How to Re-Set Reference Position on a

Doosan CNC Machine

Preparatory questions:
 What is the Machine?
o Mill?
o Lathe?
o Multi-Tasking?
 What are were doing it for?
o Battery on APC died?
o Mechanically separated and re-connected (Repaired)?
o Crash?
 What is the machine equipped with, for the Reference Process?
o Incremental Position Coder with Home Dogs
o Absolute Position Coder with Home Dogs?
o Absolute Position Coder Without Home Dogs?
 What stage of operation are we trying to get to?
o Preset-ignore?
o Just-Functional?
o Quick with Work-offsets?
o Precisely Accurate?
 What functions also need to be confirmed for accuracy after changing reference?
o Any position that is built upon first reference needs to be corrected/confirmed.

 Information to gather ahead of time for EACH axis in question:

o Parameter values potentially needed
 1005 _ _ _ _ _ _ _ _ (all 8 bits)  1006 _ _ _ _ _ _ _ _ (all 8 bits)
 1240 _____  1241 _____
 1320 _____  1321 _____
 1815 _ _ _ _ _ _ _ _ (all 8 bits)  1821 _____
 1836 _____  1850 _____
 8200 _ _ _ _ _ _ _ _ (all 8 bits)

o Other values potentially needed

K12 _ _ _ _ _ _ _ _ (Keep Relay, 8 bits)

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How to use this Tech-Doc:

This document covers a wide variety of ways to reference a wide variety of machine
configurations.
First, decide WHAT we are dealing with.
What is the status of Parameter 1005.1?
DLZx Function for setting the Reference Position without Dogs:
0 = Disabled (Machine uses Home Dogs) Start at Page 4
1 = Enabled (Machine has no Home Dogs) Start on Page 5 or Page 6 (pick one)
Second, refine WHY we are doing it.
What happened to cause the machine to loose Reference Position?
1. Battery went dead/removed? = (APC) Replace with fresh battery, first.
2. Machine Crashed? = (All) Repair Machine, potentially moved Grid.
3. Repaired Ballscrew/motor? = (All) Definitely moved Grid.
4. Moved Dog/Switch? = (Dog) Place back to appropriate location.
5. Nothing. Getting Soft/Hard over-travel alarm = Cycle power using “P”-<can>
Third, understand HOW the reference actually functions. (when working properly)
Summary: Dog
From axis mid-stroke area, the NC-Switch travels over the Dog and opens, the
Movement slows, Switch comes off Dog and Closes, axis searches for Z-channel
of the Incremental Encoder, then travels the amount of parameter 1850, and
calls the position it lands in by the number in parameter 1240.
Summary: APC
The Machine understands the uniqueness of any part of the Absolute Position
Coder (the machine also remembers where it left off and where “Home” was
set, memory held via battery) when sent home…minor movement confirms
location and Machine travels to the unique location.
Fourth, achieving WHERE it is applied to each individual axis.
 On a Vertical Mill:
o Z is the distance from the Table surface to the Gauge-Face of the
Spindle. This distance needs accuracy.
o X and Y are functionally needed for operation, but accuracy is
usually achieved with work offsets.
 Note: Precisely setting these positions is recommended, but
not required
 On a Horizontal Mill:
o Z is the distance from the Pallet Gauge-block, to the Gauge-Face of
the Spindle. This distance needs accuracy.
o X and Y are a reference point that are used to build off of, to acquire
the correct tool-change position, Accuracy is strongly

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 recommended, yet 2nd Reference is editable with a separate
parameter.
 On a Horizontal Lathe:
o Z is the distance from the Milling-drive’s center to the Gauge-Face
of the Spindle. This distance is functionally needed for operation,
but accuracy is usually achieved with work offsets.
 Note: Precisely setting this position is recommended, but
not required
o X and Y are the distance from Reference to Milling-drive’s center
and needs accuracy.
Finally: Added concerns.
 Setting reference can change 2nd reference (used by ATC/APC), 3rd reference
(used by some APC), Q-setter coordinates, or touch-setter coordinates.
Understand that these functions may need confirmation prior to putting
machine back into service.

