HUST H9C CNC OPERATION MANUAL. (Suitable for the controller: H6C. Feb., 2011

Transcription

1 HUST H9C CNC OPERATION MANUAL (Suitable for the controller: H6C H6CL H9C H9CL) Feb., 2011 HUST Automation Inc. No. 80 Industry Rd., Toufen, Miaoli, Taiwan Tel: Fax:

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3 CONTENTS TABLE OF CONTENTS 1 HUST H9C MAIN FEATURES PROGRAMMING BASICS A Part Program Methods of Programming The Composition of A Part Program Coordinate System Cartesian Coordinate System Position Commend (Coordinate) Work Origin/Work Coordinate Machine Origin (HOME Location) HUST H9C Control Range FUNCTION CODES G-Codes Definition Rapid Positioning (Traverse Speed),G Linear Cutting,G CNC and Master/Slave Mode Circular (Arc) Cutting,G02,G Circular (Spiral) Cutting,G02,G03&G17,G18,G Dwell (Hold),G Automatic proceeding to decimal digit,g Reset Origin of Machine Coordinate,G Manual Data Input Function,G Set Origin for Work Coordinate by G10 (Recommended) Set Tool Offset Data By G Set and Clear Counter Limit By G Input/Output Control, G11, G12, G Output Control,G Input Control, G Output / Input Control, G Move to The First Reference Point, G Return to Previous Location From Reference Point, G Move to The Second (2nd) Reference Point, G Skip Function, G High Speed Skip Function, G Average Skip Function, G High-speed Skip Command, G Work Coordinate System, G54~G Machine Coordinate (Home) 3-57

4 HUST H9C Operation Manual Work Coordinate System, G54~G Feed rate mode control, G98, G MACRO, Command, G Working Program Linear and Circular Repetitive Indexing,G00,G01,G02,G Auxiliary Functions, M-codes, S-codes Sub-program TOOL COMPENSATION Tool Offset Compensation, G Tool Offset Data Input and Revision KEYBOARD & LED DISPLAY Keyboard Descriptions Description of LED Display Power-on Display Coordinate Display Edit Mode Program Number Display Mode JOG Mode TEACH Mode I/O Test and Key Mode MCM Parameter Mode Trace display PROGRAN EDITING Program Selection New Program Editing Program Revision Program Edit By Teach Mode Rules For Numerical Input Notes on Program Edit MCM MACHINE CONSTANT PARAMETERS MCM Parameter Setting 7-1 Form of MCM Parameter Setting 7.2 Description of MCM Machine Constants 7-23

5 CONTENTS 8 MANUAL OPERATION Manual Operation Home Operation (Machine Origin) Manual JOG Feed Operation G01 Manual Feed-rate Override (MFO%) G00 Manual Feed-rate Override MDI Single Block Operation, MDI Auto Execution, AUTO Single Block Execution in AUTO Mode, SINGLE Feed Hold (FEHOLD) Option-Stop (OPST) Skip Function, SKIP Program DRYRUN MPG Hand-wheel Testing Program Re-start, RE-STA Round Corner Non-stop Operation PC ON-LINE OPERATION OF RS232C PC Performs Online Operation via RS232 and The Controller Program Transfer From PC To CNC Controller Program Transfer From CNC Controller To PC Transfer MCM Data from PC to Controller Transfer MCM Data from Controller to PC Transfer Data Variable from PC to controller Transfer Data Variable from CNC to PC Transfer PLC Ladder from PC to CNC Transfer LCD Screen Display Data from PC to CNC Transfer Controller System Data from PC to CNC Transfer function tables from PC to CNC controller PC to Controller (ARM) HCON.EXE Program Operation RS232 Connection HUST H9C Transmission Modes USB Equipment Mode USB Host Mode Operation Instruction of A Standard H9C Transmission Interface File Downland Interface File Upload Interface ERROR MESSAGES APPENDIX A 11-1

6 HUST H9C Operation Manual 11.1 Selection of Servo Motor with Compatible Moment of Inertia Calculation of Moment of Inertia for Load Way to select the suitable Servo motor How to Calculate the Electric Current Requirement Passive ENCODER Passive ENCODER Table Type Fly Cut Passive Encoder Passive ENCODER Length Compensation 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 APPENDIX C - Use instructions of declarative programs 13-1

7 Main Features of HUST H9C Controller 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 1µ 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 design 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) 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) Feed-rate control either by mm/minute or mm/revolution Continuous program execution or single block at a time Option skip, option stop, and feed-hold function (Option Skip) Self-diagnostic and error function Circular programming by radius "R" as well as I and J values Each axis can be set as Master/Slave mode ( Reference by ) MPG hand-wheel interface for program testing (MPG test) Provide standard I/O=48/32 programmable logic control

8 HUST H9C Operation Manual 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 controller The machinery type is different from each brand Please follow the machine description about this part Table 1-1 HUST H9C G-code Command

9 2 Programming Basics 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 working 3. Well known for mechanic operation procession program language and capacity 4. Capable of mathematic calculation 5. Capable of choosing the tool option 6. Capable of setting the fixture 7. Capable of discriminating the material There are two ways to design a CNC part program and are to be briefly described below: Manual Programming Automatic Programming

10 HUST H9C Operation Manual 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:

11 2 Programming Basics A block of program can have one to several instructions and it has a general form as follow. 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 parts Some has only one command We will describe more in chapter 3 In the basic format of node exception of the N others are commands such as (A~Z).+/- Command Format (EX. Location Command) Y Y : Command code

12 HUST H9C Operation Manual "-" : Positive/Negative. (+) can be left out : 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 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. NOTE HUST H9C Series X Y Z A B C U V 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 numbers The numbers are better not be repeated And they don't have to be arranged in order The program is executed from top to bottom by nodes EX N10... (1) Program executing order N30...(2) N20...(3) N50...(4) N40...(5)

13 2 Programming Basics 2.4 Coordinate System The cutting action is accomplished when the tool is moving along a specific path from point A to point B This path can be combined with straight curve or several These intersection points and A B point must be used the coordinate system to describe the geometry location The tools use the change of location to complete the cutting 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 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. We ll have more discussion on spindle axis, such as indexing table in Chapter 3.

14 HUST H9C Operation Manual 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 indication 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

15 2 Programming Basics Format MCM 681~682 =10, Absolute coordinate location. P0 ->P1 G01 V5.000 F2000 P1 ->P2 U V8.000 P2 ->P3 U V3.000 P3 ->P4 U Combination of absolute and incremental P0 ->P1 G01 Y5.000 F2000 P1 ->P2 U Y P2 ->P3 X V3.000 P3 ->P4 U or P0 ->P1 G01 Y5.000 F2000 P1 ->P2 X V8.000 P2 ->P3 U Y P3 ->P4 X 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 axis s 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 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)

16 HUST H9C Operation Manual 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 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 Max. setting unit Min. moving unit Max. moving unit Max. travel distance mm mm mm mm mm G code G00 - G99 (G01 = G1 ) M code M000 - M999 (M01 = M1 ) S code F code mm/min 0 ~ X,Y,Z,A,B,C,U,V,W,I,J,R, mm ~ +/ G 0 4, seconds 0 ~ Program Number 0 ~ 999 T code 0 ~ RAM Memory Capacity Ball-screw compensation Max. response speed 72K 0 ~ 1024 Pulses 2.5 MPPS These data is based by the H9C controller. If there is any relation with mechanic operation, please follow the machine manual.

17 3 Function Codes 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 Y N20 G4 X2.000 N30 X Y G04 is one-shot G-code, effective only in this block.... 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 Y G0 is effective in this block. N20 X50.0 Y No G-code specified, G0 remains effective. N30 G1 X F 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 X Only G01 is effective. 3-1

18 HUST H9C Operation Manual 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). 3-2

19 3 Function Codes 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. Y X 2 Y G00 U 1 V X Fig 3-1 Rapid Positioning G00 related parameters: Parameters 221~229 R220 G00 rapid positioning: command-related parameters The highest feed rate of the X, Y, Z, A, B, C, U, V, and W axes: the factory default is 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] 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. 3-3

20 HUST H9C Operation Manual The incremental positioning related parameters: Incremental positioning: command-related parameters Parameters 0 Incremental positioning command settings 681~689 1 Absolute positioning command setting G91 G90 Parameters 221~229 R220 Incremental mode setting. Absolute mode setting. The highest feed rate of the X, Y, Z, A, B, C, U, V, and W axes: the factory default is 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 Ex. 2: To set the X value for the incremental positioning command, the parameter 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 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. 3-4

21 3 Function Codes G0 X-3.05 Y2.00 X- and Y-axis commend settings are for absolute/ incremental mixed positioning. Y B A X 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= mm/min, and TRY MCM #222 = mm/min, R220=100% : For G00 U-3.05 V-3.00 in Fig 3-2, the controller select the slower as the base to calculate the traverse speeds for other axes: Fx = X-axis feed rate Fy = (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) = The calculated Fy ( ) > TRY MCM#222 ( ). 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) = X-axis feed rate Rapid Positioning (Traverse Speed) for G00: 3-5

22 HUST H9C Operation Manual 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 = 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 = = 2850 mm/min. The setting for MCM #221 = 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= mm/min with machine resolution of 1 µm, 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 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 Parameters 0 incremental positioning command 681~689 1 absolute positioning command G91 G90 Parameters 221~229 R221 Incremental mode. Absolute mode. The highest feed rate of the X, Y, Z, A, B, C, U, V, and W axes: the factory default is 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 %) 3-6

23 3 Function Codes 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 = Feed-rate in Y-axis, Fy = U * F 2 2 U + V V U V * F (1) (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. Incremental coordinate: G91 G01 U-2.59 V1.00 F Absolute coordinate.. Incremental coordinate mode.. Incremental coordinate Y 2.01 B 2.0 A Fig 3-3 G01 Example X 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: 3-7

24 HUST H9C Operation Manual Normal mode and Master-slave mode: command-related parameters Parameter 501 Master-slave function setting (Non-Stop). Parameter 502 Parameters 221~229 Servo motor Acceleration/deceleration profile setting: [Exponential], [Linear], or [ S curve]. 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, Setting=1, Setting=2, Setting=3, Setting=4, Setting=5, Setting=6, Setting=7, Setting=8, Setting=9, CNC mode. X-axis as Master axis Y-axis as Master axis, Z-axis as Master axis, A-axis as Master axis,. B-axis as Master axis, C-axis as Master axis,. U-axis as Master axis,. V-axis as Master axis, W-axis as Master axis,. MCM Parameter 502 is used for setting the motor s 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. 3-8

25 3 Function Codes 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 CNC Mode 0 1 Linear 0 2 S curve 1 0 Exponential Master/Slave Mode 1 1 Linear X-axis as master 1 2 S curve Master/Slave Mode Y-axis as master Master/Slave Mode Z-axis as master Master/Slave Mode A-axis as master Master/Slave Mode B-axis as master Master/Slave Mode C-axis as master Master/Slave Mode U-axis as master Master/Slave Mode V-axis as master Master/Slave Mode W-axis as master 2 0 Exponential 2 1 Linear 2 2 S curve 3 0 Exponential 3 1 Linear 3 2 S curve 4 0 Exponential 4 1 Linear 4 2 S curve 5 0 Exponential 5 1 Linear 5 2 S curve 6 0 Exponential 6 1 Linear 6 2 S curve 7 0 Exponential 7 1 Linear 7 2 S curve 8 0 Exponential 8 1 Linear 8 2 S curve 9 0 Exponential 9 1 Linear 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. 3-9

26 HUST H9C Operation Manual Feed rate 1500 N10 N20 N30 N35 MCM#501 = 0 MCM#502 = Feed rate X-axis as Master 1000 N10 N20 N30 N Y-axis as Master Feed rate Exponential N10 N20 N30 N35 MCM#501 = 0 MCM#502 = Feed rate N10 N20 N30 N Linear X-axis as Master Y-axis as Master Feed rate N10 N20 N30 MCM#501 = 0 MCM#502 = Feed rate N10 N20 N "S" curve X-axis as Master Y-axis as Master 3-10

27 3 Function Codes 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. N20 G01 X200. Y100. F500. N30 G01 X300. F250. N35 G01 X350. F Feed-rate Fx=1000, Fy=0.. Feed-rate Fx=Fy= Feed-rate Fx=250, Fy=0.. Feed-rate Fx=100, Fy=0 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. Feed rate N10 N20 N30 N35 MCM #501= 0 MCM #502 = X-axis as Master Feed rate 1000 N10 N20 N30 N Y-axis as Slave 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). U X-axis Feed Rate, Fx = Ft 2 2 U + V Ex 2: G01 U100.0 V50.0 F (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= mm/min (Y-axis) Composite vector for X and Y-axis = ( ) 1/2 = X-axis Feed-rate Fx = * (100/111.8) = 1341<

28 HUST H9C Operation Manual Y-axis Feed-rate Fy = * (200/111.8) = 670.8<1000 Both speed do not exceed the setting range. Ex 3: G01 U100.0 V200.0 F (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= mm/min (Yaxis) Composite vector for X and Y-axis = ( ) 1/2 = X-axis Feed-rate Fx = * (100/223.6) = Y-axis Feed-rate Fy = * (200/223.6) = > (Ftry), so the G01 feed-rate will be limited as: Fy = Ftry = Fx = (894.4/1788.9) * = 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. 3-12

29 3 Function Codes 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. Feed rate N10 N20 N30 MCM #501 = 1 MCM #222= X-axis as Master Feed rate 1000 N10 N20 N Y-axis as Slave 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. Feed rate N10 N20 N30 MCM #501 = 1 MCM #502= X-axis as Master Feed rate 1000 N10 N20 N Y-axis as Slave Fig 3-5A Master/Slave Mode, "S" Curve Accel./Decel. 3-13

30 HUST H9C Operation Manual 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 N10 N20 N30 MCM #501 = 1 MCM #222= X-axis as Master Feed rate 1000 N10 N20 N Y-axis as Slave 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: (F1 F2) T Distance = 0.5 * * 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= mm/min, Ftry= mm/min. Master axis Fx = Slave axis Fy = (50/100)* = Fy < Ftry, so the G00 feed-rate will be based on the setting of MCM #221, Fx=2000. Ex 4: G00 U100.0 V

31 3 Function Codes (X-axis as master, MCM #501=1, MCM#681, 682=0, X- and Y-axes command settings are for incremental positioning.) as: Ftrx= mm/min, Ftry= 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 (X-axis as master, MCM #501=1, MCM#681, 682=0, X- and Y-axes command settings are for incremental positioning.) settings as: Ftrx= mm/min, Ftry= mm/min. Master axis Fx = Slave axis Fy = (300/100)* = Fy > Ftry, so the G00 feed-rate will be limited by Ftry=4000 as: Master axis Fx = (4000/6000)* = Slave axis Fy = so the G00 feed-rate will be based on the setting of MCM # 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 Clockwise G03 Counterclockwise 2 End Position The absolute value of End Position Absolute X,Y The incremental value of arch from an origin to an Incremental Z,A end 3 I=X-axis, J=Y-axis I,J Range of radius R 4000~4000 mm 4 Cutting Feed Rate F The minimum value 1 mm/min 5 G17 X-Y plane G17 P256 X-A plane 6 7 Planar Circular Cutting G18 G18 P256 G19 G19 P256 X-Z plane A-Z plane Z-Y plane Y-A plane 3-15

32 HUST H9C Operation Manual Circular cutting types: The commands in the program can be specified by either the radius or the center. By Radius By Center G17 G17 P256 G18 G18 P256 G19 G19 P256 G17 G17 P256 G18 G18 P256 G19 G19 P256 G02, G03 circular cutting command types Arc or Circle G02(G03) X_Y_R_F_ G02(G03) X_A_R_F_ G02(G03)X_Z_R_F_ G02(G03)A_Z_R_F_ G02(G03) Y_Z_R_F_ G02(G03) Y_A_R_F_ G02(G03) X_Y_I_J_F_ G02(G03) X_A_I_J_F_ G02(G03)X_Z_I_K_F_ G02(G03)A_Z_I_K_F_ G02(G03) Y_Z_J_K_F_ G02(G03) Y_A_J_K_F_ Circular cutting related parameters: Circular cutting command related parameters Parameters 0 increment positioning command 681~689 1 absolute positioning command Parameter 505 Arc error: the default value is 1. G91 G90 Incremental mode. Absolute mode. 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 Y Y G02 X G03 X Fig 3-7 Directions of G02 and G

33 3 Function Codes The command of arc cutting: G02: clockwise (CW) G03: counter - clockwise (CCW) Y X Z G02 G02 G02 G03 G03 G03 Y G17 E X X G18 E Z Z G19 E Y C I S J X C K S I Z C J S K Y A G17 G18 G19 A A G02 G0 G02 G0 G03 G03 X Z G17 P256 G18 P256 G19 P256 Y A A A E E E C I S J X C K S I Z C J S K Y G17 P256 G18 P256 G19 P256 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. 3-17

34 HUST H9C Operation Manual The feeding rate of circular cutting is set by F value. The actual cutting rate is F t F value multiples the The default of register R221 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 ~ mm. Do not use R representation if the arc angle is in the range of -1o~+1o or 179o~181o. E C I S J Y X 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. Y Y X E S I J X Fig 3-10 G2 Circular Cutting 3-18

35 3 Function Codes 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. Y X E Y I S J X Fig 3-11 G3 Circular Cutting Format: (C02, With radius R method) G02 X Y R F Y X R E Y S X 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= 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. 3-19

36 HUST H9C Operation Manual 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. Y 30 E R = S 20 X 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 ~ mm. 1. Use "+R" if arc angle < 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. R2 0 R=-50 E Y S R1 0 R = +50 X Fig 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 X Y R F300 R2 0 R=+50 E Y S R = -50 R1 0 X Fig G03 tool cutting path 3-20

37 3 Function Codes 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 E G02 d 2R S G03 d 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 µm 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 = 85* R * 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 So, the actual cutting speed is

38 HUST H9C Operation Manual 3.6 Circular (Spiral) Cutting,G02,G03&G17,G18,G19 G02, G03 Circular (Spiral) cutting related commands: 1 Circular feed direction 2 End Point 3 G02 and G03 related commands Absolute positioning command Incremental positioning command Coordinate difference between the start point and the center Radius of the circle Command G02 G03 X/Y/Z/A I, J R Description Clockwise (CW) Counterclockwise (CCW) Absolute position of the final point. Incremental value between the start point and the final point. I X-axis, J Y-axis Range of Radius: ~4000. mm 4 Cutting feed rate F Minimum 1 mm/min G17 X-Y plane 5 G17 P256 X-A plane 6 7 Circular cutting plane G18 G18 P256 G19 G19 P256 X-Z plane A-Z plane Z-Y plane Y-A plane G02 G03 Circular (Spiral) cutting related commands: G02 and G03 Circular (Spiral) command types Spiral By Radius By Center G17 G17 P256 G18 G18 P256 G19 G19 P256 G17 G17 P256 G18 G18 P256 G19 G19 P256 G02(G03) X_Y_R_Z_F_ G02(G03) X_A_R_Z_F_ G02(G03)X_Z_R_Y_F_ G02(G03)A_Z_R_Y_F_ G02(G03)Y_Z_R_X_F_ G02(G03)A_Z_R_X_F_ G02(G03) X_Y_I_J_Z_F_ G02(G03) X_A_I_J_Z_F_ G02(G03)X_Z_I_K_Y_F_ G02(G03)A_Z_I_K_Y_F_ G02(G03)Y_Z_J_K_X_F_ G02(G03)Y_Z_J_K_X_F_ 3-22

39 3 Function Codes G17 G19 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. Z X-Z X Y-Z X-Y Table Y Program Format: Fig3-15 G17 G19 Working Table Display G 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) Y G17 X G17 P256 G02 G02 G03 X G03 Z Fig

40 HUST H9C Operation Manual 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) X G1 A G18 P256 G02 G02 G03 G03 Z Z 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) Z G1 Z G19 P256 G02 G02 G03 Y G03 Y 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 ~ G

