1200T Diagrama Eletrico

1200T/1400M Hardware
and Interface Manual
ANILAM Inc. P/N 70000322

3300 Corporate Way
Miramar, FL, 33025
(954) 430-6600
(954) 450-6700
sales@anilam.com
Hardware and Interface Manual
P/N 70000322 - Disclaimer
The information in this manual has been thoroughly reviewed and is believed to be accurate.
ANILAM, Inc. reserves the right to make changes to improve reliability, function or design
without notice. ANILAM, Inc. assumes no liability arising out of the application or use of the
product described herein. All rights reserved. Subject to change without notice.
Copyright © 1998 ANILAM Inc.
10-Feb-98 Disclaimer
P/N 70000322 - Introduction
Introduction
This manual covers hardware and interface instructions for 1200T and
1400M systems. Sections 1 to 10 discuss the relevant hardware
components and installation/interconnection issues. Sections 11 to 14
describe the Setup Utility software for 1200T and 1400M systems and
provide software maps for navigating through the setup menus. Section
15 describes how to use a Programmable Controller Interface with the
control software. Section 16 describes how to use the Integral
Programmable Interface (IPI) with the control software.
The manual covers hardware and setup instructions for current and
earlier system configurations, including:
Older system configuration Current system configuration
LM-628 Motion Control Board DSP Motion Control Board
Serial Junction Board Anicom Board Harness
Effectivity notation has been added to aid you in locating sections
relevant to your system.
Unreleased Draft Copy Introduction 1

P/N 70000322 - Contents
Section 1 - Installation and Interconnection -------------------------------------------------------1-1

Wiring Guidelines and Grounding Concepts --------------------------------------------------------------1-1
General Wiring Guidelines ----------------------------------------------------------------------------------1-1
General Grounding Guidelines-----------------------------------------------------------------------------1-2
Wiring of System Grounds ----------------------------------------------------------------------------------1-3
Wiring Servo Amplifiers --------------------------------------------------------------------------------------1-3
Isolation Transformer -----------------------------------------------------------------------------------------1-3
Compliance with the EC Directives --------------------------------------------------------------------------1-4
Guidelines for Construction of an CE Compliant System -------------------------------------------1-5
Power Requirements of the Standard Systems ----------------------------------------------------------1-6
System Interconnect, Input Power and Required Cables ----------------------------------------------1-6
DC Power Supply to I/O Board Connection ------------------------------------------------------------ 1-10
AC Power to I/O Board Connection----------------------------------------------------------------------- 1-10
Anicom Board to Serial Junction Board Connection -------------------------------------------------- 1-11
VGA Monitor to Computer VGA Connection ------------------------------------------------------------ 1-12
Monitor to Computer +12V Power Supply Connection (1200T Only) ----------------------------- 1-13
Motion Control Board to Motion Junction Board Connection---------------------------------------- 1-14
Console Keyboard to Computer Connection ------------------------------------------------------------ 1-15
External Keyboard Connection--------------------------------------------------------------------------- 1-16
Anicom Board to System Connection (Manual Panel, I/O Controller and RS-232 Ext.)--- 1-17
Servo Enable, Servo On and Dead Stop Limits Interface-------------------------------------------- 1-18
Optional Programmable Inputs and Outputs ------------------------------------------------------------ 1-21
Terminal Block Plug Part Numbers and Locations ---------------------------------------------------- 1-22
Major Assemblies Dimensional Data---------------------------------------------------------------------- 1-25
System Wiring Diagrams ------------------------------------------------------------------------------------- 1-30
Section 2 - I/O Board------------------------------------------------------------------------------------2-1
Dimension and Component Information--------------------------------------------------------------------2-1
Input Power Connection ----------------------------------------------------------------------------------------2-4
Input Power Indicators (LEDs) --------------------------------------------------------------------------------2-4
Servo Interface Connections and Indicators --------------------------------------------------------------2-6
I/O Interface, Including Vector Limits------------------------------------------------------------------------2-8
Input Indicators----------------------------------------------------------------------------------------------------2-9
Output Indicators ----------------------------------------------------------------------------------------------- 2-10
Assigning Inputs ------------------------------------------------------------------------------------------------ 2-10
Assigning Vector Limits --------------------------------------------------------------------------------------- 2-11
Assigning Outputs---------------------------------------------------------------------------------------------- 2-11
Manual Panel Connection------------------------------------------------------------------------------------ 2-13
10-Feb-98 Contents - 1
P6 Earth Ground Connection ------------------------------------------------------------------------------- 2-13

78C10 Microcomputer Status Indicators ----------------------------------------------------------------- 2-14
Section 3 - I/O Expansion Board, PCB 848 (Option)--------------------------------------------3-1
Clearance Requirements ---------------------------------------------------------------------------------------3-3
Inputs and Outputs Interface ----------------------------------------------------------------------------------3-3
Input Indicators -------------------------------------------------------------------------------------------------3-5
Output Indicators ----------------------------------------------------------------------------------------------3-6
Power Supply------------------------------------------------------------------------------------------------------3-6
Section 4 - 4-Axis Motion Junction Board, PCB 845 --------------------------------------------4-1
Dimension and Interconnection Information---------------------------------------------------------------4-1
Motion Junction Board to the Motion Control Board Connection-------------------------------------4-2
Encoder Inputs ----------------------------------------------------------------------------------------------------4-3
Servo Output ------------------------------------------------------------------------------------------------------4-3
Power Supply------------------------------------------------------------------------------------------------------4-3
Section 5 - 6-Axis Motion Junction Board----------------------------------------------------------5-1
Motion Junction Board to Motion Control Board Connection------------------------------------------5-2
Encoder Inputs ----------------------------------------------------------------------------------------------------5-3
Servo Output ------------------------------------------------------------------------------------------------------5-4
Power Supply------------------------------------------------------------------------------------------------------5-5
Section 6 - Motion Control Board, PCB 628-------------------------------------------------------6-1
Component Parts-------------------------------------------------------------------------------------------------6-1
Jumper Settings --------------------------------------------------------------------------------------------------6-4
Motion Board Addresses (J1 and J2)---------------------------------------------------------------------6-4
DAC Output (J3) -----------------------------------------------------------------------------------------------6-4
Index Pulse Polarity -------------------------------------------------------------------------------------------6-5
Motion Board to Motion Junction Board Connection ----------------------------------------------------6-7
Typical Encoder Input Circuit Schematic and Description ---------------------------------------------6-8
Typical DAC Output Circuit and Description --------------------------------------------------------------6-9
Section 7 - DSP Motion Control Board -------------------------------------------------------------7-1
Interface Requirements -----------------------------------------------------------------------------------------7-3
Motion Junction Board Harness Requirements --------------------------------------------------------7-3
Jumper Assignments -----------------------------------------------------------------------------------------7-4
Power Supply Requirements -------------------------------------------------------------------------------7-6
Axis Output Signals -------------------------------------------------------------------------------------------7-6
Encoder Input Requirements -------------------------------------------------------------------------------7-7
Handwheel/DRO Interface ----------------------------------------------------------------------------------7-7
Test Port (P7)---------------------------------------------------------------------------------------------------7-8
Contents - 2 10-Feb-98
Probe Port (P8)-------------------------------------------------------------------------------------------------7-8

Section 8 - DSP Motion Control Board with Flash -----------------------------------------------8-1
Interface Requirements -----------------------------------------------------------------------------------------8-3
Motion Junction Board Harness Requirements --------------------------------------------------------8-3
Jumper Assignments -----------------------------------------------------------------------------------------8-5
Power Supply Requirements -------------------------------------------------------------------------------8-7
Axis Output Signals -------------------------------------------------------------------------------------------8-7
Encoder Input Requirements -------------------------------------------------------------------------------8-8
Handwheel/DRO Interface ----------------------------------------------------------------------------------8-8
Test Port (P11) -------------------------------------------------------------------------------------------------8-9
Probe Port (P5)-------------------------------------------------------------------------------------------------8-9
Section 9 - Interconnection/Installation -------------------------------------------------------------9-1
Serial Junction Board to Anicom Board Connection ----------------------------------------------------9-3
Serial Junction Board Connector Pinouts ------------------------------------------------------------------9-3
Security Key Connections (1400M Only)-------------------------------------------------------------------9-5
Section 10 - Anicom Board -------------------------------------------------------------------------- 10-1
Connection to System----------------------------------------------------------------------------------------- 10-3
Anicom Board Layout ----------------------------------------------------------------------------------------- 10-4
Section 11 - Aniflash Memory Board (1200T Only)-------------------------------------------- 11-1
Section 12 - Remote Floppy Drive Installation (Option) -------------------------------------- 12-1
Kit Contents------------------------------------------------------------------------------------------------------ 12-1
Procedure -------------------------------------------------------------------------------------------------------- 12-1
Section 13 - 1200T Setup Utility-------------------------------------------------------------------- 13-1
Software Information ------------------------------------------------------------------------------------------ 13-1
Navigating the Setup Utility ---------------------------------------------------------------------------------- 13-1
Default Settings ---------------------------------------------------------------------------------------------- 13-1
Keypad Keys-------------------------------------------------------------------------------------------------- 13-2
Switches ------------------------------------------------------------------------------------------------------- 13-2
Manual Panel Buttons -------------------------------------------------------------------------------------- 13-3
Axis Keys ------------------------------------------------------------------------------------------------------ 13-3
Enter Key ------------------------------------------------------------------------------------------------------ 13-3
Highlighting Menu Options -------------------------------------------------------------------------------- 13-3
Exiting a Screen --------------------------------------------------------------------------------------------- 13-3
Password Restricted Parameters ----------------------------------------------------------------------- 13-4
Saving Changes to Setup Parameters ----------------------------------------------------------------- 13-4
Setup Utility Parameters ----------------------------------------------------------------------------------- 13-4
Setup Utility Menus -------------------------------------------------------------------------------------------- 13-4
Setup Options Menu------------------------------------------------------------------------------------------- 13-5
Print Configurations ----------------------------------------------------------------------------------------- 13-5
Input Units of Measurement ------------------------------------------------------------------------------ 13-6
Machine Axis Setup Utilities --------------------------------------------------------------------------------- 13-6

System Resolution ------------------------------------------------------------------------------------------ 13-6
Linear Correction Compensation--------------------------------------------------------------------------- 13-9
Skew Error Compensation ----------------------------------------------------------------------------------- 13-9
In-Position Error Check --------------------------------------------------------------------------------------- 13-9
Continuous Path ---------------------------------------------------------------------------------------------- 13-10
Default Rapid Rate------------------------------------------------------------------------------------------- 13-10
Axis Default Feedrate --------------------------------------------------------------------------------------- 13-11
Software Limits------------------------------------------------------------------------------------------------ 13-11
Backlash Compensation------------------------------------------------------------------------------------ 13-12
Encoder Phasing --------------------------------------------------------------------------------------------- 13-13
Vector Limits ------------------------------------------------------------------------------------------------ 13-13
Ballscrew Compensation ----------------------------------------------------------------------------------- 13-14
Standard Segment Length Ballscrew Compensation -------------------------------------------- 13-14
Automatic File Loader ------------------------------------------------------------------------------------ 13-16
Variable Segment Length Ballscrew Compensation---------------------------------------------- 13-20
LM-628 Motion Control Board-Feed, Rapid and No Motion Gain Tables ---------------------- 13-22
Jog Position---------------------------------------------------------------------------------------------------- 13-24
Axis Clamping ------------------------------------------------------------------------------------------------- 13-24
Axis Ports------------------------------------------------------------------------------------------------------- 13-25
LM-628 Motion Control Board-Position Error Check Parameters-------------------------------- 13-26
LM-628 Motion Control Board-Rapid Ramping ------------------------------------------------------- 13-27
Spindle Axis---------------------------------------------------------------------------------------------------- 13-27
Spindle DC Output ---------------------------------------------------------------------------------------- 13-27
Spindle Gear Ranges (Option) ------------------------------------------------------------------------- 13-28
Gear Change RPM ---------------------------------------------------------------------------------------- 13-29
Number of Lines on the Spindle Encoder ----------------------------------------------------------- 13-29
Spindle RPM Display ------------------------------------------------------------------------------------- 13-30
Encoder/Spindle Ratio ----------------------------------------------------------------------------------- 13-30
Check Spindle during Gear Change ------------------------------------------------------------------ 13-30
Stop Program on Gear Change------------------------------------------------------------------------ 13-30
Check RPM to be within Gear Range ---------------------------------------------------------------- 13-30
Special U, V, W Setup -------------------------------------------------------------------------------------- 13-31
W Axis Display --------------------------------------------------------------------------------------------- 13-31
W Axis Type------------------------------------------------------------------------------------------------- 13-31
Interface Setup------------------------------------------------------------------------------------------------ 13-31
I/O Port Locations ----------------------------------------------------------------------------------------- 13-32
Interface Type ---------------------------------------------------------------------------------------------- 13-33
Output Functions ------------------------------------------------------------------------------------------ 13-35
Output Ports------------------------------------------------------------------------------------------------- 13-35
Output Ports Assignment -------------------------------------------------------------------------------- 13-37
Input Functions --------------------------------------------------------------------------------------------- 13-37
Input Ports Configuration -------------------------------------------------------------------------------- 13-38

