B-62542en 01 060508 PDF

FANUC Series 0-TD/0-MD
DESCRIPTIONS
B-62542EN/01
• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.
The export of this product is subject to the authorization of the government of the country
from where the product is exported.
In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as ”impossible”.
This manual contains the program names or device names of other companies, some of
which are registered trademarks of respective owners. However, these names are not
followed by  or  in the main body.
CONTENTS
GENERAL
I. CNC FUNCTIONS
1. OUTLINE . . . .. ... .. .. ... . .. ... ..... ... .. .. .. ... ... .... ... . .. .. 1- 1
2. CONTROLLEDAXES ........................................... l-13

2.1 Controlled Axes ............................................. 1 - 13
2.2 AxesControlbyPMC ......................................... l-13
3. PREPARATORY FUNCTION (G FUNCTION) ... .. .. .. .. .... .. .... ... .. . 1 - 15
4. INTERPOLATION FUNCTIONS . . . . . . . . . . . . . . . .. .. .. .... .. .... ... . .. 1 - 19

4.1 Positioning (GOO) 1-19
4.2 Linearlnterpolation(Gb;j’:::::::::::::::::::::::::::::::::::::: 1-19
4.3 Circular Interpolation (G02, G03) . . . . . . . . . . . . .. .. .. ... .... ... .. .. . 1 - 19
4.4 Polar Coordinate Interpolation (Gll2, Gll3) ... . ... .... .... .. .. ... .. . 1 - 20
4.5 Single Direction Positioning (G60) . . . . . . . . . . . .. .. ... .... .. .. ... .. . 1 - 21
5. THREAD CUTTING ............................................. 1 - 22

5.1 Thread Cutting (G32) .......................................... 1 - 22
6. FEED FUNCTIONS ............................................. 1 - 23

6.1 Rapid Traverse ............................................. I - 23
6.2 Cutting Feed Rate ........................................... 1 - 23
6.2.1 Tangential speed constant control ............................ 1 - 23
6.2.2 Cutting feed rate clamp .................................... 1 - 23
6.2.3 Feed per minute (G94) .................................... 1 - 23
6.2.4 Feed per revolution (G99) ................................. 1 - 24
6.3 Override l-24
6.3.1 Feed;ate’dv~rride”::::::::::::::::::::::::::::::::::::::: l-24
6.3.2 Rapid traverse override .................................... 1 - 24
6.3.3 Jog override ........................................... 1 - 24
6.3.4 Overridecancel .......................................... l-24
6.3.5 Automatic corner override (G62) ............................. 1 - 24
64 Automatic Acceleration/Deceleration ................................ 1 - 25
6:5 Dwell (G04) ............................................... 1 - 25
66. Exact Stop (G09) ............................................ 1 - 25
67 Exact Stop Mode (G61) ....................................... 1 - 25
6:8 Cutting Mode (G64) .......................................... 1 - 25
6.9 Tapping Mode (G63) ......................................... 1 - 26
7. REFERENCE POINT ............................................ 1 . 27

7.1 Manual Reference Point Return ................................. l-27
7.2 Automatic Reference Point Return (G28, G29) ...................... : l-27
7,3 Reference Point Return Check (G27) .............................. 1 . 27
7.4 2nd Reference Point Return (G30) ................................ 1 - 27
8. COORDINATE SYSTEM l-29

8.1 Coordinate System Set& . :: :: ::: :::: ::: :: ::: ::: ::: :: ::: :: ::: : : 1 - 29
8.2 Coordinate System Shift ....................................... 1 - 29
8.3 Automatic Coordinate System Setting ............................. 1 . 29
84 Setting Work Coordinate System-method by G54-G59 .................. 1 - 30
8:5 Work Coordinate System Shift ................................... 1 - 30
8.6 Direct Measured Value Input for Work Coordinate System Shift ........... 1 - 30
9. COORDINATE VALUE AND DIMENSION . . . 9. . . .
l l l l l .... .. .. . . . . . . . . 1 - 31
91. Absolute and Incremental Programming (GSO, G91) l l l .... ... . . . . . . . . . 1 - 31
92 Inch/MetricConversion(G20,G21) . ... .. .. .. .. . .. ... . ... . . . . . . . . . 1-31
9:3 Decimal Point Input/Pocket Calculator Type Decimal Point Input .. . . . . . . . . . 1 - 31
9.4 Diameter and Radius Programming ... .. . .. .. . l l l l .. .. .... . . . . . . . . 1 - 31
10. SPINDLEFUNCTIONS.. ......................................... 1-33

10.1 SCodeOutput .............................................. l-33
10.2 SAnalogVoltageOutput ....................................... .l-33
10.3 ConstantSurfaceSpeedControl(G96,G97) ........................ 1-33
10.4 SpindleSpeedClamp(G50) .................................... l-34
10.5 SAnalogVoltageControlbyPMC ................................ l-34
10.6 SpindleSpeedOverride ....................................... 1-34
10.7 ActualSpindleSpeedOutput .................................... l-34
11. TOOL FUNCTIONS ............................................. 1 . 35

11.1 TCodeOutput .................................... ..‘. ....... I-35
12. MISCELLANEOUSFUNCTIONS .................................... l-36

12.1 Miscellaneous Function (M2 digit) ................................ 1 . 36
12.2 Second Miscellaneous Function (B-Function) ........................ 1 . 36
13. PROGRAM CONFIGURATION ..................................... 1 - 37

13.1 Program Number ............................................ 1 -37
13.2 Main Program .............................................. 1 - 37
13.3 Subprogram ............................................... l-37
13.4 Sequence Number ........................................... 1 -37
13.5 TapeCodes ................................................ l-37
13.6 Basic Addresses and Command Value Range ........................ 1 - 38
13.7 Tape Format ............................................... 1 -39
13.8 Label Skip ................................................. 1 -39
13.9 Control-in/Control-out ......................................... 1 - 40
13.10 Optional Block Skip .......................................... 1 -40
13.11 Program Name ............................................. 1 -40
14. FUNCTIONS TO SIMPLIFY PROGRAMMING ........................... 1 - 41

14.1 Canned Cycles (G73, G74, G76, G80 . G89, G98, G99) (O-MD) .......... 1 - 41
14.2 CannedCycles ............................................. l-44
14.2.1 Cutting cycle A (GSO) ..................................... 1 - 44
14.2.2 Threadcuttingcycle(G92) ................................. l-45
14.2.3 Cutting cycle B (G94) ..................................... 1 - 45
14.3 External Motion Function (G80, G81) .............................. 1 - 46
14.4 Canned Cycle for Drilling ...................................... 1 - 46
15. COMPENSATION FUNCTIONS .................................... 1 - 47

15.1 Tool Length Compensation (G4, G44, G49) (O-MD) ................... 1 9.47
15.1.1 Tool length compensation A ................................ 1 - 47
15.1.2 Tool length compensation B ................................ 1 - 47
15.2 Cutter Compensation C (G40-G42) (O-MD) .......................... 1 - 47
15.3 Tool Offset Number ......................................... 1 - 48
15.4 Tool Geometry Offset and Tool Wear Offset ....................... .I 1 - 48
15.5 Tool Nose Radius Compensation (G40-G42) (0-TD) ................... 1 . 49
15.6 Stored Pitch Error Compensation ................................. 1 . 49
15.7 Backlash Compensation .................................... ... 1 . 49
16. AXIS CONTROL l-50

16.1 MechanicalHandle’Feeb.::::::::::::::::::::::::::::::::::::::: l-50
16.2 ServoOff ................................................. l-50
16.3 Mirrorlmage(O-MD) .......................................... l-50
17. AUTOMATICOPERATION ........................................ l-51

17.1 OperationMode ............................................. l-51
17.2 Selection of Execution Program .................................. 1 . 51
17.3 ActivationofAutomaticOperation ................................ l-52
17.4 ExecutionofAutomaticOperation ................................ l-52
17.5 AutomaticOperationStop ...................................... l-52
17.5.1 Programstop(MOO,MOl) .................................. l-52
17.5.2 Programend(M02,M30) .................................. l-53
17.5.3 Feed hold ............................................. 1 -53
17.5.4 Reset ................................................ 1 -53
17.5.5 Sequence number comparison and stop ........................ 1 - 54
17.6 Manual Interruption during Automatic Operation ....................... 1 - 54
17.6.1 Manual absolute ON/OFF .................................. 1 . 54
18. MANUAL OPERATION ........................................... 1 - 55

18.1 Manual Feed ............................................... 1 -55
18.2 Incremental Feed ............................................ 1 -56
18.3 Manual Handle Feed .......................................... 1 -57
19. PROGRAM TEST FUNCTIONS .................................... 1 - 58

19.1 Machine Lock .............................................. 1 -58
19.2 Auxiliary Function Lock ........................................ 1 - 58
19.3 DryRun .................................................. l-58
19.4 Single Block ............................................... 1 -59
19.5 Z-axis Command Cancel ....................................... 1 - 59
20. CRT/MD1 1 - 60
20.1 CRT/MDI’Pane;.::::::::::::::::::::::::::::::::::::::::::::: I-60
20.2 Setting and Display .......................................... 1 . 62
20.2.1 MDI Operation .................................... 1 . 62
20.2.2 Setting and display of offset value ...................... : : ::: : 1 - 63
20.2.3 Setting and display of setting data ............................ 1 - 63
20.2.4 Setting and display of parameter ............................. 1 - 64
20.25 Program display ......................................... 1 - 64
20.2.6 Program list display ................ i ..................... 1 - 65
20.2.7 Current position display .................................... 1 - 65
20.2.8 Alarm display ........................................... 1 - 67
20.2.9 Command value display ................................... 1 - 67
20.3 Program Protect Key ......................................... 1 - 67
20.4 Language ................................................. 1 - 67
21. PART PROGRAM STORAGE & EDITING ............................. 1 - 68

21 .l Part Program Storage & Editing .................................. 1 - 68
21.2 Number of Registered Programs ................................. 1 . 68
21.3 Part Program Storage Length ................................... 1 - 68
22. SELF DIAGNOSTIC FUNCTIONS . .. .... ... .. . ... . .. ... ... .. .... . .. . 1 - 69
23. DATA INPUT/OUTPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 70

23.1 l/C Device Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 70
23.2 Input Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 70
23.21 FANUC FLOPPY CASSETTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 70
23.2.2 FANUC PROGRAM FILE Mate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 70
24. SAFETYFUNCTIONS . . . . . . . .. . . . . . . . . . . . . . . . . . :. . . . . . . . . . . . . . . . . l-71

24.1 EmergencyStop .......................... i.. ............... l-71
24.2 Overtravel Functions ......................................... 1 - 71
24.2.1 Overtravel ............................................ . l-71
24.2.2 Stored strokelimit ....................................... l-71
24.3 Interlock .................................................. 1 . 71
25. STATUS OUTPUT .............................................. l-73

25.1 CNCReadySignal ........................................... 1-73
25.2 Servo Ready Signal .......................................... 1 - 73
25.3 Alarm Signal ............................................... 1 . 73
25.4 Distribution End Signal ........................................ 1 - 73
25.5 Automatic Operation Signal ..................................... 1 - 73
25.6 Automatic Operation Start Lamp Signal ............................ 1 - 73
25.7 Feed Hold Signal ............................................ 1 . 73
25.8 Power Ready Signal .......................................... 1 - 73
25.9 Reset Signal ............................................... 1 - 73
25.10 Battery Alarm Signal .......................................... 1 - 73
26. EXTERNAL WORK NUMBER SEARCH ............................... 1 - 74
27. MACHINE INTERFACE .......................................... 1 . 75
28. PROGRAMMABLE MACHINE CONTROLLER (PMC) ..................... I . 76
29. CONTROL UNIT ............................................... 1 . 77

29.1 Cabinet ................................................... l-77
29.2 Power .................................................... 1-77
29.2.1 Input power voltage ...................................... 1 -77
29.3 Battery Unit ............................................... 1 . 77
29.4 Environmental Requirements .................................... 1 . 77
29.5 Weight ................................................... 1 - 77
30. CABLES AND CONNECTORS ..................................... 1 . 78
31. SERVO SYSTEM (Digital Servo) .................................... 1 - 79

31.1 Position Detection System ..................................... 1 - 79
31.2 Position Detector ............................................ 1 . 79
31.3 ServoMotor ............................................... I-79
31.4 Velocity Control Unit ........................................... 1 - 79
31.5 Regenerative Electric Discharge Unit .............................. t - 79
31.6 Servo Power Transformer .............................. ........ 1 - 79
32. POSITION CODER ............................................. I - 80
APPENDIX
APPENDIX 1. TABLE OF RANGE OF COMMAND VALUE . . . . . . . . . . . . . . . . . . . . . A - 1

APPENDIX 2. FUNCTION AND TAPE FORMAT ... .. . .. .. .. .. .. ... .. . ... . . . A -5
APPENDlX 3. LIST OF CODE A- 10
APPENDIX 4. nCrERNALDIMENSIONS’:::::::::::::::::::::::::::::::::: A-13
GENERAL
This manual describes the following products:
Name of products Abbreviation
FANUC Series 0-TD 0-TD

I
FANUC Series O-MD O-MD

I
I. CNC FUNCTIONS
1. OUTLINE
1 l OUTLINE Construction of the control unit is of panel

mount type which allows easy construction of
The Series O-D are high-performance CNCs
an integrated system of machinery with an
developed to provide the outstanding speed,
electrical unit. A simple, heavy current circuit
precision and efficiency demanded to
on the machine also allows construction of
accomplish the machining of the future and all
more compact, united systems of machine and
in a remarkably compact machine configura-
electrical units, because a PMC (programmable
tion. They achieve a substantial boost in
machine control) can be in corporated into the
machining productivity thanks to their high-
control unit.
speed, high-precision digital servo system,
High-speed, high-accuracy machining can be
high-speed PMC functions, and abundant CNC
done since the digital servo having a high-
functions made possible through the adoption
.speed processor and custom LSls exclusively
of a high-speed microprocessor.
employed for it is used in the control circuit of
Seires O-D includes following models :
the servo system.
O-MD
As for the control motor, an absolute position
For machining center, drilling machine and
detector of full electronic type can be fitted on
milling machine
the detector for an AC servo motor. No
0-TD
operation of reference point return is required
For all-purpose lathe, automatic lathe and
when power is supplied, by employing an
lathe controlled by programmable controller
absolute position detector of full electronic
CNC functions for the above two models are
type.
explained in this chapter. A high-speed micro
Therefore, restarting of operation after cut-off
processor and many custom LSls have been
the power supply can be easily done.
employed for the control circuit, successfully
The spindle motor for CNC is an AC spindle
decreasing the number of circuit elements to
motor which is small and of high power.
the greatest extent. Therefore, its reliability is
High-speed, high-accuracy machining can be
much higher, and a small control unit with a
done since the motor is digitally controlled.
power supply unit can be easily built into the
magnetic power cabinet on the machine.
CNC
Manual pulse generator
unit
1-l
1 OUTLINE
l
FANUC Series 0-TD (List of specifications)
Controlled axis
item Contents
Controlled axis 2 axes

I
Simultaneous controllable axes I 2 axes
Least input increment I 0.001 mm
Inter lock I All axes
Machine lock All axes
I
Emergency stop
Feed hold
Overtravel signal
Stored stroke check 1
Follow-up
servo off
Chamfering ON/OFF
Backlash compensation
Stored pitch error compensation
Operation
Item Contents
Automatic operation (Memory)
MDI operation
Program number search
Sequence number search
Buffer resister
Dry run
Single block
Manual continuous feed (JOG)
Manual reference position return
Manual handle control 1 unit : need MPG separately

(Manual handle feed rate: x 1, x 10, x M)
Incremental feed Xl, x10, woo, woo0
l-2
1. OUTLINE
interpolation
Item Contents
Positioning GO0
I
Linear interpolation
Circular interpolation
Dwell
Thread cutting, synchronous cutting 1need position coder separately
Reference position return I G28

Reference position return check I G27
Feed function
Item Contents
Rapid traverse rate 100 m/min (1 pm)
Rapid traverse override Fo, 25, 50, 100 %
Feed per minute mm/min
Feed per revolution mm/rev
Tangential speed constant control
Cutting feed rate clamp
Automatic acc./deceleration Rapid traverse rate : Linear

