ServoWorks CNC Macro

Programming Manual

Revision 1.94
© 2011 Soft Servo Systems, Inc.
 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Warning / Important Notice

Warning

The product described herein has the potential – through misuse, inattention, or lack of understanding – to create
conditions that could result in personal injury, damage to equipment, or damage to the product(s) described herein.
Machinery in motion and high-power, high-current servo drives can be dangerous; potentially hazardous situations
such as runaway motors could result in death; burning or other serious personal injury to personnel; damage to
equipment or machinery; or economic loss if procedures aren’t followed properly. Soft Servo Systems, Inc. assumes
no liability for any personal injury, property damage, losses or claims arising from misapplication of its products. In
no event shall Soft Servo Systems, Inc. or its suppliers be liable to you or any other person for any incidental
collateral, special or consequential damages to machines or products, including without limitation, property damage,
damages for loss of profits, loss of customers, loss of goodwill, work stoppage, data loss, computer failure or
malfunction claims by any party other than you, or any and all similar damages or loss even if Soft Servo Systems,
Inc., its suppliers, or its agent has been advised of the possibility of such damages.

It is therefore necessary for any and all personnel involved in the installation, maintenance, or use of these products
to thoroughly read this manual and related manuals and understand their contents. Soft Servo Systems, Inc. stands
ready to answer any questions or clarify any confusion related to these products in as timely a manner as possible.

The selection and application of Soft Servo Systems, Inc.’s products remain the responsibility of the equipment
designer or end user. Soft Servo Systems, Inc. accepts no responsibility for the way its controls are incorporated
into a machine tool or factory automation setting. Any documentation and warnings provided by Soft Servo
Systems, Inc. must be promptly provided to any end users.

This document is based on information that was available at the time of publication. All efforts have been made to
ensure that this document is accurate and complete. However, due to the widely varying uses of this product, and
the variety of software and hardware configurations possible in connection with these uses, the information
contained in this manual does not purport to cover every possible situation, contingency or variation in hardware or
software configuration that could possibly arise in connection with the installation, maintenance, and use of the
products described herein. Soft Servo Systems, Inc. assumes no obligations of notice to holders of this document
with respect to changes subsequently made. Under no circumstances will Soft Servo Systems, Inc. be liable for any
damages or injuries resulting from any defect or omission in this manual.

Soft Servo Systems, Inc. makes no representation or warranty, expressed, implied, or statutory with respect to, and
assumes no responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained
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 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Warning / Important Notice

Important Notice

The information contained in this manual is intended to be used only for the purposes agreed upon in the related
contract with Soft Servo Systems, Inc. All material contained herein is subject to restricted rights and restrictions
set forth in the contract between the parties.

These manuals contain confidential and proprietary information that is not to be shared with, nor distributed to, third
parties by any means without the prior express, written permission of Soft Servo Systems, Inc. No materials
contained herein are to be duplicated or reproduced in whole or in part without the express, written permission of
Soft Servo Systems, Inc.

Although every effort and precaution has been taken in preparing this manual, the information contained herein is
subject to change without notice. This is because Soft Servo Systems, Inc. is constantly striving to improve its
products. Soft Servo Systems, Inc. assumes no responsibility for errors or omissions.

All rights reserved. Any violations of contractual agreements pertaining to the materials herein will be prosecuted to
the full extent of the law.

! CAUTION
Due to the preread/block buffering aspect of macro statement execution, it is possible
that macro statements using system variables may be evaluated, parsed, and delivered
to the block buffer BEFORE the previous lines have been executed, and before the
relevant system parameters have been updated. Therefore, the evaluation of a macro
statement containing a system variable may not evaluate as expected.

IF YOU DO NOT PROGRAM IN BLOCK DELAYS BEFORE STATEMENTS

INVOLVING SYSTEM VARIABLES, YOU WILL GET UNEXPECTED
RESULTS IN THE EXECUTION OF YOUR MACRO PROGRAMS.

For more information, see Section 7.1: Preread Function/Block Buffering – Problems
and Workaround.

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 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Contents

Table of Contents

Warning ............................................................................................................................................................................................ i
Important Notice ............................................................................................................................................................................. ii
Table of Contents .......................................................................................................................................................................... iii
List of Tables.................................................................................................................................................................................. iv
List of Figures ................................................................................................................................................................................. v
List of Figures ................................................................................................................................................................................. v
Chapter 1: Overview .................................................................................................................................................................... 1-1
1.1 What Is A Macro Program? ............................................................................................................................ 1-1
1.2 Differences Between Simple (Non-Macro) Subprograms And Macros.......................................................... 1-1
1.3 Differences Between Macro Statements and NC Statements ......................................................................... 1-2
1.4 General Format Requirements ........................................................................................................................ 1-2
Chapter 2: Variables .................................................................................................................................................................... 2-1
2.1 Overview of Variables .................................................................................................................................... 2-1
2.2 Types of Variables .......................................................................................................................................... 2-1
2.3 Specifying and Referencing Variables ............................................................................................................ 2-2
2.3.1 Specifying a Variable .............................................................................................................................. 2-2
2.3.2 Referencing a Variable ............................................................................................................................ 2-3
2.4 Variable Values............................................................................................................................................... 2-4
2.4.1 Allowable Values for Variables .............................................................................................................. 2-4
2.4.2 Rounding of Referenced Variables ......................................................................................................... 2-4
2.5 Processing Null and Uninitialized Variables .................................................................................................. 2-4
2.5.1 Uninitialized Variables in a Mathematical Formula ............................................................................... 2-4
2.5.2 Uninitialized Variables in a Movement Command ................................................................................. 2-5
2.5.3 Uninitialized Variables in a Conditional Expression .............................................................................. 2-5
Chapter 3: System Variables ...................................................................................................................................................... 3-1
3.1 Overview of System Variables ....................................................................................................................... 3-1
3.2 System Variables for Interfacing with the PLC .............................................................................................. 3-2
3.3 System Variables for Tool Compensation ...................................................................................................... 3-4
3.4 System Variables for Timers .......................................................................................................................... 3-4
3.5 System Variables for Modal Information ....................................................................................................... 3-5
3.6 System Variables for Position Information ..................................................................................................... 3-7
3.7 System Variables for Workpiece Coordinates ................................................................................................ 3-9
Chapter 4: Mathematical Operations and Logical Operations ................................................................................................ 4-1
4.1 Summary of Mathematical and Logical Operations ....................................................................................... 4-1
4.2 Format of Mathematical and Logical Operations ........................................................................................... 4-3
4.3 Order of Operations ........................................................................................................................................ 4-4
4.3.1 Nesting .................................................................................................................................................... 4-4
4.3.2 Priority of Operations .............................................................................................................................. 4-4
4.4 Precision and Errors ........................................................................................................................................ 4-4
4.4.1 Precision and Errors Related to Mathematical and Logical Operations .................................................. 4-4
4.4.2 Precision and Errors Related to Conditional Expressions ....................................................................... 4-6
4.4.3 Errors Related to Null Variables or Uninitialized Variables ................................................................... 4-6
Chapter 5: Flow of Control – Branching and Repetition .......................................................................................................... 5-1
5.1 Overview of Flow Control .............................................................................................................................. 5-1
5.2 GOTO Statement (Unconditional Branching) ................................................................................................ 5-1
5.3 Conditional Statements and Comparison Operators ....................................................................................... 5-2
5.4 IF Statement .................................................................................................................................................... 5-3
5.4.1 IF GOTO (Conditional Branching) ......................................................................................................... 5-3
5.4.2 IF THEN (Conditional Execution) .......................................................................................................... 5-4
5.4.3 IF ELSE ENDIF (Conditional Execution with Branching) ..................................................................... 5-4
5.5 WHILE DO END Statement (Conditional Looping) ...................................................................................... 5-4
5.6 Nesting ............................................................................................................................................................ 5-5
5.6.1 Acceptable Nesting ................................................................................................................................. 5-5

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Contents

5.6.2 Unacceptable Nesting.............................................................................................................................. 5-6

5.6.2.1 Overlapping DO Ranges of WHILE Statements ............................................................................. 5-7
5.6.2.2 GOTO Statements That Branch The Flow Of Control Within A DO END Loop Of A WHILE
Statement..................................................................................................................................................... 5-7
5.6.2.3 Infinite Loops .................................................................................................................................. 5-7
Chapter 6: Calling Macro Programs........................................................................................................................................... 6-1
6.1 Overview of Macro Calls ................................................................................................................................ 6-1
6.2 Argument Assignment .................................................................................................................................... 6-2
6.3 Simple Macro Call (G65)................................................................................................................................ 6-3
6.4 G65 Macro Call Nesting ................................................................................................................................. 6-4
6.5 Custom Macro Calls Using G Codes, M Codes, S Codes or T Codes ............................................................ 6-5
6.5.1 Overview ................................................................................................................................................. 6-5
6.5.2 Macro Call Function Parameters for Custom G Codes, M Codes, S Codes or T Codes ......................... 6-5
6.5.2.1 Enable Custom G/M/S/T Macro Calls............................................................................................. 6-5
6.5.2.2 Macro Program Folder (Full Path) .................................................................................................. 6-6
6.5.2.3 Output File Name (Full Path) .......................................................................................................... 6-7
6.5.2.4 S Code Setting ................................................................................................................................. 6-8
6.5.2.5 T Code Setting ................................................................................................................................. 6-9
6.5.2.6 M Code Settings ............................................................................................................................ 6-10
6.5.2.7 G Code Settings ............................................................................................................................. 6-11
Chapter 7: Macro Statement Processing................................................................................................................................... 7-1
7.1 Preread Function/Block Buffering – Problems and Workaround ................................................................... 7-1
7.2 Single Block and Optional Skip ...................................................................................................................... 7-2
Chapter 8: Macro Examples: Automatic Tool Change (ATC) with ServoWorks S-100T or the ServoWorks S-100M Series8-
1
8.1 Overview......................................................................................................................................................... 8-1
8.2 ATC – the ServoWorks CNC Way ................................................................................................................. 8-1
8.3 ATC Example #1: Simple ATC Function ....................................................................................................... 8-1
8.4 ATC Example #2: ATC Using Customized G, M and T Codes ..................................................................... 8-3
8.5 ATC Example #3: ATC for a Rotary Tool Changer Using PLC, Standard G Codes, and a Customized T Code
.............................................................................................................................................................................. 8-6
Index ................................................................................................................................................................................................. I

List of Tables

Table 3-1: Summary of System Variables ................................................................................................................. 3-1

Table 3-2: System Variables for PLC Interface (1 of 2) ............................................................................................ 3-2
Table 3-3: System Variables for PLC Interface (2 of 2) ............................................................................................ 3-3
Table 3-4: System Variable Numbers for Tool Compensations ................................................................................ 3-4
Table 3-5: System Variables for Timers .................................................................................................................... 3-4
Table 3-6: System Variables for ServoWorks S-100T Modal Information ............................................................... 3-5
Table 3-7: System Variables for ServoWorks MC-Quad, S-100M, S-120M, and S-140M Modal Information ....... 3-6
Table 3-8: System Variables for Position Information .............................................................................................. 3-7
Table 3-9: System Variables for Workpiece Coordinates ......................................................................................... 3-9
Table 4-1: Summary of Mathematical and Logical Operations (1 of 3) .................................................................... 4-1
Table 4-2: Summary of Mathematical and Logical Operations (2 of 3) .................................................................... 4-2
Table 4-3: Summary of Mathematical and Logical Operations (3 of 3) .................................................................... 4-3
Table 5-1: Summary of Comparison Operators ......................................................................................................... 5-2
Table 6-1: Summary of Differences Between M98 Subprogram Call and Macro Calls............................................ 6-1
Table 6-2: Summary of Argument Assignment Protocol for ServoWorks CNC Macros .......................................... 6-2
Table 8-1: Input Wiring for ATC Example #3 .......................................................................................................... 8-8
Table 8-2: Output Wiring for ATC Example #3 ........................................................................................................ 8-9

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Contents

List of Figures

Figure 1-1: Format for a Macro Subroutine............................................................................................................... 1-2

Figure 6-1: Error in Naming Macro Program Folder................................................................................................. 6-6
Figure 6-2: Error in Naming Macro Output File Name ............................................................................................. 6-7
Figure 8-1: Part Program That Calls the Macro Program O9006.dat ........................................................................ 8-1
Figure 8-2: Macro Program O9006.dat...................................................................................................................... 8-2
Figure 8-3: Example Macro Parameter Settings ........................................................................................................ 8-3
Figure 8-4: Example O1111.dat File ......................................................................................................................... 8-3
Figure 8-5: Example O2222.dat File ......................................................................................................................... 8-4
Figure 8-6: Example O3333.dat File ......................................................................................................................... 8-4
Figure 8-7: Example ATCTest.dat File ..................................................................................................................... 8-4
Figure 8-8: Example of ATC: Transformation of ATCTest.dat into the tempdata.dat File....................................... 8-5
Figure 8-9: Rotary Tool Changer .............................................................................................................................. 8-6
Figure 8-10: Example Macro Parameter Settings ...................................................................................................... 8-9
Figure 8-11: Example O2004.dat File (1 of 5) ........................................................................................................ 8-10
Figure 8-12: Example O2004.dat File (2 of 5) ........................................................................................................ 8-11
Figure 8-13: Example O2004.dat File (3 of 5) ........................................................................................................ 8-12
Figure 8-14: Example O2004.dat File (4 of 5) ........................................................................................................ 8-13
Figure 8-15: Example O2004.dat File (5 of 5) ........................................................................................................ 8-14
Figure 8-16: Example Sequence Program File (1 of 13) ......................................................................................... 8-15
Figure 8-17: Example Sequence Program File (2 of 13) ......................................................................................... 8-16
Figure 8-18: Example Sequence Program File (3 of 13) ......................................................................................... 8-17
Figure 8-19: Example Sequence Program File (4 of 13) ......................................................................................... 8-18
Figure 8-20: Example Sequence Program File (5 of 13) ......................................................................................... 8-19
Figure 8-21: Example Sequence Program File (6 of 13) ......................................................................................... 8-20
Figure 8-22: Example Sequence Program File (7 of 13) ......................................................................................... 8-21
Figure 8-23: Example Sequence Program File (8 of 13) ......................................................................................... 8-22
Figure 8-24: Example Sequence Program File (9 of 13) ......................................................................................... 8-23
Figure 8-25: Example Sequence Program File (10 of 13) ....................................................................................... 8-24
Figure 8-26: Example Sequence Program File (11 of 13) ....................................................................................... 8-25
Figure 8-27: Example Sequence Program File (12 of 13) ....................................................................................... 8-26
Figure 8-28: Example Sequence Program File (13 of 13) ....................................................................................... 8-27

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 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Chapter 1: Overview

Chapter 1: Overview

1.1 What Is A Macro Program?

A macro is one instruction that is included in a part program and that represents a sequence of simpler instructions,
known as a macro (either a macro subroutine or a macro subprogram, depending on where the macro code is located
and how it is called). In a way, macros are like simple programs or batch files. ServoWorks CNC systems support
sophisticated custom macros that allow you to use variables and flow control structures such as loops. In this way,
you can use program logic to eliminate redundant programming of machine functions, such as milling multiple
pockets.