Input Ports Assignment ---------------------------------------------------------------------------------- 13-38
CNC Input Functions ------------------------------------------------------------------------------------- 13-38
Setting Finish Pulse Timeout --------------------------------------------------------------------------- 13-39
I/O Settings for Factory Assembled M-function Hardware -------------------------------------- 13-40
Issue M5 on Servo Fault or E-STOP ----------------------------------------------------------------- 13-40
Restore Outputs on I/O Reset-------------------------------------------------------------------------- 13-41
Display Internal Interface Messages------------------------------------------------------------------ 13-41
Tool Management -------------------------------------------------------------------------------------------- 13-41
Default Tool Table----------------------------------------------------------------------------------------- 13-41
Activation Option------------------------------------------------------------------------------------------- 13-41
Manual Tool Change Operation ----------------------------------------------------------------------- 13-42
Automatic Tool Change Operation -------------------------------------------------------------------- 13-42
Tool Change Macro Parameters----------------------------------------------------------------------- 13-44
Miscellaneous Setup Utilities------------------------------------------------------------------------------ 13-45
Manual Panel Port----------------------------------------------------------------------------------------- 13-45
Maximum Programmable Feedrate ------------------------------------------------------------------- 13-45
Default Jog Feedrate/Rapid Rate --------------------------------------------------------------------- 13-46
Maximum Rotary Feedrate ------------------------------------------------------------------------------ 13-46
Default Jog Rotary Feedrate---------------------------------------------------------------------------- 13-46
Acceleration ------------------------------------------------------------------------------------------------- 13-47
LM-628 Motion Control Board-Feed and Rapid Velocity Offset Factors -------------------- 13-47
Simulation Mode ------------------------------------------------------------------------------------------- 13-47
Servo Delay ------------------------------------------------------------------------------------------------- 13-48
Saving File when Main Power Fails------------------------------------------------------------------- 13-48
Machine Type----------------------------------------------------------------------------------------------- 13-48
Reversing G2/G3 Commands -------------------------------------------------------------------------- 13-48
Front/Rear Tool Post ------------------------------------------------------------------------------------- 13-49
Selecting Diameter or Radius Mode ------------------------------------------------------------------ 13-49
CNC Custom Character Set ---------------------------------------------------------------------------- 13-49
Configure the Number of Handwheel Ports on LM-628 System (Option) ------------------- 13-49
Screen Blanking Delay ----------------------------------------------------------------------------------- 13-49
Automatic Feed Override on Arc Moves------------------------------------------------------------- 13-49
Feedrate Mode --------------------------------------------------------------------------------------------- 13-50
Default SCI in Manual ------------------------------------------------------------------------------------ 13-50
Rapid Moves are Free (Unsynchronized) ----------------------------------------------------------- 13-50
Dwell RPMs in FPR Mode------------------------------------------------------------------------------- 13-50
Machine Home ------------------------------------------------------------------------------------------------ 13-51
Homing the Axes------------------------------------------------------------------------------------------- 13-51
Enabling the Homing Feature -------------------------------------------------------------------------- 13-51
Homing Order----------------------------------------------------------------------------------------------- 13-52
Homing Direction of Travel ------------------------------------------------------------------------------ 13-52
Homing Speed---------------------------------------------------------------------------------------------- 13-52
Axis Home Preset Values ------------------------------------------------------------------------------- 13-53
Index Pulse Check ---------------------------------------------------------------------------------------- 13-53
Builder Messages -------------------------------------------------------------------------------------------- 13-53
Purchased Language Option------------------------------------------------------------------------------ 13-55
Software Updates -------------------------------------------------------------------------------------------- 13-56
Installation Prompts --------------------------------------------------------------------------------------- 13-56

Changing the Passwords----------------------------------------------------------------------------------- 13-57
General Software--------------------------------------------------------------------------------------------- 13-57
Control Software Parameters--------------------------------------------------------------------------- 13-58
Communications ------------------------------------------------------------------------------------------- 13-63
Draw Mode -------------------------------------------------------------------------------------------------- 13-64
Edit Mode ---------------------------------------------------------------------------------------------------- 13-67
Program Directory ----------------------------------------------------------------------------------------- 13-70
Display-------------------------------------------------------------------------------------------------------- 13-71
Printer--------------------------------------------------------------------------------------------------------- 13-71
DSP Setup ----------------------------------------------------------------------------------------------------- 13-72
Feed, Rapid and No Motion Gain Tables------------------------------------------------------------ 13-72
Feed and Rapid Acceleration/Deceleration --------------------------------------------------------- 13-74
DSP Integrity Check -------------------------------------------------------------------------------------- 13-74
DSP Position Error Check Parameters -------------------------------------------------------------- 13-74
Configure the Number of Handwheel Ports on a DSP System (Option)--------------------- 13-75
Servo Loop Sample Time ------------------------------------------------------------------------------- 13-76
Enable Velocity Look Ahead---------------------------------------------------------------------------- 13-76
Fine-Tuning DSP Systems with Scales -------------------------------------------------------------- 13-76
Motion Setup/Testing Utility (MST) ---------------------------------------------------------------------- 13-78
Accessing the MST Utility ------------------------------------------------------------------------------- 13-78
Activating the MST Screen------------------------------------------------------------------------------ 13-79
MST Softkeys----------------------------------------------------------------------------------------------- 13-80
Alignment of Motion Control Axes--------------------------------------------------------------------- 13-82
Section 14 - 1200T Setup Utility Maps------------------------------------------------------------ 14-1
Section 15 - 1400M Setup Utility ------------------------------------------------------------------- 15-1
Software Information ------------------------------------------------------------------------------------------ 15-1
Navigating the Setup Utility ---------------------------------------------------------------------------------- 15-1
Keypad Keys-------------------------------------------------------------------------------------------------- 15-1
Axis Keys ------------------------------------------------------------------------------------------------------ 15-2
Switches ------------------------------------------------------------------------------------------------------- 15-2
Manual Panel Buttons -------------------------------------------------------------------------------------- 15-3
Enter Key ------------------------------------------------------------------------------------------------------ 15-3
Highlighting Menu Options -------------------------------------------------------------------------------- 15-3
Exiting a Screen --------------------------------------------------------------------------------------------- 15-3
Password Restricted Parameters ----------------------------------------------------------------------- 15-4
Saving Changes to Setup Parameters ----------------------------------------------------------------- 15-4
Setting up Parameters ------------------------------------------------------------------------------------- 15-4
Accessing the Setup Utility Menus------------------------------------------------------------------------- 15-5
Setup Options Menu------------------------------------------------------------------------------------------- 15-5
Print Configurations ----------------------------------------------------------------------------------------- 15-5
Input Units of Measurement ------------------------------------------------------------------------------ 15-6
Machine Axis Setup Utilities --------------------------------------------------------------------------------- 15-6
System Resolution ------------------------------------------------------------------------------------------ 15-7
Encoder vs. Linear Scale Axes -------------------------------------------------------------------------- 15-7
Ratio of the Ballscrew to the Encoder ------------------------------------------------------------------ 15-9

Linear Correction Compensation------------------------------------------------------------------------- 15-10
Skew Error Compensation --------------------------------------------------------------------------------- 15-10
In-Position Check--------------------------------------------------------------------------------------------- 15-11
Continuous Path ---------------------------------------------------------------------------------------------- 15-11
Default Rapid Rate------------------------------------------------------------------------------------------- 15-12
Axis Default Feed Rate ------------------------------------------------------------------------------------- 15-12
Setting Software Limits ------------------------------------------------------------------------------------- 15-12
Backlash Compensation------------------------------------------------------------------------------------ 15-13
Encoder Phasing ------------------------------------------------------------------------------------------ 15-14
Vector Limit-------------------------------------------------------------------------------------------------- 15-14
Ballscrew Compensation ----------------------------------------------------------------------------------- 15-15
Standard Segment Length Ballscrew Compensation -------------------------------------------- 15-15
Automatic File Loader ------------------------------------------------------------------------------------ 15-17
Variable Segment Lengths Ballscrew Compensation -------------------------------------------- 15-21
LM-628 Motion Control Board-Feed, Rapid and No Motion Gain Tables ---------------------- 15-23
Jog Position---------------------------------------------------------------------------------------------------- 15-25
Axis Clamping ------------------------------------------------------------------------------------------------- 15-25
Axis Ports------------------------------------------------------------------------------------------------------- 15-26
LM-628 Motion Control Board-Position Error Check Parameters-------------------------------- 15-26
LM-628 Motion Control Board-Rapid Ramping ------------------------------------------------------- 15-28
Spindle Axis---------------------------------------------------------------------------------------------------- 15-28
Spindle DC Output ---------------------------------------------------------------------------------------- 15-28
Spindle Gear Ranges------------------------------------------------------------------------------------- 15-29
Spindle Axis ------------------------------------------------------------------------------------------------- 15-30
Gear Change RPM ---------------------------------------------------------------------------------------- 15-30
Spindle/Encoder Ratio ----------------------------------------------------------------------------------- 15-30
Encoder/Spindle Ratio ----------------------------------------------------------------------------------- 15-30
Spindle RPM Display ------------------------------------------------------------------------------------- 15-31
Checking Spindle During Gear Change ------------------------------------------------------------- 15-31
Stop Program on Gear Change------------------------------------------------------------------------ 15-31
Check RPM to be within Gear Range ---------------------------------------------------------------- 15-31
Special U, V, W Setup -------------------------------------------------------------------------------------- 15-32
Interface Setup------------------------------------------------------------------------------------------------ 15-32
I/O Port Locations ----------------------------------------------------------------------------------------- 15-33
Interface Type ---------------------------------------------------------------------------------------------- 15-34
Setup Software --------------------------------------------------------------------------------------------- 15-35
Output Functions ------------------------------------------------------------------------------------------ 15-35
Input Functions --------------------------------------------------------------------------------------------- 15-38
Input Function Usage------------------------------------------------------------------------------------- 15-39
Finish Pulse Timeout ------------------------------------------------------------------------------------- 15-40
I/O Settings for Factory Assembled M-Function Hardware ------------------------------------- 15-41
Issue M5 on Servo Fault or E-STOP ----------------------------------------------------------------- 15-42

Restore Outputs on I/O Reset-------------------------------------------------------------------------- 15-42
Display Internal Interface Messages------------------------------------------------------------------ 15-42
Tool Management -------------------------------------------------------------------------------------------- 15-42
Default Tool Table----------------------------------------------------------------------------------------- 15-42
Activation Options ----------------------------------------------------------------------------------------- 15-42
Manual Tool Change Operation ----------------------------------------------------------------------- 15-43
Automatic Tool Change Operation -------------------------------------------------------------------- 15-44
Tool Change Macro Parameters----------------------------------------------------------------------- 15-47
Tool Changer Macro Example ------------------------------------------------------------------------- 15-47
Miscellaneous Setup Utilities------------------------------------------------------------------------------ 15-48
Manual Panel Port----------------------------------------------------------------------------------------- 15-48
Maximum Programmable Feedrate ------------------------------------------------------------------- 15-48
Default Jog Feedrate/Rapid rate----------------------------------------------------------------------- 15-48
Dry Run Linear Feedrate -------------------------------------------------------------------------------- 15-49
Maximum Rotary Feedrate ------------------------------------------------------------------------------ 15-49
Default Jog Rotary Feedrate---------------------------------------------------------------------------- 15-50
Dry Run Rotary Feedrate -------------------------------------------------------------------------------- 15-50
Acceleration ------------------------------------------------------------------------------------------------- 15-50
LM-628 Motion Control Board-Feed and Rapid Velocity Offset Factors -------------------- 15-51
Simulation Mode ------------------------------------------------------------------------------------------- 15-51
Programming a Servo Delay---------------------------------------------------------------------------- 15-51
Saving Files when Main Power Fails ----------------------------------------------------------------- 15-51
Machine Type----------------------------------------------------------------------------------------------- 15-52
Reversing G2/G3 Commands -------------------------------------------------------------------------- 15-52
Loading CNC Custom Character Set----------------------------------------------------------------- 15-52
Remote Handwheels Setup (Option) ----------------------------------------------------------------- 15-52
Screen Blanking Delay ----------------------------------------------------------------------------------- 15-52
Automatic Feed Override on Arc Moves------------------------------------------------------------- 15-52
Feedrate Mode --------------------------------------------------------------------------------------------- 15-53
Dwell in FPR Mode---------------------------------------------------------------------------------------- 15-53
Rapid Moves are Free (Unsynchronized) ----------------------------------------------------------- 15-53
Machine Home ------------------------------------------------------------------------------------------------ 15-54
Homing the Axes------------------------------------------------------------------------------------------- 15-54
Enabling the Homing Feature -------------------------------------------------------------------------- 15-54
Axis Homing Order ---------------------------------------------------------------------------------------- 15-54
Homing Feature Travel Direction ---------------------------------------------------------------------- 15-54
Homing Speed---------------------------------------------------------------------------------------------- 15-56
Axis Home Preset ----------------------------------------------------------------------------------------- 15-56
Enabling Index Pulse Check---------------------------------------------------------------------------- 15-56
Builder Messages -------------------------------------------------------------------------------------------- 15-56
Purchased Language Option------------------------------------------------------------------------------ 15-58
Software Updates -------------------------------------------------------------------------------------------- 15-59
Installation Prompts --------------------------------------------------------------------------------------- 15-59
LM-628 MCB Digitizing ------------------------------------------------------------------------------------- 15-59
Direct Numeric Control-------------------------------------------------------------------------------------- 15-60
Changing the Passwords----------------------------------------------------------------------------------- 15-62
General Software--------------------------------------------------------------------------------------------- 15-63