Cutting feed rate : Exponential
Feedrate override O- 150 %
Jog override Oh 150 %
Override cancel
1-3
1 OUTLINE
l
Program input
Item Contents
I
EWE0 automatic recognition
Label skip
Parity check Parity H, Parity V
Control in/out
Optional block skip 1
Max. programmable dimension 2 8 digit

~~~~ ~
Program number I 04-digit
Sequence number N4-digit
Absolute/incremental programming Combined use in the same block
Decimal point input
Diameter/radius programming
X-axis mirror image
Coordinate system setting
Coordinate system shift
Manual absolute on/off
G-code system A
Sub program call I 2 folds nested

Canned cycles
Radius designation on arc
Auxiliary function
Item Contents
Auxiliary function
I M3-digit
Auxiliary function lock
Spindle function
Item Contents
Spindle function I S2-digit
1-4
1. OUTLINE
Tool functionflool compensation
Item Contents
T2fT4
16 pairs
r-
Tool off set
bput of offset value measured A
Editing operation
Item Contents
Part program storage length 40 m
Registered program 63 pieces

. r
Part program editing
p
Setting and display
Item Contents
Status display
Position display
Program display Program name : 31 characters
Parameter setting and display .
Self-diagnosis function
Alarm display
Actual cutting speed display
Servo setting screen
Display language English
Chinese
Japanese
Data protection key
1-5
1 l OUTLINE
Data input/output
_ Item 1 Contents
Reader/puncher interface 1 channel

-~
External workpiece number serarch 15
Others
Item Contents
Status output signal CNC ready, servo ready, automatic operation, automatic
operation start, automatic operation stop, reset, alarm,
distribution end, rewinding, cutting, inposition, thread
cutting, etc.
Setting/display unit 9” monochrome CRT/MD1
PMC-L Basic instruction: 6.0 @step step number: 5000
Machine interface (DIIDO) I/O Board

DI/DO : 80156 points
. .
Servo motor FANUC & Series servo motor
Position detector Incremental/Absolute pulse coder
Servo amplifier FANUC digital servo amplifier
External dimensions of controller 250 (VV)X400 (H) X 185 (D) mm
Power supply AC 200V - AC 240V + lo%, - 15% 50/60 Hz f 3 Hz
Option
Item Contents
S4/5 digit command I S analog output

Constant sureface speed control I
Inch/metric conversion
1-6
1. OUTLINE
FANUC Series O-MD (List of specifications)
Controlled axis
Item Contents
Controlled axis I 3 axes
Simultaneous controllable axes

~~ ~ I 3 axes
Least command increment 0.001 mm
I
Interlock I Each axes .
Machine lock I All axes

Emergency stop
Feed hold
Overtravel signal
Stored stroke check 1
Z-axis command cancel
Follow-up
Exact stop mode
Exact stop
Servo off
Backlash compensation
Stored pitch error compensation
1-7
1. OUTLINE
Operation
item Contents
Automatic operation (Memory)
MDI operation
Program number search I

Sequence number search
Buffer resister
Reset
Dry run
Single block
Manual continuous feed (JOG)
Manual reference position return
Manual handle control 1 unit : need MPG separately

(Manual handle feed rate: x 1, x 10, x M)
Jog and handle simultaneous mode 1
Incremental feed I Xl,x10, woo, woo0
Interpolation
Item Contents
Positioning I GO0
Linear interpolation
Single direction positioning
Dwell
Reference position return I G28

Reference position return check I G27
2nd reference position return I G30
1-8
1. OUTLINE
Feed function
Item Contents
Rapid traverse rate 100 m/min (1 pm)
Rapid traverse override Fo, 25, 50, 100 %
Feed per minute mm/min
Tangential speed constant control
Cutting feed rate clamp
Automatic acc./deceleration Rapid traverse rate : Linear

Cutting feed rate : Exponential
Feedrate override 0 - 150%
Override cancel
Program input
I
Item Contents
I
flAllS0 automatic recognition
1
-abeI skip
Parity check Parity H, Parity V
Control in/out
Optional block skip 1
Max. programable dimension f 8 digit
Program number 04.digit
“sequence number N4-digit
Absolute/incremental programming Combined use in the same block
Decimal point input
Pocket calculator type decimal point

input
Coordinate system setting
Workpiece coodinate system
Manual absolute on/off
Sub program call 2 folds nested
Canned cycles for drilling G73, G74, G76, G80 - G89
Radius designation on arc
Mirror image
1-9
1. OUTLINE
Auxiliary function
L .
Item Contents
Auxiliary function M3-digit
Auxiliary function lock I
Spindle function
Item Contents
,
Spindle function I S2digit
Tool functionmool compensation
item Contents
Tool function I T2K4

Tool offset memory 1 2 6-digit 32 pairs
Tool length offset
Cutter compensation C
Editing operation
Item Contents
Part program storage length I 80 m

Registered program I 63 pieces
Part program editing
l-10
1. OUTLINE
’ Setting and display
Item Contents
Status display
Position display
Program display Program name : 31 characters
Parameter setting and display
Self-diagnosis function
Alarm display
Actual cutting speed display
Servo setting screen
Display language I English

IChinese
Japanese
Data protection key
Data input/output
r- Item
1 channel
Contents
Reader/puncher interface
External workpiece number serarch 15
l-11
1. OUTLINE
Others
Item Contents
Status output signal CNC ready, servo ready, automatic operation, automatic
operation start, automatic operation stop, reset, alarm,
battery alarm, distribution end, rewinding, cutting,
inposition, etc.
Setting/display unit 9” monochrome CRT/MD1 ’
MDI softkey 5+2
PM&L Basic instruction: 6.0 @step step number: 5000
Machine interface (DIIDO) I/O Board

DVDO : 104/72 points
Servo motor FANUC & Series servo motor
Position detector Incremental/Absolute pulse coder
Servo amplifier FANUC control motor amplifier Q series
External dimensions of controller 250 (VV)X400 (H) X 185 (D) mm
Power supply AC 200V - AC 240V + lo%, - 15% 50/60 Hz 5 3 Hz
Option
Item Contents
S4/5 digit S analog output

command
S serial output Spindle orientation function is included.
Inch/metric conversion
PMC control axis 2nd auxiliary function is included.
l-12
2. CONTROLLED AXES
b
2. CONTROLLED AXES (6) Maximum stroke
2 99999.999 mm
2.1 Controlled Axes
k 9999.9999 inch
(1) Basic Controlled Axes 5 9999.9999 deg
2 axes (0-TD) In increment system l/l 0
3 axes (O-MD) k 9999.9999 mm
k 999.99999 inch
(2) Controlled axes expansion (O-MD) k 99999.999 deg
1 axis (PMC axis)
(Note 1) The least command increment is
(3) Basic Simultaneously Controlled Axes the least increment of command which CNC
(a) Automatic operation (Rapid traverse, gives to the machine.
cutting feed): 2 axes (0-TD) (Note 2) For X axis specifications, either
3 axes (O-MD) diameter designation or radius designation is
(b) Manual operation: 1 axis selectable by parameter.
(4) Name of Axes 2.2 Axis Control by PMC

X, Y, Z (U, W) (Note 2)
Sample Applications
ITI
(5) Increment System
1
(0-TD) [PMCI
Least
input
0.001
mm
0.0001
inch 1
increment
Diameter 0.0005 0.00005

I
Motor
(M series)
Least X axis designation mm inch
commsnd
increment
Radius 0.001 0.0001
A
designation mm mm
(Note 1)
Z axis 0.001 0.0001

mm mm
(O-MD)
Least input 0.001 mm 0.0001 inch

increment
Least X,Y,Z axis 0.001 mm 0.0001 inch

command Independent axes can be controlled by the
4th axis 0.001 deg O.OOldeg
increment ! command from PMC, not the command from
(Note 1)
0.001 mm 0.0001 inch CNC.
(1) Axis controllable by PMC .

4th axis (O-MD)
l-13
2. CONTROLLED AXES
Axis name for CRT position display

An alphabet which is not used on CNC axis
can be selected by a parameter.
It can also be selected, using a parameter
whether or not the axis name is displayed
on the CRT position display unit.
No. of simultaneously controlled axes

The axis controlled by PMC operates
independently of the CNC axis.
Incrementsystem
Least input 0.001 mm 0.0001 inch

increment
Least command 0.001 mm 0.0001 inch

increment
l-14
3. PREPARATORY FUNCTION (G FUNCTION)
(1) 0-TD
G code list
G code Group Function
GO0 * Positioning (rapid traverse)
GO1 Linear Interpolation (feed)

01
GO2 Circular interpolation CW
GO3 Circular interpolation CCW
GO4 Dwell
G20 Inch data input

06
G21 Metric data input
G27 Reference point return check
G28 00 Return to reference point
G30 2nd reference point return
G32 01 Thread cutting
G40 fi Tool nose radius compensation cancel
G41 07 Tool nose radius compensation left

. .
G42 Tool nose radius compensation right
G50 00 Coordinate system setting
G90 Outer diameter/internal diameter cutting cycle
G92 01 Thread cutting cycle

I
G94 Endface turning cycle
G96 Constant surface speed control

02
G97 * Constant surface speed control cancel
G98 Feed per minute

05
G99 * Feed per revolution
l-15
(2) O-MD
G code list (l/2)
GO0 * Positioning (Rapid traverse)
GO1 Linear interpolation (Cutting feed)

01
GO2 Circular interpolation/Helical cutting CW
GO3 . Circular interpolation/Helical cutting CCW
GO4 Dwell, Exact stop

00
GO9 Exact stop
G17 fr XY plane selection
G18 02 ZX plane selection
Gl9 YZ plane selection
G20 Input in inch

06
G21 Input in mm
G27 Reference point return check

I
G28 Return to reference point
00
G29 Return from reference point
G30 2nd reference point return
G40 * Cutter compensation cancel
G41 07 Cutter compensation left

!
G42 Cutter compensation right
G43 Tool length compensation + direction

08 I
G44 Tool length compensation - direction
G49 * 08 Tool length compensation cancel
G54 Work coordinate system 1 selection

14
G60 00 Single direction positioning
l-16
G code list (2/2)
G61 Exact stop mode

.
G63 15 Tapping mode
G64 * Cutting mode
G73 Peck drilling cycle
G74 Counter tapping cycle
G80 * Canned cycle cancel
G81 Drilling cycle, spot boring
G82 Drilling cycle, counter boring
G83 Peck drilling cycle

09
G84 Tapping cycle
,
G85 Boring cycle
L
G86 Boring cycle
G87 Back boring cycle
G88 Boring cycle
G89 Boring cycle
G90 * Absolute command

03
G91 Incremental command
G92 00 Programming of absolute zero point
G98 Return to initial point in canned cycle

10
G99 * Return to R point in canned cycle
l-17
(Note 1) G codes marked *are initial G

codes when turning power on.
For G2O and G21, the G code before turning
power off remains. GO0 or GO1 can be
selected by parameter setting.
(Note 2) G codes of group 00 are not
modal. They are only effective in the block in
which they are specified.
(Note 3) If a G code not listed on the table
of G codes is inputted, or optional G code not
specified in the system is commanded, an
alarm (No. 010) is displayed.
(Note 4) A number of G codes can be
specified in the same block. When more than
one G code of the same group is specified, the
G code specified later is effective.
(Note 5) If any G code of group 01 is
specified in a canned cycle mode, the canned
cycle is automatically cancelled and the G80
condition is entered. However a G code of
group 01 is not affected by any of the canned
cycle G codes.
(Note 6) A G code is displayed from each
group.
l-18
4. INTERPOLATION FUNCTIONS
4. INTERPOLATION 1O-MD 1
FUNCTIONS 4
This manual uses the following notation.

P- : Combination of optional axis address
(of x, y, z, A, B, C) as X Y 2 . .. .
. . End of block (LF for IS&ode, CR for
I g
EIA code)
Arc on X-Y plane
4.1 Positioning (GOO)
pIIIIII--
0
0
t
End point
/
/ Rapid traverse
0
0
0
0 Arc on Z-X plane
0 GOOX Z(W) ; (T series)
Start point
R-
GO0 P_ (M series)
I- K-
Positioning is done with each axis
independently. Arc on Y-Z plane
Tool path generally does not become a line.
It is decelerated to a stop at the end point,
and inposition check is performed (checks
whether the machine has come to the (Note 1)
specified position).It is possible not to GO1:Clockwise (CVV) circular interpolation
perform the inposition check by parameter. G02: Counterclockwise (CCW) circular
Width of inposition can be set as a interpolation
parameter. (Note 2) Circular radius R designation:
4.2 Linear Interpolation (GOl) R ) 0; 0” to 180” circular designatable
R < 0; 180’ to 360” circular designatable
Cutting feed (F code)
I, J, K designation : O”to 360°circular
(Note 3) If an R smaller than the half of the
distance between the start point and the end
point was specified, this R is neglected, and a
--
180” circular arc is drawn.
4.3 Circular Interpolation (G02, 603) (Note 4) The feedrate in circular
? I
interpolation is equal to the cutting feedrate
1O-TD
specified by an F code. An error of the
command speed from actual tool speed is
within & 2%.
(Note 5) If R is omitted, the tool moves
straight toward the end point.
(a) Righthand (b) Leftthand

coordinate system coordinate system
R
X(U) Y(W) - F ;
- - i_ I J _I -
l-19
INTERPOLATION FUNCTIONS
4.4 Polar Coordinate lnterpollation (2) Polar coordinate interpolation cancel mode
(G112, G113) (G113)
The polar coordinate interpolation cancel mode
The function in which contour control is done in
is obtained by G13.1 command.
converting the command programmed in a
(3) Example of a program
Cartesian coordinate system to the movement
Poalr coordinate interpolation bv X axis (Linear
of a linear axis (movement of a tool) and the
axis) and C axis (Rotarv axis).
movement of a rotary axis (rotation of a
workpiece) is the polar coordinate interpolation. Path after cutter compensation
It is an effective function when a cam shaft is C (Virtual axis) I

commanded by a G code.
Programmed path
Gll2; Polar coordinate interpolation mode
(Polar coordinate interpolation shall
be done.)
Gl13; Polar coordinate interpolation
cancel mode (Polar coordinate
interpolation is not done)
The G codes shall be commanded in a single
block.
(1) Polar coordinate interpolation mode(Gl12)
The axes (linear axis and rotary axis) on which
polar coordinate interpolation is done are set
beforehand by parameters.
00001;
Change the mode to polar coordinate
interpolation mode by commanding Gl12, and
a plane (hereinaffter referred to as polar
Nl 00G90GOOX12O.OCOZ_;Positioning to the starting
coordinate interpolation plane) is selected in
which linear axis is made to the first axis of the
N200G112; Starting polar coordinate interpolation
plane, and virtual axis being a right angle with
N201 G42GO1X40.OFDOl; -
the linear axis is made to the second axis of
N202C10.0;
the plane. Polar coordinate interpolation is
N203G03X20.0C20.0R10.0;
carried out on this plane.
N204GOl X40.0; Contour program
In the polar coordinate interpolation mode, the (Program in cartesian
N205C-10.0;
command of linear interpolation (GOl) and coordinate system of
N206G03X-20.OC-20.011 O.OKO
circular interpolation (GO2, G03) is possible. x-c plane)
N207GOl X40.0;
And both absolute command (G90) and
N208CO;
incrtemental command (G91) are possible.
N209G40Xl20.0; -
For the program command it is possible to
N21OGll3;
apply cutter compensation.
Canceling polar coordinate
For the path after cutter compensation is done,
interpolation
polar coordinate interpolation can be made.
NsOOZ_;
AS feedrate, specify the tangential speed
N400X_C_;
(relative speed between the workpiece and the
tool) on the polar coordinate interpolation plane
(Cartesian coordin&e system) with F.
l-20
4. INTERPOLATION FUNCTIONS
4.5 Single Direction Positioning

WV
End point
(Direction for final positioning is right to left)
For accurate positioning without backlash, final

positioning from only one direction is available.
l-21
5. THREAD CUTTING
5. THREAD CUTTING (Note 1) Feed hold cannot be executed

during thread cutting.
5.1 Thread Cutting (G32)
(Retract function is invailid in G32 thread
-+I+ cutting.)
(Note 2) Thread cutting is restricted as
follows.
Maximum spindle revolutions :
4000 rpm (position coder A)
6000 rpm (position coder B)
Maximum feed rate :
Straight thread 15000 mm/min, 600 inch/min
P=RxF
PS Maximum command value of feed rate per
minute (15000mm/min, 6OOinchImin)
PI Feed rate limited by motors employed
where,
P.. Feed rate in threading (mm/min, inch/min)
F.. Lead (mm. inch)
R .. Spindle revolution
Tapered screw
Scroll thread
G32X(U) Z(W) -- F ;
Least command Lead command
increment range
metric input 0.001 mm 0.0001-
5000000mm
‘(
inch 0.0001 inch 0.000001-
input 9.999999inch
By feeding the tool synchronizing with the

spindle rotation, thread cutting of the specified
lead is performed. Specify the lead of the long
axis direction with the F code.
l-22
6. FEED FUNCTIONS
6. FEED FUNCTIONS
6.1 Rapid Traverse
D
000
0
0
0
0
/’
Start
point End point
GO0 command
__I_____.) /’
b For linear For arc X
