BNP-B2224∗ (ENG)

500M Series
INSTRUCTION MANUAL (Supplement)
 Introduction

This manual explains the functions that have been newly added or improved by a
software version upgrade of the MELDAS 500M Series (machining system model).
Specification details, operation and programming are explained, so please read this
manual thoroughly before using control unit.
This manual has been written assuming that all functions of the MELDAS 500M Series
have been provided in the user's CNC. However, not all options are provided with every
CNC, so always confirm functions, operations, etc., described in this manual with the
specifications of the machine used.

Precautions when Reading This Manual

(1) This manual gives general explanations from the standpoint of the NC side. For
explanations concerning individual machine tools, refer to the instruction manual
issued by the maker. For items described as "Restricted", "Conditions Required", etc.,
the instruction manual issued by the maker takes precedence over this manual.
(2) While every effort has been made to describe special handling in this manual, items
not described in this manual should be interpreted as "Not Possible".
(3) Improved functions are explained using the current specifications and functions of
the control unit.
(4) The applicable versions for use with this control unit are the D0 versions or later of
the following systems. Also, refer to the "List of Expansion Functions" on the next
page for applicable models, and confirm the specifications.

• 520AM
(COLOR CRT/LCD) BND-308W000
(9" EL/CRT) BND-308W050

• 520/5M, 530/5M, 540/5M

(COLOR CRT/LCD) BND-302W000
(9" EL/CRT) BND-302W050

• 520M-P, 530M-P, 540M-P

(COLOR CRT/LCD) BND-312W000
(9" EL/CRT) BND-312W050
List of Expansion Functions

: Standard specification ∆: Additional specification −: No function

520/5M 520M-P
Specifica-
Item 520AM 530/5M 530M-P Remarks
tion No. 540/5M 540M-P

2-4-3 Diameter/radius designation − −

3-2-4 Cylindrical interpolation − ∆ ∆

3-2-8 Polar coordinate interpolation − ∆ ∆

Rotation axis constant tangential

4-2-6 −
velocity control
Rapid traverse multi-step Compatible with high-speed region
4-4-4 torque insufficiency and tact time
acceleration/deceleration reduction.
∆
4-5-1 Thread cutting − ∆
∗1
Compatible with tact time reduction
Multi-step acceleration/deceleration
4-5-3 Synchronous tapping and multiple spindle synchronous
tap added.
High-speed machining mode ∆ Added to high-speed machining
12-1-1 − ∆
I/IB/II/III ∗1 mode III
Compatible with high-accuracy
13-2-6 High-accuracy spline function − ∆ ∆
machining
Used with ATC, JC, etc.,
∆ ∆ miscellaneous axes.
18-1-33 Miscellaneous axis control ∆
∗2 ∗1 Separate hardware addition is
required (communication card, etc.)

∆ 5-axis machining function

18-2-4 Tool handle feed and interrupt − ∆ (Including A/B axis changeover
∗1 function)
∆
18-2-5 Tool tip coordinate display − ∆ 5-axis machining function
∗1
Three-dimensional coordinate ∆
18-2-6 − ∆ 5-axis machining function
conversion ∗1
Tool axis direction tool length ∆
18-2-7 compensation and − ∆ 5-axis machining function
compensation amount ∗1

∗1: Uses an expansion system ROM cassette.

∗2: Communication ROM cassette added

Individual specification manuals have been prepared for each function.

(Document No.: BNP-3695-Specification No.)
Contact Mitsubishi or the nearest service center if these manuals are required.
(The details in the individual specification manuals are the same as this manual.)
 Contents

Chapter 1 Diameter/Radius Designation................................................................. 1-1

Chapter 2 Cylindrical Interpolation.......................................................................... 2-1
Chapter 3 Polar Coordinate Interpolation ............................................................... 3-1
Chapter 4 Rotation Axis Constant Tangential Velocity Control ............................ 4-1
Chapter 5 Rapid Traverse Multi-step Acceleration/Deceleration .......................... 5-1
Chapter 6 Thread Cutting ......................................................................................... 6-1
Chapter 7 Synchronous Tapping............................................................................. 7-1
Chapter 8 High-speed Machining Mode I/IB/II/III..................................................... 8-1
Chapter 9 High-accuracy Spline Function .............................................................. 9-1
Chapter 10 Auxiliary Axis Control ............................................................................. 10-1
Chapter 11 Tool Handle Feed and Interrupt.............................................................. 11-1
Chapter 12 Tool Tip Coordinate Display ................................................................... 12-1
Chapter 13 Three-dimensional Coordinate Conversion........................................... 13-1
Chapter 14 Tool Length Compensation in the Tool Axis Direction &
Compensation Amount ........................................................................... 14-1
Chapter 1 Diameter/Radius Designation
 1. Diameter/Radius Designation

1. Outline
Each axis can be moved with either radius or diameter commands. The required type of command is set
in the parameters.
For radius commands, the tool only moves the commanded amount. For diameter commands, the tool
only moves 1/2 the commanded amount.
This function applies only to the M520AM system.

2. Parameter Setting
The radius/diameter command changeover is set for each axis in parameter #14 dia of the basic
specification parameters.

[BASE SPEC. PARAM] M-PARAM1.3/10

# <X> <Y> <Z> <U>

13 axname2
14 dia
15
16 mcp_no
17 chop_no
18 slavno
19 no_dsp
20
21
22
23
23

#( ) ( ) ( ) ( ) ( ) ( ) ( )

9 inch

[BASE SPEC. PARAM] M-PARAM1.2/7

# <X> <Y> <Z> <U>

1 cunit
2 iunit
3 gunit
4 ounit
5 sp_ax
6 iout
7 rot
8 ccw

9 svof
10 axoff
11 abson
12 intabs
13 axname2
14 dia
15
16 mcp_no

#( ) ( ) ( ) ( ) ( ) ( ) ( )
14 inch

1-1
 1. Diameter/Radius Designation

# Item Details Setting range (unit)

14 dia Diameter This carries out diameter commands. 0: Radius command
command 1: Diameter command
This parameter is validated immediately upon changeover.

X axis

Radius

Diameter
Z axis

Fig. 1 Diameter and radius

1-2
 1. Diameter/Radius Designation

3. Operation
Either radius or diameter commands can be issued. For diameter commands, the tool will only move 1/2
the commanded amount. In the drawing below, the command procedure is shown for moving the tool
from point P1 to point P2.

X
P1

x1

z1
P2

z2 x2

Z
Coordinate zero point

Fig. 2

X command Z command
Radius Diameter Radius Diameter
Incremental
X = x1 X = 2 • x1 Z = z1 Z = 2 • z1
value
Absolute
X = x2 X = 2 • x2 Z = z2 Z = 2 • z2
value

Radius commands and diameter commands

Program example from point P1 to point P2
Relative command
G91G1Xx1Zz1F500 ; • • • Radius commands
G91G1X2 • x1Z2 • z1F500 ; • • • Diameter commands

Absolute command
G90G1Xx2Zz2F500 ; • • • Radius commands
G91G1X2 • x2Z2 • z2F500 ; • • • Diameter commands

1-3
 1. Diameter/Radius Designation

4. Precautions
(1) When the diameter command parameter is changed, the current value, workpiece coordinate value
and machine value displays are also changed correspondingly.

Diameter commands Radius commands

X 10.000 X 5.000
Y 20.000 Y 10.000
Z 30.000 Z 15.000

(2) When the diameter command parameter is changed, the workpiece coordinate offset display is also
changed correspondingly.

(3) The tool compensation amount of the tool length offset (G43, G44) is handled as diameter data for
diameter axes, and radius data radius axes.

(Example) Compensation amount #1 = 10.000 The movement amount shown on

the counter is the same, but the
G43Z5.000H1 ;
actual movement amount is only
: 1/2 the value.

Diameter commands Z 10.000 → 25.000

Radius commands Z 5.000 → 20.000

(4) The tool compensation amount of the tool position offset (G45 to G48) is handled as diameter data
for diameter axes, and radius data for radius axes.

(5) The tool compensation amount of the tool nose radius compensation (G41, G42) is handled as
radius data for both diameter or radius axes.

(6) When designating I and J in arc interpolation (G02, G03), the I, J and K of diameter axes are the
radius command incremental amount of the center coordinates, looking from the start point.

(7) When circle cutting (G12, G13) with a diameter axis, I is the radius command incremental amount
of the center coordinate, looking from the start point. D is handled as diameter data.

(8) The cut-in amount per cut Q in fixed cycles G83 (deep hole drilling cycle) and G73 (step cycle) is
handled as radius data.

(9) The shift amounts I, J, K and Q in fixed cycles G87 (back boring) and G76 (fine boring) are handled
as radius data.

(10) C for corner chamfering and R for corner R are radius data.

1-4
Chapter 2 Cylindrical Interpolation
 2. Cylindrical Interpolation

1. Outline
Machining can be carried out on cylindrical surface, using expanded plane program commands (cam
diagram).
Cylindrical cam machining programs can be simply created with this function.
This function is an option specification.

2-1
 2. Cylindrical Interpolation

2. Command Format

G 7 . 1 B b 1; Cylindrical interpolation mode ON

(b 1 : Cam groove bottom radius)
G 7 . 1 B 0 ; Cylindrical interpolation mode OFF

∗ The program alarm "P100: NO CYLIND SPEC" will result if this function is used without option
specifications.

2-2
 2. Cylindrical Interpolation

3. Program Example
B axis
b1: Cam groove
bottom radius
R63.662 (mm)
Y axis
X axis

Workpiece
Z axis
B axis Z axis Workpiece

The horizontal machining center shown at

the right is explained as an example.
X axis
Cam groove bottom machining is carried
out by interpolating the B and Y axes.
Register the B axis in the parameters as
the parallel axis of the X axis. (Register as
shown in the table, according to the
machine configuration.)

[Machining parameter and plane selection]

First, move the X axis to match the B axis Basic Parallel Parallel G17 ... IJ plane
rotation center and tool center. axis axis 1 axis 2 G18 ... KI plane
N01 G54 G0 G90 X0 Y0 B0 ; G19 ... JK plane
I X B X
G17B_Y_;
Next, move the tool to the machining start J Y Y Y Interpolation axes
position. → B-Y
K Z Z Z
N02 Z0 S800 M3 ;
N03 G1 Z-5. F2000 ;

Turn the cylindrical interpolation mode ON.

N04 G7.1 B63.662 ; (Cam groove bottom radius)

Start the cam groove machining.

N05 G17 G1 G41 Y0 B0 D1 ;
N06 G02 B45. R30. ; Expanded plane program (cam diagram)
N07 G03 B135. R60. ;
Y axis
N08 G01 Y50. B180. ;
N09 G02 B270. R60. ;
N10 G01 Y0 B315. ;
N11 G03 B360. R30. ;
N12 G01 G40 ;
N13 G01 G42 Y0 B360. ;
N14 G02 B45. R30. ;
N15 G03 B135. R60. ;
B axis
N16 G01 Y50. B180. ;
N17 G02 B270. R60. ;
N18 G01 Y0 B315. ;
N19 G03 B360. R30. ; Tool nose Program path
N20 G01 G40 ; radius (groove center)
Groove width
Lastly, turn the cylindrical
Compensation amount =
interpolation mode OFF. Groove width – Tool nose radius
N99 G7.1 B0 ;

2-3
 2. Cylindrical Interpolation

4. Relation of Cylindrical Interpolation Mode and Other Functions

(1) Feedrate designation
The feedrate commanded in the cylindrical interpolation mode is the speed on the cylindrical
expanded surface. In other words, the smaller the radius of the cam groove bottom, the larger the
actual feedrate becomes.

(2) Cutting clamp speed

For the rotation axis, this speed is set with the angular velocity (degrees/min.) in the parameters.
During the cylindrical interpolation mode, this becomes the speed on the cylinder expanded surface.

(3) Arc interpolation (G2, G3)

Radius commands can be designated by either R designation or I and J designation.
Note that the R unit and rotation axis side planes I and J units should be designated with the length on
the expanded plane.
A plane selection command is required. (Rotation axis - linear axis)
The rotation axis side command values are carried out in degrees.

(4) Tool nose radius compensation

To carry out tool nose compensation in the cylindrical interpolation mode, command a plane
selection in the same manner as for cylindrical interpolation. However, when carrying out tool nose
compensation, execute the start up and cancel during the cylindrical interpolation mode.
If the cylindrical interpolation mode is set while the tool nose compensation is valid, compensation
will not be carried out correctly.

(5) Positioning
Positioning (including commands such as G28, G53, and G80-G89 that create a rapid traverse cycle)
cannot be carried out during the cylindrical interpolation mode. Cancel the positioning mode when
positioning is to be carried out.
Note that G0 rapid traverse only is possible.

(6) Coordinate system setting

The workpiece coordinate system (G92, G54-G59) and local coordinate system (G52) cannot be
commanded during the cylindrical interpolation mode.

(7) Program restart

When program restart is carried out by an operation search in programs containing cylindrical
interpolation, the program cannot be restarted in movement blocks executed during the interpolation
mode. (Executing a program restart results in orthogonal plane interpolation movement, without the
cylindrical interpolation validating.)

(8) Rotation axis control parameter

When radius compensation is applied near 0°, the movement amount at startup may be excessive,
so select the short-cut control. Linear type rotation axes cannot be used in the cylindrical interpolation
mode, so turn that selection OFF.

2-4
 2. Cylindrical Interpolation

5. Restrictions
(1) Command G7.1 in an independent block.
If commanded in combination with another G code, "P101 G07.1 MODE ERR" will result.

(2) The cam groove bottom radius cannot be reset with a G 7.1 command during the cylindrical
interpolation mode. To reset the radius, first cancel the cylindrical interpolation mode.

(3) Only one rotation axis can be set in cylindrical interpolation. Two or more rotation axes cannot be
commanded with a G7.1 command.

(4) The positioning accuracy (rotation axis side) during the cylindrical interpolation mode is determined
by first internally converting the angle command movement amount to the distance on the periphery,
then calculating the interpolation. The positioning accuracy is then again returned to the angle.
Because of this, the error with the actual movement amount may occur in the min. setting units due to
the cylinder radius. Note that the error at this time does not accumulate. (The fraction is erased when
the cylindrical interpolation mode is turned OFF.)

(5) The manual interrupt amount during the cylindrical interpolation mode is not reflected on all axis
programs. (Equivalent to ABS-off)
Note that the interrupt amount that occurs at this time is reflected in the movement block after the
cylindrical interpolation mode is canceled.

(6) Inch input is not possible.

In initial inch mode, cylindrical interpolation of rotation axis side commands is not carried out
correctly.

(7) Alarm "P101 G07.1 MODE ERR" will result if cylindrical interpolation commands are issued while IN
RADIUS COMPENSATION (G41/G42) is starting up. Therefore, change the mode to radius
compensation cancel (G40).

2-5
 2. Cylindrical Interpolation

6. Circle Cutting Function during Cylindrical Interpolation

The circle cutting function can be used during circular interpolation.

[Command format]
G12 (G13) Ii1 Dd1 Ff1 ;
G12: Clockwise (CW)
G13: Counterclockwise (CCW)
I : Radius of the circle (incremental value), sign is ignored, "Because this is actually on the
cylinder expanded plane, it is designated in length."
D : Compensation No. (The compensation No. and compensation data are not displayed in the
setting and display device.)

[Detailed explanation]
(1) A program error will result when there is no compensation No. "D", or when the compensation
No. is illegal.
"P170 NO CORR. No."
(2) A program error will result when [Radius (I) − compensation amount] <= 0.
"P223 G12, G13 R ERR".
(3) A compensation amount plus (+) sign means decrease, and a minus (-) sign means increase.
(4) Circle cutting is carried out on the currently selected planes G17, G18 and G19.
When circle cutting is carried out during cylindrical interpolation, a prerequisite is that plane has
already been selected for the cylinder rotation axis.

[Precautions]
(a) When G12 or G13 is commanded during radius compensation (G41/G42), the radius
compensation in the path after compensation by the D commanded with G12 or G13.
(b) The error "P32 ADDRESS ERROR" will result when address H is commanded in the same
block as G12/G13.

[Program example]

Circle radius
Cam groove bottom
radius
b1 = 63.662mm

2-6
 2. Cylindrical Interpolation

7. G Code Command Combinations

G code A B C Function G code A B C Function
00 × Rapid traverse positioning 45~48 × Tool position offset
01 × Linear interpolation 50~51 × × × Scaling Cancel/ON
02~03 × Arc interpolation CW/CCW 50.1~51.1 × × × G command mirror image
02.1~03.1 × Spiral interpolation CW/CCW Cancel/ON
04 × — Dwell 52 × × Local coordinate system setting
05 × × × High-speed mode 53 × × Machine coordinate system
07 × × × Hypothetical axis interpolation selection

09 × — Exact stop check 54~59 × × Workpiece coordinate system

selection
10 × × — Tool compensation
input/parameter input 54.1 × × Workpiece coordinate system
(expansion) selection
11 × × — Parameter input cancel
60 × × — Unidirectional positioning
12~13 × — Circle cutting CW/CCW
61 × Exact stop mode
12.2~13.2 × × × Polar coordinate interpolation
61.1~61.2 × High-accuracy control
17~19 × Plane selection
62 × Automatic corner override
20~21 × × — Inch/metric command
63 × Tapping mode
22~23 × × — Stroke check before movement
ON/OFF 64 × Cutting mode

27 × × — Reference point comparison 65~67,66.1 × User macro

× — Reference point return 68~69 × × × Program coordinate rotation

28 ×
ON/Cancel
29 × × — Start point return
68.1~69.1 × × × Three-dimensional coordinate
30 × × — 2nd to 4th reference point return
conversion
31 × × — Skip
70~89 × × — Fixed cycle
31.1~31.3 × × — Multi-step skip 1 to 3
90~91 × Absolute value/incremental
33 × × — Thread cutting
value command
34~36,37.1 × × — Special fixed cycle
92 × × Machine coordinate system
Automatic tool length setting
37 × × — measurement ×
92.1 × × Rotation coordinate system
38~42 × × Tool nose radius compensation setting
40.1~40.3 × × × Normal line control 93 × Inverse time feed
43~44,49 × Tool length offset 94 × Asynchronous feed (per min.)
95 × Synchronous feed (per rotation)
96 × × × Constant surface speed: ON
Constant surface speed/
97 × × — constant tangential velocity: OFF

Rotation axis constant tangential

96.1 × × × velocity: ON
98 × × — Fixed cycle initial point return

99 × × — Fixed cycle R point return

(1) : This combination can be used.

(2) × : The "P101 G07.1 MODE ERR" error will result if the program is operated with this combination.
(3) A : When commanded in the same block as G7.1
(4) B : When commanded during the G7.1 mode (excluding the same block)
(5) C : When G7.1 is commanded after the operation has entered G code modal
(6) — : The combined G codes are not handled as modals. Therefore, no alarm will occur.

2-7
Chapter 3 Polar Coordinate Interpolation
 3. Polar Coordinate Interpolation

1. Function
Commands programmed in the orthogonal coordinate system are converted to linear axis movement
(tool movement) and rotation axis movement (workpiece rotation), enabling contour control to be carried
out.
This function is called polar coordinate interpolation. It is valid when grinding camshafts, etc.
This function is an option specification.

3-1
 3. Polar Coordinate Interpolation

2. Detailed Explanation
2.1 Command Format
Use the G codes below to designate whether polar coordinate interpolation is carried out.
The G codes must be set as independent block commands.
The polar coordinate interpolation cancel mode (G13.2) is entered when the power is turned ON or at
reset.

G 1 2 . 2 ･･･････ Polar coordinate interpolation mode

(start polar coordinate interpolation)
G 1 3 . 2 ･･･････ Polar coordinate interpolation cancel mode
(finish polar coordinate interpolation)

∗ The program alarm "P620: NO POLE-SPEC" will result if this function is used without the option
specifications.

3-2
 3. Polar Coordinate Interpolation

2.2 Program Example

(Hypothetical axis)
Path after tool nose
radius compensation C axis
Program path

C axis

Z axis

Tool

Z axis X axis
Workpiece

Y axis

(Note) The program command unit of hypothetical axis C is length.

[Machining parameter and plane selection]
Basic Parallel Parallel G17 ... IJ plane
(O0001) axis axis 1 axis 2 G18 ... KI plane
• I X U W G19 ... JK plane
• G17X_C_;
• J Y C Interpolation axes
N00 T___; K Z V B → X-C
•
•
•
N01 G17 G90 G0 X40.0 C0 Z0 ; First, carry out positioning to the start point.

N02 G12.2 ; Turn the polar coordinate interpolation mode ON.

N03 G1 G42 X20.0 F2000 D1 ;

N04 C10.0 ;
N05 G3 X10.0 C20.0 R10.0 ;
N06 G1 X-20.0 ; Shape program
N07 C-10.0 ;
N08 G3 X-10.0 C-20.0 I10.0 J0 ; (Following the orthogonal coordinate values on the X-C
N09 G1 X20.0 ; hypothetical axis plane.)
N10 C0 ;
N11 G40 X40.0 ;

N12 G13.2 ; Lastly, turn the polar coordinate interpolation OFF.

•
•
•
M30 ;
%

3-3
 3. Polar Coordinate Interpolation

2.3 Operation Explanation

(1) The linear axis and rotation axis with which polar coordinate interpolation is carried out are set
beforehand in the machining parameter plane selection.
(Explained in section 2-4. Explanation of Plane Selection)

(2) The polar coordinate interpolation mode is entered by commanding G12.2. The local coordinate
system zero point (or workpiece coordinate system zero point when the local coordinate system
setting (G52) is not commanded) is set as the coordinate system zero point. The plane (hereafter
called the "polar coordinate interpolation plane") configured of the linear axis (1st axis of the plane)
and hypothetical axis that intersects the linear axis (2nd axis of the plane) is then selected.
Polar coordinate interpolation is carried out on this plane.

(3) Program commands during the polar coordinate interpolation mode are issued by the orthogonal
coordinate system values on the polar coordinate interpolation plane. The rotation axis (machining
parameter plane selection, parallel axis 1 or 2) address is used in the axis address of the plane 2nd
axis (hypothetical axis) commands. Note that the command unit is not the angle (deg.) but length
(mm or inch), the same unit as for the plane 1st axis (commands by the linear axis address).

(4) The usage methods by combinations of G12.2 commands and other G codes are limited, and must
be considered when programming.
(Explained in 2-5. G Code Command Combinations.)

(5) The feedrate is the interpolation speed on the polar coordinate interpolation plane (orthogonal
coordinate system).
(The relative speed with the tool fluctuates, due to the polar coordinate interpolation conversion.)
When the tool passes near the center of the rotation axis on the polar coordinate interpolation plane
(orthogonal coordinate system), the feedrate on the rotation axis side after coordinate conversion
becomes extremely large. In this case, the cutting clamp speed parameter takes effect on the actual
speed, and the rotation axis operation is protected so it does not rotate faster than the constant
speed.

(6) The rotation axis coordinate value is preset to "0" on the hypothetical axis at the time the G12.2 is
commanded. In other words, the position at which G12.2 was commanded is regarded as angle = 0°,
and the polar coordinate interpolation starts.
Also, the machine coordinate value becomes the position after polar coordinate conversion.

3-4
 3. Polar Coordinate Interpolation

2.4 Explanation of Plane Selection

This function designates the plane to which the tool movement is attributed to by polar coordinate
interpolation and tool nose radius compensation commands.
By registering the three basic axes and their corresponding plane axes in the parameters, a plane can be
selected using any two axes that are not parallel axes. If a rotation axis is registered beforehand as a
parallel axis, plane selection including the rotation axis is also possible.
For the reference plane selection, the relation is fixed between the basic three axes X, Y and Z and the
plane axes U, V and W that correspond to them. Therefore, a plane containing a rotation axis (axis
names A, B and C) cannot be selected.

Plane selection is used to select the following planes:

• Planes in which polar coordinate interpolation is carried out
• Planes in which tool nose radius compensation is carried out
Command format
G17 ; (XY plane selection)
G18 ; (ZX plane selection) X, Y and Z indicate each coordinate axis or its parallel axes.
G19 ; (YZ plane selection)

Machining parameter registration

Basic axis Parallel axis 1 Parallel axis 2
I X U W
J Y
K Z V B
Fig. 1 Example of plane selection parameter registration

As shown in the example in Fig. 1, a basic axis and up to two parallel axes can be registered.
The basic axis can also be an axis besides X, Y or Z. (Note that the rotation axis cannot be set.)
Unregistered axes are not related to the plane selection.

The following letters have these meanings in Fig. 1.

I : This is the horizontal axis of the G17 plane, or the vertical axis of the G18 plane.
J : This is the vertical axis of the G18 plane, or the horizontal axis of the G19 plane.
K : This is the horizontal axis of the G19 plane, or the vertical axis of the G19 plane.
In other words,
G17 ･･･････ IJ plane
G18 ･･･････ KI plane
G19 ･･･････ JK plane
The axis (among the basic axes and their parallel axes) by which the plane is selected is determined
by the axis address commanded in the same block as the plane selection (G17, G18, G19).

For Fig. 1:
G17X_Y_; XY plane
G17W_Y_; WY plane
G18X_V_; XV plane
G18U_V_; UV plane
G19Y_Z_; YZ plane
G19Y_B_; YB plane

The plane does not change over in blocks without a plane selection G code (G17, G18, G19)
command.
G17X_Y_; XY plane
Y_Z_; XY plane (No plane change)

When the axis address is omitted in the block in which the plane selection G code (G17, G18, G19) is
commanded, it is interpreted that the basic three axes addresses have also been omitted.

3-5
 3. Polar Coordinate Interpolation

For Fig. 1
G17; XY plane
G17U; UY plane
G18U; ZU plane
G18V; VX plane
G19Y; YZ plane
G19V; YV plane
G19B; YB plane

Axis commands that do not exist in the plane determined by the plane selection code (G17, G18,
G19) are not related to the plane selection.

When G17U_Z; is commanded for Fig. 1, the UY plane is selected, and Z moves without relation to
the plane.
When the basic axis and its parallel axes are commanded overlapping in the same block as the plane
selection G code (G17, G18, G19), the plane is determined in the following order of priority. Basic axis
> 1st parallel axis > 2nd parallel axis.

When G17U_Y_W_-; is commanded for Fig. 1, the UY plane is selected, and W moves without
relation to the selected plane.

(Note 1) The plane set in the parameters (Initial Z-X plane, Initial Y-Z plane) is selected by turning the
power ON or by resetting.

3-6
 3. Polar Coordinate Interpolation

2.5 G Code Command Combinations

G code A B C Function G code A B C Function

00 × Rapid traverse positioning 45~48 × Tool position offset
01 × Linear interpolation 50~51 × × × Scaling Cancel/ON
02~03 × Arc interpolation CW/CCW 50.1~51.1 × × × G command mirror image
02.1~03.1 × Spiral interpolation CW/CCW Cancel/ON
04 — Dwell 52 × × Local coordinate system setting
05 × × × High-speed mode 53 × × Machine coordinate system
07 × × × Hypothetical axis interpolation selection

07.1 × × × Cylindrical interpolation 54~59 × × Workpiece coordinate system

selection
09 — Exact stop check
54.1 × × Workpiece coordinate system
10 × × — Tool compensation
(expansion) selection
input/parameter input
60 × × — Unidirectional positioning
11 × × — Parameter input cancel
61 Exact stop mode
12~13 × — Circle cutting CW/CCW
61.1 High-accuracy spline control
17~19 × × Plane selection
62 Automatic corner override
20~21 × × — Inch/metric command
63 Tapping mode
22~23 × × — Stroke check before movement
ON/OFF 64 Cutting mode

27 × × — Reference point comparison 65~67,66.1 × User macro

× — Reference point return 68~69 × × × Program coordinate rotation

28 ×
ON/Cancel
29 × × — Start point return
68.1~69.1 × × × Three-dimensional coordinate
30 × × — 2nd to 4th reference point return
conversion
31 × × — Skip
70~89 × × — Fixed cycle
31.1~31.3 × × — Multi-step skip 1 to 3
90~91 Absolute value/incremental
33 × × — Thread cutting
value command
34~36,37.1 × × — Special fixed cycle
92 × × Machine coordinate system
Automatic tool length setting
37 × × — measurement ×
92.1 × × Rotation coordinate system
38~42 × × Tool nose radius compensation setting
40.1~40.3 × × × Normal line control 93 Inverse time feed
43~44,49 × Tool length offset 94 Asynchronous feed (per min.)
95 Synchronous feed (per rotation)
96 × × × Constant surface speed: ON
Constant surface speed/
97 × × — constant tangential velocity: OFF
Rotation axis constant tangential
96.1 × × × velocity: ON
98 × × — Fixed cycle initial point return
99 × × — Fixed cycle R point return

(1) : This combination is possible.

(2) × : The "P622 G12.2 MODE ERR" alarm will result if the program is operated with this combination.
(3) B : When commanded during the G12.2 mode (excluding the same block) Note that the interval
of the G12.2 mode is until cancellation by a G13.2 command or NC reset.
(4) A : When commanded in the same block as G12.2 or G13.2.
(5) C : When G12.2 is commanded after the operation has entered G code modal
(6) — : The combined G codes are not handled as modals. Therefore, no alarm will occur.

3-7
 3. Polar Coordinate Interpolation

3. Precautions
(1) Program so a local coordinate system (or workpiece coordinate system) results in which the rotation
axis center matches the coordinate system zero point before G12.2 is commanded.
Do not command a coordinate system change (G92, G52, G54 to G59, etc.) during the G12.2 mode.

(2) The arc radius command method (which one of addresses I, J, or K is used) when carrying out arc
interpolation (G02, G03) on a polar coordinate interpolation plane is determined by which basic
coordinate system axis is the plane 1st axis (linear axis).
• When the linear axis is the X axis or one of its parallel axes:
The plane for interpolation is regarded as the X-Y plane, commanded by I and J.
• When the linear axis is the Y axis or one of its parallel axes:
The plane for interpolation is regarded as the Y-Z plane, commanded by J and K.
• When the linear axis is the Z axis or one of its parallel axes:
The plane for interpolation is regarded as the Z-X plane, commanded by K and I.
Arc radius designation is also possible with R commands.

(3) G codes that can be commanded during the G12.2 mode.

Refer to 2-5. G Code Command Combinations for details.

(4) Movement commands for axes other than those in the plane in G12.2 mode result in movement
unrelated to the polar coordinate interpolation.

(5) Current position display during the G12.2 mode.

"Position and remaining command display" is the remaining movement amount of the block on the
polar coordinate interpolation plane (orthogonal plane).

(6) When a program restart is executed for the block in the G12.2 mode, the G12.2 block is not executed,
and thus the polar coordinate interpolation mode remains OFF. Because of this, the interpolation
command from the program restart position results in normal interpolation movement without
carrying out polar coordinate interpolation.
In this case, execute a program restart from the G12.2 block or prior to it.

(7) The manual interrupt amount during the polar coordinate interpolation mode is not reflected on all
axis programs. (Equivalent to ABS-off)
Note that the interrupt amount that occurs at this time is reflected in the block after the polar
coordinate interpolation mode is canceled.

3-8
Chapter 4 Rotation Axis Constant Tangential
Velocity Control
 4. Rotation Axis Constant Tangential Velocity Control

1. Outline
This function is used with scroll machine tools that machine with a rotation axis and linear axis. It enables
the speed at a cutting point to be controlled at a constant tangential velocity. In this way machining can be
realized with a constant surface precision.
However, when the speed is controlled at a constant tangential velocity, the speed becomes faster for
each axis near the center of the rotation axis in which the change in the curvature becomes larger. This
may cause the machining shape error to become larger. In this case, higher accuracy machining can be
realized by commanding near circle center override with the program.
This function is an optional specification.
A program error "P126 G96.1 NO SPEC" will result if a G96.1 command is issued when this function is
not added.

4-1
 4. Rotation Axis Constant Tangential Velocity Control

2. Detailed Explanation
2.1 Constant Tangential Velocity Control
The composite speed is calculated from the rotation axis center - current position, and the speed is
controlled so that machining is possible at a constant tangential velocity (F).

2.1.1 Command Format

Xx Yy
G96.1 Zz Xx C Ff ; • • • Rotation axis constant tangential velocity control ON
Yy Zz x y z : Center program coordinates
C : Rotation axis name
f : Command tangential velocity
G97 ; • • • Cancel

(Example) X-Y plane Rotation axis center program coordinates (x, y)

C axis rotation axis

Address command
Input
xyz (center program coordinates) C (rotation axis name) f (command tangential velocity)
command unit
0.01mm –999999.99 ~ 999999.99 (mm) 0.01 ~ 999999.99 (mm/min)
0.001mm –99999.999 ~ 99999.999 (mm) Axis name only 0.001 ~ 99999.999 (mm/min)
0.0001mm –9999.9999 ~ 9999.9999 (mm) 0.0001 ~ 9999.9999 (mm/min)

(Note 1) The G96.1 command is a command for the center program coordinates, rotation axis name
and tangential velocity. The axis does not move by this command.
Note that when a G code is commanded accompanying movement in the same block,
command axes other than the plane selection axis and rotation axis will execute the G code
operation.
For example, if G17 G53 G96.1 X0 Y0 Z10. CF500 ; is commanded, the G53 operation will be
executed for the Z axis.
Also, the G code modal will be validated from the next block.
(Note 2) During the G96.1 mode, the constant rotation axis tangential velocity control is temporarily
canceled by the G code accompanying movement other than G01.
(Note 3) The program error "P33 FORMAT ERROR" will result if there are no plane selection axis
workpiece center coordinates or rotation axis command in the G96.1 command.
(Note 4) The program error "P35 CMD-VALUE OVER" will result if the address command range is
exceeded.

4-2
 4. Rotation Axis Constant Tangential Velocity Control

2.1.2 Program Example

G28 X0 Y0 Z0 C0 ;
G90 G10 L2 P3 X-150. Y-150. ; • • • Sets the workpiece zero point at the rotation axis center
G00 G56 X0 Y0 ;
X-100. ;
Z-150. ;
G17 ; • • • Sets the plane to the X-Y plane
G91 G96.1 X0 Y0 C F500 ; • • • Sets the workpiece zero point as the center, and turns ON the
G01 X500 C1. ; constant tangential velocity control.
X500 C1. ;
X500 C1. ;
X500 C1. ;
•
•
•
G97 ; • • • Constant tangential velocity control OFF
M02 ;

Machine zero point

Rotation axis
Program path

Rotation axis
rotation direction
Tool path
Tool Workpiece zero
point (G56)
Rotation axis
center

The command speed of each axis when

rotation axis constant tangential velocity
control is carried out is as shown in the
Command speed
waveform in the drawing at the left.

C axis
Time

X axis Time

4-3
 4. Rotation Axis Constant Tangential Velocity Control

2.2 Near Circle Center Override Control

The speed becomes constant at the tangent when the constant tangential velocity control function is
used, but the speed of each axis near the rotation axis center may become faster, and the machining
shape error may become larger.
In this case, an override can be applied with the distance from the rotation axis center.
In this way, more accurate machining can be realized.

2.2.1 Command Format

G96.1 Xx Yy C Ff ; • • • Rotation axis constant tangential velocity control ON

G96.1 P0 Qq0 ; • • • P0: Circle center q0: Near circle center override min. clamp value (%)
G96.1 P1 Rr1 ; • • • P1: 1st point r1 : Distance from rotation center (mm)
G96.1 P2 Qq2 Rr2 ; • • • P2: 2nd point q2: Near circle center override at the 2nd point (%)
r2 : Distance from rotation center (mm)
G96.1 P3 Qq3 Rr3 ; • • • P3: 3rd point q3: Near circle center override at the 3rd point (%)
r3 : Distance from rotation center (mm)
G96.1 P4 Qq4 Rr4 ; • • • P4: 4th point q4: Near circle center override at the 4th point (%)
r4 : Distance from rotation center (mm)
G96.1 P5 Qq5 Rr5 ; • • • P5: 5th point q5: Near circle center override at the 5th point (%)
r5 : Distance from rotation center (mm)
G97 ;

Address command range

Input r1 to r5
P (override point) q0, q2 to q5 (override)
command unit (distance from rotation center)
0.01mm –999999.99 ~ 999999.99 (mm)
0.001mm 0~5 1 ~ 100 (%) –99999.999 ~ 99999.999 (mm)
0.0001mm –9999.9999 ~ 9999.9999 (mm)

Machine zero
Workpiece zero point point
Rotation axis center

Override (%)

The speed is controlled at P2 to become q2 (%)

The speed is controlled at P3 to become q3 (%)

The speed is controlled at P4 to become q4 (%)

The speed is controlled at P5 to become q5 (%)

The speed is controlled to become the min. clamp value
Radius

(Note 1) The near circle center override value at the 1st point (P1) is 100%.
(Note 2) The near circle center override value from the 2nd point to the 5th point can be commanded.
(Note 3) The change in speed from the nth point to the nth + 1 point is linear.

4-4
 4. Rotation Axis Constant Tangential Velocity Control

(Note 4) q2 to q5 (%) is clamped by the min. clamp value q0 (%) of the near circle center override.

Machine zero
Workpiece zero point point
Rotation axis center

Override (%)

The speed is controlled at P2 to become q2 (%)

The speed is controlled at P3 to become q3 (%)
The speed is controlled to become q0 (%)

Radius
(Note 5) Designate all addresses described in the command format.
The program error "P33 FORMAT ERROR" will result if these are not commanded.
(Note 6) When a nth point command is not issued from among the 1st to 5th points, the nth - 1 point
override is applied. The program error "P33 FORMAT ERROR" will result if the 1st point
command is not issued. If the P0 command is not issued, the min. clamp value becomes 100%.
For example, the following operation will result if there are no commands for the 2nd and 4th
points.

Machine zero
Workpiece zero point point
Rotation axis center

Override (%)

The speed is controlled at P3 to become override q3 (%)

The speed is controlled at P5 to become override q5 (%)

The speed is clamped at override q0 (%)
Radius

(Note 7) The cutting override during execution of near circle center override is validated for the speed
after the near circle center override commanded in the program.
(Note 8) The near circle center override is only valid when commanded during G96.1 modal.
The information for the 1st to 5th points is cleared by G97, reset 1 and reset and rewind.
(Note 9) Set the distance from the rotation center of the 1st to 5th points as follows: r1 > r2 > r3 > r4 > r5.
The program error "P33 FORMAT ERROR" will result if a command other than r1 > r2 > r3 >
r4 > r5 is issued.
(Note 10) The program error "P35 CMD-VALUE OVER" will result if the address command range is

4-5
 4. Rotation Axis Constant Tangential Velocity Control

exceeded.

4-6
 4. Rotation Axis Constant Tangential Velocity Control

2.2.2 Program Example

G28 X0 Y0 Z0 C0 ;
G90 G10 L2 P3 X-150. Y-150. ;
G00 G56 X0 Y0 ;
X-100. ;
Z-150. ;
G17 ;
G91 G96.1 X0 Y0 C F500 ;
G96.1 P0 Q20. ; • • • Circle center override min. clamp value: 20%
G96.1 P1 R10. ; • • • 1st point :10mm Near circle center override: 100%
G96.1 P2 Q70 R8. ; • • • 2nd point : 8mm Near circle center override: 70%
G96.1 P3 Q50 R6. ; • • • 3rd point : 6mm Near circle center override: 50%
G96.1 P4 Q40 R4. ; • • • 4th point : 4mm Near circle center override: 40%
G96.1 P5 Q30 R2. ; • • • 5th point : 2mm Near circle center override: 30%
G01 X500 C1. ;
X500 C1. ;
X500 C1. ;
X500 C1. ;
•
•
•
G97 ;
M02 ;

Machine zero point

Rotation axis

Program path

Rotation axis
rotation direction
Tool Workpiece zero Tool path
point (G56)
Rotation axis
center

The program command override is

Command speed applied on each axis speed obtained by
rotation axis constant tangential velocity
control, and the speed at the rotation
center is controlled.
C axis Time

X axis Time

4-7
 4. Rotation Axis Constant Tangential Velocity Control

2.3 Constant Tangential Velocity Control Considering Tool Nose Radius

During the constant tangential velocity control function, the tangent directional velocity of the tool center
path is controlled so it is constant at the commanded speed. However, because the tool and workpiece
contact (cutting point) deviates from the tool center by the tool nose radius only, the tangential velocity at
the cutting point is not constant. The speed at the cutting point becomes larger than the commanded
speed if, for example, the tool cuts on the inside of the workpiece. This phenomenon becomes more
notable the closer the tool is to the center section.
In this case, the tangential velocity can be controlled at a constant speed at the cutting point, not the tool
center, by designating the tool nose radius in the program.

2.3.1 Command Format

G96.1 Xx Yy C Ff ; Rotation axis constant tangential velocity control ON

G96.1 P10 Rr ; Tool nose radius designation valid
•••
G97 ; Rotation axis constant tangential velocity control OFF

Address command range

Input command unit r (tool nose radius)
0.01mm –999999.99~999999.99(mm)
0.001mm –99999.999~99999.999(mm)
0.0001mm –9999.9999~9999.9999(mm)
(Note) Always use a decimal point in the r value when commanding the address. If a decimal point is not
used, the value will be interpreted as 0, regardless of the tool nose radius command value.

