
I
1
I
I

1
l .......

Cover

5) Upon completion of this replacement, install the cover.

6) Turn machine (CNC) power OFF.

- 686 -
 IV-3.2

3.2 To Replace Batteries for Absolute Pulse Coder

1) Arrange 4 alkali batteries (UM-1 type) commercially available.

2) Turn machine (CNC) power ON. (Replace the batteries with power ON. it
should be noted that replacement of batteries with power OFF causes the
absolute position stored in memory to be lost.)
3) Loosen screws on the battery case to remote the cover. For placement of the
battery case, refer to the machine tool builder's manual.
4) Replace the batteries in the case. At this time, note the battery direction.
(Insert 2 batteries each in the opposite direction as illustrated below.)
Screw

/
/
.,,-------- .
" /
f1!!-------
I
I
Cover
I
I
I
IL _____ _

5) After replacement, install the cover.

6) Turn machine (CNC) power OFF.

- 687 -
 IV-4

4. TROUBLESHOOTING

5.1 General

1) Check the type of problem:

In what mode is the controller?
What is displayed on the CRT/MDI?
What is the status display?
Is there a positioning error? If so, on which axis and by what amount?
Is there a tool path error? If so, by what amount?
Is the speed normal?
Is the problem in an auxiliary function?
What is the alarm number?
2) Check the frequency of occurrence:
When did the problem occur? What is its frequency? (Was another machine
also being operated?)
What is the frequency on the same workpieces?
Which program is it; What is the sequence number?
Is the problem related to a specific mode?
Is the problem related -to tool replacement?
Is the problem related to the feedrate?
Is the problem related to thread cutting?
3) For re-occurring problems:
Go through the program tape where the error occurs repeatedly,
Check the numerical value in the memory of the CNC and compare it with the
programmed numerical value.
Is the problem due to an external cause?
Check the stored offset amount and the amount remaining after distribution.
Check the response to override (decrease or increase the override amount).
Ask the operator for details of the problem.

4.2 Checking Input Voltage, Peripheral Conditions, Operation, Programming, Drives, Machine and
Interface Control

1) Check the input voltage:

Are there fluctuations in the input voltage?
Is there a drop in the input voltage?
Is front or rear door opened (door interlock)?
Is there some other device using large amounts of current?
Is there an electric discharge machine or welding machine nearby?
2) Check peripheral conditions:
What is the temperature of the controller? Did the temperature change? Is
it excessive?
Is the filter dirty?
Is the tape reader dirty?
Is there oil or cutting fluid about?
Are there any vibrations?
Is the unit in direct sunlight?
3) Check for any external causes:
Has the' machine recently been repaired or adjusted?
Has the magnetic cabinet recently been repaired or adjusted?
Has the CNC unit recently been repaired or adjusted?
Is there a source of noise nearby?
(Example: Cranes, High-frequency machines, Electric discharge machines)
Has a new machine been mounted nearby?
Is there another CNC with the same problem?
Has the user adjusted the NC?
Has the same problem occurred before?

- 688 -
 IV-4.2

4) Check phases of operation:

Has the operator been properly instructed?
Has the operator been replaced?
Is the operator familiar with the program?
Did the program finish too early or was it interrupted?
Does the program contain an incremental command?
Is the tool compensation value correctly set?
If the tool compensation value was changed, was it done correctly?
Does the machine change to another mode of operation?
Is the block skip function used correctly?
Is the tape set correctly?
Are there any tape coding errors?
Has the machine tool been operated incorrectly.
5) Check punched tapes:
Is there dirt on the tape?
Are there any folds or wrinkles on the tape?
Are joints normal?
Did the program previously run normally?
Was the tape copied from a master tape?
Was it the punched tape?
Was the tape correctly punched?
Is the tape puncher normal?
Was the wrong tape used?
Is the puncher in good condition?
6) Check the program
Is the program new?
Was the program created according to the OPERATOR'S MANUAL?
Are addresses in the right order?
Does the problem occur in any specific block?
Are the correct speed and lead values set for thread cutting?
Is there space at the beginning and end of thread cutting?
Does the problem occur in the subprogram?
Was the list of tapes created for checking?
7) Check for changes in operation
Has any change or adjustment been made in the operation procedure?
Has a fuse been blown?
Is the CNC in the emergency stop status?
Is the machine tool ready?
Is the CNC in the alarm status?
Is the MODE SELECT switch set correctly?
Is the switch on the tape reader set correctly?
Is the override switch set to the zero position?
Is the CNC in the machine lock status?
CNC in the feed hold status?
8) Check the machine itself:
Is the machine properly installed?
Does vibration occur during operation?
Is the tool tip normal?
Is there any offset due to tool exchange?
Is there sufficient backlash compensation?
Are there distortions in any part of the machine due to temperature changes?
Was the workpiece measured correctly?
Was the measurement made at a constant temperature? (1 meter of steel
changes lO~ in length at a temperature change of lOC)
Are the cables normal (bent, broken or damaged)?
Are the signal lines and power lines separated?

- 689 -
 IV-4.3

9) Check the interface control:

Are power lines and CNC cables mounted separately?
Is the shield normal?
Is a noise suppressor attached to the relay, solenoid, and motor?

4.3 CNC System Check (No tools required)

1) Check control unit external conditions:

Is there damage to the cabinet?
Is the CRT/MDI panel normal?
Is the filter clean?
Is the reader clean?
Is the door of the reader closed?
Was operation made with the door open?
Check that chips accumulated on the cabinet did not fall inside when the door
was opened.
2) Check the tape reader:
Is the tape reader dirty?
Do the feed and the brake magnets operate normally?
3) Check inside the contrQl unit:
Is there dirt in the control unit?
Is the fan motor normal?
Is there corrosion?
4) Check the power unit:
Is the unit correctly connected?
Are all fuses OK?
Is the circuit breaker normal?
Is the voltage within the allowable range?
Are the shield and cable duct grounded correctly?
Is the wiring path OK?
Are all terminals fully tightened?
5) The grounding
Is the grounding connection OK?
Is the shield ground OK?
6) Check all ca~les:
Are cable connectors fully pushed in?
Are there any abnormalities in internal cables?
Are there any abnormalities in external cables?
Are there any scratches, bends or breaks?
7) Check printed circuit boards:
Are all PCBs mounted properly?
Is the plug connector OK?
Are physical conditions normal (no distortions, etc.)?
What is the PCB edition?
Are connections between printed circuit boards gQod?
8) Check the CRT/MDI unit:
Do the push buttons operate normally?
Is the tape cable normal?

4.4 CNC Status

The CNC internal status can be displayed.

- 690 -
 IV -4.4.1

4.4.1 Displaying the CNC internal status

CD Change over the soft key to the function selection key by pressing function
menu key.

SETTING ISERVICE MESSAGE CHAPTER +

@ Press the SERVICE key, then the maintenance items are displayed on the
screen.
CD When the diagnosis data is not displayed on the screen, follow the procedure
described below.
- Press the CHAPTER key to change over the soft key to the chapter selection
key.