41 3 Function Codes 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. Fig 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 3-25

42 HUST H9C Operation Manual Y Y A A G02 X G03 X G02 X G03 X G17 G17 P256 Fig3-22 EX: X-Y circular cutting plane ; Z-axis linear plane N1 G17 N2 G03 X Y R Z F100 Z Y end R = start 30 X 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. X X A A G02 Z G18 G03 Z G02 Z G18 P256 G03 Z 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. Z Z A A G02 Y G19 G03 Y G02 Y G03 G19 P256 Y Fig

43 3 Function Codes 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 or G04 P X: Time unit in seconds. (X represents the time rather than the address.) 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) max 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 F G04 X2.00 G00 X0.0 Y Hold for 2 seconds, then process to next block 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

44 HUST H9C Operation Manual 1. X1000 stands for the minimum unit of = = < 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 Format: G08 Y Format: G08 Z Format: G08 A Format: G08 B Format: G08 C Format: G08 U Format: G08 V Format: G08 W Reset the X-axis coordinate of current location to zero Reset the Y-axis coordinate of current location to zero Reset the Z-axis coordinate of current location to zero Reset the A-axis coordinate of current location to zero Reset the B-axis coordinate of current location to zero Reset the C-axis coordinate of current location to zero Reset the U-axis coordinate of current location to zero Reset the V-axis coordinate of current location to zero Reset the W-axis coordinate of current location to zero Point A Old Home Point B New Home after executing G08 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). Point A Old Home, Work origin 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) Point B New Home, new work origin after executing G08 Fig

45 3 Function Codes 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). Point B Work origin Point D, New work origin after executing G08 Point C New Home after executing G08 Point A Old Home 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) Fig 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 G10 P600 L01 Burn the downloaded program into FLASHROM G10 P600 L02 G10 P600 L03 G10 P600 L05 G10 P801 A*** G10 P801 B*** G10 P801 C*** G10 P801 D*** G10 P1000 G10 P2000 G10 P2001 G10 P2002 G10 P2100 Burn the downloaded MCM parameters into FLASHROM Burn the downloaded ladder program into FLASHROM Burn the downloaded system data into FLASHROM Set the acceleration/deceleration time for G01, MCM#504 Set the acceleration/deceleration time for G01, MCM#505 Set the acceleration/deceleration time for G01, MCM#506 Set the acceleration/deceleration time for G01, MCM#507 Clear all MCM parameters to factory default values Clear the current program Clear all programs in the memory Clear all variables #1 ~ #9999 to zero Download part program to memory from FLASHROM 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 3-29

46 HUST H9C Operation Manual 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) 3-30

47 3 Function Codes Axis Coordinate G54 G55 G56 G57 G58 G59 X Axis Y Axis Z Axis A Axis B Axis C Axis U Axis V Axis W Axis MCM#01 MCM#02 MCM#03 MCM#04 MCM#05 MCM#06 MCM#07 MCM#08 MCM#09 MCM#21 MCM#22 MCM#23 MCM#24 MCM#25 MCM#26 MCM#27 MCM#28 MCM#29 MCM#41 MCM#42 MCM#43 MCM#44 MCM#45 MCM#46 MCM#47 MCM#48 MCM#49 MCM#61 MCM#62 MCM#63 MCM#64 MCM#65 MCM#66 MCM#67 MCM#68 MCM#69 MCM#81 MCM#82 MCM#83 MCM#84 MCM#85 MCM#86 MCM#87 MCM#88 MCM#89 MCM#10 1 MCM#10 2 MCM# Set Tool Offset Data By G10 MCM#10 4 MCM#10 5 MCM#10 6 Format: 1 G10 X Y Z A B C P MCM#10 7 MCM#10 8 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 = 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= =0.03, MCM #1350= =0.05, MCM #1351= =2.97 MCM#

48 HUST H9C Operation Manual Set G00, G01, G99 and the acceleration/deceleration time for the main spindle G10. Setting Method MCM Parameter editing MDI command Execute the machining program in the AUTO mode. Acceleration/deceleration Time Setting Setting format Description Remark Modify in the parameter mode G10 P801 Axxx G00 V#13241 G10 P801 Bxxx G01 V#13242 G10 P801 Cxxx G99 V#13243 G10 P801 Dxxx SP V#13244 G10 P801 Axxx G00 V#13241 G10 P801 Bxxx G01 V#13242 G10 P801 Cxxx G99 V#13243 G10 P801 Dxxx SP V#13244 After the modification, it is necessary to press Reset to allow the settings to take effect. Temporarily replace the settings of the parameters 504~507. The setting values are stored in V#13241~V# After the Reset is pressed, the settings will be canceled. Effective permanently 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 INPUT P INPUT A INPUT Step 3: Press the CYCST button to allow the settings to take effect. Complete >> V# , Parameter >> Press the RESET button, V# , Parameter Ex. 2: In the AUTO mode, determine the travel distance #1 and then adjust the G01 acceleration/deceleration time 3-32

49 3 Function Codes If #1, the acceleration/deceleration time is 100 msec. If # , the acceleration/deceleration time is 50 msec. If # , 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) 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 G

50 HUST H9C Operation Manual Table 3-2 Summary of G11, G12, and G14 Function Format G11 G11 Pxx G11 Pxx L G11 P-xx G11 P1xxx G11 P-1xxx G11 P2xxx L G11 P-2xxx L G11 P3xxx L G12 G12 Pxx G12 Pxx L G12 P-xx G12 P-xx L G12 P*** B G12 P*** A G12 P1** G 14 G14 Pxx G14 P-xx G14 P1xxx G14 P-1xxx Function Turn ON output xx, can be turned OFF by RESET. Turn ON output xx, can be turned OFF by FEED HOLD Turn OFF output xx. Turn ON output xxx, can NOT be turned OFF by RESET. Turn OFF output xxx, RESET is NOT effective. Program execution on hold till the specified output xxx gone thru times of ON/OFF cycles (2 msec/cycle). Execution of subsequent program block synchronizing with ON/OFF signal of output xxx by cycles. Output xxx remains ON, to be turned OFF when the input is ON. Program execution of next block is on hold and to start when the input signal (INPUT xx) is ON. Program execution of next block is on hold and to start with the rising edge of the input signal (INPUT xx). Program execution of next block is on hold and to start when the input signal (INPUT xx) is OFF. Program execution of next block is on hold and to start with the falling edge of the input signal (INPUT xx). INPUT ** is not valid within the preset time. A timeout signal is generated. INPUT ** should be valid after the preset time. The pre-fetch function is valid, and the program will be executed continuously without waiting. In Master/Slave mode, the ON timing of output xx will be delayed by ½ of the accel /decel time in the MCM parameter. In Master/Slave mode, the OFF timing of output xx will be delayed by ½ of the accel /decel time in the MCM parameter. Similar to G14 Pxxx, but RESET signal is NOT effective. Similar to G14 P-xxx, but RESET signal is NOT effective 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 3-34

51 3 Function Codes 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 F(mm/min) G00 X30. G00 X60. G00 X G11 P13 RESET X(mm) O13 Fig 3-29 Ex2: N10 G00 X30. F1000. N20 G11 P13 L1 N30 G00 X60. N40 G00 X100. N50 M30 F(mm/min) G00 X30. G00 X60. G00 X G11 P10 L1 X(mm) FEED-HOLD ON FEED-HOLD OFF RESET O10 Fig

52 HUST H9C Operation Manual Ex3: N10 G00 X30. F1000. N20 G11 P13 N30 G00 X60. N40 G11 P-13 N50 G00 X100. N60 M30 F(mm/min) G00 X30. G00 X60. G00 X G11 P13 G11 P-13 X(mm) O13 (mm) Fig 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 F(mm/min) G00 X30. G00 X60. G00 X mm G11 P1010 G11 P-1010 X(mm) O10 Fig

53 3 Function Codes Ex2: N10 G00 X30. F1000. N20 G11 P1010 N30 G00 X60. N40 G00 X100. N50 M30 F(mm/min) G00 X30. G00 X60. G00 X G11 P1010 X(mm) Press Reset will not change O10 status O10 Fig G11 P2*** L xxx represents the output number, ranging 000~015. 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 F(mm/min) G00 X30. G00 X60. G00 X G11 P2005 L20 X(mm) O5 2 msec 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 Fig 3-34

54 HUST H9C Operation Manual 4. G11 P-2*** L xxx represents the output number, ranging 000~015. 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 F(mm/min) G00 X30. G00 X60. G00 X G11 P-2008 L15 X(mm) 5. G11 P20** L****A*B*** Fig 3-35 P20** O000 O015 L**** Pulse train no. A* Pulse frequence HZ HZ HZ B*** *** Variable no. when pulse sent, will increase this variable by 1 6. G11 P3xxx L 2 msec 15 times xxx represents the output number, ranging 000~015. G11 P3xxx is used to command the specified output (Oxxx) to be turned OFF when the specified input signal L is ON. O8 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. 3-38

55 3 Function Codes Ex1: N10 G00 X30. F1000. N20 G11 P3003 L20 N30 G00 X60. N40 G00 X100. N50 M30 G00 X30. G00 X60. G00 X G11 P3003 L20 X (mm) O3 I20 ON O3 OFF I20 Fig 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 M

56 HUST H9C Operation Manual F(mm/min) G00 X30. G00 X60. G00 X G12 P3 X (mm) Begin N30 execution when I03 On I3 Fig 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 F(mm/min) G00 X30. G00 X60. G00 X G12 P-4 X (mm) 10 Begin N30 execution when I04 Off Fig

57 3 Function Codes 3. G12 P*** B *** represents input number represents holding time (ms) 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. EX N10 G00 X30. F1000. N20 G12 P5 B3000 N30 G00 X60. N40 M X-axis (mm) 3000 ms = 3s S072=1 = 1005 S072 (t) #10919 (t) I5=1 I5 (t) Fig

58 HUST H9C Operation Manual 4. G12 P*** A *** represents input signal 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. EX N10 G00 X30. F1000. N20 G12 P23 A1000 N30 G00 X60. N40 M X-axis (mm) I23 5. Pre-catch the input signal Format < 1000 ms OFF 1000 ms =1 s Fig 3-40 G12 P1** (** 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. EX N10 G00 X30. F1000 N20 G12 P1023 N30 G00 X60. N40 G12 P23 N50 G00 X100. N60 M

59 3 Function Codes CASE I23 > 2 ms CASE X (mm) I23 > 2 ms Fig 3-41 PS command format can be used together. Format G12 P1*** A G12 P*** A B### 3-43

60 HUST H9C Operation Manual Output Control G14 1. G14 P1xxx and G14 P-1xxx xxx represents the output number, ranging 000~015. 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 ½ 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 M

61 3 Function Codes F(mm/min) G00 X30. G00 X60. G00 X G11 P1020 X (mm) O20 Fig 3-42 CNC Mode (G11) G11 P1020 X (mm) O20 remains ON even with RESET signal 30 msec O20 Fig 3-43 Master/Slave Mode (G11) G14 P1020 X (mm) O20 remains ON even with RESET signal 15 O20 Fig 3-44 Master/Slave Mode (G14) 3-45

62 HUST H9C Operation Manual 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 G28 X Tool offset compensation canceled... Tool moves to the 1st ref. point in X-axis, no motion in Y-axis 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. N2 G28 N3 G29... It moves the tool to the first reference point... The program goes back from the coordinate in the previous block to the first reference point... 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 3-46

63 3 Function Codes 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, Y 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~# Skip Function, G31 The skip command differential by INPUT response time: General skip command & high speed skip command. INPUT Response Time Types of Stop Signals Input Response Time Axis Stop Method General Input I0~I255 general Input, response time 2 msec. Software Special Input I0 special Input, response time 5µsec. Connect the I0 to the 5 th pin of the DA axis. (1) General INPUT Response Time: 2 msec Hardware Software Use C028, R190 skip fucntion for selecting the decelration. Use Parameter 530 to set the required axis. The axis stop is controlled by the hardware. Use C028, R190 skip fucntion for selecting the decelration. 2 msec Fig

64 HUST H9C Operation Manual (2) Special INPUT Response Time:5µsec When in use, I0 is required to connect to the 6th pin on the MPG raxial interface. AD/DA 5 sec CPU Board DAC-0 DAC-1 D+ D- G31 IN ADC-0 ADC-1 GNDX VCC +12V -12V GND-CN V G31 Hardware Stop Signal Fig 3-46 INPUT response time is associated with the MARK width of SENSOR and the feed-rate of G31 SENSOR : High Speed Skip Command G31 (1) Material Control Cutting Tool Material Normal Motor Servo Motor HUST CNC Fig 3-47 Material Control Display 3-48

65 3 Function Codes (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 1 Turn on the servo motor and use the roll deliverying the material till the lamp sensor senses the MARK. Label MARK Cutting Position Lamp sensor Distance Motor deceleration distance Cutting Tool Delivery Direction Fig 3-48 Step 2 When the lamp sensor senses the MARK, the motor will travel a certain distance. The distance must exceeds the distance of motor deceleration. Label MARK Cutting Position Lamp sensor Distance Motor deceleration Cutting Tool Delivery Direction Fig

66 HUST H9C Operation Manual (3) The distance of motor deceleration Display V Speed Deceleration time 1/2 Distance t T 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. EX Max. feed-rate MCM mm/min G01 Ace/Deceleration time MCM ms The calculation of motor deceleration mm/min 200 mm/sec 200 mm/sec 10 ms 1/2 1mm Algorithm for the Minimum Width of the Marking Point (MARK) Ex.: Program command G31 X 1 F 2 P00 where mm/min When an ordinary INPUT is used, the response time is approx. 2 msec Algorithm for the Minimum Width of the MARK: mm/min 200 mm/sec 2 msec sec 200 mm/sec sec 0.4 mm (4) Use the G31 Skip command MACRO to complete the above action 3-50

67 3 Function Codes 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 L P F : The absolute coordinate of destination : 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. : 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: : 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 (0 1) Setting = 1, I-bit Input Trigger signal (1 0) 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 U L1 N20 G01 V N30 X90. Y

68 HUST H9C Operation Manual (X90., Y30.) Signal Arrived Y X 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 picture s characteristic to send out an interruption signal. (Mark - sensor) 3. The cutting of spring machine: When the coil spring machine s sensor senses the part of lead section of spring, it will send an interruption signal to let the G31 setup. Then another side will execute the cutting or inform program to stop the execution of the node. And continue to next node. (Spring machine) 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 I0 ~ I3 are high-speed inputs with a response time of 0.5µsec. Input Parameter 530 R High-speed Input Hgh-speed axis stop setting of the G31 Skip Function G31 Skip Function Waiting Input signal mod 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. 3-52

69 3 Function Codes 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# , activate the hardware high-speed stop for the V-axis. BIT8 1, i.e., MCM# , 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 (0 1) trigger signal. Setting 1, I-bit Input signal is a falling (1 0) 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 (0 1) trigger signal. G12 P5 G31 X 1 F 2 P0 G11 P13 G04 X 3 G11 P-13 M99 Wait the Input 5 ON, then the program executes next single block. Servo motor executes to feed material till the photosensor(input 0) to sense the MARK. Assign the Output 13 ON and the tool to cut. In the holding time, the motor will stop feeding. Assign the Output 13 OFF and the tool stop cutting. 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 (0 1) trigger signal. G12 P5 Wait the Input 5 ON, then the program executes next single block. G31 X 1 Z#2 F 3 P00 Servo motor executes to feed material till the photosensor(input 0) to sense the MARK. G11 P13 Assign the Output 13 ON and the tool to cut. G04 X 4 In the holding time, the motor will stop feeding. G11 P-13 Assign the Output 13 OFF and the tool stop cutting. M99 End Program. 3-53

70 HUST H9C Operation Manual When the hardware high-speed axis stop is activated, the G01 (MCM#505) acceleration setting will be neglected. Feed rate F-rate With the G31Input, the motor speed will decelerate rapidly to 0. T Motor is activated When the hardware high-speed axis stop is activated, it will be controlled by the hardware. Voltage Motor is activated Fig With the G31Input, the motor speed will decelerate rapidly to 0. Bounce Reduction: 10 msec, independent of the speed T Servo bounce: The bounce is proportional to the cutting speed. A higher speed, a greater bounce is. High-speed Input C028 R190 R250 Software Setting: High-speed G31 Skip command related settings I0 ~ I3 are high-speed inputs with a response time of 0.5µsec. Deceleration selection for G31 Skip Function Deceleration selection for G31 Skip Function Waiting Input signal format for G31 Skip Function When the hardware high-speed axis stop is activated (MCM#530 0), the software setting will be ineffective. 1. High Speed Input HUST H9C series has 256 input and 176 output I0 to the 5 th pin of the DA axis. Its response time can be 0.5 µsec. Connect 2. C028 R190 G31 Skip Function Deceleration Option 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) R190 0 When servo motor meets the input signal of G31, it will travel the distance of R

71 3 Function Codes C028 = 0 Skip R190 Feed- Rate F Motor meets G31. Decel. to zero by decel.rate T C028 = 1 R190 = 0 Feed- Rate F Motor Start Motor meets G31. Decl. To zero rapidly. T C028 = 1 R190 0 Feed- Rate F Motor Start Motor Start Fig3-53 C028 When servo motor meets the input signal of G31, it will travel the distance of R190 and then stop. The area R190 must exceeds motor deceleration distance R190 & Servo motor Relation Display T 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 3 I-bit Input signal type is normally closed (1) Program Description Input 5 Start the controller to do the position control. Input 0 Lamp Sensor Output 13 The tool executes the cutting or not. 1 Exceed the distance from lamp sensor to controller s starting point. 2 F value = Motor feed rate. 3 Holding time 4 Equal to the value of R190. The setting value muse exceeds the distance of motor deceleration. 3-55

72 HUST H9C Operation Manual G12 P5 G31 X 1 F 2 P00 G11 P13 G04 X 3 G11 P-13 M99 Wait the Input 5 ON, then the program executes next single block. Servo motor executes to feed material till the photosensor(input 0) to sense the MARK. Assign the Output 13 ON and the tool to cut. In the holding time, the motor will stop feeding. Assign the Output 13 OFF and the tool stop cutting. End Program. 3-56

73 3 Function Codes 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) 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)= show not When HOME has been executed, the screen will 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 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 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: 3-57

74 HUST H9C Operation Manual Work Coord. MCM # Machine Coord. X-axis Setting Machine Coord. Y-axis Setting G54 1(X) 2(Y) G55 21(X) 22(Y) G56 41(X) 42(Y) G57 61(X) 62(Y) G58 81(X) 82(Y) G59 101(X) 102(Y) Work origin G G56 G55 G57 G G 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. Y Work origin R G54-10 X -20 G56 G55 G57 G G 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 F Cut a circle in CW with R=7.0 N4 G0 -- Select G55 work coord. 3-58

75 3 Function Codes N5 G55 -- Select the secondary working corrdinate N6 G0 X0. Y0. -- Move to G55 work origin (Machine Coord, -80/-30) N7 G1 Y10.0 F Y-axis feed for cutting with a travel N8 G3 Y-10.0 R10.0 F Cut a half-circle in CCW with R=10.0 N9 Y10.0 F Y-axis feed for cutting with a travel N10 G28 -- If the primary reference point s 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~G Feed rate mode control G98,G99 Format: G98 G Feed-rate per minute, mm/min --- 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 G G99 can be applied only with G01 not G 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 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 X Y F

76 HUST H9C Operation Manual 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 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 # 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 ~ Aj (when j is used without a # sign) represents a constant ranging from to #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 ~ Ak (when k is used without a # sign) represents a constant ranging from to 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 =

77 3 Function Codes 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 Decimal Point 1 (6/1 format) 2 (5/2 format) 3 (4/3 format) 4 (3/4 format) Unit 100µm 10µm 1µm 0.1µm µm 2500µm 250µm 25µm 3-61

78 HUST H9C Operation Manual 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 I = 2 2 I + J G65 L28 Root of the difference of square 2 2 I = I J Conversion of setting length to b + b G65 L30 2 4ac numbers of circle (round shape) 2a 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 3-62