(1) When the left side of the tool contacts (2) When the right side of the tool contacts
the workpiece the workpiece

Workpiece Workpiece

Direction of
tool progress
Direction of tool progress

A positive tool nose radius value is A negative tool nose radius value is
commanded for r. commanded for r.

(Example) G96.1 X0Y0CF1000 ; (Example) G96.1 X0Y0CF1000 ;

G96.1 P10 R10. ; G96.1 P10 R-10. ;
(for a tool nose radius of 10mm) (for a tool nose radius of 10mm)

4-8
 4. Rotation Axis Constant Tangential Velocity Control

2.4 Modal Display Screen

The modal information screen changes from G97 -> G96.1 when G96.1 is commanded.
This is valid until G97 cancel is executed.

Command value 2/4 screen 9-inch

0 N − MONITOR 3. 2/4
<SUB> 0 N − [POSITION]
[MODAL INFORMATION] X −100.234
G01 G17 G91 G23 G94 Y −150.324
G21 G80 G98 G64 Z −250.332
G67 G40.1 G97 G15 G50.1 C 23.000 G97 <--> G96.1
G68: R=
G50: P=
G41: D 1 = : G05:P0
G43:Z H20= : G54:
: H = : 40
FA . 200.00 S 5000
FM1200.00 T 10
................. B 15 M 3 The 14-inch screen is the operation status 1/2
screen.
COMMAND

3. List of Alarms
Error No. Details Remedy
P33 FORMAT ERROR
• There are no center program coordinates or rotation axis • Reconsider the program.
commands in the G96.1 command.
• There is an error in the command format of the near circle
center override control.
• There is no command for the 1st point of the near circle
center override control.
• The distance from the rotation center of the 1st to 5th
points of the near circle center override control is not r1 >
r2 > r3 > r4 > r5.
P35 CMD-VALUE OVER
• The setting range for each address has been exceeded. • Reconsider the program.
P126 G96.1 NO SPEC
• Rotation axis constant tangential velocity control was • Check the specifications.
commanded although there were no specifications.

4. Precautions
(1) The program error "P126. G96.1 NO SPEC" will result if the G96.1 command is issued when this
specification is not added.

(2) If the internal clamp speed exceeds the parameter clamp speed (clamp), the clamp will be applied at
the parameter value.

(3) The command speed display and actual feedrate display are not updated. Thus, the cutting speed
and display speed may differ.

(4) This function is ignored when high-speed machining mode II (G5P2) is commanded during G96.1.
This function is validated again after high-speed machining mode II cancel (G5P1/P0) is
commanded.

(5) Override and dry run are also valid during G96.1.

4-9
Chapter 5 Rapid Traverse Multi-step
Acceleration/Deceleration
 5. Rapid Traverse Multi-step Acceleration/Deceleration

1. Outline
Normally when carrying out acceleration/deceleration, the acceleration is calculated by speed/time and
the command is issued, but in reality acceleration changes occur due to the motor characteristics (drops
in acceleration capacity due to torque reduction in high-speed rotation) as shown in Fig. 1. Thus, the
required positioning time may increase.
Therefore, if the acceleration in the high-speed region can be set separately from the low-speed region,
acceleration to the high-speed region can be achieved while suppressing the increase in positioning time.
By executing multi-step acceleration, this function allows speed control to be carried out matching the
motor characteristics. The merits of this are as follows:
(1) Rapid traverse 2-step acceleration/deceleration
• Compatible with a reduction of the time to reach the designated speed and insufficient torque in the
high-speed region.
(2) Rapid traverse 3-step acceleration/deceleration
• Pseudo-compatible with rapid traverse soft acceleration/deceleration
This function is only valid during rapid traverse constant inclination linear acceleration/deceleration.
(Both rapid traverse 2-step/3-step acceleration/deceleration)
Motor movement
(a) 2-step acceleration/deceleration

v Acceleration/ v
deceleration
allowing for motor
movement
Reducible time
Desired command

t t

Conventional acceleration/deceleration
(b) 3-step acceleration/deceleration

v
Reducible time

Fig. 1 t
Rapid traverse soft
Rapid traverse soft acceleration/
acceleration/deceleration deceleration

Pseudo-rapid traverse
soft acceleration/
deceleration using
3-step acceleration/
deceleration

Rapid traverse soft Rapid traverse 3-step Rapid traverse 3-step

acceleration/deceleration acceleration/ acceleration/deceleration
deceleration

Fig. 2 Compatible with rapid traverse soft acceleration/deceleration

by rapid traverse 3-step acceleration/deceleration
5-1
 5. Rapid Traverse Multi-step Acceleration/Deceleration

2. Detailed Specifications
The following have been added as parameters.
Machine parameter Axis specification parameter
#34 rapid2 (0~240000mm/min<M520AM>, 0~480000mm/min<M500M>)
#35 G0tL2 (0~1500ms)
#36 rapid3 (0~240000mm/min<M520AM>, 0~480000mm/min<M500M>)
#37 G0tL3 (0~1500ms)

2.1 Rapid Traverse Constant Inclination Acceleration/Deceleration

This is validated when:
V
rapid2 = rapid3 = 0
G0tL2 = G0tL3 = 0 rapid

rapid
Acceleration α (θ) =
G0tL

θ
0
T
G0tL

2.2 Rapid Traverse 2-step Acceleration/Deceleration

Rapid traverse 2-step multi-step acceleration/deceleration is validated when:
0 < rapid2 < rapid, and
0 < G0tL2 < G0tL, and
rapid3 = 0, G0tL3 = 0
(When these conditions are not matched, the multi-step acceleration/deceleration is invalidated and
constant inclination acceleration/deceleration will result.)

V During multi-step
rapid2 acceleration/
Acceleration α (θ) = deceleration (2-step)
G0tL2
rapid

θ1
rapid − rapid2
Acceleration α (θ 1) = rapid2
G0tL − G0tL2

Reducible time

θ
0
G0tL2 G0tL T
No multi-step
acceleration/
deceleration

5-2
 5. Rapid Traverse Multi-step Acceleration/Deceleration

2.3 Rapid Traverse 3-step Acceleration/Deceleration

Rapid traverse 3-step multi-step acceleration/deceleration is validated when:
0 < rapid3 < rapid2 < rapid, and
0 < G0tL3 < G0tL2 < G0tL
(When these conditions are not matched, the multi-step acceleration/deceleration is invalidated and
rapid traverse constant inclination acceleration/deceleration will result.)

V During multi-step
acceleration/deceleration
(3-step) θ2
rapid3 rapid
Acceleration α (θ) = rapid2
G0tL3

rapid2 − rapid3 Reducible

Acceleration α (θ 1) =
G0tL2 − G0tL3 time
No multi-step
acceleration/
deceleration
rapid − rapid2 θ1
Acceleration α (θ 2) = Rapid3
G0tL − G0tL2
0 θ
G0tL3 G0tL2 G0tL T

3. Relation with Other Functions

(1) Multi-step acceleration/deceleration can be used regardless of availability of the high-accuracy
mode.

(2) Multi-step acceleration/deceleration cannot be used with a primary delay/secondary delay

acceleration/deceleration pattern.

(3) Multi-step acceleration/deceleration cannot be used with constant time constant control.

(4) For constant inclination control:

• Multi-step acceleration/deceleration cannot be used with pre-interpolation constant inclination
acceleration/deceleration.
• Multi-step acceleration/deceleration can only be used with constant inclination acceleration/
deceleration 2.

(5) Multi-step acceleration/deceleration cannot be used with the G0 non-interpolation mode. It is only
validated during interpolation.

(6) Override
The speed is clamped at the speed where the override is applied. Thus pay careful attention, as the
designated multi-step acceleration/deceleration may not occur due to the clamp speed.

(7) As with G0, multi-step acceleration/deceleration can be used with an automatic reference point
return (G28, G29) or 2nd to 4th reference point return (G30). Note that interpolation control occurs in
the zone from the middle point to the reference point in G28 and G30, and to the middle point in G29.

5-3
 5. Rapid Traverse Multi-step Acceleration/Deceleration

Interpolation G28/G30 Interpolation G29

P1 (middle point) P1 (middle point)

Interpolation Interpolation
Interpolation

2nd to 4th reference P2 (designated

point Reference coordinates)
point
Reference
point

• When multi-step acceleration/deceleration is

valid: Interpolation zone
• When multi-step acceleration/deceleration is
not valid: Non-interpolation zone

The parameters related to this function and the valid combinations are described in Tables 1 and 2.

Table 1
Item Details Setting range Remarks
G00 Non- G0 Non- 0: G0 is controlled with the interpolation mode Control
0/1
interpolation interpolation mode 1: G0 is controlled with the non-interpolation mode parameter
l_para0 User-customized bit7: G0 constant incline acceleration/deceleration Control
0/1
bit7 parameter 2 valid parameter 1
m_para3 User-customized bit7: G28 to G30 multi-step acceleration/deceleration valid Control
0/1
bit7 parameter (No G28 to G30 non-interpolation zone) parameter 1
G0 pre- 0: Constant time constant control Control
G0bdcc 0/1
interpolation mode 1: Pre-interpolation acceleration/deceleration parameter 1

Table 2
l_para0/bit7 0 1 0 1
G0bdcc 0 0 1 1
Constant inclination
Constant time Pre-interpolation constant inclination
Control method acceleration/deceleration
constant control acceleration/deceleration control
2 control

G00 non-
0
interpolation

This function is valid during the shaded settings in the table above. Otherwise this function is invalidated
and the conventional function (control method) is validated, even if the multi-step acceleration/
deceleration parameter is set.
When the operation is stopped by a reset, feed hold, software limit or OT, multi-step deceleration is
carried out in the same manner as during acceleration.

5-4
 5. Rapid Traverse Multi-step Acceleration/Deceleration

4. Parameters and Screen Configuration

[Screen transition (9-inch)]
[AXIS SPEC. PARAM] M-PARAM 2. 3/4
[AXIS SPEC. PARAM] M-PARAM 2. 1/4

Page-up [AXIS SPEC. PARAM] M-PARAM 2. 4/4

[Screen transition (14-inch)]

[ BASE ] [ AXIS ] [ ZP-RTN ] [ SERVO ] [ MENU ]

[ BASE ] [ AXIS ] [ ZP-RTN ] [ SERVO ] [ MENU ]

[Screen transition (14-inch)]

[AXIS SPEC. PARAM] M-PARAM 2. 1/3 [AXIS SPEC. PARAM] M-PARAM 2. 3/3

Page-up

[BASE] [AXIS] [ZP-RTN] [SERVO] [MC-ERR] [MACRO] [MENU] [BASE] [AXIS] [ZP-RTN] [SERVO] [MC-ERR] [MACRO] [MENU]

# Item Details Setting range Remarks

1 rapid Rapid traverse Final rapid traverse rate for each axis M520AM: 0~240000mm/min
rate M500M: 0~480000mm/min
3 smgst Acceleration/ Mode designation for acceleration/
(PR) deceleration deceleration control
mode Set to linear acceleration/deceleration when
carrying out multi-step acceleration
deceleration.
Refer to the instruction manual for details.
4 G0tL G0 time constant Time constant of the linear control for the
(linear) final rapid traverse rate in rapid traverse
acceleration/deceleration
0~1500ms
This parameter is validated when linear
acceleration - linear deceleration is selected
in the acceleration/deceleration mode.
34 rapid2 Rapid traverse Rapid traverse rate of the 2nd step during M520AM: 0~240000mm/min Newly added
rate 2 multi-step acceleration/deceleration M500M: 0~480000mm/min
35 G0tL2 G0 time constant Time constant of the linear control for the Newly added
2 (linear) rapid traverse rate in the 2nd step of rapid 0~1500ms
traverse acceleration/deceleration
36 rapid3 Rapid traverse Rapid traverse rate of the 3rd step during M520AM: 0~240000mm/min Newly added
rate 3 multi-step acceleration/deceleration M500M: 0~480000mm/min
37 G0TL3 G0 time constant Time constant of the linear control for the Newly added
3 (linear) rapid traverse rate in the 3rd step of rapid 0~1500ms
traverse acceleration/deceleration

PR: Validated by turning the power OFF and ON

When a value from 240000 to 999999mm/min. is input as the value in rapid/rapid2/rapid3 in M520AM, it
is automatically clamped at 240000mm/min.
Otherwise the error "DATA OVER" will result.

5-5
 5. Rapid Traverse Multi-step Acceleration/Deceleration

Screen configuration

1/ 9-inch

[AXIS SPEC. PARAM] M-PARAM 2. 3/4

AXIS < > DATA ( )

BASE AXIS ZP-RTN SERVO MENU

[AXIS SPEC. PARAM] M-PARAM 2. 4/4

AXIS < > DATA ( )

BASE AXIS ZP-RTN SERVO MENU

5-6
 5. Rapid Traverse Multi-step Acceleration/Deceleration

14-inch

[AXIS SPEC. PARAM] M-PARAM 2. 3/3

AXIS < > DATA ( )

BASE AXIS ZP-RTN SERVO MC-ERR MACRO MENU

5-7
Chapter 6 Thread Cutting
 6. Thread Cutting

1. Equal Lead Thread Cutting; G33

(1) Outline
Because feed control for a tool synchronized with the spindle rotation is carried out by the G33
command, both equal lead straight thread cutting and taper thread cutting are possible. Multi-start
threads, etc., can also be machined by designating the thread cutting start angle.

(2) Command format

G33ZzFfQq ; (Normal lead thread cutting command)
Zz ･･････ Thread cutting direction axis address (X, Y, Z, α) and thread length
Ff ･･････ Long axis (axis having the largest movement amount) direction lead
Qq ･･････ Thread cutting start
Shift angle (0~360°)

G33ZzEeQq ; (Precision lead thread cutting command)

Zz ･･････ Thread cutting direction axis address (X, Y, Z, α) and thread length
Ee ･･････ Long axis (axis having the largest movement amount) direction lead
Qq ･･････ Thread cutting start
Shift angle (0~360°)

(3) Detailed explanation

1) E commands can also be used for the No. of threads in inch thread cutting. The No. of threads
designation or precision lead designation can be selected with a parameter setting. ("THREAD
LEAD E" on the PARAM screen)
2) The taper thread lead is commanded with the long axis direction lead.

Taper thread section

When a < 45° : The lead is LZ

When a > 45° : The lead is LX
When a = 45° : The lead can be either LX or LZ

Input command unit F command lead value range (6 digits) E command lead value range (8 digits)
A 0.01mm 0.01 ~ 9999.99mm/rev 0.0002 ~ 9999.9999mm/rev
Millimeter
B 0.001mm 0.001 ~ 999.999mm/rev 0.00002 ~ 999.99999mm/rev
input
C 0.0001mm 0.0001 ~ 99.9999mm/rev 0.000002 ~ 99.999999mm/rev
A 0.001inch 0.001 ~ 999.999inch/rev 0.00002 ~ 999.99999inch/rev
Inch input B 0.0001inch 0.0001 ~ 99.9999inch/rev 0.000002 ~ 99.999999inch/rev
C 0.00001inch 0.00001 ~ 9.99999inch/rev 0.0000002 ~ 9.9999999inch/rev

(Note 1) Leads in which the feedrate converted into feed/min. exceeds the max. cutting feedrate
cannot be designated.

3) The thread cutting operation starts by the one rotation synchronization signal from the encoder
mounted on the spindle.

6-1
 6. Thread Cutting

4) Maintain a constant spindle speed from the rough cutting cycle to the finish cutting cycle.
5) A feed hold cannot be applied during thread cutting. The threads will be deformed if the feed is
stopped by a feed hold during thread cutting.
If the feed hold switch is pressed during thread cutting, the block will stop at the finish point of the
next block after thread cutting is finished (when the G33 mode is canceled).
6) At the start of the thread cutting, the converted cutting feedrate is compared with the cutting feed
clamp speed. An operation error will occur if it exceeds the clamp speed.
7) To guarantee the lead during thread cutting, the converted cutting feedrate may exceed the
cutting feed clamp speed.
8) Normally, an irregular lead will occur at the first and last lead due to the servo system lag, etc.
Thus, the thread length must be commanded with the irregular lead length added to the required
thread length.
9) The spindle speed is limited as shown in the following equation.
Max. feedrate
1 ≤ R ≤ Thread lead

Note: R ≤ Encoder allowable speed (rpm)

R: Spindle speed (rpm)
Thread lead: mm or inch
Max. feedrate: mm/min. or inch/min. (This is limited by the machine specifications.)
10) The thread cutting start angle is designated as an integer between 0 and 360.

(4) Program example

N110G90G0X-200. Y-200. S50M3 ;
N111Z110. ;
N112G33Z40. F6.0 ;
N113M19 ;
N114G0X-210. ;
N115Z110. M0 ;
N116X-200. ;
M3 ;
N117G04X5.0 :
N118G33Z40. ;

Operation explanation
N110, N111 The spindle center is positioned to the workpiece center, and the spindle begins
forward run.
N112 The 1st thread cutting is carried out. Thread lead = 6.0mm.
N113 Spindle orientation is carried out by an M19 command.
N114 The tool escapes in the X axis direction.
N115 The tool returns to the workpiece, and the program is stopped by M100.
Adjust the tool as required.
N116 Preparation for the 2nd thread cutting is carried out.
N117 Command a dwell as required to stabilize the spindle speed.
N118 The 2nd thread cutting is carried out.

6-2
 6. Thread Cutting

2. Continuous Thread Cutting

Continuous thread cutting can be carried out by successively issuing thread cutting commands.
In this way, special threads in which the lead or shape changes midway can be cut.

3. Inch Thread Cutting; G33

(1) Outline
Because feed control for a tool synchronized with the spindle rotation is carried out if the No. of
threads per inch of the long axis direction are commanded in the G33 command, both equal lead
straight thread cutting and taper thread cutting are possible.

(2) Command format

G33ZzEeQq ;
Zz ･･････ Thread length direction axis address (X, Y, Z, α) and thread length
Ee ･･････ Long axis (axis having the largest movement amount) direction No. of threads
per inch (decimal point commands possible).
Qq ･･････ Thread cutting start shift angle (0~360°)

(3) Detailed explanation

1) No. of threads per inch are designated with the
No. of threads in the long axis direction.
2) E commands can also be used to designate the
precision lead length. No. of threads per inch
designation or precision lead designation can be
selected with a parameter setting. ("THREAD
LEAD E" on the parameter screen)
3) Set the E command value within the range of
values when lead conversion was carried out.

(4) Program example

Thread lead ･･･････ 3 threads/inch (= 8.46666 ...)
When programmed with millimeter input at
δ1 = 10mm, δ2 =10mm:
N210G90G0X-200. Y-200. S50M3 ;
N211Z110. ;
N212G91G33Z-70. E3.0 ; (1st thread cutting)
N213M19 :
N214G90G0X-210. ;
N215Z110.M0 ;
N216X-200. ;
M3 ;
N217G04X2.0 ;
N218G91G33Z-70. ; (2nd thread cutting)
6-3
Chapter 7 Synchronous Tapping
 7. Synchronous Tapping

1. Outline
With this function a floating tap chuck is not necessary, and tapping to highly accurate depths can be
carried out. The No. of spindle controls is determined by the system. Using commands in which the
pitch/No. of threads differs for each spindle, up to four types (from the 1st spindle to the 4th spindle) of
tapping can be simultaneously executed during the same fixed cycle.
(This is called a "multi-spindle synchronous tap cycle".)
These specifications explain the function in which this NC unit is connected with a spindle amplifier, and
tapping is carried out in synchronized control with the spindle.
Refer to the respective instruction manuals for information on the spindle amplifier connection, user PC,
etc.

This function is an optional specification. Operation will not be carried out if the option specification
parameter is invalid.

7-1
 7. Synchronous Tapping

2. Synchronous Tap Cycle

There are two methods to select the synchronous or asynchronous method for carrying out the fixed
cycle G84 (forward tap) and G74 (reverse tap).

2.1 Method Using the Parameters

G84 and G74 can be carried out using the asynchronous method by selecting "SYNC. TAP" in the control
parameter (user parameter). (When the system is configured of multiple spindles, all spindles will
change over to synchronous method/asynchronous method.)

2.2 Method Using the Program

Changeover between the asynchronous method/synchronous method is possible by commanding
" , R0 " or " , R1 " in the G84 and G74 command block. (The method is also common for the No. of
commanded spindles when the system is configured of multiple spindles.)
When there is an " , R " command, the "SYNC. TAP" ON/OFF of the control parameter (user parameter)
is ignored.

Table 1 Asynchronous method/synchronous method

selection conditions
Parameter
OFF ON
, R command
No , R command Asynchronous method Synchronous method
, R0 Asynchronous method Asynchronous method
, R1 Synchronous method Synchronous method

When the synchronous method is selected, the spindle and hole drilling axis are controlled in
synchronization during the tapping in the G84 and G74 cycles (during cutting feed commands for the hole
drilling axis).
When the asynchronous method is selected, the G84 and G74 commands execute the conventional
fixed cycle.

Setting from the CRT

∗1 When the address, R is commanded,

Parameter the parameters are ignored, and
asynchronous/synchronous control is
carried out following R0 or , R1.

Asynchronous Z axis feed

tap control control

G84, G74 Z axis feed

subprogram control
1st spindle
control
Synchronous tap 2nd spindle
∗2 Normally, the synchronous tap cycle to be control control
commanded is fixed by the synchronous
control of the 1st spindle and Z axis. 3rd spindle
The multi-spindle synchronous tap cycle control
can be realized by compatibility with 4th spindle
the command format. control

Fig. 1 Diagram of the asynchronous method/synchronous method changeover

7-2
 7. Synchronous Tapping

3. Synchronous Tap Cycle Command

Command the pitch (address F) or No. of threads (address E) in the G84 and G74 command block when
selecting the synchronous method parameter and carrying out the G84 and G74 synchronous tap cycle.
The multi-spindle synchronous tap cycle can also be commanded. Follow the explanation below.

3.1 Command Format

[1st spindle fixed]

G84 Xx1 Yy1 Zz1 Rr1 Pp1 Ff1 Ee1 Ss1 ,Rr2 ;
(G74)
[Multi-spindle command]
G84 Xx1 Yy1 Zz1 Rr1 Pp1 Ff1 Ee1 Ss1
(G74) F1 = f1 E1 = e1 S1 = s1
F2 = f2 E2 = e2 S2 = s2
F3 = f3 E3 = e3 S3 = s3
F4 = f4 E4 = e4 S4 = s4 , Rr2 ;
∗ F1 = f1 has the same meaning as Ff1.
E1 = e1 has the same meaning as Ee1.
S1 = s1 has the same meaning as Ss1.

(1) to (2) Rapid traverse

positioning
Initial point (2) to (3) Spindle forward run
(reverse run)
(3) to (4) Spindle reverse run
(forward run)
(4) to (5) Rapid traverse
R point p1 positioning

f1 :Pitch (1st spindle)

f2 :Pitch (2nd spindle)
f3 :Pitch (3rd spindle)
f4 :Pitch (4th spindle)
e1 :No. of threads (1st spindle)
e2 :No. of threads (2nd spindle)
e3 :No. of threads (3rd spindle)
e4 :No. of threads (4th spindle)
Hole bottom p1 s1 :1st spindle speed
s2 :2nd spindle speed
s3 :3rd spindle speed
1st spindle 2nd spindle 3rd spindle 4th spindle s4 :4th spindle speed
(f1, e1, s1) (f2, e2, s2) (f3, e3, s3) (f4, e4, s4)
r2 :Synchronous/
asynchronous changeover

Fig. 2 Forward (reverse) synchronous tap operation diagram

Synchronous tap mode is entered when r2=1. Asynchronous tap mode is entered when r2=0.
Operation follows the "SYNC. TAP" ON/OFF of the control parameter when the , R command is omitted.
The override is canceled during execution of G84 (G74), and override automatically becomes 100%. Dry
run is also ignored. If the feed hold button is pressed during sequences (2) to (4) while executing G84
(G74), the operation will not stop immediately, but will stop after completing sequence (4). The operation
will stop immediately during rapid traverse of sequences (1) to (2) and (4) to (5).
The stop position during single block operation is the tool position when sequence (1), (2) and (5)
commands are completed.
The "TAPPING" NC output signal is output in the G84 (G74) modal.
The M3, M4, M5 and S code are not output during the G84 (G74) synchronous tap modal.

7-3
 7. Synchronous Tapping

3.2 Command Addresses

Xx1 Yy1 Zz1 Rr1 : Commands the positioning position, R point and hole bottom position, as in the
normal fixed cycle.

Pp1 : Commands the hole bottom and R point (at completion of the cutting feed) dwell
time.

Ff1 : Commands the pitch. Fixed for the 1st spindle. The units follow the input units.
F1=f1 : 1st spindle pitch
F2=f2 : 2nd spindle pitch Millimeter input ････････ mm/(1 rotation)
F3=f3 : 3rd spindle pitch Inch input ･････････････ inch/(1 rotation)
F4=f4 : 4th spindle pitch

Ee1 : Commands the No. of threads. Fixed for the 1st spindle. Both millimeter and inch
input are commanded in No. of threads per inch units.
E1=e1 : 1st spindle No. of threads
E2=e2 : 2nd spindle No. of threads Millimeter input ････････ (No. of threads)/inch
E3=e3 : 3rd spindle No. of threads Inch input ･････････････ (No. of threads)/inch
E4=e4 : 4th spindle No. of threads

Ss1 : Designates the spindle speed. Fixed for the 1st spindle. Units are r.p.m. The hole
drilling axis cutting feedrate is automatically controlled in synchronization with this
speed s1.
S1=s1 : 1st spindle speed The slowest cutting speed among these is selected for the
S2=s2 : 2nd spindle speed automatic determination of the hole drilling axis cutting
S3=s3 : 3rd spindle speed feedrate (S × pitch).
S4=s4 : 4th spindle speed

, Rr2 : Synchronous and asynchronous are commanded in the program at the changeover,
unrelated to the parameter.
No , R designation= Operation follows the parameters
, R0 = Asynchronous method
, R1 = Synchronous method
The pitch/No. of threads command is ignored when the operation is executed with
the asynchronous method.
(Note that Ff1 is used for the hole drilling axis feedrate.)

The combinations shown in Table 2 below can be used for the multi-spindle designation.
(A mark indicates spindles commanded by the command format.)
E1 E2 E3 E4 E1 E1 E1 E2 E2 E3 E1 E1 E1 E2 E1 F1
F1 F2 F3 F4 F1 F1 F1 F2 F2 F3 F1 F1 F1 F2 E2 F2
Multi-spindle E2 E3 E4 E3 E4 E4 E2 E2 E3 E3 E3 F3
command F2 F3 F4 F3 F4 F4 F2 F2 F3 F3 E4 F4
E3 E4 E4 E4
F3 F4 F4 F4
1st spindle (S, S1)
2nd spindle (S2)
3rd spindle (S3)
4th spindle (S4)
Four axes
One axis Three axes
Two axes simultaneously simul-
independently simultaneously
taneously

Table 2 List of multi-spindle designation combinations

7-4
 7. Synchronous Tapping

[Program example]
(1) G84 X10. Y10. Z-5. R2. F1.25 S750 ; ････ 1st spindle pitch 1.25mm/rev

(2) G74 X10. Y10. Z-5. R2. F3. S500 ; ････ 1st spindle pitch 3.0mm/rev

(3) G84 X10. Y10. Z-5. R2. E20 S700 ; ････ 1st spindle No. of threads 20 threads/inch

(4) G84 X10. Y10. Z-5. R2. E4.5 S200 ; ････ 1st spindle No. of threads 4.5 threads/inch

(5) G84 X10. Y10. Z-5. R2. E4.5 S200 ,R1 ; ････ Synchronous method 4.5 threads/inch

(6) G74 X10. Y10. Z-5. R2. E4.5 S200 ,R0 ; ････ Asynchronous method 4.5 threads/inch

(7) G84 X10. Y10. Z-5. R2. F1=1.25 S1=750 ････ 1st spindle pitch 1.25mm/rev
F2=3. S2=500 ････ 2nd spindle pitch 3.0mm/rev
E3=20 S3=700 ････ 3rd spindle No. of threads 20 threads/inch
E4=4.5 S4=200 ････ 4th spindle No. of threads 4.5 threads/inch
,R1 ; ････ 1st spindle to 4th spindle synchronous method

Hole drilling axis cutting feedrate (mm/min.)

1st spindle = S1×F1 = 750×1.25 = 937.5
2nd spindle = S2×F2 = 500×3.0 = 1500.0 Min. cutting feedrate is used.
3rd spindle = S3×F3 = 700×25.4/20 = 889.0 889.0 (mm/min)
(F3=25.4/E3)
.
4th spindle = S4×F4 = 200×25.4/4.5 =. 1128.8
(F4=25.4/E4)

(8) G74 X10. Y10. Z-5. R2. F1.25 S1=750 ････ 1st spindle pitch 1.25mm/rev
F2=3. S2=500 ; ････ 2nd spindle pitch 3.0mm/rev

(9) G84 X10. Y10. Z-5. R2. F1.25 F1=2.5 S100 ,R1 ;
Operation starts at F1 = 2.5. (Commands after that are valid.)

(10) G84 X10. Y10. Z-5. R2. F1 = 1. S1 = 100 ; ×

X20. Y20. Z-5. R2. ; ×
G80 ;
G84 X10. Y10. Z-5. R2. F2 = 1. S2 = 100 ; ×
X20. Y20. Z-5. R2. ; ×
G84 X10. Y10. Z-5. R2. ; (No F command) ×
X20. Y20. Z-5. R2. F1 = 1. ;
1st spindle 2nd spindle
: Carry out
Only E/F commanded spindles in the same block of G84 (G74) carry out synchronous tap
a synchronous tap. ×: Stop
If there is no E/F command in the same block of G84 (G74), synchronous
tapping is carried out with the most recently designated spindle.
When an E/F command is issued during G84 (G74) modal, that spindle is added.

7-5
 7. Synchronous Tapping

3.3 Command Range of Pitch and No. of Threads

The command range for pitch F (F1=~F4=) and No. of threads E (E1=~E4=) during synchronous tap is
shown in the following table.

Table 3 List of command ranges for pitch/No. of threads

Command
Pitch F (F1=~F4=) No. of threads E (E1=~E4=)
unit
0.1 µm 0.0001 ~ 3.2767 mm/rev 0.0776 ~ 25400 Peaks/inch
1 µm 0.001 ~ 32.767 mm/rev 0.776 ~ 254000 Peaks/inch
10 µm 0.01 ~ 327.67 mm/rev 7.76 ~ 2540000 Peaks/inch
0.00001 inch 0.00001 ~ 0.32767 inch/rev 0.03055 ~ 1000 Peaks/inch
0.0001 inch 0.0001 ~ 3.2767 inch/rev 0.3055 ~ 10000 Peaks/inch
0.001 inch 0.001 ~ 32.767 inch/rev 3.055 ~ 100000 Peaks/inch

The units for pitch F (F1=~F4=) and No. of threads E (E1=~E4=) during synchronous tap are shown in
the following table.

Table 4 List of command units for pitch/No. of threads

Command
Pitch F (F1=~F4=) No. of threads E (E1=~E4=)
unit
0.1 µm F1 1 mm/rev E10 10 Threads/inch
(F1=1) (E1=10)
1 µm
F1. 1 mm/rev E10. 10 Threads/inch
10 µm (F1=1.) (E1=10.)
0.00001 inch F1 1 inch/rev E10 10 Threads/inch
(F1=1) (E1=10)
0.0001 inch
F1. 1 inch/rev E10. 10 Threads/inch
0.001 inch (F1=1.) (E1=10.)

7-6
 7. Synchronous Tapping

3.4 Valid Range of , R Commands

In G74 and G84 command blocks, the tap cycle is carried out following the R command, regardless of
whether the previous mode was synchronous or asynchronous.

Parameter
OFF ON
, R command
No , R command Asynchronous method Synchronous method
, R0 Asynchronous method Asynchronous method
, R1 Synchronous method Synchronous method

[Example]
•
•
G84 X_ Y_ Z_ R_ F_ S_ ,R1 ; ･･････････ Synchronous method
G84 X_ Y_ Z_ R_ F_ ; ･･････････ Operation follows the parameters
G84 X_ Y_ Z_ R_ F_ S_ ,R0 ; ･･････････ Asynchronous method
•
•

The , R designation is followed in blocks without a G74 and G84 command.

If there is also no , R designation in a block, the tap cycle is carried out following the previous mode.

Parameter
OFF ON
, R command
No , R command Previous mode Previous mode
, R0 Asynchronous method Asynchronous method
, R1 Synchronous method Synchronous method

[Example]
•
•
G84 X_ Y_ Z_ R_ F_ S_ ,R1 ; ･･････････ Synchronous method
X_ Y_ Z_ R_ ; ･･････････ Synchronous method
X_ Y_ Z_ R_ F_ ,R0 ; ･･････････ Asynchronous method
X_ Y_ Z_ R_ ; ･･････････ Asynchronous method
X_ Y_ Z_ R_ ,R1 ; ･･････････ Synchronous method
•
•

7-7
 7. Synchronous Tapping

4. Tap Cycle Subprogram

The synchronous tap cycle subprogram is the same as the standard (asynchronous method)
subprogram.

Forward tap G84 (O840)

G.1 ; Fixed cycle 1st block movement command
IF [#30] GOTO1 ; Fixed cycle invalid check
Z#2G#6H#7 ;
#2 = ##5
#3003 = #8 OR1 ; Single block stop prohibited
#3004 = #9 OR3 ; Feed hold/override invalid
G1Z#3 ;
IF [#4EQ#0] GOTO5 ;
G4P#4 ; Dwell
N5M4 ; Spindle reverse run
#3900 = 1 ;
G1Z-#3 ;
#3004 = #9 ;
IF [#4EQ#0] GOTO6 ;
G4P#4 ; Dwell
N6M3 ; Spindle forward run
#3003 = #8 ;
G0Z-#2 ; Return
N1M99 ;
%
Reverse tap G74 (O740)
G.1 ; Fixed cycle 1st block movement command
IF [#30] GOTO1 ; Fixed cycle invalid check
Z#2G#6H#7 ;
#2 = ##5
#3003 = #8 OR1 ; Single block stop prohibited
#3004 = #9 OR3 ; Feed hold/override invalid
G1Z#3 ;
IF [#4EQ#0] GOTO5 ;
G4P#4 ; Dwell
N5M3 ; Spindle forward run
#3900 = 1 ;
G1Z-#3 ;
#3004 = #9 ;
IF [#4EQ#0] GOTO6 ;
G4P#4 ; Dwell
N6M4 ; Spindle reverse run
#3003 = #8 ;
G0Z-#2 ; Return
N1M99 ;
%
Fixed cycle variables
#0 Blank data
#2 R_ R point positioning amount (incremental)
#3 Total cut-in amount (incremental)
#4 P_ Dwell time
#5 R point/initial point (G99 = 0/G98 = 1)
#6 Length compensation G code (G43/G44)
#7 H_ Length compensation No.
#8 #3003 copy
#9 #3004 copy
#30 System reservation

7-8
 7. Synchronous Tapping

5. Return Override
During synchronous tap, the override is canceled from the hole drilling start to the hole bottom. However,
an override can be applied for the return from the hole bottom to the R point.

5.1 Return Override Validity

The command to validate the return override is #3900 = 1 of the fixed cycle subprogram.
(The override is only valid during synchronous tap.)

5.2 Setting the Return Override

Set the override value in the basic specification parameter tapovr of the machine parameters.
The value is set with % units.
The setting range of tapovr is from 0 to 999%, but if it is set at 100% or less it will be clamped at 100%.

5.3 Speed Clamp when the Return Override is Valid

When the speed to which the override is applied exceeds the cutting clamp speed of the hole drilling axis
or the tap max. speed stap 1 to 4 (tap max. speed of the selected gear stage), the hole drilling axis
feedrate and spindle speed is clamped at the cutting clamp speed of the hole drilling axis, or at the tap
max. speed stap 1 to 4 of the spindle. Furthermore, for multi-spindle commands, the spindle having the
smallest value among the commanded spindles becomes the target of the clamp.

7-9
 7. Synchronous Tapping

6. Precautions
(1) When F and E are simultaneously commanded in the command block of G84 and G74, the address
given priority is determined by input units.
Millimeter input ･･･････････ F (F1= ~ F4=) Pitch is given priority. No. of threads is ignored.
Inch input ･･･････････････ E (E1= ~ E4=) No. of threads is given priority. Pitch is ignored.

(2) The cutting feedrate of the hole drilling axis in synchronous tapping is synchronized with the min.
speed of the spindle rotation speed (S × pitch). The cutting feedrate and spindle speed (S1=~ S4=)
of the hole drilling axis are clamped by the max. cutting feedrate of the hole drilling axis or the
spindle max. speed.

(3) During G84 and G74 execution, the cutting feedrate of the hole drilling axis is synchronized with the
spindle speed (S1= ~ S4=), but the cutting feedrate modal (F modal) does not change at this time.

(4) Forward run (M3), reverse run (M4) and stop (M5) are invalidated during the synchronous tap cycle
modal. (Neither M codes nor MF are output.)
The spindle speed is synchronized with the axis movement of the hole drilling axis, and
forward/reverse run is executed. It is not necessary to command the spindle forward run and
reverse run before the fixed cycle command.

(5) The program error "P33 FORMAT ERROR" will result if an S command is issued during the
synchronous tap cycle modal.
If a spindle speed change is required, cancel the synchronous tap cycle modal using a G80
command before issuing the G84 command.
[Example]
1) G84 Z-10. R-2. F1. S1=1000 ;
X-10. ;
S1 = 2000 ; The program error "P33 FORMAT ERROR" will result.
Y-10. ;
2) G74 Z-10. R-2. F1. S1=2000 ;
X-10. ;
S1 = 2000 ; An error will result, even with the same S command.
Y-10. ;
3) G74 Z-10. R-2. F1. S2=2000 ;
G74 Z-12. R-2. F1. S2=1500 ; An error will result if an S command is issued during the
synchronous tap modal.

(6) If there is no S command in the first G84 command block, the synchronous tap is carried out with
the previously issued S command (S modal). (A gear changeover is not carried out in the G84
command block.)

(7) Other restrictions are the same as those for a normal fixed cycle.

(8) The simultaneous designation amount is controlled by forward tap (G84) and reverse tap (G74) for
all axes when designating multi-spindle synchronous tap. (Designations such as "1st spindle
forward tap, 2nd spindle reverse tap" are not possible.)

(9) The S command addresses S_ and S1 =_ are interpreted as commands of the same 1st spindle.
(This is the same as for No. of threads E_ and E1 =, and pitch F_ and F1 =_.)

(10) The error "P33 FORMAT ERROR" will result in the following cases when a multi-spindle command
is issued.
[Example]
1) S1 = S2 = S3 = S4 = 1000 ; (1000 is commanded for all S1 to S4.)
2) G84 . . . F1 = F2 = 1.25, R1 ; (The pitch for both the 1st spindle and 2nd spindle is 1.25mm.)
3) G74 . . . E1 = F2 = E3 = 5, R1 ; (The No. of threads for both the 1st and 3rd spindle is
5 threads/inch.)
(The pitch for the 2nd spindle is 5mm.)
7-10
 7. Synchronous Tapping

7. Program Errors during the Synchronous Tap Cycle

Error No. and error message Error details Remedy
P180 NO BORING CYC. A fixed cycle command was • Check the specifications.
issued although there are no • Correct the program.
fixed cycle specifications.
P181 NO S-CMD (TAP) The spindle speed command • Issue the spindle speed
has not been issued when the command when the hole
hole drilling fixed cycle command drilling fixed cycle G84 and
is issued. G74 commands are issued.
P182 SYN TAP ERROR Connection with the spindle unit • Check the connection with the
has not been established. spindle unit.
• Check whether a spindle
encoder is provided.
P183 PTC/THD NO. Neither F (pitch) nor E (No. of • Command the pitch/No. of
threads) has been commanded. threads with an F or E
command.
P184 NO PTC/THD CMD The commanded range of F • Check the pitch or No. of
(pitch) or E (No. of threads) is threads data.
incorrect.
P33 FORMAT ERROR An S command was issued • Reconsider the program.
during the synchronous tap
modal, etc.

7-11
 7. Synchronous Tapping

8. Operation Sequence
The synchronous tap cycle NC, spindle and PLC operation sequence is as follows.
Fixed cycle cancel

Execution block

Tapping
(X202)
Spindle gear shift
command 1 and 2
1 (X225, X226)
2 (UA5, UA6)
3 (SD, SE)
4 (S2D, S2E)
SF (X234)
Gear selection
changeover
(PLC process)
Spindle gear selection
input 1 and 2
1 (Y290, Y291)
2 (W110, W111)
3 (S50, S51)
4 (S70, S71)
FIN (Y226)
Spindle servo ON
(NC → AMP)
Spindle servo ON
(X249, UC9, S19, S39)
Position loop
in-position
(X24E, UCE, S1E, S3E)

Spindle speed S1
Zero point
return

Spindle speed S2
(S3 and S4 are omitted.) Zero point
return

Z axis speed

Acceleration/
deceleration
X, Y axis speed same
Positioning Positioning

Synchronous Synchronous
tap cutting tap cutting

(1) Tapping is output when G84 and G74 (G84.1) are commanded. SF is output if there is an S
command.
(2) After the gear changeover process (machine side) is completed and the gear input is input, FIN is
returned. (PLC → NC)
A servo ON command is issued to the commanded spindles at the falling edge of the FIN signal.
(3) The commanded spindles carry out a zero point return at the servo ON command.
(Orientation operation)
Using the parameters, it is also possible to select a type that does not carry out a zero point return.
[Parameter]
When the machine parameter and spindle specification parameter (or spindle parameter SP193)
SPECT: bit E = 0 Position loop after zero point return
bit E = 1 Position loop at that location, position loop after stop when rotating.
(4) When the commanded spindles have executed a position loop, servo ON is output for each spindle.
(NC → PLC)
(5) When the commanded spindles are in a position loop in-position status in the spindle position loop,
the position loop in-position signal turns ON (NC → PLC). When the spindle is not in the position loop,
this signal turns ON immediately.
(6) M3, M4, M5, MF and M codes are not output during the synchronous tap cycle. (NC →PLC)
M3, M4 and M5 commands are ignored.
(7) During a synchronous tap cancel (G80), all connected spindles enter a servo OFF status.