Macros significantly simplify part programming and reduce part programming time by allowing reuse of
programming pieces such as user-defined canned cycles. The extensive macro programming capabilities available
with ServoWorks CNC systems will save time and reduce operator errors.

Macros are written in the ServoWorks macro programming language, which is similar to the BASIC programming
language. You will find it easy to learn to program macros for ServoWorks CNC systems.

Macros can be used as subroutines, contained in the same file as the main program (and called using the G65 simple
macro call). Or, macros can be used as separate macro subprograms, either residing in the same folder as the main
program (and called using an M98 subprogram call), or residing anywhere, even on a network (using custom G, M,
S or T macro calls).

1.2 Differences Between Simple (Non-Macro) Subprograms And Macros

Using a simple NC subprogram (without the macro programming option) for part programming allows reuse of code
for repeating the same exact machining operation, but it is limited in terms of reusability and it is not very powerful.

Using macro subroutines (or macro subprograms) is very similar to calling a simple NC subprogram from a main
part program, except with the added advantage that you can use variables, control structures and mathematical and
logical operations in macros. This means that macros are much more powerful, more versatile and more reusable
than simple NC subprograms. For instance, you can have one macro for a bolt hole, and just change the variables
(arguments) you assign when you call the macro (with macro instructions). If you were using a simple (non-macro)
subprogram for programming a bolt hole, you would need a different subprogram for each size bolt hole.

The format of a macro subroutine is the same format as a simple NC subprogram:

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Chapter 1: Overview

·
·
G65 Macro number main
· program
·
%

O Macro number
·
·
· body of macro
· subroutine
·
M99 – returns the flow of control to the calling program
%

Figure 1-1: Format for a Macro Subroutine

NOTES:

1) Using M99 in the main part program returns the flow of control to the beginning of that main part program,
resulting in an infinite loop.

2) Either the “%” symbol or a carriage return is required at the end of all NC and macro files.

1.3 Differences Between Macro Statements and NC Statements

Macro statements are blocks of code in a subprogram or a part program that must meet one of the following criteria:

1) Contains an arithmetic or logical operation (see Chapter 4: Mathematical Operations and Logical
Operations)

2) Contains a control statement (see Chapter 5: Flow of Control – Branching and Repetition)

3) Contains a macro call command (see Chapter 6: Calling Macro Programs from Within Part Programs)

Any statement (block of code) not meeting the above criteria is considered to be an NC statement.

When a macro statement is executed, single block mode does not apply; i.e., the machine does not stop execution.

1.4 General Format Requirements

1) A space is required between keywords and values.

For instance:

GOTO99 Æ INVALID
GOTO 99 Æ VALID

[#11GT0] Æ INVALID
[#11 GT 0] Æ VALID

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Chapter 1: Overview

2) Brackets “[ ]”must be used around conditional expressions and in mathematical and logical operations.
Parentheses “( )”are invalid in these cases, and are used only for comments in the code.

For instance:

(#11 GT 0) Æ INVALID
[#11 GT 0] Æ VALID

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 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Chapter 2: Variables

Chapter 2: Variables

2.1 Overview of Variables

The ServoWorks part programming language consists of blocks of code made up of F codes, G codes, M codes, N
codes, S codes, T codes, etc. Both part programs and subprograms specify positions and distances associated with
these codes directly. That is to say, the numerals that accompany the parameters for these F/G/M/N/S/T codes are
exact physical dimensions, or exact feedrates, or scaling factors, etc.

The ServoWorks macro programming language allows you to specify either a numeric value or a variable number.
When a variable number is used, the variable value can be assigned when the macro program is called from the part
program, or the variable value can be calculated within the macro program, based on other numeric values or
variables.

2.2 Types of Variables

There are six types of variables in the ServoWorks macro programming language:

1) The Null Variable (#0). The value of this variable is always null. You cannot assign a value to this
variable.

! CAUTION
DO NOT USE A NULL VARIABLE.

Using a null variable (#0) in any line of code (in mathematical formulas, movement
commands or conditional expressions) will cause an error, or unintended results.

2) Local Variables (#1-#99). Local variables are used within a local program scope, which may be a macro
program, a subprogram or the main program. Local values are only held as long as the local scope exists.
For example, both the main program and a macro program called from the main program can have a local
variable #1, but they are separate variables with separate values that exist only within their scope. The
value of local variables within a macro program is lost (initialized to null) when the macro program returns
to the part program.

You can assign values to local variables when you call a macro program from within a part program, or you
can use local variables to hold the results of logical or mathematical operations.

3) Numbered Global Variables (#100-#499). Numbered global variables are used by the ServoWorks CNC
system and are shared across multiple macro programs. The value is saved in the ServoWorks CNC system
after a macro program (which may have assigned or changed the value of the global variable) returns to the
part program. These variables lose their values when the control is completely shut down (powered off).

Numbered global variables have file scope – that is, if a global variable is defined in a file (whether it is the
main program, a subprogram, or a macro program; whether or not it is defined inside a subroutine), its
value is only visible in that file.

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Chapter 2: Variables

4) Symbolic Global Variables (#axxx - #zxxx) . The ServoWorks CNC system allows the use of symbolic
variables, with meaningful variable naming (such as #position), for the convenience of the user. These
symbolic variables must be all lower case, preceded by a “#” sign, and contain no numbers.

Symbolic global variables, like numbered global variables, are used by the ServoWorks CNC system and
are shared across multiple macro programs. The value is saved in the ServoWorks CNC system after a
macro program (which may have assigned or changed the value of the global variable) returns to the part
program. These variables lose their values when the control is completely shut down (powered off).
Symbolic global variables also have file scope.

A symbolic global variable name can be up to 64 characters.

! CAUTION
You will get unpredictable results if you specify a symbolic global variable that does
not begin with “#,” or that uses upper case letters or mixes upper and lower case
letters, or that includes numbers in the name. Either the variable will be ignored or
there will be an error, depending on whether or not the variable name conflicts with
keywords.

5) Numbered Permanent Variables (#500-#999). Permanent variables are used by the ServoWorks CNC
system and are shared across multiple macro programs. These variables keep their value in the
ServoWorks CNC system after a macro program (which may have assigned or changed the value of the
global variable) returns to the part program. They even keep their values even when the control is
completely shut down (powered off), because the values are saved in the Windows registry. [NOTE:
ServoWorks S-100T is the exception; the values of all numbered permanent variables are lost when the
control is completely shut down (powered off).]

6) System Variables (#3000 - #13999). System variables are used for holding data/values related to NC
operations, such as positions, feedrates, tool compensation values, workpiece coordinate offsets, etc. For
more information, see Chapter 3: System Variables.

2.3 Specifying and Referencing Variables

2.3.1 Specifying a Variable

All variables except symbolic variables must be assigned a number. Symbolic variables should have lower case
names.

All variables except symbolic variables must be specified with a number sign (“#”) followed by the variable
number. The correct format is:

#n = value or mathematical expression

where “n” is the variable index number. For instance, to specify the variable #1 and give it the value of 500, the line
of code would simply be:

#1 = 500

To specify the symbolic variable #position and give it the value of 23.0, the line of code would simply be:

#position = 23.0

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Chapter 2: Variables

! CAUTION
Parentheses are invalid for specifying a variable number with an expression, and
would result in an error or in unpredictable results.

2.3.2 Referencing a Variable

You can reference a local, global, permanent or system variable in one of two ways:

1) If you want to directly use the value of a variable, put the variable number after a word address, such as
“X#4”. The value of variable #4 is used for the value of the part programming parameter “X.”

For example:

#1 = 20
#2 = 40
#position = 23.5
G01 X#1 Y#2 Z#position Æ this is interpreted as “G01 X20 Y40 Z23.5”

2) If you want to use the value of a variable in an expression, enclose the expression in brackets (“[]”) and put
the expression after a word address, such as “X[#4+#5].” The value of variables #4 and #5 are added
together, and used for the value of the part programming parameter “X.”

You can reverse the sign of a variable value by referencing it with a minus sign (–) before the “#,” such as “X–#4.”

As an example, the following line in a macro program demonstrates several ways of referencing local, global or
system variables:

G17 G02 X–#4 Y[#2–#1] R#20 F[#6+#7] Q#8

An example of referencing a symbolic variable follows:

#position = 100
G00 X#position Z#position

These lines would have the same effect as “G00 X100 Z100”.

! CAUTION
You cannot reference any variable with subprogram name calls (a “P” word address)
or block/sequence numbers (an “N” word address).

For instance, either of the following lines will produce an error:

N#1 M98 P100

N0020 M98 P#1

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Chapter 2: Variables

! CAUTION
VARIABLES MUST BE DEFINED/INITIALIZED BEFORE USE.

Using a null variable (#0) or an uninitialized variable in any line of code (in
mathematical formulas, movement commands or conditional expressions) will cause
an error, or unintended results.

2.4 Variable Values

2.4.1 Allowable Values for Variables

Local and global variables are stored as double-precision floating-point values. A double-precision floating-point
number is a 64-bit approximation of a real number. The number can be zero or can range from -
1.7976931348623157E+308 to -2.2250738585072014E-307 (-1.7976931348623157 x 10308 to –
2.2250738585072014 x 10-307), or from 2.2250738585072014E-307 to 1.7976931348623157E+308
(2.2250738585072014 x 10-307 to 1.7976931348623157 x 10308).

Values in ranges other than these will trigger an alarm in the ServoWorks CNC system.

When you assign a value without a decimal point, the value of the variable is assigned as a double-precision
floating-point value with the maximum precision possible, approximately 15 digits of precision.

2.4.2 Rounding of Referenced Variables

When a variable is referenced and its value assigned to an address, the value is automatically rounded according to
the maximum accuracy of double-precision floating-point numbers. A floating-point calculation is an arithmetic
calculation done with floating-point numbers and often involves some approximation or rounding because the result
of an operation may not be exactly representable.

Floating-point values are limited to a finite precision. For the purposes of the machine tool and factory automation
industries, this highly accurate representation of values is more than adequate, and rounding of referenced values is
undetectable. For a more complete explanation, see Section 4.4: Precision and Errors.

2.5 Processing Null and Uninitialized Variables

Any variable that has not been initialized (to which no value has been assigned) is undefined, or equal to the null
variable (#0). This applies to undefined local, undefined global, undefined permanent, undefined symbolic or
undefined system variables.

Using the null variable (#0) in any line of code will result in an error.

2.5.1 Uninitialized Variables in a Mathematical Formula

If a variable has the value of null and is used in a mathematical formula, the entire line of code is ignored, causing
unintended results.

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Chapter 2: Variables

! CAUTION
Using a null variable (#0) or an uninitialized variable in a mathematical formula will
cause unintended results, and should be avoided.

2.5.2 Uninitialized Variables in a Movement Command

If a variable has the value of null and is used in a movement command, both the variable and the word address being
referenced will be ignored, probably causing unintended results. For example:

#1 = 10
#2 = #0
G01 X#1 Y#2

“G01 X10” is the movement command that will be executed. The “Y” address will be ignored, because the value
assigned to that address is undefined.

! CAUTION
Using a null variable (#0) or an uninitialized variable in a movement command will
be ignored, causing unintended results, and should be avoided.

2.5.3 Uninitialized Variables in a Conditional Expression

If a variable has the value of null and is used in a conditional expression, it will cause a syntax error.

! CAUTION
Using a null variable (#0) or an uninitialized variable in a conditional expression will
cause an error, and should be avoided.

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Chapter 3: System Variables

Chapter 3: System Variables

3.1 Overview of System Variables

System variables are used for holding data/values related to NC operations, such as positions, feedrates, tool
compensation values, etc. You can read internal NC data using system variables, and you can write to some, but not
all system variables. System variables are how macro programs communicate with the PLC. As such, they are
powerful and necessary for automation and for general-purpose part program development.

VARIABLE TYPE RANGE NOTES

Input from PLC (by bit) #1000 – #1015
Read only
Input from PLC (16 bit word) #1032
Output to PLC (by bit) #1100 – #1115 Read/Write (with some limitations –
Output to PLC (16 bit word) #1132 see Section 7.1: Preread Function/
Block Buffering – Problem and
Output to PLC (32 bit dword) #1133 Workaround)
1 millisecond timer #3001
G-code modal groups #4000 – #4032
B code #4102
F code #4109
H code #4111
M code #4113
Read only
Sequence number #4114
S code #4119
T code #4120
Block end point position #5001 – #5008
Current position (machine) #5021 – #5028
Current position (work) #5041 – #5048
• ServoWorks S-100T only
External work compensation #5201 – #5208
• Read only
Work coordinate 1 #5221 – #5228
Work coordinate 2 #5241 – #5248 Read/Write (with some limitations –
Work coordinate 3 #5261 – #5268 see Section 7.1: Preread Function/
Work coordinate 4 #5281 – #5288 Block Buffering – Problem and
Workaround)
Work coordinate 5 #5301 – #5308
Work coordinate 6 #5321 – #5328
Tool length wear compensation #10001 – #10999 • ServoWorks MC-Quad, S-100M,
S-120M and S-140M only
Tool length geometry compensation #11001 – #11999 • Read/Write (with some limitations –
Tool radius wear compensation #12001 – #12999 see Section 7.1: Preread Function/
Block Buffering – Problem and
Tool radius geometry compensation #13001 – #13999 Workaround)

Table 3-1: Summary of System Variables

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Chapter 3: System Variables

3.2 System Variables for Interfacing with the PLC

System variables #1100 – 1115, #1132 and #1133 (for interfacing with the PLC) can be read and written to (with
some limitations – see Section 7.1: Preread Function/ Block Buffering – Problem and Workaround).

System variables for interfacing with the PLC are broken down as follows:

SYSTEM
VARIABLE CORRESPONDING PLC ADDRESS INTERFACE WITH PLC
NUMBER
#1000 G54.0
#1001 G54.1
#1002 G54.2
#1003 G54.3
#1004 G54.4
#1005 G54.5
#1006 G54.6
#1007 G54.7 16-bit signal from PLC to macro. The
signal is read bit by bit.
#1008 G55.0
#1009 G55.1
#1010 G55.2
#1011 G55.3
#1012 G55.4
#1013 G55.5
#1014 G55.6
#1015 G55.7
The 16-bit binary value of byte G54 16-bit signal from PLC to macro. All
#1032 and G55, G54 being the least 16 bits of the signal are read at one
significant byte. time.

