H6D T Manual E

Lathe CNC Controller
Manual
Ver Nov. , 2013
HUST Automation Inc.

No. 80 Kon Yei Road, Toufen, Miaoli, Taiwan
Tel: 886-37-623242
Fax: 886-37- 623241
Table of Contents
TABLE OF CONTENTS
1 H6D-T Main Features of CNC Lathe Controller 1-1
2 Operation 2-1
2.1 Basic Operation 2-1

Screen Description 2-1
Startup Screen 2-1
MPG TEST Screen 2-2
Auto Mode Screen 2-3
MDI Mode Screen 2-7
Edit Mode display 2-10
Program Selection Screen 2-14
Jog Mode Screen 2-16
MPG Mode Screen 2-17
Home Mode Screen 2-18
I/O Mode Screen 2-19
Parameter Screen 2-21
Software Version Screen 2-22
System Parameter Screen 2-23
Tool Radius 2-25
Tool Compensation Screen 2-27
G54~G59: Work coordinate setting page 2-29
Error message 2-30
Graph Mode Screen 2-30
2.2 Program Editing 2-31
2.2.1 Programming Overview 2-31
2.2.1.1 Part Programs 2-31
2.2.1.2 Programming Methods 2-31
2.2.1.3 Program Composition 2-33
2.2.1.4 Coordinate System 2-35
Coordinate Axis 2-36
Coordinate Positioning Control 2-36
Work Origin 2-39
Machine Origin 2-40
2.2.1.5 Numerical Control Range 2-41
I
HUST CNC H6D-T Manual
2.2.2 Program Editing 2-42

2.2.2.1 Creating a New Program 2-42
2.2.2.2 Editing a Program 2-43
2.2.2.3 Entering Fractions 2-48
2.2.2.4 Editing Notes 2-48
3 G/M Codes 3-1
3.1 Command codes 3-1

3.2 Positioning,G00 3-4
3.3 Linear Cutting,G01 3-5
3.4 G02,G03 Circular Interpolation 3-7
3.5 Dwell Command,G04 3-11
3.6 Parabolic Cutting,G05 3-12
3.7 Exact Stop Check,G09,G61,G62 3-15
3.8 Spindle Positioning Command,G15 3-16
3.9 Cylindrical Plane,G16 3-16
3.10 Plane setup,G17-G19 3-20
3.11 Automatic Reference Position Return,G28 3-23
3.12 Return From Reference Position,G29 3-24
3.13 2nd Reference Position Return,G30 3-25
3.14 Thread Cutting,G32 3-26
3.15 G33 Tapping Cutting Canned Cycle 3-30
3.16 G34 Variable Lead Thread Cutting 3-31
3.17 Canned Cycle Functions (For implication of programming) 3-36
3.17.1 Single Cutting Canned Cycle,G90,G92,G94 3-36
Longitudinal Cutting Fixed Cycle,G90 3-36
Outer/Inner Diameter Tapered Lateral Canned Cycle,G90 3-37
Thread Cutting Fixed Cycle,G92 3-38
Tapered Thread Cutting Canned Cycle,G92 3-39
Face Cutting Fixed Cycle,G94 3-40
Face Cutting Fixed Cycle,G94 3-41
3.17.2 Compound Canned Cycle Functions,G70~G76 3-42
Finishing Cycle,G70 3-43
Longitudinal Rough Cutting Cycle,G71 3-43
Face Rough Cutting Cycle,G72 3-47
Formed Material Rough Cutting Cycle,G73 3-50
II
Table of Contents
Face Cut-Off Cycle,G74 3-53

Longitudinal Cut-Off Cycle,G75 3-56
Compound Thread Cutting Canned Cycle,G76 3-58
Notes on Compound Canned Cycle (G70~G76) 3-61
3.18 G50 Coordinate system & Spindle clamp speed setting 3-62
3.19 Constant Surface Cutting Speed Setting,G96 3-63
3.20 Cutting Speed Cancellation),G97 3-64
3.21 Feed-rate Setting,G98,G99 3-64
3.22 Inch/Metric Measurement Mode ,G20,G21 3-64
3.23 Deep Drilling Canned (peck drill)Cycle G83,G80 3-65
3.24 Tapping Cycle G84, G80 3-65
3.25 Auxiliary Functions,M-code,S-code 3-68
3.26 Subprograms 3-71
Structure of the Subprogram 3-71
Execution of the Subprogram 3-71
3.27 Tool Radius Compensation 3-65
3.27.1 Total Offset Compensation Setting and Cancellation 3-65
3.27.2 Tool-tip Radius and the Direction of Fictitious Tool-tip,G41,
G42,G40 3-66
3.27.3 Interference Check 3-86
3.27.4 Notes on Tool Radius Compensation 3-89
3.28 Coordinate System 3-91
3.28.1 Local Coordinate System Setting,G52 3-91
3.28.2 Basic machine coordinate system ,G53 3-92
3.28.3 Work Coordinate System,G54~G59 3-93
3.29 Corner chamfer (, C_),round-angle chamfer (, R_)functions 3-96
3.29.1 Chamfer (,C__) 3-96
3.29.2 Round-angle chamfer (,R_) 3-98
3.30 Liner angle function (,A_) 3-99
3.31 Geometry function command 3-101
3.32 Automatic calculation of Line-Arc intersection point 3-104
4 MCM Parameters 4-1
4.1 MCM Parameters 4-1

4.1.1 Basic Parameters 4-1
4.1.2 MCM Parameters 4-1
III
4.2 Description of Parameters 4-5
5 Connections 5-1
5.1 System Connection Descriptions 5-1

5.2 System Installation 5-2
5.2.1 Operating Environment 5-2
5.2.2 Considerations for the design of control panel 5-2
5.2.3 Internal temperature design 5-2
5.3 H6D-T External Dimensions 5-4
5.3.1 H6D-T Controller 5-4
5.3.2 H6DL-T Controller 5-6
5.3.3 H6D-T Auxiliary Panel 5-8
5.3.4 H6DL-T Auxiliary Panel 5-9
5.3.5 H6D-T Accessories Dimensions 5-10
5.4 Connector Type 5-12
5.5 Connector Name 5-12
5.6 Connector Pin-out Definition 5-13
Axis Connector Pin 5-13
MPG (H6D) 5-14
MPG (H9D) 5-15
AD/DA Analog Signal Wiring 5-16
5.6.1 G31 INPUT Control Signals 5-17
5.6.2 Axial Control,pin assignment and wiring 5-18
5.6.3 Wiring of Manual Pulse Generator (MPG) 5-19
5.6.4 Wiring of Spindle Control 5-20
5.6.5 I/O Wiring 5-22
5.6.6 I/O Wiring Schematic 5-24
5.6.7 Wiring of System AC Power Supply 5-30
5.6.8 Servo on Wiring Examples 5-31
6 Error Messages 6-1
7 AppendixA 7-1
IV
Table of Contents
7.1 Description of MCM Machine Constants 7-22
8 AppendixA 8-1
Input Planning 8-1

Input Signal Format Setting 8-2
Output Point Planning 8-2
9 AppendixB - PC On-Line Operation 9-1
9.1 PC Performs Online Operation via RS232 and The Controller 9-1
9.1.1 Program Transfer From PC To CNC Controller 9-2
9.1.2 Program Transfer from CNC Controller to PC 9-3
9.1.3 Transfer MCM Data from PC to CNC Controller 9-4
9.1.4 Transfer MCM Data from CNC Controller to PC 9-5
9.1.5 Transfer Data Variable from PC to CNC controller 9-5
9.1.6 Transfer Data Variable from CNC controller to PC 9-5
9.1.7 Transfer PLC Ladder from PC to CNC controller 9-6
9.1.8 Transfer LCD Screen Display Data from PC to CNC 9-7
9.1.9 Transfer Controller System Data from PC to CNC 9-7
9.1.10 Transfer function tables from PC to CNC controller 9-8
9.1.11 PC to Controller (ARM) 9-8
9.1.12 HCON.EXE Program Operation 9-9
9.1.13 RS232C Connection 9-12
9.2 HUST H6C-T Transmission Modes 9-13
9.3 USB Device Mode 9-14
9.4 USB Host Mode 9-14
9.5 Operational Instruction of A Standard H6C-T Transmission
Interface 9-14
9.5.1 File Download Interface 9-15
9.5.2 File Upload Interface 9-18
10 AppendixC - Method for usingthe most often used G10command 10-1
11 AppendixD Servo Motor W iring 11-1
V
VI
1 Main-Features of HUST H6D-T Lathe CNC Controlle
Main-Features of HUST H6D-T Lathe CNC Controller
Available for operation with a maximum of 6 axes (depending on the actual model
number).
It can be worked with impulse command or voltage command type of server system.
Max. response speed will be 2,500,000 impulses per second (2500 KPPS). When
operated at 1 m resolution, it can even reach 150m per minute.
It achieves 0.5us of response speed for fast acceleration/deceleration control, which

is faster than 2ms response of conventional CNS digital control for 4000 times.
Simultaneous operation of speed control and position control in providing a flexible

option for the customer.
Encoder feedback function is provided for speed control and position control. It not
only achieves accurate position judgment and much easier failure detection but can
prevent the mechanical conflict in a more effective way.
It can flexibly work with Optical Scale for performing fully closed loop control in
achieving more accurate position alignment.
Automatic identification of NPN, PNP signal format at the input point without the
need to shift the switch. Further, the electrical layout is configured in a more
convenient manner for easier and flexible operation.
When activating the special action control mode, it achieves faster working speed
than the ordinary digital control model while providing much higher efficiency and
more stabilized performance.
It is available for designing convenient LCD screen for displaying the editing
system on LCD. Simple and easier for learning. Further, the user can also select PC
screen to display the edit software to carry out monitoring or program inspection.
Through RS232 interface, the user can transmit the data on PC and run the program
(hands-on learning) or execute the transmission directly via USB, SD card interface.
1-1
Program Designed by CAD/CAM on PC. Program input from PC through RS232C

interface.
Based on varied characteristics of CNC models, the MCM Parameter Setting Table
can be used to set the mechanical parameters for enhancing the amiability of the
machine.
Using the well-based Tool management function, the customer can set up 40-tool
lifespan management and select the desired operation count, time limit.
Provide 40 sets of tool-length offsets.
It is equipped with gear gap compensation function for adjusting the gear gap error
after using the Guide Stud. Further, it also has 40-section pitch compensation
function to offset the pitch wearing in different sections.
It is provided with 6 sets of working coordinate system setting functions to facilitate

the program design and Workpiece machining.
Full follow-up type of tapping mode in achieving more perfect thread, more
accurate thread depth control and faster speed.
Each axis can be set as active, passive mode or single-node non-stop mode.
It is equipped with gear gap compensation function for adjusting the gear gap error
after using the Guide Stud. Further, it also has the 40-section pitch compensation
function to offset the pitch wearing in different sections.
It is provided with 6 sets of working coordinate system setting functions to facilitate

the program design and Workpiece machining.
Full follow-up type of tapping mode in achieving more perfect thread, more
accurate thread depth control and faster speed.
Each axis can be set as active, passive mode or single-node non-stop mode.
1-2
1 Main-Features of HUST H6D-T Lathe CNC Controlle
Self-diagnostic and error signaling function.
MPG hand-wheel test and collision free function for cutting products at the speed
controller by MPG.
IO Module is designed with separate Transition Board and Signal Board in

achieving lower maintenance cost, simpler installation and more stabilized
performance.
Provided with standard 24 input points and 16 output points (optional single-piece
Transition Board can be selected to provide 48 input points and 32 output points) of
programmable logic control. It can be expanded up to 256 input point and 176
output points of programmable logic control.
This operator’s manual includes basic operation, program editing, G/M code, parameter
settings, connections and maintenance (plus warning descriptions) with examples and
explanations for each command.
If there are any problems with the application, please fill out a problem sheet indicating
the nature of the problem. Send it by either fax or mail. We will respond as soon as
possible.
1-3
1-4
2 Operation
2 Operation
2.
1 BasicOperation
Screen Description
* Startup Screen
After powering the controller, the following startup screen displays:
Fig. 2-1
After 3 seconds, the next screen displays according to the “Mode Selection” setting.
When turning the “PRON” knob from left to right, the following modes are displayed in
order:
“MPG - TEST” “AUTO” “MDI” “EDIT” “PRNO” “JOG”

“MPGx1” “MPGx10” “MPGx100” “HOME”
Fig. 2-2
Controller buttons function key following order from left to right: “RESET”
“IO/MCM” “TOOL RADIUS” “TOOL OFFSET” “GRAPH”
2-1
* MPG TEST Screen
The following screen displays when the “Mode Selection” knob is set to “MPG –
TEST”:
Fig. 2-3
After this mode is selected, the movement of all axes in the program is controlled by the
MPG when the program is running. The axis will stop moving when the MPG has no
input.
In this mode, the program process will proceed in order when the program is running,
regardless of the direction of the hand-wheel. The program process will not return when
the hand-wheel is rotated anti-clockwise.
Press the F7 Key to shift the multiple of MPG Hand Wheel as X1, X10 and X100
alternately, and other function keys will be the same as the Auto Mode. Please refer to
Auto Mode function key description.
2-2
2 Operation
* Auto Mode Screen
The following screen displays when the “Mode Selection” knob is set to “Auto”:
Fig. 2-4
1. Parameter Monitoring: Select under Auto Mode, Program Est. Mode and MDI
Mode (for the engineering technician). Under the aforesaid mode, press the F1 Key
to access the Variation monitoring screen. Under Variation monitoring screen, enter
the variation address to be monitored and it will display the real-time value of such
variation address.
2. Servo Monitoring:Select under Auto Mode, Program Est. Mode and MDI Mode
(for the engineering technician). Under the aforesaid mode, press F3 Key to access
the “Servo Monitoring” screen. Under this screen, select the axis to be monitored
and the user can monitor the real-time command of each axis and the Servo
responding status.
3. Restart:Select only before running the program.

(1) In the “Edit Screen” (as per Fig. 2-8 below), you may search the interrupted
node or reset for restarting such node. Press F4 Key after completing the
search or setting; when “Restart” indicates reverse white, it means such
function is active.
(2) Under Auto screen, press F4 Key to select or cancel the function restarting.
When “Restart” indicates reverse white, it means such function is closed;
otherwise, it will be cancelled. After pressing “Start” key to run the program
again, the program will start running from the previously interrupted node or
the “Restart” node being set.
( When setting “If to grab previous node when restarting” parameter item
as “0”, the system will grab the previous node after pressing “Start” key and
2-3
the program will advance to the “Set Restart” node of the previous node for
the system to run the program of this node and the one that follows. When
setting “If to grab previous node when restarting” parameter item as “1”, ,
the system will not grab previous node after pressing “Start” key; instead,
the program will run in the direction from “Set Restart” node. )
4. Semi-Auto/Auto: When setting “If setting the program as Auto Start” of the
mechanical parameters as “1” (required), the F6 Key will display
“Semi-Auto/Auto” for the user to shift between Semi-Auto and Auto working
modes via F6 Key.
Semi-Auto: When the program reaches M02/M30, the working will end.
Auto: When the program reachesM02/M30, the working will not stop and will
start automatic cycle for processing the next Workpiece.
During running the working program, the user may shift between Semi-Auto and
Auto via F6 Key.
5. Preview Program: Select under Auto and Program Est. mode to observe the
program content.
Under Auto screen, press F8 Key to access the Preview screen, which will display
the program content for the selected program number and then press F1 for
returning to Auto screen.
6. M01 Stop:This function can be selected at all times whether under running or
stopping status.
On Auxiliary Panel, press “M01 Stop” key to select or cancel the stopping
function. When the “M01 Stop” indicator is on, it means such function is active;
otherwise, it will be cancelled. Upon activating the “M01 Stop” function, the
“M01 Command” in the program will be deemed as stopping command; however,
the “M01 Command” will become invalid if such function is not selected.
7. Node Execution:This function can be selected at all times whether under running
or stopping status.
On Auxiliary Panel, press “Node Run” key to select or cancel such function. When
the “Node Run” indicator is on, it means such function is active; otherwise, it will
be cancelled. After selecting this function, it will not run the entire program upon
each pressing of “Start” key; instead, the program on the next line will be executed
2-4
2 Operation
upon each pressing of “Start” key.
8. Node Skip:This function can be selected at all times whether under running or
stopping status.
On Auxiliary Panel, press “Node Skip” key to select or cancel such function.
When “Node Skip” indicator is on, it means such function is active; otherwise, it
will be cancelled. When hitting “/1” Node during the execution after selecting this
function, it will skip and will not execute such node.
9. W orkingQuantityand Time Indication (as per Fig. 2-3):

(1) Set Count: Set the limit value of the working count (to set under Parameter
screen). When set value equals to 0, the maximum value of the working count
will be limitless.
(2) Working Count: When running to M15, an increment of “1” will be added. If
manual reset is required, under Auto Display screen, quickly press “0” Key
for twice and it will be reset to zero. Further, the user can also run “M16
Command” to clear the working count.
(3) The program will stop automatically when the working count reaches the Set
Count, therefore M15 Command should be located at the rearmost end of the
working process. Upon reaching the working count, the screen will indicate
the working count up message. At this time, the customer can restart the
program using the Reset key or pressing the Start key directly to restart the
program and reset the worked count to zero.
(4) Working Time: Display the duration (second) of the program currently
executed. When restarting the program after the program is interrupted or
ended, it will reset to zero automatically.
(5) Calendar: As per Fig. 2-3, the figures displayed under the “Working Time”
represent the current time. The time can be set under “Software Version”
screen.
10. W orkingRoute Drafting:Under Auto Mode or Program Est. Mode, the customer
can access the drafting screen by pressing the “Draft” key to observe the working
route, as per Fig. 2-6.
(1) Display Percentage: With Page Up/Page Down page key, you may adjust the
displayed percentage of the working route flexibly in dynamic way.
(2) Display Position: With Up/Down/Left/Right Direction Cursor key, you may
adjust the graphical Home Position displayed in the screen or adjust the draft
Home Position by letter keys in a quicker manner.
I-Screen Upper Left; J-Screen Middle Up; K-Screen Upper Right
2-5
R-Screen Middle Left; S-Screen Center; T-Screen Middle Right

G-Screen Lower Left; F-Screen Lower Middle; M-Screen Lower
Right
(3) Coordinate Plane Shift: Letter X-XY Plane, Letter Y-YZ Plane, Letter Z-XZ
Plane.
(4) Clear the drafted working route: By pressing “Clear” key, you may erase the
drafted working track from the Draft screen.
(5) The drafting action will be divided into the the following two types:
“Hands-on Draft”, “Fast Draft”.
Shift Method: Under Draft Mode and before starting the program, press
“Fast” key (once for ON and press again for OFF).
Fast Key Indicator ON “Fast Draft”

Fast Key Indicator OFF “Hand-on Draft”
“Hand-on Draft”: Servo axis displacement command together with M, T and

S codes will be executed.
“Fast Draft”: Servo axis will be locked without displacement, but M, T
and S codes will be executed.
Such function is useful for initial working, as the operator can check if the
working route is correctly planned under absolute safe conditions.
(6) Press “F1” Key to return to the Main Screen indicated by the current mode
knob.
Fig. 2-7
2-6
2 Operation
* MDIMode Screen
The following screen displays when the “Mode Selection” knob is in “MDI”:
Fig. 2-8
Under this mode, input node command directly and press “Start” key and you can
execute this node command immediately
Example:
1. Edit M03 S1000:
2. Press “Enter” key.
3. Press “Start” key.
After the above-said operation, the Spindle will make CW turning (speed: 1000
rpm/min).
2-7
11. Tool Life:Under MDI Mode, press F5 Key to access (valid when the Tool Life
management function is active).
Fig. 2-5
2-8
2 Operation
(1) Under MDI Mode, press the F5 Key to access the Tool Life management
screen. In the Tool Life management screen, the upper left corner shows the
Tool number currently executed and the upper right corner displays the
current Tool service time for each individual machining.
(2) The “Now Count” and “Now Time” at the upper part of the screen refer to
the accumulation of count and time for each Tool service.
(3) Press F4 Key to set the “Count Limit”. After selecting, the “Count Limit” at
the upper part of the screen will indicate reverse white and flicker. At this
time, use to move to the edition position and set the corresponding
limit of Tool service count.
(4) Press F6 Key to set the “Time Limit”. After selecting, the “Time Limit” at
the upper part of the screen will indicate reverse white and flicker. At this
time, use to move to the edition position for setting the
corresponding limit of Tool service time.
(5) Based on actual Tool service status, upper limit can be set simultaneously for
“Count Limit” and “Time Limit”, which can also be used by choosing from
either of the two.
(6) Press and hold the F8 Key for executing “Clear All Figures”. When either
the Count Limit or Time Limit reaches the upper limit, the system will
indicate “Err39” alarm and the program being run will also stop at the
position where T Code is located.
(7) Page 1 of the parameter screen can be used for setting if to activate the Tool
management function (double clicking the “I/O Para” key).
Fig. 2-6
2-9
* Edit Mode display
The following screen displays when the “Mode Selection” knob is in “Edit”:
Fig. 2-9
General Programmingand Intellectual Programming:
Under Edit Mode, press the “F1” Key and you may select current editing mode for
changing it to general programming status. By pressing “F2” Key, you may select
current editing mode to change it to general programming status.
General programming: The letters and digits need to be input by the operator
manually, and shown in Fig. 2-9 is the general programming
status.
Intellectual Programming: The customer need not memorize the parameter letters of
each command and relevant meaning, but needs to fill in the
value following the respective parameter according to the
illustration to complete the programming. In this way, it
reduces the work load of the programmer, eases the
programming difficulty, and enhances the programming
efficiency. For relevant details, please refer to 2.2.3.
2 - 10
2 Operation
Copyand Paste
1. Press the “Copy” key and the screen will display “Please move the cursor to
confirm the copy start node number for copy and then press the Enter key to
confirm the selection” (as per Fig. 2-10).
Fig.2-10
2. More the cursor to the starting position of the block to be copied and then press
“Enter” key to confirm (as per Fig. 2-11).
Fig.2-11
2 - 11
3. More the cursor to the ending position of the block to be copied and then press the
“Enter” key to confirm (as per Fig. 2-12).
Fig.2-12
4. Press the “Hint” and then “Copy” key till the screen hint “Copy Done” appears (as
per Fig. 2-13). To reselect the program content to be copied, repeat Step a~d.
Fig.2-13
2 - 12
2 Operation
5. After completing the copying, move the cursor to the position to be pasted and
then press “Paste” key to paste up the copied program block (as per Fig. 2-14).
The copied program block can be pasted to the other program designated by
program number and it can also be repeated pasted.
Fig. 2-14
(1) Restart Again; In the edit program, move to the node to be restarted with
key and then press “Set Restart”, and the node is the set restart node.
When the “Set Restart” indicates reverse white, it means such function is active.
(2) Interrupt Node: To search the interrupted node after the program is interrupted
during the working process (e.g. press Reset, emergency stop, shutdown), access
the Edit screen and then press “Interrupted Node” soft key and it can be retrieved.
(3) Search: To enter certain bit and value in the specific program node, press this key
and the cursor will skip to the corresponding node position. To repeat, press
“Search” key and the system will continue looking for the next bit that meets the
requirements.
For detailed operation of program editing,please refer to Program Edit section.
2 - 13
* Program Selection Screen
The following screen displays when the “Mode Selection” knob is set to “PRON”:
Fig. 2-15
Programmable line numbers range:0 ~ 600.The controller system uses numbers

after 700.
You can enter program comments in this mode up to 12 characters.
Example: To add the comment “ TYPE-201” to O001:
1. Move the cursor to O001
2. Press T Y P E 2 0 1 .
3. Press Enter .
Program selection methods:
1. Select a program:
a. Use the “Cursor ” key or “Page ” key to move the arrow
to the desired program number. (Press the Cursor key that the
program number will increase 100 for each time.)
b. Press the “Select” or “Enter” key.
2. Program comments:
a. Use the “Cursor ” key or “Page ” key to move the arrow
to the program number for which program comments are entered.
b. Enter the desired comment using letters or numbers.
2 - 14
2 Operation
c. Press the enter key.

3. Delete a program:
a. Use the “Cursor ” key or “Page ” key to move the arrow to
the program number to be deleted.
b. When you press the “Delete” key, a dialogue prompts for confirmation.
Press the “YES” or “Y” soft key to delete the program.
Press the “NO” or “N” soft key to cancel the operation.
4. Copy a program:
a. Press the “Copy” key to display the following screen:
Fig. 2-16
b. Use the “Cursor ” key or “Page ” key to move the arrow to

the source program number.
c. Press the “Source” key
d. Use the “Cursor ” key or “Page ” key to move the arrow to
the object (target) program number.
e. Press the “Object” key
When the source and target program numbers are confirmed, press the “Execution” key
to begin copying.
2 - 15
* JogMode Screen
MODE switch turn to JOG
Fig.2-17
1. Press “Jog” key, and the corresponding axis will start moving:
2. Hold “Fast” key, the axis will move at maximum speed.
(If “Fast” key is not pressed, the axis displacement speed will be set in the
Parameter page).
3. For document transmission, please refer to AppendixB.
4. Lubricant: Under “Manual” screen, press “F2” Key to select or cancel “Lube”
function. When “Lube” indicates reverse white, it means such function is active;
otherwise, it will be cancelled. (The parameter item can be used to adjust the
continuous automatic lubrication time and the time interval of every two
lubrication cycles.)
5. Release Spindle: Under Manual screen, press the “F3” Key to select or cancel
Spindle release function. When “Release Spindle” indicates reverse white, it
means such function is active; otherwise, it will be cancelled. Upon starting the
“Release Spindle”, the Spindle can be turned by hand manually. (The “Release
Spindle” function shall be effective for the voltage closed circuit spindle or the
pulse type Spindle and the Spindle has returned to the Home Position.)
6. Spindle Positioning: After the Spindle returns to the Home Position, the Spindle
position will be displayed on the manual screen. Press “F4” Key “Spindle
Position” (in reverse white), the system will position the Spindle at the angle set
by the user (the parameter can be used to set the positioning angle and rpm).
7. Select Spindle: Under “Manual” screen, press “F5” Key to select the active
Spindle. (If the Spindle count is “1”, then it means “Spindle #1” is active; if the
Spindle count is 3, press “F5” Key for shifting among Spindle #1, #2 and #3 and
2 - 16
2 Operation
the screen will display the active Spindle.)

8. Corresponding Coordinate Zero Setting: Under “Manual” screen, press “F6”, “F7”
and “F8” keys and you may set the corresponding X, Y (staring status) and Z
coordinates at zero.
9. Manual Switch:
a. Spindle: CW, CCW, Stop
b. Coolant: Press once for ON and press again for OFF.
c. Manual Chuck: Press once for releasing and press again for clamping.
d. Tool Change: For Hydraulic Turret and Electric Turret, press “Manual Tool
Change” key and you may change to next tool along the direction set in the
“Manual Tool Change Direction” parameter item.
e. Chip Remover: Press “Chip Remove CW” and “Chip Remove CCW”, and
you may change the status of Chip Remover flexibly.
f. Tailstock FWD/REV: Press “Tailstock FWD” and “Tailstock REV” key, and
you may control the Tailstock action manually.
* MPG Mode Screen
MODE switch turn to MPGx1 MPGx10 MPGx100 :
Fig.2-18
Press “Jog” key and you may select the axis (the selected axis will indicate reverse
white on the screen), and then rotate the Hand Wheel to move the axis. You may also
select the multiple of Hand Wheel by adjusting the knob position, such as 1x, 10x and
100x.
2 - 17
* HOME Mode Screen
The following screen displays when the “Mode Selection” knob is set to “Home”:
Fig. 2-19
Home Position returning operation method:

1. Press “X+” or “X-”key of the Auxiliary Panel for 0.2 second, and X Axis will
execute the Home Position returning action.
2. Press “Z+” or “Z-” key of the Auxiliary Panel for 0.2 second, and Z Axis will
execute the Home Position returning action.
3. Spindle Home Position:
(1) If the Voltage Closed Circuit Type Spindle remains inactive after pressing
“F2” key, then it is not necessary to return the Spindle to Home Position or set
at zero.
(2) In the Pulse-type Spindle or Voltage Closed Circuit Type Spindle, press the
“F2” Key for setting corresponding functions according to the Parameter
Page.
a. When setting the parameter at “Locate Home Position for Spindle signal
and the Grid signal required”, the “F2” Key shall corresponds to
“Spindle Home Position”. Press such key, and the Spindle will execute
Home Position returning steps the same as ordinary Servo Axis (find out
the Home Position Switch signal first and then Motor Grid signal).
b. When setting the parameter at “Locate Home Position signal for Spindle
not required, but the Grid signal is required”, the “F2” Key shall
correspond to “Spindle Home Position”. Press such key, and the Spindle
will not find out the Spindle Home Position Switch signal but will find
out the Motor Grid signal to complete the Home Position returning
action.
2 - 18
2 Operation
c. When setting the parameter at “Neither Home Position for Spindle signal
not required, but the Grid signal is required”, the “F2” Key shall
corresponds to “Spindle Home Position signal nor Grid signal is
required”, the “F2” Key shall corresponds to “Spindle Zero Point”.
Under such status, push the said function key and the current Spindle
position will be set as the Home Position of the Spindle.
* I/O (Input/Output)Mode Screen
Press “I/O/MCM” once to enter I/O mode. The following screen displays:
Fig. 2-20 “Input/Output” Status of the Controller
Press the “IOCSA” soft key to display the following output status screen:
Fig. 2-21 Controller “IOCSA” Status
2 - 19
Press the soft key to change the IOCSA status screen:

Press the “Panel” soft key to display the following panel status screen :
Fig. 2-22 “Panel I/O” Status of the Controller
The corresponding screen does not display when this page displays and the work mode
knob is turned. This function is used to check the work mode knob is correct.
Press the “I/O” soft key to display the input and output status screen.
2 - 20
2 Operation
* Parameter Screen:
Quickly press “IO/Parameter” key twice to enter the Parameter Mode and listed below
is the relevant page:
Fig.2-23
G54 ~ G59 Working Coordinates Setting:
Press “G54..G59” Key to enter the working coordinates system setting screen.
Fig.2-24
2 - 21
* Software Version Screen
Press the “Software Version” soft key on the second page of the parameter screen to
display the version screen:
Fig. 2-25
1. Shown in the screen are system time, PLC time, screen time, ARM time and
Lattice time.
Example: System 2010 627

PLC 2010 623
System Time: June 27, 2010

PLC Time: June 23, 2010
2. Time Setting: Press “Time Set” key (indicating reverse white) and then press
key for showing year, month, day, hour, minute and second, edit the value and then
press “Time Set” again. When the screen displays “Data Loading OK” wording, it
means the time has been successfully set.
Note:Such function shall be set byuse with correspondingpermission.
2 - 22
2 Operation
* System Parameter Screen
Press the “System Parameter” soft key on the second page of the parameter screen to
display the system parameter page.
Fig. 2-26
The Advanced Parameter modification is protected by password Default Value =

123456.
To modify the Advanced Parameter, press “Modify Parameter” key and it will skip
to Password Input Page as per Fig. 2-26.
After entering correct Advanced Parameter password, the user shall be allowed to
modify the Advanced Parameter.
After entering the system parameter page, press “Change Password” key and it will
skip to the password change page. Enter current password and new password
according to the hint shown in the screen, as per Fig. 2-27.
Fig. 2-27
2 - 23
Fig. 2-28
Note: After entering the correct Advanced Parameter password and before
restarting, you may change the system parameter setting screen directly
during the next operation (password not required).
2 - 24
2 Operation
* Tool Radius
Press the Tool Radius key into this page.
Prerequisite: The axis must in the Home position that can into this page.
Page (1) :
Fig. 2-29
Note:When mount the Tool above the Workpiece, it means the Upper Holder
(Rear Holder); when mounting under the Workpiece, it means the Lower
Holder (Front Holder). The system parameters can be used to set the
Holder type, for example, X-Axis means the direction when Tool is
leaving the Workpiece (refer to Fig. 2-34). If the Tool is located at
“Negative X Direction” at the center of the Workpiece, then negative
value should be entered for the diameter (as per Example 2).
Tool Calibration Step:
1. Clamp the Workpiece securely (clamp with Pedal Switch or Manual Chuck key).
2. Set the group number.
3. Write in X-Axis position.
a. Move the Tool with Hand Wheel for accepting OD machining. Before the
entire Tool leaves the machining coordinates, press the “X Tool Offset” key
and at this time, the system will save the machine coordinates of X-Axis in
the X-Axis position.
b. Move the Tool away with Hand Wheel. After measuring the actual Workpiece
diameter, enter the diameter of X-Axis.
2 - 25
c. Press “X Tool Offset” key again and the Controller will calculate
automatically for writing the result in the designated Tool length offset
parameter.
4. Write in Z-Axis Position:
a. Move the Tool with the Hand Wheel for accepting end face machining. Before
the entire Tool leaves the machining coordinates, press “Z Tool Offset” key
and at this time, the system will save the machine coordinates of X-Axis in
the Z-Axis position.
b. Enter the Workpiece length. To use the machining end face as the working
Home Position for Z-Axis, set the length as “0”.
c. Press “Z Tool Offset” key again and the Controller will calculate automatically
for writing the result in the designated Tool length offset parameter.
Example 1:
1. If the Tool has not entirely left the machining coordinates, the machine coordinates
will be (13.000, 13.638.)
2. Enter diameter as 20.000mm (diameter program setting and the Tool is located at
the X position direction at the centerline of the Workpiece).
3. Enter the length as 0.000mm (the machining end face will be the working Home
Position of Z-Axis).
4. Press “F4-X Tool Offset” and “F5-Z Tool Offset” respectively.
5. The X, Z coordinates saved for the Tool setting screen will be (6.000 and 13.638)
respectively. Under Tool length offset screen, the X, Z coordinates of this group
will be (6.000, 13.638.)
Example 2:
1. If the Tool has not entirely left the machining coordinates, the machine coordinates
will be (-15.400, 12.166.)
2. Enter diameter as -20.000mm (radius program design and the Tool is located at X
negative direction at the centerline of the Workpiece).
3. Enter the length as 10.000mm (the machining end face will be the working Home
Position of Z-Axis).
4. Press “F3-X Tool Offset” and “F5-Z Tool Offset” respectively.
The X, Z coordinates saved for the Tool setting screen will be (-5.400 and 2.166)
respectively. Under Tool length offset screen, the X, Z coordinates of this group will be
(-5.400, 2.166.)
2 - 26
2 Operation
* Tool Compensation Screen
Click the “T.Radius / T.Offset” once to enter tool compensation mode. The following
screen displays:
Fig. 2-30
In this mode, it is possible to switch between two screens. Press the “soft key” to cycle
between tool-wear compensation, tool-length compensation, and parameter screens.
The tool length compensation screen is shown as follows:
Fig. 2-31
There are 40 groups respectively for tool-wear compensation and tool-length

compensation.
1. Set Tool Wearing Offset and Tool Length Offset according to the following
method:
2 - 27
a. Confirm the input type of Tool Wearing Offset and Tool Length Offset
(absolute value/increment value will be hinted at the upper right corner, and it
is not required to enter X/Y/Z, U/V/W), and then press lower soft key to
switch the input method. With “Cursor” key, move the cursor to the
parameter to be changed.
b. After entering the value key, press “Enter” key.

“Measuring”: The Hint text will appear after returning the Axis to Home
Position of the machine. Press this key and it will indicate
reverse white and flicker. Move the Tool with Hand Wheel for
accepting the OD and end face machining. Before the entire Tool
leaves the machining coordinates, move the cursor to the group to
be entered (under Tool length offset screen) for entering the
corresponding diameter value (X-Axis) or length diameter
(Z-Axis) and then the system will set the Tool length offset value
automatically.
2. Change Tool offset value during operation:

a. Lock by increment setting method (without affecting the input type not being
executed).
b. In the system parameters, set under the “Input max. wearing value during
operation” (default value: 2.000; max. value: 2.000mm).
3. Max. Wearing Offset Set Value: In the system parameters, set under the “Max.
Wearing Offset Value” (default value: 2.000; max. value: 20.000 mm), and the set
parameter value will be shown at the upper left corner of the Wearing Offset
screen.
2 - 28
2 Operation
* G54~G59:W orkcoordinate settingpage
Fig. 2-26
Input method:
1. Used the cursor key to move input position and input the values then press the
Enter key.
2. Used the cursor key to move input position then used MPG or JOG key move the
axis to the target position, press faster the SAVE-X SAVE-Z or SAVE-A
key twice (0.5 Sec.), the values will be renew from up-left
MACHINE-POSITION .
2 - 29
* Error message :
When any error message happen that system will change to this page automatically.
(Please reference the explanation of chapter six. )
Fig. 2-27
* Graph Mode Screen
The following screen displays when the “MODE” switch to “Graph”.
2 - 30
2 Operation
2.
2 Program Editing
2.
2.1 ProgrammingOverview
2.
2.1.
1. Part Programs
Prior to part machining, the part shape and machining conditions must be converted to a
program. This program is called a part program. A comprehensive machining plan is
required for writing the part program. The following factors must be taken into account
when developing the machining plan:
1. Determine the machining range requirements and select a suitable machine.

2. Determine the work-piece loading method and select the appropriate tools and
chucks.
3. Determine the machining sequence and tool path.
4. Determine the machining conditions, such as the spindle speed (S), feed rate (F),
coolant, etc.
A part program is a group of sequential commands formulated according to a part diagram,

machining plan, and command code of the numerical control unit. It is used to plan the tool
path with the assistance of the auxiliary functions of the machine. The part program can be
transmitted to the memory of the control unit via a PC, punched paper tape, or keyboard.
2.
2.1.
2. ProgrammingMethods
A numerical control unit executes actions exactly in accordance with the commands of
the part program. So, programming is very important for numerical control machining.
There are two ways to design a CNC part program and they are briefly described in the
following:
1. Good capability of reading part diagrams.

2. Rich experience in machining processes.
3. Familiar with the functionality, operation procedure and programming language of
the machine.
4. Basic capability in geometric, trigonometric, and algebraic operations.
5. Good capability of determination of machining conditions.
6. Good capability in setting chucks.
7. Good capability in determination of part material.
2 - 31
Two programming methods are available for the part program of the numerical control
unit:
Manual Programming
Automatic Programming
Manual Programming
All processes from drawing of the part diagram, machining design, numerically
controlled program algorithm, programming, to the transmission of the program and the
controller are performed manually.
The coordinates and movements of the tool used in machining operations should be first
calculated during the manual programming process. Calculation will be easier if the part
shape is comprised of straight lines or 90-degree angles. For curve cutting, however, the
calculation is more complicated. Both geometric and trigonometric operations are
required for accurate curves. After acquiring the coordinates of the work-piece, create a
complete numerically controlled part program in a specified format using the movement
command, movement rate, and auxiliary functions. Check the program and make sure
that there are no errors before transmitting it to the controller.
AutomaticProgramming
All processes from drawing the part diagram to transmitting the part program are
performed with a PC.
For complex part shapes, it is both time-consuming and error-prone to calculate the
coordinate values manually, resulting in nonconforming-machined products. To make
use of the high-speed capabilities of the computer, the programmer designs a simple
part program to describe the machine actions and the shape, size, and cutting sequence
of the part, reinforcing the communication and processing capability of the computer.
The input data is translated into a CNC program using a PC, which is in turn transmitted
to the CNC controller via the RS232C interface. This is called the CAD/CAM system
and is used by many units using CNC machines to create a program especially
machining a 3-D work-piece.
2 - 32
2 Operation
2.
2.1.
3. Program Composition
A complete program contains a group of blocks. A block has a serial number and several
commands. Each command is composed of a command code (letters A~Z) and numeric
values ( , ,0~9). An example of a complete part program containing 10 blocks is
shown in the table below. A complete program is assigned with a program number, such
as O001, for identification.
A complete program:
N10 G0 X40.000 Z10.000

N20 G00 X30.000 Z5.000
N30 M3 S3000
N40 G1 X10.000 F200
N50 W-5.000
N60 X15.000 Z-10.000
N70 X30.000 W-10.000
N80 G0 X40.000 Z10.000
N90 M5
N100 M2
Block is the basic unit of a program. A block contains one or more commands. No blank
should be inserted between commands when transmitting a program. A block has the
following basic format:
N-____G____X(U)____Z(W)____F____S____T____M____
N : Block Sequence Number

G : Function Command
X, Z : Coordinate positioning command (absolute movement command).
U, W : Coordinate positioning command (incremental movement command).
F : Feed rate.
S : Spindle speed.
T : Tool command.
M : Auxiliary functions (machine control code).
Except for the block serial number (N), the command group of a block can be classified
into four parts:
2 - 33
1. Function Command:The G-code, for example, is used to instruct the machine to

perform actions, such as linear cutting, arc cutting, or thread cutting.
2. PositioningCommand:X, Z, U, W commands, for example, instructs the G-code
of the machine to stop at a specified position; i.e. destination or end point of the
action.
3. Feed Rate Command:This command instructs the tool to cut (G-code) at a
specified speed.
4. AuxiliaryFunction:The M, S, T, L commands, for example, determine the start,
stop, spindle speed, tool selection, and execution times of the machine.
However, not every block contains these four commands. Some blocks have only one
command. This will be further discussed in Chapter III.
Except for the block serial number of the block N___, all other components of the basic
block format are commands. A command contains a command code (letter), a +/- sign,
and some numbers.
BasicCommand Format (e.g. the positioning command):
X-10.000
X : Command code
"-" : +/- sign (+ can be omitted)
10.000 : Destination of a tool positioning action.
The command codes include the function command code, positioning (or coordinate)
command code, feed-rate command code, and auxiliary function command code. Each
command code has its own definition and the machine behaves according to the command
code given. The command codes of H6D-T Series and their definitions are described
below.
F: Feed-per-rotation command. mm/rev or mm/min

G: Function code
I: The X-axis component of the arc radius.
K: The Z-axis component of the arc radius.
L: Repetition counters.
M: Machine control code.
N: Program serial number.
P: Call subprogram code; parameter in canned cycles; tool number for tool
compensation.
Q: Parameter in canned cycles.
2 - 34
2 Operation
R: Arc radius or parameter in canned cycles.

S: Spindle speed.
T: Tool command.
U: Incremental positioning command on X-axis.
W: Incremental coordinates on Z-axis.
X: Absolute positioning command on X-axis.
Z: Absolute positioning command on Z-axis.
C: Chamfer by line method between Program Node and respective Node.
R: Chamfer by round arc method between Program Node and respective
Node.
A: Chamfer by combined line and angle method between Program Node and
respective Node.
Each block has a specified format and this format must be used during programming.
Incorrect formatting can result in code rejection or major errors.
Each block has a serial number for identification. Though the serial number is not
essential, it is recommended to use it for easy search. The serial number contains the
letter “N” followed by some digits. The number can be generated automatically or
manually typed from the keyboard when editing the program. (Refer to Chapter IV).
The line number order is not followed, but line numbers must be unique. The program
runs in order of blocks from top to bottom rather than their serial numbers. For
example:
Ex: N10……(1) program execution order

N30……(2)
N20…....(3)
N50…....(4)
2.
2.1.
4. Coordinate System
Fabrication of a work-piece with a lathe is accomplished by the rotation of the spindle

and cutting motion of the tool mounted on the machine. The tool can move in an arc
or straight line. A coordinate system is used to describe the geometrical position of the
intersecting point and end point of an arc or line. The cutting action is done by the
controlled change of these geometrical positions (positioning control).
2 - 35
* Coordinate Axis
The H6D-T Series uses the well-known 2-D Cartesian coordinate system. The two axes
used in the lathe series are defined as X-axis and Z-axis. The Z-axis is the centerline of
the lathe spindle. The intersection of the two axes is the zero point, i.e. X=0 and Z=0.
Fig. 2-28 shows the relationship among each axis, tool motions, and rotation direction
of a work-piece. This manual uses the rear tool post as an example.
+X Top (rear)holder
+Z
G03 G02
+Z
M04 M03
CCW CW
G02 G03
+Z
+X Bottom (front)holder Fig. 2-28
When the spindle is rotating, your thumb points to the positive direction of the Z-axis
and four fingers point to the direction of normal rotation.
* Coordinate PositioningControl
The coordinate of the H6D-T Series is either absolute or incremental, depending on the
command code of the coordinate axis, i.e.:
X, Z: Absolute coordinate commands.

