H9C Mnu e

HUST H9C CNC
OPERATION MANUAL

(Suitable for the controller: H6CB H6CLB H9CB H9CL)

Feb. , 2011

HUST Automation Inc.
No. 80 Industry Rd., Toufen, Miaoli, Taiwan
Tel: 886 37 623242 Fax: 886 37 623241

CONTENTS
i
TABLE OF CONTENTS

1 HUST H9C MAIN FEATURES 1-1

2 PROGRAMMING BASICS 2-1

2.1 A Part Program 2-1
2.2 Methods of Programming 2-1
2.3 The Composition of A Part Program 2-2
2.4 Coordinate System 2-5
2.4.1 Cartesian Coordinate System 2-5
2.4.2 Position Commend (Coordinate) 2-6
2.4.3 Work Origin/Work Coordinate 2-7
2.4.4 Machine Origin (HOME Location) 2-8
2.5 HUST H9C Control Range 2-8

3 FUNCTION CODES 3-1

3.1 G-Codes Definition 3-1
3.2 Rapid Positioning (Traverse Speed),G00 3-3
3.3 Linear Cutting,G01 3-6
3.4 CNC and Master/Slave Mode 3-7
3.5 Circular (Arc) Cutting,G02,G03 3-15
3.6 Circular (Spiral) Cutting,G02,G03&G17,G18,G19 3-22
3.7 Dwell (Hold),G04 3-27
3.8 Automatic proceeding to decimal digit,G07 3-27
3.9 Reset Origin of Machine Coordinate,G08 3-28
3.10 Manual Data Input Function,G10 3-29
3.10.1 Set Origin for Work Coordinate by G10 (Recommended) 3-29
3.10.2 Set Tool Offset Data By G10 3-31
3.10.3 Set and Clear Counter Limit By G10 3-32
3.11 Input/Output Control, G11, G12, G14 3-33
3.11.1 Output Control,G11 3-34
3.11.2 Input Control, G12 3-39
3.11.3 Output / Input Control, G14 3-44
3.12 Move to The First Reference Point, G28 3-46
3.13 Return to Previous Location From Reference Point, G29 3-46
3.14 Move to The Second (2nd) Reference Point, G30 3-47
3.15 Skip Function, G31 3-47
3.15.1 High Speed Skip Function, G31 3-48
3.15.2 Average Skip Function, G31 3-51
3.15.3 High-speed Skip Command, G31 3-52
3.16 Work Coordinate System, G54~G59 3-57
3.16.1 Machine Coordinate (Home) 3-57
HUST H9C Operation Manual

ii
3.16.2 Work Coordinate System, G54~G59 3-57
3.17 Feed rate mode control , G98, G99 3-59
3.18 MACRO, Command, G65 3-60
3.19 Working Program 3-82
3.19.1 Linear and Circular Repetitive Indexing,G00,G01,G02,G03 3-82
3.19.2 Auxiliary Functions, M-codes, S-codes 3-83
3.19.3 Sub-program 3-84

4 TOOL COMPENSATION 4-1

4.1 Tool Offset Compensation , G43 4-1
4.2 Tool Offset Data Input and Revision 4-2

5 KEYBOARD & LED DISPLAY 5-1

5.1 Keyboard Descriptions 5-2
5.2 Description of LED Display 5-4
5.2.1 Power-on Display 5-4
5.2.2 Coordinate Display 5-5
5.2.3 Edit Mode 5-6
5.2.4 Program Number Display Mode 5-6
5.2.5 JOG Mode 5-7
5.2.6 TEACH Mode 5-8
5.2.7 I/O Test and Key Mode 5-9
5.2.8 MCM Parameter Mode 5-9
5.2.9 Trace display 5-10

6 PROGRAN EDITING 6-1

6.1 Program Selection 6-1
6.2 New Program Editing 6-1
6.3 Program Revision 6-4
6.4 Program Edit By Teach Mode 6-8
6.5 Rules For Numerical Input 6-9
6.6 Notes on Program Edit 6-10

7 MCM MACHINE CONSTANT PARAMETERS 7-1

7.1 MCM Parameter Setting 7-1
Form of MCM Parameter Setting
7.2 Description of MCM Machine Constants 7-23

CONTENTS
iii

8 MANUAL OPERATION 8-1

8.1 Manual Operation 8-1
8.1.1 Home Operation (Machine Origin) 8-1
8.1.2 Manual JOG Feed Operation 8-3
8.1.3 G01 Manual Feed-rate Override (MFO%) 8-4
8.1.4 G00 Manual Feed-rate Override 8-5
8.2 MDI Single Block Operation, MDI 8-5
8.3 Auto Execution, AUTO 8-6
8.4 Single Block Execution in AUTO Mode, SINGLE 8-7
8.5 Feed Hold (FEHOLD) 8-7
8.6 Option-Stop (OPST) 8-8
8.7 Skip Function, SKIP 8-8
8.8 Program DRYRUN 8-9
8.9 MPG Hand-wheel Testing 8-10
8.10 Program Re-start, RE-STA 8-10
8.11 Round Corner Non-stop Operation 8-12

9 PC ON-LINE OPERATION OF RS232C 9-1

9.1 PC Performs Online Operation via RS232 and The Controller 9-1
9.1.1 Program Transfer From PC To CNC Controller 9-2
9.1.2 Program Transfer From CNC Controller To PC 9-3
9.1.3 Transfer MCM Data from PC to Controller 9-4
9.1.4 Transfer MCM Data from Controller to PC 9-4
9.1.5 Transfer Data Variable from PC to controller 9-5
9.1.6 Transfer Data Variable from CNC to PC 9-5
9.1.7 Transfer PLC Ladder from PC to CNC 9-5
9.1.8 Transfer LCD Screen Display Data from PC to CNC 9-5
9.1.9 Transfer Controller System Data from PC to CNC 9-5
9.1.10 Transfer function tables from PC to CNC controller 9-6
9.1.11 PC to Controller (ARM) 9-6
9.1.12 HCON.EXE Program Operation 9-7
9.1.13 RS232 Connection 9-10
9.2 HUST H9C Transmission Modes 9-11
9.3 USB Equipment Mode 9-12
9.4 USB Host Mode 9-12
9.5 Operation Instruction of A Standard H9C Transmission Interface 9-12
9.5.1 File Downland Interface 9-14
9.5.2 File Upload Interface 9-16

10 ERROR MESSAGES 10-1

11 APPENDIX A 11-1

iv

11.1 Selection of Servo Motor with Compatible Moment of Inertia 11-1
11.1.1 Calculation of Moment of Inertia for Load 11-1
11.2 Way to select the suitable Servo motor 11-3
11.3 How to Calculate the Electric Current Requirement 11-7
11.4 Passive ENCODER 11-8
11.4.1 Passive ENCODER Table Type Fly Cut Passive Encoder 11-8
11.4.2 Passive ENCODER Length Compensation 11-8

12 APPENDIX B - zDNC Operating Instructions 12-1

Getting Started 12-1
Open the Option Setting Screen 12-1
Display Settings 12-2
PC TO CNC 12-3
CNC TO PC 12-4
Attention 12-4

13 APPENDIX C - Use instructions of declarative programs 13-1

Main Features of HUST H9C Controller
1 - 1
1 MAIN FEATURES OF HUST H9C CONTROLLER

Controllable axis: X, Y, Z , A, B, C, U, V, W 9 axis.

Voltage-driven servo system with maximum speed of response 1000 KPPS (i.e. 240
meters/min with 1 resolution).

Design the LCD screen freely and simply. Use the PC screen to display editing
program and test program. Transfer data from PC through RS232 or USB interface
and execute the program.

Besides basic program designA it can be done by CAD/CAM and transferred
through RS232C.

Keyboard can be customized to suit user's application or used as thumb switch.

H9C controller can achieve accurate feed-length by comparing the feedback from
the passive encoder and the roller.

512k program memory.

Battery backup in case of power-off.(Battery Backup)C

MCM (machine constants) parameter table let user customize his specific machining
requirements.

Backlash error compensation for worn ball-screw.

Providing 6 sets of user defined work coordinate to simplify program design.

User can customize Macro function (MACRO)C

Feed-rate control either by mm/minute or mm/revolutionC

Continuous program execution or single block at a timeC

Option skip, option stop, and feed-hold function (Option Skip)C

Self-diagnostic and error functionC

Circular programming by radius "R" as well as I and J valuesC

Each axis can be set as Master/Slave mode ( Reference by 3-3 3-4)

MPG hand-wheel interface for program testing (MPG test)

Provide standard I/O=48/32 programmable logic control

1 - 2

This operation manual includes programming basics, G-codes, keyboard operation,
program editing, MCM parameters, manual operation and special functions, RS232
interface, and error functions. Table 1-1 shows the G-code summary available from
HUST H9C controller.

This manual is based on HUST H9C controllerC The machinery type is different from
each brandC Please follow the machine description about this partC

Table 1-1 HUST H9C G-code Command

G-code Function G-code Function
*G00 #Rapid Positioning *G43 Tool Offset Compensation ON
*G01 #Linear Cut *G49 #Offset Compensation OFF
*G02 Circular Cut (CW)
*G03 Circular Cut (CCW) *G 54 #1st Work Coordinate
G04 Pause *G55 2nd Work Coordinate
G07
Automatically feedi ng to an integral
position
*G56 3rd Work Coordinate
G08 Setting a machine coordina te *G57 4th Work Coordinate
*G58 5th Work Coordinate
G10 Data Input *G59 6th Work Coordinate
G11 Simple output control
G12 Simple input control
G14 Simple I/O cont rol G65 MACRO command
*G17 #X-Y plane
*G18 #Z-X plane G90 Set as absolute coordinate
*G19 #Y-Z plane G91 Set as incremental coordinate
G28 Go to the 1st Ref Point *G98 #Feed-rate with mm/min
G29 Return to last location from ref. Point *G99 Feed-rate wit h mm/revolution
G30 Go to the 2nd Ref Point
G31 Skip Function

*Modal G-code.
#
Power-on default G-code (Either G 00 or G01 can be chosen as powe r-on default through proper MCM
parameter setting).

2 Programming Basics
2 - 1
2 PROGRAMMING BASICS

2.1 A Part Program

Prior to cutting a mechanical part by using a CNC machine, the shape and the dimension
of the part must be drawn and accurately calculated. A computer program called a part
program is then created to describe the shape of the part using a specific coordinate
system. The cutting tool will then follow these coordinates to do exact cutting. To create
a part program, a concise machining plan is a necessity, which includes the coordinates
for the machine part, coolant, spindle speed, tool type, I/O-bit, etc. When designing a
machining plan, the following factors must be considered:

Determine the machining requirement and select the suitable CNC machine tool.
Determine the work-piece loading method and select the appropriate cutting tool and
the tool holder.
Determine the machining sequence and the tool path.
Determine the cutting conditions such as spindle speed (S), feed-rate (F), coolant, etc.

A part program is a group of sequential instructions formulated according to the
machining plan. It can be edited either on a personal computer (PC), then transmitted to
the CNC controller through RS232 interface or USB or directly on the CNC controller
using the editing keys.

2.2 Methods of programming

A CNC controller will execute the commands exactly in accordance with the
instructions of the part program. So, the program design is the most important task in
the whole CNC machining process. There are two ways to design a CNC part program
and are to be briefly described below:

1. Read the tool graphic very well.
2. Experienced with tool workingC
3. Well known for mechanic operation A procession A program language and
capacityC
4. Capable of mathematic calculationC
5. Capable of choosing the tool optionC
6. Capable of setting the fixtureC
7. Capable of discriminating the materialC

There are two ways to design a CNC part program and are to be briefly described below:

Manual Programming
Automatic Programming
2 - 2
Manual Programming

Manual programming is a process that the whole process is manually done by hand
including the coordinate calculations. It follows this sequence.

Drawing of the mechanical part.
Part shape description including coordinate calculations.
CNC part program design including spindle speed, feed rate, M-code, etc...
Editing the program instructions on CNC controller or PC.
Testing the program.

The coordinate calculation is easy if the shape of the part is composed of lines or 90
degree angles. For curve cutting or slant lines, trigonometry will be required for
correct answers. Once all calculations have been completed, the CNC part program
is written in the formats to be discussed later.

The main disadvantage of manual programming, particularly when designing for a
very complicate part, is time consuming and prone to making errors. In this case,
automatic programming becomes more advantageous than the manual method.

Automatic Programming

Automatic programming is a process in which the program design including
coordinate calculation is done by computer. It follows this sequence.

Computer added design for part drawing (CAD).
Computer added manufacturing for CNC part program (CAM).
Transferring program to CNC controller.
Testing the program.

By making use of computer's high speed calculating capability, program designer
can communicate with the computer in simple language, to describe the shape, size
and cutting sequence of the part. The computer will transfer the motions of the
machine tool into a part program, which is then transferred into CNC controller
through USB or RS232 interface. This process is called CAD/CAM. It is a necessary
tool when designing a part program for a 3-D work-piece.

2.3 The composition of A part program

A complete part program is composed of program BLOCKS, starting with a program
number Oxxx, ended with M2, M30, or M99, and in between with a series of CNC
instructions. A CNC instruction is a command to order the cutting tool to move from
one location to another with a specified speed, or to instruct the peripheral equipment to
do some mechanical work. The cutting action is done when the cutting tool moves.

An example of a complete part program containing nine (9) blocks is as follows:

2 - 3
N10 G00 X40.000 Y10.000
N20 G00 X30.000 Y5.000
N30 M3
N40 G1 X10.000 Y20.000 F20.00
N50 V-5.0
N60 X30.000 Y-10.000
N70 G0 X40.000 Y10.000
N80 M5
N90 M2

A block of program can have one to several instructions and it has a general form as
follow.

N____G____X____Y Z__ _A____B C __ _ U____V W__ _F____M____

The block number "Nxxx" can be omitted. If you do not key in the block number, HUST
controller can automatically generate the number for you by proper MCM parameter
settings (see Chap 6). The program execution starts from top to bottom and has nothing
to do with the value of block number. Each instruction starts with an English letter
(A~W), followed by an integer or floating number, depending on the type of instruction
the number is associated with. If the number represents a coordinate, it can be positive
(+) or negative (-). In general, the program instructions can be divided into four
categories.

1. Function command : G-code. A CNC command to instruct the tool to do a work,
such as straight/circular cutting, moving, etc.
2. Position command : X, Y, Z, A, B, C, U, V, W- Coordinate function to instruct
the cutting tool to move from the current location to the next
location.
3. Feed-rate command : F-code. A command specifying the cutting speed for cutting
tool.
4. Auxiliary command : M, L, etc. A command to instruct the peripheral equipment
to do an action, such as valve or coolant on/off, etc.

Not every node is composted by these four partsC Some has only one commandC We
will describe more in chapter 3C

In the basic format of nodeA exception of the N___ A others are commands such as
(A~Z).+/-C

Command Format (EX. Location Command)

Y-10.000

Y : Command code
2 - 4
"-" : Positive/Negative. (+) can be left out
10.000 : The tool locating amount (or coordinate)

Each command (or function) code has a fixed format and a special meaning to the CNC
controller and it must be strictly followed when writing a program. The system will not
accept the command if the format is in error. Otherwise, a machine error will result.
More on part program and function codes in Chapter 3. Followings are the command
codes that are used in HUST H9C controller.

A, B : Variable #1 and #2 in G65 Macro function.
F : Feed-rate, decimal.
G : Function G-code, integer.
I, J : The X, Y, Z-axis component of the arc radius @ the start point, decimal.
L : Repetition counter, or operation mode designation in G65, integer.
M : Function code for peripheral equipment, integer.
N : Program block (sequence) number, integer.
P : Subprogram code, or variable #3 of G65 command, integer.
R : Arc radius, decimal.
S : Spindle speed, integer.
X, Y, Z, A, B, C, U, V, W : Position command in X, Y, Z, A, B, C, U, V, W-axis
respectively, decimal.

NOTEG HUST H9C Series XB YB ZB AB BB CB UB VB W- axis dose not have the
comparer format of incremental coordinate.

The program serial number represents each node to let the program search it by N and
numbersC The numbers are better not be repeatedC And they don't have to be arranged
in orderC The program is executed from top to bottom by nodesC

EX N10......... (1) Program executing order
N30.........(2)
N20.........(3)
N50.........(4)
N40.........(5)

2 - 5
2.4 Coordinate System

The cutting action is accomplished when the tool is moving along a specific path from
point A to point BC This path can be combined with straightA curve or severalC
These intersection points and A B point must be used the coordinate system to describe
the geometry locationC The tools use the change of location to complete the cuttingC

2.4.1 Cartesian Coordinate

HUST H9C series uses the customarily 2-D Cartesian coordinate system as shown in
Fig 2-1 with X, Y as designated axes. The intersecting point of these axes is the
coordinate origin (also known as work origin), that is X=0, Y=0

Fig 2-1 2-D Cartesian Coordinate

X, Y axis can be used as linear axis or spindle axis. When applied as spindle axis, use
your right hand to help you to determine the direction of rotation. By pointing your
thumb in the +X, +Y or +Z, the direction of the rest 4 fingers will be pointing in the
positive direction of rotation. Well have more discussion on spindle axis, such as
indexing table in Chapter 3.

P1 (+X, +Y)
P4 (+X,-Y)
P2 (-X, +Y)
P3 (-X,-Y)
+X
+Y
X=0,Y=0
2 - 6
2.4.2 Position Command (Coordinate)

Absolute Coordinate Command

The origin is the reference. The coordinates of all points describing the shape of the
work-piece (mechanical part) are calculated from the origin. The coordinates can be
positive (+) or negative (-), depending on its relative position with respect to the
origin.

Incremental Coordinate Command

The coordinates of all points describing the shape of the work-piece are calculated
from the end point of the previous block. They are the amount of coordinate increase
from the last point. The incremental coordinates can be either positive (+) or
negative (-), depending on its relative position with respect to the end point of the
previous block. They are positive (+) (X.Y.Z is positive) if the cutting tool is
moving in the positive direction, negative (-), otherwise.

1. Format MCM 681~689 =1
G01 X____Y____ Z____ A____B____C____ U____V____W____
...Absolute coordinate location.

Format MCM 681~689 =0
G01 X____Y____ Z____ A____B____C____ U____V____W____
... Incrememtal coordinte location.

Note: X, Y, Z, A, B, C, U, V, W- axis doesn't have the relative indicationC

Absolute command and Incrememtal command can be used together in the
program, Please refer to Fig 2-2 for following examples.

Fig 2-2 Absolute value command

10
30
38
P3
P2
P1
P0
5
13
16
X
Y
P4
X=0, Y=0 (origin)
2 - 7
Format MCM 681~682 =10, Absolute coordinate location.
P0 ->P1 G01 V5.000 F2000
P1 ->P2 U-8.000 V8.000
P2 ->P3 U-20.000 V3.000
P3 ->P4 U-10.000

Combination of absolute and incremental

P0 ->P1 G01 Y5.000 F2000
P1 ->P2 U-8.000 Y13.000
P2 ->P3 X10.000 V3.000
P3 ->P4 U-10.000
or
P0 ->P1 G01 Y5.000 F2000
P1 ->P2 X30.000 V8.000
P2 ->P3 U-20.000 Y16.000
P3 ->P4 X0.000

2. Execute G90 in cutting program will cause that all the program below this line
changes to the absolute way of X,Y,Z,A,B,C,U,V,W.

3. Execute G91 in cutting program will cause that all the program below this line
changes to the incremental way of X,Y,Z,A,B,C,U,V,W.

Note: G90 , G91 are only in accordance with whole cutting program. After this
program is done, the coordinate location will return to the MCM setting.

In the program, the both methods of absolute and incremental can be used together. If
there is any error in the absolute system, it will not affect next position. But it will affect
all the position behind in the incremental system.
The timing of using incremental or absolute system does not have certain rules to follow.
Generally it can be decided by cutting demand. If there is any point which has relation
with original point, we recommend that use the absolute system.

In the command of slant(X and Y axis have location at the same time) or curve cutting,
each axiss value calculated by triangular relation is used the method of round up or
down. So, the more points have been operated, the more error will be done. Basically we
can analyze the timing of using the absolute or incremental system with working graphic
and demand of program.

2.4.3 Work Origin/Work Coordinate

CNC of single and double axis is designed with the size of work piece. Before
transferring it to the coordinate system, the reference point for all coordinate
calculations and the coordinate so obtained is called work coordinate. The reason to call
it as work origin is to differentiate it from the machine origin. (HOME location)

2 - 8
The work origin can be anywhere inside the machine working range. The user should
determine the location of this point before making any coordinate calculations. Once the
origin is selected, store the coordinate of this point with respect to the machine
origin .The best selection is the one that will make the coordinate calculation simple and
easy.

2.4.4 Machine Origin (HOME Location)

The machine origin is the HOME location for the cutting tool. This is the reference
point for the coordinate determination of the work origin and the tool offset
compensation. The coordinate obtained using the machine origin as the calculation base
is called the machine coordinate. The exact location of the machine origin is determined
by the location of the home limit switch on each axis. When user executes HOME (one
axis at a time) on a CNC controller, the cutting tool will move to the machine origin. If
the X, Y, Z-axis is used as rotating axis, the HOME location is equal to zero (0) degree.

When the electric power is interrupted for any reasons, execute HOME on each axis
before resuming any cutting.

2.5 Control Range

The programmable range is as follow: (the decimal format 4/3)

Min. setting unit 0.001 mm
Max. setting unit 9999.999 mm
Min. moving unit 0.001 mm
Max. moving unit 9999.999 mm
Max. travel distance 9999.999 mm

G code G00 - G99 (G01 = G1 )
M code M000 - M999 (M01 = M1 )
S code 999999
F code mm/min 0 ~ 9999999
X,Y,Z,A,B,C,U,V,W,I,J,R, mm 0.001 ~ +/- 9999.999
G 0 4, seconds 0 ~ 9999.999
Program Number 0 ~ 999
T code 0 ~ 10000
RAM Memory Capacity 72K
Ball-screw compensation 0 ~ 1024 Pulses
Max. response speed 2.5 MPPS

These data is based by the H9C controller. If there is any relation with mechanic
operation, please follow the machine manual.
3 Function Codes
3 - 1
3 FUNCTION CODES

This chapter discusses the meanings and applications of function codes, such as G, F, M
and S-code, and the format of their usage.

3.1 G-code Definition

G-codes followed by one or two numbers are special command codes in HUST CNC
system and they are from G00~G99. The first "0" can be omitted. Each G-code has its
own specific function (Table 3-1). G-codes are divided into two groups:

1. One-shot G-codes

A One-shot G-code is effective only in the program block where it was encountered.
Once program starts executing the next block, it's no longer effective.
Example:

N10 G0 X30.0 Y40.000
N20 G4 X2.000 ..... G04 is one-shot G-code, effective only in this block.
N30 X20.000 Y50.000 ..... G04 no longer effective in this block. G0 is.

2. Modal G-codes

A modal G-code is a G-code that remains effective until another G-code in the same
group is encountered. Following G-codes are in the same group for HUST H-3X series.

G00, G01, G02, G03 ..... Same group
G43, G49 ..... Same group
G54~G59 ..... Same group
G98~G99 ..... Same group

Example:

N10 G0 X30.0 Y5.000 ..... G0 is effective in this block.
N20 X50.0 Y10.000 ..... No G-code specified, G0 remains effective.
N30 G1 X30.000 F200 ..... G1 is effective from this block, NOT G0.

Normally, only one G-code is allowed in a program block. If several G-codes are
accidentally specified in a block, only the last G-code specified is effective.
Example:

G00 G1 X10.000 ...... Only G01 is effective.

3 - 2
Table 3-1 G-Code Definitions

G Code List
G code Function G code Function
* 00 # Rapid positioning * 43 Tool offset compensation On
* 01 # Linear cut * 49 # Offset compensation off
* 02 Circular cut (CW)
* 03 Circular cut (CCW) * 54 # First work coordinate
04 Pause * 55 Second work coordinate
07 Auto-Feed to integer position * 56 Third work coordinate
08 Set machine coordinate * 57 4th work coordinate
10 Data input * 58 5th work coordinate
11 Simple I/O control * 59 6th work coordinate
12 Simple input control
14 Simple I/O control 65 MACRO command
* 17 # X Y (A) plane
* 18 # Z X (A) plane
* 19 # Y Z (A) plane 90 Set as absolute coordinate
28 Go to the first refer. Point 91 Set as incremental coordinate
29
Return to last location from refer.
Point
* 98 # Feed-rate with mm/min
30 Go to the second refer. Point * 99 Feed-rate with mm/revolution
31 Skip function

* Modal G-code.
# Power-on default G-code (Either G00 or G01 can be chosen as power-on default through
proper MCM parameter setting).

3 Function Codes
3 - 3
3.2 Rapid Positioning (Traverse Speed), G00

Format: G00 X____Y____Z____A____B____C____U____V____W____

X, Y, Z, A,B,C,U,V,W : Position code (End point) in absolute coordinate.

Fig 3-1 Rapid Positioning

G00 related parameters:

G00 rapid positioning: command-related parameters
Parameters
221~229
The highest feed rate of the X, Y, Z, A, B, C, U, V, and W axes: the factory
default is 10000.
R220
G00 feed rate percentage: the initial value is 100%.
Allowed setting range: 0 ~ 100.

G00 (or G0) is a command to move the axis at the highest feed rate of [MCM parameters
221, 222, 223, 224, 225, 226, 227, 228, 229 settings] multiplied by [Register R220
setting] M to the end position specified in the program block.

G00 can simultaneously control the motions of 1~9 axes. Without specifying the axis, the
command will not perform positioning motion.

For single axis function (G00 X___ , G00 Y___ G00Z__):
G00 speed (X-axis) = (MCM #221 value) (R 220 in %)
G00 speed (Y-axis) = (MCM #222 value) (R 220 in %)
G00 speed (Z-axis) = (MCM #223 value) (R 220 in %)
G00 speed (A-axis) = (MCM #224 value) (R 220 in %)
G00 speed (B-axis) = (MCM #225 value) (R 220 in %)
G00 speed (C-axis) = (MCM #226 value) (R 220 in %)
G00 speed (U-axis) = (MCM #227 value) (R 220 in %)
G00 speed (V-axis) = (MCM #228 value) (R 220 in %)
G00 speed (W-axis) = (MCM #229 value) (R 220 in %)

For nine axes function (G00 X___ Y___Z___A___B___C___U___V___W___), the
G00 speed will be calculated internally and the detail is shown in the example below:

HUST H9C has no expression for relative incremental positioning for each axis.
The incremental positioning is performed in the following ways.
X
Y
U
V
2
1
G00
Y
X
3 - 4
The incremental positioning related parameters:

Incremental positioning: command-related parameters
0 Incremental positioning command settings
Parameters
681~689
1 Absolute positioning command setting
G91 Incremental mode setting.
G90 Absolute mode setting.
Parameters
221~229
default is 10000.
R220 G00 feed rate percentage.

The NC controller is in the Absolute positioning command mode at startup with
parameters 681~689 of the value 1.

Parameters 681~689 are used for axial motion commands.
(Its default setting is 1 in the absolute positioning format.)

Ex. 1: To set the X value for the absolute positioning command, the parameter 681
1
Ex. 2: To set the X value for the incremental positioning command, the parameter
681 0
Ex. 3: To set the X value for the absolute positioning command and the Y value for
the incremental positioning command, the parameter 681 1, and parameter
682 0.

G91 the incremental positioning mode.
In the G91 mode, the X, Y, Z, A, B, C, U, V, and W axes are in the incremental positioning
mode.

G90 the absolute positioning mode.
In the G90 mode, the X, Y, Z, A, B, C, U, V, and W axes are in the absolute positioning mode.

Description of the commands:

Ex:1: Fig 3-2, G00 move from point A to point B. (Assume that the X,Y value is
absolute MCM #681 #682=1)

Absolute positioning command:
G0 X5.60 Y2.00 X- and Y-axis command settings are for absolute positioning.

Incremental positioning command:
G91 Incremental positioning mode
G0 X-3.05 Y-3.00 X- and Y-axis command settings are for incremental positioning.

Absolute/incremental mixed command:
Assuming Parameter 681 0, so X-axis setting is for incremental positioning.
And Parameter 682 1, so Y-axis setting is for absolute positioning.
3 Function Codes
3 - 5
G0 X-3.05 Y2.00 X- and Y-axis commend settings are for absolute/
incremental mixed positioning.

Fig 3-2 G00 Example

The tool moves rapidly to (X5.60,Y2.00) in the direction as shown by arrow in Fig 3-2.
The speed calculations for each axis are done internally by the CNC controller, based on
the settings of MCM #221 and #222. If the calculated value exceeds the MCM value
(#148, #149), the controller will use that MCM value to re-calculate the traverse speed
for the other axis. Following is an example.

Assuming the values of TRX MCM #221=3000.00 mm/min, and TRY MCM #222 =
5000.00 mm/min, R220=100% :

For G00 U-3.05 V-3.00 in Fig 3-2, the controller select the slower 3000.0 as the
base to calculate the traverse speeds for other axes:

Fx = 3000.00 X-axis feed rate
Fy = 3000.00 (3.00/3.05)
= 2952 (<5000 for Y-axis setting values) Y-axis feed rate

Both axes are within the settings of MCM #221, X-axis will move at 3000 and Y-
axis at 2952 mm/min.

With the same MCM #681, #682 setting, then

Fx = 3000
Fy = 3000 (6.00/3.05)
= 5901.64

The calculated Fy (5901.64) > TRY MCM#222 (5000.00). Therefore, the feed rate will
be based on the setting value of Y-axis, X axis feed rate is limited as the showing
below:

Fy = 5000 X-axis feed rate
Fx = 5000 (3.05/6.00)
= 2541.67 X-axis feed rate

Rapid Positioning (Traverse Speed) for G00:

A
B
Y
X
5.6
3.05
3.00
2.00
3 - 6
The maximum traverse speed allowed for the servo motor depends on the motor RPM,
pitch length of the ball-screw, and the gear ratio (GR). It can be calculated using the
equation below.

Fmax = 0.95 Motor RPM Pitch GR
Where GR = Tooth number on ball-screw / Tooth number on motor.
0.95 = Recommended safety factor.

Ex: On X-axis, the motor rated 3000 rpm, ball-screw pitch = 5 mm, and GR = 1. The
max traverse speed is

Fmax = 0.95 3000 5 5 = 2850 mm/min. The setting for MCM #221 = 2850.

Note that the maximum slope ratio of X/Y, Y/Z or Z/X for G00 traverse speed is
10000:1. This means if the F=2000.0 mm/min with machine resolution of 1 m, the
error in cutting path will be less than 0.2 %.

G0 code can be used under master or slave mode. We will discuss the usage in node 3.4.

3.3 Linear Cutting, G01

Format: G01 X____Y____Z____A____ B____C____U____ V____W____F____

X, Y ,Z ,A,B,C,U,V,W : The ending position code in absolute coordinate
F : Cutting speed.

F-code can be used with G01,G02,G03. It will not affect G00 speed. F-code is a modal
code. It affects the cutting speed for the blocks immediately followed until a new F-
code is specified.

G01 related parameters:

Incremental positioning: command-related parameters
0 incremental positioning command
Parameters
681~689
1 absolute positioning command
G91 Incremental mode.
G90 Absolute mode.
Parameters
221~229
default is 10000.
R221 G01 feed rate percentage setting.

G01 is for the linear cutting motion and can control 1~9 axes at the same time. The
cutting speed is determined by F-code. The smallest setting value for F-code is
1mm/min.The maximum cutting speed is limited by the setting of MCM #221 ~ #229.
The actual cutting speed is determined by F-code and the Register #221 as follow. The
factory default for MCM #221~#229 are 10,000 and 100% for R#221.(Setting range
from 0~150%)

F (actual) = (F-code value) (R221 value in %)
3 Function Codes
3 - 7

The current position of the tool is the starting point and the ending point is specified by
X and Y position codes. The feed-rate (F-code) is a modal code. If the cutting rate is a
constant for all program blocks, only one feed-rate in the beginning block needs to be
defined. Unless the feed-rate is redefined, the previous F-code remains effective. The
specified F-code is the rate along the cutting path (CNC mode, See Sec 3.4) and its
component for each axis is obtained as below. The max ratio for Fx/Fy is 10000:1. U
and V are of incremental values.

Feed-rate in X-axis, Fx
U
U V
* F
2 2
=
+
(1)
Feed-rate in Y-axis, Fy
V
U V
* F
2 2
=
+
(2)

Following is a G01 example in absolute and incremental coordinate. Both programs will
do the same cutting. (Fig 3-3)

Ex: Assuming the current tool position is X=4.60, Y=1.0.

Absolute coordinate:
G01 X2.01 Y2.0 F3000. .. Absolute coordinate

Incremental coordinate:
G91 .. Incremental coordinate mode
G01 U-2.59 V1.00 F3000. .. Incremental coordinate

Fig 3-3 G01 Example

3.4 CNC and Master/Slave Mode

When CNC controller executing a program block, the servo motor is always subjected
to a motion sequence as: Accelerate to speed at the starting point -- Maintain constant
feed-rate specified in the block Decelerate near target till stop or different speed at
target. When the controller proceeds to execute the next block, the servo motor will
repeat the same motion sequence. HUST controller provides 2 types of
acceleration/deceleration for motor, namely CNC and Master/Slave mode. The shape of
acceleration/deceleration can be either straight line or S-curve. This is done by proper
settings of MCM parameters as shown below.

Master-slave mode related parameters:
2.0
2.01
4.60
1.00
X
Y
B
A
3 - 8
Normal mode and Master-slave mode: command-related parameters
Parameter 501 Master-slave function setting (Non-Stop).
Parameter 502
Servo motor Acceleration/deceleration profile setting: [Exponential], [Linear],
or [S curve].
Parameters
221~229
The highest feed rate of the X, Y, Z, A, B, C, U, V, and W axes.

MCM parameter #501 is for setting CNC and Master/Slave mode as follows:

Setting=0, CNC mode.
Setting=1, X-axis as Master axis
Setting=2, Y-axis as Master axis,
Setting=3, Z-axis as Master axis,
Setting=4, A-axis as Master axis,.
Setting=5, B-axis as Master axis,
Setting=6, C-axis as Master axis,.
Setting=7, U-axis as Master axis,.
Setting=8, V-axis as Master axis,
Setting=9, W-axis as Master axis,.

MCM Parameter 502 is used for setting the motors Acceleration/deceleration profile as
Exponential, Linear or S curve.

For the joint between program blocks, the servo motor Acceleration/deceleration
profiles include:
(1) CNC normal mode (including Exponential, Linear and S curve
Acceleration/deceleration profiles.)
(2) Master-slave mode (including Exponential, Linear and S curve
Acceleration/deceleration profiles)

CNC mode --

The servo motor will decelerate to a complete stop at the end of each program block,
then the motor will accelerate again to the feed-rate specified in the next block.

Master/Slave mode --

In this mode, the user select one axis as a Master axis and the rest will automatically
become Slave axes. The acceleration/deceleration connection of motor speed
between blocks will NOT come to a complete stop. Instead, the motors for both
master and slave axes will decelerate or accelerate to the feed-rate of the next block
from the current feed-rate. The feed-rate (F) in the block is for the master axis and
the feed-rate for the slave axes will be calculated according to their displacements. If
the feed-rate for the master axis is zero (0), the feed-rate of the slave axis will be
used for calculation.

Acceleration/deceleration profile settings:

G0, G1, G2, and G3 commands can be used either in the CNC normal mode or in the
master-slave mode.
3 Function Codes
3 - 9
The controller can be configured to allow the servo motor to perform the following
acceleration/deceleration profiles:

Acc/Dec Mode MCM #501 MCM #502 Motor Acc/Dec
0 0 Exponential
0 1 Linear CNC Mode
0 2 S curve
1 0 Exponential
1 1 Linear
Master/Slave Mode
X-axis as master
1 2 S curve
2 0 Exponential
2 1 Linear
Master/Slave Mode
Y-axis as master
2 2 S curve
3 0 Exponential
3 1 Linear
Master/Slave Mode
Z-axis as master
3 2 S curve
4 0 Exponential
4 1 Linear
Master/Slave Mode
A-axis as master
4 2 S curve
5 0 Exponential
5 1 Linear
Master/Slave Mode
B-axis as master
5 2 S curve
6 0 Exponential
6 1 Linear
Master/Slave Mode
C-axis as master
6 2 S curve
7 0 Exponential
7 1 Linear
Master/Slave Mode
U-axis as master
7 2 S curve
8 0 Exponential
8 1 Linear
Master/Slave Mode
V-axis as master
8 2 S curve
9 0 Exponential
9 1 Linear
Master/Slave Mode
W-axis as master
9 2 S curve

CNC mode: MCM #501=0. Motor comes to complete stop at the end of each block.
MCM #502 is used to determine the type of acceleration/deceleration as
shown below.

MCM #501 setting MCM #502 setting Motor Acc./Dec.
0 0 Exponential
0 1 Linear
0 2 "S" curve

In the CNC normal mode, the motor speed will become zero (0) at the end of each block.

3 - 10
Linear

Y-axis as Master
1000
500
100 200 300
N10 N20 N30 N35
X-axis as Master
1500
1000
500
100 200 300 400
N10 N20 N30 N35
MCM#501 = 0
MCM#502 = 0
Exponential
Feed rate
Feed rate
1500
1000
500
100 200 300 400
N10 N20 N30 N35
1000
500
1 2 3
N10 N20 N30 N35
MCM#501 = 0
MCM#502 = 1
Y-axis as Master
X-axis as Master
Feed rate
Feed rate
1000
500
1 2 3
N10 N20 N30
1500
1000
500
100 200 300 400
N10 N20 N30
MCM#501 = 0
MCM#502 = 2
"S" curve
Y-axis as Master
X-axis as Master
Feed rate
Feed rate
3 Function Codes
3 - 11
Ex 1: Fig 3-4, CNC mode (MCM #501=0), motor acceleration/deceleration in linear
curve for G01(MCM #502=0), absolute coordinate.(#681~683=1)

N10 G01 X100. F1000. .. Feed-rate Fx=1000, Fy=0
N20 G01 X200. Y100. F500. .. Feed-rate Fx=Fy=500.

Note: N10 -- X-axis is fed at the speed of F1000, and the speed of Y-axis is 0.
N20 -- X- and Y-axes have the same incremental value (100), so they
are fed at the same speed of F500.
N30 -- X-axis is fed at the speed of F250, and the speed of Y-axis is 0.
N35 -- X-axis is fed at the speed of F100, and the speed of Y-axis is 0.

Fig 3-4 CNC mode with G01, Linear Acceleration./Deceleration

Ex. 2 and Ex. 3 show the feed rates in the X- and Y-axes by calculation in the CNC
normal mode. In the example, the highest feed rate (MCM parameters 221 and 222) is
assumed by:

TRX(MCM 221) 2000 mm/min (X-axis),
TRY(MCM 222) 1000 mm/min (Y-axis).

Ex 2: G01 U100.0 V50.0 F1500.00 (CNC mode) (Parameters 681, 682 0, X, Y are
incremental positioning commands)
Calculate the G01 feed-rate for X and Y-axis. Assuming MCM #221, #222
settings for G00 speed limit as: Ftrx=2000.0mm/min (X-axis), Ftry=1000.0
mm/min (Y-axis)

Composite vector for X and Y-axis = (100
2
+ 50
2
)
1/2
= 111.8
X-axis Feed-rate Fx = 1500.0 * (100/111.8) = 1341<2000
X-axis as Master
1500
1000
500
100 200 300 400
Feed rate
N10 N20 N30 N35
Feed rate
Y-axis as Slave
1000
500
1 2 3
N10 N20 N30 N35
MCM #501= 0
MCM#502 = 0
2 2
-axis Feed Rate,
U
X Fx Ft
U V
=
+
3 - 12
Y-axis Feed-rate Fy = 1500.0 * (200/111.8) = 670.8<1000
Both speed do not exceed the setting range.