Table 3-2: System Variables for PLC Interface (1 of 2)

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Chapter 3: System Variables

SYSTEM
VARIABLE CORRESPONDING PLC ADDRESS INTERFACE WITH PLC
NUMBER
#1100 F54.0
#1101 F54.1
#1102 F54.2
#1103 F54.3
#1104 F54.4
#1105 F54.5
#1106 F54.6
#1107 F54.7 16-bit signal from macro to PLC. The
signal is read bit by bit.
#1108 F55.0
#1109 F55.1
#1110 F55.2
#1111 F55.3
#1112 F55.4
#1113 F55.5
#1114 F55.6
#1115 F55.7
The 16-bit binary value of byte F54 16-bit signal from macro to PLC. All
#1132 and F55, F54 being the least 16 bits of the signal are read at one
significant byte. time.
32-bit signal from macro to PLC. All
The 32-bit binary value of byte 32 bits of the signal are read at one
#1133 F56, F57, F58 and F59, F56 being time.
the least significant byte. Acceptable values range from –
2,147,483,648 to +2,147,483,648.

Table 3-3: System Variables for PLC Interface (2 of 2)

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Chapter 3: System Variables

3.3 System Variables for Tool Compensation

System variables for tool compensation values can be read and written to (with some limitations – see Section 7.1:
Preread Function/ Block Buffering – Problem and Workaround).

System variable numbers for tool compensation values are available for ServoWorks MC-Quad, ServoWorks
S-100M, ServoWorks S-120M and ServoWorks S-140M, and are broken down as follows:

TOOL LENGTH COMPENSATION TOOL RADIUS COMPENSATION

TOOL NUMBER

GEOMETRY WEAR GEOMETRY WEAR

1 #11001 #10001 #13001 #12001

· · · · ·
· · · · ·
· · · · ·

200 #11200 #10200 #13200 #12200

· · · · ·
· · · · ·
· · · · ·

999 #11999 #10999 #13999 #12999

Table 3-4: System Variable Numbers for Tool Compensations

3.4 System Variables for Timers

System variables for timers are broken down as follows:

SYSTEM
VARIABLE TIMER DESCRIPTION
NUMBER

• Counts in 1-millisecond increments at all times

#3001 • Resets to 0 each time the power is turned on
• Resets to 0 each time 2,147,483,648 milliseconds is reached

Table 3-5: System Variables for Timers

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3.5 System Variables for Modal Information

System variables for modal information specified in blocks immediately preceding the current block can be read.
System variables for modal information can only be read, not written to.

! CAUTION
If you try to write to a system variable for modal information, you will get an error.
This variable is write-protected.

System variables for modal information for ServoWorks S-100T, ServoWorks MC-Quad, ServoWorks S-100M,
ServoWorks S-120M and ServoWorks S-140M are explained as follows:

SYSTEM
MODAL
VARIABLE FUNCTION
GROUP
NUMBER
One shot G codes: G04, G09, G27, G28, G29, G30, G50, G52,
#4000 00
G70~G76, G107

#4001 Movement commands: G00, G01, G02, G03, G32, G90, G92, G94 01

#4002 Constant surface speed control: G96, G97 02

#4005 Feed per minute / rotation per minute: G98, G99 05

#4006 Inch / metric: G20, G21 06

#4007 Tool radius compensation: G40, G41, G42 07

#4008 Spindle speed detect off: G25, G26 08

#4009 Stored stroke check: G22, G23 09

#4010 Canned cycle: G80, G83, G84, G85, G87, G88, G89 10

#4014 Workpiece coordinates: G53, G54~G59 14

#4015 Exact stop check mode and cutting mode: G61, G64 15

#4021 Polar coordinates compensation: G112, G113 21

#4102 B code n/a

#4109 F code n/a

#4113 M code n/a

#4114 Sequence number n/a

#4119 S code n/a

#4120 T code n/a

Table 3-6: System Variables for ServoWorks S-100T Modal Information

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SYSTEM
MODAL
VARIABLE FUNCTION
GROUP
NUMBER
One shot G codes: G04, G05, G08, G09, G10, G27, G28, G29, G30,
#4001 00
G31, G53, G65, G92

#4002 Movement commands: G00, G00.1, G01, G02, G03, G02.3, G03.3 01

#4003 Plane specification: G17, G18, G19 02

#4004 Absolute / incremental: G90, G91 03

#4006 Feed per minute / rotation per minute: G98, G99 05

#4007 Inch / millimeter: G20, G21 06

#4008 Tool radius compensation: G40, G41, G42 07

#4009 Tool length compensation: G43, G44, G49 08

#4010 Fixed cycle: G73, G74, G76, G80 – G89 09

#4011 I point / R point return: G98, G99 10

#4012 Scaling: G50, G51 11

#4015 Workpiece coordinates: G54-G59, G54.1 14

#4016 Cutting mode: G61, G64, G64.1 15

#4017 Coordinate system rotation: G68, G69 16

#4023 G50.1, G51.1 22

#4032 Linear interpolation feedrate include/exclude rotary axes: G310, G311 31

#4109 F code n/a

#4111 H code n/a

#4113 M code n/a

#4114 Sequence number n/a

#4119 S code n/a

#4120 T code n/a

Table 3-7: System Variables for ServoWorks MC-Quad, S-100M, S-120M, and S-140M Modal Information

As an example, the line of code “#5=#4006,” the value of variable #5 would be either 20 or 21, depending upon
whether G20 or G21 was active.

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Chapter 3: System Variables

! CAUTION
If you specify a system variable to read modal information that corresponds to a G
code modal group that cannot be used (i.e. a G code related to ServoWorks S-100T
functions when you’re using ServoWorks MC-Quad), that system variable will be
assigned a value of zero.

3.6 System Variables for Position Information

System variables for current positions can be read. System variables for position information can only be read, not
written to.

! CAUTION
If you try to write to a system variable for position information, you will get an error.
This variable is write-protected.

System variables for position information are explained as follows:

SYSTEM
VARIABLE POSITION INFORMATION NOTES
NUMBER

Block end point (the program position • Tool compensation value not
#5001 – #5008 at the completion of the current block) included
(for axes 1-8) in the current workpiece coordinate • System variable can be read during
system1 movement

• Tool compensation value included

Machine position (the command
• System variable can be read during
#5021 – #5028 position measured from the machine
movement, but care should be
(for axes 1-8) origin) in the machine coordinate
taken in how this data is used (due
system
to the buffering / preread function2)

• Tool compensation value included

Program position (the desired position,
• System variable can be read during
#5041 – #5048 specified by the program). This
movement, but care should be
(for axes 1-8) position is with respect to the
taken in how this data is used (due
workpiece coordinate system1
to the buffering / preread function2)

Table 3-8: System Variables for Position Information

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NOTES:

1) If no G54, G55, G56, G57, G58 or G59 code has been programmed, the workpiece coordinate system will
be the same as the machine coordinate system.

2) See Section 7.1: Preread Function / Block Buffering – Problems and Workaround.

An example follows, where X is Axis #1, Y is Axis #2, and the G54 workpiece coordinates are X=100 and Y=100.

G54 (sets the G54 workpiece coordinate system)

G01 X10 Y10 (moves the X and Y coordinates to 10.000, 10.000 in the G54
workpiece coordinate system)
G04 P10
G04 P10 Dummy delay blocks to ensure proper evaluation of the local variables
G04 P10 (#1, #2 and #3) used in the following lines of code – see Section 7.1:
G04 P10 Preread Function/Block Buffering – Problems and Workaround
G04 P10
#1=#5001
#2=#5021
#3=#5041

At the completion of the execution of the above code, the value of #1 would be 10.000 (the program position
relative to the G54 workpiece coordinate system). The value of #2 would be 110.000 (the machine position relative
to the machine coordinate system). The value of #3 would be 10.000 mm (the program position relative to the G54
workpiece coordinate system).

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Chapter 3: System Variables

3.7 System Variables for Workpiece Coordinates

System variables for workpiece coordinates can be read and written to (with some limitations – see Section 7.1:
Preread Function/ Block Buffering – Problem and Workaround).

System variables for workpiece coordinates in various workpiece coordinate systems are explained as follows:

SYSTEM
VARIABLE EXPLANATION
NUMBER

#5201 – #5208
External workpiece coordinates
(for axes 1-8)

#5221 – #5228
G54 workpiece coordinates for workpiece coordinate system #1
(for axes 1-8)

#5241 – #5248
G55 workpiece coordinates for workpiece coordinate system #2
(for axes 1-8)

#5261 – #5268
G56 workpiece coordinates for workpiece coordinate system #3
(for axes 1-8)

#5281 – #5288
G57 workpiece coordinates for workpiece coordinate system #4
(for axes 1-8)

#5301 – #5308
G58 workpiece coordinates for workpiece coordinate system #5
(for axes 1-8)

#5321 – #5328
G59 workpiece coordinates for workpiece coordinate system #6
(for axes 1-8)

Table 3-9: System Variables for Workpiece Coordinates

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 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Chapter 4: Mathematical and Logical Operations

Chapter 4: Mathematical Operations and Logical Operations

4.1 Summary of Mathematical and Logical Operations

The ServoWorks macro programming language includes many mathematical operations and logical operations to
facilitate your macro programming.

Tables 4-1, 4-2 and 4-3 summarize the mathematical and logical operations can be performed on variables. In the
tables, the expression to the right of the operator (“=”) can contain constants, variables, or an expression containing
constants and/or variables. Variables to the left of the operator (“=”) can also be replaced with an expression. #A,
#B and #C represent local, global, permanent, system or symbolic variables, unless noted otherwise.

FUNCTION FORMAT NOTES

Assignment #A = #B

Sum #A = #B + #C

Difference #A = #B - #C

Product #A = #B * #C

Quotient #A = #B / #C

Exponent #A = #B ^ #C

Sine #A = sin [#B]

Arcsine #A = asin [#B / #C]

• #B and #C should be specified in units

Cosine #A = cos [#B] of degrees. 45 degrees and 30 minutes
should be represented as 45.5°.
Arccosine #A = acos [#B / #C] • Function “tan” performs “sin/cos”.

Tangent #A = tan [#B]

Arctangent #A = atan [#B / #C]

Table 4-1: Summary of Mathematical and Logical Operations (1 of 3)

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Chapter 4: Mathematical and Logical Operations

! CAUTION
If you input data in radians instead of degrees for trigonometric functions you will get
an error.

FUNCTION FORMAT NOTES

Square Root #A = sqrt [#B]

Absolute Value #A = abs [#B]

• When the “round” function is included in

an arithmetic or logic operation
command, in an IF statement, or in a
WHILE statement, the “round” function
rounds off at the first decimal place. (If
#10 = 6.6666, then #1 = round [#10]
changes the value of variable #10 to
Rounding Off
6.0.)
Below the #A = round [#B]
• When the “round” function is used in an
Decimal Point
NC statement address, the “round”
function rounds off the specified value
according to the least input increment of
the address. (If the least input
increment is 0.001 mm, and #1 =
5.6687, then G00 X#1 moves axis X
5.669 mm.)

• Integers are rounded up or down

according to their absolute values, not
their actual values. Therefore, you must
Rounding Down be very careful when rounding negative
(Absolute #A = fix [#B] numbers up or down.
Value) • Rounding up an integer: the absolute
value of the integer produced by the
“fup” function is greater than the
absolute value of the original number.
• Rounding down an integer: the absolute
value of the integer produced by the “fix”
function is less than the absolute value
of the original number.
Rounding Up • Examples:
(Absolute #A = fup [#B] Say that #10 = 3.1 and #20 = –3.1.
Value) #30 = fup [#10] ⇒ #30 = 4.0
#30 = fix [#10] ⇒ #30 = 3.0
#30 = fup [#20] ⇒ #30 = –4.0
#30 = fix [#20] ⇒ #30 = –3.0

Table 4-2: Summary of Mathematical and Logical Operations (2 of 3)

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Chapter 4: Mathematical and Logical Operations

FUNCTION FORMAT NOTES

Natural
#A = ln [#B]
Logarithm

• Relative error may become 10-8 or

greater
Exponential
#A = exp [#B] • When #A (the result of the operation)
Function
exceeds 3.65 x 1047 (for #B ≈ 110), an
overflow occurs, you will get an error

Or #A = #B or #C • These logical operations are performed

on binary numbers bit by bit
• “not” is implemented as follows:
Xor #A = #B xor #C
• For a conditional statement, “not”
changes the value from “TRUE” to
And #A = #B and #C “FALSE,” or from “FALSE” to
“TRUE”
• For the number “0,” “0” is evaluated
as “FALSE,” and the “not” operation
then returns the value of “TRUE”
• For any non-zero numeric value
(decimal value or binary), the
numeric value is evaluated as
Not #A = not #B, #A = !#B “TRUE,” and the “not” operation
then returns the value of “FALSE”
• Examples:
0 Æ FALSE
!0 Æ TRUE
6 Æ TRUE
!6 Æ FALSE

Table 4-3: Summary of Mathematical and Logical Operations (3 of 3)

4.2 Format of Mathematical and Logical Operations

There are three important rules for the formatting of mathematical and logical operations:

1) All mathematical functions must be specified in lower case: sin [#B].

2) Brackets must be used: sin [#B]. The use of parenthesis (i.e. “sin (#B)”) would result in an error.

3) To include comments in mathematical and logical operations, use parenthesis (“( )”).

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Chapter 4: Mathematical and Logical Operations

4.3 Order of Operations

4.3.1 Nesting

In addition to using brackets as part of functions, you can use brackets to specify a certain order of operations.
There is no limit to the number of folds for nested brackets. For equations with brackets, expressions and functions
within brackets are executed from the innermost to the outermost pairs of brackets.

For instance:

#1 = cos [#3 + [[#4 / #2] * #5]]

1

3 1 , 2 , 3 and 4 indicate the order of operations.

4
4.3.2 Priority of Operations

Commands including mathematical and logical operations are executed in a predictable order, as follows:

1) Functions (from left to right)

2) Multiplication and division operations (*, /, and) (from left to right)

3) Addition and subtraction operations (+, –, or, xor) (from left to right)

4.4 Precision and Errors

4.4.1 Precision and Errors Related to Mathematical and Logical Operations

There is always some level of error in the execution of mathematical and logical operations. However, all
ServoWorks CNC systems use highly precise double-precision floating-point variables, so the level of error is quite
small, approximately 15 digits.

The 64-bit double-precision floating point standard is described by IEEE. A double-precision floating-point word
has the following internal format:

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Bit 63 Bits 62-52 Bits 51-0

Sign Exponent Mantissa

S EEEEEEEEEEE FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF

The first bit is the sign bit, S, the next eleven bits are the exponent bits, 'E', and the final 52 bits are the fraction 'F'.
A number n is expressed in floating point format as:

n = (-1)s * m * 2e

where “s” is the value of the sign bit, “m” is the mantissa, and “e” is the exponent.