7-12
 7. Synchronous Tapping

9. User PLC
9.1 Forward Run, Reverse Run and Orientation Commands during a
Synchronous Tap Cycle Command (using the 1st spindle as an example)
Even if a forward run (Y2D0), reverse run (Y2D1), orientation command (Y2D6), forward run index
(Y2D4) or reverse run index (Y2D5) command is issued when the synchronous tap cycle is commanded,
it will be ignored during the synchronous tap operation. These commands are not validated again when
the synchronous tap is canceled (when the spindle servo is OFF).
Set the operation so that forward run (Y2DO), reverse run (Y2D1), orientation command (Y2D6), forward
run index (Y2D4) or reverse run index (Y2D5) signals are invalid during the synchronous tap cycle.

Tapping
(X202)

Spindle servo ON
(X249)

Forward run,
reverse run
Orientation
Forward run index
Reverse run index Invalid Valid

9.2 Confirmation Methods during Synchronous Tap

(using the 1st spindle as an example)
Synchronous tapping is being carried out if "Spindle servo ON" (X249) turns ON when "Tapping" (X202)
turns ON.
When judgment is carried out of asynchronous tap or synchronous tap using the timing from when the
"Tapping" (X202) turns ON to when the spindle servo ON (X249) turns ON, the judgment is made by the
"SYNC. TAP" of the control parameter in the DDB function. Refer to the DDB Interface Instruction Manual for
details on the DDB function commands. (Section 1: sub-section 1151: search No. 1-50: bit6 ON)
Note that an " , R" designation will be given priority when present, so judgment by the "SYNC. TAP" will
not be possible.

9.3 Spindle Input/Output Signals

The spindle input/output signals when the spindle amplifier and NC unit are connected by a bus
[NC → PLC]
Abbrevia-
1st spindle 2nd spindle 3rd spindle 4th spindle 5th spindle 6th spindle Signal name
tion
X214 U94 S4 S24 S84 SA4 SIGE S analog input gear No. illegal
X215 U95 S5 S25 S85 SA5 SOVE S analog max./min. over
X216 U96 S6 S26 S86 SA6 SNGE No S analog selection gear
X225 UA5 SD S2D S8D SAD GR1 Spindle gear shift command 1
X226 UA6 SE S2E S8E SAE GR2 Spindle gear shift command 2
X227 UA7 SF S2F S8F SAF GR3 Always set to 0
X240 UC0 S10 S30 S90 SB0
X241 UC1 S11 S31 S91 SB1 CD0 Current detection
X242 UC2 S12 S32 S92 SB2 VR0 Speed detection
X243 UC3 S13 S33 S93 SB3 FL0 Alarm
X244 UC4 S14 S34 S94 SB4 ZS0 Zero speed
X245 UC5 S15 S35 S95 SB5 US0 Speed reached
X246 UC6 S16 S36 S96 SB6 ORA0 In-position
X247 UC7 S17 S37 S97 SB7 LRS0 L-coil selected
X248 UC8 S18 S38 S98 SB8 SMA Spindle ready ON
X249 UC9 S19 S39 S99 SB9 SSA Spindle servo ON
X24A UCA S1A S3A S9A SBA SEMG Spindle emergency stopped
X24B UCB S1B S3B S9B SBB SSRN In forward run
X24C UCC S1C S3C S9C SBC SSRI In reverse run
X24D UCD S1D S3D S9D SBD SZPH Z-phase passed
X24E UCE S1E S3E S9E SBE SIMP Position loop in-position
X24F UCF S1F S3F S9F SBF STLQ In torque limit

7-13
 7. Synchronous Tapping

[NC ← PLC]
Abbrevia-
1st spindle 2nd spindle 3rd spindle 4th spindle 5th spindle 6th spindle Signal name
tion
Y288 W108 S48 S68 SC8 SE8 SP1 Spindle override 1
Y289 W109 S49 S69 SC9 SE9 SP2 Spindle override 2
Y28A W10A S4A S6A SCA SEA SP4 Spindle override 4
Y28B W10B S4B S6B SCB SEB
Y28C W10C S4C S6C SCC SEC
Y28D W10D S4D S6D SCD SED
Y28E W10E S4E S6E SCE SEE
Spindle override numeric value
Y28F W10F S4F S6F SCF SEF SPS
setting method
Y290 W110 S50 S70 SD0 SF0 GI1 Spindle gear selection input 1
Y291 W111 S51 S71 SD1 SF1 GI2 Spindle gear selection input 2
Y292 W112 S52 S72 SD2 SF2 GI4 Always set to 0
Y293 W113 S53 S73 SD3 SF3
Y294 W114 S54 S74 SD4 SF4 SSTP Spindle stop
Y295 W115 S55 S75 SD5 SF5 SSFT Spindle gear shift
Y296 W116 S56 S76 SD6 SF6 SORC Spindle orientation
Y297 W117 S57 S77 SD7 SF7
Y2D0 W150 S58 S78 SD8 SF8 SRN Spindle forward run signal
Y2D1 W151 S59 S79 SD9 SF9 SRI Spindle reverse run signal
Y2D2 W152 S5A S7A SDA SFA TL1 Spindle torque limit L
Y2D3 W153 S5B S7B SDB SFB TL2 Spindle torque limit H
Y2D4 W154 S5C S7C SDC SFC WRN Spindle forward run index
Y2D5 W155 S5D S7D SDD SFD WRI Spindle reverse run index
Y2D6 W156 S5E S7E SDE SFE ORC Spindle orientation command
Y2D7 W157 S5F S7F SDF SFF LRSL L-coil selection command

9.4 S Command Sequence

Set the S command sequence when the synchronous tap cycle is commanded as follows.

SF (NC → PLC)
(X234)

PLC gear selection

process

Gear input change

Gear stage input
(PLC → NC)
(Y290, Y291)

FIN (PLC → NC)

(Y226)

(1) The FIN signal is returned after the gear stage is input to the NC interface.
(Also possible simultaneously)
(2) The SF signal is not output for S commands during the synchronous tap cycle modal.
("P33 FORMAT ERROR" will result.)

7-14
 7. Synchronous Tapping

9.5 M Signals during the Synchronous Tap Cycle

MF and M codes are not output for M3, M4 and M5 commands during the synchronous tap cycle.
However, commanded M codes and MF other than M3, M4 and M5 are output from the NC. Set the
operation so that M19 orientation commands, etc., will be ignored by the PLC or result in an alarm.

9.6 Miscellaneous Function Lock

In a synchronous tap when the miscellaneous function lock is turned ON, the Z axis operates while the
spindle is stopped.

9.7 Machine Lock/Z Axis Cancel

Axes including the spindle and Z axis do not run, but operation is possible.

9.8 Single Block

The block does not stop at the hole bottom.

7-15
 7. Synchronous Tapping

10. Time Constant and Gain during Tapping

The G1 time constant and servo gain of the hole drilling axis during the synchronous tap cycle are set in
the parameters. The setting method for acceleration/deceleration is changed over by the parameters
between the constant time constant method and constant inclination method.
Machine parameter basic specification ON Constant inclination method stapt1~4
mpar1 bit3 ON/OFF
OFF Constant time constant method tap_t1

10.1 Constant Time Constant Method

The G1 during the synchronous tap cycle becomes a linear acceleration/deceleration.
The time constant becomes the value set in [tap_t1].

Machine Basic specification parameter

# Item Details Setting range (unit)
Acceleration/deceleration time constant
Tap time
22 tap_t1 during the synchronous tap cycle 1 to 1500 (ms)
constant
(linear acceleration/deceleration pattern)

The time constant always becomes the value set in "tap_t1", regardless of the commanded spindle
speed.

Z axis

1st spindle

2nd spindle

3rd spindle

4th spindle

Tap time constant

7-16
 7. Synchronous Tapping

10.2 Constant Inclination Method

The G1 during the synchronous tap cycle becomes a linear acceleration/deceleration.
The time constant is set for each gear stage, and becomes the value at the point when the max. speed at
which acceleration is possible (tap speed: stap1 to 4) is reached. (Constant inclination acceleration/
deceleration)
Machine Spindle parameters
# Item Details Setting range (unit)
13 stap 1 Tap speed Gear 00 The spindle max. rotation
14 2 01 speed is set for the tap cycle 0 to 99999 (rpm)
15 3 10 with these gears.
16 4 11
17 stapt 1 Tap time Gear 00 The time constant is set for the
constant inclination synchronous
18 2 constant 01 tap cycle with these gears. 1 to 5000 (msec)
19 3 10 (Linear acceleration/deceleration
20 4 11 pattern)

Spindle command speed (× tapovr)

Tap max. speed of gear 11

Tap max. speed of gear 10

Tap max. speed of gear 01

Tap max. speed of gear 00

Tap time constant (mS)
stapt1 stapt2 stapt3 stapt4
Tap time Tap time Tap time Tap time
constant of constant of constant of constant of
gear 00 gear 01 gear 10 gear 11

The time constant changes proportionally to the commanded spindle speed. Thus, its inclination is
constant.
Spindle speed

Max. speed
(stapn)

Speed of
command (1)
(S1000)

Speed of
command (2)
(S500)

Tap time constant

Time constant of command (1)

Time constant of command (2)

7-17
 7. Synchronous Tapping

10.3 Tap Gain Setting

The hole drilling axis (Z axis) position loop gain and spindle position loop gain during the synchronous tap
modal become the values set in [tap_g].
Tap gain is an independent axis parameter. The tap gain becomes only the gain set in [tap_g] of the hole
drilling axis and spindle. It does not change over to the gain of other axes.

Machine Basic specification parameter

# Item Details Setting range (unit)
Position loop
The linear axis position loop gain during
19 tap_g gain during 0.01 to 999.99 (rad/s)
synchronous tap cycle is set.
tapping

∗ The tap time constant and tap gain standard value are as follows.

• Tap time constant (tap_t1) : 500 (ms)

• Tap gain (tap_g) : 15.0 (rad/s)

∗ Because the hole drilling axis (Z axis) in-position width is checked, G1inpos may be too small to fit
within the in-position width, and the synchronous tap may stop. In this case, increase the value.

7-18
 7. Synchronous Tapping

10.4 Tap Multi-step Acceleration/Deceleration

(1) Constant inclination synchronous tap
stap2 = stap3 = 0
stapt2 = stapt3 = 0 In this case, a constant inclination synchronous tap results.
(2) Synchronous tap 2-step acceleration/deceleration
0 < stap2 < stap1
and 0 < stapt2 < stapt1
and stap3 = 0, stapt3 = 0
In this case, a synchronous tap 2-step acceleration/deceleration is validated.
(If the conditions are not matched, the multi-step acceleration/deceleration is invalidated, and a
constant inclination synchronous tap will result.)
(3) Synchronous tap 3-step acceleration/deceleration
0 < stap3 < stap2 < stap1
and 0 < stapt3 < stapt2 < stapt1
In this case, a synchronous tap 3-step acceleration/deceleration is validated.
(If the conditions are not matched, the multi-step acceleration/deceleration is invalidated, and a
constant inclination synchronous tap will result.)
<Parameters>
lpar2 bit6: stap1 to 3, stapt1 to 3 gear stage/multi-step acceleration/deceleration changeover
..... Newly added
stap1 : Gear 00/Spindle max. speed during tap cycle with multi-step acceleration/deceleration
stap2 : Gear 01/Spindle max. speed during tap cycle with multi-step acceleration/deceleration
stap3 : Gear 11/Spindle max. speed during tap cycle with multi-step acceleration/deceleration
stapt1 : Gear 00/Time constant during tap cycle with multi-step acceleration/deceleration
(constant inclination, linear acceleration/deceleration pattern)
stapt2 : Gear 01/Time constant during tap cycle with multi-step acceleration/deceleration
(constant inclination, linear acceleration/deceleration pattern)
stapt3 : Gear 11/Time constant during tap cycle with multi-step acceleration/deceleration
(constant inclination, linear acceleration/deceleration pattern)
mpar1bit3: Synchronous tap constant inclination/constant time constant changeover
..... 0 - Constant time constant, 1 - Constant inclination
Table 1
Setting
Item Details Remarks
range
l_para2 User-customized bit6 : stap1 to 3, stapt1 to 3 gear stage/multi-step 0/1 Control
bit6 parameter acceleration/deceleration changeover parameter
0 : stap1 to 3, stapt1 to 3 gear stage control
1 : stap1 to 3, stapt1 to 3 multi-step acceleration/
deceleration control
m_para1 User-customized bit3 : Synchronous tap constant time constant/constant 0/1 Machine
bit3 parameter inclination changeover parameter 1
0 : Constant time constant
1 : Constant inclination changeover
stap1 Tap speed Gear 00 Spindle max. speed Spindle max. speed during tap 0 to 99999 Machine
2 01 during tap cycle with cycle when multi-step accelera- [rpm] parameter 9
3 10 these gears. tion/deceleration is valid.
stap4 Spindle max. speed during tap Insignificant data
cycle with gear 11.
stapt1 Tap time constant Gear 00 Time constant during Time constant during tap cycle 1 to 5000 Machine
t2 01 constant inclination when multi-step acceleration is [ms] parameter 9
t3 10 tap cycle with these valid.
gears.

stapt4 Time constant of constant Insignificant data

inclination tap cycle with gear 11.

Table 2
l_para2/bit6 0 1 0
m_para1/bit3 0 1 1
Constant time constant Synchronous tap multi-step Constant inclination
Control method
synchronous tap acceleration/deceleration synchronous tap

7-19
 7. Synchronous Tapping

(1) Constant inclination synchronous tap (2) Synchronous tap 2-step acceleration/
deceleration
With multi-step acceleration/
deceleration (2-step)

Without multi-step
acceleration/deceleration

stap1 stap2
Acceleration α (θ) = stapt1 Acceleration α (θ) = stapt2

stap1 − stap2
Acceleration α (θ1) =
stapt1 − stapt2

(3) Synchronous tap 3-step acceleration/deceleration

With multi-step acceleration/
deceleration (3-step)
stap3
Acceleration α (θ) = stapt3

stap3 − stap2
Acceleration α (θ1) =
stapt3 − stapt2
Without multi-step
acceleration/deceleration stap1 − stap2
Acceleration α (θ2) =
stapt1 − stapt2

7-20
Chapter 8 High-speed Machining Mode I/IB/II/III
 8. High-speed Machining Mode I/IB/II/III

1. Function Outline
In the MELDAS 500M Series, machining programs approximating free-form curve surfaces with fine
lines are run at a high-speed with this function. This function is effective for high-speed die machining of
free-form curve surfaces.
High-speed machining mode includes types I, IB, II and III. The 1mm fine segment capacity for
simultaneous 3-axis operation is shown in the following table. High-accuracy machining can be realized
by the combined use of this function and the high-accuracy control function.
(Note) Because optimum corner deceleration is carried out in the high-accuracy control function, the
machining times may be comparatively longer than without the high-accuracy control function.
Fine segment capacity
Without radius With radius
Command compensation compensation
Mode Program restrictions Hardware restrictions
format (incremental G01 (incremental G01
simultaneous simultaneous
3-axis 1mm) 2-axis 1mm)
For the M520AM, the system
ROM cassette must be a
QX639.
I 4.2m/min. 4.2m/min. None Note that the fine segment
capacity is 2.1m/min. for the
G05 P1 QX635 system ROM
cassette.
8.4m/min. None The M520AM cannot be
(when the (Note) M520M: 4.2m/min. used.
IB 8.4m/min.
interference check M530/540M: 8.4m/min.
is invalid)
In the incremental G01 mode, only The M520AM cannot be
axis names, movement amounts used.
and F commands can be used.
33.7m/min.
G05 P2 II Not possible (Otherwise, an error will result.)
67.4m/min.
(Note) M520M: 33.7m/min.
M530M: 33.7m/min.
M540M: 67.4m/min.
Either incremental or absolute The M520AM cannot be
values can be used. used.
Only G00, G01, G02 and G03 For the M500M, the system
modes can be used. ROM cassette must be a
Only axis names, movement QX818.
G05 P3 III 33.7m/min. Not possible
amounts, I/J/K/R commands and F
commands can be used.
(Otherwise, an error will result.)
Plane selection G17, G18 and G19
can be used.

8-1
 8. High-speed Machining Mode I/IB/II/III

2. Detailed Explanation
2.1 High-speed Machining Modes I and IB

2.1.1 Command Format

G5 P1 ; ･････ High-speed machining modes I and IB ON

G5 P0 ; ･････ High-speed machining modes I and IB OFF

2.1.2 Program Example

G28 X0 Y0 Z0 ;
G91 G00 X-100. Y-100. ;
G43 Z-5. H03 ;
G01 F3000 ;
G5 P1 ; ･････ High-speed machining modes I and IB ON
X0. 1 ;
X0. 1 Y0. 001 ;
X0. 1 Y0. 002 ;
•
•
•
X0. 1 F200 ;
G5 P0 ; ･････ High-speed machining modes I and IB OFF
G49 Z0 ;
M02 ;

(Note 1) A computer link, tape or memory operation can be used with the high-speed machining
modes I and IB.

(Note 2) The capacity of high-speed machining modes I and IB cannot be guaranteed for conditions
other than "without radius compensation" (incremental G01 simultaneous 3-axis 1mm) and
"with radius compensation" (incremental G01 simultaneous 2-axis 1mm, when interference
check is invalid).

(Note 3) The machining speed may drop due to the No. of characters in one block.

(Note 4) When a QX639 is mounted as the system ROM cassette, attach a seal indicating so in a
conspicuous place on the machine.

(Note 5) Because the automatic operation process is given priority in the high-speed machining mode
I modal with M520AM, the assignment time of the PLC middle speed process becomes
shorter, and the scan time becomes longer.

8-2
 8. High-speed Machining Mode I/IB/II/III

2.1.3 Interference Check Invalid Parameters

[CONTROL PARAMETER]

1 G00 DRY-RUN 13 G00 INTERP.OFF 25 DRILL AXIS Z 37

2 MACRO SINGLE 14 THREAD LEAD E 26 FIXED C. MODAL 38 % RWD (SEARCH)
3 M. POINT NGLECT 15 C-CMP. TYPE B 27 39 SHORT CUT (RT)
4 F1 DIGIT FEED 16 EXT. DEC. OFF 28 T-LENG AXIS Z 40 EDIT LOCK B

5 MC LOCK RAPID 17 INITIAL INCH 29 SYNC. TAP 41 R COMPENSATION

6 18 INITIAL ABS 30 T-LIFE CHECK 42 PARA C.R. INVD
7 G04 TIME COUNT 19 INITIAL SYNC. 31 T-COMMAND 2 43 DECIMAL PNT-P
8 COLL. ALM OFF 20 INITIAL G96 32 T-SELECT 2 44 COLL CHK OFF

9 UNIT *10 21 INITIAL Z-X 33 DATA SERVER 45 LINEAR-TYPE RT

10 DECIMAL PNT 2 22 INITIAL Y-Z 34 INITIAL G61.1 46 HOST LINK
11 MACRO IT ON 23 INITIAL G00 35 PLAYBACK G90 47 COM-VAR RST CL
12 SUB-PRO IT ON 24 RESTART AUTO 36 MANUAL IT RST 48 COM-VAR PWR CL

LSK mm INC G40 G54 MEMORY # ( )

PLC-SW CONTROL AXIS PROCESS MEASURE

2.1.4 Interference Check Invalid Parameter Setting and Relation with Interference
Avoidance Parameters

# 8
Item Interference avoidance
# Item Setting OFF ON
44 COLL CHK OFF Tool nose radius compensation interference check is carried out.
OFF If cut-in to the workpiece occurs due If cut-in to the workpiece occurs due
to the tool nose radius, a to the tool nose radius, machining
"PROGRAM ERROR" will occur. can be carried out on a path in
which cut-in does not occur.
ON Tool nose radius compensation interference check is not carried out.
Even if cut-in to the workpiece occurs due to the tool nose radius, the
machining will be carried out on the cut-in path. A "PROGRAM ERROR"
will not result.

8-3
 8. High-speed Machining Mode I/IB/II/III

2.2 High-speed Machining Mode II

2.2.1 Command Format

G5 P2 ; ･････ High-speed machining mode II ON

G5 P0 ; ･････ High-speed machining mode II OFF

2.2.2 Program Example

G28 X0 Y0 Z0 ;
G91 G00 X-100. Y-100. ;
G43 Z-5. H03 ;
G01 F3000 ;
G5 P2 ; ･････ High-speed machining mode II ON
X0. 1 ;
X0. 1 Y0. 001 ;
X0. 1 Y0. 002 ;
•
•
•
X0. 1 F200 ;
G5 P0 ; ･････ High-speed machining modes II OFF
G49 Z0 ;
M02 ;

(Note 1) Only movement amounts (variables and operation not possible) by axis name and
incremental value commands, F commands and M99 commands can be issued during
high-speed machining mode II. (Comments can be used.)

(Note 2) A computer link, tape or memory operation can be used with the high-speed machining mode
II.

(Note 3) The following are also valid during the high-speed machining mode II modal:
Override, max. cutting speed clamp, single block operation, dry run, manual pulse interrupt,
graphic trace and high-accuracy control function.

(Note 4) The machining speed may drop due to the No. of characters in one block.

8-4
 8. High-speed Machining Mode I/IB/II/III

2.2.2.1 Subprogram Repeat Command Valid during High-speed Machining Mode II

Program example

Main program Subprogram

01 O1000
• G5 P2 ; High-speed machining mode II ON
• X. 057 C1. F33700 ;
G61.1 ; •
M98 P1000 L100 ; •
G5 P0 ; •
• X. 057 C1. F15000 ;
• X. 059 C1. ;
• X. 061 C1. ;
X. 063 C1. ;
X. 065 C1. ;
X. 061 C1. ;
X. 059 C1. ;
M99 ;

(Note 1) Always cancel the high-speed machining mode II after the subprogram returns.
If the mode is not canceled, "P33 FORMAT ERROR" will result.

(Note 2) During the high-accuracy control function (G61.1), lower the speed to approx. 15m/min. at the
8th block before M99. Note that the speed is also lowered proportionally when the segment
length is 1mm or less.

8-5
 8. High-speed Machining Mode I/IB/II/III

2.2.3 Restrictions

(1) In the high-speed machining mode II modal, all movement is carried out by G91 and G01 commands,
regardless of the incremental/absolute, linear/arc, etc., modal. Before commanding G05P2, first
cancel radius compensation, mirror image, scaling, coordinate rotation, hypothetical axis
interpolation and 3-dimensional radius compensation.
If not canceled, all modals will be saved during the high-speed machining mode II modal also.
Furthermore, the modal information on the operation status screen will also become the modal
information during the G05P2 command. All modals are validated again after the high-speed
machining mode II is turned OFF.

(2) The program error "P33 FORMAT ERROR" will result if commands other than axis names,
incremental movement amounts, F commands, G05P0 or comments are issued.
Command after first changing over to the standard mode. [Example 1]

[Example 1]
(MAIN-PROGRAM)
G28X0Y0Z0 ;
G90G92X0Y0Z100. ;
G00X-100. Y-100. ; ･････ Movement by G90, G00 and G43
G43Z-10. H001 ;
M98H001 ;
G49Z0 ; ･････ Movement by G90 and G00
G28X0Y0Z0 ;
M02 ;

(SUB-PROGRAM)
N001F3000 ;
G05P2 ; ･････ High-speed machining mode II ON
X0. 1 ;
X-0. 1Y-0. 001 ;
X-0. 1Y-0. 002 ;
• ･････ Movement by G91 and G01
•
•
X-0. 1 ;
G05P0 ; ･････ High-speed machining mode II OFF
M99 ;

(3) Because the automatic operation process is given priority during the high-speed machining mode II
modal, the CRT response may be delayed.

(4) The movement decelerates temporarily in the G05P2 and G05P0 command blocks. Therefore, turn
the mode ON and OFF while the tool is separated from the workpiece.

"Command"

"Speed"

8-6
 8. High-speed Machining Mode I/IB/II/III

(5) During high-speed machining mode operation by a computer link or tape operation, the machining
speed may be suppressed at a low speed by restrictions of the program transmission rate.

(6) Cutting feed clamp speed

1) The cutting feed clamp speed during
high-speed machining mode II modal is
the lowest speed among the movement
axis cutting feed clamp speeds.

Y axis clamp
speed

X axis clamp speed

Cutting feed clamp speed = min {movement axis cutting feed clamp speed}

2) The cutting feed clamp speed when not

in high-speed machining mode II modal
becomes a speed at which the feedrate
of each movement axis does not exceed
the cutting feed clamp speed of each
axis.
Y axis clamp
speed

X axis clamp speed

Cutting feed clamp speed = min {movement axis cutting feed clamp speed × movement amount
÷ movement axis movement amount}

Thus, the cutting feed clamp speed when using the high-speed machining mode II modal may
become smaller than when not using the high-speed machining mode II modal.

8-7
 8. High-speed Machining Mode I/IB/II/III

2.3 High-speed Machining Mode III

2.3.1 Command Format

G5 P3 ; ･････ High-speed machining mode III ON

G5 P0 ; ･････ High-speed machining mode III OFF

2.3.2 Program Example

G28 X0 Y0 Z0 ;
G91 G00 X-100. Y-100. ;
G43 Z-5. H03 ;
G01 F3000 ;
G05 P3 ; ･････ High-speed machining mode III ON
X0. 1 ;
X0. 1 Y0. 001 ; INC modal Linear cutting
X0. 1 Y0. 002 ;
G90 G00 X0 Y0 Z0 ; Rapid traverse
G02 X_Y_R_F_ ; R designation arc
G03 X_Y_Z_I_J_F_ ; ABS modal Helical
G02. 1 X_Y_I_J_P_F_ ; Spiral
G03. 1 X_Y_I_J_Z_P_F_ ; Conical
•
•
•
G5 P0 ; ･････ High-speed machining modes III OFF
G49 Z0 ;
M02 ;

(Note 1) Only the following G codes can be used in the high-speed machining mode III:
G0, G1, G2, G3, G2.1, G3.1, G5, G90, G91, G17, G18, and G19.

(Note 2) Only axis names and movement amounts (variables and operation not possible), F
commands, M99 commands and I/J/K/R/P can be commanded during high-speed machining
mode III. (Comments can be used.)

(Note 3) A computer link, tape or memory operation can be used with the high-speed machining mode
III.

(Note 4) The following are also valid during the high-speed machining mode III modal:
Override, max. cutting speed clamp, single block operation, dry run, manual pulse interrupt,
graphic trace and high-accuracy control function.

(Note 5) The machining speed may drop due to the No. of characters in one block.

(Note 6) The absolute/incremental, G0 to G3 and F command modal information is carried over when
the high-speed machining mode III is validated.

(Note 7) The subprogram repeat command is validated during the high-speed machining mode III. (In
the same manner as section 2.2.2.1.)

8-8
 8. High-speed Machining Mode I/IB/II/III

2.3.3 Restrictions

(1) Before commanding G05P3, first cancel the following:

Radius compensation, mirror image, scaling, coordinate rotation, hypothetical axis interpolation,
cylindrical interpolation, polar coordinate interpolation, normal line control, tool length offset, tool
position offset and 3-dimensional radius compensation.
A program error will result if not canceled. (P34 G-CODE ERROR)
Furthermore, the modal information on the operation status screen will also become the modal
information during the G05P3 command. Modals changed during high-speed machining mode III
modal are carried over even after the mode is canceled.
(2) The program error "P33 FORMAT ERROR" will result if commands other than the following are
issued during high-speed machining mode III modal:
Axis names, incremental/absolute movement amounts, F commands, G05P0, G90/G91, G17/G18/G19,
G0/G1/G2(G2.1)/G3(G3.1), I/J/K/R/P commands and comments.
Command after first changing over to the standard mode (G05P0).
(Refer to [Example 1] of section 2.2.3 Restrictions (2).)
(3) Because the automatic operation process is given priority during the high-speed machining mode III
modal, the CRT response may be delayed.
(4) The operation decelerates temporarily in the G05P3 and G05P0 command blocks. Therefore, turn
the mode ON and OFF while the tool is separated from the workpiece.
(5) During high-speed machining mode operation by a computer link or tape operation, the machining
speed may be suppressed at a low speed by restrictions of the program baud rate.
(6) Cutting feed clamp speed
The cutting feed clamp speed is handled the same as in the high-speed machining mode II for the
G01 mode only. (Refer to section 2.2.3 Restrictions (6)-(1).)
Other cutting feeds are handled the same as in the standard mode. (Refer to section 2.2.3
Restrictions (6)-(2).)
(7) Corner deceleration during the high-accuracy control mode
When G1 ↔ G2/3 of the high-speed machining mode III is executed in the high-accuracy control
mode (during G61.1 modal), the corner deceleration judgment is as follows.
[Example 1]

Arc start point vector

Deceleration Deceleration
G1 G2 G1

θ≥ corner deceleration
angle (parameter)

Arc end point vector

[Example 2]

The arc start point/end point No Deceleration No Deceleration

vector roughly matches the G1 G2 G1
G1 linear vector.

8-9
 8. High-speed Machining Mode I/IB/II/III

3. Screen Display
The changeover of the standard mode and high-speed machining modes I/II/IIB/III is carried out by the
G05 command address P.
P0 indicates the standard mode, P1 indicates the high-speed machining mode I, P2 indicates the high-
speed machining mode II, and P3 indicates the high-speed machining mode III. The mode screen
display is shown below.
14-inch

[PROGRAM TREE/MODAL]

<SUB> <MODE>
[WORK: G54] [DIS TO GO] [MACHINE]

MEMORY

POSI PROGRAM SEARCH C-MODAL PLC-SW CONTROL COM-VAR LOC-VAR MENU

9-inch

MONITOR 3. 2/ 4
<SUB> [POSITION]
[MODAL INFORMATION]

POSI COORDI COMMAND SEARCH MENU

8-10
 8. High-speed Machining Mode I/IB/II/III

4. Options
The following restrictions exist for the high-speed mode command (G05P**) option availability and P
command values.

Option
P command
High-speed High-speed High-speed Operation
value
mode 1 mode 2 mode 3
P0 P63: No high-speed mode Error
P1 P63: No high-speed mode Error
Not available Not available Not available
P2 P64: No high-speed mode 2 Error
P3 P65: No high-speed mode 3 Error
P0 P0 valid
P1 P1 valid
Available Not available Not available
P2 P64: No high-speed mode 2 Error
P3 P65: No high-speed mode 3 Error
P0 P0 valid
P1 Not available Available Not available P1 valid
P2 Available Available Not available P2 valid
P3 P65: No high-speed mode 3 Error
P0 Not available Not available Available P0 valid
P1 Available Not available Available P1 valid
P2 Not available Available Available P2 valid
P3 Available Available Available P3 valid

(Note 1) The G05 command is invalid if there is no P command.

(Note 2) "CMD-VALUE OVER" (P35) will result if a command value other than P0/P1/P2/P3 is issued.

8-11
Chapter 9 High-accuracy Spline Function
 9. High-accuracy Spline Function

1. Outline
With this function, a spline curve is automatically generated that smoothly passes through a sequence of
points commanded in the fine segment machining program, and the path that parallels this curve is
interpolated. In this way, faster and more accurate machining can be realized than with the conventional
high-accuracy control function.
For example, corner deceleration is frequently applied with conventional high-accuracy control function.
The machining time increases and cutter marks are sometimes left on the workpiece.
However, because interpolation is carried out with smooth curves, corner deceleration is not applied. The
machining time decreases, and high-accuracy machining can be realized that is more optimal for die
machining.
The high-accuracy control function (G61.1: Pre-interpolation acceleration/deceleration, vector accuracy
interpolation, feed forward) is validated when this function is validated.
This function is an optional specification. The high-accuracy control function (G61.1) is added at the
same time as this function.

9-1
 9. High-accuracy Spline Function

2. Detailed Explanation
2.1 Command Format

G61.2 Xx1 Yy1 Zz1 Ff1 ;

or
G61.2 ;

(1) The high-accuracy spline function is validated from the block in which G61.2 is commanded.

(2) To cancel
(a) This function is canceled when any of the following are commanded in the same block.
• G61 (Exact stop check mode)
• G61.1 (High-accuracy control function)
• G62 (Automatic corner override)
• G63 (Tapping mode)
• G64 (Cutting mode)
(b) This function is also canceled by reset 2, reset and rewind, turning the power OFF/ON and reset
initialization.

(3) To temporarily cancel

(a) This function is temporarily canceled by group 1 commands (G00, G02, G03, G02.1, G03.1,
G33).
After temporarily cancellation, the high-accuracy spline function is again entered by a G01
command.
(b) This function is temporarily canceled during the fixed cycle (G70 to G79, G81 to G89) modal.

(4) The high-accuracy control function (G61.1) is entered when the control parameter "INITIAL G61.1" is
turned ON, and the high-accuracy spline function (G61.2) is not entered.

(Note) "High-accuracy spline function" specifications are required for this function. The program error
"P127 G61.2 NO SPEC" will result if G61.2 is commanded when this specification is not added.

2.2 Operation Explanation

The following functions are validated with this function.

Pre-interpolation
acceleration/
deceleration
Vector accuracy
interpolation Refer to the High-Accuracy Control
High-accuracy S-character filter Function Specification Manual
control function "BNP-B3695-13-2-4" for function
High-accuracy spline Feed forward
details.
function Optimum corner
deceleration
Arc speed clamp
Accuracy coefficient
Spline interpolation
Curvature speed Explained in this manual.
clamp

9-2
 9. High-accuracy Spline Function

2.2.1 Spline Interpolation

(1) Spline curve

A spline curve that passes through three points (A-B-C, B-C-D, .....) is automatically generated, and
interpolation is carried out along that curve.
Thus, two or more blocks are required to generate the curve.
The generated curves (A-B-C) and (B-C-D) are smoothly joined in the following drawing.
N100 G00 X_Y_ ;
N200 G61.2 G01 X_Y_ ;
N201 X_Y_ ;
N202 X_Y_ ;
N203 X_Y_ ;
N204 X_Y_ ;
N205 X_Y_ ;
N206 X_Y_ ;
N207 X_Y_ ;
N208 G00

Fig. 1 Interpolation path by the high-accuracy spline function

(Note 1) The joints (points A and I) of the blocks before and after the spline curve are not smoothly
connected.
N100 G01 X_Y_ ;
N200 G61.2 G01 X_Y_ ;
N201 X_Y_ ;
N202 X_Y_ ;
N203 X_Y_ ;
N204 X_Y_ ;
N205 X_Y_ ;
N206 X_Y_ ;
N207 X_Y_ ;
N208 G02X_Y_R_ ;

In this case, the optimum corner deceleration is applied, the corner speed corresponding to
the corner angle θ is automatically calculated, and the movement is decelerated to that speed.

(Note 2) The curvature speed clamp works for each block during the high-accuracy spline function. As
a result of the curvature speed clamp, the movement is declerated to the speed clamp before
that block is entered.

9-3
 9. High-accuracy Spline Function

(2) Temporary cancellation of the spline interpolation

Normally, one curve is generated that smoothly connects all points from the time the high-accuracy
spline function is entered to the time it is canceled. However, the function can be temporarily
canceled with the parameters when a corner edge is required, or when the segment is long and
spline interpolation is not required.
(a) Cancel angle
The high-accuracy spline function is temporarily canceled and the optimum corner deceleration
is applied when the angle θ of two consecutive blocks is larger than the setting value in the
parameter "CANCEL ANG.".
Spline interpolation is always entered if the cancel angle has not been set (= 0).
The corner deceleration angle of the high-accuracy control function is validated by the temporary
cancellation, and the optimum corner deceleration is applied.

<Example 1> CANCEL ANG. = 60 (degrees)

Program command Spline interpolation path
Corner

<Example 2> CANCEL ANG. = 0 (degrees)

Program command Spline interpolation path
Curve

The correspondence of the cancel angle and the corner deceleration angle is shown in the
following table.
Cancel angle Corner deceleration angle Operation
Spline interpolation is always
0
entered.
Corner deceleration occurs at all
≥ corners larger than the cancel
angle.
Corner deceleration is not applied
when the angle is less than the
<
corner deceleration angle, even if
the spline interpolation is canceled.

(Note) Decrease the cancel angle if the section to be machined as a corner when actually
machining is smooth.
Conversely, increase the cancel angle if the section to be smoothed when actually
machining is a corner.

9-4
 9. High-accuracy Spline Function

For consecutive points where θ > CANCEL ANG. (cancel angle), the block between the points is
linear. In this way, it is not necessary to individually designate the pick-feed, etc., during 3-
dimensional machining, and the machining program can be easily created.
<Example 3> Linear interpolation of pick-feed (CANCEL ANG. = 60)
N100 G00 X_Z_ ;
N200 G61.2 X_Z_ ;
N210 X_Z_ ;
•
•
N300 X_Z_ ;
N310 Y_ ;
N320 X_Z_ ;
•
•
N400 X_Z_ ;
N410 Y_ ;
N420 X_Z_ ;
•
•
N700 G00 X_Z_ ;
N710 M02 ;

(b) Fine segment length

For blocks longer than the fine segment length in the parameters, the high-accuracy spline
function is temporarily canceled and linear interpolation is entered.
When the fine segment length is not set (= 0), it becomes 1mm.
Linear interpolation

Linear interpolation is entered when there are consecutive blocks in which 1 block segment
length > fine segment length.

(c) When a stationary block (block with no movement) exists during the high-accuracy
spline function
The spline interpolation is temporarily canceled when a stationary block exists during the high-
accuracy spline function.
Note that blocks containing only ; are not regarded as stationary blocks.
<Example 4>

N100 G91 G00 X_Y_ ;

N110 G61.2 X_Y_ ;
N120 X_Y_ ;
•
•
N300 X_Y_ ;
N310 X0 ;
N320 X_Y_ ; The end point of the N300 block A new curve is automatically
• is the end point of curve generated from the start point of
• interpolation. the N320 block.

Stationary block

9-5
 9. High-accuracy Spline Function

(d) When a block exists during the high-accuracy spline function that is extremely long
compared to other blocks [D]
When the following conditions exist for the block length Li of the ith block during high-accuracy
spline interpolation mode, that block will be regarded as a linear section, and the high-accuracy
spline mode will be temporarily canceled.
Li > Li – 1 × 8
or
Li > Li + 1 × 8

Li > Li – 1 × 8 or Li > Li + 1 × 8

(e) When points exist on the same straight line during the high-accuracy spline interpolation
mode [D]
When points exist on the same straight line during the high-accuracy spline interpolation mode
(as in P3-P4-P5 in the following drawing), the high-accuracy spline mode will be temporarily
canceled.

Points on the same straight line

9-6
 9. High-accuracy Spline Function

(3) Spline interpolation curved shape correction

Normally, one curve is generated that smoothly connects all points from the time the high-accuracy
spline function is entered to the time it is canceled. However, a correction can be added to the spline
curve shape using the parameters when required.
(a) When a block with an extremely short segment length exists in the spline interpolation
path [D]
When using a CAM in the development from the CAD mathematical model to fine segments,
extremely fine blocks may be generated due to internal calculation errors. The generation of
these fine blocks can especially be seen when generating tool nose radius compensation
programs accompanied by convergence calculation. When direct spline curves including these
fine blocks are generated, the curve shape may be distorted.

Distortion by the spline

Fine block

Fig. 7 Spline curve distortion due to influence from a fine block

In the high-accuracy spline function, these extremely fine blocks are detected during spline
interpolation and thinned out, and the blocks before and after them are faired. In this way, smooth
spline curves are generated with no distortion resulting from these fine blocks.