Least command increment Rapid traverse rate range

F= FI?+F?
4
0.001 mm 30-l 00000 mm/min
F : Feedrate of tangent direction
0.0001 inch 3.04000.0 inch/min Fx: Feedrate component of X-axis direction
Fy: Feedrate component of Y-axis direction
In case of l/l0 increment system
Least command increment Rapid traverse raterange
In cutting feed, it is controlled so that speed of
0.0001 mm 30-24000mm/min the tangential direction is always the same
0.00001 inch 3.0.960.0inch /min commanded speed.
Positioning is done in rapid motion by the

6.2.2 Cutting feed rate clamp
positioning command (GOO).
There is no need to program rapid traverse
S
p.....
.. .
rate, because the rates are set in the . :.
. ... .. :
parameter (per axis). Clamp i :. :. i
The above feed rates are limits according to speed I I
the CNC’s interpolation capacitv. b .
When the whole svstem is considered, there

are also limits accordino to the servo system.
Cutting feed rate upper limit can be set as

6.2 Cutting Feed Rate
parameters of each axis. If the actual cutting
6.2.1 Tangential speed constant feed rate (feed rate with override) is
control commanded exceeding the upper limit, it is
\ clamped to a speed not exceeding the upper
/ 0-TD 1
I limit of that value.
6.2.3 Feed per minute (G94)
Least command increment Cutting feed fate range

Start point End point
I
0.001 mm 1 -1 OOOOOmm/min
For linear Z For arc f
0.0001 inch 1 -12000 mm/min
F= In case of l/l0 increment system

I d F:
Fx2+Fz2
Least command increment Cutting feed rate range

Feedrate of tangent direction
Fx:
Fz:
Feedrate
Feedrate
component
component
of X-axis direction
of Z-axis direction
r 0.0001 mm I 0.01 - 4000.00inch /min I
0.00001 inch 0.010 480.00inWmin
1 - 23
6. FEED FUNCTIONS
With the per revolution feed mode G99, tool

feed rate per revolution of the spindle is directly
Shift amount per minute commanded by numeral after F. A position
(mm/min or inch/min) coder must be mounted on the spindle.
The above feed rates are limits accordinq to
the CNC’s interDolation capacitv.
are also limits accordinq to the servo svstem.
6.3 Override
m
Override 120%
O-MD 1 5Ommimin 60mm/min
I)Feedrate override O-1 50%(per every 10%)

!)Rapid traverse override F,(Parameter),25%,50%,100%
Shift amouk per minute

6.3.1 Feed rate override
I Table I
(mm/min or inch/min)
The per minute feed (G94) can be overridden
I .
bY
With the per minute feed mode G94, tool feed 0 to 150% (per every 10%)
rate per minute is directly commanded by
numerical value after F. 6.3.2 Rapid traverse override
F can be set not to be commanded by setting Rapid traverse rate can be overridden by:
the initial value of F in parameter.(F initial value Fo, 25% ,50%, 100%.
setting). Fo:A constant speed set by parameter
The above feed rates are limits accordinq to
the CNC’s interpolation capacity.
6.3.3 Jog override
are also limits accordinq to the sen/o svstem. Jog feedrate (Jog feed, step feed, dry run
feed) can be overridden by 0 to 150% (per
6.2.4 Feed per revolution (G99) every 10%).

~_
+ f )I/~~;;;tamountper 6.3.4 Override cancel
or inch/rev) Feedrate override can be clamped in 100% by
a machine side signal.
6.3.5 Automatic corner override

(G62)
When a G62 is commanded during cutter
compensation, cutting feedrate is automatically
overridden at corner.The cutting quantity per
unit time of the corner is thus controlled not to
increase.This G62 is valid till G61 (exact stop
l-24
6. FEED FUNCTIONS
mode), G64 (cutting mode), or G63 (tapping 6.5 Dwell (604)

\
mode) is commanded.
6.4 Automatic Acceleration
L
Deceleration
I
Execution
of block
0-
l Dwell
Execution of
block
FR MAX : Rapid traverse
TR : Acceleration/deceleration time constant
With the GO4 command, shifting to the next

block can be delayed by the time specified.
6.6 Exact Stop (GO9)
F,MAX : Feed rate

T, : Acceleration/deceleration time constant
(Inposition is checked
after block end.)
Feed, Dry run
Speed
Move command in blocks commanded with

GO9 decelerates at the end point, and
inposition check is performed. GO9 command
Acceleration and deceleration is performed is not necessary for deceleration at the end
when starting and ending movement, resulting point for positioning and inposition check is
in smooth start and stop. also done automatically.This function is used
Automatic acceleration/deceleration is also when sharp edges are required for workpiece
performed when feed rate changes, so change corners in cutting feed.

in speed is also smoothly done.
Rapid traverse: 6.7 Exact Stop Mode (G61)
Linear acceleration/deceleration (time When G61 is commanded, deceleration of
constant is set by a parameter per axis) cutting feed command at the end point and
Cutting feed: inposition check is performed per block
Exponential acceleration/deceleration (time thereafter.This G61 is valid till G64(cutting
constant is set by a parameter common to mode), G62 (automatic corner override), or
all axes) G63 (tapping mode) is commanded.
Jog feed:
Linear acceleration/deceleration (time 6.8 Cutting Mode (G64)
constant is set by a parameter per axis)
When G64 is commanded,deceleration at the
end point of each block thereafter is not
performed and cutting goes on to the next
block.This command is valid till G61 (exact
l-25
6. FEED FUNCTIONS
stop mode),G62 (automatic corner override), or

G63 (tapping mode) is commanded.
69. Tapping Mode (G63) *
Men G63 is commanded, feed rate override is

ignored (always regarded as lOO%), and feed
hold also becomes invalid. Cutting feed does
not decelerate at the end of block to transfer to
the next block. And in-tapping mode signal is
issued during tapping operation.This G63 is
valid till G61 (exact stop mode), G62
(automatic corner override), or G64 (cutting
mode) is commanded.
l-26
7. REFERENCE POINT
7. REFERENCE POINT (1) Return to reference point (G28)

With the G28 command, the commanded axis
7.1 Manual Reference Point Return
is positioned to the reference point via the
Motor speed commanded point.After positioning,the
reference point return end lamp is lit. If G28
was commanded when reference point return is
not performed after power on, reference point
return is done in the same sequence as the
I
I manual reference point return.

Deceleration dog
(2) Return from reference point (G29)
One rotation signal l I I I I I I I I With the G29 command,the commanded axis is
8 positioned to the point commanded by G29,
Reference point
via the intermediate point commaned by G28.
Positioning to the reference point can be done 7.3 Reference Point Return Check
by manual operation.
(627)
With jogging mode(J),manual reference point
return (ZRN) signals, and signal for selecting Program returned to reference point
manual reference point return axis ( 2 x, k Y, &
. Completion lamp is lit when tool returned
k Z, f 4th) on, the tool begins to move at rapid
to the reference point correctly
traverse mode.When deceleration limit switch . Alarm is generated when tool does not
mounted on the machine is turned on, it return to the reference point -
decelerates, and when it is turned off again, it G27 P ; (M series)
stops at the first grid point,and reference point
return end lamp lights. This point is the This function is used to check whether the
reference point. reference point return command was
Grid method: performed correctly.
A certain grid of the position detector is When G27 is commanded, reference point
appointed as the reference point. return end signal is output if reference point
The reference point position can be electrically return is performed to the correct position, and
shifted by the grid shift function. alarm arises if it is not positioned correctly to
the reference point.
7.2 Automatic Reference Point This function is available after power is turned
Return (G28, 629) on and reference point return is performed.
R Reference point
7.4 2nd Reference Point Return
(G30)
2nd reference point
8
k
,Fet by parameter
Start point
G28 P ; / G29 P ; ’
G30 P- ;
l-27
7. REFERENCE POINT
With the G30 command, the commanded axis

is positioned to the 2nd reference point. 2nd
reference point return end signal is output
when positioning ends. Set the 2nd reference
point position as parameters.
This function is available after power is turned
on and reference point return is performed. It is
the same as reference point return G28 except
tool returns to the 2nd reference point. This
command is usually used when the ATC
position is different from reference point.
l-28
8. COORDINATE SYSTEM
8. COORDINATE SYSTEM The coordinate system can be shifted by the

specified amount by programming after it has
8.1 Coordinate System Setting
once been set.
0-TD A new coordinate system can be produced by
a_
1 I
specifying a difference between the tool A
0
position and the tool B position, using a
program when tool A has been replaced with
tool B in the above figure.
X
8.3 Automatic Coordinate System

Z
A.
/ Setting
Z I
0-TD L
Jar&is& G50X(xJ Z(zJ;

ad : Parameter setting
O-MD L Standard point = Reference point
When the tune

center is set as
tart point
Y lzv G92 P ;
1 I Coordinate system to be set
A work coordinate system whose origin is at

the specified distance (X, Y, and Z) from the O-MD
current tool position is commanded by
program. Once created, subsequent absolute
commands refer to a coordinate value in this
work coordinate system.
8.2 Coordinate System Shift
A coordinate system being preset by a

parameter is set by returning a tool to the
reference point by manual operation. As a
result, the coordinate system is set as if GS2;
were specified at the reference point.
l-29
8. COORDINATE SYSTEM
8.4 Setting work Coordinate When the coordinate system actually set by the
System-method by G54-G59 G50 command or the automatic coordinate
system setting deviates from the programmed
work work coordinate system, the set coordinate
coordinate
\ ZOFSl system 1 system can be shifted.
Set the desired shift amount in the work
work
axxdinate coordinate system shift memory.
ZOFS2 system 2
A
work
8.6 Direct Measured Value Input for
coordinate Work Coordinate System Shift
ZOFS3
x-z: Coordinate system in

programming
X
x- 2: Actual coordinate
system
t
Surface B
ZOFSl: Work zero point offset value of work

coordinate system 1
ZOFS2: Work zero point offset value of work
coordinate system 2
coordinate system 3
coordinate system 4
ZOFSS: Work zero point offset value of work
coordinate system 5
ZOFSG: Work zero point offset value of work Zero point in programming
coordinate system 6
When the work coordinate system set with a

Setting work coordinate system
G50 command or the automatic coordinate
Six work coordinate systems can be set.
system setting function is different from the
These six systems are decided by setting the
coordinate system used in programming,
distances of each axis from the machine zero
surface A and B are cut and the coordinate
point to the zero points of the coordinate
system can be shifted by storing the measured
systems, (i.e. the work zero point offset value,
distance directly as from CRT/MDI.
by using the CRT/MD1 panel).
8.5 Work Coordinate System Shift
1 - 30
9. COORDINATE VALUE AND DIMENSION
9. COORDINATE VALUE AND Whether the output is in inch system or metric

DIMENSION system is set by a parameter when the
machine is installed.Command G20, G21 at the
9.1 Absolute and Incremental
head of the program.
Programming (G90,G91)
Inch/metric conversion can also be done by
MDI setting.
The setting procedure differs according to G20
70.0
and G21.
This function cannot be used with the
mechanical handle function.
30.0
9.3 Decimal Point Input / Pocket

Calculator Type Decimal Point
Input
w
Absolute command : G90X40.OY70.0; ‘\

Distance Unit -Input without decimal point
Incremental command : G9i X - 6O.OY40.0 123000 (123mm)
1Absolute 1Incremental Velocity Unit F -Decimal point input

Icommand I command I 123. (123mm)
IG91 P ; IG90 P ; I- Degree Unit

J
-Pocket calculator type
decimal point input
123 (123mm)
There are two ways to command travels along d
the axes; the absolute command, and the Numerals can be input with decimal points.
incremental command. In the absolute Decimal points can be used basically in
command, coordinate value of the end point is numerals with units of distance, speed, and
programmed; in the incremental command, angle. The position of the decimal point is at
move distance of the axis itself is programmed. the mm, inch, deg position.
Use parameters to select input method;
9.2 Inch I Metric Conversion whether to input by pocket calculator type
(G20,G21) input, or by the former type decimal point input.
CNC
, G21 Machine motion 9.4 Diameter and Radius
Metric input p-8
mm
Programming
(Program in mm)
A
, , G20 Machine motion

Inch input V----- ---------I
(inch)
(Program in inch)
I
Conversion of inch and metric input can be

commanded by the G code command. D,,D2 ... Diameter designation
G20 : Inch input R,,R2 ... Radius designation
G21 : Metric input
Since the work cross section is usually circular
in CNC lathe control programming, its
dimensions can be specified in two ways:
1-31
9. COORDINATE VALUE AND DIMENSION
l/Vhen the diameter is specified, it is called

diameter programming and when the radius is
specified, it is called radius programming.
Radius programming or diameter programming
can be specified by parameter.
l-32
10. SPINDLE FUNCTIONS
10. SPINDLE FUNCTIONS The spindle revolutions are specified by a 4-

digit or 5digit numeric in the wake of address
CNC
_ _
/ S.(The circumferential speed can also be
S2 digit command--_) BCD output --_) code specified in case of the constant surface speed
converter
control .)
This system outputs an analog voltage to set
the spindle speed to meet the specified speed
S4 digit command
S5 digit command according to S command. It also outputs S
analog voltage valid signal ENBS according to
MO3 (spindle CVV), MO4 (spindle CCVV) and
MO5 (spindle stop).
The analog voltage can be polarized by MO3 or
10.1 S Code Output MO4 (parameter setting).
10.3 Constant Surface Speed

s14 Control (G96, 697)
S2 digit command
S18 BCD output
s21
s22
S24
S28
SF Strobe signal output
The spindle speed is commanded in a 2 digit X x spindle speed

numeral with sign after the address S. S code
signal and strobe signal (SF) is ouput to the
machine by this command.
(Note) If S4 digits are commanded in S2
G96 : Constant Surface Speed Control on
digits, the last two digits are effective. G96S (m/min, feet/min)
Cornmid range : 1- 9999m/min
10.2 S Analog Voltage Output G97 : Constant Surface Speed Control off
G96S (rpm)
Cornmid range : 1 - 19999rpm
Maximum spindle rotation
of each gear
Parameter GRMAX When the constant surface speed control is on,
by directly commanding surface speed with the
S, spindle speed in which spindle speed makes
surface speed constant to the change of tool
position (when absolute coordinate value of X-
axis is regarded as the radius), it is output in
7
MO4(Spindie CCW) \
MOS(Spindle stop) 1 S XlOV analog voltage.
GRMAX
Command surface speed in m/min units for
GRl (Gear selection)
metric input, and feet/min units for inch input.
GR2(Gear selection)
H-I-J When the constant surface speed control is off,
f f
S-analog voltage ENBS
spindle speed (rpm) crresponding to an analog
(with poler) (S-analog voltage voltage proportional to the spindle motor speed
?lOV Max. effective signal) is output to the machine side.
IO. SPINDLE FUNCTIONS
10.4 Spindle Speed Clamp (G50) 10.6 Spindle Speed Override
Spindle speed S4 digit

SS digit }command
mnp VallJE! SPA

Spindle override
SPB
(PMC control)
SPC
Analog
) volwle
The spindle speed override of 50% to 120%
can be applied by 3-bit data produced by PMC
Spindle speed can be clamped by G50 S ; software.
command.
10.7 Actual Spindle Speed Output
10.5 S Analog Voltage Control by
Position coder
.
, . ‘- Actual spindle
S4 digit [ Spindle axis
- 12.bit CNC output
- speed detection
SS digit
Auto mode 1024 P/rev
Manual mode v 16bit binary output

Manual operation ,-. PMC control
Actual spindle speed is calculated from the

feed back pulse from the position coder
4
mounted on the spindle. It is output in 16 bit

PMC control l2-bit CMC output
binary code.