PARAM PITCH DIAGNSOS I DSP. MEM

Press the DIAGNOS key.
or
- Press the SERVICE key repeatedly until the diagnosis data is displayed.
QD When the required diagnosis data is not displayed on the screen, follow the
procedure described below.
QD -1) Procedure by the page changeover key
Change over the page by the page changeover key.
@) -2) Procedure by the soft key
i) Change over the soft key to the operation selection key by pressing
operation menu key~

INP-NO. +

ii) Press the INP-NO. key, then the soft key is changed over to the oper-
ation guide key.

I~_(V_A_L_U_E_)~ ______ ~______~______~______~__~I·

iii) Key in the data number of the diagnosis data to be displayed.
When the data number is keyed in, the soft key is changed over as
shown in the table below.

EXEC

CD Press the EXEC key, then the diagnosis data of the keyed-in data number is
displayed and the soft key returns to the operation selection key.

- 691 -
 IV-4.4.2

4.4.2 Internal status details

1) Status in which no command execution is recognized externally

Internal status resulting

No. Bit Display
when '1' is displayed

1000 0 INPOSITION CHECK The inposition check is being

executed.

1 FEED RATE OVERRIDE The amount of feed rate override

is 0%.

2 JOG FEED OVERRIDE The amount of job feed rate override

is 0%.

3 INT./START LOCK ON Start or interlock is on.

4 SPEED ARRIVAL CHECK Waiting for the speed arrival check

signal set to on.

5 WAIT REVOLUTION Waiting for the I-rotation of spindle

at the start of thread cutting.

6 STOP POSITION CODER Waiting for position coder rotation

made during feed per revolution.

7 FOREGROUND READING Tape data is being read under the

foreground.

1001 o BACKGROUND READING Tape data is being read during

background edit.

2) Reset status display

The status of the input signals indicating reset, feed hold, etc., are
displayed.

No. Bit

1010 7 6 5 4 3 2 1 0

RST ERS RR~l ESP

Status resulting when '1' is being displayed

ESP: Emergency stop
RRW: The reset & rewind signal is on
ERS: The external reset signal is on
RST: The reset key remains pressed

- 692 -
 IV-4.4.2

3) TH alarm status display

The TH alarm status is displayed.

No. Display Meaning

1100 POSITION Displayed when the TH alarm occurs.

(CHARACTER) F Indicates the position (the number of characters
counted from the block head) of the character
causing this alarm. (Foreground TH alarm)

1101 BIT PATTERN Indicates the read code (bit pattern) of the
(CHARACTER) F character causing the TH alarm. (Foreground TH
alarm)

1100 POSITION Displayed when the TH alarm occurs. Indicates

(CHARACTER) B the position (the number of characters counted
from the block-head) of the character causing
this alarm. (Background TH alarm)

1101 BIT PATTERN Indicates the read code (bit pattern) of the
(CHARACTER) B character causing the TH alarm. (Background TH
alarm)

4) Positional deviation display

The positional deviation amount of each axis is displayed.

No. Display Meaning

3000 X SERVO ERROR Positional deviation amount of the X axis;

for each detected deviation.

Y SERVO ERROR Positional deviation amount of the Y axis;

for each detected deviation.

Z SERVO ERROR Positional deviation amount of the Z axis;

.. for each detected deviation.
·
··

- 693 -
 IV-4.4.2

5) Display of servo control information

Servo control information (SCI) is displayed at the following diagnostic Nos.

3010 - 3023 SCI for the 1st axis

3030 - 3043 SCI for the 2nd axis
3050 - 3063 SCI for the 3rd axis
3070 - 3083 SCI for the 4th axis
3090 - 3103 SCI for the 5th axis
3110 - 3123 SCI for the 6th axis
3130 - 3143 SCI for the 7th axis
3150 - 3163 SCI for the 8th axis
3170 - 3183 SCI for the 9th axis
3190 - 3203 SCI for the 10th axis
3210 - 3223 SCI for the 11th axis
3230 - 3243 SCI for the 12th axis
3250 - 3263 SCI for the 13th axis
3270 - 3283 SCI for the 14th axis
3290 - 3303 SCI for the 15th axis

. Investigation of disconnect alarm and overload alarm

When massage of overload alarm (SV 023) or disconnect alarm (SV 015) is
displayed on the CRT, display the diagnostic No. 3014 (1st axis), No. 3034
(2nd axis), No. 3054 (3rd axis) or (heading diagnostic number of each axis
(see table above) + 4) to confirm that the corresponding alarm is signaled.

117 116 115 114 113 112 111 110

OVL LVAL OVC HeAL HVAL DCAL FBAL OFAL

For overload alarm 117=1

For disconnect alarm: 111=1
Next, display the diagnostic No. 3015 (1st axis), No. 3035 (2nd axis),
No. 3055 (3rd axis) or (heading diagnostic number of each axis (see table
above) +5). Bit 7 and bit 4 at this diagnostic number show detailed
information of the alarm.

117 116 115 114 113 112 111 110

ALDF EXPC

7 bit 4 bit
Kind of alarm
ALDF EXPC
Motor overheat 1 0

Amplifier overheat 0 0

Built-in pulse coder disconnect (Hard) 1 0

Separate pulse coder disconnect (Hard) 1 1

Pulse coder disconnect (Soft) 0 0

- 694 -
 IV-4.4.2

Example) When the 1st axis disconnect alarm (SV 015) is informed, diagnostic
numbers 3014, 3015 show the following:

No. 3014: 00000010

3015: 10110100

Here, diagnostic No. 3014 #1 FBAL is 1 and diagnostic No. 3015 #7

ALDF and #4 EXPC are both 1. Therefore, the alarm is identified as
separate pulse coder disconnect (Hard).

Contents of digital servo alarm:

117 116 115 114 113 112 111 110

OVL LVAL OVC HCAL HVAL DCAL FBAL OFAL

Symbol Contents

OFAL LSI OVERFLOW

Overflow alarm is generated in the servo amplifier.

FBAL PULCO DISCONNECTION

Pulse coder disconnect alarm is generated.

DCAL EXCESS I FROM MOTOR

Regenerative discharge alarm is generated in the servo amplifier.
(LED"DC" is lit in the servo amplifier)

HVAL EXCESS V TO MOTOR

Excess voltage alarm is generated in the servo amplifier.
(LED "HV" is lit in the servo amplifier)

HCAL ABNORMAL CURRENT IN SERVO

Abnormal current alarm is generated in the servo amplifier.
(LED"HC" i~ lit in the servo amplifier)

OVC EXCESS CURRENT IN SERVO

Excessive current (overload) alarm is generated in the servo
amplifier.