When the following conditions exist for the block length Li of the ith block during high-accuracy
spline interpolation mode (if parameter "Fairing L" is Lf), the end point of the i – 1st block and the
start point of the i + 1st block is changed to the middle point of the ith block, and the ith block is
deleted. Spline interpolation is executed for sequences of points updated in this way.
Li–1 > Lf × 2
Li ≤ Lf
Li+1 > Lf × 2

Spline curve before fairing

Spline curve after fairing

Deletion of passage points

Generation of passage point

Fig. 8 Correction of a group of spline curve passage points by fairing

9-7
 9. High-accuracy Spline Function

When the first block in the high-accuracy spline interpolation mode is fine
For the following conditions, the start point of the 2nd block is changed to the start point of the 1st
block, and the 1st block is deleted.
L1 ≤ Lf
L2 > Lf × 2
Non-spline block

Spline curve before fairing

Spline curve after fairing

Deletion of passage points

Fig. 9 Fairing with the spline curve start points

When the last block in the high-accuracy spline interpolation mode is fine
For the following conditions, the end point of the n - 1st block is changed to the end point of the
nth block, and the nth block is deleted. Spline interpolation is executed for sequences of points
updated in this way.
Ln – 1 ≤ Lf
Ln > Lf × 2
Non-spline block

Spline curve before fairing

Spline curve after fairing

Deletion of passage points

Fig. 10 Fairing with the spline curve end points

9-8
 9. High-accuracy Spline Function

(b) Chord error in blocks having an inflection point

When using a CAM to convert the CAD curve data to fine segments, the normal curve tolerance
(chord error) is approximated as a polygonal line to approx.10µm. When an inflection point is
included in the curves at this time, the length of the block containing the inflection point may be
increased. (This is so the tolerance can be taken on both sides near the inflection point.) When
the length of this block and the blocks before and after it is unbalanced, the spline curve applied
to this block may have a large error regarding the main curve.
In blocks having this type of inflection point, there are sections in which the tolerance (chord
error) becomes larger between the fine segment block and spline curve. When the chord error of
the relevant section is larger than the parameter setting value for these sections, the spline
curved shape is automatically corrected so the error is within the designated value.
The curve is only corrected in the relevant block.
Correction is carried out for each block in the spline interpolation mode in the following
conditions.
There is an inflection point in the spline curve, and
The max. error of the spline curve and linear block is larger than the parameter "Toler-1".
(As shown in the section P3-P4 of Fig. 3.)
When the conditions above are fulfilled, the spline curve is corrected so the error is within the
designated value for the section P3-P4 of Fig. 4.

Spline curve
Tolerance (chord error)

Inflection point

Fine segment

Fig. 3 Spline curve before error compensation

Chord error designation
parameter "Toler-1"
Spline curve before
compensation

Spline curve after

compensation

Fig. 4 Spline curve after error compensation

9-9
 9. High-accuracy Spline Function

Set the tolerance when the data was developed into fine segments with CAM in the parameter
"Toler-1". Set a smaller value if the swelling (depression) due to the relation of the adjacent
cutting paths is significant.

(c) Chord error of blocks having no inflection point [D]

The tolerance of the spline curve may also become larger for blocks having no inflection point,
when the block lengths are irregular. Also, the curve may also swell due to the influence of
comparatively short blocks that could not be eliminated in item (a).
Thus, in blocks having no inflection point, there are sections in which the tolerance (chord error)
becomes larger between the fine segment block and spline curve. For these sections, when the
chord error of the relevant section is larger than the parameter setting value, the spline curved
shape is automatically corrected so the error is within the designated value.
The curve is only corrected in the relevant block.
Correction is carried out for each block in the spline interpolation mode in the following
conditions.

There is no inflection point in the spline curve, and

The max. error of the spline curve and linear block is larger than the parameter "Toler-2".
(As shown in the section P2-P3 of Fig. 5.)

When the conditions above are fulfilled, the spline curve is corrected so the error is within the
designated value for the section P2-P3 of Fig. 6.

Spline curve

Tolerance (chord error)

Fine segment

Fig. 5 Spline curve before error compensation

Spline curve before

error compensation
Chord error designation
parameter "Toler-2"

Spline curve after compensation

Fig. 6 Spline curve after error compensation

Set the tolerance when the data was developed into fine segments with CAM in the parameter
"Toler-2".

9-10
 9. High-accuracy Spline Function

2.2.2 Curvature Speed Clamp

Command speed F of the high-accuracy spline function for fine linear arcs is the command speed of the
modal set beforehand. However, excessive acceleration may occur for sections where the curvature is
large (small curvature radius) when the feed is with a uniform speed, so the speed clamp is applied. This
is shown in the following drawing.

Small curvature Large acceleration

Small acceleration

Large curvature
F: command speed (mm/min)

Acceleration change due to curvature

The high-accuracy control function is always valid in the high-accuracy spline function. Therefore the
speed is clamped so it does not exceed the allowable acceleration of the pre-interpolation
acceleration/deceleration calculated with the parameters. This occurs even when the curvature changes
like this in the curve.
The clamp speed is set for each block, and the clamp speed F' is calculated using equation (1). The
representative curvature radius R between blocks is the smaller of the curvature radius Rs at the curve
block start point and the curvature radius Re at the curve block end point.
The smaller of this clamp speed F' and the command speed F is used as the actual feedrate.
In this way cutting is enabled at an appropriate feedrate that corresponds to the curvature radius of all
sections of the curve.

Rs : Block start point curvature radius (mm)

Re : Block end point curvature radius (mm)
R : Block representative curvature radius (mm) min {Rs, Re}
∆V : Allowable acceleration speed of pre-interpolation
acceleration/deceleration
F' : Clamp speed (mm/min)

(100 − Ks)
F’ = √ (R×∆V×60×1000) × 100 • • (1)

G1bF (mm/min)
∆V = G1btL (msec)

G1bF : Pre-interpolation acceleration/deceleration

target speed
G1btL : Acceleration/deceleration time to target speed
Ks : Accuracy coefficient

9-11
 9. High-accuracy Spline Function

2.3 High-accuracy Spline Function during Tool Nose Radius Compensation

The high-accuracy spline function can be executed during tool nose radius compensation.

(1) The path (L1', L2', L3', L4', L5', L6', L7') with the tool nose radius compensation amount r offset
applied is generated.

Path with offset applied

Program path

(2) The curve is generated regarding the path with the offset applied, but the offset at the joints between
blocks becomes larger than the tool nose radius compensation amount r. Thus, an approximate
point is calculated so that the offset at the joints becomes the tool nose radius compensation amount
r, and the curve is generated.

Path with offset applied

Program path

(Note) Cut-in to the workpiece and uncut portions will occur if the high-accuracy spline function is
used in a tool nose radius compensation program.

2.4 Parameters

9-inch

[PROCESS PARAMETER] PARAM 5. 3/3 [SETUP PARAMETER] PARAM 4

[TAP REVERSE] [SPLINE 2] [PLANE SELECT] [OTHERS]

# 1 OVERRIDE 1 10 Toler-1 0.010 # 1 BASE-AX I X 11 G73n 0.000
11 Toler-2 0.010 2 J Y 12 G83n 0.200
[SPLINE] 12 Fairing L 0.010 3 K Z 13 ARC ERR 0.100
2 CANCEL ANG. 60 4 AUX-AX1 I X 14 3-D CMP 0.000
5 J Y 15 F-UNIT-TYPE 0
[SCREEN SAVER] 6 K Z 16 C-ROT.R 0.000
3 TIME-OUT SET 7 AUX-AX2 I X 17 C-INS.R 0.000
8 J Y 18 R COMP P (0.013) 0
9 K Z 19 MINUTE LENGS 1
[VOICE OUTPUT] 20 DCC. ANGLE 0
10 VOLUME 21 F0 SELECT

# ( ) DATA ( ) # ( ) DATA ( )
LSK mm INC G40 G54 LSK mm INC G40 G54 MEMORY
PROCESS ROTATE MEASURE WORK2 MENU PLC-SW CONTROL AXIS SETUP MENU

9-12
 9. High-accuracy Spline Function

14-inch

[PROCESS PARAMETER] PARAM 4. 1/2

[COORDI.ROT.] H.DATA V.DATA [F1 SPEED] [VOICE OUTPUT]

# 1 PLANE X Y 13 F1 0 24 VOLUME
2 CENTER 0.000 0.000 14 F2 0 [PLANE SELECT]
3 VECTOR 0.000 0.000 15 F3 0 # 1 BASE-AX 1 X
4 ANGLE 0.000 16 F4 0 2 J Y
17 F5 0 3 K Z
[SCALING] 18 F6 0 4 AUX-AX1 I X
5 P 0.000000 19 F7 0 5 J Y
20 F8 0 6 K Z
[AUTO CORNER OVR.] 21 FM1 0 7 AUX-AX2 I X
6 OVERRIDE 22 FM2 0 8 J Y
7 MAX ANGLE 23 K 0 9 K Z
8 DCC. ZONE 0.000 [OTHERS]
9 ARC. INSIDE OVR 34 G73n 0.000 39 C-ROT.R 0.000
35 G83n 0.200 40 C-INS.R 0.000
[AUTO TLM] 36 ARC ERR 0.100 41 R COMP P (0.013) 0
10 SPEED 0 37 3-D CMP 0.000 42 MINUTE LENGS 1
11 ZONE r 0.000 38 F-UNIT-TYPE 0 43 F DCC ANGLE 0
12 ZONE d 0.000 44 F0 SELECT 0

LSK mm INC G40 G54 MEMORY # ( ) DATA ( )

PLC-SW CONTROL AXIS PROCESS MEASURE MENU

[PROCESS PARAMETER] PARAM 4. 2/2

[PRIORITY]
# 1 Memory 1 [SPLINE (2)]
2 Server 2 15 Toler-1 0.010
3 FD1 3 16 Toler-2 0.010
4 FD2 4 17 Fairing L 0.010
5 ETHERNET 5

[DISK FORMAT]
10 FD1/FD2 0

[TAP REVERSE]
11 OVERRIDE 100

[SPLINE]
12 CANCEL ANG. 90

[SCREEN-SAVER]
13 TIME-OUT SET 10

LSK mm INC G40 G54 MEMORY # ( ) DATA ( )

PLC-SW CONTROL AXIS PROCESS MEASURE MENU

9-13
 9. High-accuracy Spline Function

9" 14" Item Details Setting range

2 12 CANCEL ANG. The spline interpolation is temporarily canceled 0 to 180 degrees
when the angle executed between blocks 0: 180 degrees
exceeds the setting value.
Giving consideration to the pick-feed, set a slightly
smaller value than the pick-feed angle.
10 15 Toler-1 Designate the max. chord error in blocks having Micron
an inflection point. Set the tolerance when the 0.000 to
data was developed into fine segments using 100.000mm
CAM. (Normally set to approx. 10µm) Submicron
The relevant block will become linear if this is set 0.0000 to
to 0.000. 10.0000mm
11 16 Toler-2 Designate the max. chord error in blocks having Micron
no inflection point. Set the tolerance when the 0.000 to
data was developed into fine segments using 100.000mm
CAM. (Normally set to approx. 10µm) Submicron
The relevant block will become linear if this is set 0.0000 to
to 0.000. 10.0000mm
12 17 Fairing L When the block merge conditions are fulfilled Micron
while the block's length is less than the setting 0.000 to
value, that block is compressed and the blocks 100.000mm
before and after it are merged. Submicron
This operation is given priority over cancel angle 0.0000 to
judgment. 10.0000mm
Normally set to approx. 10µm.
19 42 MINUTE LENGS The spline interpolation is temporarily canceled 0 to 10mm
and linear interpolation is carried out when the 0: 1mm
length of one block exceeds the fine segment
length setting value.
Set a slightly smaller value than the block length of
a workpiece to be machined in a straight line.

∗ The CANCEL ANG., Toler-1, Toler-2, Fairing L and MINUTE LENGS are explained in section 2.2
Operation Explanation.

3. Precautions
(1) The program error "P127 G61.2 NO SPEC" will result if G61.2 is commanded when this specification
is not added.

(2) During graphic check and single block execution, the high-accuracy spline function executes a
forced temporary cancellation.

(3) When the machining time is calculated during the high-accuracy spline function, the machining time
will become longer.

(4) Refer to the Specification Manual "BNP-B3695-13-2-4" for high-accuracy control function details.

(5) Inverse time feed is meaningless in application during the high-accuracy spline function, because a
speed clamp is applied on the curvature regarding the command speed for the inverse time feed. Do
not use the high-accuracy spline function in combination with the inverse time feed.

9-14
Chapter 10 Auxiliary Axis Control
 10. Auxiliary Axis Control

1. Function Outline
The MR-J2-CT link function connects the NC unit and auxiliary axes (MR-J2-CT). Using this function, up
to six auxiliary axes can be controlled with command signals from the NC unit.
The NC unit and auxiliary axes are connected with the same type of serial link as the NC servo, and
commands to the auxiliary axes are controlled by the PLC (ladder).
The NC screen functions and operation methods related to auxiliary axes are described in this chapter.
The following items are included in the NC screen related to the auxiliary axes.

(a) Parameter setting

(1) No. of connected axes and MCP No.
(2) Auxiliary axis parameters

(b) Monitor display

(1) Current value
(2) Amplifier diagnosis information
(3) Amplifier and motor status
(4) Alarm
(5) Tuning data
(6) MCP software status

(c) Alarm history

(d) Operation
(1) JOG
(2) Handle
(3) Manual operation
(4) Incremental
(5) Initialization

(e) Parameter input/output

This function can be realized by adding the hardware function (QX721/2+ (QX571 for the
M520AM)).
Refer to "Mitsubishi AC Servo with Built-in Indexing Function MR-J2-CT Series Specifications and
Instruction Manual" (BNP-B3944C) for information on the auxiliary axis (MR-J2-CT) control,
status and parameter data function.

10-1
 10. Auxiliary Axis Control

2. Hardware Configuration
M520AM hardware configuration
The configuration (excluding servo and spindle) when an auxiliary axis is connected is as follows.

QX812~815
QX812 Added during
(auxiliary axis control software) auxiliary axis control
QX635/639 QX721 (MCP) (1 slot occupied)

QX571 (expansion card)

Power
CPU CRTC MR-J2-CT
card card

TM

SH21 cable

The program for auxiliary axis data communication (MCP) (9-inch screen: BND-301W303, 14-inch
screen: BND-301W304) is stored in the QX812.

M500M hardware configuration

The configuration (excluding servo and spindle) when an auxiliary axis is connected is as follows.
A QX818 system ROM cassette is used.

QX571 (expansion card)

QX812~815

QX815/818
QX721 (MCP): MCP card added during auxiliary axis control
• For a 1-MCP card configuration in the servo and spindle, the
MCP is added to the CRTC card.
• For a 2-MCP card configuration in the servo and spindle, the
Conventional MCP is added to the expansion card.
CRTC
card
Includes the Power
auxiliary axis control CPU
software during card
auxiliary axis control MR-J2-CT
use.
TM

SH21 cable

10-2
 10. Auxiliary Axis Control

M500M-P hardware configuration

The configuration (excluding servo and spindle) when an auxiliary axis is connected is as follows.

QX571 (expansion card)

QX812
QX721 (MCP): MCP card added during auxiliary axis control
QX818 • For a 1-MCP card configuration in the servo and spindle, the MCP
is added to the CRTC card.
• For a 2-MCP card configuration in the servo and spindle, the MCP
is added to the expansion card.

CRTC
card MELSEC CPU card
Power
CPU
card
MR-J2-CT

TM

SH21 cable

10-3
 10. Auxiliary Axis Control

3. Explanation of Auxiliary Axis Commands and Status Data

Commands to the auxiliary axes (operation mode, start commands, etc.) are issued by the PLC using the
R register.
The statuses of the auxiliary axes (servo READY, axis moving, etc.) are then stored in the R register.

R register (each axis)

R1703 JOG operation

R1702 Start
Command

Auxiliary axis
MR-J2-CT
PLC

R1603 Servo READY

Status Axis moving

The R register of auxiliary axis commands and statuses is shown on the following page.

10-4
 10. Auxiliary Axis Control

NC → J2CT control signals

J2CT control command 4 J2CT control command 3 J2CT control command 2
Abbre- Abbre- Abbre-
bit Name bit Name bit Name
viation viation viation
bit0 Spare bit0 ST1 Station selection 1 bit0 ST Operation start
bit1 Spare bit1 ST2 Station selection 2 bit1 DIR Rotation direction
bit2 Spare bit2 ST4 Station selection 4 bit2 STS Random point feed command valid
bit3 Spare bit3 ST8 Station selection 8 bit3 PUS Stopper positioning command valid
bit4 Spare bit4 ST16 Station selection 16 bit4 MP1 Incremental feed magnification 1
bit5 Spare bit5 ST32 Station selection 32 bit5 MP2 Incremental feed magnification 2
bit6 Spare bit6 ST64 Station selection 64 bit6 PR1 Operation parameter selection 1
bit7 Spare bit7 ST128 Station selection 128 bit7 PR2 Operation parameter selection 2
bit8 Spare bit8 ST256 Station selection 256 bit8 Spare
bit9 Spare bit9 Spare bit9 Spare
bit10 Spare bit10 Spare bit10 Spare
bit11 Spare bit11 Spare bit11 Spare
bit12 Spare bit12 Spare bit12 Spare
bit13 Spare bit13 Spare bit13 Spare
bit14 Spare bit14 Spare bit14 Spare
bit15 Spare bit15 Spare bit15 Spare

J2CT control command 1 J2CT command coordinate L J2CT command coordinate H

Abbre- Abbre- Abbre-
bit Name bit Name bit Name
viation viation viation
bit0 ∗SVF Servo OFF bit0 bit0
bit1 QEMG PLC emergency stop bit1 bit1
bit2 ∗PRT1 Data protect 1 bit2 bit2
bit3 MRST MC reset bit3 bit3
bit4 ∗IT+ Interlock + bit4 bit4
bit5 ∗IT− Interlock − bit5 bit5
bit6 Spare bit6 bit6
Random Random
bit7 H Handle mode selection bit7 coordinates bit7 coordinates
bit8 AUT Automatic operation mode selection bit8 (low-order) bit8 (high-order)
bit9 MAN Manual operation mode selection bit9 1/1000mm bit9 1/1000mm
bit10 ( ° ) unit bit10 ( ° ) unit
bit10 J JOG operation mode selection
bit11 ZRN Reference point return mode selection bit11 bit11
Automatic initialization mode bit12 bit12
bit12 ASM selection bit13 bit13
Zero point initialization mode
bit13 AZS bit14 bit14
selection
bit14 ZST Reference point setting bit15 bit15
bit15 S Incremental mode

J2CT J2CT J2CT J2CT J2CT J2CT Others

control control control control command command
Signal name command command command command coordinate coordinate R1784 Operation adjustment mode
4 3 2 1 L H bit0 valid signal
(common signal for all axes)
Abbreviation CTCM4 CTCM3 CTCM2 CTCM1 CTCML CTCMH bit1 Spare
J2CT 1st axis R1700 R1701 R1702 R1703 R1704 R1705 bit2 Spare
2nd axis R1706 R1707 R1708 R1709 R1710 R1711 bit3 Spare
3rd axis R1712 R1713 R1714 R1715 R1716 R1717 bit4 Spare
4th axis R1718 R1719 R1720 R1721 R1722 R1723 bit5 Spare
5th axis R1724 R1725 R1726 R1727 R1728 R1729 bit6 Spare
6th axis R1730 R1731 R1732 R1733 R1734 R1735 bit7 Spare
7th axis (spare) R1736 R1737 R1738 R1739 R1740 R1741 bit8 Spare
8th axis (spare) R1742 R1743 R1744 R1745 R1746 R1747 bit9 Spare
9th axis (spare) R1748 R1749 R1750 R1751 R1752 R1753 bit10 Spare
10th axis (spare) R1754 R1755 R1756 R1757 R1758 R1759 bit11 Spare
11th axis (spare) R1760 R1761 R1762 R1763 R1764 R1765 bit12 Spare
12th axis (spare) R1766 R1767 R1768 R1769 R1770 R1771 bit13 Spare
13th axis (spare) R1772 R1773 R1774 R1775 R1776 R1777 bit14 Spare
14th axis (spare) R1778 R1779 R1780 R1781 R1782 R1783 bit15 Spare

10-5
 10. Auxiliary Axis Control

J2CT → NC status signals

J2CT status 4 J2CT status 3

Abbre- Name Abbre-
bit bit Name
viation viation
bit0 PSW1 Position switch 1 bit0 STO1 Station position 1
bit1 PSW2 Position switch 2 bit1 STO2 Station position 2
bit2 PSW3 Position switch 3 bit2 STO4 Station position 4
bit3 PSW4 Position switch 4 bit3 STO8 Station position 8
bit4 PSW5 Position switch 5 bit4 STO16 Station position 16
bit5 PSW6 Position switch 6 bit5 STO32 Station position 32
bit6 PSW7 Position switch 7 bit6 STO64 Station position 64
bit7 PSW8 Position switch 8 bit7 STO128 Station position 128
bit8 PMV In positioning operation bit8 STO256 Station position 256
bit9 PFN Positioning completed bit9 Spare
bit10 PSI Pushing bit10 Spare
bit11 Spare bit11 Spare
bit12 Spare bit12 Spare
bit13 Spare bit13 Spare
bit14 Spare bit14 Spare
bit15 Spare bit15 Spare

J2CT status 2 J2CT status 1

Abbre- bit Abbre- Name
bit Name
viation viation
bit0 AUTO In automatic operation mode bit0 RDY Servo READY
bit1 MANU In manual operation mode bit1 INP In-position
bit2 JO In JOG operation mode bit2 SMZ Smoothing zero
bit3 ARNN In reference point return bit3 AX Axis selection output
bit4 ZRNO In reference point return mode bit4 MVP Axis moving +
bit5 ASMO In automatic initialization mode bit5 MVM Axis moving −
bit6 AZSO In zero point initialization mode bit6 TLQ Current limit reached
bit7 SO In incremental mode bit7 ADJ Adjusting machine
bit8 AL1 MC alarm 1 bit8 ZP Reference point reached
bit9 AL2 MC alarm 2 bit9 RST Resetting
bit10 AL4 MC alarm 4 bit10 HO In handle mode
bit11 BAT Battery voltage low bit11 MA Controller READY
Absolute position power OFF bit12 SA Servo READY
bit12 ABS movement over
bit13 JSTA Automatic set position reached
bit13 ZSN Absolute position loss
bit14 JST Set position reached
bit14 ZSF Initialization completed
bit15 NEAR Near set position
bit15 ZSE Initialization error finished

Others: In operation adjustment mode signal

J2CT J2CT J2CT J2CT
Signal name Abbre-
status 4 status 3 status 2 status 1 bit Name
viation
Abbreviation CTST4 CTST3 CTST2 CTST1 R1656 bit0 ADMOD1 In 1st axis operation adjustment mode
J2CT 1st axis R1600 R1601 R1602 R1603 bit1 ADMOD2 In 2nd axis operation adjustment mode
2nd axis R1604 R1605 R1606 R1607 bit2 ADMOD3 In 3rd axis operation adjustment mode
3rd axis R1608 R1609 R1610 R1611 bit3 ADMOD4 In 4th axis operation adjustment mode
4th axis R1612 R1613 R1614 R1615 bit4 ADMOD5 In 5th axis operation adjustment mode
5th axis R1616 R1617 R1618 R1619 bit5 ADMOD6 In 6th axis operation adjustment mode
6th axis R1620 R1621 R1622 R1623 bit6 ADMOD7 In 7th axis operation adjustment mode (Spare)
7th axis (spare) R1624 R1625 R1626 R1627 bit7 ADMOD8 In 8th axis operation adjustment mode (Spare)
8th axis (spare) R1628 R1629 R1630 R1631 bit8 ADMOD9 In 9th axis operation adjustment mode (Spare)
9th axis (spare) R1632 R1633 R1634 R1635 bit9 ADMOD10 In 10th axis operation adjustment mode (Spare)
10th axis (spare) R1636 R1637 R1638 R1639 bit10 ADMOD11 In 11th axis operation adjustment mode (Spare)
11th axis (spare) R1640 R1641 R1642 R1643 bit11 ADMOD12 In 12th axis operation adjustment mode (Spare)
12th axis (spare) R1644 R1645 R1646 R1647 bit12 ADMOD13 In 13th axis operation adjustment mode (Spare)
13th axis (spare) R1648 R1649 R1650 R1651 bit13 ADMOD14 In 14th axis operation adjustment mode (Spare)
14th axis (spare) R1652 R1653 R1654 R1655 bit14 Spare
bit15 Spare

10-6
 10. Auxiliary Axis Control

4. Parameter Setting Screen

4.1 Auxiliary Axis Setting
The parameters for setting the No. of connected auxiliary axes and MCP No. for auxiliary axis
communication have been added to the machine parameters.

(1) MCP No. for auxiliary axis communication

Designate the No. of the MCP to which the auxiliary axis is connected.
Basic specification parameter of the machine parameters Page 8
Set #14 AUX mcp_no
At this time, designate a No. different from the MCP No. of the servo used by the NC unit.
The alarm "Y06 AUX mcp_no error" will appear when the power is turned ON if there are two or more
MCP Nos. for auxiliary axis communication having the same number as the NC servo MCP card No.
At this time the MCP used by the auxiliary axis will not turn ON.
(Note) In the M520AM, the NC servo MCP No. is fixed at 1, and the MCP No. for auxiliary axis
communication is fixed at 2.
The mcp_no setting is meaningless in the M520AM.

(2) No. of connected auxiliary axes

Designate the No. of connected auxiliary axes.
Basic specification parameter of the machine parameters Page 8
Set #15 AUX axis_num
The No. of connected axes n corresponds to the 1st to the nth auxiliary axes.
Up to six axis settings are valid.
If the actual No. of axes does not match the set No. of axes, the alarm "Auxiliary axis amplifier not
mounted" will occur when the power is turned ON. The auxiliary axes then cannot be controlled.
The auxiliary axis function is invalidated if the No. of auxiliary axes is set to 0.

9-inch Machine parameters Setting screen

[BASE SPEC. PARAM] M-PARAM 1. 8/10

1 Mpronum 0 13
2 Mprosiz 0 14 AUX mcp_no 2
3 15 AUX axis_num 3
4 16
5 17 real_fd 1
6 ret 1000000100 18 mlk_co 0
7 ret2 1000000100 19 plyintv 0
8 20 plyign1 0000
9 G1bF 5000 21 plyovrt 0
10 G1bt1 200 22 plyfedt 0
11 G0bdc 0 23 plybksz 0
12 cirdcc 0 24

#( ) DATA ( )

[BASE] [AXIS] [ZP-RTN] [SERVO] [MENU]

10-7
 10. Auxiliary Axis Control

14-inch Machine parameters Setting screen

[BASE SPEC. PARAM] M-PARAM 1. 5/7

#
1 statio 17 C_min 33 G1bF 49
2 size_I 18 C_axis 34 G1btL 50
3 size_o 19 C_feed 35 G0bdcc 51
4 length 20 C_type 36 cirdcc 52
5 b_rate 21 37 53
6 s_bit 22 38 AUX mcp_no 0 54
7 Parity 23 39 AUX axis_num 0 55
8 even 24 40 extco_t 56

9 Tout_I 25 Mpronum 41 real_fd 57

10 Tout_o 26 Mprosiz 42 mlk_co 58
11 crc_c 27 43 plyintv 59
12 ram_c 28 44 plyign1 60
13 crc_cu 29 45 plyovrt 61
14 remote 30 ret1 46 plyfedt 62
15 noamp 31 ret2 47 plybksz 63
16 siobus 32 48 64

#( ) DATA ( )

BASE AXIS ZP-RTN SERVO MC-ERR MACRO AUX MENU

10-8
 10. Auxiliary Axis Control

4.2 Auxiliary Axis Parameters

The parameters of each axis are displayed and changed.
[Screen transition]
The screen transitions of the M520AM and M500M 9" CRT, 9.4" EL and 7.4" LCD screens are shown
below.
Enter the machine parameter setting mode.

Parameter (PARAM)

[BASE SPEC. PARAM] M-PARAM 1. 1/1

Change the screen by

[BASE] [AXIS] [ZP-RTN] [SERVO] [MENU]
pressing "MENU".
[MC-ERR] [MACRO] [SPINDLE] [PLC] [MENU]

[PLC-AX] [PSW] [UNI-MAC] [AUX] [MENU]

Press the [AUX] menu.

[AUX PARAM] M-PARAM 12. 14/14] [AUX PARAM] M-PARAM 12. 14/14]
Change the menu by pressing
the NEXT/PREVIOUS [AUX PARAM] M-PARAM 12. 13/14] [AUX PARAM] M-PARAM 12. 13/14]
screen key.
Or, set the required page No. [AUX PARAM] M-PARAM 12. 8/14] [AUX PARAM] M-PARAM 12. 8/14]
in Page No. # ( ) of the
setting column. [AUX PARAM] M-PARAM 12. 7/14] [AUX PARAM] M-PARAM 12. 7/14]
[AUX PARAM] M-PARAM 12. 6/14] [AUX PARAM] M-PARAM 12. 6/14]
[AUX PARAM] M-PARAM 12. 5/14] [AUX PARAM] M-PARAM 12. 5/14]
[AUX PARAM] M-PARAM 12. 4/14] [AUX PARAM] M-PARAM 12. 4/14]
[AUX PARAM] M-PARAM 12. 3/14] [AUX PARAM] M-PARAM 12. 3/14]
[AUX PARAM] M-PARAM 12. 2/14] [AUX PARAM] M-PARAM 12. 2/14]
[AUX PARAM] M-PARAM 12. 1/14]
[AUX PARAM] M-PARAM 12. 1/14]

1st to 5th auxiliary axis parameters 6th auxiliary axis parameters

[PLC-AX] [PSW] [UNI-MAX] [AUX] [MENU] [PLC-AX] [PSW] [UNI-MAX] [AUX] [MENU]

Change to the screens for the 6th or higher auxiliary axis

by designating the axis No. in the setting area.
To display the screens for the 5th or lower axis from the
6th or higher axis screens, set the axis No. from (1) to (5).

10-9
 10. Auxiliary Axis Control

[Screen transition]
The screen transitions of the M520AM and M500M 14" CRT and 10.5" LCD screens are shown
below.
Enter the machine parameter setting mode.

Parameter (PARAM)

[BASE SPEC. PARAM] M-PARAM 1. 1/1

Change the screen by

pressing "MENU".
BASE AXIS ZR-RTN SERVO MC-ERR MACRO AUX MENU

SPINDLE CONSTANT TIMER COUNTER BIT-SELECT PLC-AX PSW MENU

Press the [AUX] menu.

[AUX PARAM] M-PARAM 7. 14/14] [AUX PARAM] M-PARAM 12. 14/14]

Change the menu by pressing
the NEXT/PREVIOUS [AUX PARAM] M-PARAM 7. 13/14] [AUX PARAM] M-PARAM 12. 13/14]
screen key.
Or, set the required page No. [AUX PARAM] M-PARAM 7. 8/14] [AUX PARAM] M-PARAM 12. 8/14]
in Page No. # ( ) of the
setting column. [AUX PARAM] M-PARAM 7. 7/14] [AUX PARAM] M-PARAM 12. 7/14]
[AUX PARAM] M-PARAM 7. 6/14] [AUX PARAM] M-PARAM 12. 6/14]
[AUX PARAM] M-PARAM 7. 5/14] [AUX PARAM] M-PARAM 12. 5/14]
[AUX PARAM] M-PARAM 7. 4/14] [AUX PARAM] M-PARAM 12. 4/14]
[AUX PARAM] M-PARAM 7. 3/14] [AUX PARAM] M-PARAM 12. 3/14]
[AUX PARAM] M-PARAM 7. 2/14] [AUX PARAM] M-PARAM 12. 2/14]
[AUX PARAM] M-PARAM 7. 1/14]
[AUX PARAM] M-PARAM 12. 1/14]

1st to 5th auxiliary axis parameters 6th auxiliary axis parameters

MENU
MENU

Change to the screens for the 6th or higher auxiliary axis

by designating the axis No. in the setting area.
To display the screens for the 5th or lower axis from the
6th or higher axis screens, set the axis No. from (1) to (5).

10-10
 10. Auxiliary Axis Control

Parameter setting method

#( ) AXIS < > DATA ( ) [input]

(1) Parameter No. #

Designate the parameter No. # (3-digit) to be set.
The parameter data of the auxiliary axis corresponding to the set parameter No. is transferred to the
auxiliary axis. The No. is incremented if no error occurs after writing the data.

If the designated parameter No. is not displayed on the screen, the corresponding parameter No.
screen will be displayed.

(2) Designating the auxiliary axis No.

Designate the auxiliary axis No. for setting the parameters.
When the designated auxiliary axis No. is between 1 and 5, and the 6th or subsequent axis screen is
displayed, the screen will change to the parameter data for the 1st to 5th axis.
When the designated auxiliary axis No. is 6, and the data for the 1st to 5th axes is displayed, the
parameter data for the 6th axis will be displayed.
The setting range must be within the No. of connected axes (AUX axis_num). An error will result if a
No. outside that range is set.

(3) Data
Set the parameter data of the designated parameter No.
The data type and setting range corresponds to each parameter No.
When the screen is changed by designating a parameter No. or auxiliary axis No., the screen will
change without the data being set. This occurs even if data is input in the data input area.
At this time a setting error will be displayed.
The error "E166 AUX WRITE ERR" will be displayed if the parameter cannot be written due to an
error such as when an auxiliary axis amplifier is not connected.

Screen transition by parameter No. and axis No. setting

[AUX PARAM] [AUX PARAM]

<1> <2> .... <5> <1> <2> .... <5>
#1 #13
2 When # (20) is set 14
: :
8 20
9 21
#( ) AXIS < > DATA ( ) #(20) AXIS < > DATA ( )

When axis < 6 > is set When # (100) axis < 6 > is set

[AUX PARAM] [AUX PARAM]

<6> <6>
#1 #100
2 101

5 107
9 108
# ( ) AXIS <6> DATA ( ) # (100) AXIS<6>DATA ( )

10-11
 10. Auxiliary Axis Control

Auxiliary axis parameter screen (9" CRT, 9.4" EL, 7.4" LCD)

The 14" CRT and 10.5" LCD screens are the same from the 2nd line to the 14th line.
"M-PARAM 7." differs from the menu below.

[AUX PARAM] M-PARAM 12. 1/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
1 MSR FFFF FFFF FFFF FFFF FFFF
2 RTY FFFF FFFF FFFF FFFF FFFF
3 PC1 32767 32767 32767 32767 32767
4 PC2 32767 32767 32767 32767 32767
5 PIT 32767 32767 32767 32767 32767
6 INP 32767 32767 32767 32767 32767
7 ATU FFFF FFFF FFFF 32767 32767
8 PG1 32767 32767 32767 32767 32767
9
10 EMG 32767 32767 32767 32767 32767
11
12 FFC 100 100 100 100 100

#( ) AXIS < > DATA ( )

[ PLC-AX ] [ PSW ] [ UNI-MAC ] [ AUX ] [ MENU ]

[AUX PARAM] M-PARAM 12. 2/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
13 MBR 1000 1000 1000 1000 1000
14 NCH 7 7 7 7 7
15 KEG 500 500 500 500 500
16 JIT 3 3 3 3 3
17 MV1 FFFF FFFF FFFF FFFF FFFF
18 MV2 FFFF FFFF FFFF FFFF FFFF
19 PG2 500 500 500 500 500
20 VG1 5000 5000 5000 5000 5000
21 VG2 8000 8000 8000 8000 8000
22 VIC 1000 1000 1000 1000 1000
23 VDC 1000 1000 1000 1000 1000
24 GD2 100.0 100.0 100.0 100.0 100.0

#( ) AXIS < > DATA ( )

[ PLC-AX ] [ PSW ] [ UNI-MAC ] [ AUX ] [ MENU ]

10-12
 10. Auxiliary Axis Control

[AUX PARAM] M-PARAM 12. 3/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
25
26
27
28
29
30 MTY FFFF FFFF FFFF FFFF FFFF
31 TMX 1000 1000 1000 1000 1000
32 PMS 8 8 8 8 8
33 BAS 9000 9000 9000 9000 9000
34 MAX 9000 9000 9000 9000 9000
35 AMR 65536 65536 65536 65536 65536
36 JMK 65535 65536 65536 65536 65536

#( ) AXIS < > DATA ( )

[ PLC-AX ] [ PSW ] [ UNI-MAC ] [ AUX ] [ MENU ]

[AUX PARAM] M-PARAM 12. 4/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
37 KCM 500 500 500 500 500
38 KVI 500 500 500 500 500
39 VGM 500 500 500 500 500
40 MLD 500 500 500 500 500
41 KEC 500 500 500 500 500
42 IQG −9999 −9999 −9999 −9999 −9999
43 IDG −9999 −9999 −9999 −9999 −9999
44 IQI −9999 −9999 −9999 −9999 −9999
45 IDI −9999 −9999 −9999 −9999 −9999
46 ATI 000F 000F 000F 000F 000F
47
48

#( ) AXIS < > DATA ( )

[ PLC-AX ] [ PSW ] [ UNI-MAC ] [ AUX ] [ MENU ]

10-13
 10. Auxiliary Axis Control

[AUX PARAM] M-PARAM 12. 5/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
49
50 MD1 FFFF FFFF FFFF FFFF FFFF
51 MO1 −32767 −32767 −32767 −32767 −32767
52 MG1 65536 65536 65536 65536 65536
53 MD2 65536 65536 65536 65536 65536
54 MO2 −32767
55 MG2 65536 65536 65536 65536 65536
56 STY FF FF FF FF FF
57
58
59
60

#( ) AXIS < > DATA ( )

[ PLC-AX ] [ PSW ] [ UNI-MAC ] [ AUX ] [ MENU ]

[AUX PARAM] M-PARAM 12. 6/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
100 station 360 360 360 360 360
101 Cont1 FFFF FFFF FFFF FFFF FFFF
102 Cont2 FF FF FF FF FF
103 EmgCont FF FF FF FF FF
104 Tleng 99999.999 99999.999 99999.999 99999.999 99999.999
105 Axis name AUX1 AUX2 AUX3 AUX4 AUX5
106
107
108
109
110 ZRNspeed 1000000 1000000 1000000 1000000 1000000
111 ZRNcreep 1000000 1000000 1000000 1000000 1000000

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 10. Auxiliary Axis Control

[AUX PARAM] M-PARAM 12. 7/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
112 grid mask 65536 65536 65536 65536 65536
113 grspc 4 4 4 4 4
114 ZRNshift 65536 65536 65536 65536 65536
115 ST.ofset −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
116 ABS Base −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
117 Limit (+) −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
118 Limit (−) −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
119
120 ABS Type FF FF FF FF FF
121 push F 999 999 999 999 999
122 approach 999.999 999.999 999.999 999.999 999.999
123 ABS check 99999.99 99999.99 99999.99 99999.99 99999.99

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[AUX PARAM] M-PARAM 12. 8/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
124
125
126
127
128
129
130 backlash 9999 9999 9999 9999 9999
131
132 AUX1
133 AUX2
134 AUX3
135 AUX4

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 10. Auxiliary Axis Control

[AUX PARAM] M-PARAM 12. 9/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
150 Aspeed1 100000 100000 100000 100000 100000
151 Mspeed1 100000 100000 100000 100000 100000
152 time1, 1 9999 9999 9999 9999 9999
153 time1, 2 9999 9999 9999 9999 9999
154 TL1 500 500 500 500 500
155 OD1 32767 32767 32767 32767 32767
156 just1 99999.999 99999.999 99999.999 99999.999 99999.999
157 near1 99999.999 99999.999 99999.999 99999.999 99999.999
158 Aspeed2 100000 100000 100000 100000 100000
159 Mspeed2 100000 100000 100000 100000 100000
160 time2, 1 9999 9999 9999 9999 9999
161 time2, 2 9999 9999 9999 9999 9999

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[AUX PARAM] M-PARAM 12. 10/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
162 TL2 500 500 500 500 500
163 OD2 32767 32767 32767 32767 32767
164 just2 99999.999 99999.999 99999.999 99999.999 99999.999
165 near2 99999.999 99999.999 99999.999 99999.999 99999.999
166 Aspeed3 100000 100000 100000 100000 100000
167 Mspeed3 100000 100000 100000 100000 100000
168 time3, 1 9999 9999 9999 9999 9999
169 time3, 2 9999 9999 9999 9999 9999
170 TL3 500 500 500 500 500
171 OD3 32767 32767 32767 32767 32767
172 just3 99999.999 99999.999 99999.999 99999.999 99999.999
173 near3 99999.999 99999.999 99999.999 99999.999 99999.999

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 10. Auxiliary Axis Control

[AUX PARAM] M-PARAM 12. 11/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
174 Aspeed4 100000 100000 100000 100000 100000
175 Mspeed4 100000 100000 100000 100000 100000
176 time4, 1 9999 9999 9999 9999 9999
177 time4, 2 9999 9999 9999 9999 9999
178 TL4 500 500 500 500 500
179 OD4 32767 32767 32767 32767 32767
180 just4 99999.999 99999.999 99999.999 99999.999 99999.999
181 near4 99999.999 99999.999 99999.999 99999.999 99999.999
182
183
184
185

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[AUX PARAM] M-PARAM 12. 10/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
190 stpos1 99999.999 99999.999 99999.999 99999.999 99999.999
191 stpos2 99999.999 99999.999 99999.999 99999.999 99999.999
192 stpos3 99999.999 99999.999 99999.999 99999.999 99999.999
193 stpos4 99999.999 99999.999 99999.999 99999.999 99999.999
194 stpos5 99999.999 99999.999 99999.999 99999.999 99999.999
195 stpos6 99999.999 99999.999 99999.999 99999.999 99999.999
196 stpos7 99999.999 99999.999 99999.999 99999.999 99999.999
197 stpos8 99999.999 99999.999 99999.999 99999.999 99999.999
198
199

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 10. Auxiliary Axis Control

[AUX PARAM] M-PARAM 12. 13/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
200 PSWcheck FF FF FF FF FF
201 PSW1dog1 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
202 PSW1dog2 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
203 PSW2dog1 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
204 PSW2dog2 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
205 PSW3dog1 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
206 PSW3dog2 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
207 PSW4dog1 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
208 PSW4dog2 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
209 PSW5dog1 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
210 PSW5dog2 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
211 PSW6dog1 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999

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[AUX PARAM] M-PARAM 12. 14/14

# < 1> AUX1 <2> AUX2 < 3> AUX3 < 4> AUX4 < 5> AUX5
212 PSW6dog2 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
213 PSW7dog1 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
214 PSW7dog2 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
215 PSW8dog1 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
216 PSW8dog2 −99999.999 −99999.999 −99999.999 −99999.999 −99999.999
217
218
219
220 push. L 999.999 999.999 999.999 999.999 999.999
221 push. t1 32767 32767 32767 32767 32767
222 push. t2 32767 32767 32767 32767 32767
223 push. t3 32767 32767 32767 32767 32767

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 10. Auxiliary Axis Control

The following shows the auxiliary axis parameter details.