U, W: Incremental (or decremental) coordinate commands.
Please note the diameter is generally used to represent the X-axis coordinate for a lathe,
regardless of incremental or absolute coordinates.
Absolute Coordinate Commands
Tool-positioning coordinates are acquired with reference to the origin (work origin or
program origin) of the work coordinate system. Coordinates are either positive (+) or
negative (-), depending on its position relative to the origin.
2 - 36
2 Operation
Incremental Coordinate Commands
The previous coordinates of the tool are the reference point for calculating the
coordinate value of the next position. The incremental coordinate is either positive (+)
or negative (-). The negative sign represents decrement. Facing toward the direction of
movement, if the tool is heading towards the positive (+) direction, U, W represents an
increment. If it is heading to the negative (-) direction, U, W represents decrement.
X, Z and U, W are interchangeable in the program. The commands used for absolute
and incremental coordinates are described as follows:
Absolute Commands: (Fig. 2-29)
P0 to P1 G01 X10.000 F0.200

P0 to P2 X24.000 Z30.000
P2 to P3 X32.000 Z10.000
P3 to P4 Z0.000
38
30
P4 P3
10
P2
32/2
24/2
P1
10/2
Z Fig. 2-29
P0
Incremental Commands: (Fig. 2-30)
P0 to P1 G01 U10.000 F0.200

P1 to P2 U14.000 W-8.000
P2 to P3 U8.000 W-20.000
P3 to P4 W-10.000
2 - 37
38
30
P4 P3
10
P2
16
12
P1
5
Z
P0
X0. ZO.
Fig. 2-30 Incremental Commands
Coordinate Interchange:
P0 to P1 G01 X10.000 F0.200

P1 to P2 X24.000 W-8.000
P2 to P3 U8.000 Z10.000
P3 to P4 W-10.000
or
P0 to P1 G01 X10.000 F0.200
P1 to P2 U14.000 Z30.000
P2 to P3 X32.000 W-20.000
P3 to P4 Z0.000
Simultaneous use of absolute and incremental coordinate systems in a part program is

possible. For the absolute coordinate system, the input error of the previous position,
if any, does not affect the coordinates of the next point. For the incremental coordinate
system, however, all subsequent positioning is affected if the previous position is
incorrect. Therefore, particular attention should be paid when the incremental
coordinate system is used.
There aren’t any rules about when to use the incremental or absolute coordinate system.
It depends on machining requirements. If each machining point is positioned relative to
the home position, it is recommended to use the absolute coordinate system.
For diagonal (simultaneous positioning on the X and Z-axis) or arc movements, the
coordinate value of each axis acquired from trigonometric operations will be rounded
off. In this case, particular attention should be paid when the incremental coordinate
system is used, as machining points may increase, and the more points there are, the
greater the risk of error. Basically, whether an absolute or incremental coordinate is used
2 - 38
2 Operation
depends on the programming requirements and the specifications of the machining

diagram.
* W orkOrigin
The specifications of the machining diagram are converted to the coordinate system at
the CNC lathe programming stage. Before the conversion, a point on the work-piece is
selected as the zero point of the coordinate system (i.e. work origin) and the coordinates
of other points on the work-piece are calculated based on this work origin.
The programmer determines the position of the work origin. It can be any point on the
centerline of the spindle. However, it is recommended to select an origin that makes
reading of the work-piece coordinate easier. The X-axis of the work origin should be on
the centerline of the lathe spindle. One of the following three points can be selected as
the work origin of the Z-axis: (Fig 2-31)
1. Left end of the work-piece.

2. Right end of the work-piece.
3. Front of the claw or chuck.
Z
1 3 2
Fig. 2-31 Work Origin Selection (1, 2, or 3)
The work origin is also called work zero point or program origin,program zero point.
In this manual, this zero point is always referred to as the work origin. The coordinate
system based on the origin is called work coordinate system. The work coordinate origin
is the work origin. Referring to section 3.12 for the G10 and G50 work origin setting.
The work-piece after being cut with a CNC lathe is symmetrical. Perform machining of
half the side of the work-piece. Therefore, only half of the work-piece should be drawn
on the work-piece diagram when creating a program, as shown in Fig 2-32.
2 - 39
Fig. 2-32 Work-Piece Symmetrical Diagram
* Machine Origin
There is a fixed point on the machine bed or bed rail. This point is used as a reference
point for determination of the work coordinate (or work origin) and calibration of the
tool length compensation. This reference point is called the machine origin.
For the H6D-T Series controller, the machine origin is the stop position of the tool when
the homing for each axis is complete. As Fig. 2-31 shows, the machine origin
corresponding to the coordinate used to indicate the work origin varies depending on the
position of the work origin. In general, the machine origin is determined based on the
position where the positioning measurement device and the touch plate of the limit
switch are installed on the machine. In this case, use the positioning measurement
function of the controller to obtain the relationship between this position and the
coordinate used for the work origin.
The homing action should be performed after powering on the machine. If the current
position is lost due to power failure, the homing action should be performed again.
Z HOME X
Machine Origin Z
X HOME
W orkOrigin
+Z
Fig. 2-33 Lathe Origin Diagram
2 - 40
2 Operation
2.
2.1.
5. Numerical Control Range
The numerical and functional control range of the H6D-T controller is described in the
following two tables.
Min. setting unit 0.001 mm

Max. setting unit 9999.999 mm
Min. moving unit 0.001 mm
Max. moving unit 9999.999 mm
Max. stroke 9999.999 mm
G- code G00~G99 (G01=G1)

M-code M000~M999 (M01=M1)
S-code S1~S9999 rpm
F-code 0.001~0~9999.999 mm/spin
X, Z, U, W, I, K 0.001~+/-9999.999 mm
R (Radius) 0.001~+/-9999.999 mm
G04 0 ~ 9999.999 seconds
Program number 0 ~ 600
1. There are two digits after T when no turret
is mounted; select a tool compensation
number.
T-code 2. There are four digits after a turret is
mounted; the first two digits is the tool
selection and the last two digits is
compensation number.
Memory capacity 512 K
Lead screw
0~255 pulses (related to tool resolution)
compensation
Max. Response
500 KPPS
Speed
The numerical control range varies depending on the specifications of the numerical
control unit. Refer to the operator’s manual of the machine for more information.
2 - 41
2.
2.2 Program Editing
The program editing operation includes:

1. Program selection,
2. New program editing, and
3. Existing program change.
2.
2.2.
1. New Program Editing
Fig. 2-39
The following keys are used to edit programs:

1. Command keys.
2. Numerical keys 0 ~ 9
3. Cursors – Use or to move the cursor to the block to edit.
4. Used the or key to switch to the pervious or next page of the program.
5. Edit one node at a time (e.g. G90 X30.Z30 F0.2) and then enter.
6. Use the Insert key to create or insert a new block.
Enter a new block in a new program or insert a new block in an existing program.
Press the Insert key after entering a new block.
Enter
7. Use the key to apply/save the new changes.
Use the Enter key after adding a command or changing a command value in an
existing block.
2 - 42
2 Operation
8. Use the Delete key to delete a program block.
Creatinga Program Example:
Program 1
N1 G0 X0.Z0.
N2 G4 X1.
N3 G0 U480.W-480.
N4 G4 X1.
N5 M99
Action and description:

1. Confirm that the Controller has entered the program editing status.
2. Edit and input the node:
NEW
G 0 X 0 . Z 0 . LINE
NEW
G 4 X 1 . LINE
NE
W
G 0 U 4 8 0 . W - 4 8 0 . LIN
E
NEW
G 4 X 1 . LINE
NEW
M 9 9 LINE
If the program is longer than one page after completing the edition, use the Page Up
and Page Down to check if the programs in both pages are correct.
2.
2.2.
2. Editinga Program
We have created PROGRAM 1 in the previous section. The existing program change is
described in this section. Changing a program includes the following procedure:
Add (or Change)a Command
2 - 43
Ex: The third block program N3 U480. W-480.

Changed to N3 U480. W-480. F0.2
Procedure:
1. Make sure the system is in “EDIT” mode.
2. Use / to move to the cursor to block N3.
3. Enter a command code and value to be added (changed), e.g. F0.2.
F 0 2 Enter
The screen shows as Fig. 2-40.
Fig. 2-40
1. Change U480. by entering U360; U 3 6 0 Enter
To change an incorrect command, enter the correct command and press Enter .
Delete a Command
Ex: The third block program N30 U480. W-480. F0.2

Changed to N30 U480.W-480.
Procedure:
2. Use the / key to move the cursor to block N3.
3. Enter a command to be deleted without values, e.g; F Enter
(No value is entered behind F). The screen shows as Fig. 2-41:
2 - 44
2 Operation
Fig. 2-41
Insert a Block
Ex: Insert the block N31 U20. W-20 between the third block N3 G0 U480.
W-480 and between N4 G4 X1
Procedure:
2. Use the / to move the cursor to block N3.
3. Enter
N 3 1 Insert
U 2 0 Enter
W 2 0 Enter
2 - 45
The screen shows as Fig. 2-42.
Fig. 2-42
Delete a Block
Ex: Delete the block N31 U20. W-20.
Procedure:
2. Use / to move to the cursor to block N31.
Press the Delete key .The screen shows as Fig. 2-43.

Move the cursor to block N4 after the block N31 is deleted.
Fig. 2-43
2 - 46
2 Operation
Delete a Program
In the “PRNO” mode, move the cursor to the program to be deleted and press the
Delete key. The following message displays:
Fig. 2-44
At this time, press the Y key to delete the program O02. When you press the
N key, no action is performed.
To delete all programs 0~999, follow the procedures below: Procedure:

Switch to the MDI mode and instruct the command G10 P2001. All contents in the
program are deleted.
Note: After the procedure is complete, all program data in memory is erased.
Therefore, never perform this action unless it is absolutely necessary.
2 - 47
2.
2.2.
3. EnteringFractions
(1) The entered command values shall be divided into integral and decimal point
numbers, and up to 7 digits shall be entered at most. Because the decimal point
cannot be accepted by the command value to be indicated with integral number,
there would be no problem for inputting the value for this type of command. As
for the decimal point-type command value, the decimal point shall be entered at
the appropriate position (the “0” following the decimal point can be omitted); after
internal processing by the Controller, its value will be the correct one. Under
varied modes, actual command value entered by integral number will also be
different. Provided below is about the description of “If to start the decimal point
omission” (such parameter is shown in the first page of Parameter screen and it
can be accessed by clicking “IO / MCM” for twice.
Non-starting
Enter Starting Omission
Omission
X2 X0.002 mm X2mm
Z35 Z0.035 mm X35mm
U2500 U2.500 mm U2500mm
W125. W125.000 mm W125mm
(2) The command value to be entered by integral number:

G, M, N, S code: Computation parameters.
Suggestion:To avoid confusion, except that integral number should be entered for G, M,
N and S, other commands will be entered by decimal point method and the “0”
following the effective number can be omitted.
2.
2.2.
4. EditingNotes
Block (Program)Serial number
1. The letter N of the block serial number can be omitted if necessary.

2. The number after N is only a symbol. The blocks are sorted in line order rather
than the assigned line value.
For instance, if N35 is inserted behind N30, the order is:
2 - 48
2 Operation
Program 1
N10 G0 X0. Y0. ...... First block
N20 G4 X1. ...... Second block
N30 U480. V-480. ...... Third block
N35 U20. V-20. ...... Fourth block
N40 G4 X1 ...... Fifth block
N50 M99 ...... Sixth block
If the block line number N35 is changed to N350 the program executes in the
same order.
3. The line number of a block is edited in the form of a "string". That is to say, N10,
N010, N0010 represents different blocks and a complete string must be entered to
search a block serial number.
Block Notes
1. Do not use two G-codes in the same block.

2. Do not repeat any coordinate code of a command, such as X, Y, Z, U, V, I W, J
and R, in the same block.
3. If you specify absolute coordinates and incremental coordinates for the same axis
in a block, only the incremental coordinates will be executed. Example:
G1 X100. U50.----- Only U50 will be executed.
4. A maximum of 80 characters can be entered in a bock, or the Err-08 message
displays.
2 - 49
2 - 50
3 G/M Codes
3 G/M Codes
3.
1 Command codes
The previous chapters have introduced the format of part programs. This chapter will
describe the command codes of the H6D-T series and provide simple examples for each
command to explain its applications.
The definition of G-codes in the H6D-T series is similar to other controllers. They are
classified into two groups: (Table 3-1)
1. One-shot G-codes
A One-shot G-code (has no * mark in the table) is valid only in the defined program
block.
Ex: N10 G0 X30.000 Z40.000

N20 G4 X2.000 G4 is a one-shot G-code and is valid only
in this block.
N30 G1 X20.000 Z50.000 G04 no longer valid in this block.
2. Modal G-codes
A Modal G-code (has a * mark in the table) is valid until it is replaced by another
G-code of the same group.
Wherein G00, G01, G02, G03 Same group.

G40, G41, G42 Same group.
G96, G97 Same group.
G98, G99 Same group.
Ex: N10 G0 X30.000 Z5.000 G0 is defined.

N20 X50.000 Z10.000 No G-code defined, G0 remains valid.
N30 G1 X30.000 F0.2 G1 replaces G0 and becomes valid.
3-1
The G-codes of H6D-T controller are listed in Table 3-1.
Table 3-1 G-Code Definitions

G-code Function
*00 Positioning (fast feed-rate)
*01 # Linear cutting (cutting feed-rate)
*02 Circular interpolation, CW (cutter at rear)
*03 Circular interpolation, CCW (cutter at rear)
04 Dwell (Feed-hold)
05 Parabolic cutting
09 Exact stop check
15 Spindle positioning command
16 Cylindrical plane
17-19 Plane selection
20 System measurement in INCH mode
21 System measurement in METRIC mode
28 Automatic reference position return
29 Return from reference position
30 2nd reference position return
31 Skip function
32 Thread cutting
33 Tapping Cutting Canned Cycle
34 Variable lead thread cutting
*40 # Tool radius compensation - cancel
*41 Tool radius compensation - set (left)
*42 Tool radius compensation - set (right)
Local Coordinate System Setting
Basic machine coordinate system
54-59 Coordinate System Setting
* 61 Exact stop check mode
* 62 Exact stop check mode cancel
70 Finishing cycle
71 Longitudinal rough cutting cycle
72 Face rough cutting cycle
73 Formed material rough cutting cycle
3-2
3 G/M Codes
G-code Function
74 Face cut-off cycle
75 Longitudinal cut-off cycle
76 Compound thread cutting cycle
80 # Fixed cycle for drilling cancel
* 83 Deep hole drilling cycle (Z axis)
* 84 Tapping cycle
90 Longitudinal cutting fixed cycle
* 92 Thread cutting fixed cycle
* 94 Face cutting fixed cycle
*96 Constant surface speed control ON
*97 # Constant surface speed control OFF
*98 Feed per minute mm/min or in/min
*99 # Feed per revolution mm/revolution or in/revolution
# -- G-codes with "#" are of power-on default setting.

* -- G-codes with "*" are modal G-codes.
-- Function code prefixed with mark needs to be carried out in
G99 mode.
3-3
3.
2 Positioning,G00
Functions and Purposes:
This command is accompanied with a coordinate name; it takes the current position as
the staring point and the coordinate indicated by the coordinate name as the end point,
which are positioned by the linear path.
Format:
G00 X(U)____ Z(W)____
X, Z : End point in absolute coordinates.

U, W : End point in incremental coordinates relative to the block starting
point.
1
G00
Z 2 U
X W
Z
Fig. 3-1 Fast positioning
Details:
Once this command is given, the G00 mode is kept effective until a G01, G02, G03,
or other single-time G command appears. Therefore if a subsequent command is
also G00, only the axis address needs to be specified.
The speed of positioning is set by a machine parameter.
This command is capable of controlling movements in 1-6 axes simultaneously.
No position movement will take place if the command gives no axis direction.
Example: Fig 3-2, A point moves to B point rapidly.
G0 X4.00 Z5.60 X and Z-axes are set with absolute commands

G0 U-6.00 W-3.05 X and Z-axes are set with incremental commands
3-4
3 G/M Codes
G0 X4.00 W-3.05 X and Z-axes are set with absolute or incremental

commands
x
3.05
5.6
A
3.00
B
2.00
z
Fig. 3-2 G00 Programming Example
Tool moves to X4.00, Z5.60 rapidly. Since both X and Z axes are repositioning, the tool
moves according to the lower feed-rate set in the parameter “Highest Feed-rate”.Ex:
Fig. 3-2 assuming that the “Highest Feed-rate” is:
X = 5000.00 mm/min, Z = 3000.00 mm/min,
Then Fz =3000.00 Z-axis feed-rate

Fx = 3000.00 * (3.00/3.05)
= 2950.82 (less than 5000.0, X- axis set value) X-axis feed-rate
The feed rate of both axes is within the MCM parameter settings. Therefore, the tool
will feed at the calculated rate on both axes.
When only a single axis (X or Z) executes fast positioning, it moves at the respective
speed set in the “Highest Feed-rate” parameter.
3.
3 Linear Cutting,G01
This command, together with the coordinates and a feed speed command, makes the
tool to move from the current position to the end point specified by the coordinates in a
linear movement at the speed specified by address F.
Format:
3-5
G01 X(U)____ Z(W)____ F____
X, Z : End point in absolute coordinates

U, W : End point in incremental coordinates relative to the start point of the
program block.
F : Cutting feed-rate (F-code can be used in combination with any
G-code)
The F-code can be used in the G00 block without affecting the fast positioning
movement.
Details:
G01 (or G1) is used for linear cutting work. It can control the X, Z-axes simultaneously.
The cutting speed is determined by the F-code. The smallest setting value of the F-code
is 0.02 mm/min or 0.2 in/min.
Once this command is given, the G01 mode is kept effective until a G01, G02,
G03, or other single-block G command appears. Therefore if a subsequent
command is also G01 and the feed speed is not changed, only the coordinate value
needs to be specified.
The starting point is the coordinate of the tool when the command is given. The
feed-rate defined after an F-code (Modal code) remains valid until it is replaced by a
new feed-rate.
The formula to calculate X, Z cutting feed-rate:

(U and W are actual incremental values.)
X feed-rate, (1)
Z feed-rate, (2)
Example: Start point is X=2.0 (diameter), Z=4.60.
G01 X4.00 Z2.01 F0.300 Absolute command

G01 U2.00 W-2.59 F0.300 Incremental command
3-6
3 G/M Codes
X
2.0
B
A
4.6 1.00
Z
3.
4 G02,G03Circular Interpolation
This command makes the tool move along an arc.
Format:
G02 X(U)____ Z(W)____ I____ K____ F____
X
Z
E I
End S
X/2
Start
K
Z
Fig 3-4 G02 Arc cutting
G03 X(U)____ Z(W)____ I____ K____ F____
X
Z
End
E Start
S
X/2
I
Z
K
Fig 3-5 G03 Arc Cutting
3-7
G02 X(U)____ Z(W)____ R____ F____
X
Z R
E
End
X/2 S
Start
Z
Fig. 3-6 Defined by Radius “R”
Details:
The arc-cutting program contains four command groups, as showed in the list
below. The combination of these commands determine the arc path of the tool in a
single block.
Table 3-2
Command Description
Arc feed direction G02 Clockwise
1
G03 Counter clockwise
Absolute End point in absolute
command X, Z coordinates
2 End point
Incremental U, W Increment from arc start
command point to end point
Difference from arc start I=X-axis, K=Z-axis
I, K
3 point to center Radius range
R
Arc radius -9999.~9999.mm
4 Minimum setting 0.01
Arc feed-rate F
mm/rot.
The end point can be defined either by absolute or incremental coordinates. The
size of the arc can be defined either by the coordinate difference or radius. The arc
cutting direction (CW or CCW) is relative to the center of the arc. Note that the
CW or CCW direction is determined when the tool is at the top (rear) holder. The
direction is reversed when the tool is at the bottom (front) holder.
3-8
3 G/M Codes
X X Z Z
G02 G03
G02 G03
Z Z X X
Top(rear)holder Bottom (front)holder
Fig. 3-7 G02, G03 Direction
Arc cutting command:
Table 3-3
Top (rear) holder Bottom (front) holder
G02 Clockwise Counter clockwise
G03 Counter clockwise Clockwise
An arc comprises three elements, a start point, and end point and a center (See Fig.
3-8).
a. The start point (S) is the tool coordinates when the G02 and G03 execute.
b. The end point (E) is the coordinates of X (U) and Z (W) in the program
format.
c. The center (C) is defined by I and K values. They are the coordinate difference
between the arc start point and center. This value can be either positive or
negative. Definition of the I and k values are same as the increments (U, W).
The arc feed-rate is defined by F-value.
End
Start S X
I
Center Z
K
Fig. 3-8 Arc cutting
d. The arc center can be defined by the radius instead of I and K.

But if the arc angle is between -1° and 1° or 179° and 181°, only I and K can
be used for setting.
3-9
Example:
The following four commands are different in settings but execute the same arc
cutting work.
a. G02 X5.000 Z3.000 I2.500 F0.3
b. G02 U2.000 W-2.000 I2.500 F0.3
c. G02 X5.000 Z3.000 R2.500 F0.3
d. G02 U2.000 W-2.000 R2.500 F0.3
X
3.0 R = 2.5
E
End 2/2
5/2 Start S
3/2
5.0
Z
There are two different arc types available for arc cutting (Fig. 3-10):
a. Use “+R" if arc angle < 180°.
b. Use “-R" if arc angle > 180°.
R is within the range from -4000.mm to +4000.mm.
Ex: In Fig. 3-10, an arc is cut with an angle <180°(+R):
G02 Z60.000 X20.000 R50.000 F0.300
E End
S R
X
Start
Fig. 3-10 Arc cutting
Please note the following when executing an arc cutting:
3 - 10
3 G/M Codes
1. The F-value of the cutting speed is given in a G02/G03 command, indicating the
speed along the tangent to the arc; this tangent speed is limited by the arc radius
and the given speed limit.
2. When the calculated tangential cutting speed of the arc is greater than the F value
of the program, the F-value is used as the tangential cutting speed. Otherwise, the
calculated value prevails.
3. The maximum tangential cutting speed is estimated with the following formula:
Fc 85 R 1000 mm/min
Where R= Arc radius in mm.
3.
5 Dwell ,G04
This function’s purpose is to temporarily hold the machine movement via the program
command, realizing a waiting status, therefore delaying the start of the subsequent block.
Format:
G04 X(P)____
X: Dwell Time. Unit: second. (The X here stands for time instead of position, is
dependent on the setting of “decimal enable” parameter. Ex.: G04 X2, when
“decimal enable” is disabled, the dwell time is 2s; if “decimal enable” is
enabled, the dwell time is 0.002s – i.e. 2ms.)
P: Dwell Time. Unit: millisecond. (Not dependent on the setting of “decimal
enable” parameter.)
Details:
To meet machining requirements, the axial movement may need to be held during the
execution of a program block, which completes before the command for the next block
is executed. This command can be used for this purpose. The G04 function is used for
this purpose.
3 - 11
The minimum dwell time is 0.001 sec, the maximum is 8000.0 seconds.
Ex: N1 G1 X10.000 Z10.000 F0.1

N2 G4 X2.000 hold for 2 seconds
N3 G00 X0.000 Z0.000
3.
6 Paraboliccutting,G05
Function and purpose
The function will make the tool along a parabolic mobile.
Form :
G05 X(U)___ Z(W)___ P___ I___ K___ J___ F___
X,Z : The parabola the end of the absolute coordinates value.
U,W : The parabola the end of the incremental value relative to the starting point
of the single block.
Note When parabolic End X coordinate and the parabola starting point X coordinate
equal, display will showing “ERROR 05 .X”.
When parabolic End Z coordinate and the parabola starting point Z coordinate
equal, display will showing “ERROR 05 .Z”.
P : Parabolic program X2=4PZ P value, Range 1 9999999 , Unit 0.001mm,

Degree of opening of said parabolic shape. When P 0, system will showing
“ERROR 05.P” to the display
I : The parabola X-axis interpolation step value, Range 0.001 9999.999 Step away
from the smaller, the precision will more higher. When the X-axis step distance
value I 0 , system will showing “ERROR 05 .I” to the display
K : K=0 Counterclockwise parabolic parabola trajectory from the beginning to the end.
3 - 12
3 G/M Codes
K=1 Parabolic trajectory from the beginning to the end clockwise parabolic.
The system default counterclockwise parabolic when K not fill.
J : J=0 The parabola command in prevenient processing can do tool compensation,

but the surface finish is not high.
J=1 The parabola command in at the point of interruption, can not do the tool
compensation but high surface finish.
The system default J=0 when J not fill.
F : Speed feed-rate (Can be used in conjunction with any G-code).
Rear turret coordinates Front turret coordinates
Fig 3-11 K explanation
3 - 13
Program example
When Parabolic command P=5mm, Its symmetry axis parallel to the Z-axis machining
dimensions of the parts shown in the Figure, the finishing program may be prepared as
follows
Fig 3-12
M03 S800
G00 X10. Z10.
G00 X0.
G01 Z0. F120
M08
X30.
G05 X60. Z-40. P5000 K0 I1.
G01 X90. Z-60.
X110. Z-85.
X120.
M09
G00 Z10.
M30
3 - 14
3 G/M Codes
3.
7 Exact Stop Check G09,G61,G62
This command provides the option of precision positioning for certain blocks
(MCM#114 = 256, Turning Corner Round Angle Connection), if so required, when M300
(round-angle connection between blocks) is enabled.
Program Format:
G09 Exact stop check (effective between 2 blocks posterior to a G09 command)
G61 Exact stop check mode (modal command, to be disabled by a G62 command
when enabled).
G62 Exact stop check mode cancel (modal command, to disable an enabled G61)
Program Example:(MCM#114 = 256, Turning Corner Round Angle Connection)
M03 S1000
G01 X20. F1000
U10.
N10 U50.
G09 ---------- N20 and N21 Precision Positioning between blocks, on
completion of N20 block, X-axis speed decelerates to 0.
N20 U50.
N21 U50.
G61 ---------- Precision Positioning between blocks enable (N30---N50)
N30 U50.
N40 U50.
N50 U50.
G62 ---------- Precision Positioning between blocks disable
……
……
……
G00 X0.
M30
3 - 15
3.
8 Spindle PositioningCommand,G15
This command sets the Spindle to a Position.
Program Format:
G15 R_____P_____
Parameters:
R: Stands for the Target Angle of Spindle Positioning
P: Stands for rpm of Spindle Positioning
Details:
R Parameter Format: With decimal point or omit decimal point and add 2 zeros at the
end.
Program Example:
EX.: For spindle to be positioned at the angle of 175 degrees, any of the following
commands may be given:
Method 1: G15 R175. 00

Method 2: G15 R175.
Method 3: G15 R17500
3.
9 Cylindrical Plane,G16
Using the angular movement of an angle command, convert it internally into a linear
distance of the axis on the outer surface, for performing a linear interpolation or arc
interpolation with another axis. After the interpolation, this distance is again converted
into the movement of the rotating axis.
3 - 16
3 G/M Codes
Program Format:
1. Directly specify a cylinder interpolation axis and cylinder radius.

G16 Yxxxx.xxx: Set Y-axis as the cylinder interpolation axis, xxxx.xxx as value of
cylinder radius.
G16 Axxxx.xxx: Set A-axis as the cylinder interpolation axis, xxxx.xxx as value of
cylinder radius.
G16 Bxxxx.xxx: Set B-axis as the cylinder interpolation axis, xxxx.xxx as value of
cylinder radius.
G16 Cxxxx.xxx: Set C-axis as the cylinder interpolation axis, xxxx.xxx as value of
cylinder radius.
2. Only set the value of cylinder radius; the cylinder interpolation axis to be
determined by the currently used spindle. (I.e., the axial direction for switching from
the spindle mode to the servo axis mode.)
G16 Hxxxx.xxx : Set xxxx.xxx as the value of cylinder radius.
When set with this method, the cylinder interpolation axis to be determined by the
currently using spindle, and the current spindle must be converted into servo axis for
performing cylinder interpolation.
Ex: First Spindle (C-axis) to be switched over to servo spindle mode for performing
cylinder interpolation.
……
N01 M50 … First spindle switched into servo mode
N10 G01 C0. … Positioning
N20 G18 Z0 C0 … Select Z-C plane
N30 G16 H20. … Cylinder interpolation enable, C-axis is
cylinder interpolation axis; cylinder radius
20mm.
N40 G42 Z10.F1.0 … Interpolate Tool Tip Radius Offset
N50 G01 Z10.C30. … Linear Interpolation
N60 G03 Z40.C60.R30. … Arc Interpolation
N70 G01 Z60.C90. … Linear Interpolation
N80 G40 Z90. … Tool Tip Radius Offset disable
3 - 17
N90 G16 C0 … Cylinder Interpolation disable

N100 M51 … Switch into spindle mode
……
Note
1. If xxxx.xxx 0, cylinder interpolation function is enabled.
If xxxx.xxx=0, cylinder interpolation function is disabled.
2. Specifies G-code selection plane; for this plane, the rotation axis is the
specified linear axis.
3. EX.: If the rotation axis is parallel to an X-axis, G17 must specify an X-Y
plane which is defined by the rotation axis and Y-axis, or a plane that is
parallel to the Y-axis.
4. Feed speed specified in cylinder interpolation is the speed upon the spread
surface of the cylinder.
5. In cylinder interpolation mode, arc radius in G02/G03 can only be specified
with R parameter instead of I, J, or K.
EX:Cylinder interpolation mode (Cylinder interpolation in Z-axis and C-axis)
G18 Z____ C____
G02 03 Z____ C____ R____
6. Tool-tip compensation is possible in cylinder interpolation mode. In order to
carry out tool compensation in cylinder interpolation, any other in-progress
tool compensation must be disabled before entering cylinder interpolation,
then start and end tool compensation in cylinder interpolation mode.
7. If cylinder interpolation is started when a tool-tip compensation is in
application, an arc interpolation cannot be accomplished correctly in cylinder
interpolation.
8. In cylinder interpolation, the movement of a rotating axis activated by an
angular command is transformed as a distance in a linear axis for carrying out
linear interpolation or arc interpolation with another axis. After interpolation,
this distance is transformed back to an angle. For this transformation, input of
displacement is the minimum incremental unit. When the cylinder has a small
radius, the actual displacement is not equal to the specified displacement;
however this error is not accumulative.
9. Cylinder interpolation function ends when a reset is activated.
10. A cylinder interpolation axis must be set as a rotation axis, and only one
rotation axis shall be set.
3 - 18
3 G/M Codes
Program Example:
Fig. 3-13 Cylinder Interpolation
3 - 19
3.
10 Plane setup,G17-G19
This command is for selecting a control plan or the plane where an arc is located.
Program Format:
If no axis direction is specified after a G17, G18, or G19 command, the arc plane
is the default plane as shown below:
Fig. 3-14 Arc Plane
Table 3-4
Command Horizontal Axis Vertical Axis
G17 (IJ Plane selection) X Y
G18 (KI Plane selection) Z X
G19 (JK Plane selection) Y Z
3 - 20
3 G/M Codes
G17, G18, G19 command may alter any of the horizontal axes or vertical axes.
G17 (I-J Plane Selection)

Table 3-5
G17 X0 Z0 X Z
G17 X0 A0 X A
G17 X0 B0 X B
G17 X0 C0 X C
G17 Z0 Y0 Z Y
G17 A0 Y0 A Y
G17 B0 Y0 B Y
G17 C0 Y0 C Y
G17 X0 Y0 (or G17) X Y
G18 (K-I Plane Selection)
Table 3-6
G18 Z0 Y0 Z Y
G18 Z0 A0 Z A
G18 Z0 B0 Z B
G18 Z0 C0 Z C
G18 Y0 X0 Y X
G18 A0 X0 A X
G18 B0 X0 B X
G18 C0 X0 C X
G18 Z0 X0 (or G18) Z X
3 - 21
G19 (J-K Plane Selection)
Table 3-7
G19 Y0 X0 Y X
G19 Y0 A0 Y A
G19 Y0 B0 Y B
G19 Y0 C0 Y C
G19 X0 Z0 X Z
G19 A0 Z0 A Z
G19 B0 Z0 B Z
G19 C0 Z0 C Z
G19 Y0 Z0 (or G19) Y Z
Note:
1. In a plane layout command, there is no fixed sequence for the horizontal and
vertical axes. EX.: G17 X0 Z0 = G17 Z0 X0
2. In G17, always use the IJ value to indicate the radial increment from the start point
of an arc.
In G18, always use the KI value to indicate the radial increment from the start
point of an arc.
In G19, always use the JK value to indicate the radial increment from the start
point of an arc.
EX.:
G17 X0 Z0 (Select X/Z plane)
G02 X10. Z10. J10. (J stands for the radial increment of the arc from the
starting point of the vertical axis (Z-axis) (to the
center of the arc).
3 - 22
3 G/M Codes
3.
11 AutomaticReference Position Return,G28
Via a G28 command, the specified axis is returned to the first reference point at the high
feed-speed of the respective axis.
Format:
G28
or G28 X(U)_____ Z(W)_____
or G28 X(U)_____
or G28 Z(W)_____
Example:
Note that prior to executing the G28 command, the tool compensation command must
be canceled.
Ex:
G00 X1. Z1 (From start-point to the intermediate point)
T100 Tool compensation is canceled (it cannot co-exist with
G28 in the same block.
G28 Tool returns to the 1st reference point on the X / Z-axis.
3 - 23
2nd reference point 1st reference point
S
Middle point
(X1,Z1)
S
machine origin
Fig. 3-15
Details:
1. The first reference point coordinates are set based on the X, Z, and settings in MCM
parameter G28.
2. The X, Z values in this format are not used. They only indicate which axis is to return to
the reference point. Therefore, regardless of whether G28 is an independent block or
contains X, Z commands simultaneously, the tools return to the reference point based on
the X, Z settings of the MCM parameter.
3. Prior to executing G28, tool offset must be disabled.
3.
12 Return From Reference Position,G29
After returning to the reference point by executing G28, use this (G29) command to
return to the previous target point prior to G28.
Format:
G28
or G28 X(U)_____ Z(W)_____
or G28 X(U)_____
or G28 Z(W)_____
Example:
3 - 24
3 G/M Codes
EX: N1 G00 X1. Z1. (From start-point to intermediate point)

N2 T00 Offset disabled (shall not situate at the same block with
G28)
N3 G28 X-Axis/Z-Axis returns to first reference point
N4 G29 Program returns from first reference point to (X1, Z1).
(See Fig. 3-15)
As the example above, the N3 block may have the following combinations:
N4 G29 X _____ Z _____ Return to (X1. Z1.)
N4 G29 X _____ Tool returns to X1.
N4 G29 Z _____ Tool returns to Z1.
Details:
1. The X/Z Value in the program format is insignificant; however, a value must be
given for entering into the program, it merely tells the machine to which axis the
reference point is to be returned.
2. After executing G28, use G29 command to return the tool to its previous position
before G28 is executed.
3. The G29 command cannot be used alone. A G28 or G30 must be given prior to
G29.
3.
13 2nd Reference Position Return,G30
Via G30 command, the specified axis is returned to the second reference point at high
feed-speed of the respective axis.
Format:
G30
or G30 X(U)_____ Z(W)_____
or G30 X(U)_____
or G30 Z(W)_____
3 - 25
Execution of this command is the same as G28, but the reference point is set in MCM
parameter G30. (See Fig 3-15)
3.
14 Thread Cutting,G32
G32 command performs spindle rotation by synchronized control of tool-feed; therefore

it is capable of processing linear thread cutting, inclined thread cutting and continuous
thread cutting.
Fig. 3-16 G32 Thread cutting
Format:
G32 X(U) _____ Z(W) _____ F _____ Q _____ E _____
W
X Z
U/2
S2 S1 X/2
Z
20 mm
Fig. 3-17 Thread Cutting
(The U/2 Setting Should Not be Less Than Retraction Amount)
X, Z : End point of thread cutting in absolute coordinates

U, W : End point of thread cutting in incremental coordinates relative to the
start point.
F : Thread pitch
3 - 26
3 G/M Codes
Q : Start-angle of thread cutting; default value: Q=0 (range of angle is

0-359 without a decimal point)
E : Number of threads per inch; range: 1.0-100.0. This setting shall not
appear when an F setting is given.
Details:
1. Both fine cut and rough cut of the thread cutting proceed along the same path. The
cutting action on the Z-axis does not start until the Grid signal is received from the
spindle. All repeated cutting actions start at the same point.
2. Due to delay of the server system, imperfections could result at both ends of the
thread (S1 and S2). To avoid this problem, the thread length specified in the program
should be slightly longer than the actual length of the processed thread. S1 and S2 are
leads. The length of S1 and S2 is estimated using the formula below.
S1 = (S * F/1800) * (-1 - Ln A)
S2 = (S * F/1800)
S1, S2 : Imperfect thread length, mm
S : Spindle speed, rpm
F : Thread pitch, mm
A : Acceptable thread error
Relationship between A and (-1 - Ln A):
Table 3-8
A -1 - Ln A
0.005 4.298
0.010 3.605
0.015 3.200
0.020 2.912
0.025 2.689
Example :
Ex 1: Non-tapered thread cutting
3 - 27
Specifications: Thread pitch F= 2 mm,

cutting lead starts S1 = 3 mm,
cutting lead ends S2 = 3 mm,
Thread depth = 1.4 mm (in diameter) by 2 cuts
X
17/2 mm
3 3
Z
20 mm
Fig. 3-18 Non-tapered Thread Cutting
N10 G0 X30.0 Z50.0

N20 M03 S2000
N30 G0 U-17.000 (first cut = 1.0/2mm)
N40 G32 W-26.000 F2.00
N50 G0 U17.000
N60 W26.000
N70 G0 U-17.400 (second cut = 0.4/2mm)
N80 G32 W-26.000 F2.00
N90 G0 U17.400
N100 W26.000
N110 M05
N120 M02
Ex 2 : Tapered thread cutting
G32 X(U) _____ Z(W) _____ F _____ R _____ Q _____ E _____
X, Z : End point of thread cutting in absolute coordinates.

U, W : End point of thread cutting in incremental coordinates relative to the
start point.
F : Thread pitch.
R : Half of the difference (diameter) between the greater and smaller ends
of the tapered thread.
Q : Start-angle of thread cutting; default value: Q=0 (range of angle is
3 - 28
3 G/M Codes

Specifications:
Thread pitch F=2 mm
Cutting lead starts S1 = 2 mm,
Cutting lead ends S2 = 2 mm,
Thread depth = 1.4 mm (diameter) formed by two cutting
actions.
X
2
40 33 2 24 Z
30 40
Fig 3-19 Tapered Thread Cutting
Note:Tapered thread
a. For the angle between taper plane and Z-axis less than 45°, pitch shall be set
along the Z-axis.
b. For the angle between taper plane and Z-axis more than 45°, pitch shall be
set along the X-axis.
c. For the angle between taper plane and Z-axis equal to 45°, pitch can be set
along either the X-axis or Z-axis.
N10 GO X60.0 Z100.0

N20 M03 S2000
N30 G0 X23.0 Z72.0 (First cut = 1.0/2mm)
N40 G32 X32.000 Z28.000 F2.00 R-4.5
N50 G0 X40.000
N60 Z72.000
N70 G0 X22.6 (Second cut = 0.4/2mm)
N80 G32 X31.6 Z28.0 F2.00 R-4.5
N90 G0 X40.000
N100 Z72.000
N110 M05
3 - 29
N120 M02
Ex 3 : Multi-stage continuous thread cutting
G00 Z0.
M03 S3000 Quick positioning to start point
G32 Z50.F1. Thread of first stage
G32 Z100.F2. Thread of second stage
G32 Z150.F3. Thread of third stage
M05
M30
If set as above, the thread cutting process will have no stop in the Z-axis during thread
cutting, therefore the cut threads are smooth and continuous.
3.
15 G33TappingCuttingCanned Cycle
Purpose and Function:
Rigid thread cutting
Command Format:
G33 Z(W)_________ F______

G33 X(U)_________ F______
Z(W) X(U) : End-point coordinate or length of thread cutting

F : Pitch
Details:Execution process of Z/X-axis thread cutting
1. Z/X Axis feed of thread cutting

2. Switch off spindle
3. Wait until the spindle fully stops
4. Reverse the spindle (in the opposite direction of the original rotation)
5. Z/X-axis tool retracts
3 - 30
3 G/M Codes
6. Spindle stops
Program Example:One-end thread with 1mm pitch (e.g., in Z-axis):
N10 M3 S800
N20 G33 Z100. F1.0
N30…
Note 1: Ensure the spindle rotation is in the threading direction before starting thread
cutting. Spindle will stop rotation when the thread cutting is completed. For the
subsequent process, start the spindle as required.
Note 2: Since this command is a rigid thread cutting, when a spindle stop command is
enabled, the spindle decelerates for a certain period of time before reaching the
full stop, and Z-axis will still move along with spindle rotation before spindle
fully stops. Therefore for the actual process, the end of thread cutting will be a
little bit deeper than the actual requirement.
Note 3: Other precautions are the same as that of G32 Thread Cutting.
3.
16 G34Variable Lead Thread Cutting
Applicable for processing variable lead threads
Command Format:
G34: X(U)___ Z(W)___ F___ K±___ Q___ E___
1 Parallel thread: G34 Z(W)__ F__ Q__ K__;

2 Tapered thread: G34 X(U)__ Z(W)__ F__ Q__ K__;
X Z : End point of thread cutting in absolute coordinates

U W : End point of thread cutting in incremental coordinates relative to the
start point
F : Thread Pitch
K : Start-angle of thread cutting; default value: Q=0 (range of angle is
3 - 31

Fig.3-20
Details:
1. For single stage thread cutting, fine cutting and rough cutting are along the same path,
therefore when starting the thread cutting, it waits for a GRID signal to be detected
from the spindle position before starting Z-axis for cutting action (L parameter left
blank or set as 0). Each repeated cutting starts from this fixed point.
2. For multi-stage thread cutting, based on technical requirements, in general the
subsequent stages starting from the second stage do not need to detect the GRID
signal mainly for connecting smoothly with the previous stage. (See Fig.3-20)
3. In general incomplete end threads (S1 and S2) occur due to time lag in the servo
system, therefore the specified thread length shall be slightly longer than the
processed thread length, S1 and S2 are called thread leads. A simple way to
calculate the length of incomplete threads S1 and S2 is shown as follows:
S1 = (S * F/1800) * (-1 - Ln A)
S2 = (S * F/1800)
S1,S2: Length of incomplete theads, mm

S : Spindle rotation, rpm
F : Pitch, mm
A : Thread tolerance
Relation ship between A and (-1 - Ln A) is as follows:
3 - 32
3 G/M Codes
Table 3-9
A -1 - Ln A
0.005 4.298
0.010 3.605
0.015 3.200
0.020 2.912
0.025 2.689
Example Program 1: (parallel thread cutting with equal pitch)
Cutting specification: Pitch F = 2 mm,

Lead for start-of-cutting S1 = 3 mm,
Lead for end-of-cutting S2 = 3 mm,
Cutting depth = 1.4 mm (diameter), in 2 cutting
sessions
X
17/2 mm
3 3
Z
20 mm
Fig.3-21 Parallel thread cutting with equal pitch
N10 G0 X30.0 Z50.0

N20 M03 S2000
N30 G0 U-17.000 (first cutting 1.0/2mm)
N40 G34 W-26.000 F2.00 K0.5
N50 G0 U17.000
N60 W26.000
N70 G0 U-17.400 (second cutting 0.4/2mm)
N80 G34 W-26.000 F2.00 K0.5
N90 G0 U17.400
N100 W26.000
N110 M05
N120 M02
3 - 33
Program Example 2: (Tapered thread cutting)
Cutting specifications: Pitch F = 2 mm,

Lead for start-of-cutting S1 = 2 mm,
Lead for end-of-cutting S2 = 2 mm,
Cutting depth = 1.4 mm (diameter), in 2 cutting
sessions
2
40 33 2 24 Z
30 40
Fig.3-22 Tapered thread cutting
Tapered threads, for angle between taper plane and Z-axis less than 45°, pitch shall be
set along Z-axis, for angle between taper plane and Z-axis more than 45°, pitch shall be
set along X-axis.
N10 GO X60.0 Z100.0

N20 M03 S2000
N30 G0 X23.000 Z72.000 (First cutting 1.0/2mm)
N40 G34 X32.000 Z28.000 F2.00 K0.5
N50 G0 X40.000
N60 Z72.000
N70 G0 X22.600 (Second cutting 0.4/2mm)
N80 G34 X31.600 Z28.000 F2.00 K0.5
N90 G0 X40.000
N100 Z72.000
N110 M05
N120 M02
Multi-stage thread cuttingwith variable-pitches
As shown in Fig.3-21, the first 2 stages are variable-pitch threads with F=1.0mm,
3 - 34
3 G/M Codes
K=0.5mm; the transition from first stage to second stage is a smooth connection;
threads of the third stage have an equal pitch F=3.0mm, the transition from second stage
to third stage is a smooth connection.
The transition from 2nd stage to 3rd The transition from 1ST stage to 2nd
stage is a smooth connection. stage is a smooth connection.
Fig.3-23 Multi-stage thread cutting with variable pitches
Program Example 3
T03
M03 S1000
M08
G00 X0.0 Z0.0 ; Quick positioning to start point
G34 Z-30.0 F1.0 K0.5 ; Thread of first stage with variable pitch
G34 Z-50.0 F1.0 K0.5 ; Thread of second stage with variable pitch
G32 Z-60.0 F2.0 ; Thread of third stage with equal pitch
M09
M05
M30
If set as above, the thread cutting process will have no stop in Z-axis during thread
cutting, therefore the cut threads are smooth and continuous.
3 - 35
3.
17 Canned Cycle Functions (For implication of programming)
The canned cycle function is a special G-code of command groups. It comprises canned
cycle cutting actions commonly used in machining processes. The command groups of
H6D-T Series are classified into single canned cycle and compound canned cycle
command groups. Both are handy and effective in programming and applications.
3.
17.
1 Single CuttingCanned Cycle,G90,G92,G94
This command group executes repeated cutting with a block. It should end with G01
after use; otherwise, the cutting cycle will repeat.
1. Longitudinal CuttingFixed Cycle,G90
Format:
G90 X(U)____ Z(W)____ F____
X, Z : End point C in absolute coordinates (Fig. 3-22)

U, W : End point C in incremental coordinates relative to the start point A
F : B~C~D feed-rate
X W
Z
D A
4
3 1 U/2
C 2 B
X/2
Z
Fig. 3-24 G90 Linear Cutting Path
3 - 36
3 G/M Codes
Details:
In Fig. 3-22, the cutting paths 1 and 4 are fast positioned by G00. The cutting along the
paths 2 and 3 is executed at the feed-rate F. Whenever the start button (CYCST) is
pressed in a block, the tool moves along the paths 1~2~3~4 to execute a cutting cycle.
2. Outer/Inner Diameter Tapered Lateral Canned Cycle,G90
Format:
G90 X(U)____ Z(W)____ R____ F____
R : The difference between point B and C in radius.