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Dog Type (IPC)
Setting a machine with Home dogs
All of the machine’s coordinates are established on the basis of home position. Therefore, its
periodic inspection is essential for maintaining performance.
The reference point of a Dogged machine is accurately determined by shifting the Grid-signal
from the position coder, by changing parameters. The relation between Grid-signal and the
machine's position is figured as below.
The machine is decelerated by the switch opening when the Dog activates it at the deceleration
point. It is then stopped by the first grid signal after the extinction of deceleration signal, and
stop point can be changed by shifting the grid signal. The shift of grid is registered at the
parameter no. 1850 and maximum enterable value is 32767. (Please refer to operation manual,
parameter sheet.)
Note: During one revolution of servo motor, the incremental pulse coder generates one grid
signal and a machine moves one rotation of the ballscrew of the axis.

Note: All the ways to

effect Dog-style
homing position:
Minor, less than one
revolution, shifting is
done by altering 1850.
Large shifting, more
than a revolution, is
done by moving the
Dog or the switch, as
this will shift one full
pitch of the ballscrew.
Medium shift, or half-
shift, can be done by
altering the
motor/ballscrew
coupling the amount of
a half rotation.

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Dogless Type (APC)
Overview

The absolute type of servo motor enables the reset the reference point without using the zero-return
decelerating signal (Dog type).

There are two ways to achieve accurate positioning.

Quick, but short term: If the battery dies, just repeat process with indicator and same process.
Still needs alteration if machine is crashed/worked on/altered.

Intricate, but long-term: If the battery dies, recovery is easy, using process only, no indicators
needed. (Indicator still needed for alteration if machine is crashed/worked on/altered.)

Setting a machine without Home dogs (Quick APC)

Quick Process: (This shows the process; the instructions differ for each axis. See further along
for physical instructions for each individual axis)
1) Set machine to METRIC (it makes it easier)
2) Cycle Power
3) Home machine
4) Write down the value of 1240, for the desired axis
5) Move axis to “zero-point” (confirm with indicator)
6) Set the RELATIVE Position to Origin (0)
7) Move axis to the value in 1240
8) Set Parameter 1815 bit 4 to 0
9) Set Parameter 1815 bit 4 to 1
10) Cycle Power
11) Request reference return
12) Confirm location is correct (reset the machine to Standard, and cycle power, if needed)

For “Intricate Process” see next page…

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Intricate Process: (This shows the process; the instructions differ for each axis. See further
along for physical instructions for each individual axis)
Key Features

The mark for resetting the reference point is labeled on the slide cover of each axis. It is either
some form of a Red indicator or a laser-etched mark. Or a combination of both. In the “Intricate
Process” the indicator is used as a marker to begin the search for the Grid mark.

Setting a machine without Home dogs (Intricate APC)

1) Set machine to METRIC (it makes it easier)
2) Set 1815.4=0 and 1815.5=0
3) Cycle Power
4) MPG the axis to slightly on the negative side of the Indicator mark
5) Set 1815.5=1
6) Cycle Power
7) Set RELATIVE Position to Origin
8) Set the MPG’s Incremental feed to the highest setting 
9) Use the MPG to move the axis in the negative direction, quickly,
for 2 to 3 revolutions of the ballscrew.
10) Use the MPG to return to the Origin position that was set in “Step 7”
11) Display Parameter 1815 on screen
12) Select Reference-Mode
13) Press Jog+
14) As the Axis passes over the Grid and any shift is incorporated, 1815.4 will “auto-set” to 1
If the number in 1850 was correct, and the machine had only lost the battery, the reference
point should be correct…never assume, always verify. (If good, go to “Step 19”)

If the reference point is incorrect then 1850 (Grid Shift) will need alteration.
15) Measure and calculate the difference from Home
16) MPG the axis to slightly on the negative side of the Indicator mark
17) Alter 1850 by the desired amount and cycle Power
18) Repeat the above process from “Step 7”
19) Confirm location is correct (reset the machine to Standard, and cycle power, if needed)

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The “physical aspects” of Referencing each axis:
Each machine has a unique way of physically achieving the correct locations for setting machine
reference position. If I listed them all in this document, the file would be too large to send out. I will give
a sampling and point out that the individual machine’s Instruction manual or (if lucky enough to have
one) the Service manual will contain detailed information that is machine specific.
EXAMPLE: Puma 2100SY (Mill instructions start on page 18)
Resetting the reference point for the Z axis

1) Install the gauge

Remove the main chuck and install the 150mm
gauge (designed for setting the reference
point) on the base side of the spindle.