Setting
No. Symbol Unit Parameter name Details
range
1 MSR (hexa- 0000- Motor series Motor series: Select the motor series.
decimal) FFFFh Setting value Motor series
0: Automatic setting
1: HA-MH
2: HA-FH
3: HA-SH
4: HA-LH
5: HA-UH
6: HA-RH
:
:
100: Motor constant parameter
2 RTY (hexa- 0000- Regeneration Regeneration option type: Select the regeneration option
decimal) FFFFh option type 0 0 0 *
∗1
∗1 Select the regeneration option.
0: Standard
1: MR-RB013
2: MR-RB033
3: MR-RB064x2
4: MR-RB32
5: MR-RB34
6: MR-RB54

A parameter error will result if an option that is not combined with

an amplifier is selected.
3 PC1 (decimal) 0-32767 Motor side gear Reduce the motor side No. of gear teeth with the machine side and
ratio set as an integer.
4 PC2 (decimal) 0-32767 Machine side gear Reduce the machine side No. of gear teeth with the motor side and
ratio set as an integer.
5 PIT deg 0-32767 Feed pitch Set the index angle per motor rotation. Fixed at 360.
6 INP 1/1000 0-32767 In-position In 1/1000 degree units, set the allowable value for the position
deg detection width droop that will be interpreted as in-position.
An in-position signal will be output when the position droop
becomes smaller than the setting value.
7 ATU (hexa- 0000- Auto-tuning Auto-tuning: Select the auto-tuning function.
decimal) FFFFh 0 * * *
∗1 ∗2 ∗3
∗1 Select the auto-tuning
0: Carry out with position and speed loop (valid)
1: Carry out with speed loop only (valid)
2: Do not carry out (invalid)
∗2 Select the machine.
0: Normal
1: Large amount of friction
∗3 Set the auto-tuning responsiveness (when auto-tuning is valid)
1: Low-response (Machine resonance frequency guideline:
20 [Hz])
2: Low-response (Machine resonance frequency guideline:
40 [Hz])
3: Middle-response (Machine resonance frequency guideline:
60 [Hz])
4: Middle-response (Machine resonance frequency guideline:
80 [Hz])
5: High-response (Machine resonance frequency guideline:
100 [Hz])
8 PG1 rad/sec 0-32767 Position loop gain Set the model position loop gain.

10-19
 10. Auxiliary Axis Control

Setting
No. Symbol Unit Parameter name Details
range
10 EMG msec 0-32767 Emergency Set the deceleration time constant for a deceleration stop during an
deceleration time emergency stop or power OFF.
constant
11
12 FFC % 0-100 Feed forward gain Set the feed forward gain of the model position loop. The auto-
tuning may malfunction when the feed forward gain is set.
13 MBR msec 0-1000 Electromagnetic Set the time delay from the electromagnetic brake sequence
brake sequence operation to the base power shutoff.
output
14 NCH (decimal) 0-9 Notch filter No. Set the frequency of the machine resonance suppression filter.
0 0 0 *
∗1
∗1 Notch filter No.
Setting value Notch frequency [Hz]
0 : Notch filter not used
1 : 1125
2 : 750
3 : 562
4 : 450
5 : 375
6 : 321
7 : 281
15 KEG % 0-500 Inductive voltage
compensation
gain
16 JIT (decimal) 0-3 Jitter
compensation
17 MV1 (hexa- 0000- Vibration-less Select the microvibration-less control function 1.
decimal) FFFFh control selection 1 0 * 0 *
∗1 ∗2
∗1 Current integral gain
0 to F: Set the shift amount of the current integral gain.
∗2 Current gain
0 to F: Set the shift amount of the current gain.
18 MV2 (hexa- 0000- Vibration-less Select the microvibration-less control function 2.
decimal) FFFFh control selection 2 0 * 0 *
∗1 ∗2
∗1 FF gain
0 to F: Set the microvibration-less FF gain.
∗2 Microvibration-less range
0 to F: Set the range in which microvibration-less control is
carried out.
19 PG2 rad/sec 0-500 Position loop gain 2 Set the actual position loop gain.
20 VG1 rad/sec 0-5000 Speed loop gain 1 Set the model speed loop gain.
21 VG2 rad/sec 0-9999 Speed loop gain 2 Set the actual speed loop gain
22 VIC msec 0-1000 Speed integral Set the integral compensation time constant of the actual speed
compensation loop.
23 VDC (decimal) 0-1000 Speed differential Set the differential compensation value of the actual speed loop.
compensation The normal proportional integral is set at 1000. The proportional
control range becomes wider as the setting value decreases.
24 GD2 (decimal) 0.0-100.0 Load inertia ratio Set the ratio of the load and motor inertia.
25
26
27
28
29
30 MTY (hexa- 0000- Motor type Set the type of motor used.
decimal) FFFFh

10-20
 10. Auxiliary Axis Control

Setting
No. Symbol Unit Parameter name Details
range
31 TMX % 0-1000 Motor max. torque Set the max. torque of the motor.
The max. torque is normally selected automatically when this value
is set to 0.
32 PMS (decimal) 0-9 No. of motor poles Set the No. of motor poles.
The No. of motor poles is normally selected automatically when
this value is set to 0.
33 BAS r/min 0-9999 Motor rated speed Set the rated speed of the motor.
The rated speed of the motor is normally selected automatically
when this value is set to 0.
34 MAX r/min 0-9999 Motor max. speed Set the max. speed of the motor.
The max. speed is normally selected automatically when this value
is set to 0.
35 AMR 0.01A 0-65535 Motor rated Set the rated current of the motor.
current The rated current is normally selected automatically when this
value is set to 0.
36 JMK (decimal) 0-65535 Motor inertia/ Set the inertia constant of the motor.
torque constant The inertia constant is normally selected automatically when this
value is set to 0.
37 KCM (decimal) 0-500 Inertia estimated Set the inertia estimated gain of the motor.
gain The inertia estimated gain is normally selected automatically when
this value is set to 0.
38 KVI (decimal) 0-500 Tuning speed Set the tuning speed integral compensation coefficient of the
integral motor.
compensation The tuning speed integral compensation coefficient is normally
coefficient selected automatically when this value is set to 0.
39 VGM (decimal) 0-500 Motor speed gain Set the speed gain constant of the motor.
constant The speed gain constant is normally selected automatically when
this value is set to 0.
40 MLD (decimal) 0-500 Motor overload Set the overload detection time constant of the motor.
detection time The overload detection time constant is normally selected
constant automatically when this value is set to 0.
41 KRC (decimal) 0-500 Motor inductive Set the inductive voltage constant of the motor.
voltage constant
42 IQG (decimal) -9999- Q axis gain Set the increase/decrease value for the standard setting of the Q
9999 axis gain.
43 IDG (decimal) -9999- D axis gain Set the increase/decrease value for the standard setting of the D
9999 axis gain.
44 IQI (decimal) -9999- Q axis Set the increase/decrease value for the standard setting of the Q
9999 compensation axis integral compensation.
45 IDI (decimal) -9999- D axis Set the increase/decrease value for the standard setting of the D
9999 compensation axis integral compensation.
46 ATI (hexa- 0000- Amplifier type Set the amplifier type.
decimal) FFFFh 0 0 0 *
∗1
∗1 Select the amplifier type.
Setting value Amplifier type
0 : MR-J2 10CT
1 : MR-J2 20CT
2 : MR-J2 40CT
3 : MR-J2 60CT
4 : MR-J2 70CT
5 : MR-J2 100CT
6 : MR-J2 200CT
7 : MR-J2 350CT
A parameter error will result if an incorrect value is set for the
amplifier.
47

10-21
 10. Auxiliary Axis Control

Setting
No. Symbol Unit Parameter name Details
range
50 MD1 (hexa- 0000- Monitor output Select the type of monitor data to be analog output.
decimal) FFFFh No. 1 0 0 0 *
∗1
∗1 Select the monitor output
0: Speed (± output) 8 [V] at max. speed
1: Torque (± output) 8 [V] at max. torque
2: Speed (+ output) 8 [V] at max. speed
3: Torque (+ output) 8 [V] at max. torque
4: Current command output (± output)
5: Command F∆T (± output) 8 [V] at 400 [KPPS]
6: Remaining pulse 1/1 (± output) 11.6 [V] at 2048
7: Remaining pulse 1/4 (± output) 11.6 [V] at 8192
8: Remaining pulse 1/1 (± output) 11.6 [V] at 32768
9: Remaining pulse 1/32 (± output) 11.6 [V] at 65536
A: Remaining pulse 1/64 (± output) 11.6 [V] at 13107
51 MO1 mV -32768- Monitor output Set the offset of the data to be analog output.
32767 offset 1
52 MG1 (decimal) 0-65535 Monitor output Set the magnification of the data to be analog output. Set n/256.
magnification 1 [Example] A setting of 256 = 256/256 or 1-fold
A setting of 512 = 512/256 or 2-fold
53 MD2 (hexa- 0-FFFF Monitor output Monitor output mode 2: Select the type of monitor data to be
decimal) No. 2 analog output.
0 0 0 *
∗1
∗1 Select the monitor output
0: Speed (± output) 8 [V] at max. speed
1: Torque (± output) 8 [V] at max. torque
2: Speed (+ output) 8 [V] at max. speed
3: Torque (+ output) 8 [V] at max. torque
4: Current command output (± output)
5: Command F∆T (± output) 8 [V] at 400 [KPPS]
6: Remaining pulse 1/1 (± output) 11.6 [V] at 2048
7: Remaining pulse 1/4 (± output) 11.6 [V] at 8192
8: Remaining pulse 1/16 (± output) 11.6 [V] at 32768
9: Remaining pulse 1/32 (± output) 11.6 [V] at 65536
A: Remaining pulse 1/64 (± output) 11.6 [V] at 131072
54 MO2 mV -32768- Monitor output Set the offset of the data to be analog output.
32767 offset 2
55 MG2 (decimal) 0-65535 Monitor output Set the magnification of the data to be analog output.
magnification 2 Set n/256.
[Example] A setting of 256 = 256/256 or 1-fold
A setting of 512 = 512/256 or 2-fold
56 STY (hexa- 0-FFh Servo
decimal) specification
100 station (decimal) 0-360 No. of index Set the No. of stations (No. of divisions).
stations

10-22
 10. Auxiliary Axis Control

Setting
No. Symbol Unit Parameter name Details
range
101 Cont1 (hexa- 0000- Control parameter Set the parameter for axis control.
decimal) FFFFh 1 0 * * *
Bit position Setting details
Bit 0: Automatic reference point dog method ... The automatic
operation zero point return will be carried
out each time with the dog method when this is set to 1.
Bit 1: Manual reference point dog method ... The manual
operation zero point return will be carried out
each time with the dog method when this is set to 1.
Bit 2: Soft limit invalid ... Set this value to 1 to invalidate the soft
limit function.
Bit 8: Reference point return − direction ... Set the creep direction
of the dog method zero point
return.
The creep direction becomes counterclockwise (CCW)
when this is set to 1.
Bit 9: Rotation axis shortcut control
... When station positioning by automatic operation for a
rotation axis, the positioning is carried out in the shortcut
direction when this is set to 1. The positioning is carried out
in the designated rotation direction when this is set to 0.
Bit A: Absolute position detection reference point selection ...
Select the reference point for obtaining the zero point during
dogless method absolute position initialization.
0: The machine reference (stopper, reference point
alignment) position is made the origin.
1: The reference grid (electrical zero point) is made the
origin.
Bit D: No zero point ... Set to 1 when there is no zero point. The
position at power ON is handled as the zero point, and a
zero point return is not required.
This is a bit-compliant parameter, but the parameter is set
with a hexadecimal.
For example, set Bit 8, Bit 9 and Bit 2 to "1" to set the
reference point return direction to CCW, validate the rotation
axis shortcut control, and invalidate the soft limit. Thus, the
setting for this parameter becomes "0304".
102 Cont2 (hexa- 00-FFh Control parameter Set the parameter of the control axis.
decimal) 2 0 0 * *
Bit position Setting details
Bit 1: Servo OFF error correction provided ... Set the handling of
the movement amount during servo OFF. The movement
amount coordinates during servo OFF are updated as is
when this is set to 1. The movement amount is retracted
during servo ON when this is set to 0, and the axis returns to
the original position.
Bit 2: Rotation axis ... Set to 1 for a rotation axis.
Bit 3: Station direction CCW ... Set the station No. assignment to
CW/CCW. The station Nos. are assigned as 2, 3, and 4 in
the CCW direction when this is set to 1.
Bit 6: No. of detector communication lines selection
... 0: 2-line method 1: 4-line method
Bit 7: Execute absolute position detection ... Set this to 1 to
validate the absolute position detection.
This is a bit-compliant parameter, but the parameter is set
with a hexadecimal.
For example, set Bit 2 and Bit 7 to "1" to execute absolute
position detection with a rotation axis. Thus, the setting for
this parameter becomes "0084".

10-23
 10. Auxiliary Axis Control

Setting Parameter
No. Symbol Unit Details
range name
103 EmgCont (hexa- 00-FFh Emergency Set the parameters for emergency stop control.
decimal) stop control 0 0 * *
parameter Bit position Setting details
Bit 0: Ignore external emergency stop ... The external emergency
stop is ignored when this is set to 1.
Bit 1: Bus emergency stop software control ... The emergency
stop of the hotline with the NC unit is controlled with the
software when this is set to 1.
Bit 2: Bus emergency stop invalid ... The emergency stop of the
hotline with the NC unit is ignored when this is set to 1.
Bit 3: Bus emergency stop output invalid ... Other axes are not
emergency stopped if the amplifier enters an emergency
stop state when this is set to 1.
This is a bit-compliant parameter, but the parameter is set
with a hexadecimal.
For example, set Bit 1 and Bit 2 to "1" to control the bus
emergency stop with the software and invalidate the bus
emergency stop. Thus, the setting for this parameter
becomes "0005".
104 Tleng mm 0-99999.999 Valid stroke
105 Axis name (character Axis name This is the auxiliary axis name. (4 characters or less consisting of
string) alphabetic characters and signs.)
110 ZRNspeed deg/min 1-9999999 Reference Set the feedrate clamp value in the dog method reference point
point return return command for incremental detection systems, and in the dog
speed method zero point initialization for absolute value detection
systems. The return speed is the manual operation speed, but is
clamped by the setting value of this parameter. Determine a return
speed corresponding to the dog length.
111 ZRNcreep deg/min 1-65535 Reference Set the approach speed to the reference point after a deceleration
point return stop by dog detection in the dog method reference point return
creep speed command for incremental detection systems, and in the dog
method zero point initialization for absolute value detection
systems.
112 grid mask 1/1000 0-65535 Grid mask The zero point position is placed on the grid. However, if the
deg amount position for obtaining the grid point is too close to the grid point
during a zero point return, etc., deviation to the next grid may occur
due to the stop position dispersion. To prevent this phenomenon,
the operation is set so grid points within a set amount from the stop
position are ignored. This amount is called the grid mask amount.
(1) During a dog method zero point return, the axis stops once and
the grid point is obtained after the near point dog signal turns
OFF. In this case, grid points within the grid mask amount are
ignored.
(2) During a dogless initialization, the grid is obtained after the
machine reference position is determined. The grid points
within the grid mask amount are ignored in the same manner.
113 grspc 1 grid 0-4 Grid spacing Normally, the grid spacing is also the same as the pitch, so there is
2n one grid point for every motor rotation. This parameter is used to
reduce that spacing, and the No. of electrical grid spacing divisions
are set.
(Note 1) Set the No. of divisions into which the grid spacing is
divided.
(Note 2) Always set this value to 0 for absolute position
detection systems.
Effective grid spacing = feed pitch (PIT)/2n
114 ZRNshift 1/1000 0-65535 Reference Set the distance from the electrical zero point detection position to
deg point shift the actual machine reference point in the dog method reference
amount point return command for incremental detection systems, and in
the dog method zero point initialization setting for absolute value
detection systems.
115 ST.ofset deg -99999.999- Station offset Set the offset amount when the zero point position and station 1
99999.999 position do not match.
116 ABS Base deg -99999.999- Absolute posi- Set the shift amount from the stopper position of the basic machine
99999.999 tion zero point coordinate zero point or electrical zero point (grid).
117 Limit (+) -99999.999- Software upper
99999.999 limit
118 Limit (−) -99999.999- Software lower
99999.999 limit

10-24
 10. Auxiliary Axis Control

Setting
No. Symbol Unit Parameter name Details
range
120 ABS Type (hexa- 00-FFh Absolute position Set the parameter of the absolute position detection.
decimal) detection parameter 0 0 0 *
∗1
∗1 Absolute position detection parameter
Bit position Setting details
Bit 1: Dog method initialization ... In absolute position
detection systems, initialization is carried out with a
dog method zero point return when this is set to 1.
Bit 2: No stopper ... In absolute position detection systems,
initialization is carried out with a reference point
alignment when this is set to 1.
Bit 3: Reference point Z direction ... Set the direction of the
absolute position reference point (previous grid point)
looking from the machine reference position with the
reference point alignment method.
0 = + direction, 1 = − direction
This is a bit-compliant parameter, but the parameter is
set with a hexadecimal.
For example, set Bit 2 and Bit 3 to "1" to initialize with
reference point alignment method and set the
reference point direction to the - direction. Thus, this
parameter setting becomes "000C".
121 push F deg/min 1-999 Absolute position Set the stopper speed for automatic initialization in absolute
initialization stopper position detection systems. This speed becomes the feedrate
speed from the start of the automatic initialization to the time the axis
stops at the grid point.
122 approach deg 0.000- Absolute position Set the approach amount for automatic initialization in
999.999 initialization absolute position detection systems. The axis returns the
approach amount approach amount after the 1st push, and the second push is
carried out.
The reference point becomes the approach point when this
parameter is set to 0.
123 ABScheck deg 0.000- Allowable amount of Set the allowable value of machine movement during power
99999.999 absolute position OFF for absolute position detection systems. An absolute
movement during position warning will result if this machine moves more than
power OFF the setting value during power OFF.
The movement amount will not be checked when this
parameter is set to "0".
130 backlash 1/1000 0-9999 Backlash Set the backlash compensation amount.
deg compensation
function
131
132 AUX1 (decimal) 0-65535 Spare
133 AUX2 (decimal) 0-65535 Spare
134 AUX3 (decimal) -99999.999 Spare
99999.999
135 AUX4 (decimal) -99999.999 Spare
99999.999
150 Aspeed1 deg/min 1-999999 Operation para- Set the movement speed for automatic operation. This
meter group 1 parameter also works as a speed clamp. This parameter is
Automatic oper- used when parameter group 1 is selected as the operation
ation speed parameters.
151 Mspeed1 deg/min 1-999999 Operation para- Set the movement speed for manual operation and JOG
meter group 1 mode.
Manual operation
speed
152 time1.1 msec 0-9999 Operation para- The acceleration/deceleration is automatically applied in all
meter group 1 commands. Set the time constant for when it is applied.
Acceleration/
deceleration time
constant 1
153 time1.2 msec 0-9999 Operation para- Soft acceleration/deceleration is selected when this
meter group 1 parameter is set. Set to 0 for linear acceleration/deceleration.
Acceleration/
deceleration time
constant 2

10-25
 10. Auxiliary Axis Control

Setting
No. Symbol Unit Parameter name Details
range
154 TL1 % 0-500 Operation para- Set the torque limit value.
meter group 1
Torque limit value
155 OD1 deg 0-32767 Operation para- Set the allowable value of the error for detection of the
meter group 1 excessive error alarm. The error is the difference in position
Excessive error between the command position and the feedback position.
detection width
156 just1 deg 0-99999.999 Operation para- A signal indicating that the machine position is on any one of
meter group 1 the stations is a set position reached signal. Set the allowable
Set position output value in which this signal is output. The set position reached
width signal turns OFF when the distance from the machine
position to the station exceeds this value.
157 near1 deg 0-99999.999 Operation para- Similar to the set position reached signal, a signal indicating
meter group 1 that the machine position is near a station position is a near
Near set position set position signal. Set the allowable value in which this signal
output width is output. Generally, the near set position output width is set
with a larger value than the set position output width.
158 Aspeed2 deg/min 1-999999 Operation para- Set the movement speed for automatic operation. This
meter group 2 parameter is used when parameter group 2 is selected as the
Automatic operation parameters.
operation speed
159 Mspeed2 deg/min 1-999999 Operation para- Set the movement speed for manual operation and JOG
meter group 2 mode.
Manual operation
speed
160 time2.1 msec 0-9999 Operation para- The acceleration/deceleration is automatically applied in all
meter group 2 commands. Set the time constant for when it is applied.
Acceleration/
deceleration time
constant 1
161 time2.2 msec 0-9999 Operation para- Soft acceleration/deceleration is selected when this
meter group 2 parameter is set. Set to 0 for linear acceleration/deceleration.
Acceleration/
deceleration time
constant 2
162 TL2 % 0-500 Operation para- Set the torque limit value.
meter group 2
Torque limit value
163 OD2 deg 0-32767 Operation para- Set the allowable value of the error for detection of the
meter group 2 excessive error alarm. The error is the difference in position
Excessive error between the command position and the feedback position.
detection width
164 just2 deg 0-99999.999 Operation para- A signal indicating that the machine position is on any one of
meter group 2 the stations is a set position reached signal. Set the allowable
Set position output value in which this signal is output. The set position reached
width signal turns OFF when the distance from the machine
position to the station exceeds this value.
165 near2 deg 0-99999.999 Operation para- Similar to the set position reached signal, a signal indicating
meter group 2 that the machine position is near a station position is a near
Near set position set position signal. Set the allowable value in which this signal
output width is output. Generally, the near set position output width is set
with a larger value than the set position output width.
166 Aspeed3 deg/min 1-999999 Operation para- Set the movement speed for automatic operation. This
meter group 3 parameter is used when parameter group 3 is selected as the
Automatic operation parameters.
operation speed
167 Mspeed3 deg/min 1-999999 Operation para- Set the movement speed for manual operation and JOG
meter group 3 mode.
Manual operation
speed
168 time3.1 msec 0-9999 Operation para- The acceleration/deceleration is automatically applied in all
meter group 3 commands. Set the time constant for when it is applied.
Acceleration/
deceleration time
constant 1

10-26
 10. Auxiliary Axis Control

Setting
No. Symbol Unit Parameter name Details
range
169 time3.2 msec 0-9999 Operation para- Soft acceleration/deceleration is selected when this
meter group 3 parameter is set. Set to 0 for linear acceleration/deceleration.
Acceleration/
deceleration time
constant 2
170 TL3 % 0-500 Operation para- Set the torque limit value.
meter group 3
Torque limit value
171 OD3 deg 0-32767 Operation para- Set the allowable value of the error for detection of the
meter group 3 excessive error alarm. The error is the difference in position
Excessive error between the command position and the feedback position.
detection width
172 just3 deg 0-99999.999 Operation para- A signal indicating that the machine position is on any one of
meter group 3 the stations is a set position reached signal. Set the allowable
Set position output value in which this signal is output. The set position reached
width signal turns OFF when the distance from the machine
position to the station exceeds this value.
173 near3 deg 0-99999.999 Operation para- Similar to the set position reached signal, a signal indicating
meter group 3 that the machine position is near a station position is a near
Near set position set position signal. Set the allowable value in which this signal
output width is output. Generally, the near set position output width is set
with a larger value than the set position output width.
174 Aspeed4 deg/min 1-999999 Operation para- Set the movement speed for automatic operation. This
meter group 4 parameter is used when parameter group 4 is selected as the
Automatic operation parameters.
operation speed
175 Mspeed4 deg/min 1-999999 Operation para- Set the movement speed for manual operation and JOG
meter group 4 mode.
Manual operation
speed
176 time4.1 msec 0-9999 Operation para- The acceleration/deceleration is automatically applied in all
meter group 4 commands. Set the time constant for when it is applied.
Acceleration/
deceleration time
constant 1
177 time4.2 msec 0-9999 Operation para- Soft acceleration/deceleration is selected when this
meter group 4 parameter is set. Set to 0 for linear acceleration/deceleration.
Acceleration/
deceleration time
constant 2
178 TL4 % 0-500 Operation para- Set the torque limit value.
meter group 4
Torque limit value
179 OD4 deg 0-32767 Operation para- Set the allowable value of the error for detection of the
meter group 4 excessive error alarm. The error is the difference in position
Excessive error between the command position and the feedback position.
detection width
180 just4 deg 0-99999.999 Operation para- A signal indicating that the machine position is on any one of
meter group 4 the stations is a set position reached signal. Set the allowable
Set position output value in which this signal is output. The set position reached
width signal turns OFF when the distance from the machine
position to the station exceeds this value.
181 near4 deg 0-99999.999 Operation para- Similar to the set position reached signal, a signal indicating
meter group 4 that the machine position is near a station position is a near
Near set position set position signal. Set the allowable value in which this signal
output width is output. Generally, the near set position output width is set
with a larger value than the set position output width.
190 stpos1 -99999.999 Station 2
99999.999 coordinates
191 stpos2 -99999.999 Station 3
99999.999 coordinates
192 stpos3 -99999.999 Station 4
99999.999 coordinates

10-27
 10. Auxiliary Axis Control

Setting
No. Symbol Unit Parameter name Details
range
193 stpos4 -99999.999 Station 5
99999.999 coordinates
194 stpos5 -99999.999 Station 6
99999.999 coordinates
195 stpos6 -99999.999 Station 7
99999.999 coordinates
196 stpos7 -99999.999 Station 8
99999.999 coordinates
197 stpos8 -99999.999 Station 9
99999.999 coordinates
200 PSWcheck (hexa- 00-FFh PSW detection Select the machine position where the position switch region
decimal) method selection judgment is carried out.
0: Judge by the machine position of the command system.
1: Judge by the feedback machine position (actual position).
201 PSW1dog1 deg -99999.999- PSW1 region Set the position switch region. When there is a machine
99999.999 setting 1 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
202 PSW1dog2 deg -99999.999- PSW1 region Set the position switch region. When there is a machine
99999.999 setting 2 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
203 PSW2dog1 deg -99999.999- PSW2 region Set the position switch region. When there is a machine
99999.999 setting 1 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
204 PSW2dog2 deg -99999.999- PSW2 region Set the position switch region. When there is a machine
99999.999 setting 2 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
205 PSW3dog1 deg -99999.999- PSW3 region Set the position switch region. When there is a machine
99999.999 setting 1 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
206 PSW3dog2 deg -99999.999- PSW3 region Set the position switch region. When there is a machine
99999.999 setting 2 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
207 PSW4dog1 deg -99999.999- PSW4 region Set the position switch region. When there is a machine
99999.999 setting 1 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
208 PSW4dog2 deg -99999.999- PSW4 region Set the position switch region. When there is a machine
99999.999 setting 2 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
209 PSW5dog1 deg -99999.999- PSW5 region Set the position switch region. When there is a machine
99999.999 setting 1 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
210 PSW5dog2 deg -99999.999- PSW5 region Set the position switch region. When there is a machine
99999.999 setting 2 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
211 PSW6dog1 deg -99999.999- PSW6 region Set the position switch region. When there is a machine
99999.999 setting 1 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
212 PSW6dog2 deg -99999.999- PSW6 region Set the position switch region. When there is a machine
99999.999 setting 2 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
213 PSW7dog1 deg -99999.999- PSW7 region Set the position switch region. When there is a machine
99999.999 setting 1 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
214 PSW7dog2 deg -99999.999- PSW7 region Set the position switch region. When there is a machine
99999.999 setting 2 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
215 PSW8dog1 deg -99999.999- PSW8 region Set the position switch region. When there is a machine
99999.999 setting 1 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
216 PSW8dog2 deg -99999.999- PSW8 region Set the position switch region. When there is a machine
99999.999 setting 2 position region between region settings 1 and 2, the
corresponding position switch signal turns ON.
217
218
219

10-28
 10. Auxiliary Axis Control

Setting
No. Symbol Unit Parameter name Details
range
220 push.L deg -9999.999- Stopper amount
9999.999
221 push.t1 msec 0-32767 Stopper standby
time
222 push.t2 msec 0-32767 Torque release time
223 push.t3 msec 0-32767 Set position reached
signal
Delay time

10-29
 10. Auxiliary Axis Control

5. Auxiliary Axis Monitor Screen

Monitor data such as current position, speed, status, tuning data and alarm history is displayed for the
auxiliary axes.

[Screen transition]
The screen transitions of the M520AM 9" CRT, 9.4" EL and 7.4" LCD screens are shown below.

Diagnosis (DIAGN)

[NC ALARM] DIAGN 1 1/1

[MESSAGE] [SERVO] [PLC-I/F] [PARAM] [MENU]

Change the menu by
[INPUT] [OUTPUT] [ERASE] [FILE] [MENU] pressing "MENU".

[COPY] [ ][ ] [NC-SPEC] [MENU]

[ ][ ] [ AUX ] [ ] [MENU]

Press the [AUX] menu.

"n" is the No. of auxiliary
Change the page axes (CT axes) Max. 6 axes.
by pressing the
NEXT/PREVIO [AUX MON <n>] DIAGN 5. n/ n
US screen key.
[AUX MON ﾄﾞﾙｰﾌﾟ< 4>] (i) 0 DIAGN 5. 4/ n
[AUX MON 回転速度(rpm)
< 3>] 0 DIAGN 5. 3/ n
ﾄﾞﾙｰﾌﾟ (i) (%) 0
[AUX MON <負荷電流 2>] 0 DIAGN 5. 2/ n
回転速度(rpm)
ﾄﾞﾙｰﾌﾟ MAX電流1
(i) (%) 0 0 0
[AUX MON < 1>]
負荷電流 (%) (%) 0 0 DIAGN 5. 1/ n
回転速度(rpm)
ﾄﾞﾙｰﾌﾟ MAX電流2
(i) 0 0
<MON> MAX電流1 (%) <COND> 0 <OPE>
負荷電流 負荷率
回転速度(rpm) (%) (%) 0 0 0
DROOPMAX電流1 (i) 回生負荷
MAX電流2 (%)(%)0 UNIT
(%)0TYP
0 0 0J2-00CT [J] Ope. test mode
負荷電流 (%)
SPEEDMAX電流2負荷率
(rpm) 現在stn.
(%)(%)0 S/W
No.No. BCD-B20W100A0
0 0 [M] Ope. mode JOG
MAX電流1 (%) 0 0
CURRENT 回生負荷
(%)
負荷率 (%) 現在位置 (%)
0 Motor 0 [P] Paramete set 1
MAX電流2 (%) 0 0 0.000
MAX 現在stn.
回生負荷
CUR1 (%) (%)No.
目標stn. 0 No. 0 0 0 [S] Scale 1/1000
負荷率 (%) 0
MAX CUR2現在位置
現在stn. 指令位置
(%)(%)No. 0 <TUNING> 0.000 0.000 [Z] Abs. Pos. init.
回生負荷 0 0
目標stn.
現在位置 No.
CTｱﾗｰﾑ 00000
Motor Load
現在stn. (%)No. 0aaagain
0 Pos.0.000
con. 1 aaa 999
0000 aaaInitial0000 aaa 0000
Origin type
指令位置No.
目標stn. 0.000
0 gain 1
OVER現在位置REG (%) 0 Speed
0.000con. 999 Completion
CTｱﾗｰﾑ aaa 0.000
0000 aaa 0000 aaa 0000 aaa 0000
stn.指令位置
Cur.目標stn.No. No. 0 Speed 0con. gain 2 999 [T] Origin set
MAC 指令位置CTｱﾗｰﾑ
POS aaa Speed
0.000 0000int. aaa
0.000 comp0000 aaa 999 0000 aaa 0000
Inst.CTｱﾗｰﾑ
stn. No. aaa0 0000 aaa 0000 aaa 0000 aaa 0000
Inst. pos. 0.000 Load inertia 999.9
AUX ALARM aaa 0000 aaa 0000 aaa 0000 aaa 0000

[ ][ ][ AUX ][ ] [ MENU ]

10-30
 10. Auxiliary Axis Control

[Screen transition]
The screen transitions of the M520AM and M500M 14" CRT and 10.5" LCD screens are shown
below.

Diagnosis (DIAGN)

[NC ALARM] DIAGN 7 1/1

Change the menu by

COORDI | C-MODAL | SERVO | SPINDLE | PLC-I/F | NC-SPEC | PLC MON | NC MON | MENU pressing "MENU".
AUX | | | | | | | | MENU

Press the [AUX] menu.

"n" is the No. of auxiliary

axes (CT axes) Max. 6 axes.
Change the page
by pressing the [AUX MON <n>] DIAGN 5. n/ n
NEXT/PREVIO
US screen key.
[AUX MON < 4>] DIAGN 5. 4/ n
[AUX MON < 3>] DIAGN 5. 3/ n
ﾄﾞﾙｰﾌﾟ ﾄﾞﾙｰﾌﾟ (i) (i) 0 0
[AUX MON <回転速度(rpm)
2>] 0 DIAGN 5. 2/ n
回転速度(rpm)
ﾄﾞﾙｰﾌﾟ (i) 0 0
[AUX MON < 1>]負荷電流
負荷電流 (%) (%) 0 0 DIAGN 5. 1/ n
回転速度(rpm)
ﾄﾞﾙｰﾌﾟ (i) 0
<MON> MAX電流1 MAX電流1 (%) 0
(%) <COND> 0 <OPE>
負荷電流
回転速度(rpm) (%) 0 0 0
DROOPMAX電流1 (i) MAX電流2
MAX電流2 (%) 0
(%) (%) TYP 0
UNIT 0J2-00CT [J] Ope. test mode
負荷電流 (%) 0 0
SPEEDMAX電流2 (rpm) 負荷率
負荷率 0 S/W
(%)(%)
(%) 0
No.0 BCD-B20W100A0
0 [M] Ope. mode JOG
MAX電流1 (%) 回生負荷 (%)0 0
CURRENT 負荷率回生負荷
(%) (%) (%)
0 Motor 0 0 [P] Paramete set 1
MAX電流2 (%) 現在stn. No.0 0
MAX 現在stn.
回生負荷
CUR1 (%) (%)No.
0 0 0 [S] Scale 1/1000
負荷率 (%)
現在位置 0
MAX CUR2現在位置
現在stn. (%)(%)No. 0 <TUNING> 0.000 0.000 [Z] Abs. Pos. init.
回生負荷 目標stn. No. 0 0
Motor Load目標stn.
現在位置 (%)No. No.
0 Pos.0.000
con. 0 1 0
現在stn. 指令位置 0 gain 0.000 999 Initial Origin type
指令位置No.
目標stn. 0.000
0 gain 1
OVER 現在位置REG (%) CTｱﾗｰﾑ 0 0.000
Speed aaa
con. 999 Completion
CTｱﾗｰﾑ 0000 0000
aaa 0.000 aaa 0000
aaa 0000 aaa 0000
aaa 0000 aaa 0000aaa 0000
stn.指令位置
Cur.目標stn. No. No. 0 Speed 0con. gain 2 999 [T] Origin set
MAC 指令位置CTｱﾗｰﾑ
POS aaa Speed
0.000 0000int. aaa
0.000 comp0000 aaa 999 0000 aaa 0000
CTｱﾗｰﾑ
Inst. stn. No. aaa 0 0000 aaa 0000 aaa 0000 aaa 0000
Inst. pos. 0.000 Load inertia 999.9
AUX ALARM aaa 0000 aaa 0000 aaa 0000 aaa 0000

AUX | | | | | | | | MENU

10-31
 10. Auxiliary Axis Control

Auxiliary axis monitor screen specifications

9-inch auxiliary axis monitor screen

"DIAGN 9." on the 14" CRT screen differs from the menu display.

[AUX MON< 1>] AUX1 DIAGN 5. 1/ n

<MON> <COND> <OPE>
DROOP (i) 0 UNIT TYP J2-00CT [J] Ope. test mode
SPEED (rpm) 0 S/W No. BCD-B20W100A0 [M] Ope. mode JOG
CURRENT (%) 0 Motor [P] Paramete set 1
MAX CUR1 (%) 0 [S] Scale
MAX CUR2 (%) 0 <TUNING> [Z] Abs. Pos. init.
Motor Load (%) 0 Pos. con. gain 1 9999 Initial Origin type
OVER REG (%) 0 Speed con. gain 1 9999 Completion
Cur. stn. No. 0 Pos. con. gain 2 9999 [T] Origin set
MAC POS 0.000 Speed con. gain 2 9999
Inst. stn. No. 0 Speed int. comp 9999 Normal
Inst. pos. 0.000 Load inertia 999.9
AUX ALARM EMG STOP Z73 0010 S01 0099 S53 001F
ALM HIST. [S01 0000][S02 0000][S03 0000][S04 0000][S05 0000][S06 0000]

[ ][ ][ ][ AUX ][ ][ MENU ]

"n" is the No. of axes.

< Item display: Monitor >

Auxiliary axis
Item Data range Remarks
data name
DROOP (i) −999 to 999 Position droop
SPEED (rpm) 0 to 9999 Motor speed 1
CURRENT (%) −999 to 999 Effective load rate
MAX CUR1 (%) −999 to 999 Command torque
MAX CUR2 (%) −999 to 999 Command torque peak hold
Motor Load (%) −999 to 999 Motor load rate
Regeneration resistance
OVER REG (%) −999 to 999
heat generation load rate
Auxiliary axis status
Cur. stn. No. 1 to 360
Station position
MAC POS 10−3 −99999.999 to 99999.999 Feedback machine position
Inst. stn. No. 1 to 360 Target station No.
Inst. pos. 10−3 −99999.999 to 99999.999 Target station coordinates

Alarm Alarm No. Alarm information System alarm

Alarm No. Alarm information Servo alarm
Alarm No. Alarm information System warning
Alarm No. Alarm information Servo warning
Alarm No. Alarm information Operation error

10-32
 10. Auxiliary Axis Control

Auxiliary axis
Item Data range Remarks
data name
Alarm history
ALM HIST [Type Error No.] Max. of 6 items
(type and error No.)

Pos. con. gain 1 0 to 999 Position control gain 1

Speed con. gain 1 0 to 999 Speed control gain 1
Pos. con. gain 2 0 to 999 Position control gain 2
Speed con. gain 2 0 to 999 Speed control gain 2
Speed int. comp 0 to 999 Speed integral compensation
Load inertia 0 to 999.9 Load inertia ratio

Auxiliary axis
Item Data range Remarks
data name
Ope. test mode ON/OFF
Ope. mode JOG JOG operation mode selection
Incremental Incremental mode
Manual operation Manual operation mode selection
Handle Handle mode selection

Parameter set 1 to 4 Operation parameter selection

Scale (incremental feed) 1/1 to 1/1000 Incremental feed magnification
Scale (handle feed) 1 to 1000 Incremental feed magnification
Abs. Pos. init. ON/OFF
Origin set ON/OFF Reference point setting

Forward run start/ Forward run/reverse run,

Rotation, start
Reverse run start/Stop operation start

Alarm history display

Up to 6 items of alarm history (alarm No. and alarm information) for the auxiliary
axis are displayed. The items are displayed in order from left to right, with the newest
item on the left.
History Newest ← → Oldest
Display order 1 2 3 4 5 6
Alarm history display [S01 0000][S02 0000][S03 0000][S04 0000][S05 0000][S06 0000]
Alarm information
Alarm No.