Control Software Parameters--------------------------------------------------------------------------- 15-63
Communications---------------------------------------------------------------------------------------------- 15-67
Communications Setup Parameters ------------------------------------------------------------------ 15-68
Draw Mode Setup Parameters ------------------------------------------------------------------------- 15-69
Edit Mode Setup Parameters --------------------------------------------------------------------------- 15-72
Program Directory Parameters------------------------------------------------------------------------- 15-74
Display Settings -------------------------------------------------------------------------------------------- 15-74
Printer Settings --------------------------------------------------------------------------------------------- 15-75
DSP Setup ----------------------------------------------------------------------------------------------------- 15-76
Feed, Rapid and No Motion Gain Tables------------------------------------------------------------ 15-76
Feed and Rapid Acceleration/Deceleration --------------------------------------------------------- 15-78
DSP Position Error Check Parameters -------------------------------------------------------------- 15-78
Configure the Number of Handwheel Ports on DSP System (Option) ----------------------- 15-79
DSP Integrity Check -------------------------------------------------------------------------------------- 15-80
Servo Loop Sample Time ------------------------------------------------------------------------------- 15-80
Enable Velocity Look Ahead---------------------------------------------------------------------------- 15-80
Fine-Tuning DSP Systems with Scales -------------------------------------------------------------- 15-80
Motion Setup/Testing Utility (MST) ---------------------------------------------------------------------- 15-82
Accessing the MST Utility ------------------------------------------------------------------------------- 15-82
Activating the MST Screen------------------------------------------------------------------------------ 15-83
MST Softkeys----------------------------------------------------------------------------------------------- 15-84
Alignment of Motion Control Axes--------------------------------------------------------------------- 15-86
Section 16 - 1400M Setup Utility Maps ----------------------------------------------------------- 16-1
Section 17 - Programmable Controller Interface ----------------------------------------------- 17-1
Allen-Bradley Programmable Controller SLC-150 ----------------------------------------------------- 17-1
Connection between Control and Programmable Controller ------------------------------------- 17-1
Communication Parameters ------------------------------------------------------------------------------ 17-2
Internal Relays ----------------------------------------------------------------------------------------------- 17-2
Designation of Internal Relays --------------------------------------------------------------------------- 17-3
M, S, T and H Codes --------------------------------------------------------------------------------------- 17-4
CNC Flags----------------------------------------------------------------------------------------------------- 17-5
PLC Flags ----------------------------------------------------------------------------------------------------- 17-6
Error/Warning Messages ---------------------------------------------------------------------------------- 17-6
Address Table ------------------------------------------------------------------------------------------------ 17-8
Monitor Function --------------------------------------------------------------------------------------------- 17-8
Internal Relays Display----------------------------------------------------------------------------------- 17-12
Input and Output Relays Display ---------------------------------------------------------------------- 17-12
Allen-Bradley Programmable Controller SLC-500 --------------------------------------------------- 17-14
CNC to Programmable Controller Connection ----------------------------------------------------- 17-14
Communication Parameters ---------------------------------------------------------------------------- 17-15
Internal Register ------------------------------------------------------------------------------------------- 17-15
Internal Registers ------------------------------------------------------------------------------------------ 17-16
M, S, T and H Codes ------------------------------------------------------------------------------------- 17-17
CNC Flags--------------------------------------------------------------------------------------------------- 17-18
PLC Flags --------------------------------------------------------------------------------------------------- 17-19
Error/Warning Messages -------------------------------------------------------------------------------- 17-20
Monitor Function ------------------------------------------------------------------------------------------- 17-21

Data Transfer Internal Registers Display ------------------------------------------------------------ 17-22
Internal Registers Display ------------------------------------------------------------------------------- 17-23
Input And Output Relays Display ---------------------------------------------------------------------- 17-24
Allen-Bradley SLC-500 Interface Setup-------------------------------------------------------------- 17-25
1770-KF3 Setup ------------------------------------------------------------------------------------------- 17-27
1200T/1400M / KF3 / SLC-500 Interconnect Wiring --------------------------------------------- 17-27
SLC-500 Initialization Instructions--------------------------------------------------------------------- 17-28
Mitsubishi Programmable Controller -------------------------------------------------------------------- 17-29
Control to Programmable Controller Connection -------------------------------------------------- 17-29
Data Registers --------------------------------------------------------------------------------------------- 17-29
Designation of Data Registers ------------------------------------------------------------------------- 17-30
M, S, T and H Codes ------------------------------------------------------------------------------------- 17-31
CNC Flags--------------------------------------------------------------------------------------------------- 17-32
PLC Flags --------------------------------------------------------------------------------------------------- 17-33
Address Table ---------------------------------------------------------------------------------------------- 17-35
Internal Relays Display----------------------------------------------------------------------------------- 17-39
Input And Output Relays Display ---------------------------------------------------------------------- 17-39
SAIA Programmable Controller PCD4 ------------------------------------------------------------------ 17-41
CNC to Programmable Controller Connection ----------------------------------------------------- 17-41
Internal Registers ------------------------------------------------------------------------------------------ 17-42
Designation of Internal Registers---------------------------------------------------------------------- 17-43
M, S, T and H Codes ------------------------------------------------------------------------------------- 17-44
CNC Flags--------------------------------------------------------------------------------------------------- 17-45
PLC Flags --------------------------------------------------------------------------------------------------- 17-46
Data Transfer Internal Registers Display ------------------------------------------------------------ 17-49
Internal Registers Display ------------------------------------------------------------------------------- 17-51
Input/Output Registers Display------------------------------------------------------------------------- 17-51
Omron CQM1 Programmable Controller Interface Specifications ------------------------------- 17-52
Control and Programmable Controller Connection ----------------------------------------------- 17-52
Internal Relays --------------------------------------------------------------------------------------------- 17-52
Designation of Internal Relays ------------------------------------------------------------------------- 17-53
M, S, T and H Codes ------------------------------------------------------------------------------------- 17-54
CNC Flags--------------------------------------------------------------------------------------------------- 17-55
Omron PLC Flags ----------------------------------------------------------------------------------------- 17-56
Section 18 - Integral Programmable Intelligence User’s Guide ---------------------------- 18-1
Description and Operation ----------------------------------------------------------------------------------- 18-1
IPI Description--------------------------------------------------------------------------------------------------- 18-1
Software ---------------------------------------------------------------------------------------------------------- 18-2

I/O Board --------------------------------------------------------------------------------------------------------- 18-2
Inputs ----------------------------------------------------------------------------------------------------------- 18-2
Outputs --------------------------------------------------------------------------------------------------------- 18-4
The IPI Cycle ------------------------------------------------------------------------------------------------- 18-6
Memory Registers ------------------------------------------------------------------------------------------- 18-6
Multifunction Registers---------------------------------------------------------------------------------------- 18-7
Reserved Multifunction Registers --------------------------------------------------------------------- 18-11
General Purpose Multifunction Registers ----------------------------------------------------------- 18-13
Shared Registers ------------------------------------------------------------------------------------------ 18-14
Static M-registers - M240 to M255 -------------------------------------------------------------------- 18-15
Timer Registers -------------------------------------------------------------------------------------------- 18-15
Sequence Registers -------------------------------------------------------------------------------------- 18-15
I/O and Expansion Boards ------------------------------------------------------------------------------ 18-15
IPI Monitor------------------------------------------------------------------------------------------------------ 18-16
Viewing the IPI Monitor ---------------------------------------------------------------------------------- 18-16
Working with IPI ---------------------------------------------------------------------------------------------- 18-18
Configuring IPI Setup------------------------------------------------------------------------------------- 18-18
Programming the IPI -------------------------------------------------------------------------------------- 18-18
File Names -------------------------------------------------------------------------------------------------- 18-19
Accessing IPI Setup Menu ------------------------------------------------------------------------------ 18-19
Using the IPI Editor --------------------------------------------------------------------------------------- 18-19
Creating a New Program -------------------------------------------------------------------------------- 18-19
Selecting an Existing Program ------------------------------------------------------------------------- 18-20
Activating the Editor--------------------------------------------------------------------------------------- 18-20
Loading and Compiling a Program-------------------------------------------------------------------- 18-20
Program Management Utilities ------------------------------------------------------------------------- 18-20
Writing IPI Programs ---------------------------------------------------------------------------------------- 18-22
How the Interpreter Uses Instructions---------------------------------------------------------------- 18-22
Program START and END Instructions -------------------------------------------------------------- 18-23
Building IPI Program Instructions---------------------------------------------------------------------- 18-23
Creating Additional I/O Labels ------------------------------------------------------------------------- 18-26
Using Comments ------------------------------------------------------------------------------------------ 18-26
Finish Signal Generation -------------------------------------------------------------------------------- 18-27
IPI Operation Set --------------------------------------------------------------------------------------------- 18-28
Advanced IPI Instructions ---------------------------------------------------------------------------------- 18-65
Timers -------------------------------------------------------------------------------------------------------- 18-65
Conditional Instruction Sets----------------------------------------------------------------------------- 18-68
Compiler Directives --------------------------------------------------------------------------------------- 18-71
Programming Tips-------------------------------------------------------------------------------------------- 18-73
Plan the Program ------------------------------------------------------------------------------------------ 18-73
Using Labels ------------------------------------------------------------------------------------------------ 18-73
Using Conditional Execution---------------------------------------------------------------------------- 18-74
Using Sequence States ---------------------------------------------------------------------------------- 18-74
Sample IPI Program -------------------------------------------------------------------------------------- 18-76
P/N 70000322 – Installation/Interconnection
Section 1 - Installation and Interconnection

This section describes how to install a typical 1200T/1400M CNC. Wiring
is simplified by plug-in terminal blocks provided with each assembly,
readily available connectors (if required) and 1-to-1 wiring wherever
possible.
This section details basic I/O connections and pinouts and Programmable
I/O software setup.
Wiring Guidelines and Grounding Concepts
General Wiring Guidelines
IMPORTANT NOTE: For safe operation, ensure that wiring conforms to

all local and national codes.
IMPORTANT NOTE: The CNC, other control devices and the enclosure
must be properly grounded. An authoritative source on grounding
requirements for most installations is the National Electrical Code (NEC).
Follow general wiring guidelines:
− Do not run signal wiring and power wiring in the same conduit. Where
paths must cross, make intersections perpendicular.
− Segregate I/O wiring by signal type. Route wiring with different signal
characteristics along separate paths whenever possible. To prevent
crosstalk, avoid running harnesses containing different signal types
parallel to one another.
− Establish a low impedance, single point ground. All noise reduction
techniques depend upon proper grounding.
− Proper routing and grounding are more important than servo wire
length.
− Make signal wiring as short and direct as possible.
CAUTION: You must install E-STOP switches in the system. Make
certain that the relay contacts used have a sufficient rating for the
application.
− The E-STOP button and travel limit switches are wired in series. When
any of them opens, the servo is de-energized. This will remove power
from the machine. Ensure that they are correctly installed, for safety.
WARNING: Never alter these circuits to defeat their function.
Serious injury or machine damage could result. Observe all
applicable codes as to the placement and labeling of E-STOP
switches.
10-Feb-98 Page 1-1

P/N 70000322 - Installation/Interconnection
General Grounding Guidelines

This section contains procedures for proper system grounding during
installation. Proper grounding is the foundation of all noise control
techniques. It helps limit the effects of noise due to electromagnetic
interference (EMI) and is essential to the proper operation of CNC.
WARNING: The CNC must be properly grounded. All applicable
codes and ordinances must be observed when wiring the CNC.
In addition to the grounding required for the CNC and its enclosure, you
must provide proper grounding for all controlled devices in the application.
Make sure to provide each device with an acceptable grounding path.
Establish Bonding Points on the Machine

To establish a proper ground, remove all anodizing, paint and other
coatings down to the bare metal. Do this at points where the mounting
holes have been drilled into the machine to mount the enclosures. A
threaded hole drilled into the machine is not a proper ground. Remove
the paint (or coating) around the hole, exposing bare metal. If you cannot
use the mounting holes for electrical bond points, establish suitable bond
points elsewhere. These points can be connected later via flat wire braid,
at least 3/8” wide.
Use Interior or Exterior Tooth Lock Washers between Points of Contact

Use interior or exterior tooth lock washers between each point of metallic
contact to ensure a good electrical path. Choose interior or exterior lock
washers based only on mechanical concerns.
Clean all Stand-Off and Mounting Assemblies to Bare Metal at Points of Contact
The goal is to create a continuous metal-to-metal surface contact from the
machine to the two enclosures. The machine builder decides which
points are best suited for this task.
Threaded holes are not proper grounds, just as the threads of the
mounting bolts are not proper ground paths. The best path is between
two bare metal surfaces, with the proper lock washer between them. The
closer the installation is to this model, the better the ground.
Page 1-2 10-Feb-98