Ex 3: G01 U100.0 V200.0 F2000.00 (CNC mode)

Calculate the G01 feed-rate for X and Y-axis. Assuming MCM #56, #57 settings
for G00 speed limit as: Ftrx=2000.0mm/min (X-axis), Ftry=1000.0 mm/min (Y-
axis)

Composite vector for X and Y-axis = (100
2
+ 200
2
)
1/2
= 223.6
X-axis Feed-rate Fx = 2000.0 * (100/223.6) = 894.4
Y-axis Feed-rate Fy = 2000.0 * (200/223.6) = 1788.9
1788.9 > 1000.0 (Ftry), so the G01 feed-rate will be limited as:
Fy = Ftry = 1000.00
Fx = (894.4/1788.9) * 1000.0 = 500.00

Master/Slave mode:

MCM #501=1, X-axis as master and Y/Z/A/B/C/U/V/W -axes as slave
MCM #501=2, Y-axis as master and X/Z/A/B/C/U/V/W -axes as slave
MCM #501=3, Z-axis as master and X/Y/A/B/C/U/V/W -axes as slave
MCM #501=4, A-axis as master and X/Y/Z/B/C/U/V/W -axes as slave
MCM #501=5, B-axis as master and X/Y/Z/A/C/U/V/W -axes as slave
MCM #501=6, C-axis as master and X/Y/Z/A/B/U/V/W -axes as slave
MCM #501=7, U-axis as master and X/Y/Z/A/B/C/V/W -axes as slave
MCM #501=8, V-axis as master and X/Y/Z/A/B/C/U/W -axes as slave
MCM #501=9, W-axis as master and X/Y/Z/A/B/C/U/V -axes as slave

MCM #501 MCM #502 Motor Acc./Dec.
1 ~ 9 0 Exponential
1 ~ 9 1 Linear
1 ~ 9 2 "S" curve

In this mode, the acceleration/deceleration connection of motor speed between blocks
will NOT come to a complete stop. Instead, the motors for both master and slave axes
will decelerate or accelerate to the feed-rate of the next block from the current feed-rate.
The feed-rate (F) in the block is for the master axis and the feed-rate of the slave axes
will be calculated according to their displacements. Note that when in master/slave
mode, there will be a minor error for the starting and the ending location of a circular
cut.

Ex 1: N10 G01 X100. F1000.
N20 X200. Y100. F500.
N30 X300. F250.

Fig 3-5, X-axis as master axis, motor accel./decel. in Linear type for G01
(MCM #222=0), absolute coordinate.

3 Function Codes
3 - 13
Note that the feed-rate in each block is for master axis. The feed-rate for slave axis will
be adjusted according to their coordinate increment with respect to the master axis.

Fig 3-5 Master/Slave Mode, Linear Accel./Decel.

Fig 3-5A, X-axis as master axis, motor accel./decel. in "S" type for G01
(MCM #124=1), absolute coordinate.

Fig 3-5A Master/Slave Mode, "S" Curve Accel./Decel.

Y-axis as Slave
1000
500
1 2 3
Feed rate
N10 N20 N30
X-axis as Master
1500
1000
500
100 200 300 400
Feed rate
N10 N20 N30
MCM #501 = 1
MCM#222= 0
X-axis as Master
1500
1000
500
100 200 300 400
Feed rate
N10 N20 N30
Y-axis as Slave
1000
500
1 2 3
Feed rate
N10 N20 N30
MCM #501 = 1
MCM#502= 0
3 - 14
Ex 2: N10 G01 X100. Y50. F1000.
N20 X200. Y75. Z50 F500
N30 X300. Y175. Z100. F250

Fig 3-6, X-axis as master axis with constant feed-rate, motor accel./decel. in linear type
for G01, absolute coordinate.

Fig 3-6 Master/Slave Mode with Constant F-rate for Master, Linear Accel./Decel.

In Example 2, the feed-rate of the slave axis is adjusted according to their incremental
ratio. Note the small time required for accel./decel. between blocks and the distance
traveled in this small amount of time can be estimated by:

Distance 0.5 *
(F1 F2)
60
*
T
1000
=

F1, F2 = The feed-rates of 1st and 2nd block of the Slave axis, mm/min
T = The setting value of G01 in MCM #505

Therefore, if F1y=500. mm/min (N10 block), F2y=250. mm/min (N20) and MCM
#505= 500 ms, the distance traveled at the beginning of N20 block for Y-axis is 1.04
mm. You can reduce this distance by reducing the setting of MCM #505.

Ex 3: G00 U100.0 V50.0
(X-axis as master, MCM #501=1, MCM#681, 682=0, X- and Y-axes command
settings are for incremental positioning.)
as: Ftrx=2000.00 mm/min, Ftry=4000.00 mm/min.

Master axis Fx = 2000.0
Slave axis Fy = (50/100)*2000.00 = 1000.00
Fy < Ftry, so the G00 feed-rate will be based on the setting of MCM #221,
Fx=2000.

Ex 4: G00 U100.0 V200.0
N10 N20 N30
Y-axis as Slave
1000
500
1 2 3
Feed rate
MCM #501 = 1
MCM#222= 0
X-axis as Master
1500
1000
500
100 200 300 400
Feed rate
N10 N20 N30
3 Function Codes
3 - 15
as: Ftrx=2000.00 mm/min, Ftry=4000.00 mm/min.
Fy=TRY=(200/100) * 2000 = 4000
so the G00 feed-rate will be based on the setting of MCM #221

Ex 5: G00 U100.0 V300.0
settings as: Ftrx=2000.00 mm/min, Ftry=4000.00 mm/min.

Master axis Fx = 2000.0
Slave axis Fy = (300/100)*2000.00 = 6000.00
Fy > Ftry, so the G00 feed-rate will be limited by Ftry=4000 as:
Master axis Fx = (4000/6000)*2000.00 = 1333.33
Slave axis Fy = 4000.00
so the G00 feed-rate will be based on the setting of MCM #222

3.5 Circular (Arc) Cutting, G02 and G03

Circular (Arc) cutting related commands:
As index displayed below, the command of circular cutting includes of 4 groups. In
program node, the combination of these commands make the tool cut with a arc.

Command Instruction
1 Arc Cutting
G02
G03
Clockwise
Counterclockwise
2 End Position
Absolute
Incremental
X,Y
Z,A
The absolute value of End Position
The incremental value of arch from an origin to an
end
3
I,J
R
I=X-axis, J=Y-axis
Range of radius
4000~4000 mm
4 Cutting Feed Rate F The minimum value 1 mm/min
G17 X-Y plane
5
G17 P256 X-A plane
G18 X-Z plane
6
G18 P256 A-Z plane
G19 Z-Y plane
7
Planar Circular Cutting
G19 P256 Y-A plane

3 - 16
Circular cutting types: The commands in the program can be specified by either
the radius or the center.

G02, G03 circular cutting command types
Arc or Circle
G17 G02(G03) X_Y_R_F_
G17 P256 G02(G03) X_A_R_F_
G18 G02(G03)X_Z_R_F_
G18 P256 G02(G03)A_Z_R_F_
G19 G02(G03) Y_Z_R_F_
By Radius
G19 P256 G02(G03) Y_A_R_F_
G17 G02(G03) X_Y_I_J_F_
G17 P256 G02(G03) X_A_I_J_F_
G18 G02(G03)X_Z_I_K_F_
G18 P256 G02(G03)A_Z_I_K_F_
G19 G02(G03) Y_Z_J_K_F_
By Center
G19 P256 G02(G03) Y_A_J_K_F_

Circular cutting related parameters:

The cutting plane can be the X-Y, X-Z, Z-Y, X-A, A-Z, or Y-A plane. The following
description is based on the X-Y plane. For other planes, the settings can be configured
in a similar way. The default setting is the X-Y plane at startup.

The end position of the arc can be specified by using either the absolute
positioning command or the incremental positioning command.
The size of the arc can be specified by using either the coordinate difference or
the radius.
The circular cutting direction can be either clockwise or counterclockwise. The
direction is specified relative to the center of the circle to be cut, not the original
coordinates, as shown in Fig. 3-7.

Fig 3-7 Directions of G02 and G03
Circular cutting command related parameters
0 increment positioning command
Parameters
681~689
1 absolute positioning command
Parameter 505 Arc error: the default value is 1.
G91 Incremental mode.
G90 Absolute mode.
G02
Y
X
G03
Y
X
3 Function Codes
3 - 17

The command of arc cutting:
G02: clockwise (CW)
G03: counter - clockwise (CCW)

Fig 3-8 Circular Cutting

The three objects of arc are description as followed: Start, End and center.
The I, J value is the incremental coordinate from the origin to the center. It can
be positive or negative.
If the coordinate from origin to center is that increasing value is positive;
decreasing value is negative.
The I, J value can be replaced by R. (Fig 3-8)

Start (S) :The tool coordinate when executing G02 G03.
End(E) :The value of X(U) and Y(V) of program.
Center :Set by I , J. The I , J value is the incremental value from the origin to the
center. It can be positive or negative.

G02
G0
G17 P256
A
X
G0
G03
G18 P256
A
Z
G02
G03
G19 P256
A
Y
X C
E
S
J
I
Z C
E
S
I
K
Y C
E
S
K
J
A A A
G17 P256 G18 P256 G19 P256
S
S
S
Y
X C
E
J
I
X
Z C
E
I
K
Z
Y C
E
K
J
G02
G03
G17
Y
X
G02
G03
X
Z
G18
G02
G03
Z
Y
G19
G17 G18 G19
3 - 18
The feeding rate of circular cutting is set by F value. The actual cutting rate is F
t
F
value multiples the i The default of register R221 j M The R221 is feeding rate
percentage of G01, G02 and G03. (Consult the connection manual chapter 6)

The end point of the arc -- X(U), Y(V)

U and V are the incremental coordinates from the start point (S) to the end point (E).
The start point is the current position or the end point of the last block.

The center of the arc -- I, J or R

I, J are the X, Y-axis components of the arc radius, respectively and R is the arc
radius. Either representation is acceptable. I, J can be (+) or (-) and their meanings
are identical to U, V. The range for "R" is -9999.~+9999. mm. Do not use R
representation if the arc angle is in the range of -1
o
~+1
o
or 179
o
~181
o
.

Fig 3-9 Circular Cutting with "I, J" Specified

Arc cutting rate -- F-code. The minimum feed-rate is 0.2 mm/min.

The actual feed-rate Ft = (F-value) * (Register R#221 value in %)

Format: (C02, CW, clockwise)

G02 X____Y____ I____J____ F____; the X and Y values are used to specify the
end point of the arc either for the absolute positioning or for the incremental
positioning.

Fig 3-10 G2 Circular Cutting

Y
X
E
C
S
I
J
X
Y
Y
E
S
X
I
J
3 Function Codes
3 - 19
Format: (C03, CCW, counter-clockwise)

G03 X____Y____ I____J____ F____; the X and Y values are used to specify the
end point of the arc either for the absolute positioning or for the incremental
positioning.

Fig 3-11 G3 Circular Cutting

Format: (C02, With radius R method)

G02 X____Y____ R____F____

Fig 3-12 Circular Cutting with Radius R

The center of the arc can be also specified by using the radius (R) rather than I and J
values.

Note: If the angle of the arc is within -1~1, it means that the start and end positions
coincide. In this case, if the X and Y values for the end position is not specified, it
represents a full-circle cutting command, and only I and J values should be used. If
the R value is used, the ERROR25 .R CIRCLE XX will appear.

Ex: The following four blocks will do the same arc cutting.
(Assuming X and Y are in the absolute positioning format with Parameters 681
and 682 of 1.)
The start point X=5.0, Y=2.0
The end point X=3.0, Y=3.0
Radius R=2.5, or I=0.0, J=2.5

1. G02 X3.0 Y3.0 J2.5 F300. ; Specify the center of the arc and the end point
using the absolute positioning.
2. G91
G02 X-2.0 Y1.0 J2.5 F300. ; Specify the center of the arc and the end point
using the incremental positioning.
X
Y
Y
E
S
X
I
J
X
Y
Y
E
S
X
R
3 - 20
3. G02 X3.0 Y3.0 R2.5 F300. ; Specify the radius and the end point using the
absolute positioning.
4. G91
G02 X-2.0 Y1.0 R2.5 F300. ; Specify the radius and the end point using the
incremental positioning.

Fig 3-13 Arc Cutting Example

When applying radius R method, be careful in determining the sign of radius R. The
range for "R" is -9999.~+9999. mm.

1. Use "+R" if arc angle < 180.
2. Use "-R" if arc angle > 180.

Ex: G02 X60.00 Y60.00 R50.00 F300.

As shown in the figure, this program will make a small arc cutting (less than 180
deg.) in clockwise direction. If R=-50.00, the arc will follow R2 path.

Fig. 3-14 G02 tool cutting path

Ex. 2: In the example shown in Fig. 3-15, the program to perform an arc-cutting with an angle
greater than 180 degrees (R = a negative value) would be:
G03 X60.000 Y60.000 R-50.000 F300

Fig. 3-15 G03 tool cutting path

30
Y
E
S
X
R = 25
50
30
20
10
R20
R=-50
S
E
R10
R = +50
Y
X
R20
R=+50
S
E
R10
R = -50
Y
X
3 Function Codes
3 - 21
Note: If the system shows the error message ERR0R25. L CIRCLE XX, please check if
d>2R. That is, whether the incremental distance between the start point and the
end point is greater than 2 times of the arc radius, as shown in Fig. 3-16.

Fig 3-16

Notes on circular cutting:

1. The F-value is the tangential cutting speed at the cutting point, which will be affected
by the length of the arc radius. The reason is that the HUST CNC system adopts a
constant max. error of 1 m for arc cord height.

2. When the calculated tangential cutting speed for the arc is greater than the
programmed F-value, the programmed F-value will be used for the cutting.
Otherwise, the calculated value will be used. The maximum tangential cutting speed
is estimated with the formula:

Fc R = 85 1000 * * mm/min

Where R= Arc radius in mm.

Ex 1: G02 X0.250 Y0.500 J0.25 F2000
Fc = 1344 mm/min from formula above, which is smaller than the specified
speed of 2000. So, the actual cutting speed is 1344.

S
E
G03
G02
d2R
d
3 - 22
3.6 Circular (Spiral) Cutting,G02,G03&G17,G18,G19

G02, G03 Circular (Spiral) cutting related commands:

G02 and G03 related commands
Command Description
1 Circular feed direction
G02
G03
Clockwise (CW)
Counterclockwise (CCW)
2 End Point
Absolute
positioning
command
Incremental
positioning
command
X/Y/Z/A
Absolute position of the final point.
Incremental value between the start
point and the final point.
3
Coordinate difference between the
start point and the center
Radius of the circle
I, J
R
I X-axis, J Y-axis
Range of Radius: -4000.~4000. mm
4 Cutting feed rate F Minimum 1 mm/min
G17 X-Y plane
5
G17 P256 X-A plane
G18 X-Z plane
6
G18 P256 A-Z plane
G19 Z-Y plane
7
Circular cutting plane
G19 P256 Y-A plane

G02B G03 Circular (Spiral) cutting related commands:

G02 and G03 Circular (Spiral) command types
Spiral
G17 G02(G03) X_Y_R_Z_F_
G17 P256 G02(G03) X_A_R_Z_F_
G18 G02(G03)X_Z_R_Y_F_
G18 P256 G02(G03)A_Z_R_Y_F_
G19 G02(G03)Y_Z_R_X_F_
By Radius
G19 P256 G02(G03)A_Z_R_X_F_
G17 G02(G03) X_Y_I_J_Z_F_
G17 P256 G02(G03) X_A_I_J_Z_F_
G18 G02(G03)X_Z_I_K_Y_F_
G18 P256 G02(G03)A_Z_I_K_Y_F_
G19 G02(G03)Y_Z_J_K_X_F_
By Center
G19 P256 G02(G03)Y_Z_J_K_X_F_

3 Function Codes
3 - 23
G17G19 Circular Plane Chosen

The three commands execute circular cutting on the three kind of plane, (X-Y,X-
Z,Y-Z), and the plane control is determined by G17,G18, and G19. [G17 is factory
setting when power on]
The code of G17 can be left out when cutting on the X-Y plane.
The usage of G17~G19 will be explained next. These three commands are special
situation when doing circular cutting.
When the linear axis is not moving during the spiral cutting, it would become
circular cutting.
G17, G18, and G19 commands with the [P256] setting can be used to specify other
planes.

Fig3-15 G17G19 Working Table Display

Program Format:

G17 ------- Factory setting when power on
G02 (or G03) X____ Y____ Z____ I____ J____ F____
G17 P256
G02 (or G03) X____ A____ Y____ I____ J____ F____
(R can replace I , J)

Fig3-18

X-Z
Y-Z

X-Y
Table
Z
Y
X
G17
G02
G03
Y
X
G17 P256
G02
G03
X
Z
3 - 24

G18
G02 (or G03) X____ Z____ Y____ I____ K____ F____
G18 P256
G02 (or G03) A____ Z____ Y____ I____ K____ F____
(R can replace I , K)

Fig3-19

G19
G02 (or G03) Y____ Z____ X____ J____ K____ F____
G19 P256
G02 (or G03) A____ Z____ X____ J____ K____ F____
(R can replace J , K)

Fig3-20

The three commands above are used to control the tool to execute
circular cutting on the X-Y, X-Z or Y-Z plane. The range of circular
is based on I,J,K.

If the 3rd ~ 9th axis which are not the chosen plane do not have any
location, the cutting will be a circular type. The usage will be the same
with former node described (G02 G03)

Otherwise, the 3rd ~ 9th axis have any location .That will be a spiral
cutting.

The B/C/U/V/W-axis has no function of circular cutting. It can only do
linear command.

The tool cutting direction is decided by G02, G03 and G17 ~ G19.

G1
G02
G03
X
Z
G18 P256
G02
G03
A
Z
G1
G02
G03
Z
Y
G19 P256
G02
G03
Z
Y
3 Function Codes
3 - 25
About the coordinate end of circular cutting, the start point is the tool position when
G02 or G03 is input.

I,J,K is the incremental value pointing center from circular starting point. The value
could be positive or negative.

If form starting point going to center, the increasing value is positive and the
decreasing value is negative. The meaning is the same with the incremental
command.

I,J, and K commands can be replaced by using the R command.

F: The feed-rate of circular cutting is set as F value. The minimum is 0.2 mm/min.

G17 , G18 , G19 command must be set in the node front of the node of
circular cutting.

EX:
G17
G02 (or G03) X____ Y____ Z____ I____ J____ F____

Spiral cutting command is used to execute circular cutting on the chosen
plane, and meanwhile do the linear cutting at third axis. This path is the
same with the path of helical interpolation.

Please note that the function of tool radius compensation is only suit for
chosen cutting plane.

Fig3-21 3-axes 3D Display

G17, X-Y(A) Circular Cutting Plane Setting

As fig3-21,take the view beyond the machine. The chosen plane is X-Y.G02 is
clockwise. The linear axis is Z-axis
+Z
-X
-Y
-Z
+Z
+Y
+X
3 - 26

Fig3-22

EX: X-Y circular cutting plane ; Z-axis linear plane

N1 G17
N2 G03 X80.000 Y30.000 R30.000 Z40.000 F100

Fig3-23

G18, X-Z circular cutting plane setting

As fig 3-16,standing behind the machine and looking forward(alone with negative Y-
axis). The plane is set as Z-X and G02 is clockwise. The Y-axis is linear axis.

Fig 3-24

G19, Y-Z circular cutting plane setting

As fig 3-16,standing behind the machine and looking forward(alone with negative Y-
axis). The plane is set as Y-Z and G02 is clockwise. The X-axis is linear axis.

Fig 3-25
G02
Y
X
G03
Y
X
G17
30
50 start
R = 13
30
40
end
Z
Y
X
G02
X
Z
G03
X
Z
G18
G02
Z
Y
G03
Z
Y
G19
G02
A
X
G03
A
X
G17 P256
G02
A
Z
G03
A
Z
G18 P256
G02
A
Y
G03
A
Y
G19 P256
3 Function Codes
3 - 27
While using the G02, and G03 circular cutting commands, please notice the following points:

1. The X-Y plane is default at startup, so the G17 command can be neglected for the circular
cutting in the X-Y plane.
2. For I0, J0 or K0, they can be neglected.
3. When the end point and the specified radius do not intersect at the same point, an error
message will appear.
4. For a circular cutting immediately after a linear cutting, the G command should be
converted into G02 or G03. For the connecting linear cutting, it should be converted back
to the G01 command.
5. While using the cutting commands (G01, G02, G03), it is necessary to specify the feed
rate F.

3.7 Dwell (Hold), G04

Format:

G04 X____ X: Time unit in seconds. (X represents the time rather than the address.)
or
G04 P____ P: Time unit in milliseconds.

Under some circumstances during cutting, it becomes necessary to hold (stop) the
cutting action for certain period before proceeding to the next block. In this case, G04
function can be used for this purpose.

P-value will be used if both P and X-value exist.

G04 X____ Format . (sec)C max. 9999.999 sec

For decimal format (see Sec6.4) of 3/4, 5/2, or 6/1, use P-value. For 4/3 decimal format,
both P and X-value are acceptable.

Example:

G01 X10.0 Y10.0 F1000.0
G04 X2.00 ..... Hold for 2 seconds, then process to next block
G00 X0.0 Y0.0

3.8 Automatic proceeding to decimal digit, G07

Format:
G07 X____Y____Z____A____B____C____U____V____W____

The axes will change to the minimum unit of decimal digit automatically by the shortest
feeding distance in above command executions.

Example:
If the execution continues and meets the command of G07 X1000 in the position of
X42.350, X axis will be fed to the shortest position of 42.000

3 - 28
1. X1000 stands for the minimum unit of 1.000
2. 42.350-42.000=0.350
43.000-42.350=0.650
0.350<0.650

3.9 Reset Origin of Machine Coordinate, G08

Format: G08 or G08 X___Y___Z___A___B___C___U____V____W____

G08 is used to reset the machine coordinate of current location to zero. Another words,
the current location becomes the origin of machine coordinate (or Home location).
The single axis coordinate will be cleared to zero.

Format: G08 X__ Reset the X-axis coordinate of current location to zero
Format: G08 Y__ Reset the Y-axis coordinate of current location to zero
Format: G08 Z__ Reset the Z-axis coordinate of current location to zero
Format: G08 A__ Reset the A-axis coordinate of current location to zero
Format: G08 B__ Reset the B-axis coordinate of current location to zero
Format: G08 C__ Reset the C-axis coordinate of current location to zero
Format: G08 U__ Reset the U-axis coordinate of current location to zero
Format: G08 V__ Reset the V-axis coordinate of current location to zero
Format: G08 W__ Reset the W-axis coordinate of current location to zero

Fig 3-24

Ex 1: Point A -- The original Home location, which is also the G54 work origin as set
by MCM #1 =MCM #2 = 0.
Point B -- The current tool location with work coordinate (X=02, Y=35). The
machine coordinate for point B is also (02, 35) since G54 work origin and Home
location are the same. After executing G08 at point B, point B becomes new
Home location. Since MCM #1 =MCM #2 = 0, point B is also the new work
origin with (X=0, Y=0).

Fig 3-25

Point A
Old Home
Point B
New Home after executing G08
Point A
Old Home,
Work origin
Point B
New Home, new work origin
after executing G08
1. Original (X,Y) program coordinate = (02,35)
2. Perform the command G08 in the MDI mode
3. New (X,Y) machine coordinate = (0,0)
4. New (X,Y) program coordinate = (0,0)

3 Function Codes
3 - 29

Ex 2: Point A -- The original Home location.
Point B -- G54 work origin which has a coordinate of (10, 10) with respect to old
Home (point A) as set by MCM #1 =MCM #2 = 10.
Point C -- The current tool location with work coordinate of (X=15, Y=15). So,
the machine coordinate for point C is (25, 25) with respect to point A. After
executing G08 at point C, point C becomes new Home location. Since MCM #1
=MCM #2 = 10, point D is the new work origin with (X=10, Y=10) with respect
to point C. So, the new work coordinate for point C is (-10, -10).

Fig 3-26

3.10 Manual Data Input Function, G10

Table 3-2 G10 Application for HUST H9C Controller

G10 X** Y** Set origin for G54~G59 work coordinate
G10 X** Y** P1** Set tool offset compensation data
G10 X** Y** P100 Set in-position data for MCM #801 & #802
G10 P510 L******
Set the baud rate of RS232 interface on controller 38400B
57600B 115200
G10 P600 L01 Burn the downloaded program into FLASHROM
G10 P600 L02 Burn the downloaded MCM parameters into FLASHROM
G10 P600 L03 Burn the downloaded ladder program into FLASHROM
G10 P600 L05 Burn the downloaded system data into FLASHROM
G10 P801 A*** Set the acceleration/deceleration time for G01, MCM#504
G10 P801 B*** Set the acceleration/deceleration time for G01, MCM#505
G10 P801 C*** Set the acceleration/deceleration time for G01, MCM#506
G10 P801 D*** Set the acceleration/deceleration time for G01, MCM#507
G10 P1000 Clear all MCM parameters to factory default values
G10 P2000 Clear the current program
G10 P2001 Clear all programs in the memory
G10 P2002 Clear all variables #1 ~ #9999 to zero
G10 P2100 Download part program to memory from FLASHROM

3.10.1 Set Origin for Work Coordinate by G10 (Recommended Method)

By using G10, the workpiece origin in the working coordinates G54~G59 can be
configured. HUST H9C series allows the user to use the MDI buttons on the panel or
Point A
Old Home
Point B
Work origin
Point C
New Home after executing G08
Point D, New work origin
after executing G08
1. Original (X,Y) program coordinate = (15,15)
2. Perform the command G08 in the MDI mode.
3. New (X,Y) machine coordinate = (0,0)
4. New (X,Y) program coordinate = (-10,-10)
3 - 30
the user-defined method to configure the data for the PLC built in the HUST for
processing.

Format:
G10 X____Y____Z____A____B____C____ U____ V___ W____
(9 axes are configured at the same time. It also allows any single axis to be configured.)

Steps to set the origin of the specified work coordinate:

1. Execute HOME to move the tool to home position.
2. Press JOG key.
3. Use MPG hand-wheel to move the tool to the desired location for the origin.
4. Press MDI key, enter G54, then press CYCST.

5A. If the coordinates in Step 3 is the desired location for your origin, execute the
followings. Otherwise, skip this step and go to Step 5B.

Press G10 Input,
X0. Input,
Y0. Input,
Z0. Input.
Press CYCST key to complete the setting process.

5B. If the coordinates in Step 3 has some distance (say X=20.0, Y=100.0 Z15. Input)
away from the desired origin, execute as follows:

Press G10 Input,
X20. Input,
Y100. Input,
Z0 Input.
Press CYCST key to complete the setting process.

The following precautions should be noted when using G10 to set the work origin.

1. Do not add P*** in the G10 block. Otherwise, it becomes an offset compensation
command.

2. For setting G55~G59 work origin, use the same method except G54 in step 4 is
replaced by G55~G59. If no G54~G59 is specified in step 4 above, the work origin
data will be entered into the current work coordinate system.

3. G10 command can be applied in the program.

4. When G54~G59 is executed through G10 command, the corresponding coordinates
in MCM #1~#120 will be automatically revised.

5. Work origin can be transmitted through PLC.
(Please check HUST H9C CONNECTION MANUAL Chapter6)

3 Function Codes
3 - 31

Axis
Coordinate
XAxis YAxis ZAxis AAxis BAxis CAxis UAxis VAxis WAxis
G54 MCM#01 MCM#02 MCM#03
MCM#04 MCM#05
MCM#06 MCM#07 MCM#08 MCM#09
MCM#24 MCM#25
MCM#44 MCM#45
MCM#64 MCM#65
MCM#84 MCM#85
G59
MCM#10
1
MCM#10
2
MCM#10
3
MCM#10
4
MCM#10
5
MCM#10
6
MCM#10
7
MCM#10
8
MCM#10
9

3.10.2 Set Tool Offset Data By G10

Format: 1 G10 X____ Y____Z____A____B____C____P____

P : 1~40 representing the group number in MCM #1341~#1620.
X, Y, Z, A, B, C : Store the offset data of X, Y, Z into the appropriate MCM
#1341~#1620.
U, V, W : Add the offset data of U, V, W to the existing values of the
appropriate MCM #1341~#1620.

Note: The controller in HUST H9C does not support the U/V/W increment
compensation feature.

Ex 1: G10 X0.02 Y0.03 P1 --> Set the compensation value for the first tool.
>> MCM #1341 = 0.02, #1342 = 0.03.

Ex 2: G10 U0.01 V0.02 W1.72 P2 --> The increment compensation value for the
second tool.

(Assuming the existing value MCM #1349~1351: X=0.02 Y=0.03,Z=1.25 )

When you finish this operation, the offset data
MCM #1349= 0.02+0.01=0.03,
MCM #1350= 0.03+0.02=0.05,
MCM #1351=1.25+1.72=2.97

3 - 32
3.10.3 Set G00, G01, G99 and the acceleration/deceleration time for the main
spindle G10.

Acceleration/deceleration Time Setting
Setting
Method
Setting format Description Remark
MCM
Parameter
editing
Modify in the parameter
mode
After the modification, it is
necessary to press Reset to allow
the settings to take effect.
Effective
permanently
G10 P801 Axxx G00
V#13241
G10 P801 Bxxx G01
V#13242
G10 P801 Cxxx G99
V#13243
MDI
command
G10 P801 Dxxx SP
V#13244
G10 P801 Axxx G00
V#13241
G10 P801 Bxxx G01
V#13242
G10 P801 Cxxx G99
V#13243
Execute the
machining
program in the
AUTO mode.
G10 P801 Dxxx SP
V#13244
Temporarily replace
the settings of the
parameters 504~507.
The setting values are
stored in
V#13241~V#13244.
After the Reset is
pressed, the settings
will be canceled.
Effective
temporarily

The adjustment of the acceleration/deceleration settings can be performed in the
following three ways:

1. Change the settings in the MCM parameter editing mode.
Note: After the modification, it is necessary to press Reset to allow the settings to
take effect.

2. Execute the command in the MDI mode.
3. Execute the machining program in the AUTO mode.
Note: Temporarily replace the settings of the parameters 504~507.
After the Reset is pressed, the settings will be canceled.

Program command format:

G10 P801 A___ -- Temporarily replace the parameter 504 for the G01
acceleration/deceleration time (msec).

Ex. 1: In the MDI mode, modify the G01 acceleration/deceleration time.

Step 1: Quickly press the AUTO button twice to enter the MDI mode.
Step 2: Execute the command G10 P801 A150
G - 1 - 0 INPUT
P - 8 - 0 - 1 INPUT
A - 1 - 5 - 0 INPUT
Step 3: Press the CYCST button to allow the settings to take effect.
Complete >> V#13241 150, Parameter 505 100
>> Press the RESET button, V#13241 100, Parameter 505 100

Ex. 2: In the AUTO mode, determine the travel distance #1 and then adjust the G01
acceleration/deceleration time

3 Function Codes
3 - 33
If 200.000 #1, the acceleration/decelerati on time is 100 msec.
If 100.000 #1 200.000, the acceleration/deceleration time is 50 msec.
If #1 100.000, the acceleration/deceleration is 30 msec.

Step 1: Edit the machining program O001
O001
N001 G65 L85 P005 A#1 B100
N002 G10 P801 A30
N003 M02
N005 G65 L85 P008 A#1 B200
N006 G10 P801 A50
N007 M02
N008 G10 P801 A100
N010 M02

Step 2: Enter the AUTO mode, and then execute O001.
Complete >> Because #1 120, V#13241=50, Parameter 504 = 100 (msec).

3.11 Input/Output Control, G11, G12, G14

G11, G12, and G14 are the command codes that can be used to control ON and OFF for
input and output signals during program execution. G11 is for output signals while G12
for input signals. G14 is for output but with a time delay. Table 3-3 summarizes the
applications of input/output control with G11, G12, and G14.

3 - 34
Table 3-2 Summary of G11, G12, and G14 Function

Format Function
G11
G11 Pxx Turn ON output xx, can be turned OFF by RESET.
G11 Pxx L Turn ON output xx, can be turned OFF by FEED HOLD
G11 P-xx Turn OFF output xx.
G11 P1xxx Turn ON output xxx, can NOT be turned OFF by RESET.
G11 P-1xxx Turn OFF output xxx, RESET is NOT effective.
G11 P2xxx L Program execution on hold till the specified output xxx gone thru
times of ON/OFF cycles (2 msec/cycle).
G11 P-2xxx L Execution of subsequent program block synchronizing with ON/OFF
signal of output xxx by cycles.
G11 P3xxx L Output xxx remains ON, to be turned OFF when the input
is ON.
G12
G12 Pxx Program execution of next block is on hold and to start when the
input signal (INPUT xx) is ON.
G12 Pxx L Program execution of next block is on hold and to start with the
rising edge of the input signal (INPUT xx).
G12 P-xx Program execution of next block is on hold and to start when the
input signal (INPUT xx) is OFF.
G12 P-xx L Program execution of next block is on hold and to start with the
falling edge of the input signal (INPUT xx).
G12 P*** B
INPUT ** is not valid within the preset time. A timeout signal is
generated.
G12 P*** A INPUT ** should be valid after the preset time.
G12 P1**
The pre-fetch function is valid, and the program will be executed
continuously without waiting.
G 14
G14 Pxx In Master/Slave mode, the ON timing of output xx will be delayed
by of the accel /decel time in the MCM parameter.
G14 P-xx In Master/Slave mode, the OFF timing of output xx will be
delayed by of the accel /decel time in the MCM parameter.
G14 P1xxx Similar to G14 Pxxx, but RESET signal is NOT effective.
G14 P-1xxx Similar to G14 P-xxx, but RESET signal is NOT effective.

3.11.1 Output / Input Control, G11

1. G11 P** & G11 P-** & G11 P** L

** Range 00~15. P** is used for specifying the OUTPUT ** to be ON. If the
RESET command is executed, then the output will be OFF. P-** is used for
specifying the OUTPUT ** to be OFF.

G11 P** L command. If L is equal to 0 (or not specified), P** will specify the
OUTPUT ** to be ON till the RESET command is executed or the G11 P-** is
executed to set the output OFF. Even for the FEED-HOLD (C000 1), the output
status will not be changed.

G11 P** L command. If L is specified with a value, P** will specify the
OUTPUT ** to be ON. When the FEED-HOLD is executed, the OUTPUT ** will
3 Function Codes
3 - 35
become OFF. After the FEED-HOLD is released, the output status will recover to
be ON till the RESET is executed or the G11 P-** is executed to set output OFF.

Ex1: N10 G00 X30. F1000.
N20 G11 P13
N30 G00 X60.
N40 G00 X100.
N50 M30

Fig 3-29

Ex2: N10 G00 X30. F1000.
N20 G11 P13 L1
N30 G00 X60.
N40 G00 X100.
N50 M30

Fig 3-30

G00 X30.
G00 X60.
G00 X100.
RESET
X(mm)
O13
F(mm/min)
30
100
60
G11 P13
G00 X30.
G00 X60.
G00 X100.
FEED-HOLD ON
FEED-HOLD OFF
RESET
X(mm)
O10
F(mm/min)
30
100
60
G11 P10 L1
3 - 36
Ex3: N10 G00 X30. F1000.
N20 G11 P13
N30 G00 X60.
N40 G11 P-13
N50 G00 X100.
N60 M30

Fig 3-31

2. G11 P1*** & G11 P-1***

xxx represents the output number, ranging 000~015.

G11 Pxxx is used to turn ON the output specified by xxx which can be turned OFF
by P-xxx only. RESET is not effective.

Ex1: N10 G00 X30. F1000.
N20 G11 P1010
N30 G00 X60.
N40 G11 P-1010
N50 G00 X100.
N60 M30

Fig 3-32

G00 X30. G00 X60. G00 X100.
G11 P13 G11 P-13
X(mm)
O13 (mm)
F(mm/min)
30
100
60
G00 X30.
G00 X60.
G00 X100.
G11 P1010 G11 P-1010
X(mm)
O10
F(mm/min)
30
100mm 60
3 Function Codes
3 - 37
Ex2: N10 G00 X30. F1000.
N20 G11 P1010
N30 G00 X60.
N40 G00 X100.
N50 M30

Fig 3-33

3. G11 P2*** L


G11 P2xxx is used to force the program execution to wait till the specified output
(Oxxx) ON/OFF the number of cycles specified by L is reached, then execute
the next block. Note that it take 2 msec for each On/Off cycle.

Ex1: N10 G00 X30. F1000.
N20 G11 P2005 L20
N30 G00 X60.
N40 G00 X100.
N50 M30

Fig 3-34
G00 X30. G00 X60.
G00 X100.
G11 P1010
X(mm)
O10
Press Reset will not
change O10 status
F(mm/min)
30
100 60
X(mm)
O5
G00 X30. G00 X60. G00 X100.
G11 P2005 L20
O5 is ON-OFF once every 2 msec for a total
20 times. After O5 is executed 20 times, the
N30 single block will be executed.
2 msec
F(mm/min)
30
100 60
3 - 38
4. G11 P-2*** L


G11 P-2xxx is used to force the program block immediate below to be executed in
synchronization with the specified output (Oxxx) ON/OFF the number of cycles
specified by L. Note that it take 2 msec for each On/Off cycle. Another words,
the duration of program execution for the affected block is equal to = 2 msec * L.

Ex1: N10 G00 X30. F1000.
N20 G11 P-2008 L15
N30 G00 X60.
N40 G00 X100.
N50 M30

Fig 3-35

5. G11 P20** L****A*B***

P20** G O000O015C
L**** G Pulse train no.C
A* G Pulse frequence 1 500 HZ
2 250 HZ
3 125 HZ
B*** G *** Variable no.A when pulse sent, will increase this variable by 1C

6. G11 P3xxx L


G11 P3xxx is used to command the specified output (Oxxx) to be turned OFF when
the specified input signal L is ON.
X(mm)
O8
G00 X30. G00 X60. G00 X100.
G11 P-2008 L15
O8 is ON-OFF once every 2 msec for a total 15
times. Meanwhile, the N30 single block is also
executed at the same time.
2 msec
15 times
F(mm/min)
30
100
60
3 Function Codes
3 - 39
Ex1: N10 G00 X30. F1000.
N20 G11 P3003 L20
N30 G00 X60.
N40 G00 X100.
N50 M30

Fig 3-36

3.11.2 Input Control, G12

1. G12 P** L

xxx represents the input number, ranging 00~23.

G12 Pxxx is to force the program execution of next block to start at the time when
the input signal (INPUT xx) is ON. If L has some value, the program execution
will resume at the rising edge of input signal INPUT xx.

Ex1: N10 G00 X30. F1000.
N20 G12 P3
N30 G00 X60.
N40 G00 X100.
N50 M30
G00 X30. G00 X60. G00 X100.
X (mm)
O3
I20
G11 P3003 L20
10 100
60
I20 ONA O3 OFF
3 - 40

Fig 3-37

2. G12 P-** L

xxx represents the input number, ranging 000~023.

G12 Pxxx is force the program execution of next block to start at the time when the
input signal (INPUT xx) is OFF. If L has some value, the program execution
will resume at the falling edge of input signal INPUT xx.

Ex1: N10 G00 X30. F1000.
N20 G12 P-4
N30 G00 X60.
N40 G00 X100.
N50 M30

Fig 3-38

G00 X30. G00 X60. G00 X100.
G12 P3
X (mm)
I3
F(mm/min)
30
100 60
Begin N30 execution when I03 On
G00 X30. G00 X60. G00 X100.
G12 P-4
X (mm)
10
F(mm/min)
30
100
60
Begin N30 execution when I04 Off
3 Function Codes
3 - 41
3. G12 P*** B

*** G represents input numberC
G represents holding time (ms)C

When program is executing at this command, if the input signal exceeds the holding
time, this signal will be off and send out the signal S072=1,the variable #10919=
1***. Then the program will stop at this line and will not be error. But if the input
signal is ON, the program will be still executing to the next.

EXG N10 G00 X30. F1000.
N20 G12 P5 B3000
N30 G00 X60.
N40 M30

Fig 3-39

S072=1
#10919
= 1005
3000 ms
= 3s
I5=1
30 60
X-axis
(mm)
S072 (t)
#10919 (t)
I5 (t)
3 - 42
4. G12 P*** A

*** G represents input signal
G represents the time for signal set up (ms)

This command will be set up when the input signal exceeds 2 ms. Therefore it can
be tell and avoid some interruption of any other signal.