LVAL POWER V TOO LOW

Insufficient voltage alarm is generated in the s'ervo amplifier.
(LED"LV" is lit)

OVL SV OVERLOAD
Overload alarm is generated in the servo motor or servo amplifier.
If it is informed from the servo amplifier, any of servo amplifier,
separate discharge unit or power transformer is overheated.
(LED"OH" is lit on the servo amplifier)

- 695 -
 IV-4.4.2

• Investigation of absolute position detection alarm

When the absolute position detection (option) is performed, associated alarms

are detected when the power is turned on.

When .SV101 DATA ERROR (ABS PCDR) or OT032 NEED ZRN (ABS PCDR) is displayed on
the CRT, diagnosis No. 3018 (1st axis), No. 3038 (2nd axis), No. 3058 (3rd
axis) or heading diagnostic No. of each axis +8) shows its detailed
information.

117 116 115 114 113 112 111 110

Symbol Contents (Countermeasure)

APNZRN There is no relation between reference point and absolute position

detection (Relate the reference point with absolute position
detection)

APPLSM Pulse missing alarm has been generated.

(Relate the reference point with absolute position, detection)

APBATZ Battery voltage of ABS pulse coder has become zero.

(Replace the battery and relate the reference point with the
absolute position detection)

APCER Communication error has been generated during data transmission.

(Replace the pulse coder)

APTER Time over error has been generated during data transmission.
(Replace the pulse coder)

APFER Framing error has been generated during data transmission.

(Replace the pulse coder)

APPER Parity error has been generated during data transmission.

(Replace the pulse coder)

APMVAL Excessive motor deflection alarm has been generated.

This alarm is generated if the machine moves considerable amount
(more than 24000 pulses as detection pulses) when power is
turned on.
(Machine tool shall take measures not to move itself when the power
is turned on).

- 696 -
 IV-S

5. FAILURE DIAGNOSIS GUIDANCE

By storing know-how of experts who master troubleshooting and measures against

various failures occurring in the machine in the memory of series 15, the
reasoning engine built into the CNC troubleshoots the failure cause of the
machine based on the stored know-how in the same process used by the experts.
The operator may only perform simple conversational operations such as inputting
the failure phenomena through the CRT/MDI unit and answering questions given
from the CNC if necessary, while the CNC diagnoses the failure instead of an
expert.
The details of the diagnostic expert system change depending on the details of
the knowledge base. See the Instruction Manual published by the machine tool
builders for the details.
One operation example is shown below.

CD Press the software key "MESSAGE" several times to select the diagnosis
screen if the automatic operation does not start.

Failure Diagnosis Diagnosis for four items are

provided in the left example.
1 Automatic operation
2 Manual operation
3 ATC
4 APC

@ Select the item to be diagnosed. For example, select item 1 to perform

diagnosis for automatic operation.

Failure Diagnosis

1 Automatic operation does

not actuate.
2 The machine does not actuate
during automatic operation.

Furthermore, the detailed diagnostic items of automatic operation are

displayed. Select item 1 above to perform failure diagnosis according to
the details of knowledge base.

- 697 -
 IV-5

Q) In general, the status check for I/O signal is automatically performed. The
details to be checked by the operator appear as shown below:

Failure Diagnosis

Check to see if bit 0 of DGN 005

can be turned on or off by switch-
ing the Start SW on the machine
operator's panel.
1. It turns on/off.
2. It does not turn on/off.

® The causes and countermeasures are displayed after the causes of failure
inference ends.

Failure Diagnosis

Automatic operation is not started

due to opening of the splash guard.
The limit switch which checks the
splash guard is opening and closing
may be damaged. Confirm it.

- 698 -
ADDITIONAL
INFORMATION
 I

FANUC Series 15 The remarks of R specification circular arc

l. Type of applied technical documents

Name FANUC Series lS-TA/TF/TTA/TTF,lS0-TA
15-MA/MF, 150-MA OPERATOR'S MANUAL
Spec." No./Version B-61214E/05 , B-61224E/07

2. Summary of Change

Group Name / Out! ine New, Add, Applicable

Correct, Date
Delete
Basic
Function

Optional
Function

-
Unit

Maintenance
parts

Notice The remarks of R specification circular arc in the chapter II PROGRAM I NG

are added to circular interpolations. Only an additional part is
appended.
Correction

AnoLher

TITLE
FANUC Series 15
The remarks of R specification
circular arc
DRAW. NO.
o1 92011Lj- k.ornl'! ct. Ne~'J Des i gn ()t;.,,{ !<J. B-61214E/05-1. B-61224E/07-1 I CUST.

EDIT. DATE DESIG. DESCRIPTION FANUC LTD SIfEET 001/003

I
 I

The following note is added to the remarks part of 4.4 circular interpolations in
the chapter IT PROGRAMING of the FANUC Series 15-MA/MF, 150-MA operator's manual and 4.3 in
FANUC Ser ies 15-TA/TF/TTA/TTF, ISO-TA operator's manua1.

4.4 Circular interpolations in the chapter II PROGRAMING of the FANUC Series 15-MA/MF, 150-MA
operator's manual
4.3 Circular interpolations in the chapter IT PROGRAMING of the FANUC Series 15-TA/TF/TTA
/TTF. ISO-TA operator's manual
( note 8 )
There may be a large error at the center of a circle in R specification circular arc
whitch is a semicircle. This is due to the following calculation for the circle center.
So. please program R specification circular arc whitch is near a semicircle as follows:
1. Instruction with two circles of quarter R specification circular arc.

2. Instruction by 1. J, or K.

CALCULATION OF CENTER POINT

When O(center) is requested from S(start point), E(end point). and R(radius). it is
calculated as follows. (S. E. and 0 are position vectors)
. E(end point)
O=C+HXV (1)

Here,
- C= ( S +E ) / 2

(2)

L= I(E-S) 1/2
V : Unit vector from C to O.
That is. a vertical vector to ( E - S ).

The R data has an error less than Y2 of the least input incremeant, because the R data is
rounded to the least input increment. When the circle is close to a semicircle ( R ::;: L ),
the error increases in the expression (2). Then. there may be a large error at the center
posi t ion O.