X, Z, U, W and F are identical to those in lateral linear canned cycle.
X W
Z
D 4 A
3 U/2
1
C R
2 B X/2
Z
Fig. 3-25 G90 Tapered Cutting Path
3 - 37
Details:
When using incremental coordinates, the signs (+/-) of U and W are determined by the
tool's direction of movement. If the direction is positive, the increment of U and W is
(+), and vice versa. R value is as Fig. 3-26.
1. U-,W-,R- 2. U+,W-,R+
W
R
U/2
U/2
R
X W
Z
3. U-,W-,R+ 4. U+,W-,R-
R
U/2
U/2
And |
R|< |U/2| And |
R|< |U/2|
Fig. 3-26 G90 Cutting Path and Direction
3. Thread CuttingFixed Cycle,G92
The advantage of the G92 block is that it functions as four G32 blocks.
Format:
G92 X(U) ___ Z(W) ___ I___ K___ L___ Q ___ F ___ E ___
X, Z : End point C in absolute coordinates

U, W : End point C in incremental coordinates
F : Thread pitch (metric)
E : Number of threads per inch range from 1.0-100.0. This setting shall
not appear when an F setting is given.
I : The axial travel length on X-axis for ending of the thread cutting. If K
0, “I” will be omitted and regarded as 2*K (i.e. ending of the thread
3 - 38
3 G/M Codes
cutting at 45°).
K : The axial distance on Z-axis from the start point to the end point for
the end of thread cutting.
L : Multiple-thread setting. Range:1~9. For G92 only.
”L” is a modular value and valid all the time once it is set. If L and
"Q" are set at the same time, the L-value will be regarded as invalid.
Q : Offset setting of the thread initial angle. Range: 0~359. For G92 only.
X W
Z
D
4 A
3 U/2
1
C 2 B
X/2
Z
Fig. 3-27 G92 Linear Thread Cutting Canned Cycle
Details:
(1) The range of the thread lead and the speed limit of the spindle are same as G32
(thread cutting).
(2) Whenever the start button (CYCST) is pressed in a block, the tool moves along
the paths 1~2~3~4 to execute a cutting cycle.
(3) Subject to the restrictions of G32.
(4) Where a feed hold command is given during the cutting, the linear thread cutting
canned cycle does not stop until the cutting on path 3 is complete.
4. Tapered Thread CuttingCanned Cycle,G92
Format:
G92 X(U) _____ Z(W) _____ R _____ L___ Q ___ F _____ E_____

X, Z, U, W, L, Q, F, E are identical to those of the linear thread cutting canned
cycle.
3 - 39
Description of the tapered thread cutting is identical to linear thread cutting.
X W
Z
D 4 A
3 U/2
1
C
2 B R X/2
Z
Fig. 3-28 G92 Tapered Thread Cutting Canned Cycle
5. Face CuttingFixed Cycle,G94
Format:
G94 X(U)____ Z(W)____ F____
X, Z : End point C in absolute coordinates.

U, W : End point C in incremental coordinates relative to the start point A.
F : B~C~D feed-rate.
X
Z W
B
A
2 4 U/2
C 3
D
X/2 Z
Fig. 3-29 G94 Linear Traversed Cutting Path
In Fig. 3-27, the cutting paths 1 and 4 are fast positioned by G00. The cutting along
paths 2 and 3 is executed at the feed-rate F. Whenever the start button (CYCST) is
pressed in a block, the tool moves along the paths 1~2~3~4 to execute a cutting cycle.
3 - 40
3 G/M Codes
6. Face CuttingFixed Cycle,G94
Format:
G94 X(U)____Z(W) ____R____F____

X, Z, U, W and F are identical to those of the linear traversed canned cycle.
X
Z W
B 1 A
2 4 U/2
C 3
D
R X/2 Z
Fig. 3-30 G94 Tapered Traversed Cutting Path
When using incremental coordinates, the signs (+/-) of U and W are determined by the
tool's moving directions. If the moving direction is positive, the increment of U and W
is (+), and vice versa. R value is as Fig. 3-31.
X
66
8/2
16/2
24/2 26/2
Fig. 3-31 G94 cutting Path and Direction
Note that G90, G94, G92 are modal codes and all the values for X(U), Z(W) and R
remain valid unless they are redefined or another G-command is given.
As shown in Fig. 3-32, if the length of movement on Z-axis is fixed, the canned cycle is
repeated merely by executing the X-axis positioning command.
3 - 41
1.U-,W-,R- 2.U+,W-,R-
R W
1
3
2 4 U/2
2 4 U/2
3 X
1
R W
Z
3.U-,W-,R+ 4.U+,W-,R+
W
R
3
1
2 2 4 U/2
4 U/2
1
3
R
W
Fig 3-32 G90 Programming Example
N10 G0 X80.0 Z100.0

N20 M3 S2000
N30 G90 U-8.0 W-66.0 F2.00
N40 U-16.0
N50 U-24.0
N60 G0 U-26.0
N70 G1 W-66.0 F1.00 Finishing cut with G01
N80 U2.0
N90 G0 X80.0 Z100.0
N100 M5
N110 M2
3.
17.
2 Compound Canned Cycle Functions,G70~G76
Compound canned cycles simplifies the operation of CNC commands, once the data of
a work-piece is set for fine cut, the CNC automatically determines the tool path for the
rough cut. Compound canned cycles are also used for thread cutting. This function is
particularly suited for column cutting.
3 - 42
3 G/M Codes
1. FinishingCycle,G70
After a work-piece undergoes rough cut with G71, G72 or G73, G70 is used for fine cut
of the work-piece to ensure its precision.
Format:
G70 P(ns)____ Q(nf)____
P(ns) : The number of the first block for a fine cut cycle.
Q(nf) : The number of the last block for a fine cut cycle.
Details:
(1) The F, S, and T functions of G71, G72, G73 and previous blocks are applicable to
G70. wherer F, S, or T is changed in the blocked from P(ns) to Q(nf), the changed
values praveil.
(2) When G70 is executed, the tool returns to the start point and reads the next block.
2. Longitudinal Rough CuttingCycle,G71
Format:
G71 U( d)____ R(e)____

G71 P(ns)____ Q(nf)____ U( u)____ W( w)____ F(f)____ S(s)____ T(t)____
N(ns)
N(nf)
G00 X__ Z__ ;Tool move back
Txxxx ;Change tool (fine cutting)
G00 X__ Z__ ;Move to the start position of Canned Cycle
G70 P(ns) Q(nf) ;Fine cutting
3 - 43
Parameters:
In Fig. 3-33, the fine cut path is A~A1~B. A~C is the distance reserved for fine cut tool
retraction. The cutting depth is U( d). The amount of the material to be removed for
fine cutting is ( u/2) and ( w). The amount of retraction after each cut is R(e). The
path of the final rough cut is parallel to the path of the fine cut. The definition of
command groups in the program format is described below:
C
(G00) A d
B
e
(F)
G00-fastfeeding at
F rate
G70 fine cut(program)path
U/2
A1
W
Fig. 3-33 Tool Path of G71 Rough Cut Canned Cycle
U( d) : Cutting depth (radius programming ,+).

If not specified, the parameter "G71,G72 FeedingAmount" is used.
R(e) : Amount of retraction after each rough cut (radius programming).
If not specified, the parameter "G71,G72 Retraction Amount" is used.
P(ns) : The number of the first block for a fine cut cycle.
Q(nf) : The number of the last block for a fine cut cycle.
U( u) : Amount of material to be removed for fine cut, X-axis.
W( w) : Amount of material to be removed for final cut, Z-axis.
F(f),S(s),T(t): F = feed-rate. S = spindle speed, T = tool selection.
The F, S, and T functions of G71 and previous blocks are
applicable to G71, but all F, S, and T functions from N(ns) to N(nf)
are not applicable to G71. They are only applicable to the fine cut
command G70.
3 - 44
3 G/M Codes
Details:
(1) N(ns)~N(nf) specify the machining path of A1~B.

(2) A maximum of 50 blocks can be inserted from N(ns) to N(nf).
(3) No subprogram is available from N(ns) to N(nf).
(4) No assignment of positioning commands on Z-axis is allowed from A to A1.
(5) The feed-rate from A to A1 is either G00 or G01.
(6) The X and Z tool path from A1 to B must be incremental or decremental.
(7) The cutting depth U( d) and retraction amount of rough cut R(e) are modal codes.
They remain valid until another value is specified.
(8) G71 is applicable to the following four cutting types. They are all parallel to the
Z-axis. Whether U and W are positive or negative (Fig. 3-34) is determined by the
direction of tool path.
B A A B
U+,W + U+,W -
Z A A
A A
U-W + U-W -
B A A B
Fig. 3-34 G71 Rough Cut Canned Cycle
3 - 45
Programmingexample of G70,G71 compound canned cycle:
G70, G71 st
art/end point
Safe pointto
X change tool (100/2,140)
1 (retraction)
7 (cutting depth)
G70 fine cutpath
100 75 50 25 2 Z
Reserved for fine cut
45 15 15 15 20 20 10
Fig. 3-35 Programming Example of G71, G70 Compound Canned Cycle
G28 W0.
T0202
M3 S3000
G00 X100.000
Z140.000
G71 U7.000 R1.000
G71 P100 Q200 U4.000 W2.000 F2.00
N100 G01 X25.0 F1.50
W-10.000
X50.000 W-20.000
W-20.000
X75.000 W-15.000
W-15.000
N200 X100.000 W-15.000
G00 X110.
Z150.
T0303
G00 X100.
Z140.
G70 P100 Q200
3 - 46
3 G/M Codes
M05 S0
M30
3. Face Rough CuttingCycle,G72
Calls a forming program and calculates tool path automatically while executing a
transversed rough cutting.
Format:
G72 W( d) ___ R(e) ___

G72 P(ns)___ Q(nf)___ U( u)___ W( w)___ F(f)___ S(s)___ T(t)___
N(ns)
N(nf)

G70 P(ns) Q(nf) ;Fine cutting
W
d
C
A1
A
U/2 (F)
G00-fastfeeding
atF rate
(G00)
e
G70 fine cut(program)path
B
Fig. 3-36 Cutting Path of G72 Compound Canned Cycle
3 - 47
As shown in Fig. 3-36, all functions of G72 are same as G71, except that the cycle path is
parallel to the X-axis.
Details:
(1) N(ns)~N(nf) define the machining path of A1~B.

(2) No assignment of positioning commands on X-axis is allowed from A to A1.
(3) The feed-rate from A to A1 is either G00 or G01.
(4) The X and Z tool path from A1 to B must be incremental or decremental.
(6) G72 is applicable to the following four cutting types. They are all parallel to
X-axis. Whether U and W are positive or negative (Fig. 3-37) is determined by the
direction of tool path.
B B
U-,W+ U-,W-
A1 A A A1
X
A1 A A A1
Z
U+,W+ U+,W-
B B
Fig. 3-37 Cutting Path of G72 Compound Canned cycle
3 - 48
3 G/M Codes
Example G72,G70compound canned cycles
1 (retraction) 10 (cutting depth)
X
(108/2,130)
G72, G70 start/end point
G70 fine cutpath
Tool change startpoint
100 75 50 25 2 Z
45 15 15 15 20 20
Fig. 3-38 Programming Example of G72, G70 Compound Canned Cycles
G28 W0.
T0202
M3 S2000
G00 X108.000 Z130.000
G72 W10.000 R1.000
G72 P100 Q200 U4.0 W2.0 F3.00
N100 G00 Z45.000
G01 X75.000 W15.000 F1.50
W15.000
X50.000 W15.000
W20.000
N200 X25.000 W20.000
G00 X110.
Z140.
T0303
G00 X108.
Z130.
G70 P100 Q200
M05 S0
M30
3 - 49
4. Formed Material Rough CuttingCycle,G73
To save machining time, G73 is used to cut a work-piece that has been machined in a
rough cut, forging or casting process and formed with a shape similar to the
finished-product.
Format:
G73 U( i)___ W( k)___ R(d)___

G73 P(ns)___ Q(nf)___ U( u)___ W( w)___ F(f)___ S(s)___ T(t)___
N(ns)
N(nf)

G70 P(ns) Q(nf) --- ;Fine cutting
Parameters:
U( i) : Cutting amount on X-axis. (radius programming)

If not defined, the parameter "G73Total CuttingAmount " is used.
W( k) : Cutting amount on Z-axis.
If not defined, the parameter "G73Total CuttingAmount" is used.
R(d) : Rough Cutting Cycles
I.e. times of cuts required to reach the defined cutting depth on X and
Z-axes. If not defined, the parameter "G73CuttingCycles" is used.
P(ns) : The first block number of a fine cut cycle.
Q(nf) : The last block number of a fine cut cycle.
U( u) : Amount of material to be removed for fine cut, X-axis.
3 - 50
3 G/M Codes
W( w) : Amount of material to be removed for final cut, Z-axis.
F(f),S(s),T(t): F = feed-rate, S = spindle speed, T = tool selection.

The F, S, and T functions of G73 and previous blocks are applicable to G73, but
all F, S, and T functions from N(ns) to N(nf) are not applicable to G73. They are
only applicable to the fine cut command G70.
k+ w
C
A~ C retraction distance
1,2,3 feed sequence
1 i+ u/2
2
3
A
u/2
A1
Fig. 3-39 Cutting Path of G73 Compound Canned Cycle
Details:
(1) N(ns)~N(nf) define the machining path of A A1 B.

(2) A maximum of 50 blocks can be inserted from N(ns) to N(nf).
(4) The tool returns to A when the cycle finishes.
(5) The cutting amount U( i), W( k) and the cutting cycles R(d) are modal codes.
They remain valid until another value is defined.
3 - 51
Example:G70,G73compound canned cycles
G73, G70 startpoint

Firstfeeding
X (120/2,150)
4.67=14/3
G70 fine cutpath
Cutting depth
2
100 2
75 50 25 Z
45 15 15 15 20 20 20
Fig. 3-40 Programming example of G70, G73 Compound Canned Cycles
G28 W0.
T0202
M3 S3000
G00 X120.000 Z150.000
G73 U14.000 W14.000 R3
G73 P100 Q200 U4.000 W2.000 F2.00
N100 G00 X25.000 W-20.000
G01 X50.000 W-20.000 F1.5
W-20.000
X75.000 W-15.000
W-15.000
N200 G01 X100.000 W-15.000
G00 X130.
Z160.
T0303
G00 X120.
Z150.
G70 P100 Q200
M5 S0
M30
3 - 52
3 G/M Codes
5. Face Cut-Off Cycle,G74
G74 command automatically performs a fixed loop at the end of the workpiece via
commands such as coordingate of groove end, cutting depth, tool retract depth etc.
Format:
G74 R(e)___
G74 X(U)___ Z(W)___ P i___ Q k___ R d___ F___
R(e) Amount the tool move backward when after Z cutting k

X Absolute positioning command on X-axis
Z Absolute positioning command on Z-axis
U Incremental positioning command on X-axis
W Incremental coordinates on Z-axis
P i Amount the each movement of X canned cycle.
Q k Z cutting of the each segment
R d Amount the tool move backward when X end of cutting
F Cutting speed feed-rate
(1) Input of a Z or W parameter is a must

(2) IF R (e) tool extraction parameter is not given, tool extraction depth shall be set
using the setting of parameter G74 or G75.
(3) Total cutting distance must be greater than respective cutting distances.
3 - 53
X Tool width (AD)mustbe acquired to determine the position of D.
k k
D
e A Tool
C
Z W
Fig 3-41 Cutting Path of G74 Lateral Grooving Canned Cycle
Axial drilling can be performed when the X axis is at X=0 position.
Example 1 :(without tool feed in the X direction)
G0 X0. Z80. Move tool quickly to the position X0. Z80. is relative to the
work origin.
M03 S2000 Positive rotation of spindle, speed 2000(rpm).
G74 R3. R3. stands for a tool retraction of 3000( m) after each drilling
depth of 10000( m).
G74 Z30.K10.R3.F0.2
Drilling canned cycle: ”Z30” indicates that the drilling cycle
ends at the absolute coordinate Z30. K10 indicates 10,000 ( m)
per drilling. R3 indicates 3000 ( m) per retraction.
M05 SO Spindle stops.
M02 Program ends.
3 - 54
3 G/M Codes
10 10
TOOL Z
A
30 3
80
Fig. 3-42
Example 2 :(with tool feed in the X direction)
G0 X0. Z80. Move tool quickly to the position X0. Z80. is relative to the
work origin.
M03 S2000 Positive rotation of spindle, speed 2000(rpm).
G74 R3. R3. stands for a tool retraction of 3000( m) after each drilling
depth of 10000( m)
G74 X2.Z30.P400 Q10000 R1. F0.5
Grooving canned cycle: “Z30.” Indicates the drilling cycle ends
at absolute coordinate 30. in the Z-direction; “X2.” Indicates
the end coordinates of cycling movements in the X-direction
are: 2.; “P400” indicates a 200 ( m) movement per cycle in the
X-direction; Q10000 indicates 10000( m) per drilling; “R1.”
Indicates tool retraction of 500( m) in the X-direction when the
cutting reaches end position. (Diameter specification)
M05 SO Spindle stops.
M02 Program ends.
3 - 55
6. Longitudinal Cut-Off Cycle,G75
The G75 function is the same as G74 except that the positioning direction of G75 is on
the X-axis.
Format:
G75 R(e)___
G75 X(U) ___ Z(W) ___P i ___ Q k ___ R d ___F
Parameters:
R(e) Amount the tool move backward when after X cutting I. (Diameter
specification)
X Absolute positioning command on X-axis
Z Absolute positioning command on Z-axis
U Incremental positioning command on X-axis
W Incremental coordinates on Z-axis
P i Amount the each movement of X canned cycle. (Diameter specification)
Q k Z cutting of the each segment Integer m specification
R d Amount the tool move backward when Z end of cutting Integer m
specification
F Cutting speed feed-rate
Details:
1. Input of a Z or W parameter is a must

2. IF R (e) tool extraction parameter is not given, tool extraction depth shall be set
using the setting of parameter G74 or G75.
3. Total cutting distance must be greater than respective cutting distances.
3 - 56
3 G/M Codes
Tool Tool width (AD)mustbe acquired to

determine the position of D.
X
A D
A
k/2
k/2
U/2
k/2
C
X/2
Z
Fig. 3-43 Cutting Path of G75 Traverse Grooving Canned Cycle
Example 1 :(without tool feed in the Z direction )
N10 G0 X80.0 Z0.O Moves tool quickly to the home position of

workpiece X80. Z0.
N20 M03 S2000 Spindle CW, speed 2000(rpm).
N30 G75 R1. R1. indicates a 500( m) tool retraction after each
drilling depth of 2500( m).
N40 G75 X60. P5. F0.5 Drilling cycle: “Z60.” Indicates end of drilling
cycle is at absolute coordinate 60. in the
Z-direction. P5. stands for 2500 ( m) per drilling.
(Diameter specification)
N50 M5 S0 Spindle stops.
N60 M2 End of program.
Example 2 :(with tool feed in Z direction)
N10 G0 X80.0 Z0.O Quickly move tool to X80. Z0 position relative to

the work origin
N20 M03 S2000 Positive rotation of spindle, speed 2000(rpm).
N30 G75 R2. R2. stands for a tool retraction of 1000( m) after
each drilling depth of 2500 ( m).
N40 G75 X60.Z3.P5. Q500 R1.F0.5
3 - 57
Groove cutting cycle: “X60.” indicating drilling

cycle ends at the absolute coordinate X60. “Z3.”
Indicates that the cycle ends at coordinate Z3.
“P5.” stands for a drilling depth of 2500 ( m) for
each drilling cycle. Q0.5 stands for Z-direction
movement per cycle is 500 ( m). “R1.” indicates
tool retraction of 1000 ( m) in Z-direction after
reaching the end position. (diameter specification)
N50 M5 S0 Spindle stop.
N60 M2 end of program.
7. Compound Thread CuttingCanned Cycle,G76
G76 specifies the start point and end point of a thread cutting. This command can be
entered at any angle. A fixed number of loops are cut for every cycle with the same
cross-section. Thread end point coordinate and specification of slanting height are
considered. It is also capable of performing thread cutting in various directions.
Format:
G76 P(m)(r)(a)___ Q( d min)___ R(d)___

G76 X(U)____ Z(W)____ R(i)____ P(k)____ Q( d)____ F(l)____ E____
X E (G00)
A
(G00)
U/2 (G00)
(F)
D
B
i r d
X/2 K
Z W C
Z
Fig. 3-44 G76 Compound Thread Cutting Canned Cycle
3 - 58
3 G/M Codes
Parameters:
m : Fine cut times (2-digit, 01~99)

If not defined, parameter "G76 Fine Cut Times" is used.
r : Chamfering settings (2 digits)
Length of chamfering = 0.1 × chamfering settings (r) × thread pitch. If not
defined, the parameter "ChamferingSettings" is used.
a : Tool-tip angle (0°-90°).
The available angles are 0°, 5°,10°,15°,…to 90°. If not defined, the
parameter "Tool-tip Angle" is used.
m, r, and a are defined simultaneously by the command code P.

For m=2, r=12, a=60°, then the command is G76 P021260.
Q( d min): Minimum cutting amount (integer m)

When the cutting amount of the nth cutting ( d n - d n-1)
< d min, the cutting will resume with d min as the minimum cutting
amount. If no minimum cutting amount is defined, the parameter
"Minimum CuttingDepth" is used.
R(d) : Amount of material to be removed for the fine cut
If not defined, the parameter " Reserved Thread Depth" is used.
X, Z : Absolute coordinates of cutting end point (D).
U, W : Incremental coordinates of the cutting end point ( D).
R(i) : Radius difference of thread part (i=0 indicates normal linear thread
cutting).
P(k) : Thread height (radius programming on X-axis, unit: integer m)
Q( d) : First cutting depth (radius programming, unit: integer m)
F(l) : Thread pitch, (same as G32)
Details:(Fig3-45 Fig3-46 )
(1) What must be noted is that length of the path DE (U/2) must be greater than the
length of the chamfer.
3 - 59
(2) The fine cut times m,chamfering settings r,tool-tip angle a, minimum cutting
amount Q ( d min) and reserved thread depth R(d) are modal codes. They remain
valid until another value is defined.
(3) The feed-rate between C and D is defined by F and fast feeding is applied to other
paths. The (+)(-) values of the increments in Fig. 3-39 are as follows:
U, W : Negative (determined by the directions of AC and CD).

R : Negative (determined by the directions of AC).
TOOL
dn
k
Fig. 3-45 Cutting Description
(4) The thread height K is acquired from the thread pitch and the tool nose angle. The
formula is:
Thread height k= (pitch/2) / Tan (angle/2)

Tan (angle/2),acquired from the trigonometric table.
Ex: If tool nose angle a=60°, Thread pitch F(l)=2 mm.
Thread pitch (1)
30 30 Thread depth, k
Fig. 3-46
Thread height k = (2/2) / Tan(60/2)

= (1) / Tan 30 = (1)/0.5774 = 1.732
3 - 60
3 G/M Codes
The first cutting depth (cutting amount) is d,the nth cutting depth is d n, the
cutting amount will decrease progressively every time. Note that n should not exceed 30.
Otherwise, an alarm will be generated. In this case, please use the normal thread cutting.
Example
If tool nose angle a=60°, Thread pitch F (l)=2 mm.

as shown in the above example, thread height k= 1.732
X = 20 - 2 × 1.732 = 16.536
1.732
20 16.536 Z
2
10 50
N10 G0 X30.0 Z60.0

N20 M03 S2000
N30 G76 P011060 Q100 R0.200
N40 G76 X16.536 Z10.000 P1732 Q900 F2.00
N50 M05
N60 M02
Notes on thread cutting are identical to G32 and G92. The chamfering settings are also
applicable to G92 thread cutting canned cycle.
8. Notes on Compound Canned Cycle (G70~G76):
Every command of a compound canned cycle must contain correct P, Q, X, Z, U,

W and R values.
In G71, G72, G73 blocks, the block defined by P must contain either G00 or
G01.Otherwise, alarm will be generated.
G70, G71, G72, and G73 are not allowed in MDI mode. Otherwise, an alarm is
triggered.
3 - 61
In G70, G71, G72, or G73, no M98 (call subprograms) and M99 (quit
subprograms) are applicable to blocks defined by P and Q.
When executing G70~G73, the serial numbers defined by P and Q should not be
the same.
In G70, G71, G72, and G73, chamfering and R angle should not be used to
terminate the last positioning command used for fine cut shaping blocks defined
by P and Q.
3.
18 G50Coordinate system & Spindle clamp speed setting
The settingfunction fo the maximum spindle speed (G50)normallygoes with

settingfunction of the constant surface cutting(G96).
Format:
G50 S____
S : Max. spindle speed (rpm or rev/min)
W orking coordinate offset function. For continuous process of multiple

workpieces,work origin can be set via continuous offset setting of tool start
point.
Format:
(1) G50 U _____ X -direction offset

(2) G50 W _____ Z -direction offset
Example
O001 Main program number

N10 G10 P500 A1 B0 X –direction work coordinate offset clearing
N20 G10 P500 A3 B0 Z –direction work coordinate offset clearing
N30 T01
N40 M98 P02 L5 Call for O002 subprogram, successively for 5 times
N50 M99
3 - 62
3 G/M Codes
O002 number of subprogram

N1 G50 W10. 10mm offset of tool start point each for every time
N2 G01 U-10.
N3 G00 U10.
N2 M99
Description:
(1) Please give “G10 P500 A1 B0”, and “G10 P500 A3 B0” at the beginning of
program.
(2) The “L suffix” of an M98 command indicates number of offsets to be
performed. (See description of M98 command).
3.
19 Constant Surface Speed Control ON,G96
Format:
G96 S____
S : Surface cutting speed (m/min)
The surface cutting speed refers to the relative velocity between the tool-tip and cutting
point (on the surface) of the rotating work-piece. A tool has its advised surface cutting
speed range for optimizing the cutting result. G96 is used to control the surface cutting
speed. The relationship between the surface cutting speed, work-piece diameter and
spindle rotation speed is expressed by:
V DN
V : The surface cutting speed is the S value of G96.

D : Diameter of the surface is sut, m.
N : Spindle rotation speed, rev/min.
When the surface cutting speed is constant and the tool cuts the surface inwards, D will
become lesser and N will become greater. Hence the max. rotation speed must be
limited using G50 S__. Once this limit is reached, the speed will not increase any more.
3 - 63
Ex: N10 G50 S2000 Max. rotation speed of the spindle is 2000 rpm.
N20 G96 S200 The constant surface cutting speed is 200 m/min.
3.
20 Constant Surface Speed Control OFF,G97
Format:
G97 S____
This function maintains the spindle speed defined by S. It cancels the constant surface
cutting speed at the same time.
3.
21 Feed-rate Setting,G98,G99
G98 : Feed per minute, mm/min

G99 : Feed per revolution, mm/rev
The feed-rate F in H6D-T turner series is defined by G98 and G99. G99 is the default
value. The conversion formula is:
Fm = Fr * S
Fm : Feed per minute, mm/min.

Fr : Feed per revolution, mm/rev.
S : Spindle speed, rev/min.
3.
22 Inch/MetricMeasurement Mode ,G20,G21
Format:
G20 -- System measurement in INCH mode

G21 -- System measurement in METRIC mode
3 - 64
3 G/M Codes
3.
23 Deep Hole DrillingCycle (Z axis)G83,
G80
Format:
G83 Z(W)___ Q___ R___ F___ ; Deep hole drilling cycle

G80 ; Fixed cycle for drilling cancel
Parameters:
Z(W) Point the hole position with absolute or increment

Q Each depth of drilling (Unit: m , Q10000=10mm)
If Q with no values that drilling motion will finish one time.
R Point of reference with go forward or move backward
Absolute position
If R with no values that it will according to now Z coordinates be R
values.
F Drilling speed feed-rate (mm/rev)
Pause time
Fig 3-48 G83 Drilling
3.
24 TappingCycle G84,
G80
G80 Fixed cycle for drilling cancel

G84 Tapping cycle
3 - 65
Format:
G84 X(U) Z(W)___ Q___ R___ F___D___
R
S
Pause time
Fig 3-49 G84 Threading
1. Parameters:
Z(W) Point the hole position with absolute or increment Z-direction

R Point of reference with go forward or move backward
Absolute position
If R with no values that it will according to now Z coordinates be R
values.
Q Each depth of tap cutting (Unit: m , Q10000=10mm)
If Q with no values that tapping motion will finish one time.
F Set the spacing thread pitch of the tapping tools (F1.0=1mm)
D First spindle end face threading if D parameter is not specified.
2. G84X(U)__ Q__ R___F__ D1
(1) X(U) Position of hole bottom is specified by an absolute or incremental

value (X-direction)
(2) D=1 Threading of second spindle lateral face
(3) Other parameters are the same as above
3 - 66
3 G/M Codes
3. G84Z(W )__ Q__ R___F__ D2
(1) Z W Position of hole bottom is specified by an absolute or incremental

value (Z-direction)
(2) D=2 Threading of third spindle end face
(3) Other parameters are the same as above
G84 and G80 are used in pairs. If G80 is missing, program will report an Err18.
G84 Z-axis application example:
N10 M70 third spindle switched as servo-spindle mode

N20 T1
N30 G0 X-20.C0.
N40 Z3.
N50 G84 Z-20.F1.R2.D2
N60 C60.
N70 C120.
N80 G80
N90 M71 third spindle switched back to main spindle mode
N100G0 Z20.
N110 M2
G84 X axis application example:
N10 M60 Second spindle switched as servo-spindle mode

N20 T1
N30 G0X5.C0.
N40 Z3.
N50 G84U-10.F1.R4.D1
N60 C60.
N70 C120.
N80 G80
N90 M61 Second spindle switched back to spindle mode
N100 M02
3 - 67
3.
25 AuxiliaryFunctions,M-code,S-code
The auxiliary function M-code is comprised of the letter M and 2 digits attached behind
(M-codes for general), different codes represents different functions as shown below:
Currently, H6D-T Series provides the following M-codes:
Table 3-10
M-CODE Function
M00 Program Suspension.
M01 Selective stop
M02 Program End.
M03 Spindle rotates in normal direction
M04 Spindle rotates in reversed direction
M05 Spindle stops
M08 Coolant ON.
M09 Coolant OFF.
M10 Spindle chuck tightened
M11 Spindle chuck loosened
M12 Tailstock forward
M13 Tailstock backward
M15 Count plus 1
M16 Count clear (to zero)
M30 Program end
M33 Workpiece Collector Protrude
M34 Workpiece Collector Extract
M35 Tailstock Chuck Clamp
M36 Tailstock Chuck Release
M40 Chip Remove CW
M41 Chip Remove CCW
M42 Chip Remove Stop
M43 Feeder Start
M45 Select Skip Start
M46 Select Skip Close
M47 The Spindle should rotate after releasing the Chuck
M48 When releasing the Chuck, prohibit the spindle rotation.
3 - 68
3 G/M Codes
M-CODE Function
.
M50 Set Spindle 1 to Servo Axis Mode.
M51 Set Spindle 1 back to Spindle Mode.
M55 Start in-process Tool offset change instant avail.
M63 Spindle 2 CW
M64 Spindle 2 CCW
M65 Spindle 2 Stop
M73 Spindle 3 CW
M74 Spindle 3 CCW
M75 Spindle 3 Stop
M80 Enable axial direction without homing
M81 Disable axial direction without homing
M84 Spindle brake hold
M85 Spindle brake release
M98 Call subprogram
M99 Program cycle
M30 Program end
M300 Enable round-angle connection between blocks
M301 Disable round-angle connection between blocks
M362 Switch to Spindle 1
Using CW, CCW of spindle:
1. M03: First spindle clockwise (CW)

Format:
(1) M03 SXXXX
EX.: M03 S1000 Command first spindle to rotate CW at 1000rpm.
(2) M03
If M03 is not followed by an S-code, spindle rpm is not specified; spindle
3 - 69
will rotate CW at the previous speed.

2. M04: First spindle CCW
Format:
(1) M04 SXXXX
EX.: M04 S1000 Command first spindle to rotate CCW at 1000rpm
(2) M04
If M04 is not followed by an S-code, spindle rpm is not specified; spindle
will rotate CCW at the previous speed.
The auxiliary function code S-code is for spindle rpm control, maximum setting range:
S999999.
EX: S1000, means 1000 rpm
3.
26 Subprogram
Where there are certain fixed programs or command groups in a main program that
demand repeated execution, these commands could be saved in memory as subprograms,
so that the main program could be designed with a simplified structure. Subprograms
can be called out one after another in auto mode.
1. Structure of the Subprogram
The structure of the subprogram is the same as the main program except that the
subprogram ends with an M99 command.
PROGRAM 05 Subprogram number

Content
Content
M99 Subprogram ends
If a subprogram is not called by the main program but executed directly by pressing
“CYCST”, the program loops.
2. Execution of the Subprogram
3 - 70
3 G/M Codes
Format:
M98 P _____ L _____
P : Subprogram number
L : Execution times of the subprogram. If not defined, the subprogram is to
be executed only once.
Ex: M98 P05 Execute subprogram No 5 once.

M98 P05 L3 Execute subprogram No 5 three times.
Stepwise Call: the main program calls the first subprogram, and the first subprogram
calls a second sub-prgrams. The H6D-T Series controller provides a maximum of 8
levels stepwise calls: take for an example of 5 layers
PROGRAM 1 PROGRAM 2 PROGRAM 3 PROGRAM 4 PROGRAM 5
N1 ... N1 ... N1 ... N1 ... N1 ...

. . . . .
. . . . .
N5M98P2 N5M98P3 N5M98P4 N5M98P5 .
. . . . .
. . . . .
N31 M2 N32 M99 N32 M99 N32 M99 N32 M99
Fig. 3-50 Subprogram Stepwise Call
The M98 and M99 blocks should not contain any positioning commands, such as X…,
Z… .
3 - 71
3.
27 Tool Radius Compensation
3.
27.
1 Total Offset Compensation Settingand Cancellation
Total offset compensation = Length compensation + Wear compensation
Format:
Table 3-11
Compensation Set Compensation Cancel
Without Turret T T00
With Turret T T 00
: Compensation number, indicating which set of compensation data is to

be applied.
: Tool number, indicating which tool is to be selected.
When a compensation number is selected, the control unit will simultaneously select the
X-axis and Z-axis compensation values for tool length and wear compensation. These
values are be summed up for compensation of the tool path.
Any small differences between the cut work-piece and specifications found during the
cutting test after the tool is calibrated, can be remedied by wear compensation (referring
to the Tool Wear Compensation page). If the difference is very small, positive values
should be used. If the difference is large, negative values should be used.
Ex: N10 G01 X50.000 Z100.000 T0202

N20 Z200.000
N30 X100.000 Z250.000 T0200
Path of program ref. pointafter comp. Com p. Ends
Com p. Starts
N30
N20
N10
Path of program ref. pointbefore comp.
Fig. 3-51 Example of Tool Length Compensation
3 - 72
3 G/M Codes
In this example, T0202(T202) indicates that the second tool and the second set of
compensation data are selected. T0200 (or T200) indicates that the tool length
compensation is cancelled.
Value of compensation
1. Value of compensation is normally set by the last digit or the last 2 digits of a
T-code. Once a T-code is specified, it remains effective until a subsequent
specification is made. In addition to tool-tip compensation, a T-code can also be
used for specifying tool-length compensation.
2. A change of compensation setting is usually made in compensation-disabled mode
when selecting another tool. In the event a change is made during a compensation
mode, the end vector of the program will be calculated according to the specified
compensation value.
Notes:
1. After powering the CNC, compensation is automatically cancelled and the
compensation number is reset to “0” or “00”.
2. Compensation must be cancelled to execute "Auto-CYCST".
3. The length compensation command "T-code" can form an independent block in
the program without positioning definition. CNC executes an internal
computation for compensation, but the tool does not execute any positioning
movement.
3.
27.
2 Tool-tip Radius and Direction of Fictitious Tool-tip,G41,G42,G40
A tool tip is normally in an arc shape, therefore when a program is run, a tool tip is
assumed to be the front end of the tool. In this sense, shape of an actual cutting will be
different from the programmed cutting due to the arc-shaped tool tip. The Tool-tip
Radius compensation is a function designed for automatically calculating an error for
compensation via setting a tool-tip radius.
3 - 73
Tool nose center path at programmed

machining shape
Tool nose center
Actual machining
Machining shape commanded in program

Hypothetical tool nose point
Fig 3-52
Program Format:
T or T ..... Call a tool number for compensation

G41(G42) X(U)___Z(W)___ ..... Set compensation
G40 ..... Cancel compensation
Before using G41 and G42, inform the NC unit which tool-no. is to be used. The
application is totally dependent to the tool path and the relative position of the tool. As
shown in Fig. 3-53, looking forward along the tool path, use G42 if the tool tip radius is
on the right side of the tool path (radius right side offset compensation); use G41 if the
tool tip radius is on the left side of the tool path (radius left side offset compensation)
G42 (rightside)
Direction of tool path
X
W ork
piece
Z
Direction of tool path
G41 (leftside)
Fig 3-53 Application of G41 and G42
3 - 74
3 G/M Codes
Tool-tip and assumed tool-tip direction
When executing tool-tip radius compensation, the radius and arc must be accurate;
otherwise, the cutting result will not be precise. Manufacturers of disposable tools
always provide accurate tool-tip radius data. The radius data are to be entered in the
"R" field on the Tool Length Compensation page (unit: mm).
Besides the tool-tip radius, the direction of fictitious tool-tips must be acquired (refer to the
position of P in Fig. 3-54). The direction is defined by integers 0~9 (Fig. 3-44). In the system
with tools on the top (rear) holder, the direction 3 is for outer diameter cutting, while the
direction 2 is for inner diameter cutting. The data of fictitious tool-tip direction are to be
entered in the "T" field on the Tool Length page.
Once these two data are acquired, the control unit compensates for the tool-tip properly
by calculating "R" and "T" values internally after giving the tool-tip radius
compensation command.
Direction-1 Direction-2 Direction-0,9
Direction-3 Direction-4
Or simplified asbelow
2 6 1
Direction-5 Direction-6
7 0 9 5
Direction-7 Direction-8 3 8 4
X
Fig 3-54 Fictitious Tool-tip Direction
3 - 75
Tool-tip point and compensation operation
(1) Process using center of tool-tip radius as the starting point:
End Point
Nose R center path with tool

nose radiuscompensation
Start point
Programmed path or
Machining shape with no machining shape with tool
tool nose radiuscompensation nose radiuscompensat ion
Fig 3-55
(2) Process using tool-tip as the starting point:
End Point
Machining shape with no tool

nose radiuscompensation Start point
Nose R tool nose point Programmed path or

path with tool nose radius machining shape wit
h tool
compensation nose radiuscompensation
Fig 3-56
Start of tool-tip radius compensation:
When compensation is disabled and all the following conditions are met, tool-tip radius
compensation starts:
1. Executing a G41.G42 command.