EXG N10 G00 X30. F1000.
N20 G12 P23 A1000
N30 G00 X60.
N40 M30

Fig 3-40

5. Pre-catch the input signal

FormatG

G12 P1** (**G represents input signa)

G12 P**

When the program is executing at G12 P1**, this function will be set up. Program will
not be hold and continue to execute next. If the input signal is ON before G12 P**, it
represents that G12 P1** input signal is set up. Then the program will continue. If
there is no input signal during the period, the program will stop at G12 P**. Till the
signal set up, then the program continues.

EXG N10 G00 X30. F1000
N20 G12 P1023
N30 G00 X60.
N40 G12 P23
N50 G00 X100.
N60 M30
30 60
X-axis
(mm)
I23
< 1000 ms
OFF
1000 ms
=1 s
3 Function Codes
3 - 43

Fig 3-41

PSG 3B 4B 5 command format can be used together.

FormatG

G12 P1*** A

G12 P*** A B###

> 2 ms
X (mm)
I23
30 60 100
CASE 1
> 2 ms
X (mm)
I23
30 60 100
CASE 2
3 - 44
3.11.3 Output Control G14

1. G14 P1xxx and G14 P-1xxx


P1xxx is used to turn ON the output number xxx while P-1xxx is to turn it OFF.
These functions are similar to Pxxx and P-xxx. The only difference is that the
RESET signal is not effective and will not alter the ON/OFF status of output xxx.

In the standard CNC mode, the ON/OFF timing of output Oxxx with G14 P1xxx
and P-1xxx is the same as that with G11 P1xxx and P-1xxx, respectively. In the
Master/Slave mode, however, the ON/OFF timing of output xxx will be delayed by
of the acceleration/deceleration time as set in the MCM parameter #62~#63. (see
Chapter 7) The example below explains the G14 effect.

Ex: Assume that the Acceleration/Deceleration time in MCM = 30 msec.
For Fig 42, Fig 43 For Fig 44
G00 X30. F1000. G00 X30. F1000.
G11 P1020 G14 P1020
G00 X60. G00 X60.
G00 X100. G00 X100.
M30 M30
3 Function Codes
3 - 45

Fig 3-42 CNC Mode (G11)

Fig 3-43 Master/Slave Mode (G11)

Fig 3-44 Master/Slave Mode (G14)

G11 P1020
X (mm)
O20
30 msec
O20 remains ON even
with RESET signal
X (mm)
O20
G14 P1020
O20 remains ON even
with RESET signal
15
G00 X30. G00 X100.
X (mm)
O20
G00 X60.
F(mm/min)
30 100
60
G11 P1020
3 - 46
3.12 Move To The First Reference Point, G28

Format:

G28 or G28 X____Y____Z____A____B____C____U____V____W___

G28 X____ or G28 Y____ or G28 Z_____ or G28 A_____

The coordinates of the first reference point is stored in MCM parameters #121~#129.
The number associated with X, Y , Z, A, B, C, U, V, W does not have any meaning, but
you have to have a number to input X, Y , Z, A, B, C, U, V, W into the CNC buffer.
When encountering this command during cutting, the tool will move to the first
reference point as set in MCM parameter #121~#129 for the axis specified in the G28
block, regardless of what numbers are with X, Y , Z, A, B, C, U, V, W -axis.

The coordinates of MCM parameters #121~#129 are determined by users, based on the
machine origin being at X=Y=Z=A=0. This reference point is normally selected at some
convenient location during machining. Note that prior to the G28 command, the tool
offset compensation must be canceled and the tool offset compensation cancel
command should not be used in the G28 block.

Example:

G49 ..... Tool offset compensation canceled
G28 X10.0 ..... Tool moves to the 1st ref. point in X-axis, no motion in Y-axis.

3.13 Return To Previous Location From Reference Point, G29

Format:

G29 or G29 X____Y____Z____A____B____C____U____V____W____

The G28 command moves the tool to the first reference point. G29 command works just
the opposite. It moves the tool from the reference point to the last position, prior to G28
code, as indicated by X, Y, Z, A, B, C, U, V, W in the program block. G29 command
cannot be used alone, instead, it is used following a G28 or G30 command. Again, the
number associated with X, Y, Z, A, B, C, U, V, W does not have any meaning, but you
have to have a number to input X, Y, Z ,A, B, C, U, V, W into the CNC buffer.

EX: N1 X60. Y30. ..... It moves the tool to the first reference point
N2 G28 ..... The program goes back from the coordinate in the
previous block to the first reference point

N3 G29 ..... It moves the tool form first reference point to
X60,Y30

As example above, N3 could be:
N3 G29 or
N3 G29 X__________Z_____ A_____ B_____ C_____U____V____W____

If the G29 command is not followed with the X/Y/Z/A/B/C/U/V/W command, or
3 Function Codes
3 - 47
include the X/Y/Z/A/B/C/U/V/W command at the same time, no matter the values of
X/Y/Z/A/B/C/U/V/W are, the toll will return to X60.00, Y30.00.

3.14 Move To The Second (2nd) Reference Point, G30

Format: G30 X____Y____Z____A____ B____C____U____V____W____

The method of application for this command is the same as for G28. The coordinates of
this reference point are set in the MCM parameters #141~#149.

3.15 Skip Function, G31

The skip command differential by INPUT response time: General skip command & high
speed skip command.

INPUT Response TimeG

(1) General INPUT Response Time: 2 msec

Fig 3-45

Types of Stop Signals
Input Response Time Axis Stop Method
General Input I0~I255 general Input, response time 2 msec. Software
Use C028, R190 skip
fucntion for selecting the
decelration.
Hardware
Use Parameter 530 to set
the required axis. The
axis stop is controlled by
the hardware. Special Input
I0 special Input, response time 5sec.
Connect the I0 to the 5
th
pin of the DA axis.
Software
Use C028, R190 skip
fucntion for selecting the
decelration.
2 msec
3 - 48
(2) Special INPUT Response Time:5sec] When in use, I0 is required to
connect to the 6th pin on the MPG raxial interface.^

Fig 3-46

INPUT response time is associated with the MARK width of SENSOR and
the feed-rate of G31 SENSOR :

3.15.1 High Speed Skip Command G31

(1) Material Control

Fig 3-47 Material Control Display

Servo Motor
Roll
Material
HUST CNC
Normal Motor
Light
sensor
Cutting
Tool
5g sec
DAC-0
DAC-1
D+
D-
G31 IN
ADC-0
ADC-1
GNDX
VCC
+12V
-12V
GND-CN
CPU
Board
1
2
3
4
5
6
7
11
12
13
AD/DA
14
15
G31 Hardware
Stop Signal
0V
3 Function Codes
3 - 49
(2) Operation of Cuttingt the Material

Turn on the servo motor and use the roll deliveryring the material. When the
lamp sensor senses the MARK. The motor will travel a certain distance to the
setting position. Then the servo motor stops and send a signal to the tool to start
cutting

Step 1GTurn on the servo motor and use the roll deliverying the material till the lamp
sensor senses the MARK.

Fig 3-48

Step 2GWhen the lamp sensor senses the MARK, the motor will travel a certain
distance. The distance must exceeds the distance of motor deceleration.

Fig 3-49

DistanceMotor deceleration distance Lamp sensor
Label MARK Cutting Position
Cutting Tool
Delivery
Direction
=
DistanceMotor deceleration Lamp sensor
Label MARK Cutting Position
Cutting Tool
Delivery
Direction
=
3 - 50
(3) The distance of motor deceleration Display

Fig 3-50 The distance of motor deceleration Display

When the servo motor receives the input of G31. The distance fed again is the
value of R190 set. And this distance must exceeds the distance of motor
deceleration.

EXG Max. feed-rate MCM- 221 12000mm/min
G01 Ace/Deceleration time MCM- 505 10ms

The calculation of motor decelerationG
12000 mm/min 200 mm/sec
200 mm/sec10 ms1/2 1mm

Algorithm for the Minimum Width of the Marking Point (MARK)

Ex.: Program command G31 X- 1 F- 2 P00
where - 2 12000 mm/min
When an ordinary INPUT is used, the response time is approx. 2 msec

Algorithm for the Minimum Width of the MARK:
12000 mm/min 200 mm/sec
2 msec 0.002 sec
200 mm/sec 0.002 sec 0.4 mm

(4) Use the G31 Skip command MACRO to complete the above action

Speed Deceleration time 1/2 Distance
V
T
t
3 Function Codes
3 - 51
3.15.2 General Skip Command G31

Format:

G31 X____ Y____ Z____ A____ B____ C____ U____ V____ W____ L_____
P_____ F_____

X/Y/Z/A/B/
C/U/V/W : The absolute coordinate of destination
L : represents that the interruption signal input L__ times. Then the
G31 function will be set up.
If the L__ times do not been set or set L0 and the L1 represents
interruption signal input once. Then G31 function will be set up. If
the setting is L2, it represents that the signal must input twice.
Then G31 function is set up.
P : Set interruption signal. If there is not any command of P__ in the
G31, then the interruption signal is I00.
The register R250 can set the format of interruption signal. The
description is following:
F : Cutting Feed Rate

Register R250 can set the format of G31 skip function(waiting input signal). If no any
signal input in controller, the G31 function will fail.

Setting = 0, I-bit Input Trigger signal (01)
Setting = 1, I-bit Input Trigger signal (10)
Setting = 2, I-bit Input Signal open ( 0 )
Setting = 3, I-bit Input Signal close ( 1 )

Format P0 P1 P2 P3 P4 P5 P6 P7
INPUT I0 I1 I2 I3 I4 I5 I6 I7

G31 and G01 would be the same if the interruption signal has not come in and the G31
skip function has not been set up. It means that G31 executes the linear cutting toward
XY coordinate. During the cutting, if the interruption signal is coming in, the G31 skip
function will be set up. The execution of node with G31 will be interrupted and skipped
and execute next node.

When G31 executing linear cutting, its feed-rate is according to current F value. If there
is no setting for F value, it will execute by MCM#527. G31 is single command and is
only effective at the setting node. The example of G31 is explained below:

EX: N10 G31 U100.000 L1
N20 G01 V25.000
N30 X90. Y30 .
3 - 52

Fig 3-51

In Fig 3-51, the dotted line part is the original path which program set already. The
black line part is the actual path when meets the status signal I00. The timing for using
G31 is very free. It goes 3 examples to describe:

1. The tool use the stop sensor to measure the length . When the interrupt signal is on,
then go to next single block..(Bar - feeder)

2. The cutting of pattern paper: Due to the flexibility of paper, it will not cut
precisely by measuring the length. But it will cut very precisely at one point if
using the method that inspect the pictures characteristic to send out an
interruption signal. (Mark - sensor)

3. The cutting of spring machine: When the coil spring machines sensor senses the
part of lead section of spring, it will send an interruption signal to let the G31 set-
up. Then another side will execute the cutting or inform program to stop the
execution of the node. And continue to next node. (Spring machine)

3.15.3 High-speed Skip Command, G31

The High-speed Skip command can be used for axis stop by using: Hardware control and
Software control.

Hardware Setting: High-speed G31 Skip command relaed settings
High-speed
Input
I0 ~ I3 are high-speed inputs with a response time of 0.5sec.
Parameter 530 Hgh-speed axis stop setting of the G31 Skip Function
R250 G31 Skip Function Waiting Input signal mod

1. High-speed Input

HUST H9C series has 256 input and 176 outputIts response time can be 2 msse.
(Connect I0 to the 5
th
pin of the DA axis)

2. MCM#530, High-speed axis stop settings

The high-speed axis stop is performed by using the hardware control with the
MCM#530 axis stop settings.
It is configured by bitwise settings,
BIT0 1, i.e., MCM#530 1, activate the hardware high-speed stop for the X-axis.
BIT1 1, i.e., MCM#530 2, activate the hardware high-speed stop for the Y-axis.
Signal Arrived
(X90., Y30.)
100.
Y
X
25
3 Function Codes
3 - 53
BIT2 1, i.e., MCM#530 4, activate the hardware high-speed stop for the Z-axis.
BIT3 1, i.e., MCM#530 8, activate the hardware high-speed stop for the A-axis.
BIT4 1, i.e., MCM#530 16, activate the hardware high-speed stop for the B-axis.
BIT5 1, i.e., MCM#530 32, activate the hardware high-speed stop for the C-axis.
BIT6 1, i.e., MCM#530 64, activate the hardware high-speed stop for the U-axis.
BIT7 1, i.e., MCM#530 128, activate the hardware high-speed stop for the V-axis.
BIT8 1, i.e., MCM#530 256, activate the hardware high-speed stop for the W-axis.
When MCM#530 0, the the hardware high-speed stop for the tool is canceled.

3. R250

The skip function of G31 (waiting input signal) will not be set up if the input signal
dose not enter the controller.

Setting 0, I-bit Input signal is a rising (01) trigger signal.
Setting 1, I-bit Input signal is a falling (10) trigger signal.
Setting 2, I-bit Input singal is a normally open ( 0 ) signal.
Setting 3, I-bit Input is a nr\ormally close ( 1 ) signal.

Program Example 1: Set the X axis with hardware high-speed axis stop.
1. MCM#530 1, i.e., activate the hardware high-speed axis stop for the X-axis
2. R250 0, Input signal is a rising (01) trigger signal.

G12 P5 F Wait the Input 5 ON, then the program executes next
single block.
G31 X- 1 F- 2 P0 F Servo motor executes to feed material till the photo-
sensor(input 0) to sense the MARK.
G11 P13 F Assign the Output 13 ON and the tool to cut.
G04 X- 3 F In the holding time, the motor will stop feeding.
G11 P-13 F Assign the Output 13 OFF and the tool stop cutting.
M99 F End Program

Program Example 2: To set the hardware high-speed axis stop for the X and Z axes at
the same time.
1. MCM#530 5, i.e., activate the hardware high-speed axis stop for the X and
Z axes at the same time.
2. R250 0, Input signal is a rising (01) trigger signal.

single block.
G31 X- 1 Z#2 F- 3 P00 F Servo motor executes to feed material till the photo-
M99 F End Program.
3 - 54

Fig. 3-52

Software Setting: High-speed G31 Skip command related settings
High-speed
Input
I0 ~ I3 are high-speed inputs with a response time of 0.5sec.
C028 Deceleration selection for G31 Skip Function
R190 Deceleration selection for G31 Skip Function
R250 Waiting Input signal format for G31 Skip Function

When the hardware high-speed axis stop is activated (MCM#5300), the
software setting will be ineffective.

1. High Speed Input
HUST H9C series has 256 input and 176 outputA Its response time can be 0.5 sec. Connect
I0 to the 5
th
pin of the DA axis.

2. C028 R190
G31 Skip Function Deceleration OptionF C028 signal according to R190 value set-up
inside will tell the control that the deceleration way when encountering G31

C028 = 0 (low) skip the value of R190 . Servo motor decelerates to zero by the deceleration
rate.
C028 = 1 (high) R190 0 Servo motor decelerates to zero rapidly.
C028 = 1 (high) R1900 When servo motor meets the input signal of G31, it will
travel the distance of R190.
T
F-rate
F
e
e
d

r
a
t
e

Motor is
activated
With the G31Input, the motor speed will
decelerate rapidly to 0.
When the hardware
high-speed axis stop
is activated, the G01
(MCM#505)
acceleration setting
will be neglected.
T

V
o
l
t
a
g
e

Motor is
activated
With the G31Input, the motor speed will
decelerate rapidly to 0.
When the hardware
high-speed axis stop
is activated, it will be
controlled by the
hardware.

Bounce Reduction: 10 msec, independent of the speed
Servo bounce:
The bounce is proportional to the
cutting speed. A higher speed, a
greater bounce is.
3 Function Codes
3 - 55

Fig3-53 C028 R190 & Servo motor Relation Display

3. R250

The skip function of G31 (waiting input signal) will not be set up if the input signal
dose not enter the controller.

Set 3A I-bit Input signal type is normally closed (1)

Program DescriptionG

C Input 5 Start the controller to do the position control.
C Input 0 Lamp Sensor
C Output 13 The tool executes the cutting or not.
C - 1 Exceed the distance from lamp sensor to controllers starting point .
C - 2 F value = Motor feed rate.
- 3 Holding time
C - 4 Equal to the value of R190. The setting value muse exceeds the distance
of motor deceleration.

T
F
F
e
e
d
-
R
a
t
e

Motor
Start
Motor meets G31. Decl. To zero rapidly.
C028 = 1
R190 = 0
T
F
F
e
e
d
-
R
a
t
e
Motor
Start
Motor meets G31. Decel. to zero by decel.rate
C028 = 0
Skip R190
T
F
F
e
e
d
-
R
a
t
e
Motor
Start
When servo motor meets the input signal of G31, it will
travel the distance of R190 and then stop.
C028 = 1
R1900 The area R190 must
exceeds motor deceleration
distance
3 - 56
single block.
G31 X- 1 F- 2 P00 F Servo motor executes to feed material till the photo-
M99 F End Program.

3 Function Codes
3 - 57
3.16 Work Coordinate System, G54~G59

There are two coordinate systems for HUST CNC machine tool. They are:

1. Machine Coordinate (Home)
2. Work Coordinate (G54~G59)

3.16.1 Machine Coordinate (Home)

The origin of the machine coordinate system is a fixed point on the machine. Its
location is determined by the locations of the over-travel limit switches (OTLS). When
you execute HOME from the control panel, the tool or the machine table will move
toward the OTLS, then reverse back to look for the encoder GRID signal. When it
locates the GRID, the tool stops. This location is the HOME position or Machine origin.
Machine origin is the calculation basis for all work coordinates and the reference point
coordinates. Before you do any cutting, be sure to execute HOME for each axis.

Occasionally for the convenience of cutting operation, it becomes necessary to set
another origin that is slightly shifted from the machine origin. Such origin is called
HOME SHIFT. The amount of shift is set in MCM #381~#386. When you execute
HOME, the tool will rest at the HOME position but the machine coordinate will show
the home-shift values. If the setting values in MCM #381~#386 are zero (0), the HOME
SHIFT is the HOME position.

EX: MCM #381 (X-axis)=10.000 When HOME has been executed, the screen will
show 10.000 not 0.000.

The methods to find HOME position are:

1. Manually execute HOME from the control panel. (See Sec 8.1.1)
2. Use G28 or G30 by setting the reference coordinates in the MCM to zero for all axes.

3.16.2 Work Coordinate System, G54~G59

HUST H9C series provides 6 sets of work coordinate system with their origins being
stored in the MCM parameter #1~#120, X,Y,Z,A,B,C,U,V,W. The coordinates of these
work origins are the coordinates with respect to the machine origin. The coordinate data
or these origins can be entered into the proper MCM number by one of the following
methods:

1. G10 command --- See 3.10.1
2. Direct input in MCM mode --- See Chap 7
3. Input in the PLC program --- See Connecting Manual Chap 6

The application of G54~G59 command is explained in the example below. The
advantage of using these work origins is the simplification of the coordinate
calculations for the work-piece. Fig 3-51 shows six geometric cutting patterns with nine
work origins for G54~G59 as follows:

3 - 58
Work Coord. MCM #
Machine Coord.
X-axis Setting
Machine Coord.
Y-axis Setting
G54 1(X) 2(Y) -70.0 -10.0
G55 21(X) 22(Y) -80.0 -30.0
G56 41(X) 42(Y) -80.0 -50.0
G57 61(X) 62(Y) -70.0 -50.0
G58 81(X) 82(Y) -40.0 -60.0
G59 101(X) 102(Y) -20.0 -40.0

Fig 3-54 G54~G59 Work Origin

Once the work origins have been set in the MCM #1~#36, the cutting patterns can be
accomplished using G54~G59 commands as shown below. Only G54 and G55 are
shown in the example, but G56~G59 can be done the same way. Note that the program
coordinates are also changed when the work origin is changed.

Fig 3-55 The Application of G54~G59

N1 G54 -- Select G54
N2 G0 X0. Y0. -- Move to G54 work origin (Machine Coord, -70/-10)
N3 G2 I-7.0 F200.0 -- Cut a circle in CW with R=7.0
N4 G0 -- Select G55 work coord.
Work origin
-10
-70
-60
-50
-40
-30
-20
-10 -20 -30 -40 -50 -60 -70 -80 -90
G59
G54
G55
G56 G57
G58
Work origin
-10
-70
-60
-50
-40
-30
-20
-10 -20 -30 -40 -50 -60 -70 -80 -90
G59
G54
G55
G56 G57
G58
R
X
Y
3 Function Codes
3 - 59
N5 G55 -- Select the secondary working corrdinate
N6 G0 X0. Y0. -- Move to G55 work origin (Machine Coord, -80/-30)
N7 G1 Y10.0 F300 -- Y-axis feed for cutting with a travel +10.0
N8 G3 Y-10.0 R10.0 F300 -- Cut a half-circle in CCW with R=10.0
N9 Y10.0 F300 -- Y-axis feed for cutting with a travel +10.0
N10 G28 -- If the primary reference points MCM parameter 0,
it returned to the mechanical origin.
N11 M2 -- Program end

1. When power-on or pressing RESET key, the default is the G54 command.
2. When G54~G59 command is executed, the machine coordinate of the new origin is
also changed accordingly.
3. To change the location of current work origin, simply execute G10 X___Y___.
4. Work coordinate system can be chosen by G54~G59.

3.17 Feed rate mode control G98 ,G99

Format: G98 --- Feed-rate per minute, mm/min
G99 --- Feed-rate per revolution, mm/revolution

HUST H9C provides two types of feed-rate, mm/min and mm/rev. G98 is the power-on
default setting. Generally, G98 will suffice most applications. In special application
such as coiling machine, G99 will be more useful. The following rules must be
observed when applying G99.

1. G99 can be applied only with G01 not G00.
2. The working machine must be equipped with a feedback encoder or a spindle
instruction. Set the register R238 in PLC ladder and choose the spindle
direction( or passive feedback encoder)
3. Choose the axis-direction of spindle in R238 ( or passive feedback encoder)

R238 setting 0 1 2 3 4 5 6 7 8 9
Main Axis none X Y Z A B C U V W

4. When using G99, some relative MCM setting below must be confirmed first.

MCM Description
#502 Acceleration/deceleration type, Setting = 0 exponential, = 1 linear, = 2 S curve
#506 Acceleration/Deceleration time in G99 mode
#509
Set the number of pulses for the rotation axis command encoding
V#11512
Set the number of pulses for the rotation axis encoder feedback.

EX: Supposed that we are trying to set the spindle-encoder-feedback to connect with Z-
axis and to drive X-axis and Y-axis. The pulse = 2000 pulse/per round.

>> 1. In PLC set R238 =3
>> 2. MCM#509=8000
>> 3. Program:
G99 Assigned to use mm/rev
G01 X30.000 Y30.000 F0.2
3 - 60

The definition of F0.2 is that the tool will cut 0.2mm along X-axis or Y-axis in the
node with G01 when the spindle spins one round.

3.18 MACRO Command, G65

G65 can be used to do some mathematical operations as shown in Table 3-4. It can be
applied in the main or sub-program or it can be formed as an independent group of
program, to be called upon (M98) from a main program. If you become a master of it,
its application is unlimited.

G65 Format: G65 Lm P#i A#j B#k

L, P, A, B : Mathematical command codes in capital letters for G65.
m : 'm' is an integer ranging 1~99. Lm represents mathematical operation codes,
such as L2 for addition (+), L3 for subtraction (-), L4 for multiplication (*),
etc. See Table 3-3 for all 'Lm' definitions.
#i : User defined variables, ranging #1~#9999, which are saved when power-off.
Variables #10000 and above are controller system variables which you can
call out for use but can not change their contents.
1. P#i is the location to store the result of mathematical operation. For
example P#10=A+B, the result of A+B is stored as variable #10.
2. Pi (when i is used without a # sign) represents the block number for the
program execution to branch to if the logic operation is true.
#j : Mathematical operand 1. It can be used as either a constant without a # sign,
i.e. A10, or a variable with a # sign, i.e. A#2.
1. A#j represents a variable number ranging 1 ~ 9999.
2. Aj (when j is used without a # sign) represents a constant ranging from
- 9999999 to + 9999999.
#k : Mathematical operand 2. It can be used as either a constant without a # sign,
i.e. B15, or a variable with a # sign, i.e. B#7.
1. A#k represents a variable number ranging 1 ~ 9999.
2. Ak (when k is used without a # sign) represents a constant ranging
from - 9999999 to + 9999999.

More Explanations for Variables:

1. Variable #i

#1~#9999 : User defined variables, which are saved when power-off.
#10000> : Variables #10000 and above are controller system variables which
you can call out for use but can not change their contents.

2. All variables '#i, #j, #k' must be integer. '#i' must be positive (+). '#j, #k' can be (+) or
(-). If it is negative (-), it means the content value of the variable is reversed before
operation.

Ex: If variable #2 = 99, the operation G65 L01 P#1 A-#2 will result in #1 = -99.
Ex: If variable #2 = 25, #3 = 5, the operation G65 L04 P#1 A#2 B-#3 will result
in #1 * -#3 = -125.

3 Function Codes
3 - 61
3. The content values of #j, #k must be integer (max 7 digits, + or -). The input unit is
depending on decimal format in effect. Refer to Sec. 6.5.

Decimal Point 1 (6/1 format) 2 (5/2 format) 3 (4/3 format) 4 (3/4 format)
Unit 100m 10m 1m 0.1m
250 25000m 2500m 250m 25m

3 - 62
Table 3-4 Mathematical Operator Definitions For HUST G65 Command

G-code L-code L-code Function Mathematical Definitions
G65 L1 Equal, Substitution #i = #j
G65 L2 Addition #i = #j + #k
G65 L3 Subtraction #i = #j - #k
G65 L4 Multiplication #i = #j x #k
G65 L5 Division #i = #j / #k
G65 L6 Place Data into Variables #i #j
G65 L7 Copy Variables
G65 L11 Logic OR #i = #j .OR. #k
G65 L12 Logic AND #i = #j .AND. #k
G65 L13 Logic exclusive XOR #i = #j .XOR. #k
G65 L14 ROL, rotate to left
G65 L15 ROR, rotate to right
G65 L16 LSL, shift to left
G65 L17 LSR, shift to right
G65 L21 Square Root
#i = #j
G65 L22 Absolute #i = |#j|
G65 L23 Remainder
#i = #J - trunc(#j/#k) x #k
trunc:(Discard result that is less than 1)
G65 L26 Combined Mul/Div Operation #i = (#i x #j) / #k
G65 L27 Root of the sum of square
2 2
J I I + =
G65 L28 Root of the difference of square
2 2
J I I =
G65 L30
Conversion of setting length to
numbers of circle (round shape)
a
ac b b
2
4
2
+

G65 L31 Sine of an angle (Sin ) #i = #j x Sin (#k)
G65 L32 Cosine of an angle (Cos ) #i = #j x Cos (#k)
G65 L33 Tan #i = #j tan (#k)
G65 L34 Arctangent of a value (Tan
1
)
G65 L50 Obtain Data in Register #j #i = #j
G65 L51 Obtain & move I-Bit data to #i #i = #j
G65 L52 Obtain & move O-Bit data to #i #i = #j
G65 L53 Obtain & move C-Bit data to #i #i = #j
G65 L54 Obtain & move S-Bit data to #i #i = #j
G65 L55 Obtain & move A-Bit data to #i #i = #j
G65 L56 Obtain & move CNT. Operation #i = #j
G65 L60 Store Data into Register #i = #j
G65 L66 Store Data into Counter #i = #j
G65 L70
Inspect the status of IOCSA Bit
and do the conditional Branching

G65 L80 Unconditional Branching Execution jumps to block number 'n'
G65 L81 Conditional Branching 1 If #j = #k, Go To n
G65 L82 Conditional Branching 2
If #j
#k, Go To n
G65 L83 Conditional Branching 3 If #j > #k, Go To n
G65 L84 Conditional Branching 4 If #j < #k, Go To n
G65 L85 Conditional Branching 5 If #j #k, Go To n
3 Function Codes
3 - 63

G-code L-code L-code Function Mathematical Definitions
G65 L86 Conditional Branching 6 If #j #k, Go To n
G65 L88 Conditional Branching 7 If #j n ] #j + #k^, go to n
G65 L89 Conditional Branching 8 Test the variable bit if 0 or not
G65 L90 Conditional Branching 9 Test the variable bit if 1 or not
G65 L99 User Designated Error Signals Error display = i+50 (i=1~49)

Note: The range of computation is from (9999.999) to (+9999.999).

Mathematical Operation Examples (See Table 3-4)

1. Equal or Substitution, #i = #j

G65 L1 P#i A#j

Ex: G65 L1 P#10 A150 (#10 = 150)
G65 L1 P#10 A#5 (#10 = #5. If #5=1200, the result #10=1200.)
G65 L1 P#10 A-#5 (#10 = -#5, If #5=1200, the result #10=-1200)

2. Addition, #i = #j + #k

G65 L2 P#i A#j B#k

Ex: G65 L2 P#1 A#10 B#5
If #10=1200 and #5=99, the result #1=1299.

3. Subtraction, #i = #j - #k

G65 L3 P#i A#j B#k

Ex1: G65 L3 P#1 A#10 B#5
If #10=1200 and #5=99, the result #1=1101.

Ex2: G65 L3 P#10 A#10 B5
If #10=1200 before subtraction, then after subtraction #10=1200-5=1195.

4. Multiplication, #i = #j * #k

G65 L4 P#i A#j B#k I#m J#n K#lF
(#m,#i) = (#n,#j) (#l,#k)

Explanation: #i, #j, #k are low 32-bit operands;
#m, #n, #l are high 32-bit operands.

Ex1G #4 initial value=10, #30 initial value=25, Set #10 = #4 #30
Program commands: G65 L4 P#10 A#4 B#30
Result: #10 = #4 #30 = 250

3 - 64
Ex2G #4 initial value=100000, #30 initial value=25000,
Set (#20, #10) = #4 #30
Program commands: G65 L4 P#10 A#4 B#30 I#20
Result: #10 = 3525163520 (Result - low 32-bit)
#20 = 5 (Result - high 32-bit)

5. Division, #i = #j / #k

G65 L5 P#i A#j B#k I#m J#n K#l F
(#m,#i) = (#n,#j) / (#l,#k)

Explanation: #i,#j,#k are low 32-bit operands.
#m,#n,#l are high 32-bit operands.

Result that is less than 1 will be discarded.

Ex: G65 L5 P#10 A#4 B#30
If #4=130, #30=25, then #10=#4 / #30=5 (the decimal 5.2 is discarded)

6. Simulataneously setting of several consecutive variables

G65 L6 P# i A#j B#k ; # i . #( i+k) # j
Ex. 1: The initial values #10 100, #11 20, #13 50, #5 99
Target values #10 #11 #12 #13 #14 #5

Program command : G65 L6 P#10 A#5 B5
Result : #10 #11 #12 #13 #14 #5 99

Ex. 2: To set #10 ..#(10+N-1) 100, N #3 4
Program command : G65 L6 P#10 A100 B#3
Result : #10 #11 #12 #13 100

G65 L06 P#a A#b B#c I#d J#e

#a: initial value of the variable to be configured
#b: starting value to be set
#c: number of variables to be configured
#d: constant difference between the variables to be configured
#e: constant difference between the values to be set

Ex. A: Simultaneously set a series of variables to be of the same value

G65 L06 P#11 A7 B5
Result: #11 #15 7

G65 L06 P#29 A0 B7
Result: #29 #35 0

Ex. B: Simultaneously set a series of variables to be of a series of values with a
3 Function Codes
3 - 65
constant difference
G65 L06 P#11 A1 B5 J2
Result:

#11 1
#12 3
#13 5
#14 7
#15 9

Ex. C: Simultaneously set a series of variables to be of a series of same values
G65 L06 P#11 A7 B5 I5
Result:

#11 7
#16 7
#21 7
#26 7
#31 7

Ex. D: Simultaneously set a series of variables to be of a series of values with a
constant difference
G65 L06 P#11 A2 B6 I5 J2
Result:

#11 2
#16 4
#21 6
#26 8
#31 10
#36 12

Note 1: #b, #c, #d, #e can be values or variables
Note 2: If A is not specified, it will be regarded as blank.

EXP: G65 L06 P#11 B5
Result: #11 #12 #13 #14 #15 bbbbbbb (Blank)
It will appear as blanks on the screen (different from 0)
Ex.: #5 10000 #6 blank
In the program, G00 X#5 Y#6 is regarded as that Y is not specified, which is
equivalent to G00 X#5.

J2 (constant
difference between
values)
B5 (number of variables)
A1(Staring value)
I5 (constant difference between variables)
I5 (constant difference between variables)

J2 (constant
difference between
values)
A2 (Staring value)
3 - 66
7. Simultaneously copy several consecutive variables

G65 L7 P# i A#j B#k ; #i #j Q #(i+1) #(j+1) .

If # i is added with 900000 ; #(#i) #jQ #(#i)+1 #(j+1) .

Note: 0 < #k < 1024

Ex. 1: Copy the values of #10 .. #20 to #125. #135
Result : #125 #10, #126 #11, #127 #12, #128 #13
#129 #14, #130 #15, #131 #16, #132 #17
#133 #18, #134 #19, #135 #20

The initial value : #256 101, #1 301
Result : #256 #1 301, #257 #2, #258 #3,
#259 #4, #260 #5

The initial value : #256 101, #1 301
Result : #101 #1 301, #102 #2, #103 #3,
#104 #4, #105 #5

8. Logic OR, #i = #j .OR. #k (operate in binary format)

G65 L11 P#i A#j B#k ; #i #j .OR. #k
Ex. 1: To set #10 #5 .OR. #20, #5 12, #20 100
Program command : G65 L11 P#10 A#5 B#20
Result : #10 12 .OR. 100 108

Ex. 2: To set #10 #10 .OR. 10, #10 15
Result: #10 15 .OR. 10 15

3 Function Codes
3 - 67
9. Logic AND, #i = #j .AND. #k (operate in binary format)

G65 L12 P#i A#j B#k ; #i #j .AND. #k

Ex. 1: To set #10 #5 .AND. #20, #5 12, #20 100
Result : #10 12 .AND. 100 4

Ex. 2: To set #10 #10 .AND. 10, #10 15
Result : #10 15 .AND. 10 10

10. Logic XOR, #i = #j .XOR. #k (operate in binary format)

G65 L13 P#i A#j B#k ; #i #j .XOR. #k

Ex. 1: To set #10 #5 .XOR. #20, #5 4, #20 100
Result : #10 4 .XOR. 100 96

Ex. 2: To set #10 #10 .XOR. 10, #10 15
Result : #10 15 .XOR. 10 5

11. .ROL. #i = #j .ROL. #k (Rotate Left)

G65 L14 P#i A#j B#k

Meaning: Rotate the 16-bit binary number A#j to the LEFT and place the result
in P#i. The number of bits to rotate is indicated by B#k. The bits
rotated out to the left will be put at the right.

Bit 15 14 13 .. 2 1 0
x x x x x x x x x x x x x x x x

Ex 1: Before G65, variable #10 = 49152
G65 L14 P#12 A#10 B1 (ROL by 1 position)
After G65, variable #12 = 32769

Before:
Bit 15 14 13 .. 2 1 0
1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0

After G65:
Bit 15 14 13 .. 2 1 0
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1

3 - 68
Ex 2: Before G65, variable #10 = -2
G65 L14 P#12 A#10 B1 (ROL by 1 position)
After G65, variable #12 = -3

Before:
Bit 15 14 13 .. 2 1 0
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0

After G65:
Bit 15 14 13 .. 2 1 0
1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1

12. .ROR. #i = #j .ROR. #k (Rotate Right)

G65 L15 P#i A#j B#k

Meaning: Rotate the 16-bit binary number A#j to the RIGHT and place the
result in P#i. The number of bits to rotate is indicated by B#k. The bits
rotated out to the right will be put at the left.

Bit 15 14 13 .. 2 1 0
1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1

G65 L15 P#12 A#10 B1 (ROR by 1 position)

Before:
Bit 15 14 13 .. 2 1 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1

After G65:
Bit 15 14 13 .. 2 1 0
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1

13. .LSL. #i = #j .LSL. #k (Move Left)

G65 L16 P#i A#j B#k

Meaning: Shift the 16-bit binary number A#j to the LEFT and place the result in
P#i. The number of bits to shift is indicated by B#k. The bits moved
out to the left will be lost and the void spaces at the right will be filled
with '0'.

Bit 15 14 13 .. 2 1 0

3 Function Codes
3 - 69
G65 L16 P#12 A#10 B2 (LSL by 2 positions)

Before:
Bit 15 14 13 .. 2 1 0
0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1

After G65:
Bit 15 14 13 .. 2 1 0
0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0

14. LSR #i = #j .LSR. #k (Move Right)

G65 L17 P#i A#j B#k

Meaning: Shift the 16-bit binary number A#j to the RIGHT and place the result
in P#i. The number of bits to shift is indicated by B#k. The bits rotated
out to the right will be lost and the void spaces at the left will be filled
with '0'.

Bit 15 14 13 .. 2 1 0

G65 L17 P#12 A#10 B2 (LSR by 2 positions)

Before:
Bit 15 14 13 .. 2 1 0
0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1

After G65:
Bit 15 14 13 .. 2 1 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1

15. Square Root, #i = #j

G65 L21 P#i A#j (Result that is less than 1 will be discarded)

Ex: G65 L21 P#10 A#5 (#10 = #5 )
If #5 = 30, #10 = 5 after G65 operation.

16. Absolute, #i = |#j|

G65 L22 P#i A#j

Ex: G65 L22 P#10 A#5 (#10 = |#5|)
If #5 = -30, #10 = 30 after G65 operation.

3 - 70
17. Remainder, #i = #j - trunc(#j / #k) x #k
trunc: (Discard result that is less than 1)
G65 L23 P#i A#j B#k

Ex: Find the remainder of (#5/12) with #5 = 99
G65 L23 P#10 A#5 B12 (#10 = #5 - trunc(#5 / 12) x 12)
#10 = 99 - trunc(99 / 12) x 12 = 99-(8*12) = 3

18. Combined Multiplying then Dividing Operation, #i = (#i * #j) / #k
G65 L26 P#i A#j B#k

HUST H9C controller can not handle the multiplied value greater than 9999.999.
However, if you use G65 L26 function, the number of digits can exceed 7 digits
for the first multiplication operation so long as the final result after division is less
than 7 digits. For example, #1=10000, #2=30000, #3=1000, to get the result for
(#1)*(#2)/(#3), you thought you could use G65 L04 P#5 A#1 B#2 first, then use
G65 L05 P#6 A#5 B#3. But the first operation would yield more than 7 digits and
the result would be incorrect. In this case, L26 function can be used as follow to
get correct answer.

G65 L26 P#1 A#2 B#3
P#1 = (#1) * (#2) / (#3) = 300000

Ex: G65 L26 P#5 A#10 B#15 (#5=120, #2=15000, #3=3000)
#5 = (#5*#10)/#15 = (120*15000) / 3000 = 600

Ex 1: #5 12, #10 15, #15 3
Program command :G65 L26 P#5 A#10 B#15
Result :#5 (#5 #10)/#15
(12 15)/3
60

Ex 2: #5 120, #10 15000, #15 3000
Program command :G65 L26 P#5 A#10 B#15
Result :#5 (#5 #10)/#15
(120 15000)/3000
600

19. The root of the sum of the square

G65 L27 P#i A#j B#k F
) # (# #
2 2
k j i + =

EX1:#10 = 15A #15 = 3
Program Command G G65 L27 P#5 A#10 B#15

3 Function Codes
3 - 71
Ans G #5 =
) 15 # 10 (#
2 2
+

=
) 3 15 (
2 2
+

= 15.297 (round off)
= 15

EX2G #10 = 10A #15 = 30

Ans G #5 =
) 15 # 10 (#
2 2
+

=
) 30 10 (
2 2
+

= 32

20. The root of the difference of the square

G65 L28 P#i A#j B#k F
) # (# #
2 2
k j i =

EX1: #10 = 15A #15 = 3

Ans G #5 =
) 15 # 10 (#
2 2

=
) 3 15 (
2 2

= 15

EX2G #10 = 25A #15 = 5
Ans G #5 =
) 15 # 10 (#
2 2

=
) 5 25 (
2 2

= 24

21. Conversion of setting length to numbers of circle (round shape)

CommandG G65 L30 P#Circles(n) A#Length(Ly) B#Roll radius(r0)
K#Thickness(t)

G65 L30 P#n A#j B#r K#t

Circles(n) G The factor of calculation
Length(Ly) G If set mm as the minimum unit, 1000
Roll radius(r0) G If set mm as the minimum unit, 1000
Thickness(t) G Set as the minimum unit
3 - 72

FormulaG
a
ac b b
2
4
2
+

EX1G #n=#1B #j=100mmB #r=5mmB #t=10
AnsG G65 L30 P#1 A100000 B5000 K10
#1=3.177 Circles

22. Sine of an Angle, #i = #j x Sin(#k)

G65 L31 P#i A#j B#k

1. The angle code k is in 5/2 format (2 decimals). So, if #k = 4500, it means
45.
2. Since Sin(#k) is always less than 1 and HUST H-2 does not operate on
decimal (anything smaller than 1 will be discarded), the G65 L31 operation
includes a multiplier #j.