10-33
 10. Auxiliary Axis Control

6. Operation Screen
The display and transition of this screen are the same as that of the auxiliary axis monitor screen. Each
operation is set using the operation keys.
Operation adjustment mode Operation key: J (shift Q on the 9-inch operation board)
Status: ON ↔ OFF
Turn off the auxiliary axis control from the PLC, and change the control to the operation keys on
the auxiliary axis monitor screen. "Ope. test mode" is highlighted at ON.
The changeover operation is validated when the machine parameters can be changed ((1001) ( )
(M) in I/F diagnosis). It is not possible to change over to the operation adjustment mode when the
operation start (∗) signal from the PLC is ON for the axis displayed on the auxiliary axis monitor
screen.
The alarm "E165 AUX RUNNING" is displayed after the operation key J is pressed.
It is possible to change over to the operation adjustment mode when the operation adjustment
mode valid signal (∗) from the PLC is ON while the auxiliary axis is stopped.
Changeover to the auxiliary axis operation adjustment mode when the J key is pressed
Machine parameter setting valid
OFF ON
I/F diagnosis (1001) ( ) (M)
Auxiliary axis operating (ST) (∗) OFF/ON OFF ON
Changeover to the Auxiliary axis
OFF operation adjustment operating alarm
Changeover to the mode not possible
Auxiliary axis operation adjustment display
operation adjustment
mode valid signal (∗) Changeover to the Changeover to the
mode not possible
ON operation adjustment operation adjustment
mode valid mode not possible

The in operation adjustment mode signal (∗) to the PLC turns ON while the auxiliary axis operation
adjustment mode is ON. The operation adjustment mode and in operation adjustment mode
signal (∗) to the PLC turn OFF if either of the following is carried out: If the operation key J is
pressed during the operation adjustment mode, or if the screen is changed from the auxiliary axis
monitor screen to another screen (the same for other axes' monitor displays) during the operation
adjustment mode.
The operation adjustment mode is maintained if the operation adjustment mode valid signal from
the PLC turns OFF during the operation adjustment mode.
Transition diagram of operation adjustment mode statuses

J key

Operation adjustment
mode valid signal

In operation
adjustment mode

In operation
adjustment mode
signal

Before operating the auxiliary axis in the operation adjustment mode, first use the PLC to turn the
auxiliary axis servo OFF and cancel the interlock. Do not turn the operation start (ST) command
ON during the auxiliary axis operation adjustment mode.
(Note) Refer to section "3. Explanation of auxiliary axis commands and status data" for more
information on items indicated with an asterisk (∗).

10-34
 10. Auxiliary Axis Control

The following operations are valid when the operation adjustment mode is ON.

Operation mode selection Operation key : M

Setting : JOG → Incremental → Manual operation → Handle

The mode in which the operation is carried out is set as a No.

Operation parameter group selection

Operation key : P
Setting : 1→2→3→4

The No. of the movement speed, time constant, etc., operation parameter group is set.

Magnification Operation key : S

Setting Incremental mode: 1/1 → 1/10 → 1/100 → 1/1000
Handle mode : 1 → 10 → 100 → 1000

The feed amount is set for each start when the incremental mode is selected.
The handle rotation magnification is set when the handle mode is selected.

Absolute position initialization selection

Operation key : Z
Setting : ON ↔ OFF

This setting is turned ON when carrying out absolute position initialization.

When this is turned ON, "Abs. Pos. init." is highlighted on the screen.
Absolute position detection from the operation adjustment mode is only possible by
manual operation.

Initialization The method (dog, stopper, reference point alignment) designated in the
auxiliary axis parameter #120 ABS Type (absolute value detection
parameter) is displayed.
The status (completed, error) during initialization is displayed.

Reference point setting Operation key : T

Setting : ON ↔ OFF

This operation key is pressed when a reference point setting is required.

10-35
 10. Auxiliary Axis Control

After setting the modes above, start and stop the operation using the following key operations. After
starting the operation, the operation is stopped and the operation adjustment mode canceled when the
auxiliary axis monitor screen is changed to another screen, or when the monitored axis is changed.

Forward run start Operation key : ↑

Setting : Forward run start/stop

The operation is started in the forward direction. The operation stops when this key is
pressed during start.

Reverse run start Operation key : ↓

Setting : Reverse run start/stop

The operation is started in the reverse direction. The operation stops when this key is
pressed during start.

Stop Operation key : Press any key besides the shift key.
Example: A key
Setting : The forward run start/reverse run start is stopped.

The operation stops during forward run/reverse run.

The following table shows the operation status (operation start, operation stop) when the operation keys
are pressed during the operation adjustment mode of the auxiliary axis monitor screen.

Operation status (status before key operation)

Key operation
Stop status Forward run status Reverse run status Screen transition
Forward run start ↑ key Forward run start Stop Stop No change
Reverse run start ↓ key Reverse run start Stop Stop No change
Alphanumeric character Remains in stopped
Stop Stop No change
key, macro keys status
Remains in stopped Remains in forward run Remains in reverse run
→←, TAB keys No change
status status status
Remains in stopped Remains in forward run Remains in reverse run
Shift, CB, del, input keys No change
status status status
Remains in stopped Remains in forward run Remains in reverse run Window opened and
Window operation key
status status status closed
Remains in stopped
NC function, menu keys Stop Stop Changes
status
Remains in stopped Remains in forward run Remains in reverse run
Menu changeover key No change
status status status
Next page/previous page Remains in stopped
Stop Stop Changes
keys status
Cycle start, reset keys, Remains in stopped Remains in forward run Remains in reverse run
No change
etc. status status status

The above table is applicable to the "JOG", "Incremental" and "Manual operation" modes.

"Handle" operation is enabled after the mode changeover.

10-36
 10. Auxiliary Axis Control

Initialization The method (dog, stopper, reference point alignment) designated in the
auxiliary axis parameter #120 ABS Type (absolute value detection
parameter) is displayed.
The initialization status of the auxiliary axis is displayed.

• Completed
This is displayed when the absolute position has been established in the stopper and reference
point alignment positioning.
The status is displayed when the grid has been reached in the stopper and reference point
alignment positioning and the zero point initialization has been completed.
• Illegal
This is displayed when the absolute position is lost during the stopper or reference point
alignment positioning.
• Stopper movement
This is displayed when the zero point initialization is the stopper method, and the absolute
position is being initialized.
This status continues until the stopper is pressed against.
• Stopper cancel
This status is entered when the tool presses against the stopper, and the current limit is
reached after a set time elapses.
• Reference point return
After the tool has pressed against the stopper, this indicates the status when the tool is moving
in the opposite direction from the time the stopper is canceled to the time the grid is reached.
For the reference point alignment method, this indicates the status when the tool is moving in
the reference point direction set in parameter #120 ABS Type to a time just before the grid is
reached.
• Reference point alignment
When the zero point is initialized by the reference point alignment method, this indicates the
status when the tool is moving to the machine reference point from the time during absolute
position initialization, until the reference point is designated.
• Zero point return
This indicates the tool has returned to the zero point by the dog method initialization.

The screen will be blank for all statuses other than those described above.

Changes in status for each zero point initialization method

Stopper Reference point alignment Dog method
Absolute position
loss Illegal Illegal Illegal

Absolute position Stopper movement Reference point

initialization alignment

Stopper cancel
Stopper
Reference point
Reference point return
setting ON
Zero point
Zero point return return

Completion Completion Completion

Absolute position
establishment

10-37
 10. Auxiliary Axis Control

7. Others
7.1 Auxiliary Axis Communication MCP Software Version Display
The software No. (AUX MCP) of the auxiliary axis communication MCP is displayed in the software list on
the NC diagnosis screen.
This software No. is displayed by the M520AM. Only the item name (AUX-MCP) is displayed when there
is no M500M or auxiliary axis MCP (QX571) mounted.

9" CRT, 9.4" EL, 7.4" LCD Software list screen

[SOFTWARE FILE] DIAGN 4. 1/ 7

TYPE SERIAL

MAIN BND- RD1 BND-

BOAD RD2
FONT RD3
LANG1
LANG2
PLCu AUX-MCP 301W303-A0
APLC
FONTu
LANGu1
LANGu2
OFF_M
MACADR.

[MESSAGE] [SERVO] [PLC-I/F] [NC-SPEC] [MENU]

10-38
 10. Auxiliary Axis Control

14" CRT, 10.5" LCD Software list screen

<NC ALARM> [SOFTWARE FILE] DIAGN 6. 1/ 5

TYPE SERIAL

MAIN BND-302W000-D∗∗ RD1

<STOP CODE> BOAD RD2
FONT RD3
LANG1
LANG2
PLCu AUX-MCP 301W304-A0
<ALARM MESSAGE> APLC
SFPu
SFPs
CHIS
LANGu1
<OPERATOR MESSAGE> LANGu2
OFF_M
MACADR.

10-39
 10. Auxiliary Axis Control

8. Auxiliary Axis Alarms

8.1 Auxiliary Axis Monitor Screen Display Alarms
The below alarms are displayed on the auxiliary axis monitor screen when the occur.

(1) Alarms occurring on the auxiliary axis (system alarms, servo alarms, etc.)
Up to four items (alarm No. and alarm information) are displayed in the following order when the alarm
information is valid. Error Nos. exceeding the max. value of each display are clipped at the max. value.
Alarm No. (error No.)
5 or Alarm information
1 2 3 4
more
1 System alarm Z70 Z71 Z72 Z73 Z99
2 Servo alarm S01 S02 S03 S04 S51 Max. 4-digit numerical value alarm
3 System warning Z01 Z02 Z03 Z04 Z69 information in decimal and
4 Servo warning S52 S53 S54 S55 S99 hexadecimal display.
5 Operation error M01 M02 M03 M04 M99

"EMG Emergency stop" is displayed when an emergency stop is entered by the auxiliary axis amplifier.

Alarm example Display

Auxiliary axis emergency stop EMG emergency stop
System alarm Alarm No. 4 Alarm No. 10 Z73 0010
Servo alarm Alarm No. 1 Alarm No. 99 S01 0099
Servo warning Alarm No. 2 Alarm No. 1F S53 001F
Operation error Alarm No. 100 Alarm No. 0 M99 0000

Screen display example

Auxiliary axis alarm EMG emergency stop Z73 0010 S01 0099 S53 001F

(2) Error during auxiliary axis communication (Alarm occurred in the auxiliary axis
communication MCP)
An alarm occurring in the auxiliary axis communication MCP will change to the one of the above
alarms and be displayed as one of the following alarms.

Auxiliary axis alarm

Auxiliary axis system error 0000 0000
Alarm information
0000: CRC error (10 times/910.2msec)
0001: CRC error (4 times in succession)
0002: Reception timing error
xx03: Data ID error xx: axis No.
xx04: No. of reception frames error
xx: Error frame No.

Error No.
0051: Error between MCP amplifiers
Message display Error details
AUX AMP UNEQUIPPED Error during auxiliary axis initialization (auxiliary axis timeout)
AUX AMP UNEQUIPPED Illegal No. of auxiliary axis settings
AUX SYSTEM ALARM Illegal data during auxiliary axis communication

10-40
 10. Auxiliary Axis Control

8.2 Auxiliary Axis Alarm Displays of the NC Alarm Screen

Auxiliary axis alarms are displayed in the <NC alarm> area on the NC diagnosis screen.
NC operation is possible even when an auxiliary alarm is displayed in the NC status area.

Auxiliary axis alarms are not displayed when NC alarms occur corresponding to NC system alarms,
servo alarms, MCP alarms, servo warnings and operation alarms.

Auxiliary axis alarm display format

S01 Auxiliary axis servo error 0001 0003

Axis where alarm occurred
Hexadecimal display
bit0: 1st axis
bit1: 2nd axis
bit2: 3rd axis

bitN: Nth + 1 axis

Alarm information
Hexadecimal display

Alarm message

Only alarm messages are displayed for auxiliary axis MCP alarms (auxiliary axis amplifier not
mounted, auxiliary axis system error, auxiliary axis emergency stop).

Auxiliary axis MCP alarm message

(Auxiliary axis alarms other than those shown below are displayed as "OTHER".)
NC alarm
Message Details
classification
System alarm Z70 AUX POS. ERR. Zero point initialization incomplete for the auxiliary axis servo
Absolute position reference data loss
Z71 AUX DETEC. ERR Power voltage drop in the auxiliary axis servo
Z72 AUX SYSTEM ALM System alarm in the auxiliary axis servo
Z73 AUX SYSTEM WRN Absolute position counter warning in the auxiliary axis servo

Servo alarm S01 AUX SERVO ALM Absolute position loss and parameter error in the auxiliary axis servo
S02 AUX SERVO ALM PCB or detector error in the auxiliary axis servo
S03 AUX SERVO ALM Undervoltage, overcurrent or overload in the auxiliary axis servo
S04 AUX SERVO ALM Error in the auxiliary axis servo (other than the above)

MCP alarm Y02 AUX SYSTEM ALM Error during communication with the auxiliary axis servo
Y03 AUX AMP UNEQU. Auxiliary axis servo is not connected.
EMG AUX EMERGENCY Emergency stop occurrence from the auxiliary axis servo

Servo warning S52 AUX SERVO WRN Overload warning, etc., in the auxiliary axis servo

Operation alarm M00 AUX OPER. ALM Zero point return illegal for the auxiliary axis servo, or interlock
applied
M01 AUX OPER. ALM No operation mode for the auxiliary axis servo, or start not possible

10-41
 10. Auxiliary Axis Control

9. Parameter Input/Output
9.1 Parameter Output
[ETHERNET] [DISK] [DATA OUTPUT]
#1 IN #1 PROGRAM
#2 COM #2 TOOL OFFSET
#3 OUT #3 PARAMETER OFF
#4 ALL OUT

#9 FILE
#10 DEVICE
#11 DATA 1: PROGRAM 2: TOOL OFFSET
3: PARAMETER OFF
28: AUX PARAM

[Ethernet communication] [Disk]

(1) Input with # (11) ( 28) ( ) ( ).
28: The auxiliary axis parameter is selected. (Display blank at first.)
(2) Input with # (3) ( File name) ( ) ( ). (Extensions can be omitted.)
The following messages appear in order: Writing data → Outputting data → Data output
completed.
Data is output as "File name. AUX".

[Data output] (RS-232-C)

(1) When input with # (28) Data ( ) ( ), the following messages appear in order: Writing data →
Outputting data → Data output completed.
∗ Data is output for 6 axes at a time.

9.2 Parameter Input

[ETHERNET] [DISK] [DATA INPUT]
#1 IN #1 PROGRAM
#2 COM #2 TOOL OFFSET
#3 OUT #3 PARAMETER OFF
#4 ALL OUT
#10 MODE
#9 FILE 1: IN 2: COM
#10 DEVICE
#11 DATA 1: PROGRAM 2: TOOL OFFSET
3: PARAMETER OFF
28: AUX PARAM

[Ethernet communication] [Disk]

(1) Input with # (11) ( 28) ( ) ( ).
28: The auxiliary axis parameter is selected.
(2) Input with # (1) ( File name) ( ) ( ). (Extensions can be omitted.)
The following messages appear in order: Inputting data -> Writing auxiliary axis -> Data input
completed.
"File name. AUX" is input.

[Data input]
(1) Input with #(10) Data ( 1) ( ), and enter the input mode.
(2) When input with #(28) Data ( ) ( ), the following messages appear in order: Inputting data →
Writing auxiliary axis -> Data input completed.
• The No. of axes that can be written to the auxiliary axis amplifier is set in the "Basic specification
parameters" #15 AUX axis_num.

10-42
 10. Auxiliary Axis Control

9.3 Parameter Comparison

[ETHERNET] [DISK] [DATA INPUT]
#1 IN #1 PROGRAM
#2 COM #2 TOOL OFFSET
#3 OUT #3 PARAMETER OFF
#4 ALL OUT
#10 MODE
#9 FILE 1: IN 2: COM
#10 DEVICE
#11 DATA 1: PROGRAM 2: TOOL OFFSET
3: PARAMETER OFF
28: AUX PARAM

[Ethernet communication] [Disk]

(1) Input with #(11) ( 28) ( ) ( ).
28: The auxiliary axis parameter is selected.
(2) When input with # (2) ( File name) ( ) ( ), the following messages appear in order: Comparing
data → Comparison completed (When OK).
"File name. AUX" is compared.

[Data input]
(1) Input with # (10) Data ( 2) ( ), and enter the comparison mode.
(2) Input with # (28) Data ( ) ( ).
The following messages appear in order: Comparing data → Comparison completed (When OK).

9.4 Parameter Copy

Using the auxiliary axis parameter screen, the auxiliary axis parameters can be copied from the nth axis
to the mth axis.

[AUX PARAM]
# < 1> AUX1 <2> AUX2 ･･･････ < 5> AUX5
1
2
...
12
# ( ) AXIS < > DATA ( )

<<Procedure>>
(1) Set the No. of auxiliary axes to be copied, and start the system.
(2) Open the auxiliary axis parameter screen (AUX PARAM) (at any page), and input the following as
an example.
# (999) Axis < 1 > Data ( 5) ∴ Copy from the 1st axis → 5th axis. 3.
(3) The message "Writing auxiliary axis" appears, then disappears when the writing is finished. The
5th axis parameter value is changed at this time.
(4) Turn ON the NC unit power again and confirm that the parameter has been copied.

• A setting error will result in the following cases:

1) When either Axis < > or Data ( ) is input blank (or when characters other than numeric
characters are included.)
2) When the Axis < > and Data ( ) axis Nos. are duplicated.
3) When the number of Axis < > and Data ( ) axis Nos. is larger than the No. of axes set in (AUX
axis_num).
4) When the number of Axis < > and Data ( ) axis Nos. is smaller than 0 (minus numerical value).
• The error (E165 AUX RUNNING) will result if the parameter is copied during auxiliary axis starting.

10-43
 10. Auxiliary Axis Control

9.5 List of Data Input/Output Functions

Media: - Possible, × -Not possible, ∗ when fix_p = 1

Input/output function
RS232C Disk Extensions Ethernet Extensions
1: PROGRAM None None
2: TOOL OFFSET TOL TOL
3: PARAMETER PRM PRM
4: FIXED CYCLE∗ FIX FIX
5: SFP DATA (14-inch) SFP SFP
6: WORK OFFSET WRK WRK
7: COMMON VAR. VAR VAR
8: TOOL TILE TLF TLF
9: ATC ATC ×
15: CUSTOM 1 ME1 ×
16: CUSTOM 2 ME2 ×
17: CUSTOM 3 ME3 ×
18: CUSTOM 4 ME4 ×
21: HISTORY HST ×
22: WAVE DATA VIS ×
23: USER BACKUP REG ×
24: SPECIFIED AREA MEM ×
26: LADDER DATA PLC ×
28: AUX PARAM AUX AUX
50: MAINTENANCE DATA × MNT ×
99: MAINTENANCE DATA × ×

∗ There is no disk or Ethernet media for the M520AM.

9.6 NC Unit Help Messages on the Data Input/Output Screen

[IN/OUT]
1: PROGRAM 15: CUSTOM 1
2: TOOL OFFSET 16: CUSTOM 2
3: PARAMETER 17: CUSTOM 3
5: SFP DATA 18: CUSTOM 4
6: WORK OFFSET 21: HISTORY
7: COMMON VAR. 22: WAVE DATA
8: TOOL TILE 23: USER BACKUP
9: TLM 24: SPECIFIED AREA
26: LADDER DATA
28: AUX PARAM

THE DATA TO BE HANDLED IS

SELECTED BY THE NO. ABOVE

10-44
 10. Auxiliary Axis Control

9.7 Supplement
(1) When the No. of set axes (AUX axis_num) and No. of connected axes (No. of auxiliary axes actually
mounted) differ
1) No. of set axes > No. of connected axes ･････ The alarm "Auxiliary axis amplifier not
mounted" will occur, so auxiliary axis
parameter input/output is not possible.
2) No. of connected axes > No. of set axes ･････ Auxiliary axis parameters are input/output
only for the No. of axes set.

(2) Writing to the auxiliary axis amplifier is also carried out during the input in section "9.2 Parameter
input".
Thus, the parameter value is held in the auxiliary axis amplifier.

(3) When an alarm or reset/EMG occurs during auxiliary axis writing

1) The writing is interrupted if the parameters cannot be written due to errors such as "Auxiliary
axis amplifier not mounted" alarms.
2) The writing is carried out to the completion even when an alarm or reset/EMG occurs.

(4) The error "E84 CAN’T IN/OUT" will result if auxiliary axis parameters are input/output when no
auxiliary axis amplifier is connected.

(5) Auxiliary axis parameters cannot be input/output during automatic operation. (The error "E21
PROGRAM RUNNING" will result.)

(6) The absolute position of the auxiliary axis is not input/output to the parameters.

(7) The error "E165 AUX RUNNING" will result if auxiliary axis parameters are input/output during an
auxiliary axis start.

10-45
 10. Auxiliary Axis Control

9.8 Restrictions
(1) M520AM
One NC unit slot is occupied during auxiliary axis control.

(2) M500M
When an MCP card (QX721) is added during auxiliary axis control, the No. of connected axes and No.
of slots are restricted.
• The No. of servo axes and spindles is restricted to an amount for up to two MCP cards.
(MAX: 12 axes Note that the servo axes (NC axes, PLC axes) are restricted to a max. of 10, and
the spindles are restricted to a max. of 4)
• One NC unit slot is occupied when two MCP cards are used in the servo and spindle.

(3) M500M-P
The restrictions are the same as those for the M500M.

10-46
Chapter 11 Tool Handle Feed and Interrupt
 11. Tool Handle Feed and Interrupt

1. Function Outline
1.1 Handle Feed
The axis moves corresponding to each mode when the manual pulse generator is rotated while the
following mode conditions are fulfilled.
(1) The handle mode is selected.
(2) The feed axis selection mode is set.
1) Tool axis
2) Tool nose radius X or Y
3) Rotation A (B) or C

1.2 Handle Interrupt

In addition to the normal handle interrupt function, it is also possible to interrupt movement in the tool axis
direction only using the manual handle. The No. of pulses is superimposed on the tool axis direction
when the manual pulse generator is rotated while the following mode conditions are fulfilled.
(1) The MDI, memory or tape mode is selected.
(2) The cutting feed mode is entered.
(3) The automatic-manual synchronized operation mode is entered.
(4) The tool axis is selected as the feed axis.

1.3 Machine Configuration

Tool nose radius

direction Y

Tool
Tool

Tool axis Tool axis

direction direction

Tool nose radius Tool nose radius

direction X direction X

Tool nose radius

direction Y

∗ The 5-axis handle feed option is required for this function. The No. of control axes must be set so that
the 5-AXIS PARAMETER ERROR alarm does not occur. Otherwise, the 5-axis handle feed will not
operate.

11-1
 11. Tool Handle Feed and Interrupt

2. Function Details
2.1 Methods of Pulse Distribution to Each Axis
The methods for distributing pulses to each axis using the handle feed are as follows.

(1) A and C axes

Xp1 = Hp × sin(A) × sin(C)
Axis direction Yp1 = −Hp × sin(A) × cos(C)
Zp1 = Hp × cos(A)
Xp2 = Hp × cos(C)
Radius X axis Yp2 = Hp × sin(C)
Zp2 = 0
Xp3 = −Hp × cos(A) × sin(C)
Radius Y axis Yp3 = Hp × cos(A) × cos(C)
Zp3 = Hp × sin(A)
Xp4 = L3 × {sin(A + Ap) − sin(A)} × sin(C)
Rotation A Yp4 = −L3 × {sin(A + Ap) − sin(A)} × cos(C)
Zp4 = L3 × {cos(A + Ap) − cos(A)}
Ap = Hp
Xp5 = L3 × {sin(C + Cp) − sin(C)} × sin(A) + [−L1 × {cos(C + Cp) − cos(C)}]
Rotation C Yp5 = −L3 × {cos(C + Cp) − cos(C)} × sin(A) + [−L1 × {sin(C + Cp) − sin(C)}]
Zp5 = 0
Cp = Hp

(2) B and C axes

Xp1 = Hp × sin(B) × cos(C)
Axis direction Yp1 = Hp × sin(B) × sin(C)
Zp1 = Hp × cos(B)
Xp2 = Hp × cos(B) × cos(C)
Radius X axis Yp2 = Hp × cos(B) × sin(C)
Zp2 = −Hp × sin(B)
Xp3 = −Hp × sin(C)
Radius Y axis Yp3 = Hp × cos(C)
Zp3 = 0
Xp4 = L3 × {sin(B + Bp) − sin(B)} × cos(C)
Rotation B Yp4 = L3 × {sin(B + Bp) − sin(B)} × sin(C)
Zp4 = L3 × {cos(B + Bp) − cos(A)}
Bp = Hp
Xp5 = L3 × {cos(C + Cp) − cos(C)} × sin(B) + L1 × {sin(C + Cp) − sin(C)}]
Rotation C Yp5 = L3 × {sin(C + Cp) − sin(C)} × sin(B) + [−L1 × {cos(C + Cp) − cos(C)}]
Zp5 = 0
Cp = Hp
[Symbol meanings]
Hp : No. of handle command pulses (incremental value)
Xp1, Yp1, Zp1 : Movement amount distributed to each axis fed in tool axis direction
(incremental value)
Xp2, Yp2, Zp2 : Movement amount distributed to each axis fed in tool nose radius
X axis direction (incremental value)
Xp3, Yp3, Zp3 : Movement amount distributed to each axis fed in tool nose radius
Y axis direction (incremental value)
Xp4, Yp4, Zp4 : Movement amount distributed to each feed in tool tip center rotation
A (B) axis direction(incremental value)
Xp5, Yp5, Zp5 : Movement amount distributed to each axis fed in tool tip center
rotation C axis direction (incremental value)
Ap, Bp, Cp : Movement amount of rotation axes A, B and C (incremental value)
A, B, C : Machine zero points of rotation axes A, B and C from the machine
position (incremental value)
L1 : C axis rotation radius
L3 : Distance from the tool rotation center to the tool tip
(Note) The axes that move for X, Y, Z, A, B and C are the axes that correspond to the axis
Nos. set in the parameters HTX, HTY, HTZ, HTA and B, and HTC.
For example, U, V and W can be moved instead of X, Y and Z.
11-2
 11. Tool Handle Feed and Interrupt

2.2 Handle Feed

2.2.1 Feed Enable Conditions

(1) The handle mode is entered.

(2) Handle feed is not possible during alarms, during manual interlock, or when there is a soft limit axis.

2.2.2 Resetting the Feed Amount

The tool axis movement amount is reset in the following cases:

(1) When a dog method reference point return is completed.
(2) When an emergency stop is canceled, and the NC unit operation READY turns ON.
(3) When a reset and rewind is executed.
(4) When an NC reset 1/2 is executed while the control parameter "MANUAL IT" is ON.

2.2.3 Operation Procedure

The following operation example is explained with the A and C axes selected as the rotation axes, and a
handle feed operation selected.

The "MODE SELECTION" switch

on the machine operation panel is MODE SELECTION
set to HANDLE. MEMORY
MDI RAPID TRAVERSE
The "HANDLE FEED MODE" switch
is set to any setting from TOOL TAPE JOG
AXIS to ROTATION C.
The movement amount per handle HANDLE REFERENCE
graduation is selected with the POINT RETURN
"HANDLE MAGNIFICATION"
switch. INCREMENTAL

(Note) The machine will not operate

when ROTATION A/ROTATION C HANDLE FEED MODE
modes are selected if those axes are
mechanical axis specifications. TOOL AXIS
TOOL NOSE
RADIUS X
TOOL NOSE
RADIUS Y

ROTATION A
ROTATION C

HANDLE/
INCREMENTAL MAGNIFICATION

11-3
 11. Tool Handle Feed and Interrupt

<14-inch>
Open the TIP MONITOR screen of position display 12. (MONITOR 12)
[TIP MONITOR] MONITOR 12. 1/ 2
− 0
<SUB> 0 N −
[WORK (G54)] [DIS TO GO] [MACHINE] [TIP POSIT] [DISTANCE] [PULSE]
X 0.000 X 0.000 X 0.000 X 0.000 X 0.000 X 0.000
Y 0.000 Y 0.000 Y 0.000 Y 0.000 Y 0.000 Y 0.000
Z 0.000 Z 0.000 Z 0.000 Z −500.000 Z 0.000 Z 0.000
A 0.000 A 0.000 A 0.000 A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000 C 0.000 C 0.000 C 0.000

FC 0.00 [AXIS DATA] [TIP SPEED] [ATT ANGLE]

L1 10.000 FH 0.00 A 0.000
L2 500.000 C 0.000
L3 500.000

LSK mm ABS G40 G54 MDI

RESERCH OFFSET TIP-POSI MENU

<9-inch>
Open the TIP-POSI screen of position display 9. (MONITOR 9)
O MDI N 0− 0 MONITOR 9. 1/ 2
<SUB> O N − Fc 0.00
[AXIS DATA] [TIP SPEED] [ATT ANGLE] [TIP POSIT] [WORK(G54)] [DIS TO GO]
L1 10.000 FH 0.00 A 0.000 X 0.000 X 0.000 X 0.000
L2 500.000 C 0.000 Y 0.000 Y 0.000 Y 0.000
L3 500.000 Z −500.000 Z 0.000 Z 0.000
A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000

[DISTANCE] [PULSE] [MACHINE]

X 0.000 X 0.000 X 0.000
Y 0.000 Y 0.000 Y 0.000
Z 0.000 Z 0.000 Z 0.000
A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000

LSK mm INC G40 G54 MDI

TIP-POSI MENU

11-4
 11. Tool Handle Feed and Interrupt

The axis is moved by rotating the first

manual handle in either the + or − direction. HANDLE

(Supplement)
Using the calculations below, the handle feed
command pulses are distributed to each axis as Hp.

(1) Tool axis direction feed mode

Xp = Hp × sin(A) × sin(C)
Yp =−Hp × sin(A) × cos(C)
Zp = Hp × cos(A)
(2) Tool nose radius direction X feed mode
Xp = Hp × cos(C)
Yp = Hp × sin(C)
Zp = 0
(3) Tool tip center rotation A axis feed mode
∗ For the tool tip center rotation
Xp = L3 × {sin(A + Ap) − sin(A)} × sin(C)
mode, the tool rotation is
Yp =−L3 × {sin(A + Ap) − sin(A)} × cos(C)
controlled corresponding to the
Zp = L3 × {cos(A + Ap) − cos(A)} handle rotation, with the tool tip
Ap = Hp as the rotation center.
In this case:
Xp, Yp, Zp and Ap are the movement amounts distributed to each axis.
A and C are the machine positions (R register for universal attachment) from the machine zero points of
the A and C axes.
Hp is the No. of handle command pulses.
L3 is the distance from the tool rotation center to the tool tip.

<14-inch>
[TIP MONITOR] MONITOR 12. 1/ 2

Ｏ １Ｎ ０－ ０
<SUB> 0 N −
[WORK (G54)] [DIS TO GO] [MACHINE] [TIP POSIT] [DISTANCE] [PULSE]
X 0.000 X 0.000 X (1) (2) (3) X (1) (2) (3) X (1) (1) (2)
(2) (3)
(3) X (2)
Y 0.000 Y 0.000 Y (1) (2) (3) Y (1) (2) (3) Y (1) (1) (2)
(2) (3)
(3) Y
Z 0.000 Z 0.000 Z (1) (3) Z (1)(1) (3)
(3) Z (1)(1) (3)
(3) Z (1)
A 0.000 A 0.000 A (3) A (3)
(3) A (3)
(3) A (3)
(3)
C 0.000 C 0.000 C 0.000 C 0.000 C 0.000 C 0.000

FC 0.00 [AXIS DATA] [TIP SPEED] [ATT ANGLE]

L1 10.000 FH 0.00 A 0.000
L2 500.000 C 0.000
L3 500.000

Ｓ ０Ｍ
Ｔ ０Ｂ ０
G28 XYZ ;
M02 ;

LSK mm INC G40 G54 HANDLE

RESERCH OFFSET TIP-POSI MENU

11-5
 11. Tool Handle Feed and Interrupt

<9-inch>
O MDI N 0− 0 MONITOR 9. 1/ 2
<SUB> O N − Fc 0.00
[AXIS DATA] [TIP SPEED] [ATT ANGLE] [TIP POSIT] [WORK(G54)] [DIS TO GO]
L1 10.000 FH 0.00 A 0.000 X (1) (2) (3) X
0.000 0.000 X 0.000
L2 500.000 C 0.000 Y (1) (2) (3) Y
0.000 0.000 Y 0.000
L3 500.000 Z (1) (3) Z 0.000 Z 0.000
A 0.000 (3) A 0.000 A 0.000
C 0.000 C 0.000 C 0.000

[DISTANCE] [PULSE] [MACHINE]

X (1)
0.000
(2) (3) X 0.000
(2) X (1)
0.000
(2) (3)
Y (1)
0.000
(2) (3) Y 0.000 Y (1)
0.000
(2) (3)
Z (1)
0.000 (3) Z (1)
0.000 Z (1)
0.000 (3)
A 0.000 (3) A 0.000 (3) A 0.000 (3)
C 0.000 C 0.000 C 0.000

LSK mm INC G40 G54 MDI

TIP-POSI MENU

(Supplement)
(1) , (2) or (3) changes on the display screen above corresponding to which 5-axis handle feed
mode is used ((1), (2), or (3)).

∗ The display is as follows when a machine lock is applied.

(1) Tool axis direction feed mode

[MACHINE] (Machine value) (This does not function during machine lock)
[TIP POSIT] (Tool tip value)
[DISTANCE] (Machine axis movement)
[PULSE] (Tool axis movement)

(2) Tool nose radius direction X feed mode

[MACHINE] (Machine value) (This does not function during machine lock)
[TIP POSIT] (Tool tip value)
[DISTANCE] (Machine axis movement)
[PULSE] (Tool axis movement)

(3) Tool tip center rotation A axis feed mode

[MACHINE] (Machine value) (This does not function during machine lock)
[TIP POSIT] (Tool tip value) (This changes only slightly.)
[DISTANCE] (Machine axis movement)
[PULSE] (Tool axis movement)

11-6
 11. Tool Handle Feed and Interrupt

2.3 Handle Interrupt

2.3.1 Interruptible Conditions

(1) The handle interrupt function in the tool axis direction is possible using the manual handle in the
following cases:
• When an automatic mode such as MDI, memory, tape, etc., has been selected
• During the cutting feed modal
• When the tool axis direction handle mode has been selected
(2) If the operation is in the cutting feed modal, interruption is possible when automatic modes such as
MDI, memory, tape, etc., are selected, even during the "in automatic pause" and "block stopped"
states.
(3) The dwell counting operation will be interrupted when the axis is moved during a dwell command by
the automatic operation handle interrupt function. The dwell counting operation will continue after
confirmation that the axis movement is completed.
(4) The automatic operation handle interrupt function is valid even during an automatic machine
interlock. Note that only the tool tip value [TIP POSIT] is updated during a manual machine lock,
without any machine movement. When not in manual machine lock, the machine moves the amount
interrupted by the manual pulse generator only, and the tool tip value is also updated.
(5) Interruption is not possible during alarms, during manual interlock, or when there is a soft limit axis.
(6) Interruption is not possible when there is a rotation axis command. If there is a rotation axis
command during automatic operation handle interruption, the interruption is ignored.
(7) The rotation axis handle interrupt cannot be carried out for mechanical axis specifications.

2.3.2 Axis Movement Speed by Interruption

(1) The speed of the axis in which the handle interrupt is carried out (automatic movement speed +
interrupt speed by the manual pulse generator) is restricted so it does not exceed the cutting feed
clamp speed for that axis.
(2) During automatic start, when a handle interrupt is carried out in the same direction as the axis is
moving at the external deceleration speed, the movement speed (automatic movement speed +
interrupt speed by the manual pulse generator) of that axis is clamped so it does not exceed its
external deceleration speed.
(3) When an interrupt is carried out that causes the movement speed to exceed the clamp speed of that
axis, the handle graduation and the interrupt amount do not match. However, although the [PULSE]
(tool axis movement) amount when a clamp occurs does not match the handle graduation, it will
match the counter of the [DISTANCE] (machine axis movement) corresponding to the movement
amount.
(4) The handle magnification will follow the manual handle/step magnification selection input.

2.3.3 Resetting the Interrupt Amount

The interrupt amount is reset in the following cases:

(1) When a dog method reference point return is completed.
(2) When an emergency stop is canceled, and the NC unit operation READY turns ON.
(3) When a reset and rewind is executed.
(4) When an NC reset 1/2 is executed while the control parameter "INTERRUPT AMOUNT RESET" is
ON.

11-7
 11. Tool Handle Feed and Interrupt

2.3.4 Operation Procedure

The following operation example is explained with the A and C axes selected as the rotation axes, and a
handle interruption operation executed during automatic operation.

An automatic operation is
executed, and the machine is put
into the "In automatic operation"
mode.

The "HANDLE INTERRUPT"

switch on the machine operation MODE INTERRUPT
panel is set to ON.
The "HANDLE FEED MODE"
switch is set to "TOOL AXIS".
The movement amount per
handle graduation is selected
with the "HANDLE
MAGNIFICATION" switch.

(Note)
(1) The operation modal is ignored if it is HANDLE FEED MODE
not the cutting feed modal.
(2) An alarm will result if a manual TOOL AXIS
interlock signal is input for even one of
TOOL NOSE
the X, Y or Z axes. RADIUS X
(3) Subsequent operation is invalidated
TOOL NOSE
during an alarm or if there is a soft limit RADIUS Y
axis.
(4) The machine will not operate when ROTATION A
rotation A/rotation C modes are
ROTATION C
selected if those axes are mechanical
axis specifications.
HANDLE/
INCREMENTAL MAGNIFICATION

11-8
 11. Tool Handle Feed and Interrupt

<14-inch>
Open the TIP MONITOR screen of position display 12. (MONITOR 12)
[TIP MONITOR] MONITOR 12. 1/ 2

Ｏ １Ｎ ０－ ０
<SUB> 0 N −
[WORK (G54)] [DIS TO GO] [MACHINE] [TIP POSIT] [DISTANCE] [PULSE]
X 0.000 X 0.000 X 0.000 X 0.000 X 0.000 X 0.000
Y 0.000 Y 0.000 Y 0.000 Y 0.000 Y 0.000 Y 0.000
Z 0.000 Z 0.000 Z 0.000 Z −500.000 Z 0.000 Z 0.000
A 0.000 A 0.000 A 0.000 A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000 C 0.000 C 0.000 C 0.000

FC 0.00 [AXIS DATA] [TIP SPEED] [ATT ANGLE]

L1 10.000 FH 0.00 A 0.000
L2 500.000 C 0.000
L3 500.000

Ｓ ０Ｍ
Ｔ ０Ｂ ０
G28 XYZ ;
M02 ;

LSK mm INC G40 G54 HANDLE

RESERCH OFFSET TIP-POSI MENU

<9-inch>
Open the TIP-POSI screen of position display 9. (MONITOR 9)
O MDI N 0− 0 MONITOR 9. 1/ 2
<SUB> O N − Fc 0.00
[AXIS DATA] [TIP SPEED] [ATT ANGLE] [TIP POSIT] [WORK(G54)] [DIS TO GO]
L1 10.000 FH 0.00 A 0.000 X 0.000 X 0.000 X 0.000
L2 500.000 C 0.000 Y 0.000 Y 0.000 Y 0.000
L3 500.000 Z −500.000 Z 0.000 Z 0.000
A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000

[DISTANCE] [PULSE] [MACHINE]

X 0.000 X 0.000 X 0.000
Y 0.000 Y 0.000 Y 0.000
Z 0.000 Z 0.000 Z 0.000
A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000

LSK mm INC G40 G54 MDI

TIP-POSI MENU

(Supplement)
When the TOOL AXIS HANDLE MODE switch is ON, the [TIP MONITOR] can be displayed
simultaneously. Note that processing by the PLC is required. (Refer to section "2.7 Connections with the
PLC" for details.)
11-9
 11. Tool Handle Feed and Interrupt

The axis is moved by rotating the first

manual handle in either the + or − direction. HANDLE

(Supplement)
Using the calculations below, the handle feed
command pulses are distributed to each axis as Hp.

(1) Tool axis direction feed mode

Xp = Hp × sin(A) × sin(C)
Yp =−Hp × sin(A) × cos(C)
Zp = Hp × cos(A)

In this case:
Xp, Yp and Zp are the movement amounts distributed to each axis.
A and C are the machine positions (R register for universal attachment) from the machine zero points of
the A and C axes.
Hp is the No. of handle command pulses.

<14-inch>
[TIP MONITOR] MONITOR 12. 1/ 2

Ｏ １Ｎ ０－ ０
<SUB> 0 N −
[WORK (G54)] [DIS TO GO] [MACHINE] [TIP POSIT] [DISTANCE] [PULSE]
X 0.000 X 0.000 X (1) (1) (1) (3) X (1) (1)
(2) (3) X (1) (2) (2) (3) X 0.000
Y 0.000 Y 0.000 Y (1) (1) (1) (3) Y (1) (1)
(2) (3) Y (1) (2) (2) (3) Y 0.000
Z 0.000 Z 0.000 Z (1) (1) (3) Z (1) (1) (3) Z (1) (1) (3) Z (1)
A 0.000 A 0.000 A 0.000 A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000 C 0.000 C 0.000 C 0.000

FC 0.00 [AXIS DATA] [TIP SPEED] [ATT ANGLE]

L1 10.000 FH 0.00 A 0.000
L2 500.000 C 0.000
L3 500.000

Ｓ ０Ｍ
Ｔ ０Ｂ ０
G28 XYZ ;
M02 ;

LSK mm INC G40 G54 HANDLE

RESERCH OFFSET TIP-POSI MENU

11-10
 11. Tool Handle Feed and Interrupt

<9-inch>
O MDI N 0− 0 MONITOR 9. 1/ 2
<SUB> O N − Fc 0.00
[AXIS DATA] [TIP SPEED] [ATT ANGLE] [TIP POSIT] [WORK(G54)] [DIS TO GO]
L1 10.000 FH 0.00 A 0.000 X (1) X 0.000 X 0.000
L2 500.000 C 0.000 Y (1) Y 0.000 Y 0.000
L3 500.000 Z (1) Z 0.000 Z 0.000
A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000

[DISTANCE] [PULSE] [MACHINE]

X (1) X 0.000 X (1)
Y (1) Y 0.000 Y (1)
Z (1) Z (1) Z (1)
A 0.000 C 0.000 C 0.000
C 0.000 C 0.000 C 0.000

LSK mm INC G40 G54 MDI

TIP-POSI MENU

(Supplement)
Area (1) changes on the display screen above corresponding the 5-axis handle feed mode (1).