TITLE FANUC Series 15

~~~~~~~~~~~~~~~~~~~~~~ The remarks of R specification
circular arc
DRA\.... NO. I CUST.
B-61214E/05-1, B-61224E/07-1
EDIT. DATE DES IG. DESCRIPTION FANUC L TO I SHEET 002/003
I
 L

EXAMPLE :

G90 ;
GOO X20. Y150.678 ; Y . / (0.0,152.050)
G17 ; ~.
G03 X-20. Y-150.678 R152. F100 ; ............. "1...... S (20 0 150 678)
.............,/ .,.
/ ••' ••' L __ --- ----. (0.0,152.0)

Actual center a (-0.372,0.050)

(-152.372, 0.0) (-152. 0, ~I. 0)
, / ,~.-. Expected center in program 0(0.0, 0.0)
~:' .-+' / X

True cours~
"" \.:-_.- Course of
'. program

E(-20.0,-150.678)

20.0) (-20.0)
(
150.678 : -150.678 __ (0 )'
C= ( S + E ) /2=
0

~ ( -20.0 - 20.0 )2 + ( -150.678 - 150.678 )2

L= I(E-S) 1/2= = 151. 999538
- 2

H = -J R2 - [2 = ~ 152.0 2 - 151. 999538 2 = 0.374764

v= _1_ (- {l50.678 - (-150.678)}) = (-0.991306)\

2L 20 - (-"20) 0.131579

0) (-0.991306) -0.372)'
a= C+HX V= ( + 0.374764 X =
(
o 0~131579 0.050

Like this example, the actual center may be different from the expected center in program.

T[TLE FANUC Series 15

~~~~~~~~~~~~~~~~~~~~ The remarks of R specification
circular arc
DHAW. NO. I CUST.
B-61214E/05-1, B-61224E/07-1

EDIT. DATE I DESIG. DESCRIPTION FANUC L TO I SHEET 003/003

I
 INDEX

2nd, 3rd and 4th Reference Point Return (G30) ••••••••••••••••••••••••••••• 102
3-dimensional Coordinate Conversion ••••••••••••••••••••••••••••••••••••••• 199
3-dimensional Handle Feed ................................................ . 437
3-dimensional offset command •••••••••••••••••••••••••••••••••••••••••••••• 65

<A>
About Manual Intervention Amount •••••••••••••••••••••••••••••••••••••••••• 436
Absolute and Incremental Programming (G90, G91) ••••••••••••••••••••••••••• 117
ABSOLUTE POSITION DETECTION ••••••••••••••••••••••••••••••••••••••••••••••• 664
Acceleration/deceleration before pre-read interpolation ••••••••••••••••••• 86
Additional functions ..................................................... . 183
Additional work coordinate systems (G54.1) •••••••••••••••••••••••••••••••• III
Air Filter Cleaning (For free standing type cabinet) •••••••••••••••••••••• 678
Alarm Message Display .....•................................... "........... . 616
Alarms 665
All Axes Machine Lock ...................•.......•......................... 493
Alteration, Insertion, and Deletion of Program •••••••••••••••••••••••••••• 503
Alteration, insertion, and deletion of program •••••••••••••••••••••••••••• 504
Arithmetic commands ...................................................... . 303
Automatic Acceleration/Deceleration ••••••••••••••••••••••••••••••••••••••• 80
Automatic acceleration/deceleration after interpolation ••••••••••••••••••• 80
Automatic corner override (G62) ••••••••••••••••••••••••••••••••••••••••••• 91
Automatic feedrate control •••••••••••••••••••••••••••••••••••••••••••••••• 339
AUTOMATIC OPE'RATION ••••••••••••••••••••••••••••••••••••••••••••••••••••••• 451
Automatic Reference Point Return (G28, G29) ••••••••••••••••••••••••••••••• 100
Automatic return from reference point (G29) ••••••••••••••••••••••••••••••• 101
Automatic return to reference point (G28) ••••••••••••••••••••••••••••••••• 100
Automatic speed control in involute interpolation ••••••••••••••••••••••••• 95
Automatic Tool Measurement (G37) •••••••••••••••••••••••••••••••••••••••••• . 270
Auxiliary Function Lock ••••••••••••••••••••••••••••••••••••••••••••••••••• 493
Auxiliary Func t ions ...................................................... . 143
AX! S CONTROL •••••••••••••••••••••••••••••••••••••••••.•••••••••••••••••••• 349
AX! S CONTROL •••••••••••••••••••••••••••••••••••••••••.•••••••••••••••••••• 668
Axis Control with PMC 668
Axis Interchange ..................•....................................... 349

<B>
Background Edit ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 507
Background Graphic Display •••••••••••••••••••••••••••••••••••••••••••••••• 637
Basic addresses and command value range ••••••••••••••••••••••••••••••••••• 158
Basic operation of rigid tap •••••••••••••••••••••••••••••••••••••••••••••• 180
Bell-shaped acceleration/deceleration after cutting feed interpolation •••• 85
Block restart ........................................................... . 465

<C>
Calcula tor key ............................................................ . 404
Canned Cycles (G73, G74, G76, G80 to G89) 162
Changing of Tool Offset Amount (Programmable Data Input) (G10) •••••••••••• 249
Changing work coordinate systems - (G54 - G59) •••••••••••••••••••••••••••• 110
Chapter selection key ••••••••••••••••••••••••••••••••••••••••••••••••••••• 399
Checking Input Voltage, Peripheral Conditions, Operation,
Programming, Drives, Machine and Interface Control •••••••••••••••••••••••• 688
Chopp ing Func t ion ...............................................•......... 353
Circler Threading B (G02.1, G03.1) 48
Circular Interpolation (G02, G03) ••••••••••••••••••••••••••••••••••••••••• 28
Clamp of maximum spindle speed (G92) •••••••••••••••••••••••••••••••••••••• 125
Clearing all tool offset values ••••••••••••••••••••••••••••••••••••••••••• 550
C10 c k .......................•.........••........................•......... 634
CNC COMMAND TO PMC (G10.1) 365
CNC parameter input •......••.......•.•.•••........•...•...••...•....•.•... 662
CNC parameter output ..•.•............•..••..•....•.....••.•...•.....•...•• 661
CNC program input ......•.••.......••.........••..••..•.•..•.••.•.•..•••..• 661
eNC program output .•.•...•.•.•...••.•.•.••.••........••....•.....••.••.... 660
eNC Status .•..•......•................•....•........•.....•.....•..••..... 690
CNC System Check (No tools required) •••••••••••••••••••••••••••••••••••••• 690
Codes and words used in custom macro •••••••••••••••••••••••••••••••••••••• 315
Command format ...•••••....••.........•••...•••.••••••...•••••••••••••.••... 254
Command format 265
Command method 64
Command method 363
Command system 127
Commanding ••..••..••••.•..•.••..••.•.••.•....•...••••.•••••••••••••••••••• 323
Comment Section .••.••..••.•••••.••..•.••••...•••.••••..•..••••.•.••.••.•.• 158
COMPENSATION FUNCTIONS 205
Condition to decide feedrate 340
Connec t ion uni t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684
Constant Surface Speed Control (G96, G97) ••••••••••••.••••••••••••••••••••• 123
Constant surface speed control axis ••••••••••••••••••••••••••••••••••••••• 125
Continuous Thread Cutting ••••••••••••••••••••••••••••••••••••••••••••••••• 73
Cant rol commands .....................••...........•....•................•. 307
Control unit Al A6 .................................•.................... 684
Control unit BI - B6 •••.•.•••.•..•••••••.•.•••.•••..•..•.•....••.....•..•• 684
CONTROLLED AXES ........................................................... 19
104
COORDINATE SYSTEM AND COORDINATE VALUE
Coordinate System Rotation (G68, G69) 254
COORDINATE VALUE AND DIMENSION •••••••••••••••••••••••••••••••••••••••••••• 117
Creation of Custom Macro Body 285
CRT/MDI Panel 386
CRT/MDI panel keys 389
Current Position Display •••••••••••••••••••••••••••••••••••••••••••••••••• 612
Current position display screen ••••••••••••••••••••••••••••••••••••••••••• 612
Custom Macro Variables •••••••••••••••••••••••••••••••••••••••••••••••••••• 554
Custom macro body format 285
Custom macro call with M code ............................................. . 281
CUSTOM MACRO 273
Cutter Compensation (G40 to G42) 213
Cutter compensation function •••••••••••••••••••••••••••••••••••••••••••••• 213
Cutting Feed Rate ......••.•.•••..•.••••.•..•..•••.•..••.•••.••••••••••.••• 74
Cutting feed rate clamp ••••••••••••••••••••••••••••••••••••••••••••••••••• 74
Cutting mode (G64) 91
Cylindrical Interpolation (G07.1) 40