The mantissa m is "normalized," which means that it is always scaled such that it is greater than or equal to 1, and
less than 2. Therefore, the ones bit (20) is always set, and is not present in the actual number. This is called an
implied bit. Since the mantissa is 52 bits, plus the implied ones bit, the precision of the number is stored to 53 bits,
or 253 = 900,719,925,474,100, approximately 15 digits of precision (2.2250738585072014E-307, or
2.2250738585072014 x 10-307).

The effective range (excluding infinite values) of IEEE double-precision floating-point numbers is:

• Binary: ± (2-2-52)1023
308.25
• Decimal: ~ ± 10 (This value is the end point of the range with the IEEE-754 round-to-nearest
value mode applied.)

The maximum value of the floating-point number is about 1.8*(10308).

Floating-point numbers usually behave very similarly to the real numbers they are used to approximate. However,
there are some cases where floating-point numbers do not model real numbers well because most floating-point
values can't be precisely represented as a finite binary value. For example 0.1 is .0001100110011... in binary (it
repeats forever), so it can't be represented with complete accuracy on a computer using binary arithmetic, which
includes all PCs. Similarly, the result of arithmetic operations may need to be rounded. For example, 2/3 might
yield 0.666666666666667.

Because of this, you can’t assume that a result is accurate to the last decimal place. There are always small
differences between the "true" answer and what can be calculated with the finite precision of any floating point
processing unit. Cumulative rounding errors are possible, but are unlikely to ever be problematic.

! CAUTION
Any time you specify division by zero, you will get an error.

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4.4.2 Precision and Errors Related to Conditional Expressions

Conditional expressions using EQ (equal to), NE (not equal to), GE (greater than or equal to), GT (greater than), LE
(less than or equal to) or LT (less than), can also result in errors.

As an example, if you are using the expression “IF [#10 EQ #20],” if there are small errors in how variables #10
and #20 have been calculated, you may get a FALSE evaluation when a TRUE evaluation would have been
expected. Also, consider that both variables #10 and #20 may have been rounded off slightly, which could also
affect the evaluation.

To avoid this problem, you could replace the expression “IF [#10 EQ #20]” with “IF [abs [#10 – #20] LT
0.00001,” thus assuming that two values are considered to be equal if their difference does not exceed some
allowable limit (0.00001 in this case)

4.4.3 Errors Related to Null Variables or Uninitialized Variables

Any time you use a null variable or an uninitialized variable, you will get an error or unintended results.
.

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Chapter 5: Flow of Control – Branching and Repetition

Chapter 5: Flow of Control – Branching and Repetition

5.1 Overview of Flow Control

There are five types of branch and repetition statements that can be used to direct the flow of control in a macro
program:

1) The GOTO statement (an unconditional branch statement).

2) The IF GOTO statement (a conditional branch statement).

3) The IF THEN statement (a conditional execution statement).

4) The IF ELSE ENDIF statement (a conditional execution with branching statement).

5) The WHILE DO END statement (conditional loop: repetition while certain conditions are met).

These branching and repetition statements are case insensitive: they can be both lower case or upper case (“IF ELSE
ENDIF” or “if else endif.”

5.2 GOTO Statement (Unconditional Branching)

The GOTO statement is a very simple statement that directs the execution to a specific sequence number in the
range of 1 to 99,999.

The format of a GOTO statement is:

GOTO n Å NOTE: a space is required between “GOTO” and “n,” the sequence number

“n” refers to the sequence number. It can be specified in one of two ways:

1) As a direct number. (GOTO 1000)

2) In the format “NXXXX” (GOTO N1000)

! CAUTION
It is strongly recommended that you use GOTO statements to branch to sequence
numbers that occur later in the macro program, rather than a sequence number that
comes BEFORE the GOTO statement. In other words, the flow of control should
always be in the forward direction, not in the reverse direction, or it will impact
processing time.

! CAUTION
If you specify a sequence number outside the range of 1 to 99,999, you will get an
error.

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Chapter 5: Flow of Control – Branching and Repetition

! CAUTION
It is invalid to use a variable or an expression as a sequence number. The following
lines of code would each result in an error:

GOTO #1
GOTO [#1 + #2]

5.3 Conditional Statements and Comparison Operators

A conditional statement is an expression that compares two values using comparison operators. These values may
be constants, variables, or expressions. Conditional statements are evaluated to be either TRUE or FALSE.

A non-zero numeric value is evaluated as TRUE. A zero value is evaluated as FALSE.

An example follows:

#1 = 100
#2 = 0
IF [#1] Å evaluates as TRUE
IF [#2] Å evaluates as FALSE

Comparison is done using operators summarized in the following table:

COMPARISON OPERATOR EXPLANATION ACCEPTABLE FORMATS

[#A EQ #B]
EQ = Equal to
[#A = #B]

NE ≠ Not equal to [#A NE #B]

[#A GT #B]
GT > Greater than
[#A > #B]

[#A GE #B]
GE ≥ Greater than or equal to
[#A >= #B]

[#A LT #B]
LT < Less than
[#A < #B]

[#A LE #B]
LE ≤ Less than or equal to
[#A <= #B]

Table 5-1: Summary of Comparison Operators

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! CAUTION
Conditional statements that include the null variable (#0) will result in a syntax error.

! CAUTION
Brackets must be used: [#A EQ #B]. The use of parenthesis (i.e. “(#A EQ #B)”)
would result in an error.

5.4 IF Statement
The IF statement specifies some conditional expression. It may be followed by a GOTO statement, a THEN
statement, or an ELSE…ENDIF structure.

5.4.1 IF GOTO (Conditional Branching)

The format of an IF GOTO statement is:

IF [<conditional expression>] GOTO n where “n” is the sequence number.

If that conditional expression is satisfied, program execution branches to sequence number n. If that conditional
expression is not satisfied, program execution continues with the execution of the statement following the IF GOTO
statement.

As noted previously, “n” refers to the sequence number, and can be specified in one of two ways:

1) As a direct number. (GOTO 1000)

2) In the format “NXXXX” (GOTO N1000)

! CAUTION
If you specify a sequence number outside the range of 1 to 99,999, you will get an
error.

! CAUTION
It is invalid to use a variable or an expression as a sequence number. The following
lines of code would each result in an error:

GOTO #1
GOTO [#1 + #2]

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Chapter 5: Flow of Control – Branching and Repetition

5.4.2 IF THEN (Conditional Execution)

The format of an IF THEN statement is:

IF [<conditional expression>] THEN <macro statement>

If that conditional expression is satisfied, the program executes the macro statement following the “THEN.” If that
conditional expression is not satisfied, program execution continues with the execution of the statement following
the IF THEN statement (and the macro statement following the “THEN” is not executed).

! CAUTION
The macro statement needs to be in the same line as the IF THEN statement, or you
will get an error.

5.4.3 IF ELSE ENDIF (Conditional Execution with Branching)

The format of an IF ELSE ENDIF structure is:

IF [<conditional expression>]
<macro statement(s)>
ELSE
<macro statement(s)>
ENDIF

If the first conditional expression is satisfied, the program executes the macro statement(s) following “IF” (and the
macro statement(s) following the “ELSE” are not executed). If that first conditional expression is not satisfied, then
program execution continues with the execution of the second macro statement or set of macro statements following
“ELSE” (and the macro statement(s) following the “IF” are not executed). Program execution then continues with
the execution of the statement following the ENDIF statement.

Only one of the two sets of macro statements in an IF ELSE ENDIF structure is executed.

5.5 WHILE DO END Statement (Conditional Looping)

The WHILE DO END statement is used to specify repetition for as long as some conditional expression is met.
When the conditional expression is satisfied, the blocks of code from the “DO” to the “END” statements are
executed. If the conditional expression is not satisfied, the blocks of code from the “DO” to the “END” statements
are not executed, and program execution continues with the block of code immediately following the “END”
statement.

The format of a WHILE DO END statement is:

WHILE [<conditional expression>] DO m

.
.
.
END m where m is an identification number for specifying the range of execution.

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Chapter 5: Flow of Control – Branching and Repetition

“m” numbers can be reused as many times as required:

WHILE [<conditional expression>] DO 1

.
.
.
END 1

WHILE [<conditional expression>] DO 1

.
.
.
END 1

! CAUTION
If you specify an “m” number outside the range of 1 to 99,999, you will get an error.

WHILE/DO/END statements can be consecutive, or can be nested inside of each other. See Section 5.6: Nesting for
examples.

5.6 Nesting

5.6.1 Acceptable Nesting

Conditional statements and repetition statements can be nested within each other, with certain logical restrictions.
IF ELSE ENDIF and WHILE DO END statements can be nested with no limit to the depth of nesting.

An example of acceptable nesting of WHILE DO END statements follows:

WHILE [<conditional expression>] DO 1

.
.
WHILE [<conditional expression>] DO 2
.
.
WHILE [<conditional expression>] DO 3
.
.
END 3
.
.
END 2
.
.
END 1

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Chapter 5: Flow of Control – Branching and Repetition

The flow of control can be directed to outside of the WHILE DO END loop, an example of which follows:

WHILE [<conditional expression>] DO 1

.
.
IF [<conditional expression>] GOTO 100
.
.
END 1
.
.
N100……………..
.
.
M99

An example of acceptable nesting of an IF ELSE ENDIF statement follows:

IF [<conditional expression>]
<macro statement(s)>
ELSE
IF [<conditional expression>]
<macro statement(s)>
ELSE
IF [<conditional expression>]
<macro statement(s)>
ELSE
<macro statement(s)>
ENDIF
ENDIF
ENDIF

5.6.2 Unacceptable Nesting

There are several nesting conditions that that would cause an error in the execution of your macro program:

1) Overlapping WHILE DO END ranges of WHILE statements

2) GOTO statements that branch the flow of control within a DO/END Loop of a WHILE statement

3) Infinite loops

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Chapter 5: Flow of Control – Branching and Repetition

5.6.2.1 Overlapping DO Ranges of WHILE Statements

It is imperative that DO/END ranges do not overlap. Overlapping DO ranges cannot logically be executed.

An example of overlapping DO ranges follows:

WHILE [<conditional expression>] DO 1

.
.
WHILE [<conditional expression>] DO 2
.
.
.
.
END 1
.
.
END 2

5.6.2.2 GOTO Statements That Branch The Flow Of Control Within A DO END Loop Of A
WHILE Statement
DO/END loops cannot be entered except from the while statement. If you attempt to use a GOTO statement to send
the flow of control to within a DO/END loop, you will get an error, as this cannot logically be executed (the
evaluation of the conditional statement of the WHILE loop is skipped).

An example of a GOTO statement that branches the flow of control within a DO/END loop follows:

IF [<conditional expression>] GOTO n

.
.
WHILE [<conditional expression>] DO 1
.
.
.
.
Nn……….
.
.
END 1

5.6.2.3 Infinite Loops

Infinite loops will produce errors and unexpected program execution. Some conditions under which infinite loops
are created include the following:

• The conditional expression for a WHILE statement is always true – none of the variables within the
conditional expression are modified by statements within the DO END loop

• A DO END loop which doesn’t follow a WHILE statement

• Including M99 in the main program

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Chapter 6: Calling Macro Programs

Chapter 6: Calling Macro Programs

6.1 Overview of Macro Calls

There are differences between calling macro subprograms and calling macro subroutines from within part programs.

Macro subprograms can be called using custom G, M, S or T codes, or by using the M98 subprogram call, in the
format:

M98 P R where P is the subprogram name, and R specifies the number of times the subprogram
should be executed.

Calls to macro subprograms using M98 have the disadvantage of not allowing the passing of variables.

For example, “M98 PTest_1 R3” calls subprogram OTest_1.dat in the same folder as the parent program, and
repeats it three times. The subprogram must be in a separate file from the part program file in which the M98
subprogram call appears. The subprogram file must be in the same folder as the part program file.

Macro programs can be called from within part programs with any of the following methods:

1) A subprogram macro call (M98) Macro programs must be in the same folder as the part program file.

2) A simple macro call (G65) Macro subroutines must be in the same file as the main program

3) Custom G code macro call

4) Custom M code macro call

Macro programs may be anywhere, even on the network
5) Custom S code macro call

6) Custom T code macro call

The differences between an M98 subprogram call and other macro calls are summarized in the following table:

M98 SUBPROGRAM G65 SIMPLE CUSTOM G AND M CUSTOM S AND T

FEATURE
CALL MACRO CALL MACRO CALLS MACRO CALLS

Arguments
can be
NO YES YES YES
specified (data
passed)

Calls the macro Calls the macro

Calls the macro
Calls the macro subprogram from subprogram from
subprogram from
subroutine from another file in the another file in the
Calls the another file in the
within the same file specified macro specified macro
macro… same folder where
as the main program folder program folder
the main program
program (specified with (specified with
resides
macro parameters) macro parameters)

Table 6-1: Summary of Differences Between M98 Subprogram Call and Macro Calls

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6.2 Argument Assignment

When passing arguments to macro programs, we strongly recommend using decimal points. When arguments are
passed without decimal points, the units used are assumed to correspond to the least input increment of each address,
which may vary according to the configuration of the ServoWorks CNC system.

For example, the statement “G65 P9000 A10. B20. C30.” assigns the value of “10” to #1, the value of “20” to #2
and the value of “30” to #3. In other words, addresses A, B and C are used to pass arguments, which are assigned
to local variables #1, #2 and #3.

The argument assignment protocol for ServoWorks CNC macros uses all of the letters of the alphabet (once each)
except G, L, N, O and P.

! CAUTION
If you specify a G, L, N, O or P in your argument assignments, you will get an error.

Addresses that need not be specified (that won’t be used by the macro program) can be omitted from the argument
assignments. The values of local variables corresponding to omitted addresses are set to null.

The letters and the local variables to which the letters are assigned are summarized in the following table:

ADDRESS LETTER VARIABLE NUMBER

A #1
B #2
C #3
D #7
E #8
F #9
H #11
I #4
J #5
K #6
M #13
Q #17
R #18
S #19
T #20
U #21
V #22
W #23
X #24
Y #25
Z #26

Table 6-2: Summary of Argument Assignment Protocol for ServoWorks CNC Macros

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An example follows: the statement “G65 P9000 A10. B20. F2. S100.” assigns the value of “10” to #1, the value
of “20” to #2, the value of “2” to #9 and the value of “100” to #19. In other words, addresses A, B, F and S are
used to pass arguments, which are assigned to local variables #1, #2, #9 and #19. The values of local variables #3,
#4, #5, #6, #7, #8, #11, #13, #17, #18, #20, #21, #22, #23, #24, #25 and #26 are set to null because the addresses
that correspond with them were omitted from the argument assignment statement.