The automatic operation finishes when an M2 or M30 command is issued.

The [DISTANCE] and [PULSE] displays become 0 when NC reset 1/2 is entered while M02 and M30
are issued in the user PLC, the manual ABS switch is OFF and the control parameter "INTERRUPT
AMOUNT RESET" is ON.

11-11
 11. Tool Handle Feed and Interrupt

2.4 Coordinate Value Updating

<Table of correspondence>
Machine
Control
Work- Tool tip axis
parameter Manual Tool axis
Update piece Remaining Machine Program value movement
interrupt ABS move-
period coordi- commands value value (Current (Manual
amount switch ment
nates value) interrupt
reset
amount)
Handle ◊
Handle interrupt/handle feed

ON
Reset ♦
ON
Handle
OFF
Reset
Handle ◊
ON
Reset
OFF
Handle
OFF
Reset

[Meaning of symbols]

･････ Coordinate value is updated when the handle is rotated. (Value always updated.)
･････ Other axes are updated, but the X, Y and Z axes are not updated.
(Only for tool tip center rotation mode.)

◊･･･････ Coordinate value is updated when the handle is rotated. (When 5-axis parameter NO_ABS = 1)

･････ Coordinate value is updated by resetting. (Movement amount added to the current coordinate
value.)

･････ Coordinate value is updated by resetting. (This value becomes 0.)

♦ ･････ Coordinate value is updated by reetting. (This value becomes 0 when the 5-axis parameter
NO_ABS = 1.)

Blank ･･･ Coordinate value does not change.

11-12
 11. Tool Handle Feed and Interrupt

2.5 Parameter

2.5.1 5-axis Machine Tool Parameters

The 5-axis machine tool screen is displayed when the machine parameter menu key "AXIS 5
PARAMETER" is pressed.

<14-inch>
[AXIS5 PARAMETER] M-PARAM 16

#
1 HTX 1 17 33
2 HTY 2 18 34
3 HTZ 3 19 35
4 HTA•B 5 20 36
5 HTC 6 21 37
6 TLO 3 22 38
7 HLB 1 23 39
8 24 40

9 L1 0.000 25 41
10 L2 250.000 26 42
11 L3TYPE 1 27 43
12 G92 0 28 44
13 NO_TIP 1 29 45
14 L3_P 500.000 30 46
15 NO_ABS 1 31 47
16 TLOTYP 1 32 48

#( ) DATA ( )

SPINDLE PLC-DATA PLC-TMR PLC-CNTR BIT-SELC PLC-AX. PSW AXIS5 MENU

<9-inch>
[AXIS5 PARAMETER] M-PARAM 11
#
1 HTX 1 13 NO_TIP 1
2 HTY 2 14 L3_P 500.000
3 HTZ 3 15 NO_ABS 1
4 HTA•B 5 16 TLOTYP 1
5 HTC 6 17
6 TLO 3 18
7 HLB 1 19
8 20
9 L1 0.000 21
10 L2 250.000 22
11 L3TYPE 1 23
12 G92 0 24

# ( ) DATA ( )

PLC-AX. PSW AXIS5 MENU

11-13
 11. Tool Handle Feed and Interrupt

Turn the NC unit power OFF after setting the parameters indicated with (PR) in the table. These
parameters are validated after the power is turned OFF, then ON again.

# Item Details Setting range (unit)

1 HTX Tool nose radius direction mode Set the No. of the axis that moves in the X axis Axis Nos. 1 to 6
(PR) X axis selection direction during the tool nose radius direction
mode. (Note)
2 HTY Tool nose radius direction mode Set the No. of the axis that moves in the Y axis The system alarm "Z 56 5-
(PR) Y axis selection direction during the tool nose radius direction AXIS PARAMETER
mode. ERROR" will result and an
NC alarm 1 will be output
3 HTZ Tool axis direction mode axis Set the No. of the axis that moves in the axis
when the power is turned
(PR) selection direction during the tool axis direction mode.
ON if there is any
4 HTA•B Tool tip center rotation mode Set the No. of the axis that rotates in the A (B) axis duplication of the data in
(PR) A and B axis selection direction during the tool tip center rotation mode. items #1 to #5. The same
Set to 0 for mechanical axis specifications. will occur if axes #1, #2 and
5 HTC Tool tip center rotation mode Set the No. of the axis that rotates in the C axis #3 are not designated as
(PR) C axis selection direction during the tool tip center rotation mode. linear axes.
Set to 0 for mechanical axis specifications.
6 TLO Axis selection for tool length Set the No. of the axis in which the tool length Axis Nos. 1 to 6
(PR) compensation amount change in compensation amount of the tool axis direction
the tool axis direction changes.
7 HLB Rotation axis setting Select the A axis or B axis for the rotation axis. Set 0: A and C axes
so instantaneous changeover is possible. 1: B and C axes
9 L1 C axis rotation radius Set the C axis rotation radius. −99999.999 to 0 (mm)
A and C axes 0 to +99999.999 (mm)
Set positive data if the
radius was on the + side
when the zero point return
was executed.

A and C axes
Y (+)

(−) X (+)

(−)
B and C axes
Y (+)

(−) X (+)

(−)
B and C axes
Set negative data if the
radius was on the − side
when the zero point return
was executed.

A and C axes
Y (+)

(−) X (+)

(−)
B and C axes
Y (+)

(−) X (+)

(−)

11-14
 11. Tool Handle Feed and Interrupt

If an attempt to input changes to the setting values during the automatic operation mode, the error "E21
PROGRAM RUNNING" will result and change will not be possible.

# Item Details Setting range (unit)

10 L2 A (B) axis rotation radius Set the A or B axis rotation radius. −99999.999 to 0 (mm)
A and C axes 0 to +99999.999 (mm)
Set positive data if the
radius was on the − side
when the zero point return
was executed.

A and C axes
Z (+)

(−) X (+)

(−)

B and C axes

11 L3TYPE L3 calculation method Select "L3_P" or "L2 + compensation amount" as 0: L2 + compensation

selection the L3 value to be displayed on the tip position amount
display screen. 1: L3_P
12 G92 Selection of coordinates to be Select the tool tip or tool base as the coordinates to 0: Tool tip
set as origin zero be preset for the origin zero (G92X_Y_Z;) 1: Tool base
command.
13 NO_TIP 5-axis display/5-axis handle Select whether the 5-axis display/5-axis handle 0: Valid (5-axis)
function selection function is to be validated or ignored. 1: Invalid (standard)
14 L3_P Tool axis rotation radius Set the tool axis rotation radius (L3) when #11 L# −99999.999 to 0 (mm)
TYPE is set to 1. 0 to +99999.999 (mm)
15 NO_ABS Tool axis movement amount Select whether the tool axis movement amount to 0: Update only when the
display selection during be displayed is updated when the manual ABS ABS switch is turned
manual ABS switch ON/OFF switch is turned OFF, or when it is turned both ON OFF
and OFF. 1: Update when the ABS
switch is turned ON and
OFF
16 TLOTYP Tool axis direction Select whether the tool length compensation 0: L2 not added
Tool length compensation amount in the tool axis direction is the command 1: L2 added
amount selection compensation amount only or that with L2 added.

11-15
 11. Tool Handle Feed and Interrupt

2.5.2 Control Parameters

<14-inch>
[CONTROL PARAMETER] PARAM 2

1 G00 DRY-RUN 13 G00 INTERP.OFF 25 DRILL AXIS Z 37

2 MACRO SINGLE 14 THREAD LEAD E 26 FIXED C. MODAL 38 % RWD (SEARCH)
3 M. POINT NGLECT 15 C-CMP. TYPE B 27 39 SHORT CUT (RT)
4 F1 DIGIT FEED 16 EXT. DEC. OFF 28 T-LENG AXIS Z 40 EDIT LOCK B

5 MC LOCK RAPID 17 INITIAL INCH 29 SYNC. TAP 41 R COMPENSATION

6 18 INITIAL ABS 30 T-LIFE CHECK 42 PARA C.R. INVD
7 G04 TIME COUNT 19 INITIAL SYNC. 31 T-COMMAND 2 43 DECIMAL PNT-P
8 COLL. ALM OFF 20 INITIAL G96 32 T-SELECT 2 44 COLL CHK OFF

9 UNIT *10 21 INITIAL Z-X 33 DATA SERVER 45 LINEAR-TYPE RT

10 DECIMAL PNT 2 22 INITIAL Y-Z 34 INITIAL G62.1 46 HOST LINK
11 MACRO IT ON 23 INITIAL G00 35 PLAYBACK G90 47 COM-VAR RST CL
12 SUB-PRO IT ON 24 RESTART AUTO 36 MANUAL IT RST 48 COM-VAR PWR CL

LSK mm INC G40 G54 MEMORY # ( )

PLC-SW CONTROL AXIS PROCESS MEASURE MENU

<9-inch>
[CONTROL PARAMETER] PARAM 2. 2/2
#
25 DRILL AXIS Z 37
26 FIXED C. MODAL 38 % RWD (SEARCH)
27 39 SHORT CUT (RT)
28 T-LENG AXIS Z 40 EDIT LOCK B
29 SYNC. TAP 41 R COMPENSATION
30 T-LIFE CHECK 42 PARA C.R. INVD
31 T-COMMAND 2 43 DECIMAL PNT-P
32 T-SELECT 2 44 COLL CHK OFF
33 DATA SERVER 45 LINEAR-TYPE RT
34 INITIAL G62.1 46 HOST LINK
35 PLAYBACK G90 47 COM-VAR RST CL
36 MANUAL IT RST 48 COM-VAR PWR CL

# ( ) DATA ( )

PLC-SW CONTROL AXIS SETUP MENU

# Item Setting
36 MANUAL INT RST ON The interrupt amount (when manual ABS is OFF) by manual or
handle feed during execution of an absolute value command is
zero-cleared when the reset button is pressed.
OFF The interrupt amount (when manual ABS is OFF) by manual or
handle feed during execution of an absolute value command is held
even when the reset button is pressed.

11-16
 11. Tool Handle Feed and Interrupt

2.5.3 Tape Input/Output of 5-axis Machine Tool Parameters

This is explained in the MELDAS-500 Program Parameter Input Specification Manual (BNP-B3695-12-
3-6). Please refer to that manual for details.

11-17
 11. Tool Handle Feed and Interrupt

2.6 System Variables

The following 5-axis machine tool parameters can be read/written using the system variables:

L1 : C axis rotation radius

L2 : A (B) axis rotation radius
G92 : Coordinates to be set for origin zero
L3_P : Tool axis rotation radius (L3)
L3TYPE : L3 type/L2 type changeover
NO_TIP : 5-axis/standard changeover
HLB : Rotation axis setting (A/B axis changeover)

2.6.1 Table of Correspondence

System variable Parameter Setting range

#31001 L1 0 to ±99999.999 ∗ The program error "P35
#31002 L2 0 to ±99999.999 CMD-VALUE OVER" will
#31003 G92 0 or 1 result if a value outside
#31004 L3_P 0 to ±99999.999 the setting range is set.
#31005 L3TYPE 0 or 1
#31006 NO_TIP 0 or 1
#31007 HLB 0 or 1

2.6.2 Setting Method

◊ Writing example
(1) Programs such as the following are created on the MDI Edit screen.

N01 #31001 = 10 ; L1 ← 10.000

N02 #31002 = 500 ; L2 ← 500.000
N03 #31003 = 1 ; G92 ←1
N04 #31004 = 500 ; L3_P ← 500.000
N05 #31005 = 1 ; L3TYPE ← 1
N06 #31006 = 1 ; NO_TIP ← 1
N07 #31007 = 1 ;
HLB ←1
N08 M02 ;

(2) The above program is automatically operated in the MDI and memory modes.

◊ Reading example
(1) Programs such as the following are created on the MDI Edit screen.

N01 #100 = #31001 ; #100 ← L1

N02 #101 = #31002 ; #101 ← L2
N03 #102 = #31003 ; #102 ← G92
N04 #103 = #31004 ; #103 ← L3_P
N05 #104 = #31005 ; #104 ← L3TYPE
N06 #105 = #31006 ; #105 ← NO_TIP
N07 #106 = #31007 ;
#106 ← HLB
N08 M02 ;

11-18
 11. Tool Handle Feed and Interrupt

2.7 Connections with the PLC

2.7.1 5-axis Handle Selection

[NC ← PLC]
$1 $2 $3 $4 $5 $6 Abbre-
Signal name
device device device device device device viation
Y209 W89 J89 J159 J229 J2F9 H Handle mode
Y248 WC8 JC8 J198 J268 J338 HS11 1st handle axis No.1
Y249 WC9 JC9 J199 J269 J339 HS12 1st handle axis No.2
Y24A WCA JCA J19A J26A J33A HS14 1st handle axis No.4
Y24B WCB JCB J19B J26B J33B HS18 1st handle axis No.8
Y24C WCC JCC J19C J26C J33C HS116 1st handle axis No.16
Y24D WCD JCD J19D J26D J33D
Y24E WCE JCE J19E J26E J33E 5-axis mode
Y24F WCF JCF J19F J26F J33F HS1S 1st handle axis valid
Y2C0 W140 J140 J210 J2E0 J3B0 MP1 Handle feed magnification 1
Y2C1 W141 J141 J211 J2E1 J3B1 MP2 Handle feed magnification 2
Y2C2 W142 J142 J212 J2E2 J3B2 MP4 Handle feed magnification 4
(Example) ↓
Handle axis No.
Corresponding axis Y24F Y24E Y24D Y24C Y24B Y24A Y249 Y248

When the X axis (1st axis) is selected 1 0 – 0 0 0 0 1 HTX=1

When the Y axis (2nd axis) is selected 1 0 – 0 0 0 1 0 HTY=2

When the Z axis (3rd axis) is selected 1 0 – 0 0 0 1 1 HTZ=3

When the W axis (4th axis) is selected 1 0 – 0 0 1 0 0

When the A axis (5th axis) is selected 1 0 – 0 0 1 0 1 HTA•B=5

When the C axis (6th axis) is selected 1 0 – 0 0 1 1 0 HTC=6

When the tool nose radius X is selected 1 1 – 0 0 0 0 1

When the tool nose radius Y is selected 1 1 – 0 0 0 1 0

When the tool axis is selected 1 1 – 0 0 0 1 1

When the tool tip center rotation A and B 1 1 – 0 0 1 0 1

are selected

When the tool tip center rotation C is 1 1 – 0 0 1 1 0

selected

Either 0 or 1 is possible for Y24D.

Handle feed magnification Y2C2 Y2C1 Y2C0
1-fold 0/1 0 0
10-fold 0/1 0 1
100-fold 0/1 1 0
1000-fold 0/1 1 1
(Note) For a normal pulse generator
5-axis mode: The mode is handled as the normal handle mode when the Y24E ($1) value is 0.
11-19
 11. Tool Handle Feed and Interrupt

2.7.2 Rotation Axis Angle Designation (universal attachment)

With a tool axis direction/tool nose radius direction handle feed is carried out with a universal attachment,
the A/B axis and C axis angle that is the tool direction can be input with the user PLC by writing to the R
register.

CNC
X axis
5-axis attachment

Rotation [MACHINE]

distribution process
CNC

CNC

5-axis handle feed

axis counter A/B Y axis
motor axis, C axis

Z axis
0
A/B axis
Universal attachment

Changeover
Universal 1 switch
attachment
C axis Manual
User PLC

User PLC

Attach- [ATT ANGLE] R register pulse

ment R4828:
R register high- generator
BIT0
order/low-order
Display
A/B: R4831/4830
process CRT • Refer to
C: R4833/4832 Precautions
(4)
• Detailed explanation of the R register to which the rotation angle is written.
R register Size Details Input range
R4828 bit0 1 bit 0: 5-axis attachment (machine value read) 0: 5-axis attachment
1: Universal attachment (R register used) 1: Universal attachment
Normally set to 0.
R4830 4 bytes A/B axis angle of the universal attachment −1440000 to 0
R4831 R4830 (low-order)/R4831 (high-order) 0 to 1440000 (0.5/1000°)
R4832 4 bytes C axis angle of the universal attachment −1440000 to 0
R4833 R4832 (low-order)/R4833 (high-order) 0 to 1440000 (0.5/1000°)

• Rotation axis angle writing example

(90° is written to the A axis, 180° is written to the C axis.)
Universal attachment used
A axis: 90 × 1000 × 2 = 180000
Angle 1/1000° unit Internal interpolation unit
C axis: 180 × 1000 × 2 = 360000
Angle 1/1000° unit Internal interpolation unit A axis angle writing

C axis angle writing

• Precautions
(1) The tool tip center rotation mode cannot be used while the universal attachment is being used.
(2) The rotation axis angle of the universal attachment must not be written during 5-axis handle
feed/interrupt.
(3) Only the tool tip value counter is updated on the position display screen when the universal
attachment angle is written to the R register. The other counters are not updated.
(4) The details of the tool tip value counter are not displayed when the universal attachment has
mechanical axis specifications.
Instead, [ATT ANGLE] is displayed to the right of [TIP SPEED], and the R register details below that
are constantly displayed. The characters "A" and "C" are added for an A/C axis system. The
characters "B" and "C" are added for a B/C axis system.

11-20
 11. Tool Handle Feed and Interrupt

2.8 Mechanical Axis Specifications

A universal attachment mechanical axis is the name given to a system in which a universal attachment is
used, and that attachment axis is started without assigning a servo axis.

<Axis configuration> <5-axis parameter> <Servo axis specification>

1st axis X axis (Tool nose radius HTX = 1 Linear axis
X direction)
2nd axis Y axis (Tool nose radius HTY = 2 Linear axis
Y direction)
3rd axis Z axis (Tool axis direction) HTZ = 3 Linear axis
4th axis W axis (Vertical lift) Linear axis
5th axis A1 axis (Circular table) Rotation axis Counter
6th axis C axis (Spindle rotation) HTC = 6 Spindle C axis display is
(Can also be 0.) possible up
to here.
7th axis A2 axis (Tilt rotation) HTA • B = 0 Does not exist

• Key point for setting: The conditions for confirming the mechanical axis specifications automatically
change if either of the 5-axis parameters [HTA and B] or [HTC] is "0". When HTC
= 6 in the above example, it is handled internally as a "0". (Combinations in which
only one of the parameters is for mechanical axes are not possible.)

• [TIP POSIT] display correspondence

[MACHINE] [TIP POSIT]
X Value is converted X Rotation angle information
Y Y
Z Z
W Value remains the same Ｗ
A1 A1
C C

[AXIS DATA] [TIP SPEED] [ATT ANGLE]

L1 FH A/B R register
L2 C R register
L3
A/B ････ Tool tip value of rotation A (B)
C ･･････ Tool tip value of rotation C

11-21
 11. Tool Handle Feed and Interrupt

3. Relation with Other Functions

(1) The normal handle interrupt function can be used in the same way as conventional functions.
(2) For an automatic operation handle interrupt during deceleration by an error detection switch or G09
command, the next block does not start until the interrupt is finished or the actual remaining
distance becomes less than the parameter value (DROOP ZRZ).

Current block

Next block

Interrupt

(Note) When the Z axis is interrupted during automatic operation of the X and Y axes.
(1) Manual-automatic synchronization specifications are not provided → The next block will
not start.
(2) Manual-automatic synchronization specifications are provided → The next block will
start.

(3) The speed clamp limits the speed so the rapid traverse of each axis is not exceeded. (Refer to 4.
Cautions and Restrictions.)
(4) The dwell count operation is interrupted when an interruption is carried out during dwell. The dwell
count continues after the interruption is completed.
(5) Interruption is not possible during per rotation dwell.
(6) Refer to the correspondence table in section 2.4 for details about the relation when the manual ABS
switch feed or interrupt is carried out by the ON/OFF of the control parameter "INTERRUPT
AMOUNT RESET", and when an NC reset 1/2 is executed.
(7) The interrupt and feed amounts are canceled after the reference point return is completed.
(8) The workpiece and local coordinate systems deviate by the interrupt or feed amount when the
manual ABS switch is OFF.
(9) The interrupt amount is canceled for a G92 or origin set command.
The tool tip or tool base is selected for the setting value in the parameters.
(10) The interrupt and feed amounts are canceled when the emergency stop is canceled and "NC ready"
turns ON.
(11) A deceleration stop will occur if a stroke end signal is received during interruption or during feed.
(12) Interruption and feed are possible within the machine value soft limit range of each axis.
(13) Neither interruption nor feed is possible when there is an interlock signal for even one axis.
(14) The feedrate during external deceleration does not exceed the external deceleration speed.
(15) When using this function in combination with synchronization control, designate an axis No. on the
master side as the 5-axis machine tool parameter axis No. Handle feed will not be carried out when
a slave side axis No. is designated. Zero point return must be completed before the 5-axis handle
feed can be carried out for the slave axis.
(16) Only the tool tip value display is not updated during display lock.
(17) Interruption and feed are not possible during any NC alarms except "Override 0".

11-22
 11. Tool Handle Feed and Interrupt

4. List of 5-axis Machine Tool Alarms

The alarm displays for 5-axis machine tool systems are as shown below.

Error No. Details Remedy

Z56 5-AXIS PARAM ERR Set the 5-axis machine tool parameters
There is an error in setting details #1 to #6, again with the correct values, then turn
#9 and #10 in the 5-axis machine tool the power OFF and ON once.
parameters.

∗ Situations where setting detail errors occur in <<Z56 5-AXIS PARAM ERR>>
(1) When the setting values of #1: HTX, #2: HTY and #3: HTZ are values other than 1 to 6.
When the setting values of #4: HTA and B, and #5: HTC are values other than 0 to 6.
(2) When the values in #1 to #5 are larger than the No. of control axes.
(3) When even one axis No. in #1 to #5 is duplicated.
(4) When the setting value in #6: TL0 is a value other than 1 to 6, or is larger than the No. of control
axes.
(5) When the axis control parameter designated in #1 to #3 is for a rotation axis.
(6) When the setting details in #9: L1 and #10: L2 are not within the range of ±99999.999mm.

11-23
 11. Tool Handle Feed and Interrupt

5. Cautions and Restrictions

5.1 Speed Clamp

5.1.1 For the Tool Axis Direction Feed Mode

Speed limiting is carried out so the speed in which the tool axis direction movement amount is distributed
to the machine axis direction movement amount does not exceed the rapid traverse rate.

(Example)
When the speed is the rapid traverse speed or less, A axis =45°, C axis = 0°, and Zt is moved in the tool
axis direction:
The tool moves at a speed clamped at Yp, Zp ≤ rapid traverse rate.

Parameters
Rapid traverse rate
X = 15000 (mm/min.)
Y = 15000 (mm/min.)
Z = 6000 (mm/min.)
A = 2000 (°/min.)
C = 2000 (°/min.)
W = 5000 (mm/min.)

11-24
 11. Tool Handle Feed and Interrupt

5.1.2 For the Tool Nose Radius Direction Feed Mode

Speed limiting is carried out so the speed in which the tool axis direction movement amount is distributed
to the machine axis direction movement amount does not exceed the rapid traverse rate.

(Example)
When the speed is the rapid traverse speed or less, A axis =45°, C axis = 0°, and Xt is moved in the tool
nose radius X direction:
The tool moves at a speed clamped at Xp, Yp, Zp ≤ rapid traverse rate.
The movement amount Xt is distributed to the machine axis components Xp, Yp and Zp. Thus, in this case,
Zp is clamped when it exceeds 6000 (mm/min.) (Xt ≥ √ 2 × 6000).

Parameters
Rapid traverse rate
X = 15000 (mm/min.)
Y = 15000 (mm/min.)
Z = 6000 (mm/min.)
A = 2000 (°/min.)
C = 2000 (°/min.)
W = 5000 (mm/min.)

11-25
 11. Tool Handle Feed and Interrupt

5.1.3 For Tool Tip Center Rotation Feed Mode

Speed limiting is carried out so the speed in which the movement amount with the tool tip as its center is
distributed to the machine axis direction movement amount does not exceed the rapid traverse rate.

(Example)
When the speed is the rapid traverse speed or less, A axis =35°, C axis = 45°, and At is moved in the
rotation axis A direction:
The tool moves at a speed clamped at Xp, Yp, Zp, Ap ≤ Rapid traverse rate.
Furthermore, Ap = At.
The speed is broken down by the radius L3 (A axis rotation radius) rotation into the movement amount for
each axis, and becomes the first speed clamped for each axis.

Parameters
Rapid traverse rate
X = 15000 (mm/min.)
Y = 15000 (mm/min.)
Z = 6000 (mm/min.)
A = 2000 (°/min.)
C = 2000 (°/min.)
W = 5000 (mm/min.)

11-26
 11. Tool Handle Feed and Interrupt

5.2 Acceleration/Deceleration Time Constant

Set the same cutting feed acceleration/deceleration types and time constants for the axes corresponding
to 5-axis handle feed.
(These must be the same to carry out interpolation by the movement amount distributed to each axis.)

5.3 Magnification
Magnification from x 1-fold to x 1000-fold is valid without restrictions. Note that the pulse is omitted when
a clamp occurs, so the display counter and machine position will match.

5.4 System Variables

If the parameter details are changed by a system variable, the data is immediately validated after
changing, in the same manner as when changed on the 5-axis machine tool parameter setting screen.
The distance (L3) from the rotation center of the A (B) axis having the tool length compensation amount
to the tool tip is also immediately recalculated after the parameter details are changed.
Parameters changed by system variables are also saved when the power is turned OFF then ON again,
in the same manner as when changed on the 5-axis machine tool parameter setting screen.

5.5 Machine Lock

For axes in machine lock, the [WORK], [TIP POSIT], [DISTANCE] and [PULSE] displays are changed,
and the [MACHINE] display is locked. Machine lock will not be validated during handle feed, even when
turned ON.
The calculation of [DISTANCE] of the X, Y and Z axes is obtained from [MACHINE] of the A, B and C
axes. Therefore, the value for [DISTANCE] will differ from that when not in machine lock, if the handle
feed is carried out while the A, B and C axes are in machine lock.

5.6 Rotation Axis Setting

Carry out the A/C axis and B/C axis system changeover when all axes have stopped.
Large position deviations may occur when changeover is carried out during axis movement, due to
operation with values differing from the actual machine position.

11-27
Chapter 12 Tool Tip Coordinate Display
 12. Tool Tip Coordinate Display

1. Function Outline
The tool coordinates, handle interrupt amount, sum of the movement amounts for each axis, and tip
speed are displayed for each of the axis direction handle feed, handle interrupt, radius direction handle
feed and tip center rotation handle feed modes.
With the graphic trace function, the path of the tool tip coordinate value is drawn on the tool tip mode
screen.
The separate graphic trace function option is required when using the graphic trace function.
The 5-axis handle feed option is also required to validate this function.

12-1
 12. Tool Tip Coordinate Display

2. Function Details
2.1 Tip Position Display Screen
The tip position display screen appears when the "TIP-POSI" position display menu key is pressed. (For
A and C axes)
This screen will not appear unless there is a 5-axis handle feed option. (The screen will be blank.)

<14-inch>
[TIP MONITOR] MONITOR 12. 1/

Ｏ １Ｎ ０－ ０
<SUB> 0 N −
[WORK (G54)] [DIS TO GO] [MACHINE] [TIP POSIT] [DISTANCE] [PULSE]
X 0.000 X 0.000 X 0.000 X 0.000 X 0.000 X 0.000
Y 0.000 Y 0.000 Y 0.000 Y 0.000 Y 0.000 Y 0.000
Z 0.000 Z 0.000 Z 0.000 Z −500.000 Z 0.000 Z 0.000
A 0.000 A 0.000 A 0.000 A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000 C 0.000 C 0.000 C 0.000

FC 0.00 [AXIS DATA] [TIP SPEED] [ATT ANGLE]

L1 10.000 FH 0.00 A 0.000
L2 500.000 C 0.000
L3 500.000

Ｓ ０Ｍ
Ｔ ０Ｂ ０
G28 XYZ ;
M02 ;

LSK mm INC G40 G54 HANDLE

RESERCH OFFSET TIP-POSI MENU

<9-inch>
O MDI N 0− 0 MONITOR 9. 1/ 2
<SUB> O N − Fc 0.00
[AXIS DATA] [TIP SPEED] [ATT ANGLE] [TIP POSIT] [WORK(G54)] [DIS TO GO]
L1 10.000 FH 0.00 A 0.000 X 0.000 X 0.000 X 0.000
L2 500.000 C 0.000 Y 0.000 Y 0.000 Y 0.000
L3 500.000 Z −500.000 Z 0.000 Z 0.000
A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000

[DISTANCE] [PULSE] [MACHINE]

X 0.000 X 0.000 X 0.000
Y 0.000 Y 0.000 Y 0.000
Z 0.000 Z 0.000 Z 0.000
A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000

LSK mm INC G40 G54 MDI

TIP-POSI MENU

12-2
 12. Tool Tip Coordinate Display

The expanded display of the tool axis movement amount appears when the "NEXT PAGE" key is
pressed.
This screen will not appear unless there is a 5-axis handle feed option. (The screen will be blank.)

<14-inch>

0−0
[PULSE] MONITOR 12. 2/
O 1N
<SUB>0 N −
[WORK:G54] [DIS TO GO] [MACHINE] X 0.000
X 0.000 X 0.000 X 0.000
Y 0.000 Y 0.000 Y 0.000 Y 0.000
Z 0.000 Z 0.000 Z 0.000
A 0.000 A 0.000 A 0.000 Z 0.000
C 0.000 C 0.000 C 0.000
A 0.000
FC 0.00
C 0.000

S 0 M
T 0 B 0
G28 XYZ ;
M02 ;

LSK mm INC G40 G54 HANDLE

RESERCH OFFSET TIP-POSI MENU

<9-inch>
O N 0− 0 MONITOR 9. 2/2
<SUB>O N −
[PULSE]

X 0.000 S 0
Y 0.000 T 0
Z 0.000 M
A 0.000 Fc 0.00

C 0.000

LSK mm INC G40 G54 HANDLE

TIP-POS MENU

12-3
 12. Tool Tip Coordinate Display

The axis configuration is as follows.

A and C axes B and C axes

Display item Details

Millimeter The tool tip position calculated using the distance from the A (B) axis and C axis centers
[TIP-POSI] in the machine coordinate system is displayed.
X 10.000 <Calculation method>
Y 0.000 (1) For A and C axes
Z −500.000 Xd = X − (L3 × sin(A) × sin(C)) + (L1 × cos(C))
A(B) 0.000 Yd = Y + (L3 × sin(A) × cos(C)) + (L1 × sin(C))
C 0.000 Zd = Z − L3 × cos(A)
(2) For B and C axes
(Display range) Xd = X − (L3 × sin(B) × cos(C)) − (L1 × sin(C))
−99999.999 to 0 Yd = Y − (L3 × sin(B) × sin(C)) + (L1 × cos(C))
0 to +99999.999 Zd = Z − L3 × cos(B)
Inch
[TIP-POSI] Xd, Yd, Zd : Tool tip position
X 1.0000 X, Y, Z : Current position of each axis
Y 0.0000 A, B, C : Machine position from the machine zero point of the A, B and C axes.
L1 : Rotation radius of the C axis
Z −50.0000
L3 : Distance from the rotation center of the A (B) axis to the tool tip.
A(B) 0.000
C 0.000 The A, B and C values are input from the R register when the universal attachment is
selected.
(Display range) [TIP-POSIT] changes as shown below.
−9999.9999 to 0 A (B) ← R register
0 to +9999.9999 C ← R register

12-4
 12. Tool Tip Coordinate Display

Display item Details

Millimeter The sum of the movement amounts moved with the manual pulse generator is
[DISTANCE] displayed.
X 0.000 <Example>
Y 0.000 Xp, Yp and Zp in the drawing are the machine axis movement amounts when Zt is
Z 0.000 moved in the tool axis direction.
A(B) 0.000
C 0.000 A and C axes B and C axes

(Display range)
−99999.999 to 0
0 to +99999.999
Inch
[DISTANCE]
X 0.0000
Y 0.0000
Z 0.0000
A(B) 0.000
C 0.000

(Display range)
−9999.9999 to 0
0 to +9999.9999

Millimeter The movement amount in the tool axis direction moved with the manual pulse
[PULSE] generator is displayed.
X 0.000 <Example>
Y 0.000 Zt in the drawing is the movement amount in the tool axis direction.
Z 0.000
A(B) 0.000 A and C axes B and C axes
C 0.000

(Display range)
−99999.999 to 0
0 to +99999.999
Inch
[PULSE]
X 0.0000
Y 0.0000
Z 0.0000
A(B) 0.000
C 0.000

(Display range)
−9999.9999 to 0
0 to +9999.9999

12-5
 12. Tool Tip Coordinate Display

Display item Details

Millimeter L1: The C axis rotation radius set in the parameters is displayed.
[AXIS DATA] L2: The A (B) axis rotation radius set in the parameters is displayed.
L1 10.000 L3: The distance from the rotation center of the A (B) axis obtained from the
L2 500.000 compensation amount, etc., to the tool tip is displayed.
L3 500.000 (Note) Refer to Precautions, item 3. (1) for information related to L2 and L3.

(Display range) For A and C axes For B and C axes

−99999.999 to 0
0 to +99999.999
Inch
[AXIS DATA]
L1 1.0000
L2 50.0000
L3 50.0000

(Display range)
−9999.9999 to 0
0 to +9999.9999

Millimeter The tool tip movement speed is displayed.

[TIP SPEED]
FH 0.00 <Equation>
FH = F∆t × 60 × 56.8
(Display range)
0 to +99999.999 FH : Tip speed (mm/min.)
Inch F∆t : Composite 1it amount of tip movement distance (mm)
F∆t = √¯ ( | ∆Xd | + | ∆Yd | + | ∆Zd | )
2 2 2
[TIP SPEED]
FH 0.000
(1) For A and C axes
(Display range) ∆Xd = ∆X − L3 × (sin(A + ∆A) × sin(C + ∆C) − sin(A) × sin(C))
0 to +9999.9999 + L1 × (cos(C + ∆C) − cos(C))
∆Yd = ∆Y − L3 × (sin(A + ∆A) × cos(C + ∆C) − sin(A) × cos(C))
− L1 × (sin(C + ∆C) − sin(C))
∆Zd = ∆Z − L3 × (cos(A + ∆A) − cos(A))

∗ This value (2) For B and C axes

overflows at ∆Xd = ∆X + L3 × (sin(B + ∆B) × cos(C + ∆C) − sin(B) × cos(C))
+2147483647, + L1 × (sin(C + ∆C) − sin(C))
and will become ∆Yd = ∆Y − L3 × (sin(B + ∆B) × sin(C + ∆C) − sin(B) × sin(C))
0 when this value + L1 × (cos(C + ∆C) − cos(C))
is exceeded. ∆Zd = ∆Z − L3 × (cos(B+∆B) − cos(B))
(FH = 0.00)
∆X, ∆Y, ∆Z : 1it amount of movement distance for each axis
∆A, ∆B, ∆C : 1it amount of movement distance for each axis
A, B, C : Machine position from the machine zero point before the A, B and
C axes move.

12-6
 12. Tool Tip Coordinate Display

Display item Details

Millimeter/inch The rotation angle when the universal attachment is selected is displayed.
[ATT ANGLE] A (B) : Universal attachment A or B axis angle (1/1000°)
A 0.000 C : Universal attachment C axis angle (1/1000°)
C 0.000
↑ <Display data explanation>
When HLB = 0 A (B) = R4831 (high-order) R4830 (low-order) 4-byte data
C = R4833 (high-order) R4832 (low-order) 4-byte data
[ATT ANGLE]
B 0.000
C 0.000 Write 4-byte data to the R register within a range of ±1440000.
↑ <Writing example>
When HLB = 1 90° is written to A (B), and 180° is written to C.
A (B) = 90 × 1000 × 2 = 180000
(Display range) C = 180 × 1000 × 2 = 360000 MAX±720°
Angle 1/1000° unit Internal interpolation unit Decimal data
−99999.999 to 0
This item is constantly displayed. The A (B) changeover by the HLB value is immediate.
0 to +99999.999

12-7
 12. Tool Tip Coordinate Display

2.2 Current Value

[TIP POSITION] is displayed on the current value display screen when there is a 5-axis handle feed
option.
[POSI] is displayed when there is no 5-axis handle feed option.

<14-inch>

0−0
[TIP POSITION] MONITOR 1
O 1N
<SUB>0 N −
[WORK:G54] [DIS TO GO] [MACHINE] X 0.000
X 0.000 X 0.000 X 0.000
Y 0.000 Y 0.000 Y 0.000 Y 0.000
Z
A
0.000
0.000
Z
A
0.000
0.000
Z
A
0.000
0.000 Z− 5 0 0 . 0 0 0
C 0.000 C 0.000 C 0.000
A 0.000
FC 0.00
C 0.000

S 0 M
T 0 B 0
G28 XYZ ;
M02 ;

LSK mm INC G40 G54 HANDLE

POSI PROGRAM SEARCH C-MODAL PLC-SW CONTROL COM-VAR LOC-VAR MENU

<9-inch>
O N 0− 0 MONITOR 1
<SUB>O N −
[TIP POSITION]

X 10.000 S 0
Y 0.000 T 0
Z −500.000 M
A 0.000 Fc 0.00

C 0.000

LSK mm INC G40 G54 HANDLE

POSI COORDI COMMAND SEARCH MENU

12-8
 12. Tool Tip Coordinate Display

Display item Details

[TIP POSIT] The tool tip position calculated using the distance from the A (B) axis and C axis centers
X 10.000 in the machine coordinate system is displayed.
Y 0.000 This is the same as the tool tip value in the tip position display.
Z −500.000
A(B) 0.000
C 0.000

(Display range)
−99999.999 to 0
0 to +99999.999

12-9
 12. Tool Tip Coordinate Display

2.3 Program
[TIP POSIT] and [DISTANCE] are displayed on the current program display screen when there is a 5-
axis handle feed option.
[POSI] and [MANUAL INTERRUPT AMOUNT] are displayed when there is no 5-axis handle feed option.

<14-inch>
[PROGRAM] MONITOR 2

Ｏ １Ｎ ０－ ０
<SUB> 0 N −
[WORK (G54)] [DIS TO GO] [MACHINE] [TIP POSIT] [PROGRAM] [DISTANCE]
X 0.000 X 0.000 X 0.000 X 10.000 X 0.000 X 0.000
Y 0.000 Y 0.000 Y 0.000 Y 0.000 Y 0.000 Y 0.000
Z 0.000 Z 0.000 Z 0.000 Z −500.000 Z 0.000 Z 0.000
A 0.000 A 0.000 A 0.000 A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000 C 0.000 C 0.000 C 0.000

FC 0.00 G28 XYZ ;

M02 ;
%

Ｓ ０Ｍ
Ｔ ０Ｂ ０
G28 XYZ ;
M02 ;

LSK mm INC G40 G54 HANDLE

POSI PROGRAM SEARCH C-MODAL PLC-SW CONTROL COM-VAR LOC-VAR MENU

<9-inch>
O N 0− 0 MONITOR 2
<SUB> O N − Fc 0.00
[TIP POSIT] [WORK(G54)] [DIS TO GO]
X 10.000 X 0.000 X 0.000
G28 XYZ ; Y 0.000 Y 0.000 Y 0.000
M02 ; Z −500.000 Z 0.000 Z 0.000
% A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000

[PROGRAM] [DISTANCE] [MACHINE]

X 0.000 X 0.000 X 0.000
Y 0.000 Y 0.000 Y 0.000
Z 0.000 Z 0.000 Z 0.000
A 0.000 A 0.000 A 0.000
C 0.000 C 0.000 C 0.000

LSK mm INC G40 G54 HANDLE

POSI COORDI COMMAND SEARCH MENU

12-10
 12. Tool Tip Coordinate Display

Display item Details

[TIP POSIT] The tool tip position calculated using the distance from the A (B) axis and C axis centers
X 10.000 in the machine coordinate system is displayed.
Y 0.000 This is the same as the tool tip value in the tip position display.
Z −500.000
A(B) 0.000
C 0.000

(Display range)
−99999.999 to 0
0 to +99999.999
[DISTANCE] The sum of the movement amounts moved with the manual pulse generator is
X 0.000 displayed.
Y 0.000 This is the same as the machine axis movement in the tip position display.
Z 0.000
A(B) 0.000
C 0.000

(Display range)
−99999.999 to 0
0 to +99999.999

12-11
 12. Tool Tip Coordinate Display

2.4 Graphic Screen

[TIP (2)] is displayed on the graphic screen when there is a 5-axis handle feed option.
[TIP (2)] is not displayed when there is a 5-axis handle feed option. (The area on the screen is blank.)