Clean all Paint to Bare Metal from the Enclosure at the Points of Contact
Once the bond point locations are determined, remove the paint at these
points to allow bare metal-to-metal contact via internal or external tooth
lock washers.
Wiring of System Grounds

Verify that building grounds adhere to local codes at the time of the
installation.
NOTE: If doubt that a proper building ground exists, consult a qualified
electrician.
Wiring Servo Amplifiers

Electrical equipment inherently generates radio-frequency interference
(RFI) and wires act as antennae that transmit this interference. Motors
inherently generate electromagnetic interference (EMI). Unless the wiring
is very short, some shielding on the motor wires is necessary to meet
FCC RFI/EMI guidelines and to protect other equipment from the adverse
effects of RFI/EMI.
Always use shielded wire or run the wires in a metallic conduit. The
shield or conduit must be connected to an amplifier base plate which is
earth grounded.
To decrease shock hazard, run a conductor of the same gauge as the
motor wires, or make a direct metallic connection from the motor case to
the amplifier base plate.
Earth grounding is required to meet NEC regulations and to suppress
RFI/EMI.
IMPORTANT NOTE: The signal wiring to the tachometer and the signal
inputs to the amplifier are susceptible to noise pickup. Excessive noise
pickup will cause erratic amplifier operation. Run each signal input line in
a separate, twisted-pair, shielded cable for optimal performance.
Terminate the shield only at the amplifier end to a common terminal.
Keep signal lines as far as possible from any power or motor wires.
Isolation Transformer
An isolation transformer is sometimes used in the AC line to the
controller. This type of transformer provides isolation from the power
distribution system and is often used as a step-down transformer to
reduce line voltage. Any transformer used with the CNC must have a
sufficient power rating for its load. This power rating is generally
expressed in volt-amperes (VA).
− ANILAM recommends an electrostatic-shielded isolation transformer,
with a rating of 2KVA, for the system.
− If output devices are connected through the transformer, add their
maximum VA requirements to determine the correct transformer size.
10-Feb-98 Page 1-3

Compliance with the EC Directives

1200T and 1400M CNC systems are not intended for sale to the end
user. The end user is the purchaser of the machine tool into which the
control is incorporated. Compliance with EC directives and the
attachment of the CE mark is the responsibility of the machine builder,
who assumes all liability.
However, ANILAM, Inc. has had tested the CNC components described
herein for Electromagnetic Compatibility per the following EC directives:
EN 50081-1 Electromagnetic compatibility - Generic emissions

standard Part 1. Residential, commercial and light
industrial 1992.
EN 50082-2 May 1995: Generic immunity standard for industrial
environment.
EN 55011 Limits and methods of measurement of electromagnetic
disturbance characteristics of industrial, scientific and
medical (ISM) radio-frequency equipment, Second Edition
1990-09.
EN 61000-4-2 Electromagnetic compatibility (EMC) Part 4: Testing and
measurement techniques, Section 2: Electrostatic
discharge immunity test. 1995.
ENV 50140 Electromagnetic compatibility (EMC) Part 4: Testing and
measurement techniques, Section 3: Radiated radio
frequency electromagnetic field immunity test, 1993.
EN 61000-4-4 Electromagnetic compatibility (EMC) Part 4: Testing and
measurement techniques, Section 4: Electrical fast
transient/burst immunity test, 1995.
ENV 50141 Electromagnetic compatibility (EMC) Part 4: Testing and
measurement techniques, Section 6: Continuous
conducted interference, 1993.
EN61000-4-11 Electromagnetic compatibility (EMC) Part 4: Voltage Dips,
short interruptions and voltage variations, 1994.
EN 55022 (CISPR 22) Limits and methods of measurement
techniques of radio disturbance characteristics of
information technology equipment.
This testing was performed at NRTL-certified MET Laboratories, Inc., 914

West Patapsco Avenue, Baltimore, Maryland, 21230-3432, USA. Test
results are chronicled in EMC test reports EMI689 and EMI621A. In
accordance with the EC directives, these reports are kept on file in the
USA and UK offices of ANILAM, Inc.
Page 1-4 10-Feb-98

Guidelines for Construction of an CE Compliant System

The following guidelines can aid in the design and construction of a CE
compliant system using the 1200T or 1400M CNC components. Primary
consideration should be given to compliance with directive EN 60204-1,
Safety of Machinery. Also, consult Wiring Guidelines and Grounding
Concepts, preceding this section.
ANILAM CNC systems were tested according to stringent specifications
for emissions and immunity. Electrostatic and radiated emissions were
tested to light industrial standards. Electrostatic discharge and radiated
electromagnetic field immunity were tested to heavy industrial standards.
To ensure the repeatability of “passing” test results, ANILAM suggests the
following guidelines be adhered to:
− Good grounding techniques must be followed. Grounds should
always be kept as short as possible. High frequency noise grounding
requires as much surface area metal to metal contact as possible to
combat skin effect. Use of “star” washers or similar products is
recommended.
− Ferrous enclosures are preferred to aluminum because of their
superior magnetic properties. The minimum number of outlets should
be made in the enclosure, preferably grouped together. The
enclosure and its conduits should form a single Faraday cage,
metallically bonded together. The door(s) should utilize clamps or
cables to ensure conductivity.
− Where required, liquid-tight flexible metallic conduit should be used.
Where a conduit’s fittings enter the enclosure, all paint or coatings
should be removed to bare metal, especially around the nut that
fastens the fitting to the enclosure.
− PWM amplifiers and switching power supplies are typical sources of
emissions. They can be shielded in grounded metallic enclosures, if
necessary.
− Cabling from known noise sources should be segregated from other
wiring. Split ferrites placed at the noise source and where the cabling
leaves the enclosure can aid in noise reduction.
− Shielded cabling should be used. The shields should be grounded at
one end only. Shields should be grounded to the enclosure directly
upon entry, not by “pigtails” or other indirect methods.
10-Feb-98 Page 1-5

Power Requirements of the Standard Systems

Refer to Table 1-1, Power Requirements for the required input power.
Table 1-1, Power Requirements
Device Power Requirement
Computer, Standard System 110 VAC, 1 Phase, 2A
VGA Monitor 110 VAC, 1 Phase, 1.2A
I/O Board Power Supply 110 VAC, 1 Phase, 2A
3-Axis, 15A DC Per Axis, DC Servo 110 VAC, 1 Phase, 15A
Assembly
A constant voltage transformer can further isolate the CNC and servo (the
servo cabinet of the standard system) from input voltage irregularities.
Set the rating of the transformer to 2KVA or higher with a constant
voltage transformer.
NOTE: The CNC must be plugged into a dedicated line. Failure to do so
may lead to improper operation of the control.
System Interconnect, Input Power and Required Cables
Refer to Figure 1-2, 1200T/1400M System Interconnection with a
Serial Junction Board for systems shipped prior to April, 1997. These
systems contain a Serial Junction Board that interconnects the Anicom
board and the Manual Panel and the I/O controller. Refer to Figure 1-1,
1200T/1400M System Interconnection without a Serial Junction
Board for systems shipped during or after April, 1997. These systems
contain an RS-232 cable harness that replaces the Serial Junction Board
used on earlier systems.
Refer to Figure 1-1, 1200T/1400M System Interconnection without a
Serial Junction Board or Figure 1-2, 1200T/1400M System
Interconnection with a Serial Junction Board. The drawing details
most of the required system connections. Voltage inputs are required to
meet the specifications listed in Table 1-2, Voltage Specifications.
Table 1-2, Voltage Specifications
+5VDC 6 amps
+15VDC 2 amps
-15VDC 2 amps
+24VDC Required amperage is determined by the
number of and types of the external devices
connected to the system.
The ANILAM Power Supply, P/N 90600328, provides the required +5
VDC, +15 VDC and -15 VDC inputs. A power supply selected by the
machine builder that meets these requirements can also be used. The
servo +24 VDC power source must be a separate and isolated supply,
with its own common. The required amperage is determined by the
connected devices.
Page 1-6 10-Feb-98

Figure 1-1, 1200T/1400M System Interconnection without a Serial Junction Board
10-Feb-98 Page 1-7

Figure 1-2, 1200T/1400M System Interconnection with a Serial Junction Board
Page 1-8 10-Feb-98

Refer to Table 1-3, Required Cables. The cables do not have terminal
block type connectors. However, all are readily available styles.
NOTE: Harness Assemblies, P/N 31900583 and P/N 31900584, are only
required if the ANILAM +5,+/-15 power supply is used. (Refer to Figure
1-3, Assembly Harness, DC Power Supply to I/O Board and Figure 1-
4, Assembly Harness, AC Power Supply to I/O Board.) These cables
are also available from ANILAM in custom lengths.
Table 1-3, Required Cables
P/N Conn/Wired/Conn Use
31900583 Used with ANILAM Power Supply, DC power harness
P/N 90600328. Refer to Figure 1-3.
31900584 Used with ANILAM Power Supply, AC power harness

P/N 90600328. Refer to Figure 1-4.
36000572 DB25-M, 1 to 1, DB25-M. Refer to Anicom Board to Serial

Figure 1-5. Junction Board
31900585 DE15-M, 1 to 1, DE15-M. Refer to 15-pin VGA cable from VGA

Figure 1-6. monitor to VGA card
31900586 3-pin male MOLEX, both ends. +12 VDC power for 1200T
Refer to Figure 1-7. monitor
31900768 DB25-F, 1 to 1, DB25-F. Refer to Motion Board to Motion

Figure 1-8. Junction Board
31900649 MINIDIN 6-M. Refer to Figure 1-9. Console Keyboard to

Computer
31900381 Phoenix, DIN5-F. Refer to Figure 1- External PC keyboard to
10. Keyboard Interface Board P1
connector
31901114 Multiple connections, see drawing. Anicom Board to Manual
Refer to Figure 1-11. Panel P2, I/O Controller P2
and RS-232 extension.
NOTE: The Serial Junction Board has been replaced by the Anicom Harness, P/N
31901114. For earlier systems, connection of the Serial Junction Board is detailed in
Section 9.
10-Feb-98 Page 1-9

DC Power Supply to I/O Board Connection

Refer to Figure 1-3. Assembly Harness, P/N 31900583, connects the DC
power supply to the PBC 843 I/O Controller at the P1 connector. When
installed, the ground wire is connected to chassis ground.
Figure 1-3, Assembly Harness, DC Power Supply to I/O Board, P/N 31900583
AC Power to I/O Board Connection

Refer to Figure 1-4. Assembly Harness, P/N 31900584, supplies AC
power to the I/O Board .
Figure 1-4, Assembly Harness, AC Power Supply to I/O Board, P/N 31900584
Page 1-10 10-Feb-98

Anicom Board to Serial Junction Board Connection

NOTE: This section applies only to systems that use an Serial Junction
Board.
Refer to Figure 1-5. Assembly Harness, P/N 36000572, connects the
Anicom Board to the Serial Junction Board.
Figure 1-5, Assembly Harness, Anicom Board to Serial Junction Board,

P/N 36000572
10-Feb-98 Page 1-11

VGA Monitor to Computer VGA Connection

VGA monitor to the VGA.
TO VGA 20" TO
MONITOR COMPUTER
VGA
31900585
WIRING SIDE
Figure 1-6, Assembly Harness, VGA Monitor to VGA, P/N 31900585
Page 1-12 10-Feb-98

Monitor to Computer +12V Power Supply Connection (1200T Only)

monitor to the computer’s 12V power supply.
TO MONITOR 4O" TO COMPUTER

+12 V
31900586
Figure 1-7, Assembly Harness, Monitor to Computer +12V Power Supply, P/N 31900586
10-Feb-98 Page 1-13

Motion Control Board to Motion Junction Board Connection

Motion Board to the Motion Junction Board.
35"
TO MOTION BD. TO MOTION JUNCTION BD.
P2 CONNECTOR (PCB 845) CONNECTOR P1
31900768
Figure 1-8, Assembly Harness, Motion Board to Motion Junction Board, P/N 31900768
To ensure proper grounding and shielding, tie all shielded wires only to
P11 of the Motion Junction Board.
Page 1-14 10-Feb-98

Console Keyboard to Computer Connection

Assembly Harness, P/N 31900649, connects the console keyboard to the
computer.
Figure 1-9, Assembly Harness, Console Keyboard to Computer, P/N 31900649
10-Feb-98 Page 1-15

External Keyboard Connection

A standard PC keyboard can be used with 1200T/1400M systems if it is
plugged directly into the computer. When a PC keyboard is plugged into
the keyboard interface of a 1200T, operation automatically switches to the
keyboard. You can install an external jack for the keyboard.
24"
TO REAR PANEL
TO EXT. KEYBD.
TO KEYBD
INTFC-P1
REF KEYBD INTFC

TERM BLK P1 CONNECTIONS
PIN ORIENTATION
ON SOLDER SIDE
OF FEMALE DIN CONN. 31900381
Figure 1-10, External Keyboard to Keyboard Interface P1 Connection, P/N 31900381
Page 1-16 10-Feb-98