6.3 Simple Macro Call (G65)

A simple macro call is a one-shot command in which a macro is called once using G65 (although it may be executed
more than once, depending upon the L parameter, the number of times the macro is to be repeated).

Required Format

G65 P L <argument assignment>

Possible Parameters That Can Be Used With G65

P – macro number (subroutine number)
L – number of times to repeat the execution of the macro (from 1 to 9,999 – 1 by default)

In addition to these two parameters, the macros are called with argument assignments, which are not considered to
be parameters.

Example 1
G65 P100 L3 Z20.0 R2.5 F500 – calls macro program O100.dat, which will be repeated 3 times, and assigns
the value 20.0 to address Z, 2.5 to address R and 500 to address F
O100.dat – this line indicates the macro program O100.dat, which is in the same file,
and which precedes the subroutine code

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Example 2
G28
G50 X0 Z0
G65 P1 Z-5 R.5 Q1 D0.3 F20.0
main program
M30
%

O1
IF [#26-#18>0] GOTO 100
IF [#17<=0] GOTO 100
IF [#7<0] GOTO 100
IF [#9<=0] GOTO 100
#50 = #18
G00 X0
G00 Z#50
WHILE [#50-#17 > #26] DO 1
#50 = #50 - #17
macro subroutine
G01 Z#50 F#9
#50 = #50 + #7
G00 Z#50
#50 = #50 - #7
END 1
G01 Z#26 F#9
G00 Z#18
N100
M99
%

Limitations
• G65 must be specified before any argument.
• The macro program (the subroutine) must be in the same file as the part program file that calls the macro
program.

6.4 G65 Macro Call Nesting

Macro calls can be nested to a depth of four levels. (This does not include M98 subprogram calls.)

There are local variable levels (0 to 4) pertaining to nesting. The level of the main program is level 0. Each time a
macro is called, the level of the local variable is incremented by one, and the values of the local variables at the
previous level are saved in the ServoWorks CNC system.

When M99 is executed in a macro program (indicating the end of the macro program), control returns to the calling
program, the local variable level is decremented by one, and the values of the local variables that existed when the
macro was called are restored.

! CAUTION
When M99 is executed in a main program, it results in an infinite loop.

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Chapter 6: Calling Macro Programs

6.5 Custom Macro Calls Using G Codes, M Codes, S Codes or T Codes

6.5.1 Overview

You can create customized G, M, S or T codes to call macro programs, using Configuration Mode of one of the
ServoWorks S-100M series (S-100M, S-120M and S-140M). This is very similar to the G65 simple macro call.
Essentially, you can use this capability to create your own special, user-defined G, M, S or T code functions (written
as customized macro programs) and call them using your own G, M, S or T code number.

You can define G, M, S or T codes as specialized codes by using macro parameters to associate these codes with
specific macro programs. For S and T codes, the specified macro program applies to ALL S and T codes. For G
and M codes, you define specific G and M codes (up to ten of each) that you associate with different macro
programs.

When the “Enable Custom G/M/S/T Macro Calls” parameter (set in Configuration Mode of ServoWorks S-100M,
S-120M or S-140M) is set to “Enabled,” the ServoWorks RealTime DLL searches part program files before starting
G code execution and generates (creates) a temporary file (with a user-defined file name and location), in which
every special G, M, S and T code (defined by the Macro function parameters) is replaced with a G65 simple macro
call to the specified macro program, and each macro program is appended to this temporary file as a subroutine. S
and T codes are kept as parameters (arguments) in any new line involving special S or T codes that invoke a macro
program.

NOTE: When the “Enable Custom G/M/S/T Macro Calls” parameter is set to “Enabled,” the temporary file is
created and executed even if there are no special G, M, S or T codes in the part program.

6.5.2 Macro Call Function Parameters for Custom G Codes, M Codes, S Codes or T
Codes

6.5.2.1 Enable Custom G/M/S/T Macro Calls

Description
Enabling or disabling of custom G, M, S and T macro calls.
Valid Values: 0, 1
Meaning of Values
0 – Custom G, M, S and T code macro calls disabled
1 – Custom G, M, S and T code macro calls enabled
Default Value: 0

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6.5.2.2 Macro Program Folder (Full Path)

Description
The directory (folder) where all the user-created macro programs related to custom G, M, S or T code macro calls
must be stored. The ServoWorks CNC controller will search this folder for all macro programs.
Required Format
You must include the full path for this folder, including the drive.
Example
C:\Program Files\SoftServo\S-100M\ncdata\Macro\
Notes
The path for this folder can be on a local drive or on a network.
Limitations
This folder must already exist. If you type the path of a folder that does not exist, you will get an error message
similar to the following:

Figure 6-1: Error in Naming Macro Program Folder

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6.5.2.3 Output File Name (Full Path)

Description
The name and location for the temporary NC program file that is created by and executed by the ServoWorks
G-Code Parser. This temporary file consists of the part program file with the following changes:

• All lines of code that contain special G, M, S or T codes are replaced with G65 simple macro calls to the
corresponding user-defined macro programs

• These user-defined macro programs are appended to this temporary part program file as macro subroutines
Required Format
You must include the full path for this file, including the drive.
Example
C:\Program Files\SoftServo\S-100M\ncdata\Macro\tempdata.dat
Limitations
• The location for this temporary file must be in a local folder, not on a network or a non-system drive.

• This folder must already exist. If you type the path of a folder that does not exist, you will get an error
message similar to the following:

Figure 6-2: Error in Naming Macro Output File Name

Notes
• When the “Enable Custom G/M/S/T Macro Calls” is set to “Enabled,” this temporary file is created
whether or not there are any special G, M, S or T codes.

• Because this temporary part program file is executed by the ServoWorks G-Code parser and not the
original part program file, M98 blocks will look for subprograms in the folder containing the temporary file
and not the original part program file. To have M98 blocks look for subprograms in the folder containing
the original part program file, set the output file to be in the same folder as the original part program file.

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6.5.2.4 S Code Setting

Description
The name of the macro program to be called for each instance of an S code in the user’s part program.
Required Format
An integer between 1 and 999999999 (with no commas).
Example
3333 (This would cause all S codes to invoke a macro program file named “O3333.dat”)
Limitations
• You cannot call a macro program with an S code from within a macro program. All S codes in macro
programs are treated as ordinary S codes.

For example, if S1000 is defined as a custom S code macro call to O1234.dat, if “S500” appears in
O1234.dat, it will NOT be treated as a macro call.

• No nesting of calls using S codes is allowed. In other words, if S codes are defined to call a macro
program, any S codes in that macro program (subroutine) will be treated as ordinary S codes, and will not
call that macro program again.

• All S codes in subprograms called with M98 are treated as ordinary S codes.
Notes
The S code is kept as a parameter (argument) in the new line that invokes the macro program. For example, the line
of code “S10” would be replaced with “G65 P3333 S10.”

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6.5.2.5 T Code Setting

Description
The name of the macro program to be called for each instance of a T code in the user’s part program.
Required Format
An integer between 1 and 999999999 (with no commas).
Example
3333 (This would cause all T codes to invoke a macro program file named “O3333.dat”)
Limitations
• You cannot call a macro program with a T code from within a macro program. All T codes in macro
programs are treated as ordinary T codes.

For example, if T1000 is defined as a custom T code macro call to O1234.dat, if “T500” appears in
O1234.dat, it will NOT be treated as a macro call.

• No nesting of calls using T codes is allowed. In other words, if T codes are defined to call a macro
program, any T codes in that macro program (subroutine) will be treated as ordinary T codes, and will not
call that macro program again.

• All T codes in subprograms called with M98 are treated as ordinary T codes.
Notes
The T code is kept as a parameter (argument) in the new line that invokes the macro program. For example, the line
of code “T10” in the original NC part program would be replaced with “G65 P3333 T10.”

In the O3333.dat macro program, the code should be written using the variable “T#20,” because “#20” is the
variable number that corresponds to address letter T (see Table 6-2). When the parameter “T10” is passed into the
O3333.dat macro program as an argument, T#20 will be replaced with T10. In this way, the O3333.dat macro
program can support all T codes, with the T codes defined by the tool number called in the original NC program.

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6.5.2.6 M Code Settings

Description
The M code settings actually have two parts:

1) The name of the M code that invokes a macro program file (that defines this custom M code).

2) The name of the macro program to be called for each instance of that specific M code in the user’s part
program.
Required Format
The format for an M code can be an integer, or an integer with one digit after the decimal point. This is helpful,
since you can name special M codes as non-integer numbers to set them apart from normal, predefined M codes
which are always an integer value.

The name of the macro program should be an integer between 1 and 999999999 (with no commas).
Example
The name of the M code could be “3” (which defines “M03” as a customized M code), or could be “3.1” (which
defines “M03.1” or “M3.1” as a customized M code).

The name of the macro program could be “3333” (which would cause the special M code to invoke a macro
program file named “O3333.dat”)
Limitations
• No nesting of calls using any specially defined M codes is allowed. In other words, if a special M code is
defined to call a macro program, any instances of that same M code in that macro program (subroutine) will
be treated as an ordinary M code, and will not call that macro program again.

However, if a DIFFERENT special M code is used in a macro program (different than the special M code
that called that macro program), then it WILL call its associated macro program from within the macro
program.

For example, if M3.1 is defined as a custom M code macro call to O3131.dat, if “M3.1” appears in
O3131.dat, it will NOT be treated as a macro call. But if M4.1 is defined as a custom M code macro call to
O4141.dat, and M4.1 appears in O3131.dat, it WILL call O4141.dat from O3131.dat.

• All M codes in subprograms called with M98 are treated as ordinary M codes.

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6.5.2.7 G Code Settings

Description
The G code settings actually have two parts:

1) The name of the G code that invokes a macro program file (that defines this custom G code).

2) The name of the macro program to be called for each instance of that specific G code in the user’s part
program.
Required Format
The format for a G code can be an integer, or an integer with one digit after the decimal point. This is helpful, since
you can name special M codes as non-integer numbers to set them apart from normal, predefined M codes which are
always an integer value.

The name of the macro program should be an integer between 1 and 999999999 (with no commas).
Example
The name of the G code could be “23” (which defines “G23” as a customized G code), or could be “23.1” (which
defines “G23.1” as a customized G code).

The name of the macro program could be “3333” (which would cause the special G code to invoke a macro program
file named “O3333.dat”)
Limitations
• No nesting of calls using any specially defined G codes is allowed. In other words, if a special G code is
defined to call a macro program, any instances of that same G code in that macro program (subroutine) will
be treated as an ordinary G code, and will not call that macro program again.

However, if a DIFFERENT special G code is used in a macro program (different than the special G code
that called that macro program), then it WILL call its associated macro program from within the macro
program.

For example, if G23.1 is defined as a custom G code macro call to O231.dat, if “G23.1” appears in
O231.dat, it will NOT be treated as a macro call. But if G24.1 is defined as a custom G code macro call to
O241.dat, and G24.1 appears in O231.dat, it WILL call O241.dat from O231.dat.

• All G codes in subprograms called with M98 are treated as ordinary G codes.

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Chapter 7: Macro Statement Processing

Chapter 7: Macro Statement Processing

7.1 Preread Function/Block Buffering – Problems and Workaround

The ServoWorks CNC Engine communicates with the ServoWorks G-Code Parser, and determines the timing of the
ServoWorks G-Code Parser. There is a buffer of five blocks of binary data (each the result of parsing one block of
code from a part program) between the ServoWorks CNC Engine and the ServoWorks G-Code Parser. This buffer
is necessary to provide the ServoWorks CNC Engine with multiple blocks each service routine. However, this “5
block preview” also causes some problems related to the updating of certain system variables.

There are occasions where macro statements using system variables are evaluated, parsed, and delivered to the block
buffer BEFORE the previous lines have been executed, and the relevant system parameters have been updated.
Therefore, the evaluation of a macro statement containing a system variable may not evaluate as expected.

For example, let’s say the current position of the X axis is 0.0, and then the following five blocks of code are each
parsed and sent to the block buffer as a group:

G01 X10
G01 X20
G01 X30
G01 X40
IF [#5021 LT 20.0] then <macro statement> This fifth statement is evaluated based upon the
position of X as 0.0, because the previous 4 lines of
system variable for the current code have been preread and placed in the buffer, but
position of Axis 1 in the machine have not yet been executed. The system variable for
coordinate system the current position of the X axis will not be updated
until these lines of code have been executed, which is
too late for the fifth line of code to evaluate as the
programmer intended.

There is a workaround to this problem that avoids this problem. Simply program five “dummy” blocks of code
before any macro statements involving system variables. Typically, we recommend the following for block delays:

G04 P10
G04 P10
G04 P10
G04 P10
G04 P10

This only delays code execution by 50 milliseconds, but avoids any problems caused by a delay in system variable
value updating.

! CAUTION
IF YOU DO NOT PROGRAM IN BLOCK DELAYS BEFORE STATEMENTS
INVOLVING SYSTEM VARIABLES, YOU WILL GET UNEXPECTED
RESULTS IN THE EXECUTION OF YOUR MACRO PROGRAMS.

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Chapter 7: Macro Statement Processing

7.2 Single Block and Optional Skip

Macro functions are executed by the ServoWorks G-Code Parser. Therefore, the blocks that set macro variable
values cannot be executed with the operation support function switch Optional Skip, or there will be an error. Nor
can the operation support function switch Single Block be effective for blocks that set macro variable values.

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Chapter 8: Macro Examples: Automatic Tool Change (ATC)

Chapter 8: Macro Examples: Automatic Tool Change (ATC) with

ServoWorks S-100T or the ServoWorks S-100M Series

8.1 Overview
The following are examples of macros for automatic tool change (ATC) functions for ServoWorks S-100T,
ServoWorks S-100M, ServoWorks S-120M or ServoWorks S-140M.

NOTE: ATC achieved with a macro program is different than the GE Fanuc way. Fanuc supports the M06 code
(Tool Change). Any time a tool change is required, an “M06T__” command is given inside a part program. This
“M06T__” command activates either a macro program or a PLC sequence program, or both.

8.2 ATC – the ServoWorks CNC Way

For ServoWorks CNC products, ATC can be achieved without M06 codes, by using macros and PLC.

First, write a macro program or a subprogram for tool change. This macro or subprogram includes motion
commands, M codes and T codes.

Then, in the part program, call that macro or subprogram each time you require a tool change. (Instead of just
writing “M06T__” in the part program, as you would do with Fanuc.)