79 3 Function Codes 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 ( ) to ( ). 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= 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= Multiplication, #i = #j * #k G65 L4 P#i A#j B#k I#m J#n K#l (#m,#i) = (#n,#j) (#l,#k) Explanation: #i, #j, #k are low 32-bit operands; #m, #n, #l are high 32-bit operands. Ex1 #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 =

80 HUST H9C Operation Manual Ex2 #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 = (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 (#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 Result : G65 L6 P#10 A#5 B5 : #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 # 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 3-64

81 3 Function Codes constant difference G65 L06 P#11 A1 B5 J2 Result: #11 1 #12 3 #13 5 #14 7 #15 9 A1(Staring value) J2 (constant difference between values) B5 (number of variables) Ex. C: Simultaneously set a series of variables to be of a series of same values G65 L06 P#11 A7 B5 I5 Result: I5 (constant difference between variables) #11 7 #16 7 #21 7 #26 7 #31 7 B5 (number of variables) 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: I5 (constant difference between variables) #11 2 #16 4 #21 6 #26 8 #31 10 #36 12 J2 (constant difference between values) A2 (Staring value) B6 (number of variables) 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.: # #6 blank In the program, G00 X#5 Y#6 is regarded as that Y is not specified, which is equivalent to G00 X#

82 HUST H9C Operation Manual 7. Simultaneously copy several consecutive variables G65 L7 P# i A#j B#k ; #i #j #(i+1) #(j+1). If # i is added with ; #(#i) #j #(#i)+1 #(j+1). Note: 0 < #k < 1024 Ex. 1: Copy the values of #10.. #20 to #125. #135 Program command : G65 L7 P#125 A#10 B11 Result : #125 #10, #126 #11, #127 #12, #128 #13 #129 #14, #130 #15, #131 #16, #132 #17 #133 #18, #134 #19, #135 #20 Ex. 2: Copy the values of #1.. #5 to #256. #260 The initial value : # , #1 301 Program command : G65 L7 P#256 A#1 B5 Result : #256 #1 301, #257 #2, #258 #3, #259 #4, #260 #5 Ex. 3: Copy the values of #1.. #5 to #101. #105 The initial value : # , #1 301 Program command : G65 L7 P# A#1 B5 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, # Program command : G65 L11 P#10 A#5 B#20 Result : #10 12.OR Ex. 2: To set #10 #10.OR. 10, #10 15 Program command : G65 L11 P#10 A#10 B10 Result: #10 15.OR

83 3 Function Codes 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, # Program command : G65 L12 P#10 A#5 B#20 Result : #10 12.AND Ex. 2: To set #10 #10.AND. 10, #10 15 Program command : G65 L12 P#10 A#10 B10 Result : #10 15.AND 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, # Program command : G65 L13 P#10 A#5 B#20 Result : #10 4.XOR Ex. 2: To set #10 #10.XOR. 10, #10 15 Program command : G65 L11 P#10 A#10 B10 Result : #10 15.XOR 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 x x x x x x x x x x x x x x x x Ex 1: Before G65, variable #10 = G65 L14 P#12 A#10 B1 (ROL by 1 position) After G65, variable #12 = Before: Bit After G65: Bit

84 HUST H9C Operation Manual 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 After G65: Bit 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 Ex 1: Before G65, variable #10 = 3 G65 L15 P#12 A#10 B1 (ROR by 1 position) After G65, variable #12 = Before: Bit After G65: Bit 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 x x x x x x x x x x x x x x x x 3-68

85 3 Function Codes Ex 1: Before G65, variable #10 = 13 G65 L16 P#12 A#10 B2 (LSL by 2 positions) After G65, variable #12 = 52 Before: Bit After G65: Bit 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 x x x x x x x x x x x x x x x x Ex 1: Before G65, variable #10 = 13 G65 L17 P#12 A#10 B2 (LSR by 2 positions) After G65, variable #12 = 3 Before: Bit After G65: Bit 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. 3-69

86 HUST H9C Operation Manual 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) = 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 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) = 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, # , # Program command :G65 L26 P#5 A#10 B#15 Result :#5 (#5 #10)/#15 ( )/ The root of the sum of the square 2 2 G65 L27 P#i A#j B#k # i = (# j + # k ) EX1:#10 = 15 #15 = 3 Program Command G65 L27 P#5 A#10 B#

87 3 Function Codes Ans #5 = (# #15 ) = ( ) = (round off) = 15 EX2 #10 = 10 #15 = 30 Program Command G65 L27 P#5 A#10 B#15 Ans #5 = (# #15 ) = ( ) = (round off) = The root of the difference of the square 2 2 G65 L28 P#i A#j B#k # i = (# j # k ) EX1: #10 = 15 #15 = 3 Program Command G65 L27 P#5 A#10 B#15 Ans #5 = (# #15 ) = ( ) = (round off) = 15 EX2 #10 = 25 #15 = 5 Program Command G65 L27 P#5 A#10 B#15 Ans #5 = (# #15 ) = ( ) = (round off) = Conversion of setting length to numbers of circle (round shape) Command 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) The factor of calculation Length(Ly) If set mm as the minimum unit, 1000 Roll radius(r0) If set mm as the minimum unit, 1000 Thickness(t) Set µas the minimum unit 3-71

88 HUST H9C Operation Manual Formula b + b 2 4ac 2a EX1 #n=#1 #j=100mm #r=5mm #t=10µ Ans G65 L30 P#1 A 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 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 = 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 = Tangent of an Angle, #i = #j tan(#k) G65 L33 P#i A#j B#k #1 = tan 45 = 1 The format in system is So the calculation is G65 L33 P#1 A1000 B4500 Ans #1 = 1000 tan 45 =1000 EX1 Count : #1 = tan 60 = Program Command G65 L33 P#1 A1000 B6000 Ans #1 = 1000 tan 60 = Arc-tangent of a number, #i = Tan -1 (#j / #k) 3-72

89 3 Function Codes 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) = =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 #J=4 xxxxxx xxxxxx C064..C079 S064..S079 A064..A079 #J=5 xxxxxx xxxxxx C080..C095 S080..S095 A080..A095 #J=6 xxxxxx xxxxxx C096..C111 S096..S111 A096..A111 #J=7 xxxxxx xxxxxx C112..C127 S112..S127 A112..A127 #J=8 xxxxxx xxxxxx C128..C143 S128..S143 A128..A143 #J=9 xxxxxx xxxxxx C144..C159 S144..S159 A144..A159 #J=10 xxxxxx xxxxxx C160..C175 S160..S175 A160..A175 #J=11 xxxxxx xxxxxx C176..C191 S176..S191 A176..A191 #J=12 xxxxxx xxxxxx C192..C207 S192..S207 A192..A207 #J=13 xxxxxx xxxxxx C208..C223 S208..S223 A208..A223 #J=14 xxxxxx xxxxxx C224..C239 S224..S239 A224..A239 #J=15 xxxxxx xxxxxx C240..C255 S240..S255 A240..A255 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 * ) 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. 3-73

90 HUST H9C Operation Manual 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 I Obtain O-Bit Signal Data in PLC, #I = #j = O(#j * 16).. O(#j * ) 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 Obtain C-Bit Signal Data in PLC, #I = #j = C(#j * 16).. C(#j * ) 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 C Obtain S-Bit Signal Data in PLC, #I = #j = S(#j * 16).. S(#j * ) 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) 3-74

91 3 Function Codes Bit S31 S30 S29 S28 S27 S26 S25 S24 S23 S22 S21 S20 S19 S18 S17 S Obtain A-Bit Signal Data in PLC, #I = #j = A(#j * 16).. A(#j * ) 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 A 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 = 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 = 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 = 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 #a IOCSA range I = 0~255 #b the status of every bit (on & off) O = 256~511 on=1 off=-1 C = 512~

92 HUST H9C Operation Manual S = 768~1023 A = 1024~2048 EX1 Command N10 G65 L01 P#1 A20 N20 G65 L70 P50 A1 B1 N30 X100. N40 Y100. N50 M02 Ans 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 N 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 N 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) G65 L82 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. 3-76

93 3 Function Codes Ex: N10 G65 L01 P#1 A20 N20 G65 L82 P50 A#1 B10 N30 G01 X100. N40 Y100. N50 M02 Set variable #1 = 20 at block N10. After block N20, execution will branch to N50 (skip block N30, N40) because #1 10 is true. 39. Conditional Branching 3 (Greater) G65 L83 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 A20 N20 G65 L83 P50 A#1 B10 N30 G01 X100. N40 Y100. N50 M02 Set variable #1 = 20 at block N10. After block N20, execution will branch to N50 (skip block N30, N40) because #1>10 is true. 40. Conditional Branching 4 (Smaller) G65 L84 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 A20 N20 G65 L84 P50 A#1 B100 N30 G01 X100. N40 Y100. N50 M02 Set variable #1 = 20 at block N10. After block N20, execution will branch to N50 (skip block N30, N40) because #1<100 is true. 41. Conditional Branching 5 (Equal or Greater) G65 L85 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 A20 N20 G65 L85 P50 A#1 B

94 HUST H9C Operation Manual N30 G01 X100. N40 Y100. N50 M02 Set variable #1 = 20 at block N10. After block N20, execution will branch to N50 (skip block N30, N40) because #1 10 is true. 42. Conditional Branching 6 (Equal or Smaller) G65 L86 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 A20 N20 G65 L86 P50 A#1 B20 N30 G01 X100. N40 Y100. N50 M02 Set variable #1 = 20 at block N10. After block N20, execution will branch to N50 (skip block N30, N40) because #1 20 is true. 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: Program N10 G65 L01 P#1 A20 N20 G65 L87 P05 A10 B#1 N30 G01 X0. F1000 N N N 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 Shorten the calculating time of G65 L81 P** A** B** G65 L88 P#xxx Ayyy Bzzz xxx => The variable to be judged 3-78

95 3 Function Codes 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 Info G65 L88 P#xxx Ayyy Bzzz When the program is executing at this command, the system will read this and judge the information of variable(#xxx G65 L80 Pwww Execute the command of the node Condition 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 EX Line number Must be continuous number 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 In order ;;#403 = 55 Skip to N65 G65 L80 P66 Up to 64 lines ;;#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 = # M99 N65 G65 L02 P#663 A#663 B20 ; #663 = # M99 N66 G65 L02 P#663 A#663 B30 ; #663 = # M99 N67 G65 L02 P#663 A#663 B40 ; #663 = # M99 N68 G65 L02 P#663 A#663 B50 ; #663 = # M99 N69 G65 L02 P#663 A#663 B60 ; #663 = # M

96 HUST H9C Operation Manual 45. Conditional Branching 8 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 Line number #j Variable to be inspect k Bit to be inspect EX Program N10 N20 G65 L89 P50 A#1 B0 N30 X100. N40 Y100. N50 M02 Ans When the program is executing to the N20, it will do the judgment of #1 and then do the calculation of BIT: As #1= Bit binary We can see that Bit0=0 will be set up and skip to N50 to finish the program. As#1= Bit binary We can see that Bit0=1 will not be set up and continue to N30 till N Conditional Branching 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 Line number #j The variable to be inspect k The bit to be inspect. Ex Program N10 N20 G65 L90 P50 A#1 B2 N30 X100. N40 Y100. N50 M02 Ans When the program is executing to the N20, it will do the judgment of #1 and then do the calculation of BIT: 3-80

97 3 Function Codes as#1= Bit binary We can see that Bit2=1 will be set up and skip to N50 to finish the program. as#1= Bit binary We can see that Bit2=0 will not be set up and continue to N30 till N50 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= 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 I005 = 1 (On) I005 = 0 (Off) I005 = 1 (On) #02 #12 Variable #01 Direction of feed 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 = (binary) G65 L82 P0010 A#11 B32... If I005 1, jump to N

98 HUST H9C Operation Manual 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 M Working Program 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 = Execute 12th M5 indexing. 12th move to location =

99 3 Function Codes M5 EXECUTION Fig 3-55 Note If the M-code is less than 500, the program will pause when executing G00,G01 (Linear),G02 and G03 (Arc) 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 M01 M02 M30 M98 M99 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. Option stop. The program will stop only when the C-bit, C026=1. See Chap 8. Program end. Program end. M02 and M30 are identical. Sub-program call. 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 S Example: S The spindle rpm is 1000 rev/min 3-83

100 HUST H9C Operation Manual 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 M98 P05 L3... Execute sub-program No 5 once.... 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: Program1 N1.. N5M98P2.. N31 M2 Program2 N1.. N5M98P3.. N31 M Program7 N1.. N5M98P8.. N31 M99 Program8 N N31 M99 Fig 3-56 Sub-program Call 3-84

101 3 Function Codes 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 A B 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 = #13102 = #13103 =

102 HUST H9C Operation Manual 3-86

103 4 Tool Compensation 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. Y- Axis Compensate Standard Tool Compensate Tool X-Axis Compensate Offset Compensation Function, G43, G49 Fig 4-1 Tool Offset Compensation 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. 4-1

104 HUST H9C Operation Manual Ex: N00 G43 P st tool offset compensation (MCM #1342~#1343) in effect N10 X Y N20 Y N30 X Y 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 X/Y/Z/A/B/C : 1~20, represents the group number of the parameters 1341~1620. : 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. 4-2

105 5 Keyboard and LCD Display 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: Area 2: Area 3: LCD display for coordinate, program, edit, operation status, etc. Function mode for numerical and command key area. 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 customer s special requirement. Please refer to Chap 6 for program editing and refer to Chap 8 for program execution, manual operation and manual data input. 5-1

106 HUST H9C Operation Manual 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. A B C O L D P E, Q / H These keys are for function code (letter) input. AUTO MDI AUTO mode for program execution. MDI Mode for manual data input operation. (Press key twice in 0.5 sec) JOG HOME TAPE TEACJ EDIT PRNO I/O MCM 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 Reset the CNC controller to power-on conditions. CYCST Press this button to start executing the program. # 0 9 This set of the key is used for data input. 5-2

107 5 Keyboard and LCD Display Press cursor up key to move backward. CURSOR Press cursor down key to move forward. Press cursor to the right. Press cursor to the left. Move cursor one line (or one page) up. PAGE Move cursor one line (or one page) down. DEL Delete single block input during program edit. CLEAR Delete data input during program edit.(letter) ENTER Enter data during programming or MCM data editing. NEW LINE Insert a program block during programming. F1 F2 F3 F4 F5 F6 F7 F8 Special assigned keys. 5-3

108 HUST H9C Operation Manual 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 Power-on Display RESET 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

109 5 Keyboard and LCD Display Coordinate Display Program Coordinate Display AUTO MDI 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) 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 Fig 5.3 HOME Mode (Machine Coordinate Display) JOG Press HOME 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 CYCST process for machine tool. (See Sec 8.1.1) Fig

110 HUST H9C Operation Manual EDIT Mode EDIT Press TEAC 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) Program Number (PRNO) Display Mode EDIT PRNO Fig 5.5 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 INPUT Sec. 6.1) Fig

111 5 Keyboard and LCD Display JOG Mode JOG HOME 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) Next Page Fig 5-7A 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. Fig 5-7B 5-7

112 HUST H9C Operation Manual TEACH Mode TAPE Press TEACH 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. 5-8

113 5 Keyboard and LCD Display I/O Test and Key Mode I/O MCM 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 MCM Parameter Mode I/O MCM Press key twice in 0.5 seconds to get MCM mode. The LCD screen display is as shown in Fig 5.10 Fig

114 HUST H9C Operation Manual 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 Trace display In the AUTO mode, press the data will be displayed: E key once to enter the Trace mode and the following 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. 5-10

115 5 Keyboard and LCD Display *Servo response trace In the AUTO mode, press the data will be displayed: D key once to enter the Trace mode and the following [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. 5-11

116 HUST H9C Operation Manual 5-12

117 6 Program Editing 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. EDIT PRNO 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. ENTER EMPTY EMPTY EMPTY EMPTY EMPTY EMPTY EMPTY EMPTY EMPTY 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 Enter the letters and numbers as 3. Press ENTER T Y P E

118 HUST H9C Operation Manual 6.2 New Program Editing EDIT PRNO 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 CURSOR keys for data inspection in the same block PAGE keys for data inspection between lines. NEW 4. LINE -- 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 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 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 NEW ENTER DEL LINE 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. 6-2

119 6 Program Editing 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 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. PRNO 2. N10 G0 X0. Y0. EDIT (A) G 0 NEW LINE NEW Use LINE 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 N1 G0 Fig 6.3 (B) X 0 ENTER Key-strokes for the remaining blocks are as follows. 1. N20 G4 X1. Y O ENTER (A) G 4 NEW LINE (B) X 1 ENTER 6-3

120 HUST H9C Operation Manual 2. N30 G0 U480. V-480. (A) G 0 NEW LINE (B) U ENTER V ENTER (The negative sign here can be input anywhere before pressing ENTER key) 3. N40 G4 X1. (A) (B) G 4 NEW LINE X 1 ENTER 4. N50 M99 (A) M99 - NEW LINE During program editing, you can use data within the block. CURSOR keys to check the input Use PAGE keys to move up and down the block (line). When you finish editing the entire program, press key to exit. RESET 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. ENTER Ex: Revise N3 U480. V-480. To N3 U480. V-480. F 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 F ENTER 6-4

121 6 Program Editing N1 X0.Y0.Z0. N2 X20. N3 U480.V-480.F500 N4 Z15. N5 M02 Fig Revise U480. to U360. by keying in U ENTER Modify the wrong command, just to re-enter on the command, then press ENTER. 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 Make sure the system in EDIT mode. 2. Use PAGE keys to move cursor to N3 block. 3. Key without numbers and press ENTER key, LCD displays as Fig 6.5, 6-5

122 HUST H9C Operation Manual N1 X0.Y0.Z0. N2 X20. N3 U480.V-480. N4 Z15. N5 M02 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. NEW LINE Then use ENTER 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. 1. Make sure the system in EDIT mode. 2. Use PAGE keys to move cursor to N30 block. 3. ENTER N 3 1 NEW LINE U 2 0 ENTER V 2 0 ENTER 6-6

123 6 Program Editing The LCD display is shown as 6-6 N1 X0.Y0.Z0. N2 X20. N3 U480.V-480. N31 U20. V-20. N4 Z15. N5 M02 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. 1. Make sure the system in EDIT mode. 2. Use PAGE keys to move cursor to N30 block. 3. Press DEL key and the LCD display is as shown in Fig 6.7 (Block N4) N1 X0.Y0.Z0. N2 X20. N4 Z15. N5 M02 Fig

124 HUST H9C Operation Manual 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 DEL EMPTY EMPTY EMPTY EMPTY EMPTY EMPTY EMPTY EMPTY EMPTY 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. H 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. ENTER 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, NEW,, DEL and keys. LINE ENTER (Please refer to Chapter 6 of HUST H9C Connecting Manual) ENTER 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 6-8

125 6 Program Editing required for part of your program, it s 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. TAPE TEACJ 1. Press key twice in 0.5 seconds to get in TEACH mode. 2. Enter relevant commands in both and ENTER keys. 3. Use MPG hand wheel to move to the desired location and press ENTER 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 X ( use MPG hand-wheel input coordinate ) M02 1. Enter Teach mode NEW LINE 2. Enter G 0 1 NEW LINE 3. Move the tool to the location coordinate by using MPG hand-wheel and press the key. ENTER 4. Enter M 0 2 NEW LINE 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. 6-9

126 HUST H9C Operation Manual 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 X mm X0.002 mm X0.02 mm X0.2 mm Y250 Y mm Y0.250 mm Y2.50 mm Y25.0 mm Z35 Z0.0035mm Z0.035mm Z0.35mm Z3.5mm U2500 U mm U2.500 mm U25.00 mm U250.0 mm V25. V mm V mm V25.00 mm V25.0 mm W125. V mm W mm 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 it s 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 M99 sixth 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. 6-10