2) Move the Z axis in Handle mode to facilitate the work. When the Z axis comes close to the
gauge, fine-tune the movement of the axis so that the gauge contacts on the lower turret head.

3) Refer to the instruction manual or parameter no. 1240 to check the coordinates of the Z
reference point. Based on the current position, calculate the feed stroke up to the reference
point.
▪ Calculation: Feed stroke = reference point coordinates – (half of width of turret head + height of
gauge)
Ex) Feed stroke = 1515(A) - 20(B) + 150(C)
A: Z-axis ref-point coordinates of P2100SY
B: Half of the width of turret head
C: Height of gauge

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4) Move the Z axis according to the calculation and mark the slide cover position in order to
remember the position of the Z axis.
※ If the slide cover already has the reference point marked, simply skip this step.

5) In MDI mode, set the value of "Parameter Write" to 1 and change the Z value of "Parameter
No.1815 #4(APZ)" to 0. If the alarm message of " P/S Alarm 000 Please Turn Off Power” is
displayed, turn off the machine and turn it back on in a moment.

6) Handle Mode
Turn on the machine and select Handle mode.
With MPG factor set to x100, manually move
the axis in the "-" direction at a speed of at
least 230mm/min.
※ Rotate MPG as fast as possible to move
the axis so that the ball screw revolves by 2
or 3 turns (30mm~50mm).

7) Then, move the axis close to the marking

position.
※ Stop moving the machine at a point less
than half of the ball screw pitch.

8) Select the reference point mode and use the

"+" button to return the axis to the reference
point. Then, the Z-axis reference point
indicator will turn on. (Parameter No. 1815 #4
Z2 = “0”  “1”)

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9) Double Check
① Move the Z axis so that the reference-point gauge contacts on the turret head and check the
machine coordinates that is displayed on the monitor.
② If the difference between machine coordinates and half of width of the turret head plus
height of the gauge is greater than "Parameter 2" (maximum grid shift setting value:
No.1821), repeat steps 2) through 9) above until the difference falls below the tolerance.
③ If you do not get a satisfactory result in the above step, keep narrowing down the difference
of the marking position until it becomes less than the value in Parameter No.1821(maximum
value of the grid shift setting).
④ If the difference falls below the value in Parameter No.1821(maximum value of the grid shift
setting), then go on to the next step.

10) Grid Shift

① Return to the reference point manually and enter the calculation result in the "Parameter
No.1850 Z1" input box.
② The Z value of "Parameter No.1815 #4(APZ)" will be changed from 1 to 0. If the alarm
message of "P/S Alarm 000 Please Turn Off Power” is displayed, turn off the machine and
turn it back on in a moment.

11) Re-check the reference point

① Repeat steps 6) and 7) above to move the axis in handle mode. Then, manually return the
axis to the reference point again.
② When completed, the reference point will be shifted as much as the value that you entered
in "Parameter No.1850 Z", and the Z value of "Parameter No.1815 #4(APZ)" will be changed
from 0 to 1 accordingly. This is the completion of resetting the reference point.

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Resetting the reference point for the Y axis

* Preparations for resetting the Y-axis reference point

① Clamp the centering fixture into the left spindle chuck and install the indicator. For an accurate
work, use the dedicated fixture and install the indicator as close as possible. (see the diagram
below for the dedicated fixture)
② Change "Parameter No.8200 #0" from 1 to 0, which will release the concurrent control over the X
and Y axes. (“1”: Synchronized, "0": Separated)
③ Switch "K12.7: Ref Point Service Mode" from 0  to 1.
④ Refer to "Precision work on the lower turret head", perform the precision inspection and
correction. When completed, reset the reference point for the X and Y axes based on the angle
milling holder.