2. Executing a move command excluding the arc commend. When used during a
G02, G03 arc-cutting, system will issue an error alarm.
3 - 76
3 G/M Codes
In a continuous or single block execution, when a compensation starts, 2 to 6

program-sections must be read for calculating an intersection point (read 2
program-sections when a move command exists; read up to 6 program-sections when a
move command does not exist).
Machining
program
Starting to pre-read
2 to 5 blocks ahead
Pre-read
buffer
Execution
block
Fig 3-57
Two types of tool-tip compensation can be determined by C251: C251= 1 for Type A,
C251=0 for Type B.
Note: The often seen terms, Inside and Outside, are defined as follows:
Inside: Two movement program-sections having an intersecting angle
0
larger than or equal to180 .
Outside: Two movement program-sections having an intersecting angle within
0
0~ 180 .
Inside Outside
Work side program path
program path Work side
Fig 3-58
3 - 77
Startingof tool-tip radius compensation:
With the G41.G42 command alone, the tool will not perform a movement according to
tool-tip radius compensation. A tool-tip radius compensation does not start on G00; it
only starts on a G01, G02, or G03 command.
When a G41.G42 command exists in the same block with a move command, the move
command is processed as a G01 command.
1. In the case of a single command of Chamfer inside G41.G42: (Fig. 3-59)
Program path
Tool-tip radius center path
Program path
Intersecting
point
Program path
Program path
3 - 78
3 G/M Codes
~
Program path
N1 G42
N2 G00 X_ Z_
N3 G03 I_ K_ F_ Tool-tip radius center path
Fig 3-60
~
Program path
N1 G42
N2 G01 X_ Z_
N3 G03 I_ K_ F_
~
Fig 3-61
2. When chamfer inside G41.G42 exists in the same block with a move command:
Program path
Intersection
point
S
Fig 3-62
3 - 79
3. Chamfer outside (obtuse angle) G41.G42 command only:
Program path

Intersection point
N3
Program path
Program path
Program path
Fig 3-63
3 - 80
3 G/M Codes
4. Chamfer outside (obtuse angle) G41.G42 exists in the same block with a move
command:
N2 Tool-tip radius center path

Intersection point
Program path
Fig 3-64
3 - 81
5. Chamfer outside (acute angle) G41.G42 command only:
Type A Type B
Tool-tip radius center path Tool-tip radius center path
Program path Program path

Program path
Program path
Fig 3-65
3 - 82
3 G/M Codes
6. Chamfer outside (acute angle) G41.G42 exists in the same block with a move
command:
Type A Type B
Fig 3-66
3 - 83
Operation in a tool-tip compensation mode:
In the tool-tip radius compensation (G41,G42) mode, a tool-tip radius compensation

command having the same content is not valid. Pre-reading is prohibited if a G65 L50
command is included in the tool-tip radius compensation.
1. Rotation of chamfer inside:
Line Line (obtuse angle) Line Line (acute angle)
Intersection Tool-tip radius Tool-tip radius

point center path center path
Line Arc(obtuse angle) Line Arc(acute angle)
Arc center

Intersection Intersection
point point
Tool-tip radius Tool-tip radius
center path Arc center center path
Arc Line (obtuse angle) Arc Line (acute angle)

Arc center
Program path
Program path
Intersection
point Tool-tip radius
center path
Arc center
Arc Arc(obtuse angle) Arc Arc(acute angle)

Intersection Arc center
point
Tool-tip radius
center path Arc center
Program path
Arc center Arc center Intersection
point Tool-tip radius center path
Fig 3-67
3 - 84
3 G/M Codes
2. Rotation of Chamfer outside: (Fig. 3.68)

Type A Type B

Program path Intersection point Program path
Type A Type B
Tool-tip radius
center path
Type A / B
Tool-tip radius Program path

center path
Program path
Tool-tip radius
center path
Arc center
Arc center Type A / B
Type A / B
Arc center
Program path
Program path
Tool-tip radius
center path
Type A / B Arc center
Type A / B
Arc center
Program path
Program path
Arc center
Tool-tip radius
center path
Tool-tip radius
center path
Arc center
Type A / B
Arc center
3 - 85
Direction change of tool-tip compensation
Direction of compensation is determined by tool-tip radius compensation command

(G41, G42).
During compensation mode, without a cancellation command of the compensation, a

change of the compensation command may change the direction of compensation. But
the change does not change the starting section of the compensation, nor of the
subsequent section of the program.
Line Line
Tool-tip radius
center path Intersection
point
Program path
Line Arc
Program path
Fig 3-69 Change of compensating direction in a tool-tip radius compensation
3 - 86
3 G/M Codes
Disablinga tool-tip radius compensation:
When tool-tip radius compensation is enabled and all the following conditions are met,
the tool-tip radius compensation can be disabled:
A G40 command is executed.

Executing a move command excluding the arc commend.
After reading-in the disable command of compensation, the program switches into
(compensation) disabled mode which comprises the following 3 conditions:
A tool-tip radius compensation ends, G40 alone disables tool compensation, and a
G00 precedes G40, tool compensation is disabled in the block of a G00 move
command.
A tool-tip radius compensation ends, G40 alone disables tool compensation, and a
G01/G02/G03 precedes G40, tool stops at the center of tool-tip radius vertically,
tool compensation remains enabled until the first move command after G40. If no
move command follows G40, tool compensation remains enabled on the
encounter of an end command M02/M30; the compensation is disabled when the
program is re-started, without an operation for disabling tool compensation.
A tool-tip radius compensation ends, if G40 command is in the same command
line with a move command, tool compensation is disabled in the G40 command
block.
3 - 87
Disablingtool radius compensation:
1. Chamfer inside G40 command only:
Program path
Program path
Program path
Program path
Fig 3-70
3 - 88
3 G/M Codes
2. Chamfer inside G40 is in the same block as a move command:
Line Line Arc Line
Program path
R= Tool-tip radius
Tool-tip radius
center path
E E
Arc center Program path
Fig 3-71
3 - 89
3. Chamfer outside (obtuse angle) G40 command only:
Type A Type B
Program path
Program path
Fig 3-72
3 - 90
3 G/M Codes
4. Chamfer outside (obtuse angle) G40 and move command in the same block:
Type A Type B
Line Line Line Line
Program path
E E
Arc Line Arc Line

Tool-tip radius Tool-tip radius
center path center path
E E
Arc center Program path Arc center Program path
Fig 3-73
3 - 91
5. Chamfer outside (acute angle) G40 command only:
Type A Type B


Program path
Program path

Program path
Program path
Fig 3-74
3 - 92
3 G/M Codes
6. Chamfer outside (acute angle) G40 and move command in the same block:
Type A Type B
Line Line Line Line

E E
Arc Line Tool-tip radius center path Arc Line Tool-tip radius center path
Arc center Arc center
E E
Fig 3-75
3.
27.
3 Interference Check

When pre-reading-in 2 program blocks to perform a tool-tip radius compensation, it
often results in cutting into the workpiece; this is called an interference.
When cutting a stepwise work-piece with a step value smaller than the tool radius, an
over-cutting alarm is generated as shown in Figure 3-51.
Fig. 3-76 Over-cutting (Shaded Area)
An interference check is a check against such conditions, for taking responding actions
according to the parameter.
Interference handling comprises the following 3 functions that can be selected by
parameter setting.
3 - 93
Function Parameter Action

Interference check Parameter 20=0 Issues alarm and stop machine before
alarm entering block of interference.
Interference avoidance Parameter 20=1 Alter the path automatically to avoid
function interference.
Interference check Parameter 20=2 Cutting action continues, allowing cutting
disable into workpiece.
Details (Ex.
)
Avoidance path
Tool diameter
Cutting with N2
Cutting with N2
Fig 3-77
1. Interference check alarm: An alarm occurs before executing N1, process stops.
2. Interference avoidance function: N1 and N3 calculate intersection point, for
altering the path to avoid interference.
3. Interference check disabled: continue cutting into N1 and N3 lines.
Interference handlingalarm
An interference alarm occurs when any of the following conditions take place:
3 - 94
3 G/M Codes
1. Interference check alarm selected: In the event of interference, an alarm is issued

before the block of interference in the program.
2. Interference avoidance function selected:
A. Interference occurs in two consecutive blocks in the program. (Interference
in both N2 and N3).
Issues alarm
and stop
Fig 3-78
B. An avoidance path cannot be found (no intersection of N2 and N4),
Issues alarm
and stop
Fig 3-79
3 - 95
C. Direction of program path is opposite the path after interference avoidance

(direction of path after interference avoidance is opposite to N2 direction).
Solid line:
The path after interference avoidance
Dashed line:
The path before interference avoidance
Fig 3-80
3.
27.
4 Notes on Tool Radius Compensation
1. When radius compensation is executed, there should be at least one block

containing positioning commands between two neighboring blocks. The following
commands do not perform tool positioning, though they have mechanical actions.
Therefore they are not allowed for continuous blocks .
M05 M-code output

S2100 S-code output
G4 X1.000 Suspension
G1 U0.000 Feed distance=0
G98 G-code only
2. Only G00 and G01 are applicable to blocks with tool-tip radius compensation. Arc
commands G02, G03 are not allowed
3. The move block before a tool-tip radius compensation command must be G00 or
G01. Arc commands G02, G03 are not allowed.
4. The tool radius compensation function is not available for MDI operation.
5. Tool-tip radius compensation is not allowed for G74, G75, or G76.
3 - 96
3 G/M Codes
6. Pre-read preventive commands (G65, L50) are not allowed during the tool-tip
radius compensation mode.
Tool-tip Radius Compensation Example:
Tool number = 02, tool-tip direction = 3, tool-tip radius = 1.5 mm. The X-axis
coordinate is defined by the diameter.
11 S
9
10
7 Startpoint
8
R=25
6
5 4
3
Z
2 1
Fig. 3-81
N10 G0 X100. Z120. Point S

N20 G0 X0. Z110. Point 1
N30 M3 S2000
N40 G42 Z100. T02 F3.0 Point 2, compensation
insertion
N50 G1 X20. Point 3
N60 X30. Z91.34 Point 4
N70 Z75. Point 5
N80 G02 X44.644 Z57.322 I25. F1.5 Point 6, arc cutting
N90 G01 X76. Z37.644 F3.0 Point 7
N100 Z20. Point 8
N110 X80. Point 9
N120 Z0. Point 10
N130 G40 X90. Point 11, compensation
cancellation
N140 G0 X100. Z120. Point S
N150 M05
3 - 97
N160 M02
An over-cutting alarm is generated if you try to return to Point S directly from

Point 10. This is because the angle of 9-10-S is too sharp. The alarm is also
generated if the radius compensation is greater than 2.0 mm, which is the distance
from 8 to 9.
3.
28 Coordinate System
3.
28.
1 Local Coordinate System Setting,G52
Command Format:
G52 X__ Y__ Z__
Command Description:
If it is required to set another sub-coordinate system for the geometric shape of the
Workpiece being processed under previous Working Coordinate System (G54..G59),
then the said sub-coordinate system will be regarded as the Local Coordinate System.
G52 X0.0 Y0.0 Z0.0: Cancel Local Coordinate System
G00 X10.0 Z10.0 ;
G52 X15.0 Z30.0 ;
(Local Coordinate System Setting
Work Coordinate System
Fig. 3-82
3 - 98
3 G/M Codes
Example of the Program:
G54: Designate the Working Coordinate System as G54.

G52 X19.0 Z30.0: Designate Local Coordinate System to X15.0 Z30.0 position of
the current working coordinate system.
G00 X10. Z10: Quickly move to X10.0 Z10.0 position of Local Coordinate
System.
G52 X0.0 Z0.0: Cancel the Local Coordinate System setting.
Remark:
1. The Resume Signal will override the Local Coordinate System.
2. When switching G54_ _G59 Working Coordinate System, the Local Coordinate
System will be cancelled.
3.
28.
2 Basicmachine coordinate system ,G53
Command Format
G53 X__ Y__ Z__ A__ B__ C__ P0

or G53 X__ Y__ Z__ A__ B__ C__
X:X-axis moves to the designated Machine Coordinate X position with G00 speed.
Y:Y-axis moves to the designated Machine Coordinate Y position with G00 speed.
Z:Z-axis moves to the designated Machine Coordinate Z position with G00 speed.
A:A-axis moves to the designated Machine Coordinate A position with G00 speed.
B:B-axis moves to the designated Machine Coordinate B position with G00 speed.
C:C-axis moves to the designated Machine Coordinate C position with G00 speed.
G53 X__ Y__ Z__ A__ B__ C__ P1
X:X-axis moves to the designated Machine Coordinate X position with G01 speed of
previous node.
Y:Y-axis moves to the designated Machine Coordinate Y position with G01 speed of
previous node.
Z:Z-axis moves to the designated Machine Coordinate Z position with G01 speed of
previous node.
3 - 99
A:A-axis moves to the designated Machine Coordinate A position with G01 speed of
previous node.
B:B-axis moves to the designated Machine Coordinate B position with G01 speed of
previous node.
C:C-axis moves to the designated Machine Coordinate C position with G01 speed of
previous node.
Description
The Home Position of the machine is the fixed home position being set by the
manufacturer when manufacturing the CNC machine and such Coordinate System
belongs to a fixed system. When designated by G53 Command and coordinate
command, the Tool will move to the position designated for the basic coordinate system
of the machine. Soon as the Tool returns to zero point (0, 0, 0) of the machine, it means
the Home Position of the machine’s coordinate system.
Notice
1. G53 Command will be valid for the designate node.
2. Before giving the G53 Command, the Tool offsetting must be cancelled (length,
wearing, tip radius offsetting).
3. The command shall be valid under absolute value programming status, and will not
avail under incremental value programming.
3.
28.
3 W ork Coordinate System,G54~G59
Purpose and functions:
Six sets of different work origins can be set. The coordinate system comprising these
work origins is named Work Coordinate System. The major merit of a Work Coordinate
System is the simplified calculation of coordinates in the process program.
Details:
The program use these work coordinate origins via commands G54-G59. According to
process requirements and program design, the user may select any set, or 2 sets or even
6 sets for the process. The major merit of these Work Coordinate Systems is the
3 - 100
3 G/M Codes
simplified calculation of coordinates in the process program.
The following table describes the relationship between G54~G59 Work

Coordinate System and setting values of X, Y, Z, A, B, C items of MCM
parameters 1~120. These coordinate parameters (work origins) correspond to
machine coordinates by setting the machine origin as zero, therefore the work
origin settings of work coordinates G54~G59 are as follows
An illustration is given taking X & Z 2 axes as the example:
Table 3-12
Work
Parameter X-axis setting Z-axis setting
coordinate
Item/Number value value
system
G54 1(X), 3(Z) -100.000 -70.000
G55 21(X), 23(Z) -30.000 -80.000
G56 41(X), 43(Z) -50.000 -80.000
G57 61(X), 63(Z) -50.000 -70.000
G58 81(X), 83(Z) -60.000 -40.000
G59 101(X), 103(Z) -40.000 -20.000
X
Mechanical
-90 -80 -70 -60 -50 -40 -30 -20 -10 Origin
Z
G54
-10
-20
G55
-30
G59
-40
G56 G57
-50
-60
G58
-70
Fig. 3-83 G54~G59 Work Coordinate System
3 - 101
When a Work Coordinate System is selected, program coordinates also change

accordingly. The altered coordinates are based on the Work Coordinate System.
Adding circular and semi-circular cuttings in program of the above figure, the
application of G54 and G55 can be described by the following example. (Fig.3-84)
Y
Mechanical
-90 -80 -70 -60 -50 -40 -30 -20 -10 Origin
X
R7 G54 -10
-20
G55 -30
G59 -40
G56 G57 -50
-60
G58
-70
Fig. 3-84 G54~G59 application
Program Example:
N1 G54 ... Select the first work coordinate

N2 G0 X0 Z0 ... Positioned to program coordinates X0, Z0,
(Machine coordinates X-10. Z-70.)
N3 G2 I-7.0 F200 ... Cut a full circle with R7.0 clockwise
N4 G0 ... Set feed mode as FAST
N5 G55 ... Select the second work coordinate
N2 G0 X0 Y0 ... Positioned to program coordinates X0, Z0,
(Machine coordinates X-30., Z-80.)
N6 G1 W10.0 F300 ... Z-axis cutting incremental feed command, travel
+10.0
N7 G3 W-20.0 R10.0 F300 ... Cut a R10.0 semi-circle counterclockwise
N8 G1 W10.0 F300. ... Z- axis cutting incremental feed command,
3 - 102
3 G/M Codes
travel +10.0
N9 G28 ... If MCM parameter of first reference point =0,
program returns to machine origin
N10 M2 ... Program end
1. Selection of Work Coordinate System is done by giving G54 G59 commands.

2. After giving G54 G59 commands, machine coordinates of the program origin
alter according to the new Work Coordinate System.
3. Controller automatically set as G54 Work Coordinate System when the machine
starts or when Reset is pressed.
3.
29 Corner chamfer (,
C_),round-angle chamfer (,
R_)functions:
In a command block for forming a corner from a continuous line of any arbitrary angle
or from an arc, “,
C_” or “,
R_” can be used at the end of block to perform a chamfer or a
round-angle chamfer. They are applicable to both absolute and incremental commands.
3.
29.
1 Chamfer (,C__)
In 2 consecutive blocks, the “,

C_” command in the first block executes a corner
chamfer, “,
C_” stands for the length from the assumed starting point to the end point of
the chamfer.
Command Format:
N100 G0x X___ Z___ ,C___;
N200 G0x X___ Z___;
Where:
G0x : can be any of the G00, G01, G02, and G03 commands.
,C_ : is the length from the assumed starting point to the end point of the chamfer.
3 - 103
Program Example:
1. Line Arc
Absolute value command

Hypothetical corner intersection
point
Relative value command
Unit (mm)
Fig. 3-85
2. Arc Arc
Hypothetical corner
intersection point
Unit (mm)
Fig. 3-86
3 - 104
3 G/M Codes
3.
29.
2 Round-angle chamfer (,R_)
In 2 consecutive blocks, the “,

R_” command in the first block executes a round-angle
chamfer. “,
R_” stands for the radius of arc of the round-angle chamfer.
Command Format:
N100 G0x X___ Z___,R___ ;

N200 G0x X___ Z___ ;
Where:
G0x can be any of the G00, G01, G02, and G03 commands.
,R_ is the radius of round-angle chamfer.
Program Example:
Line Arc
Hypothetical corner intersection

point
Unit (mm)
Fig. 3-87
3 - 105
Arc Arc

Hypothetical corner
intersection point
Unit (mm)
Fig. 3-88
3.
30 Liner angle function (,
A_)
Given a line angle and end coordinates of any axis, the end coordinates of another axis
can be calculated automatically.
Command Format:
G01 Z (X ),A_ ;
Fig. 3-89
3 - 106
3 G/M Codes
Program Example:
N01 G00 X50.0 Z50.0; Fast positioning to a specified point

N02 G01 Z100.0,A45.0; end point absolute Z-coordinate is100, tool path is in a
45° phase difference with the level axis.
X-coordinate will be 100 after program execution.
Fig. 3-90
Details:
Angle indication:
Starting from the first axis (horizontal axis) of the selected plane, the
counterclockwise direction (CCW) is positive, counterclockwise direction (CW) is
negative.
Range of angle:
360.00 360.00 , for an angle exceeding the 360.00 range, divide the angle
by 360.00 degrees and take the remainder. E.g., for an angle of 400.00 degrees,
the remainder 40.00 after divided by 360.00 will be the specified angle.
Other relevant functions:
Line angle Chamfer/ Round-angle chamfer
EX1
N1 G01 X___,A___,C___
N2 G03 X___ Z___ I___ J___
3 - 107
Fig. 3-91
EX2
N1 G01 X___,A___,R___
N2 G03 X___ Z___ I___ J___
Fig. 3-92
3.
31 Geometryfunction command
If the intersection point of two line segments is hard to get, using inclination of the first
line and absolute coordinates of the end point of the second line and its inclination, the
end point of the first line can be determined automatically by the internal system, with
the move path controlled automatically.
Command Format:
G01,A___ ; Specifies inclination of the first line
3 - 108
3 G/M Codes
G01 X___Z___ A___ ; Specifies the absolute coordinate of the end of the
next block and the inclination.
Location Horizontal Axis

E
Fig. 3-93
Program Example:
N01 G00 X0.0 Z0.0

N02 G01,A45.0
N03 Z90.0 X0.0 ,A135.0
S (100,0) E (100,0)
Fig. 3-94
Details:
1. Angle indication: Starting from the first axis (horizontal axis) of the selected plane,
the counterclockwise direction (CCW) is positive, counterclockwise direction
(CW) is negative.
3 - 109
2. Range of angle: 360.00 360.00 , for an angle exceeding the 360.00 range,
divide the angle by 360.00 degrees and take the remainder. E.g., for an angle of
400.00 degrees, the remainder 40.00 after divided by 360.00 will be the specified
angle.
3. Report an error if relative coordinates are used for the end coordinates of the
second block.
4. Report an error if the two lines have no any intersection point, or the intersection
angle is less than 1 degree.
Other relevant functions:
1. Specify a chamfer or round-angle chamfer only when the angle of the first block is
specified.
EX1
N1 G01 ,Aa1 Cc1
N2 G01 Xx2 Zz2,Aa2
EX2
N1 G01 ,Aa1 Rr1
N2 G01 Xx2 Zz2,Aa2
EX1 EX2
Fig. 3-95
3 - 110
3 G/M Codes
2. Geometry function command 1 can be performed after a line angle is specified.
EX1
N1 G01 Xx2 ,Aa1
N2 G01 ,Aa2N3 G01 Xx3 Zz3 ,Aa3
Location Horizontal Axis

E
Fig. 3-96
3.
32 Automaticcalculation of Line-Arcintersection point
Automatically calculate the coordinates of a line-arc intersection point when it is not

specified, with automatic control of the move path,
Command Format:
G01,A___ ; Specifies inclination of the first line

G02(G03) X___Z___P___Q___H___ ; Specifies the end point and absolute
coordinates of the center of the circle of
the next block, and the selection of the
intersection point.
Note:
P, Q: the absolute coordinates of centers of arcs of the X, Z-axes
H Line-arc intersection selection
3 - 111
1 Using the shorter line as the intersection.

2 Using the longer line as the intersection. [???]
Fig. 3-97
N1 G01 ,Aa1 N1 G02(G03)Pp1 Qq1 H_

N2 G02(G03) Xx2 Zz2 Pp2 Qq2 H_ N2 G01 Xx2 Zz2 ,Aa3
Details:
Report an error when the second block is not absolute coordinates.

Report an error when the second block is an arc without P,Q specifications.
Report an error if the lines have no intersection point with the arc.
Relationship with other functions:
Finding line-arc intersection point + chamfer
EX1
N1 G01,A___,C___
N2 G03 X___ Z___ P___ Q___ H___
Fig. 3-98
3 - 112
3 G/M Codes
Finding line-arc intersection point + round-angle chamfer
EX2
N1 G01,A___,R___
N2 G03 X___ Z___ P___ Q___ H___
Fig. 3-99
3 - 113
3 - 114
4 MCM Parameter Settings
4 MCM Parameters
4.
1 MCM Parameters
The MCM parameter setting function allows the user to define the controller system
constants according to mechanical specifications and machining conditions.
These parameters are classified into two groups: basic parameters and MCM
parameters.
4.
1.1 BasicParameters
I/O
Quickly press the MCM
key twice to enter the parameter setting screen as shown
below:
Fig 4-1
4.
1.2 MCM Parameters
The correct and proper setting of these parameters is important for operation of the
mechanical system and fabrication of the work-piece. Make sure that the setting is
correct. Press Reset to restart the machine when the MCM parameter is successfully
set
After pressing “F5-System Parameter” key in “User Parameter” page, the System
Parameter page can be accessed; but it can be reviewed and cannot be revised, as
per the figure below. To revise the system parameters, press “F7-Revise
Parameter” key and then input system parameter password initial value 123456
4-1
UST C C 6 -T Manual
and you can revise the system parameters.
Fig. 4-2: System Parameter Page 1
Fig 4-3 System Parameter Page 2
4- 2
4- 3
UST C C 6 -T Manual
Fig. 4- : -a is Stud rror Offset
Fig 4- -a is Stud rror Offset
Fig 4-1 -a is Stud rror Offset
4- 4
4.
2 Description of Parameters
(1) BasicParameters
* For the cuttingparameters of G71-G76,please refer to the description of

respective G-Code command under G/M Code of Chapter 3.
1. Set rilling Cycle uffering istance

Format . default value: .
hen using 3 drilling command, the corresponding a is will move uickly

from for converting to the buffering distance setting of 1 feeding.
2. The ratio of the hori ontal a is a is in graph mode

Format .
This parameter is for setting the scale of the graph in the graph mode.
This parameter is an initial setting; for dynamic ad ustment, you may press
PageUP/Page own button in the graph screen for alteration.
3. Initial alue generated by line number during program editing

Format default value:
hen editing the program, the line number set for the first node system shall be
" 1". If setting the parameter of this item as "1 ", then the line number of the
second node will be " 1 ".
4. The interval value obtained from setting the line number during program editing.
5. Setting the chuck movement inner, outer clamp setting

Setting , loosen
Setting 1, tighten
4- 5
UST C C 6 -T Manual
This parameter is for specifying whether the chuck is loosened or tightened in a

protruding action.
6. orking Count Upper imit Setting

ignored.
To e ecute the count, please add M15 in the working program placed at the end
of each processed orkpiece .
If receiving M15 Command when running the program, the system will add "1" to
the number of the processed orkpieces automatically. Upon reaching the upper
limit set for the orkpiece, the System will change to pausing status, reminding
the customer that it has completed the set working count.
After reaching the upper limit count, the count arriving status can be cancelled by
the following three methods:
a.
set to ero.
b. Restart the program. ou may also clear and set the worked count ero in order
to restart the counting.
c. Press the Reset key and the count arriving status can also be cancelled and the
worked count will be set to ero.
7. Time delay for chuck tightening

Format default value: 5 , unit:1 ms
This parameter is set to ensure that the chuck is securely clamped on the
workpiece. In case the chuck fails to clamp the workpiece securely before
e ecuting the subse uent block, the setting needs to be increased.
8. Remaining Service ays
Such parameter is provided for reading instead of writing.

To remind the user to contact the machine manufacturing when the remaining
service days are going to arrive.
4- 6
9. hether or not wait for spindle to reach full speed before performing a ial feed
Setting , proceed the subse uent block without waiting for the full speed of the
spindle
Setting 1, proceed with the subse uent block after the spindle reaches full speed
For general cutting commands, a ial feed can be performed without waiting for
the full spindle speed; for threading and drilling commands, to meet the technical
criteria, it may demand the spindle to reach a steady speed before performing the
cutting, therefore this parameter shall be set to 1, i.e., proceed with the subse uent
block after the spindle reaches full speed
Setting this parameter to 1 affects the processing efficiency. Therefore the user
must consider and weigh the relationship between the technical criteria and
efficiency re uirements for setting a proper value.
10. Radius or diameter programming

Format efault
Setting , -a is is radius programming.
Setting 1, -a is is diameter programming.
Since general drawings indicate drills by its radius, setting this parameter to may
facilitate the programming process. The customer may alter this parameter
according to the actual re uirements, so as to enable an easy and direct way for
programming.
11. Manual Tool Change Rotation irection Setting:

Setting , it means C .
Setting 1, it means CC .
The Turret service parameters can be based to set the rotating direction when the
Turret is operated under Manual Mode.
Under Manual Mode, set this parameter to facility the site Tool change e.g. for
T1
4- 7
UST C C 6 -T Manual
performing the C and CC Tool change, you may set this parameter.
12. Omission of decimal point in programming

Setting , no omission of decimal point
Setting 1, decimal point omitted.
See 2.2.2.3 decimal point principles for details
13. If the Tool lifespan management function is active

Setting , it means start.
Setting 1, it means close.
If the user sets stricter service life for all tools used, it is suggested that this
function should be activated in order to manage the tool and remind the timing for
Tool change. After activating such function, the program will stop at T-Code when
the Tool service time or the count is up.
14. Metric and imperial settings

Setting , metric system unit: mm
Setting 1, imperial system unit: inch
Setting of the measurement unit 1inch 25.4 mm . hen Setting 1, both the
coordinates and tool compensation are displayed to the 4th digit after the decimal
point.
15. hether or not e ecuting MTS 4 at a re-start

Setting , skip
Setting 1, e ecute
This setting allows the user to select whether an MST code or a 4 command
e isting before the re-start block shall be e ecuted or not when the program
re-start function is enabled. The user may freely set this parameter based on actual
needs.
4-
S 4 command before the re-start block

will be omitted.
MTS 4 command before the re-start block
will be e ecuted normally.
16. hether a re-start skips M

Setting , do not skip
Setting 1, skip
An M command call sub-program prior to the re-start block will be carried out
normally if this parameter is set to .
An M command call sub-program prior to the re-start block will not be carried
out if this parameter is set to 1.
17. hether a re-start retrieves a prior block

Setting , retrieve
Setting 1 no retrieve
Program goes to the block prior to the re-start block and e ecutes
the prior block and the subse uent program.
the block prior to the re-start block.
18. hether or not a smooth transit of tool-tip compensation is enabled

Setting , yes
Setting 1, no
hen 41, 42 function is enabled see 3.24.2 , setting this parameter to 1 will
cause the tool-tip outside compensation to disable arc compensation and take a
line compensation.
19. Setting for handling interference concerning 41/ 42

Setting , issue alarm without e ecution
4-
UST C C 6 -T Manual
Setting 1, automatically optimi e trace to avoid interference

Setting 2, e ecute without issuing an alarm
In case of interference during the tool-tip compensation command 41, 42, you
may set this parameter to select the handling method. See 3.24.2 for details of this
setting
(2) System Parameter
20. enominator of Machine Resolution, -a is.

21. umerator of Machine Resolution, -a is.
23. umerator of Machine Resolution, -a is.
25. umerator of Machine Resolution, -a is
The value of resolution numerator or denominator is set according to the

specification of A ial Transmission evice e.g. uide Screw and the pulse count
returned by the Servo Motor. enerally speaking, the speed voltage control type
is set according to the pulse count returned by the Servo Motor; whereas, the
position pulse control type is set by the pulse count after the Motor rotates for
one round. After being confirmed, do not attempt to ad ust unless instructed.
Speed Control Type

uide Screw Pitch
Resolution Tooth Count Ratio
Motor ncoder Multiple
Position Control Type

uide Screw Pitch
Resolution Tooth
Motor 1-round Pulse Count
Example 1 (Speed Control Type):
-a is uide Screw Pitch 5. mm

Motor ncoder 25 pulse; Multiple 4
Tooth Count Ratio 5:1 5 rounds for Servo Motor, 1 round for uide Screw
4- 1
Resolution
-a is Resolution: enominator Set alue 1

-a is Resolution: umerator Set alue 1
Example 2 (Position Control Type):
-a is uide Screw Pitch 5. mm

Motor 1-round Pulse 1 pulse
Tooth Count Ratio 5:1 5 rounds for Servo Motor, 1 round for uide Screw
Resolution
-a is Resolution: enominator Set alue 1

-a is Resolution: umerator Set alue 1
26. Set a is traverse speed limit

Format Unit: mm/min efault 1
ote : The format is only for integer.
The traverse speed limit can be calculated from the following e uation:
Fma . 5 RPM Pitch R
RPM : The ratio. rpm of Servo Motor motor

Pitch : The pitch of the ball-screw
R : ear ratio of ball-screw/motor
: Ma . rpm 3 rpm for -a is, Pitch 5 mm/rev, ear Ratio 5/1

Fma . 5 3 5 / 5 2 5 mm/min
27. irection of Motor Rotation, -a is

4 - 11
UST C C 6 -T Manual
Format efault
Setting , Motor rotates in the positive direction. C

Setting 1, Motor rotates in the negative direction. CC
This MCM can be used to reverse the direction of motor rotation if desired. So
These parameters will affect the direction of OM position
30. - oming speed-1

31. -- oming speed-1
32. - oming speed-1
Format default value: 25 , unit: mm/min
In the homing process, the speed for an a ial movement from the current position
to the position where the origin-switch is touched.
33. - oming speed-2

34. - oming speed-2
35. - oming speed-2
The speed the feedback device searches for rid ero after the a ial position
leaves the origin-switch in the homing process.
Items re uiring the attention of the user; in the homing process, the machine
moves toward the origin-switch with the first-stage speed, the length of the
origin-switch must be longer than the deceleration distance, otherwise the
machine will e ceed the pro imity switch and this results in a OMI error.
The formula and an e ample for calculating the length of origin-switch are as
follows:
Length of origin switch FDCOM CC 6
ote: F COM First-stage speed of homing

ACC Accelerate/ decelerate time of 1
4 - 12
: F COM, First-stage speed of homing 3 mm/min

ACC, Accelerate/ decelerate time 1 ms, then
36. - oming direction

Setting , Tool returns to machine origin along positive direction of coordinate.
Setting 1, Tool returns to machine origin along negative direction of coordinate.
Set this parameter to ad ust the homing direction if the user finds the homing
direction is not correct.
39. The direction that Servo Motor motor search the rid when -a is going back to
OM .
OM .
OM .
Format default value: , Scope: , 1, 12 , 256.
Taking -a is for e ample:

Setting : Means when -a is Motor returns to machines ome Position
OM , the direction for Section-2 to leave imit Switch and
for Section-3 to find ero point RI will be opposite to
Section 1; whereas, the direction for Section-2 to leave imit
Switch and for Section-1 to find ero point RI will be the
same, as per Fig. 4-11
Setting 1: Means when -a is Motor returns to machines ome Position
OM , the direction for Section-2 to leave the imit Switch
will be consistent with that for Section-1; whereas, the direction
for Section-3 to find ero-point RI will be opposite to that
for Section-1 and Section-2, as per Fig. 4-11 C .
Setting 12 : Means when -a is Motor returns to machines ome Position

OM , the direction for Section-2 to leave the imit Switch
will be opposite to that for Section-1; in the meantime, the
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UST C C 6 -T Manual
direction for Section-3 to find RI will also be opposite that for

Section-2 to leave the imit Switch, as per Fig. 4-11 .
Setting 256: Means when -a is Motor returns to machines ome Position

OM , the directions for Section 1, Section-2 and Section-3
will all be the same, as per Fig. 4-11 A .
The speed for returning to OM will be divided into the following 3 sections as per
Fig. 4-11 :
will be set as 1/4 of that for Section 1; and its direction will be
determined according to the value contained in the system parameter
Section-3 Speed: Used for finding the speed of ero-point RI for Feedback
Return Speed 2” ; its direction will be determined according to the
The customer must notice that when returning to OM , the machine will move
towards the Limit Switch with Section-1 speed and the length of said Limit Switch
must be longer than the deceleration distance;otherwise, the machine will overshoot
the imit Switch and generate incorrect OM -returning phenomenon.
isted below is the e ample e plaining imit Switch length calculation formula and
calculation method:
Limit Switch Length FDCOM CC 6
ote: F COM Section-1 speed for returning to OM .

ACC 1 acceleration/deceleration time
ample: F COM OM -returning Section-1 speed: 3 mm/min

ACC plus C time 1 ms, then,
4 - 14
eave imit Switch

Speed: OM Return Speed 1 1/4
Touch imit Switch ncoder Find ero irection: 256
Speed Section-1: ome Return Speed 1

Find ncoder ero-point
Speed: OM Return Speed 2
Section-2
Section-2 ncoder Find ero irection: 256
Section-3
Tool Position
Fig. 4-11 A : OM Return Speed and Find ero RI irection
Touch imit Switch

Speed
Section-1: OM Return
Section-3: Find ero for ncoder
Section-3 ncoder Find ero irection: 12
Tool
Section-2
eave imit Switch
Speed: OM Return Speed
1 1/4
ncoder Find ero irection:
12
Fig. 4-11 : Machine OM Return Speed and Find ero RI irection
Touch imit Switch

Speed Section-1: OM
Return Speed eave imit Switch
Speed: OM Return Speed 1 1/4
ncoder Find ero irection: 1
Section-2
Tool Position
Find ero for ncoder t Section-3

ncoder Find ero irection: 1
Fig. 4-11 C : Machine OM Return Speed and Find ero RI irection
4 - 15
UST C C 6 -T Manual
Section-1: OM Touch imit Switch

Speed
Return Speed
Section-3 Section-2
Tool Position
Find ero for ncoder

Speed: OM Return Speed 2 eave imit Switch
ncoder Find ero irection: Speed: OM Return Speed 1 1/4
ncoder Find ero irection:
Fig. 4-11 : Machine OM Return Speed and Find ero RI irection
42. -a is ncoder Find ero-Point Ma . istance

Format default value: 1 . ; Unit: mm
Scope: . mm
Ma . distance limit for Servo Motor to find the rid signal.
ample: If the distance after -a is Servo Motor turns for 3/4 round is 5. mm,
then Parameter 42 will be 5.2 .
Note:If the Servo Motor fails to find out the Grid point after exceedingthe
set scope,then the system will display ERR 15 alarm message.
45. Software OT imit in irection, -a is.

Format Unit: mm/min efault .
Set the software over-travel OT limit in the positive direction, the setting
value is e ual to the distance from positive OT location to the machine origin
OM .
48. Software OT imit in - irection, -a is.

Format . Unit: mm/min efault - .
4 - 16
Set the software over-travel OT limit in the negative - direction, the setting
value is e ual to the distance from negative OT location to the machine origin
OM .
Travel Limit Concept and Description:
M-TOP
Actual ardware imit
Machine Origin ome
Software OT imit
M-TOP
5 1 mm each 5 1 mm each
Fig. 4-12
Note:The software travel limit settingpoint is approx.5~10mm to EM-TOP.
51. -a is enominator, MP and-wheel Resolution Ad ustment. pulse

52. -a is umerator, MP and-wheel Resolution Ad ustment. m
Format efault 1
ample: If Item 51 Parameter 1 ; Item 52 Parameter 1 ; and and heel

Multiple is 1 , then,
and heel moving for 1 frame 1 Pulse
.1mm
57. Ma . value of U, tool compensation can be entered during the operation

Format . default value: 2. , Ma . value is 2. , unit: mm
4 - 17
UST C C 6 -T Manual
Alteration of tool compensation data during the operation can only be made with
incremental method. This parameter is used to set a ma imum value for
preventing tool collision.
Setting value . , denotes no alteration of tool compensation data during the
operation.
58. Pitch rror Compensation Mode Setting, -a is.

Format: , efault
Setting , Compensation canceled.

Setting -1, egative side of compensation.
Setting 1, Positive side of compensation.
ote: The screw offsetting will be allowed only one direction at a time.
-a is -a is -a is planation
Compensation cancel
o compensation when tool is on the - side of the
-1 -1 -1
reference point
o compensation when tool is on the side of the
1 1 1
reference point.
61. Segment ength for Pitch rror Compensation, -a is

Format . , efault , Unit mm
Note: The offset value of each section will be entered by pressing “ Screw
4- , 4- , 4-1 .
The length setting scope of each section for offsetting the error of
screw pitch will be 2 4 mm.
hen the setting of offset length is below 2 mm, then the length shall
be set at 2 mm.
The offset setting means the incremental value, which cab e pressed
either in positive or negative manner. If the offset section count is less
4- 1
than 4 sections, then the parameter of the remaining sections must be

set at ero .
ample: Assuming the total length of the -a is screw is 1m 1 mm , and

where it will be divided into 1 sections for offsetting:
1 mm
1 mm
Fig. 4-13
Therefore, the average length of each section is 1 mm. It means that the set
in which, the offset of each section is set by parameter items as per Fig. 4- ,
Section 1 1 and Section 11 4 must be set as ero.
64. Spindle type Re-start enabled

Setting , oltage type spindle
Setting 1, Pulse type spindle
User may make corresponding settings according to the actual control of spindle.
65. Set oop Open/Close Control Method Restart avail

Setting : Spindle open loop control.
Setting 1: Spindle closed loop control Spindle alignment control .
For the Spindle of oltage-type Servo Motor, such parameter can be set according
to the wiring method see 5-15, 5-16 .
For the Spindle of Pulse-type Servo Motor, such parameter would be meaningless.
66. Set SpindleAcceleration/ eceleration Time

Format
Setting Scope: 2 3 ms.
4- 1
UST C C 6 -T Manual
Such parameter must be set according to actual characteristics of the machine, and
it can be observed through manual Spindle starting and stopping. The said
parameter shall be measured to see if it is appropriately set according to the
indicators such as if the Spindle is smooth during starting and if it can stop stably
during the stopping process.
ote: escribed below is the setting of acceleration/deceleration time, which must

be e ecuted according to the actual characteristics of the machine. After
modifying the parameter, it is also necessary to observe if the operating
mechanism is working stably and smoothly during the starting and
stopping process. As for the Spindle of the Inverter, because the Spindle
acceleration/deceleration time is ad usted by the Inverter, so it is needed to
set such parameter at the minimum value, i.e. 2.
67. Setting of spindle speed at 1 voltage

Format default value: 3 , unit: RPM
For a variable-speed spindle, this parameter is used to ad ust the linear relationship
between the spindle rpm and the voltage.
68. Setting of rotation direction of spindle

Setting , for positive rotation
Setting 1, for negative rotation
69. Set Manual Spindle Speed

Format
Such parameter can be used to set the Spindle ogging speed under Manual Mode.
70. Setting of searching for RI point

Setting , search for RI point encoder signal in -phase
Setting 1, no search for RI point encoder signal in -phase
For a voltage type open-circuit spindle, the motor needs not to search for the
RI point encoder signal in -phase ; for pulse type spindle and voltage type
closed-circuit spindle, this parameter can be set according to actual needs.
4- 2
71. Setting of rotation direction of spindle for search of RI point

Setting , Positive rotating direction
Setting 1, egative rotating direction
Use this parameter to set the rotation direction of motor for search of RI point
encoder signal in -phase .
72. Setting of spindle rpm for search of RI point

Format default value: 1 , unit: RPM
Use this parameter to set rotation speed of motor for search of RI point
encoder signal in -phase
73. Setting of spindle orientation

Setting , Positive rotating direction for spindle orientation
Setting 1, egative rotating direction for spindle orientation
Use this parameter to set the rotating direction for spindle orientation in manual
mode.
74. Setting of rotation speed of spindle orientation

Format default value: 1 , Unit: RPM
Use this parameter to set rotation speed for spindle orientation in manual mode.
75. Set if to find the Spindle OM signal

Format default value: .
Setting : Quit finding Spindle OM Switch signal
Setting 1: Find Spindle OM Switch signal
signal of the Spindle is re uired. In this case, please install the ternal OM
Switch.
76. Set to find the speed of Spindle OM signal

Format
Set the RPM of Spindle when finding the e ternal OM Switch.
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UST C C 6 -T Manual
77. Setting of spindle origin offset

Format . default value:
Set value of deviation of spindle origin
In case the position of machine origin when the spindle is assembled deviates from
the ideal position to the customer, this parameter may be used for ad ustment.
78. Setting of number of spindle feedback pulses

Format default value: 4 6
Sets number of feedback pulses per revolution of spindle based on the number of
spindle encoding lines.
79. Setting of number of pulses in the spindle command

Sets number of pulses to be generated by controller when spindle turns one

revolution.
1: For a servo spindle with a gear mechanism having a gear ratio of 3:4, i.e., spindle
rotates 4 turns when motor rotates 3 turns, the servo spindle rotates 1 turn when
receiving a pulse command of 1 .
In the above e ample, spindle rotates 1 turn when the spindle motor rotates .75
turns, meaning that the controller only needs to send out 75 pulses for the
spindle to rotate 1 turn. Therefore, the parameter shall be set to 75 instead of
1 . Since the servo spindle encoder is installed at the electric machinery end,
therefore the number of pulses in the spindle feedback shall also be set to 75 .
For the above conditions, suppose the encoder is installed at the spindle end
instead of the electric machine end, and the encoder is of 1 24 lines, then the
number of pulses in the spindle feedback shall be set to 4 6 4 1 24 .
80. Setting of number of tools

Used in combination with powered turret, ma imum 1 tools.
81. Set up the Turret type by the actual condition of the machine
4 - 22
Format default value: .