127 6 Program Editing 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. 6-11

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129 7 MCM Parameters 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 I/O MCM 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 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. ENTER RESET 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 AUTO MDI 1. Get into MDI mode by pressing key twice in 0.5 seconds. 2. Key in G10 P1000, then press CYCST key. Fig

130 HUST H9C Operation Manual 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 Work coordinate (origin) 3 0 mm G54 Z-axis 1 st Work coordinate (origin) 4 0 mm G54 A-axis 1 st Work coordinate (origin) 5 0 mm G54 B-axis 1 st Work coordinate (origin) 6 0 mm G54 C-axis 1 st Work coordinate (origin) 7 0 mm G54 U-axis 1 st Work coordinate (origin) 8 0 mm G54 V-axis 1 st Work coordinate (origin) 9 0 mm G54 W-axis 1 st Work coordinate (origin) System Reserved 21 0 mm G55 X-axis 2 nd Work coordinate (origin) 22 0 mm G55 Y-axis 2 nd Work coordinate (origin) 23 0 mm G55 Z-axis 2 nd Work coordinate (origin) 24 0 mm G55 A-axis 2 nd Work coordinate (origin) 25 0 mm G55 B-axis 2 nd Work coordinate (origin) 26 0 mm G55 C-axis 2 nd Work coordinate (origin) 27 0 mm G55 U-axis 2 nd Work coordinate (origin) 28 0 mm G55 V-axis 2 nd Work coordinate (origin) 29 0 mm G55 W-axis 2 nd Work coordinate (origin) System Reserved 41 0 mm G56 X-axis 3 rd Work coordinate (origin) 42 0 mm G56 Y-axis 3 rd Work coordinate (origin) 43 0 mm G56 Z-axis 3 rd Work coordinate (origin) 44 0 mm G56 A-axis 3 rd Work coordinate (origin) 45 0 mm G56 B-axis 3 rd Work coordinate (origin) 46 0 mm G56 C-axis 3 rd Work coordinate (origin) 47 0 mm G56 U-axis 3 rd Work coordinate (origin) 48 0 mm G56 V-axis 3 rd Work coordinate (origin) 49 0 mm G56 W-axis 3 rd Work coordinate (origin) System Reserved 61 0 mm G57 X-axis 4 th Work coordinate (origin) 62 0 mm G57 Y-axis 4 th Work coordinate (origin) 63 0 mm G57 Z-axis 4 th Work coordinate (origin) 64 0 mm G57 A-axis 4 th Work coordinate (origin) 65 0 mm G57 B-axis 4 th Work coordinate (origin) 66 0 mm G57 C-axis 4 th Work coordinate (origin) 67 0 mm G57 U-axis 4 th Work coordinate (origin) 68 0 mm G57 V-axis 4 th Work coordinate (origin) 69 0 mm G57 W-axis 4 th Work coordinate (origin) System Reserved 81 0 mm G58 X-axis 5 th Work coordinate (origin) 82 0 mm G58 Y-axis 5 th Work coordinate (origin) 83 0 mm G58 Z-axis 5 th Work coordinate (origin) 84 0 mm G58 A-axis 5 th Work coordinate (origin) 85 0 mm G58 B-axis 5 th Work coordinate (origin) 86 0 mm G58 C-axis 5 th Work coordinate (origin) 87 0 mm G58 U-axis 5 th Work coordinate (origin) 88 0 mm G58 V-axis 5 th Work coordinate (origin) 89 0 mm G58 W-axis 5 th Work coordinate (origin) System Reserved 7-2

131 7 MCM Parameters MCM No. Factory Default Setting Unit Description Setting mm G59 X-axis 6 th Work coordinate (origin) mm G59 Y-axis 6 th Work coordinate (origin) mm G59 Z-axis 6 th Work coordinate (origin) mm G59 A-axis 6 th Work coordinate (origin) mm G59 B-axis 6 th Work coordinate (origin) mm G59 C-axis 6 th Work coordinate (origin) mm G59 U-axis 6 th Work coordinate (origin) mm G59 V-axis 6 th Work coordinate (origin) mm G59 W-axis 6 th Work coordinate (origin) System Reserved mm X-axis, G28 reference point coordinate mm Y-axis, G28 reference point coordinate mm Z-axis, G28 reference point coordinate mm A-axis, G28 reference point coordinate mm B-axis, G28 reference point coordinate mm C-axis, G28 reference point coordinate mm U-axis, G28 reference point coordinate mm V-axis, G28 reference point coordinate mm W-axis, G28 reference point coordinate System Reserved mm X-axis, G30 reference point coordinate mm Y-axis, G30 reference point coordinate mm Z-axis, G30 reference point coordinate mm A-axis, G30 reference point coordinate mm B-axis, G30 reference point coordinate mm C-axis, G30 reference point coordinate mm U-axis, G30 reference point coordinate mm V-axis, G30 reference point coordinate mm W-axis, G30 reference point coordinate System Reserved mm X-axis, Backlash compensation (G01), 0~ mm Y-axis, Backlash compensation (G01), 0~ mm Z-axis, Backlash compensation (G01), 0~ mm A-axis, Backlash compensation (G01), 0~ mm B-axis, Backlash compensation (G01), 0~ mm C-axis, Backlash compensation (G01), 0~ mm U-axis, Backlash compensation (G01), 0~ mm V-axis, Backlash compensation (G01), 0~ mm W-axis, Backlash compensation (G01), 0~ System Reserved mm X-axis, Backlash compensation (G00), 0~ mm Y-axis, Backlash compensation (G00), 0~ mm Z-axis, Backlash compensation (G00), 0~ mm A-axis, Backlash compensation (G00), 0~ mm B-axis, Backlash compensation (G00), 0~ mm C-axis, Backlash compensation (G00), 0~ mm U-axis, Backlash compensation (G00), 0~ mm V-axis, Backlash compensation (G00), 0~ mm W-axis, Backlash compensation (G00), 0~ System Reserved mm/min X-axis, JOG Feed-rate mm/min Y-axis, JOG Feed-rate 7-3

132 HUST H9C Operation Manual MCM No. Factory Default Setting Unit Description Setting mm/min Z-axis, JOG Feed-rate mm/min A-axis, JOG Feed-rate mm/min B-axis, JOG Feed-rate mm/min C-axis, JOG Feed-rate mm/min U-axis, JOG Feed-rate mm/min V-axis, JOG Feed-rate mm/min W-axis, JOG Feed-rate System Reserved mm/min X-axis, G00 Traverse speed limit mm/min Y-axis, G00 Traverse speed limit mm/min Z-axis, G00 Traverse speed limit mm/min A-axis, G00 Traverse speed limit mm/min B-axis, G00 Traverse speed limit mm/min C-axis, G00 Traverse speed limit mm/min U-axis, G00 Traverse speed limit mm/min V-axis, G00 Traverse speed limit mm/min W-axis, G00 Traverse speed limit System Reserved pulse X-axis,Denominator,resolution calc.(encoder pulse) µm X-axis,Numerator,resolution calculation.(ball-screwpitch) pulse Y-axis,Denominator,resolutioncalc.(Encoder pulse) µm Y-axis,Numerator,resolutioncalc.(Ball-screwpitch) pulse Z-axis,Denominator,resolutioncalc.(Encoder pulse) µm Z-axis,Numerator,resolutioncalc.(Ball-screwpitch) pulse A-axis,Denominator,resolutioncalc.(Encoder pulse) µm A-axis,Numerator,resolutioncalc.(Ball-screwpitch) pulse B-axis,Denominator,resolutioncalc.(Encoder pulse) µm B-axis,Numerator,resolutioncalc.(Ball-screwpitch) pulse C-axis,Denominator,resolutioncalc.(Encoder pulse) µm C-axis,Numerator,resolutioncalc.(Ball-screwpitch) pulse U-axis,Denominator,resolutioncalc.(Encoder pulse) µm U-axis,Numerator,resolutioncalc.(Ball-screwpitch) pulse V-axis,Denominator,resolutioncalc.(Encoder pulse) µm V-axis,Numerator,resolutioncalc.(Ball-screwpitch) pulse W-axis,Denominator,resolutioncalc.(Encoder pulse) µm W-axis,Numerator,resolutioncalc.(Ball-screwpitch) System Reserved X-axis, HOME direction, 0=+ dir.1=-dir Y-axis, HOME direction, 0=+ dir.1=-dir Z-axis, HOME direction, 0=+ dir.1=-dir A-axis, HOME direction, 0=+ dir.1=-dir B-axis, HOME direction, 0=+ dir.1=-dir C-axis, HOME direction, 0=+ dir.1=-dir U-axis, HOME direction, 0=+ dir.1=-dir V-axis, HOME direction, 0=+ dir.1=-dir W-axis, HOME direction, 0=+ dir.1=-dir System Reserved mm/min X-axis, HOME speed mm/min Y-axis, HOME speed mm/min Z-axis, HOME speed mm/min A-axis, HOME speed mm/min B-axis, HOME speed 1 7-4

133 7 MCM Parameters MCM No. Factory Default Setting Unit Description Setting mm/min C-axis, HOME speed mm/min U-axis, HOME speed mm/min V-axis, HOME speed mm/min W-axis, HOME speed System Reserved mm/min X-axis, Home grid speed during HOME execution mm/min Y-axis, Home grid speed during HOME execution mm/min Z-axis, Home grid speed during HOME execution mm/min A-axis, Home grid speed during HOME execution mm/min B-axis, Home grid speed during HOME execution mm/min C-axis, Home grid speed during HOME execution mm/min U-axis, Home grid speed during HOME execution mm/min V-axis, Home grid speed during HOME execution mm/min W-axis, Home grid speed during HOME execution System Reserved /1 X-axis,Home grid direction during HOME execution /1 Y-axis,Home grid direction during HOME execution /1 Z-axis,Home grid direction during HOME execution /1 A-axis,Home grid direction during HOME execution /1 B-axis,Home grid direction during HOME execution /1 C-axis,Home grid direction during HOME execution /1 U-axis,Home grid direction during HOME execution /1 V-axis,Home grid direction during HOME execution /1 W-axis,Home grid direction during HOME execution System Reserved mm X axis Home grid setting mm Y-axis Home grid setting mm Z-axis Home grid setting mm A-axis Home grid setting mm B-axis Home grid setting mm C-axis Home grid setting mm U-axis Home grid setting mm V-axis Home grid setting mm W-axis Home grid setting System Reserved mm X-axis, HOME shift data mm Y-axis, HOME shift data mm Z-axis, HOME shift data mm A-axis, HOME shift data mm B-axis, HOME shift data mm C-axis, HOME shift data mm U-axis, HOME shift data mm V-axis, HOME shift data mm W-axis, HOME shift data System Reserved mm X-axis,Setting the value of search servo grid mm Y-axis,Setting the value of search servo grid mm Z-axis,Setting the value of search servo grid mm A-axis,Setting the value of search servo grid mm B-axis,Setting the value of search servo grid mm C-axis,Setting the value of search servo grid mm U-axis,Setting the value of search servo grid 7-5

134 HUST H9C Operation Manual MCM No. Factory Default Setting Unit Description Setting mm V-axis,Setting the value of search servo grid mm W-axis,Setting the value of search servo grid System Reserved X-axis Origin switch (+ :N.O (normallyopen) node; -:N.C (normally closed) node) Y-axis Origin switch (+ :N.O node; -:N.C node) Z-axis Origin switch (+ :N.O node; - :N.C node) A-axis Origin switch (+ :N.O node; - :N.C node) B-axis Origin switch (+ :N.O node; - :N.C node) C-axis Origin switch (+ :N.O node; - :N.C node) U-axis Origin switch (+ :N.O node; - :N.C node) V-axis Origin switch (+ :N.O node; - :N.C node) W-axis Origin switch (+ :N.O node; - :N.C node) System Reserved X-axis, Direction of motor rotation, 0=CW, 1=CCW Y-axis, Direction of motor rotation, 0=CW, 1=CCW Z-axis, Direction of motor rotation, 0=CW, 1=CCW A-axis, Direction of motor rotation, 0=CW, 1=CCW B-axis, Direction of motor rotation, 0=CW, 1=CCW C-axis, Direction of motor rotation, 0=CW, 1=CCW U-axis, Direction of motor rotation, 0=CW, 1=CCW V-axis, Direction of motor rotation, 0=CW, 1=CCW W-axis, Direction of motor rotation, 0=CW, 1=CCW System Reserved X-axis,Encoder pulse multiplicationfactor,1,2,or Y-axis,Encoder pulse multiplicationfactor,1,2,or Z-axis,Encoder pulse multiplicationfactor,1,2,or A-axis,Encoder pulse multiplicationfactor,1,2,or B-axis,Encoder pulse multiplicationfactor,1,2,or C-axis,Encoder pulse multiplicationfactor,1,2,or U-axis,Encoder pulse multiplicationfactor,1,2,or V-axis,Encoder pulse multiplicationfactor,1,2,or W-axis,Encoder pulse multiplicationfactor,1,2,or System Reserved X-axis impulse command width adjustment (4=625KPPS) Y-axis impulse command width adjustment (4=625KPPS) Z-axis impulse command width adjustment (4=625KPPS) A-axis impulse command width adjustment (4=625KPPS) B-axis impulse command width adjustment (4=625KPPS) C-axis impulse command width adjustment (4=625KPPS) U-axis impulse command width adjustment (4=625KPPS) V-axis impulse command width adjustment (4=625KPPS) W-axis impulse command width adjustment (4=625KPPS) System Reserved 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 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. BIT1 = 0, Y axis find Home grid available, 7-6

135 7 MCM Parameters MCM No. Factory Default Setting Unit Description Setting = 1, no need to find. BIT2 = 0, Z axis find Home grid available, = 1, no need to find. BIT3 = 0, A axis find Home grid available, = 1, no need to find. BIT4 = 0, B axis find Home grid available, = 1, no need to find. BIT5 = 0, C axis find Home grid available, = 1, no need to find. BIT6 = 0, U axis find Home grid available, = 1, no need to find. BIT7 = 0, V axis find Home grid available, = 1, no need to find. BIT8 = 0, W axis find Home grid available, = 1, no need to find msec G00 Linear accel./decel. Time, 4~512 ms msec G01 Linear accel./decel. Time, 10~1024 ms msec Accel/Decel time when in G99 mode (mm/rev) msec Time Setting for spindle acceleration System Reserved pulse Spindle encoder resolution (pulse/rev) rpm Max. spindle rpm at 10 volts v Spindle voltage command zero drift correction (open circuit) Spindle voltage command acce/dece slope correction (open circuit) rpm Spindle RPM correction (based on feedback from the encoder) Start number for program block number generation Increment for program block number generation Denominator of feed-rate when in MPG test mode Numerator of feed-rate when in MPG test mode MPG direction ms Set Acceleration/Deceleration Time for MPG (4~512) RS232 Baud rate, 38400, / EVEN /2 Bit Setting whether R000~R99 data in PLC are stored when power is cut off. 0=NO, 256=YES pulse Servo Error Counter Radius/Diameter Programming mode =Metric mode, 25400=inch mode mcm541=0, Error in Circular Cutting, ideal value= Pulse settings 0: pulse + direction 1: +/- pulse 2: A/B phase Setting G01 speed value at booting Setting tool compensation direction =1 FAUNC, =0 HUST G01 Linear accel./decel. Time, for S curve G31 input motion stop at hardware Format setting =0 standard, =1 variable automatically added with a decimal point, =2 line editing, =4 automatically added with a decimal point in programming mm Mill mode Setting the backlash of G pulse Setting the following error count for testing 7-7

136 HUST H9C Operation Manual MCM No. Factory Default Setting Unit Description Setting 534 Testing the function of axial setting of the servo following error bit0-x 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) G41 and G42 processing types 539 System reserved Adjustment of the axis feedback direction Arc type System Reserved "S" curve accel./decel. profile setting for the X-axis "S" curve accel./decel. profile setting for the Y-axis "S" curve accel./decel. profile setting for the Z-axis "S" curve accel./decel. profile setting for the A-axis "S" curve accel./decel. profile setting for the B-axis "S" curve accel./decel. profile setting for the C-axis "S" curve accel./decel. profile setting for the U-axis "S" curve accel./decel. profile setting for the V-axis "S" curve accel./decel. profile setting for the W-axis 570~580 System Reserved mm X-axis, Software OT limit, (+) direction (Group 1) mm Y-axis, Software OT limit, (+) direction (Group 1) mm Z-axis, Software OT limit, (+) direction (Group 1) mm A-axis, Software OT limit, (+) direction (Group 1) mm B-axis, Software OT limit, (+) direction (Group 1) mm C-axis, Software OT limit, (+) direction (Group 1) mm U-axis, Software OT limit, (+) direction (Group 1) mm V-axis, Software OT limit, (+) direction (Group 1) mm W-axis, Software OT limit, (+) direction (Group 1) System Reserved mm X-axis, Software OT limit, (-) direction (Group 1) mm Y-axis, Software OT limit, (-) direction (Group 1) mm Z-axis, Software OT limit, (-) direction (Group 1) mm A-axis, Software OT limit, (-) direction (Group 1) mm B-axis, Software OT limit, (-) direction (Group 1) mm C-axis, Software OT limit, (-) direction (Group 1) mm U-axis, Software OT limit, (-) direction (Group 1) mm V-axis, Software OT limit, (-) direction (Group 1) mm W-axis, Software OT limit, (-) direction (Group 1) System Reserved mm X-axis, Software OT limit, (+) direction (Group 2) mm Y-axis, Software OT limit, (+) direction (Group 2) mm Z-axis, Software OT limit, (+) direction (Group 2) mm A-axis, Software OT limit, (+) direction (Group 2) mm B-axis, Software OT limit, (+) direction (Group 2) mm C-axis, Software OT limit, (+) direction (Group 2) mm U-axis, Software OT limit, (+) direction (Group 2) mm V-axis, Software OT limit, (+) direction (Group 2) mm W-axis, Software OT limit, (+) direction (Group 2) System Reserved 7-8

137 7 MCM Parameters MCM No. Factory Default Setting Unit Description Setting mm X-axis, Software OT limit, (-) direction (Group 2) mm Y-axis, Software OT limit, (-) direction (Group 2) mm Z-axis, Software OT limit, (-) direction (Group 2) mm A-axis, Software OT limit, (-) direction (Group 2) mm B-axis, Software OT limit, (-) direction (Group 2) mm C-axis, Software OT limit, (-) direction (Group 2) mm U-axis, Software OT limit, (-) direction (Group 2) mm V-axis, Software OT limit, (-) direction (Group 2) mm W-axis, Software OT limit, (-) direction (Group 2) System Reserved X-axis, Cycle clearing w/ M02, M30, M Y-axis, Cycle clearing w/ M02, M30, M Z-axis, Cycle clearing w/ M02, M30, M A-axis, Cycle clearing w/ M02, M30, M B-axis, Cycle clearing w/ M02, M30, M C-axis, Cycle clearing w/ M02, M30, M U-axis, Cycle clearing w/ M02, M30, M V-axis, Cycle clearing w/ M02, M30, M W-axis, Cycle clearing w/ M02, M30, M System Reserved X-axis,0=incrementalcoord.,1=absolute coordinate Y-axis,0=incrementalcoord.,1=absolute coordinate Z-axis,0=incrementalcoord.,1=absolute coordinate A-axis,0=incrementalcoord.,1=absolute coordinate B-axis,0=incrementalcoord.,1=absolute coordinate C-axis,0=incrementalcoord.,1=absolute coordinate U-axis,0=incrementalcoord.,1=absolute coordinate V-axis,0=incrementalcoord.,1=absolute coordinate W-axis,0=incrementalcoord.,1=absolute coordinate System Reserved pulse X-axis, Position gain, standard= pulse Y-axis, Position gain, standard= pulse Z-axis, Position gain, standard= pulse A-axis, Position gain, standard= pulse B-axis, Position gain, standard= pulse C-axis, Position gain, standard= pulse U-axis, Position gain, standard= pulse V-axis, Position gain, standard= pulse W-axis, Position gain, standard= pulse System Reserved pulse X-axis,Break-over point for position gain, std= pulse Y-axis,Break-over point for position gain, std= pulse Z-axis,Break-over point for position gain, std= pulse A-axis,Break-over point for position gain, std= pulse B-axis,Break-over point for position gain, std= pulse C-axis,Break-over point for position gain, std= pulse U-axis,Break-over point for position gain, std= pulse V-axis,Break-over point for position gain, std= pulse W-axis,Break-over point for position gain, std= pulse System Reserved X-axis, Denominator, MPG resolution calc X-axis, Numerator, MPG resolution calc. 7-9