Analog voltage e D/A convertert

output
The ‘S analog voltage is controllable by PMC.

For this control, two interfaces are provided as
follows.
(1) A 120bit binary code signal corresponding
to programmed S codes is output to PMC.
(2) A 120bit binary code signal for S analog
voltage is sent from PMC to CNC.
The spindl8 control is possible in the
automatic/manual modes by returning the 120bit
binary code signal sent from CNC to the CNC
input as it is in the automatic mode, or by
producing a 120bit signal corresponding to the
spindle speed by PMC and then, sending the
signal to CNC in the manual mode, for
example.
1-34
11. TOOL FUNCTIONS
11. TOOL FUNCTIONS

11.1 T code output
T 00 (Tl + 1)
T 00-00
-- (T2 + 2)
l L- Offset number
ITool number (BCD output)
Selection of tools can be done by commanding

tool numbers with a 2-digit or 4-digit numeral
after address T.
The offset number is specified with the last one
digit of the T code.
I-35
12. MISCELLANEOUSFUNCTIONS
12. MISCELLANEOUS
FUNCTIONS
12.1 Miscellaneous Function
(M2 digit)
M2 digit command + Ml 1 ’
Ml2
Ml4
Ml8
M21
M22
BCD output
M24
M28
M31
M32
M34
M38 /
MF Strobe signal output
When a 2 or 3-digit number after address M is

commanded, BCD 2/3-digit code signal and M
code read signal are output. This code is
cleared by M,S and T function complete signal.
This function is used for on/off of various
functions at the machine side. A single M
code can be commanded in one block.
M98 (sub program call) and M99 (return from
sub program) are always processed in the
CNC so, signal will not be output.
12.2 Second Miscellaneous

Function (B-Function)
(1) O-MD
BF1 BF2 Strobe signal
I
(For only 66 digit)
Indexing of the table is performed by address B

and a following 3-digit or &digit number. The
relationship between B codes and the
corresponding indexing differs to the machine
tool builders.
You can select either B3-digit or BG-digit by
parameter setting.
l-36
13. PROGRAM CONFIGURATION
13. PROGRAM 13.3 Sub Program

- CONFIGURATION When there are fixed sequences or frequently
Main program I repeated patterns in a program, programming
Program No.
00001; can be simplified by entering these pattern as
NO001 ;
Sequence No. N0002; sub programs to the memory. Sub program is
NOr)03; called by M98, and M99 commands return from
I
I the sub program. The sub program can be
M98PlOOO; nested 2 folds.
I 3
I Format
I
M30; Sub program call
M98Pooo Loooo;
Sub program - Sub program PO00 Program number of sub program to
01000; 02000;
be called
I I LO000 How many times to repeat the sub
I I
I I
program
M98P2000; M98P3000;
Return from sub program
1 1
I I Format
I
I I M99;
I I
M99; M99;
13.4 Sequence Number
1 -loop nesting 2-100~ nestinq
Sequence number can be given in a 4-digit
13.1 Program Number number after the address N at the head of the
program block.
A program number is given to each program to
The sequence number of the program under
distinguish a program from other programs.
execution is always displayed on the CRT
The program number is given at the head of
screen. The sequence number can also be
each program, with a 4-digit number after the
searched in the program by the sequence
address 0.
number search function.
Program number of the program currently
under execution is always displayed on the
13.5 Tape Codes
CRT screen. _ Program search of programs
registered in the memory is done with the - / N
program number. The program number can be IS0 code

c Y
used in various other ways. (IS0 840)

Automatic
recognition
13.2 Main Program EIA code
c N
A program is divided into the main program and (EIA RS24.6A)
b
the sub program. The CNC normally operates
according to the main program, but when a Either the EIA or the IS0 code can be used as
command calling a sub program is encountered tape code. The input program code is
in the main program, control is passed to the distinguished with the first end of block code
sub program. When a command indicating to (EIA: CR, ISO: LF).
return to the main program is encountered in See the List of Tape Codes for tape codes
the sub program, control is returned to the used.
main program.
l-37
13.6 Basic Addresses and Command Value Range
Input in mm Input in inch Input in mm Input inch

Function Address
Output in mm Output in mm Output in inch Output in inch
Program number :(ISO ) 1 79999 1 79999 1 -9999 1 -9999
0 (EIA )
Sequence number N 1 -9999 l-9999 l-9999 l-9999
Preparatory function G 0 -255 0 - 99 0 - 99 0 - 99
Dimension word x, y, z f 99999.999mm 2 9999.9999inch j: 99999.999mm f 9999.9999inch
B ( f 9999.9999mm ) ( 4 393.70068inch ) ( f 9999.9999mm ) ( f 393.70068inch )
Feed per minute F l-100000 mm/min 0.014000.00 1 -100000 mm/min 0.014000.00
(l-12000 mm/mm) inch /min (1 -12000mm /min ) inch/min

(0.01480 inch /min ) (0.01480 inch /min )
Feed per revolution F 0.0001-500.0000 0.000001-9.999999 0.0001 -500.0000 0.000001-9.999999
mm/rev inch /rev mm/rev inch/rev
Spindle speed S 0 -19999 O-19999 O-19999 O-19999
function
Tool functions T 0 -9999 0 79999 0 -9999 0 -9999
Miscellaneous M 0 -999 0 -999 0 -999 0 -999

functions
Dwell x, P 0 -99999.999 sec. 0 -99999.999 sec. 0 -99999.999 sec. 0 -99999.999 sec.

(0 -9999.9999 sec.) (0 -9999.9999 sec.) (0 79999.9999 sec.) (0 -9999.9999 sec.)
Designation of P 1 -99999999sec. l -99999999sec. 1 -99999999sec. 1 -99999999sec.
sequence number,
number of repetitions
Specification of P,Q l-9999 l-9999 l-9999 l-9999
sequence number
Offset number H O-64 0+4 O-64 O-64
2nd miscellaneous B 0 -999999 0 -999999 0 -999999 0 -999999

function
l-38
13.7 Tape Format (Note 1) The above addresses and

numerical values have the following meanings.
0-TD
XL+043
1Metric input 1
3 digits below decimal point

4 digits above decimal point
Leading zero can be omitted
Wfih sign
Absolute or incremental
M03;
Address
RD043
3 diaits below decimal ooint

4 digits above decimal point
Leading zero can be omitted
Incremental with sign
Address
(Note 2) The above format omits addresses

(2) O-MD H, P, A, and Q, shince they have various
meanings.
Metric input )
N04.GO3.XL + 053.YL + 053.ZL + 053 13.8 Label Skip
RD053
ID053.JD053.KD053 }* { :i::}*
Ho*- { iii l ;;; }I ;;; ] .M03: /

Leader part Significant
information
IInch input 1 Label skip function 4-+Leader part ignores
N04.GO3.XL + 044.YL + 044.ZL + 044.

Label skip function becomes valid in the
following cases, and “LSK” is displayed on the
RD044 FOl6 1
ID044.JD044.KD04-4 ’ CRT screen.
I \ I F042 J l
(1) When power is put on.

(2) When the CNC is reset.
When label skip function is valid, all codes to
the first end of block (EOB) code encountered
are ignored.
The ignored part is called “Leader part”, and
section after the first end of block (EOB) code,
“significant information”.
1-39
13.9 Control-in/Control-out 13.11 Program Name

Control out Control in
I
I
E E
0 0 ( 1
R B PROGRAM NAME (MAX. 31 CHARACTERS)
- -
Leader part Notes(ignored) To discriminate from other programs when the
registered program directory is displayed, the
IS0 code EIA code program name can be assigned subsequent to
Program No.
Control out‘ 1 Channel 2-4-S on
Insert the program name between Control Out
Control in ( Channel 2-4-7 on
“(” and Control In “)” just after Program No.
For the program name, any code can be used
Information between the control-in and the
if it is a code which can be used in CNC.
control-out are regarded as notes and are
This program name is displayed together with
ignored.
Program No. displayed on the registered
The reset codes (IS0 code: %, EIA code: ER)
program directory. However, only 31
cannot be used in this part.
characters from the head are displayed for the
The ignored part is called “Notes”.
program name.
13.10 Optional Block Skip
:
0
N 100 X-Y_;
IN101 X-Y_; Ignored when optional
Ml02 x - Y_; block skip on.
N103 X-Y_;
:
0
When a slash (/) is programmed at the head of

a program, and when the machine is operated
with the optional block skip switch on the
machine operator’s panel on, information in
the block commanded is ignored.
If the optional block skip switch is turned off,
information in the / commanded block will not
be ignored. The block with / commanded can
be skipped by the operator’s selection.
Also, an optional skip can be extended up to
nine with an optional function.
11 (or /) . ... . .. optional skip 1

12 . ... .. . optional skip 2
. ..
;9 . .. . ... optional skip 9
l-40
14. FUNCTIONS TO SIMPLIFY PROGRAMMING

14.1 Canned Cycles (G73, 674,676, G80 - G89,698, G99) (O-MD)
code
298 mode
Operation
399 mode
r Function
A ‘eck drilling cycle

INote)
d
s73
d d
f
%_ \ \
\
Z3 ‘.\ \
\
\ Z3
G % Z”
--y)l
G76
oss
R
a9 w
CJ
0
Q
Fine boring cycle
Drilling cycle
R (spot boring)
G81
Z
%
G82
R
Z
i T @
Drilling cycle
(counter boring)
l-41
code Operation Function
I I
R R
Peck drilling cycle

d (Note)
383
Tapping cycle
(G74 is CCW tapping
cycle)
Boring cycle
Boring cycle
Canned cycle II
(NOW ass G99 mode cannot be used
in canned cycle G87
-*ooO’ (Canned cycle II).
G87 0
Back Boring cycle
l-42
G code Operation Function
+QI I
4 Spindle
i
; cw Spindle
i R
R i 4 cw
G88 Boring cycle
i i
i i
i i
i Spindle i
z l ccw Z & Spindle
b
ccw
@ @
G89 Boring cycle
* Cutting feed 0% Oriented spindle stop
9
(Spindle stops at constant rotation position)
_ Rapid traverse
..-.-.-.-.-. * Manual feed

Shift
0
@ Dwell I Initial point
z Z point R R point
(Note) “d” of G73 and G83 is set by parameters.

When the drilling axis is 2 axis, machining data in the canned cycle is commanded as follows:
GOOX Y P---P-2 R Q P F ;
Drilli~ode G . .... See previous table.
Drilling position data
X,Y . . . . . Command position of the hole.
z ....... Specify ’ hole end position shown in the previous table.
R . .. . . . . Specify f R point position shown in the previous table.
Q . . .. . . . Specify r cutting quantity with G73, G83, and shift quantity with G76, G87.
P . .. . . . . Specify dwell time at the hole bottom.
F . . . . .. . Specify feed rate for cutting.
l-43
(1) R point level return (G99) 14.2 Canned Cycles

By specifying G99, return point in canned cycle 14.2.1 Cutting cycle A (G90)
is specified to R point.
The drilling starts from the end point of the
previous block. If the previous block has
ended in the initial point, it begins from the
initial point and returns to the R point.
(Example) When G81 was commanded under
G99 mode
* initial point
R : Rapid traverse
Rapid traverse
F :Feed
R point
Cutting feed IStraight cutting cycle (for diameter programming) I

When using the incremental command, the
sign of a numeric value following address U or
W is determined by the directions of paths 1
(2) Initial level return (G98) and 2. If the direction of path 1 meets the
By specifying G98, return point in canned cycle negative direction of the X axis , the U value is
is specified to the initial level. The drilling negative.
starts from the end point of the previous block.
-
If the previous block has ended in the R point, GSOX(U)_ZO ---1 F ;
it begins from the R point and returns to the
initial point. X
(Example) When G8l was commanded under

G98 mode
Rapid traverse
Cutting feed
R : Rapid traverse
F :Feed
- ITaper cutting cycle (for diameter programming) I

In the above figure, if the direction of the path
1 is negative in X axis, the sign of the number
following address I is negative.
If the sign is reversed, the reversed taper is
cut.
1-44
14.2.2 Thread cutting cycle (G92) 14.2.3 Cutting cycle B (G94)

G94X(U) Z(W) -- F ;
GSZX(U) - Z(W) -- F ;
1(R)
4(R)
2(F)
m X
4(R)
Approx
Z
Q5O 3(F) L
f
WI (x -- ,Z 1
R : Rapid traverse
- w
F :Feed
Cutting cycle in face (for diameter programming)

PLY)
-- r
R : Rapid traverse
‘H
F :Feed
X r : Chamfering amount
(parameter)
Z
L
1
Straight thread cutting cycle X
(for diameter programming) 4(R)
Z
4L
G92X(U) Z(W) --- I F ;
L 3(F) \
4(R) r
R : Rapid traverse
(x -- 9Z 1 F : Feed
Tapping cycle in face (for diameter programming)
In the above figure, if the direction of the path

1 is negative in Z axis, the sign of the number
following address K is negative.
r R : Rapid traverse
F :Feed
x
r : Chamfering amount
Z (parameter)
i’ ,
Taper thread cutting cycle
(for diameter programming)
(Note) When chamfering signal CDZ is “ln,

chamfering amount (r) is not available.
When chamfering signal CDZ is “0”,
chamfering amount (r) is available.
l-45
14.3 External Motion Function

(680, 681)
. .
G81 mode Positioning ~ +Positionmg +
An external motion signal (EF) is output to the

machine tool after positioning the X and Y axes
by G81 X Y ; command. When the
motion enGg= (FIN) returns from the
machine tool, CNC starts the next positioning
motion.
Whether the canned cycle (drill cycle)
accompanied with the Z axis motion is done or
the EF signal is output by this function in G81
mode after positioning the X, Y axes is
determined by parameter setting.
G80: Cancel of G81 made.
14.4 Canned Cycle for Drilling
Operation in the hole

1 G code 1 Drilling Axis 1 Hole machining operation
bottom position
Cancel
G83 Z Cutting feed /Intermittent Dwell I Rapid traverse I Drill / Peck drilling I
G84 Z Cutting feed Spindle CW
I G85 I Z I Cutting feed Dwell I Cutting feed I Boring --1
I a7 I x I Cutting feed I Intermittent Dwell I Rapid traverse I Drill / Peck drilling I

I G88 I X I Cutting feed I Spindle CCW I Cutting feed --rx&iy--j
I G89 I x I Cutting feed Dwell I Cutting feed I Boring ~ -1

The canned cycle for drilling simplifies the (Note 2) Selection of cutting feed or
program normally by directing the machining intermittent feed in G83 / G87 hole machining
operation commanded with a few blocks, using operation depends on the command of address
one block including G-function. Q.
(Note 1) Spindle is rotated counterclockwise
by MO4 command.
l-46
15. COMPENSATION FUNCTIONS
_.-. 15. COMPENSATION 15.2 Cutter Compensation C

’ FUNCTIONS (640-642) (O-MD)
15.1 Tool Length Compensation B(Offset tool center path)

(G43, 644, 649) (O-MD)
Standard
tool
4f
I I I I
In the figure above, in order to cut a workpiece

By setting the difference between tool length indicated as A with an R-radius tool, the path
assumed when programming and the actual for the center of the tool must be separated R
tool length as offsets, workpieces can be distance from the A.
machined according to the size commended by Tool can be offset by the tool radius value
the program, without changing the program. given, that is, to pass through the offset path.
l
G code Function
15.1 .l Tool length compensation A
The tool position off set (tool length offset) of
I G40 I Cutter compensation cancel I
the Z axis only can be done by specifying G43

I G41 I Cutter compensation left side I
and G44. Offset numbers are selected by

I G42 ICutter comwwation riaht side I
specifying an H code.
Register the tool radius value related to 2-digit
G43 specifies the tool position offset in the +
numeric following address H.
direction by the offset amount, while G44
Offset plane can be specified by plane
specifies it in the - direction by the offset
specification (Gl7, G18, G19).
amount. The offset command is cancelled by
For cutter compensation C, even in the case of
G49. G43, G44 and G49 modal commands
cutting inside of acute angle, intersection is
remain effective once they are specified, until
calculated automatically inside CNC.
other G43, G44, and G49 are specified later.
15.1.2 Tool length compensation B

The tool length offset of an optional axis can be
done by plane specification (Gl7, G18, G19)
and G43/G44 commands. The tool position
Programpath
offset of 2 or more axes can also be done by
specifying these commands in 2 - 3 blocks.
Cutter compensation C cannot be selected at
one time. You must select either one of them.
l-47
15. COMPENSATION FUNCTI ONS
15.3 Tool Offset Number 15.4 TOOI Geometry Offset and ’Tool
Wear Offset
(1) O-TD
Tool offset number . . . . . . . . Max 32 pairs
Offset value . . . . . . . . . . . . . 0- * 999.999mm X axisgeometry I I
0- 2 99.9999inch
offset OFX OF2 OFR OFT
number (XaxiS Cr=iS (Tool nose (Imaginary
offset offset radius tool node

Imaginary tool
amount) amount) compensation direct ion)
1
I I
amount)
I 4: Actual tool
01 0.040 0.020 0 0
02 0.060 0.030 0 0
03 0 0 0.20 0
.. .. ..
04
.. .. ..
05
.. .. .. ..
.. .. .. ..
Geometrv Offset