Ex: Find the value for Sin 60 and store it as variable #1
G65 L31 P#1 A1000 B6000
The result P#1 = 1000 * Sin 60 = 866

23. Cosine of an Angle, #i = #j x Cos (#k)

G65 L32 P#i A#j B#k

1. The angle code k is in 5/2 format (2 decimals). So, if #k = 4500, it means
45
o
.
2. Since Cos(#k) is always less than 1 and HUST H-2 does not operate on
decimal (anything smaller than 1 will be discarded), the G65 L31 operation
includes a multiplier #j.

Ex: Find the value for Cos 45
o
and store it as variable #1
G65 L32 P#1 A1000 B4500
The result P#1 = 1000 * Cos 45
o
= 707

24. Tangent of an Angle, #i = #j tan(#k)

G65 L33 P#i A#j B#k

#1 = tan 45X = 1A The format in system is 0000001
So the calculation is G65 L33 P#1 A1000 B4500
Ans G #1 = 1000 tan 45 =1000 X

EX1G Count : #1 = tan 60 = 1.732 X
Program Command G G65 L33 P#1 A1000 B6000
Ans G #1 = 1000 tan 60 =1732 X

25. Arc-tangent of a number, #i = Tan
-1
(#j / #k)
3 Function Codes
3 - 73

G65 L34 P#i A#j B#k

The resulted angle code i is in 5/2 format (2 decimals).

Ex: Find the angle for Tan
-1
(577/1000) and store it as variable #1
G65 L34 P#1 A577 B1000
The result P#1 = Tan
-1
(577/1000) = 0003000 =30
o

26. Obtain Data in Register Number #j and Store in P#i, #i = R(#j)

Functions G65 L51, G65 L52, G65 L53, G65 L54 and G65 L55 are obtained
status signals of PLC-IOCSA and A#J in functions are 16-bit data obtained at one
time.

G65 L51
I-BIT
G65 L52
O-BIT
G65 L53
C-BIT
G65 L54
S-BIT
G65 L55
A-BIT
#J=0 I000..I015 O000..O015 C000..C015 S000..S015 A000..A015
#J=1 I016..I023 xxxxxx C016..C031 S016..S031 A016..A031
#J=2 xxxxxxx xxxxxx C032..C047 S032..S047 A032..A047
#J=3 xxxxxx xxxxxx C048..C063 S048..S063 A048..A063

G65 L50 P#i A#j (Register #j range = R000 ~ R255)

Ex: G65 L50 P#10 A#5 (#10 = R(#5) = R3, if #5 = 3)
G65 L50 P#10 A31 (#10 = R31)

Functions G65 L51, G65 L52, G65 L53, G65 L54, G65 L55 can be used to obtain
the state signals from PLC-IOCSA, and the A#J in the function will retrieve a 16-
bit data at a time.

27. Obtain I-Bit Signal Data in PLC, #i = #j = i(#j * 16).. i(#j * 16 + 15)

G65 L51 P#i A#j (#j range = 0 ~ 1 (I000 ~ I023))

16 I-Bit data can be obtained at one time with total of 24 I-bit available according
to the value of variable, A#j (0~7) as shown in the example below.
3 - 74
Ex: Obtain data I016~I023 and store in variable #10
G65 L51 P#10 A1

After G65 operation, #10 =I016~I023= 229(I016 ~ I023 data shown below)

Bit I23 I22 I21 I20 I19 I18 I17 I16
0 0 0 0 0 0 0 0 1 1 1 0 0 1 0 1

28. Obtain O-Bit Signal Data in PLC, #I = #j = O(#j * 16).. O(#j * 16 + 15)

G65 L52 P#I A#j (#j range = 0 (O000 ~ O015))

16 O-Bit data can be obtained at one time with total of 16 O-bit available
according to the value of variable, A#j (0) as shown in the example below.

Ex: Obtain data O000~O015 and store in variable #10
G65 L52 P#10 A0

After G65 operation, #10 =O000 ~ 015= 229(O000 ~ O015 data shown below)

Bit 015 014 013 012 011 010 009 008 007 006 005 004 003 002 001 000
0 0 0 0 0 0 0 0 1 1 1 0 0 1 0 1

29. Obtain C-Bit Signal Data in PLC, #I = #j = C(#j * 16).. C(#j * 16 + 15)

G65 L53 P#I A#j (#j range = 0 ~ 15 (C000 ~ C255))

16 C-Bit data can be obtained at one time with total of 255 C-bit available
according to the value of variable, A#j (0~15) as shown in the example below.

Ex: Obtain data C016~C031 and store in variable #10
G65 L53 P#10 A1

After G65 operation, #10 = C016~C031= 229(C016 ~ C031 data shown below)

Bit
C31 C30 C29 C28 C27 C26 C25 C24 C23 C22 C21 C20 C19 C18 C17 C16
0 0 0 0 0 0 0 0 1 1 1 0 0 1 0 1

30. Obtain S-Bit Signal Data in PLC, #I = #j = S(#j * 16).. S(#j * 16 + 15)

G65 L54 P#I A#j (#j range = 0 ~ 15 (S000 ~ S255))

16 S-Bit data can be obtained at one time with total of 255 S-bit available
according to the value of variable, A#j (0~15) as shown in the example below.

Ex: Obtain data S016~S031 and store in variable #10

G65 L54 P#10 A1

After G65 operation, #10 =S016~S031= 229(S016 ~ S031 data shown below)

3 Function Codes
3 - 75
Bit
S31 S30 S29 S28 S27 S26 S25 S24 S23 S22 S21 S20 S19 S18 S17 S16
0 0 0 0 0 0 0 0 1 1 1 0 0 1 0 1

31. Obtain A-Bit Signal Data in PLC, #I = #j = A(#j * 16).. A(#j * 16 + 15)

G65 L55 P#I A#j (#j range = 0 ~ 15 (A000 ~ A255))

16 A-Bit data can be obtained at one time with total of 255 A-bit available
according to the value of variable, A#j (0~15) as shown in the examples below.

Ex: Obtain data A016~A031 and store in variable #10

G65 L55 P#10 A1

After G65 operation, #10 =A016~A031= 229 (A016 ~ A031 data shown below)

Bit
A31 A30 A29 A28 A27 A26 A25 A24 A23 A22 A21 A20 A19 A18 A17 A16
0 0 0 0 0 0 0 0 1 1 1 0 0 1 0 1
32. Obtain Counter Data

G65 L56 P#i A#j (#i = Counter(#j), range 0~255)

Ex: Obtain data (=100) in Counter #10 and store in variable #3.

G65 L56 P#3 A10
After G65 operation, #3 = 100

33. Store Data into Register

G65 L60 P#i A#j (Register #i = #j = 0~255)

Ex: Store data from variable #3 into Register #10. The content of #3 = 100.
G65 L60 P#10 A#3
After G65 operation, Register #10 = 100

34. Store Data into Counter

G65 L66 P#i A#j (Counter #i = #j = 0~255)

Ex: Store data from variable #3 into Counter #10. The content of #3 = 100.
G65 L66 P#10 A#3
After G65 operation, Counter #10 = 100

35. Inspect the status of IOCSA Bit and do the conditional Branching

G65 L70 Pn A#a B#b ;When the bit of #a on, skip to the (n)th node

#aG IOCSA range I = 0~255 #bG the status of every bit (on & off)
O = 256~511 on=1 off=-1
C = 512~767
3 - 76
S = 768~1023
A = 1024~2048
EX1G
CommandG N10 G65 L01 P#1 A20
N20 G65 L70 P50 A1 B1
N30 X100.
N40 Y100.
N50 M02
AnsG
When the program is executing N20, the judgment formula will judge the I01 if ON
or not. As it is ON, it will skip to N50 and end the program. As it is OFF, it will
continue to execute N30 to N50.

36. Unconditional Branching

G65 L80 Pn (n = block number)
Program execution jumps to block number 'n'.

Ex: N10 G65 L80 P40
N20 G01 X100.
N30 Y200.
N40 M02

After program executes block N10, execution will skip block N20, N30 and jumps
to block number 40. Note that when in G65 the P number must match exactly
with the program number. For example, P0010 = N0010, but P0010 N10.

37. Conditional Branching 1 (Equal)

G65 L81 Pn A#j B#k (n = block number)

This is equal to the statement If #j = #k, go to block Pn. Otherwise, execution
continues as normal, line by line without interruption.

Ex: N10 G65 L01 P#1 A10
N20 G65 L81 P50 A#1 B10
N30 G01 X100.
N40 Y100.
N50 M02

Set variable #1 = 10 at block N10. After block N20, execution will branch
to N50 (skip block N30, N40) because #1=10 is true.

38. Conditional Branching 2 (NOT Equal)


This is equal to the statement If #j #k, go to block Pn. Otherwise, execution

3 Function Codes
3 - 77
Ex: N10 G65 L01 P#1 A20
N20 G65 L82 P50 A#1 B10
N30 G01 X100.
N40 Y100.
N50 M02

to N50 (skip block N30, N40) because #110 is true.

39. Conditional Branching 3 (Greater)


This is equal to the statement If #j > #k, go to block Pn. Otherwise, execution

Ex: N10 G65 L01 P#1 A20
N20 G65 L83 P50 A#1 B10
N30 G01 X100.
N40 Y100.
N50 M02

to N50 (skip block N30, N40) because #1>10 is true.

40. Conditional Branching 4 (Smaller)


This is equal to the statement If #j < #k, go to block Pn. Otherwise, execution

Ex: N10 G65 L01 P#1 A20
N20 G65 L84 P50 A#1 B100
N30 G01 X100.
N40 Y100.
N50 M02

to N50 (skip block N30, N40) because #1<100 is true.

41. Conditional Branching 5 (Equal or Greater)



Ex: N10 G65 L01 P#1 A20
N20 G65 L85 P50 A#1 B10
3 - 78
N30 G01 X100.
N40 Y100.
N50 M02


42. Conditional Branching 6 (Equal or Smaller)



Ex: N10 G65 L01 P#1 A20
N20 G65 L86 P50 A#1 B20
N30 G01 X100.
N40 Y100.
N50 M02


43. Loop Executed Single Block Commands

G65 L87 Pi Aj B#k will executes #k times the block loop from the initial single
block i to the final single block j.

Example:
ProgramG N10 G65 L01 P#1 A20
N20 G65 L87 P05 A10 B#1
N30 G01 X0. F1000
N05 100.
N08 100.
N10 100.
N50 M02

When the program executes to the N20 single block, the system will execute 20
times (# 1 variable value) the three single block loops contained from N05 single
block to N10 single block. Then, the program will proceed to execute the single
block N30 following N20 in sequence until it ends.

44. Conditional Branching 7
i Shorten the calculating time of G65 L81 P** A** B** j

G65 L88 P#xxx Ayyy Bzzz

xxx => The variable to be judged
3 Function Codes
3 - 79
yyy => The initial factor of ] #xxx^
zzz => The final factor of ] #xxx^

G65 L80 Pwww
www => The serial number to be executed

These two command can not be used separately

InfoG
G65 L88 P#xxx Ayyy BzzzG
When the program is executing at this command, the system will read this and judge the
information of variable(#xxx^

G65 L80 PwwwG
Execute the command of the node

ConditionG
1. yyy and zzz must be continuous value
2. G65 L80 Pwww must be in order
3. G65 L80 Pwww command maximum is up to 64 lines

EXG

G65 L88 P#403 A51 B59
G65 L80 P06 ;;#403 = 51 Skip to N06
G65 L80 P06 ;;#403 = 52 Skip to N06
G65 L80 P06 ;;#403 = 53 Skip to N06
G65 L80 P64 ;;#403 = 54 Skip to N64
G65 L80 P65 ;;#403 = 55 Skip to N65
G65 L80 P66 ;;#403 = 56 Skip to N66
G65 L80 P67 ;;#403 = 57 Skip to N67
G65 L80 P68 ;;#403 = 58 Skip to N68
G65 L80 P69 ;;#403 = 59 Skip to N69
N06 G65 L82 P0 A#403 B60 ;; #403 <> 60 skip to N0
G65 L01 P#663 A8410 ; #663 = 8410
N0 M99
N64 G65 L02 P#663 A#663 B10 ; #663 = #663 + 10
M99
N65 G65 L02 P#663 A#663 B20 ; #663 = #663 + 20
M99
N66 G65 L02 P#663 A#663 B30 ; #663 = #663 + 30
M99
N67 G65 L02 P#663 A#663 B40 ; #663 = #663 + 40
M99
N68 G65 L02 P#663 A#663 B50 ; #663 = #663 + 50
M99
N69 G65 L02 P#663 A#663 B60 ; #663 = #663 + 60
M99
Must be continuous number
Line number

In order
Up to 64 lines
3 - 80


G65 L89 Pn A#j Bk ; Inspect the bit of the variable (#j) if 0 or not. The bit is
determined by k. If the bit is 0, execute the skip operation.
n G Line number
#j G Variable to be inspect
k G Bit to be inspect

EXG
ProgramG N10
N20 G65 L89 P50 A#1 B0
N30 X100.
N40 Y100.
N50 M02

AnsG When the program is executing to the N20, it will do the judgment of #1 and
then do the calculation of BIT:

As #1=6

As#1=9


G65 L90 Pn A#j Bk ; Inspect the bit of the variable (#j) if 1 or not. The bit is
determined by k. If the bit is 1, execute the skip operation.
n G Line number
#j G The variable to be inspect
k G The bit to be inspect.

ExG
ProgramG N10
N20 G65 L90 P50 A#1 B2
N30 X100.
N40 Y100.
N50 M02

AnsG When the program is executing to the N20, it will do the judgment of #1 and
then do the calculation of BIT:

4 3 2 1 0 Bit
. 0 0 1 1 0 binary
We can see that Bit0=0 will be set up and skip to N50 to finish the program.
4 3 2 1 0 Bit
. 0 1 0 0 1 binary
We can see that Bit0=1 will not be set up and continue to N30 till N50
3 Function Codes
3 - 81
as#1=6

as#1=9

47 User Defined Error Signals (Display = i+50, i=1~49)

G65 L99 Pi

i = 1~49, If 'i' is not in this range, it will display Error 50. User defined error
number will be added by 50 because Error 1~49 are HUST system errors.

Ex: G65 L99 P10
Error 60 will be displayed when this block is executed.

Example for G65 Application:

Imagine a roll of plastic (or fabric) being fed into a machine to be cut or perforated
according to a fixed pattern on the feed stock. Whole roll of plastic has to be stopped
before the cutting action. This example is a part of the program that is used to stop the
feed stock for cutting. An electronic light beam is used to detect the recurring pattern so
that the feed stock can be stopped. In the program, the I005 bit is the signal from the
light beam. When I005=1 (ON), it means the desired pattern is detected. Assume that
I005 is the only active signal for I000~ I007 group. So, when I005=1,
I000~I007=00100000 in binary = 32 numerically.

Variable: #01 = Total cut length
#02 = The length for fixed pattern detection (I005)
#03 = Normal G01 feed-rate
#04 = Slower feed-rate for fixed pattern detection

Fig 3-54

G65 L51 P#10 A0 ... Obtain I000~I007 signal
G65 L12 P#11 A#10 B32 ... Check if I005 = 1 (On)
Note that 32 = 00100000 (binary)
G65 L82 P0010 A#11 B32 ... If I005 1, jump to N0010
Variable #01
#02 #12
I005 = 0 (Off)
I005 = 1 (On)
I005 = 1 (On)
Direction of feed
4 3 2 1 0 Bit
. 0 0 1 1 0 binary
We can see that Bit2=1 will be set up and skip to N50 to finish the program.
4 3 2 1 0 Bit
. 0 1 0 0 1 binary
We can see that Bit2=0 will not be set up and continue to N30 till N50
3 - 82
G65 L84 P0020 A#01 B#02 ... If #01 < #02, jump to N0020
G65 L03 P#12 A#01 B#02 ... #12 = #01 - #02
G01 U#12 F#03
G31 U#02 F#04 ... Do this when sensor I005 = 1
M02
N0010 G01 U#01 F#03 ... Do this when sensor I005 = 0
M02
N0020 G65 L99 P1 ... If #01<#02, display Error 51
M02

3.19 Working Program

3.19.1 Linear and Circular Repetitive Indexing, G00, G01, G02, G03

Format: (Recommend to use incremental coord. U, V)

G00 X____ Y____Z____A____ B____ C____U____V____W____L____M____
G01 X____ Y____Z____A____ B____ C____U____V____W____L____M____
G02 X____ Y____Z____A____ B____ C____U____V____W____I____J____
R____L____M____
G03 X____ Y____Z____A____ B____ C____U____V____W____I____J____
R____L____M____

X, Y, Z, B, C, U, V, W : Absolute coordinate.
I, J : X and Y-axis component to determine the arc center.
R : Arc radius.
L : The number of indexing for the length specified.
M : User defined M-code for indexing tool. Note that the first
indexing will be executed before the first tool move.

1. Use G00, G01 for linear indexing and G02, G03 for circular indexing.
2. If there are M/S/T-codes in a command, C125 in PLC shall be ON (C125=ON). The
controller will first automatically execute the M-code, then positioning, repeating several
times until it reaches at the L-value.
3. The distance between indexing is specified by the incremental coordinate.
4. This function block must start with G00, G01, G2, G3. Otherwise, it will not work.

Ex: G00 X12.00 L12 M5, with current position at 0.0.

Execute 1st M5 indexing.
1st move to location = 12.
Execute 2nd M5 indexing.
2nd move to location = 24.
Execute 3rd M5 indexing.
3rd move to location = 36.
..........
Execute 12th M5 indexing.
12th move to location = 144.
3 Function Codes
3 - 83

Fig 3-55

NoteG If the M-code is less than 500, the program will pause when
executing G00,G01 (Linear),G02 and G03 (Arc).

3.19.2 Auxiliary Functions, M-codes, S-codes

HUST CNC controller provides M-code functions for users to program certain
mechanical actions outside the CNC controller. M-code function consists of a capital
letter M followed by a 2-digit number, 00~99. Different M-code represents different
action. The followings are HUST CNC system M-codes and users should not attempt to
change them.

M00 Program stop.
When program execution comes to this point, all actions stop, including
spindle and the coolant. Press "CYCST" to re-start from where the program
was stopped.
M01 Option stop.
The program will stop only when the C-bit, C026=1. See Chap 8.
M02 Program end.
M30 Program end.
M02 and M30 are identical.
M98 Sub-program call.
M99 Sub-program end.

Except those mentioned above, the remaining M-codes can be defined by users. Please
refer to PLC interface in HUST H9C Connection Manual for details. Please note the
followings about M-codes.

1. When executing any of M-codes, the controller will send the M-code strobe signal
S024=1 to PLC.
2. When executing any of M00~M499, the PLC in the controller will send an M-code
finish signal C032=1 to the controller. Another words, the controller will not execute
the next line of program unless it receives this signal. For M500~M999, the
controller will not wait for this M-code finish signal.

The S-code is used to control the rpm of the spindle rotation. The max. setting is
S999999.

Example: S1000 ..... The spindle rpm is 1000 rev/min

M5 EXECUTION
0.0 144.0
1 2 3 4 5 6 7 8 9 10 11 12
3 - 84
3.19.3 Sub-program

When a group of program steps will be used repeatedly, these program steps can be
grouped in a sub-program that can be called out for execution whenever required from
the main program. In doing this way, the structure of the program can be greatly
simplified. The structure of the sub-program is pretty much the same as the main
program except that the sub-program is ended with a M99 as follows:

O005 Program number (No 5 in this case)
........... Program steps
M99 Program end

The sub-program can be independently executed by pressing the "Auto" and "CYCST"
button. However, the execution will go round and round to a max. of 8,000,000 times
because the sub-program is ended with a M99 function.

Execution of a sub-program from a main program

Format: M98 P____L____

P : Sub-program number
L : Number of execution. If not specified, execute once.

Example: M98 P05 ....... Execute sub-program No 5 once.
M98 P05 L3 ....... Execute sub-program No 5 three times.

The M98 block can not contain any position code, such as X or Y except those shown in
the format. A sub-program can call another sub-program. This stepwise sub-program
call can go up to a max. of 8-level for HUST CNC controller as below:

Fig 3-56 Sub-program Call

N1
.
.
N5M98P2
.
.
N31 M2
Program1
N1
.
.
N5M98P3
.
.
N31 M99
Program2
. . . . .
N1
.
.
N5M98P8
.
.
N31 M99
Program7
N1
.
.
.
.
.
N31 M99
Program8
3 Function Codes
3 - 85
Variable Value Input in Sub-program from Main Program (G65)

Format: G65 Qxxx Axxx Bxxx Cxxx ..

Qxxx: Sub-program number
Axxx ~ Zxxx: The variable values that are to be transferred into the corresponding
variables in the sub-program. The A~Z codes in G65 main program and the
corresponding variable assignments in sub-program are in the table below.

G65 Main Sub-program G65 Main Sub-program
Axxxx #13101 Nxxxx #13114
Bxxxx #13102 Oxxxx #13115
Cxxxx #13103 Pxxxx #13116
Dxxxx #13104 Qxxxx #13117
Exxxx #13105 Rxxxx #13118
Fxxxx #13106 Sxxxx #13119
Gxxxx #13107 Txxxx #13120
Hxxxx #13108 Uxxxx #13121
Ixxxx #13109 Vxxxx #13122
Jxxxx #13110 Wxxxx #13123
Kxxxx #13111 Xxxxx #13124
Lxxxx #13112 Yxxxx #13125
Mxxxx #13113 Zxxxx #13126

Ex: Main Program:
O001
G65 Q05 A10.000 B12.000 C2500.
M02

Sub-program:
O005
G01 X#13101 Y#13102 F#13103
G04 X4.
M99

The resulting values in the variables after being called from G65 are
#13101 = 10.000
#13102 = 12.000
#13103 = 2500

3 - 86

4 Tool Compensation
4 - 1
4 T OOLCOM PE NS AT I ON

The tool compensation in HUST H9C system is divided into two types as follows:
1. Tool Offset Compensation
2. Tool Radius Compensation -- Currently not available.

4.1 Tool Offset Compensation, G43

Prior to applying geometrical offset compensation in cutting operation, geometrical
offset data must be entered and stored in MCM parameter #1341~#1620, which can
accommodate offset data for 40 sets of cutting tools. Currently, the tool radius
compensation is not available.

All tools have some difference in length (or offset) after being installed on the machine,
see Fig 4-1. The difference in tool length causes a minor shift of the coordinates for the
tool tips. This difference must be figured in the program if you use more than one tool
to cut the same work-piece. Normally, you designate a tool as standard tool and use it to
set the work origin. The tip of the standard tool is normally designated as the HOME
position, the offset data for other tools will become the machine coordinates with
respect to the HOME position. These data can be stored in MCM #1341~#1620 by G10
function as discussed in Chapter 3.

Fig 4-1 Tool Offset Compensation

Offset Compensation Function, G43, G49

Format: G43 P__ (Offset compensation in effect)
G49 (Offset compensation cancellation)
P__: 1~20, Tool number as shown in MCM table #1341~#1620.
P1 as 1
st
tool group, P2 as 2
nd
tool group, .... etc.

When G43 is in effect, the compensation data for the designated group which includes
X and Y axis will be automatically added to (or subtract from) the program coordinate.
The actual tool movement is accordingly adjusted.

Actual tool movement = Program coordinate + (or -) Offset

compensation
When tool offset compensation is no longer required, use G49 function to cancel it.
Standard Tool
Compensate Tool
Y- Axis Compensate
X-Axis Compensate
4 - 2
Ex: N00 G43 P1 .... 1
st
tool offset compensation (MCM #1342~#1343) in effect
N10 X50.000 Y100.000
N20 Y200.000
N30 X100.000 Y250.000
N40 G49 .... Tool offset compensation canceled

When using functions G43 and G49, the following rules must be observed:

1. Tool offset compensation is automatically canceled when power-on.
2. G43 is a modal code. It remains in effect when G43 is encountered in the program.
You have to use G49 to turn it off.
3. When use G43 without indicating 'P" number or with P0, the CNC controller will
use P1, the first tool offset compensation data.

4.2 Tool Offset Data Input and Revision

The tool offset data stored in MCM parameter #1341~#1620 can be revised by one the
following methods:

1. Direct input/edit in MCM mode.
2. Using G10 method as described in Chap 3.

* Use MCM for Parameter Editing:

* Enter the compensation value by using G10:

The G10 command allows the user to enter the length compensation value into the
MCM parameters.

G10 X____ Y____ Z____ A____ B____ C____ R____ P____

P__ : 1~20, represents the group number of the parameters
1341~1620.
X/Y/Z/A/B/C : set the compensation data into each axis of the corresponding
group number of the parameters 1341~1620.

Note: The controller in HUST H9C does not support the U/V/W increment
compensation feature.

5 Keyboard and LCD Display
5 - 1
5 KEYBOARD AND LCD DISPLAY

Fig 5.1 HUST H9C Keyboard and LCD Display

HUST H9C keyboard is shown in Fig 5.1 and can be roughly divided into three areas.
They are to be discussed in the following sections.

Area 1: LCD display for coordinate, program, edit, operation status, etc.
Area 2: Function mode for numerical and command key area.
Area 3: Special function key area.

HUST H9C controller is equipped with LCD screen for display. If necessary, customers
can design their own screen display. This can be accomplished by using DIY screen
editing software developed by HUST (See Appendix B), DNC10 HCON software (See
Chap 9) and processed through PLC program. (See H9C Connection Manual)

In addition to the standard function, the keyboard can be customized and processed
through PLC program to suit customers special requirement.

Please refer to Chap 6 for program editing and refer to Chap 8 for program execution,
manual operation and manual data input.

5 - 2
5.1 Keyboard Description

There are two letters on a key, press the key once to access the word on the top left
corner of the key. Press the same key twice within 0.5 seconds to access the word on
the lower right corner or the function below the key. The red light above the key will
blink if the function beneath the key is accessed. Followings are description for
keyboard keys.

AUTO mode for program execution.
MDI Mode for manual data input operation. (Press key twice in 0.5 sec)
Put the machine in manual JOG mode. (Press key twice in 0.5 sec)
Return the machine tool to HOME position.
Download or upload program (or data) between PC and the controller.
Edit program in TEACH mode. (Press key twice in 0.5 sec)
Edit mode for program editing.
Select a program for editing or execution. (Press key twice in 0.5 sec)
This PMI key is for I/O test display.
Press this key twice in 0.5 sec to display MCM parameters.
Reset the CNC controller to power-on conditions.
These keys are for function code (letter) input.
This set of the key is used for data input.
F
U
A
W
C
V
B
R
D
I
O
K
Q
M
/
J
P
T
L
S
E
X Z
G
Y

H
#
0 9
CYCST
RESET
I/O
MCM
JOG
HOME
AUTO
MDI
EDIT
PRNO
TAPE
TEACJ
Press this button to start executing the program.
5 - 3

Press cursor up key to move backward.
Press cursor down key to move forward.
Press cursor to the right.
Press cursor to the left.
Delete single block input during program edit.
Move cursor one line (or one page) up.
Move cursor one line (or one page) down.
Enter data during programming or MCM data editing.
Insert a program block during programming.
Delete data input during program edit.(letter)
Special assigned keys.
CURSOR
PAGE
DEL
CLEAR
ENTER
NEW
LINE
F3 F2 F1
F4 F5 F6 F7 F8
5 - 4
5.2 Description of LCD Display

HUST H9C controller provides eleven (11) different display modes that are performed
by 7 major keys, including the power-on display. Only one mode can be displayed at a
time.

5.2.1 Power-on Display

When you turn on the power or press the key, the controller will display HUST
H9C model as shown in Fig 5.2. This controller has an internal PLC. In addition the
controller will reset the MCM parameters and some G-codes to their default values.

Fig 5.2

RESET
5 - 5
5.2.2 Coordinate Display

Program Coordinate Display

Press key once to get in AUTO mode and the LCD displays the current program
coordinates as shown in Fig 5.3. When in AUTO mode, you can execute the program by
pressing key. (See Sec 8.3)

Fig 5.3

HOME Mode (Machine Coordinate Display)

Press key twice in 0.5 seconds to display the current machine coordinates of the
tool as shown in Fig 5.4. When in HOME mode, press to execute HOME
process for machine tool. (See Sec 8.1.1)

Fig 5.4

AUTO
MDI
CYCST
JOG
HOME
CYCST
X-axis Coordinate
Y-axis Coordinate
Z-axis Coordinate
A-axis Coordinate
B-axis Coordinate
C-axis Coordinate
MPG feed-rate
G00 speed ratio
G01 speed ratio
Spindle ration
Execute M-CODE
Execute T-CODE
Execute S-CODE
5 - 6
5.2.3 EDIT Mode

Press key once to get program EDIT mode with LCD display as in Fig 5.5.
Program editing is detailed in Chapter 6. When in EDIT mode, use CURSOR ,
CURSOR key to view the next data in the same block and use PAGE, PAGE to
view program block one above (or below).

Fig 5.5

5.2.4 Program Number (PRNO) Display Mode

Press key twice in 0.5 seconds to display the current program number (PRNO)
as shown in Fig 5.6. Use CURSOR, CURSOR key to see other programs in the
memory. To select the desired program for execution or editing, press the G key twice
in 0.5 seconds to get P then followed by program number and press key. (See
Sec. 6.1)

Fig 5.6

EDIT
TEAC
EDIT
PRNO
INPUT
5 - 7
5.2.5 JOG Mode

Press key twice in 0.5 seconds to get into JOG mode and the LCD displays as
shown in Fig 5.7 (See Sec 8.1.2)

Fig 5-7A

Fig 5-7B

JOG
HOME
Next Page
Previous Page
When in JOG mode, use the soft-key to select the axis.
Then press PAGE key to execute JOG operation, press
PAGE will move the tool in other direction.
5 - 8
5.2.6 TEACH Mode

Press key twice in 0.5 seconds to get program TEACH mode and the LCD
displays as in Fig 5.8 (See Sec 6.4)

Fig 5.8

When in TEACH mode, use the soft-key to select the
axis. The direction is driven by MPG.

TAPE
TEACH
5 - 9
5.2.7 I/O Test and Key Mode

Press key once to get I/O test and key mode as shown in Fig 5.9

Fig 5.9

I/O test and Key mode are only used by HUST CNC. These two functions are
designated for the H9C production test. It is a standard frame to check the input &
output signals with MDI mode and G10 command.

5.2.8 MCM Parameter Mode

Press key twice in 0.5 seconds to get MCM mode. The LCD screen display is as
shown in Fig 5.10

Fig 5.10

I/O
MCM
I/O
MCM
5 - 10
When in MCM mode, use CURSOR, CURSOR key to move the cursor to the desired
parameter. To revise the value, simply key in the new data at the desired location and
press INPUT key. Use PAGE, PAGE to move 5 parameters at a time. More on MCM
parameters in Chap 7.

5.2.9 Trace display

In the AUTO mode, press the key once to enter the Trace mode and the following
data will be displayed:

Fig 5-11

The + sign at the center of the screen represents the position of origin which can be
moved by using the cursor keys or the English character keys prompted on the upper
right corner.

The 256 at the lower right corner of the screen represents the scale of the horizontal
axis of the trace drawing which can be changed by using the Page Up/Down keys.

To clear the screen, press the Clear key.
S
E
5 - 11
*Servo response trace

In the AUTO mode, press the key once to enter the Trace mode and the following
data will be displayed:

[Servo Response]: Monitor the acceleration/deceleration response waveform for the
axis commands.

Fig 5-12

Operation:

1. In the Trace mode, press the Servo Response key to enter the servo response trace
screen as follows:
2. According to the setting of the Parameter 502 Accel./Decel. Type, the
corresponding waveform is displayed.
3. Setting value = 0 [Exponential], = 1 [Linear], = 2 [S] curve.

Use the cursor keys to adjust the Voltage scale to be displayed.
Use the cursor keys to adjust the Axis to be displayed.
Use the cursor keys to adjust the time interval to be displayed.
R
D
5 - 12

6 Program Editing
6 - 1
6 PROGRAM EDITING

The following topics will be discussed in this chapter.

1. Select a program for editing.
2. Edit a new program.
3. Revise an existing program.
4. Edit a program in TEACH mode.

6.1 Program Selection

HUST H9C controller can store a maximum of 999 programs with number O0~O999.
You can select any one of the programs for editing or execution. The program selection
process is described as follow.

Press key twice in 0.5 seconds to enter PRNO mode, move the cursor to the
desired program and press the key. The LCD display is shown as fig.6-1.

Fig 6-1

Under PRNO mode, the program note can be entered up to 12 different letters and
numbers.
Example: If you put the note TYPE-201 after 001, the instruction is as follows.

1. Move the cursor to 0001
2. Enter the letters and numbers as
3. Press

T Y P E 2 0 1
0000G
0001G EMPTY
0002G EMPTY
0003G EMPTY
0004G EMPTY
0005G EMPTY
0006G EMPTY
0007G EMPTY
0008G EMPTY
0009G EMPTY
EDIT
PRNO
ENTER
ENTER
6 - 2
6.2 New Program Editing

When a new program has been selected, press key to be in editing mode. The
LCD screen will be blank with cursor pointing at the first line to be entered as in Fig 6.2

Fig 6.2

During program editing, the following keys will be used.

1. All the function keys and numeric keys on the keypad as shown in Fig 5.1.
2. -- CURSOR keys for data inspection in the same block.
3. -- PAGE keys for data inspection between lines.

4. -- Establishing or inserting a new block anywhere in the program.
Key in a function code (G01 or X10), then press the key to establish a new line.

5. -- For entering a data or a function in the established block.
Key in a function code (Y10.0 or F100, etc.), then use the key to enter more data
into the established line.
6. -- For deleting a block (line) of program.

Auto-generation of Block Number (Auto-N)

You can edit a program with or without block number. If you do not intend to use block
number, please set the MCM #515 = 0 (See Chap 7). Otherwise, every time you press

key, the block number will be automatically generated according to the values of
MCM #514 and #515. Following is an example program to explain the keystrokes
required to edit a new program in the controller.
EDIT
PRNO
NEW
LINE
ENTER
DEL
NEW
LINE
6 Program Editing
6 - 3

Ex: Program O001
N10 G0 X0. Y0.
N20 G4 X1.
N30 G0 U480. V-80.
N40 G4 X1.
N50 M99

Assume that program 1 is selected according to the steps in Sec. 6.1. MCM #514=10
and MCM #515=10. (See Chap 7) Make sure the controller is in EDIT mode.

Keystrokes: (Ignore the sign "-" below. It's there for clarity)

1. Confirm that controller is in the status of program edition, and press once.
2. N10 G0 X0. Y0.

(A)

Use key here to establish a block. N10 is generated automatically because
MCM #514=10. After this step, the LCD screen is shown as Fig 6.3

Fig 6.3

(B)

Key-strokes for the remaining blocks are as follows.

1. N20 G4 X1.

(A)

(B)
G 0
NEW
LINE
X 0

ENTER

Y O

ENTER
G 4
NEW
LINE

X 1

ENTER
N1 G0
EDIT
PRNO
NEW
LINE
6 - 4
2. N30 G0 U480. V-480.

(A)

(B)

(The negative sign here can be input anywhere before pressing key)

3. N40 G4 X1.

(A)

(B)

4. N50 M99

(A) M99 -

During program editing, you can use CURSOR keys to check the input
data within the block.

Use PAGE keys to move up and down the block (line). When you finish
editing the entire program, press key to exit.

6.3 Program Revision

Let's use Program O001 of previous section as our example for program revision.

Revise or Add a Function

To revise or add a function, simply key in the function code and the correct number,
then press key.

Ex: Revise N3 U480. V-480.
To N3 U480. V-480. F300

1. Make sure the system in EDIT mode.
2. Use PAGE keys to move cursor to N3 block.
3. Add a function of F300. by entering data below and LCD will display as in Fig 6.4

G 0
NEW
LINE

U 4 8

0
ENTER

V 4

8 0
ENTER
G 4
NEW
LINE

X 1

ENTER
F 3 0

0

ENTER
ENTER
RESET
NEW
LINE
ENTER
6 Program Editing
6 - 5

Fig 6.4

4. Revise U480. to U360. by keying in

Modify the wrong command, just to re-enter on the command, then press .

Delete a Function

To delete a function, simply key in the function to be deleted without number, then press
key.

Ex: Revise N30 U480. V-480. F300
To N30 U480. V-480.

3. Key without numbers and press key, LCD displays as Fig 6.5

U 3 6

0

ENTER
N1 X0.Y0.Z0.
N2 X20.
N3 U480.V-480.F500
N4 Z15.
N5 M02
F

ENTER
ENTER
6 - 6

Fig 6.5

Insert a Program Block

To insert a program block, key in the block number (or any function) and use
key to establish the block.
Then use key to input the rest of data for the block.

Ex: Insert N31 U20. V-20.
Between N30 G0 U480.V-480. and N40 G4 X1.

3.

N 3 1

NEW
LINE

U 2 0

ENTER

V 2

0

ENTER
N1 X0.Y0.Z0.
N2 X20.
N3 U480.V-480.
N4 Z15.
N5 M02
ENTER
NEW
LINE
ENTER
6 Program Editing
6 - 7
The LCD display is shown as 6-6

Fig 6.6

Delete a Program Block

To delete a block, use PAGE keys to move cursor to the block that you
want to delete and press DEL key. For example: Delete N30 U480 V-480. F300 from
last example.

3. Press key and the LCD display is as shown in Fig 6.7 (Block N4)

Fig 6.7
N1 X0.Y0.Z0.
N2 X20.
N3 U480.V-480.
N31 U20. V-20.
N4 Z15.
N5 M02
N1 X0.Y0.Z0.
N2 X20.
N4 Z15.
N5 M02
DEL
6 - 8
Delete a Program

Move the cursor to the program that you want to delete it in PRNO mode and press
The LCD display is shown as fig.6-8

Fig 6.8

In the meantime, press and clear the content of the 002 program. The key
remains the same.
If you want to delete all programs- 0~999, follow the procedures below:
Enter MDI mode, and give G10 P2001 command.
Then all the content of the program are cleared immediately.

Note: After completing the procedure, all the program data in memory will be vanished.
Therefore, do not use this program if it is not necessary.

6.4 Program Edit by TEACH mode

Occasionally during program editing, it's difficult to obtain the X or Y coordinate. One
easy way to solve this problem is to use the TEACH function in HUST H9C controller.
When the system is in TEACH mode, you can use MPG hand-wheel to move the tool to
the desired location.

Then press key to transfer the coordinates to the program. TEACH function is
similar with EDIT except that you use MPG hand-wheel to find the coordinates in
TEACH mode. Therefore, all the keys used in EDIT mode as discussed in last section
are also used for editing program in TEACH mode.

When use TEACH function for a large and long work-piece, it's more convenient to
make a hand-carry type TEACH box that contains a MPG hand-wheel, , ,
and keys.

(Please refer to Chapter 6 of HUST H9C Connecting Manual)

Note that every time the key is pressed, the current tool coordinate will be
transferred into the program when in TEACH mode. If TEACH function will be
0000G
0001G EMPTY
0002G EMPTY
0003G EMPTY
0004G EMPTY
0005G EMPTY
0006G EMPTY
0007G EMPTY
0008G EMPTY
0009G EMPTY
DEL
Y
H
ENTER
ENTER
ENTER
DEL
NEW
LINE
6 Program Editing
6 - 9
required for part of your program, its advisable to do your entire program in TEACH
mode to avoid confusions or mistakes. Followings are steps to edit (or revise) a program
in TEACH mode.