138 HUST H9C Operation Manual MCM No. Factory Default Setting Unit Description Setting Y-axis, Denominator, MPG resolution calc Y-axis, Numerator, MPG resolution calc Z-axis, Denominator, MPG resolution calc Z-axis, Numerator, MPG resolution calc A-axis, Denominator, MPG resolution calc A-axis, Numerator, MPG resolution calc B-axis, Denominator, MPG resolution calc B-axis, Numerator, MPG resolution calc C-axis, Denominator, MPG resolution calc C-axis, Numerator, MPG resolution calc U-axis, Denominator, MPG resolution calc U-axis, Numerator, MPG resolution calc V-axis, Denominator, MPG resolution calc V-axis, Numerator, MPG resolution calc W-axis, Denominator, MPG resolution calc W-axis, Numerator, MPG resolution calc System Reserved Set X-axis as Rotating (1) / Linear axis (0) Set Y-axis as Rotating (1) / Linear axis (0) Set Z-axis as Rotating (1) / Linear axis (0) Set A-axis as Rotating (1) / Linear axis (0) Set B-axis as Rotating (1) / Linear axis (0) Set C-axis as Rotating (1) / Linear axis (0) Set U-axis as Rotating (1) / Linear axis (0) Set V-axis as Rotating (1) / Linear axis (0) Set W-axis as Rotating (1) / Linear axis (0) System Reserved mm Distance of S bit sent before the X-axis reaches in position. (S176) mm Distance of S bit sent before the Y-axis reaches in position. (S177) mm Distance of S bit sent before the Z-axis reaches in position. (S178) mm Distance of S bit sent before the A-axis reaches in position. (S179) mm Distance of S bit sent before the B-axis reaches in position. (S180) mm Distance of S bit sent before the C-axis reaches in position. (S181) mm Distance of S bit sent before the U-axis reaches in position. (S182) mm Distance of S bit sent before the V-axis reaches in position. (S183) mm Distance of S bit sent before the W-axis reaches in position. (S184) System Reserved msec Set Acceleration/Deceleration Time for X-axis msec Set Acceleration/Deceleration Time for Y-axis msec Set Acceleration/Deceleration Time for Z-axis msec Set Acceleration/Deceleration Time for A-axis msec Set Acceleration/Deceleration Time for B-axis msec Set Acceleration/Deceleration Time for C-axis msec Set Acceleration/Deceleration Time for U-axis 7-10

139 7 MCM Parameters MCM No. Factory Default Setting Unit Description Setting msec Set Acceleration/Deceleration Time for V-axis msec Set Acceleration/Deceleration Time for W-axis System Reserved X-axis allowable compensation of back screw pitch Y-axis allowable compensation of back screw pitch Z-axis allowable compensation of back screw pitch A-axis allowable compensation of back screw pitch B-axis allowable compensation of back screw pitch C-axis allowable compensation of back screw pitch U-axis allowable compensation of back screw pitch V-axis allowable compensation of back screw pitch W-axis allowable compensation of back screw pitch System Reserved mm X-axis length compensation of back screw pitch mm Y-axis length compensation of back screw pitch mm Z-axis length compensation of back screw pitch mm A-axis length compensation of back screw pitch mm B-axis length compensation of back screw pitch mm C-axis length compensation of back screw pitch 857~860 System Reserved X-axis,Pitch error compensation of each segment Y-axis,Pitch error compensation of each segment Z-axis,Pitch error compensation of each segment A-axis,Pitch error compensation of each segment B-axis,Pitch error compensation of each segment C-axis,Pitch error compensation of each segment mm Tool #1 radius compensation mm X-axis, Tool #1 offset compensation mm Y-axis, Tool #1 offset compensation mm Z-axis, Tool #1 offset compensation mm A-axis, Tool #1 offset compensation mm B-axis, Tool #1 offset compensation mm C-axis, Tool #1 offset compensation mm Tool #2 radius compensation mm X-axis, Tool #2 offset compensation mm Y-axis, Tool #2 offset compensation mm Z-axis, Tool #2 offset compensation mm A-axis, Tool #2 offset compensation mm B-axis, Tool #2 offset compensation mm C-axis, Tool #2 offset compensation mm Tool #3 radius compensation mm X-axis, Tool #3 offset compensation mm Y-axis, Tool #3 offset compensation mm Z-axis, Tool #3 offset compensation mm A-axis, Tool #3 offset compensation mm B-axis, Tool #3 offset compensation mm C-axis, Tool #3 offset compensation mm Tool #4 radius compensation mm X-axis, Tool #4 offset compensation mm Y-axis, Tool #4 offset compensation mm Z-axis, Tool #4 offset compensation mm A-axis, Tool #4 offset compensation 7-11

140 HUST H9C Operation Manual MCM No. Factory Default Setting Unit Description Setting mm B-axis, Tool #4 offset compensation mm C-axis, Tool #4 offset compensation mm Tool #5 radius compensation mm X-axis, Tool #5 offset compensation mm Y-axis, Tool #5 offset compensation mm Z-axis, Tool #5 offset compensation mm A-axis, Tool #5 offset compensation mm B-axis, Tool #5 offset compensation mm C-axis, Tool #5 offset compensation mm Tool #6 radius compensation mm X-axis, Tool #6 offset compensation mm Y-axis, Tool #6 offset compensation mm Z-axis, Tool #6 offset compensation mm A-axis, Tool #6 offset compensation mm B-axis, Tool #6 offset compensation mm C-axis, Tool #6 offset compensation mm Tool #7 radius compensation mm X-axis, Tool #7 offset compensation mm Y-axis, Tool #7 offset compensation mm Z-axis, Tool #7 offset compensation mm A-axis, Tool #7 offset compensation mm B-axis, Tool #7 offset compensation mm C-axis, Tool #7 offset compensation mm Tool #8 radius compensation mm X-axis, Tool #8 offset compensation mm Y-axis, Tool #8 offset compensation mm Z-axis, Tool #8 offset compensation mm A-axis, Tool #8 offset compensation mm B-axis, Tool #8 offset compensation mm C-axis, Tool #8 offset compensation mm Tool #9 radius compensation mm X-axis, Tool #9 offset compensation mm Y-axis, Tool #9 offset compensation mm Z-axis, Tool #9 offset compensation mm A-axis, Tool #9 offset compensation mm B-axis, Tool #9 offset compensation mm C-axis, Tool #9 offset compensation mm Tool #10 radius compensation mm X-axis, Tool #10 offset compensation mm Y-axis, Tool #10 offset compensation mm Z-axis, Tool #10 offset compensation mm A-axis, Tool #10 offset compensation mm B-axis, Tool #10 offset compensation mm C-axis, Tool #10 offset compensation mm Tool #11 radius compensation mm X-axis, Tool #11 offset compensation mm Y-axis, Tool #11 offset compensation mm Z-axis, Tool #11 offset compensation mm A-axis, Tool #11 offset compensation mm B-axis, Tool #11 offset compensation mm C-axis, Tool #11 offset compensation mm Tool #12 radius compensation mm X-axis, Tool #12 offset compensation 7-12

141 7 MCM Parameters MCM No. Factory Default Setting Unit Description Setting mm Y-axis, Tool #12 offset compensation mm Z-axis, Tool #12 offset compensation mm A-axis, Tool #12 offset compensation mm B-axis, Tool #12 offset compensation mm C-axis, Tool #12 offset compensation mm Tool #13 radius compensation mm X-axis, Tool #13 offset compensation mm Y-axis, Tool #13 offset compensation mm Z-axis, Tool #13 offset compensation mm A-axis, Tool #13 offset compensation mm B-axis, Tool #13 offset compensation mm C-axis, Tool #13 offset compensation mm Tool #14 radius compensation mm X-axis, Tool #14 offset compensation mm Y-axis, Tool #14 offset compensation mm Z-axis, Tool #14 offset compensation mm A-axis, Tool #14 offset compensation mm B-axis, Tool #14 offset compensation mm C-axis, Tool #14 offset compensation mm Tool # radius compensation mm X-axis, Tool #15 offset compensation mm Y-axis, Tool #15 offset compensation mm Z-axis, Tool #15 offset compensation mm A-axis, Tool #15 offset compensation mm B-axis, Tool #15 offset compensation mm C-axis, Tool #15 offset compensation mm Tool #16 radius compensation mm X-axis, Tool #16 offset compensation mm Y-axis, Tool #16 offset compensation mm Z-axis, Tool #16 offset compensation mm A-axis, Tool #16 offset compensation mm B-axis, Tool #16 offset compensation mm C-axis, Tool #16 offset compensation mm Tool #17 radius compensation mm X-axis, Tool #17 offset compensation mm Y-axis, Tool #17 offset compensation mm Z-axis, Tool #17 offset compensation mm A-axis, Tool #17 offset compensation mm B-axis, Tool #17 offset compensation mm C-axis, Tool #17 offset compensation mm Tool #18 radius compensation mm X-axis, Tool #18 offset compensation mm Y-axis, Tool #18 offset compensation mm Z-axis, Tool #18 offset compensation mm A-axis, Tool #18 offset compensation mm B-axis, Tool #18 offset compensation mm C-axis, Tool #18 offset compensation mm Tool #19 radius compensation mm X-axis, Tool #19 offset compensation mm Y-axis, Tool #19 offset compensation mm Z-axis, Tool #19 offset compensation mm A-axis, Tool #19 offset compensation mm B-axis, Tool #19 offset compensation 7-13

142 HUST H9C Operation Manual MCM No. Factory Default Setting Unit Description Setting mm C-axis, Tool #19 offset compensation mm Tool #20 radius compensation mm X-axis, Tool #20 offset compensation mm Y-axis, Tool #20 offset compensation mm Z-axis, Tool #20 offset compensation mm A-axis, Tool #20 offset compensation mm B-axis, Tool #20 offset compensation mm C-axis, Tool #20 offset compensation mm Tool #21 radius compensation mm X-axis, Tool #21 offset compensation mm Y-axis, Tool #21 offset compensation mm Z-axis, Tool #21 offset compensation mm A-axis, Tool #21 offset compensation mm B-axis, Tool #21 offset compensation mm C-axis, Tool #21 offset compensation mm Tool #22 radius compensation mm X-axis, Tool #22 offset compensation mm Y-axis, Tool #22 offset compensation mm Z-axis, Tool #22 offset compensation mm A-axis, Tool #22 offset compensation mm B-axis, Tool #22 offset compensation mm C-axis, Tool #22 offset compensation mm Tool #23 radius compensation mm X-axis, Tool #23 offset compensation mm Y-axis, Tool #23 offset compensation mm Z-axis, Tool #23 offset compensation mm A-axis, Tool #23 offset compensation mm B-axis, Tool #23 offset compensation mm C-axis, Tool #23 offset compensation mm Tool #24 radius compensation mm X-axis, Tool #24 offset compensation mm Y-axis, Tool #24 offset compensation mm Z-axis, Tool #24 offset compensation mm A-axis, Tool #24 offset compensation mm B-axis, Tool #24 offset compensation mm C-axis, Tool #24 offset compensation mm Tool #25 radius compensation mm X-axis, Tool #25 offset compensation mm Y-axis, Tool #25 offset compensation mm Z-axis, Tool #25 offset compensation mm A-axis, Tool #25 offset compensation mm B-axis, Tool #25 offset compensation mm C-axis, Tool #25 offset compensation mm Tool #26 radius compensation mm X-axis, Tool #26 offset compensation mm Y-axis, Tool #26 offset compensation mm Z-axis, Tool #26 offset compensation mm A-axis, Tool #26 offset compensation mm B-axis, Tool #26 offset compensation mm C-axis, Tool #26 offset compensation mm Tool #27 radius compensation mm X-axis, Tool #27 offset compensation mm Y-axis, Tool #27 offset compensation 7-14

143 7 MCM Parameters MCM No. Factory Default Setting Unit Description Setting mm Z-axis, Tool #27 offset compensation mm A-axis, Tool #27 offset compensation mm B-axis, Tool #27 offset compensation mm C-axis, Tool #27 offset compensation mm Tool #28 radius compensation mm X-axis, Tool #28 offset compensation mm Y-axis, Tool #28 offset compensation mm Z-axis, Tool #28 offset compensation mm A-axis, Tool #28 offset compensation mm B-axis, Tool #28 offset compensation mm C-axis, Tool #28offset compensation mm Tool #29 radius compensation mm X-axis, Tool #29 offset compensation mm Y-axis, Tool #29 offset compensation mm Z-axis, Tool #29 offset compensation mm A-axis, Tool #29 offset compensation mm B-axis, Tool #29 offset compensation mm C-axis, Tool #29 offset compensation mm Tool #30 radius compensation mm X-axis, Tool #30 offset compensation mm Y-axis, Tool #30 offset compensation mm Z-axis, Tool #30 offset compensation mm A-axis, Tool #30 offset compensation mm B-axis, Tool #30 offset compensation mm C-axis, Tool #30 offset compensation mm Tool 31# radius compensation mm X-axis, Tool #31 offset compensation mm Y-axis, Tool #31 offset compensation mm Z-axis, Tool #31 offset compensation mm A-axis, Tool #31 offset compensation mm B-axis, Tool #31 offset compensation mm C-axis, Tool #31 offset compensation mm Tool #32 radius compensation mm X-axis, Tool #32 offset compensation mm Y-axis, Tool #32 offset compensation mm Z-axis, Tool #32 offset compensation mm A-axis, Tool #32 offset compensation mm B-axis, Tool #32 offset compensation mm C-axis, Tool #32 offset compensation mm Tool #33radius compensation mm X-axis, Tool #33 offset compensation mm Y-axis, Tool #33 offset compensation mm Z-axis, Tool #33 offset compensation mm A-axis, Tool #33 offset compensation mm B-axis, Tool #33 offset compensation mm C-axis, Tool #33 offset compensation mm Tool #34 radius compensation mm X-axis, Tool #34 offset compensation mm Y-axis, Tool #34 offset compensation mm Z-axis, Tool #34 offset compensation mm A-axis, Tool #34 offset compensation mm B-axis, Tool #34 offset compensation mm C-axis, Tool #34 offset compensation 7-15

144 HUST H9C Operation Manual MCM No. Factory Default Setting Unit Description Setting mm Tool #35 radius compensation mm X-axis, Tool #35 offset compensation mm Y-axis, Tool #35 offset compensation mm Z-axis, Tool #35 offset compensation mm A-axis, Tool #35 offset compensation mm B-axis, Tool #35 offset compensation mm C-axis, Tool #35 offset compensation mm Tool #36 radius compensation mm X-axis, Tool #36 offset compensation mm Y-axis, Tool #36 offset compensation mm Z-axis, Tool #36 offset compensation mm A-axis, Tool #36 offset compensation mm B-axis, Tool #36 offset compensation mm C-axis, Tool #36 offset compensation mm Tool #37 radius compensation mm X-axis, Tool #37 offset compensation mm Y-axis, Tool #37 offset compensation mm Z-axis, Tool #37 offset compensation mm A-axis, Tool #37 offset compensation mm B-axis, Tool #37 offset compensation mm C-axis, Tool #37 offset compensation mm Tool #38 radius compensation mm X-axis, Tool #38 offset compensation mm Y-axis, Tool #38 offset compensation mm Z-axis, Tool #38 offset compensation mm A-axis, Tool #38 offset compensation mm B-axis, Tool #38 offset compensation mm C-axis, Tool #38 offset compensation mm Tool #39 radius compensation mm X-axis, Tool #39 offset compensation mm Y-axis, Tool #39 offset compensation mm Z-axis, Tool #39 offset compensation mm A-axis, Tool #39 offset compensation mm B-axis, Tool #39 offset compensation mm C-axis, Tool #39 offset compensation mm Tool #40 radius compensation mm X-axis, Tool #40 offset compensation mm Y-axis, Tool #40 offset compensation mm Z-axis, Tool #40 offset compensation mm A-axis, Tool #40 offset compensation mm B-axis, Tool #40 offset compensation mm C-axis, Tool #40 offset compensation mm Tool #1 radius wear compensation mm X-axis, Tool #1 wear compensation mm Y-axis, Tool #1 wear compensation mm Z-axis, Tool #1 wear compensation mm A-axis, Tool #1 wear compensation mm B-axis, Tool #1 wear compensation mm C-axis, Tool #1 wear compensation mm Tool #2 radius wear compensation mm X-axis, Tool #2 wear compensation mm Y-axis, Tool #2 wear compensation mm Z-axis, Tool #2 wear compensation 7-16

145 7 MCM Parameters MCM No. Factory Default Setting Unit Description Setting mm A-axis, Tool #2 wear compensation mm B-axis, Tool #2 wear compensation mm C-axis, Tool #2 wear compensation mm Tool #3 radius wear compensation mm X-axis, Tool #3 wear compensation mm Y-axis, Tool #3 wear compensation mm Z-axis, Tool #3 wear compensation mm A-axis, Tool #3 wear compensation mm B-axis, Tool #3 wear compensation mm C-axis, Tool #3 wear compensation mm Tool #4 radius wear compensation mm X-axis, Tool #4 wear compensation mm Y-axis, Tool #4 wear compensation mm Z-axis, Tool #4 wear compensation mm A-axis, Tool #4 wear compensation mm B-axis, Tool #4 wear compensation mm C-axis, Tool #4 wear compensation mm Tool #5 radius wear compensation mm X-axis, Tool #5 wear compensation mm Y-axis, Tool #5 wear compensation mm Z-axis, Tool #5 wear compensation mm A-axis, Tool #5 wear compensation mm B-axis, Tool #5 wear compensation mm C-axis, Tool #5 wear compensation mm Tool #6 radius wear compensation mm X-axis, Tool #6 wear compensation mm Y-axis, Tool #6 wear compensation mm Z-axis, Tool #6 wear compensation mm A-axis, Tool #6 wear compensation mm B-axis, Tool #6 wear compensation mm C-axis, Tool #6 wear compensation mm Tool #7 radius wear compensation mm X-axis, Tool #7 wear compensation mm Y-axis, Tool #7 wear compensation mm Z-axis, Tool #7 wear compensation mm A-axis, Tool #7 wear compensation mm B-axis, Tool #7 wear compensation mm C-axis, Tool #7 wear compensation mm Tool #8 radius wear compensation mm X-axis, Tool #8 wear compensation mm Y-axis, Tool #8 wear compensation mm Z-axis, Tool #8 wear compensation mm A-axis, Tool #8 wear compensation mm B-axis, Tool #8 wear compensation mm C-axis, Tool #8 wear compensation mm Tool #9 radius wear compensation mm X-axis, Tool #9 wear compensation mm Y-axis, Tool #9 wear compensation mm Z-axis, Tool #9 wear compensation mm A-axis, Tool #9 wear compensation mm B-axis, Tool #9 wear compensation mm C-axis, Tool #9 wear compensation mm Tool #10 radius wear compensation 7-17