8.3 ATC Example #1: Simple ATC Function

An example part program and an example macro program follow:

#520=3
M98 P9006 Å Calls the tool change macro program
G04 P1500
#520=5
M98 P9006 Å Calls the tool change macro program
M02

Figure 8-1: Part Program That Calls the Macro Program O9006.dat

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Chapter 8: Macro Examples: Automatic Tool Change (ATC)

M50
M5
G04 P1000

(SUB 9006 -- Tool Change)

(X Tool Change Position)
#500 = -0.2294
(Y Safe Position: -2.0093)
#501 = -2.0093
(Y Tool Change Position: -0.3206)
#502 = -0.3206
(Z Tool Change Position)
#503 = -3.8072
(Tool Spacing)
#504 = 1.950
(General Feedrate)
#506 = 200.0
(Z Safe Position)
#507 = -2.000

G20

IF [#520 EQ #511] GOTO 100

IF [#520 EQ 0] GOTO 20
IF [#511 EQ 0] GOTO 10
N20
(Current Tool)
#510 = #511
(Next Tool)
#511 = #520
#508 = #500 + [#510-1]*#504

G00 G80 G90 G70 G44

G04
G53 Z0.
G00 G53 X#508 Y#501
G00 G53 Z#503
G01 G53 Y#502 F#506

N10
M10
G04 P2000 (Open Collet)
G00 G53 Z0.

IF [#520 EQ 0] GOTO 100

(Current Tool)
#510 = #511
(Next Tool)
#511 = #520
#509 = #500 + [#511-1]*#504
G00 G53 X#509 Y#502
G00 G53 Z#507
G01 G53 Z#503 F#506
M11
G04 P2000 (Close Collet)
G01 G53 Y#501 F#506
G00 G53 Z0.
N100 (Error exit)
M51
G04 P1000
M99
%
Figure 8-2: Macro Program O9006.dat

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Chapter 8: Macro Examples: Automatic Tool Change (ATC)

8.4 ATC Example #2: ATC Using Customized G, M and T Codes

Following is an example of an ATC function that uses a customized G, M and T codes to trigger tool changes in the
executing part program.

First, the macro function parameters are set as follows:

Figure 8-3: Example Macro Parameter Settings

Then, for each customized G, M, S or T code, you must write a customized macro program (.dat file) that resides in
the macro program folder (C:\Program Files\SoftServo\S-100M\ncdata\Macro\ in this case). In this example, the
customized macro programs are as follows:

G90 (absolute programming)

G1 X-50.0 Y100.0 F2000 (linear interpolation command)
X-50.00 Y-200.0 F4000
M99 (return to main program)
%

Figure 8-4: Example O1111.dat File

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G90 (absolute programming)

X100.0 Y-200.0
X0.0 Y0.0
M99 (return to main program)
%

Figure 8-5: Example O2222.dat File

G90 (absolute programming)

M03 S1000 (spindle clockwise at 1000 RPMs)
M99 (return to main program)
%

Figure 8-6: Example O3333.dat File

Write a part program file that uses these specialized S, T, M and G codes (G21.2, M03 and T20, in this example).
One such example part program follows:

G53 X0.0 Y0.0

G92 X0.0 Y0.0
G021.2
X50.0 Y200.0
G1 X-50.0 Y100.0 F2000
X-50.005 Y-200.0 F4000
/G0
X-50.0 Y400.0
X100.0 Y100.0
X100.0 Y100.0
M03
G91G01 X50.0 Y0.002 F500.0
X-50.0 Y-0.001
G 0 X100.0 Y-0.001
G31 X-100.0 Y100.0 F2000.0
X100.0 Y100.0
G 4 P1000
G92 X50.0 Y20.0
G04 X2.0
G90X-100.0 Y400.0
X-50.0 Y100.0
T20
M1
X100.0 Y-200.0
\X-100.0 Y400.0
X0.0 Y0.0
M02
%

Figure 8-7: Example ATCTest.dat File

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When the “Enable Custom G/M/S/T Macro Calls” parameter is set to “Enabled,” the ServoWorks G-Code Parser
searches the ATCTest.dat file before starting G code execution. It generates (creates) a temporary file (with the
“Output File Name”, in this case C:\Program Files\SoftServo\S-100M\ncdata\Macro\tempdata.dat), in which every
special S, T, M or G code is replaced with a G65 simple macro call to the specified macro program, and each macro
program is appended to the “tempdata.dat” file as a subroutine, as shown:

G53 X0.0 Y0.0 G53 X0.0 Y0.0

G92 X0.0 Y0.0 G92 X0.0 Y0.0
G021.2 Æ G65 P1111
X50.0 Y200.0 X50.0 Y200.0
G1 X-50.0 Y100.0 F2000 G1 X-50.0 Y100.0 F2000
X-50.005 Y-200.0 F4000 X-50.005 Y-200.0 F4000
/G0 /G0
X-50.0 Y400.0 X-50.0 Y400.0
X100.0 Y100.0 X100.0 Y100.0
X100.0 Y100.0 X100.0 Y100.0
M03 Æ G65 P3333
G91G01 X50.0 Y0.002 F500.0 G91G01 X50.0 Y0.002 F500.0
X-50.0 Y-0.001 X-50.0 Y-0.001
G 0 X100.0 Y-0.001 G 0 X100.0 Y-0.001
G31 X-100.0 Y100.0 F2000.0 G31 X-100.0 Y100.0 F2000.0
X100.0 Y100.0 X100.0 Y100.0
G 4 P1000 G 4 P1000
G92 X50.0 Y20.0 G92 X50.0 Y20.0
G04 X2.0 G04 X2.0
G90X-100.0 Y400.0 G90X-100.0 Y400.0
X-50.0 Y100.0 X-50.0 Y100.0
T20 Æ G65 P2222 T20
M1 M1
X100.0 Y-200.0 X100.0 Y-200.0
\X-100.0 Y400.0 \X-100.0 Y400.0
X0.0 Y0.0 X0.0 Y0.0
M02 M02

O1111
G90
G1 X-50.0 Y100.0 F2000
X-50.00 Y-200.0 F4000
M99
%

O3333
G90
M03 S1000
M99
%

O2222
G90
X100.0 Y-200.0
X0.0 Y0.0
M99
%

ATCTest.dat tempdata.dat
Figure 8-8: Example of ATC: Transformation of ATCTest.dat into the tempdata.dat File

The tempdata.dat file becomes the file actually executed by the ServoWorks G-Code Parser, NOT the ATCTest.dat
file.

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8.5 ATC Example #3: ATC for a Rotary Tool Changer Using PLC, Standard
G Codes, and a Customized T Code
Following is another example of an ATC function that uses predefined M codes and a customized T code to trigger
tool changes in the executing part program.

The rotary tool changer has 13 tool positions, and is shown in the following figure:

Home sensor –
Tool #1
Tool present sensor

Spindle

Figure 8-9: Rotary Tool Changer

NOTES:

1) BEFORE USING A T CODE TO INVOKE THE ATC MACRO PROGRAM, YOU MUST FIRST SET
THE TOOL CHANGER TO ITS HOME POSITION USING M28, AND THEN USE MDI MODE TO
SET #600 (A NUMBERED PERMANENT VARIABLE) TO 1 BY TYPING “#600=1” IN MDI MODE.

2) Variable #20 is assigned to address “T” (see Table 6-2). In this case, #20 is the tool number to be placed in
the spindle. If “T7” was used to call the tool change macro program, then #20 = 7.

3) “M34” moves the carousel to the spindle.

4) “M35” moves the carousel back from the spindle.

When you want to invoke a tool change as part of a part program, just use “T” followed by the tool number (i.e.
“T7”), and the O2004.dat tool change macro program will be invoked, and will pass the tool number to this macro
program.

The tool change procedure that is programmed in the macro program for custom T codes (in file O2004.dat) is
described in detail as follows:

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1) Check to see if the called tool number is equal to the current tool number (does #20 equal #600?) – if it is,
exit the macro program

2) Use the M12 code defined in the PLC sequence program to open the tool-changer cover

3) Check to make sure the tool-changer cover actually opened. Check the “tool change cover open sensor”
wired to X2.5 – if it is 0 (open), continue, otherwise generate an alarm and exit the macro program. [More
specifically, system variable #1005 is used in the macro program. #1005 corresponds to PLC address
G54.5, and the PLC sequence program reads the value of X2.5, which is wired to the tool changer cover
open sensor, and writes it to G54.5.]

4) Check the “tool present sensor” wired to X2.3 to see if there is a tool in the spindle – if it is 0 (no tool in the
current holder), skip the tool return step, and continue to step #12

5) Move the spindle to the spindle safe position (above the workspace, to move over the tool-changer)

6) Move the spindle to the XY tool change position for tool return

7) Bring the spindle down to the tool change Z axis position

8) Move the tool-changer to return the current tool to the tool holder, moving at the low speed tool-changer
feedrate

9) Open the collet using the M10 code defined in the PLC sequence program

10) Check the “open collet check” sensor wired to X2.4 to make sure the collet opened (is set to 1) – if it
didn’t, generate an alarm and exit the macro program

11) Grab the tool in the current holder by bringing the spindle down to the ready-to-approach position, and then
retracting it back up to the safety position

12) Check to make sure the tool number isn’t zero (in which case, having returned the current tool, go directly
to step #24)

13) Calculate the difference between the current tool number and the called tool number, then calculate the
distance (number of steps required to be travelled – sum of sections where each is 1/13 of a circle) to reach
the called tool moving in each direction, to optimize the tool change operation

14) Check the “open collet check” sensor wired to X2.4 again, to make sure the collet is still open (is set to 1) –
if it isn’t, generate an alarm and exit the macro program

15) Rotate the carousel by the calculated angle to find the called tool and place it in the tool change position,
using M24 (one full motor revolution to rotate the carousel to the next closest tool, 13 revolutions for full
carousel revolution)

16) Move the spindle to the spindle safe position (above the workspace, to move over the tool-changer)

17) Move the spindle to the XY tool change position for tool return

18) Open the collet using the M10 code defined in the PLC sequence program

19) Check the “open collet check” sensor wired to X2.4 to make sure the collet opened – if it didn’t, generate
an alarm and exit the macro program

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20) Grab the new tool from the current holder by bringing the spindle down to the ready-to-approach position
(the grip position – the spindle clamps the tool with a spring), and then retracting it back up to the safety
position

21) Close the collet and lock the tool using the M11 code defined in the PLC sequence program

22) Check the “open collet check” sensor wired to X2.4 to make sure the collet closed (is set to 0) – if it didn’t,
generate an alarm and exit the macro program

23) Save the current tool number as #600 (a numbered permanent variable)

24) Reverse the tool-changer to bring it to the tool holder safe position

25) Move the spindle to the spindle safe position (above the workspace, to move over the tool-changer)

26) Close the tool-changer cover using the M13 code defined in the PLC sequence program

27) Check to make sure the tool-changer cover actually closed. Check the “tool change cover open sensor”
wired to X2.5 – if it is 1 (closed), continue, otherwise generate an alarm and exit the macro program.

28) Exit the tool change macro program, and return to the calling program.

The input wiring for this example is as follows:

ADDRESS DESCRIPTION NOTES

0: Not in position
X2.0 Tool changer homing sensor
1: In position
0: Not in position
X2.1 Reached position switch for CW
1: In position
0: Not in position
X2.2 Reached position switch for CCW
1: In position
0: No tool in current holder
X2.3 Tool present sensor
1: There is a tool in current holder
0: Closed
X2.4 Open collet check
1: Open
0: Open
X2.5 Tool changer cover open sensor
1: Closed
0: Not in position
X2.6 Move carousel to spindle sensor
1: In position
0: Not in position
X2.7 Move carousel back from spindle sensor
1: In position
Table 8-1: Input Wiring for ATC Example #3

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The output wiring for this example is as follows:

ADDRESS DESCRIPTION NOTES

0: Stop
Y25.0 Tool changer rotate CW
1: Rotate
0: Stop
Y25.1 Tool changer rotate CCW
1: Rotate
0: Stop
Y25.3 Move carousel to spindle sensor
1: Move
0: Stop
Y25.4 Move carousel back from spindle sensor
1: Move
Table 8-2: Output Wiring for ATC Example #3

The macro function parameters must be set in Configuration Mode, Macro tab, as follows:

Location
of the
O2004.dat
file

Refers to
O2004.dat

Figure 8-10: Example Macro Parameter Settings

Then, for the customized T code, the corresponding customized macro program (.dat file) for this example must
resides in the macro program folder (‘C:\Program Files\SoftServo’ in this case). In this example, the customized
macro program O2004.dat is as follows:

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+ (Carousel type tool changer macro, 13 tools, 4 control inputs)

(O2004)
(M10 - open the collet)
(M11 - close the collet)
(M12 - open the tool-changer cover)
(M13 - close the tool-changer cover)
(#20 - tool to be placed in the spindle (T))

(Homing-After set the tool changer to the home position, set #600=1
in MDI mode.)
(Participating I/O)
(Reached position switch for CW - input X2.0)
(Reached position switch for CCW - input X2.1)
(Tool present sensor - input X2.2)
(Open collet check - input X2.3)
(Tool changer cover open sensor X2.5)
(CW relay-output Y24.0)
(CCW relay-output Y24.1)
(M24 - one full motor revolution to rotate the carousel to the next
closest tool, 13 revolutions for full carousel revolution)
(Single or bi-directional)

(#600) (Current tool number, stored in HD permanently)

M05 (Safety spindle Stop)

#55=0.0 (Tool holder approach distance X axis)

#56=1.0 (Tool holder approach distance Y axis)
#57=1.0 (Spindle approach distance Z axis)
#50=1000 (M code time delay. Unit ms)
#9=10.0 (Low speed tool-changer feedrate)
#58=-1.5 (Spindle Z axis ready-to-approach position)
#59=0.5 (Spindle safety position - above the workspace to
move over the tool-changer)
#61=0.0 (Tool change X axis position)
#81=10.0 (Tool change Y axis position)

IF [#20 EQ #600] THEN M99

(If the called tool number is equal to the current tool number then
do nothing and exit the macro program)
(Message optionally)

M12 (open the tool-changer cover)

G04 P#50 (M-code time delay)
G04 P10
G04 P10 Dummy delay blocks to ensure proper evaluation of the system
G04 P10 variable (#1005) used in the following line of code – see Section 7.1:
G04 P10 Preread Function/Block Buffering – Problems and Workaround
G04 P10

IF [#1005 EQ 0] GOTO N10

(Check if the tool-changer cover is open - G54.5)
#1112=1 (Alarm message trigger F55.4)
M00
(Return the old tool)

Figure 8-11: Example O2004.dat File (1 of 5)

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Chapter 8: Macro Examples: Automatic Tool Change (ATC)

N10
IF [#1003 EQ 1] GOTO N40
(If there is no tool in the spindle, skip the tool return step,
otherwise continue)
IF [#1002 EQ 0] GOTO N20
(Check if the tool holder is empty for return - G54.2)
#1110=1 (Alarm message trigger F55.2)
M00