Anicom Board to System Connection (Manual Panel, I/O Controller and RS-232 Ext.)
On systems without an Serial Junction Board, the Anicom Board connects
directly to the Manual Panel, I/O Controller and an RS-232 extension.
Connection is via the Anicom Harness, P/N 31901114. Refer to Figure
1-11, Anicom Harness Connections, Systems without an Serial
Junction Board.
Figure 1-11, Anicom Harness Connections, Systems without an Serial Junction Board, P/N 31901114
10-Feb-98 Page 1-17

Servo Enable, Servo On and Dead Stop Limits Interface

Refer to Figure 1-12, I/O Board, P3 Connector. The hardware task of
enabling, energizing and de-energizing the servo amplifiers and other
related machine functions takes place at the P3 Connector of the I/O
Board. Except for the Servo Enable signal, this is accomplished as a
pure hardware function, with the simplest devices possible, to ensure that
the machine can be shut down in an emergency.
The Servo Enable circuit includes the E-STOP switch, all extreme travel
limit switches and any other precautionary switches the machine builder
installs.
Refer to Table 1-4, Dead Stop Limits Interface for a pinout of the P3
connector.
Figure 1-12, I/O Board, P3 Connector
Page 1-18 10-Feb-98

Table 1-4, Dead Stop Limits Interface

Pin Signal Pin Signal
1 LIMIT 0-1 15 SERVO ON
2 LIMIT 0-2 16 +24 VDC
3 LIMIT 1-1 17 SERVO FAULT
4 LIMIT 1-2 18 I/O Board K1
5 LIMIT 2-1 19 I/O Board K1
6 LIMIT 2-2 20 SERVO ENABLE
7 LIMIT 3-1 21 24V COMMON
8 LIMIT 3-2 22 RELAY CKT CLOSED
9 LIMIT 4-1 23 LOGIC E-STOP
10 LIMIT 4-2 24 +24 VDC
11 LIMIT 5-1 25 E-STOP
12 DEAD STOP CKT END 26 E-STOP
13 Not Connected 27 SERVO RESET
14 Not Connected 28 LOGIC COMMON
Refer to Figure 1-13, Servo-On Loop. The diagram shows the wiring of
the servo relays and switches. All outputs of the I/O Controller are 24V
common. The circuit requires two +24VDC relays to operate. Diodes can
prevent relay chatter.
This circuit will turn on and latch the Servo On relay only if all switches
and relays are closed. Contacts of this Servo On relay can then provide
the necessary voltages to engage the machine. The E-STOP switch
provides a logic +24VDC signal to the CNC that indicates the state of the
E-STOP switch. A +24VDC signal must also be provided to the CNC
through the normally closed contacts of the servo on relay, indicating that
the servos are off (Servo Fault signal). The CNC will output the Servo
Enable signal if no fault condition exists. All inputs to and outputs from
the I/O Board are optically coupled and must be referenced to the servo
system +24VDC power supply.
NOTE: For details, refer to Section 2 - I/O Board.
10-Feb-98 Page 1-19

Figure 1-13, Servo-On Loop
Page 1-20 10-Feb-98

Optional Programmable Inputs and Outputs
Figure 1-14, I/O Board, Input/Output Bits and LEDs
Refer to Figure 1-14, I/O Board, Input/Output Bits and LEDs. The I/O
Board P4 connector is the interface point for all programmable input and
output functions, including vector limits. The I/O Board has sixteen inputs
and eight outputs, all optically coupled, each with an LED indicator. For a
pinout of the P4 connector, refer to Table 1-5, Programmable Inputs
and Outputs.
Table 1-5, Programmable Inputs and Outputs
Inputs Power Outputs
Pin 28 27 26 25 24 23 22 21 20 19 18 17 16 15
Bit/Signal 7 6 5 4 3 2 1 0 Com Com 0 1 2 3
Pin 14 13 12 11 10 9 8 7 6 5 4 3 2 1
Bit/Signal 15 14 13 12 11 10 9 8 +24 +24 4 5 6 7
All inputs at the P4 connector are +24VDC, referenced to the servo
+24VDC power supply. All outputs are 24V COMMON and will sink 500
mA of current. +24VDC and COMMON are available at the P4 connector.
10-Feb-98 Page 1-21

LEDs L13 (Bit 0) to L28 (Bit 15) are the input indicators. LEDs L29 (Bit 0)
to L36 (Bit 8) are the output indicators. Each set of LEDs runs from left to
right on the I/O Board in descending Bit and LED order. (Refer to
Section 2 - I/O Board for more information.)
Terminal Block Plug Part Numbers and Locations
Most of the wiring connections for 1200T/1400M systems are made via
removable terminal block plugs. Each assembly is shipped with all of the
required plugs. Refer to Table 1-6, Terminal Block Plugs for sizes, part
numbers, locations and number of terminals for all required removable
terminal block plugs.
Table 1-6, Terminal Block Plugs
Qty P/N Size # Of Connector
Terminal
Keyboard Interface
1 80900159 .15 10 P1
Manual Panel
1 80900164 .15 2 P7
1 80900155 .15 3 P1
1 80900157 .15 6 P2
I/O Board
4 80900128 .2 2 P6
P3 (13-14)
(27-28)
1 80900136 .2 4 P3 (23-26)
1 80900130 .2 5 P4 (15-20)
3 80900143 .2 6 P1
P4 (1-6)
2 80900138 .2 8 P4 (7-14)
1 80900120 .2 9 P4 (20-28)
P3 (15-22)
1 80900119 .2 12 P3 (1-12)
1 80900157 .15 6 P2
Serial Junction Board
2 80900157 .15 6 P8, P9
Motion Junction Board
4 80900129 .2 3 P3
2 80900136 .2 4 P4
4 80900143 .2 6 P2
Page 1-22 10-Feb-98

Figure 1-15, Keyboard Interface Board
10-Feb-98 Page 1-23

Figure 1-16, 1200T/1400M Manual Panel Interface Assembly
Page 1-24 10-Feb-98

P1
4”
3.688”
P2
(MTG HOLES FOR #6
SCREW) TYP. 4 PLACES
.156”
2.0”
.156”
6.938” Minimum Required
7.25” Clearance
Ref Dwg P/N 90600328
Figure 1-17, Outline for Power Supply, P/N 90600328
Major Assemblies Dimensional Data

Table 1-7, Drawing Reference lists the drawings that provide the
dimensions, mounting hole patterns and clearance requirements for the
Computer, Monitor and Manual Panel.
Table 1-7, Drawing Reference
Drawing # Assembly
D000521 Figure 1-18, Outline of 1200T/1400M Industrial Computer
D000502 Figure 1-19, 1200T Front Panel (Console) Outline, OEM
D000581 Figure 1-20, 1200T Manual Panel Clearance and Dimensions
D000516 Figure 1-21, 1400M OEM Front Panel/Manual Panel Outline
31901093 Figure 1-22, 1200T Computer Wiring (DSP MCB and Radisys
SBC)
31901090 Figure 1-23, 1400T Computer Wiring (DSP MCB and Radisys
SBC)
31901095 Figure 1-24, 1400M, 5-Axis Computer Wiring (Two LM-628
MCBs and Radisys SBC)
10-Feb-98 Page 1-25

Figure 1-18, Outline of 1200T/1400M Industrial Computer
Page 1-26 10-Feb-98

Figure 1-19, 1200T Front Panel (Console) Outline, OEM
10-Feb-98 Page 1-27

Figure 1-20, 1200T Manual Panel Clearance and Dimensions
Page 1-28 10-Feb-98

Figure 1-21, 1400M OEM Front Panel/Manual Panel Outline
10-Feb-98 Page 1-29

System Wiring Diagrams
Figure 1-22, 1200T Computer Wiring (DSP MCB and Radisys SBC)
Page 1-30 10-Feb-98

Figure 1-23, 1400T Computer Wiring (DSP MCB and Radisys SBC)
10-Feb-98 Page 1-31

Figure 1-24, 1400M, 5-Axis Computer Wiring (Two LM-628 MCBs and Radisys SBC)
Page 1-32 10-Feb-98

70000322 - I/O Board
Section 2 - I/O Board

The I/O Board is the central component of the 1200T/1400M I/O system.
Multiple board design offers more effective mounting options, as well as
greater system configurability.
The board has an on-board 78C10 microcomputer, which controls servo
turn-on and I/O functions. Status indicators for the microcomputer, input
voltages, logic inputs, logic outputs and dead stop limit switches are also
provided. The I/O Expansion Board provides an additional sixteen inputs
and sixteen outputs (refer to Section 3-I/O Expansion Board). The I/O
Expansion Board connects to the P5 connector of the I/O Board.
The I/O Board contains a watch-dog circuit, controlled by the 78C10. It
will remove servo power independently in the event of a computer failure,
which is defined by the absence of RS-232 communications from the
computer.
Dimension and Component Information
Refer to Figure 2-1, I/O Board Dimensions and Cable Clearances, Ref.
Dwg., P/N D000513. The diagram gives the assembly size, mounting
hole locations and minimum required cable clearances for the I/O Board.
Refer to Figure 2-2, PCB 843, P/N 31900 for a diagram of the board. All
wiring connections to the board are handled via supplied, removable
terminal block plugs.
10-Feb-98 Page 2-1

70000322 - I/O Board
Figure 2-1, I/O Board Dimensions and Cable Clearances, Ref. Dwg., P/N D000513
Page 2-2 10-Feb-98

70000322 - I/O Board
Figure 2-2, PCB 843, P/N 31900882
10-Feb-98 Page 2-3

70000322 - I/O Board
Input Power Requirements

Refer to Table 2-1, Voltage Specifications for the power requirements
of the I/O Board and all other components of the I/O system.
Table 2-1, Voltage Specifications
+5VDC 6 amps
+15VDC 2 amps
-15VDC 2 amps
+24VDC Required amperage determined by
the number and type of external
devices connected.
Use an ANILAM power supply, P/N 90600328, to provide the +5VCD,
+15VDC and -15VDC. Refer to Section 1 - Interconnect/Installation for
details on system connections. The machine builder provides the
+24VDC power requirements, based on the amperage requirements and
number of external devices used in the installation.
Input Power Connection
Refer to Figure 2-3, Input Power Connections . Connection of input
power is via the P1 connector of the I/O Board. Refer to Table 2-2, Input
Power (P1) for a pinout.
NOTE: The +24VDC input must be a separate source from the +5VDC
and +15VDC inputs.
Connect the input COMMON for the +24VDC only at Pin 1 or 7 of I/O
Board P1 connector. Do not reference it to the chassis ground. This
separation is required to prevent electrical machine noise from interfering
with computer power. The two terminal block plugs of the P1 input power
connector are wired in parallel. Make the connection to either or both
pins.
Input Power Indicators (LEDs)
Refer to Figure 2-3, Input Power Connections . The I/O Board power
supply status can be monitored via indicators L1 to L4, located to the right
of the P1 connector. Use these indicators to determine the general status
of the power supplies, not exact voltage levels. Refer to Table 2-3, Input
Power Indicators.
Page 2-4 10-Feb-98

70000322 - I/O Board
Figure 2-3, Input Power Connections
Table 2-2, Input Power (P1)
Pin Function Pin Function

12 GND
6 GND 11 +5VDC
5 +5VDC 10 -15VDC
4 -15VDC 9 +15VDC
3 +15VDC 8 +24VDC
2 +24VDC 7 24 COMMON
1 24 COMMON
Table 2-3, Input Power Indicators
Indicator Input Voltage

Monitored
L1 +5VDC
L2 +15VDC
L3 -15VDC
L4 +24VDC
10-Feb-98 Page 2-5

70000322 - I/O Board
Servo Interface Connections and Indicators

Refer to Figure 2-4, Dead Stop Connections and Indicators (P3).
Connector P3 is the interface point for servo connection. For details on
servo interface, refer to Section 1 - Installation/Interconnection. Refer
to Table 2-5, I/O Board, P3 Pinout for a pinout of the I/O Board P3.
Pins 13 and 14 are not used and are not tied to any point on the board.
You can use them for convenient, independent tie points.
The goal of the dead stop string is to get 24 COMMON to P3 Pin 12,
which causes indicator L7 to illuminate. This completes the dead stop
string. Refer to Table 2-6, Servo Indicators LEDs for a list of the six
independent dead stop loops, each with its own indicator.
You can use the dead stop indicators to troubleshoot the board. If a dead
stop loop is not closed, neither it nor any other dead stop indicator after it
will illuminate.
If only two dead stop loops are required, the resultant 24 COMMON could
be wired as described in Table 2-4, Dead Stop Limit Example.
Table 2-4, Dead Stop Limit Example
Pin-to-Pin Through
1-2 Normally Closed switch 1
3-4 Normally Closed switch 2
4 - 12 Wire jumper (not used)
In this case, indicators L7, L8 and L9 will illuminate when the dead stop
loop is closed. Indicators L10, L11 and L12, having been jumpered out,
will not illuminate during a normally closed condition.
NOTE: Each loop is connected on the circuit board. Therefore, Pin 2 is
connected to Pin 3, Pin 4 to Pin 5, etc.
You can connect an additional servo reset switch at Pins 27 and 28 of the
P3 connector. If an additional Servo Reset switch is required, wire a
normally open switch across Pins 27 and 28. Mount the switch in any
convenient location.
Page 2-6 10-Feb-98