146 HUST H9C Operation Manual MCM No. Factory Default Setting Unit Description Setting mm X-axis, Tool #10 wear compensation mm Y-axis, Tool #10 wear compensation mm Z-axis, Tool #10 wear compensation mm A-axis, Tool #10 wear compensation mm B-axis, Tool #10 wear compensation mm C-axis, Tool #10 wear compensation mm Tool #11 radius wear compensation mm X-axis, Tool #11 wear compensation mm Y-axis, Tool #11 wear compensation mm Z-axis, Tool #11 wear compensation mm A-axis, Tool #1 wear compensation mm B-axis, Tool #11 wear compensation mm C-axis, Tool #11 wear compensation mm Tool #12 radius wear compensation mm X-axis, Tool #12 wear compensation mm Y-axis, Tool #12 wear compensation mm Z-axis, Tool #12 wear compensation mm A-axis, Tool #12 wear compensation mm B-axis, Tool #12 wear compensation mm C-axis, Tool #12 wear compensation mm Tool #13 radius wear compensation mm X-axis, Tool #13 wear compensation mm Y-axis, Tool #13 wear compensation mm Z-axis, Tool #13 wear compensation mm A-axis, Tool #13 wear compensation mm B-axis, Tool #13 wear compensation mm C-axis, Tool #13 wear compensation mm Tool #14 radius wear compensation mm X-axis, Tool #14 wear compensation mm Y-axis, Tool #14 wear compensation mm Z-axis, Tool #14 wear compensation mm A-axis, Tool #14 wear compensation mm B-axis, Tool #14 wear compensation mm C-axis, Tool #14 wear compensation mm Tool #15 radius wear compensation mm X-axis, Tool #15 wear compensation mm Y-axis, Tool #15 wear compensation mm Z-axis, Tool #15 wear compensation mm A-axis, Tool #15 wear compensation mm B-axis, Tool #15 wear compensation mm C-axis, Tool #15wear compensation mm Tool #16 radius wear compensation mm X-axis, Tool #16 wear compensation mm Y-axis, Tool #16 wear compensation mm Z-axis, Tool #16 wear compensation mm A-axis, Tool #16 wear compensation mm B-axis, Tool #16 wear compensation mm C-axis, Tool #16 wear compensation mm Tool #17 radius wear compensation mm X-axis, Tool #17 wear compensation mm Y-axis, Tool #17 wear compensation mm Z-axis, Tool #17 wear compensation mm A-axis, Tool #17 wear compensation 7-18

147 7 MCM Parameters MCM No. Factory Default Setting Unit Description Setting mm B-axis, Tool #17 wear compensation mm C-axis, Tool #17 wear compensation mm Tool #18 radius wear compensation mm X-axis, Tool #18 wear compensation mm Y-axis, Tool #18 wear compensation mm Z-axis, Tool #18 wear compensation mm A-axis, Tool #18 wear compensation mm B-axis, Tool #18 wear compensation mm C-axis, Tool #18 wear compensation mm Tool #19 radius wear compensation mm X-axis, Tool #19 wear compensation mm Y-axis, Tool #19 wear compensation mm Z-axis, Tool #19 wear compensation mm A-axis, Tool #19 wear compensation mm B-axis, Tool #19 wear compensation mm C-axis, Tool #19wear compensation mm Tool #20 radius wear compensation mm X-axis, Tool #20 wear compensation mm Y-axis, Tool #20 wear compensation mm Z-axis, Tool #20 wear compensation mm A-axis, Tool #20 wear compensation mm B-axis, Tool #20 wear compensation mm C-axis, Tool #20 wear compensation mm Tool #21 radius wear compensation mm X-axis, Tool #21 wear compensation mm Y-axis, Tool #21 wear compensation mm Z-axis, Tool #21 wear compensation mm A-axis, Tool #21 wear compensation mm B-axis, Tool #21 wear compensation mm C-axis, Tool #21 wear compensation mm Tool #22 radius wear compensation mm X-axis, Tool #22 wear compensation mm Y-axis, Tool #22 wear compensation mm Z-axis, Tool #22 wear compensation mm A-axis, Tool #22 wear compensation mm B-axis, Tool #22 wear compensation mm C-axis, Tool #22 wear compensation mm Tool #23 radius wear compensation mm X-axis, Tool #23 wear compensation mm Y-axis, Tool #23 wear compensation mm Z-axis, Tool #23 wear compensation mm A-axis, Tool #23 wear compensation mm B-axis, Tool #23 wear compensation mm C-axis, Tool #23 wear compensation mm Tool #24 radius wear compensation mm X-axis, Tool #24 wear compensation mm Y-axis, Tool #24 wear compensation mm Z-axis, Tool #24 wear compensation mm A-axis, Tool #24 wear compensation mm B-axis, Tool #24 wear compensation mm C-axis, Tool #24 wear compensation mm Tool #25 radius wear compensation mm X-axis, Tool #25 wear compensation 7-19

148 HUST H9C Operation Manual MCM No. Factory Default Setting Unit Description Setting mm Y-axis, Tool #25 wear compensation mm Z-axis, Tool #25 wear compensation mm A-axis, Tool #25 wear compensation mm B-axis, Tool #25 wear compensation mm C-axis, Tool #25 wear compensation mm Tool #26 radius wear compensation mm X-axis, Tool #26 wear compensation mm Y-axis, Tool #26 wear compensation mm Z-axis, Tool #26 wear compensation mm A-axis, Tool #26 wear compensation mm B-axis, Tool #26 wear compensation mm C-axis, Tool #26 wear compensation mm Tool #27 radius wear compensation mm X-axis, Tool #27 wear compensation mm Y-axis, Tool #27 wear compensation mm Z-axis, Tool #27 wear compensation mm A-axis, Tool #27 wear compensation mm B-axis, Tool #27 wear compensation mm C-axis, Tool #27 wear compensation mm Tool #28 radius wear compensation mm X-axis, Tool #28 wear compensation mm Y-axis, Tool #28 wear compensation mm Z-axis, Tool #28 wear compensation mm A-axis, Tool #28 wear compensation mm B-axis, Tool #28 wear compensation mm C-axis, Tool #28 wear compensation mm Tool #29 radius wear compensation mm X-axis, Tool #29 wear compensation mm Y-axis, Tool #29 wear compensation mm Z-axis, Tool #29 wear compensation mm A-axis, Tool #29 wear compensation mm B-axis, Tool #29 wear compensation mm C-axis, Tool #29 wear compensation mm Tool #30 radius wear compensation mm X-axis, Tool #30 wear compensation mm Y-axis, Tool #30 wear compensation mm Z-axis, Tool #30 wear compensation mm A-axis, Tool #30 wear compensation mm B-axis, Tool #30 wear compensation mm C-axis, Tool #30 wear compensation mm Tool #31 radius wear compensation mm X-axis, Tool #31 wear compensation mm Y-axis, Tool #31 wear compensation mm Z-axis, Tool #31 wear compensation mm A-axis, Tool #31 wear compensation mm B-axis, Tool #31 wear compensation mm C-axis, Tool #31 wear compensation mm Tool #32 radius wear compensation mm X-axis, Tool #32 wear compensation mm Y-axis, Tool #32 wear compensation mm Z-axis, Tool #32 wear compensation mm A-axis, Tool #32 wear compensation mm B-axis, Tool #32 wear compensation 7-20

149 7 MCM Parameters MCM No. Factory Default Setting Unit Description Setting mm C-axis, Tool #32 wear compensation mm Tool #33 radius wear compensation mm X-axis, Tool #33 wear compensation mm Y-axis, Tool #33 wear compensation mm Z-axis, Tool #33 wear compensation mm A-axis, Tool #33 wear compensation mm B-axis, Tool #33 wear compensation mm C-axis, Tool #33 wear compensation mm Tool #34 radius wear compensation mm X-axis, Tool #34 wear compensation mm Y-axis, Tool #34 wear compensation mm Z-axis, Tool #34 wear compensation mm A-axis, Tool #34 wear compensation mm B-axis, Tool #34 wear compensation mm C-axis, Tool #34 wear compensation mm Tool #35 radius wear compensation mm X-axis, Tool #35 wear compensation mm Y-axis, Tool #35 wear compensation mm Z-axis, Tool #35 wear compensation mm A-axis, Tool #35 wear compensation mm B-axis, Tool #35 wear compensation mm C-axis, Tool #35 wear compensation mm Tool #36 radius wear compensation mm X-axis, Tool #36 wear compensation mm Y-axis, Tool #36 wear compensation mm Z-axis, Tool #36 wear compensation mm A-axis, Tool #36 wear compensation mm B-axis, Tool #36 wear compensation mm C-axis, Tool #36 wear compensation mm Tool #37 radius wear compensation mm X-axis, Tool #37 wear compensation mm Y-axis, Tool #37 wear compensation mm Z-axis, Tool #37 wear compensation mm A-axis, Tool #37 wear compensation mm B-axis, Tool #37 wear compensation mm C-axis, Tool #37 wear compensation mm Tool #38 radius wear compensation mm X-axis, Tool #38 wear compensation mm Y-axis, Tool #38 wear compensation mm Z-axis, Tool #38 wear compensation mm A-axis, Tool #38 wear compensation mm B-axis, Tool #38 wear compensation mm C-axis, Tool #38 wear compensation mm Tool #39 radius wear compensation mm X-axis, Tool #39 wear compensation mm Y-axis, Tool #39 wear compensation mm Z-axis, Tool #39 wear compensation mm A-axis, Tool #39 wear compensation mm B-axis, Tool #39 wear compensation mm C-axis, Tool #39 wear compensation mm Tool #40 radius wear compensation mm X-axis, Tool #40 wear compensation mm Y-axis, Tool #40 wear compensation 7-21

150 HUST H9C Operation Manual MCM No. Factory Default Setting Unit Description Setting mm Z-axis, Tool #40 wear compensation mm A-axis, Tool #40 wear compensation mm B-axis, Tool #40 wear compensation mm C-axis, Tool #40 wear compensation 1901 Tool-tip #1 radius compensation 1902 Tool-tip #2 radius compensation 1903 Tool-tip #3 radius compensation 1904 Tool-tip #4 radius compensation 1905 Tool-tip #5 radius compensation 1906 Tool-tip #6 radius compensation 1907 Tool-tip #7 radius compensation 1908 Tool-tip #8 radius compensation 1909 Tool-tip #9 radius compensation 1910 Tool-tip #10 radius compensation 1911 Tool-tip #11 radius compensation 1912 Tool-tip #12 radius compensation 1913 Tool-tip #13 radius compensation 1914 Tool-tip #14 radius compensation 1915 Tool-tip #15 radius compensation 1916 Tool-tip #16 radius compensation 1917 Tool-tip #17 radius compensation 1918 Tool-tip #18 radius compensation 1919 Tool-tip #19 radius compensation 1920 Tool-tip #20 radius compensation 1921 Tool-tip #21 radius compensation 1922 Tool-tip #22 radius compensation 1923 Tool-tip #23 radius compensation 1924 Tool-tip #24 radius compensation 1925 Tool-tip #25 radius compensation 1926 Tool-tip #26 radius compensation 1927 Tool-tip #27 radius compensation 1928 Tool-tip #28 radius compensation 1929 Tool-tip #29 radius compensation 1930 Tool-tip #30 radius compensation 1931 Tool-tip #31 radius compensation 1932 Tool-tip #32 radius compensation 1933 Tool-tip #33 radius compensation 1934 Tool-tip #34 radius compensation 1935 Tool-tip #35 radius compensation 1936 Tool-tip #36 radius compensation 1937 Tool-tip #37 radius compensation 1938 Tool-tip #38 radius compensation 1939 Tool-tip #39 radius compensation 1940 Tool-tip #40 radius compensation PS: Press PAGE or PAGE once will change twelve items. 7-22

151 7 MCM Parameters 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. Format. Unit: mm (Default=0.000) MCM# 10~20 System Reserved 21. G55 (2 nd ) Work Coordinate, X-axis. 22. G55 (2 nd ) Work Coordinate, Y-axis. 23. G55 (2 nd ) Work Coordinate, Z-axis. 24. G55 (2 nd ) Work Coordinate, A-axis. 25. G55 (2 nd ) Work Coordinate, B-axis. 26. G55 (2 nd ) Work Coordinate, C-axis. 27. G55 (2 nd ) Work Coordinate, U-axis. 28. G55 (2 nd ) Work Coordinate, V-axis. 29. G55 (2 nd ) Work Coordinate, W-axis. Format. Unit: mm (Default=0.000) MCM# 30~40 System Reserved 41. G56 (3 rd ) Work Coordinate, X-axis. 42. G56 (3 rd ) Work Coordinate, Y-axis. 43. G56 (3 rd ) Work Coordinate, Z-axis. 44. G56 (3 rd ) Work Coordinate, A-axis. 45. G56 (3 rd ) Work Coordinate, B-axis. 46. G56 (3 rd ) Work Coordinate, C-axis. 47. G56 (3 rd ) Work Coordinate, U-axis. 48. G56 (3 rd ) Work Coordinate, V-axis. 49. G56 (3 rd ) Work Coordinate, W-axis. Format. Unit: mm (Default=0.000) MCM# 50~60 MCM# 61~69 MCM# 70~80 System Reserved G57 (4 th ) Work Coordinate. System Reserved 7-23

152 HUST H9C Operation Manual MCM# 81~89 G58 (5 th ) Work Coordinate. MCM# 90~100 System Reserved MCM# 101~109 G59 (6 th ) Work Coordinate. MCM# 110~120 System Reserved 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 G28 1 st Reference Point Data, X-axis G28 1 st Reference Point Data, Y-axis G28 1 st Reference Point Data, Z-axis G28 1 st Reference Point Data, A-axis G28 1 st Reference Point Data, B-axis G28 1 st Reference Point Data, C-axis G28 1 st Reference Point Data, U-axis G28 1 st Reference Point Data, V-axis G28 1 st Reference Point Data, W-axis. Format. Unit: mm (Default=0.000) MCM# 130~140 System Reserved 141. G30 2 st Reference Point Data, X-axis G30 2 st Reference Point Data, Y-axis G30 2 st Reference Point Data, Z-axis G30 2 st Reference Point Data, A-axis G30 2 st Reference Point Data, B-axis G30 2 st Reference Point Data, C-axis G30 2 st Reference Point Data, U-axis G30 2 st Reference Point Data, V-axis G30 2 st Reference Point Data, W-axis. Format. Unit: mm (Default=0.000) MCM# 150~160 System Reserved 161. Backlash Compensation (G01), X-axis Backlash Compensation (G01), Y-axis Backlash Compensation (G01), Z-axis Backlash Compensation (G01), A-axis Backlash Compensation (G01), B-axis Backlash Compensation (G01), C-axis Backlash Compensation (G01), U-axis Backlash Compensation (G01), V-axis Backlash Compensation (G01), W-axis. Format. Unit: pulse (Default=0) Range:0~ MCM# 170~180 System Reserved 7-24

153 7 MCM Parameters 181. Backlash Compensation (G00), X-axis Backlash Compensation (G00), Y-axis Backlash Compensation (G00), Z-axis Backlash Compensation (G00), A-axis Backlash Compensation (G00), B-axis Backlash Compensation (G00), C-axis Backlash Compensation (G00), U-axis Backlash Compensation (G00), V-axis Backlash Compensation (G00), W-axis. Format. Unit: pulse (Default=0) Range:0~ MCM# 170~200 System Reserved 201. Jog Speed, X-axis Jog Speed, Y-axis Jog Speed, Z-axis Jog Speed, A-axis Jog Speed, B-axis Jog Speed, C-axis Jog Speed, U-axis Jog Speed, V-axis Jog Speed, W-axis. Format. Unit: mm/min (Default=1000) MCM# 210~220 System Reserved 221. Traverse Speed Limit, X-axis Traverse Speed Limit, Y-axis Traverse Speed Limit, Z-axis Traverse Speed Limit, A-axis Traverse Speed Limit, B-axis Traverse Speed Limit, C-axis Traverse Speed Limit, U-axis Traverse Speed Limit, V-axis Traverse Speed Limit, W-axis. Format 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=

154 HUST H9C Operation Manual MCM# 230~240 System Reserved 241. Denominator of Machine Resolution, X-axis Numerator of Machine Resolution, X-axis Denominator of Machine Resolution, Y-axis Numerator of Machine Resolution, Y-axis Denominator of Machine Resolution, Z-axis Numerator of Machine Resolution, Z-axis 247. Denominator of Machine Resolution, A-axis Numerator of Machine Resolution, A-axis 249. Denominator of Machine Resolution, B-axis Numerator of Machine Resolution, B-axis 251. Denominator of Machine Resolution, C-axis Numerator of Machine Resolution, C-axis 253. Denominator of Machine Resolution, U-axis Numerator of Machine Resolution, U-axis 255. Denominator of Machine Resolution, V-axis Numerator of Machine Resolution, V-axis 257. Denominator of Machine Resolution, W-axis Numerator of Machine Resolution, W-axis Format. (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. Machine Resolution = (Pitch of Ball - screw) (Encoder Pulse) *(MF) * 1 GR Ex1: X-axis as linear axis (MCM #781=0), pitch = 5 mm = 5000 µm 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 µm/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 = deg/circle Encoder = 2500 pulses, MCM #161 = 4, and GR = 5 (motor rotates 5 times while ball-screw rotates once) Machine resolution = /(2500 4)/5 = /50000 = 36/5 =72/

155 7 MCM Parameters 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= Ex 3 (Position Linear Axis): The X-axis is an ordinary linear axis (MCM#781= 0) with the guide screw pitch = mm. When the motor rotates one turn, pulses will be generated. Gear ratio is 5:1 (When the servo motor rotates 5 turns, the guide screw rotates 1 turn.) Resolution = = 1 10 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 = (degree) One turn of the motor will generate pulses. Gear ratio is 5:1 (When the servo motor rotates 5 turns, the Y-axis rotates 1 turn.) Resolution = = Y-axis resolution: denominator setting value (MCM#243) = 5 Y-axis resolution: numerator setting value (MCM#244) = 36 5 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: ~ , 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 and Parameter 601 should be greater than MCM# 259~280 System Reserved 281. Home Direction for Tool, X-axis. 7-27

156 HUST H9C Operation Manual 282. Home Direction for Tool, Y-axis Home Direction for Tool, Z-axis Home Direction for Tool, A-axis Home Direction for Tool, B-axis Home Direction for Tool, C-axis Home Direction for Tool, U-axis Home Direction for Tool, V-axis Home Direction for Tool, W-axis. Format (Default=0) Setting = 0, Tool returning to HOME in the positive direction. Setting = 1, Tool returning to HOME in the negative direction MCM# 290~300 System Reserved 301. Home Speed When Tool Going to Home, X-axis Home Speed When Tool Going to Home, Y-axis Home Speed When Tool Going to Home, Z-axis Home Speed When Tool Going to Home, A-axis Home Speed When Tool Going to Home, B-axis Home Speed When Tool Going to Home, C-axis 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 Format Unit: mm/min (Default=2500) MCM# 310~320 System Reserved 321. Home Grid Speed When Tool Going to Home, X-axis Home Grid Speed When Tool Going to Home, Y-axis Home Grid Speed When Tool Going to Home, Z-axis Home Grid Speed When Tool Going to Home, A-axis Home Grid Speed When Tool Going to Home, B-axis Home Grid Speed When Tool Going to Home, C-axis Home Grid Speed When Tool Going to Home, U-axis Home Grid Speed When Tool Going to Home, V-axis Home Grid Speed When Tool Going to Home, W-axis. Format Unit: mm/min (Default=40) MCM# 330~340 System Reserved 341. The direction that servo motor search the Grid when X-axis going back to HOME The direction that servo motor search the Grid when Y-axis going back to HOME The direction that servo motor search the Grid when Z-axis going back to HOME The direction that servo motor search the Grid when A-axis going back to HOME The direction that servo motor search the Grid when B-axis going back to HOME The direction that servo motor search the Grid when C-axis going back to HOME The direction that servo motor search the Grid when U-axis going back to HOME The direction that servo motor search the Grid when V-axis going back to HOME. 7-28

157 7 MCM Parameters 349. The direction that servo motor search the Grid when W-axis going back to HOME. Format (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: Speed 2: Speed 3: 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. 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. 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 FDCOM = Speed 1, in mm/min. (MCM #301~ #309) ACC = Time for acceleration/deceleration, in ms. (MCM #505) = 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 A axis if R232=8 and do four axes simultaneously if R232=15. Ex: FDCOM = mm/min, and ACC = 100 ms Length of Home Limit Switch = 3000 * 100 / = 5 mm 7-29