1. Press key twice in 0.5 seconds to get in TEACH mode.

2. Enter relevant commands in both and keys.

3. Use MPG hand wheel to move to the desired location and press key.
Use CURSOR keys to select X-axis for input. Use MPG hand-wheel
to move tool to the desired X-axis location. Then press INPUT key. Repeat this step
for Y-axis if desired. Use PAGE to display the current tool coordinate on LCD
screen.
4. Repeat Steps 2~3 to complete the whole program. Finish the program with M02,
M30 or M99 function.

EX: G01 X100.000 ( 100.000 use MPG hand-wheel input coordinate )
M02

1. Enter Teach mode

2. Enter

3. Move the tool to the location 100.000 coordinate by using MPG hand-wheel and
press the key.

4. Enter

6.5 Rules for Numerical Input

Numerical input has two formats such as integer and decimal with a maximum of 7
digits. If you input the numbers in accordance with the format required by the controller,
the number will be entered correctly. You cannot enter a decimal point for a number that
requires an integer format. So, the only occasion that may cause error input is the one
that you enter an integer for a decimal format. Described more in detail below.

The HUST H9C controller can be fitted in different needs. Within the decimal format of
PLC, the power on setting will always remain the same once you have set the format. If
you want to reset the format, you must change it in PLC (See HUST H9C connecting
manual).

The HUST H9C controller has 3/4 (with 4 decimal points), 4/3(with 3 decimal points),
5/2(with 2 decimal points) and 6/1(with one decimal point) formats. If you use 4/3
format, which means that you can only use 4 integer digits and 3 decimal points at most.
If you use more than 4 integer digits, the format will temporarily change to 7/0. After
processing inward, it will be added 3 more decimal points.

G 0 1

NEW
LINE
M 0 2

NEW
LINE
ENTER
ENTER
NEW
LINE
TAPE
TEACJ
ENTER
6 - 10
The decimal input such as X, Y, I, J is left blank, the content of the controller will
automatically move back to the decimal points of last format with dot at front. The table
below shows the decimal numbers recognized by the controller after internal process for
some integer inputs.

Input 3/4 Format 4/3 Format 5/2 Format 6/1 Format
X2 X0.0002 mm X0.002 mm X0.02 mm X0.2 mm
Y250 Y0.0250 mm Y0.250 mm Y2.50 mm Y25.0 mm
Z35 Z0.0035mm Z0.035mm Z0.35mm Z3.5mm
U2500 U0.2500 mm U2.500 mm U25.00 mm U250.0 mm
V25. V25.0000 mm V25.000 mm V25.00 mm V25.0 mm
W125. V125.0000mm W125.000mm W125.00mm W125.0mm
F300 F300 mm/min F300 mm/min F300 mm/min F300 mm/min

The numerical formats for the function codes used in HUST H3X system are listed
below. To avoid any potential error, please use the specified format as follow when key
in data. The number "0" after decimal point can be omitted.

G, M, N, S-code, G65 Variable Integer input
X, Y, Z, A, B, C, U, V, W, I, J-code Decimal input
F-code Integer input

Note: TO avoid the confusion, apart from integer inputs such G, M, N, S, the rest of the
inputs should be entered by decimal points. The number "0" after decimal point can be
omitted.

6.6 Notes on Program Edit

Program Block Number

1. Block number N can be omitted, but its better to have it for the convenience of
program inspection later.

2. Block number N is recognized by the editing order not by the block sequence or its
value. The numbers by the letter N are merely symbols. For instance, inserting block
N35 in Block N30. It will become the following result.

Program 1

N10 G0 X0 Y0 first block
N20 G4 X1 . second block
N30 U480 V-480 . third block
N35 U20 V-20 . fourth block
N40 G4 X1 .. fifth block
N50 M99sixth block

If block N35 is changed to block N350, the arrangement of program execution remains
the same.

3. Block number is recognized by the number of characters, not by its value. Therefore,
N10, N010, N0010 are three different block number.
6 Program Editing
6 - 11

Program Block

1. Do not use two G-codes in the same block. If more than one G-code exists in a
block, only the last one is effective.

2. Do not repeat any position code in the same block. The position codes are X, Y, Z,
A, B, C, U, V, I W, J and R.

3. Do not exceed 128 bytes of data input for a single block. Otherwise, the CNC
controller will show an error message Err-18 at the bottom of the screen.
6 - 12

7 MCM Parameters
7 - 1
7 MCM (Machine Constant) PARAMETERS

7.1 MCM Parameter Setting

The MCM parameter allows the user to define certain machine constants that match to
the mechanical specifications of the equipment and the machining requirements. The
correct and proper setting of these constants is very important for smooth operation of
equipment. Once they have been set, press key to restart the system.

Read and Revise MCM Parameters

HUST H9C provides two ways for MCM parameter input or revision.

Direct Input from Keyboard

1. Press RESET. Press the key twice in 0.5 seconds to get in MCM mode. The
data of MCM parameter #1~#10 shows up on the LCD screen as shown in Fig 7.1.

2. Use PAGE keys to move MCM parameter 12 items at a time.

3. USE CURSOR or CURSOR key to move cursor to the desired parameter. Key in
the correct value, then press key to complete revision.

Fig 7.1

Revise on PC then download to the controller through USB or RS232C

The software DNC10.EXE is required for download/upload operation through
RS232C interface. The TAPE mode on controller provides download/upload
operation. Please see Chapter 9 for RS232C operation.

To Clear All Parameters to Factory Default Settings

1. Get into MDI mode by pressing key twice in 0.5 seconds.

2. Key in G10 P1000, then press key.
RESET
I/O
MCM
ENTER
AUTO
MDI
CYCST
7 - 2
HUST H9C MCM Parameter

MCM
No.
Factory
Default
Setting
Unit Description Setting
1 0 mm G54 X-axis 1
st
Work coordinate (origin)
2 0 mm G54 Y-axis 1
st
3 0 mm G54 Z-axis 1
st
4 0 mm G54 A-axis 1
st
5 0 mm G54 B-axis 1
st
6 0 mm G54 C-axis 1
st
7 0 mm G54 U-axis 1
st
8 0 mm G54 V-axis 1
st
9 0 mm G54 W-axis 1
st
10-20 System ReservedI
21 0 mm G55 X-axis 2
nd
22 0 mm G55 Y-axis 2
nd
23 0 mm G55 Z-axis 2
nd
24 0 mm G55 A-axis 2
nd
25 0 mm G55 B-axis 2
nd
26 0 mm G55 C-axis 2
nd
27 0 mm G55 U-axis 2
nd
28 0 mm G55 V-axis 2
nd
29 0 mm G55 W-axis 2
nd
rd
rd
rd
rd
rd
rd
rd
rd
rd
th
th
th
th
th
th
th
th
th
th
th
th
th
th
th
th
th
th
7 MCM Parameters
7 - 3
MCM
No.
Factory
Default
Setting
101 0 mm G59 X-axis 6
th
102 0 mm G59 Y-axis 6
th
103 0 mm G59 Z-axis 6
th
104 0 mm G59 A-axis 6
th
105 0 mm G59 B-axis 6
th
106 0 mm G59 C-axis 6
th
107 0 mm G59 U-axis 6
th
108 0 mm G59 V-axis 6
th
109 0 mm G59 W-axis 6
th
121 0 mm X-axis, G28 reference point coordinate
122 0 mm Y-axis, G28 reference point coordinate
123 0 mm Z-axis, G28 reference point coordinate
124 0 mm A-axis, G28 reference point coordinate
125 0 mm B-axis, G28 reference point coordinate
126 0 mm C-axis, G28 reference point coordinate
127 0 mm U-axis, G28 reference point coordinate
128 0 mm V-axis, G28 reference point coordinate
129 0 mm W-axis, G28 reference point coordinate
141 0 mm X-axis, G30 reference point coordinate
142 0 mm Y-axis, G30 reference point coordinate
143 0 mm Z-axis, G30 reference point coordinate
144 0 mm A-axis, G30 reference point coordinate
145 0 mm B-axis, G30 reference point coordinate
146 0 mm C-axis, G30 reference point coordinate
147 0 mm U-axis, G30 reference point coordinate
148 0 mm V-axis, G30 reference point coordinate
149 0 mm W-axis, G30 reference point coordinate
161 0 mm X-axis, Backlash compensation (G01), 0~9.999
162 0 mm Y-axis, Backlash compensation (G01), 0~9.999
163 0 mm Z-axis, Backlash compensation (G01), 0~9.999
164 0 mm A-axis, Backlash compensation (G01), 0~9.999
165 0 mm B-axis, Backlash compensation (G01), 0~9.999
166 0 mm C-axis, Backlash compensation (G01), 0~9.999
167 0 mm U-axis, Backlash compensation (G01), 0~9.999
168 0 mm V-axis, Backlash compensation (G01), 0~9.999
169 0 mm W-axis, Backlash compensation (G01), 0~9.999
181 0 mm X-axis, Backlash compensation (G00), 0~9.999
182 0 mm Y-axis, Backlash compensation (G00), 0~9.999
183 0 mm Z-axis, Backlash compensation (G00), 0~9.999
184 0 mm A-axis, Backlash compensation (G00), 0~9.999
185 0 mm B-axis, Backlash compensation (G00), 0~9.999
186 0 mm C-axis, Backlash compensation (G00), 0~9.999
187 0 mm U-axis, Backlash compensation (G00), 0~9.999
188 0 mm V-axis, Backlash compensation (G00), 0~9.999
189 0 mm W-axis, Backlash compensation (G00), 0~9.999
201 1000 mm/min X-axis, JOG Feed-rate
202 1000 mm/min Y-axis, JOG Feed-rate
7 - 4
MCM
No.
Factory
Default
Setting
203 1000 mm/min Z-axis, JOG Feed-rate
204 1000 mm/min A-axis, JOG Feed-rate
205 1000 mm/min B-axis, JOG Feed-rate
206 1000 mm/min C-axis, JOG Feed-rate
207 1000 mm/min U-axis, JOG Feed-rate
208 1000 mm/min V-axis, JOG Feed-rate
209 1000 mm/min W-axis, JOG Feed-rate
221 10000 mm/min X-axis, G00 Traverse speed limit
222 10000 mm/min Y-axis, G00 Traverse speed limit
223 10000 mm/min Z-axis, G00 Traverse speed limit
224 10000 mm/min A-axis, G00 Traverse speed limit
225 10000 mm/min B-axis, G00 Traverse speed limit
226 10000 mm/min C-axis, G00 Traverse speed limit
227 10000 mm/min U-axis, G00 Traverse speed limit
228 10000 mm/min V-axis, G00 Traverse speed limit
229 10000 mm/min W-axis, G00 Traverse speed limit
241 100 pulse X-axis,Denominator,resolution calc.(Encoder pulse)
242 100 m X-axis,Numerator,resolution calculation.(Ball-screwpitch)
243 100 pulse Y-axis,Denominator,resolutioncalc.(Encoder pulse)
244 100 m Y-axis,Numerator,resolutioncalc.(Ball-screwpitch)
245 100 pulse Z-axis,Denominator,resolutioncalc.(Encoder pulse)
246 100 m Z-axis,Numerator,resolutioncalc.(Ball-screwpitch)
247 100 pulse A-axis,Denominator,resolutioncalc.(Encoder pulse)
248 100 m A-axis,Numerator,resolutioncalc.(Ball-screwpitch)
249 100 pulse B-axis,Denominator,resolutioncalc.(Encoder pulse)
250 100 m B-axis,Numerator,resolutioncalc.(Ball-screwpitch)
251 100 pulse C-axis,Denominator,resolutioncalc.(Encoder pulse)
252 100 m C-axis,Numerator,resolutioncalc.(Ball-screwpitch)
253 100 pulse U-axis,Denominator,resolutioncalc.(Encoder pulse)
254 100 m U-axis,Numerator,resolutioncalc.(Ball-screwpitch)
255 100 pulse V-axis,Denominator,resolutioncalc.(Encoder pulse)
256 100 m V-axis,Numerator,resolutioncalc.(Ball-screwpitch)
257 100 pulse W-axis,Denominator,resolutioncalc.(Encoder pulse)
258 100 m W-axis,Numerator,resolutioncalc.(Ball-screwpitch)
281 0 X-axis, HOME direction, 0=+ dir.1=-dir
282 0 Y-axis, HOME direction, 0=+ dir.1=-dir
283 0 Z-axis, HOME direction, 0=+ dir.1=-dir
284 0 A-axis, HOME direction, 0=+ dir.1=-dir
285 0 B-axis, HOME direction, 0=+ dir.1=-dir
286 0 C-axis, HOME direction, 0=+ dir.1=-dir
287 0 U-axis, HOME direction, 0=+ dir.1=-dir
288 0 V-axis, HOME direction, 0=+ dir.1=-dir
289 0 W-axis, HOME direction, 0=+ dir.1=-dir
301 2500 mm/min X-axis, HOME speed 1
302 2500 mm/min Y-axis, HOME speed 1
303 2500 mm/min Z-axis, HOME speed 1
304 2500 mm/min A-axis, HOME speed 1
305 2500 mm/min B-axis, HOME speed 1
7 MCM Parameters
7 - 5
MCM
No.
Factory
Default
Setting
306 2500 mm/min C-axis, HOME speed 1
207 2500 mm/min U-axis, HOME speed 1
308 2500 mm/min V-axis, HOME speed 1
309 2500 mm/min W-axis, HOME speed 1
321 40 mm/min X-axis, Home grid speed during HOME execution
322 40 mm/min Y-axis, Home grid speed during HOME execution
323 40 mm/min Z-axis, Home grid speed during HOME execution
324 40 mm/min A-axis, Home grid speed during HOME execution
325 40 mm/min B-axis, Home grid speed during HOME execution
326 40 mm/min C-axis, Home grid speed during HOME execution
327 40 mm/min U-axis, Home grid speed during HOME execution
328 40 mm/min V-axis, Home grid speed during HOME execution
329 40 mm/min W-axis, Home grid speed during HOME execution
341 0 0/1 X-axis,Home grid direction during HOME execution
342 0 0/1 Y-axis,Home grid direction during HOME execution
343 0 0/1 Z-axis,Home grid direction during HOME execution
344 0 0/1 A-axis,Home grid direction during HOME execution
345 0 0/1 B-axis,Home grid direction during HOME execution
346 0 0/1 C-axis,Home grid direction during HOME execution
347 0 0/1 U-axis,Home grid direction during HOME execution
348 0 0/1 V-axis,Home grid direction during HOME execution
349 0 0/1 W-axis,Home grid direction during HOME execution
361 0 mm X axis Home grid setting
362 0 mm Y-axis Home grid setting
363 0 mm Z-axis Home grid setting
364 0 mm A-axis Home grid setting
365 0 mm B-axis Home grid setting
366 0 mm C-axis Home grid setting
367 0 mm U-axis Home grid setting
368 0 mm V-axis Home grid setting
369 0 mm W-axis Home grid setting
381 0 mm X-axis, HOME shift data
382 0 mm Y-axis, HOME shift data
383 0 mm Z-axis, HOME shift data
384 0 mm A-axis, HOME shift data
385 0 mm B-axis, HOME shift data
386 0 mm C-axis, HOME shift data
387 0 mm U-axis, HOME shift data
388 0 mm V-axis, HOME shift data
389 0 mm W-axis, HOME shift data
401 1000.000 mm X-axis,Setting the value of search servo grid
402 1000.000 mm Y-axis,Setting the value of search servo grid
403 1000.000 mm Z-axis,Setting the value of search servo grid
404 1000.000 mm A-axis,Setting the value of search servo grid
405 1000.000 mm B-axis,Setting the value of search servo grid
406 1000.000 mm C-axis,Setting the value of search servo grid
407 1000.000 mm U-axis,Setting the value of search servo grid
7 - 6
MCM
No.
Factory
Default
Setting
408 1000.000 mm V-axis,Setting the value of search servo grid
409 1000.000 mm W-axis,Setting the value of search servo grid
421 0
X-axis Origin switch (+ :N.O (normallyopen) node; -:N.C
(normally closed) node)

422 0 Y-axis Origin switch (+ :N.O node; -:N.C node)
423 0 Z-axis Origin switch (+ :N.O node; - :N.C node)
424 0 A-axis Origin switch (+ :N.O node; - :N.C node)
425 0 B-axis Origin switch (+ :N.O node; - :N.C node)
426 0 C-axis Origin switch (+ :N.O node; - :N.C node)
427 0 U-axis Origin switch (+ :N.O node; - :N.C node)
428 0 V-axis Origin switch (+ :N.O node; - :N.C node)
429 0 W-axis Origin switch (+ :N.O node; - :N.C node)
441 0 X-axis, Direction of motor rotation, 0=CW, 1=CCW
442 0 Y-axis, Direction of motor rotation, 0=CW, 1=CCW
443 0 Z-axis, Direction of motor rotation, 0=CW, 1=CCW
444 0 A-axis, Direction of motor rotation, 0=CW, 1=CCW
445 0 B-axis, Direction of motor rotation, 0=CW, 1=CCW
446 0 C-axis, Direction of motor rotation, 0=CW, 1=CCW
447 0 U-axis, Direction of motor rotation, 0=CW, 1=CCW
448 0 V-axis, Direction of motor rotation, 0=CW, 1=CCW
449 0 W-axis, Direction of motor rotation, 0=CW, 1=CCW
461 4 X-axis,Encoder pulse multiplicationfactor,1,2,or 4
462 4 Y-axis,Encoder pulse multiplicationfactor,1,2,or 4
463 4 Z-axis,Encoder pulse multiplicationfactor,1,2,or 4
464 4 A-axis,Encoder pulse multiplicationfactor,1,2,or 4
465 4 B-axis,Encoder pulse multiplicationfactor,1,2,or 4
466 4 C-axis,Encoder pulse multiplicationfactor,1,2,or 4
467 4 U-axis,Encoder pulse multiplicationfactor,1,2,or 4
468 4 V-axis,Encoder pulse multiplicationfactor,1,2,or 4
469 4 W-axis,Encoder pulse multiplicationfactor,1,2,or 4
481 6 X-axis impulse command width adjustment (4=625KPPS)
482 6 Y-axis impulse command width adjustment (4=625KPPS)
483 6 Z-axis impulse command width adjustment (4=625KPPS)
484 6 A-axis impulse command width adjustment (4=625KPPS)
485 6 B-axis impulse command width adjustment (4=625KPPS)
486 6 C-axis impulse command width adjustment (4=625KPPS)
487 6 U-axis impulse command width adjustment (4=625KPPS)
488 6 V-axis impulse command width adjustment (4=625KPPS)
489 6 W-axis impulse command width adjustment (4=625KPPS)
501 0
Master/Slave mode, 0=CNC, 1=X-axis, 2=Y-axis
3=Z-axis,4=A-axis,5=B-axis,6=C-axis,7=U-axis,
8=V-axis, 9=w-axis, 256= non-stop mode in a single block

502 0 Accel/Decel mode,0=exponential,1=linear,2=S curve
Home command mode setting.
BIT0 = 0 , X axis find Home grid available,
= 1 , no need to find.

503 0
BIT1 = 0 , Y axis find Home grid available,

7 MCM Parameters
7 - 7
MCM
No.
Factory
Default
Setting
BIT2 = 0 , Z axis find Home grid available,

BIT3 = 0 , A axis find Home grid available,

BIT4 = 0 , B axis find Home grid available,

BIT5 = 0 , C axis find Home grid available,

BIT6 = 0 , U axis find Home grid available,

BIT7 = 0 , V axis find Home grid available,

BIT8 = 0 , W axis find Home grid available,

504 100 msec G00 Linear accel./decel. Time, 4~512 ms
505 100 msec G01 Linear accel./decel. Time, 10~1024 ms
506 100 msec Accel/Decel time when in G99 mode (mm/rev)
507 100 msec Time Setting for spindle acceleration
508 0 System ReservedI
509 4096 pulse Spindle encoder resolution (pulse/rev)
510 3000 rpm Max. spindle rpm at 10 volts
511 0 v
Spindle voltage command zero drift correction (open
circuit)

512 0
Spindle voltage command acce/dece slope correction (open
circuit)

513 0 rpm
Spindle RPM correction (based on feedback from the
encoder)

514 0 Start number for program block number generation
515 0 Increment for program block number generation
516 100 Denominator of feed-rate when in MPG test mode
517 100 Numerator of feed-rate when in MPG test mode
518 0 MPG direction
519 64 ms Set Acceleration/Deceleration Time for MPG (4~512)
520 38400 RS232 Baud rate, 38400, 19200 / EVEN /2 Bit
521 0
Setting whether R000~R99 data in PLC are stored when
power is cut off. 0=NO, 256=YES

522 0 pulse Servo Error Counter
523 0 Radius/Diameter Programming mode
524 0 0=Metric mode, 25400=inch mode mcm541=0,1
525 3 Error in Circular Cutting, ideal value=1
526 0
Pulse settings
0: pulse + direction 1: +/- pulse 2: A/B phase

527 0 Setting G01 speed value at booting
528 0 Setting tool compensation direction =1 FAUNC, =0 HUST
529 0 G01 Linear accel./decel. Time, for S curve
530 0 G31 input motion stop at hardware
531 0
Format setting
=0 standard, =1 variable automatically added with a
decimal point, =2 line editing, =4 automatically added with
a decimal point in programming

532 2.000 mm Mill modeF Setting the backlash of G83
533 4096 pulse Setting the following error count for testing
7 - 8
MCM
No.
Factory
Default
Setting
534
Testing the function of axial setting of the servo following
error] bit0-X..^

535 Controller ID number
536
Minimum slope setting of the Auto Teach function (with
use of C040)

537
First distance setting of the Auto Teach function ( with use
of C040)

538 0 G41 and G42 processing types
539 System reserved
540 0 Adjustment of the axis feedback direction.
541 0 Arc type
561 0 "S" curve accel./decel. profile setting for the X-axis
562 0 "S" curve accel./decel. profile setting for the Y-axis
563 0 "S" curve accel./decel. profile setting for the Z-axis
564 0 "S" curve accel./decel. profile setting for the A-axis
565 0 "S" curve accel./decel. profile setting for the B-axis
566 0 "S" curve accel./decel. profile setting for the C-axis
567 0 "S" curve accel./decel. profile setting for the U-axis
568 0 "S" curve accel./decel. profile setting for the V-axis
569 0 "S" curve accel./decel. profile setting for the W-axis
570~580 System ReservedI
581 9999999 mm X-axis, Software OT limit, (+) direction (Group 1)
582 9999999 mm Y-axis, Software OT limit, (+) direction (Group 1)
583 9999999 mm Z-axis, Software OT limit, (+) direction (Group 1)
584 9999999 mm A-axis, Software OT limit, (+) direction (Group 1)
585 9999999 mm B-axis, Software OT limit, (+) direction (Group 1)
586 9999999 mm C-axis, Software OT limit, (+) direction (Group 1)
587 9999999 mm U-axis, Software OT limit, (+) direction (Group 1)
588 9999999 mm V-axis, Software OT limit, (+) direction (Group 1)
589 9999999 mm W-axis, Software OT limit, (+) direction (Group 1)
601 -9999999 mm X-axis, Software OT limit, (-) direction (Group 1)
602 -9999999 mm Y-axis, Software OT limit, (-) direction (Group 1)
603 -9999999 mm Z-axis, Software OT limit, (-) direction (Group 1)
604 -9999999 mm A-axis, Software OT limit, (-) direction (Group 1)
605 -9999999 mm B-axis, Software OT limit, (-) direction (Group 1)
606 -9999999 mm C-axis, Software OT limit, (-) direction (Group 1)
607 -9999999 mm U-axis, Software OT limit, (-) direction (Group 1)
608 -9999999 mm V-axis, Software OT limit, (-) direction (Group 1)
609 -9999999 mm W-axis, Software OT limit, (-) direction (Group 1)
621 9999999 mm X-axis, Software OT limit, (+) direction (Group 2)
622 9999999 mm Y-axis, Software OT limit, (+) direction (Group 2)
623 9999999 mm Z-axis, Software OT limit, (+) direction (Group 2)
624 9999999 mm A-axis, Software OT limit, (+) direction (Group 2)
625 9999999 mm B-axis, Software OT limit, (+) direction (Group 2)
626 9999999 mm C-axis, Software OT limit, (+) direction (Group 2)
627 9999999 mm U-axis, Software OT limit, (+) direction (Group 2)
628 9999999 mm V-axis, Software OT limit, (+) direction (Group 2)
629 9999999 mm W-axis, Software OT limit, (+) direction (Group 2)
7 MCM Parameters
7 - 9
MCM
No.
Factory
Default
Setting
641 -9999999 mm X-axis, Software OT limit, (-) direction (Group 2)
642 -9999999 mm Y-axis, Software OT limit, (-) direction (Group 2)
643 -9999999 mm Z-axis, Software OT limit, (-) direction (Group 2)
644 -9999999 mm A-axis, Software OT limit, (-) direction (Group 2)
645 -9999999 mm B-axis, Software OT limit, (-) direction (Group 2)
646 -9999999 mm C-axis, Software OT limit, (-) direction (Group 2)
647 -9999999 mm U-axis, Software OT limit, (-) direction (Group 2)
648 -9999999 mm V-axis, Software OT limit, (-) direction (Group 2)
649 -9999999 mm W-axis, Software OT limit, (-) direction (Group 2)
661 0 X-axis, Cycle clearing w/ M02, M30, M99
662 0 Y-axis, Cycle clearing w/ M02, M30, M99
663 0 Z-axis, Cycle clearing w/ M02, M30, M99
664 0 A-axis, Cycle clearing w/ M02, M30, M99
665 0 B-axis, Cycle clearing w/ M02, M30, M99
666 0 C-axis, Cycle clearing w/ M02, M30, M99
667 0 U-axis, Cycle clearing w/ M02, M30, M99
668 0 V-axis, Cycle clearing w/ M02, M30, M99
669 0 W-axis, Cycle clearing w/ M02, M30, M99
670-680 0 System ReservedI
681 1 X-axis,0=incrementalcoord.,1=absolute coordinate
682 1 Y-axis,0=incrementalcoord.,1=absolute coordinate
683 1 Z-axis,0=incrementalcoord.,1=absolute coordinate
684 1 A-axis,0=incrementalcoord.,1=absolute coordinate
685 1 B-axis,0=incrementalcoord.,1=absolute coordinate
686 1 C-axis,0=incrementalcoord.,1=absolute coordinate
687 1 U-axis,0=incrementalcoord.,1=absolute coordinate
688 1 V-axis,0=incrementalcoord.,1=absolute coordinate
689 1 W-axis,0=incrementalcoord.,1=absolute coordinate
701 64 pulse X-axis, Position gain, standard=64
702 64 pulse Y-axis, Position gain, standard=64
703 64 pulse Z-axis, Position gain, standard=64
704 64 pulse A-axis, Position gain, standard=64
705 64 pulse B-axis, Position gain, standard=64
706 64 pulse C-axis, Position gain, standard=64
707 64 pulse U-axis, Position gain, standard=64
708 64 pulse V-axis, Position gain, standard=64
709 64 pulse W-axis, Position gain, standard=64
710-720 64 pulse System ReservedI
721 10 pulse X-axis,Break-over point for position gain, std=10
722 10 pulse Y-axis,Break-over point for position gain, std=10
723 10 pulse Z-axis,Break-over point for position gain, std=10
724 10 pulse A-axis,Break-over point for position gain, std=10
725 10 pulse B-axis,Break-over point for position gain, std=10
726 10 pulse C-axis,Break-over point for position gain, std=10
727 10 pulse U-axis,Break-over point for position gain, std=10
728 10 pulse V-axis,Break-over point for position gain, std=10
729 10 pulse W-axis,Break-over point for position gain, std=10
727-740 10 pulse System ReservedI
741 100 X-axis, Denominator, MPG resolution calc.
742 100 X-axis, Numerator, MPG resolution calc.
7 - 10
MCM
No.
Factory
Default
Setting
743 100 Y-axis, Denominator, MPG resolution calc.
744 100 Y-axis, Numerator, MPG resolution calc.
745 100 Z-axis, Denominator, MPG resolution calc.
746 100 Z-axis, Numerator, MPG resolution calc.
747 100 A-axis, Denominator, MPG resolution calc.
748 100 A-axis, Numerator, MPG resolution calc.
749 100 B-axis, Denominator, MPG resolution calc.
750 100 B-axis, Numerator, MPG resolution calc.
751 100 C-axis, Denominator, MPG resolution calc.
752 100 C-axis, Numerator, MPG resolution calc.
753 100 U-axis, Denominator, MPG resolution calc.
754 100 U-axis, Numerator, MPG resolution calc.
755 100 V-axis, Denominator, MPG resolution calc.
756 100 V-axis, Numerator, MPG resolution calc.
757 100 W-axis, Denominator, MPG resolution calc.
758 100 W-axis, Numerator, MPG resolution calc.
781 0 Set X-axis as Rotating (1) / Linear axis (0)
782 0 Set Y-axis as Rotating (1) / Linear axis (0)
783 0 Set Z-axis as Rotating (1) / Linear axis (0)
784 0 Set A-axis as Rotating (1) / Linear axis (0)
785 0 Set B-axis as Rotating (1) / Linear axis (0)
786 0 Set C-axis as Rotating (1) / Linear axis (0)
787 0 Set U-axis as Rotating (1) / Linear axis (0)
788 0 Set V-axis as Rotating (1) / Linear axis (0)
789 0 Set W-axis as Rotating (1) / Linear axis (0)
801 0D 000 mm
Distance of S bit sent before the X-axis reaches in position.
(S176)

802 0D 000 mm
Distance of S bit sent before the Y-axis reaches in position.
(S177)

803 0D 000 mm
Distance of S bit sent before the Z-axis reaches in position.
(S178)

804 0D 000 mm
Distance of S bit sent before the A-axis reaches in position.
(S179)

805 0D 000 mm
Distance of S bit sent before the B-axis reaches in position.
(S180)

806 0D 000 mm
Distance of S bit sent before the C-axis reaches in position.
(S181)

807 0D 000 mm
Distance of S bit sent before the U-axis reaches in position.
(S182)

808 0D 000 mm
Distance of S bit sent before the V-axis reaches in position.
(S183)

809 0D 000 mm
Distance of S bit sent before the W-axis reaches in position.
(S184)

821 0 msec Set Acceleration/Deceleration Time for X-axis
822 0 msec Set Acceleration/Deceleration Time for Y-axis
823 0 msec Set Acceleration/Deceleration Time for Z-axis
824 0 msec Set Acceleration/Deceleration Time for A-axis
825 0 msec Set Acceleration/Deceleration Time for B-axis
826 0 msec Set Acceleration/Deceleration Time for C-axis
827 0 msec Set Acceleration/Deceleration Time for U-axis
7 MCM Parameters
7 - 11
MCM
No.
Factory
Default
Setting
828 0 msec Set Acceleration/Deceleration Time for V-axis
829 0 msec Set Acceleration/Deceleration Time for W-axis
841 0 X-axis allowable compensation of back screw pitch
842 0 Y-axis allowable compensation of back screw pitch
843 0 Z-axis allowable compensation of back screw pitch
844 0 A-axis allowable compensation of back screw pitch
845 0 B-axis allowable compensation of back screw pitch
846 0 C-axis allowable compensation of back screw pitch
847 0 U-axis allowable compensation of back screw pitch
848 0 V-axis allowable compensation of back screw pitch
849 0 W-axis allowable compensation of back screw pitch
851 20000 mm X-axis length compensation of back screw pitch
852 20000 mm Y-axis length compensation of back screw pitch
853 20000 mm Z-axis length compensation of back screw pitch
854 20000 mm A-axis length compensation of back screw pitch
855 20000 mm B-axis length compensation of back screw pitch
856 20000 mm C-axis length compensation of back screw pitch
857~860 System ReservedI
861-940 0 X-axis,Pitch error compensation of each segment.
941-1020 0 Y-axis,Pitch error compensation of each segment.
1021-1100 0 Z-axis,Pitch error compensation of each segment.
1101-1180 0 A-axis,Pitch error compensation of each segment.
1181-1260 0 B-axis,Pitch error compensation of each segment.
1261-1340 0 C-axis,Pitch error compensation of each segment.
1341 0 mm Tool #1 radius compensation
1342 0 mm X-axis, Tool #1 offset compensation
1343 0 mm Y-axis, Tool #1 offset compensation
1344 0 mm Z-axis, Tool #1 offset compensation
1345 0 mm A-axis, Tool #1 offset compensation
1346 0 mm B-axis, Tool #1 offset compensation
1347 0 mm C-axis, Tool #1 offset compensation
7 - 12
MCM
No.
Factory
Default
Setting
7 MCM Parameters
7 - 13
MCM
No.
Factory
Default
Setting
1439 0 mm Tool # radius compensation
7 - 14
MCM
No.
Factory
Default
Setting
7 MCM Parameters
7 - 15
MCM
No.
Factory
Default
Setting
1536 0 mm C-axis, Tool #28offset compensation
1551 0 mm Tool 31# radius compensation
1565 0 mm Tool #33radius compensation
7 - 16
MCM
No.
Factory
Default
Setting
1621 0 mm Tool #1 radius wear compensation
1622 0 mm X-axis, Tool #1 wear compensation
1623 0 mm Y-axis, Tool #1 wear compensation
1624 0 mm Z-axis, Tool #1 wear compensation
1625 0 mm A-axis, Tool #1 wear compensation
1626 0 mm B-axis, Tool #1 wear compensation
1627 0 mm C-axis, Tool #1 wear compensation
7 MCM Parameters
7 - 17
MCM
No.
Factory
Default
Setting
7 - 18
MCM
No.
Factory
Default
Setting
1725 0 mm C-axis, Tool #15wear compensation
7 MCM Parameters
7 - 19
MCM
No.
Factory
Default
Setting
1753 0 mm C-axis, Tool #19wear compensation
7 - 20
MCM
No.
Factory
Default
Setting
7 MCM Parameters
7 - 21
MCM
No.
Factory
Default
Setting
7 - 22
MCM
No.
Factory
Default
Setting
1901 Tool-tip #1 radius compensation

PS: Press PAGE or PAGE once will change twelve items.

7 MCM Parameters
7 - 23
7.2 Description of MCM Machine Constants

The decimal format for MCM data in this section is based on 4/3 format.

MCM #1~#36 are for G54~G59 work coordinates data. The setting value is the distance
between the origin of each work coordinate system and the machine HOME position.
All input data have the same format and unit as shown below:

1. G54 (1
st
) Work Coordinate, X-axis.
2. G54 (1
st
) Work Coordinate, Y-axis.
3. G54 (1
st
) Work Coordinate, Z-axis.
4. G54 (1
st
) Work Coordinate, A-axis.
5. G54 (1
st
) Work Coordinate, B-axis.
6. G54 (1
st
) Work Coordinate, C-axis.
7. G54 (1
st
) Work Coordinate, U-axis.
8. G54 (1
st
) Work Coordinate, V-axis.
9. G54 (1
st
) Work Coordinate, W-axis.
FormatG . Unit: mm (Default=0.000)

MCM# 10~20 System ReservedI

21. G55 (2
nd
22. G55 (2
nd
23. G55 (2
nd
24. G55 (2
nd
25. G55 (2
nd
26. G55 (2
nd
27. G55 (2
nd
28. G55 (2
nd
29. G55 (2
nd


41. G56 (3
rd
42. G56 (3
rd
43. G56 (3
rd
44. G56 (3
rd
45. G56 (3
rd
46. G56 (3
rd
47. G56 (3
rd
48. G56 (3
rd
49. G56 (3
rd


MCM# 61~69 G57 (4
th
) Work Coordinate.
7 - 24

MCM# 81~89 G58 (5
th
) Work Coordinate.

MCM# 101~109 G59 (6
th
) Work Coordinate.

MCM Parameters 121~160 are used for setting the coordinates of the reference point.
Its value is the mechanical coordinates of the reference point relative to the mechanical
origin.

121. G28 1
st
Reference Point Data, X-axis.
122. G28 1
st
Reference Point Data, Y-axis.
123. G28 1
st
Reference Point Data, Z-axis.
124. G28 1
st
Reference Point Data, A-axis.
125. G28 1
st
Reference Point Data, B-axis.
126. G28 1
st
Reference Point Data, C-axis.
127. G28 1
st
Reference Point Data, U-axis.
128. G28 1
st
Reference Point Data, V-axis.
129. G28 1
st
Reference Point Data, W-axis.


141. G30 2
st
Reference Point Data, X-axis.
142. G30 2
st
Reference Point Data, Y-axis.
143. G30 2
st
Reference Point Data, Z-axis.
144. G30 2
st
Reference Point Data, A-axis.
145. G30 2
st
Reference Point Data, B-axis.
146. G30 2
st
Reference Point Data, C-axis.
147. G30 2
st
Reference Point Data, U-axis.
148. G30 2
st
Reference Point Data, V-axis.
149. G30 2
st
Reference Point Data, W-axis.


161. Backlash Compensation (G01), X-axis.
162. Backlash Compensation (G01), Y-axis.
163. Backlash Compensation (G01), Z-axis.
164. Backlash Compensation (G01), A-axis.
165. Backlash Compensation (G01), B-axis.
166. Backlash Compensation (G01), C-axis.
167. Backlash Compensation (G01), U-axis.
168. Backlash Compensation (G01), V-axis.
169. Backlash Compensation (G01), W-axis.
FormatG . Unit: pulse (Default=0) Range:0~9.9999

7 MCM Parameters
7 - 25

181. Backlash Compensation (G00), X-axis.
182. Backlash Compensation (G00), Y-axis.
183. Backlash Compensation (G00), Z-axis.
184. Backlash Compensation (G00), A-axis.
185. Backlash Compensation (G00), B-axis.
186. Backlash Compensation (G00), C-axis.
187. Backlash Compensation (G00), U-axis.
188. Backlash Compensation (G00), V-axis.
189. Backlash Compensation (G00), W-axis.
FormatG . Unit: pulse (Default=0) Range:0~9.9999


201. Jog Speed, X-axis.
202. Jog Speed, Y-axis.
203. Jog Speed, Z-axis.
204. Jog Speed, A-axis.
205. Jog Speed, B-axis.
206. Jog Speed, C-axis.
207. Jog Speed, U-axis.
208. Jog Speed, V-axis.
209. Jog Speed, W-axis.
FormatG . Unit: mm/min (Default=1000)


221. Traverse Speed Limit, X-axis.
222. Traverse Speed Limit, Y-axis.
223. Traverse Speed Limit, Z-axis.
224. Traverse Speed Limit, A-axis.
225. Traverse Speed Limit, B-axis.
226. Traverse Speed Limit, C-axis.
227. Traverse Speed Limit, U-axis.
228. Traverse Speed Limit, V-axis.
229. Traverse Speed Limit, W-axis.
FormatG Unit: mm/min (Default=10000)
Note : The format is only for integer.

The traverse speed limit can be calculated from the following equation:

Fmax = 0.95 * RPM * Pitch * GR

RPM : The ratio. rpm of servo motor
Pitch : The pitch of the ball-screw
GR : Gear ratio of ball-screw/motor

Ex: Max. rpm = 3000 rpm for X-axis, Pitch = 5 mm/rev, Gear Ratio = 5/1
Fmax = 0.95 * 3000 * 5 / 5 = 2850 mm/min
Therefore, it is recommended to set MCM #148=2850.
7 - 26


241. Denominator of Machine Resolution, X-axis.
242. Numerator of Machine Resolution, X-axis.
243. Denominator of Machine Resolution, Y-axis.
244. Numerator of Machine Resolution, Y-axis.
245. Denominator of Machine Resolution, Z-axis.
246. Numerator of Machine Resolution, Z-axis
247. Denominator of Machine Resolution, A-axis.
248. Numerator of Machine Resolution, A-axis
249. Denominator of Machine Resolution, B-axis.
250. Numerator of Machine Resolution, B-axis
251. Denominator of Machine Resolution, C-axis.
252. Numerator of Machine Resolution, C-axis
253. Denominator of Machine Resolution, U-axis.
254. Numerator of Machine Resolution, U-axis
255. Denominator of Machine Resolution, V-axis.
256. Numerator of Machine Resolution, V-axis
257. Denominator of Machine Resolution, W-axis.
258. Numerator of Machine Resolution, W-axis
FormatG . (Default=100)

Denominator (D) = pulses/rev for the encoder on motor.
Numerator (N) = pitch length (mm/rev) of the ball-screw.
Gear Ratio (GR) = Tooth No. on ball-screw / Tooth No. on motor.
Pulse Multiplication Factor (MF) = MCM #416~#469.