Modified version with

3 chuck and 3 sweep
diameter choices

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1) Preparing the centering fixture
Install the centering fixture in the chuck.
※ If you extend the indicator further or attach
the magnetic stand directly to the chuck, an
error of 0.2mm or more may occur due to
weight of the gauge itself.

2) Feed the axes

Manually return the axes to their respective reference point. Call "Angular Milling Holder" and
feed the axes to X0 and Y0 positions respectively. Be careful about possible conflict between
axes.

3) Adjust the center of each of X and Y

① Move the Z axis to facilitate the measuring on the inner side of the angle milling holder in
Handle mode. Then, set the indicator to 0.
② Rotate the chuck manually or rotate the C axis in Handle mode after converting three axes
with each other. Move the X and Y axes so that the indicator reads as close to 0 as possible
in the X- and Y-axis directions. In such way, you can reset the center position.

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4) Mark the Y-axis position.
Mark the slide cover position in order to remember the position of the Y axis.

※ If the slide cover already has the reference point marked, simply skip this step.

5) Move the Z axis in "+" direction to avoid a

conflict with the indicator.

6) In MDI mode, set the value of "Parameter

Write" from 0 to 1 and change the Y value of
"Parameter No.1815#4(APZ)" from 1 to 0. If
the alarm message of "P/S Alarm 000 Please
Turn Off Power” is displayed, turn off the
machine and turn it back on in a moment.

7) Handle Mode
Turn on the machine and select Handle mode. With MPG factor set to x100, manually move the
axis in the "+" direction at a speed of at least 230mm/min.

※ Rotate MPG as fast as possible to move the axis so that the ball screw revolves by 2 or 3
turns (30mm~50mm).

8) Then, move the axis close to the marking position.

※ Keep the distance of less than half of the ball screw pitch from the marking position.

9) Restore the reference point.

Select the reference point mode and use the "+" button to return the axis to the reference
point. Then, the Y-axis reference point indicator on the main OP will turn on. (Parameter No.
1815 #4 Z2 = “0”  “1”)

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10) Double Check.
① Move the axis back to Z-axis direction. Present the indicator to the angular milling holder
and set it to 0. Set the center for each of X and Y axes and check the machine coordinates
that will be displayed on the monitor.
② If the machine coordinate is greater than "Parameter No.1821" (maximum grid shift setting
value: 12000), repeat steps 3) through 9) above until the error falls below the tolerance.
③ If you do not get a satisfactory result in the above step, keep narrowing down the difference
of the marking position until it becomes less than the value in Parameter No.1821(maximum
value of the grid shift setting).
④ If the difference falls below the value in Parameter No.1821(maximum value of the grid shift
setting), then go on to the next step.
11) Grid Shift.
① Enter the machine coordinates (displayed on the monitor) in the "Parameter No.1850 Y"
item.
② The Z value of "Parameter No.1815 #4(APZ)" will be changed from 1 to 0. If the alarm
message of "P/S Alarm 000 Please Turn Off Power” is displayed, turn off the machine and
turn it back on in a moment.
12) Re-check the reference point.
① Repeat steps 7) and 8) above to move the axis in handle mode. Then, manually return the
axis to the reference point again.
② When completed, the reference point will be shifted as much as the value that you entered
in "Parameter No.1850 Y", and the Y value of "Parameter No.1815 #4(APZ)” will be changed
from 0 to 1 accordingly. This is the completion of resetting the reference point.
※ When resetting the reference point for X1 and Y is completed, be sure to change
"Parameter No.8200 #0" from 0 to 1. This will restore the concurrent control over X and Y
axes. (“1”: Synchronized, "0": Separated)

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6.4 Resetting the reference point for the X axis

※ Preparations for resetting the X-axis reference point

In most cases, resetting the X-axis reference point will be performed simultaneously with the Y-axis
work. See the preparations for resetting the Y-axis reference point above. The same instructions
will be applied to the X axis work.

1) Preparing the centering fixture.

Install the centering fixture in the chuck.
※ If you extend the indicator further or attach the
magnetic stand directly to the chuck, an error of
0.2mm or more may occur due to weight of the
gauge itself.

2) Feed the axes.