158 HUST H9C Operation Manual Speed Speed MCM #136~ #139 Direction MCM#130~ #133 1 st Section Speed Touch the LIMIT SWITCH C064=1 C065=1 C066=1 Leave the LIMIT SWITCH C064=0 C065=0 C066=0 Speed MCM#136~ #139 1/4 Direction MCM#231~ #234= 256 2nd 3 rd INDEX of finding Encoder Speed MCM#142~ #145 Direction MCM#231~ #234= 256 Tool Position Fig 7.2 (A) Homing Speed and Direction of finding GRID Speed MCM #136~ #139 Direction MCM#130~ #133 Touch the LIMIT SWITCH C064=1 C065=1 C066=1 Speed 1st Section Speed 3 rd INDEX of finding Encoder Speed MCM#142~ #145 Direction MCM#231~ #234= nd Tool Position Leave the LIMIT SWITCH C064=0 C065=0 C066=0 Speed MCM#136~ #139 1/4 Direction MCM#231~ #234= 128 Fig 7.2 (B) Homing Speed and Direction of finding GRID Speed Speed MCM #136~ #139 Direction MCM#130~ #133 1 st Section Speed Touch the LIMIT SWITCH C064=1 C065=1 C066=1 2 nd Leave the LIMIT SWITCH C064=0 C065=0 C066=0 Speed MCM#136~ #139 1/4 Direction MCM#231~ #234= 1 3 rd Tool Position INDEX of finding Encoder Speed MCM#142~ #145 Direction MCM#231~ #234= 1 Fig 7-2 C Homing Speed and Direction of finding GRID 7-30

159 7 MCM Parameters Speed Speed MCM #136~ #139 Direction MCM#130~ #133 1 st Section Speed Touch the LIMIT SWITCH C064=1 C065=1 C066=1 3 rd 2 nd Tool Position INDEX of finding Encoder Speed MCM#142~ #145 Direction MCM#231~ #234= 0 Leave the LIMIT SWITCH C064=0 C065=0 C066=0 Speed MCM#136~ #139 1/4 Direction MCM#231~ #234= 0 Fig 7-2 D Homing Speed and Direction of finding GRID MCM# 350~360 System Reserved 361. Setting the X-Home grid setting Setting the Y-Home grid setting Setting the Z-Home grid setting Setting the A-Home grid setting Setting the B-Home grid setting Setting the C-Home grid setting Setting the U-Home grid setting Setting the V-Home grid setting 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. MCM# 370~380 System Reserved 381. Home-Shift Data, X-axis Home-Shift Data, Y-axis Home-Shift Data, Z-axis Home-Shift Data, A-axis Home-Shift Data, B-axis Home-Shift Data, C-axis Home-Shift Data, U-axis Home-Shift Data, V-axis Home-Shift Data, W-axis. Format. 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 7-31

160 HUST H9C Operation Manual coordinate after "Home" operation will be zero also. Note that the work coordinate will be shifted by the same amount. MCM# 390~400 System Reserved 401. The distance that servo motor search the Grid when X-axis going back to HOME The distance that servo motor search the Grid when Y-axis going back to HOME The distance that servo motor search the Grid when Z-axis going back to HOME The distance that servo motor search the Grid when A-axis going back to HOME The distance that servo motor search the Grid when B-axis going back to HOME The distance that servo motor search the Grid when C-axis going back to HOME The distance that servo motor search the Grid when U-axis going back to HOME The distance that servo motor search the Grid when V-axis going back to HOME The distance that servo motor search the Grid when W-axis going back to HOME. Format=. (Default ) The distance s maximum when servo motor searching the Grid signal: EX The servo motor of X-axis turns 3/4 round = mm, MCM# 401 = The servo motor of Y-axis turns 3/4 round = mm, MCM# 402 = The servo motor of Z-axis turns 3/4 round = mm, MCM# 403 = The servo motor of A-axis turns 3/4 round = mm, MCM# 404 = The servo motor of B-axis turns 3/4 round = mm, MCM# 405 = The servo motor of C-axis turns 3/4 round = mm, MCM# 406 = If it exceeds the range and the motor can not find the Grid still. ERR15 will be shown up. MCM# 410~420 System Reserved 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. 7-32

161 7 MCM Parameters If a homing process with C64-69 is planned in PLC, it shall be based on the activity set by PLC. MCM# 430~440 System Reserved 441. Direction of Motor Rotation, X-axis Direction of Motor Rotation, Y-axis Direction of Motor Rotation, Z-axis Direction of Motor Rotation, A-axis Direction of Motor Rotation, B-axis Direction of Motor Rotation, C-axis Direction of Motor Rotation, U-axis Direction of Motor Rotation, V-axis Direction of Motor Rotation, W-axis. Format (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 don t 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 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 it s 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. 7-33

162 HUST H9C Operation Manual EX: AXIS CW+ CW- CCW+ CCW- VCC-CN GRD-(Z-) TOG VCOM SVO+ SVO- A- A+ B+ B- GND-CN Location Command -10 ~ +10V SERVO ON(Internal Control) 0V Servo Signal GND Fig 7.3 MCM# 450~460 System Reserved 461. Encoder Multiplication Factor, X-axis Encoder Multiplication Factor, Y-axis Encoder Multiplication Factor, Z-axis Encoder Multiplication Factor, A-axis Encoder Multiplication Factor, B-axis Encoder Multiplication Factor, C-axis Encoder Multiplication Factor, U-axis Encoder Multiplication Factor, V-axis Encoder Multiplication Factor, W-axis. Format (Default=4) Only one the following 3 numbers: Setting = 1, Encoder pulse number is multiplied by 1. Setting = 2, Encoder pulse number is multiplied by 2. Setting = 4, Encoder pulse number is multiplied by 4. Note: The setting of multiplication is highly relative with machine s 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. MCM# 470~480 System Reserved 481. X-axis impulse command width adjustment. 7-34

163 7 MCM Parameters 482. Y-axis impulse command width adjustment Z-axis impulse command width adjustment A-axis impulse command width adjustment B-axis impulse command width adjustment C-axis impulse command width adjustment U-axis impulse command width adjustment V-axis impulse command width adjustment W-axis impulse command width adjustment. Format= (Default=4) Setting range 1~63 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. MCM# 490~500 System Reserved 501. Master/Slave Mode Setting Format. (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 Format (Default=0) Setting = 0, Setting = 1, Setting = 2, exponential type. Linear type. "S" curve 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. 7-35

164 HUST H9C Operation Manual 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 Servo Motor Acceleration/Deceleration Time, G00. Format Unit: millisecond (Default=100) Setting Range: 4 ~ 512 millisecond 505. Servo Motor Acceleration/Deceleration Time (T), G01. Format 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 Acceleration/Deceleration Time for G99 Mode. Format Unit: Millisecond (Default=100) Setting Range: 4 ~ 1024 ms Set the spindle Acceleration/Deceleration time in master mode. Format (Default=0) Unit: Millisecond 508. Spindle Encoder Pulse Per Revolution Format Unit: Pulse/rev (Default=4096) 509. Set Spindle Motor RPM When Vcmd = 10 Volt. Format Unit: RPM (Default=3000) 510. Spindle voltage command 0V output balance adjustment (open circuit) Spindle voltage command slope correction (open circuit) Spindle RPM correction (based on feedback from the encoder) Starting Number for Auto Generation of Program Block Number. Format S= (Default=0) 514. Increment for Auto-generation of Program Block Number. Format 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

165 7 MCM Parameters Ex: S = 0, D = 5 The program block number will be generated in the sequence: 5,10,15,20, Denominator of Feed-rate Multiplication Factor for MPG Test Numerator of Feed-rate Multiplication Factor for MPG Test. Format (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 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 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 RS232C Baud Rate. Format (Default = 38400) Set RS232C communication speed. Choose from, 9600, 19200, 38400, 57600, Speed rate stands for 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. Format (Default=0) Setting = 0, Setting = 256, NOT to save. Save R000~R199 data. 7-37

166 HUST H9C Operation Manual 522. Servo Error Count Format (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 Radius / diameter programming mode Format= (Default = 0) 0: Radius programming 1: Diameter programming 524. METRIC/INCH Mode Selection (default = 0) Format (Default = 0) Setting = 0, Measurement in METRIC unit. Setting = 1, Measurement in INCH unit Error in Circular Cutting Format (Default = 1) 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. The less the setting set; the better the circular arc cut. Cutting Error 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 it s not able to drive the motor axis parameter settings in pulse type Format =, Default: 0 Setting 0: Setting 1: pulse + direction +/- pulse 7-38

167 7 MCM Parameters 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 Setting the tool compensation direction Format= (Default=0) 0 HUST 1 FANUC Tool-wear compensation direction - HUST: same direction; FANUC: reverse direction G00 Linear accel./decel. Time, for S curve Format= (Default=100) in unit of millisecond (msec). Setting range 4~512 ms 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. MCM , Bit7 = 1, the hardware stop for the V-axis is activated. MCM , Bit8 = 1, the hardware stop for the W-axis is activated 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. 7-39

168 HUST H9C Operation Manual 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 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 MCM and Bit4 = 1, test the B-axis. When MCM and Bit5 = 1, test the C-axis. When MCM and Bit6 = 1, test the U-axis. When MCM and Bit7 = 1, test the V-axis. When MCM and Bit8 = 1, test the W-axis. When MCM , 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. 7-40

169 7 MCM Parameters 536. Setting the minimum slope of the Auto Teach function Format=. (Default= 0) Setting range: ~ 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 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 MCM , Bit7 = 1, the feedback direction is reverse for the V-axis. If MCM , Bit8 = 1, the feedback direction is reverse for the W-axis Arc type Format= (Default 0) Setting =0 arc cord height control. =1 arc cord length control. =2 system internal automatic control (500 sections/sec). MCM# 542~560 System Reserved 7-41

170 HUST H9C Operation Manual 561. S curve accel./decel. profile setting for the X-axis S curve accel./decel. profile setting for the Y-axis S curve accel./decel. profile setting for the Z-axis S curve accel./decel. profile setting for the A-axis S curve accel./decel. profile setting for the B-axis S curve accel./decel. profile setting for the C-axis S curve accel./decel. profile setting for the U-axis S curve accel./decel. profile setting for the V-axis 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. MCM# 570~580 System Reserved 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) Format Unit: mm/min (Default= ) 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). MCM# 590~600 System Reserved 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) Format. Unit: mm/min (Default= ) 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. MCM# 610~620 System Reserved 7-42

171 7 MCM Parameters 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) Format Unit: mm/min (Default= ) 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). MCM# 630~640 System Reserved 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) Format. Unit: mm/min (Default= ) 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). 5~10 mm each Machine Origin (Home) Software OT Limit (MCM#171~ #182) Emergency Stop Actual Hardware Limit Fig 7.5 MCM# 650~660 System Reserved 7-43

172 HUST H9C Operation Manual 661. Flag to Clear X-axis Program Coordinate on M02, M30 or M99 Command Flag to Clear Y-axis Program Coordinate on M02, M30 or M99 Command Flag to Clear Z-axis Program Coordinate on M02, M30, or M99 Command Flag to Clear A-axis Program Coordinate on M02, M30, or M99 Command Flag to Clear B-axis Program Coordinate on M02, M30, or M99 Command Flag to Clear C-axis Program Coordinate on M02, M30, or M99 Command Flag to Clear U-axis Program Coordinate on M02, M30, or M99 Command Flag to Clear V-axis Program Coordinate on M02, M30, or M99 Command Flag to Clear W-axis Program Coordinate on M02, M30, or M99 Command. Format (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. MCM# 670~680 System Reserved 681. Set Incremental/Absolute Mode, X-axis coordinate Set Incremental/Absolute Mode, Y-axis coordinate Set Incremental/Absolute Mode, Z-axis coordinate Set Incremental/Absolute Mode, A-axis coordinate Set Incremental/Absolute Mode, B-axis coordinate Set Incremental/Absolute Mode, C-axis coordinate Set Incremental/Absolute Mode, U-axis coordinate Set Incremental/Absolute Mode, V-axis coordinate Set Incremental/Absolute Mode, W-axis coordinate. Format (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. 7-44

173 7 MCM Parameters *Note 2: *Note 3: *Note 4: 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. 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. 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 G91 Absolute coordinate 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 X Y P0 to P1 N3 X Y P1 to P2 N4 X Y 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 X Y P0 to P1 N3 X Y P1 to P2 N4 X Y P2 to P3 7-45

174 HUST H9C Operation Manual Y P2 P P1 15 X Fig 7.6 MCM# 690~700 System Reserved 701. X-axis, Position gain Y-axis, Position gain Z-axis, Position gain A-axis, Position gain B-axis, Position gain C-axis, Position gain U-axis, Position gain V-axis, Position gain W-axis, Position gain. Format (Default=64) Setting Range: 8~640 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. DC10V VCMD N=128/64 N=64/64 N=32/64 Driver output voltage 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 = Servo error (ERROR COUNT) Setting value

175 7 MCM Parameters NC controller output voltage command 10V 2048 = 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 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 for the multipliers, i.e., 4 --> 2, or 2 --> 1. (3) Adjust the values of MCM Parameters 701~709 for the position loop gain. MCM# 710~720 System Reserved 721. Break-over Point (in Error Count) for Position Gain, X-axis Break-over Point (in Error Count) for Position Gain, Y-axis Break-over Point (in Error Count) for Position Gain, Z-axis Break-over Point (in Error Count) for Position Gain, A-axis Break-over Point (in Error Count) for Position Gain, B-axis Break-over Point (in Error Count) for Position Gain, C-axis Break-over Point (in Error Count) for Position Gain, U-axis Break-over Point (in Error Count) for Position Gain, V-axis Break-over Point (in Error Count) for Position Gain, W-axis. Format (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. 7-47

176 HUST H9C Operation Manual Vcmd GAIN = 128/64 GAIN = 64/64 GAIN = 32/64 Controller Command ERROR = ERROR COUNT Fig 7.5 Break-over of Position Gain Fig 7.7 MCM# 730~740 System Reserved 741. X-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse) 742. X-axis Numerator, MPG Hand-wheel Resolution Adjustment. (µm) 743. Y-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse) 744. Y-axis Numerator, MPG Hand-wheel Resolution Adjustment. (µm) 745. Z-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse) 746. Z-axis Numerator, MPG Hand-wheel Resolution Adjustment. (µm) 747. A-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse) 748. A-axis Numerator, MPG Hand-wheel Resolution Adjustment. (µm) 749. B-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse) 750. B-axis Numerator, MPG Hand-wheel Resolution Adjustment. (µm) 751. C-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse) 752. C-axis Numerator, MPG Hand-wheel Resolution Adjustment. (µm) 753. U-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse) 754. U-axis Numerator, MPG Hand-wheel Resolution Adjustment. (µm) 755. V-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse) 756. V-axis Numerator, MPG Hand-wheel Resolution Adjustment. (µm) 757. W-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse) 758. W-axis Numerator, MPG Hand-wheel Resolution Adjustment. (µm) Format (Default = 100) Unit: Denominator = pulses, Numerator = µm Ex1: For X-axis, MCM #741 = 100 pulses, MCM #742 = 100 µm. The resolution for X-axis = 100/100 = 1 µm/pulse. If MPG hand-wheel moves 1 notch (=100 pulses), the feed length in X-axis = 100 x (100/100) = 100 µm = 0.1 mm. Ex2: For Y-axis, MCM #743 = 200 pulses, MCM #744 = 500 µm. The resolution for Y-axis = 500/200 = 2.5 µm/pulse. If MPG hand-wheel moves 1 notch (=100 pulses), the feed length in Y-axis = 100 x (500/200) = 250 µm = 0.25 mm. MCM# 759~780 System Reserved 7-48

177 7 MCM Parameters 781. Set if X-axis is rotational axis Set if Y-axis is rotational axis Set if Z-axis is rotational axis Set if A-axis is rotational axis Set if B-axis is rotational axis Set if C-axis is rotational axis Set if U-axis is rotational axis Set if V-axis is rotational axis Set if W-axis is rotational axis. Format= (Default 0) Setting= 0 Linear Axis Setting= 1 Rotational Axis MCM# 787~800 System Reserved 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 U F1000, when the X-axis move mm and mm away from the final value, the sysem will send S176=ON MCM# 807~820 System Reserved 821. The accelerate/decelerate time of X-axis The accelerate/decelerate time of Y-axis The accelerate/decelerate time of Z-axis The accelerate/decelerate time of A-axis The accelerate/decelerate time of B-axis The accelerate/decelerate time of C-axis The accelerate/decelerate time of U-axis The accelerate/decelerate time of V-axis The accelerate/decelerate time of W-axis. Format= (Default 0), Unit (msec) Acceleration/Deceleration Time (4~3072) MCM# 830~840 System Reserved 7-49

178 HUST H9C Operation Manual The pitch error compensation of the guide screw in HUST H9C is relative to the mechanical origin as the base point Pitch Error Compensation Mode Setting, X-axis Pitch Error Compensation Mode Setting, Y-axis Pitch Error Compensation Mode Setting, Z-axis Pitch Error Compensation Mode Setting, A-axis Pitch Error Compensation Mode Setting, B-axis Pitch Error Compensation Mode Setting, C-axis Pitch Error Compensation Mode Setting, U-axis Pitch Error Compensation Mode Setting, V-axis 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 Compensation cancel Do compensation when tool is on the (-) side of the reference point 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. Coordinate Coordinate Machine HOME Coordinate 0 MCM 841 = -1 Negative compensation MCM#850 System Reserved 851. Segment Length for Pitch Error Compensation, X-axis Segment Length for Pitch Error Compensation, Y-axis Segment Length for Pitch Error Compensation, Z-axis. MCM 841 = 1 Positive compensation Fig

179 7 MCM Parameters 854. Segment Length for Pitch Error Compensation, A-axis Segment Length for Pitch Error Compensation, B-axis Segment Length for Pitch Error Compensation, C-axis. Format=., Default=0, Unit=mm Axis Corresponding MCM# for Segment Max. Number of Segment Length Length Segment X MCM# 861 ~ ~ 480 mm 80 Y MCM# 941 ~ ~ 480 mm 80 Z MCM# 1021 ~ ~ 480 mm 80 A MCM# 1101 ~ ~ 480 mm 80 B MCM# 1181 ~ ~ 480 mm 80 C MCM# 1261 ~ ~ 480 mm Segment length is the total length of ball-screw divided by the number of segment mm 100mm 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 /10=100.00mm. This 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 µm, 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= mm. The compensation for this segment will be done in a manner as tabulated below: Section Tool Position Avg. comp. For each Actual comp. At each Accumulated section section compensation MCM# 857~860 System Reserved 7-51

180 HUST H9C Operation Manual 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. Format. Unit: mm (Default=0.000) Tool#1, Radius Offset Data X-axis Offset Data, Tool# Y-axis Offset Data, Tool# Z-axis Offset Data, Tool# A-axis Offset Data, Tool# B-axis Offset Data, Tool# C-axis Offset Data, Tool#1. Format. Unit: mm (Default=0.000) Tool#2, Radius offset data X-axis offset data, Tool# Y-axis offset data, Tool# Z-axis offset data, Tool# A-axis offset data, Tool# B-axis offset data, Tool# C-axis offset data, Tool#2. Format. Unit: mm (Default=0.000) MCM#1355~1620 Tool#3~40, Radius offset data and X/Y/Z/A/B/C-axis offset data Tool #1 radius wear compensation X-axis, Tool #1 wear compensation Y-axis, Tool #1 wear compensation Z-axis, Tool #1 wear compensation A-axis, Tool #1 wear compensation B-axis, Tool #1 wear compensation C-axis, Tool #1 wear compensation. Format. Unit: mm (Default=0.000) 7-52