Ex1: X-axis as linear axis (MCM #781=0), pitch = 5 mm = 5000 m
Encoder = 2500 pulses, MCM #461 = 4, and GR = 5 (motor rotates 5 times
while ball-screw rotates once)

Machine resolution = 5000/(2500 4)/5 = 5000/50000 = 1/10 = 0.1
m/pulse

Therefore, the setting value for MCM #118 (D) and #119 (N) can be set as
or the same ratio of N/D such as. They are all correct.
(1) D=50000, N=5000 (2) D=10, N=1 (3) D=100, N=10

Ex2: Y-axis as rotating axis (MCM #782=1), Angle = 360.000 deg/circle
Encoder = 2500 pulses, MCM #161 = 4, and GR = 5 (motor rotates 5 times
while ball-screw rotates once)

Machine resolution = 360000/(2500 4)/5 = 360000/50000 = 36/5 =72/10

Machine Resolution =
(Pitch of Ball - screw)
(Encoder Pulse) *(MF)
*
1
GR
7 MCM Parameters
7 - 27
Therefore, the setting value for MCM #120 (D) and #121 (N) can be one of
the three combinations. They are all correct.
(1) D=5, N=36 (2) D=10, N=72 (3) D=50000, N=360000

Ex 3 (Position Linear Axis):

The X-axis is an ordinary linear axis (MCM#781= 0) with the guide screw pitch = 5.000
mm.
When the motor rotates one turn, 10000 pulses will be generated.
Gear ratio is 5:1 (When the servo motor rotates 5 turns, the guide screw rotates 1 turn.)

X-axis resolution: denominator setting value (MCM#241)= 10
X-axis resolution: numerator setting value (MCM#242)= 1

Ex 4 (Position type rotational axis):

The Y-axis is a rotational axis (MCM#782 = 1). The angle for rotating 1 turn = 360.000
(degree)
One turn of the motor will generate 10000 pulses.
Gear ratio is 5:1 (When the servo motor rotates 5 turns, the Y-axis rotates 1 turn.)

Y-axis resolution: denominator setting value (MCM#243) = 5
Y-axis resolution: numerator setting value (MCM#244) = 36

Note 1: When the resolution <1/20, the motor may have the problem of not able
to reach its maximum rotation speed.
Note 2: When the resolution 1/100, the software travel limit should be within
the following range:
-9999999 ~ 999999, otherwise an error message may occur which cannot
be released.

Ex: For MCM#241=400 and MCM#242=2, when the X-axis resolution is smaller
than 1/100, the setting values of the software travel limit for the X-axis:
Parameter 581 should be less than 9999999 and Parameter 601 should be
greater than -999999.


281. Home Direction for Tool, X-axis.
1
5
Resolution =
5000
10000
1
10
=
1
5
Resolution =
360000
10000
36
5
=
7 - 28
282. Home Direction for Tool, Y-axis.
283. Home Direction for Tool, Z-axis.
284. Home Direction for Tool, A-axis.
285. Home Direction for Tool, B-axis.
286. Home Direction for Tool, C-axis.
287. Home Direction for Tool, U-axis.
288. Home Direction for Tool, V-axis.
289. Home Direction for Tool, W-axis.
FormatG (Default=0)

Setting = 0, Tool returning to HOME in the positive direction.
Setting = 1, Tool returning to HOME in the negative direction


301. Home Speed When Tool Going to Home, X-axis.
302. Home Speed When Tool Going to Home, Y-axis.
303. Home Speed When Tool Going to Home, Z-axis.
304. Home Speed When Tool Going to Home, A-axis.
305. Home Speed When Tool Going to Home, B-axis.
306. Home Speed When Tool Going to Home, C-axis.
307. Home Speed When Tool Going to Home, U-axis
308. Home Speed When Tool Going to Home, V-axis
309. Home Speed When Tool Going to Home, W-axis


321. Home Grid Speed When Tool Going to Home, X-axis.
322. Home Grid Speed When Tool Going to Home, Y-axis.
323. Home Grid Speed When Tool Going to Home, Z-axis.
324. Home Grid Speed When Tool Going to Home, A-axis.
325. Home Grid Speed When Tool Going to Home, B-axis.
326. Home Grid Speed When Tool Going to Home, C-axis.
327. Home Grid Speed When Tool Going to Home, U-axis.
328. Home Grid Speed When Tool Going to Home, V-axis.
329. Home Grid Speed When Tool Going to Home, W-axis.


341. The direction that servo motor search the Grid when X-axis going back to HOME.
342. The direction that servo motor search the Grid when Y-axis going back to HOME.
343. The direction that servo motor search the Grid when Z-axis going back to HOME.
344. The direction that servo motor search the Grid when A-axis going back to HOME.
345. The direction that servo motor search the Grid when B-axis going back to HOME.
346. The direction that servo motor search the Grid when C-axis going back to HOME.
347. The direction that servo motor search the Grid when U-axis going back to HOME.
348. The direction that servo motor search the Grid when V-axis going back to HOME.
7 MCM Parameters
7 - 29
349. The direction that servo motor search the Grid when W-axis going back to
HOME.
FormatG (Default=0)
EX:
When MCM#341= 0, the 2
nd
and 3
rd
direction is the same with 1
st

MCM#341= 1, the 2
nd
is the same with 1
st
.
MCM#341= 128, the 2nd direction is opposite to 1st .
MCM#341= 256, the 2nd and 3rd direction is opposite to 1st .

Set the moving speed when the tool, after having touched the HOME limit switch,
is searching for the encoder grid signal during HOME execution. HUST H9C
CNC has three (3) different speeds when you execute HOME function as shown
by Fig 7.2.

Speed 1: The motor accelerates to Speed 1 and its maximum speed is
determined by the settings of MCM #301 ~ #309, (X, Y, Z, A, B, C, U,
V, W-axis) and the direction by MCM #281 ~ #289. When tool
touches the home limit switch, it starts deceleration to a stop.
Speed 2: The motor accelerates again to speed 2 and its maximum speed is
equal to 1/4 of Speed 1 and the direction is by MCM #341~#349.
When tool starts leaving the home limit switch, it starts deceleration to
a stop.
Speed 3: The motor accelerates to speed 3 and its maximum speed is
determined by the settings of MCM #321~#329 and the direction by
MCM #341~#349. Once the encoder grid index is found, motor
decelerates to a stop. This is the HOME position.

Note that the length of the Home limit switch should be longer than the distance
for the deceleration of Speed 1. Otherwise, serious error may result. The equation
to calculate the length of the Home limit switch is

Length of Home Limit Switch (mm)
FDCOM*ACC
60000

FDCOM = Speed 1, in mm/min. (MCM #301~ #309)
ACC = Time for acceleration/deceleration, in ms. (MCM #505)
60000 = 60 seconds = 60 * 1000 milliseconds

When the C-bit C063=1 in PLC program, it commands the controller to do
homing operation. Do homing operation for X-axis if R232=1, do Y-axis if
R232=2, do Z axis if R232=4 , do Aaxis if R232=8 and do four axes
simultaneously if R232=15.

Ex: FDCOM = 3000.00 mm/min, and ACC = 100 ms
Length of Home Limit Switch = 3000 * 100 / 60000 = 5 mm
7 - 30

Fig 7.2 (A) Homing Speed and Direction of finding]GRID^

Fig 7.2 (B) Homing Speed and Direction of finding]GRID^

Fig 7-2]C^ Homing Speed and Direction of finding]GRID^
Speed
3
rd 2
nd

Tool Position
1
st
Section Speed
SpeedG MCM #136~ #139
DirectionG MCM#130~ #133
Touch the LIMIT SWITCH
C064=1B C065=1B C066=1
Leave the LIMIT SWITCH
C064=0B C065=0B C066=0
SpeedG MCM#136~ #139 1/4
DirectionG MCM#231~ #234= 256
INDEX of finding Encoder
SpeedG MCM#142~ #145
3
rd
2
nd

Tool Position
1st Section Speed
C064=1B C065=1B C066=1
C064=0B C065=0B C066=0
SpeedG MCM#136~ #139 1/4
Speed
3
rd
2
nd

Tool Position
1
st
Section Speed
C064=1B C065=1B C066=1
C064=0B C065=0B C066=0
SpeedG MCM#136~ #139 1/4
Speed
7 MCM Parameters
7 - 31

Fig 7-2]D^ Homing Speed and Direction of finding]GRID^


361. Setting the X-Home grid setting.
362. Setting the Y-Home grid setting.
363. Setting the Z-Home grid setting.
364. Setting the A-Home grid setting.
365. Setting the B-Home grid setting.
366. Setting the C-Home grid setting.
367. Setting the U-Home grid setting.
368. Setting the V-Home grid setting.
369. Setting the W-Home grid setting.
Format=. (Default=0.000), unit: mm

Leaving from the origin switch signal, deviating from the above set distance, and
then you can start to execute the Homing process (third section) to locate the
motor Gird signal.


381. Home-Shift Data, X-axis.
382. Home-Shift Data, Y-axis.
383. Home-Shift Data, Z-axis.
384. Home-Shift Data, A-axis.
385. Home-Shift Data, B-axis.
386. Home-Shift Data, C-axis.
387. Home-Shift Data, U-axis.
388. Home-Shift Data, V-axis.
389. Home-Shift Data, W-axis.
FormatG . Unit: mm/min (Default=0.000)

Set the amount of coordinate shift for HOME location (or machine origin). With
these settings, the machine coordinate will be shifted by the same amount when
you execute "Home". If home shift data are zero for all axes, the machine
3
rd
2
nd

Tool Position
Speed
C064=1B C065=1B C066=1
C064=0B C065=0B C066=0
SpeedG MCM#136~ #139 1/4
1
st
Section Speed
7 - 32
coordinate after "Home" operation will be zero also. Note that the work
coordinate will be shifted by the same amount.


401. The distance that servo motor search the Grid when X-axis going back to HOME.
402. The distance that servo motor search the Grid when Y-axis going back to HOME.
403. The distance that servo motor search the Grid when Z-axis going back to HOME.
404. The distance that servo motor search the Grid when A-axis going back to HOME.
405. The distance that servo motor search the Grid when B-axis going back to HOME.
406. The distance that servo motor search the Grid when C-axis going back to HOME.
407. The distance that servo motor search the Grid when U-axis going back to HOME.
408. The distance that servo motor search the Grid when V-axis going back to HOME.
409. The distance that servo motor search the Grid when W-axis going back to HOME.
Format=. (Default 1000.000)

The distances maximum when servo motor searching the Grid signal:
EXG
The servo motor of X-axis turns 3/4 round = 5.000 mm, MCM# 401 = 5.200
The servo motor of Y-axis turns 3/4 round = 5.000 mm, MCM# 402 = 5.200
The servo motor of Z-axis turns 3/4 round = 5.000 mm, MCM# 403 = 5.200
The servo motor of A-axis turns 3/4 round = 5.000 mm, MCM# 404 = 5.200
The servo motor of B-axis turns 3/4 round = 5.000 mm, MCM# 405 = 5.200
The servo motor of C-axis turns 3/4 round = 5.000 mm, MCM# 406 = 5.200

If it exceeds the range and the motor can not find the Grid still. ERR15 will be
shown up.


421. X-axis origin switch (+: N.O node; -: N.C node)
422. Y -axis origin switch (+: N.O node; -: N.C node)
423. Z -axis origin switch (+: N.O node; -: N.C node)
424. A-axis origin switch (+: N.O node; -: N.C node)
425. B -axis origin switch (+: N.O node; -: N.C node)
426. C-axis origin switch (+: N.O node; -: N.C node)
427. U-axis origin switch (+: N.O node; -: N.C node
428. V-axis origin switch (+: N.O node; -: N.C node
429. W-axis origin switch (+: N.O node; -: N.C node

Example: MCM 421=5
Set I5 to be the X-axis origin signal with format NO

MCM 425=-6
Set I6 to be the A-axis origin signal with format NC

Default = 0, Funcitons are inactive, 0, Functions are active.
7 MCM Parameters
7 - 33
If a homing process with C64-69 is planned in PLC, it shall be based on
the activity set by PLC.


441. Direction of Motor Rotation, X-axis.
442. Direction of Motor Rotation, Y-axis.
443. Direction of Motor Rotation, Z-axis.
444. Direction of Motor Rotation, A-axis.
445. Direction of Motor Rotation, B-axis.
446. Direction of Motor Rotation, C-axis.
447. Direction of Motor Rotation, U-axis.
448. Direction of Motor Rotation, V-axis.
449. Direction of Motor Rotation, W-axis.
FormatG (Default=0)

Setting = 0, Motor rotates in the positive direction. (CW)
Setting = 1, Motor rotates in the negative direction. (CCW)

This MCM can be used to reverse the direction of motor rotation if desired. So
you dont have to worry about the direction of rotation when installing motor.
These parameters will affect the direction of HOME position

IMPORTANT: Motor Divergence

Due to the variations in circuit design of the servo drivers that are available from
the market, the proper electrical connections from servo encoder to the driver,
then to the CNC controller may vary. If the connections do not match properly,
the motor RPM may become divergent (Rotate @ HIGH RPM) and damage to
the machine may result. For this reason, HUST strongly suggest separate the
servo motor and the machine before you are 100% sure the direction of the
motor rotation. If a motor divergence occurs, please inter-change the connections
of (A and B phase) and (A- and B- phase) on the driver side.

(This statement has nothing to do with MCM #154~ #157 but its very important
when connecting electrical motor.)

If a motor divergence occurs, please inter-change the connections of (A and B
phase) and (A- and B- phase) on the driver side.

7 - 34
EX:

Fig 7.3


461. Encoder Multiplication Factor, X-axis.
462. Encoder Multiplication Factor, Y-axis.
463. Encoder Multiplication Factor, Z-axis.
464. Encoder Multiplication Factor, A-axis.
465. Encoder Multiplication Factor, B-axis.
466. Encoder Multiplication Factor, C-axis.
467. Encoder Multiplication Factor, U-axis.
468. Encoder Multiplication Factor, V-axis.
469. Encoder Multiplication Factor, W-axis.
FormatG (Default=4)

Only one the following 3 numbers:
Setting = 1, Encoder pulse number is multiplied by 1.

Note:
The setting of multiplication is highly relative with machines rigidity. If a motor
divergence occurs too heavily, it means that the rigidity is too big. And then it can be
improved by lowering the multiplication.

Ex: If factor = 2 for MCM #161 and the encoder resolution is 2000 pulses/rev,
then the feed-back signals = 2000 * 2 = 4000 pulses/rev for Y-axis.


481. X-axis impulse command width adjustment.
Location Command -10 ~ +10V
0V
GND
1
2
3
4
5
6
7
8
9
CW+
CW-
CCW+
CCW-
VCC-CN
GRD-(Z-)
TOG
VCOM
SVO+
SVO-
A-
A+
B+
B-
GND-CN
AXIS
10
11
12
13
14
15
SERVO ON(Internal Control)
Servo
Signal
7 MCM Parameters
7 - 35
482. Y-axis impulse command width adjustment.
483. Z-axis impulse command width adjustment.
484. A-axis impulse command width adjustment.
485. B-axis impulse command width adjustment.
486. C-axis impulse command width adjustment.
487. U-axis impulse command width adjustment.
488. V-axis impulse command width adjustment.
489. W-axis impulse command width adjustment.
Format= (Default=4)

Setting range 1~63C
Used to adjust each axial impulse command width
If the pulse frequency from H9C controller is 1Hz, then the cycle time of a pulse
is 0.25us. If it is required to extend the pulse cycle time, it can be achieved
through adjust ment of the impulse width.

For example:
If MCM 486=4, the impulse cycle time in the X-axis direction is 4*0.25=1.5us
and the frequency is 625KHz.


501. Master/Slave Mode Setting
FormatG . (Default=0)

Setting = 0, CNC mode, Master/Slave mode NOT set.
= 1, X-axis as master axis, Y, Z, A, B, C, U, V, W-axis as slave axes.
= 2, Y-axis as master axis, X, Z, A, B, C, U, V, W -axis as slave axes.
= 3, Z-axis as master axis, X, Y, A, B, C, U, V, W -axis as slave axes.
= 4, A-axis as master axis, X, Y, Z, B, C, U, V, W -axis as slave axes.
= 5, B-axis as master axis, X, Y, Z, A, C, U, V, W -axis as slave axes.
= 6, C-axis as master axis, X, Y, Z, A, B, U, V, W -axis as slave axes.
= 7, U-axis as master axis, X, Y, Z, A, B, C, V, W -axis as slave axes.
= 8, V-axis as master axis, X, Y, Z, A, B, C, U, W -axis as slave axes.
= 9, W-axis as master axis, X, Y, Z, A, B, C, U, V -axis as slave axes.
= 256, Round Corner Non-stop Operation

502. Type of Motor Acceleration/Deceleration
FormatG (Default=0)

Setting = 0, exponential type.
Setting = 1, Linear type.
Setting = 2, "S" curve.

503. Home command mode setting.
BIT0 = 0 X axis find Home grid available, =1 X axis no need to find Home grid.
BIT1 = 0 Y axis find Home grid available, =1 Y axis no need to find Home grid.
BIT2 = 0 Z axis find Home grid available, =1 Z axis no need to find Home grid.
BIT3 = 0 A axis find Home grid available, =1 A axis no need to find Home grid.
BIT4 = 0 B axis find Home grid available, =1 B axis no need to find Home grid.
7 - 36
BIT5 = 0 C axis find Home grid available, =1 C axis no need to find Home grid.
BIT6 = 0 U axis find Home grid available, =1 U axis no need to find Home grid.
BIT7 = 0 V axis find Home grid available, =1 V axis no need to find Home grid.
BIT8 = 0 W axis find Home grid available, =1 W axis no need to find Home grid.

504. Servo Motor Acceleration/Deceleration Time, G00.
FormatG Unit: millisecond (Default=100)
Setting Range: 4 ~ 512 millisecond

505. Servo Motor Acceleration/Deceleration Time (T), G01.
FormatG Unit: millisecond (Default=100)
Setting Range: 10 ~ 1024 millisecond.
100 milliseconds is the recommended setting for both G00 and G01.

If MCM #502 setting = 0, type of accel./decel. for G01 = exponential
If MCM #502 setting = 1, type of accel./decel. for G01 = Linear.
If MCM #502 setting = 2, type of acceleration/deceleration for G01 = "S" curve.
In this case, the actual acceleration/deceleration time is twice the setting value.

506. Acceleration/Deceleration Time for G99 Mode.
FormatG Unit: Millisecond (Default=100)
Setting Range: 4 ~ 1024 ms.

507. Set the spindle Acceleration/Deceleration time in master mode.
FormatG (Default=0) Unit: Millisecond

508. Spindle Encoder Pulse Per Revolution
FormatG Unit: Pulse/rev (Default=4096)

509. Set Spindle Motor RPM When Vcmd = 10 Volt.
FormatG Unit: RPM (Default=3000)

510. Spindle voltage command 0V output balance adjustment (open circuit).

511. Spindle voltage command slope correction (open circuit).

512. Spindle RPM correction (based on feedback from the encoder).

513. Starting Number for Auto Generation of Program Block Number.
FormatG S= (Default=0)

514. Increment for Auto-generation of Program Block Number.
FormatG D= (Default=0)

515. If D = 0, the program block number of a single program block will not be
generated automatically.
In the Edit or Teach mode, the block number of a single block can be
automatically generated by simply press the INSERT key. If the RESET key is
pressed, the block number of a single block will be renumbered according to the
setting values in Parameters 514 and 515.
7 MCM Parameters
7 - 37
Ex: S = 0 , D = 5
The program block number will be generated in the sequence: 5,10,15,20,25

516. Denominator of Feed-rate Multiplication Factor for MPG Test.

517. Numerator of Feed-rate Multiplication Factor for MPG Test.
FormatG (Default=100)

Note: If the MPG rotation speed is not proper, it can be adjusted by MCM#516,
#517. The two items are up to 5 units and it must be integer. They also can not set
as zero.

518. Handwheel direction
Format=(Default= 0).

If it is necessary to change the relation between the current handwheel rotational
direction and the axial displacement direction, it can be achieved by setting the
value to 0 or 1.

It can be adjusted separately the corresponding axial direction bit 0 =x bit 1
=y....

Example: BIT 0=1 The X-axis handwheel command is reverse, but other axes
remain at the default.

519. Set Acceleration / Deceleration Time for MPG
Format=, (Default = 64), Unit: milliseconds

Setting Range: 4~512 ms.

The motor acceleration / deceleration time is equal to MCM #519 when MPG
hand-wheel is used in JOG mode.

520. RS232C Baud Rate.
FormatG (Default = 38400)

Set RS232C communication speed. Choose from, 9600, 19200, 38400, 57600,
115200 Speed rate 38400 stands for 38400 bits per second.

In addition, use the following settings for your PC:
Parity -- Even
Stop Bits -- 2 bits
Data Bits 7 bits

521. Flag to Save the Data of R000~R199 in PLC when power-off.
FormatG (Default=0)

Setting = 0, NOT to save.
Setting = 256, Save R000~R199 data.

7 - 38
522. Servo Error Count
FormatG (Default=0)

When executing locating operation, the controller has sent out the voltage
command, but the motor maybe fall behind some distance. This parameter is used
to set that the controller could execute next operation or not according to the
setting range of pulse

Set MCM#522 = 0 for generating 4096 pulses.
Set MCM#522 0 for user defined value.

523. Radius / diameter programming mode
Format= (Default = 0)

0: Radius programming
1: Diameter programming

524. METRIC/INCH Mode Selection (default = 0)

Setting = 0, Measurement in METRIC unit.
Setting = 1, Measurement in INCH unit.

525. Error in Circular Cutting
Range:1 ~ 32

In circular cutting, the ideal cutting path is a circular arc, but the actual motor
path is along the arc cord (a straight line). Therefore, there is a cutting error as
shown in the figure below.

Fig 7.4

This parameter enables the user to adjust acceptable error. The smaller is the
setting (=1, the best), the better the circular cutting result. However, the setting
should not be too small to the point that its not able to drive the motor.

526. 6-axis parameter settings in pulse type
Format =, Default: 0

Setting 0: pulse + direction
Setting 1: +/- pulse
Cutting Error
The less the setting set; the better the
circular arc cut.
7 MCM Parameters
7 - 39
Setting 2: in the format of Phase A or B

527. Setting the G01 speed value at booting

After booting, in executing the program or MDI command, if you have not used
the F command yet, nor the current single block has designated the F value, then
use the MCM 527 value as the F value of the current single block.

528. Setting the tool compensation direction
Format= (Default=0)

0G HUST
1G FANUC
Tool-wear compensation direction - HUST: same direction; FANUC: reverse
direction.

529. G00 Linear accel./decel. Time, for S curve
Format= (Default=100) in unit of millisecond (msec).
Setting range 4~512 ms.

530. G31 input motion stop at hardware
Format= (Default=0)
Using the bit pattern, the corresponding axes for the G31 hardware stop feature
can be configured.

Description:
MCM530 0, the hardware G31 clear feature is cancelled.
MCM530 1, Bit0 = 1, the hardware stop for the X-axis is activated.
MCM530 2, Bit1 = 1, the hardware stop for the Y-axis is activated.
MCM530 4, Bit2 = 1, the hardware stop for the Z-axis is activated.
MCM530 8, Bit3 = 1, the hardware stop for the A-axis is activated.
MCM530 16, Bit4 = 1, the hardware stop for the B-axis is activated.
MCM530 32, Bit5 = 1, the hardware stop for the C-axis is activated.
MCM530 64, Bit6 = 1, the hardware stop for the U-axis is activated.
MCM530 128, Bit7 = 1, the hardware stop for the V-axis is activated.
MCM530 256, Bit8 = 1, the hardware stop for the W-axis is activated.

531. Setting the format
Format= (Default=0)

=0 Standard
=1 Variable automatically added with a decimal point
When setting the parameter, the user does not need to input the decimal
point. The controller will automatically add the decimal point for the user.
=2 Line editing
=4 Automatically added with a decimal point in programming
In programming, the controller will automatically add the decimal point for
the user.
7 - 40

532. In the milling mode, set the gap for drill to withdraw.
Format=. (Default= 2.000) unit:mm

533. Setting the test following count
Format= (Default= 0)
With use of parameter Item No.534

534. Testing the axial setting of the servo following error function
Format= (Default = 0)
Set the testing corresponding to the axis with Bit

Description:
When MCM534 1 and Bit0 = 1, test the X-axus.
When MCM534 2 and Bit1 = 1, test the Y-axis.
When MCM534 4 and Bit2 = 1, test the Z-axis.
When MCM534 8 and Bit3 = 1, test the A-axis.
When MCM534 16 and Bit4 = 1, test the B-axis.
When MCM534 32 and Bit5 = 1, test the C-axis.
When MCM534 64 and Bit6 = 1, test the U-axis.
When MCM534 128 and Bit7 = 1, test the V-axis.
When MCM534 256 and Bit8 = 1, test the W-axis.

When MCM534 511, i.e. Bit0 ~ Bit8= 1, then test X/Y/Z/A/B/C/U/V/W-axes at
the same time.

Caution: For HUST H9C controller, if the servo motor used is a voltage
command type, it is necessary to set testing the following error function ( not
applicable for the impulse command type).

The controller will compare the actual feedback difference of the servo motor
with the setting of the parameter Item No 533. If the controller detects that the
axis has been set beyond the range, the system will display an error message.

Example: When the parameter Item No 533= 4096, the parameter Item No
534=1, and

The actual motor following error

4096 (Parameter Item No 533), it will generate ERROR 02 X

535. Controller ID number
Control connection of multiple units with PC. Currently, the function is reserved.

7 MCM Parameters
7 - 41
536. Setting the minimum slope of the Auto Teach function
Format=. (Default= 0)
Setting range: +360.00 ~ -360.00

537. Setting the first point distance of the Auto Teach function.
Format=. (Default= 0)

538. G41 and G42 Handling type
Format= (Default 0)

When the setting value =0, an error is displayed, the interference problem
is not handelled, and the motion is stopped.
=1 Automactilly handle the interference problem.
=2 The error message is not displayed and the interference problem is
not handeled.

539. System Reserved

540. Adjustment of the feedback direction for the axes
Format= (Default 0)
Set the corresponding axes by the bit pattern.

Description:
If MCM540 1, Bit0 = 1, the feedback direction is reverse for the X-axis.
If MCM540 2, Bit1 = 1, the feedback direction is reverse for the Y-axis.
If MCM540 4, Bit2 = 1, the feedback direction is reverse for the Z-axis.
If MCM540 8, Bit3 = 1, the feedback direction is reverse for the A-axis.
If MCM540 16, Bit4 = 1, the feedback direction is reverse for the B-axis.
If MCM540 32, Bit5 = 1, the feedback direction is reverse for the C-axis.
If MCM540 64, Bit6 = 1, the feedback direction is reverse for the U-axis.
If MCM540 128, Bit7 = 1, the feedback direction is reverse for the V-axis.
If MCM540 256, Bit8 = 1, the feedback direction is reverse for the W-axis.

541. Arc type
Format= (Default 0)

Setting =0 arc cord height control.
=1 arc cord length control.
=2 system internal automatic control (500 sections/sec).


7 - 42
561. S curve accel./decel. profile setting for the X-axis.
562. S curve accel./decel. profile setting for the Y-axis.
563. S curve accel./decel. profile setting for the Z-axis.
564. S curve accel./decel. profile setting for the A-axis.
565. S curve accel./decel. profile setting for the B-axis.
566. S curve accel./decel. profile setting for the C-axis.
567. S curve accel./decel. profile setting for the U-axis.
568. S curve accel./decel. profile setting for the V-axis.
569. S curve accel./decel. profile setting for the W-axis.

When R209 Bit30=1, the S curve accel./decel. profile settings can be configured
independently.


581. Software OT Limit in (+) Direction, X-axis. (Group 1)
582. Software OT Limit in (+) Direction, Y-axis. (Group 1)
583. Software OT Limit in (+) Direction, Z-axis. (Group 1)
584. Software OT Limit in (+) Direction, A-axis. (Group 1)
585. Software OT Limit in (+) Direction, B-axis. (Group 1)
586. Software OT Limit in (+) Direction, C-axis. (Group 1)
587. Software OT Limit in (+) Direction, U-axis. (Group 1)
588. Software OT Limit in (+) Direction, V-axis. (Group 1)
589. Software OT Limit in (+) Direction, W-axis. (Group 1)
FormatG Unit: mm/min (Default=9999.999)

Set the software over-travel (OT) limit in the positive (+) direction, the setting
value is equal to the distance from positive OT location to the machine origin
(HOME).


601. Software OT Limit in (-) Direction, X-axis. (Group 1)
602. Software OT Limit in (-) Direction, Y-axis. (Group 1)
603. Software OT Limit in (-) Direction, Z-axis. (Group 1)
604. Software OT Limit in (-) Direction, A-axis. (Group 1)
605. Software OT Limit in (-) Direction, B-axis. (Group 1)
606. Software OT Limit in (-) Direction, C-axis. (Group 1)
607. Software OT Limit in (-) Direction, U-axis. (Group 1)
608. Software OT Limit in (-) Direction, V-axis. (Group 1)
609. Software OT Limit in (-) Direction, W-axis. (Group 1)
FormatG . Unit: mm/min (Default=-9999.999)

Set the software over-travel (OT) limit in the negative (-) direction, the setting
value is equal to the distance from negative OT location to the machine origin
(HOME). Figure below shows the relationship among the software OT limit, the
emergency stop, and the actual hardware limit.

7 MCM Parameters
7 - 43

621. Software OT Limit in (+) Direction, X-axis. (Group 2)
622. Software OT Limit in (+) Direction, Y-axis. (Group 2)
623. Software OT Limit in (+) Direction, Z-axis. (Group 2)
624. Software OT Limit in (+) Direction, A-axis. (Group 2)
625. Software OT Limit in (+) Direction, B-axis. (Group 2)
626. Software OT Limit in (+) Direction, C-axis. (Group 2)
627. Software OT Limit in (+) Direction, U-axis. (Group 2)
628. Software OT Limit in (+) Direction, V-axis. (Group 2)
629. Software OT Limit in (+) Direction, W-axis. (Group 2)
FormatG Unit: mm/min (Default=9999.999)

Set the software over-travel (OT) limit in the positive (+) direction, the setting
value is equal to the distance from positive OT location to the machine origin
(HOME).


641. Software OT Limit in (-) Direction, X-axis. (Group 2)
642. Software OT Limit in (-) Direction, Y-axis. (Group 2)
643. Software OT Limit in (-) Direction, Z-axis. (Group 2)
644. Software OT Limit in (-) Direction, A-axis. (Group 2)
645. Software OT Limit in (-) Direction, B-axis. (Group 2)
646. Software OT Limit in (-) Direction, C-axis. (Group 2)
647. Software OT Limit in (-) Direction, U-axis. (Group 2)
648. Software OT Limit in (-) Direction, V-axis. (Group 2)
649. Software OT Limit in (-) Direction, W-axis. (Group 2)
FormatG . Unit: mm/min (Default=-9999.999)

Set the software over-travel (OT) limit in the negative (-) direction, the setting
value is equal to the distance from negative OT location to the machine origin
(HOME).

Fig 7.5


Machine Origin
(Home)
Software OT Limit
(MCM#171~ #182)
Emergency Stop

Actual Hardware Limit
5~10 mm each
7 - 44
661. Flag to Clear X-axis Program Coordinate on M02, M30 or M99 Command.
662. Flag to Clear Y-axis Program Coordinate on M02, M30 or M99 Command.
663. Flag to Clear Z-axis Program Coordinate on M02, M30, or M99 Command.
664. Flag to Clear A-axis Program Coordinate on M02, M30, or M99 Command.
665. Flag to Clear B-axis Program Coordinate on M02, M30, or M99 Command.
666. Flag to Clear C-axis Program Coordinate on M02, M30, or M99 Command.
667. Flag to Clear U-axis Program Coordinate on M02, M30, or M99 Command.
668. Flag to Clear V-axis Program Coordinate on M02, M30, or M99 Command.
669. Flag to Clear W-axis Program Coordinate on M02, M30, or M99 Command.
FormatG (Default=0)

Used as flag to clear the coordinate when program execution encounters M02,
M30 or M99 function. The following settings are valid for both X and Y-axis.

Setting = 0, Flag is OFF, NOT to clear.
Setting = 1, Flag is ON, YES to clear when encountering M02 and M30.
Setting = 2, Flag is ON, YES to clear when encountering M99.
Setting = 3, Flag is ON, YES to clear when encountering M02, M30 and M99.


681. Set Incremental/Absolute Mode, X-axis coordinate.
682. Set Incremental/Absolute Mode, Y-axis coordinate.
683. Set Incremental/Absolute Mode, Z-axis coordinate.
684. Set Incremental/Absolute Mode, A-axis coordinate.
685. Set Incremental/Absolute Mode, B-axis coordinate.
686. Set Incremental/Absolute Mode, C-axis coordinate.
687. Set Incremental/Absolute Mode, U-axis coordinate.
688. Set Incremental/Absolute Mode, V-axis coordinate.
689. Set Incremental/Absolute Mode, W-axis coordinate.
FormatG (Default=1) for absolute positioning

Ex: Set MCM 681 = 0, X value represents the incremental position and U value is
ineffective.
= 1, X value represents the incremental position and U value is
the incremental position.

*Note 1: After the parameters are set, execute the command G01
X***,Y***,Z*** F***, the program will perform the axial motions
according to the configured incremental or absolute positions.
H9C: When R209 = 4, the incremental address codes of X,Y,Z will
be U,V,W. However, the A,B,C axes have no incremental
address code, they cannot be used in the same way as the
X,Y,Z axes which allow the conversion between the
incremental positioning and the absolute positioning. It is
necessary to use the G90/G91 modes to use them.
H9C: X,Y,Z,A,B,C,U,V,W have no incremental address codes, so
they cannot allow the conversion between the incremental
positioning and the absolute positioning. It is necessary to use
the G90/G91 mode to use them.
7 MCM Parameters
7 - 45
*Note 2: For H9C using the incremental address codes U,V,W, it is necessary
to set the parameters 1 of the X,Y,Z axes for the absolution
positioning so that the U,V,W commands can be performed in the
program.
*Note 3: If the G90/G91 mode is used for the 9-axis absolute or incremental
positioning change, no matter the parameters are configured for
absolution positioning or for incremental positioning, the single block
X,Y,Z,A,B,C,U,V,W commands will use the G90/G91 mode for
absolute positioning or absolute increments after the G90/G91 mode
is used.
*Note 4: When the controller in H9C is configured to use U,V,W as the
incremental address codes, it will not be influenced by the G90/G91
mode.

Format of mode appointment:

G90 Absolute coordinate
G91 Incremental coordinate

1. G90 :
When writing G90 in the program, all the axes of X,Y,Z,A,B,C,U,V,W are the absolute
coordinate. All following nodes` axes direction will also feed absolutely. (See EX1)
The incremental codes U,V,W also can be used in G90 mode. Then X, Y, Z axes will
feed incrementally. But A-axis still feed absolutely. Until it meeting G91 or recycling the
program, then the G90 will be over.

EX1: G90 Set Absolute Coordinate
N1 G90
N2 G1 X20.000 Y15.000 .... P0 to P1
N3 X35.000 Y25.000 .... P1 to P2
N4 X60.000 Y30.000 .... P2 to P3

2. G91 :
When writing G90 in the program, all the axes of X,Y,Z,A,B,C,U,V,W are the
incremental coordinate. All following nodes` axes direction will also feed incrementally.
(See EX2)

In G91 mode, X,Y,Z represent the incremental value. The codes of U, V, W are not
necessary. The axis will move to nowhere.
Until it meeting G90 or recycling the program, then the G91 will be over.

EX2: G91 Set Incremental Coordinate
N1 G91
N2 G1 X20.000 Y15.000 .... P0 to P1
N3 X15.000 Y10.000 .... P1 to P2
N4 X25.000 Y5.000 .... P2 to P3
7 - 46

Fig 7.6


701. X-axis, Position gain.
702. Y-axis, Position gain.
703. Z-axis, Position gain.
704. A-axis, Position gain.
705. B-axis, Position gain.
706. C-axis, Position gain.
707. U-axis, Position gain.
708. V-axis, Position gain.
709. W-axis, Position gain.
FormatG (Default=64)A Setting Range: 8~640C

Parameters 701~709 are used to set the loop gain. The recommended value is 64.
This setting value is essential to the smooth operation of the motor. Once it is
configured, please do not change it arbitrarily.

Fig 7-7 Driver output voltage vs. the servo error

The position gain and HUST H9C output voltage command can be calculated as
follows:

Position Gain =
Setting value
64

15
10
5
25
30
20 15 25
Y
X
P1
P2
P3
60
35
1024 2046
4096
Servo error (ERROR COUNT)
N=128/64 N=64/64 N=32/64
DC10V
VCMD
Driver output
voltage
7 MCM Parameters
7 - 47

NC controller output voltage command
= GAIN * Servo feedback error * ( )

The controller in HUST is a closed-loop system. The servo error is the
difference between the controller position command and the actual feedback
value of the servo motor. The controller will adjust the output voltage of the
controller properly according to this difference value. The setting value of the
position gain is related to the stability and the follow-up of the system servo, so
please modify it with care. If:

Servo mismatch 4096, the ERROR 02 will occur.

In this case, please correct the values of MCM Parameters 701~709 and then press
the Reset key. If the problem still exists, please check if the wire connection of
the servo motor is correct.

Adjustment procedure for smooth motor operation: (recommended)
(1) Adjust the servo driver. (Please refer to the operation manual of the driver)
(2) Adjust the MCM Parameters 461469 for the multipliers (1,2,4) of the
signals from the the speed sensors. In normal condition, if the motor is
locked, the Servo Error will be oscillating between 0 and 1; if it is
oscillating between 4 and 5, the problem can be solved usually by
adjusting the MCM Parameters 461469 for the multipliers, i.e., 4 --> 2,
or 2 --> 1.
(3) Adjust the values of MCM Parameters 701~709 for the position loop gain.


721. Break-over Point (in Error Count) for Position Gain, X-axis.
722. Break-over Point (in Error Count) for Position Gain, Y-axis.
723. Break-over Point (in Error Count) for Position Gain, Z-axis.
724. Break-over Point (in Error Count) for Position Gain, A-axis.
725. Break-over Point (in Error Count) for Position Gain, B-axis.
726. Break-over Point (in Error Count) for Position Gain, C-axis.
727. Break-over Point (in Error Count) for Position Gain, U-axis.
728. Break-over Point (in Error Count) for Position Gain, V-axis.
729. Break-over Point (in Error Count) for Position Gain, W-axis.
FormatG (Default=10)

The proper setting of this parameter will assure smooth start-up of servo motor.
When servo error is smaller than the setting value of MCM #721~#729, the
position gain is 64. Otherwise, position gain will be calculated based on the
setting value of MCM #701~ #709 and the setting values depend on the frictional
load on the motor. If the frictional load is high, setting value is small and vice
versa.
10V
2048
7 - 48

Fig 7.7


741. X-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)
742. X-axis Numerator, MPG Hand-wheel Resolution Adjustment. (m)
743. Y-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)
744. Y-axis Numerator, MPG Hand-wheel Resolution Adjustment. (m)
745. Z-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)
746. Z-axis Numerator, MPG Hand-wheel Resolution Adjustment. (m)
747. A-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)
748. A-axis Numerator, MPG Hand-wheel Resolution Adjustment. (m)
749. B-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)
750. B-axis Numerator, MPG Hand-wheel Resolution Adjustment. (m)
751. C-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)
752. C-axis Numerator, MPG Hand-wheel Resolution Adjustment. (m)
753. U-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)
754. U-axis Numerator, MPG Hand-wheel Resolution Adjustment. (m)
755. V-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)
756. V-axis Numerator, MPG Hand-wheel Resolution Adjustment. (m)
757. W-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)
758. W-axis Numerator, MPG Hand-wheel Resolution Adjustment. (m)
Unit: Denominator = pulses, Numerator = m

Ex1: For X-axis, MCM #741 = 100 pulses, MCM #742 = 100 m.
The resolution for X-axis = 100/100 = 1 m/pulse.
If MPG hand-wheel moves 1 notch (=100 pulses), the feed length in X-axis
= 100 x (100/100) = 100 m = 0.1 mm.