N20
G90G53 Z#59 (Safe spindle position)
G53 X#61 Y#81
(Place the spindle over the XY tool change position for tool return)
G90G53 Z[#58-#57]
(Place the spindle at the tool change Z axis position)
G91G01 X#55 Y#56 F#9
(Place the current tool in the tool holder)
M10 (Open the collet)
G04 P#50 (M-code time delay)
G04 P10
G04 P10
G04 P10
G04 P10
G04 P10

IF [#1003 EQ 1] GOTO N30

(Collet open check G54.3)
#1111=1 (Alarm message trigger F55.3)
M00

N30
G91G01 Z#57 (Spindle up to a ready-to-approach position)
G90G53 Z#59 (Spindle up to the safety position)
(Grab the new tools)

Figure 8-12: Example O2004.dat File (2 of 5)

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N40
IF [#20 EQ 0] GOTO N80
(Return the current tool but do not grab another)
#91=#20-#600
(Difference between the current tool number and the called tool
number)

IF [#91 GT 0]
(Calculating distances to reach for both directions to optimize )
#90=#91
(Number of steps to travel (sum of sections where each is 1/13
of a circle ))

IF [#90 LT 7]
#1100=0
#1133=#90

ELSE
#1100=1
#1133=13-#90

ENDIF
ELSE
#90=-#91
(Number of steps to travel (sum of sections where each is 1/13
of a circle ))

IF [#90 LT 7]
#1100=1
#1133=#90

ELSE
#1100=0
#1133=13-#90

ENDIF
ENDIF

IF [#1003 EQ 1] GOTO N50

(Collet open check G54.3)
#1111=1 (Alarm message trigger F55.3)
M00

Figure 8-13: Example O2004.dat File (3 of 5)

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Chapter 8: Macro Examples: Automatic Tool Change (ATC)

N50
M24 (Rotate the carousel by given angle to find the
called tool and place it in the tool change
position)
G04 P#50
G04 P10
G04 P10
G04 P10
G04 P10
G04 P10
G90G53 Z#59 (Safe spindle position)
G90G53 X#61 Y#81 (Spindle above the called tool position)
M10 (Open the collet)
G04 P#50
G04 P10
G04 P10
G04 P10
G04 P10
G04 P10

IF [#1003 EQ 1] GOTO N60

(Collet open check G54.3)
#1111=1 (Alarm message trigger F55.3)
M00

N60
G90G53 Z#58
(Place the spindle at the ready-to-approach Z axis position)
G91G01 Z-#57 F#9
(Shift the spindle down on a spindle to the grip position)
M11 (Close the collet)
G04 P#50
G04 P10
G04 P10
G04 P10
G04 P10
G04 P10

IF [#1003 EQ 0] GOTO N70 (Collet close check G54.3)

#1111=1 (Alarm message trigger F55.3)

M00

Figure 8-14: Example O2004.dat File (4 of 5)

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N70
#600=#20 (Save the current tool number)

N80
G91G01 X-#55 Y-#56 (Reverse the tool holder)
G90G53 Z#59 (Spindle up to the safety position)
M13 (Close the tool-changer cover)
G04 P#50 (M-code time delay)
G04 P#50 (M-code time delay)
G04 P#50 (M-code time delay)
G04 P10
G04 P10
G04 P10
G04 P10
G04 P10

IF [#1005 EQ 1] GOTO N90

(Check if the tool-changer cover is closed - G54.4)

#1112=1 (Alarm message trigger F55.4)

M00

N90

M99
%

Figure 8-15: Example O2004.dat File (5 of 5)

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 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Chapter 8: Macro Examples: Automatic Tool Change (ATC)

The relevant part of the corresponding PLC sequence program that corresponds to the O2004.dat file is shown on
the following pages. This sequence program defines M03 – M06, M08 – M17, M19 – M41.

// R3.0 - R6.7 for M code decoding

// M03 (Spindle CW) - Y24.0
RD F10.0
AND F10.1
AND.NOT F10.2
AND.NOT F10.3
AND.NOT F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R3.3

// M04 (Spindle CCW) - Y24.1

RD.NOT F10.0
AND.NOT F10.1
AND F10.2
AND.NOT F10.3
AND.NOT F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R3.4

// M05 (Spindle Stop - M03 or M04 OFF)

RD F10.0
AND.NOT F10.1
AND F10.2
AND.NOT F10.3
AND.NOT F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R3.5

// M06 (Tool Change)

RD.NOT F10.0
AND F10.1
AND F10.2
AND.NOT F10.3
AND.NOT F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R3.6

// M08 (Coolant On) - Y24.2

RD.NOT F10.0
AND.NOT F10.1
AND.NOT F10.2
AND F10.3
AND.NOT F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R4.0

Figure 8-16: Example Sequence Program File (1 of 13)

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 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Chapter 8: Macro Examples: Automatic Tool Change (ATC)

// M09 (M08 OFF – Coolant Off)

RD F10.0
AND.NOT F10.1
AND.NOT F10.2
AND F10.3
AND.NOT F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R4.1

// M10 - Y24.3
RD.NOT F10.0
AND F10.1
AND.NOT F10.2
AND F10.3
AND.NOT F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R4.2

// M11 (M10 OFF)

RD F10.0
AND F10.1
AND.NOT F10.2
AND F10.3
AND.NOT F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R4.3

// M12 - Y24.4
RD.NOT F10.0
AND.NOT F10.1
AND F10.2
AND F10.3
AND.NOT F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R4.4

// M13 (M12 OFF)

RD F10.0
AND.NOT F10.1
AND F10.2
AND F10.3
AND.NOT F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R4.5

Figure 8-17: Example Sequence Program File (2 of 13)

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// M14 - Y24.5
RD.NOT F10.0
AND F10.1
AND F10.2
AND F10.3
AND.NOT F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R4.6

// M15 (M14 OFF)

RD F10.0
AND F10.1
AND F10.2
AND F10.3
AND.NOT F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R4.7

// M16 - Y24.6
RD.NOT F10.0
AND.NOT F10.1
AND.NOT F10.2
AND.NOT F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R5.0

// M17 (M16 OFF)

RD F10.0
AND.NOT F10.1
AND.NOT F10.2
AND.NOT F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R5.1

// M19 (Spindle Orientation On)

RD F10.0
AND F10.1
AND.NOT F10.2
AND.NOT F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R5.3

Figure 8-18: Example Sequence Program File (3 of 13)

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// M20 (Spindle Orientation Off)

RD.NOT F10.0
AND.NOT F10.1
AND F10.2
AND.NOT F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R5.4

// M22 - Y24.7
RD.NOT F10.0
AND F10.1
AND F10.2
AND.NOT F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R5.6

// M23 (M22 OFF)

RD F10.0
AND F10.1
AND F10.2
AND.NOT F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R5.7

// M24 - Y25.0
RD.NOT F10.0
AND.NOT F10.1
AND.NOT F10.2
AND F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R6.0

// M25 (M24 OFF)

RD F10.0
AND.NOT F10.1
AND.NOT F10.2
AND F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R6.1

Figure 8-19: Example Sequence Program File (4 of 13)

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// M26 - Y25.1
RD.NOT F10.0
AND F10.1
AND.NOT F10.2
AND F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R6.2

// M27 (M26 OFF)

RD F10.0
AND F10.1
AND.NOT F10.2
AND F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R6.3

// M28
RD.NOT F10.0
AND.NOT F10.1
AND F10.2
AND F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R6.4

// M29 (Spindle Rigid Mode On)

RD F10.0
AND.NOT F10.1
AND F10.2
AND F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R6.5

// M30 - Y25.2
RD.NOT F10.0
AND F10.1
AND F10.2
AND F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R6.6

Figure 8-20: Example Sequence Program File (5 of 13)

_____________________________________________________________________________________
8-19
 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Chapter 8: Macro Examples: Automatic Tool Change (ATC)

// M31 (M30 OFF)

RD F10.0
AND F10.1
AND F10.2
AND F10.3
AND F10.4
AND.NOT F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R6.7

// M32 - Y25.3
RD.NOT F10.0
AND.NOT F10.1
AND.NOT F10.2
AND.NOT F10.3
AND.NOT F10.4
AND F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R7.0

// M33 (M32 OFF)

RD F10.0
AND.NOT F10.1
AND.NOT F10.2
AND.NOT F10.3
AND.NOT F10.4
AND F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R7.1

// M34 - Y25.4
RD.NOT F10.0
AND F10.1
AND.NOT F10.2
AND.NOT F10.3
AND.NOT F10.4
AND F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R7.2

// M35 (M34 OFF)

RD F10.0
AND F10.1
AND.NOT F10.2
AND.NOT F10.3
AND.NOT F10.4
AND F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R7.3

Figure 8-21: Example Sequence Program File (6 of 13)

_____________________________________________________________________________________
8-20
 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Chapter 8: Macro Examples: Automatic Tool Change (ATC)

// M36 - Y25.5
RD.NOT F10.0
AND.NOT F10.1
AND F10.2
AND.NOT F10.3
AND.NOT F10.4
AND F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R7.4

// M37 (M36 OFF)

RD F10.0
AND.NOT F10.1
AND F10.2
AND.NOT F10.3
AND.NOT F10.4
AND F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R7.5

// M38 - Y25.6
RD.NOT F10.0
AND F10.1
AND F10.2
AND.NOT F10.3
AND.NOT F10.4
AND F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R7.6

// M39 (M38 OFF)

RD F10.0
AND F10.1
AND F10.2
AND.NOT F10.3
AND.NOT F10.4
AND F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R7.7

// M40 - Y25.7
RD.NOT F10.0
AND.NOT F10.1
AND.NOT F10.2
AND F10.3
AND.NOT F10.4
AND F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R8.0

Figure 8-22: Example Sequence Program File (7 of 13)

_____________________________________________________________________________________
8-21
 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Chapter 8: Macro Examples: Automatic Tool Change (ATC)

// M41 (M40 OFF)

RD F10.0
AND.NOT F10.1
AND.NOT F10.2
AND F10.3
AND.NOT F10.4
AND F10.5
AND.NOT F10.6
AND.NOT F10.7
WRT R8.1

// Spindle stop
RD.NOT F1.4
RD.STK Y0.0 // DC-120/DC-150 output bit 0
AND.NOT Y0.1
AND.NOT Y0.2
OR.STK
WRT Y0.0 // DC-120/DC-150 output bit 0

// Spindle CW
RD F7.0
AND R3.3
RD.STK Y0.1
AND F1.4
OR.STK
AND.NOT R3.4
WRT Y0.1

// Spindle CCW
RD F7.0
AND R3.4
RD.STK Y0.2
AND F1.4
OR.STK
AND.NOT R3.3
WRT Y0.2

// Spindle enable
RD R3.3
OR R3.4
RD.STK R2.0
AND.NOT R3.5
OR.STK
WRT R2.0 // Spindle enable relay

// Enable spindle output with timer delay

RD R2.0
TMR 2
WRT G29.6

// Spindle Rigid Mode

RD R6.5
WRT G27.6

Figure 8-23: Example Sequence Program File (8 of 13)

_____________________________________________________________________________________
8-22
 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Chapter 8: Macro Examples: Automatic Tool Change (ATC)

// Spindle Orientation and C axis control

RD R5.3
//RD.STK G29.5 // Spindle orientation
RD.STK G27.7 // C axis control
AND F1.6
OR.STK
AND.NOT R5.4
//WRT G29.5 // Spindle orientation
WRT G27.7 // C axis control

// Spindle Brake
RD.NOT R2.0
TMR 3
WRT Y1.3

//M code into physical output conversion

// (M03/04/M05)
RD R3.3
RD.STK Y24.0
AND.NOT R3.4
AND.NOT R3.5
OR.STK
WRT Y24.0

RD R3.4
RD.STK Y24.1
AND.NOT R3.3
AND.NOT R3.5
OR.STK
WRT Y24.1

// Coolant On/Off (M08/M09)

RD R4.0
RD.STK Y24.2
AND.NOT R4.1
OR.STK
WRT Y24.2

// (M10/M11)
RD R4.2
RD.STK Y24.3
AND.NOT R4.3
OR.STK
WRT Y24.3

// (M12/M13)
RD R4.4
RD.STK Y24.4
AND.NOT R4.5
OR.STK
WRT Y24.4

Figure 8-24: Example Sequence Program File (9 of 13)

_____________________________________________________________________________________
8-23
 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Chapter 8: Macro Examples: Automatic Tool Change (ATC)

// (M14/M15)
RD R4.6
RD.STK Y24.5
AND.NOT R4.7
OR.STK
WRT Y24.5

// (M16/M17)
RD R5.0
RD.STK Y24.6
AND.NOT R5.1
OR.STK
WRT Y24.6

// (M22/M23)
RD R5.6
RD.STK Y24.7
AND.NOT R5.7
OR.STK
WRT Y24.7

// (M24/M25)
RD.NOT R200.0
AND R06.0
AND.NOT R6.1
WRT R200.7
//ROTATE
RD R200.7
AND F54.0
WRT Y25.0 //CW
RD R200.7
AND.NOT F54.0
WRT Y25.1 //CCW

//M28 Home tool changer

RD R200.5
OR Y25.0
WRT Y25.0

// (M30/M31)
RD R6.6
RD.STK Y25.2
AND.NOT R6.7
OR.STK
WRT Y25.2

// M34 MOVES CAROUSEL TO SPINDLE

RD R201.2
WRT Y25.3

// M35 MOVES CAROUSEL BACK FROM SPINDLE

RD R201.3
WRT Y25.4

Figure 8-25: Example Sequence Program File (10 of 13)

_____________________________________________________________________________________
8-24
 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Chapter 8: Macro Examples: Automatic Tool Change (ATC)

// (M36/M37)
RD R7.4
RD.STK Y25.5
AND.NOT R7.5
OR.STK
WRT Y25.5

// (M38/M39)
RD R7.6
RD.STK Y25.6
AND.NOT R7.7
OR.STK
WRT Y25.6

// (M40/M41)
RD R8.0
RD.STK Y25.7
AND.NOT R8.1
OR.STK
WRT Y25.7

// MFIN (M00, M01, M02, M03, M04, M05, M06, M08, M09, M10,
M11, M12, M13, M14, M15, M16, M17, M19, M20, M22, M23, M24,
M25, M26, M27, M30, M31, M32, M33, M34, M35, M36, M37, M38,
M39, M40, M41)

// M00, M01, M02, M30 decode

RD F9.7
OR F9.6
OR F9.5
OR F9.4
WRT R0.0

//Custom M function decode

RD R3.3
OR R3.4
OR R3.5
OR R3.6
WRT R0.1

RD R4.0
OR R4.1
OR R4.2
OR R4.3
OR R4.4
OR R4.5
OR R4.6
OR R4.7
WRT R0.2

RD R5.0
OR R5.1
OR R5.2
OR R5.3
OR R5.4
OR R5.5
OR R5.6
OR R5.7
WRT R0.3

Figure 8-26: Example Sequence Program File (11 of 13)