70000322 - I/O Board
Figure 2-4, Dead Stop Connections and Indicators (P3)
Table 2-5, I/O Board, P3 Pinout

1 Limit 0-0, 24 COM 15 Servo On
2 Limit 0-1 16 +24VDC
3 Limit 0-2 17 Servo Fault
4 Limit 1-2 18 I/O Board K1
5 Limit 2-1 19 I/O Board K1
6 Limit 2-2 20 Servo Enable
7 Limit 3-1 21 24V Common
8 Limit 3-2 22 Relay CKT Closed
9 Limit 4-1 23 Logic E-STOP
10 Limit 4-2 24 +24VDC
11 Limit 5-1 25 E-STOP
12 Dead Stop CKT End 26 E-STOP
13 Not connected 27 Servo Reset
14 Not connected 28 Logic Common
Table 2-6, Servo Indicators LEDs
L12 Limit Loop 4 closed
L7 Limit Loop 5 closed/All Limits closed
10-Feb-98 Page 2-7

70000322 - I/O Board
I/O Interface, Including Vector Limits
Figure 2-5, Input and Output Pins and LEDs (P4)
Table 2-7, I/O Interface Pinout, P4 Connector
Inputs Power Outputs

Pin 28 27 26 25 24 23 22 21 20 19 18 17 16 15
Bit or 7 6 5 4 3 2 1 0 Com Com 0 1 2 3
Signal
Pin 14 13 12 11 10 9 8 7 6 5 4 3 2 1
Bit or 15 14 13 12 11 10 9 8 +24 +24 4 5 6 7
Signal
Refer to Figure 2-5, Input and Output Pins and LEDs (P4). In addition
to the standard inputs and outputs, the I/O Board supports optional
programmable inputs and outputs. Removable terminal block plugs
enable the use of pre-constructed harnesses or specialized OEM
connections. Ensure that the terminal blocks are located correctly. (It is
possible to inadvertently offset these blocks in either direction.)
The P4 connector interfaces all programmable input and output functions,
including vector limits. Capacity is sixteen inputs and eight outputs, all
opto-coupled via MCT-6. Each input/output has its own LED indicator.
Refer to Table 2-7, I/O Interface Pinout, P4 Connector for a pinout of
the P4 connector.
Page 2-8 10-Feb-98

70000322 - I/O Board
Program inputs and outputs are active high or active low. Regardless of
the active state, all inputs at the P4 connector are +24VDC, referenced to
the servo +24VDC power supply. All outputs are 24V COMMON. The
output drivers are ULN2074 ICs and each circuit will sink approximately
500 mA of current. The +24VDC and COMMON are available at the P4
connector.
Input Indicators
Refer to Figure 2-5, Input and Output Pins and LEDs (P4). The I/O
Board input indicators, L13 to L28, precede the input MCT-6 opto-
couplers in the input circuit. This configuration reflects the status of the
bit at the input to the board. For input bit assignments, corresponding
LED indicators and terminal pin numbers, refer to Table 2-8, Input
Indicators.
Table 2-8, Input Indicators
Bit LED P4 Terminal #

15 28 14
14 27 13
13 26 12
12 25 11
11 24 10
10 23 9
9 22 8
8 21 7
7 20 28
6 19 27
5 18 26
4 17 25
3 16 24
2 15 23
1 14 22
0 13 21
10-Feb-98 Page 2-9

70000322 - I/O Board
Output Indicators
Refer to Figure 2-5, Input and Output Pins and LEDs (P4). The output
indicators, L29 to L36, precede the output MCT-6 opto-couplers and
ULN2074 drivers in the output circuit. This configuration reflects the
status of the bit at the logic level, not the true output status (because the
opto-coupler or driver could fail). For output bit assignments,
corresponding LED indicators and terminal pin numbers, refer to Table 2-
9, Output Indicators.
Table 2-9, Output Indicators
Bit LED P4 Terminal

7 36 1
6 35 2
5 34 3
4 33 4
3 32 15
2 31 16
1 30 17
0 29 18
Assigning Inputs
CAUTION: Make sure not to inadvertently assign the same input bit
to multiple functions. This could cause problems in machine
operations with possibly dangerous consequences.
Refer to Table 2-10, Input Functions Option for pre-assigned inputs.
Table 2-10, Input Functions Option
Function Port
1) External Finish Pulse 0000
--- is changed to ---
1) External Finish Pulse 0001
If the External Finish Pulse port is set to 0001 for M-Codes specified in
I/O Board, the control must detect a Finish signal at connector P4 Pin 21
of the I/O Board before it will continue the program.
Available options fulfill most input programming needs. For further details
regarding input assignment, port selection and programming, consult the
appropriate Setup section for 1200T/1400M controls. (Refer to Section
13 - 1200T Setup Utility or Section 15 - 1400M Setup Utility.) The
Active High/Low state can be configured for all available inputs in the
Setup Utility. The Input Port parameter enables the user to change the
Active state of the input.
Page 2-10 10-Feb-98

70000322 - I/O Board
For example: Active High is selected for bit 0 of the External Finish
Pulse. When the +24VDC pulse is applied (referenced to the servo's
+24VDC Power Supply), the program will continue after an M-Code runs.
Assigning Vector Limits
Vector limit switch connection is made at the P4 connector. (Refer to

Table 2-8, Input Indicators for the P4 pinout.) A vector limit switch can
be used for all axis ports assigned in the Setup Utility. (Refer to Section
13 - 1200T Setup Utility or Section 15 - 1400M Setup Utility.) Axis
Ports 0 to 3 are assigned to individual axes (X, Y, Z, etc.). If axis vector
limits are enabled in the Setup Utility, then each axis Port will use the
bits/pins listed in Table 2-11.
Table 2-11, Assigning Vector Limits
Axis Port Bit I/O Board Pin Limit
0 8 7 Positive
0 9 8 Negative
1 10 9 Positive
1 11 10 Negative
2 12 11 Positive
2 13 12 Negative
3 14 13 Positive
3 15 14 Negative
CAUTION: Make sure not to inadvertently assign the same input bit
to multiple functions. This could cause problems in machine
operations with possibly dangerous consequences.
Assigning Outputs
The I/O Board supports up to eight optional outputs. Outputs are
switched at 24VDC COMMON, referenced to the servo system's +24VDC
power supply. Outputs are optically isolated via an MCT-6 opto-coupler
and driven by a ULN2074B capable of 500 mA per output. Do not exceed
the output drive capability of the servo system's +24VDC power supply.
Outputs are assigned in the Setup Utility. For further information
regarding machine setup, refer to Section 13 - 1200T Setup Utility or
Section 15 - 1400M Setup Utility).
There are two types of output assignments:
− S-functions (spindle)
− M-functions (miscellaneous)
The 1200T/1400M systems also support an S-function for spindle function
assignment. The S-function is assigned to a bit, 0 to 7 (on or off).
10-Feb-98 Page 2-11

70000322 - I/O Board
M-functions are assigned to a specific M-Code, 1 to 99, and Ports

ON/OFF assignments are made at the number for that code. (Refer to
Table 2-12, M-Code Port Assignment.) Ports ON/OFF parameters are
displayed in hexadecimal notation.
Table 2-12, M-Code Port Assignment
M-Code Ports ON Ports OFF
1 0000 0000
2 0000 0000
3 0000 0000
… … …
97 0000 0000
98 0000 0000
99 0000 0000
The following example sets up an M3 Code (spindle forward):
M-Code Ports ON Ports OFF
3 0001 0000
When the control encounters an M3 code, bit 0 is turned on. A switched
24VDC COMMON output is available at the I/O Board P4 connector, Pin
18.
Refer to Section 13 - 1200T Setup Utility or Section 15 - 1400M Setup
Utility. Use the Output port selection (Interface Menu) to:
− Configure the Active (High/Low) state of each output port.
− Specify pulse widths.
− Specify pulse delays.
If a pulse time is selected, the output will pulse for that period of time. If
no pulse width (0 msec) is selected, the control assumes that the output
will be turned off via another M-code.
If a finish pulse is required (Yes), the output will stay active until the
Finish pulse is received, and program execution will hold. Output will be
pulse duration or time until finish, whichever is longer. The requirement
of a finish pulse for a "turn-on/turn-off" output does not affect its Active
state. However, when a Finish pulse is required, program execution
holds until the finish pulse is received.
When a Delay is configured, the control delays execution of the next M-
Code or program block for the specified time (msec).
NOTE: Ensure that all programmed outputs are supported by the
available hardware. To allow software compatibility with earlier systems,
Output Bits 8 to 15 are available in the Setup Utility, but not on the I/O
Board.
Page 2-12 10-Feb-98

70000322 - I/O Board
Manual Panel Connection

NOTE: On systems that had Serial Junction Boards, the Anicom Harness
connected to the Serial Junction Board. The Serial Junction Board then
connected to the Manual Panel and to the I/O Board. Refer to Section 9-
Serial Junction Board.
On current system, the Manual Panel connects directly to the Anicom
board via the Anicom Harness, P/N 31901114. Refer to Figure 2-6,
Anicom Harness Connections, Systems without a Serial Junction
Board.
Figure 2-6, Anicom Harness Connections, Systems without a Serial Junction Board, P/N 31901114
NOTE: Ensure that all outputs programmed are supported by the

required hardware. To allow software compatibility with earlier systems,
output bits 8 to 15 are available in the Setup Utility, but not on the I/O
Board.
P6 Earth Ground Connection
Refer to Figure 2-7, 78C10 Reset and Status LEDs. Any required
separate Earth ground lines can be terminated at PC 843 P6. This
connector is attached to a mounting hole. Create a good single point
ground to minimize electrical noise problems.
10-Feb-98 Page 2-13

70000322 - I/O Board
78C10 Microcomputer Status Indicators
Figure 2-7, 78C10 Reset and Status LEDs

Refer to Figure 2-7, 78C10 Reset and Status LEDs. Indicator L5 is the
status (ST) LED. If the status LED turns on, the 78C10 Microcomputer
has encountered a fault, or is not yet initialized. Indicator L6 is the reset
(RST) LED. If the reset LED turns on, the 78C10 has been reset by the
on-board circuitry of the I/O Board, or by external methods, such as
shorting the two pins labeled "SW1." This forces a hardware reset.
Page 2-14 10-Feb-98

P/N 70000322 - I/O Expansion Board
Section 3 - I/O Expansion Board, PCB 848 (Option)

Refer to Figure 3-1, I/O Expansion Board, P/N 31900575. The PCB
848 I/O Expansion Board, P/N 31900575, is a purchased option that
interfaces an additional sixteen outputs and sixteen inputs. It connects to
the I/O Board via harness, P/N 31900652. The harness connects P5 on
the I/O Board to P2 of the Expansion Board (10-pin double-row
connectors on both ends).
10-Feb-98 Page 3-1

Figure 3-1, I/O Expansion Board, P/N 31900575
Page 3-2 10-Feb-98

Clearance Requirements
4.750"
4.75"
4.50"
.25"
2"
.500"
6.500"
Minimum Required
Cable Clearance 7.000"
EXPDIM
Figure 3-2, PCB 848 Dimensions and Clearance Requirements

Refer to Figure 3-2, PCB 848 Dimensions and Clearance
Requirements for the assembly dimensions, mounting hole locations and
cable clearances required for installation.
Inputs and Outputs Interface
Refer to Figure 3-1, I/O Expansion Board, P/N 31900575. The I/O
Expansion Board’s P3 connector is interfaces an additional sixteen inputs
and sixteen outputs, all opto-coupled via MCT-6.
Inputs and outputs can be programmed Active High or Active Low.
Regardless of the active state, all inputs at the P3 connector are
+24VDC, referenced to the servo +24VDC power supply. All outputs are
24V COMMON. The output drivers are ULN2074 ICs and each circuit will
sink approximately 500 mA of current. The +24VDC and COMMON are
available at the P3 connector.
10-Feb-98 Page 3-3

Refer to Table 3-1, I/O Expansion P3 Connector Pinout for pin

assignments.
Table 3-1, I/O Expansion P3 Connector Pinout
18 +24V 36 +24V
17 Output 7 35 Output 15
9 +24V 27 +24V
8 Input 7 26 Input 15
Page 3-4 10-Feb-98

Input Indicators
Refer to Figure 3-1, I/O Expansion Board, P/N 31900575. The input
indicators, L1 to L16, precede the input MCT-6 opto-couplers in the input
circuit. This configuration reflects the status of the bit at the input to the
board. For input bit assignments, corresponding LED indicators and
terminal pin numbers, refer to Table 3-2, Input Indicators.
Table 3-2, Input Indicators
Bit LED P3 Pin #

15 16 26
14 15 25
13 14 24
12 13 23
11 12 22
10 11 21
9 10 20
8 9 19
7 8 8
6 7 7
5 6 6
4 5 5
3 4 4
2 3 3
1 2 2
0 1 1
10-Feb-98 Page 3-5

Output Indicators
Refer to Figure 3-1, I/O Expansion Board, P/N 31900575. The I/O
Board output indicators, L17 to L32, precede the output MCT-6 opto-
couplers and ULN2074 drivers in the output circuit. This configuration
reflects the status of the bit at the logic level, not the true output status
(because the opto-coupler or driver could fail). For output bit
assignments, corresponding LED indicators and terminal pin numbers,
refer to Table 3-3, Output Indicators.
Table 3-3, Output Indicators
Bit LED P3 Pin #