A parameter can be set to switch the X axis
tool offset amount to diameter or radius offset OFGX OFGZ OFGR OFT
designation. No. (X+lXiS (Z-dS (bol nose radius (Imaginary
geometry geometry geometry offset tool nose

It is also possible to limit the maximum value of
offset offset amount) direct ion)
offset amount and the incremental offset input amount) amount)
value by the parameter. GO1 10.040 50.020 0 0
GO2 20.060 20.030 0 0
GO3 0 0 020 0
(2) O-MD
GO4 .. . ..
Tool offset number : 64 offsets GO5 .. : .. :
offset number : HOO-H63 .. .. .. .. .,
Off set value : f 6 digit .. .. . ..
Wear OFWX OFWZ OFWR OFT
offset (X-axiS (Z-ElXiS (Tool nose radius (Imaginary
No. wear wear wear offset tool nose
offset offset amount) direction)
amount) amount)
WOl 0.040 0.020 0
wo2 0.060 0.030 0’
wo3 0 0 0.20
wo4 .. .. ..
was
.. .. ..
.. .. .. ..
.. .. .. ..
It is possible to divide the tool offset to the tool

geometry offset for compensating the tool
shape or tool mounting position and the tool
wear offset for compensating the tool nose
wear.
1-48
15. COMPENSATION FUNCTIONS
15.5 Tool Nose Radius Compen- 15.6 Stored Pitch Error

* sation (G40-G42) (0-TD) Compensation
Pitch error
Tool path without compensation

Stroke V
Error caused by machine position, as pitch

error of the feed screw, can be compensated.
This function is for better machining precision
and longer life of the machine.
As the offset data are stored in the memory as
The tool nose path’
parameters, compensations of dogs and
without compensation
setttings can be omited. Offset intervals are
G code Work position Tool path set constant by parameters (per axis).
Offset points = 128 (per axis).
Compensation pulse
= (- 7 to + 7) X (magnification)
Moving on the left side of
G41 Right side the programmed path
Unit : Detection unit
Magnification : X 1, X2, X4, X 8, set by
Moving on the right side
G42 Left side parameter(common to all axes)
of the programmed path
Compensation space : Set by parameter each
It is difficult to produce the compensation axis independentry.
necessary to form accurate parts when using

only the tool offset function due to tool nose 15.7 Backlash Compensation
-
roundness in taper cutting or circular cutting.
The tool nose radius compensation function . Table
compensates automatically for the above 1.
.. Ball screw
errors. :.
I
Compensation amount 0 to 255

(Unit : Least input increment)
Each axis independently
l-49
16. AXIS CONTROL
16. AXIS CONTROL Following functions can be executed by servo

off.
16.1 Mechanical Handle Feed
- 0 Workpiece install/remove fixing the
Brake fi machine at stated position.
(2) Machine operation by operator with
mechanical handle.
16.3 Mirror Image (O-MD)

No Excitation
(Servo off)
d%&i
Ia
\u m
It is possible to move the machine by hand,

using the mechanical handle installed on the
machine; not by the CNC (servo motor).
Move distance by the mechanical handle is
followed up and actual position in the CNC is
revised. The mechanical handle feed is done Mirror image on+Y axis motion is inverted
by inputting the servo off signal of the axis fed.
Machine side signal desides on/off of follow up
.. function when servo off. However, the follow
up can not be applied when emergency stop is
on or when servo alarm is on. Inch/metric
conversion cannot be used when mechanical
handle feed function is used.
16.2 Servo Off

L
Servo motor Brake n
Servo on
(Servo motor drive)
Servo off
(Servo motor not drive)
handle
Servo on/off control per axis is possible by

signals from the machine side. .
l-50
17. AUTOMATIC OPERATION
. 17. AUTOMATIC OPERATION 17.2 Selection of Execution

Program
17.1 Operation Mode
(i)Memory operation Data format in memory or on tape
CNC Machine Program No.
ul Memory
operation
Work-l program
Memory
------ 1
r 1 :::02 CC Program number
L ------ i
After the program is once registered in Work-2 program

memory, the machine can be run according
to the program instructions. This operation is
M30
called memory operation. 01003 Program number
Gg2 ~~~~~~~~~~~~
(ii) MDI operation Work-3 program
CNC MDI Keyboard Machine

,
program input Program No. search

Sequence No.
search
After the program is entered, as an command Automatic operation

group, from the MDI keyboard, the machine
can be run according to the program. This 4
operation is called MDI operation.MDl Program Program number search by MDI (0 ..;..)
operation is executed by 1 block. number
Program 0001 to 0015 search by signal
search
from Machine side
I I
Sequence Sequence number (N .....) search by MDI
number
l-51
17.3 Activation of Automatic 17.5 Automatic Operation Stop

Operation 17.5.1 Program stop (MOO,MOl)
M2-digit BCD output
Program stop m
Stop by
Program end _ -
programming
Pressing the cycle start pushbutton causes

automatic operation start. By pressing the feed OFF.
hold or reset pushbutton, automatic running

pauses or stops. By specifying the program
stop or program termination command in the
Turn on FIN
program, the running will stop during automatic
tool side
operation. When each machining is completed,
processing
automatic operation sops.
I Turn on FIN by cycle start I+
17.4 Execution of Automatic -.-.-.I. ~.I.~.~.~.~.~.~.~.~.~.~.~.~.~.~.~.~
Operation
Program is continued 4 .
~~1~ In a block where MOO (program stop) or MO1

(optional stop) is specified, M code and M code
read signals are sent to the machine tool in the
same way as in general M codes.
Buffer register equivalent to one block is Program stop processing must be. done on the
available for program read and control of CNC machine tool side.
command operation intervals caused by Set CNC to be waiting for the end signal in
preproces time. case of MOO (program stop), and the CNC

stops operating.
Send the end signal to CNC by the cycle start
signal, and the program is continued.
Perform the same processing as in MOO only
when the optional stop switch is turned on by
the machine tool operator’s panel in case of
MO1 (optional stop).
1 - 52
17.5.2 Program end (M02, M30) 17.5.3 Feed hold
1.,t”“” command 1 During Automatic operation
M2-digit BCD output

1 Feed hold button ON
Strobe signal output IAutomatic operation hold status

I
IWaiting for FIN

I
The CNC can be brought to an automatic

\
Turn on reset
operation hold status by pressing the feed hold
YES b signal button on the operator’s panel. When feed
hold is commanded during motion, it
I decelerates to a stop. .
tool side
Automatic operation can be restarted by the
processing Turn on FIN
cycle start button.
_._._.I._._._ ~_._._._.~._._
17.5.4 Reset
Automatic operation status
In a block where MO2 (end of program) or M30 Reset signal input
(end of tape) is specified, M code and M code

read signals are sent to the machine tool in the
same way as in general M codes. The automatic operation can be ended in a
Program end processing must be done on the reset status by the reset button on the
machine tool side. By returning an external
CRT/MD1 panel or by the external reset signal,
reset signal to MO2 or M30, processing returns etc. When reset is commanded during motion,
to the start of the executing program to reset it decelerates to a stop.
the program. Modal information can be initialized by the
By returning the end signal to MO2 or M30, parameter.
processing returns to the start of the executing
program to continue the execution from the
start again.
1 - 53
17.5.5 Sequence number 17.6 Manual Interruption during

comparison and stop Automatic Operation
17.6.1 Manual absolute ON/OFF
Sequence number where
single block stop is done (1) When the switch is ON.
.. .. . . . . .. .. .. .. ä
0001;
NOOl_;
NOO2_;
l-l
NlOO
Manual operation
N003_;
N004_;
..
NlOO_; + - Single block stop is done xaxis
NlOlj
here. 0
..
The coordinate values change by the amount of
manual operation.
When a block having the same sequence

number as the preset sequence number (2) When the switch is OFF.
appears during plotting the machining process, . .. .. .. .. .. .. w
the single block stop condition is set after
M~Ual
executing the block. operation
This function is effective only when graphic
drawing.
x2
.
01 _..=**-
Xl
The coordinate values do not Change.
This switch selects whether the amount of

manual movement is to be added to the
absolute value.
1 - 54
18. MANUAL OPERATION
18. MANUAL OPERATION (1) Jog feed The jog feedrate can be
selected in 15 steps as tabulated below by
18.1 Manual Feed
a rotary switch.These 15step ratios form
geometrical series.(Refer to the next table.)
p{ 0-TD 11
Manual rapid traverse The rapid traverse

is also effective during manual operation.
Manual rapid traverse is set as parameter,
Machine operator'spanel but this parameter is different from the
automatic operated rapid traverse.The rapid
traverse rate preset by parameters can also
be overridden in 4 steps.
Rotary switch
Feed rate I
Metric input Inch input
position
mm/min inch/min
r 0 I 0 I 0 I
I 1 I 2.0 I 0.08 I
I 2 I 3.2 I 0.12 I
I
D
3 I 5.0 I 0.2
I 4 I 7.9 I 0.3 I
r 5 I 12.6 I 0.5 I
I 6 I 20 I 0.8 I
-1 O-MD 11
7 32 1.2
I 1
8 50 2.0
79 3.0
I 10 I 126 I 5.0 I
Machine operator’s panel
I 11 I 200 I 8.0 I
I 12 I 320 I 12
I 13 I 500 I 20 I
r-
I
14 I
. 790 I 30 1
15 1260 50
.
(Note) Manual pulse generator is usable in

the JOG mode by a parameter.
1-55
18.2 Incremental Feed High-efficiency positioning can be realized in

the manual mode by using the step value given
------I O-TD 11
below.When the manual pulse generator
(option) is used,this function is not applicable.
Input Xl x10 woo x1000
Metric 0.001 mm 0.01 mm 0.1 mm lmm

step value input
Manual operator’s panel Inch input 0.000 0.00 0.01inch 0.1 inch
1inch 1 inch
\
Mode rclectioa Axis selection Seep feed
Step value
Manual operator’s panel
l-56
18.3 Manual Handle Feed By rotating the manual pulse generator, the
axis can be moved for the equivalent
1 O-TD L distance.Manual handle feed is controlled 1
axis at a time.The manual pulse generator
generates 100 pulses per rotation. Move
amount per pulse can be specified from the
following magnifications:
xl, x10, xm
l
With this function incremental feed function
r
cannot be specified.
\
Input Xl x10 xm
I4anual pulse L
generator
Metric input 0.001 mm 0.01 mm 0.001 mm x m
Inch input 0.0001 inch 0.001 inch 0.0001 inch
IlODESELECTION AXIS SELECTLON Ih!!DLE

MJLTLPLIER xm
c 4
Up to three manual pulse generators can be

connected. Manual pulse generator is usable in
the Jog mode by a parameter.
\
. / O-MD
work
EDIT
“l&W
MODE SELECTION ASIX SELECTION HANDLE

MULTIPLIER
1 - 57
19. PROGRAM TEST FUNCTIONS
19. PROGRAM TEST 19.2 Auxiliary Function Lock

FUNCTIONS
19.1 Machine Lock
.
. O-TD
TOOI
If automatic operation is executed in the

condition of auxiliary function lock,the auxiliary
functions (such as spindle rotation,tool
I CRT / MDI change,coolant on/off) stop operation.
19.3 Dry Run
I A 1 0-TD 1
I
I
The tool remains stopped,and only the positional
displays of the axes change.
-------I O-MD +-----

I I
:
I. .~.~.~.~.~.~.~.~.~.~.~.~.~~~~~~~.~
t I
CRT / MDI
I Dry run
x00000 .
Y00000 1 O-MD
The tool remains stopped,and only the positional

displays of the axes change.
In machine lock condition,the machine does not

move,but the position display is updated as if
the machine were moving.
(Note 1) When the G27, G28 or G30
command is specified, the machine does not
move to the reference point and the
REFERENCE POINT RETURN lamp does not I Table
light.
Remove the work,check only movement of the
(Note 2) The M,S and T functions are
tool. Select the tool movement rate using the
executed.
dial on the operator’s panel
l-58
19. PROGRAM TEST FUNCTIONS
The feed rate specified in the program is When the cycle start pushbutton is pressed,
ignored,and the machine is fed at the following the tool executes one operation then stops. By
feed rate. pressing the cycle start again, the tool
executes the next operation then stops.The
program is checked in this manner.
Rapid traverse
Rapid traverse Cutting feed (Note 1) SINGLE BLOCK is effective at an
button ON/OFF
intermediate point in G28,G30.
Rapid traverse Rapid traverse Max. JOG feed (Note 2) SINGLE BLOCK is not effective to
rate the block M98 ;,M99,and G65However if
button ON
M98,M99 blockshave the address other than
Rapid traverse JOG feed JOG feed rate O,N,P,SINGLE BLOCK is effective.
button OFF rate(Note)
19.5 Z-axis Command Cancel
(Note) Dry run for rapid traverse can be
made effective by the parameter setting.
19.4 Single Block .

0-TD 1
1t
.
Time
Cycle start Cycle start
v vv
I I
lYJ
Cyclestart
Only the 2 axis can be locked by the machine
side signal.
It is effective when using pen writing a
J movement for CNC program check.
/ Workpiece
z’em
~.~.~.~.~.~.~.~.~.~.~.~.~.~ -.-
7
-------I O-MD 11
cycle
Cycle
start
Cycle
start
I
l-59
20. CRT/MD1
20. CRT/MD1
20.1 CRT/MD1 Panel
(1) Small 9 inch monochrome CRT/MD1 (with softwares key)
(a) O-TD
CRT character display (9”) Reset key Data input key
I I I
6
Program
- edit key
Input key
I I
- 1 1
IPW
I
I
change key
Cursor
Function key I Start/output key
move key
(b) O-MD
CRT character display (9”) Reset key Data input key
! ! I
--
t
cl ALTER
Program
INSR 1
- edit key
cl
DELET
r
cl
I. *
EOB
cl
CAk
cl
Input key
,
/\ OUTPl
r,lART
cl
-Page
change key
I
Function key L Start/output key
-Cursor
move key
l-60
20. CRT/MD1
. ’ Keyboard functions
No. Name Functions
(1) RESET key Press this key to reset the CNC, to cancel an alarm, etc.
(2) START key Press this key to start the MDI commands, of to start the automatic operation cycle.Since this key’s
operating method differs according to the machine tools, refer to the machine tool builder’s operation
manual.
(3) Address and Press these keys to input alphabetic, numeric, and other characters.
numerical
key
(4 INPUT key Press this key to input parameter or offset etc. and also to start inputting of I/O device, or to input
command data under MDI mode.
(5) Cancel Press this key to delete the character or symbol input to the key input buffer.
(CAN) key (example):When key input buffer display is NOOOl, press the cancel (CAN) key to cancel and delete
_the NO001 .
(6) Cursor shift There are two kinds of cursor shift key described below.
keys L : This key is used to shift the cursor a short distance in the forward direction.
T : This key is used to shift the cursor a short distance in the reverse direction.
(7) Changeover Two kinds of page changeover keys are described below.
key J : This key is used to changeover the page on the CRT screen in the forward direction.
? : This key is used to changeover the page on the CRT screen in the reverse direction.
Function buttons
Function buttons indicate large items like chapters in a document.
POS . .. . . . . . . Indicates the current position.
PRGRM . . . . . . . Performs the following:
In EDIT mode .. .. .. ... edit and display of the program in the memory
In MDI mode . .. .. .. ... input and display of the MDI data
In automatic operation .. .. display of command value.
MENU OFSET . . Setting and display of offset value.Display menu screen
DGNOS PARAM Setting and display of parameter, and display of self diagnostic data.
OPR ALARM . . . Alarm number display and setting and display of software operator’s panel.
AUXGRAPH . . . Graphic display
Several pages are included in the chapter selected with each function button. The page is selected
with PAGE button.
(Note) The data displayed on the screen disappears when one of the function buttons and the
CAN key are pressed.Thereafter, when either function button is pressed, the corresponding screen
is displayed again.When the unit is not used with the power turned on for long time, turn off the
screen.This is effective to prevent the image quality from deteriorating.
l-61
20. CRT/MD1
20.2 Setting and Display 20.2.1 MDI operation

Data setting CRT / MDI
Key input
Data display
Screen/key Display
CRT / MDI .
Machine
CNC memory
With keys, data stored in CNC memory is

updated and displayed on the screen .
(O-MD)
l
meeebQaa?l
CIQI) ClQDfU
088:
617 P
G9eQ
G94H
Ql II
648s
G49T
GE;7
taDRs.
In MDI mode, one block operation is possible.
l-62
20. CRT/MD1
20.2.2 Setting and display of offset 20.2.3 Setting and display of

value setting data
I c
O-MD Setting Settingdata

Offsetvalue