<D>
DAILY MAINTENANCE ••••••••••••••••••••••••••••••.•••••••••••••••••••••••••• 671
DATA DISPLAY AND SETTING •••••••••••••••••••••••••••••••••••••••••••••••••• 549
DATA INPUT/OUTPUT TO AND FROM FANUC CASSETTE •••••••••••••••••••••••••••••• 658
DATA OUTPUT ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 654
Data Input Operation •••••••••••••••••••••••••••••••••••••••••••••••••••••• 661
Data Output Operation .................................................... . 660
Data Protection Key ••••••••••••••••••••••••••••••••••••••••••••••••••••••• 559
Decimal Point Programming/Pocket Calculator Type Decimal
Point Programming ••••.....•••••••.•.•••••.•.•...•.•.•.•.•••••••.•••...••.• 119
Detailed descriptions ••••••••••••••••••••••••••••••••••••••••••••••••••••• 324
Details of cutter compensation C •••••••••••••••••••••••••••••••••••••••••• 217
Detection unit in spindle indexing •••••••••••••••••• ~ ••••••••••••••••••••• 129
Diameter and Radius Programming ••••••••••••••••••••••••••••••••••••••••••• 121
Difference between M98 (subprogram call) and G65
(custom macro body call) •••••••••••••••••••••••••••••••••••••••••••••••••• 283
Directory display and punching on each group •••••••••••••••••••••••••••••• 606
Directory of File Floppy Cassette ••••••••••••••••••••••••••••••••••••••••• 629
DISPLAY 603
Display and control of the 150-MA ••••••••••••••••••••••••••••••••••••••••• 393
Display and correction of tool groups 580
Display and set ting ...................................................... . 549
Display and setting of variable names 303
Display of Actual Spindle Speed 628
Display of handle interrupt pulse amount and move amount •••••••••••••••••• 449
Display of macro alarm & macro messages in Japanese ••••••••••••••••••••••• 316
Display of tool tip coordinates ••••••••••••••••••••••••••••••••••••••••••• 447
Display Positional Deviation •••••••••••••••••••••••••••••••••••••••••••••• 647
Display screen ........................................................... . 647
Displaying the CNC internal status •••••••••••••••••••••••••••••••••••••••• 691
Displaying the positional deviation waveform screen ••••••••••••••••••••••• 647
Drawing position after drawing start •••••••••••••••••••••••••••••••••••••• 646
Drawing the tool path .................................................... . 625
Dry Run ••••••••.•••••••••••••••••••••••••••••••••••••••••••• ~ •••••••••••••• 493
Dwell (G04) ............................................................... 99

<E>
Emergency Stop 495
Equal Lead Thread Cutting (G33) 70
Exact stop (G09) 91
Exact stop mode (G61) 91
Executing Automatic Operation ••••••••••••••••••••••••••••••••••••••••••••• 456
Execution Program Selection ••••••••••••••••••••••••••••••••••••••••••••••• 453
Execution program and program directory ••••••••••••••••••••••••••••••••••• 603
Expanded Tool Life Management ••••••••••••••••••••••••••••••••••••••••••••• 140
Expanded tool life management ••••••••••••••••••••••••••••••••••••••••••••• 583
Exponential Function Interpolation (G02.3, G03.3) ••••••••••••••••••••••••• 43
Extended Part Program Editing ••••••••••••••••••••••••••••••••••••••••••••• 510
External Memory Subprogram Call Function •••••••••••••••••••••••••••••••••• 160
External Motion Function (G80, G81) ••••••••••••••••••••••••••••••••••••••• 185
External Output Commands •••••••••••••••••••••••••••••••••••••••••••••••••• 318

<F>'
FAILURE DIAGNOSIS GUIDANCE 697
FANUC CASSETTE B1/B2/F1 421
FANUC PPR ................................................................. . 422
FANUC Series 10 Type's Software Limit Function •••••••••••••••••••••••••••• 347
FEED FUNCTIONS 74
Feed hold ................................................................. . 457
Feed per minute (G94) 75
Feed per revolution (G95) 75
Feed rate override ....................................................... . 79
Feedrate Clamp by Circular Radius ••••••••••••••••••••••••• ~ ••••••••••••••• 336
'Feedrate in spindle positioning ••••••••••••••••••••••••••••••••••••••••••• 129
Figure Copy ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 192
Figure expansion ......................................................... . 646
Figure movement .....•...............•.•......•...•.•...............•....... 646
Figure to be drawn ....................................................... . 645
File 658
File Deletion ............................................................ . 662
File Name of Floppy Cassette (FANUC CASSETTE F1) •••••••••••••••••••••••••• 663
File Search-out .......................................................... . 658
Floating Reference Point Return (G30.1) ••••••••••••••••••••••••••••••••••• 102
Format Guidance ........................................................... 521
Format guidance with figure ............................................... 525
FUNCTIONS FOR HIGH-SPEED MACHINING ••••• ................................... 331
FUNCTIONS TO SIMPLIFY PROGRAMMING •••••• 162
Func tion selection key ................................................... . 398
Fuse Mounting Position ................................................... . 683
Fuse Specifications •••••••••••••••••••• ~ •••••••••••••••••••••••••••••••••• 679

<G>
G40, G41 and G42 214
General Flow. of Operation of CNC Machine Tool 5
Graphic Display Func t ion ................................................. . 617
Graphic setting method 643

<H>
Handle feed in tool axis perpendicular direction •••••••••••••••••••••••••• 440
Handle feed in tool tip center rotation ••••••••••••••••••••••••••••••••••• 443
Helical Interpolation (G02, G03) •••••••••••••••••••••••••••••••••••••••••• 33
Helical Interpolation B (G02, G03) •••••••••••••••••••••••••••••••••••••••• 34
High Precision Contour Control •••••••••••••••••••••••••••••••••••••••••••• 338
High-Speed Machining Function (G10.3, G11.3, G65.3) ••••••••••••••••••••••• 331
How to Adjust the Photo-amplifier of the Tape Reader with Reels ••••••••••• 675
How to clear execution data ••••••••••••••••••••••••••••••••••••••••••••••• 581
How to preset tool life counter ••••••••••••••••••••••••••••••••••••••••••• 580
Hypothetical Axis Interpolation (G07) ••••••••••••••••••••••••••••••••••••• 35