15 32 35
14 31 34
13 30 33
12 29 32
11 28 31
10 27 30
9 26 29
8 25 28
7 24 17
6 23 16
5 22 15
4 21 14
3 20 13
2 19 12
1 18 11
0 17 10
Power Supply
Refer to Figure 3-1, I/O Expansion Board, P/N 31900575. The +5V and
+24V power supply inputs are received at the P1 terminal block. The
block plug is wired in parallel. Connect wires to either or both pins.
Table 3-4, I/O Expansion Board P1 Pinout
Pin # Function
1, 5 +5V
2, 6 Ground
3, 7 Earth Ground
4, 8 +24V
Page 3-6 10-Feb-98

1200T/1400M Hardware and Interface Manual
Section 4 - Motion Junction Board
Section 4 - 4-Axis Motion Junction Board, PCB 845

The PCB 845 4-Axis Motion Junction Board is the interface for the Motion
Control Board (Motion Board). The Motion Junction Board outputs the
analog command voltage signals to the servo amplifiers and receives the
TTL quadrature position data from the encoder or scale. Both the Motion
Board and the Motion Junction Board can support up to four axes of
motion on a single board.
The Motion Junction Board is used in conjunction with one or two Motion
Boards. 1400M installations that require five or more axes require two
Motion Boards, and two corresponding Motion Junction Boards. Mount
the Motion Junction Boards at any convenient location.
Dimension and Interconnection Information
Figure 4-1, Motion Junction Board, Clearance Requirements and Dimensions

Figure 4-1, Motion Junction Board, Clearance Requirements and
Dimensions gives assembly size, mounting hole locations and minimum
required cable clearances required for installation. The figure also shows
the required cabling.
Connection to/from the servos, encoders and power supplies is made via
removable terminal block plugs.
10-Feb-98 Page 4-1

The Motion Junction Board supports only single-ended (not differential)

encoder inputs. These input signals are received on the P2 connector.
Digital-to-Analog Converter (DAC) command voltages are output on the
P3 connector. Voltage inputs of +5VDC, -15VDC and +15VDC are input
at the P4 connector.
NOTE: For systems that use separate +5V and +15V, -15V power sources,
attach the COMMON wires to the GND terminals (P4, Pins 4 and 8).
Motion Junction Board to the Motion Control Board Connection
Systems with LM 628 Motion Control Boards: Axes are wired into the
Motion Junction Board P1 connector via assembly harness, P/N
31900768, from the LM 628 Motion Board P2 connector. The pins are
wired 1-to-1, with DB-25 female connectors at both ends.
Systems with DSP Motion Control Boards: Axes are wired into the Motion
Junction Board P1 connector via assembly harness, P/N 31900768, from
the DSP Motion Board P3 connector. The pins are wired 1-to-1, with DB-
25 female connectors at both ends.
Refer to Table 4-1, Pin Assignment for Motion Junction Board P1
Connector . The pin assignments apply to:
− LM 628 MCB P2
− DSP MCB P3
− Motion Junction Board P1
Figure 4-2, Motion Junction Board, P1 Connector
Table 4-1, Pin Assignment for Motion Junction Board P1 Connector

1 Axis 0 Phase A 14 Axis 0 Phase B
2 Axis 0 Index Pulse 15 Axis 0 DAC Signal
3 Axis 0 Signal Common 16 Axis 1 Phase A
4 Axis 1 Phase B 17 Axis 1 Index Pulse
5 Axis 1 DAC Signal 18 Axis 1 Signal Common
11 Shield* 24 +15VDC
12 GND 25 GND
13 -15VDC
*NOTE: Attach the shield wires of all cables only at the Motion Junction Board.
Page 4-2 10-Feb-98

Encoder Inputs
The encoder input signals are received via the Motion Junction Board P2
connector. Refer to Table 4-2, Motion Junction Board P2 Pin
Assignments for the pin assignments.
Table 4-2, Motion Junction Board P2 Pin Assignments
12 Axis 1 Phase A 24 Axis 0 Phase A
11 Axis 1 Phase B 23 Axis 0 Phase B
10 +5 VDC To Encoder 22 +5 VDC To Encoder
9 +5 Common To Encoder 21 +5 Common To Encoder
8 Shield * 20 Shield *
7 Axis 1 Index Pulse 19 Axis 0 Index Pulse
2 Shield * 14 Shield *
Servo Output
DAC command voltages are output to the servos at the Motion Junction
Board P3 connector. Refer to Table 4-3, Motion Junction Board P3
Connector Pin Assignments for the pin assignments.
Table 4-3, Motion Junction Board P3 Connector Pin Assignments
6 Shield 12 Shield
5 Axis 1 Signal Common 11 Axis 0 Signal Common
4 Axis 1 DAC Signal 10 Axis 0 DAC Signal
3 Shield 9 Shield
Power Supply
The power supply inputs are received at the Motion Junction Board P4
connector. The two P4 terminal block plugs are wired in parallel. For
parallel pins, wires can be connected either or both pins. Refer to Table
4-4, Motion Junction Board P4 Pin Assigments for the pin
assignments.
Table 4-4, Motion Junction Board P4 Pin Assigments
PIN # Power Supply
1, 5 +15 VDC
2, 6 -15 VDC
3, 7 +5 VDC
4, 8 GND
10-Feb-98 Page 4-3

+5V +5V
P1
27 .01 1K 74LS14
Phase A
Encoder filter : Typical 1 of 3 per axis

Phase B Encoder
P2 filter
Encdr circuit
in
Zero Marker Encoder

filter
Shield circuit
+5V +15V
24
DAC + -15V
13
P3 DAC - 3, 7 COM
DAC 12, 25
out 1, 5
Shield P4 2, 6
power +
in
4.7 4.7
4, 8 +
4 AXIS MOTION JUNCTION TYPICAL INPUT AND

KS7184AA.VSD
OUTPUT CHANNEL SCHEMATIC
Figure 4-3, Simplified 4-Axis Motion Junction Board Schematic
Page 4-4 10-Feb-98

70000322 - 6-Axis Motion Junction Board
Section 5 - 6-Axis Motion Junction Board

The 6-Axis Motion Junction Board is the interface for the Motion Control
Board (Motion Board). The Motion Junction Board outputs the analog
command voltage signals to the servo amplifiers and receives the TTL
quadrature position data from the encoder or scale.
The Motion Junction Board is used in conjunction with one or two Motion
Boards. A single Motion Board supports up to four axes of motion.
However, 5- and 6-axis installations require two Motion Boards. Mount
the Motion Junction Board at any convenient location.
Clearance Requirements
Refer to Figure 5-4, 6-Axis Motion Junction Board, Clearance
Dimensions for the assembly dimensions, mounting hole locations and
cable clearances required for installation.
Cable Connections
Refer to Figure 5-2, 6-Axis Motion Junction Board. The figure
identifies the various connectors for cabling. Connection to/from the
servo, encoder and power supplies is made via removable terminal block
plugs.
Encoder Inputs
Refer to Figure 5-2, 6-Axis Motion Junction Board. The board receives
encoder inputs from Axes 0 to 3 via the P1 terminal block. On 5- and 6-
axis 1400M systems that use a second Motion Board, the board receives
encoder inputs from axes 4 and 5 via the P2 terminal block.
Refer to Table 5-1, Single-ended vs. Differential Encoder Inputs. The
6-Axis Motion Junction Board supports both single-ended and differential
encoder inputs. For single-ended encoders, install all the jumpers
assigned to an axis (three for each axis). For differential encoders,
remove all assigned jumpers.
Table 5-1, Single-ended vs. Differential Encoder Inputs
Axis Jumper Single-Ended Differential

Number Assignments Output Output
0 J1, J2, J3 Jumpers On Jumpers Off
10-Feb-98 Page 5-1

Motion Junction Board to Motion Control Board Connection

Axes 0 to 3 are wired into the Motion Junction Board P3 connector via
harness, P/N 31900768, from the Motion Board P2 connector. The pins
are wired 1-to-1, with DB-25 female connectors at both ends.
For 5- and 6-axis systems, use harness, P/N 31900768, to connect P2 of
the Motion Board controlling Axes 4 and 5 to the Motion Junction Board
P4 connector.
Refer to Table 5-2, Motion Junction P3 to Motion Control Board P2
Pinout for the pin assignments for P2 of the Motion Board that controls
axes 0 to 3 and P3 of the Motion Junction Board. Refer to Table 5-3,
Motion Junction P4 to Motion Control Board P2 Pinout for the pin
assignments for P2 of the Motion Board that controls Axes 4 and 5 and
P4 of the Motion Junction Board.
Figure 5-1, DB-25 Motion Junction Board P3/P4 and MCB P2 Connectors
Table 5-2, Motion Junction P3 to Motion Control Board P2 Pinout

11 Earth Ground* 24 +15 VDC
12 Common 25 Common
13 -15 VDC
*NOTE: Attach the shield wire(s) of all cables only to the Motion Junction Board.
Page 5-2 10-Feb-98

Table 5-3, Motion Junction P4 to Motion Control Board P2 Pinout

6 not assigned 19 not assigned
11 Earth Ground* 24 +15 VDC
12 Common 25 Common
13 -15 VDC
*NOTE: Attach the shield wire(s) of all cables only to the Motion Junction Board.
Encoder Inputs
Axes 0 to 3
The encoder input signals for Axes 0 to 3 are received by the Motion
Junction Board via the P1 connector. Refer to Table 5-4, Motion
Junction Board P1 Pinout for the pin assignments.
Table 5-4, Motion Junction Board P1 Pinout
19 Axis 1 Phase A* 39 Axis 0 Phase A*
17 Axis 1 Phase B* 37 Axis 0 Phase B*
15 Axis 1 Index Pulse* 35 Axis 0 Index Pulse*
12 Shield 32 Shield
11 Not Assigned 31 Not Assigned
2 Shield 22 Shield
10-Feb-98 Page 5-3

Axes 4 and 5
The encoder input signals for Axes 4 and 5 are received by the Motion
Junction Board via the P2 connector. Refer to Table 5-5, Motion
2 Shield 12 Shield
Servo Output
Axes 0 to 3
DAC command voltages for Axes 0 to 3 are output to the servos at the
Motion Junction Board connector. Refer to Table 5-6, Motion Junction
Board P5 Pinout for the pin assignments.
7 Axis 2 Signal Common 1 Axis 3 DAC Signal
9 Shield 3 Shield
12 Shield 6 Shield
Axes 4 and 5
DAC command voltages for Axes 4 and 5 are output to the servos at the
Motion Junction Board P6 connector. Refer to Table 5-7, Motion
5 Shield 1 Shield
8 Shield 4 Shield
Page 5-4 10-Feb-98

Power Supply
NOTE: For systems that use separate +5V and +15V, -15V power sources,
attach the COMMON wires to the COM terminals (P7, Pins 4 and 8).
Refer to Figure 5-2, 6-Axis Motion Junction Board. Voltage inputs of
+5VDC, -15VDC and +15VDC are input at the P7 connector.
The two terminal block plugs that make up the connector are wired in
parallel. For parallel pins, wires can be connected either or both pins.
Refer to Table 5-8, Motion Junction Board P7 Pin Assigments for the
pin assignments.
Table 5-8, Motion Junction Board P7 Pin Assigments
Pin Power Supply
1 +15VDC
2 -15VDC
3 +5VDC
4 COMMON
5 +15VDC
6 -15VDC
7 +5VDC
8 COMMON
10-Feb-98 Page 5-5

Figure 5-2, 6-Axis Motion Junction Board
Page 5-6 10-Feb-98

1200T/1400M Hardware/Interface Manual
+5V +5V
.01 1K 1K P3
Phase A 27
(or P4)
4
27 .01 1K MC3486
Phase A*
220
Encoder filter: Typical
P1 1 of 3 per axis Single end. sel. jmpr.
(or P2)
Encdr in Phase B
Encoder
Phase B* filter
circuit
Zero Marker
Encoder
Zero Marker * filter
circuit
Shield
DAC +
DAC -
+5V +15V
24
-15V
13
3, 7 COM
DAC + 12, 25
P5 1, 5
(or P6) DAC - P7 2, 6
DAC power
out Shield +
in
4.7 4.7
4, 8 +
6 AXIS MOTION JUNCTION TYPICAL INPUT AND

OUTPUT CHANNEL SCHEMATIC
Figure 5-3, Simplified Schematic of the 6-Axis Motion Junction Board
Unreleased Draft Copy Page 5-7

Figure 5-4, 6-Axis Motion Junction Board, Clearance Dimensions
Page 5-8 10-Feb-98

Hardware/Interface Manual
70000322 - LM-628 Motion Control Board
Section 6 - Motion Control Board, PCB 628