, ,
TV check
isplay
Screen/key Offset number1 12.3 screetwy ’ ISO-!lA selection
I
0
Offset number2 20.0 0
CNC memory
Offset number3
l ooooooooooooooooo Operational
Setting l ooooooooooooooooo
1 ,
characteristics
11 CNC memory
1 Program b Automatic
,
operation
Machine
- movement
(0-TD)
0-TD X axis zaxis \
Offset value Offset value

OlGm Eeeee
Offset number1 12.3 25.0
CErfIHs 1)
_TuN=e
= 0 C0:EIFI 1:IsD 1
Offset number2 20.0 40.0 EL = 0 ce:tJrl I: INM)
=e
ii2 =e
Offset number3 l eeeee l eeoee
l eeeeeeeeeeeeeeeee l eeoee l eeeee
l eoeeeeeeeeeeoeeee l eoeee l eeeee

t-a TUH = S 0T
CNC memory
(0-TD) (O-MD)
cKGmtQm3
(O-MD) Apart from parameters, there is data that is set

by the operator in operation. This data causes
OFt!EikT I?afaBw
mm ND. DATFI machine characteristics to change. For
_@@l 10.888 la.888
882 -l.BBB 810 le.868 example, it specifies the following:
0.888 811 -a. 888
8.888 812 0. 8BB
885 20.888 013 8.888
(1) Setting of TV check effective/ineffective
0.888 814 e.BBB
0.888 01s 0. Em (2) ISO/EIA setting
0.888 916 8. Em
MXl.R_ PC6ITION U?ElATIE) (3) Inch/metric setting
X 0.868 Y 0.888
z
MI. 881=
0.688 The above data is called setting data.
MD1
1 - 63
20. CRT/MD1
20.2.4 Setting and display of 20.2.5 Program display

parameter
O-TD 1
Parameter
Currently executed Currently executed
Rapid traverse
program number sequence number
Reference point return

system
CRT/MD1 Backlash compensation da
0
0
CNC memory 0
Program
Operational contents
characteristics >
1
Autonatic -b Machine
operation operation
mm ND.
Cursor indicates the point currently executed.
J!z
a?GQ
lcr#nlG%zl
-11
8811
8812
mB3tsiwQmm 6813
m&a. 01110111 8814
ma5 81118111 W15
ma- 8816
fmT?f?Ewmsm 8817
emm -11 8818 Currently executed Currently executed
6889 eteeeim 8819
8810 lleeelee program number sequence number
ra. aeel= S 07
mmr 1nr-l
tQ1
-l r’
(O-MD)
NlmtEQmVB2m. ;
Nll0 091 OBB Y-m. ; Program
wae Z-78. :
Nl38 tl7 (i41 (iB1 X17.5 HB2 f2eBB ; contents
NW0 G42 G39 I-17.5 ;
Ia.
IImEKIKaeee
mTQ
NlSE G41 CQU X-17. S Y17.5 R17.5 ;
N168 (381 X-25. ;
>
8811 Ezmmwe Nl78 QBP BQ7.5 W-5 R27.S :
Nlm cI)l X-15. ;
6812 tinEma! N138 M #B YB ;
0013 ix!smEm
8814 GmaEm
881s m
8816 @X#EBXi
EZ Emaemm
11111111
8819 EE?mmam
isBaa-
Cursor indicates the point currently executed.
NOI 8881=
lrlrl
The CNC functions have versatility in order to

take action in characteristics of various
machines.For example, CNC can specify the
following:
(1) Rapid feed rate of each axis.
(2) Setting of least input increment (inch
system/metric system)
(3) Setting of CMR/DMR
Data to make the above specification is called
parameters. Parameters are characterized by
each machine tool.
1 - 64
20. CRT/MD1
20.2.6 Program list display 20.2.7 Current Position Display

-
(0-TD) Y IPosition display in the I
t
I V
A work coodinate system I
X
system
Position of the current tool can be displayed by
coordinate values of each coordinate
\ / system.The distance from the current position
to the target position can also be displayed.The
(O-MD)
actual speed can be displayed on the actual
position display screen at the same time.
maxi NBlxl
sSlEII EDITION 8488 - 81
pczo6izRnKl. UED: 8FEE: 35
PEmRYfwER UED: 385mE: 3718
fl?mRm LIBf?fwY LIST (1) In the work coordinate system
aEn31 a20m of3350 om40 cmm 01234
ums2ama3
(0-TD)
/
f
m POSITICNCCIBSaLCTa
QDRS. 00001 NOOOO

WIT
X 412.526
mrlr-lnm
I 7 618.882
L
(a) PROGRAM NO.

USED: The number of the programs registered
(including the subprograms).
FREE: The number of programs which can be
registered additionally.
(O-MD)
(b) MEMORY AREA
USED: The capacity of the program memory in aCTI& BITIPJ C-1
which data is registered (indicated by 00001 NOOOO

the number of characters). X 226.261
FREE:: The capacity of the program memory Y 271.587
which can be used additionally
z 339.483
(indicated by the number of RN TIE ltU3l
m?Tm.NT
CYCLT TIE Bi l.t&!
characters).
(c) PROGRAM DIRECTORY:
Program Nos. registered are indicated. When
more than 48 programs are registered and PI
or P2 is designated, 48 program Nos. from the The current value in a programmed coordinate
beginning are indicated. When P3 or P4 is system set with G92 or G50, is displayed.
designated, 48 program Nos. from the last are

indicated.
l-65
20. CRT/MD1
(2) In the relative coordinate system (3) Overall display

The current position in the following coordinate
(0-TD)
system is displayed simultaneously:
#mrr, fsXTIm4 <mATIE) (a1 Position in the relative coordinate system

00001 NOOOO (RELATIVE)
X 272.449 (b) Position in the work coordinate system
7 408.766 (ABSOLUTE)
(C) Position in the machine coordinate system
(MACHINE)
(a Residual movement amount
(DISTANCE TO GO)
(0-TD)
(O-MD)
f
CICTUX POSITION -TIE)
00001 NOOOO
X 190.299
Y 228.359
z 285.449
(O-MD)
The relative position is displayed in which the

position reset by an operator is zero.
Reset operation
When this is displayed, press the X,Y,Z,or 4th
key.The address on the display will flicker.Then
press the CAN button.The relative position of
the flickering address will be reset to zero.
The residual movement amount indicates the

movement amount remaining in one block of a
command, and is displayed in AUTO or MDI
mode. The unit of the machine coordinate
system is the same as that of the machine
system.
1 - 66
20. CRT/MD1
20.2.8 Alarm Display (O-MD)
(0-TD)
lzzE#il r-43138
caJ?Em> CMODFL)
X 17.588 F
[;BlF 3cIc# (381R
617 H 2 613 P
G91 Q
G94H 2
621 M
1341 641s
6491
ZE!
663
20.3 Program Protect Key

(O-MD)
Data setting
Operator’s
panel
EER
Screen Key
Data
CRT / MDI Protection
()protection
key
key
Signal
Registration/setting
inhibition
I
Program
When an alarm occurs, the screen .
automatically displays the alarm screen. Alarm CNC memory
numbers and simple messages are displayed.

Program memory is protected from breaking
according to error operation by outputting the
20.2.9 Command value display
signal from machine side to inhibit the writing
(O-7D) to program memory.Provide this switch on
machine side operator’s panel.
01eeeEs1GK
CamsENT) cm>
x as!ELGEEl F 11.8888
(3812 288.868 (381tl 20.4 Language
F 11-w 091s
1 8691
EL &mm . English
f34euz &aim
l Chinese
0
S 8mm3
l-67
21. PART PROGRAM STORAGE & EDITING
21 l PART PROGRAM
STORAGE & EDITING
21.1 Part Program Storage &
Editing
Programstorage Correction and

alternation of
El ,,,(I IElI
CNC \ CNC tape
CNC
mww L
(1) A number of main programs and

subprograms can be input from MDI and
stored into the memoryPrograms can also
be input from the paper tape, etc. by using
the optional reader/puncher interface.
(2) Main programs and subprograms being
stored in the memory can be edited
(modified, deleted, or inserted).
(3) An optional main program being stored in
the memory can be called and edited.
(4) An optional program can be deleted.
(5) Several sequential blocks can be deleted at
a time (program delete).
21.2 Number of Registered

Programs
=!i
01000
c 63 programs
21.3 Part Program Storage Length
Program capacity 40180 m

Memory element IC memory
Battery Back-Up
l-68
22. SELF-DIAGNOSTIC
22. SELF-DIAGNOSTIC
FUNCTION
CRTAvlDI
Display
t
Various status can be displayed by the

CRT/MD1 panel.
(1) On-off signals input to the NC can be
indicated on the CRT display.
(2) All on-off signals output from CNC can be
sent in the unit of bit via MDI panel.
(3) Various parameter values such as
acceleration/deceleration time constant,
rapid traverse rate, etc. can be checked on
the CRT display.
(4) Details of alarms which may occur
accidentally can be classified and checked
on the CRT display. These alarms
comprise overheat, overtravel, servo alarm,
tape check(horizontal and vertical
directions) and program errors.
(5) The condition of servo system can be
observed.
l-69
23. DATA INPUT / OUTPUT
23. DATA INPUT / OUTPUT (1) Channel 1 : Reader/puncher interface,

ASR33 interface
23.1 l/O Device Interface
(2) Channel 2 : Reader/puncher interface
CNC
Memory 23.2 Input Devices

Reader/puncher interface
23.2.1 FANUC FLOPPY CASSETTE
FANUC
I Data can be stored in the floppy cassette and
cassette adapter also data can be input to the CNC.
Parameter
0 The interface is reader/puncher interface.
: I
0
FANUC
Cassett Fl
The following can be input/output via the

reader/puncher interface.
(1) Part program registration
(2) Tool offset amount input
0 Parameter input
(4) Part program punch
Refer to the Floppy Cassette Operator‘s
(5) Tool offset amount punch Manual (B-66040E) for the operation of the
(6) Parameter punch
floppy cassette.
, In order to input a program into CNC memory
or output the input program to an external data
23.2.2 FANUC PROGRAM FILE
storage medium by using the MDI panel, a unit
Mate
equipped with such FANUC reader/puncher
interface as FANUC cassette/FANUC PPR/ The built-in hard disk enables data to be stored
portable tape reader or ASR33 interface can be and it can be connected to the reader/puncher
connected. EIA RS244-A or IS0840 is interface to input data to CNC.This hard disk
employable as data codes. has a large storage capacity of approximately
These ISO/EIA codes are automatically 50,OOOm of paper tape data,so it can register
identified from each other in case of data input. maximum 1024 command programs.
Either IS0 codes or EIA codes is selectable by It can be connected to the remote buffer to
setting parameters in case of data output. achieve high-speed transfer of maximum 86.4
Since program input/output can be started by kbps.
signals from the machine tool as well as by The hard disk is sealed to be continuously
MDI panel operations, program can be loaded used under the factory environment.
automatically.
INumber of the reader/puncher

channel
interface
I
1 - 70
24. SAFETY FUNCTIONS
24. SAFETY FUNCTIONS limit switch as an overtravel signal in the + Z

direction only. In other words&e limit switch is
24.1 Emergency Stop
mounted to the tailstock and its contact is
connected to *+ LZ terminal, so that the stroke
31 and position can be detected

keeping with the travel of the tailstock.
correctly in
111)
fi
111,
El
CNC stop 24.2.2 Stored stroke limit
Emergency stop buttom
With the emergency stop, all commands stops,

IL)
Forbidden area of tool
and the machine stops immediately.Connect
the “emergency stop” signal both to the control Points A and B are set by parameters
unit and to the servo unit side.

When emergency stop is commanded, servo The area outside an area preset by a
excitation is also reset, and servo ready signal parameter is defined as a forbidden area.If the
will also turn off.After resetting the emergency machine tool enters the forbidden area, the
stop, continue the operation after performing axis motion is decelerated and stopped with
the reference point return operation. over-travel alarm display.(stored stroke limit)
The distance from the reference return position
24.2 Overtravel Functions is set to the parameter. Stored stroke limit
24.2.1 Overtravel function can be made to be ineffective by

parameter setting.
24.3 Interlock
Motor speed
Limit switch
Interlock I
4 X axis movable range
L
As this CNC’s basic specifications cover the This function inhibits the axis movement of the
software limit detection function, it is generally machine tool. Whether the movement of all
unnecessary to provide the limit switch and dog axes is inhibited or the movement of Z axis
function on the machine tool side for the only is inhibited can be set by parameters.
purpose of over-travel detection. When all axes movement is inhibited, high
In order to solve such a case as the stroke end speed interlock input can be used. Interlock
position in the + Z direction changes each time also can be applied to each axis independently
the tailstock travels in keeping with the by parameter.
movement of a workpiece, an interface is When this interlock signal’ is applied, the
provided to be able to receive a signal from the moving part of the machine tool stops after
being decelerated. When this interlock signal is
1-71
24. SAFETY FUNCTIONS
released, the machine tool starts moving again

after being accelerated.
This interlock function is effective for both
automatic and manual operation modes.
1-72 .
25. STATUS OUTPUT
25. STATUS OUTPUT 25.7 Feed Hold Signal

Status signal This signal is sent out when automatic
CNC 4 operation is holded by feed hold.
CNC ready signal
I SefVo readY signal 3 y;hine 25.8 Power Ready Signal
0 This signal is output when input power is

supplied to the CNC, and output voltage of the
25.1 CNC Ready Signal stabilizer power circuit in the CNC has reached
This signal is sent to the machine side when the standard value.If abnormality in power
CNC power is on and control becomes circuit is detected, this signal will no more be
possible. Sending of this signal will be stopped output. Stop power supply at once in this case.
when CNC power is turned off.
25.9 Reset Signal
25.2 Servo Ready Signal
This signal is sent out to show that the CNC
This signal is sent to the machine side when has been reset.
the servo system becomes operatable. Axes
necessary to be braked must be braked when 25.10 Battery Alarm Signal
this signal is not sent. When this signal is
This signal is output when the voltage of the
interrupted, NOT READY is displayed on
battery for holding memory data during power
CRT/MD1 panel.
interruption has become lower than the
specified value. Since the above condition is
25.3 Alarm Signal
usually indicated as the battery alarm display
This signal is transmitted when the CNC comes on the CRT/MD1 panel, this signal is not
under an alarm statusAlarm type signal is also required normally. If the detachable CRT/MD1 is
sent out. employed, inform an operator of the necessity
of battery exchange by the lamp indication
25.4 Distribution End Signal using this signal.
This signal is sent out when pulse distribution

of the M,S, or T functions has ended, so that
they can be used after move of the
commanded block ends.
25.5 Automatic Operation Signal

This signal is sent out when it is under
automatic operation.
25.6 Automatic Operation Start

Lamp Signal
This signal is sent out when automatic
operation is beino activated.
l-73
26. EXTERNAL WORK NUMBER SEARCH
26. EXTERNAL WORK

NUMBER SEARCH
CNC
Program memory
00001
0
:
0
00002
One program selection
0 I
:
0
0
00015
:
:
Program selection switch
By specifying work numbers of 01 - 15

externally (from the machine side,etc.), a
program corresponding to the work number can
be selected. The work number equals the
program number. For example, when work
number 12 is specified, program 00012 is
selected. (The first 2 digits of the program
number is 00.)
. .
l-74
27. MACHINE INTERFACE
27. MACHINE INTERFACE
c
CNC
Magnetic
I/O b cabinet
40/40
I/O c3
107172
4
I/O c2 ’
80 I56
Kinds of l/O card
OutplJtS
Inputs (Transistor Remarks
output)
r-- I10 c3 I 104 I 72 I
l-75
28 PROGRAMMABLE
l MACHINE CONTROLLER (PMC)
28. PROGRAMMABLE MACHINE CONTROLLER (PMC)

CNC
zl
CNC Machine interface
CNC PMC , Machine
I/O
software I software side
image
Window
Magnetics sequence circuit can be incorporated in the CNC.

The following two types of PMC is available.
Max. No. of Max. No. of Time of

No. of step Remarks
inputs outputs processing
r
PMC-Model L 104 72 5000 steps 5 dsteP High-speed M, S and T
(PMC-L ) interface is available.
Window Function
In this function, PMC can request CNC to transfer data to the PMC side.
The following kinds of data are transferred from the CNC.
(1) Present position
(2) Machine position
1-76
29. CONTROL UNIT
29. CONTROL UNIT 29.4 Environmental Requirements
29.1 Cabinet Ambient temperature

O°C - 45°C when operating
-20” C - 60°C when stored or delivering
Change in temperature Max. 1.l OC/min
Humidity 75% or less (relative humidity)
generally Max. 95% for a short time
Vibration 0.5G or less when operating
Circumstances
\Nhen using in places with thick dust,
cutting oil, or organic solvent, consult
us.
29.5 Weight
Un&mm
Control unit (Panel mount type): About 16kg
Weight : Aboutl6kg
CRT/MD1 : About 5kg
Coating color: P-LT; 5GY 3.5/0.5 (Dark grey)
29.2 Power
29.2.1 Input power voltage
200VAC I:“, %, 50/60Hz 2 3Hz, 1 phase
Or
240VAC I;“, %, 6OHz 2 3Hz, 1 phase
29.3 Battery Unit

Mount the battery unit to the machine side
where it is replaced easily.