<I>
I/O unit 685
Inch Threading (G33) 72
Inch/Metric Conversion (G20, G21) 119
Increment System ...........•.......................•...............•...... 21
Incremental Feed 426
Index Table Indexing Function ••••••••••••••••••••••••••••••••••••••••••••• 190
Initial Setting Status when Power Applied ••••••••••••••••••••••••••••••••• 664
Initial values at the beginning of drawing •••••••••••••••••••••••••••••••• 646
I npu t uni t ............................................................... . 685
Internal status details ••••••••••••••••••••••••••••••••••••••••••••••••••• 692
INTERPOLATION FUNCTIONS 25
Interruption Type Custom Macro •••••••••••••••••••••••••••••••••••••••••••• 322
Inverse time (G93) ...............................................•........ 77
Involute Interpolation •••••••••••••••••••••••••••••••••••••••••••••••••••• 50
Involute interpolation by linear axis and rotating axis ••••••••••••••••••• 55

<K>
Key input and key input buffer •••••••••••••••••••••••••••••••••••••••••••• 393
Key input buffer contents change method ••••••••••••••••••••••••••••••••••• 394

<L>
Language selection ....................................................... . 403
Leader Section and Label Skip ••••••••••••••••••••••••••••••••••••••••••••• 147
Life count 141
Limitations .............................................................. . 316
Linear acceleration/deceleration after cutting feed interpolation ••••••••• 82
Linear acceleration/deceleration before cutting feed interpolation •••••••• 82
Linear Interpolation (G01) •••••••••••••••••••••••••••••••••••••••••••••••• 26
Load Meter Display ....................................................... . 631
Local Coordinate System (G52) ••••••••••••••••••••••••••••••••••••••••••••• 114
<M>
Machine Coordinate System .................................................. 104
Machine Lock on Each Axis 493
Machine Operator's Panel 407
Machining Time Stamp Function ............................................. . 530
Macro and CNC statements •••••••••••••••••••••••••••••••••••••••••••••••••• 312
Macro Call Instruction (Custom Macro Instruction) ••••••••••••••••••••••••• 275
Macro call using G codes •••••••••••••••••••••••••••••••••••••••••••••••••• 280
Main program and subprogram ••••••••••••••••••••••••••••••••••••••••••••••• 148
Manual Absolute ON and OFF .••••••••••••••••••••••••••••••• ill • • • • • • • • • • • • • • • 431
Manual Arbitrary Angle Feed ••••••••••••••••••••••••••••••••••••••••••••••• 429
Manual Continuous Feed •••••••••••••••••••••••••••••••••••••••••••••••••••• 425
Manual Handle Feed ....................................................... . 427
Manual handle interruption ••••••••••••••••••••••••••••••••••••••••••••••• 485
Manual Intervention during Cycle Operation ••••••••••••••••••••••••••.••••• 485
Manual Numeric Command ••••••••••••••••••••..•••••••••••••••..••••••••••••• 430
'MAN'UAL OPERA.TION •••••••••••••••• '•••••••••••••••••••••••••••••••••••••••••• 424
Manual Reference Point Return 424
Manual Reference Point Return when Machine is Installed ••••••••••••••••••• 664
Matters to be attended to concerning parallel operation ••••••••••••••••••• 359
Maximum Stroke 21
't1:DI operation ............................................................ . 452
MEASUREMENT FUNCTIONS 268
Memory operation ............................................•.............. 451
Menu Switch ...............•.............•........••................•...... 579
Method of drawing ..................... '..................•................. 644
MISCELLANEOUS FUNCTION (M, B FUNCTIONS) 142
Miscellaneous Function (M Function) ••••••••••••••••••••••••••••••••••••••• 142
Modal cal-l ............................................................... . 279
Modification of tool length compensation amount in tool axis direction •••• 445
Moving the cursor to the portion to be edited •• ' ••••••••••••••••••••••••••• 503
Multi Buffer (G05.1) 334
Multi-step Skip (G31.1 - G31.4) 269
Multiple Rotary Control Axis Function ••••••••••••••••••••••••••••••••••••• 363
Multiplex calls ....................... ................................... .
' 283

<N>
N'ame of Axes •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 19
NC format guidance ....................................................... . 521
New tool selection signal •••••••••• ~ •••••••••••••••••••••••••••••••••••••• 582
Normal Direction Control (G40.1, G41.1, G42.1) •••••••••••••••••••••••••••• 197
Note for handling tape reader ••••••••••••••••••••••••••••••••••••••••••••• 420
Notes 344
Notes on Reading this Manual ••••••• '••••••••••••••••• ' •••••••••••••••••••••• 6
Number of Registered Programs ••••••••••••••••••••••••••••••••••••••••••••• 508
Number of Tool Offsets ................................................... . 249

<0>
Off set amount (D code) ................................................... . 213
Offset data input ........................................................ . 661
Offset data output ....................................................... . 661
Offset Values ............................................................ . 549
Offset vector' ............................................................. . 213
One-digi t F code feed .......... '.......•................................... 78
Operation descriptiori ••••••••••••••••••••••••••••• ~ ••••••••••••••••••••••• 601
Operation guide key ...................................................... . 402
Operation Mode ........................................................... . 451
Operation selection key ••••••••••••••••••••••••••••••••••••••••••••••••••• 401
OPERA.TION UNIT 386
Operator Message Display •••••••••••••••••••••••••••••••••••••••••••••••••• 615
Operator's console connection unit •••••••••••••••••••••••••••••••••••••••• 685
Optional Angle Chamfering and Corner Rounding ••••••••••••••••••••••••••••• 186
Optional. block skip .................... 154
,a • • • • • • • • • • • • • • • • • ft • • • • • • • • • • • • • • • •

Optional stop (MOl) 456

Orientation ..............................................•.... 128
........................................................ ......... .
a· • • • • • • • • • • •

Outline , 637
Outline .................................................................. . 647
Override 79
Override cancel 79
Override Play Back ..............•.•............................•.......... 489
Overtravel ............................................................... . 495
OVERVIEW •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 3

<P>
Parallel axis control .................................................... . 356
Parallel axis control and external signal ••••••••••••••••••••••••••••••••• 360
Parallel Operation ..............................................•......... 356
Parameters ................. .............................................. . 556
,