Manually return the axes to their respective reference point. Call "Angular Milling Holder" and feed
the axes to X0 and Y0 positions respectively. Be careful about possible conflict between axes.

3) Adjust the center of each of X and Y.

① Move the Z axis to facilitate the measuring on
the inner side of the angle milling holder
in Handle mode. Then, set the indicator to 0.
② Rotate the chuck manually or rotate the C axis
in Handle mode after converting three axes
with each other. Move the X and Y axes so that
the indicator reads as close to 0 as possible in
the X- and Y-axis directions. In such way, you
can reset the center position.

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4) Move the Z axis in "+" direction to avoid a conflict
with the indicator.

5) Refer to the instruction manual or parameter

no.1240 to check the coordinates of the X-axis
reference point. Based on the current position,
calculate the feed stroke up to the reference
point.

6) Mark the X-axis position.

Mark the slide cover position in order to remember the position of the X axis.

※ If the slide cover already has the reference point marked, simply skip this step.
7) In MDI mode, set the value of "Parameter Write" from 0 to 1 and change the X value of
"Parameter No.1815 #4(APZ)" from 1 to 0. If the alarm message of "P/S Alarm 000 Please Turn
Off Power” is displayed, turn off the machine and turn it back on in a moment.

15
8) Handle Mode.
Turn on the machine and select Handle mode. With MPG factor set to x100, manually move the
axis in the "-" direction at a speed of at least 230mm/min.
※ Rotate MPG as fast as possible to move the axis so that the ball screw revolves by 2 or 3 turns
(30mm~50mm).

9) Then, move the axis close to the marking position.

※ Do not align the marking positions. Just leave the
distance of less than half of the ball screw pitch.

10) Restore the reference point.

Select the reference point mode and use the "+" button to return the axis to the reference point.
Then, the X-axis reference point indicator on the OP will turn on. (Parameter No. 1815 #4 X = 0  1.)

11) Double Check.

① Feed the X axis back to X0 and move it in the Z-axis direction. Present the indicator to the
angular milling holder and set it to 0. Set the center for each of X and Y axes and check the
machine coordinates that will be displayed on the monitor.
② If half of the machine coordinates is greater than "Parameter No.1821" (maximum grid shift
setting value: 12000), repeat steps 3) through 9) above until the error falls below the
tolerance.
③ If you do not get a satisfactory result in the above step, keep narrowing down the distance
around the marking position until it becomes less than the value in Parameter
No.1821(maximum value of the grid shift setting).
④ If the difference falls below the value in Parameter No.1821(maximum value of the grid shift
setting), then go on to the next step.

12) Grid Shift.

① Refer to steps 4) and 5) above to return the axis to the X-axis reference point.
② Enter half of the machine coordinates (displayed on the monitor) in "Parameter No.1850 X".
③ The Z value of "Parameter No.1815 #4(APZ)" will be changed from 1 to 0. If the alarm
message of "P/S Alarm 000 Please Turn Off Power” is displayed, turn off the machine and
turn it back on in a moment.

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13) Re-check the reference point.
① Repeat steps 8) and 9) above to move the axis in handle mode. Then, manually return the
axis to the reference point again.
② When completed, the reference point will be shifted as much as the value that you entered
in "Parameter No.1850 X", and the X value of "Parameter No.1815 #4(APZ)" will be changed
from 0 to 1 accordingly.
③ When rechecking the reference point after feeding the axis to "X0, Y0" is finished, this is the
completion of resetting the reference point.
※ When resetting the reference point for X and Y axes is completed, be sure to change
"Parameter No.8200 #0" from 0 to 1. This will restore the concurrent control over X and Y
axes. (“1”: Synchronized, "0": Separated)

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Milling EXAMPLE: DNM400

Reference Point & Correction

As this machine employs the absolute type of encoder, you don't need to adjust the dog; simply
change the parameter settings as necessary at the reference point.
X-axis reference point and correction for the standard pallet
1) Return the X axis to the reference point manually.
2) As shown, use the Vernier calipers to measure the
distance between LM block and LM guide.
3) While feeding the X axis in Handle mode, adjust the
distance to meet the standard.