Setting : Tool Row
Setting 1: lectrical Turret
Setting 2: ydraulic Turret
Setting 3: lectrical Turret 2
82. Setting of Tool positioning delay

Format default value: 1 , unit: 1 ms
efault setting is 1 , i.e., 1 ms.
In the event of miss-positioned tool change, properly increase this parameter

setting and observe if the tool change is better positioned.
83. Tool Change monitoring time setting

Format
Such parameter is used to monitor the time consumed during the entire Tool
change process. If the actual Tool change time e ceeds the set value of such
parameter, then the screen will indicate “ Tool Change Overdue” alarm signal. To
remove the alarm, please refer to the function alarm described in Chapter 6.
84. Setting of wear direction

Format default value: 1, positive
Setting , negative direction
Setting 1, positive direction
User may make ad ustment according the used direction for making compensation
for the wear.
85. Setting of ma imum value of tool compensation

Format . default value: 2. ; ma imum value is 2 . , unit: mm
This setting is used for setting an upper limit for the tool compensation when the
program is not in e ecution. In case e ceeding the upper limit, an alarm
86. Setting of lubrication interval

Format default value: 1 , unit:1s
87. Setting of lubrication duration
4 - 23
UST C C 6 -T Manual
Format default value: 1 , unit:1 ms
88. Set the ma imum rpm at which the chuck can be moved
Format default value: 1 , unit: rpm
Range: 5 rpm
:
A subse uent block to an M 5 Spindle Stop command is M1 chuck loosen
the chuck can only be loosened until the spindle comes to a full stop.
For a lathe furnished with an automatic material dispenser, ad usting this

parameter may increase the process efficiency.
89. hether or not to enable the screen saver

Setting , enable
Setting 1, disable
hen screen saver is enabled, the screen automatically enters sleep mode when
the controller remains untouched for 1 minutes, for prolonging lifespan of the
screen. Pressing any key will resume the display.
90. Set the type of Chuck isc according to the actual conditions of the machine
Setting : ydraulic Chuck isc
Setting 1: Ordinary Chuck isc
91. If to start -a is
Setting : o start
Setting 1: Start
92. If to start Multi-function and heel

Setting : o start
Setting 1: Start
4 - 24
and heel multiple and the selection of a is will be determined by pressing the
Multi-function and heel multiple selection and a is selection key.
93. Retention
94. Setting of efault feed mode at start-up

Setting , feed per revolution .
Setting 1, feed per minute .
If is the default mode, decimal point is not allowed in the F value. If F value
.5 mm .
If is the default mode, decimal point is allowed behind F.
95. Setting of tool support type

Setting , rear support
Setting 1, front support
User may set according to actual tool position. See description of pair-tools for
details about front and rear tool supports.
96. Setting of type of pulse type

Setting , pulse direction
Setting 1, positive/negative pulse
Setting 2, A/ phase
Setting of this parameter re uires setting of servo parameters, for matching with
pulse type generated by the pulse generator.
97. Setting of acceleration/deceleration type

Format default value: 1
Setting , logarithm type
Setting 1, linear type
4 - 25
UST C C 6 -T Manual
Setting 2, S-curve type
If no special re uirement is raised for acceleration/deceleration, it is suggested to

set this parameter to “ 1” .
98. Setting of 1 acceleration/deceleration time constant

Format default value: 1 , unit: milli-second ms
Setting range: 2 3 ms.
99. Setting of acceleration/deceleration time constant

Format default value: 1 , unit: milli-second ms
Setting range: 2 3 ms
100. Setting of acceleration/deceleration time constant

Format default value: 1 , unit: ms
Setting range: 2 3 ms, suggest to set both and to 1 .
101. Setting of MP acceleration/deceleration time

Format default value: 64, unit: ms
Setting range: 2 3 ms.
Setting of motor acceleration/deceleration time in handwheel mode, suggested

setting value is 15 .
102. Retention
103. Setting of spindle voltage ero correction value

Format . default value: , unit: mv
Range: - . .
Ad usts spindle voltage ero effective in open-circuit .
If system output is about -- .1 at system speed S , then voltage ero parameter

is: 2 .1 1 /2 4 . Ad ust output voltage to be as close to as
possible at system speed S . This parameter is normally set to 21.
: For ad usting spindle speed by inverter

1. First ad ust this parameter so that output voltage is closest to when
the rpm is ero.
4 - 26
2.
end screen to a rational value, so that the linear alteration of spindle
speed meets the site re uirements.
The above operation is for providing the user with a general method. For the
substantial inverter, the user may use these parameters freely to ad ust the speed.
104. Setting of handwheel direction

Setting , , .
Setting 1, -, .
Setting 4, , -.
Setting 5, -, -.
If the handwheel has a wrong direction after connecting the wires, use may alter
the direction by setting this parameter.
105. Set Spindle Count

Format default value: 1; Ma . value: 3
Spindle 1 C-A IS Connector
Spindle 2 A-A IS Connector
Spindle 3 -A IS Connector
106. If to insert space in the displayed ode

Setting : es
Setting 1: o
ample: In the editing program under 1 line number, the Spindle performs
respective command code:
the line number and the respective command code:
107. A is setting for returning to OM

4 - 27
UST C C 6 -T Manual
For e ample:
Setting : very a is will not return to OM .
Setting 1: -A is is returning to OM .
Setting 4: -A is is returning to OM .
Setting 5: / -A is is returning to OM .
108. Retention
109. Sensitivity of spindle RPM sensor

The spindle feedback filter is constant when e ecuting an arc cutting in the
mode
For a setting , filter is not active. System performs a re-calculation immediately

as long as a change occurs in the number of spindle feedback pulses.
For a setting n, system performs a re-calculation only when the number of

feedback pulses e ceeds n.
110. Setting for enabling detection against error follow

Setting , disable
Setting 1, enable
For pulse type motors, this function shall be enabled to detect servo motor follow
error; however the error limit shall be set according to machine conditions.
nabling this function can effectively protect the machine against over-travel
resulting from a servo error.
111. Setting of follow error

A Follow rror is defined as the difference between the position of the controller
command and the position of the actual servomotor feedback.
Servo follow error setting value, an RROR 2 alarm will be issued.
4- 2
112. SIO Filtration Parameter Setting

Format
continuous time less than ms will not respond. Such parameter is mainly
used to resist the noise interference.
For the lectrical Turret or ydraulic Turret, it is preferably to set the parameter as
Turret.
113. nabling special acceleration/deceleration form

Setting , disable
Setting 1, enable
nabling the special acceleration/deceleration form allows further enhancement in

the acceleration/deceleration efficiency based on the linear type, s-curve type and
e ponential type acceleration/deceleration curves, therefore elevating the
e ecution efficiency.
In case the user finds that the efficiency of the machine is not enough during the
process, he may reach his aim by disabling parameters such as “ wait for spindle to
acceleration/deceleration form” .
114. Turning Corner Round Angle Connection

Set the Servo Motor acceleration/deceleration type to C C standard mode.
256 Set the round angle connection between each ode.
115. lectrical Maga ine CC elay 1 ms

Format
It is used to set the time delay re uired for locking the CC action of the
lectrical Maga ine.
116. Spindle 1 Chuck 1- ay/2- ay Solenoid alve

1- ay Solenoid alve
4- 2
UST C C 6 -T Manual
In this case, the Spindle Chuck action is controlled by O independently.

I 2-way Solenoid alve
In this case, the Spindle Chuck action is ointly controlled by O and O 5.
117. and heel Test Feed Rate umerator

118. and heel Test Feed Rate enominator
It is used to ad ust the fast/slow program feed rate when testing the and heel.
* Parameter for switchingthe Spindle backto standard axis
119. Set the Rotation irection

Setting : Forward direction
Setting 1: Reverse direction
120. Set theAcceleration/ eceleration Time

Format
Setting Scope: 4 3 ms
121. Ma imum feed speed

ote: Setting value shall be an integer without a decimal point .

.g.: Setting 5 , indicates a ma imum -a is feed rate of 5 mm per
minute.
imit of ma . feed speed is calculated as follows:
Fma . 5
: -a is servomotor ma . speed is 3 rpm, guide screw is 5 mm, gear

ratio is 5 1 servomotor turns 5 revolutions, guide screw turns 1
revolution
Fma 2 5 . Recommended setting is 2 5 .
122. Set Spindle ncoder Multiple

Setting 1: Means feedback signal multiplied by 1.
4- 3

Only one of the said three values can be selected.
123. Spindle feedback direction

Setting , feedback in positive direction
Setting 1, feedback in negative direction
In case the spindle speed indication displays normal but spindle position displays
accurate.
124. Set Resolution enominator

125. Set Resolution umerator

Example
Assuming C-a is is the rotating a is and the angle when rotating for one round is
36 . degrees.
Motor ncoder 1 24 Pulse in multiple 4, and the Spindle feedback pulse count
Tooth Count Ratio: 5:1 very 5 rounds of Servo Motor rotation will drive C-a is
to rotate for 1 round .
C-a is Resolution enominator Set alue 4 6

C-a is Resolution umerator Set alue 36
126. Spindle Feedback Filtration Fre uency Setting

Setting : Filtration fre uency is 5 .
Setting 1: Filtration fre uency is 75 .
4 - 31
UST C C 6 -T Manual
hen setting the corresponding feedback filtration fre uency according to the
Spindle ncoder setting, the System will be able to prevent the noise interference
effectively.
times multiple, then the Spindle can reach 5 RPM of ma imum speed. ote:
342 4 1 24 5 RPM /6 sec
case, 5 1 25 3 /6 .
The customer can set such parameter at moderate value according to the Spindle
ncoder installed for the machine and the re uired ma imum Spindle speed.
127. Retention.
128. Set 1 Tooth ap Offset

Format .
Scope: - . . mm, which can be used to remove the reverse gap of the
stud.
hen performing reverse action, certain gaps may e ist in the stud. In this case,
such parameter can be used to make correction.
129. A is Feedback irection Setting

Setting , means the forward feedback direction.
Setting 1, means the reverse feedback direction.
It is mainly used to set the feedback direction of / / a es in order to save the

trouble of line change.
parameter as “ 1” to avid confusing the feedback signal.
130. Feedback Filtration Fre uency Setting

Setting , means the Filtration Fre uency is 5
Setting 1, means the Filtration Fre uency is 75
4 - 32

hen setting the appropriate feedback filtration fre uency according to / /

a is ncoder, the System will be able to prevent the noise interference effectively.
For detailed content, please refer to the parameter description under Item 123.
131. Setting of pulse-width command 2.5 M/n or 25 /n

Setting 5, speed of pulse command is 5 PPS 25 /5

Setting 4, speed of pulse command is 625 PPS 25 /4
132. A is Manual Speed mm/min

Format default value:1 mm/min
The parameter is used to set the speed for driving the a is when operated under
Manual Mode.
133. 13 -a is find rid Front eviation ength

Format
Scope: . . mm
If deviation fre uently happens to the position before and after the OM
returning during the returning process and where the deviation length e uals to the
travel of one-round Servo Motor rotation, then such parameter can be ad usted to
solve the aforesaid problem. In this case, the set value will be - .5 of the travel
of one-round Servo Motor rotation.
136. Arc Closed Angle Forward Offset Pulse

137. Arc Closed Angle Reverse Offset Pulse
138. Arc Closed Angle Offset Time ms
139. Arc Closed Angle Offset Function : Close; 1: Open
uring the true roundness cutting process, the Motor used to present hysteresis
phenomenon when making reverse action on the machine due to the mechanical
factors. Such phenomenon used to happen to the round hole cutting for 2 or
4 - 33
UST C C 6 -T Manual
3 or the , ,1 and 27 Closed Angle phenomenon on the cutting

surface of the orkpiece during round hole or cylindrical cutting for 2 or 3.
To offset the Closed Angle, the Controller will type out all the offset values
instantly after changing the direction within one offset cycle and then
compensate such offset value with straight-line acceleration/deceleration curve.
The said offset level and time constant will be determined by the aforesaid three
sets of parameters.
Forward Offset alue: ecute the offset when the a is returns from the reverse
action for moving towards the forward direction.
Reverse Offset alue: ecute the offset when the a is returns from the forward
action for moving towards the reverse direction.
Offset Time: The Controller will send out all of the offset values within the set
offset time. hen setting such parameter at ero, the system will compensate the
said offset within one acceleration/deceleration cycle.
The Arc Closed Angle offset function : Close; 1: Open is used to control the
availability of the aforesaid parameters.
140. 2 Thread Tail Retreating Acceleration/ eceleration Time ms

hen the thread reaches the end point under the command of 2, such parameter
is used to set the acceleration/deceleration time when , a es are making fast
thread tail retreating.
141. hether or not to return to origin after -Stop

: es, Returning to origin after -Stop is necessary for activating the process.
1: o. Returning to origin after -Stop is not necessary for activating the process.
142. If to stop the Spindle after ending the program

: o
1: es
4 - 34
After activating the Spindle, if the working program does not e ecute the Spindle
stop command before completing the program running, then such parameter can
be used to stop the Spindle.
The customer can e ecute appropriate setting for such parameters according to the
operation habitude.
143. If to start Auto Program

: o
1: es
Such parameter is used to start the Semi-Auto/Auto function.
Semi-Auto Function: The program will end the working when receiving M 2 or
M3 .
Auto Function: The program will not end the working when receiving M 2 or
M3 and will continue the loop to run the program.
144. ellow amp means Pause or Finish

: ellow lamp means the Pause reminding signal.
1: ellow lamp means the Finish reminding signal.
2: ellow lamp means the Finish as well as the Pause reminding signal.
145. Spindle-specific RPM when starting

Such parameter is used to set the Spindle-specific RPM when starting the machine
and when activating the Spindle manually or by M-Code before giving the S RPM
command.
146. 1/ 2/ 3 for round-angle connection

: Precision positioning without handling between 1/ 2/ 3 blocks
1: Round-angle connection between 2/ 3 blocks only
2: Round-angle connection between 1/ 2/ 3 blocks
4 - 35
UST C C 6 -T Manual
User may set proper parameter values according to technical criteria of the
substantial product.
147. If to disconnect the power when receiving the Servo Motor alarm
: o need to disconnect the power of Servo Motor.
1: eed to disconnect the power of Servo Motor.
hen the Servo Motor sends off an alarm, depending of varied re uirements of
the customer, the system can be set to disconnect the Main Circuit power of the
Servo Motor and to retain the control power only. After removing the alarm,
restore the Main Circuit power again.
signal.
If O 5 is under OFF status when the Servo Motor sends off alarm, it means the
main power of such Servo Motor will be disconnected.
If O 5 is under O status when the Servo Motor is working normally, it means the
main power of such Servo Motor will not be disconnected.
the Spindle Chuck type can be set through the “ Spindle Chuck
4 - 36
3 Connection Diagrams
5 Connections
5.
1 System Configuration Descriptions
H6D-T Controller wiringschematic
X
C:1st Spindle Y
A:2nd Spindle
B:3rd Spindle
Z
G31 Input DB26LM

(Pin5 & Pin 26)
MPG2 MPG1
24in/16out
(AB765)
2nd Panel Optional: Use in combination as

required
24in/16out
(AB705)
#1 SIO Module
(48in / 32out)
(AE712)
Relay Board AC Power Board
24in/16out
(AB705)
DC Power Board
It can connect the next SIO Module Panel, and a maximum of 5

panels can be linked. (Include 2nd panel)
Fig.5-1
3-1
HUST CNC H6D-T MANUAL
5.
2 System installation
5.
2.1 OperatingEnvironment
H6D-T Serial Controllers must be used in the following surroundings; anomaly may
occur if the specified range is exceeded.
* Temperature of surroundings
Operation 0°C to 45°C.
Storage or transfer -20°C to 55°C.
* Rate of temperature variation Max. 1.1°C/min
* Relative Humidity
Normal < 80% RH
Short period Max. 95% RH
* Vibration limits
In operation 0.075 mm max. at 5 HZ
* Noise
In operation Max. voltage pulse in 0.01 S
2000 V/0.1×10-6 S
* Other
Please consult our company for operations with a high amount of dust, cutting
fluid or organic solvent.
5.
2.2 Considerations for the design of control panel
* The controller and auxiliary panels shall be of a totally enclosed type to prevent
dust ingression.
* The internal temperature shall not exceed the surrounding temperature by more
than 10°C.
* Cable entries shall be sealed.
* To prevent noise inference, a net clearance of 100mm shall be kept between the
cables of each unit, AC power supply and CRT. If magnetic fields exist, a net
clearance of 300mm shall be kept.
* Refer to Server Operation Manual for the installation of servo driver.
5.
2.3 Internal temperature design
The internal temperature shall not exceed the surrounding temperature by more than
10°C. The main considerations for designing the cabin are the heat source and the heat
dissipation area. For the controller, the customer is usually unable to control the heat
3-2
source, however the heat dissipation area is a key factor to be considered. The internal
temperature rise can be estimated using the following equations:
(1) With a cooling fan, the permissible temperature rise shall be 1°C/6W/1m2.
(2) Without a cooling fan, the permissible temperature rise shall be 1°C/4W/1m2.
The equations indicate that for a cabinet having a heat dissipation area of 1m2 and a 6W
heat source and a cooling fan (or 4W heat source without cooling fan), the internal
temperature rise shall be 1°C. The heat dissipation area is the total surface area of the
cabin minus the area in contact with the ground surface.
Ex.1: (with cooling fan)
heat dissipation area 2 m2

internal permissible temperature rise 10°C
therefore the max. permissible heat source in the cabin is 6W×2×10 120W.
If heat source within the cabin exceeds 120W, a cooling fin or other heat
dissipation device must be provided.
Ex.2: (without cooling fan)
heat dissipation area 2 m2

internal permissible temperature rise 10°C
therefore the max. permissible heat source in the cabin is 4W×2×10 80W
If heat source within the cabin exceeds 80W, a cooling fin or other heat
dissipation device must be provided.
3-3
5.
3 H6D-T External Dimensions
5.
3.1 H6D-T Controller
Fig.5-2 Panel Dimensions
Fig.5-3 Case Dimensions (Rear view)
3-4
Fig.5-4 Case Dimensions (TOP view)
Fig.5-5 Cutout Dimensions
3-5
5.
3.2 H6DL-T Controller
Fig.5-6 Panel Dimensions
Fig.5-7 Case Dimensions (TOP view)
3-6
3-7
5.
3.3 H6D-T AuxiliaryPanel
Fig.5-9 Auxiliary panel Dimensions
3-8
5.
3.4 H6DL-T AuxiliaryPanel
Fig.5-11 Auxiliary panel Dimensions
3-9
5.
3.5 H6D-T Accessories Dimensions
Fig.5-13 SIO Module 48IN/32OUT
Fig.5-14 IO connect board 24IN/16OUT
Fig.5-15 NPN Output relay board 8 Out
3 - 10
Fig.5-16 DC Power module board 8 Out
Fig.5-17 AC Power output module board 8 Out
3 - 11
5.
4 Connector Type
HUST H6D Series Controller rear panel connectors:
DBxx : xx indicates number of pins

DB9L : 9-pin connector
DB9LF : a terminal with a female 9-pin connector
DB15LM: a terminal with a male 15-pin connector
5.
5 Connector name
Connector types of the controller are as follows:
Table 5-1 Connector Designation and Type

Connector
Connector Name Type
Designation
X-axis servo X-AXIS DB26LF (F)
Y-axis servo Y-AXIS DB26LF (F)
Z-axis servo Z-AXIS DB26LF (F)
A-axis servo A-AXIS DB26LF (F)
B-axis servo B-AXIS DB26LF (F)
C-axis servo C-AXIS DB26LF (F)
MPG Handwheel MPG DB26LM (M)
Standard INPUT-1 INPUT-1 DB25LF (F)
Standard OUTPUT-1 OUTPUT-1 DB25LF (M)
Standard INPUT-2 INPUT-2 DB25LF (F)
Standard OUTPUT-2 OUTPUT-2 DB25LF (M)
RS232 DB9LF (F)
Communication Interface
USB USB (F)
3 - 12
5.
6 Connector Pin-out Definition
DB26LF (F)
Table 5-2 HUST H6D Axis Connector Pin

Pin No Definition Description
1 /A /A phase input
2 A A phase input
3 B B phase input
4 /B /B phase input
5 Z Z phase input
6 /Z /Z phase input
7 VCMD 0~10V analog command
5V GND
8 GND
(V-command Torgue & +5V GND)
9 5V +5V Power
10 TOG Torgue input
11 - -
12 - -
13 - -
14 - -
15 - -
16 - -
17 IN-49 Group 2 Input signa Note
18 OUT-49 Group 2 Output signal Note
19 Pulse+
20 Pulse-
21 Sign+ Pulse Direction+
22 Sign- Pulse Direction -
23 IN-48 Group 1 Input signal Note
24 OUT-48 Group 1 Output signal Note
25 24V +24V Power
24V GND
26 24VGND
I/O & +24V GND
Note: Z axis group 1 I/O address at IN-52(pin23) OUT-52(pin24)

Z axis group 2 I/O address at IN-53(pin17 OUT-53(pin18)
Output current at O: 30mA (H6D\CPU\V6_1 : 50mA)
3 - 13
MPG (H6D)
H6D & H9D that Pin10 Pin11 different only, Please reference the Table 3-3 Table 3-4.
DB26LM (M)
Table 5-3 H6D <MPG> Definition

PinNo Definition Description MPG1 MPG2 DA1 DA2 AD1 AD2 G31
1 A1 A phase output (MPG1)
2 B1 B phase output (MPG1)
Inputs signal to control
5 G31 IN high-speed axial stop
6 5V GND
7 GND MPG AD/DA & +5V
8 GND
9 5V +5V Power
10 IN-86 Group 18 input signal
0~10V analog
12 DA1 command 1
0~10V analog
13 DA2 command 2
±10V analog command
14 AD1 Input 1
15 AD2 Input 2
16
17 D+ CANOpen Signal
18 D- CANOpen Signal
25 24V +24V Power
24V GND
26 24VGND
I/O G31 +24VGND
3 - 14
5 Connections
MPG (H9D)
H6D & H9D that Pin10 Pin11 different only, Please reference the Table 3-3 Table 3-4.
DB26LM (M)
Table 5-4 H9D <MPG> Definition

PinNo Definition Description MPG1 MPG2 DA1 DA2 AD1 AD2 G31
Inputs signal to control
5 G31 IN high-speed axial stop
6 5V GND
7 GND MPG AD/DA & +5V
8 GND
9 5V +5V Power
10 +12V +12V Power
11 -12V -12V Powe
0~10V analog
12 DA1 command 1
0~10V analog
13 DA2 command 2
14 AD1 Input 1
15 AD2 Input 2
16
17 D+ CANOpen Signal
18 D- CANOpen Signal
25 24V +24V Power
24V GND
26 24VGND
I/O G31 +24VGND
5 - 15
AD/DA AnalogSignal W iring
Table 5-5
Register Function Description
Analog Input & Torgue function
R209 Edit by PLC <R209 bit3=1>
enable
AD1,Indicates balue of #1 analog
R142
voltage input Pin 14 Pin 8
R143 Pin 15 Pin 8
voltage input
R146 Pin 12 Pin 8
voltage output
R147 Pin 13 Pin 8
voltage output
Note R209 bit3=1 that analog Input function must enable.
MPG
Connector
GND
8
9
10 DAC output DAC output ADC input ADC input
11
DA1
12
DA2 13
AD1
14
AD2
15
Fig 5-18 AD/DA Analog Signal Wiring
5 - 16
5 Connections
5.
6.1 G31 INPUT Control signals
Contol High-Speed axial stop, responding in 0.5 sec.
Table 5-6
Settings for
related Parameters Description
and Registers
Setting = 0,
I-bit Input signal is an ascending (0 1) trigger signal
Setting = 1,
I-bit Input signal is a descending (1 0) trigger signal
R250
Setting = 2,
I-bit Input signal is a Normal Open (0) signal
Setting = 3,
I-bit Input signal is a Normal Close (1) signal
MPG
Connector
1
2
3
4
G31I
5
G31 Hardware
24VGN
stop signal
26
Fig 5-19 G31 INPUT Signal Wiring
5 - 17
5.
6.2 Axial Control,pin assignment and wiring
Connect servo driver to axial-control connector as shown in Fig.5-20 (pin assignment

identical for all axes).
Servo connections dependent on
different maker
/A 1
A 2
B 3
AXIS /B 4
Z 5
6
/Z
VCMD 7 Displacement command -10 ~ +10V Servo
8 0V
GND signal
TOG 10
Pulse+ 19
Pulse- 20
Sign+ 21
Sign- 22
Fig.5-20 Wiring for Axial Control
1. Isolated twist-pair cables shall be used.

2. Pay special attention to Pins 1-4 of the axial connection. In case the motor runs
scattering, alter the terminal A with the terminal B at the driver end.
3. HUST miller controller, when voltage-command type servo motor is used, you
need to set the Follow Error checking function. (Not applicable to pulse
commands.)
(a) Parameter 533 = 4096 check the value of Follow Error.
(b) Parameter 543 = 63 check Follow Error of the axis X/Y/Z/A/B/C
simultaneously (set by BIT: Bit0=1 for X-axis, Bit1=1 for Y-axis……).
(c) When the ERROR COUNT of the actual feedback of X-axis motor >4096, the
system will issue an error message.
4. In H6D-T Controller, connect Spindle 1 to C-axis, Spindle 2 to A-axis and Spindle
3 to B-axis; and other axes will be connected according to the wiring method
shown.
5 - 18
5 Connections
5.
6.3 W iringof Manual Pulse Generator (MPG)
HUST H6D/H9D series can share 2 units of Manual Pulse Generators

simultaneously.
If the Tool traveling direction is opposite to that indicated for Manual Pulse Generator,
then Parameter 518 can be used to change the Hand Wheel direction.
(If the machine uses two hand wheels, hand wheels will be changed at the same time.)
Operation description of Hand Wheel 2:

In PLC, C237=1. (refer to MPG2 pin)
Select the axis to be controller with R243.
Adjust the multiple with R245.
MPG Pin 6 7 8 are 5V GND.
MPG 1
MPG
+5V 0V A B
A
1
B
2
+5V
3
A
4
B
5
6
0V
7
0V
8
2nd MPG
MPG 2
MPG
+5V 0V A B
A
1
B
2
+5V
3
A
4
B
5
6
0V
7
0V
8
Fig. 5-21 Manual Pulse Generator (MPG) Wiring
5 - 19
5.
6.4 W iringof Spindle Control
There are 2 types of Spindle Control:
(a) Voltage Command type

(b) Pulse Command type
* Voltage Command type
Spindle
VCOM 7
GND 8
+5V 9
/A 1 Servo
A 2 Driver
B 3
/B 4
Z 5
/Z 6
Case Gnd
Fig.5-22 Spindle voltage command control-closed circuit wiring (servo)
Spindle
VCOM 7
GND 8 Inverter
+5V 9 Encoder
/ A 1
A 2 Extemal
B 3 Encoder
/B 4
Z 5
/Z 6
Case GND
Fig.5-23 Spindle Voltage Command Control- Open circuit wiring (Inverter)
5 - 20
5 Connections
* Pulse Command Type
Spindle
Pulse+ 19
Pulse- 20
Sign+ 21
Sign- 22 Servo
/
A 1 Driver
A 2
3
B
4
/B
5
Z 6
/Z 8
Case Gnd
Fig.5-24 Spindle pulse command control- closed circuit wiring (servo)
Spindle
Pulse+ 19
Pulse- 20
Sign+ 21 Inverter
Sign- 22
/A 1 Encoder
A 2
B 3
/B 4
External
Z 5
Encoder
/Z 6
+5V 9
GND 8
Case Gnd
Fig.5-25 Spindle pulse command control- closed circuit wiring (Inverter)
5 - 21
5.
6.5 I/O W iring
Structure of wiring(1)
All of the SIO board must used the same DC24V power supply except to the AC
output board.
24V Power Input 24V Power Input
40-pin Bull-horn harness; Group 1; CONNECT 40-pin Bull-horn harness; Group 2; CONNECT
Board port Board port
I96~I119(24in) O96~O111(16out) I120~I43 (24in) O112~O127 (16out)
HUST H6D CONTROLLER 24V Power Input
TO-NEXT
24V Power Input
15 pin Female to Male cable
I48/032
Fig.5-26
5 - 22
5 Connections
Structure of wiring(2)
All of the SIO board must used the same DC24V power supply except to the AC
output board.
24V Power Input 24V Power Input
40-pin Bull-horn 40-pin Bull-horn

harness; Group 1; harness; Group 2;
CONNECT Board CONNECT Board
port port
I96~I119(24in) I120~I43 (24in)
O112~O127 (16out)
O96~O111(16out)
1. Use in combination as required

2. 10 pin white connecto
3. Can be connected to 3 optional boards
4. Can be connect 4 modules maximum .
5. NPN RELAY BOARD provide 8 dry contacts. Max. current for each output of he PCB
is 1A .
6. AC power output module board provide 8 AC110V outputs. M ax. current for each
output of the PCB is 1A.
7. DC power module board provide 8 DC24V outputs. Max. current for each output of the
PCB is 1A .
Accessories
8 OUT RELAY BOARD AC POWER OUTPUT DC POWER OUTPUT

MODULE BOARD MODULE BOARD
Fig.5-27
5 - 23
5.
6.6 Input/Output wiringschematic
The input signals are the messages transmitted to the Controller from the external device.
These signals can be generated by push button, Limit Switch, Relay Board connection or
Proximity Switch, etc.
The output signals are the messages transmitted to external working machine from the
Controller, which are used to drive the Relay of the Working Machine and the LED
display of the Controller.
Input/
Output Interface
The Controller must link with other accessories through SIO Module Board so as to control the
actions of external I/O, power output and axis control module.
I/
O Connect Board PC Board No. H6D O O 6
Fig 5-28
1. I/O connect board controls 24 input terminals and 16 output terminals.

2. Output control is by 0V output.
3. An INPUT can be of NPN type or PNP type.
4. When NPN and PNP are in use at the same time,
(1) NPN the input voltage at I is 0V.
(2) PNP the input voltage at I is 24V.
5. Input current at I: 3.6mA
6. Output current at O: 100mA (H6D\CPU\V6_1 : 250mA).
5 - 24
5 Connections
Input Pin Assignment (Female) Output Pin Assignment (Male)
13 12 1 00
25 13 14
12 11 2 01
24 14 15
11 10 3 02
23 15 16
10 09 4 03
22 17
9 08 5 04
21 18
8 07 6 05
20 19
7 06 06
19 7
20
6 05
18 8 07
+24V 21
5 04
17 9 08
+24V 22
4 03
16 10 09
02 24V GND 23
3 11 10
15 24V GND 24
2 01
12 11
Table 5-29 I/O Connector Pin Assignment (NPN-PNP Type)
SIO module Board H6C O O 2 1 12
Fig.5-30
Serial Input/Output Module (SIO)
1. The SIO Module Board is provided with 48 input/32 output points respectively.
(a) A maximum of 4 boards can be linked in providing maximum 256 input/176
output points respectively.
(b) It can be linked with Auxiliary Panel (Panel 2).
2. The module can work with the following external components:
(a) Standard input/output CONNECT panel (24 Input/16 Output).
(b) 8 Out Relay boards.
(c) 8 Out DC power boards.
5 - 25
(d) 8 Out AC power boards.

(e) 8 Out Axis Control Modules: To control the Servo or Step Motor.
3. When using with Universal Auxiliary Panel, it will occupy the I/O position of
Panel 2.
4. The Dip Switch is used to define the I/O starting position of SIO Module Board.
Explanation of SIO MODULE BOARD
LED-lamp (Input)
LED-lamp (Output)
SWITCH
Group 1 CONNECT board Group 2 CONNECT board

port port
LED
LED
24V external power input

Fig.5-31
1. LED Indicator:
I-Point Signal LED Indicator (Green) : 3 groups each for upper and lower rows
with each group containing 8 lamps, which makes a total of 48 lamps.
O-Point Signal LED Indicator (Red) : 2 groups each for upper and lower rows
with each group containing 8 lamps, which makes a total of 32 lamps.
2. Dip Switch : For setting the SIO Module Board and I/O ON DIP
staring signal position.
1 2 3 4 SW
5 - 26
5 Connections
Table 5-7 Dip Switch – I/O Module Corresponding Positions

MODULE Switch 1 Switch 2 Switch 3 Switch 4 IN range OUT range
st
1 0 0 0 0 I096 ~ I143 O096 ~ O127
nd
2 1 1 0 0 I144 ~ I191 O144 ~ O175
3rd 0 1 1 0 I192 ~ I239 O192 ~ O223
th
4 1 0 0 1 I240 ~ I255 O240 ~ O255
Module Board 4can control 16 unit of Inputs and 16 units of Outputs.
I/
O related scope when usingwith Operation Panel 2:
Table 5-8 H6D / H9D Controller I/O Corresponding Scope

IO range
Board Switch 1 Switch 2 Switch 3 Switch 4 Input range Output Range
1st 0 0 0 0 I096 ~ I143 O096 ~ O127
nd
2 General Purpose Secondary Control Panel I144 ~ I191 O144 ~ O175
rd
3 0 1 1 0 I192 ~ I239 O192 ~ O223
4th 1 0 0 1 I240 ~ I255 O240 ~ O255
When use 2nd control panel, 2nd SIO address Occupancy.
5 - 27
Conne t oard H6C O CONN CT 1 D
1. I/O connect board controls 24 input terminals and 16 output terminals.

2. Output control is by 0V output.
3. An INPUT can be of NPN type or PNP type.
4. When NPN and PNP are in use at the same time,
(1) NPN the input voltage at I is 0V.
(2) PNP the input voltage at I is 24V.
5. Input current at I: 6mA
6. Output current at O: 100mA
Fig.5-32
8out relayBoard (H6C O L
1. Max. current for each output of the PCB is 1A

2. For a max. current > 1A, use other relays.
Contacts on the RELAY adaptor board are dry contacts
Fig.5-33
5 - 28
5 Connections
AC power output module board H6C O 616
1. AC Power supply adaptor board controls 8 AC110 outputs.

2. Max. current for each output of the PCB is 1A .
3. The 8 Output terminals can sustain a max. current of 8A, all together.
4. 24V power supply can be used alone.
5. Rating of the factory supplied fuse is 5A.
Fig.5-34
DC po er odule oard H6C O DC 6
1. DC power output board controls 8 sets of DC 24V output.

2. Max. current for each output of the PCB is 1A .
3. The 8 Output terminals can sustain a max. current of 8A, all together.
4. Rating of the factory supplied fuse is 5A
Fig.5-35
5 - 29
5.
6.7 W iringof System AC Power Supply
In order to avoid controller anomalies caused byvoltage fluctuations,it is

recommended to provide sequential differences for the ON/OFF of the CNC power
and Servo power.
1. SERVO ON signal shall be activated in a slight delay after the activation of system
power supply, when the latter is stabilized.
2. Before switching off the system power supply, provide a delay for switching off the
SERVO ON signal first.
CNC Power-on Power off delay
Servo Power-on Time
Time
servo on delay
To CPU Power supply R
AC220V R
AC220V S To CPU Power supply T

AC220V T
Timer Delay Contact
Servo
Driver
power-off power-on
Power-On Relay
Power-On Timer Relay
Fan
AC 220V R T0 Servo AMP Power TB P
AC 220V S T0 Servo AMP Power TB N
R S T
Fig.5-36 Wiring of System AC Power Supply
5 - 30
5 Connections
5.
6.8 Servo on W iringExamples
Emergency-Stop wiringdiagram-1
Recommended wiring diagram. In this connection, the software control and hardware
control are connected in a series; when the E-stop button is pressed, the hardware will
switch off Servo-On even if the software fails.
24V GND (0V)
Limit E-Stop
Forced Reset
pushbutton
24in/16out I/O Board (AB765)
X-axis origin LIMIT
Z-axis origin LIMIT

24V GND (0V)
SIO Module Board (AE712)
Servo Driver
Servo-On
Signal
X Axis
Servo activation command

24V Servo Driver
Servo-On
Signal
8 OUT RELAY Board (AB585)
Z Axis
Fig.5-37
External SERVO ON RELAY
5 - 31
Convenient W iringDiagram.
24V GND (0V)

Limit E-Stop
Forced Reset
pushbutton
X-axis origin LIMIT
Z-axis origin LIMIT

24V GND (0V)
Servo Driver
Servo-On
Signal
X Axis
Servo activation command

24V Servo Driver
Servo-On
Signal
Z Axis
External SERVO ON RELAY

Fig.5-38
5 - 32
5 Connections
Convenient W iringDiagram.
24V GND (0V)

Limit E-Stop
Forced Reset
pushbutton
X-axis origin LIMIT
Z-axis origin LIMIT

24V GND (0V)
Servo Driver
Servo-On
Signal
X Axis
Servo Driver
Servo-On
Signal
Z Axis 8 OUT RELAY Board
(AB585)
Fig.5-39
5 - 33
Other W iring Example 1
1st I/O Connect Board

25pin x2 M/F Connetor
I0~I23(24in)
O0~O15(16out)
HUST H6D CONTROLLER
External Relay 2
External Relay 1
Spark Killer
Spark Killer
24V
O00 O15
Output 0V
24V Output 0V
Fig.5-40
5 - 34
5 Connections
Other W iring Example 2:DryContact Output
1st I/O Connect Board

25pin x2 M/F Connector
I0~I23(24in) O0~O15(16out)
24V Power Input
10pin Row Cable, 1st O00~O07 (8out)
AC 220V
Transformer COM
01
COM
02
COM
When Controller is O00=1, it 03
COM
will output AC 220V voltage. 04
COM
05
COM
AC 220V 06
COM
07
Fig.5-41 COM
08
As each COM point is not inter-connected, they should be wired individually

when using.
The external Relay may not be connected that the Relay Board can be used
independently.
As per the figure above, when the Controller is O00=1, it outputs 0V and COM
will be connected with 01 in the meantime.
5 - 35
Other W iring Example 3:DryContact Output
40pin Row cable, 1st Connect board 24V Power Input

I0~I23 (24in) O0~O15 (16out)
24V Power Input
AC 220V
Transformer
COM
01
COM
02
COM
03
When Controller is COM
04
O00=1, it will output AC COM
05
220V voltage. COM
AC 220V 06
COM
07
COM
08
Fig.5-42
5 - 36
5 Connections
Other W iring Example 4:AC Power Output
Single Output Point: The maximum current to be sustained by PC Board will be 1A.
When using 8 output points simultaneously: The maximum current to be sustained by
PC Board will be 8A.
10-pin Soft
DC24V Harness AC110~220V
Power Input Power Input
As per the figure, when the

Controller is O000=1 (AC01), it
will output AC110V voltage.
At DC24V Power Input End: It
can use an independent Power
Provider without sharing with
24V of the module board.
Default Fuse Withstand Current:
5A
AC110V
Voltage Output Fig.5-43
5 - 37
Other wiring Example 5:DC Power Output
Single Output Point: The maximum current to be sustained by PC Board will be 1A.
When using 8 output points simultaneously: The maximum current to be sustained by
PC Board will be 8A.
10-Pin Soft Harness
As per the figure, when the

Controller is O015=1 (07), then
it will output DC 24V voltage.
Default Fuse Withstand Current:
5A
DC24V DC24V
Voltage Input Voltage Output
Fig.5-44
5 - 38
5 Connections
Other W iring Example 6:NPN 3-wire Sensor
"0V" input signal.

SENSOR
Fig.5-45
Other W iring Example 7:NPN 3-wire Sensor
"24V" input signal.

SENSOR Fig.5-46
5 - 39
RS232C Connector,pin-out assignment and wiring
Fig.4-47 shows the connection between the HUST H6D Serial Controller and the
computer (PC). When carrying out the wiring, take the following precautions:
1. The RS232C cable shall not exceed a length of 15m.
2. In case of existence of massive noise generators (e.g., EDM processor, welding

machine, etc.) in the vicinity, Twist-pair type cables shall be used, or such an
environment shall be avoided. The controller and the PC shall NOT share a
common power socket with an EDM or welding machine.
3. Make sure the voltage of the interface at the PC end is within the range of
10~15V.
DC DC
HUST Controller end PC end COM
TXD 2 3 RXD
RXD 3 2 TXD
DB9LM SG 5 7 SG DB25LF
CONNECTOR CTS 7 4 RTS CONNECTOR
RTS 8 5 CTS
HUST Controller end PC end COM
TXD 2 2 RXD
RXD 3 3 TXD
DSR 4 4 DTR DB9LF
DB9LM SG 5 5 SG
DTR 6 6 DSR CONNECTOR
CONNECTOR CTS 7 7 RTS
RTS 8 8 CTS
Fig.5-47
5 - 40
6 Error Message
6 Error Messages
When an error occurs in the execution of an HUST H6D series controller,an error
message will appear in the LCD screen as shown in Fig.10-1. Possible error messages
regarding the HUST H6D series controller,together with their remedies,are described
as follows.
Function Message Field

System Message Field
System ERROR message display
Fig.6-1
* ERROR
Error Code Details Causes

Incorrect MCM parameter setting.
01 B Each axis returned to origin,GRID limit of the servo motor
>1024.
Remedy:
Auto
1. Check MCM parameter for correct setting or double-press MDI to enter "MDI"
mode,execute commend G10P1000 to delete parameter,then re-set parameter.
2. If the controller has rested for more than a year without switching on,the internal
memory will disappear. The controller will display [BT1]indicating the battery
power is low and you need to contact the dealer.
3. The Application Engineer needs to check the PLC to see if C226 is triggered in
time after changing the machine parameters.
6-1

F F value is too big.
X~C Axis follow-up error is too big.
S Spindle follow-up error is too big (>3072).
02 W When starting the forward-feeding function,the error is too
big.
D When starting double-closed circuit control,the error is too
big.
Message:
Error happens to the Circuit System where the Servo is located,which could lead to the
following abnormal situation:
1. The command transmitted by the Controller is too fast that the Servo could not
respond in time.
2. The Controller fails to receive the feedback signal.
Remedy:
1. Check the program for excessive setting of F value;
2. Check whether the Resolution setting is correct (Check items 241~ 252,MCM
parameters);
3. Check if machine or motor is obstructed. Check the wiring.
4. Check Parameter 533;the default value is 4096.
5. Check the wiring condition.

03 L M99 count exceeds maximum limit (#10922>#10921).
Message:
Setting of the M02,M30,or M99 counter exceeds the limit of system variables,10921.
Remedy:
1. Double press 0 button in AUTO mode to clear the counting value.
RESET
2. Clear the system variable count of 10922 so it returns to 0,then press to
remove the error.
3. Or run G10 P201 command in AUTO or MDI mode,for clearing the system
variable (10921)to 0,then press RESET again to clear the error.
6-2
6 Error Message

A U USB/SDC error FR_DISK_ERR
B USB/SDC error FR_INT_ERR
C USB/SDC error FR_NOT_READY
D USB/SDC error FR_NO_FILE
E USB/SDC error FR_NO_PATH
F USB/SDC error FR_INVALID_NAME
G USB/SDC error FR_DENIED
04 H USB/SDC error FR_EXIST
I USB/SDC error FR_INVALID_OBJECT
J USB/SDC error FR_WRITE_PROTECTED
K USB/SDC error FR_INVALID_DRIVE
L USB/SDC error FR_NOT_ENABLED
M USB/SDC error FR_NO_FILESYSTEM
N USB/SDC error FR_MKFS_ABORTED
O USB/SDC error FR_TIMEOUT
Message
When switching the transmission mode,the system reads the errors of the external
storage equipment.
Remedy:
1. Shift the transmission mode back to RS232 Mode and then check if the external
transmission equipment,such as U Panel or SD Card,is correctly configured.
2. Make sure the USB is of FAT format and the file extension of the transferred
program is correct.
3. Consult the dealer or the manufacturer.