Parameters 655
Parameters on interruption type custom macro •••••••••••••••••••••••••••••• 330
PART PROGRAM STORAGE & EDIT (INCLUDING PROGRAM REGISTRATION) •••••••••••••• 499
Part Program Storage Length ••••••••••••••••••••••••••••••••••••••••••••••• 508
Pitch Error Compensation Data ••••••••••••••••••••••••••••••••••••••••••••• 558
Plane Selection (G17, G18, G19) 116
Plane selection and vector 213
Playback .............................................................•.... 519
Plural M Commands in One Block 143
Polar coordinate interpolation automatic speed control •••••••• ·•••••••••••• 97
Polar Coordinate Interpolation •••••••••••••••••••••••••••••••••••••••••••• 36
Polar Coordinate System Command (G15, G16) •••••••••••••••••••••••••••••••• 117
Portable tape reader ..................................................... . 418
Position Display by External Position Display Unit •••••••••••••••••••••••• 628
Positioning (GOO) ••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 25
POWER ON / OFF .............................................................. . 423
Power supply unit ........................................................ . 683
Precautions .............................................................. . 266
Precautions 663
Precautions about 3-dimensional handle feed ••••••••••••••••••••••••••••••• 445
Preparation for Part Program Storage and Editing Operation •••••••••••••••• 499
PREPARATORY FUNCTION (G FUNCTION) 22
Presetting the current position display ••••••••••••••••••••••••••••••••••• 613
Presetting the work coordinate system ••••••••••••••••••••••••••••••••••••• 614
Presetting work coordinate system ••••••••••••••••••••••••••••••••••••••••• 112
Program ................................................................... . 161
Program check screens ••••••••••••••••••••••••••••••••••••••••••••••••••••• 605
Program Collation ........................................................ . 505
PROGRAM CONFIGURATION ••••••••••••••••••••••••••••••••••••••••••••••••••••• 145
Program copy and move 510
Program Deletion ......................•................................... 502
Program Display 603
Program Encryption ........................................................ . 526
Program End .............................................................. . 160
Program end (M02, M30) ......... .......................................... .
' 456
Program me rge ............. " .....•...•.••...•........••.•.....•.•...•...•••. 513
Program number and program name ••••••••••••••••••••••••••••••••••••••••••• 153
Program number search/sequence number search •••••••••••••••••••••••••••••• 453
Program Output ............................................................ . 506
Program Registration ..................................................... . 500
Program Section .......••........ . '....•.•....•..... ., ....•.••...••....••.... 148
Progr am Start ........•......•..........••..............•..•..........•..•• 147
Program stop (MOO) 456
Programmable Mirror Image (G50.1, G51.1) 188
Programmable Parameter Entry •••••••••••••••••••••••••••••••••••••••••••••• 264
Programming 361

<R>
Rapid Traverse 74
Rapid traverse (GOO) in constant surface speed control 125
Rapid traverse override 79
REFERENCE POINT 100
Reference Point Return Check (G27) ........................................ 101
Registration from CRT/MDI panel ••••••••••••••••••••••••••••••••••••••••••• 501
Registration from tape reader ••••••••••••••••••••••••••••••••••••••••••••• 500
Registration of Custom Macro Body ••••••••••••••••••••••••••••••••••••••••• 316
Relationship to other functions ••••••••••••••••••••••••••••••••••••••••••• 256
Relationship with other offset functions •••••••••••••••••••••••••••••••••• 247
Release of spindle ..•......•..•..••..•.....••..•....••.•.•..•....•.•..••• 130
REPLACEMENT OF BLOWN FUSE 679
REPLACING BATTERY ....•....................•.....................•••.•.•.•. 686
Request for cassette replacement •••••••••••••••••••••••••••••••••••••••••• 663
Re set ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 457
Restart of Automatic Operation ••••••••••••••••••••••••••••••••••••••••••• 458
Restarting the program ••••••••••••••••••••••••••••••••••••••••••••••••••• 459
Retrace ................••.•...•........••.....•...•...•......•....•..••.. '. 482
Rewind .............••....•.•................•.....•...•..•..•..••........• 455
Rigid Tap .....•......•.•........•..••....•.•......•..••.•......•....•.•..• 180
Rigid tap pecking cycle function •••••••••••••••••••••••••••••••••••••••••• 184
Rigid tap return speed override function •••••••••••••••••••••••••••••••••• 79
Rotary Axis Control •..•........•..•..........•.•....•.•••.•..•......•... ~ . 361
Run Hours and Parts Number Display •••••••••••••••••••••••••••••••••••••••• 632

<S>
SAFETY FUNCTIONS ••••••••••••••••••• 495
Scaling (G50, G51) 250
Searching for a program using the name •••••••••••••••••••••••••••••••••••• 454
Second feed rate override ••••••••••••••••••••••••••••••••••••••••••••••••• 79
Selecting the graphic. screen •••••••••••••••••••••••••••••••••••••••••••••• 618
Selecting tool data screen •••••••••••••••••••••••••••••••••••••••••••••••• 589
Selecting work coordinate system (G54 - G59) •••••••••••••••••••••••••••••• 109
Selection of machine coordinate system (G53) •••••••••••••••••••••••••••••• 105
Selection of the coordinate system in parallel axes ••••••••••••••••••••••• 357
Sequence number and block ••••••••••••••••••••••••••••••••••••••••••••••••• 154
Sequence number automatic insertion ••••••••••••••••••••••••••••••••••••••• 516
Sequence number comparison and stop ••••••••••••••••••••••••••••••••••••••• 457
Servo Setting Screen, Servo Adjustment Screen, Spindle Setting Screen,
Spindle Adjustment Screen, Spindle Monitor Screen ••••••••••••••••••••••••• 593
Servo screen .................................•..•......•........•......... 593
Set ting Data .....•.......................................•... . ,...••....... 552
Setting graphic parameters •••••••••••••••••••••••••••••••••••••••••••••••• 619
Set ting input of feed rate •••••••••••••••••••••••••••••••••••••••••••••••• 78
Setting machine coordinate system ••••••••••••••••••••••••••••••••••••••••• 105
Setting of graphic parameters ••••••••••••••••••••••••••••••••••••••••••••• 639
Setting Origin of Absolute Pulse Coder by MDI Operation ••••••••••••••••••• 667
Setting the Floating Reference Point •••••••••••••••••••••••••••••••••••••• 592
Set ting tool data ....................................... '..... '............ . 590
Setting tool life managemept data for tool group •••••••••••••••••••••••••• 140
Setting work coordinate system - Method by G54 - G59 •••••••••••••••••••••• 107
Setting work coordinate system - Method by G92 •••••••••••••••••••••••••••• 106
Simple calls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Simple Conversation Programming ••••••••••••••••••••••••••••••••••••••••••• 534
Simple Synchronous Control •••••••••••••••••••••••••••••••••••••••••••••••• 353
Simultaneous automatic and manual operation •••••••••••••••••••••••••••••• 486
Single Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494
Single Direction Positioning (G60) 25
Skip Function (G31) • • • • • • • • • C! • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 268
Soft key changeover method 395
Soft key notation ............ e . • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 394
Software Operator's Panel ••••••••••••••••••••••••••••••••••••••••••••••••• 587
Specification method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Specifying a life count type per tool group (P_L_Qn) •••••••••••••••••••••• 141
Speed Control at Corners of Blocks •••••••••••••••••••••••••••••••••••••••• 90
Speed Control Commands •••••••••••••••••••••••••••••••••••••••••••••••••••• 95
Spindle Positioning (Index) ••••••••••••••••••••••••••••••••••••••••••••••• 125
Spindle screen .................................. ~ ........................ . 595
Spindle Speed Comm.and ...••••......•••••.••.•••.•••••.•••..•..••.•.••..•.•• 123
Spindle Speed Fluctuation Detection Function (G25, G26) ••••••••••••••••••• 130
SPINDLE SPEED FUNCTION •••••••••••••••••••••••••••••••••••••••••••••••••••• 123
Spline Interpolation •••••••••••••••••••••••••••••••••••••••••••••••••••••• 57
Spline Interpolation B 64
Start coordinates and position •••••••••••••••••••••••••••••••••••••••••••• 645
Starting Automatic Operation •••••••••••••••••••••••••••••••••••••••••••••• 455
Starting up of three-dimensional tool offset (G40, G41) ••••••••••••••••••• 245
Status Display .............................................. " ............ . 610
Stopping Automatic Operation ................................ ............ . " 456
Stroke Check before Movement 495
STROKE CHECK (G22, G23) 345
Subprogram call with B code 283
Subprogram call with M code 281
Subprogram call with S code ...................... ........................ .
'
282
Subprogram call with T code 282
Summary of operations 398