<14-inch>
0 0 N 0− 0 FC 0.00 GRAPHIC

[TIP (2)] [MACHINE]

X 10.000 X 0.000
Y 0.000 Y 0.000
Z −500.000 Z 0.000
A 0.000 A 0.000
C 0.000 C 0.000

[PROCESS TIME]

LSK mm INC G40 G54 MEMORY

CHECK STEP SEARCH TRACE ERASE PROGRAM MENU

SCALE STANDARD GRF MODE ROTATION TIP-POSI MENU

<9-inch>
0 0 N 0− 0 FC 0.00 GRAPHIC

[TIP (2)] [MACHINE]

X 10.000 X 0.000
Y 0.000 Y 0.000
Z −500.000 Z 0.000
A 0.000 A 0.000
C 0.000 C 0.000

[PROCESS TIME]
Z

CHECK STEP SEARCH ERASE MENU

SCALE STANDARD GRF MODE ROTATION MENU
TRACE PROGRAM TIP-POSI ERASE MENU

12-12
 12. Tool Tip Coordinate Display

Menu Function
TIP-POSI This is used when carrying out a tool tip value trace.

Display item Details

[TIP (2)] The tool tip position calculated from the graphic machine value is displayed.
X 10.000
Y 0.000
Z −500.000
A(B) 0.000
C 0.000

(Display range)
−99999.999 to 0
0 to +99999.999

12-13
 12. Tool Tip Coordinate Display

2.4.1 Using the Tool Tip Value Mode

Press the menu key "TIP-POSI" to select the tool tip value mode.
When the tool tip value mode has been selected, the tool tip value will be indicated by a triangle mark,
and the message "TIP POSITION" will appear on the lower right of the screen. The tool tip value is
constantly drawn during the tool tip value mode.
(1) Starting the trace with the tool tip value
Press the menu key "TRACE". Then press the menu key "TIP-POSI".
1) The tool tip value is indicated by a triangle mark.
2) The message "TIP POSITION" appears in the lower right of the screen.
3) The tool tip value is subsequently drawn in the tool tip value mode.
<14-inch>
0 MDI N 0−16 FC 0.00 GRAPHIC

[TIP (2)] [MACHINE]

X 10.000 X 0.000
Y 0.000 Y 0.000
Z −500.000 Z 0.000
A 0.000 A 0.000
C 0.000 C 0.000

[PROCESS TIME]
Z

TIP-POSI
TRACE
LSK mm INC G40 G54 MEMORY

CHECK STEP SEARCH TRACE ERASE PROGRAM MENU

<9-inch>
0 0 N 0− 0 FC 0.00 GRAPHIC

[TIP (2)] [MACHINE]

X 10.000 X 0.000
Y 0.000 Y 0.000
Z −500.000 Z 0.000
A 0.000 A 0.000
C 0.000 C 0.000

[PROCESS TIME]
Z

TIP-POSI TRACE
TRACE PROGRAM TIP-POSI ERASE MENU
12-14
 12. Tool Tip Coordinate Display

(2) Canceling the tool tip value mode

Press the menu key "TIP-POSI".
1) The machine value is indicated by the triangle mark.
2) The message "TIP POSITION" disappears from the lower right of the screen.
3) Subsequent drawing is carried out with the machine value.
<14-inch>
0 MDI N 0−16 FC 0.00 GRAPHIC

[TIP (2)] [MACHINE]

X 10.000 X 0.000
Y 0.000 Y 0.000
Z −500.000 Z 0.000
A 0.000 A 0.000
C 0.000 C 0.000

[PROCESS TIME]
Z

TRACE
LSK mm INC G40 G54 MEMORY

CHECK STEP SEARCH TRACE ERASE PROGRAM MENU

<9-inch>
0 0 N 0− 0 FC 0.00 GRAPHIC

[TIP (2)] [MACHINE]

X 10.000 X 0.000
Y 0.000 Y 0.000
Z −500.000 Z 0.000
A 0.000 A 0.000
C 0.000 C 0.000

[PROCESS TIME]
Z

TRACE
TRACE PROGRAM TIP-POSI ERASE MENU

(3) Precautions
1) The tool tip value mode is canceled when the following operations are carried out.
• When the function selection keys "SFP" or "F0" are pressed.
• When a graphic check is carried out.
2) The tool tip value mode cannot be entered during a graphic check.
12-15
 12. Tool Tip Coordinate Display

3. Precautions
(1) Axis data L2 and L3
[MACHINE] [TIP]
[When the 5-axis parameter L3TYPE = 0] X 0.000#1 X 0.000#1
Y 0.000#1 Y 0.000#1
1) In the example at the right, the tool length Z 0.000#1 Z −250.000#1
offset amount is added to the L2 value by A 0.000#1 A 0.000#1
issuing a tool length offset command, C 0.000#1 C 0.000#1
resulting in the L3 value.
2) The L3 value is held even when a reset is
executed. The L3 value can be changed G28 XYZACW; L1 0.000
by a tool length offset command. G1G43H1F10; L2 250.000
G49; L3 250.000
3) After carrying out a tool replacement,
issue a tool length offset command with
the tool offset No.
(Note) The L3 value does not change in
the following operations. [MACHINE] [TIP]
• When G49; is executed X 0.000#1 X 0.000#1
• When G43H0; is executed Y 0.000#1 Y 0.000#1
• When the compensation amount Z 200.000 Z −250.000
is set on the compensation A 0.000#1 A 0.000#1
amount screen C 0.000#1 C 0.000#1
• When the power is turned
ON/OFF
G28 XYZACW; L1 0.000
[When the 5-axis parameter L3TYPE = 1]
G1G43H1F10; L2 250.000
The 5-axis parameter L3_P becomes the L3 G49; L3 450.000
value.
Change the L3_P value to change the L3
value.
The L3 value does not change even when
the L2 value is changed.
[MACHINE] [TIP]
Machine X 0.000#1 X 0.000#1
zero point Y 0.000#1 Y 0.000#1
A (B) axis rotation center
↓ Z 0.000 Z −450.000
A 0.000#1 A 0.000#1
L2 C 0.000#1 C 0.000#1
250.000

G28 XYZACW; L1 0.000

L3 G1G43H1F10; L2 250.000
450.000 G49; L3 450.000

H1
200.000

Tool tip

(2) The calculation of the "TIP" value is obtained from the machine value of the rotation axis. Therefore,
the "TIP" values for the X, Y and Z axes will not change during machine lock, even if the rotation axis
is commanded.

12-16
Chapter 13 Three-dimensional Coordinate
Conversion
 13. Three-dimensional Coordinate Conversion

1. Function Outline
A new coordinate system can be defined in which the rotation and zero point are moved parallel to the X,
Y and Z axes of the currently set workpiece coordinate system. By using this function, it is possible to
define a random plane in space, and carry out machining by issuing normal program commands in
respect to that plane.

G68 program
coordinate system

Radius direction Y

Axis direction

Workpiece
coordinate system Radius direction X
Machine coordinate
system

The 3-dimensional coordinate conversion option is required for this function.

13-1
 13. Three-dimensional Coordinate Conversion

2. Detail Explanation
2.1 Command Format
G68 Xx Yy Zz Ii Jj Kk Rr ;

x, y, z: Rotation center coordinates This is designated as an absolute position of the program

coordinate system.
i, j, k : Rotation center axis direction 1: Designated 0: Not designated
Note that only one of the three axes is designated.
r: Rotation angle Looking at the rotation center from the rotation center axis
direction, the counterclockwise direction is set as positive
(+). Command within a range from −360.000 to 360.000°
in 0.001° units.

Radius direction Y G68 program

coordinate system

Radius direction X Axis direction

G68 XYZIJKR
X, Y, Z : Rotation center
coordinates
Workpiece I, J, K : Rotation center
coordinate system axis
R : Rotation angle

(1) The 3-dimensional coordinate conversion mode is turned ON/OFF using G68/G69 commands.
G68 Xx Yy Zz Ii Jj Kk Rr: 3-dimensional conversion mode ON Coordinate system setting
G69 : 3-dimensional conversion mode OFF Coordinate system setting
cancel
(2) If X, Y and Z are not designated, the currently set coordinate system zero point becomes the rotation
center coordinates.
(3) Always designate all I, J and K axes. If even one of these is not designated, the program error "P33
FORMAT ERROR" will result.
Note that the normal G68 program coordinate rotation will result if all the I, J, and K designations are
omitted.
(4) The error "P920 NO 3D-CNV SPEC" will result if there is no 3-dimensional coordinate conversion
function.
(5) The program error "P921 3D-CNV ERR" if a G code is issued that cannot be commanded during the
3-dimensional coordinate conversion mode.
(6) The error "P33 FORMAT ERROR" will result when 0 is commanded to all of I, J and K axes.
(7) The error "P33 FORMAT ERROR" will result when two or more "1" values are commanded to the I, J
and K axes.
(8) When values other than 0 or 1 are commanded to the I, J and K axes (for example I∆J2K0), J2 is
interpreted as J1, I∆ (blank) is interpreted as I0, and the operation will begin without an error
occurring.
(9) When using this function in the M2 format, change the commands as follows: G68 → G68.1/G69 →
G69.1.
13-2
 13. Three-dimensional Coordinate Conversion

2.2 Three-dimensional Coordinate Conversion and Program Coordinate System

Using the G68 command, the rotation center coordinates shift by the command value (X, Y, Z) in regard
to the current coordinate system. A new program coordinate system is then set which is rotated by the
command rotation angle (R) in regard to the command rotation center direction (I, J, K).

[Example] N1 G68 X10. Y0 Z0 I0 J1 K0 R-30. ;

N2 G68 X0 Y10. Z0 I1 J0 K0 R45. ;
:
N3 G69 ;

(1) With N1, the center shifts (X, Y, Z) = (10. , 0, 0) in regard to the currently set workpiece coordinate
system. The new program coordinate system A is then set which is rotated by −30° in the
counterclockwise direction, centered on the Y axis.
(2) With N2, the center shifts (X, Y, Z) = (0, 10 . , 0) in regard to the newly set program coordinate system
A. The new program coordinate system B is then set which is rotated by + 45° in the
counterclockwise direction, centered on the X axis.
(3) With N3, all of the program coordinate systems set up to now are canceled, and the operation returns
to the status before the first G68 command was issued.
(4) There is no restriction to the No. of times a G68 command can be successively issued before being
canceled by a G69 command.

Program coordinate system B

Workpiece coordinate system Program coordinate system A

13-3
 13. Three-dimensional Coordinate Conversion

2.3 Conversion Method

The conversion between the coordinate values in the newly set program coordinate system (Xp, Yp, Zp)
and the coordinate values in the reference workpiece coordinate system (Xm, Ym, Zm) is as follows.

G68 For the 1st command

[Xm, Ym, Zm, 1] = [Xp, Yp, Zp, 1] R1 T1 ･････････････････････････････ (Forward queue)
[Xp, Yp, Zp, 1] = [Xm, Ym, Zm, 1] (−T1) (−R1) ･･････････････････････ (Reverse queue)

G68 For the 2nd command

[Xm, Ym, Zm, 1] = [Xp, Yp, Zp, 1] R2 T2 R1 T1 ･･･････････････････････ (Forward queue)
[Xp, Yp, Zp, 1] = [Xm, Ym, Zm, 1] (−T1) (−R1) (−T2) (−R2)････････････ (Reverse queue)
R1, R2: Rotation queue calculated by the 1st and 2nd G68 parameter.
T1, T2: Movement queue calculated by the 1st and 2nd G68 parameter

The conversion queues Rn and Tn (n = 1 and 2) are as follows.

Rn queue
(1) I designation (rotation in the X axis direction)
1 0 0 0
0 cosR sinR 0
0 −sinR cosR 0
0 0 0 1

(2) J designation (rotation in the Y axis direction)

cosR 0 −sinR 0
0 1 0 0
sinR 0 cosR 0
0 0 0 1

(3) K designation (rotation in the Z axis direction)

cosR sinR 0 0
−sinR cosR 0 0
0 0 1 0
0 0 0 1

Tn queue
1 0 0 0
0 1 0 0
0 0 1 0
x y z 1

x, y, z : Rotation center coordinates (parallel movement amount)

I, J, K : Rotation axis selection
R : Rotation angle

13-4
 13. Three-dimensional Coordinate Conversion

2.4 Program Example

N1 G17 G90 G00 X0 Y0 Z0; ･･････････ Positioning is carried out to the workpiece zero point P.
N2 G00 X100. Y200. Z200.; ･･･････････ The tool moves to (100, 200, 200) by rapid traverse.
N3 G02 X100. Y400. J100. F1000; ･････ An arc is cut on the workpiece top face.
N4 G00 Z300.; ･･････････････････････ The tool escapes by a +100 rapid traverse in the
+ Z direction.
N5 G68 X0 Y0 Z200. I0 J1 K0 R90.; ････ After the program coordinate system is shifted to
(0, 0, 200), the coordinate axis is rotated +90° in the
Y axis direction.
N6 G17 G90 G00 X0 Y0 Z0; ･･････････ Positioning is carried out to the new program zero point P'.
N7 G00 X100. Y200. Z200.; ･･･････････ The tool moves to the program coordinate system
(100, 200, 200) and workpiece coordinate system
(200, 200, 100) by rapid traverse.
N8 G02 X100. Y400. J100. F1000; ･････ An arc is cut on the workpiece side face.
N9 G00 X100. Y400. Z300.; ･･･････････ The tool escapes by a +100 rapid traverse in the
+ Z' direction.
N10 G69;
N11 M02;

13-5
 13. Three-dimensional Coordinate Conversion

N1 G90 G00 X0 Y0 Z0; ･･････････････････････ Positioning is carried out to the workpiece zero point of
workpiece coordinate system 1.
N2 F2000;
N3 G00 X100. Y100. Z-600.; ･････････････････ The tool moves to the (100, 100, −600) position by rapid
traverse.
N4 G52 X100. Y100. Z-600.; ･････････････････ The local coordinate system is set to the (100, 100, −600)
position.
N5 G00 X100. Y10. Z200.; ･･･････････････････ The tool moves to the (100, 10, 200) position in the local
coordinate system.
N6 G91; ･･･････････････････････････････････ Incremental value command.
N7 G81 Z-10. R5. L0 F200; ･･････････････････ Drilling.
N8 G34 X100. Y200. I90. J270. K10.;･･････････ Bolt hole cycle.
N9 G80; ･･････････････････････････････････ Drilling cancel.
N10 G91 G00 X-200.; ････････････････････････ The tool escapes −200. in the X axis direction from the
machining end point by rapid traverse.
N11 G90 G52 X0 Y0 Z0; ･････････････････････ The local coordinate system is canceled.
N12 G90 G00 X0 Y0 Z0; ･････････････････････ Positioning is carried out to the workpiece zero point.
N13 G00 X100. Y100. Z-400.;･････････････････ The tool moves to the (100, 100, −400) position by rapid
traverse.
N14 G68 X100. Y100. Z-400. I0 J1 K0 R90.; ････ A program coordinate system is set that is rotated +90° in
the Y axis direction, centered on the (100, 100, −400)
position.
N15 G00 X100. Y10. Z200.; ･･････････････････ The tool moves to the (100, 10, 200) position in the
program coordinate system by rapid traverse.
N16 G91; ･･････････････････････････････････ Incremental value command.
N17 G81 Z-10. R5. L0 F200; ･･････････････････ Drilling.
N18 G34 X100. Y200. I90. J270. K10.; ･････････ Bolt hole cycle
N19 G80; ･･････････････････････････････････ Drilling cancel.
N20 G91 G00 X-200.; ･･･････････････････････ The tool escapes −200. in the X axis direction from the
machining end point by rapid traverse.
N21 G69; ･･････････････････････････････････ The 3-dimensional coordinate conversion modal is
canceled.
N22 M02; ･･････････････････････････････････ Program end.

13-6
 13. Three-dimensional Coordinate Conversion

3. Relation with Existing Functions

3.1 G codes that can be Commanded during the 3-dimensional Coordinate
Conversion Mode

(Note 1) A ∗ mark indicates G codes that can only be used in a standard format.
A • mark indicates G codes that can only be used in an M2 format.
(Note 2) The × mark in item (1) indicates that the program error "P921 3D-CNV ERR" will result.
The × mark in item (2) indicates that the program error "P922 IRREGAL 3D-CNV " will result.
The × mark in item (3) indicates that the program error "P33 FORMAT ERROR" will result.
(Note 3) G codes with a – mark in item (2)2 cannot be combined with (2) due to unmodal handling.
(1): G code that can be commanded during the 3-dimensional coordinate conversion mode
(2): G code for which G68 can be commanded during this modal.
(3): G code that can be commanded in the same block as G68/G69

G code Function (1) (2) (3) Remarks

00 Positioning ×
01 Linear interpolation ×
3-dimensional coordinate conversion is not
02 Arc interpolation CW ×
possible during helical commands.
3-dimensional coordinate conversion is not
03 Arc interpolation CCW ×
possible during helical commands.
02.1 Spiral interpolation CW × × ×
03.1 Spiral interpolation CCW × × ×
04 Dwell − × Operates unrelated to coordinate conversion.
05 High-speed machining mode × ×
06
07 Hypothetical axis interpolation × × ×
07.1 Cylindrical interpolation × × ×
08
09 Exact stop check × − ×
10 Program parameter input/compensation input − × Operates unrelated to coordinate conversion.
11 Program parameter input cancel − × Operates unrelated to coordinate conversion.
12 Circle cutting CW − ×
13 Circle cutting CCW − ×
12.2 Polar coordinate interpolation mode ON × × ×
13.2 Polar coordinate interpolation mode OFF × ×
14
15
16
17 Plane selection X-Y
18 Plane selection Z-X
19 Plane selection Y-Z
20 Inch command × × Only when the system is set to "inch".
21 Metric command × × Only when the system is set to "millimeter".
∗ 22 Stroke limit check before movement ON × ×
∗ 23 Stroke limit check before movement OFF × ×
• 22 Subprogram call − Operates unrelated to coordinate conversion.
• 23 Subprogram return − Operates unrelated to coordinate conversion.

13-7
 13. Three-dimensional Coordinate Conversion

G code Function (1) (2) (3) Remarks

• 22.1 Stroke limit check before movement ON × ×
• 23.1 Stroke limit check before movement OFF × ×
24
25
26
27 Reference point comparison × – ×
28 Reference point return – × Coordinate conversion of the middle point only.
29 Start point return × – ×
30 2nd to 4th reference point returns – × Coordinate conversion of the middle point only.
31 Skip × – ×
31.1 Multi-step skip 1 × – ×
31.2 Multi-step skip 2 × – ×
31.3 Multi-step skip 3 × – ×
32
33 Thread cutting × – ×
34 Special fixed cycle (bolt hole cycle) – ×
35 Special fixed cycle (line at angle) – ×
36 Special fixed cycle (arc) – ×
∗ 37 Automatic tool length measurement × – ×
∗ 37.1 Special fixed cycle (grid) – ×
• 37 Special fixed cycle (grid) – ×
• 37.1 Automatic tool length measurement × – ×
Tool nose radius compensation vector
38 ×
designation
39 Tool nose radius compensation corner arc ×
Tool nose radius compensation cancel/
40 ×
3-dimensional radius compensation
Tool nose radius compensation
41 × ×
Left/3-dimensional radius compensation
Tool nose radius compensation
42 × ×
Right/3-dimensional radius compensation
40.1 Normal line control cancel × ×
41.1 Normal line control Left × × ×
42.1 Normal line control Right × × ×
∗ 43 Tool length offset (+) ×
∗ 44 Tool length offset (−) ×
• 43 Tool length offset ×
• 44 Tool length offset Cancel ×
45 Tool position offset Extension ×
46 Tool position offset Reduction ×
47 Tool position offset 2-fold extension ×
48 Tool position offset 2-fold reduction ×
∗ 49 Tool length offset Cancel ×
50 Scaling Cancel × ×
51 Scaling ON × ×

13-8
 13. Three-dimensional Coordinate Conversion

G code Function (1) (2) (3) Remarks

50.1 G command mirror image Cancel ×
51.1 G command mirror image ON ×
52 Local coordinate system setting × ×
53 Machine coordinate system setting – × Operates without coordinate conversion.
54 Workpiece coordinate system 1 selection × ×
55 Workpiece coordinate system 2 selection × ×
56 Workpiece coordinate system 3 selection × ×
57 Workpiece coordinate system 4 selection × ×
58 Workpiece coordinate system 5 selection × ×
59 Workpiece coordinate system 6 selection × ×
Workpiece coordinate system (automatic
54.1 × ×
program) selection
Workpiece coordinate system (expansion)
∗ 54.2 × ×
selection
60 Unidirectional positioning × – ×
61 Exact stop check mode × ×
61.1 High-accuracy control mode × × ×
61.2 High-accuracy spline control mode × × ×
∗ 62 Automatic corner override × ×
• 62 Program mirror ×
63 Tapping mode × ×
64 Cutting mode × ×
65 User macro Simple call – Operates unrelated to coordinate conversion.
66 User macro Modal call A – Operates unrelated to coordinate conversion.
66.1 User macro Modal call B – Operates unrelated to coordinate conversion.
67 User macro Modal call cancel Operates unrelated to coordinate conversion.
3-dimensional coordinate conversion and
∗ 68 Coordinate rotation ON × ×
coordinate rotation cannot be overlapped.
∗ 69 Coordinate rotation Cancel
• 68 User macro Subprogram finish –
• 69 End point error check cancel × – ×
3-dimensional coordinate conversion and
• 68.1 Coordinate rotation ON × ×
coordinate rotation cannot be overlapped.
• 69.1 Coordinate rotation Cancel
70 User fixed cycle –
71 User fixed cycle –
72 User fixed cycle –
73 Fixed cycle (step) – ×
74 Fixed cycle (reverse tap) – × *Synchronous tap has restrictions.
75 User fixed cycle –
76 Fixed cycle (fine boring) – ×
77 User fixed cycle –
78 User fixed cycle –
79 User fixed cycle –
80 Fixed cycle Cancel
81 Fixed cycle (drill/spot drill) – ×

13-9
 13. Three-dimensional Coordinate Conversion

G code Function (1) (2) (3) Remarks

82 Fixed cycle (drill/counter-boring) – ×
83 Fixed cycle (deep-hole drilling) – ×
84 Fixed cycle (tap) – × *Synchronous tap has restrictions.
85 Fixed cycle (boring) – ×
86 Fixed cycle (boring) – ×
87 Fixed cycle (back boring) – ×
88 Fixed cycle (boring) – ×
89 Fixed cycle (boring) – ×
90 Absolute value command ×
91 Incremental value command ×
92 Machine coordinate system setting × – ×
93 Inverse time feed × Operates unrelated to coordinate conversion.
94 Asynchronous feed (feed per minute) × Operates unrelated to coordinate conversion.
95 Synchronous feed (feed per rotation) × Operates unrelated to coordinate conversion.
96 Constant surface speed control ON × × ×
97 Constant surface speed control OFF × ×
98 Fixed cycle Initial level return ×
99 Fixed cycle R point level return ×
100
101 User macro (substitute) = –
102 User macro (addition) + –
103 User macro (subtraction) – –
104 User macro (multiplication) ∗ –
105 User macro (division) / –
106 User macro (square root) √ + –
107 User macro (sine) sin –
108 User macro (cosine) cos –
109 User macro (inverse tangent) tan−1 –
110 User macro (square root) √ − –
200 User macro (unconditional branching) –
201 User macro (zero conditional branching) –
202 User macro (false conditional branching) –
120~199
User macro G code call (max. 10) –
210~255

13-10
 13. Three-dimensional Coordinate Conversion

3.2 Relation with Other Functions

(1) The program error "P922 IRREGAL 3D-CNV " will result when a G02.1 or G03.1 3-dimensional
coordinate conversion command is issued during spiral interpolation.

(2) Three-dimensional coordinate conversion is not carried out on the manual interrupt amount.

(3) Three-dimensional coordinate conversion is carried out after length, radius and position
compensation are applied.

(4) The program error "P33 FORMAT ERROR" will result if another G code is commanded in the same
block as a G68 or G69 command.
Note that G17, G18 and G19 are valid during program coordinate rotation commands, and only the
modal of G17, G18 and G19 changes during 3-dimensional coordinate conversion commands.
During user macro call commands, the 3-dimensional coordinate conversion is validated after that
command is processed.

(5) The coordinate conversion is carried out at the G28 and G30 middle point, and the operation returns
to the reference point after that. Coordinate conversion is not carried out for G53 (machine
coordinate system selection) commands.

(6) G command mirror image can be used with this function, but external mirror image cannot be used.
The 3-dimensional coordinate conversion is applied after the G command mirror image.

(7) The G70 to G89 commands of the G41, G42, G51.1 and fixed cycle must have a nesting relation with
G68, and must be on the inside of G68 and G69.
Issue a G90 (absolute value command) mode movement command in the block after G68.
(Example)
G68 X50. Y100. Z150. I1 J0 K0 R60.;
G90 G00 X0 Y0 Z0; ← Issue a G90 mode movement command
G41 D01;
･･････････････････････
G40;
G69;

(8) The program error "P252 PAT. & COOD-ROT" will result when a 3-dimensional coordinate
conversion command is issued during graphic rotation, or when a graphic rotation command is
issued during a 3-dimensional coordinate conversion.

(9) The setting units of the three basic axes must not differ.

13-11
 13. Three-dimensional Coordinate Conversion

(10) G68 commands at G52 coordinates and G52 commands during the G68 mode are handled as
follows.

1) G68 commands at G52 coordinates

Newly set the G68 program coordinate system on that local coordinate system.
When G69 is commanded in this state, the operation returns to the original local coordinate
system.

2) G52 command during the G68 mode

Set the local coordinate system from the coordinate system set by G68.
When G69 is commanded in this state, the coordinate systems set in the local coordinate
system and G68 program coordinate system are canceled, and the operation returns to the
original coordinate system in which G68 is commanded.
When G68 (multiplex command) is commanded in this state, the G68 program coordinate
system is set after the local coordinate system is canceled.

G68 command at G52 command during the G68 mode

G52 coordinates

M : Basic machine coordinate system

W : Workpiece coordinate system
L, L' : Local coordinate system

(11) The operation when machine lock is applied during 3-dimensional coordinate conversion is as
follows.
(Example) N1 G28 XYZAC;
N2 G68 X-10.Y-10.Z-10.I0J1K0R0;
N3 G01 X-100.F1000; ←･････････ Machine lock is applied during execution
of the N3 block.
N4 Z-100.;
:

The automatic operation stops after the N3 block is finished.

In the cycle start of the N4 and subsequent blocks, the machine value remains stopped, and the
other counters change while they are converted to 3-dimensional coordinates.

13-12
 13. Three-dimensional Coordinate Conversion

4. Precautions
(1) Three-dimensional coordinate conversion is invalid for the rotation axis.

(2) Command the rapid traverse and cutting feed during the 3-dimensional coordinate conversion mode
as a linear path.

(3) The rapid traverse acceleration/deceleration types and time constants of the X, Y and Z axes must
be the same.

13-13
 13. Three-dimensional Coordinate Conversion

5. List of Alarms
The errors in the 3-dimensional coordinate conversion process are shown below.

Error No. Details Remedy

P 33 FORMAT ERROR • Reconsider the program.
The command format in the program is not correct.
P252 PAT. & COOD-ROT • Reconsider the program.
A graphic rotation command and coordinate rotation
command were simultaneously designated.
P920 NO 3D-CNV SPEC • Check the specifications.
Three-dimensional coordinate conversion was
commanded although there were no specifications.
P921 3D-CONV ERR • Reconsider the program.
An illegal G code was commanded during the 3-
dimensional conversion mode.
P922 ILLEGAL 3D-CNV • Reconsider the program.
A 3-dimensional coordinate conversion command
was issued in a mode in which it cannot be issued.

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 13. Three-dimensional Coordinate Conversion

6. Differences with M300

(1) When G90 movement is carried out immediately after 3-dimensional coordinate conversion

M300 method M500 method

Movement occurs in regard to the current No movement occurs for the
machine value on the omitted basic axis. omitted basic axis.

<<Example>>
G28X0Y0;
G0X100.Y200.;
G68I0J0K1R45.;
G90X0;
:

Equivalent to G90X0Y200.

13-15
 13. Three-dimensional Coordinate Conversion

(2) When 3-dimensional coordinate conversion is carried out during a G command mirror image

M300 method M500 method

The sign is reversed for the center The center coordinates of the 3-
coordinates of the 3-dimensional dimensional coordinate conversion
coordinate conversion only. (The do not move, regardless of mirror
mirror is applied to the center availability.
coordinates.)

<<Example>> M300 method

G28XYZ;
N1G90G01X200.F2000;
N2 G51.1X0.;
N3 G68X200.Y200.I0J0K1R90.;
N4G90G0X100.Y0Z0;
:

Center coordinates of the

Path when there is no mirror 3-dimensional coordinate
Reversed conversion when there is no
Center coordinates of the
3-dimensional coordinate mirror
conversion

G28XYZ;
N1G91G01X200.F2000;
N2 G51.1X0.;
N3 G68X200.Y200.I0J0K1R90.;
N4G90G0X100.Y0Z0;
:

Center coordinates of the

3-dimensional coordinate
Path when there is no mirror Reversed conversion when there is no
mirror

Center coordinates of the

3-dimensional coordinate
conversion

Mirror center axis (no 3-dimensional coordinate conversion)

Mirror center axis (during 3-dimensional coordinate conversion)
13-16
 13. Three-dimensional Coordinate Conversion

<<Example>> M500 method

G28XYZ;
N1G90G01X200.F2000;
N2 G51.1X0.;
N3 G68X200.Y200.I0J0K1R90.;
N4G90G0X100.Y0Z0;
:

Path when there is no mirror

Center coordinates of the 3-

dimensional coordinate
conversion

G28XYZ;
N1G91G01X200.F2000;
N2 G51.1X0.;
N3 G68X200.Y200.I0J0K1R90.;
N4G90G0X100.Y0Z0;
:

Path when there is no mirror

Center coordinates of the 3-

dimensional coordinate
conversion

Mirror center axis (no 3-dimensional coordinate conversion)

Mirror center axis (during 3-dimensional coordinate conversion)

13-17
 13. Three-dimensional Coordinate Conversion

(3) When a G command mirror image is used during 3-dimensional coordinate conversion

M300 method M500 method

The absolute coordinate values are The G51.1 command value of the
converted to 3-dimensional G91 mode is added as the origin to
coordinates in the G91 mode only, the coordinate system converted to
and the command value is added to 3-dimensional coordinates. (The
that value. (The center of the 3- center of the 3-dimensional
dimensional coordinate conversion coordinate conversion is unrelated
is the mirror origin.) to the mirror origin.)

<<Example>> M300 method

G28XYZ;
N1G90G01X200.F2000;
N2 G68X200.Y200.I0J0K1R90.;
N3 G51.1X200.;
N4G90G01X100.Y100.Z0;
:

Path when there is no mirror

Center coordinates of the

3-dimensional coordinate
conversion

Mirror center axis (no 3-dimensional coordinate conversion)

Mirror center axis (during 3-dimensional coordinate conversion)

G28XYZ;
N1G91G01X200.F2000;
N2 G68X200.Y200.I0J0K1R90.;
N3 G51.1X200.;
N4G90G01X100.Y100.Z0;
:
Same as the drawing above.

13-18
 13. Three-dimensional Coordinate Conversion

<<Example>> M500 method

G28XYZ;
N1G90G01X200.F2000;
N2 G68X200.Y200.I0J0K1R90.;
N3 G51.1X200.;
N4G90G01X100.Y100.Z0;
:

Path when there is no mirror

Center coordinates of the

3-dimensional coordinate
conversion

G28XYZ;
N1G91G01X200.F2000;
N2 G68X200.Y200.I0J0K1R90.;
N3 G51.1X200.;
N4G90G01X100.Y100.Z0;
:

Path when there is no mirror

Center coordinates of the
3-dimensional coordinate
conversion

Mirror center axis (no 3-dimensional coordinate conversion)

Mirror center axis (during 3-dimensional coordinate conversion)

13-19
 13. Three-dimensional Coordinate Conversion

(4) When NC reset 1 is carried out during 3-dimensional coordinate conversion

M300 method M500 method

Reset initialization OFF This is the same as the M300
→ G68 modal is held method.
Reset initialization ON
→ Reset to the G69 mode

(5) When another G code is commanded during 3-dimensional coordinate conversion

G code Function M300 method M500 method

G29 Start point return The coordinates of the middle point Use not possible (Program error)
and start point are converted.
G07.1 Cylindrical interpolation
G12.2 Polar coordinate interpolation ON
G13.2 Polar coordinate interpolation OFF
G54.2 Expansion workpiece coordinate
system selection Nonexistent G codes Use not possible (Program error)
G61.1 High-accuracy mode
G61.2 Spline mode
G96.1 Rotation axis constant tangential
velocity

(6) When 3-dimensional coordinate conversion is carried out in the modal status of each G group

G code Function M300 method M500 method

G02.1 Spiral interpolation (CW)
G03.1 Spiral interpolation (CCW)
G41 Tool nose radius compensation (left) A program error will result, and Same as at the left.
G42 Tool nose radius compensation 3-dimensional coordinate
(right) conversion will not be carried out.
G68 Graphic rotation (not 3D)
G05 High-speed machining mode II/III No function Error on the high-speed
G07 Hypothetical axis interpolation machining mode process side
G16 Polar coordinate command
G41.1 Normal line control Left Error does not result
G42.1 Normal line control Right
G96 Constant surface speed control
A program error will result, and
G07.1 Cylindrical interpolation
3-dimensional coordinate
G12.2 Polar coordinate interpolation conversion will not be carried out.
G61.1 High-accuracy mode
No function
G61.2 Spline mode
G96.1 Rotation axis constant tangential
velocity

13-20
Chapter 14 Tool Length Compensation in
the Tool Axis Direction &
Compensation Amount
 14. Tool Length Compensation in the Tool Axis Direction & Compensation Amount

1. Function Outline
1.1 Changes in the Tool Length Compensation in the Tool Axis Direction and
Compensation Amount
The tool length can be compensated in the tool axis direction even when the rotation axis rotates and the
tool axis direction is not the Z axis direction. By using this function, and setting the deviation between the
tool length amount set in the program and the actual tool length as the offset amount, a more flexible
program can be created. This is especially valid for programs in which rotation axis movement
commands are present.
The tool length compensation amount in the tool axis direction can be changed by rotating the manual
pulse generator when the tool length compensation amount in the tool axis direction is being changed by
the automatic-manual operation during the tool length compensation in the tool axis direction mode.

1.2 Machine Configuration

Rotation center

Tool
A and C axes, or
B and C axes

Workpiece
Axis direction
(compensation
direction)

14-1
 14. Tool Length Compensation in the Tool Axis Direction & Compensation Amount

2. Function Details
2.1 Tool Length Compensation in the Tool Axis Direction

2.1.1 Command Format

G43.1 Xx Yy Zz Hh ; Tool length compensation in the tool axis direction

G49 Xx Yy Zz ; Tool length compensation cancel (M3)
G44 Xx Yy ZZ ; Tool length compensation cancel (M2/M0)

x, y and z are movement data.

h is the set compensation No. of the tool length compensation amount. The program error "P170 NO
CORR. No." will result if the commanded compensation No. exceeds the specification range.

(1) G43, G44 and G43.1 are G codes of the same group. Thus, these compensations cannot be applied
simultaneously. Furthermore, G43, G44 and G43.1 all use the same G49 cancel.
(2) "P930 NO TOOL OFST." will result if there is no option for the tool length compensation in the tool
axis direction.
(3) The compensation amount (1h) is selected in the following two ways by the 5-axis parameter
TLOTYP.
When TLOTYP = 1 When TLOTYP = 0
1h = Hh + L2 1h = Hh
1h : Compensation amount (amount displayed in the status display G43.1)
Hh : Tool length dimension of compensation No. h
L2 : Rotation radius of A/B axis
The compensation amount value (1h) is calculated as shown in the following drawing. That value is
executed as the tool axis direction compensation amount.

Hh (tool length dimension) Hh (tool length dimension) = 1h

When TLOTYP = 1 When TLOTYP = 0

(4) The "P430: AXIS NOT RET." alarm will result if the any of the X, Y, Z, A/B or C axes have not
completely returned to the zero point in the G43.1 block. Note that if a universal attachment has been
selected, it is not a target of the A/B axis and C axis alarms. Also, if the zero point return parameter
noref =1, it will be interpreted that the reference point has been completed and not be an alarm
target.
A/B axis and C axis servo control is not carried out when the universal attachment has mechanical
specifications, so it is also not a target of the A/B axis and C axis alarms.

14-2
 14. Tool Length Compensation in the Tool Axis Direction & Compensation Amount

2.2 Changes in the Tool Length Compensation Amount in the Tool Axis Direction
(1) The handle movement amount is added to the tool length compensation amount of the tool axis
direction by rotating the manual pulse generator when the following mode conditions are fulfilled.

1) When in cutting feed mode and automatic-manual synchronized operation mode while the MDI,
memory or tape mode is selected.
2) During the mode: tool length compensation in the tool axis direction
3) When in the mode: tool length compensation amount change in the tool axis direction
4) When in the feed axis selection is the tool axis direction feed mode

(2) The changed compensation amount is validated from each successive block being executed.

(3) The change amount is canceled when the offset No. is changed.

14-3
 14. Tool Length Compensation in the Tool Axis Direction & Compensation Amount

2.3 Tool Length Compensation in the Tool Axis Direction Vectors

The compensation amount is compensated in the following directions.

(1) A and C axes

Vx = L × sin(A) × sin(C)
Vy = −L × sin(A) × cos(C)
Vz = L × cos(A)

(2) B and C axes

Vx = L × sin(B) × cos(C)
Vy = L × sin(B) × sin(C)
Vz = L × cos(B)

Vx, Vy, Vz : Tool length compensation vectors of the x, y and z axes

L : Tool length compensation amount
A, B, C : Rotation angle of the A, B and C axes (machine value)

Path after tool length

compensation

Program path
G49 command

G43.1 command

(3) Rotation axis angle designation (universal attachment)

When the universal attachment is selected (R4828 = 1), the rotation angles of the A/B and C axes are
those read from the R register, not the machine value of each axis.

Detailed explanation of the read R register

R register Size Details Input range
R4830 A/B axis angle of the universal attachment
4-byte ±1440000 (0.5/1000°)
R4831 R4830 (low-order)/R4831 (high-order)
R4832 C axis angle of the universal attachment
4-byte ±1440000 (0.5/1000°)
R4833 R4832 (low-order)/R4833 (high-order)

14-4
 14. Tool Length Compensation in the Tool Axis Direction & Compensation Amount

2.4 Program Example

(1) Tool length compensation in the tool axis direction (G43.1 command)
~

G91 ;
~

G18 ;
~

G43.1 H01 ;
~

G2 X1000. I500. B180. ;

~

G49 ;
~

Program path
Path after
compensation H01 compensation
amount

(2) Tool length compensation (G43 command)

~

G91 ;
~

Path after
G18 ; compensation
~

G43.1 H01 ;
~

G2 X1000. I500. B180. ;

~

G49 ;
H01 compensation
~

amount

Program path

2.5 Resetting the Compensation Amount

The compensation amount is reset in the following cases:
(1) When a manual reference point return is executed.
(2) When a reset & rewind is executed.
(3) When a G49 or offset No. 0 command is executed.
(4) The compensation is temporarily canceled when a G53 command is issued during compensation,
and the tool moves to the machine position commanded in G53.
(5) When a reset 2 is executed.

2.6 Connections
CNC input Name
Y2CF Tool length compensation amount change in the tool axis direction mode

14-5
 14. Tool Length Compensation in the Tool Axis Direction & Compensation Amount

3. Relation with Other Functions

3.1 Differences in Compensation Amount Changes with the Handle Interrupt and
Feed in the Tool Axis Direction
(2) Handle interrupt in the tool axis direction

Program path

Workpiece

Path after compensation

Handle feed
amount

(1) Tool length compensation in the tool axis

Compensation direction
amount Compensation amount
change mode ON

(1) indicates the path when the tool length compensation amount of the tool axis
direction stays a constant amount without changing.
(2) indicates the path when the handle feed amount is superimposed on the tool
axis direction. The path is changed compared to that of 1.
The handle interrupt amount during the compensation mode is integrated as
the compensation amount.

3.2 Relation with 3-dimensional Coordinate Conversion

(1) "P931 TOOL OFFSET" will result if 3-dimensional coordinate conversion is carried out during tool
length compensation in the tool axis direction.
(2) "P921 3D-CNV ERR" will result if the tool length is compensated in the tool axis direction during 3-
dimensional coordinate conversion.

3.3 Relation with Automatic Reference Point Return

(1) "P931 TOOL OFFSET" will result if a G27 to G30 command is issued during tool length
compensation in the tool axis direction.

14-6
 14. Tool Length Compensation in the Tool Axis Direction & Compensation Amount

4. List of Program Errors

Error No. Details Remedy
P930 NO TOOL OFST. • Check the specifications.
A tool length compensation in the tool axis direction
command was issued although there were no
specifications.
P931 TOOL OFFSET • Reconsider the program.
An illegal G code was commanded during tool length
compensation in the tool axis direction.
P921 3D-CNV ERR • Reconsider the program.
An illegal G code was commanded during the 3-
dimensional conversion mode.

14-7
 14. Tool Length Compensation in the Tool Axis Direction & Compensation Amount

5. Precautions
The 5-axis handle feed and tool axis compensation options are required when changing the tool length
compensation in the tool axis direction and compensation amount.

14-8
 Revision History
Sub-No. Date of revision Revision details
∗ March 1998 First edition created.