05 S Command input is wrong.
Message
Command input is wrong.
Remedy :
Check the format of the input command.
6-3

D Incorrect Data Address retrieved when executing ZDNC.
MDI command error (commend size greater than
08 M
128bytes).
E Size of current program segment exceeds 128bytes.
Message
The length of certain node in the program has exceeded 128 bits.
Remedy:
Check the program and make sure that each segment is within 128 characters.

O RS232 error OVERRUN ERROR
P RS232 error PARITY ERROR
10 F RS232 error FRAME ERROR
B RS232 error BREAK ERROR
N RS232 error OTHER ERROR
Message
Error exists in the communication signal transmitted by RS232C Port of the Controller.
Remedy:
1. Check transmission speed of controller communication port,i.e.,parameter 520 of
MCM is the same value as that of PC or man-machine interface.
2. Check the communication cables between the controller and the PC or the man-
machine interface.

1 CHECKSUM error of program
A SUM error in the Start-up check
11 D Program Memory address error (DOWN MODE)
F Program Memory is full
U Program Memory address error (UP MODE)
Remedy: Auto
Double-press MDI button to enter MDI mode. Run G10 P2001 command to clear all
the program data,check the memory battery. If the controller displays battery low (BT1)
message,you need to replace the battery (data in the memory will be lost if the
controller remains OFF for more than one year).
6-4
6 Error Message

The size of the burn-in program exceeds the limit
H4 Series:56k
H6 Standard: 56k= 896 lines,64bytes per line
H6 Turning/Milling: 56k +128k (saving capacity for
function key)=2944 lines. Since the current limit for burn-
in is 128k,therefore the maximum size is 128k (=2048
12 lines).
The declared command exceeds 20 program lines (G11,
N
G12,G04,M-code).
L error in G10 P0920 Lxxxx
L
(L shall not be empty,and 0<=LA<1000)
Program specified by Lxxxx in G10 P0921 Lxxxx has
P
not been declared.
Message
The capacity of the replicating program is too big (exceeding 128KB).
Remedy:
1. Check the program for incorrect writing.
2. Check the capacity for the program.

G error code.
G During the G87 command,neither of R209 BIT10 and 11
is ON.
T T error code.
13
M M error code (MA<0).
An R error in commands G81~G89.
R (1)R and Z(A)have different symbols.
(2)R and [Z(A)-R]have different symbols.
Message
The program information contains the R Error of G-Code,M-Code or G81-G89 that
are not being set by H6D-T Series,and they cannot be accepted by the Controller.
Remedy:
Check the program and check if the R setting of G-Code,M-Code or G81-G89 is
correct.
6-5

X
.
.
14 . X,Y,Z,A,B,or C-axis Hard limit (OT).
.
.
C
Message:
Axis Tool exceeds the limit of hardware travel scope.
Remedy:
Manually move the axis into its working range.

Servo motor returns to Origin to find GRID signal,the
15 L
distance exceeds the setting range of the parameter.
Message:
When the axis returns to the Home Position,the Servo cannot locate the GRID signal.
Remedy:
1. Adjust the Sensor position of the Home or set the Grid count in the parameters.
2. Check if the servo feedback line is interrupted.

16 G G10P804 Command is wrong.
Message:
The tapping depth in the G32 Command is 0 .
Remedy:
Check the program content.
6-6
6 Error Message

There have some error in programming occurs when
executing the program in AUTO mode.
Error of copied segment in the program;cause for the error
may be one of the following:
1. Non-existence of the source program.
2. Starting line-no. >Ending line-no. in the source
program
3. Starting line-no. >total line-number of the source
program
4. Ending line-no. >total line-number of the source
C program
5. Missing program number in the pasting target.
6. Starting line-no. of the pasting target >total line-
18 number.
7. Memory is full when the pasting content has not been
fully pasted.
8. Source program = pasting target program no.;and,
starting line of source program <=starting line no. of
pasting target <=ending line no. of source program.
Trigger C25 segment data retrieval error: cannot find
M
initial address of specified segment.
T Failure in finding initial address of specified program.
M95Qxxx error (QA is out of 0 127,or QA specified
Q
program does not exist).
M99 jump-back program error (G10P301 specified line-no.
L
error).
P Empty CALL in sub-program. (G60 G63)
Message
Program ending is wrong.
Remedy:
1. Check the ending of the program and add M02 or M03 segment.
2. G80 is not filled for the drilling,tapping command ending area.
3. Check the program for excessive size.
4. Check for any error in the segment content and in serial setting (N)of the specified
segment.
6-7

X
.
.
. X,Y,Z,A,B,C- axis software OT limit.
20 .
.
C
Number of position limits set in the dynamic range of the
N
software exceeds 4000.
Remedy:
Check the program or re-set MCM parameters 581~586 and 601~606,the software
travel limits.

22 Emergency Stop (C002=1).
Remedy:
After removal of error,turn off the Emergency Stop pushbutton,followed by pressing
the RESET button.

24 Memory Stack error.
Remedy:
Check for repetitive use of CALL subroutine.

G02/G03 command error (Radius of starting point unequal
to radius of ending point).
Incorrect input format of R in G02/G03
25 R No displacement in both axes of arc interpolation,or (R<0
in lathe mode).
L 2*[RAR]>[LENGTH].
G I,J,R not specified in G02/G03 command.
Remedy:
Check the program. Re-calculate arc intersection and verify its coordinates.
6-8
6 Error Message

X
. For X~C, when C28=1 and R190 0, R190 < the
27 . deceleration distance of respective axis after the motor
. receives the INPUT of G31.
C
Remedy:
1. Check if R190 setting is too short so that it is less than the acceleration distance.
2. Shorten the acceleration/ deceleration time setting (Motor load to be considered).

N MISSING G70 WITH G7x COMMAND.
28 W [ZA]DIR. SHOULD BE DIFFERENT FROM[G70WA].
U [XA]DIR. SHOULD BE DIFFERENT FROM [G70UA].
Message
In the program,the G71,G72,G73 commands are incorrect or the information format is
wrong.
Remedy:
Check the program to see if the G71,G72,G73 commands are wrong set.

The G code that includes C,R,or A segment is not
G
G00..G04.
P Incorrect parameter setting.
29
A Incorrect setting of A_or its relative parameter.
R Incorrect setting of R_or its relative parameter.
C Incorrect setting of C_or its relative parameter
Message
The format of Auto Chamfering Command is wrong.
Remedy:
Check the program to see if dot syllable is added in the A,R,C commands.

31 Missing PLC.
Remedy:
1. Upload the PLC.
2. Consult the dealer or the manufacturer.
6-9

E in G92 is not within the (1.0 100.0)range (imperial
E
unit).
P P in G76 is not within the (30 90) range.
32 L End of cutting preset length < max. cutting depth.
D G76 (max. cutting depth) < 0.
CANPX-CANPR< CHAMX
C
Threading length <threading tool withdraw length.
Remedy:
Check for any error in the cyclic tapping command of the lathe.

4 Kxx=0 in G34.
5 Kxx=0 in G35.
33 6 Kxx=0 in G36.
7 Pxx<=0 or Kxx=0 in G37.
Execute G35,G36,or G37 in lathe mode.
Remedy:
Check for any error in K setting in commands G34~37 of the lathe.

Format of USB/SDC file is not O8001 .
B
Format of USB/SDC file is not O8002 .
C Format of MCM file is not O9002 .
Format of function key file is not O9140 .
F
Format of variable file is not O9004 .
Format of PLC file is not O9003 .
L
Size of PLC document exceeds upper limit.
36
P Input program no. exceeds 1000 (Oxxxx).
LENGTH OR SUM ERROR
R
#13245,#13246,#13247,#13248.
Format of SYS file is not O9100 .
S
Size of SYS document exceeds upper limit.
T Format of TBL file is not O9110 .
W Input hex file is not in XXXX, 0DH format.
Remedy:
Check for incorrect data transfer format.
6 - 10
6 Error Message

37 NC ALARM (C007=1).
Remedy:
Check external control device,remove error and RESET.

38 Excessive screen display time (>3000ms).
Remedy:
1. Re-transfer screen data file.
2. Consult dealer or manufacturer.

In Tool Offset mode,the command paths between 2 single
41
blocks are 2 parallel lines.
Message
The intersection point is lacking between two straight lines when applying the Tip
Radius Offset function (G41,G42).
Remedy:
Check and G41,G42 commands and analyze the program route and then recalculate.

42 OVER CUT
Message
The system is presenting overcut condition when applying the Tip Radius Offset
function (G41,G42).
Remedy:
Same as 41.

43 Insufficient distance between Start and End (<0.005).
Message
The distance between the starting and ending positions is less than 0.005mm when
applying the Tip Radius Offset function (G41,G42).
Remedy:
Same as 41.
6 - 11

C251=0,Between the single block that the radius of
45
circular arc compensation < 0
Message
The transitional arc of the Chamfer between straight line and arc,arc and straight line,
as well as between arcs is less than zero (0 )when applying the Tip Radius Offset
function (G41,G42).
Remedy:
Same as 41.

In Tool Offset mode,the system fails to determine the
46
center-of-arc when executing an arc command.
Message
The intersection point is lacking at the turning corners between straight line and arc and
between arc and straight line when applying the Tip Radius Offset function (G41,G42).
Remedy:
Same as 41.

After establishing the Tool makeup function,there will be
47
not intersection point between the turning corner of arcs.
Message
The intersection point is lacking at the turning corner between arcs when applying the
Tip Radius Offset function (G41,G42).
Remedy:
Same as 41.

48 Radius of tool offset < 0.
Message
The Tip offset value is less than zero (0 ) when applying the Tip Radius Offset
function (G41,G42).
Remedy:
Check the G41,G42 commands,analyze the program route and reset the Tip offset
value.
6 - 12
6 Error Message

Direction of tool tip in the lathe is not of the 0~9 type
49 Number of segment of axial displacement is greater than
10
Message
1. More than 6 nodes are lacking of axis displacement command from G41 or G42
(insert offset) to G40 (cancel offset)when applying the Tip Radius Offset function
(G41,G42).
2. The Tip orientation is the type other than 0~9 when applying the Tip Radius Offset
function (G41,G42).
Remedy :
Adjust the programming method or reset the Tip orientation.

50
.
Customer-defined error alarm using G65.
.
99
Remedy:
Check for any error in the setting of G65,customer-defined error message.
6 - 13
Functon Alarm:
* Motor has not returned to Home Position

Message:
The axis set by the user for returning to the Home Position has failed to return to the
Home Position.
Remedy:
Move the failed axis back to the Home Position
* Spindle Chuckis not ClampingTightly

Message:
Remedy: If the Spindle Chuck is under loosening status,the Controller will send off
such alarm when starting the Spindle.
Remedy:
Under MDI Mode,clamp the Chuck tightly with M11 Command or press Manual
Chuck under Manual Mode to hold the Chuck tightly.
* Spindle Command Invalid

Message:
Remedy: If the Spindle Chuck is under loosening status,the Controller will send off
such alarm when giving the Spindle CW/CCW action command.
Remedy:
Clamp the Spindle Chuck first and then give the Spindle action command.
* Motor Unusual Signal

Message:
The Servo is operated abnormally.
Remedy:
Check the Motor running status and then remove the Motor alarm.
* Turret not Locked

Message:
When the Tool change is in position,the system fails to send off the Tool Pan locking
signal.
Remedy:
Check the working status of Tool Pan locking signal.
* Tool Change MonitoringOverdue

Message:
The time used by Tool change has exceeded the Tool change monitoring time.
Remedy:
Check if the Turret is running or if the Hydraulic Station is working normally. If yes,
adj
ust the parameters of Tool Change Monitor Time to a moderate range.
* PositionkLimit Alarm
Message:
The axis displacement has exceeded the hardware position limit.
Remedy:
Move the axis toward the opposite direction with Hand Wheel.
6 - 14
6 Error Message
* Count is Up
Message:
The working count of the Workpiece has reached the set count.
Remedy:
1. In Auto Display screen,briefly press 0 for twice and the working count will be
set to zero.
2. Execute M16 command.
3. Press Reset key.
4. Press Start key again.
* HydraulicStation Unusual
Message:
The Hydraulic Station is working abnormally.
Remedy:
Check the working status of the Hydraulic Station.
* Oil Filler is abnormal.

Message:
The Oil Filler is working abnormally.
Remedy:
Check the working status of the Oil Filler.
* Please Start the Spindle First

Message:
If the Spindle stops running when the program is under pausing status,the System will
remind the operator to start the Spindle in order to cancel the pausing status for
resuming normal working process.
* Coolant Unusual
Message:
The Coolant Pump is working abnormally.
Remedy:
Check if the Coolant Pump is working normally.
6 - 15
6 - 16
7 MCM Parameters
7 MCM (Machine Constant) PARAMETERS
HUST H6D/H9D MCM Parameter
H6D / H6DL : X, Y, Z, A, B, C-AXES

H9D / H9DL : X, Y, Z, A, B, C , U, V, W-AXES
Factory
MCM
Default Unit Description Setting
No.
Setting
1 0 mm G54 X-axis 1st Work coordinate (origin)
2 0 mm G54 Y-axis 1st Work coordinate (origin)
3 0 mm G54 Z-axis 1st Work coordinate (origin)
4 0 mm G54 A-axis 1st Work coordinate (origin)
5 0 mm G54 B-axis 1st Work coordinate (origin)
6 0 mm G54 C-axis 1st Work coordinate (origin)
7 0 mm G54 U-axis 1st Work coordinate (origin)
8 0 mm G54 V-axis 1st Work coordinate (origin)
9 0 mm G54 W-axis 1st Work coordinate (origin)
10-20 System Reserved
21 0 mm G55 X-axis 2nd Work coordinate (origin)
22 0 mm G55 Y-axis 2nd Work coordinate (origin)
23 0 mm G55 Z-axis 2nd Work coordinate (origin)
24 0 mm G55 A-axis 2nd Work coordinate (origin)
25 0 mm G55 B-axis 2nd Work coordinate (origin)
26 0 mm G55 C-axis 2nd Work coordinate (origin)
27 0 mm G55 U-axis 2nd Work coordinate (origin)
28 0 mm G55 V-axis 2nd Work coordinate (origin)
29 0 mm G55 W-axis 2nd Work coordinate (origin)
41 0 mm G56 X-axis 3rd Work coordinate (origin)
42 0 mm G56 Y-axis 3rd Work coordinate (origin)
43 0 mm G56 Z-axis 3rd Work coordinate (origin)
44 0 mm G56 A-axis 3rd Work coordinate (origin)
45 0 mm G56 B-axis 3rd Work coordinate (origin)
46 0 mm G56 C-axis 3rd Work coordinate (origin)
47 0 mm G56 U-axis 3rd Work coordinate (origin)
48 0 mm G56 V-axis 3rd Work coordinate (origin)
49 0 mm G56 W-axis 3rd Work coordinate (origin)
61 0 mm G57 X-axis 4th Work coordinate (origin)
62 0 mm G57 Y-axis 4th Work coordinate (origin)
63 0 mm G57 Z-axis 4th Work coordinate (origin)
64 0 mm G57 A-axis 4th Work coordinate (origin)
65 0 mm G57 B-axis 4th Work coordinate (origin)
66 0 mm G57 C-axis 4th Work coordinate (origin)
67 0 mm G57 U-axis 4th Work coordinate (origin)
68 0 mm G57 V-axis 4th Work coordinate (origin)
69 0 mm G57 W-axis 4th Work coordinate (origin)
7-1
Factory
MCM
No.
Setting
121 0 mm X-axis, G28 reference point coordinate
122 0 mm Y-axis, G28 reference point coordinate
123 0 mm Z-axis, G28 reference point coordinate
124 0 mm A-axis, G28 reference point coordinate
125 0 mm B-axis, G28 reference point coordinate
126 0 mm C-axis, G28 reference point coordinate
127 0 mm U-axis, G28 reference point coordinate
128 0 mm V-axis, G28 reference point coordinate
129 0 mm W-axis, G28 reference point coordinate
141 0 mm X-axis, G30 reference point coordinate
142 0 mm Y-axis, G30 reference point coordinate
143 0 mm Z-axis, G30 reference point coordinate
144 0 mm A-axis, G30 reference point coordinate
145 0 mm B-axis, G30 reference point coordinate
146 0 mm C-axis, G30 reference point coordinate
147 0 mm U-axis, G30 reference point coordinate
148 0 mm V-axis, G30 reference point coordinate
149 0 mm W-axis, G30 reference point coordinate
161 0 mm X-axis, Backlash compensation (G01), 0~9.999
162 0 mm Y-axis, Backlash compensation (G01), 0~9.999
163 0 mm Z-axis, Backlash compensation (G01), 0~9.999
164 0 mm A-axis, Backlash compensation (G01), 0~9.999
165 0 mm B-axis, Backlash compensation (G01), 0~9.999
166 0 mm C-axis, Backlash compensation (G01), 0~9.999
167 0 mm U-axis, Backlash compensation (G01), 0~9.999
168 0 mm V-axis, Backlash compensation (G01), 0~9.999
169 0 mm W-axis, Backlash compensation (G01), 0~9.999
181 0 mm X-axis, Backlash compensation (G00), 0~9.999
182 0 mm Y-axis, Backlash compensation (G00), 0~9.999
183 0 mm Z-axis, Backlash compensation (G00), 0~9.999
184 0 mm A-axis, Backlash compensation (G00), 0~9.999
185 0 mm B-axis, Backlash compensation (G00), 0~9.999
186 0 mm C-axis, Backlash compensation (G00), 0~9.999
7-2
7 MCM Parameters
Factory
MCM
No.
Setting
187 0 mm U-axis, Backlash compensation (G00), 0~9.999
188 0 mm V-axis, Backlash compensation (G00), 0~9.999
189 0 mm W-axis, Backlash compensation (G00), 0~9.999
201 1000 mm/min X-axis, JOG Feed-rate
202 1000 mm/min Y-axis, JOG Feed-rate
203 1000 mm/min Z-axis, JOG Feed-rate
204 1000 mm/min A-axis, JOG Feed-rate
205 1000 mm/min B-axis, JOG Feed-rate
206 1000 mm/min C-axis, JOG Feed-rate
207 1000 mm/min U-axis, JOG Feed-rate
208 1000 mm/min V-axis, JOG Feed-rate
209 1000 mm/min W-axis, JOG Feed-rate
221 10000 mm/min X-axis, G00 Traverse speed limit
222 10000 mm/min Y-axis, G00 Traverse speed limit
223 10000 mm/min Z-axis, G00 Traverse speed limit
224 10000 mm/min A-axis, G00 Traverse speed limit
225 10000 mm/min B-axis, G00 Traverse speed limit
226 10000 mm/min C-axis, G00 Traverse speed limit
227 10000 mm/min U-axis, G00 Traverse speed limit
228 10000 mm/min V-axis, G00 Traverse speed limit
229 10000 mm/min W-axis, G00 Traverse speed limit
241 100 pulse X-axis,Denominator,resolution calc.(Encoder pulse)
242 100 m X-axis,Numerator,resolution calculation.(Ball-screwpitch)
243 100 pulse Y-axis,Denominator,resolutioncalc.(Encoder pulse)
244 100 m Y-axis,Numerator,resolutioncalc.(Ball-screwpitch)
245 100 pulse Z-axis,Denominator,resolutioncalc.(Encoder pulse)
246 100 m Z-axis,Numerator,resolutioncalc.(Ball-screwpitch)
247 100 pulse A-axis,Denominator,resolutioncalc.(Encoder pulse)
248 100 m A-axis,Numerator,resolutioncalc.(Ball-screwpitch)
249 100 pulse B-axis,Denominator,resolutioncalc.(Encoder pulse)
250 100 m B-axis,Numerator,resolutioncalc.(Ball-screwpitch)
251 100 pulse C-axis,Denominator,resolutioncalc.(Encoder pulse)
252 100 m C-axis,Numerator,resolutioncalc.(Ball-screwpitch)
253 100 pulse U-axis,Denominator,resolutioncalc.(Encoder pulse)
254 100 m U-axis,Numerator,resolutioncalc.(Ball-screwpitch)
255 100 pulse V-axis,Denominator,resolutioncalc.(Encoder pulse)
256 100 m V-axis,Numerator,resolutioncalc.(Ball-screwpitch)
257 100 pulse W-axis,Denominator,resolutioncalc.(Encoder pulse)
258 100 m W-axis,Numerator,resolutioncalc.(Ball-screwpitch)
281 0 X-axis, HOME direction, 0=+ dir.1=-dir
282 0 Y-axis, HOME direction, 0=+ dir.1=-dir
283 0 Z-axis, HOME direction, 0=+ dir.1=-dir
284 0 A-axis, HOME direction, 0=+ dir.1=-dir
285 0 B-axis, HOME direction, 0=+ dir.1=-dir
286 0 C-axis, HOME direction, 0=+ dir.1=-dir
287 0 U-axis, HOME direction, 0=+ dir.1=-dir
288 0 V-axis, HOME direction, 0=+ dir.1=-dir
289 0 W-axis, HOME direction, 0=+ dir.1=-dir
7-3
Factory
MCM
No.
Setting
301 2500 mm/min X-axis, HOME speed 1
302 2500 mm/min Y-axis, HOME speed 1
303 2500 mm/min Z-axis, HOME speed 1
304 2500 mm/min A-axis, HOME speed 1
305 2500 mm/min B-axis, HOME speed 1
306 2500 mm/min C-axis, HOME speed 1
207 2500 mm/min U-axis, HOME speed 1
308 2500 mm/min V-axis, HOME speed 1
309 2500 mm/min W-axis, HOME speed 1
321 40 mm/min X-axis, Home grid speed during HOME execution
322 40 mm/min Y-axis, Home grid speed during HOME execution
323 40 mm/min Z-axis, Home grid speed during HOME execution
324 40 mm/min A-axis, Home grid speed during HOME execution
325 40 mm/min B-axis, Home grid speed during HOME execution
326 40 mm/min C-axis, Home grid speed during HOME execution
327 40 mm/min U-axis, Home grid speed during HOME execution
328 40 mm/min V-axis, Home grid speed during HOME execution
329 40 mm/min W-axis, Home grid speed during HOME execution
341 0 0/1 X-axis,Home grid direction during HOME execution
342 0 0/1 Y-axis,Home grid direction during HOME execution
343 0 0/1 Z-axis,Home grid direction during HOME execution
344 0 0/1 A-axis,Home grid direction during HOME execution
345 0 0/1 B-axis,Home grid direction during HOME execution
346 0 0/1 C-axis,Home grid direction during HOME execution
347 0 0/1 U-axis,Home grid direction during HOME execution
348 0 0/1 V-axis,Home grid direction during HOME execution
349 0 0/1 W-axis,Home grid direction during HOME execution
361 0 mm X –axis Home grid setting
362 0 mm Y-axis Home grid setting
363 0 mm Z-axis Home grid setting
364 0 mm A-axis Home grid setting
365 0 mm B-axis Home grid setting
366 0 mm C-axis Home grid setting
367 0 mm U-axis Home grid setting
368 0 mm V-axis Home grid setting
369 0 mm W-axis Home grid setting
381 0 mm X-axis, HOME shift data
382 0 mm Y-axis, HOME shift data
383 0 mm Z-axis, HOME shift data
384 0 mm A-axis, HOME shift data
385 0 mm B-axis, HOME shift data
386 0 mm C-axis, HOME shift data
387 0 mm U-axis, HOME shift data
388 0 mm V-axis, HOME shift data
389 0 mm W-axis, HOME shift data
401 10.000 mm X-axis,Setting the value of search servo grid
7-4
7 MCM Parameters
Factory
MCM
No.
Setting
402 10.000 mm Y-axis,Setting the value of search servo grid
403 10.000 mm Z-axis,Setting the value of search servo grid
404 10.000 mm A-axis,Setting the value of search servo grid
405 10.000 mm B-axis,Setting the value of search servo grid
406 10.000 mm C-axis,Setting the value of search servo grid
407 10.000 mm U-axis,Setting the value of search servo grid
408 10.000 mm V-axis,Setting the value of search servo grid
409 10.000 mm W-axis,Setting the value of search servo grid
410-420 0 System Reserved
X-axis Origin switch (+ :N.O (normallyopen) node; -:N.C
421 0
(normally closed) node)
422 0 Y-axis Origin switch (+ :N.O node; -:N.C node)
423 0 Z-axis Origin switch (+ :N.O node; - :N.C node)
424 0 A-axis Origin switch (+ :N.O node; - :N.C node)
425 0 B-axis Origin switch (+ :N.O node; - :N.C node)
426 0 C-axis Origin switch (+ :N.O node; - :N.C node)
427 0 U-axis Origin switch (+ :N.O node; - :N.C node)
428 0 V-axis Origin switch (+ :N.O node; - :N.C node)
429 0 W-axis Origin switch (+ :N.O node; - :N.C node)
441 0 X-axis, Direction of motor rotation, 0=CW, 1=CCW
442 0 Y-axis, Direction of motor rotation, 0=CW, 1=CCW
443 0 Z-axis, Direction of motor rotation, 0=CW, 1=CCW
444 0 A-axis, Direction of motor rotation, 0=CW, 1=CCW
445 0 B-axis, Direction of motor rotation, 0=CW, 1=CCW
446 0 C-axis, Direction of motor rotation, 0=CW, 1=CCW
447 0 U-axis, Direction of motor rotation, 0=CW, 1=CCW
448 0 V-axis, Direction of motor rotation, 0=CW, 1=CCW
449 0 W-axis, Direction of motor rotation, 0=CW, 1=CCW
461 4 X-axis,Encoder pulse multiplicationfactor,1,2,or 4
462 4 Y-axis,Encoder pulse multiplicationfactor,1,2,or 4
463 4 Z-axis,Encoder pulse multiplicationfactor,1,2,or 4
464 4 A-axis,Encoder pulse multiplicationfactor,1,2,or 4
465 4 B-axis,Encoder pulse multiplicationfactor,1,2,or 4
466 4 C-axis,Encoder pulse multiplicationfactor,1,2,or 4
467 4 U-axis,Encoder pulse multiplicationfactor,1,2,or 4
468 4 V-axis,Encoder pulse multiplicationfactor,1,2,or 4
469 4 W-axis,Encoder pulse multiplicationfactor,1,2,or 4
481 5 X-axis impulse command width adjustment (4=625KPPS)
482 5 Y-axis impulse command width adjustment (4=625KPPS)
483 5 Z-axis impulse command width adjustment (4=625KPPS)
484 5 A-axis impulse command width adjustment (4=625KPPS)
485 5 B-axis impulse command width adjustment (4=625KPPS)
486 5 C-axis impulse command width adjustment (4=625KPPS)
487 5 U-axis impulse command width adjustment (4=625KPPS)
488 5 V-axis impulse command width adjustment (4=625KPPS)
489 5 W-axis impulse command width adjustment (4=625KPPS)
Master/Slave mode, 0=CNC, 1=X-axis, 2=Y-axis
501 0
3=Z-axis,4=A-axis,5=B-axis,6=C-axis,7=U-axis,
7-5
Factory
MCM
No.
Setting
8=V-axis, 9=w-axis, 256= non-stop mode in a single block
502 0 Accel/Decel mode,0=exponential,1=linear,2=”S” curve
Home command mode setting.
BIT0 = 0 , X axis find Home grid available,
= 1 , no need to find.
BIT1 = 0 , Y axis find Home grid available,
BIT2 = 0 , Z axis find Home grid available,
BIT3 = 0 , A axis find Home grid available,
503 0 BIT4 = 0 , B axis find Home grid available,
BIT5 = 0 , C axis find Home grid available,
BIT6 = 0 , U axis find Home grid available,
BIT7 = 0 , V axis find Home grid available,
BIT8 = 0 , W axis find Home grid available,
504 100 msec G00 Linear accel./decel. Time, 4~512 ms
505 100 msec G01 Linear accel./decel. Time, 10~1024 ms
506 100 msec Accel/Decel time when in G99 mode (mm/rev)
507 100 msec Time Setting for spindle acceleration
508 0 System Reserved
509 4096 pulse Spindle encoder resolution (pulse/rev)
510 3000 rpm Max. spindle rpm at 10 volts
Spindle voltage command zero drift correction (open
511 0 v
circuit)
Spindle voltage command acce/dece slope correction (open
512 0
circuit)
Spindle RPM correction (based on feedback from the
513 0 rpm
encoder)
514 0 Start number for program block number generation
515 0 Increment for program block number generation
516 1 Denominator of feed-rate when in MPG test mode
517 1 Numerator of feed-rate when in MPG test mode
518 0 MPG direction
519 64 ms Set Acceleration/Deceleration Time for MPG (4~512)
520 38400 RS232 Baud rate, 38400, 19200 / EVEN /2 Bit
Setting whether R000~R99 data in PLC are stored when
521 0
power is cut off. 0=NO, 256=YES
522 0 pulse Servo Error Counter
523 0 Radius/Diameter Programming mode
524 0 0=Metric mode, 25400=inch mode mcm541=0,1
525 3 Error in Circular Cutting, ideal value=1
Pulse settings
526 0
0: pulse + direction 1: +/- pulse 2: A/B phase
527 1000 Setting G01 speed value at booting
528 0 Setting tool compensation direction =1 FAUNC, =0 HUST
It is used for adjusting the G01’s acceleration/deceleration time
529 0
when the acceleration/deceleration type is set to an “S” curve.
7-6
7 MCM Parameters
Factory
MCM
No.
Setting
When MCM 502 2, the function can then be sustained.
530 0 G31 input motion stop at hardware
Format setting
=0 standard,
=1 the system will automatically add a decimal point to
531 0 even numbers,
=2 line editing,
=4 automatically added with a decimal point in
programming
532 2.000 mm Mill mode Setting the backlash of G83
533 4096 pulse Setting the following error count for testing
Testing the function of axial setting of the servo following
534 error bit0-X..
535 Controller ID number
Minimum slope setting of the Auto Teach function (with
536
use of C040)
First distance setting of the Auto Teach function ( with use
537
of C040)
538 0 G41 and G42 processing types
539 System reserved
540 0 Adjustment of the axis feedback direction.
541 0 Arc type
561 0 "S" curve accel./decel. profile setting for the X-axis
562 0 "S" curve accel./decel. profile setting for the Y-axis
563 0 "S" curve accel./decel. profile setting for the Z-axis
564 0 "S" curve accel./decel. profile setting for the A-axis
565 0 "S" curve accel./decel. profile setting for the B-axis
566 0 "S" curve accel./decel. profile setting for the C-axis
567 0 "S" curve accel./decel. profile setting for the U-axis
568 0 "S" curve accel./decel. profile setting for the V-axis
569 0 "S" curve accel./decel. profile setting for the W-axis
570~580 System Reserved
581 9999999 mm X-axis, Software OT limit, (+) direction (Group 1)
582 9999999 mm Y-axis, Software OT limit, (+) direction (Group 1)
583 9999999 mm Z-axis, Software OT limit, (+) direction (Group 1)
584 9999999 mm A-axis, Software OT limit, (+) direction (Group 1)
585 9999999 mm B-axis, Software OT limit, (+) direction (Group 1)
586 9999999 mm C-axis, Software OT limit, (+) direction (Group 1)
587 9999999 mm U-axis, Software OT limit, (+) direction (Group 1)
588 9999999 mm V-axis, Software OT limit, (+) direction (Group 1)
589 9999999 mm W-axis, Software OT limit, (+) direction (Group 1)
601 -9999999 mm X-axis, Software OT limit, (-) direction (Group 1)
602 -9999999 mm Y-axis, Software OT limit, (-) direction (Group 1)
603 -9999999 mm Z-axis, Software OT limit, (-) direction (Group 1)
604 -9999999 mm A-axis, Software OT limit, (-) direction (Group 1)
605 -9999999 mm B-axis, Software OT limit, (-) direction (Group 1)
606 -9999999 mm C-axis, Software OT limit, (-) direction (Group 1)
607 -9999999 mm U-axis, Software OT limit, (-) direction (Group 1)
608 -9999999 mm V-axis, Software OT limit, (-) direction (Group 1)
609 -9999999 mm W-axis, Software OT limit, (-) direction (Group 1)
7-7
Factory
MCM
No.
Setting
621 9999999 mm X-axis, Software OT limit, (+) direction (Group 2)
622 9999999 mm Y-axis, Software OT limit, (+) direction (Group 2)
623 9999999 mm Z-axis, Software OT limit, (+) direction (Group 2)
624 9999999 mm A-axis, Software OT limit, (+) direction (Group 2)
625 9999999 mm B-axis, Software OT limit, (+) direction (Group 2)
626 9999999 mm C-axis, Software OT limit, (+) direction (Group 2)
627 9999999 mm U-axis, Software OT limit, (+) direction (Group 2)
628 9999999 mm V-axis, Software OT limit, (+) direction (Group 2)
629 9999999 mm W-axis, Software OT limit, (+) direction (Group 2)
641 -9999999 mm X-axis, Software OT limit, (-) direction (Group 2)
642 -9999999 mm Y-axis, Software OT limit, (-) direction (Group 2)
643 -9999999 mm Z-axis, Software OT limit, (-) direction (Group 2)
644 -9999999 mm A-axis, Software OT limit, (-) direction (Group 2)
645 -9999999 mm B-axis, Software OT limit, (-) direction (Group 2)
646 -9999999 mm C-axis, Software OT limit, (-) direction (Group 2)
647 -9999999 mm U-axis, Software OT limit, (-) direction (Group 2)
648 -9999999 mm V-axis, Software OT limit, (-) direction (Group 2)
649 -9999999 mm W-axis, Software OT limit, (-) direction (Group 2)
661 0 X-axis, Cycle clearing w/ M02, M30, M99
662 0 Y-axis, Cycle clearing w/ M02, M30, M99
663 0 Z-axis, Cycle clearing w/ M02, M30, M99
664 0 A-axis, Cycle clearing w/ M02, M30, M99
665 0 B-axis, Cycle clearing w/ M02, M30, M99
666 0 C-axis, Cycle clearing w/ M02, M30, M99
667 0 U-axis, Cycle clearing w/ M02, M30, M99
668 0 V-axis, Cycle clearing w/ M02, M30, M99
669 0 W-axis, Cycle clearing w/ M02, M30, M99
681 1 X-axis,0=incrementalcoord.,1=absolute coordinate
682 1 Y-axis,0=incrementalcoord.,1=absolute coordinate
683 1 Z-axis,0=incrementalcoord.,1=absolute coordinate
684 1 A-axis,0=incrementalcoord.,1=absolute coordinate
685 1 B-axis,0=incrementalcoord.,1=absolute coordinate
686 1 C-axis,0=incrementalcoord.,1=absolute coordinate
687 1 U-axis,0=incrementalcoord.,1=absolute coordinate
688 1 V-axis,0=incrementalcoord.,1=absolute coordinate
689 1 W-axis,0=incrementalcoord.,1=absolute coordinate
701 64 pulse X-axis, Position gain, standard=64
702 64 pulse Y-axis, Position gain, standard=64
703 64 pulse Z-axis, Position gain, standard=64
704 64 pulse A-axis, Position gain, standard=64
705 64 pulse B-axis, Position gain, standard=64
706 64 pulse C-axis, Position gain, standard=64
707 64 pulse U-axis, Position gain, standard=64
708 64 pulse V-axis, Position gain, standard=64
709 64 pulse W-axis, Position gain, standard=64
710-720 64 pulse System Reserved
721 10 pulse X-axis,Break-over point for position gain, std=10
7-8
7 MCM Parameters
Factory
MCM
No.
Setting
722 10 pulse Y-axis,Break-over point for position gain, std=10
723 10 pulse Z-axis,Break-over point for position gain, std=10
724 10 pulse A-axis,Break-over point for position gain, std=10
725 10 pulse B-axis,Break-over point for position gain, std=10
726 10 pulse C-axis,Break-over point for position gain, std=10
727 10 pulse U-axis,Break-over point for position gain, std=10
728 10 pulse V-axis,Break-over point for position gain, std=10
729 10 pulse W-axis,Break-over point for position gain, std=10
727-740 10 pulse System Reserved
741 100 X-axis, Denominator, MPG resolution calc.
742 100 X-axis, Numerator, MPG resolution calc.
743 100 Y-axis, Denominator, MPG resolution calc.
744 100 Y-axis, Numerator, MPG resolution calc.
745 100 Z-axis, Denominator, MPG resolution calc.
746 100 Z-axis, Numerator, MPG resolution calc.
747 100 A-axis, Denominator, MPG resolution calc.
748 100 A-axis, Numerator, MPG resolution calc.
749 100 B-axis, Denominator, MPG resolution calc.
750 100 B-axis, Numerator, MPG resolution calc.
751 100 C-axis, Denominator, MPG resolution calc.
752 100 C-axis, Numerator, MPG resolution calc.
753 100 U-axis, Denominator, MPG resolution calc.
754 100 U-axis, Numerator, MPG resolution calc.
755 100 V-axis, Denominator, MPG resolution calc.
756 100 V-axis, Numerator, MPG resolution calc.
757 100 W-axis, Denominator, MPG resolution calc.
758 100 W-axis, Numerator, MPG resolution calc.
781 0 Set X-axis as Rotating (1) / Linear axis (0)
782 0 Set Y-axis as Rotating (1) / Linear axis (0)
783 0 Set Z-axis as Rotating (1) / Linear axis (0)
784 0 Set A-axis as Rotating (1) / Linear axis (0)
785 0 Set B-axis as Rotating (1) / Linear axis (0)
786 0 Set C-axis as Rotating (1) / Linear axis (0)
787 0 Set U-axis as Rotating (1) / Linear axis (0)
788 0 Set V-axis as Rotating (1) / Linear axis (0)
789 0 Set W-axis as Rotating (1) / Linear axis (0)
801 0 000 mm Distance of S bit sent before the X-axis reaches in position. (S176)
802 0 000 mm Distance of S bit sent before the Y-axis reaches in position. (S177)
803 0 000 mm Distance of S bit sent before the Z-axis reaches in position. (S178)
804 0 000 mm Distance of S bit sent before the A-axis reaches in position. (S179)
805 0 000 mm Distance of S bit sent before the B-axis reaches in position. (S180)
806 0 000 mm Distance of S bit sent before the C-axis reaches in position. (S181)
807 0 000 mm Distance of S bit sent before the U-axis reaches in position. (S182)
808 0 000 mm Distance of S bit sent before the V-axis reaches in position. (S183)
809 0 000 mm Distance of S bit sent before the W-axis reaches in position. (S184)
821 0 msec Set Acceleration/Deceleration Time for X-axis
822 0 msec Set Acceleration/Deceleration Time for Y-axis
823 0 msec Set Acceleration/Deceleration Time for Z-axis
7-9
Factory
MCM
No.
Setting
824 0 msec Set Acceleration/Deceleration Time for A-axis
825 0 msec Set Acceleration/Deceleration Time for B-axis
826 0 msec Set Acceleration/Deceleration Time for C-axis
827 0 msec Set Acceleration/Deceleration Time for U-axis
828 0 msec Set Acceleration/Deceleration Time for V-axis
829 0 msec Set Acceleration/Deceleration Time for W-axis
841 0 X-axis allowable compensation of back screw pitch
842 0 Y-axis allowable compensation of back screw pitch
843 0 Z-axis allowable compensation of back screw pitch
844 0 A-axis allowable compensation of back screw pitch
845 0 B-axis allowable compensation of back screw pitch
846 0 C-axis allowable compensation of back screw pitch
847 0 U-axis allowable compensation of back screw pitch
848 0 V-axis allowable compensation of back screw pitch
849 0 W-axis allowable compensation of back screw pitch
851 20000 mm X-axis length compensation of back screw pitch
852 20000 mm Y-axis length compensation of back screw pitch
853 20000 mm Z-axis length compensation of back screw pitch
854 20000 mm A-axis length compensation of back screw pitch
855 20000 mm B-axis length compensation of back screw pitch
856 20000 mm C-axis length compensation of back screw pitch
857~860 System Reserved
861-940 0 X-axis,Pitch error compensation of each segment.
941-1020 0 Y-axis,Pitch error compensation of each segment.
1021-1100 0 Z-axis,Pitch error compensation of each segment.
1101-1180 0 A-axis,Pitch error compensation of each segment.
1181-1260 0 B-axis,Pitch error compensation of each segment.
1261-1340 0 C-axis,Pitch error compensation of each segment.
1341 0 mm Tool #1 radius compensation
1342 0 mm X-axis, Tool #1 offset compensation
1343 0 mm Y-axis, Tool #1 offset compensation
1344 0 mm Z-axis, Tool #1 offset compensation
1345 0 mm A-axis, Tool #1 offset compensation
1346 0 mm B-axis, Tool #1 offset compensation
1347 0 mm C-axis, Tool #1 offset compensation
7 - 10
7 MCM Parameters
Factory
MCM
No.
Setting
7 - 11
Factory
MCM
No.
Setting
1439 0 mm Tool # radius compensation
7 - 12
7 MCM Parameters
Factory
MCM
No.
Setting
7 - 13
Factory
MCM
No.
Setting
1536 0 mm C-axis, Tool #28offset compensation
1551 0 mm Tool 31# radius compensation
1565 0 mm Tool #33radius compensation
7 - 14
7 MCM Parameters
Factory
MCM
No.
Setting
1621 0 mm Tool #1 radius wear compensation
1622 0 mm X-axis, Tool #1 wear compensation
1623 0 mm Y-axis, Tool #1 wear compensation
1624 0 mm Z-axis, Tool #1 wear compensation
1625 0 mm A-axis, Tool #1 wear compensation
1626 0 mm B-axis, Tool #1 wear compensation
1627 0 mm C-axis, Tool #1 wear compensation
7 - 15
Factory
MCM
No.
Setting
7 - 16
7 MCM Parameters
Factory
MCM
No.
Setting
1725 0 mm C-axis, Tool #15wear compensation
7 - 17
Factory
MCM
No.
Setting
1753 0 mm C-axis, Tool #19wear compensation
7 - 18
7 MCM Parameters
Factory
MCM
No.
Setting
7 - 19
Factory
MCM
No.
Setting
7 - 20
7 MCM Parameters
Factory
MCM
No.
Setting
1901 Tool-tip #1 radius compensation
PS: Press PAGE or PAGE once will change twelve items.
7 - 21
7.1 Description of MCM Machine Constants
The decimal format for MCM data in this section is based on 4/3 format.
MCM #1~#36 are for G54~G59 work coordinates data. The setting value is the distance
between the origin of each work coordinate system and the machine HOME position.
All input data have the same format and unit as shown below:
1. G54 (1st) Work Coordinate, X-axis.

2. G54 (1st) Work Coordinate, Y-axis.
3. G54 (1st) Work Coordinate, Z-axis.
4. G54 (1st) Work Coordinate, A-axis.
5. G54 (1st) Work Coordinate, B-axis.
6. G54 (1st) Work Coordinate, C-axis.
7. G54 (1st) Work Coordinate, U-axis.
8. G54 (1st) Work Coordinate, V-axis.
9. G54 (1st) Work Coordinate, W-axis.
Format . Unit: mm (Default=0.000)
MCM# 10~20 System Reserved
21. G55 (2nd) Work Coordinate, X-axis.