<T>
Tangential speed constant control ••••••••••••••••••••••••••••••••••••••••• 74
Tape Codes •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 160
Tape End •••••••••••••••••.•••••••••••••••••••••••••••••••••••••••••••••••• 160
Tape Format ••.•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 160
Tape operation ..........................................•...•......•...... 451
Tape Reader ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 409
Tape Reader Cleaning ....................•......................•......•... 671
Tape Reader Lubrication ••••••••••••••••••••••••••••••••••••••••••••••••••• 673
Tape reader with reels •••••••••••••••••••••••••••••••••••••••••••••••••••• 411
Tape reader without reels ••••••••••••••••••••••••••••••••••••••••••••••••• 409
Tape Start ..................•..................................•.......... 147
Tapping mode (G63) 91
TEST OPERATION ••••••••••••••••••••••••••••••••••••••••••••• a •• a a • a a •• a •••• 493
THREAD CUTTING (G33) 70
Three-Dimensional Tool Offset (G40, G41) 245
Three-dimensional tool off set cancel •••••••••••••••••••••••••••••••••••••• 246
Three-dimensional tool offset vector •••••••••••••••••••••••••••••••••••••• 246
To Replace Batteries for Absolute Pulse Coder ••••••••••••••••••••••••••••• 687
To Replace Battery for Control Unit, (For Memory Back-Up): ••••••••••••••••• 686
Tool axis direction handle feed ••••••••••••••••••••••••••••••••••••••••••• 437
Tool axis direction tool length compensation vector ••••••••••••••••••••••• 265
Tool change signal .. a,. a a • a • • • • • • • • • • • • • • • a • • • • • • • • • • • • a • • • • • • • • • • a • • • • • a • • 582
Tool change signal reset •••••••••••••••••••••••••••••••••••••••••••••••••• 582
Tool Compensation Amount •••••••••••••••••••••••••••••••••••••••••••••••••• 248
Tool compensation memory A •••••••••••••••••••••••••••••••••••••••••••••••• 248
Tool compensation memory B •••••••••••••••••••••••••••••••••••••••••••••••• 248
Tool compensation memory C •••••••••••••••••••••••••••••••••••••••••••••••• 249
TOOL FUNCTION (T FUNCTION) ................................................ 134
Tool Length Compensation in Tool Axis Direction ••••••••••••••••••••••••••• 265
Tool Length Measurement ••••••••••••••••••••••••••••••••••••••••••••••••••• 560
Tool Length Offset (G43, G44, G49) 205
Tool Length/Work Zero Point Measurement B ••••••••••••••••••••••••••••••••• 564
Tool length compensation and tool offset in parallel axes ••••••••••••••••• 358
Tool length measurement B ••••••••••••••••••••••••••••••••••••••••••••••••• 564
Tool life data display during execution of machining program •••••••••••••• 580
Tool life data display format ••••••••••••••••••••••••••••••••••••••••••••• 581
Tool Life Management ...............•••.......................•......•..... 134
Tool Life Management Data ••••••••••••••••••••••••••••••••••••••••••••••••• 580
Tool Offset (G45 to G48) .................................................. 207
Tool Offset by Tool Number ................................................ 259
589
Tool Of f se t by Tool Number ••••••••••••••••••••••••••••••••••••••••••••••••
Tool Offset Data by Tool Number ••••••••••••••••••••••••••••••••••••••••••• 657
Tool Offsets .............................................................. 654
TOOL RETRACT AND RECOVER (G10.6) 366
Tool retract and recover •••••••••••••••••••••••••••••••••••••••••••••••••• 471
Tool Selection Command .................................................... 134
Tool selection ........................................................... . 141
Tool skip signal ......................................................... . 582
TROUBLESHOOTING ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 688
Twin Table Control ........................................................ 350
Types of variables 288

<V>
Variables ................................................................. 286
Vector hold (G38) and corner arc (G39) 216

<W>
Warning Message ........................................................... 394
WHEN ALARM ARISES ......................................................... 498
When soft keys are insufficient ••••••••••••••••••••••••••••••••••••••••••• 395
Word and address ••................•...........•..•........................ 155
Word and address change ••••••••••••••••••••••••••••••••••••••••••••••••••• 515
Work Coordinate System •••••••••••••••••••••••••••••••••••••••••••••••••••• 105
Work zero point measurement B ••••••••••••••••••••••••••••••••••••••••••••• 570
Work Zero Point Offset Amount ............................................. . 656
Work.Zerb Point Offset Value •••••••••••••• ~ ••••••••••••••••••••••••••••••• 551
Write protection of common variable ••••••••••••••••••••••••••••••••••••••• 315
Write-protect key/tab ••••••••••••••••••••••••••••••••••••••••••••••••••••• 663

<Z>
Z axis work zero point offset amount 570
 Revision Record

fANUC Series 15-MAIMf. 15Q-MA OPERATOR'S MANUAL (B-61224El

05 Nov. '90 · Change of &&display of servo control

infonnation" in IV -4.4.2

04 Iul. '90 • Addition of functions prepared by step II

03 Ian. '90 • Addition of parallel operation 07 lul. '92 . Addition of II 18.4 High Precision Contour
Control

• Addition of speed commanded

02 Mar. '89 • Addition of custom macro • Change of I 1. GENERAL
• Addition of Series 150 • Change of II 6.4.5 Acceleration/deceleration before
pre-read interpolation
06 · Addition of II" 19.1 FS 10 type's software
Ian. '92
limit function
• Addition of II 11.13.10 Initial values at the beginning
of drawing
Mar. '88
• Addition of 11.14 Display positional deviation

Edition Date Contents Edition Date Contents

 B-61224E/07

* B - 6 1 2 2 4 E / 0 7 *