Ex2: For Y-axis, MCM #743 = 200 pulses, MCM #744 = 500 m.
The resolution for Y-axis = 500/200 = 2.5 m/pulse.
If MPG hand-wheel moves 1 notch (=100 pulses), the feed length in Y-axis
= 100 x (500/200) = 250 m = 0.25 mm.


10 20 30 40 50 60 70 80
0
0.05
0.10
0.15
0.20
Vcmd
Controller
Command
ERROR = 10
ERROR COUNT
GAIN = 128/64
GAIN = 64/64 GAIN = 32/64
Fig 7.5 Break-over of Position Gain
7 MCM Parameters
7 - 49
781. Set if X-axis is rotational axis.
782. Set if Y-axis is rotational axis.
783. Set if Z-axis is rotational axis.
784. Set if A-axis is rotational axis.
785. Set if B-axis is rotational axis.
786. Set if C-axis is rotational axis.
787. Set if U-axis is rotational axis.
788. Set if V-axis is rotational axis.
789. Set if W-axis is rotational axis.
Format= (Default 0)

Setting= 0 Linear Axis
Setting= 1 Rotational Axis


801. The distance of S bit sent before the X-axis reaches in position. (S176)
802. The distance of S bit sent before the Y-axis reaches in position. (S177)
803. The distance of S bit sent before the Z-axis reaches in position. (S178)
804. The distance of S bit sent before the A-axis reaches in position. (S179)
805. The distance of S bit sent before the B-axis reaches in position. (S180)
806. The distance of S bit sent before the C-axis reaches in position. (S181)
807. The distance of S bit sent before the U-axis reaches in position. (S182)
808. The distance of S bit sent before the V-axis reaches in position. (S183)
809. The distance of S bit sent before the W-axis reaches in position. (S184)
Format=. (Default= 0.000)
Unit: mm

For example: MCM 801 =10.00mm
Giving the command: When G01 U30.000 F1000, when the X-axis move
20.000mm and 10.000mm away from the final value, the sysem will send
S176=ONC


821. The accelerate/decelerate time of X-axis.
822. The accelerate/decelerate time of Y-axis.
823. The accelerate/decelerate time of Z-axis.
824. The accelerate/decelerate time of A-axis.
825. The accelerate/decelerate time of B-axis.
826. The accelerate/decelerate time of C-axis.
827. The accelerate/decelerate time of U-axis.
828. The accelerate/decelerate time of V-axis.
829. The accelerate/decelerate time of W-axis.
Format= (Default 0), Unit (msec)
Acceleration/Deceleration Time (4~3072)


7 - 50
The pitch error compensation of the guide screw in HUST H9C is relative to the
mechanical origin as the base point.

841. Pitch Error Compensation Mode Setting, X-axis.
842. Pitch Error Compensation Mode Setting, Y-axis.
843. Pitch Error Compensation Mode Setting, Z-axis.
844. Pitch Error Compensation Mode Setting, A-axis.
845. Pitch Error Compensation Mode Setting, B-axis.
846. Pitch Error Compensation Mode Setting, C-axis.
847. Pitch Error Compensation Mode Setting, U-axis.
848. Pitch Error Compensation Mode Setting, V-axis.
849. Pitch Error Compensation Mode Setting, W-axis.
Format: , Default=0

Setting = 0, Compensation canceled.
Setting = -1, Negative side of compensation.
Setting = 1, Positive side of compensation.

X-axis Y-axis Z-axis A-axis B-axis C-axis U-axis V-axis W-axis Explanation
0 0 0 0 0 0 0 0 0 Compensation cancel
-1 -1 -1 -1 -1 -1 -1 -1 -1
Do compensation when tool is on
the (-) side of the reference point
1 1 1 1 1 1 1 1 1
Do compensation when tool is on
the (+) side of the reference point.

Ex:
MCM # 841= -1
The pitch error in the X-axis will not be compensated when the tool travels to the
positive side of the X-HOME location. It will be compensated when the tool travels to
the negative side of machine origin.

MCM # 841= 1
The pitch error in the X-axis will be compensated when the tool travels to the positive
side of Y-HOME location. No compensation will be done when it travels to the negative
side of machine origin.

Fig 7.9

MCM#850 System ReservedI

851. Segment Length for Pitch Error Compensation, X-axis.
852. Segment Length for Pitch Error Compensation, Y-axis.
853. Segment Length for Pitch Error Compensation, Z-axis.
Machine HOME
Coordinate 0
Coordinate -100.000 Coordinate 100.000
MCM 841 = 1
Positive
compensation
MCM 841 = -1
Negative
compensation
7 MCM Parameters
7 - 51
854. Segment Length for Pitch Error Compensation, A-axis.
855. Segment Length for Pitch Error Compensation, B-axis.
856. Segment Length for Pitch Error Compensation, C-axis.
Format=., Default=0, Unit=mm

Axis
Corresponding MCM# for Segment
Length
Segment Length
Max. Number of
Segment
X MCM# 861 ~ 940 20 ~ 480 mm 80
Y MCM# 941 ~ 1020 20 ~ 480 mm 80
Z MCM# 1021 ~ 1100 20 ~ 480 mm 80
A MCM# 1101 ~ 1180 20 ~ 480 mm 80
B MCM# 1181 ~ 1260 20 ~ 480 mm 80
C MCM# 1261 ~ 1340 20 ~ 480 mm 80

1. Segment length is the total length of ball-screw divided by the number of
segment.

Fig7.10

Ex:
If you want to divide the ball-screw on X-axis, which is 1 meter in length,
into 10 segments, the segment length is 1000.00/10=100.00mm. This 100.00
mm will be stored in MCM# 851.(Each compensation of them is set by
MCM#861~#940)
2. If the average segment length is less than 20 mm, use 20 mm.
3. When doing compensation, HUST H9C controller will further divide each
segment into 8 sections. The amount of compensation for each section is
equal to the whole number, in m, of 1/8 of the amount in MCM #861~#940.
The remainder will be added to the next section.

Ex:
Segment length =100.00mm and the amount of compensation is 0.026mm as set
in MCM#861. Then, the compensation for each section is 0.026/8=0.00325mm.
The compensation for this segment will be done in a manner as tabulated below:

Section Tool Position
Avg. comp. For each
section
Actual comp. At each
section
Accumulated
compensation
1 12.5 0.00325 0.003 0.003
2 25 0.00325 0.003 0.006
3 37.5 0.00325 0.003 0.009
4 50 0.00325 0.004 0.013
5 62.5 0.00325 0.003 0.016
6 75 0.00325 0.003 0.019
7 87.5 0.00325 0.003 0.022
8 100 0.00325 0.004 0.026

1000 mm
100mm
7 - 52

861~1340. Amount of Compensation for each segment (X.Y.Z.A.B.C-axis) is 80.

The Compensation value is in incremental mode. If the number of segment is less than
80, please fill the uncompensated segments with zero to avoid any potential errors.

Ex:
If the segment of compensation is 10, the amount of the compensation from Seg.11 to 40
( X-axis MCM#861~940, Y-axis MCM#941~1020, Z-axis MCM#1021~1100, A-axis MCM
#1101~1180, B-axis MCM#1181~1260, C-axis MCM#1261~1340 ) must be set as zero.

MCM#861~940 Pitch error compensation of each segment, X-axis.
MCM#941~1020 Pitch error compensation of each segment, Y-axis.
MCM#1021~1100 Pitch error compensation of each segment, Z-axis.
MCM#1101~1180 Pitch error compensation of each segment, A-axis.
MCM#1181~1260 Pitch error compensation of each segment, B-axis.
MCM#1261~1340 Pitch error compensation of each segment, C-axis.

1341. Tool#1, Radius Offset Data.
1342. X-axis Offset Data, Tool#1.
1343. Y-axis Offset Data, Tool#1.
1344. Z-axis Offset Data, Tool#1.
1345. A-axis Offset Data, Tool#1.
1346. B-axis Offset Data, Tool#1.
1347. C-axis Offset Data, Tool#1.

1348. Tool#2, Radius offset data.
1349. X-axis offset data, Tool#2.
1350. Y-axis offset data, Tool#2.
1351. Z-axis offset data, Tool#2.
1352. A-axis offset data, Tool#2.
1353. B-axis offset data, Tool#2.
1354. C-axis offset data, Tool#2.

MCM#1355~1620G Tool#3~40, Radius offset data and X/Y/Z/A/B/C-axis offset
dataC

1621. Tool #1 radius wear compensation.
1622. X-axis, Tool #1 wear compensation.
1623. Y-axis, Tool #1 wear compensation.
1624. Z-axis, Tool #1 wear compensation.
1625. A-axis, Tool #1 wear compensation.
1626. B-axis, Tool #1 wear compensation.
1627. C-axis, Tool #1 wear compensation.

7 MCM Parameters
7 - 53
1628. Tool #2 radius wear compensation.
1629. X-axis, Tool #2 wear compensation.
1630. Y-axis, Tool #2 wear compensation.
1631. Z-axis, Tool #2 wear compensation.
1632. A-axis, Tool #2 wear compensation.
1633. B-axis, Tool #2 wear compensation.
1634. C-axis, Tool #2 wear compensation.

MCM#1635~1900G Tool#3~40, Radius wear compensation and X/Y/Z/A/B/C-axis
wear compensationC

1901~1940G Tool-tip radius compensation]Tool-tip#1~40^
7 - 54

8 Manual Operations
8 - 1
8 MANUAL OPERATION

This Chapter is to discuss some functions that you can operate manually. When you
become familiar with these operations, you'll feel ease to operate HUST CNC controller.

8.1 Manual operation

8.1.1 HOME Operation (Machine Origin)

1. Press key to put the controller in a power-on status.

2. Press key to enable the function. Notice the mode status display "HOME" on
bottom-right corner of LCD screen, as well as the current machine coordinate and
pulse following count for X, Y, Z, A, B, C, U, V, W-axis.
Press ( or ) to switch between the pages and to select the axis.

3. Press X , Y , Z , A , B , C to execute HOME.

4. Press to execute HOME process.

Fig 8-1

(1). Perform "HOME operation" after the controller is powered-on.
(2). "HOME operation" is performed one axis at a time.
(3). If the tool exceeds the Home-limit switch, move the tool manually inside the
Home-limit switch through the application of JOG function.
(4). The direction of tool travel for " HOME operation " is set in MCM #281~#289.
(5). The homing speed is by MCM #301~#309 and the direction while looking for
GRID is by MCM #321~#329.
(6). When the axis is performing the mechanical origin homing operation, the feedback
controller will determine the direction of the Grid that is configured in the MCM
Parameters 341~349.

HUST H9C CNC has three different speeds when execute HOME as shown in Fig 8.2.

RESET
HOME
JOG
CYCST
8 - 2
Speed 1: The motor accelerates to Speed 1 and its maximum speed is determined by
the settings of MCM #301~#309 and the direction by MCM #281~#289.
When tool touches the home limit switch, it starts deceleration to a stop.
Speed 2: The motor accelerates again to speed 2 and its maximum speed is equal to 1/4
of Speed 1 and the direction is by MCM #341~#349. When tool starts leaving
the home limit switch, it starts deceleration to a stop.
Speed 3: The motor accelerates to speed 3 and its maximum speed is determined by the
settings of MCM #321~#329 and the direction by MCM #341~#349. Once
the encoder grid index is found, motor decelerates to a stop. This is the
HOME position.

Note that the length of the Home limit switch should be longer than the distance for the
deceleration of Speed 1. Otherwise, serious error may result. The equation to calculate
the length of the Home limit switch is

The equation of the Home Limit Switch as an example to the following:

Length of Home Limit Switch (mm)
FDCOM*ACC
60000

FDCOM = Speed 1, in mm/min. (MCM #301~#139)
ACC = Time for acceleration/deceleration, in ms. (MCM #505)
60000 = 60 seconds = 60 * 1000 milliseconds

When the C-bit C063=1 in PLC program, it commands the controller to do homing
operation.

Do homing operation for X-axis if R232=0, do Y-axis if R232=1, do Z- axis if R232=2.
do A- axis if R232=3, do B-axis if R232=4, do C-axis if R232=5, do U-axis if R232=6,
doV-axis if R232=7, do W-axis if R232=8.
If R232-Bit-0~8 All ON, select X, Y, Z, A, B, C, U, V, W axes to Hone.
You can choose either one or multiple axes to HOME.

Ex: FDCOM = 3000.00 mm/min, and ACC = 100 ms
Length of Home Limit Switch = 3000 * 100 / 60000 = 5 mm
8 Manual Operations
8 - 3

Fig 8.2 (A) Homing Speed and Direction of finding] GRID^

Fig 8.2 (B) Homing Speed and Direction of finding] GRID^

8.1.2 Manual JOG Feed Operation

There are two ways for manual JOG feed operation.
1. Use the external switch and the signal processed by PLC ladder.
2. Use a MPG hand-wheel.

Operation steps using HUST keyboard:

1. Press key twice in 0.5 seconds to enable the JOG feed function.

2. Press X , Y , Z , A , B , C , U , V , W to select the
desired axis.
3. Press PAGE and keep pressing down to Jog-feed in (+) direction. Release key to
stop Jog-feed. Press PAGE and keep pressing down to Jog-feed in (-) direction.
Release key to stop Jog-feed. (HUST standard PLC) JOG-feed speed is determined
by MCM #201~#209. The feed rate driven by the key strobe is set by the parameter
MCM Item No. 201~209 while the feed rate driven by the handwheel is set by the
parameter MCM Item No. 741~758. (The controller shall be a standard PLC model
from the plant)
HOME
JOG
3
rd
2
nd

Tool Position
Speed
C064 C072 = 1
C064=0~C072=0
SpeedG MCM#301~ #309 1/4
DirectionG MCM#341~ #349 = 0
1
st
Section Speed
Speed
3
rd 2
nd

Tool Position
1
st
Section Speed
C064 C072 = 1
C064 C072 = 0
SpeedG MCM#301~ #309 1/4
8 - 4

Fig.8-3

Operation steps using MPG hand-wheel:

On the back of H9C controller, there is a DB9-pin connector for connecting MPG hand-
wheel.
Manual feed rate is set by MCM# 741~#758 and cooperated with R222 of MPG.
If the MPG rotates in the reverse direction, please modify Parameter 518 for the
hand-wheel direction setting. It is not necessary to exchange the signal wires A and
B.

Fig 8-4 MPG Hand-wheel

8.1.3 G01 Manual Feed-rate Override (MFO %)

HUST H9C manual feed-rate override is processed by R221 in the PLC register with an
external control knob (not provided) as shown in Fig 8-5 (for example only). The
range of control is 0~150%. HUST PLC register is normally set at 100% if you don't
install an external control knob. During cutting operation (G01, G02, G03), you can turn
this knob to control its speed anytime. For example, if the feed-rate = 100 mm/min and
the MFO knob is pointing at 120%, the actual cutting rate is 120 mm/min.
User must edit by PLC.

HUST
0
10
20
30
40
50
60
70
80
90
- +
8 Manual Operations
8 - 5

Fig 8-5 G01 Manual Feed-rate Override (MFO%)

8.1.4 G00 Manual Feed-rate Override

The adjustment knob (not provided) is installed by the user as shown in Fig 8-6 (for
example only). The input signals (0, 25, 50,100%) are to be processed by HUST PLC
Register R220 in ladder program. User can adjust the feed-rate any time during the
machining process. The adjustment range is 0 ~ 100% and the standard PLC is fixed at
100%.

User must edit by PLC.

Ex: If G00 traverse speed has been set at 5000 mm/min and the control knob is
pointing at 50%, the actual traverse speed is = 5000 * 50% = 2500 mm/min.

Fig 8-6 G00 Manual Feed-rate Override

8.2 MDI Single Block Operation, MDI

MDI function can be activated by pressing key twice in 0.5 seconds or it can be
installed by user and processed through PLC. MDI function enables the user to enter a
single block of program and execute it, or enter data into the controller by G10. Once
the operation is finished, MDI command disappears. Followings are steps illustrating
the application of MDI operation.

1. Select the command of the execution.
2. Press key twice in 0.5 seconds to enable MDI function.

JOG G00
100%
100
10
1
100%
50%
25%
0%
AUTO
MDI
AUTO
MDI
G01 MFO%
40%
20%
10%
1%
60%
80%
100%
120%
8 - 6

Fig 8.7

3. Key in function to be executed
Example: Set baud rate of 4800 for RS232C.
The function is G10 P510 L57600.

Key in:

4. Press key to execute function.

8.3 Auto Execution, AUTO

The AUTO function enables the user to execute a program continuously until the end.
When executing this function, be sure that the tool is within the hardware and software
over-travel limit and that there is no obstruction along the tool path.
Execution steps:

The user can follow the execution steps. During the execution the LCD display will
show as fig.8.8.
CYCST
G 1 0
ENTER

P 5 1 0
ENTER

L 5 7 6 0 0
ENTER
8 Manual Operations
8 - 7

Fig 8.8

Execution steps:

1. Use PRNO to select the desired program. (See Sec 6.1)

2. Press key to enable the function.
3. Press key to start execution. The whole program will be executed until the end.

Note: Before performing this motion, it is necessary to make sure that the program will
not exceed the mechanical travel limit so as to avoid collision with the platform, the
chuck or the tools.

8.4 Single Block Execution in AUTO Mode, AUTO SINGLE

This function allows user to execute a program one block at a time until the end if
desired. User has to install a key for this function and process it through PLC
(C006=1) Please see HUST H9C connection manual for details.

Execution steps:

1. Use PRNO to select the desired program. (See Sec 6.1)
2. Press AUTO SINGLE key to enable the function.
3. Press key to start the execution of the first block. When the execution stops,

press again to execute the next block. Repeat the same procedure until the end.

8.5 Feed Hold (FEHOLD)

The FEHOLD key must be installed by users and processed through PLC. (C000=1)
When FEHOLD key is pressed during AUTO mode operation, the program execution
will be put on HOLD unless you cancel it. User can use this function to inspect program
or work-piece in the middle of execution.

Execution steps:
AUTO
MDI
CYCST
CYCST
CYCST
8 - 8

1. The program is in AUTO execution mode.
2. Press FEHOLD key, the program execution will be put on HOLD.

3. Press key, the program execution will resume from the point where the
program was stopped in step 2.

8.6 Option-Stop (OPST)

The Option-Stop key must be installed by users and processed through PLC. (C026=1)
This function is valid only when M1 command code is present in the program. When
OPST function is enabled, the program execution will stop at the block with M1
command. When the CYCST key is pressed again, the program execution will resume
from the M1 block.

Execution steps:

1. Enter M1 code in the program where you want the program execution to stop.
2. Press OPST key to enable the option stop function.

3. Press and key to execute the program.
4. When the execution runs into M1 block, the execution stops.
5. Press key to resume program execution.

Note that if the OPST function is NOT enabled, the execution will ignore and skip the
M1 block and continue executing the next block.

Example:

N10 G0 X20.000 Y0.000
N20 G1 V-20.000 F200.
N30 M1 ..... If OPST function is enabled, the execution will stop at this
block. Press CYCST key will resume execution from N40
N40 G1 X30.000 F300.
N50 G0 X50.000 Y0.000
M60 M2

8.7 Skip Function, SKIP

The SKIP key must be installed by users and processed through PLC. (C027=1) When
SKIP function is in effect, the program execution will ignore and skip the block
containing the "/1" code and continue execution from the next block. Otherwise, the
block with "/1" code will be executed as a normal block.

Execution steps:

1. Add the "/1" code in the program block to be skipped.
2. Press SKIP key to enable the skip function.

3. Press and key to execute the program.
CYCST
CYCST
CYCST
AUTO
MDI
AUTO
MDI
CYCST
8 Manual Operations
8 - 9
4. The execution will skip the block containing the "/1" code and continue execution
from the next block.

Example:

N10 G0 X20. Y0.
N20 G1 V-20. F200.
N30 X25. V-5. /1 ..... If the SKIP function is enabled, execution will skip this
block and continue from the next block, N40.
N40 G1 X30. F300.
N50 G0 X50. Y0.
N60 M2

8.8 Program DRYRUN

The DRYRUN key must be installed by users and processed through PLC. (C015=1)
DRYRUN function is used to test a program with G00 high speed and it can be
activated anytime during program execution. If DRYRUN key is pressed during
program execution, the controller will finish the current block with current feed-rate.
After that, it will ignore all programmed feed-rates (F-values) and execute at G00 high
speed until the program end. When DRYRUN function is canceled, the controller will
return to the programmed F-speed at the end of the current block. Before activating this
function, be sure that there is no any obstruction along the tool path in order to
avoiding any potential damages to the equipment.

Fig 8-9 DRYRUN Function Timing Relation

CUTTING SPEED DRYRUN SPEED
CUTTING
SPEED DRYRUN SPEED
1 2 6 5 4 3
OFF
ON
OFF
ON
OFF
ON
OFF
ON
0
LOW
CUTTING
SPEED
GO SPEED HIGH
Auto mode
Dry-run C015
Cycle start
Motion
feed rate
Execution
block
8 - 10
8.9 MPG Hand-wheel Testing

In addition to the DRYRUN function for program testing, HUST H9C controller also
provides another testing function by a MPG hand-wheel.

1. The advantage of the MPG testing is that user can do actual cutting using a MPG
hand-wheel speed. Any errors in the program can be detected and the product
inspected before making mass production. And it can avoid the machine crash.

2. MPG test must be done in AUTO mode, i.e. the Register R100=1 in PLC. The MPG
Test key must be installed by users and processed through PLC, i.e. C056=1 in PLC
to turn on the test function. During testing, the feed-rate by MPG hand-wheel is
determined from the MFO% switch. Please refer to "Connecting Manual" for details.

MPG testing function steps:

1. Use PRNO function to select the program for MPG test.
2. Press MPG Test key (C056=1) to enable MPG testing function.
3. Select the feed-rate (MFO% switch)
4. Press AUTO and CYCST.
5. Rotate MPG to start testing. When you stop MPG, the testing also stops. You can
control the test speed by controlling the rotating speed of MPG.
6. If you cancel the MPG testing mode, the controller will execute the program with the
normal feed-rate.

8.10 Program Re-start, RE-STA

Program restart Case 1

The program restart function allows the user to restart the execution from where the
program was interrupted. User must know the exact location of program interruption
when applying the RE-STA function. Its function key must be installed externally and
processed by C011 bit in the PLC. When C011=1, RE-STA function is enabled.

Execution steps:

1. Press key and use MPG (JOG function) to move the tool away from the
work-piece. If the interruption is due to EM-stop or servo error (Error 2), execute
"HOME" prior to pressing RESET.
2. Press RE-STA key (I023) to enable the restart function.
For example if you use I023=1 in PLC, the bit C011=1 as shown below:

Fig 8-10

3. Press AUTO key.

4. Press to start the RE-STA function. The restart function will be automatically
cleared when program execution comes to M02 or M30 block.
I023
C011
CYCST
RESET
8 Manual Operations
8 - 11

Notes: During RE-STA execution, the M-, T-, S-code in the program before the
interrupted block will be executed again.

Example: Program 2 (Fig 8-11)

Work origin at X=-150.0, Z=-250.0.
Execute "HOME" to move the tool to the machine origin.

N10 S200
N20 G0 X50. Y100.
N30 G1 V-20. F200.
N40 X60. V-20. ..... program was interrupted at this block, restart from here.
N50 V-20.000
N60 X80. V-20.
N70 G0 X250. Y150.
N80 M2

Fig 8-11 Program Restart (RE-STA)

(1) As the Fig 8-11, let the C011 = 1.

(2) Press the key, then CYCST.
(3) The controller will calculate the range from N10 to N30, then move the tool to
the end of N30 and continue the program execution from there.

Program restart Case 2

Suppose that you are executing program A. For some reason you want to temporarily
stop the current execution and switch to program B. After you have finished job with
program B, you can use C012 and C013 in PLC to return to program A and
continue execution from where it was stopped. The steps to achieve this operation are as
follows.

1. Stop execution of program A and make C012=1 which would cause controller to
store the block number where it was stopped.
2. Switch to program B and execute program.
3. When finished with program B, use PRNO key or process through PLC to return to
program A.
4. Use C013=1 to cause controller to read the stored block number in step 1.
Y
X
N30
N60
N40
N50
Restart
Interrupted
AUTO
MDI
8 - 12
5. Use C011=1 to activate Re-start function.
6. Press to start execution from where program A was interrupted.

8.11 Round Corner Non-stop Operation

When executing two program blocks with the tool going in the different direction, the
intersection normally forms a sharp angle and the motor will go through deceleration
and acceleration. With this operating condition, some machine such as glue machine,
flame or laser machine can not obtain a satisfactory result. To overcome this problem,
HUST controller provides a round corner non-stop operation.

There is no function key available on the HUST keyboard. However, customer can use
the input point to enable the bit C036=1 in the PLC. When C036=1, the round corner
non-stop operation is enabled and the cutting goes through the arc SE as in Fig 8-12.
The distance d (SP = PE) can be calculated from the equation below:

d = 0.5 * feed-rate, F * acceleration/deceleration time

Fig 8-12 Round Corner Operation

Example: F = 500. mm/min. Time for acceleration/Deceleration = 300 ms
d = 0.5 * 500/60 * 300/1000 = 1.25 mm

Block 1
Block 2
E P
S
d
CYCST
9 PC On-line Operation
9 - 1
9 Document transmission

9.1 PC Performs Online Operation via RS232 and The Controller

Through TAPE function, HUST H9C can do the following PC (personal computer) on-
line operations via RS232C interface. Through MDI mode, you can execute G10
function as shown in Table 9-1 as well as burn the transmitted program, MCM
parameters, PLC simulation program, LCD screen display data, and system data into
Flash-ROM in the controller.

1 Transfer part program from PC (personal computer) to CNC controller.
2. Transfer a part program from CNC controller to PC.
3. Transfer MCM data from PC to CNC controller.
4. Transfer MCM data from CNC controller to PC.
5. Transfer data variables from PC to CNC controller.
6. Transfer data variables from CNC controller to PC.
7. Transfer PLC ladder program from PC to CNC controller and test the ladder
program.
8. Transfer LCD screen display data from PC to CNC controller.
9. Transfer self-designed data from PC to CNC controller.
10. Transfer system data from PC to CNC controller.
11. Transfer filled tables from PC to CNC controller.
12. Transferring while executing the program from PC.

Items 1 ~ 11 can be done from PC side when the controller is under power-on mode but
NOT in TAPE mode.

Table 9-1 Online Operation with G10 Function through RS232C Interface

G10 P510 L38400 Set the baud rate for RS232 interface at 38400 bps
G10 P600 L01 Burn the externally transmitted program into Flash-ROM
G10 P600 L02 Burn the externally transmitted MCM parameters into Flash-ROM
G10 P600 L03 Burn the externally transmitted ladder program into Flash-ROM
G10 P600 L05 Burn the externally transmitted controller system data into Flash-ROM
G10 P2100 Load the part program from Flash-ROM to memory
G10 P1000 (note) Load the MCM parameters from Flash-ROM to memory

Note that MCM data of FLASHROM are the standard settings. The users can execute
G10 P600 L02 to save the adjusted settings by burning to FLASHROM memory. If the
users want to reverse the former saved settings, simply load the data by executing G10
P1000 from FLAHROM memory.

9 - 2
Program Transfer from PC to CNC Controller

Format for program transfer:

%
O001 ..... Program number
N10 G0 X0. Y0. Z0
N20 G1 X50. Y50. Z45
N30 U30. V-30. W15 Program content
N40 G0 X0. Y0. Z0
N50 M2
%

Notes:
1. The program must start and end with a symbol of %.
2. Program number range = 000~999
3. One line contains one program block only. Do NOT write multiple program block on
the same line as N10 G0. Y0. N20 G1 X10. Y10. N30 G0 X0. Y0. N40 M2.
4. If program number (Oxxx) is NOT specified while transferring from PC to CNC, itll
write over the current program in the controller. If the program number is specified,
the program will write over the corresponding program in the memory.

9.1.1 Program Transfer From PC To CNC Controller

1. The controller is stand-by when S080 = 0
2. On PC side, make sure the transmission is ready to transmit.
Baud Rate should be correct when you execute HCON.exe (See section 10, Chapter
9 ). After entering Data Transmission Mode (FileSvc),
(1) Select Send File To CNC : TYPE >>>
(2) Select 1:CNC
(3) Press Open File to select the processed program file for transmission.
(4) After the confirmation of file, press Send Out . PC will download the data
automatically.

Note:
When the program is in execution (S080=1), you must stop for S080 turning 0 to re-
operate the step 4.

Note:
If the program to be transferred has an ID number, after the transmission, it will be
stored in the memory with the same number at the CNC side; otherwise, it will replace
the program currently used by the controller.
9 - 3

Fig 9-1

Note: If the transmission program has numbers, it will be stored as the same numbers as
in CNC after transmitting, otherwise, it will be replaced by its current program.

The processed program such as data upload and download will be saved in the memory.
It can be still preserved by the batteries when the power of the controller is off. To
secure its longevity of the saved files, you need to use MDI command (G10 P600 L01)
to burn the upload program into Flashrom. After entering the command, press MDIgo.
See fig.9-2

9.1.2 Program Transfer from CNC Controller to PC

1. When S080 is 0 , the controller is stand-by.
9 ). After entering Data Transmission Mode ( FileSvc ),
(1) Select Recv File fm CNC : TYPE >>>
(2) Select 0:CNC to read the current program in the controller.
Select 1:CNC_ALL to read the full program in the controller.
(3) Press Recv In
(4) After the confirmation of the file content, press Save File

Note:
operate the step 3 & 4.
9 - 4

Format for MCM Data Transfer:

%
O9002 Program number 9002 designated for MCM data
0000000 MCM #1
0000000 MCM #2
0000000 MCM #3
0000000 MCM #4
.
........ ........
%

Notes:
1. The MCM data must start and end with a symbol of %.
2. Program number for MCM data is O9002.
3. No decimal point for MCM data transferred. The unit is 1/1000th of a second for
time and m for length or speed. One line for one MCM data only (7-digit).
For example, HOME speed on X-axis = 2500.00, it'll show 0250000 after
transferred. Software limit on Y-axis = -9999.999 cm, itll show 9999999.

9.1.3 Transfer MCM Data from PC to CNC Controller

1. The controller is stand-by when S080 = 0
(1) Select Send File To CNC : TYPE >>>
(2) Select 2:MCM
(3) Press Open File to select the part program file for transmission.
(4) After the confirmation of file, press Send Out . PC will download the data
automatically.

Note:
operate the step 4.
To secure its longevity of the saved files, you need to use MDI command (G10 P600
L02) to burn the upload program into Flashrom

9.1.4 Transfer MCM Data from CNC Controller to PC

1. When S080 is 0 , the controller is stand-by.
(1) Select Recv File fm CNC : TYPE >>>
(2) Select 2:MCM
(3) Press Recv In
(4) After the confirmation of the file content, press Save File

9 - 5
Note:
operate the step 3 & 4.

9.1.5 Transfer Data Variable from PC to CNC controller

Except the change of the Step 2 (Change 2:MCM to 9: Var), the rest of the
procedures are as same as the MCM transferring.

9.1.6 Transfer Data Variable from CNC controller to PC

There are some varieties to be made in the Step 2, the rest of the procedures are similar
to the MCM transferring.

Change 2:MCM to 9: Var-099 (Read the total numbers of the variables)

9: Var-099 (The total number of the variables)
or A: Var-199
or B: Var-299
..
..
or Q: Var-8999
or R: Var-9999

similar for the remaining settings.

9.1.7 Transfer PLC Ladder from PC to CNC controller

Except the change of the Step 2 (Change 2:MCM to 3:Plc), the rest of the

Note:
After down loading the PLC data, you need to use MDI command (G10 P600 L3) to
burn the data into Flashrom. Otherwise, the data will be lost after restarting the
controller.

9.1.8 Transfer LCD Screen Display Data from PC to CNC

Except the change of the Step 2 (Change 2:MCM to 4:CRT), the rest of the

Note:
You must always burn the data into Flashrom after downloading by using MDI
command.

9.1.9 Transfer Controller System Data from PC to CNC

Except the change of the Step 2 (Change 2:MCM to 5:SYS), the rest of the
9 - 6

Note:
After downloading the data from the screen, you must use MDI( G10 P600 L5) burn
command. The data will be automatically saved in Flashrom. Otherwise, the data will
be erased after restarting the controller.

9.1.10 Transfer function tables from PC to CNC controller

Except the change of the Step 2 (Change 2:MCM to 8:PIN), the rest of the

Note: You must always burn the data into Flashrom after downloading by using MDI
command.

9.1.11 PC to Controller (ARM)

The transmission steps are the same. Selection project is C : ARM C
Caution: After loading ARM data, you shall turn on the controller again so that it can
operate normally.

9 - 7
9.1.12 HCON.EXE Program Operation

Program Display:

Fig 9-2

Note:
1. Baud rate must be kept the same like the MCM# 520 setting in the controller from
CommPort Rs232 connectors.
2. Parity Check with H9C stays permanently as Even
3. Data Bit with H9C stays permanently as 7 Bits
4. Stop Bit with H9C stays permanently 2 Bits.

After the above 4 items are confirmed, please click Link to CNC to enter the software
operation interface.

9 - 8

Fig 9-3

Key Descriptions
PlcBit : Signal I/O/C/S/A status display
VarUser : Variables 0~9999 display
Var Sys : Variables 10000~ 13999 display
CncInfo : Particular variables system 10900~10999 display
McmData : MCM parameters display
Motion : Preserved
FileSvc : Data Transmission ( * Note 1)
MDIgo : Enter Single Bock command in the message box and press the key.
ReSet : Reset the controller

* Note : The functions of File Svc is as follows:
Recv File fm CNC Read data from CNC
Send File to CNC: Transfer PC to CNC

1. Recv File fm CNCGRead data from CNC

Recv File fm CNC:TYPE >> 0 : CNC PC read the main program.
1 : CNC_ALL PC read the full program.
If the communication between the PC and the controller is normal, Cps is a non-zero value.
When the communication between the PC and the controller is normal, the DSR and
CTS will be highlighted in red background.
9 - 9
2 : MCM PC read the parameters.
9 : Var-0099 PC read MCM#0~99
A : Var-0199 PC read MCM# 0~199
CCCCC
QG Var8999 PC ead MCM#0~8999
RG Var9999 PC ead MCM#0~9999

A. On PC side, select data in CNC and press Recv In , PC will start reading the
data and storing them in memories temporarily.
B. Press Save File and enter the files name. The action is complete.

2. Send File to CNCG Transfer PC to CNC

Send File to CNC: TYPE >> 0 : CNC PC transfer the part program to CNC.
1 : CNC PC transfer the part program to CNC.
2 : MCM PC transfer the parameter to CNC.
3 : PLC PC transfer PLC to CNC.
4 : CRT PC transfer self-editing screen to CNC.
5 : SYS PC transfer main system to CNC.
8 : PTN PC Transfer function tables to CNC.
9 : VAR PC Transfer users variable to CNC controller.
C : ARM PC Transfer ARM data to CNC controller.

A. After selecting the items, press Open File ; enter the desired files name.
B. Wait for PC to complete the reading and store in the memories; press Send
Out , the action is complete.
C. V W2Flash shows that the data has been automatically burnt into Flash-Rom
after being sent out.

9 - 10
9.1.13 RS232C Connection

A proper connection between PC and HUST controller is shown in Fig 9-8. Please refer
to Connecting Manual for more information. When making connection, please be aware
of the followings:

1. The connecting cable should not exceed 15 meters to minimize the potential noise
interference. The voltage at the PC interface should be in the range of 10~15 volts.

2. Avoid working in an environment where is under the direct noise interference from
the machines such as EDM, electric welder, etc. Do not use the same power outlet as
for EDM and electric welder. Twisting the cable may help in noise reduction.

Fig 9-4 RS232 Connection

HUST CNC PC COM1
HUST CNC PC COM2
DCE
DCE

2
3
5
7
8
TXD
RXD
SG
CTS
RTS
3
2
7
5
4
RXD
TXD
SG
RTS
CTS
DB9LM
CONNECT
OR
DB25LF
CONNECTOR
2
3
5
7
8
TXD
RXD
SG
CTS
RTS
2
3
5
7
8
RXD
TXD
SG
RTS
CTS
DB9LM
CONNECT
OR
DB9LF
CONNECTOR
9 - 11
9.2 HUST H9C Transmission Modes

HUST H9C series controllers have the following four transmission modes for the user
to select:

1. RS232 Mode
2. USB Device Mode
3. USB Host Mode
4. SDC Mode

Press and hold the key for three seconds, it will enter the transmission mode
selection screen as shown in Fig 9-1.

Fig 9-5

The default is R232 Mode. The transmission mode can be switched by pressing the
function keys.

While switching the transmission mode, if a read error occurs:
1. Please press the Reset key.
2. Re-enter the transmission mode selection screen.
3. Switch to the R232 Mode to solve the problem.

9 - 12
9.3 USB Device Mode

PC and the H9C controller are connected via USB connection. Now, the H9C controller
plays the role as the USB device side, i.e. a mobile diskette while PC plays the role as
the USB host side. In this mode, PC can read data information such as users programs,
users variables, machine parameters, etc. from the H9C controller. Also, PC can write
its data in the controller.

9.4 USB Host Mode

In this mode, H9C plays the role as the USB host and can directly read / write data
information such as system files, screen files, users programs, users variables,
machine parameters, etc in a mobile diskette via the USB interface on the back of the
controller. Also it can store the data in the mobile diskette from the controller.

9.5 Operational Instruction of A Standard H9C Transmission Interface

To select USH-H mode on the switch screen in the transmission mode, you shall enter
the embedded transmission operation interface as shown in Fig 9-9.

Fig 9-6

9 - 13
Descriptions of function keys:

Return to Main Menu: Returns to the switch screen in the transmission mode.
Open a folder: Opens the file contents in a folder stored in USB or SD card.
Return: Returns to the last level of directory.
Copy: Copies data.
Paste: Stores copied data.
EXG With directional keys s t to move the cursor to the data file to be
copied, press the COPY key and then press the PASTE key, you can
create a new file.
Download: Goes to the file download interface.
Upload: Goes to the file upload interface.
: Goes to the second page in the transmission operating interface.

Press the function key, you can enter the second page in the transmission operation
interface as shown in Fig 9-7.

Fig 9-7

Descriptions of function keys:

Return to Main Menu: Returns to the switch screen in the transmission mode.
Delete: Deletes the file or folder the cursor is pointing at.
Rename: First key in a new file name and then press the function key, you can rename
the file or folder the cursor is pointing at.
Add Folder: First key in the new folder name and then the function key, you can create
a new folder.
Download: Goes to the file download interface.
Upload: Goes to the file upload interface.
G Returns to the first page in the transmission operating interface.

9 - 14
9.5.1 FileDownloadInterface

Press the function keyDownload on the transmission operating interface, you can enter
the screen as shown in Fig 9-8 and 9-9.

Fig 9-8

Fig 9-9

Download USB CNC

Example: Steps for downloading a plc file are:
1. Press the Download function key to enter the download interface.
2. Go to the PLC (*.PLC) file using the cursor.
3. Press the PLC function key.
4. Check for any transmission indication appearing on the upper left corner
of the screen.
5. After transmission, the screen will show DATA LOADING OK.

Note: To download data, first point the cursor to the file to be downloaded, and then
press the desirable function key.

9 - 15
ZDNC Simultaneous Transfer/Execution:

Attention
1. If the file size of the machining program is too large, it is necessary to use the
DNC feature for simultaneous "transfer and execution".
2. For the master-slave mode, the settings should be configured as non-stop mode
for a single block (Parameter 501=256).
3. Set R127 as 8 and R128 as 32 (recommended setting values).

Operation Procedure:
1. Use the arrow keys to select the machining program and then confirm.
2. Press the RD-DNC key to enter the DNC mode and the following screen will be
displayed:
3. After the operation is completed, it will automatically return to the USB operation
screen.
4. Trace function: During the operation, press the S button to enter the Trace mode.
5. Servo response: During the operation, press the R button to enter the servo
response trace mode.
6. In the Trace mode, press the AUTO button to return to the AUTO mode screen.
7. The software key and trace operations are the same as the normal operation.