22. G55 (2nd) Work Coordinate, Y-axis.
23. G55 (2nd) Work Coordinate, Z-axis.
24. G55 (2nd) Work Coordinate, A-axis.
25. G55 (2nd) Work Coordinate, B-axis.
26. G55 (2nd) Work Coordinate, C-axis.
27. G55 (2nd) Work Coordinate, U-axis.
28. G55 (2nd) Work Coordinate, V-axis.
29. G55 (2nd) Work Coordinate, W-axis.
41. G56 (3rd) Work Coordinate, X-axis.

42. G56 (3rd) Work Coordinate, Y-axis.
43. G56 (3rd) Work Coordinate, Z-axis.
44. G56 (3rd) Work Coordinate, A-axis.
45. G56 (3rd) Work Coordinate, B-axis.
46. G56 (3rd) Work Coordinate, C-axis.
47. G56 (3rd) Work Coordinate, U-axis.
48. G56 (3rd) Work Coordinate, V-axis.
49. G56 (3rd) Work Coordinate, W-axis.
MCM# 61~69 G57 (4th) Work Coordinate.

7 - 22
7 MCM Parameters


MCM Parameters 121~160 are used for setting the coordinates of the reference point.
Its value is the mechanical coordinates of the reference point relative to the mechanical
origin.
121. G28 1st Reference Point Data, X-axis.

122. G28 1st Reference Point Data, Y-axis.
123. G28 1st Reference Point Data, Z-axis.
124. G28 1st Reference Point Data, A-axis.
125. G28 1st Reference Point Data, B-axis.
126. G28 1st Reference Point Data, C-axis.
127. G28 1st Reference Point Data, U-axis.
128. G28 1st Reference Point Data, V-axis.
129. G28 1st Reference Point Data, W-axis.
141. G30 2st Reference Point Data, X-axis.

142. G30 2st Reference Point Data, Y-axis.
143. G30 2st Reference Point Data, Z-axis.
144. G30 2st Reference Point Data, A-axis.
145. G30 2st Reference Point Data, B-axis.
146. G30 2st Reference Point Data, C-axis.
147. G30 2st Reference Point Data, U-axis.
148. G30 2st Reference Point Data, V-axis.
149. G30 2st Reference Point Data, W-axis.
161. Backlash Compensation (G01), X-axis.

162. Backlash Compensation (G01), Y-axis.
163. Backlash Compensation (G01), Z-axis.
164. Backlash Compensation (G01), A-axis.
165. Backlash Compensation (G01), B-axis.
166. Backlash Compensation (G01), C-axis.
167. Backlash Compensation (G01), U-axis.
168. Backlash Compensation (G01), V-axis.
169. Backlash Compensation (G01), W-axis.
Format . Unit: pulse (Default=0) Range:0~9.9999
7 - 23
181. Backlash Compensation (G00), X-axis.

182. Backlash Compensation (G00), Y-axis.
183. Backlash Compensation (G00), Z-axis.
184. Backlash Compensation (G00), A-axis.
185. Backlash Compensation (G00), B-axis.
186. Backlash Compensation (G00), C-axis.
187. Backlash Compensation (G00), U-axis.
188. Backlash Compensation (G00), V-axis.
189. Backlash Compensation (G00), W-axis.
Format . Unit: pulse (Default=0) Range:0~9.9999
201. Jog Speed, X-axis.

202. Jog Speed, Y-axis.
203. Jog Speed, Z-axis.
204. Jog Speed, A-axis.
205. Jog Speed, B-axis.
206. Jog Speed, C-axis.
207. Jog Speed, U-axis.
208. Jog Speed, V-axis.
209. Jog Speed, W-axis.
Format . Unit: mm/min (Default=1000)
221. Traverse Speed Limit, X-axis.

222. Traverse Speed Limit, Y-axis.
223. Traverse Speed Limit, Z-axis.
224. Traverse Speed Limit, A-axis.
225. Traverse Speed Limit, B-axis.
226. Traverse Speed Limit, C-axis.
227. Traverse Speed Limit, U-axis.
228. Traverse Speed Limit, V-axis.
229. Traverse Speed Limit, W-axis.
Format Unit: mm/min (Default=10000)
Note : The format is only for integer.
The traverse speed limit can be calculated from the following equation:
Fmax = 0.95 * RPM * Pitch * GR
RPM : The ratio. rpm of servo motor

Pitch : The pitch of the ball-screw
GR : Gear ratio of ball-screw/motor
Ex: Max. rpm = 3000 rpm for X-axis, Pitch = 5 mm/rev, Gear Ratio = 5/1
Fmax = 0.95 * 3000 * 5 / 5 = 2850 mm/min
Therefore, it is recommended to set MCM #148=2850.
7 - 24
7 MCM Parameters
241. Denominator of Machine Resolution, X-axis.

242. Numerator of Machine Resolution, X-axis.
243. Denominator of Machine Resolution, Y-axis.
244. Numerator of Machine Resolution, Y-axis.
245. Denominator of Machine Resolution, Z-axis.
246. Numerator of Machine Resolution, Z-axis
247. Denominator of Machine Resolution, A-axis.
248. Numerator of Machine Resolution, A-axis
249. Denominator of Machine Resolution, B-axis.
250. Numerator of Machine Resolution, B-axis
251. Denominator of Machine Resolution, C-axis.
252. Numerator of Machine Resolution, C-axis
253. Denominator of Machine Resolution, U-axis.
254. Numerator of Machine Resolution, U-axis
255. Denominator of Machine Resolution, V-axis.
256. Numerator of Machine Resolution, V-axis
257. Denominator of Machine Resolution, W-axis.
258. Numerator of Machine Resolution, W-axis
Format . (Default=100)
Denominator (D) = pulses/rev for the encoder on motor.

Numerator (N) = pitch length (mm/rev) of the ball-screw.
Gear Ratio (GR) = Tooth No. on ball-screw / Tooth No. on motor.
Pulse Multiplication Factor (MF) = MCM #416~#469.
(Pitch of Ball - screw) 1

Machine Resolution = *
(Encoder Pulse) * (MF) GR
Ex1: X-axis as linear axis (MCM #781=0), pitch = 5 mm = 5000 m

Encoder = 2500 pulses, MCM #461 = 4, and GR = 5 (motor rotates 5 times
while ball-screw rotates once)
Machine resolution = 5000/(2500 × 4)/5 = 5000/50000 = 1/10 = 0.1

m/pulse
Therefore, the setting value for MCM #118 (D) and #119 (N) can be set as
or the same ratio of N/D such as. They are all correct.
(1) D=50000, N=5000 (2) D=10, N=1 (3) D=100, N=10
Ex2: Y-axis as rotating axis (MCM #782=1), Angle = 360.000 deg/circle

Encoder = 2500 pulses, MCM #161 = 4, and GR = 5 (motor rotates 5 times
while ball-screw rotates once)
Machine resolution = 360000/(2500 × 4)/5 = 360000/50000 = 36/5 =72/10
7 - 25
Therefore, the setting value for MCM #120 (D) and #121 (N) can be one of
the three combinations. They are all correct.
(1) D=5, N=36 (2) D=10, N=72 (3) D=50000, N=360000
Ex 3 (Position Linear Axis):
The X-axis is an ordinary linear axis (MCM#781= 0) with the guide screw pitch = 5.000
mm.
When the motor rotates one turn, 10000 pulses will be generated.
Gear ratio is 5:1 (When the servo motor rotates 5 turns, the guide screw rotates 1 turn.)
5000 1
Resolution = ×
10000 5
1
=
10
X-axis resolution: denominator setting value (MCM#241)= 10
X-axis resolution: numerator setting value (MCM#242)= 1
Ex 4 (Position type rotational axis):
The Y-axis is a rotational axis (MCM#782 = 1). The angle for rotating 1 turn = 360.000
(degree)
One turn of the motor will generate 10000 pulses.
Gear ratio is 5:1 (When the servo motor rotates 5 turns, the Y-axis rotates 1 turn.)
360000 1
Resolution = ×
10000 5
36
=
5
Y-axis resolution: denominator setting value (MCM#243) = 5
Y-axis resolution: numerator setting value (MCM#244) = 36
Note 1: When the resolution <1/20, the motor may have the problem of not able
to reach its maximum rotation speed.
Note 2: When the resolution 1/100, the software travel limit should be within
the following range:
-9999999 ~ 999999, otherwise an error message may occur which cannot
be released.
Ex: For MCM#241=400 and MCM#242=2, when the X-axis resolution is smaller
than 1/100, the setting values of the software travel limit for the X-axis:
Parameter 581 should be less than 9999999 and Parameter 601 should be
greater than -999999.
281. Home Direction for Tool, X-axis.
7 - 26
7 MCM Parameters
282. Home Direction for Tool, Y-axis.

283. Home Direction for Tool, Z-axis.
284. Home Direction for Tool, A-axis.
285. Home Direction for Tool, B-axis.
286. Home Direction for Tool, C-axis.
287. Home Direction for Tool, U-axis.
288. Home Direction for Tool, V-axis.
289. Home Direction for Tool, W-axis.
Format (Default=0)
Setting = 0, Tool returning to HOME in the positive direction.

Setting = 1, Tool returning to HOME in the negative direction
301. Home Speed When Tool Going to Home, X-axis.

302. Home Speed When Tool Going to Home, Y-axis.
303. Home Speed When Tool Going to Home, Z-axis.
304. Home Speed When Tool Going to Home, A-axis.
305. Home Speed When Tool Going to Home, B-axis.
306. Home Speed When Tool Going to Home, C-axis.
307. Home Speed When Tool Going to Home, U-axis
308. Home Speed When Tool Going to Home, V-axis
309. Home Speed When Tool Going to Home, W-axis
321. Home Grid Speed When Tool Going to Home, X-axis.

322. Home Grid Speed When Tool Going to Home, Y-axis.
323. Home Grid Speed When Tool Going to Home, Z-axis.
324. Home Grid Speed When Tool Going to Home, A-axis.
325. Home Grid Speed When Tool Going to Home, B-axis.
326. Home Grid Speed When Tool Going to Home, C-axis.
327. Home Grid Speed When Tool Going to Home, U-axis.
328. Home Grid Speed When Tool Going to Home, V-axis.
329. Home Grid Speed When Tool Going to Home, W-axis.
341. The direction that servo motor search the Grid when X-axis going back to HOME.
342. The direction that servo motor search the Grid when Y-axis going back to HOME.
343. The direction that servo motor search the Grid when Z-axis going back to HOME.
344. The direction that servo motor search the Grid when A-axis going back to HOME.
345. The direction that servo motor search the Grid when B-axis going back to HOME.
346. The direction that servo motor search the Grid when C-axis going back to HOME.
347. The direction that servo motor search the Grid when U-axis going back to HOME.
348. The direction that servo motor search the Grid when V-axis going back to HOME.
7 - 27
349. The direction that servo motor search the Grid when W-axis going back to
HOME.
Format (Default=0)
EX:
When MCM#341= 0, the 2nd and 3rd direction is the same with 1st
MCM#341= 1, the 2nd is the same with 1st .
MCM#341= 128, the 2nd direction is opposite to 1st .
MCM#341= 256, the 2nd and 3rd direction is opposite to 1st .
Set the moving speed when the tool, after having touched the HOME limit switch,
is searching for the encoder grid signal during HOME execution. HUST H6D/
H9D CNC has three (3) different speeds when you execute HOME function as
shown by Fig 7.2.
Speed 1: The motor accelerates to Speed 1 and its maximum speed is

determined by the settings of MCM #301 ~ #309, (X, Y, Z, A, B, C, U,
V, W-axis) and the direction by MCM #281 ~ #289. When tool
touches the home limit switch, it starts deceleration to a stop.
Speed 2: The motor accelerates again to speed 2 and its maximum speed is
equal to 1/4 of Speed 1 and the direction is by MCM #341~#349.
When tool starts leaving the home limit switch, it starts deceleration to
a stop.
Speed 3: The motor accelerates to speed 3 and its maximum speed is
determined by the settings of MCM #321~#329 and the direction by
MCM #341~#349. Once the encoder grid index is found, motor
decelerates to a stop. This is the HOME position.
Note that the length of the Home limit switch should be longer than the distance
for the deceleration of Speed 1. Otherwise, serious error may result. The equation
to calculate the length of the Home limit switch is
FDCOM * ACC
Length of Home Limit Switch (mm)
60000
FDCOM = Speed 1, in mm/min. (MCM #301~ #309)

ACC = Time for acceleration/deceleration, in ms. (MCM #505)
60000 = 60 seconds = 60 * 1000 milliseconds
When the C-bit C063=1 in PLC program, it commands the controller to do

homing operation. Do homing operation for X-axis if R232=1, do Y-axis if
R232=2, do Z –axis if R232=4 , do A–axis if R232=8 and do four axes
simultaneously if R232=15.
Ex: FDCOM = 3000.00 mm/min, and ACC = 100 ms

Length of Home Limit Switch = 3000 * 100 / 60000 = 5 mm
7 - 28
7 MCM Parameters
Speed MCM #136~ #139

Touch the LIMIT SWITCH Leave the LIMIT SWITCH
Direction MCM#130~ #133
C064=1 C065=1 C066=1 C064=0 C065=0 C066=0
Speed MCM#136~ #139 1/4
Speed 1st Section Speed Direction MCM#231~ #234= 256
INDEX of finding Encoder

nd
2 Speed MCM#142~ #145
3rd Direction MCM#231~ #234= 256
Tool Position
Fig 7.2 (A) Homing Speed and Direction of finding GRID

Touch the LIMIT SWITCH
C064=1 C065=1 C066=1
Speed
1st Section Speed
Speed MCM#142~ #145
Direction MCM#231~ #234= 128
3rd
Tool Position
2nd
Leave the LIMIT SWITCH
C064=0 C065=0 C066=0
Speed MCM#136~ #139 1/4
Fig 7.2 (B) Homing Speed and Direction of finding GRID

Direction MCM#130~ #133 C064=1 C065=1 C066=1
Speed
Leave the LIMIT SWITCH
1st Section Speed C064=0 C065=0 C066=0
Speed MCM#136~ #139 1/4
2nd
Tool Position
3rd

Speed MCM#142~ #145
Fig 7-2 C Homing Speed and Direction of finding GRID
7 - 29

Speed 1st Section Speed C064=1 C065=1 C066=1
3rd 2nd
Tool Position
INDEX of finding Encoder Leave the LIMIT SWITCH

Speed MCM#142~ #145 C064=0 C065=0 C066=0
Direction MCM#231~ #234= 0 Speed MCM#136~ #139 1/4
Fig 7-2 D Homing Speed and Direction of finding GRID
361. Setting the X-Home grid setting.

362. Setting the Y-Home grid setting.
363. Setting the Z-Home grid setting.
364. Setting the A-Home grid setting.
365. Setting the B-Home grid setting.
366. Setting the C-Home grid setting.
367. Setting the U-Home grid setting.
368. Setting the V-Home grid setting.
369. Setting the W-Home grid setting.
Format= . (Default=0.000), unit: mm
Leaving from the origin switch signal, deviating from the above set distance, and
then you can start to execute the Homing process (third section) to locate the
motor Gird signal.
381. Home-Shift Data, X-axis.

382. Home-Shift Data, Y-axis.
383. Home-Shift Data, Z-axis.
384. Home-Shift Data, A-axis.
385. Home-Shift Data, B-axis.
386. Home-Shift Data, C-axis.
387. Home-Shift Data, U-axis.
388. Home-Shift Data, V-axis.
389. Home-Shift Data, W-axis.
Format . Unit: mm/min (Default=0.000)
Set the amount of coordinate shift for HOME location (or machine origin). With
these settings, the machine coordinate will be shifted by the same amount when
you execute "Home". If home shift data are zero for all axes, the machine
7 - 30
7 MCM Parameters
coordinate after "Home" operation will be zero also. Note that the work
coordinate will be shifted by the same amount.
401. The distance that servo motor search the Grid when X-axis going back to HOME.
402. The distance that servo motor search the Grid when Y-axis going back to HOME.
403. The distance that servo motor search the Grid when Z-axis going back to HOME.
404. The distance that servo motor search the Grid when A-axis going back to HOME.
405. The distance that servo motor search the Grid when B-axis going back to HOME.
406. The distance that servo motor search the Grid when C-axis going back to HOME.
407. The distance that servo motor search the Grid when U-axis going back to HOME.
408. The distance that servo motor search the Grid when V-axis going back to HOME.
409. The distance that servo motor search the Grid when W-axis going back to HOME.
Format= . (Default 10.000)
The distance’s maximum when servo motor searching the Grid signal:
EX
The servo motor of X-axis turns 3/4 round = 5.000 mm, MCM# 401 = 5.200
The servo motor of Y-axis turns 3/4 round = 5.000 mm, MCM# 402 = 5.200
The servo motor of Z-axis turns 3/4 round = 5.000 mm, MCM# 403 = 5.200
The servo motor of A-axis turns 3/4 round = 5.000 mm, MCM# 404 = 5.200
The servo motor of B-axis turns 3/4 round = 5.000 mm, MCM# 405 = 5.200
The servo motor of C-axis turns 3/4 round = 5.000 mm, MCM# 406 = 5.200
If it exceeds the range and the motor can not find the Grid still. ERR15 will be
shown up.
421. X-axis origin switch (+: N.O node; -: N.C node)

422. Y -axis origin switch (+: N.O node; -: N.C node)
423. Z -axis origin switch (+: N.O node; -: N.C node)
424. A-axis origin switch (+: N.O node; -: N.C node)
425. B -axis origin switch (+: N.O node; -: N.C node)
426. C-axis origin switch (+: N.O node; -: N.C node)
427. U-axis origin switch (+: N.O node; -: N.C node
428. V-axis origin switch (+: N.O node; -: N.C node
429. W-axis origin switch (+: N.O node; -: N.C node
Example: MCM 421=5

Set I5 to be the X-axis origin signal with format NO
MCM 425=-6
Set I6 to be the A-axis origin signal with format NC
Default = 0, Funcitons are inactive, 0, Functions are active.
7 - 31
If a homing process with C64-69 is planned in PLC, it shall be based on

the activity set by PLC.
441. Direction of Motor Rotation, X-axis.

442. Direction of Motor Rotation, Y-axis.
443. Direction of Motor Rotation, Z-axis.
444. Direction of Motor Rotation, A-axis.
445. Direction of Motor Rotation, B-axis.
446. Direction of Motor Rotation, C-axis.
447. Direction of Motor Rotation, U-axis.
448. Direction of Motor Rotation, V-axis.
449. Direction of Motor Rotation, W-axis.
Format (Default=0)
Setting = 0, Motor rotates in the positive direction. (CW)

Setting = 1, Motor rotates in the negative direction. (CCW)
This MCM can be used to reverse the direction of motor rotation if desired. So
you don’t have to worry about the direction of rotation when installing motor.
These parameters will affect the direction of HOME position
IMPORTANT: Motor Divergence
Due to the variations in circuit design of the servo drivers that are available from
the market, the proper electrical connections from servo encoder to the driver,
then to the CNC controller may vary. If the connections do not match properly,
the motor RPM may become divergent (Rotate @ HIGH RPM) and damage to
the machine may result. For this reason, HUST strongly suggest separate the
servo motor and the machine before you are 100% sure the direction of the
motor rotation. If a motor divergence occurs, please inter-change the connections
of (A and B phase) and (A- and B- phase) on the driver side.
(This statement has nothing to do with MCM #154~ #157 but it’s very important
when connecting electrical motor.)
If a motor divergence occurs, please inter-change the connections of (A and B

phase) and (A- and B- phase) on the driver side.
7 - 32
7 MCM Parameters
EX:
Servo connections dependent
on different maker
1
/A
A 2
3
AXIS B
4
/B
5
Z
/Z 6
7 Displacement command -10 ~ +10V Servo
VCMD
8 0V signal
GND
10
TOG
19
Pulse+
20
Pulse-
21
Sign+
22
Sign-
Fig 7.3
461. Encoder Multiplication Factor, X-axis.

462. Encoder Multiplication Factor, Y-axis.
463. Encoder Multiplication Factor, Z-axis.
464. Encoder Multiplication Factor, A-axis.
465. Encoder Multiplication Factor, B-axis.
466. Encoder Multiplication Factor, C-axis.
467. Encoder Multiplication Factor, U-axis.
468. Encoder Multiplication Factor, V-axis.
469. Encoder Multiplication Factor, W-axis.
Format (Default=4)
Only one the following 3 numbers:

Setting = 1, Encoder pulse number is multiplied by 1.
Note:
The setting of multiplication is highly relative with machine’s rigidity. If a motor
divergence occurs too heavily, it means that the rigidity is too big. And then it can be
improved by lowering the multiplication.
Ex: If factor = 2 for MCM #161 and the encoder resolution is 2000 pulses/rev,
then the feed-back signals = 2000 * 2 = 4000 pulses/rev for Y-axis.
481. X-axis impulse command width adjustment.
7 - 33
482. Y-axis impulse command width adjustment.

483. Z-axis impulse command width adjustment.
484. A-axis impulse command width adjustment.
485. B-axis impulse command width adjustment.
486. C-axis impulse command width adjustment.
487. U-axis impulse command width adjustment.
488. V-axis impulse command width adjustment.
489. W-axis impulse command width adjustment.
Format= (Default=4)
Setting range 1~63

Used to adjust each axial impulse command width
If the pulse frequency from H6D/H9D controller is 1Hz, then the cycle time of a
pulse is 0.25us. If it is required to extend the pulse cycle time, it can be achieved
through adjust ment of the impulse width.
For example:
If MCM 486=4, the impulse cycle time in the X-axis direction is 4*0.25=1.5us
and the frequency is 625KHz.
501. Master/Slave Mode Setting

Format . (Default=0)
Setting = 0, CNC mode, Master/Slave mode NOT set.

= 1, X-axis as master axis, Y, Z, A, B, C, U, V, W-axis as slave axes.
= 2, Y-axis as master axis, X, Z, A, B, C, U, V, W -axis as slave axes.
= 3, Z-axis as master axis, X, Y, A, B, C, U, V, W -axis as slave axes.
= 4, A-axis as master axis, X, Y, Z, B, C, U, V, W -axis as slave axes.
= 5, B-axis as master axis, X, Y, Z, A, C, U, V, W -axis as slave axes.
= 6, C-axis as master axis, X, Y, Z, A, B, U, V, W -axis as slave axes.
= 7, U-axis as master axis, X, Y, Z, A, B, C, V, W -axis as slave axes.
= 8, V-axis as master axis, X, Y, Z, A, B, C, U, W -axis as slave axes.
= 9, W-axis as master axis, X, Y, Z, A, B, C, U, V -axis as slave axes.
= 256, Round Corner Non-stop Operation
502. Type of Motor Acceleration/Deceleration

Format (Default=1)
Setting = 1, Linear type.

Setting = 2, "S" curve.
503. Home command mode setting.

BIT0 = 0 X axis find Home grid available, =1 X axis no need to find Home grid.
BIT1 = 0 Y axis find Home grid available, =1 Y axis no need to find Home grid.
BIT2 = 0 Z axis find Home grid available, =1 Z axis no need to find Home grid.
BIT3 = 0 A axis find Home grid available, =1 A axis no need to find Home grid.
BIT4 = 0 B axis find Home grid available, =1 B axis no need to find Home grid.
BIT5 = 0 C axis find Home grid available, =1 C axis no need to find Home grid.
7 - 34
7 MCM Parameters
BIT6 = 0 U axis find Home grid available, =1 U axis no need to find Home grid.
BIT7 = 0 V axis find Home grid available, =1 V axis no need to find Home grid.
BIT8 = 0 W axis find Home grid available, =1 W axis no need to find Home grid.
504. Servo Motor Acceleration/Deceleration Time, G00.

Format Unit: millisecond (Default=100)
Setting Range: 2 ~ 3000 millisecond
505. Servo Motor Acceleration/Deceleration Time (T), G01.

Format Unit: millisecond (Default=100)
Setting Range: 2 ~ 3000 millisecond.
100 milliseconds is the recommended setting for both G00 and G01.
If MCM #502 setting = 0, type of accel./decel. for G01 = exponential

If MCM #502 setting = 1, type of accel./decel. for G01 = Linear.
If MCM #502 setting = 2, type of acceleration/deceleration for G01 = "S" curve.
In this case, the actual acceleration/deceleration time is twice the setting value.
506. Acceleration/Deceleration Time for G99 Mode.

Format Unit: Millisecond (Default=100)
Setting Range: 4 ~ 3000 ms.
507. Set the spindle Acceleration/Deceleration time in master mode.

Format Unit: Millisecond (Default=100)
Setting Range: 4 ~ 3000 ms.
508. Spindle Encoder Pulse Per Revolution

Format Unit: Pulse/rev (Default=4096)
509. Set Spindle Motor RPM When Vcmd = 10 Volt.

Format Unit: RPM (Default=3000)
510. Spindle voltage command 0V output balance adjustment (open circuit).
511. Spindle voltage command slope correction (open circuit).

Format S= (Default=0), Set the reference value 2047.
512. Spindle RPM correction (based on feedback from the encoder).
513. Starting Number for Auto Generation of Program Block Number.

Format S= (Default=0)
514. Increment for Auto-generation of Program Block Number.

Format D= (Default=0)
515. If D = 0, the program block number of a single program block will not be
generated automatically.
In the Edit or Teach mode, the block number of a single block can be
automatically generated by simply press the INSERT key. If the RESET key is
7 - 35
pressed, the block number of a single block will be renumbered according to the
setting values in Parameters 514 and 515.
Ex: S = 0 , D = 5
The program block number will be generated in the sequence: 5,10,15,20,25 …
516. Denominator of Feed-rate Multiplication Factor for MPG Test.
517. Numerator of Feed-rate Multiplication Factor for MPG Test.

Format (Default=100)
Note: If the MPG rotation speed is not proper, it can be adjusted by MCM#516,
#517. The two items are up to 5 units and it must be integer. They also can not set
as zero.
518. Handwheel direction

Format= (Default= 0).
If it is necessary to change the relation between the current handwheel rotational

direction and the axial displacement direction, it can be achieved by setting the
value to 0 or 1.
It can be adjusted separately the corresponding axial direction bit 0 =x bit 1

=y....
Example: BIT 0=1 The X-axis handwheel command is reverse, but other axes
remain at the default.
519. Set Acceleration / Deceleration Time for MPG

Format= , (Default = 64), Unit: milliseconds
Setting Range: 4~512 ms.
The motor acceleration / deceleration time is equal to MCM #519 when MPG
hand-wheel is used in JOG mode.
520. RS232C Baud Rate.

Format (Default = 38400)
Set RS232C communication speed. Choose from, 9600, 19200, 38400, 57600,
115200 Speed rate 38400 stands for 38400 bits per second.
In addition, use the following settings for your PC:

Parity -- Even
Stop Bits -- 2 bits
Data Bits – 7 bits
521. Flag to Save the Data of R000~R199 in PLC when power-off.

Format (Default=0)
Setting = 0, NOT to save.
7 - 36
7 MCM Parameters
Setting = 256, Save R000~R199 data.
522. Servo Error Count

Format (Default=0)
When executing locating operation, the controller has sent out the voltage
command, but the motor maybe fall behind some distance. This parameter is used
to set that the controller could execute next operation or not according to the
setting range of pulse
Set MCM#522 = 0 for generating 4096 pulses.

Set MCM#522 0 for user defined value.
523. Radius / diameter programming mode

Format= (Default = 0)
0: Radius programming
1: Diameter programming
524. METRIC/INCH Mode Selection (default = 0)

Setting = 0, Measurement in METRIC unit.

Setting = 1, Measurement in INCH unit.
525. Error in Circular Cutting

Range:1 ~ 32
In circular cutting, the ideal cutting path is a circular arc, but the actual motor
path is along the arc cord (a straight line). Therefore, there is a cutting error as
shown in the figure below.
The less the setting set; the better the
circular arc cut.
Cutting Error
Fig 7.4
This parameter enables the user to adjust acceptable error. The smaller is the
setting (=1, the best), the better the circular cutting result. However, the setting
should not be too small to the point that it’s not able to drive the motor.
526. 6-axis parameter settings in pulse type

Format = , Default: 0
Setting 0: pulse + direction
7 - 37
Setting 1: +/- pulse

Setting 2: in the format of Phase A or B
527. Setting the G01 speed value at booting

Format= (Default=1000)
After booting, in executing the program or MDI command, if you have not used
the F command yet, nor the current single block has designated the F value, then
use the MCM 527 value as the F value of the current single block.
528. Setting the tool compensation direction

Format= (Default=0)
0 HUST
1 FANUC
Tool-wear compensation direction - HUST: same direction; FANUC: reverse
direction.
529. It is used for adjusting the G01’s acceleration/deceleration time when the
acceleration/deceleration type is set to an “S” curve.
Format= (Default=100) in unit of millisecond (msec).
When MCM 502 2, the function can then be sustained.
Setting range 10~512 ms.
531. Line editing entry format and numeral decimal’s automatic-generating setting.
Format (default setting 0)
0 The standard mode.

1 When setting the parameter values in the system master list, the system
will automatically add a decimal point to even numbers.
Ex MCM 401 setting
Enter 1 1.000
Enter 1.999 1.999
2 Line Editing.
Ex Enter G00 X10.
Standard mode steps
Step 1 Step 2 Step 3 Step 4
GOO ENTER X10. ENTER
Line editing
Step 1 Step 2
GOO X10. ENTER
4 At editing, decimal point will be automatically generated for the variable
value.
7 - 38
7 MCM Parameters
At program editing and also entering even numbers, the system will
automatically add decimal point to even numbers.
532. In the milling mode, set the gap for drill to withdraw.
Format= . (Default= 2.000) unit:mm
533. Setting the test following count

Format= (Default= 0)
With use of parameter Item No.534
534. Testing the axial setting of the servo following error function
Format= (Default = 0)
Set the testing corresponding to the axis with Bit
Description:
When MCM534 1 and Bit0 = 1, test the X-axus.
When MCM534 2 and Bit1 = 1, test the Y-axis.
When MCM534 4 and Bit2 = 1, test the Z-axis.
When MCM534 8 and Bit3 = 1, test the A-axis.
When MCM534 16 and Bit4 = 1, test the B-axis.
When MCM534 32 and Bit5 = 1, test the C-axis.
When MCM534 64 and Bit6 = 1, test the U-axis.
When MCM534 128 and Bit7 = 1, test the V-axis.
When MCM534 256 and Bit8 = 1, test the W-axis.
When MCM534 511, i.e. Bit0 ~ Bit8= 1, then test X/Y/Z/A/B/C/U/V/W-axes at

the same time.
Caution: For HUST H6D/H9D controller, if the servo motor used is a voltage
command type, it is necessary to set testing the following error function ( not
applicable for the impulse command type).
The controller will compare the actual feedback difference of the servo motor
with the setting of the parameter Item No 533. If the controller detects that the
axis has been set beyond the range, the system will display an error message.
Example: When the parameter Item No 533= 4096, the parameter Item No
534=1, and
The actual motor following error
4096 (Parameter Item No 533), it will generate ERROR 02 X
535. Controller ID number

Control connection of multiple units with PC. Currently, the function is reserved.
7 - 39
536. Setting the minimum slope of the Auto Teach function

Format= . (Default= 0)
Setting range: +360.00 ~ -360.00
537. Setting the first point distance of the Auto Teach function.
Format= . (Default= 0)
538. G41 and G42 Handling type

Format= (Default 0)
When the setting value =0, an error is displayed, the interference problem
is not handelled, and the motion is stopped.
=1 Automactilly handle the interference problem.
=2 The error message is not displayed and the interference problem is
not handeled.
539. System Reserved
540. Adjustment of the feedback direction for the axes

Format= (Default 0)
Set the corresponding axes by the bit pattern.
Description:
If MCM540 1, Bit0 = 1, the feedback direction is reverse for the X-axis.
If MCM540 2, Bit1 = 1, the feedback direction is reverse for the Y-axis.
If MCM540 4, Bit2 = 1, the feedback direction is reverse for the Z-axis.
If MCM540 8, Bit3 = 1, the feedback direction is reverse for the A-axis.
If MCM540 16, Bit4 = 1, the feedback direction is reverse for the B-axis.
If MCM540 32, Bit5 = 1, the feedback direction is reverse for the C-axis.
If MCM540 64, Bit6 = 1, the feedback direction is reverse for the U-axis.
If MCM540 128, Bit7 = 1, the feedback direction is reverse for the V-axis.
If MCM540 256, Bit8 = 1, the feedback direction is reverse for the W-axis.
541. Arc type

Format= (Default 0)
Setting =0 arc cord height control.

=1 arc cord length control.
=2 system internal automatic control (500 sections/sec).
7 - 40
7 MCM Parameters
561. “S” curve accel./decel. profile setting for the X-axis.

562. “S” curve accel./decel. profile setting for the Y-axis.
563. “S” curve accel./decel. profile setting for the Z-axis.
564. “S” curve accel./decel. profile setting for the A-axis.
565. “S” curve accel./decel. profile setting for the B-axis.
566. “S” curve accel./decel. profile setting for the C-axis.
567. “S” curve accel./decel. profile setting for the U-axis.
568. “S” curve accel./decel. profile setting for the V-axis.
569. “S” curve accel./decel. profile setting for the W-axis.
When R209 Bit30=1, the “S” curve accel./decel. profile settings can be configured
independently.
581. Software OT Limit in (+) Direction, X-axis. (Group 1)

582. Software OT Limit in (+) Direction, Y-axis. (Group 1)
583. Software OT Limit in (+) Direction, Z-axis. (Group 1)
584. Software OT Limit in (+) Direction, A-axis. (Group 1)
585. Software OT Limit in (+) Direction, B-axis. (Group 1)
586. Software OT Limit in (+) Direction, C-axis. (Group 1)
587. Software OT Limit in (+) Direction, U-axis. (Group 1)
588. Software OT Limit in (+) Direction, V-axis. (Group 1)
589. Software OT Limit in (+) Direction, W-axis. (Group 1)
Format Unit: mm/min (Default=9999.999)
Set the software over-travel (OT) limit in the positive (+) direction, the setting
value is equal to the distance from positive OT location to the machine origin
(HOME).
601. Software OT Limit in (-) Direction, X-axis. (Group 1)

602. Software OT Limit in (-) Direction, Y-axis. (Group 1)
603. Software OT Limit in (-) Direction, Z-axis. (Group 1)
604. Software OT Limit in (-) Direction, A-axis. (Group 1)
605. Software OT Limit in (-) Direction, B-axis. (Group 1)
606. Software OT Limit in (-) Direction, C-axis. (Group 1)
607. Software OT Limit in (-) Direction, U-axis. (Group 1)
608. Software OT Limit in (-) Direction, V-axis. (Group 1)
609. Software OT Limit in (-) Direction, W-axis. (Group 1)
Format . Unit: mm/min (Default=-9999.999)
Set the software over-travel (OT) limit in the negative (-) direction, the setting
value is equal to the distance from negative OT location to the machine origin
(HOME). Figure below shows the relationship among the software OT limit, the
emergency stop, and the actual hardware limit.
7 - 41
621. Software OT Limit in (+) Direction, X-axis. (Group 2)

622. Software OT Limit in (+) Direction, Y-axis. (Group 2)
623. Software OT Limit in (+) Direction, Z-axis. (Group 2)
624. Software OT Limit in (+) Direction, A-axis. (Group 2)
625. Software OT Limit in (+) Direction, B-axis. (Group 2)
626. Software OT Limit in (+) Direction, C-axis. (Group 2)
627. Software OT Limit in (+) Direction, U-axis. (Group 2)
628. Software OT Limit in (+) Direction, V-axis. (Group 2)
629. Software OT Limit in (+) Direction, W-axis. (Group 2)
Format Unit: mm/min (Default=9999.999)
In PLC when C10 1, it detects unit 2 software’s range limit.

Set the software over-travel (OT) limit in the positive (+) direction, the setting
value is equal to the distance from positive OT location to the machine origin
(HOME).
641. Software OT Limit in (-) Direction, X-axis. (Group 2)

642. Software OT Limit in (-) Direction, Y-axis. (Group 2)
643. Software OT Limit in (-) Direction, Z-axis. (Group 2)
644. Software OT Limit in (-) Direction, A-axis. (Group 2)
645. Software OT Limit in (-) Direction, B-axis. (Group 2)
646. Software OT Limit in (-) Direction, C-axis. (Group 2)
647. Software OT Limit in (-) Direction, U-axis. (Group 2)
648. Software OT Limit in (-) Direction, V-axis. (Group 2)
649. Software OT Limit in (-) Direction, W-axis. (Group 2)
Format . Unit: mm/min (Default=-9999.999)
In PLC when C10 1, it detects unit 2 software’s range limit.
Emergency Stop
Actual Hardware Limit
5~10 mm each
Machine Origin
(Home)
Software OT Limit
(MCM#581~ #649)
Emergency Stop
Fig 7.5
7 - 42
7 MCM Parameters
661. Flag to Clear X-axis Program Coordinate on M02, M30 or M99 Command.
662. Flag to Clear Y-axis Program Coordinate on M02, M30 or M99 Command.
663. Flag to Clear Z-axis Program Coordinate on M02, M30, or M99 Command.
664. Flag to Clear A-axis Program Coordinate on M02, M30, or M99 Command.
665. Flag to Clear B-axis Program Coordinate on M02, M30, or M99 Command.
666. Flag to Clear C-axis Program Coordinate on M02, M30, or M99 Command.
667. Flag to Clear U-axis Program Coordinate on M02, M30, or M99 Command.
668. Flag to Clear V-axis Program Coordinate on M02, M30, or M99 Command.
669. Flag to Clear W-axis Program Coordinate on M02, M30, or M99 Command.
Format (Default=0)
Used as flag to clear the coordinate when program execution encounters M02,
M30 or M99 function. The following settings are valid for both X and Y-axis.
Setting = 0, Flag is OFF, NOT to clear.

Setting = 1, Flag is ON, YES to clear when encountering M02 and M30.
Setting = 2, Flag is ON, YES to clear when encountering M99.
Setting = 3, Flag is ON, YES to clear when encountering M02, M30 and M99.
681. Set Incremental/Absolute Mode, X-axis coordinate.

682. Set Incremental/Absolute Mode, Y-axis coordinate.
683. Set Incremental/Absolute Mode, Z-axis coordinate.
684. Set Incremental/Absolute Mode, A-axis coordinate.
685. Set Incremental/Absolute Mode, B-axis coordinate.
686. Set Incremental/Absolute Mode, C-axis coordinate.
687. Set Incremental/Absolute Mode, U-axis coordinate.
688. Set Incremental/Absolute Mode, V-axis coordinate.
689. Set Incremental/Absolute Mode, W-axis coordinate.
Format (Default=1) for absolute positioning
Ex: Set MCM 681 = 0, X value represents the incremental position and U value is
ineffective.
= 1, X value represents the incremental position and U value is
the incremental position.
*Note 1: After the parameters are set, execute the command G01
X***,Y***,Z*** F***, the program will perform the axial motions
according to the configured incremental or absolute positions.
H9D: When R209 = 4, the incremental address codes of X,Y,Z will
be U,V,W. However, the A,B,C axes have no incremental
address code, they cannot be used in the same way as the
X,Y,Z axes which allow the conversion between the
incremental positioning and the absolute positioning. It is
necessary to use the G90/G91 modes to use them.
H9D: X,Y,Z,A,B,C,U,V,W have no incremental address codes, so
they cannot allow the conversion between the incremental
7 - 43
positioning and the absolute positioning. It is necessary to use

the G90/G91 mode to use them.
*Note 2: For H9D using the incremental address codes U,V,W, it is necessary
to set the parameters 1 of the X,Y,Z axes for the absolution
positioning so that the U,V,W commands can be performed in the
program.
*Note 3: If the G90/G91 mode is used for the 9-axis absolute or incremental
positioning change, no matter the parameters are configured for
absolution positioning or for incremental positioning, the single block
X,Y,Z,A,B,C,U,V,W commands will use the G90/G91 mode for
absolute positioning or absolute increments after the G90/G91 mode
is used.
*Note 4: When the controller in H9D is configured to use U,V,W as the
incremental address codes, it will not be influenced by the G90/G91
mode.
Format of mode appointment:
G90 Absolute coordinate

G91 Incremental coordinate
1. G90 :
When writing G90 in the program, all the axes of X,Y,Z,A,B,C,U,V,W are the absolute
coordinate. All following nodes` axes direction will also feed absolutely. (See EX1)
The incremental codes U,V,W also can be used in G90 mode. Then X, Y, Z axes will
feed incrementally. But A-axis still feed absolutely. Until it meeting G91 or recycling the
program, then the G90 will be over.
EX1: G90 Set Absolute Coordinate

N1 G90
N2 G1 X20.000 Y15.000 .... P0 to P1
N3 X35.000 Y25.000 .... P1 to P2
N4 X60.000 Y30.000 .... P2 to P3
2. G91 :
When writing G90 in the program, all the axes of X,Y,Z,A,B,C,U,V,W are the
incremental coordinate. All following nodes` axes direction will also feed incrementally.
(See EX2)
In G91 mode, X,Y,Z represent the incremental value. The codes of U, V, W are not
necessary. The axis will move to nowhere.
Until it meeting G90 or recycling the program, then the G91 will be over.
EX2: G91 Set Incremental Coordinate

N1 G91
N2 G1 X20.000 Y15.000 .... P0 to P1
N3 X15.000 Y10.000 .... P1 to P2
N4 X25.000 Y5.000 .... P2 to P3
7 - 44
7 MCM Parameters
Y
60
5 P3
35
10 P2
30
25 P1
15
X
20 15 25
Fig 7.6
701. X-axis, Position gain.