l-77
30. CABLES AND CONNECTORS
30. CABLES AND

CONNECTORS
Cables and connectors are offered for
connection between units.
l-78
31. SERVO SYSTEM (Digital Servo)
31. SERVO SYSTEM

(Digital Servo)
31 .l Position Detection System
I-Pulse coder I
31.2 Position Detector.
Incremental pulse coder .

Absolute pulse coder
\
Position is detected by the feed-back signal

from the pulse coder.
31.3 Senro Motor
I--
FANUC AC SERVO MOTOR aC3,6,12 I
31.4 Velocity Control Unit

FANUC SERVO AMPLIFIER UNIT.
31.5 Regenerative Electric

Discharge Unit
Various regenerative electric discharge unit are
offered according to type of AC servo motor.
31.6 Servo Power Transformer

Various power transformers are offered
according to types of AC servo motors.
1-79
32. POSITION CODER
32. POSITION CODER

CNC
F command
-jEE-l
I -
Position coder
A position coder is connected to the spindle

and generates square wave voltage signal the
frequency of which is proportional to the
spindle speed. This synchronizes the feed with
the spindle speed.
(1) Position coder A
(a) Number of square waves per revolution
\
Channel Number of square waves
lch 1024~ /rev (A, A, B, B phases)
2ch 1 p /rev (2, 2 phase)
(b) Maximum response revolutions 4,000 rpm

(c) Range of operating temperature00 - 5OOC
(2) Position coder B
(a) Number of square waves per revolution
Channel Number of square waves

I
lch 1024~ /rev (A, A, B, B phases)
1
2ch 1 p /rev ( 2, 2 phase)
(b) Maximum response revolutions 6,000 rpm

(c) Range of operating temperature 00 - 50%
l-80
APPENDIX
APPENDIX 1 TABLE OF RANGE OF COMMAND VALUE

(1) 00TD
Linear axis (in case of metric thread for feed screw and metric input)
Increment system
Standard
Least inpt increment I 0.001 mm
X:0.0005 mm
Least command increment
ZO.001 mm
Max. programmable dimension + 99999.999 mm

I _
Max.rapid traverse *1 I 100000 mm/min
1 - 100000 mm/min
Feedrate range *I
0.0001-500.0000 mm/rev
Step feed 10.001, 0.01,0.1, 1 mm/step
Tool compensation I 0- & 999.999 mm
Backlash compensation I 0- f: 0.255 mm
Dwell time I 0- ? 99999.999 set
Linear axis (in case of metric thread for feed screw and inch input)
Increment system
Standard
Least input increment 0.001 inch

i
X:0.000005 inch
ZO.0001 inch
Max. programmable dimension I _

+ 9999.9999 inch
Max. rapid traverse *1 100000 mm/min

I
1-100000 inch/min
Feedrate range *1
0.0001-500.0000 inch/rev
Step feed I 0.0001, 0.001, 0.01, 0.1inch/step
Tool compensation 0- & 99.9999 inch

I
Backlash compensation I 0- t 0.255 mm
Dwell time I 0 - 99999.999 set
A-l
Linear axis (in case of inch thread for feed screw and inch input)
Increment system
I Standard
Least input increment I 0.0001 inch
X:0.00005 inch
ZO.0001 inch
Max. programmable dimension f 9999.9999 inch

I
Max. rapid traverse Y 4000 inch/min

I
0.01-4000.00 inch/min
Feedrate range *1
0.000001 - 9.999999 inch/rev
Step feed I
0.0001, 0.001, 0.01, 0.1 inch/step
Tool compensation I Ok k 99.9999 inch
Backlash compensation I O- 2 0.0255 inch
Linear axis (in case of inch thread for feed screw and metric input)
Increment system
Standard
X:0.00005 inch
2:0.0001 inch
Max. programmable dimension I5 99999.999 mm
Max. rapid traverse *I

I 4000 incWmin
l-100000 mm/min
Feedrate range *1
0.0001-500.0000 mm/rev
Step feed I O.OOl,O.Ol, 0.1,1 mm/step
Tool compensation I O- 2 999.999 mm
Backlash compensation I 0- f 0.0255 inch
Dwell time I O-99999.999 set
A-2
(2) O-MD
Linear axis (in case of metric thread for feed screw and metric input)
increment system
Standard
Least input increment 0.001 mm
Least command increment 0.001 mm
Max. programmable dimension & 99999.999 mm
Max. rapid traverse *I 100000 mm/min
Feedrate range *l 1 - 100000mm/min
Step feed 0.001, 0.01, 0.1, 1 mm/step
Tool compensation 0- 2 999.999 mm
Backlash compensation 0- 2 0.255 mm
Dwell time 0- 2 99999.999 set
Linear axis (in case of metric thread for feed screw and inch input)
Increment system
l- Standard
Least input increment I 0.0001 inch
Least command increment I 0.001 mm
Max. programmable dimension I t 9999.9999 inch
Max. rapid traverse ‘1 100000 mm/min

I
Feedrate range *1 I 0.01-4000 inch/min
Step feed 0.0001, 0.001, 0.01, 0.1 inch/step
Tool compensation 0- * 99.9999 inch
Backlash compensation I 0- f 0.255 mm
A-3
, Linear axis (in case of inch thread for feed screw and inch input)
Increment system
Standard
Least input increment 0.0001 inch
Least command increment I 0.0001 inch
Max. programmable dimension + 9999.9999

I _ inch
Max. rapid traverse *1 I 4000 incNmin
Feedrate range *1 0.01-4000 inch/min

I
Step feed I 0.0001, 0.001, 0.01, 0.1 inch/step
Tool compensation I O- f 99.9999 inch
Dwell time I0 - 99999.999 set
Linear axis (in case of inch thread for feed screw and metric input)
Increment system
Standard
Least input increment 0.001 mm
Least command increment 0.0001 inch

I
Max. programmable dimension I & 99999.999 mm
Max. rapid traverse *1 4000 inch/min

I
Feedrate range *1 1 - 100000 mm/min
Step feed 0.001, 0.01, 0.1, 1 mm/step
Tool compensation I 0- 2 999.999 mm
Dwell time I0 -99999.999 set
A-4
APPENDIX 2 FUNCTION AND TAPE FORMAT
(1) O-TD
The symbols in the list represent the followings:
P-. .X-Z-
As seen above, the format consists of a combination of arbitrary axis addresses among X, 2.
x0 First basic axis (X)
l
z* Second basic axis (z)

l
Functions Tape format
bsitioning(G00) GOOg- ;
Linear interpolation(G01)
Circular interpolation (G02,G03)
Dwell(GW) GO4 x- ;
P-
{ >
IncNmetri conversion Inch input G20;

(G20,G21) Metric input G21;
Reference point return check ;z / p G27g-;

(G27)
Reference point
Reference point return (G28)
2nd Reference point retum(G30)
;n;;E zz
Tool nose R compensation

(G40,Gbl ,G42)
A-5
Functions Illustrations we-
F
Thread cutting(G32) Equal lead thread cutting
G32P-F-;
X
Coordinate system setting G50X-Z-;
Spindle speed setting(G50) (Coodinate system setting)
I4
G5oS-;
(Spindle speed setting)
L z
Feed per minute /feed per revolution mm/min inch/min G98 ...... F-;
mm/rev inch/rev G99 . .. .. . F-;
Constant surface speed control m/min or feet/min G96S-;

(G96,97) G97; ...... Cancel
N&pm). 11
-.-. .- _.L._ -. .-.- 1 . w

3
A-6
(2) O-MD
c
The symbols in the list represent the followings:

P :x Y Z
AL& above, the format consists of a combination of arbitrary axis addresses among
X: First basic axis (X usually)
Y: Second basic axis (Y usually)
Z: Third basic axis (Z usually)
Functions Illustrations Tape format
Positioning (GOO) Start point/ GOOP

_ ;
Lineaf interpolation
Start point/ GOO+F---;
(GO11
Start F&-T G,+}X-Y- {i_ k-;
(G02,(303)
I
06 Y)
(” ‘) G, j;;}X-z- {IK_}F-;
(In case of X-Y plane)
Dwell (G04)
Exact stop(GO4) Speed
Tool length compensation C

(Ga-G42)
H : Tool offset number

G40
A-7
Functions Illustrations Tape format
Tool length compensation A

(G43, G44, G49) G43
Z-H_;
6; 44 >
Cffset
\ 0
\ 0
\ /
G43
z H_;
5 { G44 >
H : Tool offset No.

G49 : Cancel
Tool length compensation B

(G43, G44,049)
H : Tool offset No.

G49 : Cancel
inch/metric conversion Inch input G20;

(G2o,G21) Metric input G21;
Reference point
Star& / p G27p-;
return check(G27)
Reference point
Reference point return
(G28)
2nd reference
,nta ;x ~~~~~~
point retum(G30)
Reference point G29P-;

Return from reference point(G29)
ap
Intermediate point
Canned cycles See item “Canned cycle” in the main

(G73, G74, G80- G89) text
A-8
Functions illustrations Tape format
Absolute/incremental G90 ;
programming Absolute programming
(GWG91) G91 ;
Incremental programming
G9o- G91- ; Combined use
Change of work G92P ;

coordinate (G92) w P
Initial point return/ C98 G98 ;

+ I point G99
R point return ;
(G98,G99)
G99 R point
Z point
A-9
APPENDIX 3 LIST OF CODE

(1) 0-TD
t IS0 code I EIA code I

4 l\f caning.
Character 8 -i/alS[41 312 1 Character 18 71615 41 131 211 I
1, 0.
1 _ [OlOl 1. 1 0 ! 1 ot 0 ! ’ Sumera
.ol !o!o! I0 I IO! 1 I! I Ibil to Humera
I 2 I I i
I
2 101 lo(0 14 01 j ! ior IO! Numeral 2

3 1 !olo 01 0 01 3 101 !@I lo!0 Numeral 3 ,
4 . lolol 010 1 4 I 1 io T 0 Numeral ,
4
fs 1O(I loloi 101 or Iol 3 I I I !
10 1 o!o IO I Sumcral 5
6 ! lo 0 000~ 16 I ! I IO..
i-i pqolo!
i I r ' ' -
Numeral 6 I
187 10
10 00,
0 0 010 00007 8 ! II
L I 1 4 1 1-l i~lO~Ol0
: - 7 r = Numeral 7
‘-(
1 II rI II IOPI I I1 rI -1I Numeral8
9 f ! folo 010 01 9 - I- I I 1
lOWlo! I 101 4
I I 1,_I_, I , T - . - -
Numeral9
A I lol T 0
I I I-!-
01 a 010 1 lo! ! lo Addr’ess A
TB _!io! 1 01 11-I
101 lb
_-
alo
- _ I 1
1
0 I
i
1 nl
!V
3 aAA,A-a
rruurc3s
D
0
I
c iOlOl 0 0 c 010 0. 0 AddrcssC /

,D ] !O/ 0 0
0’
1d 010 0 nl
IO.0
3
l
.
I AAdress D
E 1.0 01 i o’o! 0 e I I-i-,-f ! !Vl Ivl :IMudressE
F IO 01 0010 f 1 - - - I
jO!OjO[ 1 I .
!oIOlOl - -1 1- AddressF 1
7
b c
G
I I
I p)l [ 0 010 01 g 1 IOIOI 1 IolOlOlOl I AddressG

H I 101 loo I 1h r r 1 1 I I 1
4 1 L I 1 I
ofo] o[i
I I I
I !O!Of 1
! ! lO[O 0'010 i [ 0 Address I
,
J !o!o; LO o! IO ! j 1 01 0 01 0 ? Address J
K ! 101 O/! lO_Ol k I
7
L !ol01 1 obloi i I I 1 I o[]o
I I r , 4.0
; . i Address K
! Oi ! 1 !o! 10 0 ?;AddrtssL
IM
f 1 IOI I lOl4Ol lOI m 1 I , , !__.O/ 101 1 O !of I I Address 11-
I
i
N I lo! .O!olOjO! 1n ! 101 I ! 0 !O! - 0 1 AddressN
0
P ifololioi 0 0 ~!OlOlO~
4 0
i I I b 1 101I
I 1 I1 , - 0 :T!OlO i Address 0
1 0 101 -0 o/o!0
Q lOlO! p( 9 I 0 0100 11
I
R jOjO! 0 Ioi 01 ! r I 0, IO o!
I Address I IO I
S loi 10 01 0101 s ! I b 0 ‘01 1 AddressS IO’ ’
T *o!ol [o 010 1 I t I I lo [ Address T 0 1 10. 0
U jlo(” 101 I0 ‘..-0 1 /o(u rII , _-
loo . 1001/ 1 Address U 1
V. 1 of MU
I-1 10
I .1-l-iU!Ul jI v I* ’ ‘3C 1 I 1 0 ? I Address V_
I 0 101
W
X o-01
0101 .o0 01010 010I 01 I w
s 1 - - 1 10 I101’ 01x 1s != AddreuW
01 I
)Y I 1 01 , _I , I , 1 ! , f I lolo! I0!0iOlOl I AddressX -1
r 010 01 .o 2Y 1 1 10lOlOlol I i j ? i Address Y
z 01 000 0 T
!
I I0 I I0 1 1 I
1Q ! 01 Address 2
DEL /OlOlOlO 0 0 0 010 Dei 1
\ I .
T
I 1 0 0 0 0 1 0 01 0 01 ’ Delete (cancel an error nunch\
1 I
.-~__--_ --- __I_.
r-==-=-‘*
NUL 0
Blank Not punched. Cannot be used in
0 I
I I tienificant section in EIA code.

BS 0 ,I O” I BS I 1 I - I f - ! - I; ! v ! !
I I_,_ 1 Back space
1
J I i 1 1, l I, Tabulator ,
, . I , * , ,
v
w 0
1l Space
101 101 01 0 0 0 0
,
IO 0 Absolute rewind stop
101 0 0 I , (29 -4-S) 000 IO l .nl A... Ia II_--__. :, srarrca]
_.-_-_A\ I
carII~UI UUI (1 wmmcnr is
0 Ic >I /
iOl”i 1 ioi b-4-7) I lo I [o/o (0 , Con r*rrrl ir \r
UVI 111 ‘*he end of a comment)
IO 0 01 oIol+ I lo,olol ’lOI I’ I’ 1 0 I b,,;h:.., ,:,-
[ - ,-‘-I , , r usu Ivc sip
Ic h -In jA1 I 1-I I I , 1 ! ! ! !
TOlO 0 q 101 ! I ] I
I1 1 I
’ 1 I
II 1
I
x :
1
’ ’
1
-
! Colon -
4
i 0 o( 0 or0 olol/ I I - I - I . - - 3
I 1 qo 10 1 0 1 Optional block skip
I. 01 0 0.0~0, ‘ . I 10 Oi 010 Dmr;..A IA A,,:-,I
I ~IIUU \A e-:-r\
UCLLJIIY p
ff 0’ o1 ’
Is 0
__
& 0 (0 0 0 0’ &
# rd
I 0 0000 I I I
l -c- I I ’
1 ‘-1
,_o__&_,
I I 1I I, I, 1 1 Asterisk
l
9 I I . . -
0 0 000 9 1 1 ~0~0~0~0 J blOl l IComma
. 1 1
I 0 0000 00 Semicolon
I T y l
,; .oooo o* _ 1 l Left angle bracket

I- lol I I
rOtOlOI~IOI ’ 101 I I I I1 I
II/!,
IA
VI
I.
I I r-,.,1
\
1’ I
1 I , 1 , 1 I ’ l
I,. LLjU61
0 lo O/O 0 0 0
! I /uI 0 -’ R@.e r--1~
1L rr1pc
L--ml.-*
ur(lc&cI
1
lo
,
010 r---7
0000 JyJ g Qu~srwnmarna.:-- - _ _a_ I
00
0
0
0 0
I I
.
I l
l
Commercial at mark I
I 1 _ _ Quotation
A- 10
(2) O-MD
\ l
IS0 code EIA code
Character 8 7 6 5 4 3 2 1 Character 8 7 615 4 3 2 1 Meaning
0 1 o-0 O 0 , 0 0 ’ Numeral 0
)1 0 ,o.o O [o 1 0 0 Numeral 1
2 0 00 0 0 2 0 0 Numeral 2
3 00 0 00 3 0 0 00 Numeral 3
4 0 00 00 4 0 0 Numeral 4
5 00 00 05 0 0 0 NumEralS
O_
6 00 000 6 0 000 Numeral 6
7 0 00 0000 7 0000 Numeral 7
8 0 0 0 010 8 0 0 Numeral 8
9 0000 0 9 000 0 Numeral 9
A 0 0 0 a 00 0 0 ? Address A
B 0 0 Cl b 00 0 0 Address B
C 00 0 00 c 000 0 OO? Address C
D 0 0 0 d 00 0 0 Address D
E I 00 00 Oe 000 0 0 0 ? Address E
tF IC 10 000 ,f 000 010 0 Address F
lol I I I4ololol R I lOlO1 I IO IOI 01 01 I AddressG I
01 0 0 00 k 0 0 0 0 Address K
L 00 0 0 0 I 0 0 OO? Address L
M 0 Oi”O Om 0 0 001 Address M
N 0 0000 n 0 00 0 Address N
Not used at significant
0 00 0 0 000 0 0 0 00 in IS0 code. Assumed
EIA code.
P lo 0 0 P 10 10 0 .o 0 0 Address P
010 0 0 10 io 0 o Address 0
W 00 0 0000 w 0 000 ? Address W

x 00 000 X 1 00 0000 Address X
Y IO, I !O, Y I I 1010101°1 I I I I Address Y
000 0 0 I0 Del 0 010 0 0 0 0 0 l Delete (cancel an error punch)_

c
NUL 0 Blank 0
+ Not punched. Can not be used in
significant section in EIA code.

BS 0 0 0, l BS 0 0 0 0 l Back space
HI- 0 0I I PI Tab 1l 1 Tabulator
Tl I l I. Carriage return
SP 0 ,o 0 /--. SP 101 1* 1 Space”
% 0 0 0
PI PI ER l l 1 l IO 10 I IO lOI I I1 Absolute re_wind stop
( 0 00 1 O-4-5) I 1 1 lolo[ol 101 I 1Controlout(acommentisstarted)
) 0 0’ 00 01 U-4-7) 1 101 I l0l-I 101 I lControlin( ,the end of a comment)
+ 0, 00 0
1 I I
ol+ I T
10 rI 0 1
I 0 I. I. 0 I. _
I .I I_ I Positive l sign
I 1-l
w
’ ’
1 101°101 PI - I IO I I I I0I I I II II Nxative !sign
. 0000 O I
0
- 1 11 I1 iI i1 .i i. i. . 1. .1 Coion
0 O~OOO/ lo lo l I0 I I IO I I Optional block skio 1
WI loI l0l~l0-l I I * I I 10IWOl” I IOIOI l IComma

0 0000 00 ,v l Semicolon
000~0 l , Left angle bracket
K...,...i.
0 00000 0 I I I .-VI I I I I I, Eaual
l .
0 000000 l/W- I l Right angle bracket
000~000 &. I l Question mark
00 0
n
I 1 / 1 I r 1 . . *
, Commercial at mark \
0 1 101 y I I I I I I 1 I 1 I l 1 Quotation I
A- 11
(Note 1) ‘When read in the significant data zone,the codes are ignored.
(Note 2) ?:The codes are invalid in the significant data zone, but are registered in the memory.
(Note 3) Codesnot in this table are ignored if their parity is correct
(Note 4) Codes with incorrect parity cause the TH alarm. But they are ignored without
generating the TH alarm when they are in the comment zone.
(Note 5) A character with all eight holes punched does not generate TH alarm even in EIA code.
A- 12
APPENDIX 4 EXTERNAL DIMENSIONS
l -
OOP
08L2 01
Fig. 1 External view of control unit A
A- 13
i,--- -A.__
--I__ I:,:
Fig. 2 External view of small 9” monochrome
A- 14
98
Note: Mechanical specifications of the position coder are as follows:

Un
(1) Input axis inertia (4) Weight: 1 kg or less
1.0x 1Oa kg-cm-set’ orless
(2) Input axis starting torque
100gcmorless
(3) Input axis permissible loads
I Radial 1 Thrust 1
1 Operation I 1 kg or less I 1 kg or less I
Idle 20 kg or less 10 kg or less
.
Attach a pulley directly to the position coder shaft and drive the
timing belt. Note that the loads conform with the above allowable
value.
3 holes equally spaced

on a 72 dia
terminal
Fig. 4 Manual pulse generator (A860-0202-Tool)
A- 16
Cover
Y
4
-ci
13.5
,5
47
Mounting panel hole
working position
Mounting hole (countersink)
Fig. 5 External view of battery unit
A- 17
Fig. 6 External view of floppy cassette adapter
A-18
INDEX
2nd reference point return (G30) ....=..... l l ..SS.. ......................

l
1 - 27
<A,
Absolute and incremental programming (G90, G91) . . m. . . . . . . . . . . . . . . . . . . . . . . . 1 - 31
Activation of automatic operation . . ....................................... l-52
Actual spindle speed output . . . . . ....................................... 1 . 34
Alarm display . . . . . . . . . . . . . . . . ....................................... 1 - 67
Alarm signal . . . . . . . . . . . . . . . . ....................................... 1 - 73
Automatic acceleration/deceleration ....................................... l-25
Automatic coordinate system setting ...................................... l-29
Automatic corner override (G62) . . ....................................... 1-24
Automatic operation signal m. . . . . ....................................... 1 - 73
Automatic operation start lamp signal ...................................... 1 . 73
Automatic operation stop .............................................. 1 - 52
Automatic operation .................................................. 1 - 51
Automatic reference point return (G28, G29) ................................ 1 - 27
Auxiliary function lock ................................................. l-58
Axes control by PMC ................................................. l-13
Axiscontrol ........................................................ l-50
Backlash compensation ............................................... 1 - 49

Basic addresses and command value range ................................. 1 - 38
Battery alarm signal .................................................. 1 - 73
Battery unit ....................................................... 1 - 77
Cabinet ........................................................... l-77

Cables and connectors . . . . . . . . . . . . . . . . . . . . . . .......................... 1 - 78
Canned cycle for drilling . .... ... ... . .. ... ....
......................... 1 - 46
. Canned cycles (G73, G74, G76, G80 - G89, G98, G99 (0 IIw ................... l-41
Canned cycles . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......................... l-44
Circular interpolation (GO2, G03) . . . . . . . . . . . . . . . 1-19
CNCreadysignal .......................... . . . . . . . . . . . . . . . . . . . . . .."' 1-73
Commandvaluedisplay ............................................ . .. 1 - 67
Compensation functions ............................................... 1 - 47
Constant surface speed control (G96, G97) ................................. 1 - 33
Control unit ........................................................ 1 . 77
Control-in/control-out ................................................. 1 - 40
Controlled axes ..................................................... 1 - 13
Coordinate system setting ............................................. 1 - 29
Coordinate system shift ............................................... 1 - 29
Coordinate system ................................................... 1 - 29
Coordinate value and dimension ......................................... 1 - 31
CRT/MD1 panel ..................................................... 1 - 60
CRT/MDl .......................................................... l-60
Current position display ............................................... 1 - 65
Cutter compensation C (G40-G42) (O-MD) .................................. 1 - 47
Cutting cycle A (G90) ................................................. 1 - 44
Cutting cycle B (G94) ................................................. 1 - 45
Cutting feed rate clamp ............................................... 1 - 23
Cutting feed rate ..................................................... 1 - 23
Cutting mode (G64) .................................................. 1 - 25
Data input/output .................................................... 1 - 70

Decimal point input/pocket calculator type decimal point input .................... 1 - 31
Diameter and radius programming ........................................ 1-31
Direct measured value input for work coordinate system shift ..................... 1 - 30
Distribution end signal ................................................ 1 - 73
..
Dryrun ............................................................ 1 - 58
Dwell(GO4) ........................................................ l-25
Emergency stop .................................................... 1 - 71

Environmental requirements ............................................ 1 - 77
Exact stop (G09) .................................................... 1 - 25
Exact stop mode (G61) ............................................... 1 -25
Execution of automatic operation ......................................... 1 - 52
External dimensions .................................................. A - 13
External motion function (G80,- G81) ...................................... 1 - 46
External work number search ........................................... 1 - 74
FANUC FLOPPY CASSETTE ........................................... 1 - 70

FAhJUC PROGRAM FILE Mate .......................................... 1 - 70
Feed functions ...................................................... 1 . 23
Feed hold signal .................................................... 1 . 73
Feed hold ......................................................... l-53
Feed per minute (G94) ................................................ l-23
Feed per revolution (G99) ............................................. 1 . 24
Feed rate override ................................................... 1 - 24
Function and tape format ............................................... A -5
Functions to simplify programming ........................................ 1-41
I/Odeviceinterface . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . ..-~................
l 1 - 70
Inch/metric conversion (G20, G21) . .. .. .. l l ... ... ... .. . ... ..... ..... .. . .. I - 31
Incremental feed .................................................... 1 - 56
Input devices ....................................................... 1 - 70
Input power voltage .................................................. 1 - 77
Interlock .......................................................... l-71
Interpolation
functions ................................................ 1 - 19
Jog override . . . . . .. . .... ... ... .. .. .. .. .... ... .. . .. .. ...... .... .. .. . 1 - 24
Label skip . l . . _ . . . . ................................................ l-39

Language . . . . . . . . . ................................................ 1 - 67
Linear interpolation (GO11 .............................................. 1-19
List of code . . . . . . . . ................................................ A-10
Machine interface ................................................... 1 - 75

Machine lock ....................................................... 1 - 58
Main program ...................................................... 1 - 37
Manual absolute ON/OFF ... .... .. .. .. .... ...... .. .. .. ... ..... ... .. .. . . 1 - 54
Manual feed ....................................................... 1 - 55
Manual handle feed .................................................. l-57
Manual interruption during automatic operation ............................... 1 - 54
Manual operation .................................................... 1 - 55
Manual reference point return ........................................... l-27
MDI operation ...................................................... 1 - 62
Mechanical handle feed ............................................... 1 - 50
Mirror image (O-MD) .................................................. 1 - 50
Miscellaneous function (M2 digit) ......................................... 1 - 36
Miscellaneous functions ............................................... 1 - 36
Number of registered programs . .. ... .. .. .. ...... .. .. .. .. . ..... .... .. . .. . 1 - 68
Operation mode ..................................................... 1 - 51

Optional block skip ................................................... 1 - 40
Override cancel ..................................................... 1 - 24
Override .......................................................... l-24
Over-travel functions .................................................. 1 - 71
Overtravel ......................................................... 1-71
Part program storage & editing .......................................... 1 - 68
Part program storage length ............................................ 1 . 68
Polar coordinate interpolation (Gll2, Gll3) ................................. 1 - 20
Positioncoder ............................................ ........... l-80
Position detection system .............................................. 1 . 79
Position detector .................................................... 1 - 79
Positioning (GOO) .................................................... l-19
Powerreadysignal .................................................. 1 - 73
Power .... . ....................................................... I- 77
Preparatoryfunction(Gfunction) ......................................... I-15
Program configuration ................................................ 1 - 37
Program display . . l l . ............................................... 1 - 64
Program end (M02, M30 ......................................... ...<. 1 - 53
Program list display . . ............................................... 1 - 65
Program name . . . . .. ............................................... l-40
Program number . . . . . ............................................... l-37
Program protect key . . . . . . l . l ........................................ 1 - 67
Program stop (MOO, MOl) . l . l . ........................................ 1 - 52
Program test functions . ... l . m ....................................... l-58
Programmable machine controller PMC) ................................... l-76
Rapid traverse override ............................................... 1 - 24

Rapid traverse ................................................... 1 - 23
Reference point return check (G27) ................ ; ................... : :: 1 - 27
Reference point ..................................................... 1 - 27
Regenerative electric discharge unit ...................................... 1 - 79
Reset signal ....................................................... 1 - 73
Reset ............................................................ l-53
S analog voltage control by PMC ......................................... 1 - 34

S analog voltage output ............................................... 1 . 33
S code output ...................................................... 1 - 33
Safety functions ..................................................... 1 - 71
Second miscellaneous function (B-function) ................................. 1 - 36
Selection of execution program .......................................... 1 - 51
Self diagnostic functions ............................................... 1 - 69
Sequence number comparison and stop ................................... 1 - 54
Sequence number ................................................... 1 . 37
Servo motor ....................................................... 1 . 79
Servooff .......................................................... l-50
Servo power transformer ............................ .................. 1 . 79
Servo ready signal ................................................... 1 - 73
Servo system (digital servo) ............................................ I - 79
Setting and display of offset value ........................................ 1 . 63
Setting and display of parameter ......................................... 1 . 64
Setting and display of setting data ........................................ 1 . 63
Setting and display ................................................... 1 - 62
Setting work coordinate system-method by G54-G59 .......................... 1 - 30
Single block ....................................................... 1 . 59
Single direction positioning (G60) ........................................ 1 - 21
Spindle functions .................................................... 1 - 33
Spindle speed clamp (G50) ............................................. 1 - 34
Spindle speed override ................................................ 1 - 34
Status output ....................................................... 1 . 73
Stored pitch error compensation ......................................... 1 - 49
Stored stroke limit ................................................... 1 . 71
Subprogram ....................................................... l-37
Tcodeoutput ...................................................... l-35

Table of range of command value ......................................... A - 1
Tangential speed constant control ........................................ 1 - 23
Tapecodes ........................................................ l-37
Tapeformat ....................................................... l-39
Tapping mode (G63) ................................................. 1 - 26
Thread cutting cycle (G92) ............................................. 1 - 45
Threadcutting ...................................................... l-22
Tool functions ...................................................... 1 . 35
Tool geometry offset and tool wear offset ................................... 1 - 48
Tool length compensation (G43, G44, G49) (O-MD) ........................... 1 - 47
Tool length compensation A ............................................ 1 - 47
Tool length compensation B ............................................ 1 - 47
Tool nose radius compensation (G40-G42) (0-TD) ............................ 1 . 49
Tool offset number ................................................... l-48
Velocity control unit . . .. ..... .. .. .. .. .. .... .. .. .. . ... . ... ... ... ... .. . . 1 - 79
Weight ........................................................... 1 - 77
Work coordinate system shift ........................................... 1 - 30
Z-axis command cancel .. ... ... .. .. .. .. ..... .. . .. .. . ... .. ... ... ... .. . . 1 - 59
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· No part of this manual may be
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· All specifications and designs

are subject to change without
notice.

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FANUC Series 0-TD/0-MD

2. CONTROLLEDAXES ........................................... l-13

3. PREPARATORY FUNCTION (G FUNCTION) ... .. .. .. .. .... .. .... ... .. . 1 - 15

4. INTERPOLATION FUNCTIONS . . . . . . . . . . . . . . . .. .. .. .... .. .... ... . .. 1 - 19

5. THREAD CUTTING ............................................. 1 - 22

6. FEED FUNCTIONS ............................................. 1 - 23

7. REFERENCE POINT ............................................ 1 . 27

8. COORDINATE SYSTEM l-29

10. SPINDLEFUNCTIONS.. ......................................... 1-33

11. TOOL FUNCTIONS ............................................. 1 . 35

12. MISCELLANEOUSFUNCTIONS .................................... l-36

13. PROGRAM CONFIGURATION ..................................... 1 - 37

14. FUNCTIONS TO SIMPLIFY PROGRAMMING ........................... 1 - 41

15. COMPENSATION FUNCTIONS .................................... 1 - 47

16. AXIS CONTROL l-50

17. AUTOMATICOPERATION ........................................ l-51

18. MANUAL OPERATION ........................................... 1 - 55

19. PROGRAM TEST FUNCTIONS .................................... 1 - 58

21. PART PROGRAM STORAGE & EDITING ............................. 1 - 68

23. DATA INPUT/OUTPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 70

24. SAFETYFUNCTIONS . . . . . . . .. . . . . . . . . . . . . . . . . . :. . . . . . . . . . . . . . . . . l-71

25. STATUS OUTPUT .............................................. l-73

26. EXTERNAL WORK NUMBER SEARCH ............................... 1 - 74

27. MACHINE INTERFACE .......................................... 1 . 75

28. PROGRAMMABLE MACHINE CONTROLLER (PMC) ..................... I . 76

29. CONTROL UNIT ............................................... 1 . 77

30. CABLES AND CONNECTORS ..................................... 1 . 78

31. SERVO SYSTEM (Digital Servo) .................................... 1 - 79

32. POSITION CODER ............................................. I - 80

APPENDIX 1. TABLE OF RANGE OF COMMAND VALUE . . . . . . . . . . . . . . . . . . . . . A - 1

This manual describes the following products:

Name of products Abbreviation

FANUC Series 0-TD 0-TD

FANUC Series O-MD O-MD

1 l OUTLINE Construction of the control unit is of panel

Manual pulse generator

FANUC Series 0-TD (List of specifications)

Controlled axis 2 axes

Stored stroke check 1

Stored pitch error compensation

Automatic operation (Memory)

Program number search

Sequence number search

Manual continuous feed (JOG)

Manual reference position return

Manual handle control 1 unit : need MPG separately

Incremental feed Xl, x10, woo, woo0

Thread cutting, synchronous cutting 1need position coder separately

Reference position return I G28

Rapid traverse rate 100 m/min (1 pm)

Rapid traverse override Fo, 25, 50, 100 %

Feed per minute mm/min

Feed per revolution mm/rev

Tangential speed constant control

Cutting feed rate clamp

Automatic acc./deceleration Rapid traverse rate : Linear

Feedrate override O- 150 %

Jog override Oh 150 %

EWE0 automatic recognition