181 7 MCM Parameters Tool #2 radius wear compensation X-axis, Tool #2 wear compensation Y-axis, Tool #2 wear compensation Z-axis, Tool #2 wear compensation A-axis, Tool #2 wear compensation B-axis, Tool #2 wear compensation C-axis, Tool #2 wear compensation. Format. Unit: mm (Default=0.000) MCM#1635~1900 Tool#3~40, Radius wear compensation and X/Y/Z/A/B/C-axis wear compensation 1901~1940 Tool-tip radius compensation Tool-tip#1~

182 HUST H9C Operation Manual 7-54

183 8 Manual Operations 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 HOME Operation (Machine Origin) 1. Press RESET key to put the controller in a power-on status. HOME 2. Press JOG 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. CYCST 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

184 HUST H9C Operation Manual 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 FDCOM = Speed 1, in mm/min. (MCM #301~#139) ACC = Time for acceleration/deceleration, in ms. (MCM #505) = 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 = mm/min, and ACC = 100 ms Length of Home Limit Switch = 3000 * 100 / = 5 mm 8-2

185 8 Manual Operations Speed Speed MCM #301~ #309 Direction MCM#281~ #289 1 st Section Speed Touch the LIMIT SWITCH C064 C072 = 1 3 rd 2 nd Tool Position INDEX of finding Encoder Speed MCM#321~ #329 Direction MCM#341~ #349 = 0 Leave the LIMIT SWITCH C064=0~C072=0 Speed MCM#301~ #309 1/4 Direction MCM#341~ #349= 0 Fig 8.2 (A) Homing Speed and Direction of finding GRID Speed Speed MCM #301~ #309 Direction MCM#281~ #289 1 st Section Speed Touch the LIMIT SWITCH C064 C072 = 1 Leave the LIMIT SWITCH C064 C072 = 0 Speed MCM#301~ #309 1/4 Direction MCM#341~ #349= 0 2nd 3 rd INDEX of finding Encoder Speed MCM#321~ #329 Direction MCM#341~ #349= 256 Tool Position Fig 8.2 (B) Homing Speed and Direction of finding GRID 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: HOME JOG 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) 8-3

186 HUST H9C Operation Manual Fig.8-3 Operation steps using MPG hand-wheel: On the back of H9C controller, there is a DB9-pin connector for connecting MPG handwheel. 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 HUST Fig 8-4 MPG Hand-wheel 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. 8-4

187 8 Manual Operations 40% 20% 10% 1% 60% 80% 100% 120% G01 MFO% Fig 8-5 G01 Manual Feed-rate Override (MFO%) 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. 100% JOG 100% 50% 25% 0% G00 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. AUTO MDI 1. Select the command of the execution. 2. Press AUTO key twice in 0.5 seconds to enable MDI function. MDI 8-5

188 HUST H9C Operation Manual Fig Key in function to be executed Example: Set baud rate of 4800 for RS232C. The function is G10 P510 L Key in: G 1 0 ENTER P ENTER L ENTER 4. Press key to execute function. CYCST 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

189 8 Manual Operations Fig 8.8 Execution steps: 1. Use PRNO to select the desired program. (See Sec 6.1) AUTO 2. Press MDI key to enable the function. 3. Press key to start execution. The whole program will be executed until the end. CYCST 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 CYCST key to start the execution of the first block. When the execution stops, press CYCST 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: 8-7

190 HUST H9C Operation Manual 1. The program is in AUTO execution mode. 2. Press FEHOLD key, the program execution will be put on HOLD. CYCST 3. Press key, the program execution will resume from the point where the program was stopped in step 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. CYCST 3. Press MDI 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: AUTO CYCST N10 G0 X Y0.000 N20 G1 V 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 X F300. N50 G0 X 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. AUTO CYCST 3. Press MDI and key to execute the program. 8-8

191 8 Manual Operations 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 N40 G1 X30. F300. N50 G0 X50. Y0. N60 M2... If the SKIP function is enabled, execution will skip this block and continue from the next block, N 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. Auto mode Dry-run C015 Cycle start Motion feed rate Execution block OFF OFF OFF 0 ON ON LOW ON HIGH OFF CUTTING SPEED CUTTING CUTTING SPEED DRYRUN SPEED SPEED DRYRUN SPEED Fig 8-9 DRYRUN Function Timing Relation ON GO SPEED 8-9

192 HUST H9C Operation Manual 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 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: RESET 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: I023 C011 Fig Press AUTO key. CYCST 4. Press to start the RE-STA function. The restart function will be automatically cleared when program execution comes to M02 or M30 block. 8-10

193 8 Manual Operations 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= Execute "HOME" to move the tool to the machine origin. N10 S200 N20 G0 X50. Y100. N30 G1 V-20. F200. N40 X60. V program was interrupted at this block, restart from here. N50 V N60 X80. V-20. N70 G0 X250. Y150. N80 M2 Y Restart N30 N40 Interrupted N50 N60 X (1) As the Fig 8-11, let the C011 = 1. AUTO Fig 8-11 Program Restart (RE-STA) (2) Press the MDI 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

194 HUST H9C Operation Manual 5. Use C011=1 to activate Re-start function. 6. Press CYCST to start execution from where program A was interrupted 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 The distance d (SP = PE) can be calculated from the equation below: d = 0.5 * feed-rate, F * acceleration/deceleration time S Block 1 d P E Block 2 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 8-12

195 9 PC On-line Operation 9 Document transmission PC Performs Online Operation via RS232 and The Controller Through TAPE function, HUST H9C can do the following PC (personal computer) online 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 G10 P510 L57600 G10 P510 L G10 P600 L01 G10 P600 L02 G10 P600 L03 G10 P600 L05 G10 P2100 G10 P1000 (note) Set the baud rate for RS232 interface at bps Set the baud rate for RS232 interface at bps Set the baud rate for RS232 interface at bps Burn the externally transmitted program into Flash-ROM Burn the externally transmitted MCM parameters into Flash-ROM Burn the externally transmitted ladder program into Flash-ROM Burn the externally transmitted controller system data into Flash-ROM Load the part program from Flash-ROM to memory 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. 9-1

196 HUST H9C Operation Manual Program Transfer from PC to CNC Controller Format for program transfer: % O001 N10 G0 X0. Y0. Z0 N20 G1 X50. Y50. Z45 N30 U30. V-30. W15 N40 G0 X0. Y0. Z0 N50 M2 %... Program number Program content Notes: 1. The program must start and end with a symbol of %. 2. Program number range = 000~ 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, it ll 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 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 reoperate 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. 9-2

197 9 PC On-line Operation 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 Program Transfer from CNC Controller to PC 1. When S080 is 0, the controller is stand-by. 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 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: When the program is in execution (S080=1), you must stop for S080 turning 0 to reoperate the step 3 &

198 HUST H9C Operation Manual Format for MCM Data Transfer: % O9002 Program number 9002 designated for MCM data MCM # MCM # MCM # MCM # % Notes: 1. The MCM data must start and end with a symbol of %. 2. Program number for MCM data is O No decimal point for MCM data transferred. The unit is 1/1000th of a second for time and µm for length or speed. One line for one MCM data only (7-digit). For example, HOME speed on X-axis = , it'll show after transferred. Software limit on Y-axis = cm, it ll show Transfer MCM Data 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 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: When the program is in execution (S080=1), you must stop for S080 turning 0 to reoperate 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 Transfer MCM Data from CNC Controller to PC 1. When S080 is 0, the controller is stand-by. 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 Recv File fm CNC : TYPE >>> (2) Select 2:MCM (3) Press Recv In (4) After the confirmation of the file content, press Save File 9-4

199 9 PC On-line Operation Note: When the program is in execution (S080=1), you must stop for S080 turning 0 to reoperate the step 3 & 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 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 or Q: Var-8999 or R: Var-9999 similar for the remaining settings 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 procedures are as same as the MCM transferring. 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 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 procedures are as same as the MCM transferring. Note: You must always burn the data into Flashrom after downloading by using MDI command 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 procedures are as same as the MCM transferring. 9-5

200 HUST H9C Operation Manual 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 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 procedures are as same as the MCM transferring. Note: You must always burn the data into Flashrom after downloading by using MDI command PC to Controller (ARM) The transmission steps are the same. Selection project is C : ARM Caution: After loading ARM data, you shall turn on the controller again so that it can operate normally. 9-6

201 9 PC On-line Operation 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. 9-7

202 HUST H9C Operation Manual 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. Fig 9-3 Key Descriptions PlcBit : Signal I/O/C/S/A status display VarUser : Variables 0~9999 display Var Sys : Variables 10000~ 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 CNC Read data from CNC Recv File fm CNC:TYPE >> 0 : CNC PC read the main program. 1 : CNC_ALL PC read the full program. 9-8

203 9 PC On-line Operation 2 : MCM PC read the parameters. 9 : Var-0099 PC read MCM#0~99 A : Var-0199 PC read MCM# 0~199 Q Var 8999 PC ead MCM#0~8999 R Var 9999 PC ead MCM#0~9999 On PC side, select data in CNC and press Recv In, PC will start reading the data and storing them in memories temporarily. Press Save File and enter the file s name. The action is complete. 2. Send File to CNC 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 user s variable to CNC controller. C : ARM PC Transfer ARM data to CNC controller. A. After selecting the items, press Open File ; enter the desired file s 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. 9-9

204 HUST H9C Operation Manual 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. DCE DCE HUST CNC PC COM2 TXD 2 3 RXD DB9LM CONNECT OR RXD SG CTS RTS TXD SG RTS CTS DB25LF CONNECTOR HUST CNC PC COM1 TXD 2 2 RXD DB9LM CONNECT OR RXD SG CTS RTS TXD SG RTS CTS DB9LF CONNECTOR Fig 9-4 RS232 Connection 9-10

205 9 PC On-line Operation 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. 9-11

206 HUST H9C Operation Manual 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 user s programs, user s 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, user s programs, user s 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

207 9 PC On-line Operation 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. EX With directional keys 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. Descriptions of function keys: Fig 9-7 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. Returns to the first page in the transmission operating interface. 9-13

208 HUST H9C Operation Manual 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 Download USB CNC Fig 9-9 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. 9-14

209 9 PC On-line Operation 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

210 HUST H9C Operation Manual File Upload Interface Press the Upload function key on the transmission operating interface, you can enter the screen as shown in Fig Input characters 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. 9-16

211 10 Error Messages 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 This chapter explains the error messages and the method to correct them. Error Messages Error 02. Y AXIS ERR Error Code 01 Details B Fig 10-1 Error Message Display MCM Data Error Causes 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 02 Details Causes X~C Axis follow-up mismatch is too large. 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 = 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. 10-1

212 HUST H9C Operation Manual Error Code Details Causes 03 L The number in the Counter for counting M99 exceeds the one specified by MCM # 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 04 Details A B C D E F G H I J K L M N O Causes U USB/SDC ERROR FR_DISK_ERR USB/SDC ERROR FR_INT_ERR USB/SDC ERROR FR_NOT_READY USB/SDC ERROR FR_NO_FILE USB/SDC ERROR FR_NO_PATH USB/SDC ERROR FR_INVALID_NAME USB/SDC ERROR FR_DENIED USB/SDC ERROR FR_EXIST USB/SDC ERROR FR_INVALID_OBJECT USB/SDC ERROR FR_WRITE_PROTECTED USB/SDC ERROR FR_INVALID_DRIVE USB/SDC ERROR FR_NOT_ENABLED USB/SDC ERROR FR_NO_FILESYSTEM USB/SDC ERROR FR_MKFS_ABORTED 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 08 Details D M E Causes For the ZDNC operation, the address for the program data is incorrect MDI command error (command is larger than 128bytes) 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. 10-2

213 10 Error Messages Error Code 10 Details O P F B N Causes RS232 ERROR OVERRUN ERROR RS232 ERROR PARITY ERROR RS232 ERROR FRAME ERROR RS232 ERROR BREAK ERROR 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. 10-3

214 HUST H9C Operation Manual 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 14 X..... C X, Y, Z, A, B, C-axis Over-travel. Causes 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. 10-4

215 10 Error Messages Error Code 18 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) P G60 G63 the subroutine to be called is empty Recommended Remedy: 1. Check the ending statement of the program, such as M02 and M 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 20 Details X..... C Causes X, Y, Z, A, B, C axis has reached the software limit. N The number of limit points for the software limit exceeds Recommended Remedy: Check the program or revise the settings in MCM #581~#586, #601~#606 for software travel limit. Error Details Code 22 Em-Stop (C002=1) Causes Recommended Remedy: Resolve the cause for emergency stop. Restore Emergency-STOP button and press RESET. 10-5

216 HUST H9C Operation Manual Error Details Code 24 Memory stack error Causes Recommended Remedy: Please check if the calling of the subroutines overlap with each other. Error Code 25 Details R L G Causes G02/G03 command error (the starting radius is not equal to the end radius) R input format error in G02/G03: The two axis with arc compensation has no offset (in the lath mode, R<0) 2*[RAR]>[LENGTH] 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 27 X.... C Causes 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 28 Details N W U Causes MISSING G70 WITH G7x COMMAND [ZA] DIR. SHOULD BE DIFFERENT FROM [G70WA] [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 29 Details G P A R C Causes The G code which includes the C,R,A single block is not G00..G04 Parameter setting error,a_ or its related parameter error,r_ or its related parameter error,c_ or its related parameter error 10-6

217 10 Error Messages 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 Details Code 31 None PLC Recommended Remedy: 1. Please transfer the data into the PLC. 2. Please contact the distributor or the manufacturer. Causes Error Code 32 Details Causes E The E in G92 is not within the range ( ) (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 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 33 Details 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 Causes 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. 10-7

218 HUST H9C Operation Manual Error Code 36 Details B C F L P R S T W Causes The communication format of USB/SDC is not O8001. The communication format of USB/SDC is not O8002 The communication format of MCM is not O9002. The communication format of the memory is not O9140 The communication format of the variable is not O9004 The communication format of the PLC is not O9003 PLC document exceeds the maximum size. The program ID number to be received exceeds 1000 (Oxxxx). LENGTH OR SUM ERROR #13245, #13246, #13247, #13248 The communication format of SYS is not O9100 SYS document exceeds the maximum size. The communication format of TBL is not O9110 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 Details Code 37 NC ALARM (C007=1) Causes 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 0.005µ. 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. 10-8

219 10 Error Messages Error Code Details Causes Error in user defined error message by G65 Macro. Recommended Remedy: Check if G65 function is properly applied. If not, have the problem corrected. 10-9

220 HUST H9C Operation Manual 10-10

221 11 Appendix A 11 Appendix A 11.1 Selection of Servo Motor with Compatible Moment of Inertia According to manufacturer s 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 manufacturer s 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, it s normally set at 5 times as (5 * J M > J L ) 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. (a) GEAR SERVO MOTOR (c) ROLLER (b) GEAR R 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. J L = (Jgb + Jc) 2 (GR) Jga, (in kg - cm or kg - m x10 ) (Eq 11-2) Where: GR = gear ratio = (Tooth number of gear B) / (Tooth number of gear A) 11-1

222 HUST H9C Operation Manual 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/2π) 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. π = (a) GEAR SERVO MOTOR R (b) GEAR (c) SCREW (d) TABLE 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. J L = (Jgb + Jbc + Jtd) 2 (GR) Jga, (in kg - cm or kg - m x10 ) (Eq 11-4) 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. 11-2

223 11 Appendix A 11.2 Way to select the suitable Servo motor Condition Max. and Min. loading radius, loading weight,feed rate(mm/min) EX How to select the winding machine The tension-motor of aluminum foil Critical condition The external diameter of aluminum foil 240 mm The diameter of inner round 40 mm Weight 15 Kg Max. rate of winding 20m/min Calculation Loading rotation-inertia 1/2 MR 2 M (mass) R(radius) So 1/2 15 (12) 2 = 1080 Kg.cm 2 (rotor inertia) Because the loading rotation-inertia (rotor inertia) is too big, it must be used the gear ratio to reduce the inertia. Min. circumference rpm = Distance Min. radius = 40 mm 2 = 20 mm Min. circumference = = mm mm rpm = mm, rpm = Supposed that the gear ratio is 6 1 (Motor turns 6 rounds; aluminum foil turns 1 round) 1080 Kg.cm (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) Ps The motors of TELI, MITSUBISHI can bear the 5 times of rotor inertia. Because it will not suitable for low inertia motor Rotor inertia 5. We choose the middle inertia motor. Middle inertia : 1 KW,2000 rpm motor 7.82 Kg.cm Kg.cm 2 5 = 39.1 Kg.cm Kg.cm 2 30 Kg.cm (rpm) 6(Gear ratio ) = 955 rpm 2000 rpm 955 rpm 2 Because the tension motor must match with the following speed. The 2 times of rpm is the best following speed. Gear ratio 6, Middle inertia 1 KW motor 11-3

224 HUST H9C Operation Manual Table 11-1 Moment of Inertia for Square Work Table(. 2.m ) Work Table Weight ( ) Pitch(mm)

225 11 Appendix A Table 11-2 Moment of Inertia for Ball-screw with Weight Known Ball-Screw Diameter ( ) Weight

226 HUST H9C Operation Manual Table 11-3 Moment of Inertia for Ball-screw with Length Known Ball-Screw Diameter (mm) Length(mm)

227 11 Appendix A 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 VA 3-phase 3000 VA / (220 * (3) 0.5 ) 7.87 Example: A machine tool (making capacitor) requires following powers 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 V power supply w/ 8 amp max. 24 * 8 = 192 W V 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 = ( ) * 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) = 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 amperes of current is 1.45 mm

228 HUST H9C Operation Manual 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) 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. Passive Encoder Y-Axis, Calculate Length C145 = 1 Roller Material Encoder Motor X-Axis simultaneous cutter HUST CNC Power Fig 11-3 Passive Encoder Table Type Fly Cut 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

229 11 Appendix A Passive Encoder Y-Axis, Calculate Length C145 = 1 Roller Material HUST CNC Y X Command Length Fig 11-4 Length Compensation Passive Encoder Speed Command Length X Axis length Compensation Length Speed Command Length Compensation Length X Axis 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) 11-9

230 HUST H9C Operation Manual 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# Store the difference (X-Y) in #10. N30 G65 L22 P#11 A# 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 N120 M99 N200 G65 L99 P1 --- Execute length compensation. --- Alarm Error 51, X-Y exceeds allowable compensation. #4 Length Reference #3 Display Error 51 Display Error 51 Acceptable Error Allowable Compensation Fig

231 12 Appendix B 12 Appendix B - zdnc Operating Instructions 1. Getting Started Click on the desktop to execute Zdnc zdn 2. Open the Option Setting Screen Enable Option is required for parameter configuration Right-click here rright Fig

232 HUST H9C Operation Manual 3. Display Settings Corresponding to controller settings To avoid connection failure, do not check boxes other than those indicated here. Save the changes To change the settings, press DisConnect. When the settings are configured, press Connect. Fig

233 12 Appendix B 4. PC TO CNC 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 Fig

234 HUST H9C Operation Manual 5. CNC TO PC Start reading Select a file name 0>transmit the current file 1>transmit all part programs 2-9&M>transmit variables Fig 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, settings are only required at the ZDNC (computer) end rather than the controller end, if PLC does not give any restrictions 12-4

235 13 Appendix C Use instructions of declarative programs 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 R 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 L 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)

236 HUST H9C Operation Manual 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# B30 ; Copy # 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 N12 G65 L81 P16 A#9050 B#638 ; Judging: When the set number of construction = current construction + 2, go to N16 N13 G65 L81 P18 A#9050 B#639 ; Judging: When the set number of construction = 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

237 13 Appendix C Use instructions of declarative programs Example 2 Main routine:.... G65 L86 P01 A#403 B4 G65 L86 P02 A#403 B7 G65 L81 P03 A#403 B8 N01 G10 P923 L501 M99 N02 G10 P923 L502 M99 N03 G10 P923 L503 M99 ; #403 <= 0.7 mm go to N01 ; #403 <= 0.8 mm go to N02 ; #403 = 0.9 mm to to N03 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 = # 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 O502 ; Returns ; 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 = # 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

238 HUST H9C Operation Manual 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 = # 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