※ Standard distance: 54mm

4) Change "Parameter No. 1815 #4(APZ)" for the X axis

to 0, then back to 1.
5) When the alarm message of "P/S Alarm 000 Please Turn Off Power” is displayed, turn
off the machine and turn it back on in a moment.
6) Return the X axis to the reference point manually, and check the standard distance
again. Repeat the steps above until you get the satisfactory results.

Y-axis reference point and correction for the standard pallet

1) Return the Y axis to the reference point manually.
2) As shown, use the Vernier calipers to measure the
distance between LM block and LM guide.
3) While feeding the X axis in Handle mode, adjust the
distance to meet the standard.

※ Standard distance: 56mm

4) Change "Parameter No. 1815 #4(APZ)" for the Y axis to 0, then back to 1.
5) When the alarm message of "P/S Alarm 000 Please Turn Off Power” is displayed, turn
off the machine and turn it back on in a moment.
6) Return the Y axis to the reference point manually, and check the standard distance
again. Repeat the steps above until you get the satisfactory results.

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X-/Y-axis reference point and correction for the center bush (optional)
As this machine employs the absolute type of encoder, you don't need to adjust the dog;
simply change the parameter settings as necessary at the reference point.
1) Return the X/Y axes to their respective
reference point manually.
2) Feed the X/Y axes to their respective
center of the stroke.

※ Distance from reference point to

center:
X axis = 762mm/2
Y axis = 435mm/2
3) Install the indicator on the spindle. While lowering the Z axis, measure the center bush in
each of X- and Y-axis directions.
4) Feed the X/Y axes in Handle mode so that they get as close to the center as possible.
Check the error on the monitor screen.
5) Return the X/Y axes to their respective reference point and enter the error in "Parameter
No.1850 Grid Shift". Check if X and Y values of "Parameter No.1815#4(APZ)" to 0,
respectively.
6) When the alarm message of "P/S Alarm 000 Please Turn Off Power” is displayed, turn
off the machine and turn it back on in a moment.
7) Return the X/Y axes to their respective reference point manually. Then, the X and Y
values of "Parameter No.1815#4(APZ)" switch back to 0, respectively.
8) Move the X and Y axes to their respective center and lower the Z axis for checking the
center again.
9) Repeat the steps above until you get the satisfactory results.

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Z-axis reference point and correction
Work on the Z axis applies to both standard pallet and center bush (optional).
1) Return the Z axis to the reference point
manually.
2) Insert the test bar, place the block gauge
(approx. 100mm) down the bar and set the
indicator to 0.
3) In handle mode, move down the Z axis so
that the end of the test bar contacts on the
indicator (this will set the indicator to 0).
4) Use the below formula to calculate the
reference point error.
(Test bar length + block gauge height) -150
▪ At Z0, the distance between top of the table
and spindle tool gauge line is 150mm.
5) Return the Z axis to the reference point and
enter the error by adding or deducting the
value of "Parameter No.1850 Grid Shift". Check if the Z value of "Parameter
No.1815#4(APZ)" switches back to 0.
6) When the alarm message of "P/S Alarm 000 Please Turn Off Power” is displayed, turn
off the machine and turn it back on in a moment.
7) Return the Z axis to the reference point manually. Check if the Z value of "Parameter
No.1815#4(APZ)" is changed to 1.
8) Repeat steps 2 through 7 above until you get the satisfactory results.

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ADDENDUM: For Rotary Axis Reference

Reference Point & Correction

As this machine employs the absolute type of encoder, you don't need to adjust the dog; simply
change the parameter settings as necessary at the reference point.
B-axis reference point and correction for the rotary table/pallet
1) Create the B axis reference point manually at any position if needed to get operation.
This will allow rotation of the axis so correct positioning can be made.
a. Set Parameter 1815 bit 4 to 0
b. Set Parameter 1815 bit 4 to 1
c. Cycle Power
d. Request reference return

2) Unclamp the rotary axis manually or through M-Code. (Likely to be M11)

3) Rotate the axis to the desired Reference location.
4) Clamp the axis manually or through M-Code. (Likely to be M10)
5) Set Parameter 1815 bit 4 to 0
6) Set Parameter 1815 bit 4 to 1
7) Cycle Power
8) Request reference return.

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