_____________________________________________________________________________________
8-25
 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Chapter 8: Macro Examples: Automatic Tool Change (ATC)

RD R200.2
OR R6.1
OR R6.3
OR R200.4
OR R6.5
OR R6.6
OR R6.7
WRT R0.4

RD R7.0
OR R7.1
OR R201.0
OR R201.1
OR R7.4
OR R7.5
OR R7.6
OR R7.7
WRT R0.5

RD R8.0
OR R8.1
WRT R0.6

//MFIN (by M strobe)

RD R0.0
OR R0.1
OR R0.2
OR R0.3
OR R0.4
OR R0.5
OR R0.6
OR R6.5
AND F7.0
WRT G5.0

// SFIN (By S Strobe)

RD F7.2
WRT G5.2

// TFIN (By T Strobe)

RD F7.3
WRT G5.3

//Tool change sensors

RD X2.0 //Home sensor IN-0
AND R06.4
WRT R200.4
RD.NOT X2.0
AND R06.4
WRT R200.5

//Reached position switch CW and CCW sensors

RD X2.1
AND F54.0
RD.STK X2.2
AND.NOT F54.0
OR.STK
WRT R200.3

Figure 8-27: Example Sequence Program File (12 of 13)

_____________________________________________________________________________________
8-26
 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Chapter 8: Macro Examples: Automatic Tool Change (ATC)

//Tool present sensor map to #1002

RD X2.3
WRT G54.2

//Open collet check map to #1003

RD X2.4
WRT G54.3

//Cover open check map to #1005

RD X2.5
WRT G54.5

//Motor to move carousel to spindle and back

RD X2.6 //To sensor
AND R07.2
WRT R201.0
RD X2.7 //Back sensor
AND R07.3
WRT R201.1
RD.NOT X2.6 //To sensor
AND R07.2
WRT R201.2
RD.NOT X2.7 //Back sensor
AND R07.3
WRT R201.3

//Counter
RD R200.1
OR.NOT R200.1
WRT R200.1

RD.NOT R200.1 //COUNT FROM 0

RD.NOT.STK R200.1 //COUNT UP/DOWN
RD.STK X2.5 //RST
RD.STK R200.3
//COUNT TRIGGER
SUB 55
F56
R202
WRT R200.0

RD R200.0
AND R06.0
WRT R200.2

//Alarm message
RD F55.2
WRT A0.2
RD F55.3
WRT A0.3
RD F55.4
WRT A0.4

Figure 8-28: Example Sequence Program File (13 of 13)

_____________________________________________________________________________________
8-27
 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Index

Index

branching statements ............................................. 5-1

# buffering .....................................................ii, 3-7, 7-1
# 2-2
C
( calling macro programs ......................................... 6-1
calling subprograms............................................... 6-1
( ) 4-3 case insensitive ...................................................... 5-1
case sensitive ......................................................... 4-3
[ command position.................................................. 3-7
[ ] 2-3, 4-3 comments............................................................... 4-3
comparison operators............................................. 5-2
< conditional branching ............................................ 5-3
conditional execution............................................. 5-4
< 5-2 conditional execution with branching.................... 5-4
<= .......................................................................... 5-2 conditional expressions.......................................... 4-6
containing null/undefined variables................... 2-5
= precision and errors ........................................... 4-6
= 5-2 conditional looping ................................................ 5-4
conditional statements ........................................... 5-2
> control shutdown ............................................ 2-1, 2-2
cosine..................................................................... 4-1
> 5-2 customized G code............................................... 6-11
>= .......................................................................... 5-2 customized M code.............................................. 6-10
customized S code ................................................. 6-8
6 customized S, T, M or G codes.............................. 6-5
64-bit double precision floating point.................... 4-4 customized T code ................................................. 6-9

A D

absolute value ................................................. 4-2, 4-6 decimal point ......................................................... 2-4

addition .................................................................. 4-1 definition of macro programming.......................... 1-1
advantages of macros............................................. 1-1 degrees................................................................... 4-2
allowable values for variables ............................... 2-4 delay blocks ....................................................... ii, 7-1
and ......................................................................... 4-3 desired position...................................................... 3-7
approximation of variable values........................... 2-4 difference............................................................... 4-1
arccosine ................................................................ 4-1 directly referencing variables ................................ 2-3
arcsine.................................................................... 4-1 distance .................................................................. 2-1
arctangent .............................................................. 4-1 division .................................................................. 4-1
argument assignments............................................ 6-2 division by zero ..................................................... 4-5
argument specification........................................... 6-1 double precison floating point ............................... 4-4
assigning arguments .............................................. 6-2 double-precision-floating-point-values.................. 2-4
assignment ............................................................. 4-1
ATC ....................................................................... 8-1 E
automatic tool change............................................ 8-1 enable custom G/M/S/T macro calls...................... 6-5
Enable Custom G/M/S/T Macro Calls................... 6-5
B end code for macro programs ................................ 1-2
block buffering .................................................. ii, 7-1 EQ.......................................................................... 5-2
block end point ...................................................... 3-7 equal to .................................................................. 5-2
brackets....................................................1-3, 2-3, 4-3 equals..................................................................... 4-1

_____________________________________________________________________________________
I
 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Index

errors...................................................................... 4-4 IF statement ........................................................... 5-3

evaluation of conditional statements...................... 5-2 IF THEN statement................................................ 5-4
example of a macro................................................ 8-1 ignoring referenced variables ................................ 2-5
exponent ................................................................ 4-1 index number for variables .................................... 2-2
exponential function .............................................. 4-3 infinite loops................................................... 5-6, 5-7
expression, specifying variable numbers in ........... 2-3
L
F
language for macro programming ......................... 1-1
F codes................................................................... 2-1 LE .......................................................................... 5-2
FALSE................................................................... 5-2 length of variable name ......................................... 2-2
file location of a subprogram................................. 6-1 less than ................................................................. 5-2
file scope......................................................... 2-1, 2-2 less than or equal to ............................................... 5-2
floating point calculation ....................................... 2-4 local scope ............................................................. 2-1
floating point values .............................................. 2-4 local variables........................................................ 2-1
flow of control ....................................................... 5-1 logarithm................................................................ 4-3
format logical operations............................................ 4-1, 4-3
IF ELSE ENDIF ................................................ 5-4 precision and errors ........................................... 4-4
IF GOTO ........................................................... 5-3 logical operations, format ...................................... 4-3
IF THEN statement............................................ 5-4 looping................................................................... 5-4
WHILE DO END .............................................. 5-4 looping, infinite .............................................. 5-6, 5-7
format for variables ............................................... 2-2 lower case ....................................................... 2-2, 5-1
format of a macro program .................................... 1-1 LT .......................................................................... 5-2
format of mathematical and logical operations...... 4-3
format requirements............................................... 1-2 M
formulas containing undefined variables ............... 2-4
m 5-4
M code settings.................................................... 6-10
G
M codes ................................................................. 2-1
G code settings .................................................... 6-11 M codes, customized ............................................. 6-5
G codes .................................................................. 2-1 M98 ....................................................................... 6-1
G codes, customized .............................................. 6-5 M99 .........................................................1-2, 5-7, 6-4
G04 blocks, extra............................................... ii, 7-1 machine coordinate system.................................... 3-7
G65 machine position.................................................... 3-7
example.............................................................. 6-3 macro call nesting.................................................. 6-4
format ................................................................ 6-3 Macro Program Folder (Full Path) ........................ 6-6
limitations .......................................................... 6-4 macro programming language ........................ 1-1, 2-1
G-Code Parser ....................................................... 7-2 macro programs
GE.......................................................................... 5-2 calling ................................................................ 6-1
general format requirements .................................. 1-2 end code............................................................. 1-2
global variables format ................................................................ 1-1
numbered ........................................................... 2-1 types of variables ............................................... 2-1
symbolic ............................................................ 2-2 macro statement processing................................... 7-1
GOTO statement.................................................... 5-1 macros
greater than ............................................................ 5-2 advantages ......................................................... 1-1
greater than or equal to .......................................... 5-2 definition............................................................ 1-1
GT.......................................................................... 5-2 difference from NC statements .......................... 1-2
difference from simple NC subprograms........... 1-1
H mathematical formulas with null values ................ 2-4
mathematical operations ........................................ 4-1
handling a null variable ......................................... 2-4 precision and errors ........................................... 4-4
mathematical operations, format ........................... 4-3
I maximum length of variable name ........................ 2-2
IF ELSE ENDIF MC-Quad........................................................ 3-4, 3-6
nesting................................................................ 5-5 meaningful variable naming .................................. 2-2
IF ELSE ENDIF statement .................................... 5-4 modal information, system variables ..................... 3-5
IF GOTO statement ............................................... 5-3 modal macro call ................................................... 6-1

_____________________________________________________________________________________
II
 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Index

movement commands containing undefined variables product................................................................... 4-1

........................................................................... 2-5 program execution errors................................... ii, 7-1
movement commands with null values.................. 2-5 program position.................................................... 3-7
multiplication......................................................... 4-1 programming delay blocks ....................................... ii

N Q
n 5-1 quotient.................................................................. 4-1
N codes .................................................................. 2-1
naming of variables ............................................... 2-2 R
natural logarithm ................................................... 4-3
NC statements........................................................ 1-2 R 6-1
radians ................................................................... 4-2
NE.......................................................................... 5-2
negative variable values......................................... 2-3 range of execution ................................................. 5-4
nesting ............................................................ 4-4, 5-5 referencing variables.............................................. 2-3
macro calls......................................................... 6-4 referencing variables in an expression................... 2-3
nesting depth.......................................................... 6-4 registry................................................................... 2-2
repetition statements .............................................. 5-1
nesting of calls.......................................6-8, 6-9, 6-10
nesting, unacceptable............................................. 5-6 requirements, formatting ....................................... 1-2
non-zero value ....................................................... 5-2 reversing the sign of a variable value .................... 2-3
rounding.......................................................... 4-2, 4-5
not.......................................................................... 4-3
not equal to ............................................................ 5-2 rounding of referenced variables ........................... 2-4
null variable .................................................... 2-1, 2-4
in a conditional expression ................................ 2-5 S
in a mathematical formula ................................. 2-4 S code setting......................................................... 6-8
in a movement command................................... 2-5 S codes................................................................... 2-1
number of times for execution............................... 6-1 S codes, customized............................................... 6-5
numbered global variables..................................... 2-1 S-100M/S-120M/S-140M............................... 3-4, 3-6
numbered permanent variables .............................. 2-2 S-100T ............................................................ 2-2, 3-5
numeric value ........................................................ 5-2 sequence number ................................................... 5-1
ServoWorks G-Code Parser................................... 7-2
O ServoWorks macro programming language ... 1-1, 2-1
Optional Skip......................................................... 7-2 ServoWorks MC-Quad ................................... 3-4, 3-6
ServoWorks part programming language .............. 2-1
or 4-3
order of operations................................................. 4-4 ServoWorks S-100M/S-120M/S-140M.......... 3-4, 3-6
Output File Name (Full Path) ................................ 6-7 ServoWorks S-100T ....................................... 2-2, 3-5
overlapping WHILE DO END ranges ............ 5-6, 5-7 sign ........................................................................ 4-1
simple macro call............................................ 6-1, 6-3
Single Block mode.......................................... 1-2, 7-2
P
space required between keywords and values ....... 1-2
parameter assignments........................................... 6-2 specifying variables ............................................... 2-2
parentheses ............................................................ 1-3 specifying variables in an expression .................... 2-3
part programming language................................... 2-1 square root ............................................................. 4-2
permanent scope .................................................... 2-2 storage of variable values ...................................... 2-4
permanent variables............................................... 2-2 subprogram name calls .......................................... 2-3
PLC interface with system variables .............. 3-2, 3-3 subprograms .......................................................... 1-1
position .................................................................. 2-1 calling ................................................................ 6-1
position information with system variables ........... 3-7 location of file.................................................... 6-1
power ..................................................................... 4-1 subtraction ............................................................. 4-1
powering off ................................................... 2-1, 2-2 sum ........................................................................ 4-1
precision ......................................................... 2-4, 4-4 symbolic global variables ...................................... 2-2
preread function..........................................ii, 3-7, 7-1 system variable evaluation................................. ii, 7-1
priority of operations ............................................. 4-4 system variables.............................................. 2-2, 3-1
processing a null variable ...................................... 2-4 for interfacing with the PLC ....................... 3-2, 3-3
processing an uninitialized variable....................... 2-4 for position information..................................... 3-7
processing of macro statements ............................. 7-1 for timers ........................................................... 3-4

_____________________________________________________________________________________
III
 SERVOWORKS CNC MACRO PROGRAMMING MANUAL
Index

for tool compensation ........................................ 3-4 saved in Windows registry................................. 2-2

for workpiece coordinates.................................. 3-9 variables................................................................. 2-2
systems variables description of types............................................ 2-1
for modal information........................................ 3-5 directly referencing............................................ 2-3
format ................................................................ 2-2
T index number ..................................................... 2-2
local ................................................................... 2-1
T code setting ........................................................ 6-9
null..................................................................... 2-1
T codes .................................................................. 2-1 numbered global ................................................ 2-1
T codes, customized .............................................. 6-5 numbers ............................................................. 2-2
tangent ................................................................... 4-1
permanent .......................................................... 2-2
timers, system variables......................................... 3-4 referencing......................................................... 2-3
to the power of....................................................... 4-1 referencing in an expression .............................. 2-3
tool compensation.................................................. 3-7 specifying .......................................................... 2-2
tool compensation system variables ...................... 3-4 symbolic ............................................................ 2-2
trigonometric functions.......................................... 4-1
system ......................................................... 2-2, 3-1
TRUE..................................................................... 5-2 write-protected................................................... 3-7
types of macro variables ........................................ 2-1
W
U
WHILE DO END
unacceptable nesting.............................................. 5-6 nesting................................................................ 5-5
unconditional branching ........................................ 5-1 WHILE DO END statement .................................. 5-4
undefined variables................................................ 2-4
Windows registry................................................... 2-2
unexplained macro execution ............................ ii, 7-1 word address.......................................................... 2-3
uninitialized variables............................................ 2-4 workpiece coordinate system................................. 3-7
unlimited nesting ................................................... 5-5
workpiece coordinates with system variables........ 3-9
upper case .............................................................. 5-1 write-protected variables ....................................... 3-7
V X
variable naming ..................................................... 2-2
xor.......................................................................... 4-3
maximum length ................................................ 2-2
variable values ....................................................... 2-1
Z
allowable............................................................ 2-4
negative.............................................................. 2-3 zero value............................................................... 5-2
precision ............................................................ 2-4 zero, division by .................................................... 4-5
rounding............................................................. 2-4

_____________________________________________________________________________________
IV