Fig 9-10

9 - 16
9.5.2 File Upload Interface

Press the Upload function key on the transmission operating interface, you can enter
the screen as shown in Fig 9-11.

Fig 9-11

Upload CNC USB(SD CARD)

Example: Steps for uploading a parameter are:
1. First key in the file name (letters+ numerals shall be no more than 8
bits). Key in E456 and press Enter.
2. Press the Parameter function key.
3. After completion, you can see the E456.MCM file on the screen.

To upload data, first key in the file name and then press the desirable
function key.

Input
characters
10 Error Messages
10 - 1
10 ERROR MESSAGES

When an error occurs during operation, HUST controller will be stopped and an error
message displayed on the bottom of LCD screen as shown in Fig 10.1. This chapter
explains the error messages and the method to correct them.

Fig 10-1 Error Message Display

Error
Code
Details Causes
MCM Data Error 01
B Each axis return to the mechanical origin. The distance for the servo
motor to find the GRID should be >1024.
Recommended Remedy:
1. Check if MCM parameter setting data are correct. Or, execute G10 P1000 in MDI
mode to clear all parameters and reenter new data.
2. If the controller has not been turned on for months, the data in the memory will be
lost. The controller will show BT1 message. In this case, change the battery.

Error
Code
Details Causes
X~C Axis follow-up mismatch is too large. 02
S Main spindle follow-up mismatch is too large (>3072).
Message:
Servo position control (servo feedback) error. Possible causes are:
1. The voltage command from the controller is too fast for the motor to response.
2. The controller does not receive any feedback signal from the servo motor.

Recommended Remedy:
1. Please check Parameter 533, the default = 4096.
2. Check if the feed-rate "F" in the part program is too fast.
3. Check if the resolution settings of MCM parameters are correct. (MCM #241~#252)
4. Check if the worktable being overloaded, or any obstruction in the motor.
5. Also check the servo system including the connections.
Error 02. Y AXIS ERR
Error
Messages
10 - 2

Error
Code
Details Causes
03 L The number in the Counter for counting M99 exceeds the one specified
by MCM #10921.
Recommended Remedy:
1. Clear the number in the Counter or adjust the number in MCM #10922 to a larger
one. Press RESET key.
2. Under Auto or MDI mode, execute G10 P201 to clear MCM #10921, then press
RESET key.

Error
Code
Details Causes
A U USB/SDC ERROR FR_DISK_ERR
B USB/SDC ERROR FR_INT_ERR
C USB/SDC ERROR FR_NOT_READY
D USB/SDC ERROR FR_NO_FILE
E USB/SDC ERROR FR_NO_PATH
F USB/SDC ERROR FR_INVALID_NAME
G USB/SDC ERROR FR_DENIED
H USB/SDC ERROR FR_EXIST
I USB/SDC ERROR FR_INVALID_OBJECT
J USB/SDC ERROR FR_WRITE_PROTECTED
K USB/SDC ERROR FR_INVALID_DRIVE
L USB/SDC ERROR FR_NOT_ENABLED
M USB/SDC ERROR FR_NO_FILESYSTEM
N USB/SDC ERROR FR_MKFS_ABORTED
04
O USB/SDC ERROR FR_TIMEOUT
Recommended Remedy:
1. Please make sure the USB format is FAT and if the filename extension of the field
to be transferred is correct.
2. Please contact the distributor or manufacturer.

Error
Code
Details Causes
D For the ZDNC operation, the address for the program data is incorrect
M MDI command error (command is larger than 128bytes)
08
E The current program has a single block larger than 128 bytes.
Recommended Remedy:
Check the program block and make sure each single block of program is less than 128
characters.

10 Error Messages
10 - 3

Error
Code
Details Causes
O
RS232 ERROR OVERRUN ERROR
P
RS232 ERROR PARITY ERROR
F
RS232 ERROR FRAME ERROR
B
RS232 ERROR BREAK ERROR
10
N
RS232 ERROR OTHER ERROR
Recommended Remedy:
1. Check the baud rate in MCM #520 if compatible with the one in PC.
2. Check the communication cable connection from PC to CNC controller.

Error
Code
Details Causes
11 1
Program CHECKSUM error.
A
Startup check program SUM error.
D
Program Memory address error (DOWN MODE).
F
Program Memory is full
U
Program Memory address error (UP MODE)
Recommended Remedy:
1. Execute G10 P2001 in MDI mode to clear all programs.
2. Check battery for memory chip. If the controller has not been turned on for months,
the data in the memory will be lost. The controller will show BT1 or BT2
message. In this case, change the battery.

Error
Code
Details Causes
12 The size of the burning program is too large.
H6 standard: 56k= 896 lines. Each single block is 64 bytes.
H6 Lath/Mill: 56k +128k (storage space) = 2944 lines. Because the
burning program must not exceed 128k, the maximum number of line is
128k=2048 lines.)
N The declaration commands is larger than 20 lines (G11, G12, G04, M
code)
L The L error in G10 P0920 Lxxxx
(L must not be empty and 0<=LA<1000)
P
The program specified by Lxxxx in G10 P0921 Lxxxx is not declared.
Recommended Remedy:
1. Please check if the program has a syntax error.
2. Please check the size of the program file.

10 - 4

Error
Code
Details Causes
13 G G code error
For G87 command, the Bits 10 and 11 of R209 are not ON.
T
T code error
M
M code error (MA<0)
R R error in G81~G89 command
(1)R has different sign with Z(A)
(2)R has different sign with (Z(A) R)
Recommended Remedy:
1. Please check the program and make sure that the G-code is configured correctly.
2. Please check if the PLC has un-supported G code settings.

Error
Code
Details Causes
14 X
.
.
.
.
.
C
X, Y, Z, A, B, C-axis Over-travel.
Recommended Remedy:
Use MPG hand-wheel (or by hand) to manually move the tool in the X-axis within the
operating range (or inside the hardware limit switch).

Error
Code
Details Causes
15 L When servo motor searching the GRID signal, the distance exceeds the
setting range.
Message: While the axis is returning the origin, the servo motor is unable to find the
GRID signal.

Recommended Remedy:
1. Adjust the position of the home SENSOR or adjust the grating number in the
parameter setting.
2. Check if the feedback cable of the servo motor is interfered.
3. Check if the servo motor is normal.

10 Error Messages
10 - 5

Error
Code
Details Causes
During the automatic execution, the fetch of the next single block fails.
C The failure during copying the next single block may be caused by the
following reasons:
1. The source program to be copied does not exist
2. The start line of the source program > end line.
3. The start line of the source program > total number of lines
4. The end line of the source program > total number of lines
5. The target program ID number does not exist
6. The start line of the target program > total number of lines
7. The memory is full before the program is successfully copied
8. Source program ID = Target Program ID and the start line of the
source program <= the start line of the target program <= the end line of
the source program
M It triggers the C25 single block data read error: it is unable to find the
starting address of the specified single block
T
Fail to find the starting address
Q M95Qxxx error (QA is not with the range 0 127, or the program
specified by QA does not exist)
L
M99 return program error (G10P301 line number error)
18
P
G60G63 the subroutine to be called is empty
Recommended Remedy:
1. Check the ending statement of the program, such as M02 and M30.
2. Please check if the size of the program is too large.
3. Please check if the single block data or the ID number of the single block data (N) has
error.

Error
Code
Details Causes
X
.
.
.
.
.
C
X, Y, Z, A, B, C axis has reached the software limit.

20
N The number of limit points for the software limit exceeds 4000.
Recommended Remedy:
Check the program or revise the settings in MCM #581~#586 , #601~#606 for software
travel limit.

Error
Code
Details Causes
22 Em-Stop (C002=1)
Recommended Remedy:
Resolve the cause for emergency stop. Restore Emergency-STOP button and press
RESET.
10 - 6

Error
Code
Details Causes
24 Memory stack error
Recommended Remedy:
Please check if the calling of the subroutines overlap with each other.

Error
Code
Details Causes
G02/G03 command error (the starting radius is not equal to the end
radius)
R R input format error in G02/G03:
The two axis with arc compensation has no offset (in the lath mode, R<0)
L
2*[RAR]>[LENGTH]
25
G
I,J,R is not specified in G02/G03 commands
Recommended Remedy:
Check the part program and recalculate the coordinate of the center of the arc/circle.

Error
Code
Details Causes
27 X
.
.
.
.
C
X~C is the deceleration distance when C28=1 and R190
0, R190<G31.
Recommended Remedy:
1. Check if the setting of R190 is too short to be less than the deceleration distance.
2. Reduce the accel./decal. time setting. (The motor loading should be considered.)

Error
Code
Details Causes
N
MISSING G70 WITH G7x COMMAND
W
[ZA] DIR. SHOULD BE DIFFERENT FROM [G70WA]
28
U
[XA] DIR. SHOULD BE DIFFERENT FROM [G70UA]
Message:
In the program, the G71, G72, G73 commands are incorrect or in an incorrect format.

Recommended Remedy:
Check if the G71, G72, G73 commands in the program have incorrect settings.

Error
Code
Details Causes
G
The G code which includes the C,R,A single block is not G00..G04
P
Parameter setting error
A
,A_ or its related parameter error
R
,R_ or its related parameter error
29
C
,C_ or its related parameter error
10 Error Messages
10 - 7
Message:
The format of the automatic filled-in command is incorrect.

Recommended Remedy:
Check if the A, R, C commands in the program has proper <period> in the statement.

Error
Code
Details Causes
31 None PLC
Recommended Remedy:
1. Please transfer the data into the PLC.
2. Please contact the distributor or the manufacturer.

Error
Code
Details Causes
E
The E in G92 is not within the range (1.0 100.0) (Imperial)
P
The P in G76 is not within the range (30 90)
L The end point of the cutting the over cut for finish turning < the coarse
cutting depth
D
The maximum cutting depth for G76 < 0
32
C CANPX-CANPR< CHAMX
The thread cutting length < thread undercut length
Recommended Remedy:
Please check if the cycling thread lathing command is incorrect.

Error
Code
Details Causes
4
The Kxx in G34 < 0
5
The Kxx in G35 < 0
6
The Kxx in G36 < 0
7
In G37, the Pxx<=0 or Kxx<0
33

Execute G35,G36,G37 commands in the lath mode.
Recommended Remedy:
Please check if the K value in the milling command G34~37 is correct.

10 - 8

Error
Code
Details Causes
B The communication format of USB/SDC is not O8001.
The communication format of USB/SDC is not O8002
C
The communication format of MCM is not O9002.
F The communication format of the memory is not O9140
The communication format of the variable is not O9004
L The communication format of the PLC is not O9003
PLC document exceeds the maximum size.
P
The program ID number to be received exceeds 1000 (Oxxxx).
R LENGTH OR SUM ERROR
#13245, #13246, #13247, #13248
S The communication format of SYS is not O9100
SYS document exceeds the maximum size.
T
The communication format of TBL is not O9110
36
W
The received hexadecimal file is not in the format of XXXX,0DH
Recommended Remedy:
Please check if the format of the data to be transferred is correct.

Error
Code
Details Causes
37 NC ALARM (C007=1)
Recommended Remedy:
Check the machine tool for proper operation. Correct the problem and press RESET.

Error
Code
Details Causes
38 The screen reading time is too long > 3000ms
Recommended Remedy:
1. Please re-transmit the screen data file.
2. Please contact the distributor or the manufacturer.

Error
Code
Details Causes
41 In the tool compensation mode, the paths of the single bock and the
command between the block are 2 parallel lines.
42 OVER CUT
43 The distance between the start point and the end point is shorter than
0.005.
45 C251=0, the arc offset compensation radius in a the single block <0
46 In the tool compensation mode, while executing the arc command, the
system cannot determine the intersection point for the center.
48 The tool compensation radius <0
49 The tool tip direction is not of the type specified by 0~9.
The number of single blocks with no axial motion exceeds 10
Recommended Remedy:
1. Please check if the tool compensation setting is correct.
2. Please check if the program is correct.

10 Error Messages
10 - 9

Error
Code
Details Causes
50
.
.
.
.
.
99

Error in user defined error message by G65 Macro.
Recommended Remedy:
Check if G65 function is properly applied. If not, have the problem corrected.

10 - 10

11 Appendix A
11 - 1
11 Appendix A

11.1 Selection of Servo Motor with Compatible Moment of Inertia

According to manufacturers general catalogue for servo motor, the maximum load that
a servo motor can carry is about 10 times of its moment of inertia. Mathematically, it
can be expressed as (10 * J
M
> J
L
).

J
M
= Moment of Inertia for Servo Motor (Obtainable from manufacturers brochure)
J
L
= Moment of Inertia for load. (See next section for calculation).

However, 10 times of its moment of inertia is too heavy and the operation is very
sluggish. Therefore, its normally set at 5 times as (5 * J
M
> J
L
).

11.1.1 Calculation of Moment of Inertia for Load

1. Moment of Inertia for Cylindrical Load

Fig 11-1 is a typical setup with cylindrical load. The moment of inertia for the gears A
& B and the cylindrical load C can be calculated by the general equation as follow.

Jga, Jgb, or Jc = 0.5 * MR
2
(in kg-cm
2
or kg-m
2
x10
4
) (Eq 11-1)

Where: Jga, Jgb, Jc = Moment of inertia for gear A, B or load C, respectively.
M = Mass for gear A, B or load C, respectively.
R = Radius for gear A, B or load C, respectively.

Fig 11-1 Cylindrical Load

The equation to calculate the combined moment of inertia for cylindrical load including
gears A and B is as follow.

Where: GR = gear ratio = (Tooth number of gear B) / (Tooth number of gear A)
J =
(Jgb + Jc)
(GR)
+ Jga , (in kg - cm or kg - m x10 ) (Eq 11- 2) L
2
2 2 -4
(a) GEAR
(b) GEAR
(c) ROLLER
R
SERVO
MOTOR
11- 2
2. Moment of Inertia for Square Work Table

Fig 11-2 is a typical setup of a machine tool with work table. Again, the moment of
inertia for the gears A & B and the ball-screw C can be calculated by equation 11-1
and the moment of inertia for square work table D is by the following equation.

Jtd = M * (P/2)
2
(in kg-cm
2
or kg-m
2
x10
4
) (Eq 11-3)

Where: Jtd = Moment of inertia for work table D.
M = Mass for work table D.
P = Pitch length of ball-screw C.
= 3.1416

Fig 11-2 Moment of Inertia with Work Table

The equation to calculate the combined moment of inertia for machine tool with square
table including gears A, B and ball-screw is as follow.

Where: Jbc = Moment of inertia for ball-screw C.
GR = gear ratio = (Tooth number of gear B) / (Tooth number of gear A)

Table 11-1 is a table of moment of inertia for square work table with various mass and
the pitch length for ball-screw. Tables 11-2 and 11-3 show the moment of inertia for
ball-screw with various sizes and weights.

J =
(Jgb + Jbc + Jtd)
(GR)
+ Jga , (in kg - cm or kg - m x10 ) (Eq 11- 4) L
2
2 2 -4
(a) GEAR
(b) GEAR
(c) SCREW
(d) TABLE
SERVO
MOTOR
R
11 Appendix A
11 - 3
11.2 Way to select the suitable Servo motor

ConditionG Max. and Min. loading radius, loading weight ,Feed rate(mm/min)

EXG
How to select the winding machineF The tension-motor of aluminum foil
Critical conditionG
The external diameter of aluminum foilG 240 mm
The diameter of inner roundG 40 mm
WeightG 15 Kg
Max. rate of windingG 20m/min

CalculationG
Loading rotation-inertiaG 1/2 MR
2
M (mass) R(radius)
SoG 1/2 15 (12)
2
= 1080 Kg.cm
2
(rotor inertia)
i Because the loading rotation-inertia (rotor inertia) is too big, it must be used the gear
ratio to reduce the inertia.j
Min. circumference rpm = Distance
Min. radius = 40 mm 2 = 20 mm
Min. circumference = 2 3.1416 20 = 125.66 mm
125.66 mm rpm = 20000 mm , rpm = 159.159
i Supposed that the gear ratio is 6G 1 (Motor turns 6 rounds; aluminum foil turns 1
round)j

1080 Kg.cm
2
6
2
(Gear ratio)
2
= 30 Kg.cm
2
(rotor inertia)

For the example of TELI servo motor (Please refer to the rotor inertia of TELI
default)
PsG The motors of TELI, MITSUBISHI can bear the 5 times of rotor inertia.

Because it will not suitable for low inertia motorF Rotor inertia 5. We choose the
middle inertia motor.
Middle inertia : 1 KW,2000 rpm motor7.82 Kg.cm
2

7.82 Kg.cm
2
5 = 39.1 Kg.cm
2
39.1 Kg.cm
2
30 Kg.cm
2

159.159 (rpm) 6(Gear ratio ) = 955 rpm 2000 rpm 955 rpm 2

i Because the tension motor must match with the following speed. The 2 times of rpm is
the best following speed.j

Gear ratio 6, Middle inertia 1 KW motor

40
240
11- 4
Table 11-1 Moment of Inertia for Square Work Table(V .Q
2
AV .m
2
10
-4
)

Work Table Weight (V )
Pitch(mm) 50 100 150 200 250 300 350 400 450 500
3 0.114 0.228 0.342 0.456 0.570 0.684 0.798 0.912 1.026 1.140
4 0.203 0.405 0.608 0.811 1.013 1.216 1.418 1.621 1.824 2.026
5 0.317 0.633 0.950 1.267 1.583 1.900 2.216 2.533 2.850 3.166
6 0.456 0.912 1.368 1.824 2.280 2.736 3.192 3.648 4.104 4.559
7 0.621 1.241 1.862 2.482 3.103 3.724 4.344 4.965 5.585 6.206
8 0.811 1.621 2.432 3.242 4.053 4.863 5.674 6.485 7.295 8.106
9 1.026 2.052 3.078 4.104 5.129 6.155 7.181 8.207 9.233 10.259
10 1.267 2.533 3.800 5.066 6.333 7.599 8.866 10.132 11.399 12.665
11 1.532 3.065 4.597 6.130 7.662 9.195 10.727 12.260 13.792 15.325
12 1.824 3.648 5.471 7.295 9.119 10.943 12.766 14.590 16.414 18.238
13 2.140 4.281 6.421 8.562 10.702 12.842 14.983 17.123 19.264 21.404
14 2.482 4.965 7.447 9.929 12.412 14.894 17.377 19.859 22.341 24.824
15 2.850 5.699 8.549 11.399 14.248 17.098 19.948 22.797 25.647 28.497
16 3.242 6.485 9.727 12.969 16.211 19.454 22.696 25.938 29.181 32.423
17 3.660 7.320 10.981 14.641 18.301 21.961 25.622 29.282 32.942 36.602
18 4.104 8.207 12.311 16.414 20.518 24.621 28.725 32.828 36.932 41.035
19 4.572 9.144 13.716 18.288 22.861 27.433 32.005 36.577 41.149 45.721
20 5.066 10.132 15.198 20.264 25.330 30.396 35.462 40.528 45.595 50.661
21 5.585 11.171 16.756 22.341 27.927 33.512 39.097 44.683 50.268 55.853
22 6.130 12.260 18.390 24.520 30.650 36.780 42.910 49.039 55.169 61.299
23 6.700 13.400 20.100 26.799 33.499 40.199 46.899 53.599 60.299 66.999
24 7.295 14.590 21.885 29.181 36.476 43.771 51.066 58.361 65.656 72.951
25 7.916 15.831 23.747 31.663 39.579 47.494 55.410 63.326 71.241 79.157
26 8.562 17.123 25.685 34.247 42.808 51.370 59.931 68.493 77.055 85.616
27 9.233 18.466 27.699 36.932 46.164 55.397 64.630 73.863 83.096 92.329
28 9.929 19.859 29.788 39.718 49.647 59.577 69.506 79.436 89.365 99.295
29 10.651 21.303 31.954 42.606 53.257 63.908 74.560 85.211 95.863 106.51
30 11.399 22.797 34.196 45.595 56.993 68.392 79.790 91.189 102.59 113.99

11 Appendix A
11 - 5
Table 11-2 Moment of Inertia for Ball-screw with Weight Known

Ball-Screw Diameter (P )
Weight 20 25 30 35 40 45 50
1 0.5 0.781 1.125 1.531 2 2.531 3.125
1.5 0.75 1.172 1.688 2.297 3 3.797 4.688
2 1 1.563 2.250 3.063 4 5.063 6.250
2.5 1.25 1.953 2.813 3.828 5 6.328 7.813
3 1.5 2.344 3.375 4.594 6 7.594 9.375
3.5 1.75 2.734 3.938 5.359 7 8.859 10.938
4 2 3.125 4.500 6.125 8 10.125 12.500
4.5 2.25 3.516 5.063 6.891 9 11.391 14.063
5 2.5 3.906 5.625 7.656 10 12.656 15.625
5.5 2.75 4.297 6.188 8.422 11 13.922 17.188
6 3 4.688 6.750 9.188 12 15.188 18.750
6.5 3.25 5.078 7.313 9.953 13 16.453 20.313
7 3.5 5.469 7.875 10.719 14 17.719 21.875
7.5 3.75 5.859 8.438 11.484 15 18.984 23.438
8 4 6.250 9.000 12.250 16 20.250 25.000
8.5 4.25 6.641 9.563 13.016 17 21.516 26.563
9 4.5 7.031 10.125 13.781 18 22.781 28.125
9.5 4.75 7.422 10.688 14.547 19 24.047 29.688
10 5 7.813 11.250 15.313 20 25.313 31.250
10.5 5.25 8.203 11.813 16.078 21 26.578 32.813
11 5.5 8.594 12.375 16.844 22 27.844 34.375
11.5 5.75 8.984 12.938 17.609 23 29.109 35.938
12 6 9.375 13.500 18.375 24 30.375 37.500
12.5 6.25 9.766 14.063 19.141 25 31.641 39.063
13 6.5 10.156 14.625 19.906 26 32.906 40.625
13.5 6.75 10.547 15.188 20.672 27 34.172 42.188
14 7 10.938 15.750 21.438 28 35.438 43.750
14.5 7.25 11.328 16.313 22.203 29 36.703 45.313
15 7.5 11.719 16.875 22.969 30 37.969 46.875
15.5 7.75 12.109 17.438 23.734 31 39.234 48.438
16 8 12.500 18.000 24.500 32 40.500 50.000
16.5 8.25 12.891 18.563 25.266 33 41.766 51.563
17 8.5 13.281 19.125 26.031 34 43.031 53.125
17.5 8.75 13.672 19.688 26.797 35 44.297 54.688
18 9 14.063 20.250 27.563 36 45.563 56.250
18.5 9.25 14.453 20.813 28.328 37 46.828 57.813
19 9.5 14.844 21.375 29.094 38 48.094 59.375
19.5 9.75 15.234 21.938 29.859 39 49.359 60.938
20 10 15.625 22.500 30.625 40 50.625 62.500

11- 6
Table 11-3 Moment of Inertia for Ball-screw with Length Known

Ball-Screw Diameter (mm)
Length(mm)
10 15 20 25 30 35 40 45 50
200 0.0153 0.0775 0.2450 0.5983 1.241 2.298 3.921 6.280 9.572
400 0.0306 0.1551 0.4901 1.1965 2.481 4.596 7.841 12.560 19.144
600 0.0459 0.2326 0.7351 1.7948 3.722 6.895 11.762 18.841 28.716
800 0.0613 0.3101 0.9802 2.3930 4.962 9.193 15.683 25.121 38.288
1000 0.0766 0.3877 1.2252 2.9913 6.203 11.491 19.604 31.401 47.860
1200 0.0919 0.4652 1.4703 3.5895 7.443 13.789 23.524 37.681 57.432
1400 0.1072 0.5427 1.7153 4.1878 8.684 16.088 27.445 43.962 67.004
1600 0.1225 0.6203 1.9604 4.7860 9.924 18.386 31.366 50.242 76.576
1800 0.1378 0.6978 2.2054 5.3843 11.165 20.684 35.286 56.522 86.148
2000 0.1532 0.7753 2.4504 5.9825 12.405 22.982 39.207 62.802 95.720
2200 0.1685 0.8529 2.6955 6.5808 13.646 25.281 43.128 69.082 105.292
2400 0.1838 0.9304 2.9405 7.1790 14.886 27.579 47.048 75.363 114.864
2600 0.1991 1.0079 3.1856 7.7773 16.127 29.877 50.969 81.643 124.437
2800 0.2144 1.0855 3.4306 8.3755 17.368 32.175 54.890 87.923 134.009
3000 0.2297 1.1630 3.6757 8.9738 18.608 34.474 58.811 94.203 143.581
3200 0.2450 1.2405 3.9207 9.5720 19.849 36.772 62.731 100.483 153.153
3400 0.2604 1.3181 4.1658 10.1703 21.089 39.070 66.652 106.764 162.725
3600 0.2757 1.3956 4.4108 10.7685 22.330 41.368 70.573 113.044 172.297
3800 0.2910 1.4731 4.6558 11.3668 23.570 43.667 74.493 119.324 181.869
4000 0.3063 1.5507 4.9009 11.9650 24.811 45.965 78.414 125.604 191.441
4200 0.3216 1.6282 5.1459 12.5633 26.051 48.263 82.335 131.885 201.013
4400 0.3369 1.7057 5.3910 13.1616 27.292 50.561 86.256 138.165 210.585
4600 0.3523 1.7833 5.6360 13.7598 28.532 52.860 90.176 144.445 220.157
4800 0.3676 1.8608 5.8811 14.3581 29.773 55.158 94.097 150.725 229.729
5000 0.3829 1.9383 6.1261 14.9563 31.013 57.456 98.018 157.005 239.301

11 Appendix A
11 - 7
11.3 How to Calculate the Electric Current Requirement

Watt is a unit to measure power and it is often used to measure electric power. An
electric device uses 1 watt when 1 volt electric potential drives 1 ampere of current
through it (1 watt = 1 VA or Volt-Amp). The equation to measure power of an electric
device is, therefore,

P (Power in Watt) = V (Voltage in Volt) * I (Current in Ampere)

The table below shows that the current requirement is less if the source is a 3-phase
current.

Power (Watt) Voltage (220 V) Calculation Current (Amp)
3000 VA 1-phase 3000 VA / 220 V 13.63
3000 VA 3-phase 3000 VA / (220 * (3)
0.5
) 7.87

Example: A machine tool (making capacitor) requires following powers.

1. 9 servo motors with 400W each, 9 * 400 = 3600 W
2. 2 servo motors with 750W each, 2 * 750 = 1500 W
3. 1 spot welder, 4A at 24 volt, 24 * 4 = 96 W
4. 1 Burn-off power, 3A at 35 volt, 35 * 3 = 105 W
5. 2 Controller, 3A at 5 volt, 5 * 3 * 2 = 30 W
6. 1 24V power supply w/ 8 amp max. 24 * 8 = 192 W
7. 1 5V power supply w/ 3 amp max. 5 * 3 = 15 W

Assuming a design factor of 1.5 (from experience), then the maximum power required is
Maximum Power = (3600+1500+96+105+30+192+15) * 1.5 = 8307 W = 8307 VA.

The current required from a 3-phase alternating current with voltage = 415 V is
Current required = 8307 / (415 * (3)
0.5
) = 8307 / (415 * 1.732) = 11.55 Amp.

If an electric wire with a cross-sectional area of 1 mm
2
can carries 8 amperes of current,
the minimum wire size for 11.55 amperes of current is 1.45 mm
2
.

11- 8
11.4 Passive Encoder

Two special functions from passive encoder are to be discussed in the following
sections.

1. Fly Cut
Drum type fly cut
Table type fly cut (Fig 11-3)
2. Length Compensation (Fig 11-4)

11.4.1 Table Type Fly Cut Passive Encoder

Fig 11-3 shows a configuration of table type fly cut. A roll of material on the left is
being continuously fed into the cutting table. The X-axis of the CNC controller controls
the cutting action while the Y-axis is being used as a passive encoder to calculate the
length of feed. Once the length is assured, the cutting action is activated.

Fig 11-3 Passive Encoder Table Type Fly Cut

11.4.2 Length Compensation Passive Encoder

Fig 11-4 shows the application of length compensation using passive encoder. A roll of
material on the left is being fed into the machine by the friction force from the two
rotating wheels on the right. The rotation of these wheels is controlled by the X-axis of
the controller, which is the primary control of the material length being fed into the
machine. A passive encoder is also used to measure the length of feed. If this length is
the same as that from X-axis, no compensation is necessary. If the lengths are different,
compensation (within allowable amount of compensation) on X-axis will be performed
as shown in Fig 11-5.
Passive Encoder
Y-Axis, Calculate Length
C145 = 1
Power
HUST CNC
Motor
Encoder
Roller
Material
X-Axis simultaneous cutter
11 Appendix A
11 - 9

Fig 11-4 Length Compensation Passive Encoder

Command Length

Compensation Length

Fig 11-5 Length Compensation on X-axis

Example: Length compensation by passive encoder.

This example shows how you can write a program to do feed length compensation by
passive encoder, using G65 function. The example problem is described below:

1. Sheet metal being fed into the machine through rotating wheels, which are controlled
by the X-axis of the controller. (Primary length measurement)
2. Passive encoder feedback through Y-axis (Secondary length measurement)
Roller
Passive Encoder
Y-Axis, Calculate Length
C145 = 1
Material
HUST CNC
Y X
Command Length
X Axis length
Speed
Compensation Length
Command Length

X Axis length
Speed
11- 10
3. Y-axis on LCD screen is used as DRO (digital readout) mode. (C145=1)
4. Use G65 MACRO function to set allowable error.
5. Define variable #1 = Length, #2 = Feed speed, #3 = Acceptable error, #4=Allowable
compensation range.
6. System variable #12021 = Program coordinate on X-axis.
System variable #12022 = Program coordinate on Y-axis.

Example Program:
N10 G01 X#1 F#2
N20 G65 L3 P#10 A#12021 B#12022 --- Store the difference (X-Y) in #10.
N30 G65 L22 P#11 A#10 --- Store the absolute value of #10 in #11.
N40 G65 L86 P100 A#11 B#3 --- If |X-Y|acceptable error, execute N100.
N50 M30
N100 G65 L86 P200 A#11 B#4 --- If |X-Y||allowable compensation, execute
N200.
N110 G01 X#11 F#2 --- Execute length compensation.
N120 M99
N200 G65 L99 P1 --- Alarm Error 51, |X-Y| exceeds allowable
compensation.

Fig 11-6

Acceptable Error
Length Reference
Display Error 51 Display Error 51
#4
#3
Allowable Compensation
12 Appendix B
12 - 1
12 Appendix B - zDNC Operating Instructions

1. Getting Started

Click on the desktop to execute Zdnc

2. Open the Option Setting Screen

Fig 12-1
zDN
Enable Option is
required for parameter
configuration
Right-click
here rRight
12- 2
3. Display Settings

Fig 12-2
Corresponding
to controller
settings
To avoid
connection
failure, do not
check boxes
other than
those indicated
here.
To change the settings, press
DisConnect. When the settings are
configured, press Connect.
Save the changes
12 Appendix B
12 - 3
4. PC TO CNC

Fig 12-3

Job file path
Trans. progress
Start trans
Select a file
0: Transmit the part program to CNC
1:Transmit the part program to CNC and execute simultaneously (PLC required)
2: Transmit variables to CNC
12- 4
5. CNC TO PC

Fig 12-4

6. Attention

DNC function is required to transmit huge part programs.
PLC should not restrict the availability of R100, R239, C04 when DNC is required,
because the system needs to change the value of these three items to enter DNC
mode.
For DNC operation, setting s are only required at the ZDNC (computer) end rather
than the controller end, if PLC does not give any restrictions

Start reading
Select a file name
0>transmit the current file
1>transmit all part programs
2-9&M>transmit variables
13 Appendix C Use instructions of declarative programs
13 - 1
13 Appendix C- Use instructions of declarative programs

Subject: To shorten the computation time of MACRO in the program.

I. Program declaring method 1:

Program commands:
G10 P922 Lxxx : xxx =>Program Number (Declaring the program)
G10 P923 Lxxx : xxx =>Program Number (Modulating the main routine)
Two commands must not be used separately.
(Each declarative program shall have 40 lines at most.)

Descriptions:
G10 P922 Lxxx : Each time when the machine is turned on, the system shall first
compute this command. Otherwise, the message ERROR 12 will
appear.
G10 P923 Lxxx : When the program calls this subroutine, it can reduce a lot of
computation time.

Condition:
1. xxx shall endeavor to use the program numbers after 500. But bear in mind do not
clash with the self-defined G, M commands in R154.
2. The end of the subroutine can only be the M99 command; besides, the subroutine
can only have one M99 command.
3. Each subprogram must not have the MARCO commands over 40 lines. You can
only compile 36 subprograms at most (excluding the M99 command at the end). If
it is over 40 lines, you shall use the following syntaxes to extend.
G10 P922 Lxxx A2 extending to an 80 line command
G10 P922 Lxxx A3 extending to a 120 line command
To use the syntax to extend the capacity, the upper limit shall not exceed a
36*40=1440 line command.
4. In a subroutine, it can only have G65 L01. ~ G65 L49., G65 L80. ~ G65
L86.and G65 L89, G65 L90, G65 L91, G65 L92.commands and cannot have
G65 L50. ~ G65 L70..
5. G65 L** P** A#**** B#**** I#**** J#****in the subroutine, the I, J command
shall only be a constant and cannot be changed. If it needs to be changed, the
change will not be executed until the machine is rebooted.
6. To execute G65 L80. ~ G65 L86. commands in the subroutine, the line
number in the subroutine shall be sequential. (Example 1)
7. To declare the program (The variable data used by G10 P922 cannot be the
BLANK CODE, otherwise, when the system declares G10 P922, it will clear the
ASCII code corresponding to the BLANK CODE, which is the same as that the
ASCII of the BLANK CODE has not been declared), the variable data used must
not be a blank code, which you will usually only encounter in a fill-grid program.
Thus, it is recommended to clear it to zero.
8. The line number range N01 or N1 ~ N40. (Example 1)

13 - 2
Example 1:

O514 ; --- PAGE DOWN --- #634-#639
[Line number]
N01 G65 L81 P19 A#7 B#9050 ; Current construction #7 = To set the
construction, go to N19
N02 G65 L81 P19 A#7 B0 ; Condition: 1.When the construction is zero, the
program ends.
N03 G65 L02 P#637 A#7 B3 ; #637 = #7 + 3
N04 G65 L02 P#638 A#7 B2 ; #638 = #7 + 2
N05 G65 L02 P#639 A#7 B1 ; #639 = #7 + 1
; To compute the construction initial position #636
N06 G65 L03 P#634 A#7 B1 ; #634 = Construction - 1
N07 G65 L04 P#635 A#634 B#9052 ; #635 = #634 * #9052 (Each construction has
several variables)
N08 G65 L02 P#636 A#635 B#506 ; #636 = #635 + #506
N09 G65 L07 P#1 A#900636 B30 ; Copy #900636 to #1 #25, total 30
N10 G65 L84 P19 A#637 B#9050 ; If the current construction #637 < set
construction, the program ends.
N11 G65 L81 P14 A#9050 B#637 ; Judging: When the set number of construction =
construction + 3, go to N14
current construction + 2, go to N16
current construction + 1, go to N18
N14 G65 L06 P#25 A0 B6 ; #25..#30 = 0
N15 G65 L80 P19 ;
N16 G65 L06 P#19 A0 B12 ; #19..#30 = 0
N17 G65 L80 P19 ;
N18 G65 L06 P#13 A0 B18 ; #13..#30 = 0
N19 M99

Max.line number setting N40
13 Appendix C Use instructions of declarative programs
13 - 3
Example 2G
Main routine:
..
..
G65 L86 P01 A#403 B4 ; #403 <= 0.7 mm go to N01
G65 L86 P02 A#403 B7 ; #403 <= 0.8 mm go to N02
G65 L81 P03 A#403 B8 ; #403 = 0.9 mm to to N03
N01 G10 P923 L501
M99
N02 G10 P923 L502
M99
N03 G10 P923 L503
M99

Reboot the PLC to execute once:
O045 ;
G10 P922 L501 ;
G10 P922 L502 ;
G10 P922 L503 ;
M02

The subroutine calls:
O501 ; <0.5>,<0.6>,<0.7> mm board thickness
compensation gap (become thinner)
G65 L01 P#676 A0 ; #676 = 0
G65 L01 P#677 A0 ; #677 = 0
G65 L02 P#678 A#672 B280 ; #678 = #672 + 280
G65 L06 P#681 A#678 B9 ; #681..#689 = #678
G65 L26 P#681 A30 B90 ; #681 = (#681 * 30) / 90
G65 L26 P#682 A23 B90 ; #682 = (#682 * 23) / 90
G65 L26 P#683 A16 B90 ; #683 = (#683 * 16) / 90
G65 L26 P#684 A69 B90 ; #684 = (#684 * 69) / 90
G65 L26 P#685 A12 B90 ; #685 = (#685 * 12) / 90
G65 L26 P#686 A6 B90 ; #686 = (#686 * 6) / 90
G65 L26 P#687 A3 B90 ; #687 = (#687 * 3) / 90
G65 L26 P#688 A21 B90 ; #688 = (#688 * 21) / 90
G65 L26 P#689 A0 B90 ; #689 = (#689 * 0) / 90
M99 ; Returns
O502 ; 0.8 mm board thickness compensation gap
(become thinner)
G65 L01 P#676 A0 ; #676 = 0
G65 L01 P#677 A0 ; #677 = 0
G65 L02 P#678 A#672 B290 ; #678 = #672 + 290
G65 L06 P#681 A#678 B9 ; #681..#689 = #678
G65 L26 P#681 A30 B90 ; #681 = (#681 * 30) / 90
G65 L26 P#682 A23 B90 ; #682 = (#682 * 23) / 90
G65 L26 P#683 A16 B90 ; #683 = (#683 * 16) / 90
G65 L26 P#684 A69 B90 ; #684 = (#684 * 69) / 90
G65 L26 P#685 A12 B90 ; #685 = (#685 * 12) / 90
13 - 4
G65 L26 P#686 A6 B90 ; #686 = (#686 * 6) / 90
G65 L26 P#687 A3 B90 ; #687 = (#687 * 3) / 90
G65 L26 P#688 A21 B90 ; #688 = (#688 * 21) / 90
G65 L26 P#689 A0 B90 ; #689 = (#689 * 0) / 90
M99 ; Returns

O503 ; 0.9 mm board thickness compensation gap
(become thinner)
G65 L01 P#676 A0 ; #676 = 0
G65 L01 P#677 A0 ; #677 = 0
G65 L02 P#678 A#672 B300 ; #678 = #672 + 300
G65 L06 P#681 A#678 B9 ; #681..#689 = #678
G65 L26 P#681 A30 B90 ; #681 = (#681 * 30) / 90
G65 L26 P#682 A23 B90 ; #682 = (#682 * 23) / 90
G65 L26 P#683 A16 B90 ; #683 = (#683 * 16) / 90
G65 L26 P#684 A69 B90 ; #684 = (#684 * 69) / 90
G65 L26 P#685 A12 B90 ; #685 = (#685 * 12) / 90
G65 L26 P#686 A6 B90 ; #686 = (#686 * 6) / 90
G65 L26 P#687 A3 B90 ; #687 = (#687 * 3) / 90
G65 L26 P#688 A21 B90 ; #688 = (#688 * 21) / 90
G65 L26 P#689 A0 B90 ; #689 = (#689 * 0) / 90
M99 ; Returns

II. Program declaring method 2:

Program commands:
G10 P920 Lxx (Declaring the program)
xx =>Program number
When using this command, pre-read the xx program to start buffering. (Now it will
takes some times)

G10 P921 Lxx (Main routine)
xx =>Program number
When you use this command in the program, the system will execute the xx program.
However, it will only take the time for one scanning.

Currently, you can only put G11, G12, G04, and Mcode in the program designated by
the xx, other computations and the displacement command shall not be contained in the
program. Now, the line number of the pre-read program is limited to 32. You can use
several pre-read programs.

The system does not support the following:
G10 P920 Lxxx A2 Extending to 40-line commands
G10 P920 Lxxx A3 Extending to 60-line commands
CCCCC

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