702. Y-axis, Position gain.
703. Z-axis, Position gain.
704. A-axis, Position gain.
705. B-axis, Position gain.
706. C-axis, Position gain.
707. U-axis, Position gain.
708. V-axis, Position gain.
709. W-axis, Position gain.
Format (Default=64) Setting Range: 8~640
Parameters 701~709 are used to set the loop gain. The recommended value is 64.
This setting value is essential to the smooth operation of the motor. Once it is
configured, please do not change it arbitrarily.
N=128/64 N=64/64 N=32/64

DC10V
VCMD
Driver output
voltage
1024 2046 4096

Servo error (ERROR COUNT)
Fig 7-7 Driver output voltage vs. the servo error
The position gain and HUST H6D/H9D output voltage command can be
calculated as follows:
Setting value
Position Gain =
64
7 - 45
NC controller output voltage command

10V
= GAIN * Servo feedback error * ( )
2048
The controller in HUST is a closed-loop system. The servo error is the

difference between the controller position command and the actual feedback
value of the servo motor. The controller will adjust the output voltage of the
controller properly according to this difference value. The setting value of the
position gain is related to the stability and the follow-up of the system servo, so
please modify it with care. If:
Servo mismatch 4096, the ERROR 02 will occur.
In this case, please correct the values of MCM Parameters 701~709 and then press
the “Reset” key. If the problem still exists, please check if the wire connection of
the servo motor is correct.
Adjustment procedure for smooth motor operation: (recommended)

(1) Adjust the servo driver. (Please refer to the operation manual of the driver)
(2) Adjust the MCM Parameters 461 469 for the multipliers (1,2,4) of the
signals from the the speed sensors. In normal condition, if the motor is
locked, the Servo Error will be oscillating between 0 and 1; if it is
oscillating between 4 and 5, the problem can be solved usually by
adjusting the MCM Parameters 461 469 for the multipliers, i.e., 4 --> 2,
or 2 --> 1.
(3) Adjust the values of MCM Parameters 701~709 for the position loop gain.
721. Break-over Point (in Error Count) for Position Gain, X-axis.
722. Break-over Point (in Error Count) for Position Gain, Y-axis.
723. Break-over Point (in Error Count) for Position Gain, Z-axis.
724. Break-over Point (in Error Count) for Position Gain, A-axis.
725. Break-over Point (in Error Count) for Position Gain, B-axis.
726. Break-over Point (in Error Count) for Position Gain, C-axis.
727. Break-over Point (in Error Count) for Position Gain, U-axis.
728. Break-over Point (in Error Count) for Position Gain, V-axis.
729. Break-over Point (in Error Count) for Position Gain, W-axis.
Format (Default=10)
The proper setting of this parameter will assure smooth start-up of servo motor.
When servo error is smaller than the setting value of MCM #721~#729, the
position gain is 64. Otherwise, position gain will be calculated based on the
setting value of MCM #701~ #709 and the setting values depend on the frictional
load on the motor. If the frictional load is high, setting value is small and vice
versa.
7 - 46
7 MCM Parameters
GAIN = 128/64 GAIN = 64/64 GAIN = 32/64

Vcmd
0.20
Controller 0.15
Command
0.10
0.05 Fig 7.5 Break-over of Position Gain

ERROR = 10
0
10 20 30 40 50 60 70 80
ERROR COUNT Fig 7.7
741. X-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)

742. X-axis Numerator, MPG Hand-wheel Resolution Adjustment. ( m)
743. Y-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)

744. Y-axis Numerator, MPG Hand-wheel Resolution Adjustment. ( m)
745. Z-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)

746. Z-axis Numerator, MPG Hand-wheel Resolution Adjustment. ( m)
747. A-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)

748. A-axis Numerator, MPG Hand-wheel Resolution Adjustment. ( m)
749. B-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)

750. B-axis Numerator, MPG Hand-wheel Resolution Adjustment. ( m)
751. C-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)

752. C-axis Numerator, MPG Hand-wheel Resolution Adjustment. ( m)
753. U-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)

754. U-axis Numerator, MPG Hand-wheel Resolution Adjustment. ( m)
755. V-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)

756. V-axis Numerator, MPG Hand-wheel Resolution Adjustment. ( m)
757. W-axis Denominator, MPG Hand-wheel Resolution Adjustment. (pulse)

758. W-axis Numerator, MPG Hand-wheel Resolution Adjustment. ( m)
Unit: Denominator = pulses, Numerator = m
Ex1: For X-axis, MCM #741 = 100 pulses, MCM #742 = 100 m.
The resolution for X-axis = 100/100 = 1 m/pulse.
If MPG hand-wheel moves 1 notch (=100 pulses), the feed length in X-axis
= 100 x (100/100) = 100 m = 0.1 mm.
7 - 47
Ex2: For Y-axis, MCM #743 = 200 pulses, MCM #744 = 500 m.
The resolution for Y-axis = 500/200 = 2.5 m/pulse.
If MPG hand-wheel moves 1 notch (=100 pulses), the feed length in Y-axis
= 100 x (500/200) = 250 m = 0.25 mm.
781. Set if X-axis is rotational axis.

782. Set if Y-axis is rotational axis.
783. Set if Z-axis is rotational axis.
784. Set if A-axis is rotational axis.
785. Set if B-axis is rotational axis.
786. Set if C-axis is rotational axis.
787. Set if U-axis is rotational axis.
788. Set if V-axis is rotational axis.
789. Set if W-axis is rotational axis.
Format= (Default 0)
Setting= 0 Linear Axis

Setting= 1 Rotational Axis
801. The distance of S bit sent before the X-axis reaches in position. (S176)
802. The distance of S bit sent before the Y-axis reaches in position. (S177)
803. The distance of S bit sent before the Z-axis reaches in position. (S178)
804. The distance of S bit sent before the A-axis reaches in position. (S179)
805. The distance of S bit sent before the B-axis reaches in position. (S180)
806. The distance of S bit sent before the C-axis reaches in position. (S181)
807. The distance of S bit sent before the U-axis reaches in position. (S182)
808. The distance of S bit sent before the V-axis reaches in position. (S183)
809. The distance of S bit sent before the W-axis reaches in position. (S184)
Format= . (Default= 0.000)
Unit: mm
For example: MCM 801 =10.00mm

Giving the command: When G01 U30.000 F1000, when the X-axis move
20.000mm and 10.000mm away from the final value, the sysem will send
S176=ON
821. The accelerate/decelerate time of X-axis.

822. The accelerate/decelerate time of Y-axis.
823. The accelerate/decelerate time of Z-axis.
824. The accelerate/decelerate time of A-axis.
825. The accelerate/decelerate time of B-axis.
826. The accelerate/decelerate time of C-axis.
827. The accelerate/decelerate time of U-axis.
7 - 48
7 MCM Parameters
828. The accelerate/decelerate time of V-axis.

829. The accelerate/decelerate time of W-axis.
Format= (Default 0), Unit (msec)
Acceleration/Deceleration Time (2~3000)
When R209 Bit30 1, the acceleration/deceleration speed can be programmed

independently.
The pitch error compensation of the guide screw in HUST H6D/H9D is relative to the
mechanical origin as the base point.
841. Pitch Error Compensation Mode Setting, X-axis.

842. Pitch Error Compensation Mode Setting, Y-axis.
843. Pitch Error Compensation Mode Setting, Z-axis.
844. Pitch Error Compensation Mode Setting, A-axis.
845. Pitch Error Compensation Mode Setting, B-axis.
846. Pitch Error Compensation Mode Setting, C-axis.
847. Pitch Error Compensation Mode Setting, U-axis.
848. Pitch Error Compensation Mode Setting, V-axis.
849. Pitch Error Compensation Mode Setting, W-axis.
Format: , Default=0
Setting = 0, Compensation canceled.

Setting = -1, Negative side of compensation.
Setting = 1, Positive side of compensation.
X-axis Y-axis Z-axis A-axis B-axis C-axis U-axis V-axis W-axis Explanation
0 0 0 0 0 0 0 0 0 Compensation cancel
Do compensation when tool is on
-1 -1 -1 -1 -1 -1 -1 -1 -1
the (-) side of the reference point
Do compensation when tool is on
1 1 1 1 1 1 1 1 1
the (+) side of the reference point.
Ex:
MCM # 841= -1
The pitch error in the X-axis will not be compensated when the tool travels to the
positive side of the X-HOME location. It will be compensated when the tool travels to
the negative side of machine origin.
MCM # 841= 1
The pitch error in the X-axis will be compensated when the tool travels to the positive
side of Y-HOME location. No compensation will be done when it travels to the negative
side of machine origin.
7 - 49
Coordinate -100.000 Coordinate 100.000

Machine HOME
MCM 841 = -1 Coordinate 0 MCM 841 = 1
Negative Positive
compensation compensation
Fig 7.9
MCM#850 System Reserved
851. Segment Length for Pitch Error Compensation, X-axis.

852. Segment Length for Pitch Error Compensation, Y-axis.
853. Segment Length for Pitch Error Compensation, Z-axis.
854. Segment Length for Pitch Error Compensation, A-axis.
855. Segment Length for Pitch Error Compensation, B-axis.
856. Segment Length for Pitch Error Compensation, C-axis.
Format= . , Default=0, Unit=mm
Corresponding MCM# for Segment Max. Number of

Axis Segment Length
Length Segment
X MCM# 861 ~ 940 20 ~ 480 mm 80
Y MCM# 941 ~ 1020 20 ~ 480 mm 80
Z MCM# 1021 ~ 1100 20 ~ 480 mm 80
A MCM# 1101 ~ 1180 20 ~ 480 mm 80
B MCM# 1181 ~ 1260 20 ~ 480 mm 80
C MCM# 1261 ~ 1340 20 ~ 480 mm 80
1. Segment length is the total length of ball-screw divided by the number of

segment.
1000 mm
Fig7.10
100mm
Ex:
If you want to divide the ball-screw on X-axis, which is 1 meter in length,
into 10 segments, the segment length is 1000.00/10=100.00mm. This 100.00
mm will be stored in MCM# 851.(Each compensation of them is set by
MCM#861~#940)
2. If the average segment length is less than 20 mm, use 20 mm.
3. When doing compensation, HUST H6D/H9D controller will further divide
each segment into 8 sections. The amount of compensation for each section is
equal to the whole number, in m, of 1/8 of the amount in MCM #861~#940.
The remainder will be added to the next section.
Ex:
7 - 50
7 MCM Parameters
Segment length =100.00mm and the amount of compensation is 0.026mm as set

in MCM#861. Then, the compensation for each section is 0.026/8=0.00325mm.
The compensation for this segment will be done in a manner as tabulated below:
Avg. comp. For each Actual comp. At each Accumulated

Section Tool Position
section section compensation
1 12.5 0.00325 0.003 0.003
2 25 0.00325 0.003 0.006
3 37.5 0.00325 0.003 0.009
4 50 0.00325 0.004 0.013
5 62.5 0.00325 0.003 0.016
6 75 0.00325 0.003 0.019
7 87.5 0.00325 0.003 0.022
8 100 0.00325 0.004 0.026
861~1340. Amount of Compensation for each segment (X.Y.Z.A.B.C-axis) is 80.
The Compensation value is in incremental mode. If the number of segment is less than
80, please fill the uncompensated segments with zero to avoid any potential errors.
Ex:
If the segment of compensation is 10, the amount of the compensation from Seg.11 to 40
( X-axis MCM#861~940, Y-axis MCM#941~1020, Z-axis MCM#1021~1100, A-axis MCM
#1101~1180, B-axis MCM#1181~1260, C-axis MCM#1261~1340 ) must be set as zero.
MCM#861~940 Pitch error compensation of each segment, X-axis.

MCM#941~1020 Pitch error compensation of each segment, Y-axis.
MCM#1021~1100 Pitch error compensation of each segment, Z-axis.
MCM#1101~1180 Pitch error compensation of each segment, A-axis.
MCM#1181~1260 Pitch error compensation of each segment, B-axis.
MCM#1261~1340 Pitch error compensation of each segment, C-axis.
1341. Tool#1, Radius Offset Data.

1342. X-axis Offset Data, Tool#1.
1343. Y-axis Offset Data, Tool#1.
1344. Z-axis Offset Data, Tool#1.
1345. A-axis Offset Data, Tool#1.
1346. B-axis Offset Data, Tool#1.
1347. C-axis Offset Data, Tool#1.
1348. Tool#2, Radius offset data.

1349. X-axis offset data, Tool#2.
1350. Y-axis offset data, Tool#2.
1351. Z-axis offset data, Tool#2.
1352. A-axis offset data, Tool#2.
1353. B-axis offset data, Tool#2.
7 - 51
1354. C-axis offset data, Tool#2.

MCM#1355~1620 Tool#3~40, Radius offset data and X/Y/Z/A/B/C-axis offset

data
1621. Tool #1 radius wear compensation.

1622. X-axis, Tool #1 wear compensation.
1623. Y-axis, Tool #1 wear compensation.
1624. Z-axis, Tool #1 wear compensation.
1625. A-axis, Tool #1 wear compensation.
1626. B-axis, Tool #1 wear compensation.
1627. C-axis, Tool #1 wear compensation.
1628. Tool #2 radius wear compensation.

1629. X-axis, Tool #2 wear compensation.
1630. Y-axis, Tool #2 wear compensation.
1631. Z-axis, Tool #2 wear compensation.
1632. A-axis, Tool #2 wear compensation.
1633. B-axis, Tool #2 wear compensation.
1634. C-axis, Tool #2 wear compensation.
MCM#1635~1900 Tool#3~40, Radius wear compensation and X/Y/Z/A/B/C-axis

wear compensation
1901~1940 Tool-tip radius compensation Tool-tip#1~40
7 - 52
8 Appendix A
AppendixA
8 Appendix A
9 Appendix B – PC On-line Operation
9.1 PC Performs Online Operation via RS232 and The Controller
Through TAPE function, HUST H6D-T can do the following PC (personal computer)
on-line operations via RS232C interface. Through MDI mode, you can execute G10
function as shown in Table 9-1 as well as burn the transmitted program, MCM
parameters, PLC simulation program, LCD screen display data, and system data into
Flash-ROM in the controller.
1 Transfer part program from PC (personal computer) to CNC controller.

2. Transfer a part program from CNC controller to PC.
3. Transfer MCM data from PC to CNC controller.
4. Transfer MCM data from CNC controller to PC.
5. Transfer data variables from PC to CNC controller.
6. Transfer data variables from CNC controller to PC.
7. Transfer PLC ladder program from PC to CNC controller and test the ladder
program.
8. Transfer LCD screen display data from PC to CNC controller.
9. Transfer self-designed data from PC to CNC controller.
10. Transfer system data from PC to CNC controller.
11. Transfer filled tables from PC to CNC controller.
12. Transferring while executing the program from PC.
Items 1 ~ 12 can be done from PC side when the controller is under power-on mode but
NOT in TAPE mode.
Table 9-1 Online Operation with G10 Function through RS232C Interface
G10 P510 L38400 Set the baud rate for RS232 interface at 38400 bps
G10 P600 L01 Burn the externally transmitted program into Flash-ROM
G10 P600 L02 Burn the externally transmitted MCM parameters into Flash-ROM
G10 P600 L03 Burn the externally transmitted ladder program into Flash-ROM
G10 P600 L05 Burn the externally transmitted controller system data into Flash-ROM
G10 P2100 Load the part program from Flash-ROM to memory
G10 P1000 (note) Load the MCM parameters from Flash-ROM to memory
Note that MCM data of FLASHROM are the standard settings. The users can execute
G10 P600 L02 to save the adjusted settings by burning to FLASHROM memory. If the
users want to reverse the former saved settings, simply load the data by executing G10
P1000 from FLAHROM memory.
9-1
Program Transfer from PC to CNC Controller
Format for program transfer:
%
O001 ..... Program number
N10 G0 X0. Y0. Z0
N20 G1 X50. Y50. Z45
N30 U30. V-30. W15 Program content
N40 G0 X0. Y0. Z0
N50 M2
%
Notes:
1. The program must start and end with a symbol of “%”.
2. Program number range = 000~999
3. One line contains one program block only. Do NOT write multiple program block
on the same line as “N10 G0. Y0. N20 G1 X10. Y10. N30 G0 X0. Y0. N40 M2”.
4. When transmitting the program from the PC end to the HUST H6D-T series
controller, and if the program transmitted does not contain the program code Oxxx,
the transmitted program will cover over the program currently selected on the
controller.
Ex: With the controller currently stopping at #6 processing program, and when the
transmitted program does not contain the program code Oxxx, the content of
the transmitted processing program will directly cover over the #6 processing
program currently on the controller.
9.1.1 Program Transfer From PC To CNC Controller
Movement program:
1. The controller is not in a program execution state (where S080=0).

2. On PC side, make sure the transmission is ready to transmit.
Baud Rate should be correct when you execute HCON.exe (See section 10, Chapter
9 ). After entering Data Transmission Mode (FileSvc),
(1) Select “ Send File To CNC : TYPE >>> ”
(2) Select “ 1:CNC ”
(3) Press “ Open File ” to select the processed program file for transmission.
(4) After the confirmation of file, press “ Send Out ”. PC will download the data
automatically.
Note:
When the program is in execution (S080=1), you must stop for S080 turning “0” to re-
operate the step 4.
Note:
If the program to be transferred has an ID number, after the transmission, it will be
stored in the memory with the same number at the CNC side; otherwise, it will replace
the program currently used by the controller.
9-2
Fig 9-1
Note: If the transmission program has numbers, it will be stored as the same numbers as
in CNC after transmitting, otherwise, it will be replaced by its current program.
1. The HCON is used to Upload the program data onto the controller, and the
program data are stored on the memory cache (RAM).
2. When the controller turns the power off, the program data are stored on the memory
cache (RAM) via the battery mode.
3. To ensure permanent data storage on the memory cache (RAM), there is need to
execute the command G10 P600 L01 to store the Uploaded program data onto
the FLASHROM.
4. As depicted in Fig. 9-1, upon entering the G10 P600 L01 command in the entry
area, press MDIGo to complete the burn movement.
9.1.2 Program Transfer from CNC Controller to PC
Movement program:
1. The controller is not in a program execution status (where S080=0).

9 ). After entering Data Transmission Mode ( FileSvc ),
(1) Select “ Recv File fm CNC : TYPE >>> ”
9-3
(2) Select “ 0:CNC ” to read the current program in the controller.

Select “ 1:CNC_ALL” to read the full program in the controller.
(3) Press “ Recv In ”
(4) After the confirmation of the file content, press “ Save File ”
Note:
operate the step 3 & 4.
Format for MCM Data Transfer:
%
O9002 Program number 9002 designated for MCM data
0000000 MCM #1
0000000 MCM #2
0000000 MCM #3
0000000 MCM #4
…… …….
........ ........
%
Notes:
1. The MCM data must start and end with a symbol of %.
2. The transmission MCM parameter’s program number is fixed to 09002.
3. No decimal point for MCM data transferred. The unit is 1/1000th of a second for
time and m for length or speed. One line for one MCM data only (7-digit).
For example, HOME speed on X-axis = 2500.00, it'll show 0250000 after
transferred. Software limit on Y-axis = -9999.999 cm, it’ll show –9999999.
9.1.3 Transfer MCM Data from PC to CNC Controller
Movement program:
1. The controller is not in a program execution state (where S080 = 0).

(1) Select “ Send File To CNC : TYPE >>> ”
(2) Select “ 2:MCM ”
(3) Press “ Open File ” to select the part program file for transmission.
(4) After the confirmation of file, press “ Send Out ”. PC will download the data
automatically.
Note:
1. The HCON is used to Upload the MCM parameter data onto the controller, and
the MCM parameter data are stored on the memory cache (RAM).
2. When the controller turns the power off, the MCM parameter data are stored on the
memory cache (RAM) via the battery mode.
3. To ensure permanent data storage on the memory cache (RAM), there is a need to
9-4
run the command G10 P600 L02 to burn the Uploaded MCM parameter data
onto the FLASHROM.
4. As depicted in Fig. 901, after entering the G10 P600 L02 command in the entry
area, press MDIGo to complete the burn movement.
9.1.4 Transfer MCM Data from CNC Controller to PC
Movement program:

2. When S080 is “ 0 ”, the controller is stand-by.
(2) Select “ 2:MCM ”
(4) After the confirmation of the file content, press “ Save File ”
Note:
operate the step 3 & 4.
9.1.5 Transfer Data Variable from PC to CNC controller
Movement program:

2. On the PC end, verify that the PC computer end is ready to carry out the program
transmitting movement.
Execute HCON.exe to ascertain that there is no error in the communication
protocol
Upon entering the data transmission mode ( FileSvc ),
(1) Select “Send File To CNC : TYPE >>> ”

(2) Select “ 9:Var ” (Transmitting the variable data to the controller).
(3) Press “ Open File ” to select the variable file to be transmitted.
(4) Upon ascertaining the file content, press Send Out .
The computer automatically uploads the data.
Caution: When the controller is running program (where S080=10, there is a need to wait for
the program execution to stop (where S080=0) before running steps (3) & (4).
9.1.6 Transfer Data Variable from CNC controller to PC
Movement program:
The controller is not in a program execution state (where S080 = 0).
9-5
Execute HCON.exe (Refer to the chapter’s section 10) to ascertain that there is no
error in the communications protocol.
Upon entering the data transmission mode ( FileSvc ) ,

(2) Select 9 : Var 0 99 (Retrieve 99 variables)
Or A : Var 0 199
Or B : Var 0 299
.......
.......
Or Q : Var 0 8999
Or R : Var 0 9999 (Retrieve 9999 variables)
(4) Upon ascertaining the file content, press Save File to store the file name for
the file to be saved.
Caution: When the controller is running programs (where S080=1), there is a need to wait for
the program execution to stop (where S080=0) before running steps (3) & (4).
9.1.7 Transfer PLC Ladder from PC to CNC controller
Movement program:

protocol

(2) Select “ 3:PLC ” (transmitting the PLC data to the controller)
(3) Press “ Open File ” to select the PLC file to be transmitted.
(4) There is a need to check“ w2FLASH ”to execute the burn movement.
Caution:
1. When the controller is running programs (where S080=1), there is a need to wait for
the program execution to stop (where S080=0) before running step (5).
2. If step (4) “w2FLASH” movement has not been executed, then after uploading the
data, there is a need to execute the MDI (G10 P600 L3) burn command, or else
when the controller turns off the power, and at the startup, the system uploads the
PLC on the Flash-ROM to the memory cache.
3. Upon completing transmitting the PLC file, make sure that the screen is prompted
with “Data Loading Ok!”, otherwise it indicates that the PLC file has not been
transmitted successfully.
9-6
9.1.8 Transfer LCD Screen Display Data from PC to CNC
Movement program:

Execute HCON.exe to ascertain that there is no error in the communications
protocol.

(2) Select “ 4:CRT ” (Transmitting the screen data to the controller)
(3) Press “ Open File ” to select the screen file to be transmitted.
Caution:
the program execution to stop (where S080=0) before running steps (4).
2. After uploading the screen data, there is no need to execute the burn command, as
the system automatically uploads the data onto the Flash-ROM.
9.1.9 Transfer Controller System Data from PC to CNC
Movement program:
1. The controller is not in a program execution state (where S 080 = 0).

protocol.

(2) Select “ 5:SYS ” (Transmitting the system data to the controller)
(3) Press “ Open File ” to select the system file to be transmitted.
(4) There is a need to check“ w2FLASH ”to activate the burn motion.
(5) Upon ascertaining the file content, press Send Out
Caution:
1. When the controller is running programs (where S080=10, there is a need to wait for
2. Upon uploading the system data, there is no need to execute the burn command, as
3. Upon completing transmitting the system file, make sure that the screen is
prompted with “Data Loading Ok!”, otherwise it indicates that the system file has
not been transmitted successfully.
9-7
9.1.10 Transfer function tables from PC to CNC controller
Movement program:

protocol.

(2) Select “ 8:PTN ” (Transmitting the entry column data to the controller).
(3) Press “ Open File ” to choose the entry column file to be transmitted.
(4) Upon ascertaining the file content, press Send Out
Caution:
the program execution to stop (where S080=0) before running steps (4).
2. Upon uploading the screen data, there is no need to execute the burn command, as
9.1.11 PC to Controller (ARM)
Movement program:

3. Execute HCON.exe to ascertain that there is no error in the communications
protocol
4. Upon entering the data transmission mode ( FileSvc ),

(2) Select “ C:ARM ” (Transmitting the CPU data to the controller)
(3) Press “ Open File ” and choose the CPU file to be transmitted.
(4) After verifying the file content, press Send Out .
Caution:
2. Upon uploading the ARM data, there is a need to restart the computer in order to
operate the system normally.
9-8
9.1.12 HCON.EXE Program Qperation
Program Display:
Fig 9-2
Note:
1. Baud rate must be kept the same like the MCM# 520 setting in the controller from
CommPort Rs232 connectors.
2. Parity Check with H6D-T stays permanently as Even
3. Data Bit with H6D-T stays permanently as 7 Bits
4. Stop Bit with H6D-T stays permanently 2 Bits.
After the above 4 items are confirmed, please click “Link to CNC” to enter the software
operation interface.
9-9
If the communication between the PC and the controller is normal, Cps is a non-zero value.
When the communication between the PC and the controller is normal, the DSR and
CTS will be highlighted in red background.
Fig 9-3
Key Descriptions
PlcBit : Signal I/O/C/S/A status display
VarUser : Variables 0~9999 display
Var Sys : Variables 10000~ 13999 display
CncInfo : Particular variables system 10900~10999 display
McmData : MCM parameters display
Motion : Preserved
FileSvc : Data Transmission ( * Note 1)
MDIgo : Enter Single Bock command in the message box and press the key.
ReSet : Reset the controller
* Note : The functions of File Svc is as follows:

Recv File fm CNC……… Read data from CNC
Send File to CNC:……… Transfer PC to CNC
9 - 10
Fig 9-4
1. Recv File fm CNC Read data from CNC
Recv File fm CNC:TYPE >>

0 : CNC PC read the main program.
1 : CNC_ALL PC read the full program.
2 : MCM PC read the parameters.
9 : Var-0099 PC read MCM#0~99
A : Var-0199 PC read MCM# 0~199
Q Var–8999 PC ead MCM#0~8999

R Var–9999 PC ead MCM#0~9999
On PC side, select data in CNC and press “ Recv In ”, PC will start reading the
data and storing them in memories temporarily.
Press “ Save File ” and enter the file’s name. The action is complete.
2. Send File to CNC Transfer PC to CNC
Send File to CNC: TYPE >>

0 : CNC PC transfer the part program to CNC.
1 : CNC PC transfer the part program to CNC.
2 : MCM PC transfer the parameter to CNC.
3 : PLC PC transfer PLC to CNC.
4 : CRT PC transfer self-editing screen to CNC.
5 : SYS PC transfer main system to CNC.
8 : PTN PC Transfer function tables to CNC.
9 : VAR PC Transfer user’s variable to CNC controller.
A : CYF Reserved for special designated servos.
B : 999 Reserved for special designated servos.
C : ARM PC Transfer ARM data to CNC controller.
A. After selecting the items, press “ Open File ”; enter the desired file’s name.
B. Wait for PC to complete the reading and store in the memories; press “ Send Out ”,
the action is complete.
C. V W2Flash shows that the data has been automatically burnt into Flash-Rom after
being sent out.
9 - 11
9.1.13 RS232C Connection
A proper connection between PC and HUST controller is shown in Fig 9-5. Please refer
to Connecting Manual for more information. When making connection, please be aware
of the followings:
1. The connecting cable should not exceed 15 meters to minimize the potential noise
interference. The voltage at the PC interface should be in the range of 10~15 volts.
2. Avoid working in an environment where is under the direct noise interference from
the machines such as EDM, electric welder, etc. Do not use the same power outlet as
for EDM and electric welder. Twisting the cable may help in noise reduction.
DCE DCE
HUST CNC PC COM2
TXD 2 3 RXD
RXD 3 2 TXD
DB9LM DB25LF
SG 5 7 SG
CONNECTOR CONNECTOR
CTS 7 4 RTS
RTS 8 5 CTS
HUST CNC PC COM1

TXD 2 2 RXD
RXD 3 3 TXD
DB9LM 5 SG
DB9LF
SG 5
CONNECTOR CTS 7 7 RTS
CONNECTOR
RTS 8 8 CTS
Fig 9-5 RS232 Connection
9 - 12
9.2 HUST H6D-T Transmission Modes
HUST H6D-T series controllers have the following four transmission modes for the
user to select:
1. RS232 Mode
2. USB Device Mode (USB-H)
3. USB Host Mode (USB-D)
4. SDC Mode (SDC)
In JOG mode press the “File transfer” key for three seconds, it will enter the
transmission mode selection screen as shown in Fig 9-6.
Fig 9-6
The default is R232 Mode. The transmission mode can be switched by pressing the
function keys.
While switching the transmission mode, if a read error occurs:

1. Please press the “Reset” key.
2. Re-enter the transmission mode selection screen.
3. Switch to the R232 Mode to solve the problem.
9 - 13
9.3 USB Device Mode
PC and the H6D-T controller are connected via USB connection. Now, the H6D-T
controller plays the role as the USB device side, i.e. a mobile diskette while PC plays
the role as the USB host side. In this mode, PC can read data information such as user’s
programs, user’s variables, machine parameters, etc. from the H6D-T controller. Also,
PC can write its data in the controller.
9.4 USB Host Mode
In this mode, H6D-T plays the role as the USB host and can directly read / write data
information such as system files, screen files, user’s programs, user’s variables,
machine parameters, etc in a mobile diskette via the USB interface on the back of the
controller. Also it can store the data in the mobile diskette from the controller.
9.5 Operational Instruction of A Standard H6D-T Transmission Interface
To select USH-H mode on the switch screen in the transmission mode, you shall enter
the embedded transmission operation interface as shown in Fig 9-9.
Fig 9-7
Descriptions of function keys:
Return to Main Menu: To switch back to the transmission mode screen.

Open a folder: To open the content of the data file stored on an USB or the controller’s
optional purchase of an expandable memory cache.
Return: Returns to the last level of directory.
Copy: Copies data.
Paste: Stores copied data.
EX With directional keys to move the cursor to the data file to be
copied, press the COPY key and then press the PASTE key, you can
create a new file.
Download: Goes to the file download interface.
Upload: Goes to the file upload interface.
: Goes to the second page in the transmission operating interface.
9 - 14
Press the function key , you can enter the second page in the transmission operation
interface as shown in Fig 9-8.
Fig 9-8
Descriptions of function keys:
Return to Main Menu: To switch back to the transmission mode screen.

Delete: Deletes the file or folder the cursor is pointing at.
Rename: First key in a new file name and then press the function key, you can rename
the file or folder the cursor is pointing at.
Add Folder: First key in the new folder name and then the function key, you can create
a new folder.
Download: Goes to the file download interface.
Upload: Goes to the file upload interface.
Returns to the first page in the transmission operating interface.
9 - 15
9.5.1 File Download Interface
Press the function keyDownload on the transmission operating interface, you can enter
the screen as shown in Fig 9-9 and 9-10.
Fig 9-9
Fig 9-10
Download USB CNC
Example: Steps for downloading a plc file are:

1. Press the Download function key to enter the download interface.
2. Go to the PLC (*.PLC) file using the cursor.
3. Press the PLC function key.
4. Check for any transmission indication appearing on the upper left corner
of the screen.
5. After transmission, the screen will show “DATA LOADING OK”.
Note: To download data, first point the cursor to the file to be downloaded, and then
press the desirable function key.
9 - 16
ZDNC Simultaneous Transfer/Execution:
Attention
1. If the file size of the machining program is too large, it is necessary to use the
DNC feature for simultaneous "transfer and execution".
2. For the master-slave mode, the settings should be configured as non-stop mode
for a single block (Parameter 501=256).
3. Set R127 to 8, and R128 to 32 (The recommended setting values).
Operation Procedure:
1. Use the arrow keys to select the machining program and then confirm.
2. Press the RD-DNC key to enter the DNC mode and the following screen will be
displayed:
3. After the operation is completed, it will automatically return to the USB operation
screen.
4. Trace function: During the operation, press the “S” button to enter the Trace mode.
5. Servo response: During the operation, press the “R” button to enter the servo
response trace mode.
6. In the Trace mode, press the “AUTO” button to return to the AUTO mode screen.
7. The software key and trace operations are the same as the normal operation.
Fig 9-11
9 - 17
9.5.2 File Upload Interface
Press the Upload function key on the transmission operating interface, you can enter
the screen as shown in Fig 9-12.
Input
characters
Fig 9-12
Upload CNC USB(SD CARD)
Example: Steps for uploading a parameter are:

1. First key in the file name (letters+ numerals shall be no more than 8
bits). Key in E456 and press Enter.
2. Press the Parameter function key.
3. After completion, you can see the E456.MCM file on the screen.
To upload data, first key in the file name and then press the desirable
function key.
9 - 18
10 Appendix C Method for using the most often used G10 command
10 AppendixC Method for usingthe most often used G10command
If the user wishes to alter the machine parameters,the program,and user variables when
using the H6D-T controller,these operations can be achieved in the HCON interface or
by using the G10 command in the MDI mode of the controller.
1. Operation Methods
There are two types of operation methods;one is in HCON interface and the other
is in MDI mode.
Fig.10-1
(1)Operation in the HCON interface

a. Make sure the HCON and H6D-T controller communicate with each
other normally (see Appendix B for details).
b. Key-in the command in the Key In box. E.g., G10 P2001 .
c. Click the MDI Go button.
d. The command will be executed immediately.
10 - 1
(2)Operation in MDI mode
Fig.10-2
a. Switch the H6D-T controller to MDI mode.

b. Edit and key-in the command. E.g., G10 P2001 ,as shown in the
above figure.
c. Then press the START key.
d. The command will be executed immediately.
2. Operation of often used G10Command
(1) G10 X____Y____Z____A____B____C____

You may use all the 6 axes simultaneously or any one of them selectively,by
using the G10,set coordinates of workpiece origin (G54~G59).
The procedures are as follows:

a. Execute manual homing to machine origin
b. Enter the MANUAL mode
c. Move the tool (axially)to the work origin to be set.
d. Enter the MDI mode,key-in G54 and press the START key.
e. If the tool position in step 3 is the work origin to be set (set in G54),
then carry out the following actions:
Press G10 X0. Y0. Y0. and ENTER
START ...... this completes the setting.
e2. If the tool position in step 3 has a distance with the work origin to be set,
then carry out the following actions: (suppose this distance is X=20.,
Y=100.,Z=15.)
Press G10 X20. Y100. Z15. and ENTER
START......... this completes the setting.
10 - 2
10 Appendix C Method for using the most often used G10 command
Take the followingprecautions when usingG10to set the work origin:
a. Do not add P__ when using G10 to set the work coordinates
system, or it will become a tool length (displacement)
compensation.
b. Use the same method to enter work coordinates system G55~G59.
The difference is to replace G54 with G55~G59 in step 4. If any of
the work coordinates system G54~G59 is not explicitly indicated
in the steps, the work origin will be entered into the work
coordinate system that is effective at that time.
c. The G10 method can also be used to enter the work coordinates in
a program.
d. The machine coordinates of the origin of the G54~G59 work
coordinates selected by the G10 method will be entered into MCM
parameters (see 3.25).
(2) G10 P600 L02 burning MCM parameters

EX: If parameters are not burnt into FLASHROM after altering machine
parameters or transmitting MCM parameters,you may press and hold
the Burn Parameter key in the parameter screen to burn the
parameters to the controller;you may alternatively edit and enter
G10 P600 L02 command in MDI mode,and then press the START
key to complete the operation of Parameter Burning. The burning is
successful when the controller screen shows the message Data
Loading Ok!.
(3) G10 P600 L03 burn the PLC file

EX: When using the HCON software to transmit a PLC file without
check-selecting W2Flash ,you may enter G10 P600 L03 in the
MDI mode upon completion of the transmission and then press the
START key to complete the operation for burning the PLC. The
burning is successful when the controller screen shows the message
Data Loading Ok!.
(4) G10 P600 L05 burn the system file
EX: When using the HCON software to transmit a system file without
check-selecting W2Flash ,you may enter G10 P600 L05 in the
MDI mode on completion of the transmission and then press START
key to complete the operation for burning the PLC. The burning is
successful when the controller screen shows the message Data
Loading Ok!.
(5) G10 P1000: Loading parameters into memory from FLASHROM
10 - 3
EX: After replacing the main PCB of the controller, insert the
FLASHROM onto the new PCB and enter G10 P1000 command in
the MDI mode,then press START to save the parameters which are
stored in the FLASHROM into the memory.
(6) G10 P2000: Delete the current program

EX: The current Program No. is: No. 1 program , entering G10
P2000 in the MDI mode and pressing the START key will delete this
No.1 program.
(7) G10 P2001: Delete all programs

EX: Edit and input G10 P2001 in the MDI mode,then press START key
to delete all the programs in the controller,including the [???]
and user process programs.

This command can be used to delete all programs in the controller.
Special cautions shall be taken when using this command since the
operation is non-reversible. Please backup the program data and
substitute program data before using this command.
(8) G10 P1999 L9999: clear the controller to return to default settings
EX1: In case of anomalies in screen display,parameter display,or machine
operation after altering the controller data (compared to the status
before the alteration),it is suggested to perform this command in the 2
ways as described above,and clear the controller to its default settings
followed by re-loading the data.
EX2: In case of anomalies in user variables and machine parameters after
linking with HCON software (the value becomes very large,or most
of the values are identical),it is suggested to perform this command in
the 2 ways as described above,and clear the controller to its default
settings followed by re-loading the data.
Note:The above operations are non-reversible and shall be used with
care.Suggest that you should make backup and substitute data
before performingthe operation.
10 - 4
11 Appendix D - Servo Motor Wiring
11 AppendixD
1. DELTA-A2 TYPE
Table 11-1
HUST 26pin (M) DELTA A2 50pin
Pin No Definition Description Pin No Definition
1 /A /A phase input 22 A-
2 A A phase input 21 A+
3 B B phase input 25 B+
4 /B /B phase input 23 B-
5 Z Z phase input 50 Z+
6 /Z /Z phase input 24 Z-
7 VCMD 0~10V analog command 42 V-REF
5V GND
8 GND 13 GND
9 5V +5V Power
10 TOG Torgue input
9 DI1-
Servo-On
45 COM-
17 IN-49 Group 2 Input signal
18 OUT-49 Group 2 Output signal
19 Pulse+ Pulse command+ 38 Hpulse+
20 Pulse- Pulse command- 29 Hpulse-
21 Sign+ Pulse Direction+ 46 Hsign+
22 Sign- Pulse Direction - 40 Hsign-
25 24V +24V Power
26 24VGND 24V GND I/O & +24V GND
Parameters
P1-00 : External Pulse Input Type
0: AB phase pulse (4x)(Quadrature Input)

1: Clockwise (CW)+Counterclockwise(CCW)pulse
2: Pulse + Direction
P1-01 : Control Mode DELTA Connector short circuit

11 (COM+)
0: Position control mode. 17 (VDD)
2: Speed control mode.
47 (COM-)
30 (EMG)
P1-44 : Electronic Gear Ratio (1st Numerator)(N1) 32 (CWL)
P1-45 : Electronic Gear Ratio (Denominator)(M) 31 (CCWL)
Ex:
Encoder resolution
P1-44=128
P1-45=1
1280000=f1*128/1
F1=10000
P1-46: Encoder Output Pulse Number
This parameter is used to set the pulse numbers of encoder outputs per motor revolution.
value=2500
Note : The cable line must used with isolated twisted.

The servo brand s wiring are not the same,please refer to each servo wiring manual.
2. DELTA-B2 TYPE
Table 11-2
HUST 26pin (M) DELTA B2 44pin
Pin No Definition Description Pin No Definition
1 /A /A phase input 22 A-
2 A A phase input 21 A+
3 B B phase input 25 B+
4 /B /B phase input 23 B-
5 Z Z phase input 13 Z+
6 /Z /Z phase input 24 Z-
7 VCMD 0~10V analog command 20 V-REF
5V GND
8 GND 19 GND
9 5V +5V Power
10 TOG Torgue input
9 DI1-
Servo-On
45 COM-
19 Pulse+ Pulse command+ 43 Hpulse+
20 Pulse- Pulse command- 41 Hpulse-
21 Sign+ Pulse Direction+ 39 Hsign+
22 Sign- Pulse Direction - 37 Hsign-
25 24V +24V Power
26 24VGND 24V GND I/O & +24V GND
Parameters
P1-00 : External Pulse Input Type

P1-01 : Control Mode

DELTA Connector short circuit
0: Position control mode. 11 (COM+)

17 (VDD)
47 (COM-)
P1-44 : Electronic Gear Ratio (1st Numerator)(N1) 30 (EMG)
P1-45 : Electronic Gear Ratio (Denominator)(M) 32 (CWL)
31 (CCWL)
Ex:
Encoder resolution 1280000 p/rev
P1-44=128
P1-45=1
1280000=f1*128/1
F1=10000
P1-46: Encoder Output Pulse Number
value=2500

3. MITSUBISHI J2
Table 11-3
HUST 26pin (M) CN1A CN1B
Pin No Definition Description Pin No Definition Pin No Definition
1 /A /A phase input 16 LAR
2 A A phase input 6 LA
3 B B phase input 7 LB
4 /B /B phase input 17 LBR
5 Z Z phase input 5 LZ
6 /Z /Z phase input 15 LZR
7 VCMD 00~10V analog command 2 VC
5V GND (V-command
8 GND 1 LG
Torgue & +5V GND)
9 5V +5V Power
10 TOG Torgue input
5 SON
Servo-On
10 SG
19 Pulse+ Pulse command+ 3 pulse+
20 Pulse- Pulse command - 13 pulse-
21 Sign+ Pulse Direction+ 2 sign+
22 Sign- Pulse Direction - 12 sign-
25 24V +24V Power
24V GND
26 24VGND
I/O & +24V GND
MITSUBISHI Connector short circuit

HUST 26PIN
CN1A
03 VCD CN1B
13 COM CN1B
15 EM-STOP CN1B
16 CW Limit CN1B
17 CCW Limit CN1B
CN1B
20 SG CN1B
5 & 10 SERVO ON (CN1B)
9 & 10 Analog/Pulse changing (CN1B)

Parameters
P0 : Control Mode DELTA Connector short circuit

11 (COM+)
0: Position control mode. 17 (VDD)
47 (COM-)
30 (EMG)
P3 : Electronic Gear Ratio (1st Numerator)(CMX)
32 (CWL)
P4 : Electronic Gear Ratio (Denominator)(CDV) 31 (CCWL)
Ex:
Encoder resolution 131072 p/rev
P3=16
P4=1
131072=f1*16/1
F1=8192
P21 : External Pulse Input Type
P27: Encoder Output Pulse Number
value=10000(x4)


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Lathe CNC Controller

Ver Nov. , 2013

HUST Automation Inc.

1 H6D-T Main Features of CNC Lathe Controller 1-1

2.1 Basic Operation 2-1

2.2.2 Program Editing 2-42

3 G/M Codes 3-1

3.1 Command codes 3-1

Face Cut-Off Cycle,G74 3-53

4 MCM Parameters 4-1

4.1 MCM Parameters 4-1

4.2 Description of Parameters 4-5

5.1 System Connection Descriptions 5-1

6 Error Messages 6-1

7.1 Description of MCM Machine Constants 7-22

Input Planning 8-1

9 AppendixB - PC On-Line Operation 9-1

10 AppendixC - Method for usingthe most often used G10command 10-1

11 AppendixD Servo Motor W iring 11-1

Main-Features of HUST H6D-T Lathe CNC Controller

It achieves 0.5us of response speed for fast acceleration/deceleration control, which

Simultaneous operation of speed control and position control in providing a flexible

Program Designed by CAD/CAM on PC. Program input from PC through RS232C

Provide 40 sets of tool-length offsets.

It is provided with 6 sets of working coordinate system setting functions to facilitate

It is provided with 6 sets of working coordinate system setting functions to facilitate

Self-diagnostic and error signaling function.

IO Module is designed with separate Transition Board and Signal Board in

After powering the controller, the following startup screen displays:

“MPG - TEST” “AUTO” “MDI” “EDIT” “PRNO” “JOG”

* MPG TEST Screen

* Auto Mode Screen

3. Restart:Select only before running the program.

upon each pressing of “Start” key.

9. W orkingQuantityand Time Indication (as per Fig. 2-3):

R-Screen Middle Left; S-Screen Center; T-Screen Middle Right

Fast Key Indicator ON “Fast Draft”

“Hand-on Draft”: Servo axis displacement command together with M, T and

* Edit Mode display

General Programmingand Intellectual Programming:

For detailed operation of program editing,please refer to Program Edit section.

* Program Selection Screen

Programmable line numbers range:0 ~ 600.The controller system uses numbers

1. Move the cursor to O001

Program selection methods:

c. Press the enter key.

b. Use the “Cursor ” key or “Page ” key to move the arrow to

MODE switch turn to JOG

the screen will display the active Spindle.)

* MPG Mode Screen

MODE switch turn to MPGx1 MPGx10 MPGx100 :

* HOME Mode Screen

Home Position returning operation method:

* I/O (Input/Output)Mode Screen

Fig. 2-20 “Input/Output” Status of the Controller

Fig. 2-21 Controller “IOCSA” Status

Press the soft key to change the IOCSA status screen:

Fig. 2-22 “Panel I/O” Status of the Controller

G54 ~ G59 Working Coordinates Setting: