Allen-Bradley

9/Series CNC
Grinder
Operation and
Programming
Manual
Important User Information Because of the variety of uses for the products described in this
publication, those responsible for the application and use of this control
equipment must satisfy themselves that all necessary steps have been taken
to assure that each application and use meets all performance and safety
requirements, including any applicable laws, regulations, codes and
standards.

The illustrations, charts, sample programs and layout examples shown in

this guide are intended solely for purposes of example. Since there are
many variables and requirements associated with any particular
installation, Allen-Bradley does not assume responsibility or liability
(to include intellectual property liability) for actual use based upon the
examples shown in this publication.

Allen-Bradley publication SGI-1.1, Safety Guidelines for the Application,

Installation, and Maintenance of Solid-State Control (available from your
local Allen-Bradley office), describes some important differences between
solid-state equipment and electromechanical devices that should be taken
into consideration when applying products such as those described in this
publication.

Reproduction of the contents of this copyrighted publication, in whole or

in part, without written permission of Allen-Bradley Company, Inc., is
prohibited.

Throughout this manual we use notes to make you aware of safety

considerations:

ATTENTION: Identifies information about practices or

circumstances that can lead to personal injury or death, property
damage or economic loss.

Attention statements help you to:

identify a hazard
avoid the hazard
recognize the consequences

Important: Identifies information that is critical for successful application

and understanding of the product.
PLC is a registered trademark of Allen-Bradley Company, Inc.
Data Highway Plus, DH+, IMC, PAL, PLC-5, Paramacro, QuickCheck, QuickPath Plus, and Quick View
are trademarks of Allen-Bradley Company, Inc.
IBM is a registered trademark of International Business Machines Corporation.
MS-DOS is a trademark of Microsoft.
PC AT and PC XT are trademarks of International Business Machines Corporation.
 9/Series Grinder
Operation and Programming Manual
October 2000

Summary of Changes

New Information The following is a list of the larger changes made to this manual since its
last printing. Other less significant changes were also made throughout.

Error Message Log

Paramacro Parameters

Softkey Tree

Error Messages

Revision Bars We use revision bars to call your attention to new or revised information.
A revision bar appears as a thick black line on the outside edge of the page
as indicated here.
 Chapter

1-2
 Table
Index of Contents
(General)
9/Series
9/Series Grinder
PAL Reference Manual
Operation and Programming Manual

Chapter 1
Using This Manual
1.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1 Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Manual Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.3 What This Manual Contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.4 Reading This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.5 Terms and Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.6 Warnings, Cautions, and Important Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.7 Related Publications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Chapter 2
Operating the Control
2.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1 Operator Panel Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.1 Using the Keyboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.2 Softkeys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.1.3 Using the CRT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2 The MTB Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
2.3 Software MTB Panel {FRONT PANEL} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
2.4 Powering the Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
2.4.1 Turning On Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
2.4.2 Turning Off Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
2.5 Control Conditions at Power-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
2.6 Emergency Stop Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
2.6.1 Emergency Stop Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
2.7 Access Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
2.7.1 Assigning Access Levels and Passwords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24
2.7.2 Password Protectable Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
2.7.3 Storing Password List to Backup Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-30
2.7.4 Entering Passwords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31
2.8 Changing Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-32
2.9 Control and Block Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-36
2.10 Displaying System and Machine Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-37
2.10.1 Clearing Active Messages {CLEAR ACTIVE} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
2.11 The Input Cursor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
2.12 {REFORM MEMORY} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-42
2.13 Removing an Axis (Axis Detach) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-43
2.14 Time Parts Count Display Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-44
2.15 Calculator Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-48

Chapter 3
Offset Tables and Setup
3.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Wheel Length Offset Tables {WHEEL GEOMET} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Dresser/Wheel Radius Offsets {RADIUS TABLE} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.3 Dresser/Wheel Orientation {RADIUS TABLE} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

i
 TableIndex
of Contents
(General)
9/Series PAL9/Series Grinder
Reference Manual
Operation and Programming Manual

3.3.1 Dresser Orientations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3.3.2 Grinding Wheel Orientations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.4 Entering Offset Data {WHEEL GEOMET} or {RADIUS TABLE} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.5 Set Offset Data Using {MEASURE} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.6 Changing the Active Dresser/Wheel Offset {ACTIVE OFFSET} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.7 Work Coordinate System Offset Table {WORK CO-ORD} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
3.7.1 Entering Work Coordinate System Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.8 Backing Up Offset Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.9 Programmable Zone Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
3.10 Single-Digit Feedrate Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
3.11 Tool Offset Range Verification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29

Chapter 4
Manual/MDI Operation Modes
4.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Manual Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1.1 Jogging an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.1.2 Continuous Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.3 Incremental Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.4 HPG Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.2 Arbitrary Angle Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3 Manual Gap Elimination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.4 Resetting Overtravels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.5 Mechanical Handle Feed (Servo Off) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.6 Removing an Axis (Axis Detach) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.7 Manual Machine Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.8 MDI Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.8.1 MDI Basic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

Chapter 5
Editing Programs On Line
5.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1 Selecting a Program to Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Editing Programs at the Control (on line) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.1 Moving the Cursor {STRING SEARCH} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.2.2 Entering Characters and Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.2.3 Changing and Inserting {MODIFY INSERT} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.2.4 Erasing Characters and Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.2.5 Sequence Numbers {RENUM PRGRAM} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
5.2.6 Merging Part Programs {MERGE PRGRAM} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5.2.7 Exiting Edit Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5.3 Programming Aids QuickView . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
5.3.1 Using {QPATH+ PROMPT} Sample Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.3.2 G Code Prompting {G CODE PROMPT} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.3.3 Grinding Cycle Prompting {GRINDR PROMPT} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.3.4 Selecting a QuickView Plane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
5.4 Digitizing a Program (Teach) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28

ii
 Table
Index of Contents
(General)
9/Series
9/Series Grinder
PAL Reference Manual
Operation and Programming Manual

5.4.1 Linear Digitizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31

5.4.2 Digitizing an Arc (3 Points) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
5.4.3 Digitizing An Arc Tangent at End Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
5.5 Deleting A Program {DELETE PRGRAM} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-37
5.6 Renaming Programs {RENAME PRGRAM} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-38
5.7 Displaying a Program {DISPLY PRGRAM} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-39
5.8 Comment Display {PRGRAM COMENT} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
5.9 Copying Programs {COPY PRGRAM} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-41
5.10 Selecting the Protectable Part Program Directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
5.10.1 Protected Program Encryption and Decryption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45
5.10.2 Storing Encryption/Decryption Table to Backup Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-48

Chapter 6
Editing Part Programs Off Line (ODS)
6.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.1 Selecting the Part Program Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.2 Editing Part Programs Off Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.3 Connecting the Workstation to the Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.4 Downloading Part Programs from ODS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.5 Uploading Part Programs to ODS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

Chapter 7
Running a Program
7.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1 Selecting Special Running Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.1 Block Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.2 Miscellaneous Function Lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.3 Sequence Stop {SEQ STOP} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.4 Single Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.2 Selecting a Part Program Input Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.3 Selecting a Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.4 De-Selecting a Part Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
7.5 Program Search {SEARCH} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
7.6 Search With Recall {MID ST PRGRAM} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
7.7 Basic Program Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-16
7.7.1 {QUICK CHECK} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18
7.7.2 Axis Inhibit Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20
7.7.3 Dry Run Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
7.7.4 Part Production/Automatic Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
7.8 Interrupted Program Recover {RESTRT PRGRAM} . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
7.9 Jog Retract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
7.10 Block Retrace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30

iii
 TableIndex
of Contents
(General)
9/Series PAL9/Series Grinder
Reference Manual
Operation and Programming Manual

Chapter 8
Display and Graphics
8.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.1 Selection of Axis Position Data Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 PAL Display Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22
8.3 Changing Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
8.4 Graphics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.4.1 Selecting the Program for Graphics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.4.2 Running Graphics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-25
8.4.3 Disabling Graphics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.4.4 Changing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.4.5 Graphics in Single-Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-33
8.4.6 Clearing Graphics Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-33
8.4.7 Displaying Machine Information in Graphics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-33
8.4.8 Zooming Graphics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-33
8.6 Power Turn-on Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-37
8.7 Screen Saver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-39

Chapter 9
Communications
9.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.1 Setting Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.1.1 Setting Communication Port Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.1.2 Communication Port Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9.2 Inputting Part Programs from a Serial Peripheral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
9.3 Outputting Part Programs to a Serial Peripheral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
9.4 Verifying Part Programs Against Source Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
9.5 Error Conditions (Inputting and Outputting Part Programs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18

Chapter 10
Introduction to Programming
10.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
10.1 Tape Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.2 Program Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
10.2.1 Program Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
10.2.2 Sequence Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-9
10.2.3 Comment Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-10
10.2.4 Block Delete and Multi Level Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-11
10.2.5 End of Block Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-12
10.3 Using Subprograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-12
10.3.1 Subprogram Call (M98) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-13
10.3.2 Main and Subprogram Return (M99) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-14
10.3.3 Subprogram Nesting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-15
10.4 Word Formats and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-17
10.4.1 Minimum and Maximum Axis Motion (Programming Resolution) . . . . . . . . . . . . . . . . . . . . . . . . . . 10-20
10.5 Word Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-21
10.5.1 Axis Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-21

iv
 Table
Index of Contents
(General)
9/Series
9/Series Grinder
PAL Reference Manual
Operation and Programming Manual

10.5.2 A_L_,R_,C_ (QuickPath Plus Words) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-21

10.5.3 F Words (Feedrate) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-22
10.5.4 G Words (Preparatory Functions) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-23
10.5.5. I J K Integrand Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-28
10.5.6 M Words (Miscellaneous Functions) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-29
10.5.7 N Words (Sequence Numbers) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-34
10.5.8 O Words (Program Names) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-34
10.5.9 P,L (Main Program Jumps and Subprogram Calls) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-35
10.5.10 S Word (Spindle Speed) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-35
10.5.11 T Words (Length, Radius, and Orientation Offsets) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-36

Chapter 11
Coordinate Control
11.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.1 Machine (Absolute) Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.1.1 Motion in the Machine Coordinate System (G53) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.2 Preset Work Coordinate Systems (G54-59.3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
11.2.1 Altering Work Coordinate Systems (G10L2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
11.3 Work Coordinate System External Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10
11.3.1 Altering External Offset (G10L2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-11
11.4 Offsetting the Work Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-13
11.4.1 Coordinate Offset Using Wheel Position (G92) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-14
11.4.2 Offsetting Coordinate Zero Points (G52) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-17
11.4.3 {SET ZERO} Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-18
11.4.4 Jog Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-19
11.4.5 Canceling Coordinate System Offsets (G92.1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-20
11.4.6 Canceling Selected Coordinate System Offsets (G92.2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-22
11.5 PAL Offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-22
11.6 Rotating the Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-23
11.6.1 Rotating the Current Work Coordinate System (G68, G69) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-24
11.6.2 External Part Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-28
11.7 Plane Selection (G17, G18, G19) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-33
11.8 Overtravels and Programmable Zones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-34
11.8.1 Hardware Overtravels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-36
11.8.2 Software Overtravels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-36
11.8.3 Programmable Zone 2 (G22, G23) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-38
11.8.4 Programmable Zone 3 (G22.1, G23.1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-40
11.8.5 Resetting Overtravels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-43
11.9 Absolute/Incremental Modes (G90, G91) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-44
11.10 Inch/Metric Modes (G70, G71) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-45
11.11 Radius/Diameter Modes (G07, G08) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-46
11.12 Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-48
11.11.1 Scaling and Axis Position Display Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-51
11.11.2 Scaling Magnification Data Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-52
11.11.3 Scaling Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-54

v
 TableIndex
of Contents
(General)
9/Series PAL9/Series Grinder
Reference Manual
Operation and Programming Manual

Chapter 12
Axis Motion
12.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
12.1 Positioning Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
12.1.1 Rapid Positioning Mode (G00) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2
12.1.2 Linear Interpolation Mode (G01) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3
12.1.3 Circular Interpolation Mode (G02, G03) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-5
12.1.4 Positioning Rotary Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-9
12.1.5 PAL Axis Mover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-11
12.2 QuickPath Plus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-11
12.2.1 Linear QuickPath Plus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-13
12.2.2 Circular QuickPath Plus (G13, G12.1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-17
12.3 Chamfering and Corner Radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-22
12.4 Automatic Motion To and From Machine Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-27
12.4.1 Automatic Machine Homing (G28) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-28
12.4.2 Automatic Return to Machine Home (G28) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-29
12.4.3 Automatic Return from Machine Home (G29) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-30
12.4.4 Machine Home Return Check (G27) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-32
12.4.5 Move To Alternate Home (G30) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-33
12.5 Spindle Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-34
12.5.1 Surface Grinder, No S-- word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-35
12.5.2 Surface Grinder, S-- word for Wheel Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-36
12.5.3 Cylindrical Grinder, S-- word for Part Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-37
12.5.4 Cylindrical Grinder, S-- word for Wheel Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-40
12.5.5 Notes on Constant Surface Speed Mode (G96) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-42
12.5.6 CSS Axis Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-45
12.5.7 CSS Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-46
12.5.8 RPM Spindle Speed Mode (G97) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-51
12.6 Part or Wheel Spindle Orientation (M19) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-51
12.7 Feedrates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-53
12.7.1 Feedrates Applied During Dresser/Wheel Radius Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-54
12.7.2 Feed Per Minute Mode (G94) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-56
12.7.3 Feed Per Revolution Mode (G95) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-56
12.7.4 Rapid Feedrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-57
12.7.5 Feedrate Overrides . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-58
12.7.6 Feedrate Limits (Clamp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-59
12.7.7 Rotary Axis Feedrates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-60
12.8 Special AMP Assigned Feedrates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-61
12.8.1 Single-Digit F-- words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-61
12.8.2 External Deceleration Feedrate Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-62
12.9 Automatic Acceleration/Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-63
12.9.1 Exponential Acc/Dec . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-64
12.9.2 Linear Acc/Dec . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-65
12.9.3 S-- Curve Acc/Dec . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-66
12.9.4 Programmable Acc/Dec . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-67
12.9.5 Precautions on Corner Grinding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-69
12.9.6 Spindle Acceleration (Ramp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-71

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 Table
Index of Contents
(General)
9/Series
9/Series Grinder
PAL Reference Manual
Operation and Programming Manual

12.9.7 Controlling Spindles (G12.1, G12.2, G12.3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-71

12.9.8 Spindle Orientation (M19, M19.2, M19.3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-72
12.9.9 Spindle Direction (M03, M04, M05) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-74
12.9.10 Short Block Acc/Dec Check G36, G36.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-75
12.10 Dwell (G04) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-78
12.10.1 Dwell - Seconds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-78
12.10.2 Dwell - Number of Spindle Revolutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-78
12.11 Mirror Image (G50.1, G51.1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-79
12.12 Axis Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-82
12.13 Dual Axis Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-82
12.12.1 Parking a Dual Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-84
12.12.2 Homing a Dual Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-85
12.12.3 Programming a Dual Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-86
12.12.4 Offset Management for a Dual Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-88

Chapter 13
Wheel Length Offsets
13.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
13.1 T Words and Wheel Length Offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
13.1.1 Selecting Wheel Length Offsets (T Word) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-2
13.1.2 Activation of Wheel Length Offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-4
13.2 Programming Changes to Wheel Geometry and Radius Offset Tables (G10L10) . . . . . . . . . . . . . . . . . . . 13-5

Chapter 14
Angled-Wheel Grinding
14.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-1
14.1 Angled-Wheel Grinder Configuration Assumptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-1
14.2 Determining the Wheel Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-2
14.3 Angled-Wheel Mode (G15, G16.3 and G16.4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-4
14.3.1 Normal Angled-Wheel Grinding Mode (G16.3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-6
14.3.2 Two Step Angled-Wheel Grinding Mode (G16.4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-9
14.3.3 Angled-Wheel Transform Off (G15) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-11
14.4 Position Displays for Angled-Wheel Grinders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-12
14.5 Manual Motion on an Angled-Wheel Grinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-14
14.6 Homing an Angled-Wheel Grinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-15
14.7 Plane Selection on Angled-Wheel Grinders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-15
14.8 Offsets on an Angled-Wheel Grinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-16
14.9 Overtravels and Programmable Zones on an Angled-Wheel Grinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-17

Chapter 15
Dresser/Wheel Radius Compensation
15.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-1
15.1 Introduction to Dresser/Wheel Radius Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-2
15.2 Programming Compensation (G40, G41, G42) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-5
15.2.1 Application Schemes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-5
15.2.2 Compensation Block Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-12
15.3 Generated Compensation Blocks G39, G39.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-15

vii
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of Contents
(General)
9/Series PAL9/Series Grinder
Reference Manual
Operation and Programming Manual

15.4 Type A Compensation Paths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-17

15.4.1 Type A Compensation Entry Moves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-17
15.4.2 Type A Compensation Exit Moves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-20
15.5 Type B Compensation Paths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-27
15.5.1 Type B Compensation Entry Moves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-27
15.5.2 Type B Compensation Exit Moves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-30
15.6 Path During Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-37
15.7 Special Compensation Cases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-42
15.7.1 Changing Compensation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-42
15.7.2 Too Many Non-Motion Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-46
15.7.3 Corner Movement After Generated Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-49
15.7.4 Changing Dresser/Wheel Radius During Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-51
15.7.5 MDI or Manual Motion During Dresser/Wheel Radius Compensation . . . . . . . . . . . . . . . . . . . . . . . . 15-55
15.7.6 Moving To/From Machine Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-57
15.7.7 Changing or Offsetting Work Coordinate System in Dresser/Wheel Radius Compensation . . . . . . . . 15-58
15.7.8 Block Look-Ahead . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-59
15.8 Error Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-60

Chapter 16
Surface Grinding Fixed Cycles
16.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-1
16.1 Surface Grinding Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-2
16.2 Surface Grinding Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-8
16.3 G81 or G81.1 Reciprocation Without Cross Pick or Plunge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-13
16.4 G82 or G82.1 Plunge Grinding (Slot) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-14
16.5 G83 or G83.1 Incremental Plane Grinding (Axis 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-16
16.6 G84 or G84.1 Incremental Plane Grinding (Axis 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-19
16.7 G85 or G85.1 Continuous Plane Grinding (Axis 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-20
16.8 G86 or G86.1 Continuous Plane Grinding (Axis 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-23

Chapter 17
Cylindrical Grinding Fixed Cycles
17.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-1
17.1 Cylindrical Grinding Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-3
17.2 Cylindrical Grinding Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-9
17.3 G81 or G81.1 Reciprocation Without Plunge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-11
17.4 G82 or G82.1 Incremental Face Grinding (Axis 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-12
17.5 G83 or G83.1 Incremental Plunge Grinding (Axis 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-16
17.6 G84 or G84.1 Multi-pass Face Grinding (Axis 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-20
17.7 G85 or G85.1 Multi-pass Diameter Grinding (Axis 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-23
17.8 G86 or G86.1 Shoulder Grinding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-26
17.9 G87 or G87.1 Shoulder Grinding With Face Plunge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-28
17.10 G88 or G88.1 Shoulder Grinding With Diameter Plunge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-30
17.11 G89 or G89.1 Multi-Step Plunge with Blend . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-32
17.11.1 G89 for Normal Single-Step Grinders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-38
17.11.2 G89 for Two-Step Grinders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-39
17.11.3 Micro-Feed During the G89/G89.1 Cycles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-40

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Index of Contents
(General)
9/Series
9/Series Grinder
PAL Reference Manual
Operation and Programming Manual

Chapter 18
Turning Operations
18.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-1
18.1 Single Pass Turning Cycles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-1
18.1.1 Single Pass O.D. and I.D. Roughing Cycle (G20) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-2
18.1.2 Single Pass Rough Facing Cycle (G24) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-7
18.2 Single Pass Thread Grinding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-12
18.2.1 Considerations for Thread Grinding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-12
18.2.2 Single Pass Threading Mode (G33) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-14
18.2.3 Single Pass Variable Lead Threading Mode (G34) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-19

Chapter 19
Skip and Gauge Probing Cycles
19.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-1
19.1 External Skip Functions (G31 codes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-2
19.2 Wheel Gauging External Skip Functions (G37 Codes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-3

Chapter 20
Paramacros
20.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-1
20.1 Parametric Expressions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-1
20.1.1 Basic Mathematical Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-2
20.1.2 Mathematical Function Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-3
20.1.3 Parametric Expressions as G-- or M - codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-6
20.2 Transfer of Control Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-7
20.2.1 Conditional Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-7
20.2.2 GOTO and IF-GOTO Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-9
20.2.3 DO-END and WHILE-DO-END Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-10
20.3 Parameter Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-12
20.3.1 Local Parameter Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-13
20.3.2 Common Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-15
20.3.3 System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-16
20.3.4 PAL Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-37
20.4 Assigning Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-39
20.5 Backing Up Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-47
20.6 Macro Call Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-48
20.6.1 Non-Modal Paramacro Call (G65) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-50
20.6.2 Modal Paramacro Call (G66) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-50
20.6.3 Modal Paramacro Call (G66.1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-52
20.6.4 AMP-Defined G-Code Macro Call . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-54
20.6.5 AMP-Defined M-Code Macro Call . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-55
20.6.6 AMP-Defined T-, S-, and B-Code Macro Call . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-56
20.6.7 Nesting Macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-57
20.7 Macro Output Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-59

ix
 TableIndex
of Contents
(General)
9/Series PAL9/Series Grinder
Reference Manual
Operation and Programming Manual

Chapter 21
In-process Dresser
21.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-1
21.1 Offset Generation While Dressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-2
21.1.1 Plane Selection for the In-process Dresser Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-4
21.1.2 Maintaining Dresser Offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-6
21.2 Activating the In-process Dresser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-7
21.3 On-line In-process Dresser Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-8
21.4 Calibrating the In-process Dresser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-12

Chapter 22
Program Interrupts and Dressing Interrupts
22.0 Chapter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-1
22.1 Program Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-1
22.1.1 Enabling/Disabling Program Interrupts (M96, M97) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-2
22.2 Dressing Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-10
22.2.1 Operator Request for Dressing Interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-10
22.2.2 Auto-Dressing Request during Grinding Cycle (D word) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-10
22.2.3 Dressing Interrupt through Pre-Dress Request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-11
22.2.4 Dressing Interrupt Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-11
22.3 The Interrupt Program (P word) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-13
22.4 Interrupt Request Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-15

Appendix A
Softkey Tree
Appendix Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Understanding Softkeys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Describing Level 1 Softkeys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Using the Softkey Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

Appendix B
Error and System Messages
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

Appendix C
G-Code Table
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1

x
 1
Chapter

Using This Manual

1.0 This chapter describes how to use this manual. Major topics include:
Chapter Overview
how the manual is written and what fundamentals are presumed to be
understood by the reader

how the manual is organized and what information can be found in it

definitions for certain key terms

1.1 We wrote this manual for operators and programmers who use
Audience Allen-Bradley controls. We assume that you are familiar with the basic
operation and programming of a CNC.

1.2 This manual has a basic operation section, a programming section and
Manual Design three appendices:

How to operate the control How to program the control

Chapter 9 Chapter 22

Chapter 10
Chapter 2

Error and Operator

Softkey List Message List G-Code List

Appendix Appendix Appendix

A B C

11963-I

1-1
 Chapter 1
Using This Manual

1.3 This table contains a brief summary of each chapter.

What This Manual Contains
Chapter Title Summary

1 Manual Overview Manual overview, intended audience, definition of key terms, how to proceed.
2 Operating the Control A brief description of the controls basic operation including power-up, MTB panel, operator
panel, access control, and E-STOP.
3 Offset Tables and Setup Basic setup of the offset table, other initial operating parameters.
4 Manual and MDI Operation How to use the manual operate mode, including homing the machine, jog hand-wheel, jog
continuous, and jog increment. Also covered are the basics for MDI operation.
5 Editing Programs How to create, edit,and save a part program on line.
6 Editing Part Program Off Line How to create, edit, and save a part program from ODS off line.
7 Running a Program How to select and execute a program automatically. This covers program checking as well
as part production. Also details on special running conditions.
8 Displays and Graphics How to access and interpret the different position displays. How to use the Quick Check
and Active Program graphics features.
9 Communications Communications with peripheral devices. Includes sections on communication port
parameters, inputting and outputting AMP, PAL, Offsets, and programs.
10 Introduction to Programming Tape format, structure and format of the programming language for the control.
11 Coordinate Control The different coordinate systems and offsets to them. Also sections on plane selection,
overtravels, absolute/ incremental and inch/metric modes.
12 Axis Motion G-words that define how the wheel is positioned to the endpoint of a move. Also sections
on spindle control, QuickPath Plus programming, dwell, and mirroring.
13 Wheel Length Offset Selecting a wheel. Activating and deactivating wheel length offsets.
14 Angled Wheel Grinding Description and use of cylindrical grinders with an angled wheel. The angled wheel is a
non-orthogonal wheel axis.
15 Dresser/wheel Radius A description of the dresser/wheel radius compensation feature that offsets for different
Compensation dresser/wheel diameters.
16 Surface Grinding Cycles Description and use of the fixed cycles (canned cycles) for surface grinders and the
G-words and parameters used to define them.
17 Cylindrical Grinding Cycles Description and use of the fixed cycles (canned cycles) for cylindrical grinders and the
G-words and parameters used to define them.
18 Turning Operations Rough contouring routines and threading including tapered and multi-lead threading.
19 Skip and Gauging Cycles Description and use of the 9/Series probing features. Included in this is the wheel
measuring gauge feature.
20 Paramacros Description and use of paramacros, including calling, arithmetic functions, looping, decision
making, etc.
21 In-Process Dresser Description on how the in-process dresser operates. The in-process dresser interaction with
features such as offset tables and the in-process dresses table are also covered.
22 Program interrupts / Dressing A description of the program interrupt and dressing interrupt features. These features are
Interrupts used to call a subprogram or paramacro program whenever a signal corresponding to that
program is sent to PAL by the operator or requested by a grinder cycle.
Appendix A Softkeys A description of softkeys and their functions for softkey levels 1 and 2. Also the softkey tree
displaying all levels of softkeys and their location is shown.
Appendix B Error and Operator Messages An alphabetical listing of 9/Series error/warning messages, each with a brief description.
Appendix C G-Code Tables A listing of the G-codes used to program the 9/Series controls.

1-2
 Chapter 1
Using This Manual

1.4 To make this manual easier to understand, we included these explanations

Reading This Manual of terms and symbols:

All explanations, illustrations, and charts presented are based on

standard CNC functions. Operations can differ from the basic
information provided in this manual depending on the configuration of
your grinder machine controlled by the CNC. For details, see the
manuals prepared and supplied by your system installer.

You can purchase some of the softkey functions and features as options
on the 9/Series control. This manual assumes you have all of the
optional features.

Explanations and illustrations assume a 2-axes cylindrical grinder

configuration. This means the movement of the grinding wheel on a
rotating part or the movement of the grinding wheel on the fixed dresser.
Explanations and illustrations were not specifically written for an angled
wheel cylindrical grinder though most will apply to the cylindrical
grinder configuration.

The control accepts several different alphabetic characters for

expressing numerically controlled axes. This manual uses Z and X for
the first and second axes on the basic coordinate system. The integrand
name for these axes is K and I respectively. Cylindrical angled wheel
grinders should also assume Z (real) and X (virtual) axes for the first
and second axis on the basic coordinate system with W (real) however,
being the actual physical wheel axis.

The term AMP is an abbreviation for Adjustable Machine Parameters.

These parameters are used to match the control to a specific machine.
AMP configuration is usually done by your system installer.

Program examples are given as radius values. Assume the control is in

radius programming mode unless stated otherwise.

Names between the [ ] symbols are keys found on the operator panel.

Names between the { } symbols are softkeys found below the CRT.

Names between the < > symbols are switches and buttons found on the
standard MTB panel.

The term PAL is an abbreviation for Programmable Application Logic.

This is a ladder logic program that processes signals between the CNC
and the grinder. It is usually programmed by your system installer.

1-3
 Chapter 1
Using This Manual

1.5 To make this manual easier to read and understand, we shortened the full
Terms and Conventions product names and features. Shortened terms include:

Term Description

AMP Adjustable Machine Parameters

backup Memory storage area in the control that does not require battery power to be maintained
CNC Computer Numerical Control
CPU Central Processing Unit (the computing part of the control)
CRT Cathode Ray Tube (the controls monitor screen)
the control the 9/240, 9/260, or 9/290 Computerized Numerical Control
Dresser/Wheel applies to processes that are interchangeable between the dresser or grinding wheel
EPROM Erasable Programmable Read Only Memory
E-STOP Emergency Stop
HPG Hand Pulse Generator
I/O Input/Output
MDI Manual Data Input
modal an operating condition that remains in effect on the control until canceled or replaced
MTB Machine Tool Builder
ODS Offline Development System
PAL Programmable Application Logic
RAM Random Access Memory
softkeys the row of keys directly below the screen
system installer the company or contractor responsible for installing this control on the machine

1.6 Throughout this manual we make notes to alert you to possible injury to
Warnings, Cautions, and people or damage to equipment under specific circumstances.
Important Information
Information that is especially important is indicated in these ways:

ATTENTION: indicates circumstances or practices that can

lead to personal injury as well as to damage to the control, the
machine, or other equipment.

Important: indicates information that is necessary for successful

application of the control.

1-4
 Chapter 1
Using This Manual

1.7 For more information about Allen-Bradley controls, see these publications:
Related Publications
Pub. No. Document Name
8520-4.3 9/Series CNC PAL Reference Manual
8520-- 5.1.1 9/Series CNC Lathe Operation and Programming Manual
8520-- 5.1.3 9/Series CNC Mill Operation and Programming Manual
8520-- 5.1.4 9/Series CNC Grinder Operation and Programming Manual
8520-5.1.5 9/Series Data Highway Plus Communication Module User Manual
8520-5.1.6 9/Series MMS/Ethernet Communication Module User Manual
8520-- 5.2 9/Series CNC OCI User Manual Supplement
8520-6.2 9/Series CNC Integration and Maintenance Manual
8520-6.4 9/Series CNC AMP Reference Manual
8520-6.5 T-Line-9 Transfer Line Quick Start Guide
8520-- 6.6 9/Series CNC OCI Installation Manual
8520-- 6.7 9/Series CNC OCI API Developers Guide
MCD-5.1 Offline Development System Users Manual

END OF CHAPTER

1-5
 Chapter 1
Using This Manual

1-6
 2
Chapter

Operating the Control

2.0 This chapter covers the basics necessary for operation of the Allen-Bradley
Chapter Overview 9/Series control. Major topics covered in this chapter include:

Topic: On page:

Operator Panel Operations 2-2

Using the Keyboard 2-3
Softkeys 2-5
Using the CRT 2-7
The Standard MTB Panel 2-8
Software MTB Panel {FRONT PANEL} 2-11
Powering the Control 2-18
Turning On Power 2-18
Turning Off Power 2-20
Control Conditions at Power-Up 2-20
Emergency Stop Operations 2-22
Emergency Stop Reset 2-22
Access Control 2-23
Assigning Access Levels and Passwords 2-24
Password Protectable Functions 2-27
Storing Password List to Backup Memory 2-29
Entering Passwords 2-30
Changing Operating Modes 2-32
Control and Block Reset 2-36
Displaying System and Machine Messages 2-37
Clearing Active Messages {CLEAR ACTIVE} 2-40
The Input Cursor 2-41
{REFORM MEMORY} 2-42
Removing an Axis (Axis Detach) 2-43
Time Parts Count Display Feature 2-44
Calculator Function 2-48

2-1
 Chapter 2
Operating the Control

2.1 Use the operator panel to:

Operator Panel Operations
display a part program

display control status and wheel position

edit a part program

display and enter wheel offset data

display the status of input/output signals

display and enter programmable zone boundaries

set the level of protection for:

- part programs

- wheel offset data

- AMP data

You can perform other operations by using the operator panel. They are
covered in the remaining chapters of this manual.

Figure 2.1 shows the monochrome operator panel.

Figure 2.1
Monochrome Operator Panel

9/SERIES
7 8 9 O N G P

4 5 6 X Y Z Q
U V W
1 2 3 I J K R

_ 0 . A B C L
% ; SP
+ = : F D H #
* E ? . o
M S EOB T
[ ] ( )
CALC DEL CAN RES

SHIFT PROC DISP TRANSMIT

19435

2-2
 Chapter 2
Operating the Control

Figure 2.2 shows the color operator panel. It has keys and softkeys
identical to the monochrome operator panel in a slightly different
configuration.

Figure 2.2
Color Operator Panel

9/SERIES

7 8 9 + O N G F D H #
E ? ,
_
4 5 6 X Y Z A B C L
U V W SP &
1 2 3 = P Q R M S T EOB DEL CAN RES
[ ] ( ) LINE CNTRL
.
0 : CALC I J K SHIFT DISP PROC TRANSMIT

19436

2.1.1 Table 2.A lists the functions of keys on the operator panel keyboard. The
Using the Keyboard names of operator panel keys appear between [ ] symbols.

2-3
 Chapter 2
Operating the Control

Table 2.A
Key Functions

Key Name Function

Address and Numeric Keys Use these keys to enter alphabetic and numeric
characters. If a key has two characters printed on it,
pressing it normally enters the upper left character. Holding
down the [SHIFT] key while pressing it enters the lower
right character.
Cursor Keys , , , Use these keys to move the cursor left, right, up and down
in the data display area (lines 4-21) of the screen. These
keys are referred to as the left, right, up, and down cursor
keys respectively.
[SHIFT] and or Press the right or left cursor keys while holding down the
[SHIFT] key to move the cursor right and left on any
line that data is being input on (normally screen lines 2-3).
[SHIFT] and or Press the up and down cursor keys while holding down the
[SHIFT] key to roll the display page forward or
backward.
Calculation Key [CALC] Press this key to enable a calculator-type function on the
control. Basic mathematical expressions can be evaluated
using this feature. For details on Calculator Function, see
page 2-48.
Delete Key [DEL] Press this key to delete the character to the left of the
cursor on input lines.
[SHIFT] and [DEL] Press this key to delete all keyed-in data currently
displayed on input lines.
[CAN] Clears the most currently generated, active error message.
Transmit Key [TRANSMIT] The data entered and displayed on the input lines (e.g., a
password or a program block) is sent to the control when
you press the [TRANSMIT] key.
Block Reset [RESET] This performs a block reset. For details on Block Reset,
see page 2-36.
Control Reset [RESET] + Press the reset key while holding down the shift key to
[SHIFT] perform a control reset. For details on Control Reset, see
page 2-36.
Display Select Use this key to display the different axis position display
[DISP SELECT] softkeys.
End of Block [E.O.B.] Use this key to enter an End-of-Block character when
editing a program or when writing an MDI program.
Process Select Use this key to select the different processes.
[PROC SELECT]
[SHIFT] and [] Press the [SHIFT] key while holding down the []
softkey to jump to the online search monitor screen. Press
these keys again to return to the previous screen.

2-4
 Chapter 2
Operating the Control

2.1.2 You access the various software features and functions of the control
Softkeys through softkeys. Softkeys are the row of 7 keys located at the bottom of
the CRT as shown in Figure 2.3. They let you move through the controls
software. The control displays the function of each softkey on the CRT
directly above the softkey. In this manual, softkey names appear between
the { } symbols.

Figure 2.3
Softkey and Softkey Name Locations

ALLEN-BRADLEY 9/Series

Softkey names
displayed here

Softkeys
11978-I

In this manual, we often describe softkeys as being on a certain level, e.g.,

softkey level 3. We use the level of the softkey to determine the location
or necessary path to reach that particular softkey. For example, to get to a
softkey on level 3, you must press a specific softkey on level 1, followed
by a specific softkey on level 2. For a listing of all of the softkeys and
their respective levels, see appendix A.

Softkey level 1 is the initial softkey level the control displays at power-up.
Softkey level 1 always remains the same, and all other levels are
referenced from softkey level 1.

The softkeys on opposite ends of the softkey row have a specific use that
remains standard throughout the different softkey levels. On the left is the
exit softkey displayed with the up arrow {}, and on the right is the
continue softkey displayed with the right arrow {}.

2-5
 Chapter 2
Operating the Control

Use the exit softkey {} (on the far left) to regress softkey levels. For
example, if you are currently on softkey level 3 and you press the exit
softkey, the softkeys change to the softkeys previously displayed on
softkey level 2. When you press the exit softkey while holding down the
[SHIFT] key, the softkey display returns to softkey level 1 regardless of the
current softkey level.

When more than 5 softkey functions are available on the same level, the
control activates the continue {} softkey at the far right of the softkey
area. When you press the continue softkey, the softkey functions change to
the next set of softkeys available on that level.

Important: When the number of softkey functions on that level does not
exceed 5, the continue softkey is not available.

For example:

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

When you reach softkey level 1, the above set of softkeys appears. Press
the continue softkey {} to display the remaining softkey functions on
softkey level 1.

(softkey level 1)

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

On softkey level 1, the control does not display the exit softkey since the
softkeys are already on softkey level 1.

We explain the softkey functions for level 1 and 2 in appendix A, and level
3 or higher in the sections that apply to their specific operations.
To use a softkey function, press the plain, unmarked button directly below
the description of the softkey function.

You can purchase some of the softkey functions as optional features. This
manual assumes that you purchased all available optional features for your
machine. If you did not purchase an option, the softkey is blank.

Some features accessed through a softkey can be password protected.

When a feature is password protected, the softkey that accesses that feature
is no longer displayed.

2-6
 Chapter 2
Operating the Control

2.1.3 Your control has one of these monitors:

Using the CRT
9-inch monochrome monitor

19435

12-inch color monitor

19436

Both have identical displays and graphics capabilities.

Certain lines of the screen are dedicated to displaying specific information:

Line Area Content

1 machine/system If an error occurs or a message is generated for any reason during

message machine operation or program execution, the control displays the
corresponding machine/system message in this area. Only the
highest priority, most current message is displayed here.
2-3 input lines When data is entered using the keyboard, the control displays the
entered characters on these lines until you press the
[TRANSMIT] key. Some screens can have only line 2 as an
input line.
4 - 20 data display The control displays axis position data, listing of the part program,
wheel length offset data, G/M/H/T/F/S/D codes, graphics, and
other data in this area as determined by the selected display.
21 - 22 PAL message The control displays any messages generated by the controls PAL
program in this area.
23 - 25 softkey display The control displays the currently available softkey functions in this
area.

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2.2 Figure 2.4 shows the MTB panel. Table 2.B lists the selections on this
The MTB Panel panel. Your system may contain optional or custom MTB panels different
than the one shown below. See the documentation prepared by your
system installer for details.
We show selection names on the MTB panel between the < > symbols
when referred to in this manual. Most selections on the MTB panel are
configured by your system installers PAL program. This manual assumes
that PAL has been written as intended for normal operation. If a selection
does not work the way it is described in this manual, see documentation
prepared by your system installer.

Figure 2.4
Push-Button MTB Panel

JOG SELECT SPINDLE SPEED SPINDLE

MODE SELECT SPEED/MULTIPLY
OVERRIDE DIRECTION

INCR CONT
AUTO MDI MAN LOW MEDL MED OFF
X1 X10 X100
CCW CW
ESTOP
RESET
HAND HOME HIGH
MEDH ON
X1000 X10000
OFF

AXIS FUNCTION
FEEDRATE RAPID FEEDRATE
OVERRIDE OVERRIDE
CYCLE F2
+X +4 --X F1
START
50 100

F1 25
SINGLE +Y TRVRS --Y EMERGENCY
F3 F4
BLOCK STOP

0 150
50 100
CYCLE +Z --4 --Z F5 F6
STOP %

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Table 2.B
Selections on the MTB Panel and How They Work

Switch or Button Name How It Works = Default for Push-Button MTB Panel

MODE SELECT Selects the operation mode

AUTO - - automatic mode
MANUAL - - manual mode
MDI - - manual data input mode
JOG SELECT Selects the jog method to be active in manual mode
HANDWHEEL - - HPG (hand pulse generator) jog
INCREMENTAL - - incremental jog
CONTINUOUS - - continuous jog
HOME - - machine home
SPEED/MULTIPLY Selects an axis feedrate or axis feed amount multiplication ratio used in the manual mode. Each
selection modifies the active feedrate by a value set in AMP. Modification also depends on the setting
of <JOG SELECT> as described below:
HANDWHEEL
When in handwheel jog mode, SPEED/MULTIPLY alters the handwheel resolution by a factor
determined in AMP. Your system installer sets the value for:
- LOW X1
- MEDL X10
- MEDL X100
You cannot use the values listed below for handwheel jog:
- MEDH X1000
- HIGH X10000
INCREMENTAL
When in incremental jog mode, SPEED/MULTIPLY alters the incremental jog distance by a factor set
in AMP by your system installer. Your system installer sets a value for the selections. The
incremental jog speed is fixed to medium but can still be controlled by
<FEEDRATE OVERRIDE>.
CONTINUOUS
When in continuous jog mode, SPEED/MULTIPLY acts as a feedrate selection switch which has
values set in AMP by your system installer. Your system installer sets a value for all 5 selections
independently for each axis. <FEEDRATE OVERRIDE> can be used for speed adjustments.
Important: The values for the different <SPEED/MULTIPLY> selections are configured by your
system installer.

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Table 2.B
Selections on the MTB Panel and How They Work (continued)

Switch or Button Name How It Works = Default for Push-Button MTB Panel

SPINDLE SPEED OVERRIDE Selects the override for programmed spindle speeds in 5% increments within a range of 50% to 120%.
SPINDLE or Selects spindle rotation, clockwise (CW), spindle stop (OFF), counterclockwise (CCW). Can be
SPINDLE DIRECTION overridden by any programmed spindle direction command.
FEEDRATE OVERRIDE Selects a feedrate override percentage for the feedrate programmed with an F word in any of the
feedrates modes (G93/G94/G95) and the reciprocation feedrate programmed with an E word.
<FEEDRATE OVERRIDE> has a range of 0% to 150% of the programmed feedrate and alters the
programmed feedrate in 10% increments. When set to 0%, the control is effectively in feedhold.
RAPID FEEDRATE OVERRIDE Selects the override for rapid feedrates. Select from F1, 25%, 50%, and 100% where F1 is a rapid
feedrate override setting established in AMP by the system installer.
EMERGENCY STOP This button stops machine operation and disables the spindle and axis drives when pressed.
E-STOP RESET This button resets an emergency stop condition when pressed. Before pressing this button the
condition that caused the E-Stop should be resolved.
CYCLE START The control begins or resumes part program execution, MDI program execution, or program check
when this button is pressed.
CYCLE STOP The control stops part program execution, MDI execution, or program check when this button is
pressed. If pressed during the execution of a program block a cycle suspend state occurs.
SINGLE BLOCK The control executes or checks one block of a part program or MDI entry each time the
<CYCLE START> button is pressed when single block is active.
AXIS/DIRECTION These buttons are used for manual operations. They select an axis and direction when <JOG
SELECT> is set for continuous, incremental, or home. If <JOG SELECT> is set for handwheel, these
buttons select an axis only. Direction is then determined by handwheel rotation.
TRVRS Hold this button down while executing a continuous jog move to override the active feedrate and jog an
axis in rapid traverse.
F1 - F4 The functions for these buttons are assigned by the system installer. Refer to the documentation
prepared by the system installer for details.
JOG RETRACT Use jog retract to jog a cutting tool away from the workpiece during automatic or MDI program
execution. The control can retrace the jog moves and return the cutting tool automatically to the
workpiece by pressing <CYCLE START>. Refer to chapter 7 for more on this.
BLOCK RETRACE To retrace the tool path in a part program already executed (up to 15 blocks), press this button.
ON Turns on power to the control.
OFF Turns off power to the control.

Important: You can disable many of the override switch settings by

programming the correct M code or by setting a particular paramacro
parameter. See their respective sections for details on these features.

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2.3 The 9/Series control offers a software MTB panel that performs many of
Software MTB Panel the functions of an MTB panel. This feature uses softkeys instead of the
{FRONT PANEL} normal switches and buttons of a panel. If your control uses a standard
MTB panel (described on page 2-8) or some other custom MTB panel,
the requests for operations from the panel take priority. This means that
requests from the software MTB panel are ignored if a request from a
standard or custom MTB panel is sent.

The software MTB panels operation depends on PAL, especially if the

control uses either a standard or custom MTB panel. See the
documentation prepared by your system installer for details about using the
software MTB panel. Your system installer uses PAL to disable the
{FRONT PANEL} softkey.

The software MTB panel controls these features:

Feature Function

Mode Select Selects either AUTO, MDI, or MANUAL modes as the current operating mode of the control.

Rapid Traverse Replaces the feedrate when executing a continuous jog move with the rapid feedrate.

Feedrate Override Selects a feedrate override percentage for the feedrate programmed with an F word in any of the feedrates modes
(G93/G94/G95) and the reciprocation feedrate programmed with an E word. This switch has a range of 0% to
150% of the programmed feedrate and alters the programmed feedrate in 10% increments. When set to 0%, the
control is effectively in feedhold.

Rapid Feedrate Override Selects the override for rapid feedrates. Select from F1, 25%, 50%, and 100%, where F1 is a rapid feedrate
override setting established in AMP by your system installer.

Spindle Direction Selects spindle rotation, clockwise (CW), spindle stop (OFF), or counterclockwise (CCW). The front panel is
overridden by any programmed spindle direction command.

Spindle Speed Override Selects the override for programmed spindle speeds in 5% increments within a range of 50% to 120%.

Dry Run Mode Places control in dry run mode. This replaces feedrates with the dry run feedrates. See page 7-21 for details.

Block Delete Allows activation of the block delete feature / or /1. Block delete 2 - 9 are not available with the
{FRONT PANEL}. See page 7-2 for details.

M-Function Lock Allows select M-, S-, T-, and B-codes to be ignored. See page 7-2 for details.

Optional Stop Enables or disables the M01 optional stop code. When this feature is ON, an M01 in a part program stops
automatic execution. When this feature is OFF, an M01 in a part program is ignored. See page 10-31 for details
on M01.

Single Block Causes the control to execute or check one block of a part program or MDI entry each time you press the
<CYCLE START> button when this feature is on.

WARNING: Single block execution is not possible during reciprocation.

Mirror Image Mirrors the axis commands in the part program around the selected axis. See page 12-79 for details.

Axis Inhibit Prevents axis commands from being executed. The control simulates axis motion on inhibited axes using Acc/Dec
and feedrates; however, no actual axis motion for the inhibited axes is generated. See page 7-20 for details.

(continued on next page)

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The software MTB panel controls these features: (continued)

Feature Function

Jog the Axes Allows manual motions to be performed in any one of the jogging modes. You cannot perform multi-axis jogs using
the software front panel feature. See page 4-2 for details.

Set Zero Changes the wheels current position in the work coordinate system to 0 for the selected axis. This is done by
shifting the work coordinate system. See page 12-89 for details.

Block Retrace Allows up to 15 part program blocks to be retraced during program execution and allow the wheel to automatically
re-execute these blocks. See page 7-30 for details.

Jog Retract Allows the wheel to be manually jogged away from the part and then automatically returns the wheel to the part by
retracing the jogged moves. Up to 15 jog moves can be remembered. See page 7-27 for details.

Cycle Start The control begins or resumes part program execution, MDI program execution, or program check when you press
this button.

Cycle Stop The control stops part program execution or program check when you press this button. If pressed during the
execution of a program block, a cycle suspend state occurs.

WARNING: During reciprocation, pressing <CYCLE STOP> does not necessarily stop the reciprocating axis.

Software MTB Panel Screen

Use the software MTB panel screen to specify the status of the MTB
features. To access the software MTB panel screen:

1. From the main menu screen, press the {FRONT PANEL} softkey.
(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

You see the software front panel screen displaying the current status
of the alterable features:

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SOFTWARE FRONT PANEL

MODE SELECT: MDI

RAPID TRAVERSE: OFF
FEEDRATE OVR: 0%
RAPID FEEDRATE OVR: 0%
SPINDLE DIRECTION: OFF
SPINDLE SPEED OVR: 50%
DRY RUN MODE: OFF
BLOCK DELETE: OFF
M-FUNC LOCK: OFF
OPTIONAL STOP: OFF
SINGLE BLOCK: OFF
MIRROR IMAGE: X
AXIS INHIBIT: XZ

USE CURSOR FOR SELECTION

JOG PRGRAM
AXIS EXEC

2. Press the up and down cursor keys to select the feature to change.
The value of the selected feature appears in reverse video.

3. Press the left and right cursor keys to alter the value of the selected
feature.

When you select the mirror image and axis inhibit features, the softkey
names change to the axis names. Press the softkey that corresponds to
the axis (or axes) to which you want to assign these features.

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Jog Axis Screen

After accessing the software front panel screen and selecting the various
features for your application, you can use the jog axis screen to:

jog the axes of the control

shift the current work coordinate system to force the current wheel
position to be the zero point of the work coordinate system

To jog the axes of the control:

1. Press the {JOG AXIS} softkey. The {JOG AXIS} softkey is only
available when mirror image or axis inhibit are not in reverse video.
If one these features is in reverse video, press the up cursor key.

(softkey level 2)

JOG PRGRAM
AXIS EXEC

You see the jog axis screen:

E-STOP

PROGRAM [INCH] F 0.000 MMPM

R X 0.000 S 0.0

Z 0.000 T 0

FILENAME

SUB NAME

MEMORY MAN STOP

AXIS SELECT: X
JOG SELECT: CONTINUOUS
SPEED/MULTIPLY LOW
HPG NUMBER 0

SET JOG JOG

ZERO AXIS + AXIS -

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You can select the:

axis to jog
type of jog
speed multiply value (see manual operating mode on page 4-1)
HPG number (if HPG has been selected as the type of jog)

2. Use the up and down cursor keys to select a parameter and the left
and right cursor keys to alter the value assigned to that parameter.

3. Jog the selected axis in the selected direction by:

If jog type is: Then:

Not HPG press the softkey that corresponds to the direction on the
selected axis to jog
HPG the direction of HPG rotation determines the direction to jog

See page 4-2 for details on jogging an axis.

Set Zero

If you want to shift the current work coordinate system to force the current
wheel position to be the zero point of the work coordinate system, press
the {SET ZERO} softkey.

The current axis position becomes the zero point of the currently active
work coordinate system.

The {SET ZERO} softkey does not function when the control is in
handwheel mode. See page 11-18 for details on set zero operations.

Program Execute Screen

After accessing the software front panel screen and selecting the various
features for your application, you can use the program execute screen to
perform a:

block retrace

jog retract

cycle start

cycle stop

Important: Before you press the {PRGRAM EXEC} softkey, you should
have selected a program for automatic execution as described on page 7-6.

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To perform one of these options:

1. Press the {PRGRAM EXEC} softkey.

(softkey level 2)

JOG PRGRAM
AXIS EXEC

You see the program execute screen:

E-STOP

PROGRAM [ MM ] F 0.000 MMPM

R X 0.000 S 0.0

Z 0.000 T 0

FILENAME

SUB NAME

MEMORY MAN STOP

BLOCK JOG CYCLE CYCLE

RETRCE RETRCT START STOP

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2. Press the softkey that corresponds to the selected option.

To perform
this operation: Press:

Cycle Start or the softkey that corresponds to the desired feature. Details on these
Cycle Stop features are described earlier in this chapter.
Block Retrace the {BLOCK RETRCE} softkey; each time you press the {BLOCK
RETRCE} softkey the control automatically retraces the previously
executed block. Pressing {CYCLE START} returns the wheel to the
start point of block retrace. Details on block retrace can be found in
chapter 7.
(softkey level 3)
BLOCK JOG CYCLE CYCLE
RETRCE RETRCT START STOP

Jog Retract the {JOG RETRCT} softkey. This calls up the jog retract screen. Select
the axis, type of jog, speed multiply value (see page 4-1 ), and HPG
number (if HPG has been selected as the type of jog) by using the up
and down cursor keys to select the function, and the left and right cursor
keys to alter the value assigned to that function.
(softkey level 3)
BLOCK JOG CYCLE CYCLE
RETRCE RETRCT START STOP

the {JOG AXES+} or {JOG AXES-- } softkeys to select the direction to jog
the axis. Press the exit {} softkey when the jog retract is complete.
The grinding wheel automatically retraces the jog moves made when
the {CYCLE START} softkey is pressed. Details on jog retract can be
found in chapter 7.
(softkey level 4)
JOG JOG
AXES+ AXES-

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2.4 This section describes the procedures for turning on and off power to the
Powering the Control control. See the documentation prepared by your system installer for more
specific procedures.

2.4.1 Follow this procedure to turn on power to the control:

Turning On Power
1. Visually make sure that the control and the machine are in normal
operating condition.

2. Press the power <ON> button.

Important: Do not touch any other buttons after you press the power
<ON> button until characters appear and remain on the screen.

3. Make sure that characters appear on the screen within approximately

10 seconds.

Important: If, after you press the power <ON> button, the screen does not
display characters within a reasonable warm up period (about 10 seconds),
immediately press the power <OFF> button and contact service personnel.

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After power has been turned on, the control displays the power turn-on
screen. To activate the main menu, press the [TRANSMIT] key.

You see the main menu screen:

E-STOP

PROGRAM [ MM ] F 00000.000 MMPM

R X 00000.000 S

Z 00000.000 T 12345

FILENAME

SUB NAME 9999

MEMORY MDI STOP

(PAL messages)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

The softkeys available on the main menu screen are referred to as level 1
softkey functions. Some of the softkey functions are purchased as optional
and may not appear exactly as shown.

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2.4.2 Turn off power to the control when it is not used for an extended period of
Turning Off Power time.

To turn off power to the control:

ATTENTION: To prevent damage to the machine, never turn

off power while a part program is being executed. Before
turning off power, make sure that the control is in CYCLE
STOP.

1. Press the <EMERGENCY STOP> button.

2. Make sure that power is turned off to all peripheral devices (tape
reader, tape punch, etc.) that are connected to the control.

3. Press the power <OFF> button.

2.5 The control assumes a number of initial operating conditions at power-up

Control Conditions at or at a control reset operation (see page 2-18). These are:
Power-Up
Initial Password Access is to the level that was active when power was
turned off (provided that level is a power-up level selected in access
control). If the active level when power is turned off is not a power-up
level, the control defaults to the next lower level that is a power-up level
(see page 2-23 on access control).

The control is placed in E-Stop. The control is not allowed to come out
of E-Stop if the default AMP is loaded at power-up, or if there is no
PAL program loaded in your system. If either of these is the case, an
appropriate error message occurs.

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The control defaults to one G-code from each of these groups (as set in
AMP):

Modal Group: G-code:

1 G00 Rapid traverse

G01 Linear interpolation
2 G17 Plane Selected
G18 Plane Selected
G19 Plane Selected
3 G90 Absolute
G91 Incremental
4 G22 Programmable Zone 2 and 3 (On)
G22.1 Programmable Zone 2 (Off) 3 (On)
G23 Programmable Zone 2 and 3 (Off)
G23.1 Programmable Zone 2 (On) 3 (Off)
5 G94 Feed per minute
G95 Feed per revolution
6* G70 Inch mode
G71 Metric mode
12 G54 -G59.3 work coordinate system
13 G61 Exact Stop Mode
G62 Auto Corner Override Mode
G64 Cutting Mode
15** G15 Angled Wheel Transform Off
G16.3 Angled Wheel Normal Motion
G16.4 Angled Wheel 2 Step Motion
17 G96 CSS On
G97 CSS Off
18 G07 Radius Programming Mode
G08 Diameter Programming Mode
20 G39 Wheel/Radius Comp Linear
G39.1 Wheel/Radius Comp Rounding
22 G36 Short Block Feed Clamped
G36.1 Short Block Full Feed
* This G code group is only established at power up. A control reset
will not change the last programmed state of this modal G code group.
** Only available on cylindrical grinders

To show the current operating conditions at any time, access the G-code
status screen as described on page 9-2. If this is done immediately after
power-up, it shows the initial operating conditions selected in AMP along
with other control power-up default conditions.

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2.6 Press the red <EMERGENCY STOP> button on the MTB panel (or any other
Emergency Stop Operations E-Stop switches installed on your machine) to stop operations regardless of
the condition of the control and the machine.

ATTENTION: To avoid damage to equipment or hazard to

personnel, your system installer should connect the <EMERGENCY
STOP> button so that pressing the button opens the circuit
connected to the E-STOP STATUS terminal on the controls
subprocessor board. This disables the axis drives and the
spindle drive circuits, provided both are connected to this
terminal. See your integration manual or the documentation
prepared by your system installer for details.

If equipped with the standard MTB panel, the following occurs

automatically after pressing the <EMERGENCY STOP> button:

the control displays E-STOP in the message area. This indicates that
the control is in the emergency stop state

the red light in the <CYCLE STOP> button lights up to indicate that the
control is in the feedhold state

power to all axis drive motors is turned off

Important: If you press the <EMERGENCY STOP> button while a part

program is running, program execution can be resumed at the point of
interruption. See the mid-program start feature described in chapter 7.

2.6.1 After the control has entered the emergency stop state, you must perform
Emergency Stop Reset an E-Stop reset before program execution can continue.

ATTENTION: Before resetting the emergency stop state, first

locate and eliminate the cause of the emergency stop.

If the <EMERGENCY STOP> button is locked in the pressed position, it must

be released before the emergency stop state can be reset. You can release
the locked button in different ways depending on its type. With the
standard MTB panel, turn the button clockwise until it pops out.

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To reset the emergency stop state, press the <E-STOP RESET> button. Once
you push the E--Stop Reset button to clear the E--Stop state, the message,
RESETTING E--STOP displays to alert you that the control is attempting
to come out of E--Stop. After the cause of the E--Stop is resolved, the
control clears the E--STOP message. If the error condition is not cleared,
the RESETTING E--STOP message clears, but the E--STOP message
continues to flash as the control remains in E--Stop state.

If the E-Stop occurred during program execution, the control resets the
program when you perform an E-Stop reset (provided AMP is configured
to perform a control reset or E-Stop reset). Assuming that you perform a
control reset, program execution begins from the 1st block of the program
when you press <CYCLE START>. If the current axis position prohibits this,
the operator can manually jog the axes clear, or consider executing a
mid-program start (see page 7-13). If you do not perform a control reset or
E-Stop reset, the control aborts the remainder of the program block being
executed when E-Stop took place, and a <CYCLE START> begins program
execution at the next block.

Important: If you do not eliminate the cause of the E-Stop, the circuit
connected to the E-STOP STATUS terminals on the sub-basic board
remains open, and the emergency stop state is not reset even when you
press the <E-STOP RESET> button.

Reciprocation stops when an emergency stop condition occurs. No motion

occurs when the emergency stop is reset. If your controls AMP is
configured such that the control is not reset after an E-Stop reset, then
typically reciprocation resumes with the next cycle start. This allows part
programs to be resumed immediately without having to first restart
reciprocation. For details, see the documentation prepared by your system
installer.

2.7 Access control lets your system installer assign different functions of the
Access Control control to different users by means of a password. See page 2-28 for a list
of the functions that can be protected on the control.

Each protectable function is assigned an access level that is made active

when the operator enters his password. When an access level is made
active, all functions that are assigned to that access level become available.
Access levels range between 1 and 8 where 1 is the highest level and 8 is
the lowest. A different password is assigned to each of the different access
levels. You can assign a total of 8 passwords.

Important: If you do not want to use password protection, select all

functions as accessible for access level 8. Since access level 8 is
automatically available at power-up, no password is necessary to access
any of the functions of the control. You can also disable password

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protection by assigning a level as the power-up level using the

POWER-UP LEVEL parameter as described on page 2-29.

2.7.1 This section shows you how to:

Assigning Access Levels
set the functions assigned to a particular access level
and Passwords
change the functions assigned to a particular access level

change the password used to activate that access level

Important: You can only assign functions or passwords to another access

level if:

The user attempting to make the change has a higher access level
than the access level he is attempting to change. This means that
if a users password is assigned to access level 6, that user can
change only the functions or passwords for access levels 7 and 8.
Functions, or a password, cannot be assigned to access level 6 with
a level 6 password

Functions that are not available to the current user cannot be

assigned to other levels. If a user with access level 6 is changing a
lower-access levels functions, access level 6 must have access to
any functions that are changed. For example, if an access level 6
user does not have access to {SYSTEM SUPORT}, he cannot assign
or remove {SYSTEM SUPORT} from access level 7

The current users password must allow access to the

{ACCESS CONTRL} function

To change the functions or password of a lower user number, follow these

steps:

1. Press the {PASSWORD} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

If the {ACCESS CONTRL} softkey does not appear on the screen, the
currently active access level is not allowed to use the

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{ACCESS CONTRL} function. Enter a password that has access to

{ACCESS CONTRL}.

2. Press the {ACCESS CONTRL} softkey. This displays the access control
screen (Figure 2.5).

(softkey level 2)

ACCESS
CONTRL

Figure 2.5
Access Control Screen

PASSWORD NAME -- (current password)

1 ACTIVE PROGRAM 18 ACCESS CONTROL

2 PROGRAM MANAGE 19 SWITCH LANGUAGE
3 EDIT PROGRAM 20 POWER UP LEVEL
4 COPY PROGRAM 21 TIME PARTS
5 RENAME PROGRAM 22 SI/OEM MESSAGE
6 DELETE PROGRAM 23 SCALING
7 REFORMAT MEMORY 24 CHANGE DIRECTORY
8 OFFSETS 25 AUX COMM
9 TOOL WEAR 26 SEARCH MONITOR
10 TOOL GEOMETRY 27
11 ACTIVE OFFSET 28
12 BACKUP OFFSET 29
13 QUICK CHECK 30
14 SYSTEM SUPPORT 31
15 PRGRAM PARAMET 32
16 AMP 33
17 PARAMACRO PROG 34

UPDATE 01 02 03 04
& EXIT

The softkey names change to display the 8 access levels and their
corresponding passwords (provided that a password has been
assigned to that access level). Only the password names of access
levels that are lower than the currently active access level appear.

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3. Press the softkey that corresponds to the access level for which you
want to assign access to functions. The pressed softkey appears in
reverse video. The password name assigned to that access level is
moved to the PASSWORD NAME.

(softkey level 3)

UPDATE 01 02 03 04
& EXIT (NAME) (NAME) (NAME) (NAME)

UPDATE 05 06 07 08
& EXIT (NAME) (NAME) (NAME) (NAME)

STORE
BACKUP

Important: If you want to change the functions available to an

access level that is equal to or higher than the current users access
level, the error message ACCESS TO THIS LEVEL IS NOT
ALLOWED appears. A user cannot change the features that are
assigned to his current access level or any level that is higher than his
own.

4. If you want to:

a. enter or change the password (NAME) for the selected level,

edit the password (NAME) next to the PASSWORD NAME
prompt by using the input cursor as described on page 2-41.

b. change the functions for this password, move on to step 5.

c. save the change made to the password and leave the access
control screen, press the {UPDATE & EXIT} softkey.

Functions that are currently available to the selected level appear in

reverse video on the access level screen.

5. Use the up, down, right, and left cursor keys to select the functions to
change for that access level. The selected function appears with a
flashing > to the left of the function.

6. Press the [TRANSMIT] key to toggle the function between accessible

and inaccessible for that access level.

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Important: If you want to activate or deactivate a function that is not

accessible to the current users access level, the message ACCESS TO
THIS FUNCTION NOT ALLOWED appears. Only features that are
accessible to the current users access level can be selected as accessible or
inaccessible to a lower users access level.

7. Press the {UPDATE & EXIT} softkey to store the changes made to
accessible functions for the user levels and return the control to
softkey level 1.

(softkey level 3)

UPDATE 01 02 03 04
& EXIT (NAME) (NAME) (NAME) (NAME)

UPDATE 05 06 07 08
& EXIT (NAME) (NAME) (NAME) (NAME)

STORE
BACKUP

2.7.2 This section describes the functions on the control that can be protected
Password Protectable from an operator by the use of a password. If a user has access to a
Functions function, the parameter associated with that function appears in reverse
video on the access control screen (see Figure 2.5).

You control access to the functions in Table 2.C by using passwords.

Table 2.C describes the function that is enabled (the operator can perform
them) if the parameter name appears in reverse video. If the function does
not appear in reverse video, the function is protected and cannot be
accessed by the operator.

Some parameters enable more than one function. If a parameter that

enables multiple functions is not selected as accessible, some of the
functions that would be enabled by the parameter can be enabled
individually by using other parameters.

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Table 2.C
Password Protectable Functions

Parameter Name Function becomes accessible when parameter name appears in reverse video:

1) ACTIVE PROGRAM To access these features, both ACTIVE PROGRAM and PROGRAM MANAGE (number 2 below) must be
assigned to the user.
{SELECT PRGRAM} Select a program for automatic operation.
{SEARCH} Search a part program for a character string or sequence number to begin program
execution at.
{MID ST PRGRAM} Start program execution from some location other than the beginning and
still set all of the parameters previously defined in the program active.
{T PATH GRAPH} Enable the active graphics feature.
{CANCEL PRGRAM} Disable the currently active program from execution.
{SEQ STOP} Choose a sequence number for automatic program execution to stop at.
2) PROGRAM MANAGE {ACTIVE PRGRAM} All of the functions in 1 above provided ACTIVE PROGRAM (number 1
above) is also selected.
{EDIT PRGRAM} Edit an existing program or create a new program.
{DISPLY PRGRAM} Display a program using the display function.
{COPY PRGRAM} Copy a program to or from memory.
{VERIFY PRGRAM} Verify that two programs are identical using the verify function.
{COMENT} Add comments to a program name in the directory.
{RENAME PRGRAM} Change a program name.
{DELETE PRGRAM} Delete a single program stored in memory.
{REFORM MEMORY} Delete all programs currently stored in memory.
3) EDIT PROGRAM {EDIT PRGRAM} Edit an existing program or create a new program.
4) COPY PROGRAM {COPY PRGRAM} Copy a program to or from memory or storage device.
5) RENAME PROGRAM {RENAME PRGRAM} Rename a program name.
6) DELETE PROGRAM {DELETE PRGRAM} Delete a single program stored in memory.
7) REFORM MEMORY {REFORM MEMORY} Delete all programs currently stored in memory and format RAM.
8) OFFSETS {WORK CO-ORD} Display and alter the preset work coordinate system zero locations and the fixture
offset value.
{WHEEL GEOMET} Display and alter the wheel geometry tables.
{RADIUS TABLE} Display and alter the dresser/wheel radius and orientations.
{ACTIVE OFFSET} Change the currently active offset number without requiring the programming of a
different offset number.
{COORD ROTATE} Rotate all of the work coordinate systems from the machine coordinate system.
{BACKUP OFFSET} Make a copy of the current tool offset data.
9) RADIUS TABLE
10) WHEEL GEOMETRY {WHEEL GEOMET} Display and alter the wheel geometry, radius and orientation values.
11) ACTIVE OFFSET {ACTIVE OFFSET} Change the currently active offset number without requiring the programming of a
different offset number.
12) BACKUP OFFSET {BACKUP OFFSET} Make a copy of the current wheel offset data.
13) QUICK CHECK {QUICK CHECK} Use the syntax and format checker or the {QUICK CHECK} with graphics function.
14) SYSTEM SUPORT {PRGRAM PARAM} Display and change the tables for programmable zones 1 and 2, the single digit
feedrates, and the fixed cycle operating parameters.
{AMP} Change any of the online AMP features.
{DEVICE SETUP} Display and change any of the communication parameters for the peripheral
devices.
{MONI-TOR} Display the current I/O configurations and the axis monitor for following error, distance
to marker, etc.

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Table 2.C
Password Protectable Functions (continued)

Parameter Name Function becomes accessible when parameter name appears in reverse video:

15) PRGRAM {PRGRAM PARAM} Display and change the tables for programmable zones 1 and 2, the single digit
PARAMETERS feedrates, and the fixed cycle operating parameters.
16) ONLINE AMP {AMP} Display and change the online adjustable machine parameters.
17) PARAMACRO PARAM {MACRO PARAM} Display or change any of the values in the paramacro tables without using
programming commands.
18) ACCESS CONTROL {ACCESS CONTRL} Assign different functions to different access levels, change the current
password, or view the functions assigned to the different access levels.
19) SWITCH LANGUAGE {SWITCH LANG.} Change the current displays from one language to another.
20) POWER-UP LEVEL When POWER-UP LEVEL is shown in reverse video, it indicates that if power is turned off when this level
is active, this level automatically becomes active when power is turned back on. If this is not in reverse
video, it indicates that the control defaults to level 8 access control at next power-up.
21) TIME PARTS {SET TIME} Change or reset time parameters
{SET DATE} Change or reset date parameters
When TIME PARTS is not in reverse video, the operator can only perform the following functions on the
time and parts screen: RUN TIME, CYCLE TIME, and LOT SIZE.
22) SI/OEM MESSAGE {ENTER MESSAGE} Enter a new message to be displayed on the controls power-up screen.
{STORE BACKUP} Store an entered message for the power-up screen to Backup memory.
23) SCALING When SCALING is not in reverse video, the operator still has access to the {SCALNG} softkey; however
values on the screen cannot be modified.
24) CHANGE DIRECTORY {CHANGE DIR} Display either the main part program directory or the protectable part program directory.
25) AUX COMM Allows access to the {AUX COMM} softkey that sets Data Highway Communication Module Parameters.
26) SEARCH MONITOR Allows access to the {SEARCH MONITOR} softkey that allows searching and monitoring of the controls
PAL program.
27) PASS THRU ENABLE Allows access to the {PT ENABLE} softkey that enables remote I/O pass thru of AMP, PAL, and other ODS
features. The {PT ENABLE} softkey is only available when AMP is configured to disallow block transfers
and the system contains remote I/O hardware that has been enabled through PAL.

2.7.3 You can save your password list in the backup memory of the control so
Storing Password List to that it wont be lost if system power and battery-backup fails.
Backup Memory
To store the password list, follow these steps:

1. Press the {PASSWORD} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

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If the {ACCESS CONTRL} softkey does not appear on the screen, the
currently active access level is not allowed to use the
{ACCESS CONTRL} function. Enter a password that has access to
{ACCESS CONTRL}.

2. Press the {ACCESS CONTRL} softkey. This displays the access control
screen (Figure 2.5).

(softkey level 2)

ACCESS
CONTRL

3. Press the {STORE BACKUP} softkey. This softkey appears in reverse

video and the message STORING TO BACKUP -- PLEASE WAIT
appears on the CRT until the control has finished storing the
password list to its backup memory.

(softkey level 3)

UPDATE 01 02 03 04
& EXIT (NAME) (NAME) (NAME) (NAME)

UPDATE 05 06 07 08
& EXIT (NAME) (NAME) (NAME) (NAME)

STORE
BACKUP

After storing the password list, the control returns to softkey level 2
and displays the message STORED PASSWORD LIST TO
BACKUP on line 2 of the CRT.

2.7.4 When the control is powered-up, the only functions that are available to the
Entering Passwords operator are functions that are not protectable and functions that are
assigned to access level 8 (provided that the active level when power was
turned off was not assigned the power-up level feature). To access the
functions that are assigned to a specific access level, you must enter the
password that corresponds to that access level.

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To enter a password, follow these steps:

1. Press the {PASSWORD} softkey.

(softkey level 1)

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

You see the password log-on screen:

E-STOP
ENTER PASSWORD:

PROGRAM [INCH] F 0.000 MMPM

Z 00000.000 S 0

R X 00000.000 T 1

C 359.99

MEMORY MAN STOP

ACCESS
CONTRL

The prompt ENTER PASSWORD: appears on line 2 of the CRT.

2. Enter the password. The control displays only * for the characters
entered. If you make an error entering the password, edit the input
line as described on page 2-41.

3. When the password is correct, press the [TRANSMIT] key. The access
level that the password is assigned to is made active, and the control
enables all of the functions that are assigned to that access level.

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2.8 The control provides 3 basic operation modes:

Changing Operating Modes Manual (MAN or MANUAL)
Manual Data Input (MDI)
Automatic (AUTO)
You can select a mode by using <MODE SELECT> on the MTB panel, or by
using the {FRONT PANEL} softkey. This is configurable by your system
installer. Both means of selection may not be available. Details about
using the {FRONT PANEL} softkey are given on page 2-11.

Depending on the current control status, a mode change request may not be
honored. Operating modes cannot be changed if any of the following are
true:

the control is in E-Stop

the control is in the cycle suspend state. This results when a program is
halted during the execution of a block

the control is threading or performing a single pass turning cycle

Important: Your system installer can write PAL to disable the use of the
{FRONT PANEL} softkey to change modes. If this is the case, then you can
change modes by using only <MODE SELECT> on the MTB panel.

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(1) Manual mode

To operate the machine manually,

select MAN or MANUAL under <MODE SELECT>

or

press the {FRONT PANEL} softkey.

Use the left/right arrow keys to change the mode select options if using
{FRONT PANEL}. Details about using the {FRONT PANEL} softkey are given
on page 2-11.

For details on manual mode operation, see chapter 4.

Figure 2.6
Manual Mode Screen

E-STOP

PROGRAM [ MM ] F 00000.000 MMPM

R X 00000.000 S 0

Z 00000.000 T 1

MEMORY MAN STOP N 99999

(First 4 blocks of
program shown here)

(PAL messages)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

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(2) MDI mode

To operate the machine in MDI mode,

select MDI under <MODE SELECT>

or

press the {FRONT PANEL} softkey

Use left/right arrow keys to change mode select options if using

{FRONT PANEL}. Details about using the {FRONT PANEL} softkey are given
on page 2-11.

For details on MDI operation, see chapter 4.

Figure 2.7
MDI Mode Screen

MDI:
E-STOP

PROGRAM [ MM ] F 0 MMPM

R X 00000.000 S

Z 00000.000 T 1

MEMORY MDI STOP N 99999

(First 4 blocks
of MDI shown here)

(PAL messages)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

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(3) Automatic mode

To operate the machine automatically,

select AUTO under <MODE SELECT>

or

press the {FRONT PANEL} softkey

Use left/right arrow keys to select mode options if using {FRONT PANEL}.
Details about using the {FRONT PANEL} softkey are given on page 2-11.

For details on automatic operation, see chapter 7.

Figure 2.8
Automatic Operation Screen

E-STOP
PROGRAM [ MM ] F 0 MMPM

R X 00000.000 S 0

Z 00000.000 T 1

MEMORY AUTO STOP N 99999

(First 4 blocks of
program shown here)

(PAL messages)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

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2.9 Block Reset

Control and Block Reset
Use the block reset feature to force the control to skip the execution of a
block. To use the block reset function, you must stop program execution.

If program execution is stopped: Then:

before the control has completely finished the a block reset aborts any portion of that
execution of the block block that has not been executed.
after the complete execution of a block (as in the the control aborts the execution of the
case of single-block execution or a M00, etc.) entire following block.

Press the [RESET] key on the operator panel to perform a block reset.

When executing protected program blocks, the control displays the last
non-protected block on the CRT. If you perform a block reset during
execution of a protected program block, the protected block is reset but the
block displayed on the CRT does not change until the control encounters
an M02, M30, or M99.

Control Reset

By executing a control reset, you can:

return the control to the default parameters (except inch/metric which

remains in its last programmed state when control reset is performed).

clear any programming errors that have recently occurred

cancel any MDI commands

After the execution of a control reset:

any active program is reset to the first block

any programmed offsets or rotations to the coordinate systems are reset

to default

any MDI command is discarded

All of the initial operating parameters return to the standard AMP assigned
values including any AMP assigned G codes normally active at power-up.

Press the [RESET] key on the operator panel while holding down the
[SHIFT] key to execute a control reset. Your system installer can also
configure AMP to force a control reset when you perform a E-Stop reset.

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2.10 The control has two screens dedicated to displaying messages. The
Displaying System and MESSAGE ACTIVE screen displays up to nine of the most current
Machine Messages system messages and ten of the most current machine (logic generated)
messages at a time. The MESSAGE LOG screen displays a log of up to
99 system messages and a separate log of up to 99 machine messages that
occurred since the last time memory was cleared. For single process
controls, this log displays up to 11 pages of messages (99 messages total)
and up to six pages per process for dual process systems.

Important: The control automatically displays the highest priority, single,

active message on all screens (other than the message screen) on line 1 of
the CRT. If more than one message occurs with the same priority, the
control displays the most recent message (provided no other message is
active with a higher priority).

Use the MESSAGE ACTIVE screen to display all the messages that are
currently active, or the MESSAGE LOG screen to display a log of the
recorded messages. To access these message screens, follow these steps:

1. From the main menu press the continue {} softkey to change the
softkey functions.
(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

2. Press the {ERROR MESAGE} softkey to enter the MESSAGE ACTIVE

screen shown in Figure 2.9.
(softkey level 1)
FRONT ERROR PASS- SWITCH
PANEL MESAGE WORD LANG

The control displays the currently active messages in sections

dedicated to:
system messages in the top half of the screen
machine messages (logic generated) in the bottom half of the
screen

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Figure 2.9
Message Active Display Screen

MESSAGE ACTIVE
SYSTEM MESSAGE

(The system error messages are displayed in this area)

MACHINE MESSAGE

(The logic messages are displayed in this area)

ERROR CLEAR
LOG ACTIVE

This is the information displayed on the MESSAGE ACTIVE screen. The

control displays up to 9 active system messages and up to 10 machine
messages. The machine messages represent the currently active logic
messages located on 13 lines through 22 of the 9/Series display screen.

Important: For a listing of system messages and a brief description, refer

to appendix B. For a description of machine messages, refer to the
documentation prepared by your system installer.

3. Press the {ERROR LOG} softkey to enter the MESSAGE LOG screen
shown in Figure 2.10.
(softkey level 2)
ERROR CLEAR
LOG ACTIVE

The control displays the logged messages in sections dedicated to:

system logged messages in the top half of the screen
machine logged messages (logic generated) in the bottom half of
the screen

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Figure 2.10
Message Log Display Screen

MESSAGE LOG PAGE 1 of 9

SYSTEM MESSAGE

(The logged system error messages are displayed in

this area)

MACHINE MESSAGE

(The logged logic messages are displayed in this area)

ACTIVE TIME
ERRORS STAMPS

This is the information displayed on the MESSAGE LOG screen. The

control displays up to 99 system messages and up to 99 machine messages.
These are the most recent system messages and machine messages that
occurred on the control since memory was last cleared. To display more
messages, press the [] key while holding the[SHIFT]key. The next page
of the logged messages displays.

Press the {TIME STAMPS} softkey to view the date and time of when
each logged system message and machine message occurred.
Pressing this softkey may cause part of the messages text to be
overlaid by the date and time data. To display the full messages text ,
press the {FULL MESAGE} softkey.

4. Press the {ACTIVE ERRORS} softkey to return to the

MESSAGE ACTIVE screen.
(softkey level 2)

ACTIVE TIME
ERRORS STAMPS

5. To return to softkey level 1 press the exit {} softkey while holding

the [SHIFT] key.

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2.10.1 After the cause of a machine or system message has been resolved, some
Clearing Active Messages messages remain displayed on all screens until cleared.
{CLEAR ACTIVE}
ATTENTION: Not clearing the old messages from the screen
can prevent messages that are generated later from being
displayed. This occurs when the old resolved message is of a
higher priority than the newly generated message. The new
message is still displayed on the message display screen as an
active message, but does not appear in the message area (line 1)
of other screens.

Clear active messages from the screen in the following ways:

If you want to: Then press the:

clear the most recent active messages one at a time [CAN] key
Clear all active messages from the error message display screen {CLEAR ACTIVE}
softkey

(softkey level 2)

ERROR CLEAR
LOG ACTIVE

Important: Clearing active messages does not correct the problem that
caused the error; it only clears the message from the active file.

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2.11 The input cursor is the cursor located on line 2 and 3 of the screen. It
The Input Cursor appears when you must input data using the operator panel (as needed in
MDI mode, for example). This section describes how to move the cursor
and edit data on the input line by using the keys on the operator panel.

Moving The Input Cursor

To move the cursor left or right in the input area, press and hold the
[SHIFT] key while pressing the left or right cursor keys.

To move the cursor between line 2 and 3, use the left or right cursor
keys while holding the [SHIFT] key. The up and down cursor keys
cannot be used. The input cursor wraps around when it reaches the
end of the line.

Inserting Characters

To insert characters into existing data on the input lines, move the
cursor as described above. Place the cursor just to the right of the
location to insert data. Any data typed in using the operator panel is
inserted to the left of the cursor.

Deleting Characters

To delete characters on the input lines, move the cursor to the right of
the character to delete. Press the [DEL] key to delete the character to
the left of the cursor in the input line.

Deleting All Characters on The Input Line

To delete all entered characters on the input lines, press the [DEL]
key while holding down the [SHIFT] key. All characters on the input
line are deleted.

Sending Information

To send information to the control from the input line, press the
[TRANSMIT] key. All information on the input line is sent to the
control.

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2.12 Sometimes you must perform a reform memory operation on the control to
{REFORM MEMORY} clear memory. Typically, you do this when:

the amount of RAM memory that can be used by PAL is changed in

AMP

a new PAL program has been sent to the control (downloading PAL
does not always make it necessary to format)

battery power was lost when the 9/240 control was turned off

after 5 days backup by the supercapacitor, the optional lithium battery

takes over; this provides 2 years of continuous, accumulated backup for
the standard 9/260 or 9/290 control, and 1 year for the 9/260 or 9/290
with extended program storage

Important: You must format any time the control displays the error
message MEMORY CRASH -- REFORMAT.

You can also perform this operation if you want to delete all part programs
in control memory.

After you perform a format operation, it is not necessary to re-install AMP

or PAL.

ATTENTION: The reform memory function erases all part

programs that are stored in control memory. This includes
programs in both the main and protected program directories.
You can back up these programs to ODS or to another peripheral
device before reformatting as described in chapter 6 and 9.

To reformat control memory and delete all programs stored in memory,

follow these steps:

1. Press the {PRGRAM MANAGE} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

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2. Press the {REFORM MEMORY} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

DELETE VERIFY PRGRAM RENAME INPUT

PRGRAM PRGRAM COMENT PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

3. Press the {REFORM YES} softkey. All programs that are stored in
control memory are deleted.

(softkey level 3)

REFORM REFORM
YES NO

It can take several seconds for the control to complete the operation.
During this period, the softkeys on the operator panel are disabled
until the format operation is completed.

To abort the operation, press the {REFORM NO} softkey.

(softkey level 3)

REFORM REFORM
YES NO

2.13 Use the axis detach feature to remove (detach) a rotary table or other axis
Removing an Axis attachment from a machine. When activated, the control ignores messages,
(Axis Detach) e.g., servo errors, that occur resulting from the loss of feedback from a
detached axis.

Important: The axis detach feature removes the selected axis from the
control as an active axis. Any attempt to move the detached axis results in
an error. This means that part programs that use the detached axis name
cannot be executed. Jog moves and MDI commands that attempt to move
the detached axis also result in an error.

You enable this feature in AMP. You must select the axis as detached to
be considered removed. See the documentation supplied by your system
installer for the steps involved in detaching an axis or physically removing
axis hardware from your machine.

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2.14 The time parts count display logs data relevant to part program execution,
Time Parts Count including:
Display Feature
number of parts ground

cycle time

lot size

remaining parts

You display and alter this data through the time parts screen.

Three levels of access are available to the time parts screen. They are
listed below in order of most restrictive to least restrictive. See page 2-27
for details on password protection and access control.

Degree of
Restriction: Access Level: Type of Restriction:

Most restrictive No access Restricts operator from Time Parts screen entirely
(softkey {TIME PARTS} not accessible).
Accomplished by denying access to Active Program.

Moderately Operator access Restricts operator from setting Date or Time

restrictive (softkeys {SET TIME} and {SET DATE} do not
appear). Also restricts operator from setting Power-on
time/overall and Workpieces cut/overall.
Accomplished by denying access to Time Parts.

Least restrictive Supervisor access Full access to all features of the Time Parts screen.

To access the time parts screen, follow these steps:

1. Press the {PRGRAM MANAGE} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

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2. Press the {ACTIVE PRGRAM} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

DELETE VERIFY PRGRAM RENAME INPUT

PRGRAM PRGRAM COMENT PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

3. Press the {TIME PARTS} softkey.

(softkey level 3)

DE-ACT SEARCH MID ST T PATH SEQ

PRGRAM PRGRAM GRAPH STOP

TIME
PARTS

Figure 2.11
Time Part Screen

PROGRAM DATE TIME

XXXXXXXX MM/DD/YY HH:MM:SS

POWER-ON TIME/OVERALL : 9[Link]

WORKPIECES CUT/OVERALL : 9999999999

RUN TIME : 9[Link]

POWER-ON TIME/AFTER RESET : 9[Link]
CYCLE TIME : 9[Link]
WORKPIECES CUT/AFTER RESET : 9999999999

LOT SIZE : 9999999999

REMAINING WORKPIECES : 999999999
LOT COMPLETION FLAG : 0

(PAL messages)

SET SET ED PRT

TIME DATE INFO

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Important: All softkeys appear in Figure 2.11 may not appear on your
system due to restricted access. See the beginning of this section and page
2-27 for details.

Table 2.D lists the time part screen fields and their definitions.

Table 2.D
Time Part Screen Field Definitions

Field: Definition:

Program indicates the currently active part program, displayed automatically by the control.
Date indicates the current date setting.
Time indicates the current 24-hour time setting. You can change the time setting provided that you
have supervisor-level access.
Power-on Time/Overall indicates the total accumulated time that the control has been ON. This value is saved in
backup memory each time the control is powered off, so it is restored at its previous value each
time the control is turned ON.
Workpieces Cut/Overall indicates the total number of part programs executed to completion by the control. Use this field
to determine the need for periodic checkups or as a statement of warranty. This counter is
incremented by one each time the control encounters an M02, M30 or an M99 in a main part
program (M99 in a subprogram does not increment this counter, but M02 or M30 does).
Run Time indicates the total accumulated time that part programs were executing with the control in
automatic mode. Use this field with Power-on Time/After Reset to estimate the utilization ratio
of the machine.
Power-on Time/After Reset indicates the total accumulated time that the control has been ON. This value is saved in
backup memory each time the control is powered off. It is restored to its previous value each
time the control is turned ON. Use this field with Run Time to estimate the utilization ratio of
the machine. The value for this field is cleared to zero when you clear the Run Time field to
zero. You cannot clear this field independently.
Cycle Time indicates the elapsed execution time for each individual part program. Cycle time begins
counting when the cycle-start button is pressed and ends when an M02 reset or M30 is
encountered. To reset this field to zero, use the cycle-start button to initiate program execution,
turn off power to the control, or follow the clear/reset procedure.
Workpieces Cut/After Reset indicates the total number of part programs executed to completion by the control since the last
time Run Time was reset. This counter is incremented by one each time the control
encounters an M02, M30 or an M99 in a main part program (M99 in a subprogram does not
increment this counter, though M02 or M30 does). The value for this field is cleared to zero
when you clear the Run Time field to zero. You cannot clear this field independently.
Lot Size indicates the number of times you need to execute this particular part program.
Remaining Workpieces indicates the number of workpieces that still need to be cut in the lot. The value for this field is
automatically set equal to the lot size each time the Lot Size value is changed. When the
control encounters an M02, M30, or M99 in a main part program, the remaining workpieces field
is decremented by one. The control tells the system installers PAL program when the lot
remaining size is zero. At this point, press <CYCLE START> to automatically set the field
back to the Lot Size value. Complete operation of this feature is somewhat PAL dependant.
Refer to the documentation supplied by your system installer.
Lot Completion Flag is automatically set to zero by the control whenever a non-zero value is entered for Lot Size.
It is set to one when the Remaining Workpieces field reaches zero. It is again reset to zero
when the next cycle start occurs after the remaining workpieces field has reached zero.
Complete operation of this feature is somewhat PAL dependant. See the documentation
supplied by your system installer.

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Changing Date

To change the date setting:

1. Press the {SET DATE} softkey, provided that you have

supervisor-level access.

You are prompted for a new date with a line that displays the current
date setting.

2. Press the [DEL] key to erase the characters displayed.

3. Type in the new date.

You must enter the new date using one of these formats:

Month/Day/Year is the English format

Year/Month/Day is the Japanese format

Day/Month/Year is the Italian and German format

Changing Time

To change the time setting:

1. Press the {SET TIME} softkey.

You are prompted for a new time with a line that displays the current
time setting.

2. Change the current setting by pressing the [DEL] key to erase

characters, and the left or right arrow keys to position the cursor.
Then type in the new time. The controls clock rolls over every 24
hours.

You must enter the new time using the format

hours:minutes:seconds.

For example:

2:16 pm should be entered as [Link].

2-47
 Chapter 2
Operating the Control

Clearing/Resetting a Field

To clear/reset a field to zero:

1. Press the {ED PRT INFO} softkey, provided that you have
supervisor-level access.

2. Press the up and down cursor keys to move to the field you want to
clear/reset.

3. Enter a Y or a numeric value at the prompt for this field.

4. Press [TRANSMIT] to accept the change.

Press the exit softkey {} to return to the Active Program screen.

2.15 You can perform simple mathematical calculations when you are operating
Calculator Function or programming the control. These mathematical calculations are
processed by the calculator function of the control.

To use the calculator, line 2 of the screen must be blank. That is, no
prompt should be on the input line of the screen when an attempt is made
to do calculations (this completely disables any calculation operation when
in MDI mode). If you try to enter the calculator function while another
prompt is active, the control generates the error message CANNOT
CALCULATE - PROMPT PRESENT.

How to Use the Calculator Function

To use the calculator function:

1. Press the [CALC] key on the operator panel. The CALC: prompt
appears on the input line of the screen (line 2).

2. At the CALC: prompt, enter a mathematical equation.

3. Press the [TRANSMIT] key to evaluate the expression. The answer to

the expression appears on the input line.

How to Enter Values and Do Mathematical Operations

Mathematical expressions entered on the input line cannot exceed 25

characters. These expressions must contain the numeric or special
mathematical operation characters as described below. If you enter any
characters that are not numeric or operation characters, the error message
INVALID CHARACTER appears.

2-48
 Chapter 2
Operating the Control

For the calculator function, 2147483647 (10 characters long) is the largest
number that you can enter on the input line.

If you see the error message: The number entered or calculated is:

NUMBER IS OUT OF RANGE too large (longer than 10 characters)

MATH OVERFLOW greater than 2147483647

Fractional numbers cannot exceed .999999 (6 decimal places). If the

number of decimal places is exceeded, the control automatically rounds off
based on the seventh digit.

If the seventh digit is: The control:

less than 5 rounds down

5 or greater rounds up

Any data entered on the input lines can be edited as described on page 2-41.

To disable the calculator function, press the [CALC] key again. The CALC:
prompt is removed from the input line.

Use the characters in Table 2.E to indicate mathematic operations.

Table 2.E
Mathematical Operators

Symbol Operation:

* Multiplication
/ Division
+ Addition
- Subtraction
[] Brackets
# Get Paramacro Value

This is the order of execution for each of the above operations:

1. Any part of the expression that is between the brackets [ ] is

evaluated first. The values of paramacro variables are also
substituted for the #xxxx as the first operation performed.

2. Multiplication and division are evaluated second.

3. Addition and subtraction are evaluated last.

2-49
 Chapter 2
Operating the Control

If you perform the same level of evaluation, the left most operation takes
priority.

Example 2.1
Mathematic Expressions

Expression Entered Result Displayed

12/4*3 9
12/[4*3] 1
12+2/2 13
[12+2]/2 7
12-4+3 11
12-[4+3] 5

Table 2.F contains the function commands available with the [CALC] key.

Table 2.F
Mathematical Functions

Function Meaning

SIN Sine (degrees)

COS Cosine (degrees)
TAN Tangent (degrees)
ATAN Arc Tangent (degrees)
ASIN Arc Sine (degrees)
ACOS Arc Cosine (degrees)
SQRT Square Root
ABS Absolute Value
BIN Conversion from Decimal to Coded Decimal
BCD Conversion from Coded Decimal to Decimal
ROUND Rounding Off (nearest whole number)
FIX Truncation Down
FUP Truncation Up
LN Logarithms (natural log)
EXP Exponent

When programming these functions, place the value that the function is to
be performed on in brackets, e.g., SIN [10]. The arc tangent function
(ATAN) is the exception. The format for ATAN requires the division of
two values, e.g., ATAN [10]/[2] is used to calculate the arc tangent of 5.

2-50
 Chapter 2
Operating the Control

The control executes functions in Table 2.F from left to right in a program
block. These functions are executed before the control executes any
mathematical operators such as addition or subtraction. This order of
execution can be changed only by enclosing operations in brackets [ ].
Operations enclosed in brackets are executed first.

Example 2.2
Format for [CALC] Functions

This expression: Evaluates the:

SIN[2] sine of 2 degrees

SQRT[14+2] square root of 16
SIN[SQRT[14+2]] sine of the square root of 16

Example 2.3
Mathematical Function Examples

Expression Entered Result Expression Entered Result

SIN[90] 1.0 FIX[12.7] 12.0

SQRT[16] 4.0 FUP[12.2] 13.0
ABS[-4] 4.0 FUP[12.0] 12.0
BIN[855] 357.0 LN[9] 2.197225
BCD[357] 855.0 EXP[2] 7.389056
ROUND[12.5] 13.0 ATAN[2]/[5] 21.801413
ROUND[12.49] 12.0

Important: Take precautions when performing calculations within the

brackets [ ] following a mathematical function. The control performs
operations within the bracket first, and then the mathematical function is
performed on this resultant.

For example:

If your mathematical function is: Then the result is:

ROUND[2.8+2.6] 5.0

The values in the brackets are added together first and then rounded, not
rounded and then added together.

2-51
 Chapter 2
Operating the Control

Paramacro Variables in CALC Operations

Any paramacro variable can be accessed through the CALC function.
Include a # sign followed by the paramacro variable number. When the
calculation is performed the value of that paramacro variable is substituted
into the equation. You can not change the value of paramacro variables
with the CALC function. Local parameters are only available for the
currently active nesting level of the control (main program, or one of four
nested macro programs). You can not perform calculations that contain
any paramacro variables if the control is currently executing a program
block. The control must be in either cycle stop state, or E-Stop.

Example 2.4
Calling Paramacro Variables with the CALC Function

Expression Entered Result Displayed

#100 Display current value of variable #100

12/#100*3 Divide 12 by the current value of #100
and multiply by 3
SIN[#31*3] Multiply the value of #31 (for the current
local parameter nesting level) by 3 and
take the sine of that result

END OF CHAPTER

2-52
 3
Chapter

Offset Tables and Setup

3.0 This chapter describes the offset tables and their setup. The major topics
Chapter Overview described in this chapter include:

Topic: On page:

Wheel Length Offset Tables {WHEEL GEOMET} 3-1

Dresser/Wheel Radius Offset {RADIUS TABLE} 3-4
Dresser/Wheel Orientation {RADIUS TABLE} 3-8
Dresser Orientations 3-9
Grinding Wheel Orientations 3-10
Editing Wheel Offset Tables {WHEEL GEOMET} or {RADIUS TABLE} 3-11
Set Offset Data Using {MEASURE} 3-16
Changing the Active Dresser/wheel Offset {ACTIVE OFFSET} 3-17
Work Coordinate System Offset Table {WORK CO-ORD} 3-18
Entering Work Coordinate System Data 3-19
Backing Up Offset Tables 3-23
Programmable Zone Table 3-25
Single-Digit Feedrate Table 3-27

3.1 Wheel length offsets let the programmer write a part program with respect
Wheel Length Offset Tables to the same fixed point on the grinder regardless of the wheel being used.
{WHEEL GEOMET} This fixed point (called the gauge point) is determined by your system
installer. For the purpose of documentation, this manual assumes that the
gauge point is a fixed point on the centerline of the grinding wheel. See
your system installers documentation for details on the location of the
gauge point on your system.

This section describes how to enter the length values that are called later
when the corresponding length offset is activated. Typically wheel length
offsets are activated with a T word as described in chapter 13.

The control stores wheel length offsets in a table called the wheel
geometry table. This table stores wheel length offset values under offset
numbers. When you select a certain wheel offset number with a T word in
the part program, the control references this table and looks up the
associated length offset values stored for that offset number. For details on
how and when the length offset is activated, see chapter 13.

3-1
 Chapter 3
Offset Tables and Setup

Figure 3.1
Wheel length Offsets

Wheel gauge point on spindle from which Wheel length offsets simplify
wheel offsets are usually measured programming and allow processing from
(determined by your system different points on the wheel without
installer) changing the part program

X length
offset

Z length These length offsets select this point as

offset the control point for programming
11982-I

Resolution of wheel radius and length offset data is determined by the

programming resolution selected for the axis in AMP. For example, an X
axis that can be programmed with 4 decimal place accuracy also allows 4
decimal place accuracy in the offset tables.

Figure 3.1 illustrates typical cylindrical grinder length offsets. Length

offsets for a surface grinder application can be more complex as additional
axes can be offset.

Wheel Length Offset Numbers

Call out wheel offset numbers in a program through use of the T word.
The last two digits of the T word specify an offset number for wheel
length. This number is independent of the dresser/wheel radius and
orientation offset number which is the first two digits of T word. The
control then accesses the values assigned to that offset number in the wheel
length offset table. Length offsets are activated as described in chapter 13.

You can store valid wheel lengths for each axis by using offset numbers
ranging from 01 to 32. You cannot use offset number 00 to store wheel
offset data but you can program 00 to cancel wheel length offsets. You
can call different offset numbers from the wheel geometry and wheel
radius table using the same T word.

3-2
 Chapter 3
Offset Tables and Setup

Important: The first 4 wheel offset numbers (01-04) are reserved for use
in conjunction with an in-process dresser. When the in-process dresser is
disabled, the control automatically updates these first 4 offset numbers
with the current grinding wheel size. These offset values should not be
manually entered. See chapter 21 for details on using the in-process
dressing feature.

Assigning Wheel Length Offset Values

Use the wheel length offset to compensate for the wheel position as
mounted on the machine. By using the wheel length offset along with
wheel radius and orientation information, a programmer can write a part
program without concern for wheel dimensions and shape. Measure wheel
length values for each axis to define the control point for programming
relative to the wheel gauge point (see Figure 3.2). The same wheel can
have several offset numbers to let the programmer select which part of the
wheel is being controlled.

Figure 3.2
Wheel Length Offsets

Wheel gauge point on Wheel gauge point on

spindle from which wheel spindle from which wheel
offsets are usually mea- offsets are usually mea-
sured sured

X length offset X length offset

Z These length offsets These length offsets

length select this point as the Z
select this point as the
offset control point for length
control point for
programming offset
programming
11983-I

You can configure each axis on your system to have wheel length offset
values. This manual assumes a two axis Z and X configuration.

3-3
 Chapter 3
Offset Tables and Setup

Figure 3.2 shows typical length offsets for a cylindrical grinder. Generally
grinders are configured such that axes move in the negative direction as
they move the wheel towards the workpiece (along -X axis) and towards
the chuck (along -Z axis). Assuming this applies to your system, enter a
positive Z offset value to offset the gauge point away from the part spindle.
Enter a positive X offset value to offset the gauge point away from the part
spindle center line. Different wheel control points are established by the
values entered in the length offset table.

Cylindrical grinders can have axes assigned in AMP as diameter axes.

This allows values to be entered into the length offset table for that axis as
either diameter or radius values. This manual assumes that you use radius
values. If you enter values as diameters, you must enter the wheel
diameter instead of the wheel radius for the axis configured as the diameter
axis. G07 and G08 (radius and diameter modes) have no affect on values
entered into the offset tables.

Enter your length offset data in the wheel geometry table as described on
page 3-11.

If you are entering offset values for an angled-wheel grinder you should
also read the angled-wheel tool offset section on page 14-16.

3.2 Radius offset values let the programmer write a part program without
Dresser/Wheel Radius having to calculate wheel positions relative to the radius of the grinding
Offsets wheel, grinding wheel corner, or edge of the diamond point dresser. This
section describes entering these radius values that are used for
{RADIUS TABLE} dresser/wheel radius compensation as described in chapter 15.

The control stores wheel radius offsets in a table called the radius table.
This table stores the radius values under radius offset numbers. Call out a
radius offset number with a T word in the part program. The control
references this table and looks up the associated radius values. For details
on how and when the radius offset is activated, see chapter 15.

The first two digits of the T word specify an offset number for radius and
orientation. This number is independent of the wheel length offset number
which is the last two digits of T word. Length offsets are activated as
described in chapter 13.

The control supports 3 dresser/wheel radius compensation schemes:

Dresser radius
Corner radius
Entire wheel radius

3-4
 Chapter 3
Offset Tables and Setup

The dresser radius and corner radius compensation schemes use the same
radius table to store a radius value. The entire wheel radius scheme stores
the entire wheel radius in paramacro variable #5508. Which dresser/wheel
radius compensation scheme to use on your system depends on the current
application of your grinder. See chapter 15 for details on how to properly
implement these schemes.

Dresser/Wheel Radius Length Offsets Coordinate System Dresser/Wheel Radius

Compensation Scheme Offset (G54-G59.3) Compensation

Dresser Radius Shifted on Z and X axis to wheel Shifted to point on On radius of diamond
control point dresser tip dresser

Corner Radius Shifted on Z and X axis to wheel Shifted to point on part On radius of wheel corner
control point being machined where Z and X length
offset is located

Entire Wheel Radius Shifted on Z to control point of wheel, Shifted to point on part On entire radius of wheel
Y offset is taken into consideration being machined
with dresser/wheel radius
compensation

Figure 3.3
Dresser/Wheel Radius Compensation Schemes

Dresser Radius Corner Radius Entire Wheel Radius

(common for both cylindrical (common for both cylindrical (almost exclusively used for surface grinding)
and surface grinding applications) and surface grinding applications)

Radius of
Entire Wheel

Radius of
dresser tip Radius of
wheel corner 11984-I

3-5
 Chapter 3
Offset Tables and Setup

Dresser Radius

The control can compensate for errors resulting from slight or even large
rounding of the dresser tip. To do so, the radius of the dresser must be
entered in the radius table. For more information on activating an offset
for dresser/wheel radius compensation, see chapter 15.

Figure 3.4
Dresser Radius for a Typical Diamond Point Dresser

.05
Radius

11985-I

Corner Radius

The control can compensate for error resulting from the rounded corner
commonly dressed into the grinding wheel. This corner radius should be
the corner of the wheel selected as the control point using wheel length
offsets.

In order for dresser/wheel radius compensation to properly compensate for

wheel corner roundness, you must enter the corner radius of the control
point wheel corner into the offset table. The same wheel can have 1, 2, or
more corners entered for its corner radius. It is the programmers
responsibility to use the correct radius (called by first two digits in T word)
for the correct control point of the grinding wheel (called by second two
digits in T word).

3-6
 Chapter 3
Offset Tables and Setup

Figure 3.5
Corner Radius for a Typical Grinding Wheel

.25 X length offset .3 X length offset

Radius Radius

Z
length Z
offset length
offset 11986-I

Entire Wheel Radius

The control can compensate for the radius of the entire grinding wheel. To
do so, the radius of the wheel must be entered in the radius table for
dresser/wheel radius compensation. This method of compensation does
not require any X-length offset to be activated. Only a Z-length offset
needs to be activated with the X offset being compensated for by the wheel
radius. For more information on activating an offset for dresser/wheel
radius compensation, see chapter 15.

Important: An additional radius offset number (33) is available only to

the in-process dresser feature. This radius value is the entire wheel radius
and changes as the wheel radius diminishes each time it is dressed. See
chapter 21 for details on the in-process dresser feature.

To assign a value to radius offset number 33, use either:

the dresser data screen Current Wheel Diameter found on page 21-9.

directly assign a value to paramacro parameter #5508 (see page 20-39)

3-7
 Chapter 3
Offset Tables and Setup

Figure 3.6
Entire Wheel Radius for a Typical Grinding Wheel

Radius of
Entire Wheel

11987-I

3.3 Orientation of the grinding wheel or diamond point dresser is essential

Dresser/Wheel Orientation information for dresser/wheel radius compensation to function properly.
{RADIUS TABLE} Orientation data tells the control which side of the dresser/wheel is
available for grinding relative to the wheel/part surface.

The control uses orientation data during dresser/wheel radius compensation

as described in chapter 15. This section describes entering this orientation
data. Since orientation data is essential to radius compensation, the
orientation data in entered in the radius table. This table also contains
information on the dresser/wheel radius as described on page 3-4. Each
radius value entered in the radius table requires corresponding orientation
data.

3-8
 Chapter 3
Offset Tables and Setup

3.3.1 Figure 3.7 shows the possible dresser orientations relative to the grinding
Dresser Orientations wheel.

Figure 3.7
Dresser Orientations

4 8
3

0 or 9

1 6 2

11988-I

The control uses the value selected for orientation to determine the
orientation of the dresser when dresser/wheel radius compensation is
active. Enter the proper dresser orientation number (0-9) in the radius
offset table for the ORNT parameters. From that information, the control
can keep track of the orientation of the dresser you are currently using and
prevent some programming errors. Details on entering this information in
the actual offset table are covered on page 3-11.

3-9
 Chapter 3
Offset Tables and Setup

3.3.2 Figure 3.8 shows the possible grinding wheel orientations relative to the
Grinding Wheel Orientations part surface. The orientation numbers point to the surface of the grinding
wheel being used to grind the part.

Figure 3.8
Wheel Orientations
6
2 1

7 5

0 or 9

7 5

3 4
8 11989-I

The control uses the value selected for orientation to determine the
orientation of the grinding wheel when dresser/wheel radius compensation
is active. Enter the proper wheel orientation number (0-9) into the radius
offset table for the ORNT parameters. From that information, the control
can keep track of the orientation of the wheel, and prevent some
programming errors. Details on entering this information into the actual
offset table are described on page 3-11.

3-10
 Chapter 3
Offset Tables and Setup

3.4 Enter data in the offset tables by using one of six methods:
Entering Offset Data
{WHEEL GEOMET } or Method: On Page:
{RADIUS TABLE} Editing wheel offset tables {WHEEL GEOMET} or 3-11
{RADIUS TABLE}
Using {MEASURE} 3-16
Programming G10 13-5
Skip functions 19-3
Setting paramacro system parameters 20-16
Editing through the PAL program see the PAL Reference manual or
documentation provided by your system
installer

When you use PAL to modify the dresser/wheel radius offset table,
dresser/wheel radius compensation (G41 or G42) should not be active. If
dresser/wheel radius compensation is active, be aware that the new offset is
not placed in part program set-up buffers that have already been read into
control memory. This results in the offset not being activated until several
program blocks after the current block. The number of setup buffers
depends on the number of block retrace steps configured in AMP and what
software features are currently being used.

The method described here requires that the offset data be manually
measured and then directly keyed into the table.

To manually display or alter the offset tables, follow these steps:

1. Press the {OFFSET} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

3-11
 Chapter 3
Offset Tables and Setup

2. Decide if you want to display:

wheel length offset table

or
radius/orientation offset table
(softkey level 2)

WORK WHEEL RADIUS DRESSR SCALNG

CO-ORD GEOMET TABLE TABLE

COORD BACKUP
ROTATE OFFSET

To display: Press this softkey:

wheel length offsets {WHEEL GEOMET}

An example of a wheel length offset table screen
is shown in Figure 3.9.
radius/orientation offsets {RADIUS TABLE}
An example of a radius/orientation offset table
screen is shown in Figure 3.10.

3. Move the cursor to the offset data that you want to modify. The
offset data located at the cursor appears in reverse video.

Important: The softkeys below appear after pressing {WHEEL

GEOMET} on a cylindrical grinder. If you press {RADIUS TABLE}
or if your control is configured as a surface grinder, several of these
softkeys are not available.

(softkey level 3)

SEARCH REPLCE ADD TO ACTIVE MORE

NUMBER VALUE VALUE OFFSET OFFSET

MEAS- INCH/ RADI/ COPY

URE METRIC DIAM OFFSET

If you want to: Press:

move the block cursor to the offset data on the up,down, left, or right cursor keys
current page
change pages {MORE OFFSET} softkey
search all pages for a specific offset number by {SEARCH NUMBER} softkey
keying in the desired offset number and by
pressing the [TRANSMIT] key

3-12
 Chapter 3
Offset Tables and Setup

4. Select data entry type:

Unit selection {INCH/METRIC}

To select units of mm or inch for the offset data, press the

{INCH/METRIC} softkey. The unit selection changes each time you
press the softkey. When you alter the units, the control converts all
existing data to the new unit selection for that offset number.

Diameter or Radius {RADI/DIAM}

If the offset value being changed is for an axis selected in AMP as a

diameter axis, you can enter data into the offset table as either a
radius or diameter value (typically the axis perpendicular to the
headstock center line). Next to the axes offset, the control displays
the current mode for that axis.

If you see: Then the current mode is:

R radius
D diameter

Press the {RADI/ DIAM} softkey to toggle the offset between these
two modes.

This feature applies only to the {WHEEL GEOMET} screen for

wheel lengths on cylindrical grinders. If your control is configured
as a surface grinder this softkey is not available (also the R and D do
not appear on the wheel geometry screen).

This feature is not available for surface grinder applications.

Important: This softkey does not change the current mode of control
operation (as selected with G07 or G08), it only alters how data is
entered in the table and displayed. For details on radius or diameter
mode (G07/G08), see page 11-46.

(softkey level 3)

SEARCH REPLCE ADD TO ACTIVE MORE

NUMBER VALUE VALUE OFFSET OFFSET

MEAS- INCH/ RADI/ COPY

URE METRIC DIAM OFFSET

3-13
 Chapter 3
Offset Tables and Setup

5. Offset data can be replaced or added to:

If you want to: Key in the: Press this softkey:

replace stored offset data with new data new data {REPLCE VALUE}
add to previously stored offset data amount to be added {ADD TO VALUE}

You can copy length offset data from one axis to another axis for all
offset numbers (rather than having to change each axis individually).
a. Press the {COPY OFFSET} softkey.
COPY (SOURCE, DESTINATION) : appears.

b. Enter the axis letter from which the data is coming, then a
comma, and then enter the axis letter to which the data is going.
For example:

COPY (SOURCE, DESTINATION): X1,X2

copies the offset data from the X1-axis to the X2-axis for all
offset numbers.

(softkey level 3)

SEARCH REPLCE ADD TO ACTIVE MORE

NUMBER VALUE VALUE OFFSET OFFSET

MEAS- INCH/ RADI/ COPY

URE METRIC DIAM OFFSET

3-14
 Chapter 3
Offset Tables and Setup

Figure 3.9
Offset Table Screen for Wheel Length

TOOL OFFSET NUMBER:

WHEEL GEOMETRY TABLE PAGE 1 OF 7

TOOL # 1 [INCH] 2 [INCH] 3 [INCH]

R X -12345.678 -12345.678 -12345.678
Z -12345.678 -12345.678 -12345.678

TOOL # 4 [INCH] 5 [INCH] 6 [INCH]

R X -12345.678 -12345.678 -12345.678
Z -12345.678 -12345.678 -12345.678

SEARCH REPLCE ADD TO ACTIVE MORE

NUMBER VALUE VALUE OFFSET OFFSET

Figure 3.10
Radius Offset Screen

TOOL OFFSET NUMBER:

RADIUS TABLE PAGE 1 OF 3

TOOL # RADIUS ORIENT UNITS

1 0.25 3 [INCH]
2 0.33 2 [INCH]
3 0.37 3 [INCH]
4 0.55 4 [INCH]
5 0.59 3 [INCH]
6 0.61 6 [INCH]
7 0.77 3 [INCH]
8 0.82 8 [INCH]
9 0.85 9 [INCH]
10 0.90 3 [INCH]
11 0.93 3 [INCH]
12 0.96 3 [INCH]
13 0.99 4 [INCH]

SEARCH REPLCE ADD TO ACTIVE MORE

NUMBER VALUE VALUE OFFSET OFFSET

3-15
 Chapter 3
Offset Tables and Setup

3.5 The measure feature offers an easy method of establishing wheel length
Set Offset Data Using offsets. This feature is not available for generating any radius offset data.
{MEASURE} The control, not the operator, computes the wheel length offsets, and enters
these values in the wheel geometry offset table. You can only perform the
measure operation on one axis at a time.

To enter wheel length offsets using measure, follow these steps:

1. Establish a fixed machine position. This position can be any fixed,

non-movable location on the machine that the wheel can be jogged
against consistently. Determine the value of this location at the gauge
point with no wheel offsets active.

Important: No wheel offsets should be active. The value of this

position at the gauge point, located in the work coordinate system,
must be recorded.

You key in this value in steps 6 and 7.

2. Access the wheel geometry offset table {WHEEL GEOMET}.

3. Cursor down to the offset that you want to change. You can select to
display the offset in either inch or metric measurements.

4. Using incremental, continuous or handwheel mode, jog the wheel

surface to be measured against the fixed location determined in step 1
on the axis being measured.

5. Press the {MEASURE} softkey.

6. Key in the coordinate value of the fixed location determined in step 1.

This coordinate value must be in the same units as the control is
currently operating in. For example, you cannot key in an inch value
when the control is in metric mode (G71).

If the same length offset must be transferred to other axes, they must
be keyed in manually. If the offset must be copied from offset
number to offset number, you can use the {COPY OFFSET} feature.

7. Press the [TRANSMIT] key.

The control now subtracts the keyed in location from the current
wheel position and enters this difference as the length offset value in
the table.

3-16
 Chapter 3
Offset Tables and Setup

3.6 This feature allows the manual activation of wheel length and
Changing the Active radius/orientation offsets without the need to program the correct T word
Dresser/Wheel Offset to call the corresponding offset number.
{ACTIVE OFFSET} Typically you change the wheel length and radius/orientation offsets by
programming a T word as described in chapter 13. Use this feature only
when you need to activate one of these offset numbers manually.

Important: The control must be in cycle stop or E-STOP state before an

attempt is made to change the active offset using this method.

1. Press the {OFFSET} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Press the {WHEEL GEOMET} softkey to activate a wheel length

offset number, or press the {RADIUS TABLE} softkey to activate a
radius/orientation offset number.

(softkey level 2)

WORK WHEEL RADIUS DRESSR SCALNG

CO-ORD GEOMET TABLE TABLE

COORD BACKUP
ROTATE OFFSET

The control displays the offset table. Currently active offset values
(if any) are indicated with a * to the right of the offset number if you
have selected the radius table. If you selected the wheel geometry
table, the * is to the left of the offset number.

3. Move the cursor (using cursor keys) on the offset table until the
desired offset appears in reverse video. Only one length and one
radius/orientation offset number can be active at any time.

3-17
 Chapter 3
Offset Tables and Setup

4. Press the {ACTIVE OFFSET} softkey when the offset you want is
selected. Length offsets are made active as described in chapter 13.
Radius/orientation offsets are made active as described in chapter 15.

(softkey level 3)

SEARCH REPLCE ADD TO ACTIVE MORE

NUMBER VALUE VALUE OFFSET OFFSET

3.7 You enter two types of data in the work coordinate system table:
Work Coordinate System
Zero Point Parameters the initial work coordinate system zero point locations that are
Offset Table {WORK called when programming G54 - G59.3.
CO-ORD} External Offset used to offset all of the G54 - G59.3 zero points to make the
same set of work coordinate systems fit a variety of
applications.

Zero Point Parameters

Enter positions for the zero points as machine coordinate values. The
control then uses the specified machine coordinate position as the work
coordinate system zero point. See page 11-10 for details on work
coordinate systems.

Enter a machine coordinate system position for each axis of the work
coordinate system below the corresponding G code (G54-G59.3) as
described on page 3-19.

External offset

Use the external offset to modify all of the work coordinate system zero
points. The value entered here offsets all of the work coordinate systems
by the specified amount. Enter external offsets in the work coordinate
system tables as the external offset value.

This offset lets a programmer use the same set of work coordinate system
values in a variety of applications. Adjusting this value, for example,
allows for use of the same work coordinate systems and programs after a
different part or dresser/wheel mounting fixture has been installed on the
machine. You can also use this to offset all work coordinate systems when
part programs are transferred from different machines with different
mechanical features. See page 11-10 for details on the external offset.

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Offset Tables and Setup

3.7.1 Enter data in the coordinate system table by using one of four methods:
Entering Work Coordinate
System Data Method: On page:

Entering work coordinate data manually 3-19

Programming G10 11-8 and 11-11
Setting paramacro system variables 20-16
Entering through the PAL program see the PAL Reference manual or documentation
provided by your system installer

When you use PAL to modify the work coordinate system tables,
dresser/wheel radius compensation (G41 or G42) should not be active. If
dresser/wheel radius compensation is active, be aware that the new offset is
not placed in part program set-up buffers that have already been read into
control memory. This results in the offset not being activated until several
program blocks after the current block. The number of setup buffers
depends on the number of block retrace steps configured in AMP and what
software features are currently being used.

The method described here requires that you key in the data directly to the
table.

To display or change the initial setups for the work coordinate system and
external offset, follow these steps:

1. Press the {OFFSET} softkey on the main menu screen.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Press the {WORK CO-ORD} softkey to display the offset values for
the work coordinate systems and the external offset. See Figure 3.11.

(softkey level 2)

WORK WHEEL RADIUS DRESSR SCALNG

CO-ORD GEOMET TABLE TABLE

COORD BACKUP
ROTATE OFFSET

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 Chapter 3
Offset Tables and Setup

Figure 3.11
Work Coordinate System Data Entry

WORK COORDINATES TABLE PAGE 1 OF 4

DIAMOND 1 DIAMOND 2 CHUCK 1

G54 [INCH] G55 [ MM ] G56 [ MM ]

R X -999.9999 X -999.9999 X -999.9999
Z -999.9999 Z -999.9999 Z -999.9999

REPLCE ADD TO INCH/ RADI/ MORE

VALUE VALUE METRIC DIAM OFFSET

3. Move the cursor to the offset data you want to modify. The data
located at the cursor appears in reverse video.

If you want to: Press:

move the block cursor to the offset data on the up, down, left, or right cursor key
current page
change pages {MORE OFFSET} softkey

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Offset Tables and Setup

4. Select data entry type:

Unit selection {INCH/METRIC}

To select units of mm or inch for the offset data, press the

{INCH/METRIC} softkey. The unit selection changes each time you
press the softkey. When you alter the units, the control converts all
existing data to the new unit selection for that offset number.

Diameter or Radius {RADI/DIAM}

If the offset value being changed is for an axis selected in AMP as a

diameter axis, you can enter data into the offset table as either a
radius or diameter value (typically the axis perpendicular to the
spindle center line). Next to the axes offset, the control displays the
current mode for that axis.

If you see: Then the current mode is:

R radius
D diameter

Press the {RADI/ DIAM} softkey to toggle the offset between these
two modes.

Important: This softkey does not change the current mode of control
operation (as selected with G07 or G08), it alters only how data is
entered in the table and displayed. For details on radius or diameter
mode (G07/G08), see page 11-46.

(softkey level 3)

REPLCE ADD TO INCH/ RADI/ MORE

VALUE VALUE METRIC DIAM OFFSET

5. Data can be replaced or added to:

(softkey level 3)

REPLCE ADD TO INCH/ RADI/ MORE

VALUE VALUE METRIC DIAM OFFSET

If you want to: Key in the: Press this softkey:

replace stored work coordinate data with new data {REPLCE VALUE}
new data
add to previously stored work coordinate amount to be added {ADD TO VALUE}
data

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Offset Tables and Setup

Important: You can alter the values for the work coordinate systems by
using the G10 command in MDI or within a part program. For details on
G10 commands, see page 11-8 and 11-11.

Entering a Coordinate System Label

The work coordinate system table provides an area to enter a label for each
of the offsets (G54 -G59.3 and the external offset). This label is only for
display purposes; it lets you assign different text strings to different offsets
for easy identification.

These labels are not backed up when a coordinate system offset table
backup is made. They are not part of the G10 format. They do, however,
remain when you execute a G10 program.

To change or enter a label for a coordinate system offset:

1. Press the {OFFSET} softkey on the main menu screen.

2. Press the {WORK CO-ORD} softkey to display the offset values for
the work coordinate systems and the external offset. See Figure 3.11.

3. By using the left and right cursor keys and the {MORE OFFSET}
softkey, select the coordinate offset that you want to label.

4. Press the {MODIFY LABEL} softkey to change or enter a new label.

The control displays the prompt ENTER LABEL.

(softkey level 3)

REPLCE ADD TO INCH/ RADI/ MORE

VALUE VALUE METRIC DIAM OFFSET

MODIFY
LABEL

5. Type in the new label name by using the keyboard.

6. Press the [TRANSMIT] key. The control overwrites any existing

label with the new label name.

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Offset Tables and Setup

3.8 The control can back up all the information entered in the offset tables and
Backing Up Offset Tables the work coordinate system tables. The control can generate a program
consisting of G10 blocks to save these tables. These G10 blocks can
contain offset and work coordinate values. Any time this program is run,
the set of values contained in these G10 blocks replace the current values
in the offset tables.

You can save the G10 program in either control memory or to a peripheral
device. We recommend using both to insure this data is not lost.

This feature is very useful if you use the same wheel or coordinate system
offsets on different machines. The same offset tables can be easily set up
by running this G10 program on other machines. Also, if written to a
peripheral device, you can use this program as a safety backup in case of
memory failure.

Important: Once the control begins executing a G10 program that has
been previously generated, it clears any data that already exists in the
offset table being updated by that G10 command. This makes it
impossible for a G10 block to simply add a few offset values. A G10
program must load the entire offset table each time it is run. Wheel
geometry, radius offset, and work coordinate tables are separate. Loading
data in to one does not clear the others.

To back up the offset tables, follow these steps:

1. Press the {OFFSET} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Press the {BACKUP OFFSET} softkey.

(softkey level 2)

WORK WHEEL RADIUS DRESSR SCALNG

CO-ORD GEOMET TABLE TABLE

COORD BACKUP
ROTATE OFFSET

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 Chapter 3
Offset Tables and Setup

The backup offset screen appears:

BACKUP TOOL OFFSETS

RADIUS TABLE
WHEEL GEOMETRY TABLE
WORK COORDINATE OFFSETS
ALL

SELECT OPTION USING THE UP/DOWN ARROW

TO TO TO
PORT A PORT B FILE

3. Select the offsets you want to back up by using the up and down
cursor keys. The selected offset appears in reverse video. Select one
of four options:

If you want your G10 program to contain: Select:

all data from the radius offset table RADIUS TABLE

all data from the wheel geometry tables WHEEL GEOMETRY
the work coordinate offset information for G54 - WORK COORDINATE
G59.3 and the external offset value
all data from the wheel geometry, radius offset, ALL
and work coordinate offset tables

4. Once you have indicated the data you want to save, determine the
destination for the G10 program from these 3 options:

If you want to send the G10 Press this softkey:

program to:

a peripheral attached to port A {TO PORT A}

a peripheral attached to port B {TO PORT B}
control memory {TO FILE}

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Offset Tables and Setup

5. When you press the {TO FILE} softkey, the control prompts you for
a program name. Enter a program name by using the alphanumeric
keys on the operator panel and press the [TRANSMIT] key (see page
10-8 on program names).

If you press {TO PORT A} or {TO PORT B} instead of {TO FILE}

the control sends the backup program to the device connected to the
peripheral port.

3.9 The programmable zone table feature provides a means to prevent wheel
Programmable Zone Table motion from entering or exiting a designated area. For details on
programmable zones, see page 11-34.

This table contains the values for programmable zones 2 and 3. These
values define the boundaries for the programmable zones and are
referenced from the machine coordinate system.

Important: These values can also be entered in AMP by your system

installer. You can also modify programmable zone 3 table values by
programming a G22 command. See page 11-40 for details.

To display or alter the values in the programmable zone table, follow these
steps:

1. Press the {SYSTEM SUPORT} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Press the {PRGRAM PARAM} softkey.

(softkey level 2)

PRGRAM AMP DEVICE MONI- TIME

PARAM SETUP TOR PARTS

PTOM SYSTEM
SI/OEM TIMING

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 Chapter 3
Offset Tables and Setup

3. Press the {ZONE LIMITS} softkey to display the programmable

zone table.

(softkey level 3)

ZONE F1-F9
LIMITS

The programmable zone table appears:

ENTER VALUE:

PROGRAMMABLE ZONE

LOWER LIMIT UPPER LIMIT

LIMIT 2

R X AXIS -10.0000 0.0000 [INCH]

Z AXIS 0.0000 0.0000 [INCH]

LIMIT 3

R X AXIS 5.0000 9.0000 [INCH]

Z AXIS 3.0000 4.0000 [INCH]

REPLCE ADD TO UPDATE QUIT

VALUE VALUE & EXIT

Important: The control displays the programmable zone coordinates in

inch or metric units for a liner axis, depending on which is the currently
active program mode, or in degree units for a rotary axis.

4. Use the up and down cursor keys to move the block cursor to the data
you want to change. The data located at the cursor appears in reverse
video.

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Offset Tables and Setup

5. Data can be replaced or added to:

(softkey level 4)

REPLCE ADD TO MORE UPDATE QUIT

VALUE VALUE LIMITS & EXIT

If you want to: Key in the: Press this softkey:

replace stored zone data with new data new data {REPLCE VALUE}
add to previously stored zone data amount to be added {ADD TO VALUE}

6. When you have finished editing the inhibit zone data:

(softkey level 4)

REPLCE ADD TO MORE UPDATE QUIT

VALUE VALUE LIMITS & EXIT

If you want to: Press this softkey:

save all changes you just made {UPDATE & EXIT}

delete all changes you just made {QUIT}

Unlike the other tables described in this chapter, the zone table cannot be
backed up with a G10 program.

3.10 Use this feature to change the values set for the single-digit feedrates.
Single-Digit Feedrate Table When a single-digit F word is encountered during block execution, the
control looks to the single-digit feedrate table for a feedrate. The feedrate
in this table corresponding to the single-digit F word then becomes the
active feedrate. For details on single-digit F words, see page 12-61.

To display or alter the values in the single-digit feedrate table, follow these
steps:

1. Press the {SYSTEM SUPORT} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

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 Chapter 3
Offset Tables and Setup

2. Press the {PRGRAM PARAM} softkey.

(softkey level 2)

PRGRAM AMP DEVICE MONI- TIME

PARAM SETUP TOR PARTS

PTOM SYSTEM
SI/OEM TIMING

3. Press the {F1 - F9} softkey to display the single-digit feedrate table.

(softkey level 3)

ZONE F1-F9
LIMITS

The single-digit feedrate table appears:

ENTER VALUE:

1-DIGIT F WORD FEEDRATE [MMPM]

F1 .01000
F2 .02000
F3 .03000
F4 .04000
F5 .05000
F6 .06000
F7 .07000
F8 .08000
F9 .09000

REPLCE ADD TO UPDATE QUIT

VALUE VALUE & EXIT

Important: The control displays feedrates in inch or metric depending on

which is the active mode. The control displays IPM (inches per minute) or
MMPM (millimeters per minute) at the top of the screen, indicating the
currently active mode.

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Offset Tables and Setup

4. Use the up and down cursor keys to move the cursor to the feedrate
you want to change. The selected feedrate appears in reverse video.

5. Change feedrate values by using one of two choices:

(softkey level 4)

REPLCE ADD TO UPDATE QUIT

VALUE VALUE & EXIT

If you want to: Key in the: Press this softkey:

replace stored feedrate feedrate data new data {REPLCE VALUE}

add to previously stored feedrate data amount to be added {ADD TO VALUE}

6. Leave the feedrate parameter screen by using one of two choices:

(softkey level 4)

REPLCE ADD TO UPDATE QUIT

VALUE VALUE & EXIT

If you want to: Press this softkey:

save the changes you just made {UPDATE & EXIT}

delete all changes you just made {QUIT}

3.11 Tool offset range verification checks:

Tool Offset Range the maximum values entering the tool offset tables
Verification
the maximum change that can occur in either table

To use tool offset range verification, follow this softkey sequence:

1. Press the {SYSTEM SUPORT} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Press the {AMP} softkey.

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 Chapter 3
Offset Tables and Setup

(softkey level 2)

PRGRAM AMP DEVICE MONI- TIME

PARAM SETUP TOR PARTS

PTOM SYSTEM
SI/OEM TIMING

3. Press the {AXIS PARAM} softkey.

(softkey level 3)

AXIS PATCH UPDATE UPLD/ BACKUP

PARAM AMP BACKUP DWNLD AMP

4. Press the {RANGE PARAM} softkey.

(softkey level 4)

SPNDL SERVO AXIS HOME REVERS

PARAM PARAM CALIB CALIB ERROR

RANGE
PARAM

Your system installer initially sets these values in AMP. You can modify
them with online AMP by using this screen:

OFFSET RANGE VERIFICATION

[inch]

MAXIMUM +/-- WEAR RADIUS .12345

Per table values MAXIMUM +/-- GEOM RADIUS 10.12345

X AXIS [inch]

MAXIMUM WEAR OFFSET CHANGE .01000

MAXIMUM GEOM OFFSET CHANGE 1.00000
Per axis values MAXIMUM +/-- WEAR OFFSET .10000
MAXIMUM +/-- GEOM OFFSET 10.00000

softkey level 5 REPLCE ADD TO NEXT UPDATE QUIT

VALUE VALUE AXIS & EXIT

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Offset Tables and Setup

About the Offset Range Verification Screen

on a grinder, range checking units for this screen are always RADIUS,
regardless of the program/control mode

display format is fixed

Mode Places to the left of the decimal point Places to the right of the decimal point

inch 3 5

metric 4 5

data entry is bounded by the programming resolution of the axes

When Does Verification Occur

Verification occurs when a value enters the table from:

data entry screens PAL paramacros

Important: The control does not perform the verification if the value, old
or new, is zero, nor does it check G10 data-setting codes.

Verify for Maximum Value

This value represents the absolute maximum value per table for all tool
offsets in that table.

If you enter: then:

a positive number greater than the maximum value the control generates the error message:
OFFSET EXCEEDS MAX VALUE
a negative number less than the negative of the The control does not modify the value in
maximum value the table.

Verify for Maximum Change

This change represents the amount an offset may change from its current
value. If you exceed the amount set by the system installer in AMP, the
change is not allowed. The control generates the error message OFFSET
EXCEEDS MAX CHANGE.

END OF CHAPTER

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3-32
 4
Chapter

Manual/MDI Operation Modes

4.0 This chapter describes the manual and MDI operating modes. Major topics
Chapter Overview covered include:

Topic: On page:

Manual Operating Mode 4-1

Jogging an Axis 4-2
Continuous Jog 4-3
Incremental Jog 4-3
HPG Jog 4-4
Arbitrary Angle Jog 4-5
Manual Gap Elimination 4-6
Resetting Overtravels 4-9
Mechanical Handle Feed (Servo Off) 4-10
Removing an Axis (Axis Detach) 4-10
Manual Machine Homing 4-11
MDI Mode 4-13
MDI Basic Operation 4-14

This manual assumes that you use the push button or rotary MTB and you
have installed standard PAL to run that MTB panel. For applications that
do not use an MTB panel or standard PAL to run the MTB panel, see
documentation prepared by your system installer for details about
operations described in this chapter.

4.1 To go into the manual mode, select MANUAL under <MODE SELECT>. If
Manual Operating Mode you are not equipped with a <MODE SELECT> button or switch, press the
{FRONT PANEL} softkey followed by the left/right arrow key to select the
mode (see page 2-32 on changing operating mode).

In manual mode, the control displays both the axis position data and any
currently active part program in the data display area if the normal display
is used for softkey level 1.

Normally you can press <CYCLE STOP> to abort manual operations. Your
system installer has the option, however, to assign some other switch to
abort manual operations in the PAL program. See documentation provided
by your system installer for details.

4-1
 Chapter 4
Manual/MDI Operation Modes

Figure 4.1
Data Display in MANUAL Mode

E-STOP

PROGRAM[ MM ] F 00000.000 MMPM

X 00000.000 S 0.0

Z 00000.000 T 1

U 00000.000

W 00000.000

MEMORY MDI STOP N 99999

(First 4 blocks
of program shown here)

(PAL messages)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

4.1.1 In the jog mode, pushbuttons, switches, or hand pulse generators (HPGs)
Jogging an Axis control the motion of the grinding wheel. Typically these are mounted on
or near the MTB panel.

You can jog the grinding wheel by using 3 different methods:

If you choose: While a pushbutton on the MTB is pressed, the axes move:

continuous jog continuously

incremental jog a predetermined amount
HPG jog when an HPG is turned by hand and an axis has been selected

Normally you can only jog the axes in manual mode. However, your
system installer can write PAL to allow jogging in the automatic and MDI
mode. See page 4-6 for manual gap elimination or chapter 11 for details
on jogging an offset.

You can equip your control with an optional jogging an offset feature,
activated by a switch installed by your system installer. When this feature
is active, all jog moves are used to offset the current work coordinate
system and no position registers are changed. For information about
jogging an offset, see chapter 11.

4-2
 Chapter 4
Manual/MDI Operation Modes

During a jog retract operation (see chapter 7), you are permitted to use
only normal single axis jogs (one axis at a time in the continuous,
incremental, or HPG modes).

4.1.2 To jog an axis continuously:

Continuous Jog
1. Select CONTINUOUS under <JOG SELECT>.

2. Select the feedrate for continuous jog under <SPEED/MULTIPLY>.

If you want to: Then:

alter the feedrate selected with the select a <FEEDRATE OVERRIDE> %

<SPEED/MULTIPLY> switch
jog the axis at a special AMP assigned press and hold the <TRVRS> when jogging
traverse feedrate and ignore the setting of
the <SPEED/MULTIPLY> switch
jog moves that use the traverse feedrate select a <RAPID FEEDRATE
OVERRIDE> %

For details on using the feedrate override switches, see chapter 11.

3. Press the <AXIS/DIRECTION> button for the axis and direction to jog.
The axis moves while the button is held down.
Important: You can jog more than one axis at a time. To jog
multiple axes, press and hold more than one axis direction button.
The selected axes drive at the feedrate chosen with the
<SPEED/MULTIPLY> switch. If the selected feedrate is above a
specific axis maximum allowable feedrate, that axis drives at its
maximum feedrate. The feedrate for the other selected axes is not
affected.

4.1.3 Incremental jog manually moves an axis a predetermined amount each

Incremental Jog time you press the <AXIS DIRECTION> button. To use incremental jog:

1. Select INCREMENTAL under <JOG SELECT> .

2. Select the jog increment under <SPEED/MULTIPLY>. The jog

increment is equal to an amount specified in AMP for each selection
under <SPEED/MULTIPLY>.

3. Press the <AXIS/DIRECTION> button for the axis and direction to jog.
The control makes one incremental move each time it recognizes the
<AXIS/DIRECTION> button. Until the control completes the execution
of the incremental move, no other jog moves are recognized on that

4-3
 Chapter 4
Manual/MDI Operation Modes

axis. This includes attempts to perform other incremental moves on

that axis.

The control normally jogs the axes, the selected distance and direction, at
the feedrate set in AMP for the MED feedrate. Your system installer can
select a different feedrate with a specific PAL Program. See
documentation prepared by your system installer for details.

Important: You can jog more than one axis at a time. To jog multiple
axes, press more than one axis direction button. The selected axes drive at
the feedrate chosen under <SPEED/MULTIPLY>. If the selected feedrate is
above a specific axis maximum allowable feedrate, that axis drives at its
maximum feedrate. The feedrate for the other selected axes is not affected.

4.1.4 This section describes the procedure for jogging an axis using a hand pulse
HPG Jog generator (HPG). We assume that your system is configured for only one
HPG. If your system installer has installed more than one HPG, they may
not function as described here. For details, see documentation provided by
your system installer.

To jog an axis using a hand pulse generator (HPG):

1. Select HANDWHEEL under <JOG SELECT> .

2. Select the distance that the axis moves for one division of the HPG
with <SPEED/MULTIPLY>. The distance the axis moves per division is
equal to an amount specified in AMP for each selection under
<SPEED/MULTIPLY>.

Important: The x1000 and x10000 selections under

<SPEED/MULTIPLY> are not usable in HPG jog mode.

3. Press the <AXIS/DIRECTION> button for the axis to jog. The direction
the axis moves is determined by the direction the HPG is rotated and
is unaffected by the <AXIS/DIRECTION> button.

Important: You can jog more than one axis at a time using the HPG
if your system installer has written PAL to allow it. See
documentation prepared by your system installer for details.

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 Chapter 4
Manual/MDI Operation Modes

4. Typical HPG configuration results in:

If you select: The direction for the axis is:

clockwise plus (+)

counterclockwise minus (-)

- +

11999-I

4.2 Your system installer can enable a feature that allows control of the angle
Arbitrary Angle Jog of a multiple axis jog. Since this feature is PAL dependent, see your
system installers documentation for its actual operation.

When you activate this feature, the operator selects two different axes to
define a plane for the arbitrary angle jog to take place in. Then an angle is
selected (between 0 and 360) to define a vector for the jog. This angle is
referenced from the first axis chosen to define the current plane. Your
system installer has the option to predefine this plane and vector in PAL.
See the documentation prepared by your system installer on selecting an
arbitrary angle jog.

Once this vector has been defined, a jog move can be made along the
defined vector by selecting either HPG, incremental, or continuous jogging
modes in the normal fashion (see page 4-2). The direction that the wheel
travels along the defined vector is determined by your system installer in
PAL.

The feedrate of the wheel is equal to the current feedrate as determined by

<SPEED/MULTIPLY> and <FEEDRATE OVERRIDE>. This feedrate is the
vectorial feedrate for the grinding wheel. Individual axis feedrates
automatically adjust to produce the designated vectorial feedrate. To jog at
the maximum feedrate as set in AMP, hold the <TRVRS> button down while
jogging in continuous mode.

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 Chapter 4
Manual/MDI Operation Modes

4.3 The manual gap elimination feature allows the operator to manually jog the
Manual Gap Elimination grinding wheel without interrupting reciprocation. Using this feature, the
operator can speed up the grinding process by skipping over reciprocation
strokes that are not making wheel contact with the part.

Figure 4.2
Large Gap between Start Point of Cycle and Actual Part Location

Reciprocation
Start
Cycle

These passes do not cut

material and can be
eliminated with manual
gap elimination.

Part

12000-I

The manual gap elimination feature is available only when reciprocation is

active on the control. You can activate reciprocation by using G81
reciprocation startup, or through one of the fixed cycles described in
chapter 16 and 17.

You can perform manual gap elimination in either Auto or MDI modes.
Your system installer must write PAL to allow execution of manual gap
elimination in automatic or MDI mode. See jog on the fly in your PAL
manual or see documentation provided by your system installer. In AUTO
or MDI modes, you can perform manual gap elimination during block
execution.

You cannot perform manual gap elimination in these cases:

Any axis that is performing a circular motion cannot be jogged until that
circular motion is complete

If during the course of the gap elimination, a circular move is performed,

the gap elimination jog is aborted until the circular move is completed.

While the control is performing a block retrace or returning from block

retrace (see page 7-30)

During dresser/wheel radius compensation

4-6
 Chapter 4
Manual/MDI Operation Modes

If you attempt to perform a manual gap elimination while dresser/wheel

radius compensation is active, a change in resulting contour can occur as
dresser/wheel radius compensation must be re-initialized at the end of
the manual gap elimination jog. Make sure no damage to the part or
grinding wheel occurs from this possible re-entry into dresser/wheel
radius compensation.

ATTENTION: The manual gap elimination feature should not

be used when programming in incremental mode (G91). Be
aware that incremental moves continue incrementally from the
endpoint of the manual gap elimination jog, not the original
start point of the move. Failure to consider these effects change
final part contour.

Performing Manual Gap Elimination

To perform manual gap elimination:

1. Select any of the available jogging types as described on page 4-1.

You cannot perform arbitrary angle jogs and manual homing
operations as manual gap elimination jogs.

2. Select the proper <SPEED/MULTIPLY> value. If you are performing

manual gap elimination in automatic or MDI mode, activate the Jog
on the Fly feature as described by your system installers
documentation.

ATTENTION: Do not jog the wheel beyond a point where

contact with the part is made. Doing so can cause damage to
the grinding wheel, the part, or personal injury.

3. Select and jog the axis with the <AXIS/DIRECTION> button or HPG.
Jog the axis to a point just before wheel contact with the part is made.

Important: You can jog only non-reciprocating axes using the manual gap
elimination feature. Any attempt to jog an axis that is reciprocating results
in an error.

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 Chapter 4
Manual/MDI Operation Modes

Results of Gap Elimination

When you perform manual gap elimination during block execution (as can
be the case in AUTO or MDI modes), it bypasses any motion generated by
an executing cycle block that occurs above the newly jogged to position.
Cycle execution continues from the new grinding wheel location.

Figure 4.3
Cycle Execution Continues With Gap Eliminated

Start
Cycle (Absolute Mode)
Start Manual Gap Elimination.
Reciprocation continues as
plunge axis is jogged towards
the part.

End Manual Gap Elimination.

Cycle resumes from this point.
Reciprocation Axis

Plunge Axis

Part

12001-I

Important: The manual gap elimination feature does not offset the
coordinate system. It is an actual jog of the grinding wheel closer to the
part location in the current work coordinate system. If you want to jog an
offset, see chapter 11 for details.

4-8
 Chapter 4
Manual/MDI Operation Modes

4.4 The control stops wheel motion during overtravel conditions. Overtravel
Resetting Overtravels conditions can occur from 3 causes:

Overtravel Condition Cause

hardware overtravel The axes reach a travel limit, usually set by a limit switch or
sensor mounted on the axis.
Hardware overtravels are always active.

software overtravel Commands cause the grinding wheel to pass a software

travel limit.
Software overtravels are active only after the axis has been
homed, provided the feature has been activated in AMP by
your system installer.

programmable zone overtravel The axes reach a travel limit established by independent
programmable areas.
Programmable zones are activated through programming the
appropriate G-- code.

We describe these 3 causes of overtravel in detail on pages 11-34 through

11-36.

When an overtravel condition occurs, all axis motion is forced to a stop.

The control is placed in cycle stop and one of these applicable error
messages appears.

If you get this error message: It means that:

HARDWARE OVERTRAVEL (-) BY AXIS (X) the specified axis has tripped either the + or -
hardware limit switch mounted on the machine.
SOFTWARE OVERTRAVEL (+) BY AXIS (X) an attempt was made by the specified axis to
enter the overtravel area defined by the
softlimits in either a positive or negative
direction.
VIOLATION OF ZONE (2) BY AXIS (X) an attempt was made by the specified axis to
enter the overtravel area defined by either
programmable zone 2 or 3.

When an overtravel of any type has taken place, you are not allowed to
feed the axis in the same direction as the feed causing the overtravel. Only
axis feed in the reverse direction is possible.

How a hardware overtravel condition is reset depends on the E-Stop circuit

design and the way PAL was programmed by your system installer.

To reset a software or programmable zone overtravel condition:

1. Determine whether the control is in E-Stop. If it is not, go to step 4.

2. Eliminate any other possible conditions that may have caused

emergency stop, then make sure that it is safe to reset the emergency
stop condition.

4-9
 Chapter 4
Manual/MDI Operation Modes

3. Press the <E-STOP RESET> button to reset the emergency stop

condition. If the E-Stop does not reset, it is a result of some cause
other then overtravel causing E-Stop.

4. Make sure it is safe to move the axis away from the overtravel limit.

5. Use any of the jog features described on page 4-1. This does not
include homing or jogging an offset. You are not allowed to jog the
axis in the direction of the overtravel.

4.5 This feature lets you disable the servo drives and move the axes by
Mechanical Handle Feed external means, such as a hand crank attached to the ball screw, without
(Servo Off) requiring the control to be in E-Stop. When you enable this feature, all
position displays get updated as the axes are moved.

You can use this feature in conjunction with the digitize feature described
in chapter 5.

You can only enable this feature when the control is in the cycle stop state
and the axes are not being jogged at the time of request. To use this
feature, it must be enabled in PAL by your system installer. See your
system installers documentation for details on how to activate and use the
Mechanical Handle Feed feature.

4.6 Use this feature to remove a rotary table or other axis attachment from a
Removing an Axis grinder without reconfiguring the system. When activated, the control
(Axis Detach) ignores messages that may occur resulting from the loss of feedback from a
removed axis such as servo errors, etc.

Important: This feature removes the selected axis from the control as an
active axis. Any attempt to move the removed axis results in an error.
This means that part programs that use the removed axis name cannot be
executed. Jog moves and MDI commands that attempt to move the
removed axis also result in an error.

This feature can only be enabled in AMP. You must select the axis as
detached. See your system installers documentation for the necessary
steps involved in physically removing axis hardware from a specific
machine.

4-10
 Chapter 4
Manual/MDI Operation Modes

4.7 The machine home return operation means the positioning of a specified
Manual Machine Homing linear or rotary axis to a machine-dependent fixed position, which is called
the machine home. This position is established via a home limit switch
mounted on the machine and the marker on your feedback device.

The execution of machine home establishes the machine coordinate

system. Since all of the AMP assigned work coordinate systems and all of
the programmable zones are referenced from the zero point of the machine
coordinate system, none of these features are available until you have
conducted the machine homing operation. Homing the axis should be the
first operation done on the control after power has been turned on.
Figure 4.4
Machine Home
+X

Machine home
point

AMP defined home

coordinates
X=A
Z=B

+Z
Machine coordinate B
system zero point 12002-I

The following procedure describes how you home the control manually by
using the pushbuttons on the standard MTB panel. Manual homing can be
different for some machines depending on the PAL program written by
your system installer.

Important: When a homing request is made the feedback device for the
axis (typically an encoder) must encounter at least one marker before
tripping the homing limit switch. If the axis is close to the home limit
switch you should jog the axis away from this switch before attempting a
homing operation.

Important: An automatic homing feature is available and is executed by

programming a G28 code. For details, see chapter 12.

4-11
 Chapter 4
Manual/MDI Operation Modes

Figure 4.5
Manual Machine Home
To execute the manual return to machine home position:

1. Select HOME under <JOG SELECT>.

2. Place the control in manual mode (see page 4-1).

3. Determine the direction that each axis must travel to reach the home
limit switch. See documentation prepared by your system installer on
the location of the home limit switch on your specific machine.

4. Press the <AXIS/DIRECTION> button for the axis and direction to

home. You can select more than one axis at one time. The axis
selected moves at the feedrate under <SPEED/MULTIPLY>.

Important: If you choose a wrong direction for an axis, it continues

to travel in the selected direction until it contacts a hard limit and an
overtravel occurs (see chapter 11). Your system installer has the
option to enable some buttons or switches (typically cycle stop)
through the PAL program to abort a jog operation or prevent the user
from homing the axis in the wrong direction. See your system
installers documentation for details.

At this point, the control:

moves the axis until it trips its home limit switch. Then the axis
decelerates to a stop

reverses the axis direction and moves off the home limit switch at a
feedrate specified in AMP

records the distance to the nearest encoder marker or null position

moves in a direction specified in AMP an amount equal to the home

calibration value, specified in AMP, plus the distance from the encoder
marker or null position

This locates the machine home position. When the axis reaches this
position, the control resets the position registers to a machine coordinate
value specified in AMP. This establishes the zero point of the machine
coordinate system.

Important: During the machine home operation, softlimits and

programmable zones are not active. The control cancels all active
coordinates offsets.

4-12
 Chapter 4
Manual/MDI Operation Modes

4.8 In manual data input (MDI) mode, you can control machine operations by
MDI Mode entering program blocks directly using the keys on the operator panel.

To begin MDI operations, select MDI under <MODE SELECT> or press the
{FRONT PANEL} softkey followed by the left and right cursor keys to select
the mode if not equipped with a mode select switch.

Your system installer has the option of disabling G- or M-code

AMP-defined paramacro calls in MDI mode. For details on paramacros,
see chapter 18.

To insert blocks in an active, executing program using MDI, the control

must be in the end of block state to allow the selection of MDI mode. If
you press cycle stop to interrupt a program while executing in automatic
mode, the control does not allow the selection of MDI. This is because the
control is in cycle suspended state, not end of block state and so, a mode
change is not accepted.

ATTENTION: When program blocks are executed in MDI,

dresser/wheel radius compensation is not allowed. If
dresser/wheel radius compensation was previously active before
the MDI blocks are executed, it is temporarily cancelled for the
execution of the MDI blocks. See chapter 15 for details on the
effect of MDI on dresser/wheel radius compensation. Any
dresser/wheel radius compensation G codes (G41, G42, or G40)
that are programmed in MDI mode affect the dresser/wheel
radius compensation mode when compensation is re-activated.

4-13
 Chapter 4
Manual/MDI Operation Modes

Figure 4.6
Program Display Screen in MDI Mode

E-STOP

PROGRAM[ MM ] F 00000.000 MMPM

X 00000.000 S 0

Z 00000.000 T 1

U 00000.000

W 00000.000

MEMORY MDI STOP N 99999

(First 4 blocks
of MDI shown here)

(PAL messages)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

You can call subprograms or paramacros within an MDI program;

however, there are limitations to the allowable commands. See chapter 10
on subprograms or chapter 20 on paramacros for details on illegal MDI
commands for these features.

4.8.1 Operating procedures in the MDI mode are as follows:

MDI Basic Operation
1. With the control in MDI mode, the control is ready to accept standard
programming blocks.

2. Key in programming blocks (see the programming section of this

manual beginning with chapter 10). Each block, a maximum of 62
characters long, must be separated with an end of block character
[EOB]. The blocks entered appear in the input area of the screen
(lines 2 and 3). You should enter the complete MDI program on
these lines since once you send the blocks to control memory, you
cannot edit or add-to them.

4-14
 Chapter 4
Manual/MDI Operation Modes

The input cursor is the cursor shown on the input lines (lines 2 and 3
on the screen). To move the cursor left and right in the input area,
press and hold the [SHIFT] key while pressing the left and right
cursor keys. The control inserts a new character to the left of the
cursor automatically when you press any character key.

If you make a mistake while keying in a character before it is sent

from the input area, you can edit that character by using the input
cursor described in chapter 2.

3. Press the [TRANSMIT] key to transmit the blocks to control

memory. Once the blocks have been sent to control memory, you
cannot send any more MDI blocks until the control has finished
executing all of the previous set.

The control displays the first 4 blocks of the MDI program entered
on lines 17-20 with an ! (exclamation point) just to the left of the
blocks. If inserting lines using MDI within a program selected for
automatic execution, the control inserts the MDI blocks just before
the next block to be executed.

If you need to abort the MDI program due to an error in the MDI
program or any other reason, discard the MDI program by executing
a control reset operation (see chapter 2).

4. Press the <CYCLE START> button to continuously execute the MDI

blocks in the AUTO or MDI modes. The single block, block retrace
and jog retract features are also available for MDI programs (see
chapter 7 for details on these features).

The control displays an @ symbol next to any executed MDI blocks.

The error message:

NO MORE MDI BLOCKS

appears if you press cycle start in the MDI mode when there are no
more executable MDI blocks remaining in memory. If the MDI
blocks were entered into an executing part program, you must return
the control to automatic mode to continue executing the part
program. If you execute the MDI program in the MDI mode,
execution is halted when the control encounters the first block of the
part program.

4-15
 Chapter 4
Manual/MDI Operation Modes

Figure 4.7
MDI Mode Program Screen

E-STOP

PROGRAM[ MM ] F 00000.000 MMPM

Z 00000.000 S 0

R X 00000.000 T 1

U 359.99

MEMORY MDI STOP N 99999

(First 4 blocks
of MDI shown here)

(PAL messages)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

Important: Performing a block reset operation causes the control to abort

the current MDI program block or skip the following MDI program block
(see chapter 2 for details). By performing a control reset operation, as
described in the control, the control erases all MDI blocks that have not
been executed in the MDI program (see chapter 3).

END OF CHAPTER

4-16
 5
Chapter

Editing Programs On Line

5.0 This chapter covers the basics of editing programs on line (at the controls
Chapter Overview keyboard) including:

Topic: On page:

Selecting a Program to Edit 5-1

Editing Programs at the Control (on line) 5-3
Programming Aids {QuickView} 5-16
Digitizing a Program (Teach) 5-28
Deleting a Program {DELETE} 5-37
Renaming Programs {RENAME} 5-38
Displaying a Program {DISPLY PRGRAM} 5-39
Comment Display {COMENT} 5-40
Copying Programs {COPY PRGRAM} 5-41
Selecting the Protectable Part Program Directory 5-42
Protected Program Encryption and Decryption 5-45
Storing Encryption/Decryption Table to Backup Memory 5-48

You can also edit, upload, copy, and perform file management operations
on your programs off line at a personal computer. These offline operations
are covered in chapter 6.

5.1 This section provides information on how to select a part program for
Selecting a Program to Edit editing. You can only edit on line part programs that you store in control
memory. If a part program is on tape or some other storage device and you
must edit it on line, copy the program to control memory as described in
chapter 5.

You can edit both active and inactive programs. You must exit the edit
operation of an active program before the control can execute that program
in automatic mode.

If an: displays to the left of the part program name, it means that the program is:

A currently active
E currently open for editing

5-1
 Chapter 5
Editing Programs On Line

To begin an edit operation on an active or inactive part program:

1. Press the {PRGRAM MANAGE} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

The control displays the main part program directory screen:

SELECTED PROGRAM:

MAIN DIRECTORY PAGE 1 OF 1

NAME SIZE COMMENT

MAIN 2.3
O12345 14.3
RRR 9.3 THIS IS A TEST PROG
TEST 3.9

4 FILES 120.2 METERS FREE

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

2. Select the directory that contains the program to edit. You can select
the main directory or the protectable directory. The control displays
the main directory as the default directory at power-up. You must
select the protectable directory by using the {CHANGE DIR} softkey.

The {CHANGE DIR} softkey controls access to the protectable part

program directory. This softkey is password protected. You must
have the proper password to access this softkey. See page 5-42 for
additional information on the protectable directory and the
{CHANGE DIR} softkey.

5-2
 Chapter 5
Editing Programs On Line

3. Select the part program you want to edit by using one of these two
methods:

Key in the program name of the part program to edit or create

or

Move the cursor to the program name on the program directory

screen by using the up and down cursor keys

Important: If you are creating a new program and using it as a

subprogram, see page 10-8 on program names. Programs used as
subprograms must have the letter O as the first character in the
program name, followed by up to 5 numeric characters.

4. Press the {EDIT PRGRAM} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERIFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

5.2 This section provides information on how to edit part programs after a
Editing Programs at the program has already been selected to edit as described on page 5-1.
Control (on line)
This section contains the following subsections:

Topic: On Page:

Moving the Cursor {STRING SEARCH} 5-5

Entering Characters and Blocks 5-7
Changing and Inserting {MODIFY INSERT} 5-7
Erasing Characters and Blocks 5-10
Sequence Numbers {RENUM PRGRAM} 5-13
Merging Part Programs {MERGE PRGRAM} 5-15
Exiting Edit Mode 5-15

5-3
 Chapter 5
Editing Programs On Line

ATTENTION: Any edit operation on a part program is

permanent. You cannot discard any changes that you made to a
program. The control saves programs in memory at the same
time they are edited.

Two major areas of the edit screen are dedicated to displaying specific
information:

Line Area Content

2-3 input lines when the data is entered, the control displays the character here.

7 - 20 program display the control displays the part program blocks as they are currently
lines been edited.

line 2-3 INSERT :

Input lines
area EDIT
FILE : 000001 POS 1*1 MODE : CHAR

N00020 WHILE [#1LT 10] DO 1;

N00025 G01 F1000 X#1;
N00030 G04 P1
N00035 #1 = [#1 + 1];
N00040 END 1;
N00050 M99;
line 7-20
Program
lines area

MODIFY BLOCK BLOCK DELETE EXIT

INSERT DELETE TRUNC CH/WRD EDITOR

The following subsections describe in detail, the use of the features

available when editing a part program.

5-4
 Chapter 5
Editing Programs On Line

5.2.1 This section covers moving the cursor in the program display area (lines
Moving the Cursor 7-20 of the CRT). It assumes that you have selected a program to edit as
{STRING SEARCH}
covered on page 5-1.

The input cursor is the cursor shown on the input lines (lines 2 and 3 on the
screen). Details on the input cursor are given on page 2-41.

To move the block cursor: Press these cursor keys on the operator panel:

right and left right and left

up and down up and down
up or down one full screen display up or down cursor keys while holding down the [SHIFT]
key

To search for a character or character string, press the continue {}

softkey to change the softkey functions and follow these steps:

1. Press the {STRING SEARCH} softkey.

(softkey level 3)

MODIFY BLOCK BLOCK DELETE EXIT

INSERT DELETE TRUNC CH/WRD EDITOR

STRING RENUM MERGE QUICK CHAR/

SEARCH PRGRAM PRGRAM VIEW WORD

DIGITZ
E

2. Move the cursor to the beginning or end of the part program:

(softkey level 4)

FORWRD REVRSE TOP OF BOT OF

PRGRAM PRGRAM

To move the cursor to the: Press this softkey:

beginning of the part program {TOP OF PROG}

end of the part program {BOT OF PROG}

3. Key in the character or character string to search for.

5-5
 Chapter 5
Editing Programs On Line

4. Select in which direction to search the part program.

(softkey level 4)

FORWRD REVRSE TOP OF BOT OF

PRGRAM PRGRAM

To search the part program in the: Press this softkey:

forward direction {FORWRD}

reverse direction {REVRSE}

If the control cannot find the character or character string, it places

the cursor at the end or beginning of the program being searched,
depending on the direction of the search.
5. To end the search operation, press the exit [ ] softkey.

Changing Cursor Size

You may want to change the cursor size for editing operations, such as
changing, inserting, or erasing. The control has two cursor sizes available:

single character cursor size ---- automatically assigned to the cursor

when you access the edit screen

word cursor size ---- used to encompass a word and its value for using
erasing, inserting, or changing operations

To modify the cursor size:

1. Press the continue {} softkey to change the softkey functions.

2. Press the {CHAR/WORD} softkey to select the block length for the
cursor (character or word). The block size changes each time you
press the {CHAR/WORD} softkey.
(softkey level 3)

MODIFY BLOCK BLOCK DELETE EXIT

INSERT DELETE TRUNC CH/WRD EDITOR

STRING RENUM MERGE QUICK CHAR/

SEARCH PRGRAM PRGRAM VIEW WORD

DIGITZ
E

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 Chapter 5
Editing Programs On Line

5.2.2 After you have selected a part program to edit, use the following method to
Entering Characters and add lines, blocks, or characters to the part program. The control should be
Blocks in the edit mode at this point with EDIT: displayed in the input area of the
screen (lines 2-3).

To enter blocks in a program:

1. Use the up, down, left and right cursor keys to move the block cursor
to the location where you want to add program blocks or characters.

2. Type the program characters you want to enter in the input area.
Press the [EOB] key (end of block) at the end of each block.

If you make a mistake while keying in a character before it is sent from

the input area, you can edit the input lines as described on page 2-41.

3. Press the [TRANSMIT] key to send data from the input lines to the
program display area.

After data has been sent to the program display area of the screen
(lines 7-22), you cannot edit it by using the input cursor.

4. Repeat these steps until the entire program has been entered.

5.2.3 Changing
Changing and Inserting
You can replace characters or words with one or several characters or
{MODIFY INSERT}
words by using the change feature. Follow these steps to change data that
has already been entered into the program display area.

1. From the edit menu, press the {MODIFY INSERT} softkey until the
control displays the MODIFY: prompt on the input line. The control
toggles between change and insert each time you press the
{MODIFY INSERT} softkey.

(softkey level 3)

MODIFY BLOCK BLOCK DELETE EXIT

INSERT DELETE TRUNC CH/WRD EDITOR

STRING RENUM MERGE QUICK CHAR/

SEARCH PRGRAM PRGRAM VIEW WORD

DIGITZ
E

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 Chapter 5
Editing Programs On Line

2. Use the up, down, left, and right cursor keys to move the block cursor
to the location where you need to change characters. The characters
to changed appear in reverse video.

3. Key in a new character or word to replace data located within the

cursor, then press the [TRANSMIT] key.

You can only change the data that is within the cursor. If you type in
more data than is contained in the cursor, the control inserts the extra
data to the right of the cursor. If you type in less data than is contained
in the cursor, the control deletes the remaining data in the cursor.

Example 5.1
Changing Characters
To change Z93 to W93 in the following block:

Program Block Enter Notes

(Program Display Area) (Input Area)

G01X93Z93; Move the block cursor to the Z in the program display area and toggle
the {MODIFY/INSERT} softkey to MODIFY:.
G01X93Z93; W Type this data into the input area, then press the [TRANSMIT] key.
G01X93W93; This is the block of altered commands shown in the program display
area.

Example 5.2
Changing Characters and Inserting At The Same Time
To change X97 to X96.5 in the following block:

Program Block Enter Notes

(Program Display Area) (Input Area)

G01X97Z93; Move the block cursor to the character 7 in the program display area
and toggle the {MODIFY/INSERT} softkey to MODIFY:.
G01X97Z93; 6.5 Type this data into the input area, then press the [TRANSMIT] key
G01X96.5Z93; This is the block of altered commands shown in the program display
area.

Example 5.3
Changing Words
To change X97 to X42 in the following block first select the word
cursor size (see page 5-5):

Program Block Enter Notes

(Program Display Area) (Input Area)

G01X97Z93; Move the block cursor to the word X97 in the program display area
and toggle the {MODIFY/INSERT} softkey to MODIFY:.
G01X97Z93; X42 Type this data into the input area, then press the the [TRANSMIT]
key
G01X42Z93; This is the block of altered commands shown in the program display
area.

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 Chapter 5
Editing Programs On Line

Inserting

You can insert characters, words, and blocks to the left of the program
display cursor within an already existing or newly created part program.
Follow these steps to use the insert function.

1. From the edit menu, press the {MODIFY INSERT} softkey until the
control displays the INSERT: prompt on the input line. The control
toggles between change and insert each time you press the
{MODIFY INSERT} softkey.

(softkey level 3)

MODIFY BLOCK BLOCK DELETE EXIT

INSERT DELETE TRUNC CH/WRD EDITOR

STRING RENUM MERGE QUICK CHAR/

SEARCH PRGRAM PRGRAM VIEW WORD

DIGITZ
E

2. Move the cursor in the program display area to the position that is just
right of the location to insert the new data by pressing the cursor keys.

3. Key in the characters, words, or blocks of commands you want to

insert into the input area, then press the [TRANSMIT] key.

Example 5.4
Inserting Characters
To change G01X97Z93; to two separate blocks:

Program Block Enter Notes

(Program Display Area) (Input Area)

G01X97Z93; Move the block cursor to the Z in the program display area and
toggle the {MODIFY/INSERT} softkey to INSERT:.
G01X97Z93; ; Type this data into the input area,then press the
[TRANSMIT] key.
G01X97; Result
Z93;

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 Chapter 5
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Example 5.5
Inserting Characters
To change X123.0 to X123.034

Program Block Enter Notes

(Program Display Area) (Input Area)

N1000X123.0Z45.0; Move the cursor to Z and toggle the {MODIFY/INSERT}

softkey to INSERT:.
N1000X123.0Z45.0; 34 Type this data into the input area, then press the
[TRANSMIT] key.
N1000X123.034Z45.0; Result

Example 5.6
Inserting Words
To change X93.Z20.; to X93.W31.Z20.;

Program Block Enter Notes

(Program Display Area) (Input Area)

X93.Z20.; Move the cursor to the Z and toggle the

{MODIFY/INSERT} softkey to INSERT:.
X93.Z20.; W31. Type this into the input area, then press the [TRANSMIT]
key.
X93.W31.Z20.; Result

5.2.4 The control can erase part program data in 3 ways:

Erasing Characters and
Erase a character or a word
Blocks
Erase all the characters from the current location of the cursor to the
EOB code (;)

Erase an entire block

Erasing a Character or Word

1. First, choose whether to erase a character or a word by pressing the

{CHAR/WORD} softkey.

2. From the edit menu, move the cursor until the character or word you
want to erase is in reverse video.

5-10
 Chapter 5
Editing Programs On Line

3. Press the {DELETE CH/WRD} softkey.

(softkey level 3)

MODIFY BLOCK BLOCK DELETE EXIT

INSERT DELETE TRUNC CH/WRD EDITOR

STRING RENUM MERGE QUICK CHAR/

SEARCH PRGRAM PRGRAM VIEW WORD

DIGITZ
E

Erasing Commands to the EOB

1. From the edit menu, move the cursor until the first character or word
you want to erase is in reverse video.

2. Press the {BLOCK TRUNC} softkey. The control erases all information
located from the cursor to the End of Block. You cannot erase the End
of Block character using the {BLOCK TRUNC} softkey.

(softkey level 3)

MODIFY BLOCK BLOCK DELETE EXIT

INSERT DELETE TRUNC CH/WRD EDITOR

STRING RENUM MERGE QUICK CHAR/

SEARCH PRGRAM PRGRAM VIEW WORD

DIGITZ
E

Example 5.7
Erasing To The End Of Block Character
To erase Z20. from the block below:

Program Block Enter Notes

(Program Display Area) (Input Area)

X93Z20; Move the cursor to the Z

X93Z20; Press the {BLOCK TRUNC} softkey.
X93; Result

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 Chapter 5
Editing Programs On Line

Erasing An Entire Block

1. From the edit menu, move the cursor until it is located on any
character that is in the block you want to delete.

2. Press the {BLOCK DELETE} softkey. The control erases the selected
block including the end of block character.

(softkey level 3)

MODIFY BLOCK BLOCK DELETE EXIT

INSERT DELETE TRUNC CH/WRD EDITOR

STRING RENUM MERGE QUICK CHAR/

SEARCH PRGRAM PRGRAM VIEW WORD

DIGITZ
E

Example 5.8
Erasing An Entire Block

Program Block Enter Notes

(Program Display Area) (Input Area)

X93M01Z10; Position the cursor any where in the block

X93M01Z10; Press the {BLOCK DELETE} softkey.
Result - - the block is completely deleted

Important: If the block consist of more than one line on the CRT, the
control deletes the entire block, not just the line that contains the cursor.

Erasing A Character Still In The Input Area

The control can also erase characters in the input area (lines 1-2 on the
screen) before being sent to the program display area. Delete the character
to the left of the cursor on the input line by pressing the [DEL] key. The
control inserts a new character to the left of the cursor automatically when
you press any character key. You can move the cursor on the input line by
holding down the [SHIFT] key and pressing the left and right cursor keys.

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5.2.5 You can assign each block in a part program a five-digit numeric value
Sequence Numbers following an N address. These numbers are referred to as sequence
{RENUM PRGRAM} numbers and distinguish one block from another.

You can assign sequence numbers at random to specific blocks or to all

blocks. Blocks assigned sequence numbers can be called later by
referencing their sequence number.

You can assign or renumber sequence numbers in 3 ways:

manually type in a sequence number following an N word for each

block individually

assign new sequence numbers only to blocks that already have sequence
numbers

assign new sequence numbers to all blocks

Follow these steps to assign or renumber sequence numbers:

1. From the edit menu, press the continue softkey {} to change the
softkey functions.

2. Press the {RENUM PRGRAM} softkey

(softkey level 3)

MODIFY BLOCK BLOCK DELETE EXIT

INSERT DELETE TRUNC CH/WRD EDITOR

STRING RENUM MERGE QUICK CHAR/

SEARCH PRGRAM PRGRAM VIEW WORD

DIGITZ
E

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3. Key in an initial sequence number (the number for the first sequence
number), a comma, and an incremental value for the control to add to
each new sequence number. The format to this command is

RENUM: initial-sequence-number, incremental-value

For example

RENUM:5,10

would make the first sequence number 5, the next 15, 25, 35....

Important: You must enter both the initial sequence number and the
incremental value as integer values. If you use a decimal point, the control
issues the error message ILLEGAL VALUE.

If no initial sequence number or no incremental value is given or

both are not entered, the control uses default values of one.

4. Select the blocks to renumber by using one of the two choices:

(softkey level 4)

ALL ONLY
N

If you want to: Then press:

assign sequence numbers or to reassign sequence numbers to {ALL} softkey

all blocks from the beginning of the part program
assign new sequence numbers to only the blocks that already {ONLY N}
have sequence numbers softkey

ATTENTION: When the control performs a renumber

operation, features in the part program that reference a specific
block number may no longer be referencing the correct block.
For example, a paramacro GOTO 10 command may not call the
correct block after the renumber operation. When a renumber
operations is performed, you must manually go through the
program to make sure that these block references are correct.

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5.2.6 You can merge a complete part program within another part program while
Merging Part Programs one of the programs is in the edit mode. To merge part programs, follow
{MERGE PRGRAM} these steps:

1. Use the up, down, left and right cursor keys to move the block cursor
to the location in the program display area just past the location in the
program where you want to insert another program. The control
inserts the merged program to the left of the cursor. Each end of the
block statement creates a new line.

2. Press the continue softkey {} to change the softkey functions.

3. Press the {MERGE PRGRAM} softkey. The prompt MERGE

PRGRAM: appears on the input line of the screen.

(softkey level 3)

MODIFY BLOCK BLOCK DELETE EXIT

INSERT DELETE TRUNC CH/WRD EDITOR

STRING RENUM MERGE QUICK CHAR/

SEARCH PRGRAM PRGRAM VIEW WORD

DIGITZ
E

4. Key in the program name of the part program to insert, then press the
[TRANSMIT] key or the {EXEC} softkey.

(softkey level 4)

EXEC

5.2.7 When you are editing a program, all changes and additions that you make
Exiting Edit Mode are saved immediately in the controls memory. There is no formal save
command to be executed.

You cannot quit, abandon, or abort an edit session and restore the
original version of a program you have been editing. For that reason, it is
good practice to copy a program (see page 5-41) prior to editing if there is
a chance the original version is needed.

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To exit the edit mode from the edit menu, press the {EXIT EDITOR}
softkey.

(softkey level 3)

MODIFY BLOCK BLOCK DELETE EXIT

INSERT DELETE TRUNC CH/WRD EDITOR

STRING RENUM MERGE QUICK CHAR/

SEARCH PRGRAM PRGRAM VIEW WORD

DIGITZ
E

Important: Do not press the Exit { } softkey to leave a program being

edited. You must use the {EXIT EDITOR} softkey to close the program
editor.

Exiting using the Exit { } softkey (shown on the CRT as an up arrow)

causes the following problems:

the program editor remains open for that program

the open editor prevents execution of that program (the error

PROGRAM BEING EDITED appears)

no other programs can be edited

Even though it appears that you can select other programs for editing,
when you press the {EDIT PRGRAM} softkey, the previous program
remains in the editor and appears on the edit screen. No error or
warning message is generated.

5.3 This section contains the following subsections:

Programming Aids
QuickView Topic: On Page:

Using {QPATH+ PROMPT} Sample Patterns 5-19

G Code Format Prompting {G CODE PROMPT} 5-23
Grinder Cycle Format Prompting 5-25
Selecting a QuickView Plane 5-27

The QuickView features display sample patterns or the G-code prompts to

help in writing part programs. By keying in data corresponding to
prompted messages, the control automatically generates the required
block(s) to insert into an existing part program.

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The QuickView feature aids the programmer by giving access to:

QuickPath Plus Prompts -- a selection of commonly used sample

patterns representing a series of machining steps with prompts for the
necessary words to program it using QuickPath Plus. See page 12-11
for details on QuickPath Plus

G-code Prompting -- a selection of the more commonly used G codes

with prompts for the necessary words to program it

Grinder Prompting -- a selection of the more commonly used grinder

cycles with prompts for the necessary words to program it

Plane Select -- a selection of the planes in which the different

QuickView features are programmed

Important: Before accessing a QuickView screen any active graphics or

Quick Check graphics features must be disabled. If you attempt to access a
QuickView screen without first deactivating both graphics features, the
control issues the message MUST DISABLE RUN-TIME GRAPHICS.
The {DISABL GRAPHS} softkey becomes available, letting the operator
disable graphics from the current location in the softkey tree.

Use these steps to select the QuickView features:

1. Select a program for editing as covered on page 5-1.

2. From the edit menu, press the {QuickView} softkey.

(softkey level 3)

MODIFY BLOCK BLOCK DELETE EXIT

INSERT DELETE TRUNC CH/WRD EDITOR

STRING RENUM MERGE QUICK CHAR/

SEARCH PRGRAM PRGRAM VIEW WORD

DIGITZ
E

The softkey functions change to those indicated below:

(softkey level 4)

QPATH+ G CODE GRINDR PLANE

PROMPT PROMPT PROMPT SELECT

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See the following subsections for information about using the QuickView
functions.

Axis Selection
The selection of the axes that can be programmed using QuickView is
determined by the type of QuickView prompt you are using. G codes are
either planar, or non-planar.

Planar G Codes -- Planar G codes are used by any feature that is plane
dependant (such as G02, G41, Cycles, etc...). The first two axes are
selected with the {PLANE SELECT} QuickView softkey discussed on
page 5-27. The third axis displayed is the axis not in the current plane
but in both of the other planes defined. For example if G17=XY,
G18=ZX , G19=YZ and G18 is selected as the QuickView plane then Y
would be the third axis since it is in both G17 and G19 planes but not in
the G18 plane. If there is no common axis between these two planes
then the next linear axis defined that is not already in the QuickView
plane is used.

Non-Planar G Codes - Non-planar G codes are used by any feature that

is not plane dependant (such as G01, G04, G92, etc...). The axes used
for QuickView prompts for these features are independent of the
QuickView plane you have selected. The control uses the first three
linear axes configured.
Important: Two digit axis names are not compatible with the QuickView
feature (typically only used on systems with more than 9 axes and consist
of a dollar sign $ followed by a letter). When an attempt is made to
display one of these axis names on a QuickView prompt, the axis name is
displayed as a $ only. QuickView can not be used to create part program
blocks with $ axis names.

On QuickView screens that display more axis then currently configured in

the system (as configured in AMP), the graphics and prompts will display
asterisks for the un-available axes names. No data can be entered on these
prompts where the asterisks is present.

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5.3.1 With the QuickView functions and QuickPath Plus, you can use
Using {QPATH+ PROMPT} dimensions from part drawings directly to create a part program. The
Sample Patterns sample patterns available with the QuickPath Plus prompts are summarized
below.

Use this pattern: When you are programming And you know the:
this geometry:

{CIR an arc to a line arc radius and the taper angle of a line
ANG PT}

{CIR CIR} an arc to another arc coordinates of the arc centers

{ANG a line to an arc taper angle of a line and the arc radius
CIR PT}

{1ANG PT} a line taper angle and either of the end point
coordinate values

{2ANG 1PT} two successive lines angles of two tapered lines

{2ANG two lines joined by an arc angles of two tapered lines

1PT R}

{2PT R} two lines joined by an arc intersection point of two lines

{2ANG two lines joined by a chamfer angles of two tapered lines

1PT C}

{2PT C} two lines joined by a chamfer intersection point of two lines

{2ANG three lines joined by and tangent taper angles of two lines and two arc
2PT R} to two arcs radii

{3PT R} three lines joined by an arc two intersection points

between two adjacent lines

{2ANG three lines joined by chamfers taper angles of two lines and one
2PT C} intersection point

{3PT C} three lines joined by chamfers two intersection points

{2ANG three lines joined by an arc and a taper angles of two tapered lines and
2PT RC} chamfer one intersection point

{3PT RC} three lines joined by an arc and a two intersection points
chamfer

{2ANG three lines joined by an arc and a taper angles of two lines and one
2PT CR} chamfer intersection point

{3PT CR} three lines joined by an arc and a two intersection points
chamfer

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Angle of a line, corner radius, and chamfer size are often necessary for a
sample pattern in QuickPath Plus prompting. These prompts in QuickPath
Plus prompting refer to these drawing dimensions:

If you see a: It means:

A Angle
,R Corner radius
,C Chamfer size
L Length of line

For more information regarding these designations, see page 12-11 on

programming QuickPath Plus and page 12-22 on corner radius and
chamfer.

Your system installer can select a different address for angle A in AMP.
See your system installers documentation.

Axis words followed by a (1), (2), or (3) are prompting for the first,
second, or third coordinate position respectively. The location of the first,
second, or third axis word is shown on the drawing accompanying the
prompt screen.

Prompts that appear in reverse video indicate that this parameter is optional
and you do not need to enter it in this block. Prompts that appear with an OR
to the left of the prompt indicate that there are two or more optional
parameters for this prompt; only one of them must have a value assigned to it.

Follow these steps to use the QuickPath Plus QuickView feature.

1. From the QuickView menu, press the {QPATH+ PROMPT} softkey.

(softkey level 4)

QPATH+ G CODE GRINDR PLANE

PROMPT PROMPT PROMPT SELECT

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The control displays the first QuickPath Plus sample pattern screen:

CIRCLE, ANGLE, POINT ANGLE, CIRCLE, POINT

CIRCLE , CIRCLE ANGLE, POINT

QUICKPATH PLUS MENU 1

CIR CIR ANG ANG

ANG PT CIR CIR PT PT

2. Select a sample pattern matching the part geometry you want to

program and press the corresponding softkey.

To select other sample patterns, press the continue softkey {}.

3. After selecting the sample pattern, enter values for the parameters in
this way:

Use the up and down cursor keys to select the parameter to change
or enter. The selected item appears in reverse video.

Type in the data on the input line of the CRT and press the
[TRANSMIT] key. The data typed in is entered as the data for the
selected parameter.

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4. After you enter all data for the pattern, press the {STORE} softkey to
store the data.

(softkey level 6)

STORE

The control generates the necessary block(s) to create the axis

moves. The control displays these blocks in the input area next to
the EDIT: prompt. You can edit these blocks in the input area as
covered on page 2-41.

5. To enter the blocks in the program being edited, move the block cursor
in the program display area just past the location in the program where
you want to insert the new blocks. Then press the [TRANSMIT] key.
The generated blocks are entered to the left of the cursor.

6. Press the exit { } softkey to return to the main edit menu or press a
different QuickView key for more prompting.

The following is an example of using one of the QuickPath Plus prompting

screens. After you press the {3PT C} softkey, the control displays the
prompt screen for that sample pattern. The following figure shows what
data must be entered for that prompted screen to generate the necessary
paths correctly.

C1 - Length of the 1st chamfer

C2 - Length of the 2nd chamfer
X1 - End coordinates of the 1st line in the
current plane
C2
X2 - End coordinates of the 2nd line in
the current plane
(X2, Z2) X3 - End coordinates of the 3rd line in
(X3, Z3,)
the current plane
Z1 - End coordinates of the 1st line in the
current plane
C1 Z2 - End coordinates of the 2nd line in
the current plane
Z3 - End coordinates of the 3rd line in
(X1, Z1) the current plane

12006-I

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5.3.2 G-code format prompting aids the operator in programming different G

G Code Prompting codes by prompting the programmer for the necessary parameters. A
{G CODE PROMPT} graphical representation is usually provided to show the programmer a
sample of what the G-code parameters are used for.

Grinder surface or cylindrical G codes are listed under the

{GRINDER PROMPT} softkey.

To use the G-code prompting menus:

1. From the QuickView menu, press the {G CODE PROMPT} softkey.

(softkey level 4)

QPATH+ G CODE GRINDR PLANE

PROMPT PROMPT PROMPT SELECT

The control displays the following G-code prompt select screen:

G CODE PROMPTING MENU DISPLAY PAGE 1 OF 3

G00/01 RAPID/LINEAR INTERPOLATION

G02/03 CIRCULAR/HELICAL INTERPOLATION, CW/CCW
G04 DWELL
G07/G08 RADIUS/DIAMETER PROGRAMMING
G09/61/62/ CUTTING MODE SELECTION
64
G10L2 WORK COORDINATE SYSTEM TABLE ENTRY
G10L10&L11 TOOL OFFSET TABLE ENTRY
G14.1/14 SCALING ENABLED/DISABLED
G20 SINGLE PASS O.D. AND I.D. ROUGHING
G24 SINGLE PASS ROUGH FACING CYCLE

SELECT

2. Position the cursor at the G code to prompt by using the up and down
cursor keys. The selected G code appears in reverse video.

3. Once you select the correct G code, press the {SELECT} softkey. The
control displays a screen with prompts for that G code.

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4. Use the up and down cursor keys to select the parameters you want to
change or enter. The selected item appears in reverse video.

Axis words followed by a (1), (2), or (3) are prompting for the first,
second, or third coordinate position respectively. The location of the
first, second, or third axis word appears on the drawing
accompanying the prompt screen.

Prompts that appear in reverse video indicate that this parameter is

optional and does not need to be entered in this block. Prompts that
appear with an OR to the left of the prompt indicate that there are
two or more optional parameters for this prompt; only one of them
must have a value assigned to it.

5. Enter the data for that parameter on the input line of the CRT and
press the [TRANSMIT] key.

6. After you enter all data for the G code, press the {STORE} softkey to
store the data.

(softkey level 6)

STORE

The control generates the necessary G-code block. The control

displays the generated block in the input area next to the EDIT:
prompt. You can edit this block in the input area by using the
techniques covered on page 2-41.

7. To enter the blocks in the program being edited, move the block
cursor in the program display area just past the location in the
program where you want to insert the new blocks. Press the
[TRANSMIT] key to enter the generated block in the program to the
left of the cursor.

8. Press the exit { } softkey to return to the main edit menu or press a
different QuickView key for more prompting.

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5.3.3 Grinder cycle prompting aids the operator in programming surface or

Grinding Cycle Prompting cylindrical grinding cycle blocks by prompting the programmer for the
{GRINDR PROMPT} necessary parameters and giving a graphical representation of the cycle
operation.

For G-code prompts other than these cycles, see page 5-23.

To use the grinder cycle prompting function, follow these steps:

1. From the QuickView menu, press the {GRINDR PROMPT} softkey.

(softkey level 4)

QPATH+ G CODE GRINDR PLANE

PROMPT PROMPT PROMPT SELECT

One of the following two screens appear depending on your control

type configuration in AMP.

If you have configured a cylindrical grinder, this screen appears:

E-STOP

GRINDER PROMPT MENU DISPLAY

.
G80 CANCEL OR END FIXED CYCLE
G81 RECIPROCATION
G81.1 RECIPROCATION PREDRESS
G82 INCREMENTAL FACE
G82.1 INCREMENTAL FACE PREDRESS
G83 INCREMENTAL PLUNGE
G83.1 INCREMENTAL PLUNGE PREDRESS
G84 MULTI FACE
G84.1 MULTI FACE PREDRESS
G85 MULTI PLUNGE
G85.1 MULTI PLUNGE PREDRESS
G86 SHOULDER
G86.1 SHOULDER PREDRESS
G87 FACE PLUNGE SHOULDER
G87.1 FACE PLUNGE SHOULDER PREDRESS
G88 DIAMETER PLUNGE SHOULDER
G88.1 DIAMETER PLUNGE SHOULDER PREDRESS

SELECT

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If you have configured a surface grinder, this screen appears:

E-STOP

GRINDER PROMPT MENU DISPLAY

.
G80 CANCEL OR END FIXED CYCLE
G81 RECIPROCATION
G81.1 RECIPROCATION PREDRESS
G82 PLUNGE
G82.1 PLUNGE PREDRESS
G83 INCREMENTAL PLANE 1
G83.1 INCREMENTAL PLANE 1 PREDRESS
G84 INCREMENTAL PLANE 2
G84.1 INCREMENTAL PLANE 2 PREDRESS
G85 CONTINUOUS PLANE 1
G85.1 CONTINUOUS PLANE 1 PREDRESS
G86 CONTINUOUS PLANE 2
G86.1 CONTINUOUS PLANE 2 PREDRESS

SELECT

2. Position the cursor at the desired cycle to prompt by using the up and
down cursor keys. The selected G code cycle appears in reverse
video.

3. Once you select the correct cycle code, press the {SELECT} softkey.
The control displays a screen with prompts for that cycle along with a
graphical representation of the cycle.

4. Use the up and down cursor keys to select the parameters you want to
change or enter. The selected parameter appears in reverse video.

Axis words followed by a (1), (2), or (3) are prompting for the first,
second, or third coordinate position respectively. The location of the
first, second, or third axis word appears on the drawing
accompanying the prompt screen.

Prompts that appear in reverse video indicate that this parameter is

optional and need not be entered in this block. Prompts that appear
with an OR to the left of the prompt indicate that there are two or
more optional parameters for this prompt; only one of them must
have a value assigned to it.

5. Type in the data for that parameter on the input line of the CRT and
press the [TRANSMIT] key.

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6. After you enter all data for the G code, press the {STORE} softkey to
store the data.

(softkey level 6)

STORE

The control generates the necessary G code block. The control

displays the generated block in the input area next to the EDIT:
prompt. You can edit this block in the input area by using the
techniques covered on page 2-41.

7. To enter the blocks in the program you want to edit, move the block
cursor in the program display area just past the location in the
program where you want to insert the new blocks. Press the
[TRANSMIT] key to enter the generated block in the program to the
left of the cursor.

8. Press the exit { } softkey to return to the main edit menu or press a
different QuickView key for more prompting.
For details on the parameters used in a specific cycle, see chapter 18 for
details on turning cycle operation and parameters.

5.3.4 You can select the plane used to program the different QuickView features.
Selecting a QuickView Plane This feature determines which plane is displayed during QuickView
prompting and the axis names displayed for the prompts. You can only use
primary planes with the QuickView feature. You cannot select any parallel
planes with the QuickView feature.

Your system installer determines the primary planes established by G17,

G18, and G19 in AMP. See page 11-33 for details on plane selection. To
set the plane to program in with the QuickView feature, follow these steps:

1. From the QuickView menu, press the {PLANE SELECT} softkey.

(softkey level 4)

QPATH+ G CODE GRINDR PLANE

PROMPT PROMPT PROMPT SELECT

The control displays the currently selected plane. The right side of
the screen lists the primary and secondary axes for the plane. AXIS
1 is the first axis in the plane (primary axis), and AXIS 2 is the
second axis in the plane (secondary axis).

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2. Press the softkey that corresponds to the plane you want to program
in (G17, G18, or G19). See documentation prepared by your system
installer for details on the planes selected by these G-codes.

The display changes to show the selected plane.

(softkey level 5)

SET ANGLED G17 G18 G19

PLANE

3. If the plane displayed is the plane in which you want to program the
QuickView feature, press the {SET} softkey. All of the prompts for
the QuickView feature are changed to display the newly selected
plane.

Important: This does not select the current operating plane on the control;
it only modifies the plane being programmed in. To change the currently
active plane on the control, it is necessary to execute a program block
containing a G17, G18, or G19 block. This block is automatically
generated, when necessary, by the QuickView feature and inserted into the
program being edited. When the control executes this program, the correct
planes are established.

Important: Special consideration for planes should be made when

QuickView is used to program an angled-wheel grinder. Refer to page
14-6 for details.

5.4 This section contains the following subsections:

Digitizing a Program (Teach)
Topic: On Page:

Linear Digitizing 5-31

Digitizing an Arc (3 Points) 5-33
Digitizing an Arc Tangent at End Points 5-35

The digitize feature allows the programmer to generate blocks in a

program based on the actual position of the grinding wheel rather then
typing in positions manually. The control records actual wheel locations
and uses them to generate program blocks.

You can use the digitize feature in any operating mode (AUTO,
MANUAL, or MDI). It is accessed through the regular edit menu which
allows any of the other edit features to be used on blocks that are generated
using the digitize feature.

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To use the digitize feature:

Important: The following description covers the use of softkeys to

perform digitizing. Your system installer may have written PAL to allow
some other method of digitizing. If this is the case, see documentation
provided by your system installer.

1. Select a part program to edit by pressing the {PRGRAM MANAGE}

softkey. Enter a program name and press the {EDIT PRGRAM} softkey.
See page 5-1 on selecting a program.

2. From the edit menu, press the {DIGITIZE} softkey.

(softkey level 3)

MODIFY BLOCK BLOCK DELETE EXIT

INSERT DELETE TRUNC CH/WRD EDITOR

STRING RENUM MERGE QUICK CHAR/

SEARCH PRGRAM PRGRAM VIEW WORD

DIGITZ
E

3. Position the grinding wheel using one of the following methods. The
grinding wheel should be located at the desired start point of the new
program.

Jog the axes in MANUAL mode

Automatically move the axes by executing a part program or MDI

Manually move the axes using any means as long as the encoder is
still actively recording the wheel position (see the documentation
prepared by your system installer)

4. Press the {MODE SELECT} softkey to change any of the following

programming modes while digitizing a program:

(softkey level 4)

LINEAR CIRCLE CIRCLE MODE

3 PNT TANGNT SELECT

Inch/metric
Absolute programming/incremental programming
Change planes G17, G18, or G19
Radius programming/Diameter programming

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5. Press the softkey that corresponds to the mode you want to change.

(softkey level 5)

INCH/ ABS/ PLANE DIA/

METRIC INCR SELECT RADIUS

The control displays the mode that the next block is programmed in
in the upper right hand corner of the screen. The modes and their
abbreviations are listed in Table 5.A.

Table 5.A
Changing Programming Modes During Digitizing

Mode Changed To: Abbreviation G-code Generated Softkey

ABSOLUTE MODE ABS G90 {ABS/INCR}

INCREMENTAL MODE INC G91 {ABS/INCR}
PLANE SELECTED G17,G18,G19 G17, G18, G19 {PLANE
SELECT}
DIAMETER MODE DIA G08 {DIA/
RADIUS}
RADIUS MODE RAD G07 {DIA/
RADIUS}
INCH MODE INCH G20 {INCH/
METRIC}
METRIC MODE METRIC G21 {INCH/
METRIC}

Each time you press the softkey corresponding to the mode, the
displayed G-code changes.

6. When the mode you want appears, press the exit { } softkey to exit
the mode select screen.

This returns the control to softkey level 4. The next block generated
has the necessary G codes to change the mode inserted at the
beginning of the block.

Important: This does not change the current operating mode of the
control. The control only inserts the blocks to change the operating
mode in the program. The mode does not change unless that block is
executed or some other MDI or program block that changes modes is
executed.

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7. Determine if the next move is linear or circular.

(softkey level 4)

LINEAR CIRCLE CIRCLE MODE

3 PNT TANGNT SELECT

If the next move is: Then press this softkey:

linear {LINEAR} (see page 5-31)

circular {CIRCLE 3 PNT} if 3 points on the arc are known (see page
5-33)
or
{CIRCLE TANGNT} if the endpoint of the arc and the line that
is tangent to the start point of the arc is known (see page 5-35).

5.4.1 To digitize a linear move:

Linear Digitizing
1. Press the {LINEAR} softkey.

When you press the {LINEAR} softkey, the control sets the current
wheel position as the start point of a linear move. The screen changes
to display the current wheel location in large display characters:

DIGITIZE:
E-STOP

TARGET[ MM ]

R X - 0.000
Z - 0.000

F 0.000 MMPM S 00

STORE EDIT &

END PT STORE

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2. Reposition the wheel at the desired end point of the linear move by
using any of the following methods:

Jog the Axes in MANUAL mode

Automatically move the axes by executing a part program or MDI

program
Manually move the axes using any means as long as the encoder is
still actively recording the wheel position (see the documentation
prepared by your system installer)

3. Press either the {STORE END PT} or the {EDIT & STORE} softkeys
after the axes are positioned at the end point of the linear move. This
records the current wheel location as the final position for this
digitize operation.

The {STORE END PT} softkey does not return the control to the
program display screen. Pressing this softkey inserts the generated
block at whatever location the cursor was last at and allows the
operator to immediately begin entering the next block using this
same digitize feature.

The {EDIT & STORE} softkey returns the control to the program
display screen. The program block just generated is displayed on the
input line of the CRT and can be edited as covered on page 2-41.
The control then inserts this block at the location of the block cursor
when you press the [TRANSMIT] key.

Important: To abort the linear digitize operation, press the exit

{ } softkey at any time before you press the {STORE END PT} or
{EDIT & STORE} softkeys. The control returns to softkey level 4.
Then select another digitize feature (by pressing one of the softkeys)
or press the exit { } softkey to return the control to the regular edit
session.

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5.4.2 To digitize a 3 point arc:

Digitizing an Arc (3 Points)
1. Press the {CIRCLE 3 PNT} softkey.

When you press the {CIRCLE 3 PNT} softkey, the control sets the
current wheel position as the start point (first point of 3 that is
necessary to describe an arc) of a circular move.

The screen changes to display the current wheel location in large

display characters:

DIGITIZE:

TARGET[ MM ] E-STOP

R X - 0.000
Z - 0.000

F 0.000 MMPM S 00

RECORD STORE EDIT &

MID PT END PT STORE

2. Reposition the wheel at any point on the arc between the start and the
end point by using any of the following methods:

Jog the Axes in manual mode

Automatically move the axes by executing a part program or MDI

program

Manually move the axes using any means as long as the encoder is
still actively recording the wheel position (see documentation
prepared by your system installer)

3. After storing the second point on the arc, reposition the axes at the
end point of the arc.

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4. Press either the {STORE END PT} or the {EDIT & STORE} softkeys to
store this block as a circular block. This records the current wheel
location as the final position for this digitize operation.

The {STORE END PT} softkey does not return the control to the
program display screen. Pressing this softkey inserts the generated
block at whatever location the cursor was last at and allows the
operator to immediately begin entering the next block using this
same digitize feature.

The {EDIT & STORE} softkey returns the control to the program
display screen. The program block just generated is displayed on the
input line of the CRT and can be edited as covered on page 2-41.
The control then inserts this block at the location of the block cursor
when you press the [TRANSMIT] key.

Important: To abort the circular digitize operation, press the exit { }

softkey at any time before pressing the {STORE END PT} or
{EDIT & STORE} softkeys. The control returns to softkey level 4. Then
select either another digitize feature (by pressing one of the softkeys) or
press the exit { } softkey to return the control to the regular edit session.

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5.4.3 To digitize an arc that is tangent at the endpoint of the previous path:
Digitizing An Arc Tangent at
1. Press the {CIRCLE TANGNT} softkey.
End Points
When you press the {CIRCLE TANGNT} softkey, the control sets the
current wheel position as the start point of a circular move. If the
previous block was circular, a tangent to the end point of the arc is
used as the tangent point to the following block.

Important: You cannot select the {CIRCLE TANGNT} feature as the first
motion block in a part program because there is no path for the start of the
arc to be tangent to.

The screen changes to display the current wheel location in large

display characters:

DIGITIZE:
E-STOP
TARGET[ MM ]

R X - 0.000
Z - 0.000

F 0.000 MMPM S 00

STORE EDIT &

END PT STORE

2. Reposition the wheel at the end point of the arc by using any of the
following methods:

Jog the Axes in manual mode

Automatically move the axes by executing a part program or MDI

program
Manually move the axes using any means as long as the encoder is
still actively recording the wheel position (see documentation
prepared by your system installer)

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3. Press either the {STORE END PT} or the {EDIT & STORE} softkeys
after the axes have been positioned at the end point of the arc. The
control stores the current wheel position as the end point of the arc.

The {STORE END PT} softkey does not return the control to the
program display screen. Pressing this softkey inserts the generated
block at whatever location the cursor was last at on the program edit
screen and allows the operator to immediately begin entering the
next block using this same digitize feature.

The {EDIT & STORE} softkey returns the control to the program
display screen. The program block just generated is displayed on the
input line of the CRT and can be edited as covered on page 2-41.
This block is then inserted at the location of the block cursor when
you press the [TRANSMIT] key.

Important: To abort the circular digitize operation, press the exit { }

softkey at any time before pressing the {STORE END PT} or
{EDIT & STORE} softkeys. The control returns to softkey level 4. Then
select either another digitize feature (by pressing one of the softkeys) or
press the exit { } softkey to return the control to the regular edit session.

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5.5 To delete a part program stored in memory:

Deleting A Program
1. Press the {PRGRAM MANAGE} softkey.
{DELETE PRGRAM}
(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Press the {DELETE PRGRAM} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERIFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

ATTENTION: Once you delete a program from memory, it

cannot be recovered. To abort the delete program operation,
press the {DELETE NO} softkey.

3. Select one of these two choices:

Key in the program name and press the {DELETE YES} softkey

Move the block cursor down until the desired program is in reverse
video and press the {DELETE YES} softkey
(softkey level 3)

DELETE DELETE
YES NO

You can delete all programs at once by formatting the RAM disk as
described on page 2-42. Formatting the RAM disk, however, deletes all
programs from both the main directory and the protected directory. If you
do not have access to the protected directory, do not format the RAM disk.

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5.6 To change the program names assigned to the part programs stored in
Renaming Programs memory:
{RENAME PRGRAM}
1. Press the {PRGRAM MANAGE} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Press the {RENAME PRGRAM} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERIFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

3. Key in the current program name or cursor down until the desired
program is in reverse video. Then type in a comma, the new program
name, and press the {RENAME YES} softkey. To abort the operation,
press the {RENAME NO} softkey.

:current-program-name,new-program-name

(softkey level 3)

RENAME RENAME
YES NO

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5.7 The 9/Series control has a part program display feature that lets you view,
Displaying a Program but not edit, any part program.
{DISPLY PRGRAM}
Follow these steps to display a part program stored in the controls
memory:

1. Press the {PRGRAM MANAGE} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Select the input device by using the {INPUT DEVICE} softkey (as
covered in chapter 7). This is only necessary if the currently active
input device is not the device that the part program to display is
currently resident on. The default input device is control memory.

3. Move the block cursor to the program to be displayed (if the program
is resident in control memory) or key in the program name (if reading
from an input device attached to port A or port B).

4. Press the {DISPLY PRGRAM} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERIFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

5. To scroll the part program blocks, hold down the [SHIFT] key, then
press the up and down cursor keys. If you display the program from
a peripheral device, you can only use the forward direction to display
the program.

6. To end the displaying operation, press the exit { } softkey. The

display returns to the program directory screen.

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5.8 You can assign each individual program a short comment that is displayed
Comment Display on the program directory screens. Use these comments to help identify a
{PRGRAM COMENT} program when selecting it for automatic operation or for editing.

Important: These comments are not normally the same as a comment

block made within a part program. Comment blocks are covered on page
10-10. If a comment block is assigned as the first block of the part
program, it is also displayed on the program directory screen as a
comment. Any other comment blocks have no affect on the comment
display.

To assign a comment to a program without using a comment block as the

first block of the program, follow these steps:

1. Press the {PRGRAM MANAGE} softkey. This displays the program

directory screen. Any existing comments that have previously been
assigned to a program are displayed to the right of the program name.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Using the up and down cursor keys, select the program to assign a
comment. The selected program name appears in reverse video.

3. Press the {PRGRAM COMENT} softkey. The comment softkey is

displayed in reverse video and the control displays the prompt
COMMENT: on line 2 of the screen.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERIFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

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If a comment has previously been entered, it is displayed to the right

of the COMMENT prompt. This comment can be edited using the
input cursor as covered on page 2-41, or the old comment can be
deleted by pressing the [DEL] key while holding down the [SHIFT]
key.

4. Type in the new comment or edit the old comment by using the
keyboard keys.

5. When the new comment is correctly displayed on line 2 of the screen,

press the [TRANSMIT] key. The new comment is displayed next to the
selected program.

5.9 This section contains information on making a duplicate of an existing part

Copying Programs program in the controls memory. To input or output a part program
{COPY PRGRAM} from/to a peripheral device, see the sections on inputting or outputting
programs covered in chapter 9.

To copy part programs stored in memory using different program names:

1. Press the {PRGRAM MANAGE} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Press the {COPY PRGRAM} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERIFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

3. Key in or cursor down to the program name of the program you want
to copy.

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4. Key in a comma followed by a new program name for the duplicate

program.

COPY: FROM_NAME,TO_NAME

5. Press the {MEM TO MEM} softkey.

(softkey level 3)

MEM TO PORT A MEM TO PORT B MEM TO

PORT A TO MEM PORT B TO MEM MEM

The following message appears:

FROM: (source program name)

TO: (new programs name)

Important: The control displays the active communication parameters if

one of the communication ports has been chosen. If the communication
port parameters do not match that of the peripheral device, they must be
altered for a successful copy to take place. For details on setting
communication port parameters, see page 9-1.

6. Select the {COPY YES} or {COPY NO} softkey. {COPY YES} copies the
part program, while {COPY NO} aborts the copy operation.

(softkey level 4)

COPY COPY
YES NO

7. If you want to verify that the copied program identically matches the
original, use the {VERIFY PRGRAM} feature covered in chapter 9.

5.10 This section contains information on how to select the protectable part
Selecting the Protectable program directory. Use this directory to store part programs that you wish
Part Program Directory to control access to. When part programs that have previously been
protected through encryption are downloaded to the control from ODS or
the Mini-DNC package, they are automatically stored in the protectable
part program directory.

Important: The {CHANGE DIR} softkey controls access to the protectable

part program directory. This softkey is password protected. You must
have the proper password to access this softkey.

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If you have access to the {CHANGE DIR} softkey, you can:

perform any of the program edit functions on the protected programs
directly select and activate any of the protected programs
view programs executing from this directory
You can only call a protected program from a main program using a
subprogram, G code macro, or M code macro call without access to the
{CHANGE DIR} softkey.

If you do not have access to the {CHANGE DIR} softkey, you cannot view the
executing blocks of the program called from the protected directory.

To access the protectable part program directory:

1. Press the {PRGRAM MANAGE} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

The control displays the main program directory screen:

SELECTED PROGRAM:

MAIN DIRECTORY PAGE 1 OF 1

NAME SIZE COMMENT

MAIN 2.3
O12345 14.3
RRR 9.3 THIS IS A TEST PROG
TEST 3.9

4 FILES 120.2 METERS FREE

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

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2. Press the {CHANGE DIR} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERIFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

Important: The control does not display the {CHANGE DIR} softkey
if your password does not allow you access to it.

The control displays the protectable directory screen:

SELECTED PROGRAM:

PROTECTABLE DIRECTORY PAGE 1 OF 1

NAME SIZE COMMENT

PROTECT1 2.3
PROTECT2 14.3
PROTECT3 9.3 THIS IS A PROTECTED
PROG
PROTECT4 3.9

REFORM CHANGE NCRYPT SET-UP

MEMORY DIR MODE NCRYPT

4 FILES 120.2 METERS FREE

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The programs in this directory are protected. This means:

they are processed the same as unprotected programs

the blocks of protected programs are not displayed during program

execution unless you have access to the {CHANGE DIR} softkey (in place
of the protected program blocks, the last user non-protected
programming block is displayed)

you can cycle stop during program execution (but you cannot single
block through a program)

5.10.1 Protected program encryption and decryption allow you to encrypt a

Protected Program protected program so that it is unreadable when it is uploaded. Protected
Encryption and Decryption programs in encrypted form can only be uploaded or downloaded by using
the Upload and Download utilities of ODS or the Mini-DNC package.

Use the {NCRYPT MODE} softkey to enable the protected program

encryption option. If the control displays the {NCRYPT MODE} softkey in
reverse video, the encryption option is enabled. When the encryption
option is enabled, protected programs are encrypted when they are
uploaded to ODS or the Mini-DNC package. When downloading
encrypted protected programs to the control, they are decrypted and loaded
into the protected program directory.

Protected programs are encrypted or decrypted through a translation

process that reads in a program and translates the characters one at a time
to another character. Character translation is based on a character
encryption/decryption table that you must set up before programs can be
encrypted or decrypted.

Important: If the encryption/decryption table is modified after a protected

program is uploaded to ODS or the Mini-DNC package, the program can
no longer be decrypted when it is downloaded to the control.

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To set up the character encryption/decryption table:

1. Select the protected part program directory.

2. Press the {SET-UP NCRYPT} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERIFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE NCRYPT SET-UP

MEMORY DIR MODE NCRYPT

The control displays the set-up encryption screen:

ENTER A CHARACTER:

= . = 9 = D = O = Z =
= / = : = E = P = [ =
# = 0 = ; = F = Q = ] =
% = 1 = < = G = R =
& = 2 = = = H = S =
( = 3 = > = I = T =
) = 4 = ? = J = U =
* = 5 = @ = K = V =
+ = 6 = A = L = W =
= 7 = B = M = X =
- = 8 = C = N = Y =

UPDATE STORE REVRSE

& EXIT BACKUP FILL

You must fill in the encryption/decryption table. During the

encryption/decryption process, the control uses this table to guide the
character substitution that provides an encrypted or decrypted part
program. You can fill in this table by using the operator panel keys
or the {REVRSE FILL} softkey.

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To fill in the encryption/decryption table by using the operator panel

keys:

use the arrow keys to move the cursor to the place where you want
to assign an encryption/decryption character

then enter a character and press the [TRANSMIT] key

You must enter a unique character for each character on the set-up
encryption screen.

To fill in the encryption/decryption table by using the

{REVRSE FILL} softkey, press the {REVRSE FILL} softkey. Pressing
this softkey automatically fills the spaces of the
encryption/decryption table in a reverse order as shown below:

ENTER A CHARACTER:

= ] . = Q 9 = F D = ; O = 0 Z = #
= [ / = P : = E E = : P = / [ =
# = Z 0 = O ; = D F = 9 Q = . ] =
% = Y 1 = N < = C G = 8 R = -
& = X 2 = M = = B H = 7 S =
( = W 3 = L > = A I = 6 T = +
) = V 4 = K ? = @ J = 5 U = *
* = U 5 = J @ = ? K = 4 V = )
+ = T 6 = I A = > L = 3 W = (
= S 7 = H B = = M = 2 X = &
- = R 8 = G C = < N = 1 Y = %

UPDATE STORE REVRSE

& EXIT BACKUP FILL

3. Enter the encryption/decryption characters one at a time, press the

{REVRSE FILL} softkey, or modify the reverse filled screen.

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4. Press the {UPDATE & EXIT} softkey to update and exit the
encryption/decryption table.

(softkey level 3)

UPDATE STORE REVRSE

& EXIT BACKUP FILL

When you press the {UPDATE & EXIT} softkey, the control does a
compile/check of the encryption/decryption table to determine that
no duplicate characters exist and that no characters were left blank.

If a character is: the control displays: and moves the cursor:

entered twice CHARACTERS CAN ONLY to the first occurrence of that character
BE ENTERED ONCE in the encryption/decryption table

left blank NO LOCATIONS CAN BE to the first blank location in the

LEFT EMPTY encryption/decryption table

Once the encryption/decryption table is created and you press the

{NCRYPT MODE} softkey, protected programs are encrypted when they are
uploaded to ODS or the Mini-DNC package. When downloading
encrypted protected programs to the control, they are decrypted and loaded
into the protected program directory.

5.10.2 To prevent the encryption/decryption table from being lost during system
Storing power and battery-backup failures, store it in the controls backup memory
Encryption/Decryption Table by using these steps:
to Backup Memory 1. Select the protected part program directory.

2. Press the {SET-UP NCRYPT} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERIFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE NCRYPT SET-UP

MEMORY DIR MODE NCRYPT

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3. Press the {STORE BACKUP} softkey. The control displays the message
STORING TO BACKUP -- PLEASE WAIT on the CRT until the
control has finished storing the encryption/decryption table to its
backup memory.

(softkey level 3)

UPDATE STORE REVRSE

& EXIT BACKUP FILL

END OF CHAPTER

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 6
Chapter

Editing Part Programs Off Line (ODS)

6.0 This chapter describes the Offline Development System (ODS). The major
Chapter Overview topics in this chapter include:

Topic: On page:

Selecting the Part Program Application 6-2

Editing Part Programs Off Line 6-3
Connecting the Workstation to the Control 6-5
Downloading Part Programs from ODS 6-6
Uploading Part Programs to ODS 6-12

Use ODS to write or edit part programs. Once completed these part
programs can be downloaded from the workstation to the control.
Programs that already exist on the control can be uploaded to the
workstation for editing or backup. Programs on ODS can be edited using
the screen or text editor that is configured in ODS. Enhancements to this
feature can be purchased in a Mini-DNC package from Allen-Bradley. If
the Mini-DNC package has been purchased as an option, see its
accompanying documentation.

We make these assumptions:

ODS has been installed on an IBM PC XT/AT or compatible computer

that is referred to as the workstation

a compatible screen or text editor has been configured using the Text
Editor Setup option of the F5-Configuration menu

your programmer understands the basics of the ODS system and how it
works

For additional information, see the ODS Software User Manual,

publication MCD-5.1.

Important: Be aware that some features described here may not be

available with your ODS. Some may require the purchase of the
Mini-DNC package to be functional.

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6.1 Selecting the Part Program application provides access to the part program
Selecting the Part Program utilities of ODS. To select the Part Program application:
Application
1. Return to the main menu line of ODS.

2. Press [F3] to pull down the Application menu:

The workstation displays this screen:

Proj: PALTEST Appl: Upload Util: Get PAL I/O

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

AMP (A)
PAL (P)
I/O Assignments (I)
Part Program (R)
Upload (U)
Download (D)

3. Press [R] to select the Part Program option.

The status line of the screen displayed by the workstation shows that
the Part Program application has been selected.

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6.2 Use the Edit Part Program utility of ODS to edit part programs on a
Editing Part Programs Off workstation. Programs that already exist on the control can be uploaded to
Line the workstation for editing. These programs or programs created using
ODS can be edited using the screen or text editor that is configured in
ODS. To edit part programs through ODS:

1. Select the Part Program Application (see above).

2. Press [F4] to pull down the Utility menu:

The workstation displays this screen:

Proj: PALTEST Appl: Upload Util: Get PAL I/O

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

Edit Part (E)

Program (F)
File
Management

3. Press [E] to select the Part Program option.

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The workstation displays this screen:

Proj: Demo Appl: Part Program Util: File Management

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

Editing Part Program ...

Selecting New or Existing File

Use ARROWS or Type in name. Press ENTER when done or ESC to cancel

FILE1 FILE2 FILE3

4. Select a new or existing file. To create a new file, type in the new file
name. To open an existing file use the arrow keys to select a file or
type in a file name. Press [ENTER] when done, or [ESC] to cancel.

After selecting a file, the workstation displays a screen explaining the

text editor:

Proj: Demo Appl: Part Program Util: File Management

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

The configured text editor will now be executed,

using the file name selected.

Press any key to continue...

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Use the configured screen or text editor to edit part programs. The
editor must be compatible with the ODS operating system. The
editor must be configured using the Text Editor Setup option of the
F5-Configuration menu at the main menu line. For details on how to
use a specific screen or text editor, such as ending an edit session,
displaying a program, etc., see the documentation provided with the
screen or text editor.

Details on programming blocks of the 9/Series control are found in

the programming manual.

Important: The end of block statements, ; used to separate blocks

on the control, should not be entered with the screen or text editor.
The control automatically inserts the end of block statements ; at
the end of each line when the program is downloaded to the control.

6.3 The following sections require that the workstation be connected to the
Connecting the Workstation control or storage device. Connect the workstation to the control or
to the Control storage device with the RS-232 serial interface cable. See your integration
manual for specific cable information.

Use the interface cable to connect the RS-232 interface port on the rear of
the workstation to port B on the control or to the RS-232 port on the
storage device. For information about connecting the workstation to a
storage device, see your integration manual.

When downloading to a control with a standard MTB panel, which has a

serial communication port located on the front left side of the panel,
connect the serial interface cable to the serial communication port. This
port is connected to port B on the control.

You must configure port B for serial communication. The serial

communication parameters of this port must correspond to the serial
communication parameters of the workstation or storage device.

To display the serial communication parameters of port B, press the

{SYSTEM SUPORT} softkey on the operator panel, then the {DEVICE
SETUP} softkey.

If the port A parameters are displayed, use the left or right arrows on the
operator panel to change the display from port A to port B parameters.

Make sure the DEVICE configured on this screen for port B is ODS. If it
is not configured for ODS, see chapter 9 for details on configuring
communication parameters. Once the DEVICE type of ODS is configured,
the default parameters should work for most PC applications.

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If the serial communication parameters of port B do not correspond to the

serial communication parameters of the workstation, see your
programming manual.

6.4 After using the part program edit utility to create or edit a part program file
Downloading Part Programs off line, the programmer can download this part program to the control or
from ODS to a storage device by using the Download application of ODS.

Important: When a program is downloaded from ODS to the control, it is

automatically inserted into the Main program directory on the control
(unless the program is encrypted). An encrypted program is automatically
loaded into the protected directory. See page 5-45. The control
automatically inserts the end of block statements ; at the end of each line
when the program is downloaded to the control.

To download a part program from ODS to the controls memory, follow

these steps:

1. Interface the workstation with the control. See page 6-5.

2. Return to the main menu line of ODS.

3. Press [F3] to pull down the Application menu.

The workstation displays this screen:

Proj: PALTEST Appl: Upload Util: Get PAL I/O

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

AMP (A)
PAL (P)
I/O Assignments (I)
Part Program (R)
Upload (U)
Download (D)

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4. Use the arrow keys to highlight the Download application then press
[ENTER], or press [D].

5. Press [F4] to pull down the Utility menu.

Proj: Demo Appl: Download Util: File Management

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

Send AMP params (A)

Send PAL and I/O (P)
Send Part Program (R)

6. Use the arrow keys to highlight the Send Part Program option then
press[ENTER], or press [R].

The workstation displays this screen:

6-7
 Chapter 6
Editing Part Programs Off Line

Proj: Demo Appl: Download Util: File Management

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

Download Destination

Control (C)
Storage (S)

7. Use the arrow keys to highlight the download destination or press the
letter that corresponds to the download destination. When selected
press [ENTER].

The workstation displays the part program files that are stored in the
active project directory of the workstation:

Proj: Demo Appl: Download Util: File Management

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

Downloading

Use ARROW keys or Type in name. Press ENTER when done, or ESC to cancel.

FILE1 FILE2 FILE3

6-8
 Chapter 6
Editing Part Programs Off Line

8. Use the arrow keys to highlight the name or type in the part program
name to download, then press [ENTER].

Important: It is possible to upload more than one part program by

using wildcards (* or ?) in place of all or part of a file name.
See the workstations DOS manual for additional information about
using wildcards.

If the selected part program file name already exists on the control,
the workstation displays this screen:

Proj: Demo Appl: Download Util: Get Part Program

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

File Already Exits

Enter Option
Rename existing file (R)
Overwrite existing file (O)
Abort current file (A)

Important: The currently active or open part program on the control

cannot be renamed or overwritten during a download procedure.

If you select this option: then:

rename existing file the workstation renames the existing file, which has the
same name as the file being uploaded from the workstation.
The workstation displays the part program files that have
been stored.
Type in the new name for the existing part program on the
control.
overwrite existing file the part program file being downloaded overwrites the file
having the same name on the control.
abort current file the download process is discontinued and the workstation
prompts the programmer for additional files to download.

6-9
 Chapter 6
Editing Part Programs Off Line

Important: If you enter a wildcard in place of a file name, the Abort

option is repeated for each file that matches the wildcard. Pressing
the [ESC] key quits the abort wildcard process.

After selecting the Rename or Overwrite option, or if the file being

downloaded did not already exist on the control, the workstation
displays this screen:

Proj: Demo Appl: Download Util: Send Part Program

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

Download In Progress

Percent completed 50%

The percentage of the download process that has currently been

completed is displayed on the screen. This value is updated
continually throughout the download process.

6-10
 Chapter 6
Editing Part Programs Off Line

When the download process is complete, the workstation displays

this screen:

Proj: Demo Appl: Download Util: Send Part Program

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

Download Complete

Download Another File?

Yes (Y)
No (N)

9. Select Yes or No. Selecting Yes starts the download process

again. Selecting No returns you to the main menu line of ODS.

If the workstation is unable to complete the download procedure in

the allotted time frame, this screen is displayed:

Proj: Demo Appl: Download Util: Send Part Program

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

A time-out occurred ...

Press any key to continue ...

Press any key to return to the ODS main menu.

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 Chapter 6
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6.5 The programmer can upload a part program from the controls memory to
Uploading Part Programs to the workstation using the Upload application of ODS. This allows the part
ODS program to be edited or stored on the workstation.

Important: Part programs in the protectable program directory may be

encrypted when they are uploaded from the control to ODS. If a protected
part program is encrypted, it can be opened through the Part Program
application of ODS, but it is unreadable because it was encrypted during
the upload. See page 5-42 for additional information on the protectable
part program directory and program encryption.

1. Interface the workstation with the control. See page 6-5.

2. Return to the main menu line of ODS.

3. Press [F3] to pull down the Application menu.

The workstation displays this screen:

Proj: PALTEST Appl: Upload Util: Get PAL I/O

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

AMP (A)
PAL (P)
I/O Assignments (I)
Part Program (R)
Upload (U)
Download (D)

4. Use the arrow keys to highlight the Upload application then press
[ENTER], or press [U].

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 Chapter 6
Editing Part Programs Off Line

5. Press[F4] to pull down the Utility menu:

Proj: Demo Appl: Part Program Util: none

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

Get AMP params (A)

Get PAL and I/O (P)
Get Part (R)
Program

6. Use the arrow keys to highlight the Get Part Program option then
press[ENTER], or press [R].

The workstation displays this screen:

Proj: Demo Appl: Part Program Util: Get Part Program

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

Upload Origin

Control (C)
Storage (S)

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 Chapter 6
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7. Use the arrow keys to highlight the upload origin then press [ENTER]
or press the letter that corresponds to the upload origin.

The workstation displays the part program files that are stored on the
control or storage device:

Proj: Demo Appl: Part Program Util: Get Part Program

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

Upload From...

Use ARROW keys or Type in name. Press ENTER when done, or ESC to cancel.

FILE1 FILE2 FILE3

8. Use the arrow keys to highlight the name of the part program to be
uploaded to the workstation or type in the part program name, then
press [ENTER].

Important: You can upload more than one part program using
wildcards (* or ?) in place of all or part of a file name.
See the workstations DOS manual for additional information on
using wildcards.

6-14
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If the selected part program already exists on the workstation, the

workstation displays this screen:

Proj: Demo Appl: Upload Util: Get Part Program

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

File Already Exits

Enter Option
Rename existing file (R)
Overwrite existing file (O)
Abort current file (A)

If you select the Rename option, the workstation renames the

existing file, which has the same name as the file being uploaded, on
the workstation.

The workstation displays the part program files stored on the

workstation:

Proj: Demo Appl: Upload Util: Get Part Program

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

Enter new name: Rename To....

FILE1 FILE2 FILE3

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 Chapter 6
Editing Part Programs Off Line

9. Type in the new name for the existing part program file on the
workstation.

If you select this option: then:

overwrite the part program file being uploaded overwrites the file
having the same name on the workstation.
abort the upload process is discontinued and the workstation
prompts the programmer for additional files to upload.

Important: If you enter a wildcard in place of a file name, the Abort

option is repeated for each file that matches the wildcard. Pressing
the [ESC] key quits the abort wildcard process.

If the name of the part program that was entered does not exist on the
workstation or the Overwrite option was selected, the workstation
displays this screen:

Proj: Demo Appl: Upload Util: Get Part Program

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

Upload In Progress

Percent Transferred: 80%

The percentage of the upload process that has currently been

completed is displayed on the screen. This value is updated
continually throughout the upload process.

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After the part program has been uploaded to the workstation, the
workstation displays this screen:

Proj: Demo Appl: Upload Util: Get Part Program

F1 - File F2 - Project F3 - Application F4 - Utility F5 - Configuration

Upload Complete

Upload Another File?

Yes (Y)
No (N)

Select Yes or No. If you select Yes, the workstation prompts

you through the upload procedure again. If you select No, the
workstation returns to the main menu line.

END OF CHAPTER

6-17
 Chapter 6
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6-18
 7
Chapter

Running a Program

7.0 This chapter describes how to test a part program and execute it in
Chapter Overview automatic mode. Major topics covered here include:

Topic: On page:

Selecting Special Running Conditions 7-1

Block Delete 7-2
Miscellaneous Function Lock 7-2
Sequence Stop {SEQ STOP} 7-2
Single Block 7-4
Selecting a Part Program Input Device 7-5
Selecting a Program 7-6
De-Selecting a Part Program 7-9
Program Search {SEARCH} 7-10
Search With Recall {MID ST PRGRAM} 7-13
Basic Program Execution 7-16
{QUICK CHECK} 7-18
Axis Inhibit Mode 7-20
Dry Run Mode 7-21
Part Production/Automatic Mode 7-22
Interrupted Program Recover {RESTRT PRGRAM} 7-24
Jog Retract 7-27
Block Retrace 7-30

7.1 The following subsections describe some of the available functions on the
Selecting Special Running control that affect how the control executes a program. The use of these
Conditions special running conditions is optional. They are activated either through
the MTB panel, through programming, through the {FRONT PANEL}
softkey, or some combination of the three.

7-1
 Chapter 7
Running a Program

7.1.1 When programming a slash / followed by a numeric value (1-9)

Block Delete anywhere in a block, the control skips (not execute) all remaining motion
commands programmed commands in that block if a corresponding
softkey or optionally installed switch on the MTB panel is activated. If the
block delete type parameter in AMP is set to delete whole, then the
control skips the entire block regardless of the position of the block delete
character. For details on the block delete feature, see page 10-11.

The block delete feature is activated through your system installers PAL
program (see documentation prepared by your system installer), or by
using the {FRONT PANEL} softkey. If using the {FRONT PANEL} softkey,
only block delete 1 (/ or/1) is available.

7.1.2 When the miscellaneous function lock is made active, the control ignores
Miscellaneous Function M, second auxiliary functions (B codes), S, and T codes in the part
Lock program, except for M00, M01, M02, M30, M98, and M99.

The miscellaneous function lock feature is activated through your system

installers PAL program (see documentation prepared by your system
installer), or by using the {FRONT PANEL} softkey (chapter 2, page 2-11).

7.1.3 Use this feature to cause automatic program execution to stop after a
Sequence Stop {SEQ STOP} specified block. This block is determined by assigning its sequence
number (N word) as the sequence stop block. This sequence number can
be entered before or after part program execution begins. If this sequence
number is entered after program execution begins, it must be entered
before the control begins execution of that block. If it is not entered before
the block begins, it is ignored and execution continues as normal.

Automatic execution stops after the sequence stop block is completed. The
control is placed in cycle stop. To resume execution from the current
position in the program, press the <CYCLE START> button.

Important: Once you enter a sequence stop number for a program, it

remains active for all programs that are executed until replaced with a
different sequence stop number, or power is lost. Not entering a value for
the sequence stop number or entering a value of zero results in the
sequence stop function being cancelled.

If you call a subprogram or macro that also contains a sequence number

that corresponds to the sequence stop number, program execution stops in
the subprogram or macro at the corresponding sequence number.

7-2
 Chapter 7
Running a Program

To enter a sequence number to stop execution:

1. Press the {PRGRAM MANAGE} softkey. A program must have already

been selected for automatic execution as described on page 7-6.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Press the {ACTIVE PRGRAM} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

3. Press the {SEQ STOP} softkey.

(softkey level 3)

DE-ACT SEARCH MID ST T PATH SEQ

PRGRAM PRGRAM GRAPH STOP

TIME
PARTS

4. Key in the sequence number where automatic operation in the part

program is to stop, then press the [TRANSMIT] key.

The control stops automatic operation after it completes the

commands in that block.

Press the <CYCLE START> button to continue execution of the

program from the point at which program execution was stopped.

7-3
 Chapter 7
Running a Program

7.1.4 In single block mode, the control executes the part program block by
Single Block block. The control executes one block of commands in the part program
when in single block mode each time you press the <CYCLE START> button.

Figure 7.1
Single Block

SINGLE CYCLE
BLOCK START

When you press <CYCLE START> one

block of commands is executed

Grinding wheel

12007-I

To activate the single block function, press the <SINGLE BLOCK> button.
The light inside the button lights up when active.

ATTENTION: Single block execution is not possible during

reciprocation.

If you press the <SINGLE BLOCK> button while the control is running a part
program in the automatic or MDI mode, the control activates the single
block function after it completes the commands in the currently executing
block.

The <SINGLE BLOCK> button is a toggle switch. If you press it again while
the single block function is active, the control cancels the function and the
light inside the button turns off. The remaining program blocks can be
executed normally by pressing the <CYCLE START> button.

7-4
 Chapter 7
Running a Program

7.2 Before selecting a part program, you must tell the control where this part
Selecting a Part Program program is currently residing. You have 3 options:
Input Device
the program can reside in the controls memory

the program can reside on a peripheral device attached to port A such as

a tape reader (see your system installers documentation)

the program can reside on a peripheral device attached to port B such as

a tape reader (see your system installers documentation)

Important: If selecting a peripheral device attached to one of the two

communication ports (A or B), that port must have previously been
configured to communicate to that specific peripheral device. See chapter
9 for details on communications setup for ports A and B. Selecting a
program from the controls memory is the default configuration of the
control. If port A or B is never selected, the input device should remain at
its default of control memory and the following procedure should be
unnecessary.

To select the part program input device:

1. Press the {PRGRAM MANAGE} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Press the {INPUT DEVICE} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

7-5
 Chapter 7
Running a Program

3. Press the softkey corresponding to the location the part program is to

be read from, {FROM PORT A} , {FROM PORT B}, or {FROM MEMORY}.

(softkey level 3)

FROM FROM FROM

PORT A PORT B MEMORY

To activate a part program, it must be selected as described on page 7-6

for selecting a program.

7.3 To select a program for automatic execution, follow these steps:

Selecting a Program
Important: Consider the following when selecting a program:

The control does not allow the selection of a program for

execution if that program file is still open for editing. See page
5-15 on how to exit the edit mode.

Your system installer can write PAL to allow some other method
of part program selection. See the documentation prepared by
your system installer for additional information.

Before selecting a part program to activate, the input device must

have been previously selected as described on page 7-5. The
default condition is to select the part program out of control
memory.

If a program was previously activated and not deactivated, the

control does not allow you to select a different part program. If
you want to select a different part program, you must first
deactivate the active program as described on page 7-9.

To select a program for automatic execution:

1. Press the {PRGRAM MANAGE} softkey. Figure 7.2 appears.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

7-6
 Chapter 7
Running a Program

Figure 7.2
Part Program Directory

SELECTED PROGRAM:

MAIN DIRECTORY PAGE 1 OF 1

NAME SIZE COMMENT

TEST AE 3.9
O12345 1.3 SUB TEST 1
MAIN 1.3
SHAFT2 1.3 THIS IS A TEST PROGRAM
XXX 1.3

5 FILES 137.8 METERS FREE

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

Important: Figure 7.2 shows program TEST as active and being

edited. Make sure no part program is currently active. If a part
program is currently active, the control does not allow the selection of
a different part program until the currently active one is deactivated
(see page 7-9 on deactivating a part program).

If you see an: To the right of the program name, it means that the program is:

A currently active
E currently being edited

2. Select the directory that contains the program to activate. You can
select either the main directory or the protectable directory. The
control displays the main directory as the default directory at
power-up. You must select the protectable directory by using the
{CHANGE DIR} softkey.

Important: The {CHANGE DIR} softkey controls access to the

protectable part program directory. The {CHANGE DIR} softkey is
password protected. You must have the proper password to access
this softkey. See page 5-42 for additional information on the
protectable directory and the {CHANGE DIR} softkey.

7-7
 Chapter 7
Running a Program

3. Key in the name of the part program to activate. If the program is

being selected from the controls memory, you can use the or
cursor keys to select the program to activate from the directory
screen.

If you select the part program from a peripheral device (attached to

port A or port B), you must manually key-in the part program name.
Also make sure that the peripheral device is on and ready to output
the part program. It may be necessary to perform a search operation
when selecting a program from a peripheral device to find the tape
location containing the desired part program.

4. Press the {ACTIVE PRGRAM} softkey to activate the selected program.

The control displays the part program name, followed by the first few
blocks of the selected program.

Important: The following softkey level 2 indicates that the control is

using control memory as an input device. If the input device is some
device other than control memory, some of these softkeys are not
available.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

Important: Before the control can execute the program, you must place
the control in automatic mode.

7-8
 Chapter 7
Running a Program

7.4 To select a different part program for automatic execution, you must
De-Selecting a Part Program deactivate the part program that is currently active. To do this, follow
these steps:

1. Press the {PRGRAM MANAGE} softkey. The control displays the

program directory screen as shown in Figure 7.2.
(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

If you see an: To the right of the program name, it means that the program is:

A currently active
E currently being edited

Figure 7.2 shows program TEST as active and being edited.

2. Press the {ACTIVE PRGRAM} softkey. The control displays the first
few blocks of the currently active program.
(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

3. If the program selected is not the desired active program, press the
{DE-ACT PRGRAM} softkey. The control deactivates the part program
and returns to the directory screen.
(softkey level 3)

DE-ACT SEARCH MID ST T PATH SEQ

PRGRAM PRGRAM GRAPH STOP

TIME
PARTS

7-9
 Chapter 7
Running a Program

7.5 Use the program search feature to begin program execution from some
Program Search {SEARCH} block other than at the beginning of the program. This feature requires the
operator to establish the necessary G, M, S, F, and T words, work
coordinate offsets, etc. that should be active for that blocks execution.

The control can start a program at a chosen block and establish any
previous G, M, S, F, and T words, work coordinate offsets, etc., that were
established in previous blocks using the search with memory feature. For
details, see page 7-6 for automatic execution.

The program search feature is not effective for subprograms and

paramacros. You can search only blocks that are in the main program.

To perform a program search operation:

1. Press the {PRGRAM MANAGE} softkey. The program to search must

have previously been selected for automatic execution as described
on page 7-6.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Press the {ACTIVE PRGRAM} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

7-10
 Chapter 7
Running a Program

3. Press the {SEARCH} softkey.

(softkey level 3)

DE-ACT SEARCH MID ST T PATH SEQ

PRGRAM PRGRAM GRAPH STOP

TIME
PARTS

4. There are 6 different search options:

(softkey level 4)

N O EOB SLEW STRING

SEARCH SEARCH SEARCH SEARCH

NEXT
PRGRAM

If you are searching for: Press this softkey:

a sequence number {N SEARCH}

an O word {O SEARCH}
the end of each block {EOB SEARCH}
the program one line at a time {SLEW}
a specific character string {STRING SEARCH}
the beginning of your next program {NEXT PRGRAM}
This softkey is available only if your input device
has been configured as a tape reader. See
page 7-5 on input device selection.

5. When using the SLEW or the EOB search options,

If you want to: Press this softkey:

move to the next or previous blocks in the program {FORWRD} or

{REVRSE}
return to the top of the program (the beginning of the first {TOP OF PRGRAM}
block)
indicate that the desired block is found {EXIT}

The selected block is the next block for automatic execution.

7-11
 Chapter 7
Running a Program

When using the N search, O search, or STRING search features, first

key in the N number, O number, or character string to search for.
After it has been keyed in, press the [TRANSMIT] key to start the
search.

If you want to: Press this softkey:

search for the entered value in the forward or reverse {FORWRD} or

direction {REVRSE}
return to the top of the program (the beginning of the first {TOP OF PRGRAM}
block)
indicate that the desired block is found {EXIT}

The selected block is the next block for automatic execution.

If no number is keyed in for an N or O search, the control simply

searches for the next N or O word in the program.

When you press the {NEXT PRGRAM} softkey, the control first
searches for a valid program end code (see setting communications,
page 9-1). After it finds the program end code, it advances to the
program start code of the next program. If the current program is the
last program on the tape, the message SERIAL
COMMUNICATION ERROR #5 appears on the screen indicating a
time-out error.

Important: If performing a STRING search, program execution begins at

the beginning of the block that contains the desired character string. This
is not necessarily the location of the string in the program block.

ATTENTION: It may be necessary to position the grinding

wheel at a location that allows this block to execute without
damaging the workpiece or grinding wheel. This can be done
through a manual operation or through MDI.

7-12
 Chapter 7
Running a Program

7.6 Use the mid-start program feature to begin program execution from some
Search With Recall block other than the first block of the program. This is done without the
{MID ST PRGRAM} operator knowing what G, M, T, work coordinate offsets, etc. should be
active for that blocks execution or to re-execute all of the prior blocks to
establish these conditions.

When you perform a search with recall, the control finds a character string
or sequence number in a specific block for execution to begin from.
Execution always begins from the beginning of the block regardless of the
location in the block of the searched string or sequence number. This
searched block must be a block that would normally be executed during the
full programs execution (a block that would be skipped by some means
such as a jump, etc., cannot be searched for).

Important: If wheel radius compensation is activated it will require a

move to re-initialize. This can result in a different path than the program
path if the previous blocks had actually been executed. See page 15-17 or
15-27 for details on entry moves into compensation.

As the control proceeds through the program searching for the entered
character, it is setting active the necessary G, M, S, F, and T words. The
control also establishes the work coordinate system that should be active
for the execution of the selected block including all offsets and rotations to
the work coordinate systems.

You can also use the program search with recall feature to search into any
subprograms or paramacros that are contained in the main program. This is
provided of course, that the searched block is in the path of normal
program execution.

To perform a program search with recall, follow these steps:

1. Press the {PRGRAM MANAGE} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

7-13
 Chapter 7
Running a Program

2. Press the {ACTIVE PRGRAM} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

Make sure that the program to search is the currently active program.
If it is not, select it for automatic execution as described on page
7-6.

3. Press the {MID ST PRGRAM} softkey.

(softkey level 3)

DE-ACT SEARCH MID ST T PATH SEQ

PRGRAM PRGRAM GRAPH STOP

TIME
PARTS

4. To search for:

a sequence number, press the {SEQ # SEARCH} softkey

a character string, press the {STRING SEARCH} softkey

(softkey level 4)

SEQ # STRING
SEARCH SEARCH

7-14
 Chapter 7
Running a Program

5. Key in the desired character string or sequence number to search for

and press the [TRANSMIT] key. The control locates an @ symbol to
the left of the block immediately before the block that automatic
execution begins from.

If this is not the block to begin execution from,

(softkey level 5)

CONT TOP OF QUIT EXIT

PRGRAM

If you want to: Press this softkey:

continue to search for the entered character string or {CONT}

sequence number
return to the first block in the program {TOP OF PRGRAM}
end either the sequence number search or the character {QUIT}
string search operations

6. Press the {EXIT} or the {EXIT & MOVE} softkey once the program is
at the desired location.

{EXIT} - Use this softkey if the wheel is at the exact location for
execution of the searched program block. While the control searches
for your starting block it performs calculations to determine what the
absolute position of the axes should be before your selected block is
executed. If the wheel is not at this position when you press the
{EXIT} softkey, the control aborts the mid-start operation. When this
occurs the control displays the message AXIS POSITION
INCORRECT.

{EXIT & MOVE} - Use this softkey if the wheel is not at the exact
location for execution of the searched block. Be aware that the
absolute position of the axes necessary at the start of the searched
block is dependant on the previous blocks. There can be offsets
activated or incremental moves that can make it difficult for you to
determine the exact absolute starting point for the axes. The control
generates a motion block to place the wheel at the position necessary
to generate the intended contour when the searched block is
executed. The block generated is always a linear move with a
feedrate based on the last motion block prior to the searched block.
If the last motion block was a cutting move with a feedrate, then the
generated block will be a linear move at that cutting feedrate. If the
last motion block was a rapid move, that the generated block will be
a linear move at the rapid feedrate.

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Running a Program

A message is generated telling the operator to check that all generated

modal codes are correct. This message reads WARNING - VERIFY
MODAL CODES. These modal codes should be checked on the G- or
M-code status screen.

The control begins program execution from the selected block when you
press the <CYCLE START> button. If you have pressed the {EXIT & MOVE}
button the control first executes the generated block to place the wheel at
the proper location. If you do not want the control to execute this
generated block you can perform a block reset to abort the generated block.

Program interrupts that are enabled in blocks prior to the searched block
(M96L__P__), are active and available for execution once the active
program begins execution. Interrupts can not be executed while the
mid-program search operation is taking place.

7.7 After a program is written or loaded into the control, it should be

Basic Program Execution thoroughly tested before a part is mounted and ground. The control offers
three distinct testing modes in addition to fully automatic operation.

These modes are briefly described below in the order that they would
normally be implemented.

QuickCheck (see page 7-18) ---- This mode is a basic syntax checker for
a part program. It checks that proper format and syntax have been
followed. If you purchase QuickCheck with the graphic option, you can
use it to determine if the proper paths are being generated (see page
8-24 for QuickCheck graphics). QuickCheck does not produce actual
axis motion; however, it does perform offsets and coordinate system
shifts.

Axis Inhibit (see page 7-20) ---- The axis inhibit mode allows the
execution of a program to take place without moving a selected axis or
axes. Programmed feedrates are active and the program executes in
approximately the same time as normal program execution. Axis motion
is simulated for any of the non-moving axes by all of the position
displays changing at the programmed feedrate. Graphics are available on
the active program graphics screen, see page 8-24 for details.

Dry Run (see page 7-21) ---- Dry run simply replaces all F word
feedrates in a program with a special feedrate determined by your
system installer in AMP. Graphics are available on the active program
graphics screen, see page 8-24 for details.

Part Production/Automatic (see page 7-22) ---- In automatic mode, all

of the axes are active and all of the programmed feedrates are in effect.

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Running a Program

Graphics are available on the active program graphics screen, see page
8-24 for details.

All of the above modes of execution begin program execution when you
press the <CYCLE START> button.

If you see this to the left of the block: It means that the control:

* is executing a part program block

@ has completed the execution of a block

The @ symbol is usually only seen in single block mode or in cases where
it is necessary to indicate what block automatic execution begins after.

You can interrupt axis inhibit, dry run, and automatic operation by using
any of the operations listed below. You can resume execution at the
interrupted location by pressing the <CYCLE START> button.

(1) Pressing <CYCLE STOP>

When you press the <CYCLE STOP> button, motion of the grinding wheel
decelerates and stops, and the control stops automatic operation. If you
press the <CYCLE STOP> button during a dwell, the control interrupts the
dwell and stores any remaining time/revolutions for the dwell for later
execution.

ATTENTION: Once axis reciprocation begins, it continues

through program block execution until stopped by a G80, an
end of program (M02, M30, M99), a change to manual mode or
an emergency stop. This means pressing <CYCLE STOP> does
not necessarily stop the reciprocating axis.

(2) Execution of an M00 or M01 in a Part Program

M00 ---- the control stops automatic operation after it executes the
remaining commands in the M00 block.

M01 ---- if the OPTIONAL STOP condition is set to ON, the control stops
automatic operation after it executes the remaining commands in the M01
block. If the OPTIONAL STOP condition is set to OFF, the M01 is
ignored and the control continues executing the part program as normal.
The optional stop condition may be turned off or on using the Front Panel
feature, or through a switch installed by your system installer.

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Running a Program

ATTENTION: Once axis reciprocation begins, it continues

through program block execution until stopped by a G80, an
end of program (M02, M30, M99), a change to manual mode or
an emergency stop. This means executing an M00 or an M01 in
a part program does not necessarily stop the reciprocating axis.

(3) Entering a Sequence Stop Number

To interrupt execution at a specific block in the part program, use the

sequence stop feature described on page 7-2. The control stops automatic
operation after it completes the commands in the designated block.

(4) Feedhold Status

Your system installer may have written PAL to allow the activation of a
feedhold status through the use of a button or switch. When activated, the
control decelerates all moving axes to a feedrate of zero until the feedhold
status is deactivated. For details on using feedhold, see the documentation
provided by your system installer.

7.7.1 QuickCheck is a basic syntax checker for a part program. It checks that
{QUICK CHECK} proper format and syntax have been followed during programming. No
actual programmed motion is produced in QuickCheck mode. The
QuickCheck feature is also available with an optional graphics feature.

ATTENTION: It is your system installers responsibility to

insure that no axis motion is generated from the PAL axis mover
feature in the QuickCheck mode. Also any jog moves that can
be performed on your system in automatic mode (features such
as Jog Retract, Manual Gap Elimination, or Jog on the Fly) can
produce axis motion in QuickCheck mode.

Modal features that are already active (such as G81 reciprocation, spindle
direction and speed, and modal M codes that operate coolants or other
peripherals) will remain in their current state when the QuickCheck mode
is entered. For example if you start the spindle at 1000 RPM in the
clockwise direction it continues to run at that RPM in that direction
regardless of any commands executed in QuickCheck mode.

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Running a Program

If you want to use the graphics feature, see page for QuickCheck with
graphics. To use the QuickCheck feature as described below without
graphics, the graphics option must be disabled.

To use the QuickCheck feature:

1. Select a program to check as described on page 7-6 and return to

softkey level 1.

2. Press the {QUICK CHECK} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO QUICK SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

When you press the {QUICK CHECK} softkey, the QuickCheck

appears in reverse video and prompts the graphics option.

3. Press the <CYCLE START> button. The control executes program

blocks as fast as it can process.

If a program block is found that contains an error, the program check stops
and the control displays the message ERROR FOUND.

To continue checking the remaining program blocks, press the

<CYCLE START> button again. If no more errors are found, the control
displays the message COMPLETED WITH ERROR (S) and the part
program is automatically deactivated to allow editing.

If the control finds no errors during QuickCheck, the program screen

displays the message COMPLETED WITH NO ERRORS. The control
then automatically resets the program to the first block.

To disable QuickCheck: Press:

without the graphics option the {QUICK CHECK} softkey again

with the graphics option the {QUICK CHECK} softkey
followed by the {STOP CHECK}
softkey

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Running a Program

ATTENTION: When a program is run during quick check

mode, the control performs all coordinate system offset
operations. This means that changes to the coordinate systems
or coordinate offset tables are made (G10 blocks, changes to
G92 and G52 offsets, and changes to the active work coordinate
systems G54-G59.9). All of these changes are discarded at any
termination of QuickCheck. The pre-QuickCheck values are
restored when the {Stop Check} softkey is pressed. Note that
program changes to the active offset or tool offset tables are
not made in QuickCheck mode.

7.7.2 When axis inhibit is activated, the control can execute a part program
Axis Inhibit Mode without moving specified axes. The control simulates axis motion by
updating the axis location and feedrate displays, using the commanded
feedrates, acceleration, and deceleration. If graphics are being used, the
paths of any inhibited axis are still drawn on the graphics screen.

The control executes the program in approximately the same amount of

time as it would be in automatic mode, even though some or all axes may
not physically move. You can use the axis inhibit feature in conjunction
with dry run.

ATTENTION: When testing a program using axis inhibit, the

control still recognizes and executes M, B, S, and T codes. To
ignore M, B, S, and T codes, execute axis inhibit in conjunction
with miscellaneous function lock (see page 7-2).

You can activate axis inhibit to inhibit motion of any or all of the axes,
including jogging moves, depending on the configuration determined by
your system installer. This includes jog moves. When axis motion has
been inhibited for a single axis, the remaining axes still execute as normal
and the axis location display is updated as if axis motion was occurring on
all axes.

ATTENTION: Axes not selected for axis inhibit move as they

would if the program were executed in automatic mode.

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 Chapter 7
Running a Program

You can activate the axis inhibit feature by using a switch installed by your
system installer (see documentation provided by your system installer) or by
using the {FRONT PANEL} softkey (see page 2-11). The control must be in
cycle stop or E-Stop to activate or deactivate the axis inhibit feature. The
control ignores any attempt to activate or deactivate the feature during
program execution or when in cycle suspend or feedhold states. The control
also ignores attempts to activate the axis inhibit feature during jogging.

You can also inhibit spindle motion by using a switch installed by the
system installer. See the documentation provided by the system installer.
The spindle cannot use the {FRONT PANEL} softkey to activate the Axis
Inhibit feature.

Press the <CYCLE START> button to start program execution with the axis
inhibit feature provided a program has been selected for execution (see
page 7-6 for selecting a program).

You can stop program execution with axis inhibit at any time by using any
of the methods described for normal program execution or by pressing the
<EMERGENCY STOP> button.

7.7.3 The dry run function permits the checking of a part program to make sure
Dry Run Mode that grinder motions are correct. It is intended to be executed without the
material or part mounted. The dry run function replaces all programmed
feedrates with the maximum grinding feedrate. Jogging moves and moves
that are programmed using rapid traverse (G00) are not effected by dry run.

You can use the axis inhibit feature in conjunction with a dry run.

If you use the external decel feature simultaneously with the dry run
feature, the control uses the feedrates that are assigned to external decel
feature and ignores the dry run request.

You can use the <FEEDRATE OVERRIDE> switch to modify the grinding
feedrate. Your system installer determines in AMP if rapid feedrates are
overrides by the <RAPID FEEDRATE OVERRIDE> switch or the
<FEEDRATE OVERRIDE> switch during dry run.

ATTENTION: When testing a program using dry run, the

control still recognizes and executes M, B, S, and T codes. To
ignore M, B, S, and T codes, execute dry run in conjunction
with miscellaneous function lock (see page 7-2).

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Running a Program

ATTENTION: Your system installer can write PAL to allow

the operator to select dry run at any time. This means that
during normal automatic operation, the operator can select
maximum cutting feedrate and replace all feedrates
programmed with an F word with the AMP assigned dry run
feedrate. This can result in damage to the grinder, part, or
injury to the operator.

Figure 7.3
Dry Run

Grinding wheel

CHUCK

WORKPIECE 12008-I

You can activate the dry run feature by using a switch installed by your
system installer (see documentation provided by your system installer), or
by using the {FRONT PANEL} softkey (see page 2-11).

7.7.4 Automatic mode is the normal operating mode of the control. A program
Part Production/Automatic that is run in the automatic mode is executed with all of the axes active and
Mode all of the programmed feedrates active. Graphics is also available as
described on page 8-24.

To select the automatic mode, place the <MODE SELECT> switch (on the
MTB panel) in the AUTO position. If not equipped with a mode select
switch, use the {FRONT PANEL} softkey.

AUTO appears on the main menu screen when the control is in automatic
mode as shown in Figure 7.4.

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Running a Program

Figure 7.4
Main Menu Screen in AUTO Mode

E-STOP

PROGRAM[ MM ] F .000 MMPM

R X 00000.000 T 1

Z 00000.000 S 0

MEMORY 30000 AUTO STOP N 99999

(First 4 blocks,
of executing program shown here)

(PAL messages)

PRGRAM OFFSET MACRO QUICK SYSTEM

MANAGE PARAM CHECK SUPORT

In automatic mode, the control manages grinder operations according to

the commands in a part program.

CYCLE START ---- begins part program execution

CYCLE STOP ---- stops part program execution

ATTENTION: Always test a program prior to automatic

operation. Always verify that the work space is clear and all
safety features are intact before pressing <CYCLE START>.

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 Chapter 7
Running a Program

Figure 7.5
Automatic Mode

0 12345

S_____ M _____

G92 X ____ Z ____

T _________

G00_________

G01 F_______

Grinding wheel

CYCLE
START
WORK PIECE
12009-I

Execution of a part program continues until the control encounters an M02

or M30. If the control does not encounter an M02 or M30 at the end of a
program, the error message MISSING M02/M30 appears.

You can stop execution at any time by using any of the methods described
on page 7-2 or by pressing the <EMERGENCY STOP> button.

7.8 Use the program recover feature to resume a program that was executing
Interrupted Program and was interrupted by some means such as a control reset, E-Stop, or even
Recover {RESTRT power failure in some cases.
PRGRAM} This feature enables the control to return to the block in the program that
execution was interrupted at. This is done without the need for the
operator to remember the block that was interrupted or the need to
re-execute all of the prior blocks to reestablish modal operating conditions.

When you preform a program recover, the control automatically returns the
program to the beginning of the block that was interrupted. In the case of
power fail, the control even reselects the program as active.

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Running a Program

ATTENTION: When you perform a program recover, the

control automatically returns the program to the beginning of
the block that was originally interrupted.
The beginning of the block is probably not the point that axis
motion was interrupted.
For absolute linear moves, this causes no problem if the
wheel is still somewhere along the path of the block that
program execution was interrupted while grinding.
In incremental or circular mode, however, if the grinding
wheel is still located at the point that program execution was
interrupted, a restart can damage the part.
If you perform a program recover operation in incremental
mode, it is important that the grinding wheel be at the
location that the interrupted program block began, not the
location that the program was interrupted at.

If wheel radius compensation was active, it will require a

move to re-initialize. This results in a path different than the
originally programmed path. See page 15-17 or 15-27 for
details on entry moves into compensation.

As the control proceeds through the program searching for the entered
character, it is setting active the necessary G, M, S, T, and F words. The
control also establishes the work coordinate system that should be active
for the execution of the selected block including all offsets and rotations to
the work coordinate systems.

You can also use this feature to search into any subprogram or paramacro
that are contained in the main program.

To perform a program restore operation after automatic program execution

has been interrupted, follow these steps:

1. Press the {PRGRAM MANAGE} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

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 Chapter 7
Running a Program

Important: DO NOT SELECT A PROGRAM AS AN ACTIVE

PROGRAM. Do not disable the currently active program (if any).
If a program is re-selected as active or disabled by the operator,
the program restore feature is canceled.

2. Press the {RESTRT PRGRAM} softkey. The control automatically

re-selects the interrupted program if it was disabled by the control
when power was lost.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

3. To automatically search for the block in the current program that was
interrupted, press the {EXEC} softkey.

The control locates an @ symbol to the left of the block immediately

before the block that automatic execution was interrupted at.

If this is not the block to begin execution from, press the {QUIT}
softkey. The program restore feature is aborted.

4. Press the {EXIT} softkey if the block selected is the block to begin
program execution from. If it is not the block you want, you must
disable the program or perform a search with memory operation to
locate the desired block manually.

(softkey level 3)

EXEC QUIT EXIT

When you press the <CYCLE START> button, the control resumes program
execution from the block selected with the program restart feature.

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7.9 Use the jog retract feature to inspect, dress, or change the grinding wheel
Jog Retract during automatic program execution. It allows the grinding wheel to be
jogged from the workpiece in multiple steps, and then returned to the
workpiece automatically by having the control retrace the jogging steps
that were used.

The control remembers up to 15 jog retract moves. The actual number of

moves retained can vary from 0 to 15 as determined by an AMP parameter
set by your system installer. The control returns the wheel along the jog
retract path at a feedrate specified in AMP.

Important: If you use the same axis in succession during a jog retract
operation, the control assumes that only one jog retract move has been
executed on that axis.

You can perform only simple single axes jog moves during the jog retract
function. You are not allowed to perform multiple axis jogs, arbitrary
angle jogs and jogging offset.

You can change wheel offsets at any time during jog retract (see page 3-4
for wheel offset). The control does not make these offsets active until the
execution of the first block after the wheel has been returned from jog
retract.

ATTENTION: If you deactivated the jog retract function

during its execution (performing a control reset, E-Stop, etc.),
attempting to return the wheel by pressing cycle start can cause
an undesired return path. The wheel returns to the start point of
jog retract along a linear path. This is most likely not the
retracted path. To avoid possible part or wheel damage, we
recommend the grinding wheel be jogged to the point from
which jog retract was started prior to pressing cycle start.

To perform a jog retract operation:

1. Press the <CYCLE STOP> button or the <SINGLE BLOCK> button to stop
program execution.

2. Press the <JOG RETRACT> button. The light inside the button turns on
to indicate that the function is active.

3. Move the grinding wheel from the workpiece using either continuous
jog, incremental jog, or HPG jog operations (see page 4-1 for
jogging information).

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Running a Program

4. Inspect and change the wheel or wheel offset as desired. Details on

how to do this are on page 3-4.

5. After completing the desired inspection, dressing, or wheel change,

press the <CYCLE START> button. Any wheel offset changes you have
made become active when the cycle start is requested. The wheel
returns to the location where jog retract began, following the same
path used when you jogged the tool away from the work piece (+ or --
any new offset values).

You can press <CYCLE STOP> during the wheel automatic return to
the jog retract start position. When this is done, the wheel can be
retracted from this point using jog moves and the control adds these
moves to any remaining jog retract steps that have not yet been
returned.

6. Once the grinding wheel is fully returned from a jog retract operation,
the control continues on in the part program unless in single block
mode. If in single block mode, the control goes to the cycle stop state
when the return from jog retract is completed. Press <CYCLE START>
again to resume program execution.

Figure 7.6
Jog Retract Operation

Jog retract exit moves

Jog retract return moves

12010-I

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 Chapter 7
Running a Program

In Figure 7.6, notice that the control only recognized 6 jog moves upon
returning instead of the actual 11 moves that were made to retract the
wheel. This is because the jog retract feature records consecutive jog
moves on the same axis as one move.

ATTENTION: If the number of jog retract moves performed

exceeds the maximum allowed number set in AMP, the control
moves the grinding wheel directly from the final point of jog
retract to the last remembered jog retract point along a straight
line when you press <CYCLE START>. Then the wheel is
returned in the normal jog retract fashion.

Figure 7.7
Jog Retract Moves that Exceed the Maximum Allowed in AMP

Return path

2 3
7
5

1
6
12011-I

Figure 7.7 emphasizes the possible problems that can result from
exceeding the maximum allowed jog retract moves. In this example, the
number of allowed moves set in AMP is 4.

When you press the cycle start button at the end of the 7th jog move, the
control ignores moves 5, 6, and 7 and takes the shortest path to the
endpoint of exit move 4. This is because the maximum number of jog
retract moves set in AMP has been exceeded. After reaching the endpoint
of move 4, the control continues the jog retract return operation as normal.

If the jogging moves of 5, 6, and 7 were intended to avoid a protrusion

during the jog retract, a collision could result when returning the wheel.

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Running a Program

7.10 The block retrace function allows the operator to retrace the motion created
Block Retrace by up to 15 consecutive part program blocks. The actual number of retrace
blocks allowed is set by your system installer in AMP, and can vary from 1
to 15.

Important: For maximum control efficiency when executing programs,

we recommend that the maximum number of allowable block retraces is
set as small as possible for the current grinder application. This is because
the number of allowable block retraces directly affects the controls block
look-ahead operation.

You can only enable this function when the control is in cycle stop or cycle
suspend state and the control ignores this feature if it has already executed
an M02 or M30 end of program.

To perform a block retrace operation:

1. Press the <CYCLE STOP> button or the <SINGLE BLOCK> button to stop
program execution.

2. Press the <BLOCK RETRACE> button.

After you press the <BLOCK RETRACE> button, the control retraces the block
that was being executed when the cycle stop occurred or retrace the block
just completed if you press the single block button, provided that the block
is a legal block for retrace.

While the block retrace function is active, the light in the

<BLOCK RETRACE> button is on. The block that was shown as active when
the block retrace was activated stills appear as the currently active block in
the program display area during the entire use of the block retrace function.

Important: If you use the <CYCLE STOP> button to halt execution to begin
a block retrace, the control re-executes the portion of the block that has
been executed. For example, if the block requests an axis move of 20 mm
and the axis has moved 12 mm when you press the <CYCLE STOP> button, a
block retrace reverses the axis direction 12 mm.

All retraced blocks are executed at the feedrate programmed for that block.
You can, however, modify the feedrate by the use of the
<FEEDRATE OVERRIDE> switch. See page 12-58.

Press the <CYCLE START> button at any time during a block retrace to
return the grinding wheel to normal forward execution. Program execution
returns to the normal forward direction from the currently retraced block.
The control executes the retraced blocks in normal order until the wheel is
positioned at the start point of block retrace. From this point it continues
program execution in a normal fashion unless <SINGLE BLOCK> is active.
If <SINGLE BLOCK> is active, the control halts execution when the return
from block retract is complete.

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 Chapter 7
Running a Program

While block retrace is active, the control disables all jog features with the
exception of <JOG RETRACT>. See page 7-27 for details on Jog Retract.
MDI is not available to insert blocks during a block retrace operation.

The block retrace function is unable to retrace any of the following blocks
and an attempt to do so results in an error message:

Thread grinding

Inch/Metric changes (unit conversion)

A block that commands a change in the coordinate system

Any block that is followed by a Manual Jog Move except a Jog Retract

The number of blocks retraced is already equal to the maximum number

of retraceable blocks as determined in AMP

Certain Paramacro Parameter Assignments

Interrupt programs or interrupt dressing operations

ATTENTION: If the block retrace function is deactivated

during its execution (performing a control reset, E-Stop, etc.),
attempting to return the axis by pressing cycle start can cause an
undesired return path as shown in Figure 7.8. The axis returns
to the start point of the block retrace along a linear path that is
usually not the same as the retracted path. To avoid possible
part or wheel damage, jog the grinding wheel to the point from
which block retrace was started prior to pressing cycle start.

Figure 7.8
Pressing Cycle Start When Retract Path is Lost

Block retrace
aborted here

Normal block retrace path

Start point
of block Return path taken when
retrace cycle start is pressed after
block retrace is aborted
12012-I

END OF CHAPTER

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 8
Chapter

Display and Graphics

8.0 The first part of this chapter gives a description of the different data
Chapter Overview displays available on the control. The second part gives a description of
the controls graphics capabilities.

8.1 Pressing the [DISP SELECT] key displays the softkeys for selecting the
Selection of Axis Position axis position data screens.
Data Display The control provides 8 different axes position data screens as described in
Table 8.A. Four of these screens may be displayed in normal (9 axis
maximum), large (4 axis triple size or 6 axis double size) or small (all axis
in process) characters if desired. Normal size is the default.

Table 8.A
Display Select Softkeys

Display Description
{PRGRAM} Axis position in the current work coordinate system is displayed. Each time this softkey is
pressed the display toggles between normal, large, and small1.
{ABS} Axis position in the machine coordinate system is displayed. Each time this softkey is pressed
the display toggles between normal, large, and small1.
{TARGET} Coordinate values, in the current work coordinate system, of the end point of commanded axis
motion is displayed. Each time this softkey is pressed the display toggles between normal,
large, and small1.
{DTG} Distance from the current position to the end point of the commanded axis move displayed.
Distance to go Each time this softkey is pressed the display toggles between normal, large, and small1.
{AXIS SELECT} This softkey is used to select which axes are going to be displayed on normal (when more than
9 axes are available) and large displays. Small displays always show all system axes.
{M CODE STATUS} M codes that are currently active are displayed.
{PROGRAM DTG} This screen provides a multiple display of information from the program display screen and the
distance to go screen.
{All} This screen provides a multiple display of position information program, target, absolute, and
distance to go screens. The all display is only available on systems with 6 or less axes. On
systems with more than 6 axes, other combination screens are available which display a subset
of the data available on the ALL display.
{G CODE STATUS} G codes that are currently active are displayed.
{SPLIT SCREEN ON/OFF} If your system is AMPed for more than one process, you will have this additional softkey. It
allows you to view both processes at the same time. The active process appears in reverse
video. This selection remains for all future power up cycles or until you change it.
1 Small displays are only available when the system is configured to have more than 9 real axes or, for dual process systems, more
than 8 axes in a process. Virtual axes count as axes in your total. Adaptive depth probes configured as axes are not counted in this
total.

8-1
 Chapter 8
Displays and Graphics

The screens described above may also show in addition to axis position:
The current unit system being used (millimeters or inches)
E-Stop
The current feedrate
The current spindle speed of the controlling spindle
The current tool and tool offset numbers
The active program name (if any)
The active subprogram name (if any)
The current operating mode (MDI, manual or automatic)
The current operating status (cycle stop, suspend, start, feedhold)
The current block executing (sequence number)
Up to four blocks of the current program selected for program execution
Subprogram paramacro 01 canned cycle repeat count executing
To select an axis position data display :

1. Press the [DISP SELECT] key, to display the softkeys for selecting
axis position data screens. Press the [DISP SELECT] key at any time
from any softkey level. Pressing the page {} softkey displays
additional selections.

Important: The [DISP SELECT] key is ignored if you are viewing the PAL
search monitor utility. You must select the screen to display before you
access PAL search monitor. Additionally you can not activate PAL search
monitor while viewing the Display Select options.

2. Press the softkey corresponding to the display wanted. The softkeys

will toggle between large, small, and regular display mode each time
the corresponding softkey is pressed, provided that screen is available
as a large display.

The large and small display is available only for the axis position
screens (Program, Absolute, Target, and Distance to Go). Small
displays are only available when more than 9 axes are AMPed in a
system or, for dual process, more then 8 axes in a process.

For example, immediately after power up and accessing the

[DISP SELECT] feature, pressing the {DTG} softkey displays the
distance to go in normal size. Pressing it again changes the display
to show the distance to go in large character size.

The control can display any 4 axes in triple-height characters and any
6 axes in double-height characters. If you ask the control to display
more than 6 axes on a large display or 9 axis on a normal display, the
control displays the error message, TOO MANY AXES
SELECTED FOR DISPLAY. Small displays always show all axes
in the system in the active process.

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Displays and Graphics

3. To return to softkey level 1, press the [DISP SELECT] key again. The
most recently selected data position screen will remain in effect for
softkey level 1 until either power is turned off or a different position
display screen is selected. The default screen selected at power up is
the regular size program display.

The following figures show the axis position data display that will result
when the corresponding softkey is pressed.

{PRGRAM}

Axis position in the current work coordinate system displayed in normal

size characters.

Figure 8.1
Result After Pressing {PRGRAM} Softkey

E-STOP

PROGRAM[ MM ] F 0.000 MMPM

X -7483.647 S 00

Z -7483.647 T 0

U -7483.647 (ACTIVE PROGRAM NAME)

MEMORY MAN STOP

PRGRAM A B S TARGET D T G AXIS

SELECT

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{PRGRAM} (Large Display)

Axis position in the current work coordinate system displayed in large

characters.

Figure 8.2
Results After Pressing {PRGRAM} (Large Display) Softkey

E-STOP
PROGRAM[ MM ] (ACTIVE PROGRAM NAME)

X - 7483 .647
Z - 7483 .647
U - 7483 .647
F 0.000 MMPM S 00

PRGRAM A B S TARGET D T G AXIS

SELECT

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{PRGRAM} (Small Display)

Axis position in the current work coordinate system displayed for all
system axes in the active process (only available when more than 9 axis are
AMPed in the system, or more than 8 axis in the process for dual process
systems).

Figure 8.3
Results After Pressing {PRGRAM} (Small Display) Softkey

PROGRAM[ MM ]

X -9999.647
Y -3333.647
Z -1111.647
U -2222.647
V -2222.647
W -2222.647
A -2222.647
B -2222.647
C -2222.647
$X -2222.647
$Y -2222.647
$Z -2222.647

F 0.000 MMPM S 00

PRGRAM A B S TARGET D T G AXIS

SELECT

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Displays and Graphics

{ABS}

The axis position data in the machine coordinate system.

Figure 8.4
Results After Pressing {ABS} Softkey

E-STOP

ABSOLUTE[ MM ] F 0.000 MMPM

X 0.000 S 00

Z 0.000 T 0

U -0.035 (ACTIVE PROGRAM NAME)

MEMORY MAN STOP

PRGRAM A B S TARGET D T G AXIS

SELECT

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{ABS} (Large Display)

Axis position in the machine coordinate system displayed in large

characters.

Figure 8.5
Results After Pressing {ABS} (Large Display) Softkey

E-STOP

ABSOLUTE[ MM ] (ACTIVE PROGRAM NAME)

X 0.000
Z 0.000
U -0.035
F 0.000 MMPM S 00

PRGRAM A B S TARGET D T G AXIS

SELECT

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Displays and Graphics

{ABS} (Small Display)

The axis position data in the machine coordinate system displayed for all
system axes in the active process (only available when more than 9 axis are
AMPed in the system, or more than 8 axis in the process for dual process
systems).

Figure 8.6
Results After Pressing {ABS} (Small Display) Softkey

ABSOLUTE [ MM ]

X -9999.647
Y -3333.647
Z -1111.647
U -2222.647
V -2222.647
W -2222.647
A -2222.647
B -2222.647
C -2222.647
$X -2222.647
$Y -2222.647
$Z -2222.647

F 0.000 MMPM S 00

PRGRAM A B S TARGET D T G AXIS

SELECT

8-8
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Displays and Graphics

{TARGET}

The coordinate values of the end point of the currently executing axis
move is displayed at a position in the current work coordinate system.

Figure 8.7
Results After Pressing {TARGET} Softkey

E-STOP

TARGET[ MM ] F 0.000 MMPM

X -7483.647 S 00

Z -7483.647 T 0

U -7483.647 (ACTIVE PROGRAM NAME)

MEMORY MAN STOP

PRGRAM A B S TARGET D T G AXIS

SELECT

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{TARGET} (Large Display)

The coordinate values in the current work coordinate system, of the end
point of commanded axis moves in normal size characters.

Figure 8.8
Results after Pressing {TARGET} Softkey

E-STOP
TARGET [ MM ] (ACTIVE PROGRAM NAME)

X - 7483 . 647

Z - 7483 . 647

U - 7483 . 647
F 0.000 MMPM S 00

PRGRAM A B S TARGET D T G AXIS

SELECT

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{TARGET} (Small Display)

The coordinate values of the end point of the currently executing axis
move is displayed at a position in the current work coordinate system for
all system axes in the active process (only available when more than 9 axis
are AMPed in the system, or more than 8 axis in the process for dual
process systems).

Figure 8.9
Results After Pressing {TARGET} (Small Display) Softkey

TARGET [ MM ]

X -9999.647
Y -3333.647
Z -1111.647
U -2222.647
V -2222.647
W -2222.647
A -2222.647
B -2222.647
C -2222.647
$X -2222.647
$Y -2222.647
$Z -2222.647

F 0.000 MMPM S 00

PRGRAM A B S TARGET D T G AXIS

SELECT

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Displays and Graphics

{DTG}

The distance from the current position to the command end point, of the
commanded axis in normal size characters.

Figure 8.10
Results After Pressing {DTG} Softkey

E-STOP

DISTANCE TO GO[ MM ] F 0.000 MMPM

X 0.021 S 00

Z 0.000 T 0

U 0.000 (ACTIVE PROGRAM NAME)

MEMORY MAN STOP

PRGRAM A B S TARGET D T G AXIS

SELECT

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Displays and Graphics

{DTG} (Large Display)

The distance from current position to the command end point of the
commanded axis move in large characters.

Figure 8.11
Results After Pressing {DTG} (Large Display) Softkey

E-STOP
DISTANCE TO GO[ MM ] (ACTIVE PROGRAM NAME)

X 0.021

Z 0.000

U 0.000
F 0.000 MMPM S 00

PRGRAM A B S TARGET D T G AXIS

SELECT

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Displays and Graphics

{DTG} (Small Display)

The distance from the current position to the command end point, of the
commanded axis in normal size characters is displayed for all system axes
in the active process (only available when more than 9 axis are AMPed in
the system, or more than 8 axis in the process for dual process systems).

Figure 8.12
Results After Pressing {DTG} (Small Display) Softkey

Distance to Go [ MM ]

X 0000.000
Y 0000.000
Z 0000.000
U 0000.000
V 0000.000
W 0000.000
A 0000.000
B 0000.000
C 0000.000
$X 0000.000
$Y 0000.000
$Z 0000.000

F 0.000 MMPM S 00

PRGRAM A B S TARGET D T G AXIS

SELECT

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Displays and Graphics

{AXIS SELECT}

Important: {AXIS SELECT} is available only during a large character

display or when more than 9 axes are displayed on a normal size display.

When you press {AXIS SELECT}, the control displays the axis names in the
softkey area. Press a specific axis letter softkey to toggle the position
display of that axis on and off.

If a normal size display is being viewed and the system has more than 9
axes, the axis select features can also select the axes for these normal size
displays. This feature has no affect on small displays. Small displays
always show all axes (only available on systems with more than 9 axes or
on dual process systems with more than 8 axes in a process).

Figure 8.13
Results After Pressing {AXIS SELECT} Softkey

E-STOP
DISTANCE TO GO[ MM ] (ACTIVE PROGRAM NAME)

X 0.021

Z 0.000

U 0.000
F 0.000 MMPM S 00

AXIS AXIS AXIS AXIS AXIS

X Z U W V

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{M CODE STATUS}

The currently active M codes are displayed. This screen indicates only the
last programmed M code in the modal group. It is the PAL programmers
responsibility to make sure proper machine action takes place when the M
code is programmed.

Figure 8.14
Result After Pressing {M CODE} Softkey

M05 SPINDLE STOP

M09 COOLANT OFF
M48 FEEDRATE OVERRIDE ENABLE

M CODE PRGRAM ALL

D T G

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Displays and Graphics

{PRGRAM DTG}

This screen provides a multiple display of position information from the

program screen and the distance to go screen.

Figure 8.15
Program, Distance to Go Screen

E-STOP

PROGRAM DISTANCE TO GO [ MM ]

X - 7483.647 X 0.031

Y - 7483.647 Y 0.000

Z - 7483.647 Z 0.000

F 0.000 MMPM S 0

M CODE PRGRAM ALL

D T G

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{PRGRAM DTG} (Small Display)

This screen provides a multiple display of position information from the

program screen and the distance to go screen. It displays all system axes in
the active process (only available when more than 9 axis are AMPed in the
system, or more than 8 axis in the process for dual process systems).

Figure 8.16
Program, Distance to Go Screen (Small Display)

PROGRAM Distance to Go [ MM ]

X -9999.647 X 0000.000
Y -3333.647 Y 0000.000
Z -1111.647 Z 0000.000
U -2222.647 U 0000.000
V -2222.647 V 0000.000
W -2222.647 W 0000.000
A -2222.647 A 0000.000
B -2222.647 B 0000.000
C -2222.647 C 0000.000
$X -2222.647 $X 0000.000
$Y -2222.647 $Y 0000.000
$Z -2222.647 $Z 0000.000

F 0.000 MMPM S 00

M CODE PRGRAM ALL

D T G

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Displays and Graphics

{ALL}

This screen provides a multiple display of position information from the

program, distance to go, absolute, and target screen. The all display is
only available on systems with 6 or less axes. On systems with more than
6 axes, other combination screens are available which display a subset of
the data available on the ALL display.

Figure 8.17
Result After Pressing {ALL} Softkey

E-STOP

PROGRAM DISTANCE TO GO [ MM ]

X - 7483.647 X 0.000
Y - 7483.647 Y 0.000
Z - 7483.647 Z 0.000

ABSOLUTE TARGET

X 0.000 X - 7483.647
Y 0.000 Y - 7483.647
Z 0.000 Z - 7483.647
U 0.000 U - 7483.647

F 0.000 MMPM S 0

M CODE PRGRAM ALL G CODE

D T G STATUS

The {ALL} selection is not available for more than 6 axes.

Important: If you have more than 6 axes, then you will not have an {ALL}
softkey. A {PRG TAR} and a {PRG ABS} softkey appear.

M CODE PRGRAM PRG PRG G CODE

STATUS D T G TAR ABS STATUS

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{G CODE STATUS}

The currently active G-codes are displayed.

Figure 8.18
Results After Pressing {G CODE} Softkey

PROGRAM STATUS
PAGE 2 OF 2
G50.1 MIRROR IMAGE CONTROL

G64 CUTTING MODE

G67 MACRO CALL CANCEL

G70 INCH PROGRAMMING

G80 CANCEL OR END FIXED CYCLE
G90 ABSOLUTE
G94 FEED/MIN
G97 CSS PROGRAMMING OFF
G98 FIXED CYCLE INITIAL LEVEL RETURN

PROGRAM STATUS
PAGE 1 OF 2
G01 LINEAR INTERPOLATION
G07 RADIUS PROGRAMMING
G12.1 PRIMARY SPINDLE CONTROLLING
G14 SCALING CANCEL M CODE PRGRAM ALL G CODE
G15 POLAR/VIRTUAL CANCEL STATUS D T G STATUS
G18 PLANE ZX
G23 ZONE 2 AND 3 OFF
G36 SHORT BLOCK ACC/DEC CHECK ON
G39 G41/42 LINEAR TRANSITION
G40 TOOL TIP RADIUS COMP CANCEL

M CODE PRGRAM ALL G CODE

STATUS D T G STATUS

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Displays and Graphics

{SPLIT ON/OFF}

The split screen softkey is only available if your system installer has
purchased the dual-process option.

When you press the {SPLIT ON/OFF} softkey, you can view information
for both processes. The screen displays two 40-column screens on one
80-column screen. Process 1 is displayed on the left, and process 2 is
displayed on the right. The active process appears in reverse video.

You can display axis display, M-code, G-code, and large axis screens as a
split screens.

Important: You can only select one process on the split screen at a time.
The selected process appears in reverse video. If only one process is
AMPed, the split screen display is disabled.

E-STOP

PROGRAM [MM] F PROGRAM [MM] F

X 0.000 S X 0.000 S
Z 0.000 Z 0.000
T T
U 0.000 U 0.000

MEMORY AUTO STOP N1999 MEMORY AUTO STOP N9999

N001G90: N001G90:
N002G70: N002G70:
N003M101: N003M101:

<FRONT TURRET> <REAR TURRET>

PRGAM OFFSET MACRO PRGRAM SYSTEM
MANAGE PARAM CHECK SUPORT

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Displays and Graphics

A large screen display makes it easier for you to see the axes.

E-STOP

PROGRAM [MM] PROGRAM [MM]

X 0.000 X 0.000
Z 0.000
F 0.000 IPM S O F 0.000 IPM S O

<FRONT TURRET> <REAR TURRET>

PRGRAM ABS TARGET DTG AXIS
SELECT

8.2 If desired the system installer has the option of configuring custom screens
PAL Display Page that will show up on the CRT. These screens may be activated through an
input to PAL (such as a switch or push button) or by the use of softkeys
also defined by the system installer. These screens may have their own
softkey tree configuration or parameters to assign. Refer to the system
installers documentation for details on the operation of any PAL display
pages that may be defined on your system.

PAL display pages may be accessed in either automatic, manual, or MDI

modes. If the control is in MDI mode when a PAL display is active the
MDI prompt will be available in the normal position on the screen. This
will however prevent the operator from typing in any input for that screen
using the keyboard. Any data typed in on the keyboard will be used for an
MDI operation.

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When changing the value of some parameter on the PAL display page, part
program execution is not typically interrupted. If some data that is used in
a currently executing part program is changed the control will handle that
data in the following manner:

If the parameter altered is used in the currently executing program block,

that value will not be activated until the following block (unless a cutter
compensation value is being altered).

If the parameter is altered in a block that is within the controls look ahead
range (refer to chapter 22 for details on block look ahead) then the look
ahead blocks are re-setup and the new parameter value is incorporated in
them (unless a cutter compensation value is being altered).

If a cutter compensation value is being altered the control will not re-setup
any blocks in the block look ahead. If the modified value is currently
active the block look ahead buffer is re-setup with the new offset value. If
the modified value is not currently the active value the control will display
an error message.

8.3 The 9/Series control is equipped to display all screens, softkeys, and
Changing Languages messages in multiple languages. Functionality of the 9/240 language
function is somewhat different than other 9/Series controls.

Press the {SWITCH LANG} softkey to access these languages.

(softkey level 1)
PRGRAM OFFSET MACRO PRGRAM SYSTEM
MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

Each time you press the {SWITCH LANG} softkey, the language displayed on
the screen changes. The system installer can password protect this softkey.

9/230, 9/260, and 9/290 CNCs

These control types are capable of displaying two languages. Your system
installer selects the languages and the order in which they are displayed.
Refer to your system installers documentation for details on which
languages your system supports. The default languages are English and
German.

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Displays and Graphics

9/240 CNCs

The 9/240 control is equipped to display four languages. The languages

available and the order they are displayed are fixed in this order:
English
Italian
Japanese
German

8.4 QuickCheck and active program graphics function similarly. They both
Graphics plot tool paths. The following section describes how to use both types of
graphics and distinguishes how they differ.

Use the QuickCheck with graphics feature to test a program for correct
syntax and to visually check if the tool path plotted by the part program is
correct. No actual axis motion takes place during QuickCheck. The
QuickCheck with graphics feature is identical to the QuickCheck feature
described in chapter 8 with the exception that there is an added graphics
capability. Using the graphics feature is optional with QuickCheck;
programs can be checked as described in the QuickCheck section without
using graphics. QuickCheck also lets you single-block through the part
program.

Use the active program graphics feature to plot the actual tool path of a
program on the screen that is executing in either the axis inhibit, dry run,
or part production mode. The graphics feature is optional and you do not
need to use it when you run a program.

8.4.1 If you have not already selected a a program to execute, select one now,
Selecting the Program for following these steps:
Graphics 1. Press the {PRGRAM CHECK} softkey.
(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

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2. Select a program. Press {SELECT PRGRAM}.

(softkey level 2)

SELECT QUICK STOP T PATH T PATH

PRGRAM CHECK CHECK GRAPH DISABL

3. Use the up and down cursors to select a program.

4. Press {ACTIVE PRGRAM} to return to level 2 and activate the program.

8.4.2 Follow these steps to run graphics:

Running Graphics
1. Press the {PRGRAM CHECK} softkey.
(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

2. Select a program. Press {SELECT PRGRAM}.

(softkey level 2)

SELECT QUICK STOP T PATH T PATH

PRGRAM CHECK CHECK GRAPH DISABL

3. Use the up and down cursors to select a program.

4. Select graphics. Follow the appropriate steps:

Active Graphics QuickCheck Graphics

(softkey level 2) (softkey level 2)

SELECT QUICK STOP T PATH T PATH SELECT QUICK STOP T PATH T PATH
PRGRAM CHECK CHECK GRAPH DISABL PRGRAM CHECK CHECK GRAPH DISABL

(softkey level 3)
GRAPH SYNTAX
ONLY

The graphics you select remains active until you disable graphics.

5. Press the <CYCLE START> button to plot the part program.

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The control for both QuickCheck and active graphics continues to plot tool
paths, even if the graphics screen is not displayed. Actual display of the
tool paths is only possible on the graphics screen. When the graphics
screen is displayed again, any new tool motions appear on the screen.

While on the graphics screen only the currently executing block is

displayed. The currently executing block is displayed on line 22 of the
CRT, and it is limited to 80 characters. Any characters following the
eightieth character in a block are truncated for display purposes only.
Important: If the graphic screen does not display the tool path you want,
you may need to alter the graphic parameters. To change your graphic
parameters see page 8-27.
Scale
When you first activate the graphics screen, the scale for the axes is based
on the software overtravel limits (see chapter 13). The selected axis with
the largest software overtravel limit is used as the scale axis for the
graphics screen. The range for the other axis is then scaled up to create a
proportional graph. This helps keeps the shapes on the graph proportional
(circles look like circles not ellipses etc.).

The zero of the scale for each axis is determined by the currently active
work coordinate system (G54-G59.3). Any time that a coordinate system
is changed, the scale automatically changes to match the current position
with the new position in the new coordinate system. Any offsets to the
work coordinate system also change the scale for the axes. When the
scale changes, the plot of the tool path does not change; only the scale
changes to match the plot to the new coordinate system.
If you want to adjust the scale, use zoom window. Refer to page 8-33.
Important: You can adjust the scale factor automatically to match the size
of the part program currently being executed. To do this, use the auto size
feature described in chapter 1.

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8.4.3 In some cases, you may want to operate without graphics. For example,
Disabling Graphics you cannot edit a part program using QuickView while in graphics, or you
may want to speed up processing by disabling graphics.

To disable graphics, press the appropriate softkey:

Active Graphics QuickCheck Graphics

(softkey level 2) (softkey level 2)

SELECT QUICK STOP T PATH T PATH SELECT QUICK STOP T PATH T PATH
PRGRAM CHECK CHECK GRAPH DISABL PRGRAM CHECK CHECK GRAPH DISABL

When you attempt to use a feature that cannot be run with active graphics.
You will be prompted to disable graphics.

A {T PATH DISABL} softkey also appears on level three. If you press the
{PRGRAM MANAGE} softkey on level one, followed by {ACTIVE PRGRAM}
softkey on level 2, you will have the option to disable graphics. Both
{T PATH DISABL} keys deactivate graphics.

8.4.4 QuickCheck graphics and active graphics share some of the same graphic
Changing Parameters parameters. This section describes the graphic parameters they share and
identifies their separate parameters.

When the parameter screen is displayed, it always shows the last set of
parameter values that were saved. If you disable graphics, the control still
saves the last set of parameters. However, parameters are not saved after
you turn the power off.

QuickCheck and active graphics share the same parameter setup. If you
change a parameter in one graphic feature, it is saved to the other.

Important: Any time you change one of the parameters on the graphics
parameter screen (with the exception of auto erase), it causes any tool
paths that may have already been drawn on the actual active graphics
screen to be cleared. Drawing resumes from the point that the program is
currently executing.

Important: If you use a color system and you want a different tool color
representation, see chapter 21 for details on changing tool color.

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You may want to change the parameters to alter your graphics. If you want
to view a different graphics screen, you must change the default values for
the parameters. These are the default parameter values for QuickCheck:

PROCESS SPEED: [FAST]

RAPID TRAVERSE: [ON]
AUTO SIZE [OFF]
GRID LINES [OFF]
OVERTRAVEL/ZONE LINES [OFF]
MAIN PROGRAM SEQUENCE STARTING #[0]
MAIN PROGRAM SEQUENCE STOPPING #[0]

These are the default parameter values for active graphics:

RAPID TRAVERSE [ON]

AUTO ERASE [ON]
AUTO SIZE [OFF]
GRID LINES [OFF]
OVERTRAVEL/ZONE LINES [OFF]

Follow these steps to change your parameters. We assume you have

already completed the procedure to run graphics. See page 8-25 for details
on running a graphics program.

1. To load parameters, press {GRAPH SETUP}.

(softkey level 4)

CLEAR MACHIN ZOOM ZOOM GRAPH

GRAPHS INFO WINDOW BACK SETUP

The control displays these graphics parameter screens:

CHECK RUN GRAPHICS PARAMETERS ACTIVE PROGRAM GRAPHICS PARAMETER

USE <ARROW KEYS> TO SELECT PARAMETERS USE <ARROW KEYS> TO SELECT PARAMETERS
ACTIVE PROGRAM: G52 ACTIVE PROGRAM: G21

X X

Z Z

PROCESS SPEED FAST RAPID TRAVERSE ON

RAPID TRAVERSE ON AUTO ERASE OFF
AUTO SIZE OFF AUTO SIZE OFF
GRID LINES OFF GRID LINES OFF
OVERTRAVEL/ZONE LINES OFF OVERTRAVEL/ZONE LINES OFF
MAIN PROGRAM SEQUENCE STARTING #: 0
MAIN PROGRAM SEQUENCE STARTING #: 0
DEFALT SAVE DEFALT SAVE
PARAM PARAM PARAM PARAM

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2. Set Select Graph. Use the up and down cursor keys to select the
axes. Then set them by pressing the left or right cursor keys. The
data for the selected axes change each time you press the left or right
cursor key.

A pictorial representation of the selected graph, which is determined

by the selected axes, is displayed on the screen.

You have three fields that you can adjust. The axes are shown as
horizontal and vertical axes. If you choose a third axis for display, it
appears as a horizontal axis above the first one. Only linear axes can
be selected for display on the graphics screen.

For example:

If the X, Y, and Z axes are selected, this representation appears:

Choose a set of axes that best displays the current programs cutting
path.

3. Set Rapid Traverse. Use the up and down cursor keys to select the
parameter. Set it by pressing the left or right cursor keys. The value
for the selected parameter changes each time you press the left or
right cursor key.

There are two options available for the rapid traverse parameter:

Choosing: Causes monochrome: Causes color:

On rapid moves to be drawn with a rapid moves are always in red,

dashed line and other moves to unless the rapid moves overwrite
be drawn with a solid line. green feed lines. If this is the
case, the control uses yellow for
the rapid moves that overlap the
green feed lines.
Off graphics do not draw any move graphics do not draw any move
that is made in rapid traverse. All that is made in rapid traverse.
other moves are drawn with a
solid line.

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4. Set Auto Size. Use the up and down cursor keys to select the
parameter. Set auto size by pressing the left or right cursor keys. The
value for the selected parameter changes each time you press the left
or right cursor key.

If you turn this parameter ON, the control re-sizes the graphics
screen to the size of the programmed part. To use this feature, turn
this parameter ON, then run the part program. When the part
program is finished, the control re-sizes the graphics screen then turns
this parameter OFF.

5. Set Grid Lines. Use the up and down cursor keys to select the
parameter. Set it by pressing the left or right cursor keys. The data
for the selected parameter changes each time you press the left or
right cursor key.

When this The control:

parameter is:

On overlays the graphics screen with grid lines. These grid lines are
solid lines drawn at the axis coordinate tick marks.
Off does not display lines.

6. Set Overtravel Zone Lines. Use the up and down cursors to select
the parameter. Set it by pressing the left or right cursor keys. The
data for the selected parameter changes each time you press the left or
right cursor key.

When this The control:

parameter is:

On draws overtravel/zone lines on the graphics screen. These

overtravel/zone lines correspond to the active software overtravel
limits and the programmable zone limits. The software overtravel
limits are specified in AMP by your system installer. The
programmable zone limits must be programmed by the operator. The
software overtravel and programmable zone lines are dotted lines.
Off does not display lines.

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7. Set the Main Program Sequence Starting #: parameter. It is only

available with QuickCheck. Use the up and down cursors to select
this parameter. Set it by typing in the new value for that parameter
using the keys on the operator panel. Press the [TRANSMIT] key when
the new value has been typed in. The old value for the sequence
number is replaced with the new value.

Use this parameter to select a sequence number (within a main

program) to mark where the graphics will begin drawing. Enter a
sequence number that is in the main program or zero as a value for
this parameter. The control does not search subprograms for
sequence numbers, so the sequence number entered here must be in
the main program, unless you enter a value of zero.

Graphics start drawing when the control begins executing the block
that corresponds to the entered sequence number. Entering a zero as
a sequence number causes graphics to begin executing the first block.
Entering any sequence number not found in the main program (other
than zero) stops the graphics from starting.

8. Set the Main Program Sequence Stopping #: parameter. It is only

available with QuickCheck. Use the up and down cursors to select
this parameter. Set it by typing in the new value for that parameter
using the keys on the operator panel. Press the [TRANSMIT] key when
the new value has been typed in. The old value for the sequence
number is replaced with the new value.

Use this parameter to select a sequence number within a main

program for the graphics to stop drawing. Enter a sequence number
that is in the main program as a value for this parameter or enter a
value of zero. The control does not search subprograms for sequence
numbers, so the sequence number entered here must be in the main
program unless entering a value of zero.

Graphics stop drawing when the control finishes execution of the

block that corresponds to the entered sequence number. Entering a
value of zero (or any other sequence number not found in the main
program) causes the graphics to continue until the last block in the
main program is finished executing.

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9. Set the Process Speed parameter. It is only available with

QuickCheck. Use the up and down cursors to select this parameter.
Set it by pressing the left or right cursor keys. The data for the
selected parameter changes each time you press the left or right
cursor key.

Use this parameter to select the speed for the control to draw
graphics. There are two options available for process speed:

Choosing: Causes the QucikCheck with graphics to be drawn:

FAST at the full processor speed.

SLOW to be drawn at a slower speed. This makes it easier to
determine the actual sequence of motion along the tool paths.

10. Set Auto Erase. It is only available with active graphics. Use the up
and down cursors to select the parameter. Set it by pressing the left
or right cursor keys. The data for the selected parameter changes
each time you press the left or right cursor key.

Use this parameter when a part program is going to be executed many

times in repetition (as in production), and when you want a clear
graphics screen for displaying the part at the beginning of each part
program.

When you select : The control:

YES clears the graphics screen at the beginning of each program

execution.
NO does not clear the graphics screen and any subsequent program
executions result in the graphics screen plotting the new tool paths
over the old tool paths on the screen.

Important: If you choose yes for this parameter and the first moves
in a part program are rapid, it is possible that the screen may not
clear before the beginning of the move. If this is the case, then a
small portion of the actual tool rapid motion is not displayed after the
screen clears.

11. If you want to save these parameters, press the {SAVE PARAM}
softkey.

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8.4.5 The active and QuickCheck graphics features can run in single-block or
Graphics in Single-Block continuous mode as described in chapter 8.

In: This happens:

Single block one block of a part program executes each time you press the
<CYCLE START>.
Continuous mode the control continues to execute blocks sequentially as they are read.
To control the speed of the graphics plot in QuickCheck, see
QuickCheck with graphic parameter PROCESS SPEED in chapter 1.

8.4.6 You can clear the screen if it becomes too cluttered because of many
Clearing Graphics Screen different tool paths. Clear the currently drawn tool paths by pressing the
{CLEAR GRAPHS} softkey. Any tool paths on the screen are erased and the
plot continues from the current tool location without stopping.

You can clear active graphics with Auto Erase. Refer to page 8-32.

8.4.7 The machine information window displays the currently programmed axes
Displaying Machine positions, feedrate, active tool number, and active work coordinate system
G-code along with G52, if there is a G52 offset active.
Information in Graphics
Press the {MACHNE INFO} softkey to activate the machine information
window. The window toggles on and off each time you press the softkey.

Move the machine information window around the screen to prevent it

from obscuring any tool paths. Press the up, down, right, and left cursor
keys on the operator panel.

8.4.8 You can take a closer look at a specified area of tool motion on the graphic
Zooming Graphics display. This is helpful when you want to get a better view of the actual
tool paths in that area or if the part being machined is too small to be easily
seen on the current graphic display. Press the {ZOOM WINDOW} softkey to
display the zoom window graphic display screen.

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Displays and Graphics

Figure 8.19
Zoom Window Graphic Display Screen.

20.0

15.6
11.1

6.7

2.2

-2.2
-6.7

-11.1
-15.6

-20.0
-20.0 -10.3 Z -0.5 9.2 18.9 27.7 38.4 48.1 57.9

INCR DECR ZOOM ZOOM

WINDOW WINDOW ABORT

This screen resembles the regular QuickCheck graphics screen with the
exception that it includes a window and different softkeys. Use the
window to define a new size and location for the tool path graphic display.

The area within the window will become your next screen. The crossed
lines (+) become the center of the screen. You must move the window to
the location that you want to zoom in on to make sure that it appears on
your next screen. It is helpful to run the program first so that you can see
the tool path. This helps you position the tool path within the window.

If you decide not to change the window size or location, press the
{ZOOM ABORT} softkey to abort the operation and return to the graphics
screen.

Important: Any time you change the window size and/or location, the
control erases all tool paths from the screen. These tool paths cannot be
recovered. When returning to the graphics screen using a new window, the
graphics plot starts from the current tool position.

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Displays and Graphics

To use the zoom window feature:

1. Press the {ZOOM WINDOW} softkey. This changes the display to the
zoom window display.

(softkey level 3)

CLEAR MACHNE ZOOM ZOOM GRAPH

GRAPHS INFO WINDOW BACK SETUP

2. Use the cursor keys on the operator panel to move the center of the
window around the screen. To move the window center at a faster
rate, press and hold the [SHIFT] key while pressing the cursor keys.

Important: On this screen, the machine information window cannot be

moved. The cursor keys are dedicated to the zoom window only.

If more than one window is displayed (as in the case of 3 axis

graphs), choose the window to move by pressing either the
{SELECT UPPER} or {SELECT LOWER} softkey. This softkey
toggles between upper and lower each time that you press it. If both
the upper and lower graph have a common horizontal axis, the left
and right cursor keys move both windows. The current window that
is the active moveable window for the 3-axes graph is displayed with
a + symbol in the center of the window.
(softkey level 4)

INCR DECR ZOOM ZOOM SELECT

WINDOW WINDOW ABORT UPPER
or
SELECT
LOWER

Important: The {SELECT UPPER} or {SELECT LOWER} softkey is

only displayed if the control is currently using a 3-axes display for the
graphics screen.

If the center of the window is moved up against the boarder of the

displayed axis, the window size shrinks automatically. This keeps
the window within the active area of the tool paths. Otherwise, the
zoom window is displayed at a default size and the cursor keys only
move the window center.

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Displays and Graphics

3. To change the size of the window, use the {INCR WINDOW} or

{DECR WINDOW} softkeys. To change the window size at a faster rate,
press and hold the [SHIFT] key while pressing the {INCR WINDOW} or
{DECR WINDOW} softkeys.

Each time you press: The Zoom Window :

{INCR WINDOW} increases in size.

{DECR WINDOW} decreases in size.

4. Once the size and the location of the window are correct, press the
{ZOOM} softkey to return to the regular QuickCheck graphics screen.

(softkey level 4)

INCR DECR ZOOM ZOOM

WINDOW WINDOW ABORT

The graphics screen is automatically cleared of the previously plotted tool

paths. The control begins plotting new tool paths from its current location
in the program using the new window size.

If you press {ZOOM BACK}: It:

one, two or three times reverses the zoom in increments, going back to your
most recent zoom (not the original).
a fourth time returns the graphics screen to the default size.

When you press the {ZOOM BACK} softkey, the control clears the graphics
screen of any previously plotted tool paths. The control resumes plotting
new tool paths from its current location in the program using the current
window size.

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8.6 When power is turned on, the control displays the power turn-on screen.
Power Turn-on Screen The following section discusses how to modify information displayed on
this screen at power up.

Editing the System Integrator Message Lines

To edit the system integrator message lines of the power turn-on screen, do
the following:

1. Press the [SYSTEM SUPORT] softkey.

(softkey level 1)

PRGRAM OFFSET MACRO QUICK SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

The control brings you to softkey level 2.

2. Press the [PTOM SI/OEM] softkey.

(softkey level 2)

PRGRAM AMP DEVICE MONI- TIME

PARAM SETUP TOR PARTS

PTOM SYSTEM
SI/OEM TIMING

The control changes the screen to display the PTO screen, as shown in
section 8.6.

* Asterisks indicate the three lines for system integrator messages. The
softkeys used to change these lines are password protected.

3. Use the up or down cursor keys to highlight the line that you want to
change on the PTO screen. The line selected is shown in reverse
video.

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4. Press the {ENTER MESAGE} softkey. This highlights the softkey, and
the control displays the input prompt PTO MESSAGE: at the top of
the screen. Also, the current text, if any, of the selected message line
is shown on the input line next to the prompt. (The text may be
edited like any other input string.)
(softkey level 3)

ENTER STORE
MESAGE BACKUP

5. Once the line has been edited, press the <TRANSMIT> key. This
transfers the edited line to the PTO screen. After pressing the
<TRANSMIT> key, you can either:

edit another line

exit the PTO screen by pressing the up arrow softkey

6. To save changes to the system integrator message lines, press the

{STORE BACKUP} softkey. When pressed, the softkey will be shown
in reverse video until the control has finished storing the lines.

Important: If the messages are not stored to EEPROM, the text will be
lost the next time the system is powered down.
(softkey level 3)

ENTER STORE
MESAGE BACKUP

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8.7 The 9/Series screen saver utility is designed to reduce the damage done to
Screen Saver the CRT from burn in. Burn in is the result of the same lines or
characters being displayed at the same location on the screen for a such a
long period of time that they leave a permanent imprint on the CRT.

After a preset length of time without any keyboard strokes, the screen
saver utility replaces the 9/Series display with a single horizontal line that
continuously scrolls from top to bottom on the CRT. This horizontal line is
a standard character high, green on color operator panels, amber on
monochrome.

When any operator panel key, PAL keyboard request, or softkey is pressed,
the display is returned to the last viewed 9/Series display. Exceptions are
screens accessed through hot keys on the keyboard (such as Display Select
or the PAL rung monitor). When the screen saver returns from one of
these screens, the 9/Series screen previous to the hot key selection is
displayed.

In the event that a system error or warning, PAL display page, PAL
message, or E-Stop condition occurs while the screen saver is active, the
horizontal scrolling line is replaced with a scrolling message MESSAGE
PENDING, PRESS A KEY TO DISPLAY. The operator should press any
keyboard key or softkey to return to the normal 9/Series screen and view
the condition. The system installer can write PAL to disable the screen
saver automatically when one of these conditions occur.

Important: The system installer has the ability to disable the softkey
activation of the screen saver utility in the PAL program. Refer to your
system installers documentation for details.

The screen saver does not impact machine operation. MTB panel, PAL, or
part program requests for machine motions or functions occur regardless of
the status of the CRT. You should exit the screen saver before performing
manual or PAL machine motions. It is also recommended you disable the
screen saver for the first few runs of a part program until you are confident
machine motions are occurring as desired.

Enable the screen saver and set the activation timer value (time without
any keyboard input before the screen saver starts) as follows:

1. Press the [SYSTEM SUPORT] softkey.

(softkey level 1)

PRGRAM OFFSET MACRO QUICK SYSTEM

MANAGE PARAM CHECK SUPORT

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 Chapter 8
Displays and Graphics

2. Press the [SCREEN SAVER] softkey.

(softkey level 2)

PRGRAM AMP DEVICE MONI- TIME

PARAM SETUP TOR PARTS

PTOM SYSTEM SCREEN

SI/OEM TIMING SAVER

The screen saver setup screen appears.

SCREEN SAVER

ACTIVATION TIMER : 05 MINUTES

SAVER INCR DECR

ON/OFF TIMER TIMER

Press This Softkey To:

SAVER ON/OFF toggle between enabling and disabling the screen saver. When the
softkey name is shown in reverse video, the screen saver is enabled.
Note the system installers PAL program can override this softkey setting.
INCR TIMER increase the duration of the Activation Timer by five minute increments.
The activation timer can be set to a maximum of 60 minutes.
DECR TIMER decrease the duration of the Activation Timer by five minute increments.
The activation timer can be set to a maximum of 60 minutes.

The activation timer determines the length of time that takes place after the
last keyboard or softkey stroke occurred before the screen saver starts.

Softkey settings that activate the screen saver and determine the activation
timer duration remain active even after power is cycled.

END OF CHAPTER

8-40
 9
Chapter

Communications

9.0 This chapter contains this information:

Chapter Overview
Topic: On Page:

Setting Communications 9-1

Setting Communication Port Parameter Values 9-1
Communication Port Parameters 9-3
Inputting Part Programs from a Tape Reader 9-9
Outputting Part Programs to a Tape Punch 9-13
Verifying Part Programs Against Source Programs 9-16
Error Conditions (Inputting and Outputting Part Programs) 9-18

9.1 This section covers the communication port parameters that are available
Setting Communications with the control. You use communication parameters to let the control
communicate with peripheral devices.

The control has default parameters permanently stored in memory for a

number of peripheral devices. These devices are listed in Table 9.A and
are selected by the DEVICE parameter. You can also modify the default
parameters separately for each device.

9.1.1 This section describes how to change communication parameter values. A

Setting Communication Port description of each of the parameters is presented on page 9-3.
Parameter Values
Display the device setup screen as follows:

1. Press the {SYSTEM SUPORT} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

9-1
 Chapter 9
Communications

2. Press the {DEVICE SETUP} softkey to display the device setup

screen as shown in Figure 9.1.

(softkey level 2)

PRGRAM AMP DEVICE MONI- TIME

PARAM SETUP TOR PARTS

PTOM SYSTEM
SI/OEM TIMING

Figure 9.1
Device Setup Screen

E-STOP

SERIAL PORT: A
DEVICE: DECITEK AB 8000-XPDR
PORT TYPE: RS232
BAUD RATE: 1200
PROTOCOL: LEVEL 2*
PARITY: EVEN
STOP BITS: 1
DATA LENGTH: 8
TIMEOUT: 15 SEC
OUTPUT CODE: N/A
AUTO FILENAME: NO
STOP PRG END: YES
PROGRAM END: M02, M30: YES
M99: YES
%: NO
PRGRM NAME: YES

SAVE COPY
CHANGE DEFLTS

Important: Figure 9.1 displays a typical tape device setup screen. AUTO
FILENAME, STOP PRG END, and PROGRAM END are available only if
you have selected a tape reader or tape punch as your device. See page
9-4 on selecting a device.

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Communications

3. Use the up and down cursor keys to move the cursor to the parameter
you want to change. The current value for each parameter appears in
reverse video.

4. To change a value after a parameter has been selected, press the left
or right cursor keys. The control scrolls through the available
parameter values as you press the left or right cursor key (or hold).

Important: Select the SERIAL PORT (A or B) first and then select

the DEVICE (see Figure 9.1). All other parameters are
device-dependent.

5. To save the changes made to the communications parameters for a

specific peripheral device, press the {SAVE CHANGE} softkey. The
control displays the message SAVE COMPLETED. If the saved
parameters differ from the default parameters for that device, the
message PARAMETERS DO NOT MATCH THE DEFAULTS
appears beneath the parameters.

Important: You must save changes made to the parameter values for a
peripheral device before you select another device.

To restore the default parameters for a particular device, select that device
by using the left and right cursor keys, and press the {COPY DEFLTS}
softkey. The message DEFAULTS LOADED appears at the top of the
screen.

To exit the device setup screen, press the exit {} softkey.

Important: When you exit, the serial ports and devices displayed on the
device setup screen become your current settings.

9.1.2 SERIAL PORT (setting of input/output port)

Communication Port
The control has two communication ports: port A and port B. This
Parameters
parameter selects which of the two ports is going to be modified. Choose
between ports A or B by pressing the left and right cursor keys.

All of the following parameters can be set independently for each

communication port (A or B).

Important: If your system is a 9/230 grinder, it does not have port A. Port
A options discussed in this chapter are not selectable and can not be
configured for a 9/230 grinder.

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 Chapter 9
Communications

DEVICE (setting type of peripheral)

Select your peripheral device immediately after selecting your serial port.
The devices with default communication parameters stored in the control
are listed in Table 9.A. If the device that you are using is not listed, select
USER PUNCH, USER PRINTER, or USER READER.

Table 9.A
Available Devices for Communication with the 9/SERIES Control

Device Device Type

Allen-Bradley 1770-SB Cartridge

Ricoh PTR240R
Facit N4000 Reader
Decitek AB 8000-XPDR
DSI SP75
Facit 4070 Punch
Facit N4000
Epson LX-810 (USA) Printer
Epson SP-500 (JAPAN)
User Punch
User Reader User Defined
User Printer
Teach Pendant
PAL-RS232 Comm
ODS ODS Terminal
Generic Level_2 Computer using only level 2 protocol
Greco Minifile Intelligent Storage
Intelligent Device Personal Computer using
Communication Software

For a more detailed list of the available peripheral devices and their
function, see the integration/maintenance manual.

PORT TYPE

Port type options differ depending on the port you select.

Port Type

Port A RS232
Port B RS232 or RS422

Port A is not available on 9/230 grinders.

9-4
 Chapter 9
Communications

BAUD RATE

You can set the baud rate at these speeds (in bits per second):

300, 600, 1200, 2400, 4800, 9600, 19200

See the documentation provided with your peripheral device.

MAXIMUM BAUD RATE

If you need to operate your 9/Series control at a baud rate higher than
9600 bps, you can toggle between 19200 (default setting) and 38400 bps:

SAVE COPY SETMAX SETMAX

CHANGE DEFLTS 19200 38400

Important: The SAVE CHANGES and COPY DEFLTS softkeys

have no affect on the maximum baud rate setting.

Although you can make your selection at any time, only when MAX
displays is it implemented for all ports on your control. Until then, your
selection is highlighted to remind you of your currently selected maximum
baud rate. Once youve made a selection, it is effective until you make
another selection.

Important: Selecting a maximum baud rate that your device does not
support causes the selection to be ignored. For ODS device drives, you
must cycle power on the control after changing the baud rate in order for
the control to recognize your selection. If one or both ports are busy, the
request to select a maximum baud rate is ignored, returning the error,
PORT IS BUSY -- REQUEST DENIED.

Important: Your MAX selection establishes the maximum baud rate for
all serial ports on your 9/Series control. A combination of 19200 baud on
one port and 38400 baud on another port is not allowed.

PROTOCOL

Select the protocol for communications from the following options:

LEVEL_1
LEVEL_2
DF1
RAW

See the documentation provided with your peripheral device.

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PARITY (parity check)

Select the parity from the following parity check schemes:

Parity Parity Check

NONE No parity check

EVEN Even parity
ODD Odd parity

See the documentation provided with your peripheral device.

STOP BIT (number of stop bits)

Select the number of stop bits with this parameter. You can select:

1, 1.5, or 2 bits

See the documentation provided with your peripheral device.

DATA LENGTH

Select the number of bits that constitute one character with this parameter.
You can select:
7 or 8 bits

The parity bit is not counted as a data length bit. See the documentation
provided with your peripheral device.

TIME-OUT

Select the time-out value that specifies how long the control tries to
establish communications with a peripheral. If the control cannot establish
communications within the specified time-out period, an error message is
displayed on the controls CRT. You can select:

3, 15, 30, or 60 seconds

or

2, 3, 5, or 10 minutes

or

UNLIMT (no time-out)

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OUTPUT CODE

Select EIA (RS-244A) or ASCII (RS-358-B) as output codes for devices

with data lengths configured as 8 bit. The output code can not be
configured for data lengths configured as 7 bits and is displayed as N/A.

AUTO FILENAME

This parameter is valid only if you are inputting part programs to the
control from a tape reader (see DEVICE for details). Use this parameter
only if your tape contains more than one part program.

AUTO FILENAME lets you automatically assign program names to all

programs or key in or read the filenames for each program individually as
they are copied into memory from a multiple program tape.

Setting Result

Yes The first program on a multiple program tape must have its program name keyed in manually, or there
must be a program name as the first block of the first program. The control automatically creates
program names for successive programs on that tape by incrementing the program name by one as
each new program is read. The control ignores all program names that exist as the first block of the
program for any program read after the first program on tape (though these blocks are still copied into
memory, they are not used as the program name). The control generates an error if when reading
program names into memory, the control needs to increment a program name that is greater than
99999.

Important: If the first program name is to be read from tape (not manually keyed in), the first block
of the first program must contain a program name in one of the following formats: Oxxxxx (ASCII),
Nxxxxx or :xxxxx where xxxxx is any valid integer.
No The program name for each program on a multi-program tape must be entered from the keyboard or
located as the first block of each program after the program start code on the tape. If no program name
is found in the first block and no program name is keyed in, the control generates an error.

Important: If the program name is to be read from tape (not manually keyed in), the first block of
the program must contain a program name in one of the following formats: Oxxxxx (ASCII), Nxxxxx or
:xxxxx where xxxxx is any valid integer.

STOP PRG END

This parameter is available only if you have selected a tape reader as your
device (see DEVICE for details). It determines if the tape reader is to stop
at the end of each program or continue reading until the end-of-tape code is

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reached. See the PROGRAM END section to determine what defines the
end-of-program for your system.

Setting Result

Yes the tape reader stops every time it encounters a program end code.
No the tape reader stops only if it encounters an error condition or the end of tape
code.

CAUTION: If no program end code is found while reading a

multi-program tape, all programs are read and merged into one program.

Important: If % is the program end code on your tape, the tape reader
stops every time it encounters a %. Consequently, even if STOP PRG
END is set to no, the tape reader stops at the end of each program.

The tape reader stops if % (ASCII) or ER (EIA) is found. If you selected

% as the program end-code with (ER) format, you can continue reading on
that tape after a % is read. If, however, you selected M30, M02, or M99,
and one of these M-codes is read followed by a % (ER), the % is
considered the tape end, and the directory screen is displayed.

PROGRAM END

This parameter is available only if you select a tape reader or tape punch as
your device (see DEVICE for details). Use this parameter to designate
valid end-of-program codes. You can select more than one of these
codes at a time.

The tape reader stops every time it encounters one of these program
end-codes that has been set to yes on the device setup screen. This
assumes that the STOP PRG END parameter has been set to yes (see the
STOP PRG END section). If STOP PRG END is set to no, the tape
reader does not stop unless % (ER) is encountered. Each program read is
stored in the controls memory.

If % is set to yes, making it a valid program end-code, no program

end-code other than PRGRM NAME can be set to yes. If another
program end-code is set to yes, the % option is automatically set to
no. See the descriptions for M-codes in chapter 10 for details.

M02, M30 -- see the descriptions for M-codes in chapter 10 for details

M99 -- see the descriptions for M-codes in chapter 10 for details

% -- also used as end-of-tape code. See section on STOP PRG END

(page 9-7)

Important: If you set the % field to yes, the tape punch adds a %
code after the last block of every program that is output to tape.

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PRGRM NAME -- if set to yes, a program name is recognized as the

end of the previous program. The program name must be in one of
these forms where xxxxx indicates an integer from 0 to 99999:

Oxxxxx (ASCII)

:xxxxx (EIA)

Nxxxxx (except for N00000)

Important: If you use an N-code to designate the program name, be aware

that the control interprets all part program blocks that contain N-codes as
new part programs.

9.2 If you load a program on a peripheral device, such as a tape reader, and
Inputting Part Programs you want to send a copy of that program to control memory, follow these
from a Serial Peripheral steps:

1. Verify that the peripheral device is connected to the correct serial port
and that the port is configured for that device (see page 9-1).

2. Press the {PRGRAM MANAGE} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

The Program Directory Screen is displayed:

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 Chapter 9
Communications

SELECTED PROGRAM:

DIRECTORY PAGE 1 OF 1

NAME SIZE COMMENT

O12345 1.3 SUB TEST 1

TEST 3.9 NEW
MAIN 1.3
TTTE 1.3 THIS IS A TEST PROGRAM
XXX 1.3

5 FILES 120.7 METERS FREE

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

3. Select the directory into which you want the program to be copied.
You can select the main directory or the protectable directory. The
control displays the main directory as the default directory at
power-up. The protectable directory must be selected using the
{CHANGE DIR} softkey.

The {CHANGE DIR} softkey controls access to the protectable part

program directory. This softkey is password protected. You must
have the proper password to be able to access this softkey. See page
5-42 for additional information on the protectable directory and the
{CHANGE DIR} softkey.

4. Press the {COPY PRGRAM} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERIFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

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5. If you have already entered the name in the program, skip step 5. and
go to step 6. Otherwise, enter the program name to copy by either
selecting it using the up and down cursor keys or typing it in by using
the alphanumeric keys on the keyboard. The control displays the
program name on the input line (line 2) of the screen next to the
prompt SELECTED PROGRAM:.

If you make an error while typing in the new program name, you can
make corrections on the input line as described on page 2-41.
6. Select the device to copy from using the following table.

If the peripheral device is connected to: Press this softkey:

Port A {FROM A TO MEM}

Port B {FROM B TO MEM}

The screen is changed to the COPY PARAMETERS screen, as

shown in Figure 9.2, that displays the current device and setup
parameters for that communication port.

If the device displayed on the screen is not correct, select the correct
device using the procedure described on page 9-4.

Figure 9.2
Copy Parameter Screen

COPY PARAMETERS

FROM: (SELECTED PORT NAME)

TO: (PROGRAM NAME)

DEVICE: FACIT N4000

BAUD RATE: 2400
PROTOCOL: LEVEL_2*
OUTPUT CODE: ASCII
AUTO FILENAME: NO
STOP PRG END: YES
PROGRAM END: M02, M30
M99

SINGLE MULTI OUTPUT

PRGRAM PRGRAM ALL

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7. Specify if you want to copy one program or multiple programs.

Input Single Program

Press {SINGLE PRGRAM} to copy one program from tape.
Input terminates when the first program end or tape end code is
encountered.

Input Multiple Programs

Press {MULTI PRGRAM} to copy multiple programs from the
tape into memory.

If STOP PRG END was set to the tape reader

yes stops each time it encounters a program end or

tape end code.
no continuously reads programs until it encounters
a tape end code.

For details on how multiple programs are input and named, see the
AUTO FILENAME, STOP PRG END, and PROGRAM END
parameters described beginning on page 9-7.

When you input a program, the control does not erase the program
from the peripheral device. If the program being read contains a
comment in the first block, the control loads the comment and
displays it with the program name in the program directory.

If the selected program name already exists in control memory, the

following prompt appears: OVERWRITE PROGRAM IN
MEMORY (Y/N): Type Y to start the tape reader and overwrite
the existing program in memory with the new program. Type N to
abort the copy operation.

To abort the copy operation at any time, press the {CANCEL}

softkey.

(softkey level 4)

CANCEL

ATTENTION: If you select overwrite, the control erases the

existing program from its memory prior to replacing it with the
new program. If an error occurs during the input operation, or
you abort the copy operation, the original program is lost, and
the new one is not copied.

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9.3 If a program is in control memory and you want to send a copy of that
Outputting Part Programs to program to a peripheral device, follow these steps:
a Serial Peripheral
1. Verify that the peripheral device is connected to the correct serial port
and that the port is configured for that device (see page 9-4).

2. Press the {PRGRAM MANAGE} softkey.

(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

The control displays the screen as shown in Figure 9.3.

Figure 9.3
Program Directory Screen

SELECTED PROGRAM:

DIRECTORY PAGE 1 OF 1

NAME SIZE COMMENT

O12345 1.3 SUB TEST 1

TEST 3.9 NEW
MAIN 1.3
TTTE 1.3 THIS IS A TEST PROGRAM

4 FILES 127.5 METERS FREE

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

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3. Press the {COPY PRGRAM} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERIFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

4. Enter the program name to output from memory. Two ways to do this
are available:

Type in the program name using the alphanumeric keys on the

keyboard. The control displays program name on the input line
(line 2 of the screen) next to the prompt FILENAME.

Use the up and down cursor keys to position the cursor at the
program you want to send. The selected program appears in
reverse video.

If outputting all programs, cursor to the first program in your

program directory.

5. Select the device you want to copy as follows:

If the peripheral device is connected to: Press this softkey:

Port A {MEM TO PORT A}

Port B {MEM TO PORT B}

(softkey level 3)

MEM TO FROM A MEM TO FROM B MEM TO

PORT A TO MEM PORT B TO MEM MEM

The copy parameters screen appears (see Figure 9.4).

6. Specify if you want to output one, multiple, or all programs onto tape.

Output Single Program

Press {SINGLE PRGRAM} to output the program selected in
step 4.

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Output Multiple Programs

Press {MULTI PRGRAM} to output more than one program.
After you pressed the {MULTI PRGRAM} key, the program
selected in step 4 is output. The program directory screen (see
Figure 9.3) appears with the following set of softkeys:

(softkey level 4)

OUTPUT FINISH
PRGRAM TAPE

Select the next program to output by selecting the file name as

described in step 4. Press the {OUTPUT PRGRAM} key to
output the program.

For details on how multiple programs are named,

see chapter 10.

ATTENTION: Be aware that the information in the directory

such as program name and comment are not output to tape. If
you want to transfer this information to tape, you must include
the program name and comment from the directory in the first
block of the program. See chapter 10 for details on O word
program names.

After the last program is output to the tape, press

{FINISH TAPE} to punch the tape end code to the tape.
Important: If an error occurs or you abort the copy
operation while punching a tape, the tape may not be useable.

Output All Programs

Press {OUTPUT ALL} to copy all programs in memory to tape at
one time.

{OUTPUT ALL} works like {MULTI PRGRAM} except

that you cannot select the programs you want to output.
{OUTPUT ALL} selects all programs automatically and
outputs them to the peripheral device.

All programs are copied to the peripheral device and stored

using the same program name as the original, in the order that
they appear on the program directory screen.

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(softkey level 3)

SINGLE MULTI OUTPUT

PRGRAM PRGRAM ALL

Figure 9.4
Copy Parameters Screen

COPY PARAMETERS

FROM: (Program Name)

TO: (Selected Port Name)

DEVICE: FACIT N4000

BAUD RATE: 2400
PROTOCOL: LEVEL_2*
OUTPUT CODE: ASCII
AUTO FILENAME: NO
STOP PRG END: YES
PROGRAM END: M02, M30
M99

CANCEL

Important: Press {CANCEL} to abort the copy operation at any time.

9.4 To verify that a part program stored in memory matches a source program
Verifying Part Programs stored in memory or on a peripheral device:
Against Source Programs
1. If one of the programs to either verify or verify against is on a
peripheral device, make sure that the peripheral device is connected
to the correct serial port and that the port is configured for that device
(see page 9-4).

2. Press the {PRGRAM MANAGE} softkey.

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(softkey level 1)

PRGRAM OFFSET MACRO PRGRAM SYSTEM

MANAGE PARAM CHECK SUPORT

FRONT ERROR PASS- SWITCH

PANEL MESAGE WORD LANG

3. Press the {VERIFY PRGRAM} softkey.

(softkey level 2)

ACTIVE EDIT RESTRT DISPLY COPY

PRGRAM PRGRAM PRGRAM PRGRAM PRGRAM

VERIFY PRGRAM DELETE RENAME INPUT

PRGRAM COMENT PRGRAM PRGRAM DEVICE

REFORM CHANGE
MEMORY DIR

4. Type program name(s) into the input area (lines 1- 2) in the following
manner. If both programs are resident in control memory, type both
program names, separated by a comma. The order in which these
names are entered is not important.

VERIFY: program name,program name

If one of the programs to verify is on a peripheral device and the

other is resident in control memory, you type the name of the
program resident in the control only.

VERIFY: program name

5. To verify a part program in memory against a part program stored on

a peripheral device, press the {VERIFY PORT A} or
{VERIFY PORT B} softkey depending on where the peripheral
device is connected.

To verify a part program in memory against another part program in

memory, press the {VERIFY MEMORY} softkey.

(softkey level 3)

VERIFY VERIFY VERIFY

PORT A PORT B MEMORY

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6. Press the {VERIFY YES} softkey. To abort the verify operation,

press the {VERIFY NO} softkey.

(softkey level 4)

VERIFY VERIFY
YES NO

The control displays one of the following messages when you perform the
verify operation:

PROGRAMS ARE DIFFERENT if programs do not match.

PROGRAMS ARE IDENTICAL if programs match.

9.5 An error occurs if you attempt these operations:

Error Conditions (Inputting
output data to an input device (tape reader, etc.)
and Outputting Part
Programs) output or input data when no peripheral device is connected to the
selected port

output or input data when the data communication line is either broken
or not connected

input data from an output device (tape punch, etc.)

input a program name that already exists in control memory. The

control displays OVERWRITE PROGRAM IN MEMORY(Y/N):

input a program without reading in or typing in a filename when AUTO

FILENAME is set to no

END OF CHAPTER

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Chapter

Introduction to Programming

10.0 This chapter covers an introduction to programming part programs. The

Chapter Overview major topics described in this chapter include:

Topic: On page:

Tape Format 10-2

Program Configuration 10-6
Program Names 10-8
Sequence Numbers 10-9
Comment Blocks 10-10
Block Delete and Multi Level Delete 10-11
End of Block Statement 10-12
Using Subprograms 10-12
Subprogram Call (M98) 10-13
Main and Subprogram Return (M99) 10-14
Subprogram Nesting 10-15
Word Formats and Functions 10-17
Minimum and Maximum Axis Motion (Programming Resolution) 10-20
Word Descriptions 10-21
(A, B, C, U, V, W, X, Y, Z) Axis Names 10-21
A_L_,R_,C_ (QuickPath Plus Words) 10-21
F Words (Feedrate) 10-22
G Words (Preparatory Functions) 10-23
I J K Integrand Words 10-28
M Words (Miscellaneous Functions) 10-29
N Words (Sequence Numbers) 10-34
O Words (Program Names) 10-34
P L (Main Program Jumps and Subprogram Calls) 10-35
S Words (Spindle Speed) 10-35
T Words (Length, Radius, and Orientation Offsets) 10-36

The control performs grinding operations by executing a series of

commands that make up a part program. These commands are interpreted
by the control which then directs axis motion, spindle rotation, wheel
dressing, and other CNC functions.

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 Chapter 10
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You can execute part programs from the controls memory or a CNC tape.
You can execute programs on tape directly from the tape, or load them into
the control and execute them from memory.

This chapter begins with an explanation of CNC tape format. The

remainder of the chapter deals with the contents of a part program. It
explains blocks, words, G-codes, M-codes, etc.

For information on how to: See chapter:

enter and edit part programs through the keyboard 5

edit part programs off line and download them to the control 6
enter a part program from a peripheral device 9

10.1 This section describes the format that the control requires for inputting and
Tape Format outputting part programs from or to a tape device.

The control accepts:

ASCII format (RS-358B)

EIA-244-B format

Tape with Program End = M02, M30, M99

This particular tape format allows single- or multi-program format on a

tape. It also allows you to enter either M02, M30, or M99 as a program
end code (see chapter 10 for details on legal program end codes).
Figure 10.1 shows a typical configuration for a multiple program tape with
M30 and M99 as program end codes.

If the first block of the file program is a filename, you can set AUTO
FILENAME to yes to create filenames for all subsequent programs. If
AUTO FILENAME is set to no and if no filenames are included in the
programs on the tape, you have to enter all filenames from the keyboard
when prompted. For more information, see the section on O word
programming in this chapter (page 10-34).

The control automatically recognizes EIA or ASCII during input when it

reads the first EOB code from the tape.

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 Chapter 10
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Figure 10.1
Tape Configuration (Program End = M02, M30, M99)
Program start code 1 foot Program start code Tape end
Part program space code
Part program
Tape start
Program Program
code Leader Comment Program Comment Program
name (opt) name
section (opt) end code (opt) (opt) end code

E E E E E E
R O O100 M30 O O O101 M99 O R
or B B B B or
% %

Typical single program tape

Typical multi-program tape 12013-I

Tape with Program End = % (ASCII), ER (EIA)

Unlike the previous tape type mentioned, this type of tape accepts only the
% (ER) field as the program end code (see Figure 10.2). See this chapter
for details on legal program end codes and the effect of STOP PRG END.

Figure 10.2
Tape Configuration (Program End = % (ASCII), ER (EIA))

Program start code 1 foot Program start code Tape end

Part program space code
Part program
Tape start
code Program
Leader name Comment Program Program Comment Program
section (opt) (opt) end code name (opt) (opt) end code

ER E E ER
% %
or O O100 or O O101 or or
% B ER B ER %

Typical single program tape

Typical multi-program tape 12014-I

This tape format should conform to the variable block length format
specified by EIA standard RS-274D.

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The control automatically recognizes EIA or ASCII during input when it

reads the first EOB code from the tape.

(1) Tape Start (Rewind, Stop Code)

The tape start code, indicating the beginning of a tape, is designated with:

% character ---- ASCII format

ER ---- EIA format

This code must be on the tape if programming a tape rewind code (M30,
M99) in the part program. In other cases (M02, %), it is not necessary to
have this code on the tape. Any tape punched from the control has the tape
start code.

(2) Leader Section

The information between the tape start and the program start is called the
tape leader section. The leader section is simply a tape indexing section.
On punched tape, the holes punched in the leader section can be configured
to show alphanumeric characters. The control ignores information within
the leader section and does not perform a parity check on this information.

Important: A program start code must not appear within the leader
section. If the program start code appears, the control starts reading
information and assumes that it is the part program. This causes parity
errors or nonsense codes to be read in by the control.

(3) Program Start Code

The first end-of-block code (EOB code) after the leader section indicates
the beginning of the part program. The EOB code is designated with:

line feed (LF) ---- ASCII format

carriage return (CR) ---- EIA format

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(4) O Word Program Name

The program name, if on the tape, must follow the program start code.

When outputting to tape, the program name can be determined by:

Program Name: If:

Manually keying in the program name --

Selected from the first block of the No name has been manually keyed in and the first
program block contains an O word, : (for EAI format), or N word
after the program start code.
Selected form the program directory No name has been manually keyed in and no name
exists in the first block of the program. For the program
name to be taken from the directory screen, the
program must be stored on that directory with the letter
O followed by up to 5 numeric digits. In this case, the
control generates an O word block as the first block of
the program written to tape.
No name is used A program is stored on tape with no program name if
none of the above naming conditions are met.

(5) Part Program Section

A part program is made of blocks of information. Individual blocks
contain words that the control can interpret. Individual words are made up
of an address with a numeric value. For details on words and addresses,
see the remaining sections of this chapter.

This section should include a program name, program blocks, comments,

and end-of-program. Each block in the part program is separated by an
EOB code. The control displays a semicolon ; to indicate the presence
of an EOB code.

(6) Comment
Information punched between the control out code ( and the control in
code ) within the program section is considered a comment and is not
handled as significant information (even though it is copied to and from
control memory or tape). Any number of comments can be included in a
part program interspersed with program blocks or words.

Example 10.1
Comments in Part Programs

X1.Z1.(START MOTION);
(CALL SUBPROGRAM 1);
(12345);

Each of the above program blocks contains a comment. The control does
not regard the comment as significant information, except when it appears
in the first block of the program. In this case, the comment is displayed on
the program directory screen as part of the program name.

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The comment can be up to 128 characters long (including the control out
and control in codes), and can consist of any alphanumeric characters and
special symbols. However, the comment cannot include the following
codes:
(
)
ER, % (rewind stop codes)
EOB (end of block)

Important: If rewind stop codes are included in the comment, the tape
rewind function (M30) causes the rewind to stop in the comment section of
the tape.

(7) Program End

The control stops reading the part program when it reads a program end
code. You can use these codes as program end codes:
M02 ---- end of program
M30 ---- end of program and tape rewind
M99 ---- end of program, tape rewind, and restart the program
% ---- end of program and end of tape code
PRGRM NAME ---- end of program

(8) Tape End (Rewind, Stop Code)

The tape end code, indicating the end of a tape, is designated with either:
% ---- ASCII format
ER ---- EIA format

10.2 Each individual grinding operation performed by the control is determined

Program Configuration by the controls interpretation of a group of words (commands) called a
block. Individual blocks in a part program define each grinding process.
Part programs consist of a number of blocks that, together define a
complete operation on a part.

Part program blocks are made up of:

characters ---- A character is a number, a letter, or a symbol that means

something specific to the control. For example, 1 G ; are characters
the control recognizes as meaningful information.

addresses ---- An address is a letter that defines the instruction for the
control. Examples of addresses are: G, X, Z, F.

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 Chapter 10
Introduction to Programming

words ---- A word consists of an address followed by a numeric value.

Examples of words are: G01, X10.5, F.1., M2. Each word requires a
specific format for its numeric part. These formats are given on page
10-21.

codes ---- There are industry standards for many of the G and M words
used here. For that reason, they are often referred to as G or M codes.

parameters ---- The control has a number of fixed cycles that are
initiated by a specific G word. Other words appearing in those G code
blocks are referred to as parameters because their values are relevant
only to that G code. For example, a Z word generally refers to a Z axis
move, but when it appears in a block with a G81 reciprocation cycle, its
value refers to the coordinate of the primary reversal point. In that case,
it is a parameter of the G81 reciprocation cycle.

A block is a set of words and characters that define the operations of the
control. For example:

/ N3 G00 X10. Z10. M3 ;

end of block character

miscellaneous function word
(spindle on forward)
axis movement words
preparatory function word
(rapid positioning mode)
sequence number word
optional block delete character

The control sequentially executes blocks in a part program to conduct the

required grinding operation.

Important: To make jumps, loops, or calculations within an executing

program or subprogram, use the paramacro features as described in chapter
20.

A part program has a:

beginning ---- setting up the control and the grinder to perform the
operations wanted

middle ---- performing the grinding operations

end ---- returning the grinding wheel to a stopping position and preparing
the control for the next part program

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The blocks programmed vary for each section of the program. Consider
Example 10.2.

Example 10.2
Sample Part Program

G91G21; beginning

G00X28.;
G81Z5.K-2.; middle
G00X5;

G80; end
M02;

A complete part program can consist of a main program and several

subprograms. For details on subprograms, see page 10-12.

10.2.1 Enter as many as 8 alphanumeric characters for program names, which the
Program Names control uses to call up programs for editing or automatic operations.

Subprograms are designated with the letter O followed by 5 numbers. If

you enter a new program name with 5 numeric characters, the control
assumes that it is a subprogram and automatically inserts the letter O as the
first character in the name. However, the control does not consider
programs with more than 5 numeric characters as subprograms.

The control first lists subprograms in numerical order, from lowest to

highest. Following the subprograms are the main programs, which are
listed in alphabetical order.

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 Chapter 10
Introduction to Programming

Entering Program Names

To enter a program name, do the following:

1. Press the softkey {PRGRAM MANAGE}. This calls up the program

directory, which lists subprograms first, then programs by
alphabetical order.

2. Type in the name of a new program or one already listed. You cannot
enter spaces or special characters.

3. Press {EDIT}, which initiates the editing mode for the program
selected.

Important: When the control reads a program from tape, the O word is the
program name. If there is no O word, the control interprets the first
sequence number as the program name.

Example 10.3
Entering Subprogram Names

Name entered Program name stored by control

O00123 O00123
O123 O00123
123 O00123
12345 O12345

Example 10.4
Legal Program Name Blocks
O12345;
O12345(DRESSING PROGRAM);
O333
O2;

10.2.2 You can assign each block in a part program a sequence number to
Sequence Numbers distinguish one block from another. Sequence numbers begin with an N
address followed by a one to five digit numeric value.

You can assign sequence numbers at random to specific blocks or to all

blocks. You can call blocks assigned sequence numbers later by
designating their sequence number. Sequence numbers are necessary to
make program jumps and to specify a block for paramacro calls and
returns.

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 Chapter 10
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Example 10.5 shows two blocks with sequence numbers 10000 and 10010.

Example 10.5
Blocks With Sequence Numbers
N10000 X5. Z4. ;
N10010 X2. Z2. ;

Typically when assigning sequence numbers to blocks, the N word comes

first in the block except when designating block delete (see page 10-11).
You do not have to program the N word first in the block; the control still
finds it for jumps. However, it is not found for renumber operations.

If more than one N word is in a block, the control only uses the first N
word encountered for that blocks number.

You can assign different blocks the same sequence number. If this number
is called by a GOTO or some other command, the first block found by
the control with the sequence number that is closest to the calling block is
used. The control searches for the sequence number in the forward
direction (from the calling block) first. Then it searches in the reverse
direction (from the calling block). How the control reacts if the sequence
number is not found is determined by the specific operation being used.

The control has a programming feature that renumbers existing sequence

numbers or assigns all block sequence numbers. For details, see chapter 5.

10.2.3 Information between the control out code ( and the control in code )
Comment Blocks within a part program is regarded as a comment and not handled as
significant information. The comment can be described in up to 128
characters (including the control out/in codes) consisting of alphanumeric
characters and special symbols.

Example 10.6
Program Block With Comment

N00010G91X5.(CHANGE TO INC. MOVE X 5);

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 Chapter 10
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10.2.4 When programming a slash / followed by a numeric value (1-9)

Block Delete and anywhere in a block, the control skips (does not execute) all remaining
Multi Level Delete programmed commands if you turn on the block delete feature. Turn on
this feature by pressing the {FRONT PANEL} softkey, or by activating the
installed switch (optionally) on the MTB panel. If you use the {FRONT
PANEL} softkey, only block delete /1 is available.

Your system installer determines in AMP if the entire block is deleted or if

only the characters to the right of the block delete / are deleted. If the
entire block is to be deleted, it is done regardless of the position of the /
character in the block.

Example 10.7
Block Delete in a Part Program

Program Block Comment

N1000 X__ Z__; first block

N1010 Z__; second block
/1N1020 X__; control skips this block if switch 1 is on
/1/2N1030 X__; control skips this block if switch 1 or switch 2 is on
/N1032 X__; control skips this block if switch 1 is on
N1040 X__;
/2N1050 X__; control skips this block if switch 2 is on

The control always reads several blocks into its buffer memory so that it
can prepare for moves and commands before it executes them. The switch
(or softkey) controlling a block delete must be set before that block is read
into buffer memory. Otherwise, it is not skipped.

The control considers a / without a number to mean /1. However, you

must program a /1 if you use more than one block delete number in a
block.

The block delete is active for sequence number search and dry run
operations.

The control ignores the block delete when loading a part program from
tape or other device into control memory. The control also ignores the
block delete when a part program is saved on punched tape or other device
from control memory.

For details on the block delete switch(es), see the PAL Reference manual
and the documentation prepared by your system installer.

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10.2.5 All program blocks must have an end of block statement as the last
End of Block Statement character in the block. This character tells the control how to separate data
into blocks. The control uses the ; to mark the end of a block.

To specify an end of block character ; at the keyboard, use the [EOB]

key on the operator panel. If editing part programs off line (see chapter 6),
the end of block character should not be entered when blocks are keyed in.
The control automatically inserts end of block ; when you download the
program.

10.3 When the same series of blocks are repeated more than once, we
Using Subprograms recommend that you program them using a subprogram.

The key difference between a subprogram and a G65 paramacro is that a

paramacro always gets a new set of local parameters; a subprogram uses
the same set of local parameters that the main program used. See chapter
20 for details on paramacros and local parameters.

This section explains the following:

main and subprograms

subprogram calls

To make jumps, loops, or calculations within an executing program or

subprogram, use any of the paramacro features as described in chapter 20.

You can call a subprogram in an MDI command, however, an MDI

command cannot contain an M99 code.

ATTENTION: Any edits that you made to a subprogram or

paramacro program (as described on page 7-6) that has already
been called for automatic execution are ignored until the calling
program is disabled and reactivated. Subprograms and
paramacros are called for automatic execution the instant that
the calling program is selected as active (as described on page
7-6).

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10.3.1 Generally the control executes programs sequentially. When you enter an
Subprogram Call (M98) M98Pnnnnn (nnnnn representing a subprogram number) command in a
program, the control merges the subprogram, designated by the address P,
with the main program immediately before the block that follows the M98
command.

The control first searches the main program directory for the subprogram
called by an M98. If the control does not find the subprogram in the main
program directory, it then checks the protectable program directory for the
subprogram. If subprograms in the main and protectable directories have
the same name, the control uses the subprogram in the main directory.
The control issues the error message CANNOT OPEN SUBPROGRAM
if it cannot find the subprogram designated by the M98 command.

For example,

M98 P00001 ;

causes execution to transfer from the current program to the subprogram

numbered 00001.

Important: For you to use a program as a subprogram, it must have a

program name starting with the letter O followed by up to a 5 digit
numeric value. When calling the subprogram with a P word, only the
numeric value is used. The letter O is omitted.

Sometimes you want to execute a subprogram more than once. For

example,

M98PnnnnnLmm;

causes the control to merge the subprogram numbered nnnnn in the main
program mm times. When you enter an L command in a M98 command,
the control merges the subprogram, designated by the address P, before the
block that immediately follows the M98 command the number of times
designated by the L word. Both the P and L words must follow the M98
command in a program block.

Omission of an L word is regarded as L1. An L word cannot be a negative

value or have a value of zero.

Important: If M02 or M30 codes are found in a subprogram before the

program reads an M99, they stop program execution. The program resets
or rewinds if an M30 code is executed or the program ends if the M02 code
is executed.

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10.3.2 The M99 code acts as a return command in both subprograms and main
Main and Subprogram programs; however, there are specific differences:
Return (M99)
If you use M99 in a: M99:

main program executes all commands in the block, regardless of if information is

programmed in the block to the right of the M99 command
clears all modal codes similar to an M02 or M30 (simulates
start-up conditions)
resets the current main program to the first block
automatically performs a cycle start on the program after it is reset
and program execution starts over
subprogram tells the control the end of a subprogram. The control does not
execute any commands following the M99 as part of the
subprogram
causes the control to return to the call program

Program the M99 code anywhere in a program block, provided no axis

words are programmed to the left of M99. Any information (other than
axis words) programmed to the left of M99 is executed as part of the
subprogram, while information (including axis words) programmed in the
block to the right of the M99 command is ignored.

if you programmed: Then:

M99X10; X10 is ignored in this subprogram block

X10M99; X10 generates an error in this subprogram
M03M99; M03 is executed as normal in this subprogram

Example 10.8
Subprogram Calls and Returns

MAIN PROGRAM SUBPROGRAM 1 SUBPROGRAM 2

(MAIN PROGRAM); (SUBPROGRAM 1); (SUBPROGRAM 2);

N00010...; N00110; N00210;

N00020...; N00120...; N00220...M99;

N00030M98P1; N00130M99;

N00040...; N00140...;

N00050...; N00150M30;

N00060M98P2L2;

N00070M30;

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Example 10.8
Subprogram Calls and Returns (continued)
The following path of execution results when the main program above is
selected as the active program.

(MAIN PROGRAM);
N00010...;
N00020...;
N00030M98P1;
(SUBPROGRAM 1);
N00110;
N00120...;
N00130M99;
N00040...;
N00050...;
N00060M98P2L2;
(SUBPROGRAM 2);
N00210;
N00220...M99;
(SUBPROGRAM 2);
NOO210;
N00220...M99;
N00070M30;

10.3.3 We use nesting as the term to describe one program calling another. The
Subprogram Nesting program called is said to be a nested program. When you call a
subprogram from the main program, it is said to be on the first nesting
level or nesting level 1. If that subprogram in turn calls another
subprogram, the called subprogram is said to be in nesting level 2.
Subprograms can be nested up to a maximum of 4 levels.

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Figure 10.3
Subprogram Nesting

Main Sub- Sub- Sub- Sub-

program program 1 program 2 program 3 program 4

0 00001; 0 11111; 0 22222; 0 33333; 0 44444;

M98P11111; M98P33333;

M98P22222; M98P44444;

M02;p M99; M99; M99; M99;

Level 1 Level 2 Level 3 Level 4 12015-I

Important: Calling a macro (see chapter 20) does not add to the nesting
level of any active subprograms. Up to 4 subprograms can still be nested
though the combined total of nested macros and subprograms cannot
exceed 8.

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10.4 Words in a part program consist of addresses and numeric values:

Word Formats and
Address ---- A character to designate the assigned word function
Functions
Numeric value ---- A numeral to express the event called out by the
word

Figure 10.4
Word Configuration

Word Word

G 0 1 X 1 .3 1

Address Numeric
value

For each word used in a part program, there is a format that designates the
number of digits allowable as a numeric value for that word. The format
for an M word, for example, is normally M2 which indicates that an M
address can be followed by only two digits.

For words that allow the use of a decimal point in a numeric value, the
decimal point format is used. In this case, the number to the left of the
decimal point indicates the number of digits acceptable as integers, and the
number to the right of the decimal point indicates the number of fractional
digits acceptable.

The format X3.4 for an X word, indicates that 3 digits to the left and 4
digits to the right of the decimal are acceptable as numeric values. With
this format selected, the maximum programmable value for an X word
would be 999.9999.

Your system installer can choose from the following programming format
types in AMP:

Leading Zero Suppression ---- enable or disable

Trailing Zero Suppression ---- enable or disable

Table 10.A shows the effects of leading zero suppression (LZS) and
trailing zero suppression (TZS). It presumes that your system installer has
set a format of X5.2 (integer 5 digits, decimal 2 digits) in AMP. Different
formats would result in different decimal point placement compared to
those shown in Table 10.A, but the end result would be comparable.

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Table 10.A
How the Control Interprets Numeric Values

Position Interpreted by the control

Programmed X Value TZS Disabled TZS Disabled TZS Enabled

LZS Disabled LZS Enabled LZS Disabled

X123456. ERROR ERROR ERROR

X12345.6 12345.60 12345.60 12345.60
X1234.56 1234.56 1234.56 1234.56
X123.456 123.45 123.45 123.45
X12345 12345.00 123.45 12345.00
X012345 ERROR 123.45 1234.50
X123456 ERROR 1234.56 12345.60
X1234567 ERROR 12345.67 12345.67
X12345678 ERROR ERROR ERROR

Important: If backing up a table using a G10 program (such as the offset

tables or coordinate system tables), keep in mind the G10 program output
is generated in the current format of the control (LZS or TZS). If you
intend to transport this table to a different machine it must also be using the
same format.

Your system installer can also set an AMP parameter to generate an error
or use a value of zero for characters that are programmed without numeric
values. If this AMP feature is disabled, programming:

GX; rapid move to X zero

M; program stop

would result in the actions described in the comments following the blocks.
If you enable the feature, the error NUMERIC MISSING would have
occurred upon execution of either of those blocks.

In alphabetical order, Table 10.B shows the addresses for words that are
recognized by the control, their typical formats, and their general
meanings. Since most of these formats are configured in AMP, see the
documentation prepared by your system installer.

You can alter many of the addresses themselves in AMP. This table
assumes the most common names (such as X and Z for the main axes).
Alterable addresses are indicated by the note AMP assigned.

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Later sections describe these words in more detail, including variations in

their meanings when they are associated with certain G codes. All words
described in this manual assume the formats and addresses in the following
table have not been changed by your system installer.

Important: The formats in this table indicate the maximum number of

digits to the left and right of the decimal point for each word. In many
cases, they are not valid together since the control allows a maximum of 8
total digits. See your system installers manual for specific formats.

Table 10.B
Word Formats and Descriptions

Address Valid Range Valid Range Function

inch metric

A 8.6 8.5 Rotary axis about X (AMP assigned)

3.3 3.3 Angle in QuickPath Plus programming
B 3.0 3.0 Second miscellaneous function (AMP assigned)
C 8.6 8.5 Rotary axis about Z (AMP assigned)
8.6 8.5 Chamfer length in QuickPath Plus programming
D 8.6 8.5 Fixed cycle parameter
3.0 3.0 Number of dresses in fixed cycle
E 2.6 3.7 Thread lead
8.6 8.5 Reciprocation Feedrate
F 8.6 8.5 Feedrate function (F word)
G 2.1 2.1 Preparatory function (G word)
I 8.6 8.5 X arc center in circular interpolation
8.6 8.5 X lead in helical interpolation
8.6 8.5 Parameter in fixed cycles (AMP assigned)
8.6 8.5 Exit move vector in cutter compensation
J 8.6 8.5 Parameter in fixed cycles (AMP assigned)
8.6 8.5 Exit move vector in cutter compensation
K 8.6 8.5 Z arc center in circular interpolation
8.6 8.5 Parameter in fixed cycles (AMP assigned)
8.6 8.5 Exit move vector in cutter compensation
L 3.0 3.0 Number of repetitions
M 3.0 3.0 Miscellaneous function
N 5.0 5.0 Sequence number
O 5.0 5.0 Program name
P 5.0 5.0 Subprogram/paramacro program name
5.0 5.0 Dressing program name
5.3 5.3 Length of dwell in G04 and fixed cycles
Q 8.6 8.5 Parameter in fixed cycles
R 8.6 8.5 Arc radius
8.6 8.5 QuickPath Plus radius designation

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Address Valid Range Valid Range Function

inch metric

S 5.3 5.3 Spindle rpm function

3.3 3.3 Spindle Orient
4.3 3.3 CSS
T 6.0 6.0 Tool selection function
U 5.3 5.3 Length of dwell in G04 and fixed cycles.
X 8.6 8.5 Main axis (AMP assigned)
5.3 5.3 Length of dwell in G04
Y 8.6 8.5 Main axis (AMP assigned)
Z 8.6 8.5 Main axis (AMP assigned)

10.4.1 The maximum programmable value accepted by the control is 99,999,999.

Minimum and Maximum The minimum is .000001 inch or .00001mm. However, the actual range of
Axis Motion programmable values depends on specifications determined by your
system installer.
(Programming Resolution)
By using AMP to establish the format of numeric values for words, your
system installer sets the programming resolution, for axis motion, that is,
the smallest programmable distance of axis motion.

Table 10.C
Programming Resolutions

Formats as set in _.3 _.4 _.5 _.6

AMP

Corresponding 0.001 0.0001 0.00001 0.000001

Resolution

See your system installers documentation for the programming resolutions

and ranges in a specific system.

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10.5 This section describes general features of the words used in programming.
Word Descriptions Later chapters in this manual describe in detail how to use these words.

10.5.1 Axis words are made up of an axis name followed by the desired numeric
Axis Names value for that word.

For axis names, the system installer chooses from:

A B C U V W X Y Z $X $Y $Z $B $C

These are assigned in AMP. This manual assumes primary axes one, two,
and three to be labeled X, Y, and Z respectively. Integrand words for these
axes are assumed by be I, J, and K respectively. Incremental or parallel
axis names for these axes are assumed to be U, V, W, respectively.

10.5.2 To simplify programming an angle, corner radius, or chamfer between two

A_L_,R_,C_ lines, all you need is the angle between the lines and the radius or chamfer
(QuickPath Plus Words) size connecting them. You can use this method of programming to
simplify the grinding of many complex parts.

QuickPath words are made up of the addresses below followed by the

desired numeric value.

If you see: It means:

A angle
L length
,R corner radius
,C chamfer size

Important: A comma , must precede the R and C address characters for

the control to recognize them as radius (,R) and chamfer (,C) words.

For details and examples using these words, see chapter 12.

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10.5.3 An F word with numeric values specifies feedrates for the grinding and
F Words (Feedrate) dressing moves in linear interpolation (G01), and circular interpolation
(G02/G03) modes. The feedrate is the speed along a vector of the
commanded axes, as shown in Figure 10.5.

Figure 10.5
Feedrate Vectors

55
end point
Feedrate of 220 is effective
along this motion path

X
start point 75
12167-I

The term feed refers to moving the grinding wheel at a specific velocity
along a path. Feedrate is the velocity programmed for the feed of a
grinding wheel.

Feedrates are expressed by the distance of movement per interval.

Depending on the mode of the control and the results wanted, the distance
can be millimeters, inches, meters, or revolutions. The interval can be
minutes or revolutions.

Table 10.D
Feedrate Units

Unit/Interval Abbreviation Typically Used For:

millimeters per minute mmpm linear axis feedrates

inches per minute ipm linear axis feedrates

revolutions per minute rpm rotary axis feedrates

millimeters per rev mmpr thread grinding

inches per rev ipr thread grinding

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In a metric part program for a linear axis, a feedrate of 100 millimeters per
minute (mmpm) typically would be written as F100.; (depending on the
active word format).

For details on programming feedrates using the different feedrate modes

and special pre-assigned feedrates, see chapter 12.

Important: Feedrates programmed in any of the feedrate modes (G94 or

G95) can be overridden by use of the <FEEDRATE OVERRIDE> switch.
For details, see chapter 12.

10.5.4 The preparatory function is designated by a G word consisting of address

G Words G followed by a two-digit value. In some cases, the G word has an
(Preparatory Functions) additional decimal digit. Because many of these are set by industry
standards, they are usually referred to as G codes. The G codes are
classified as modal and non-modal.

Modal the G code remains in effect until another G code in the same G code group
is programmed.
Non-modal the G code is in effect only in the block in which it is programmed.

Important: When programming more than one G code from the same
group in a block, the control interprets the G codes in the block as they
occur sequentially from left to right. Any mode that changes in a block
affects only the interpretation of the values to the right of the G code.
Characters to the left of the G code use the old operating mode.

When the control executes an M02 or M30, the modal M and G codes can
be reset to their default values. Whether or not this occurs is determined
by your system installer through AMP. These default values also become
active at power up, E-STOP reset, or control reset. Your system installer
determines these default G codes in AMP.

Important: You can also express G codes in terms of a parametric

expression (for example G[#12+6]). For details, see chapter 20.

How the modal G codes are executed is explained in Example 10.9, using
G00 and G01, both classified into the same G code group.

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Example 10.9
Programming Modal G codes

G00 X1. Z2.; G00 mode is effective

Z3. ; G00 mode is effective
G01 X2. Z1. ; G01 mode is made effective
X3. Z3. ; G01 mode is in effect
G00 X1.Z2. ; G00 mode becomes effective again
G01 G00 Z3, ; G00 mode is in effect
G01 G91 Z2 ; G01 and G91 both in effect

An example of non-modal G-code execution follows:

Example 10.10
Programming Non-Modal G Codes

G00 X1. Z21 ; G00 mode is effective

G28 X2.; G28 mode, this block only
X2. Z1. ; G00 mode is effective
G04 P2. X4. ; G04 active followed by move in G00

Example 10.11
Changing Modes Mid-Block

N10G90X10G91Y10; X10 is absolute (G90) Y10 is incremental (G91)

N20X20; X20 is incremental (G91)
N30X30G90Y10; X30 is incremental (G91), Y10 is absolute (G90)

Table 10.E breaks down the G codes into their groups. For example, G
codes in group 01 are modal only with other G codes in group 01. G codes
in the 00 group are non-modal and are effective only in the block in which
they are programmed.

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Table 10.E
G Code Table

Surface Cylindrical Group Function Modal or

Grinder Grinder Number Non-modal

G00 G00 01 Rapid Positioning Modal

G01 G01 Linear interpolation
G02 G02 Circular / helical interpolation CW
G03 G03 Circular / helical interpolation CCW
G04 G04 00 Dwell Non-modal
G05 G05 Send Command and Wait for Return Status
(used with 9/SERIES Data Highway Plus Communication Module)
G05.1-- G05.1-- Send Command without Waiting for Return Status
G05.4 G05.4 (used with 9/SERIES Data Highway Plus Communication Module)
-- G07 18 Programming using radius values Modal
-- G08 Programming using diameter values
G09 G09 00 Exact stop Non-modal
G10L2 G10L2 Setup Work Coordinate Offset Table
G10L10 G10L10 Setup Tool Offset Values Geometry Table
G10.2L1 G10.2L1 Communication Configuration Table
(used with 9/SERIES Data Highway Plus Communication Module)
G10.2L2 G10.2L2 Output Command Table
(used with 9/SERIES Data Highway Plus Communication Module)
G10.2L3 G10.2L3 Download Configuration Information
(used with 9/SERIES Data Highway Plus Communication Module)
G12.1 G12.1 21 Spindle 1 Controlling Modal
G12.2 G12.2 Spindle 2 Controlling
G12.3 G12.3 Spindle 3 Controlling
G13 G13 QuickPath Plus use first intersection Non-modal
G13.1 G13.1 QuickPath Plus use second intersection
G14 G14 19 Disable Scaling Modal
G14.1 G14.1 Enable Scaling
-- G15 15 Angled-Wheel transformation off Modal
-- G16.3 Angled-wheel normal motion
-- G16.4 Angled-wheel two step motion
G17 G17 02 Axis plane select (XY)
G18 G18 Axis plane select (ZX)
G19 G19 Axis plane select (YZ)
G20 G20 01 Single pass O.D. and I.D. roughing
G22 G22 04 Programmable Zone 2 and 3 (On)
G22.1 G22.1 Programmable Zone 3 (On)

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Surface Cylindrical Group Function Modal or

Grinder Grinder Number Non-modal

G23 G23 04 Programmable Zone 2 and 3 (Off) Modal

G23.1 G23.1 Programmable Zone
G24 G24 01 Single pass rough facing cycle
G27 G27 00 Machine home return check Non-modal
G28 G28 Automatic return to machine home
G29 G29 Automatic return from machine home
G30 G30 Return to secondary home
G31 G31 External skip function 1
G31.1 G31.1 External skip function 1
G31.2 G31.2 External skip function 2
G31.3 G31.3 External skip function 3
G31.4 G31.4 External skip function 4
G33 G33 01 Constant lead thread grinding Modal
G34 G34 Variable lead thread grinding
G36 G36 22 Short block Acc/Dec clamp enable
G36.1 G36.1 Short block Acc/Dec clamp disable
G37 G37 00 Tool gauging skip function # 1 Non-modal
G37.1 G37.1 Tool gauging skip function # 1
G37.2 G37.2 Tool gauging skip function # 2
G37.3 G37.3 Tool gauging skip function # 3
G37.4 G37.4 Tool gauging skip function # 4
G39 G39 20 Dresser/Wheel compensation (linear gen. blocks) Modal
G39.1 G39.1 Dresser/Wheel radius compensation (circular gen. blocks)
G40 G40 07 Dresser/Wheel radius compensation cancel
G41 G41 Dresser/Wheel radius compensation, left
G42 G42 Dresser/Wheel radius compensation, right
G50.1 G50.1 11 Programmable mirror image cancel
G51.1 G51.1 Programmable mirror image
G52 G52 00 Offset coordinate system zero point Non-modal
G53 G53 Motion in Machine coordinate system
G54 G54 12 Preset Work Coordinate System 1 Modal
G55 G55 Preset Work Coordinate System 2
G56 G56 Preset Work Coordinate System 3
G57 G57 Preset Work Coordinate System 4
G58 G58 Preset Work Coordinate System 5
G59 G59 Preset Work Coordinate System 6
G59.1 G59.1 Preset Work Coordinate System 7
G59.2 G59.2 Preset Work Coordinate System 8

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Surface Cylindrical Group Function Modal or

Grinder Grinder Number Non-modal

G59.3 G59.3 12 Preset Work Coordinate System 9 Modal

G61 G61 13 Exact stop mode
G62 G62 Automatic corner override mode
G64 G64 Cutting mode
G65 G65 00 Paramacro Call Non-modal
G66 G66 14 Modal paramacro call Modal
G66.1 G66.1 Modal paramacro call
G67 G67 Modal paramacro call cancel
G68 G68 16 Part rotation
G69 G69 Part rotation cancel
G70 G70 06 Inch input
G71 G71 Metric input
G80 G80 09 Canned cancel
G81 G81 Reciprocation on
G81.1 G81.1 Reciprocation with predress on
G82 -- Plunge grind cycle, axis 1
-- G82 Incremental face grind cycle, axis 1
G82.1 Plunge grind with predress, axis 1
-- G82.1 Incremental face grind with predress, axis 1
G83 -- Incremental plane grind, axis 1 plunge
-- G83 Incremental plunge grind, axis 2 plunge
G83.1 -- Incremental plane grind, axis 1 plunge with predress
-- G83.1 Incremental plunge grind, axis 2 plunge with predress
G84 -- Incremental plane grind, axis 2 plunge
-- G84 Multi-pass face cycle
G84.1 Incremental plane grind, axis 2 plunge with predress
-- G84.1 Multi-pass face cycle with predress
G85 -- Continuous plane grind, axis 1 plunge
-- G85 Multi-pass diameter plunge
G85.1 -- Continuous plane grind, axis 1 plunge with predress
-- G85.1 Multi-pass diameter plunge with predress
G86 -- Continuous plane grind, axis 2 plunge
-- G86 Shoulder grind cycle
G86.1 Continuous plane grind, axis 2 plunge with predress
-- G86.1 Shoulder grinder cycle with predress
-- G87 Face plunge shoulder cycle
-- G87.1 Face plunge shoulder cycle with predress
-- G88 Diameter plunge shoulder cycle Modal

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Surface Cylindrical Group Function Modal or

Grinder Grinder Number Non-modal

-- G88.1 09 Diameter plunge shoulder cycle with predress

-- G89 Multi-step plunge with blend
-- G89.1 Multi-step plunge with blend and predress
G90 G90 03 Absolute mode Modal
G91 G91 Incremental mode
G92 G92 00 Maximum CSS spindle RPM, coordinate offset Non-modal
G92.1 G92.1 Cancel offsets
G92.2 G92.2 Cancel select offsets and G92 presets
G93 G93 05 Inverse time feedrate mode Modal
G94 G94 Feed per minute feedrate mode
G95 G95 Feed per revolution feedrate mode
G96 G96 17 Constant surface speed on
G97 G97 RPM spindle speed mode (CSS off)

A set of default G codes becomes effective at power-up, when the control

is reset, or an emergency stop condition is reset. These default G codes are
selected by your system installer in AMP. They can be seen on the status
display screen after power-up or control reset.

10.5.5. Integrand words are typically used to define parameters that relate to a
I J K Integrand Words specific axis for a fixed cycle, or circular motion block; however, they are
not limited to use only in these operations. For example, in circular motion
blocks the axis integrands are used to define the center point of an arc or
circle.

Your system installer has the option of assigning either I, J, K, or none as

the axis integrand name for a specific axis. This manual assumes the
following:

Assign: To the integrand name for the:

I X axis
J Y axis
K Z axis

Important: See your system installers documentation to make sure these

assumptions are true. If not, it is important that the programmer realize
that all examples and formats in this manual that use an I, J, K need to
have their letter replaced with the correct integrand word for your system.

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10.5.6 The miscellaneous function is designated with an address M followed by a

M Words two or three-digit numeric value. Because many of these are set by
(Miscellaneous Functions) industry standards, they are usually referred to as M codes.

When a miscellaneous function is designated in a block containing axis

motion commands, the controls PAL program determines if the M codes
are executed:

at the same time as the axis motion

before the axis motion

after the axis motion is completed

You can also alter this order of execution by using the paramacro feature,
system parameter #3003 (see page 20-19).

Your system installer determines in AMP if M and G codes get reset every
time the control executes an M02 or M30 end of program command. If the
control does reset M and G codes, modal M and G codes revert back to
their power-up condition and non-modal M and G codes are reset to their
default values. If the control does not reset M and G codes, all modal and
non-modal M and G codes remain at their present value.

Table 10.F shows the basic M codes for the control. A part program block
can contain as many basic M codes as you want. If more than one M code
from any group is programmed in the same block, the right-most M code
in that block for that group is the active M code for the block.

Your system installer may have defined additional M codes in PAL. As

many as 4 M-codes can be activated in any one block. If you program
more than 4 in any one block, the right-most 4 in that block are activated.
The control ignores other M-codes in the block. See documentation
provided by your system installer for details on non-basic M codes and
their operation.

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Table 10.F
Basic M Codes

M Code Modal or Group Function

Number non-Modal Number

M00 NM 4 Program stop

M01 NM 4 Optional program stop
M02 NM 4 Program end
M30 NM 4 Program end and reset (tape rewind)

SPINDLE 1

M03 M 7 Spindle positive rotation (cw)

M04 M 7 Spindle negative rotation (ccw)
M05 M 7 Spindle stop
M19 M 7 Spindle orient

SPINDLE 2

M03.2 M 11 Spindle positive rotation (cw)

M04.2 M 11 Spindle negative rotation (ccw)
M05.2 M 11 Spindle stop
M19.2 M 11 Spindle orient

SPINDLE 3

M03.3 M 12 Spindle positive rotation (cw)

M04.3 M 12 Spindle negative rotation (ccw)
M05.3 M 12 Spindle stop
M19.3 M 12 Spindle orient
M07 M 8 Mist coolant on
M08 M 8 Flood coolant on
M09 M 8 Coolant off
M48 M 9 Overrides enabled
M49 M 9 Overrides disabled
M58 M 10 CSS permit
M59 M 10 CSS prohibit
M98 NM 5 Sub-program call
M99 NM 5 Sub-program end and program jump

See pages 12-72 through 12-74 for descriptions of the spindle M--codes.

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The following describes the basic M codes provided with the control.

(1) Program Stop (M00)

When the control executes M00, program execution is stopped after the
block containing the M00 is executed. At this time, the CRT displays the
PROG STOP message. To restart the operation, press the
<CYCLE START> button.

(2) Optional Program Stop (M01)

The optional program stop function has the same effect as the program stop
function, except that it is controlled by an external switch. That is, when
the OPTIONAL PROGRAM STOP switch is placed in the OFF position,
the M01 code in the program is ignored. This switch and the appropriate
PAL programming are the responsibility of your system installer.

ATTENTION: Once axis reciprocation begins, it continues

through program block execution until stopped by a G80, an
end of program (M02, M30, M99), a change to manual mode or
an emergency stop. This means executing an M00 or an M01 in
a part program does not necessarily stop the reciprocating axis.

(3) End of Program (M02)

If you execute a program from control memory, the M02 code acts the
same as an M30. The control stops program execution and enters into the
cycle stop state. The program is reset to the first block and a <CYCLE
START> begins part program execution over again (see M99 for auto
cycle start).

If executing a program from an external device (such as a tape reader),

when the control executes M02, it stops program execution and enters into
the cycle stop state. The M02 does not cause a tape rewind. The tape
reader must be rewound using some other method before program
execution can resume.

With some machines, the M02 code can also result in a spindle and coolant
supply stop. For details, see the instruction manual prepared by your
system installer.

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(4) End of Program, Tape Rewind (M30)

If you execute a program from control memory, the M30 code acts the
same as an M02. The control stops program execution and enters the cycle
stop state. The program is reset to the first block and a <CYCLE START>
begins part program execution over again (see M99 for auto cycle start).

If executing a program from an external device (such as a tape reader),

when the control executes M30, it stops program execution and
automatically rewinds the tape to the beginning of the program just
executed. After the tape is rewound, the control enters the cycle stop state.
A <CYCLE START> begins part program execution over again (see M99
for auto cycle start).

With some machines, the M30 code can also result in a spindle and coolant
supply stop. For details, see the instruction manual prepared by your
system installer.

(5) Overrides Enabled (M48)

When M48 is executed, the feedrate override, rapid feedrate override, and
the spindle speed override functions become effective. Normally, these are
enabled on power-up without requiring this M code to be executed. An
M48 cancels an M49 and your system installer can choose which is active
upon power-up.

(6) Overrides Disabled (M49)

Use the override disable M code (M49) to ignore any override set by the
operator on the MTB panel. When the control ignores the override setting,
the axis feedrate, rapid feedrate, and the spindle speed override values are
all set to 100%. An M49 cancels an M48 and your system installer can
choose which is active upon power-up.

(7) Constant Surface Speed Mode Enable (M58)

M58 cancels M59 mode and allows the control to recognize programmed
G96 constant surface speed mode with S words. The spindle resumes the
speed it was revolving at prior to the designation of M59.

ATTENTION: Restoring the constant surface speed mode

might cause the spindle speed to increase or decrease rapidly,
depending on the grinding wheel position.

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(8) Constant Surface Speed Mode Disabled (M59)

M59 cancels M58 and G96 making the constant surface speed mode
ineffective. The spindle continues to revolve at the speed it was at the
moment the M59 executed.

The spindle speed can be directly programmed using an S word.

(9) Subprogram Call (M98)

When M98 is executed, a subprogram is called and executed. You can use
this word in any program including an MDI program. For details on
programming an M98, see page 10-12.

(10) End of Subprogram or Main Program Auto Start (M99)

M99 End of Subprogram or Paramacro program

When M99 is executed, subprogram execution is completed and
program execution returns to the calling program. This word is not
valid in an MDI command, though it can be contained in a subprogram
called by an MDI command. For details on programming an M99, see
page 10-12 or chapter 20.

M99 End of Main Program with Auto Start

If executing a program from memory, an M99 as the last block in a main
program causes program execution to stop at that location. The
program is reset to the first block and a <CYCLE START>
automatically starts program execution for you.

If executing a program from an external device (such as a tape reader),

when M99 is executed, program execution is stopped and the tape is
automatically rewound to the beginning of the program just executed.
Pressing <CYCLE START> automatically starts program execution.

ATTENTION: The M99 code is commonly used as the end of

program for fully automated systems that automatically load the
next part. Typically this code requires that some PAL interface
be written that make sure the part is fully loaded and ready for
grinding before block execution is allowed to restart. Failure to
do so can cause injury to operators or damage to equipment.

Other M codes are described in later sections that deal specifically with
their function.

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Important: When the miscellaneous function lock feature is activated, the

control ignores M, B, S, and T words in the part program with the
exception of M00, M01, M02, M30, M98, and M99. This feature is
described on page 7-2.

2nd Miscellaneous Function (B Word)

Your system installer can use the 2nd miscellaneous functions to

distinguish a set of miscellaneous functions from the normal M code
miscellaneous functions. This manual assumes the B word is used to call
second auxiliary functions. Any alphabetic character which is not used for
other functions can be used instead of B by setting the proper AMP
parameter. For details, see documentation prepared by your system
installer, or the AMP reference manual.

The B word is designated by a two or three-digit numeric value following

address B. Unlike M codes, each block can contain only one B word.

Important: When the miscellaneous function lock feature is activated, the

control ignores M, B, S, and T words in the part program with the
exception of M00, M01, M02, M30, M98, and M99. This feature is
described on page 7-2.

10.5.7 Each block in a part program can be assigned up to a five-digit numeric

N Words (Sequence value following an N address. These numbers are referred to as sequence
Numbers) numbers and are used to distinguish one block from another.

You can assign sequence numbers at random to specific blocks or to all

blocks. You can call blocks assigned sequence numbers later by
designating their sequence number. Sequence numbers are necessary to
make program jumps and to specify a block for subprogram calls and
returns. For details on sequence number, see page 10-9.

10.5.8 The O-word is used to define a program name. To use an O word as a

O Words (