The LM-628 chip closes the Position loop, applying the Proportional
Integral Derivative (PID) algorithm and filter parameters determined by
the chip’s internal micro-code.
One LM-628 Precision Motion Controller and associated circuitry is
required for each controlled axis. Each axis has a 12-bit, AD 767 DAC
that provides an analog command signal output (+10VDC to -10VDC).
The minimum bit resolution (that is, the least amount of voltage change
the device can generate) is 4.8 mVDC. The output devices are LT 1002
Operational Amplifiers.
For additional information regarding setup related to the PID algorithm,
refer to Section 13 - 1200T Setup Utility or Section 15 - 1400M Setup
Utility.
Each Motion Board controls up to four axes. Refer to Table 6-1, LM-628
Motion Board, Available Configurations for available configurations.
1200T systems are limited to a maximum of four axes, that require a
single Motion Board. On-board jumper plugs J1 and J2 can be used to
configure Axes 0 - 3.
Only 1400M systems support five or six (five interpolated, one spindle)
axes of control. In these systems, an additional Motion Board is used.
When a second board is used, it must be identified as the secondary
board. (Connect Pins 2 and 3 of the J2 jumper.) The axes on the second
board are referred to as Axes 4 and 5 and are configured via jumpers J1
and J2.
Table 6-1, LM-628 Motion Board, Available Configurations
Single LM-628 Board Two LM-628 Boards

Use: Use:
1200T/1400M systems 1400M systems only
− 2 Axes − 5 Axes
− 3 Axes − 6 Axes (5 interpolated, 1
− 4 Axes spindle)
Component Parts
Refer to Figure 6-1, 3-Axis Motion Board, P/N 31900510 and Figure 6-
2, 4-Axis Motion Board, P/N 31900290.
10-Feb-98 Page 6-1

Figure 6-1, 3-Axis Motion Board, P/N 31900510
Page 6-2 10-Feb-98

Figure 6-2, 4-Axis Motion Board, P/N 31900290
10-Feb-98 Page 6-3

Jumper Settings
Jumpers are mounted vertically, with Pin 1 nearest the edge of the board
at the AT bus slot. Three functions are affected by jumper settings:
− board address
− DAC output
− index pulse polarity
Motion Board Addresses (J1 and J2)

Settings for J2 determine the board address. This indicates whether the
board controls Axes 0 to 3 (Motion Board 1) or 4 to 5 (Motion Board 2).
Table 6-2, Setting the Motion Board Address via Jumpers
Motion Control Board Jumper Setting

Motion Board 1 (Axes 0 to 3) J1 Pins 2 and 3
Primary Board J2 Pins 2 and 3
Motion Board 2 (Axes 4 to 5) J1 Pins 2 and 3
Secondary Board, when used J2 Pins 1 and 2
DAC Output (J3)
NOTE: Letters A, B, C and D correspond to Axes 0, 1, 2 and 3,

respectively. This reference pertains to all electronic components
associated with a specific axis.
DAC output is configured by the J3 jumper setting. The four axes
controlled by the board are identified by letters on the J3 jumpers. On
Board 1, Axes 0 to 3 correspond to letter labels A to D, respectively. On
Board 2, Axes 4 to 5 correspond to letter labels A to B, respectively.
J3A = Axis 0 (Board 1) or Axis 4 (Board 2)
J3B = Axis 1 (Board 2) or Axis 5 (Board 2)
J3C = Axis 2 (Board 1 only)
J3D = Axis 3 (Board 1 only)
Single-Ended (standard) J3n, Pins 2 to 3 (OUT *)
Differential J3n, Pins 1 to 2 (OUT)
DAC output for each axis can be configured as single-ended (standard) or
differential output. Connecting a jumper across Pins 1 and 2 produces a
differential output with a range of -10VDC to +10VDC. Connecting a
jumper across Pins 2 and 3 produces a single-ended output with a range
of -10VDC to +10VDC at the positive output pin. The negative output pin
remains at system ground.
The DAC output of the Motion Board on the "OUT" signal has the same
amplitude as the "OUT*" (OUT NOT) signal, but in reverse polarity. If the
differential (OUT) signal is +10VDC, then the single-ended signal (OUT*)
will be -10VDC. This enables the control to determine the proper DAC
inputs to the servo drives when using differential inputs.
Page 6-4 10-Feb-98

Index Pulse Polarity

Index pulse polarity is configured by jumpers J4 through J7 (refer to
Table 6-3, Axis Reference for Index Pulse Jumpers). To operate
correctly, the LM-628 must have a low-active index pulse at its Index
input.
With an encoder or scale that produces a high-active Index pulse, use J4
through J7 to add an inverter stage and configure the correct polarity.
Table 6-3, Axis Reference for Index Pulse Jumpers
Jumper Axis
J4 0, Board 1 / 4, Board 2
J5 1, Board 1 / 5, Board 2
J6 2, Board 1
J7 3, Board 1
There are two sets of jumper setting configurations for both the 3-axis and
the 4-axis motion boards. Jumper configurations for these tables are as
shown in Table 6-4, 3-Axis Motion Board, P/N 31900510, Jumper
Settings and Table 6-5, 4-Axis, P/N 31900290, Motion Board Jumper
Settings.
10-Feb-98 Page 6-5

Table 6-4, 3-Axis Motion Board, P/N 31900510, Jumper Settings
Jumper Use: Use:

− 6-Axis Motion Junction Board, P/N − Rev. B 4-Axis Motion Junction Board,
31900813 P/N 90100298
− D1 Distribution Board*
− Rev. A 4-Axis Motion Junction Board
J1 Pins 2 & 3 Pins 2 & 3
J2 Pins 2 & 3 (see Table 6-2) Pins 2 & 3 (see Table 6-2)
J3A Pins 2 & 3 Pins 2 & 3
J3B Pins 2 & 3 Pins 2 & 3
J3C Pins 2 & 3 Pins 2 & 3
J4 Pins 1 & 2 Pins 2 & 3
J5 Pins 2 & 3 Pins 2 & 3
J6 Pins 1 & 2 Pins 2 & 3
*The D1 Distribution Board is used on earlier 1400M systems. It performs all of the combined
functions of the present I/O Board, Motion Junction Board and Serial Junction Board (no longer
used).
Table 6-5, 4-Axis, P/N 31900290, Motion Board Jumper Settings
Jumper Use: Use:

− 6-Axis Motion Junction Board, P/N − Rev. B 4-Axis Motion Junction Board
31900813
− D1 Distribution Board*
− Rev. A 4-Axis Motion Junction Board
J1 Pins 2 & 3 Pins 2 & 3
J2 Pins 2 & 3 (see Table 6-2) Pins 2 & 3 (see Table 6-2)
J3A Pins 2 & 3 Pins 2 & 3
J3B Pins 2 & 3 Pins 2 & 3
J3C Pins 2 & 3 Pins 2 & 3
J3D Pins 2 & 3 Pins 2 & 3
J4 Pins 1 & 2 Pins 2 & 3
J5 Pins 1 & 2 Pins 2 & 3
J6 Pins 1 & 2 Pins 2 & 3
J7 Pins 1 & 2 Pins 2 & 3
*The D1 Distribution Board is used on earlier 1400M systems. It performs all of the combined
functions of the present I/O Board, Motion Junction Board and Serial Junction Board (no longer
used).
Page 6-6 10-Feb-98

Motion Board to Motion Junction Board Connection

The four motion control axes are wired into the Motion Board P2
connector via an assembly harness, P/N 31900768, from the Motion
Junction Board P1 connector. The pins are wired 1-to-1, with DB-25
Female connectors at both ends.
Refer to Table 6-6, Pinout for Motion Board P2 Connector (and
Motion Junction Board P1 Connector) for pin assignments applicable
to both P2 of the Motion Board and P3 (4-axis installations) or P4 (second
connection for 5- and 6-axis installations) of the Motion Junction Board.
Figure 6-3, 25-Pin Connector
Table 6-6, Pinout for Motion Board P2 Connector (and Motion Junction Board P1
Connector)
14 AXIS 0 PHASE B 1 AXIS 0 PHASE A
15 AXIS 0 DAC SIGNAL 2 AXIS 0 INDEX PULSE
16 AXIS 1 PHASE A 3 AXIS 0 DAC* SIGNAL
17 AXIS 1 INDEX PULSE 4 AXIS 1 PHASE B
18 AXIS 1 DAC* SIGNAL 5 AXIS 1 DAC SIGNAL
19 AXIS 2 PHASE B 6 AXIS 2 PHASE A
20 AXIS 2 DAC SIGNAL 7 AXIS 2 INDEX PULSE
21 AXIS 3 PHASE A 8 AXIS 2 DAC* SIGNAL
22 AXIS 3 INDEX PULSE 9 AXIS 3 PHASE B
23 AXIS 3 DAC* SIGNAL 10 AXIS 3 DAC SIGNAL
24 +15VDC 11 SHIELD (*see note)
25 GND 12 GND
13 -15VDC
NOTE: Attach all shield wire(s) at the Motion Junction Board P1 connector.
10-Feb-98 Page 6-7

Typical Encoder Input Circuit Schematic and Description

Refer to Figure 6-4, Typical Encoder Input Circuitry (PC 628) for the
typical input circuit from the encoder or scale. The input should be a TTL
quadrature signal, with a zero cross marker. In addition to the on-board
filtering of the PC-628, active circuitry on the Motion Junction Board
further conditions the encoder inputs of the PC-628. Therefore, for
optimal operation, use the Motion Junction Board in all applications.
Figure 6-4, Typical Encoder Input Circuitry (PC 628)
Page 6-8 10-Feb-98

Typical DAC Output Circuit and Description

Refer to Figure 6-5, Typical DAC Output Circuitry (PC 628) for the
DAC output circuit of the PC-628. The AD 767 DAC requires inputs -
15VDC and +15VDC as bias references. These voltages are supplied via
harness from the Motion Junction Board.
An AD 587 High Precision 10V reference provides the REFIN of the AD
767. The AD 767 output feeds to a pair of LT 1002 operational amplifiers.
In standard use, the negative-going op-amp's output is disabled via
jumper. The OUT* connects directly to analog ground (AGND) to provide
a -10VDC to +10VDC single-ended command signal output.
Figure 6-5, Typical DAC Output Circuitry (PC 628)
10-Feb-98 Page 6-9

70000322 - DSP Motion Control Board
Section 7 - DSP Motion Control Board

NOTE: For information on the DSP Setup Utility parameters, refer to
Section 13-1200T Setup Utility or Section 15-1400M Setup Utility.
Refer to Figure 7-1, DSP Board. The DSP Board supports three axes of
motion control, one spindle axis and two handwheel/DRO ports.
The DSP Board uses a high performance, 33 MHz, 32-bit TMS320C31
Floating Point Digital Signal Processor with high speed memory. The
board performs real time interpolation, transformation and compensation
functions formerly executed on the CNC’s CPU. The board also provides
closed loop control and PID filter functions with feed forward control.
Compared to the LM-628 Motion Boards, the DSP Board significantly
improves the accuracy, finish and throughput of complex machined
surfaces.
The DSP Board is a direct replacement for older 4-axis Motion Boards
that incorporate the Motion Junction Board.
When the CNC powers up, it performs a system hardware check to
determine what type of Motion Board is installed. When the system
detects a DSP Board, it automatically configures the software to utilize
the board’s high-speed processing capability. This allows the CNC more
time for block processing, display updates, peripheral communications
and IPI execution.
Each of the four controlled axes can be configured independently to
produce a single-ended or differential control voltage.
An on-board watchdog system is available to monitor the DSP chip’s
operation. If the DSP Board fails, it resets automatically.
10-Feb-98 Page 7-1

Figure 7-1, DSP Board, P/N 31900931
Page 7-2 10-Feb-98

Interface Requirements
Interface the DSP Board to servos and encoders through the Motion
Junction Board, P/N 31900563. The Motion Junction Board contains
additional filters to reduce noise and ensure proper TTL signals.
Motion Junction Board Harness Requirements

Refer to Table 7-1, Harness Fabrication. A harness, P/N 31900768,
connects the DSP Board to the Motion Junction Board. This is the same
harness used in 4-axis board installations.
Table 7-1, Harness Fabrication
Harness, P/N 31900768

DB-25F (Female) Both Ends
35"
HARN

14 Axis 0, B Phase 1 Axis 0, A Phase
15 Axis 0, DAC 2 Axis 0, Index
16 Axis 1, A Phase 3 Axis 0, Common
17 Axis 1, Index 4 Axis 1, B Phase
18 Axis 1, DAC 5 Axis 1, Common
20 Axis 2, Common 7 Axis 2, Index
21 Axis 3, A Phase 8 Axis 2, DAC
24 +15 VDC 11 Shield (only connect
on the Motion
Junction Board side
of the harness).
25 15V common 12 15V common
-- -- 13 -15 VDC
CAUTION: Failure to connect Pin #12 (15V common), Pin #13 (-15 VDC) and Pin #24 (+15
VDC) properly can result in permanent damage to the board.
CAUTION: To help ensure noise suppression, only connect the harness shield to Pin 11
at the Motion Junction Board.
10-Feb-98 Page 7-3

Jumper Assignments
Refer to Figure 7-1, DSP Board. All jumpers are mounted with Pin 1
oriented toward the ISA bus edge connector.
Table 7-2, Jumper Settings
Jumper Identifier Function Settings
2
J1 Ties digital system ground to
1
analog system ground. Connected by a wire link on
the board. Normally no jumper is
required. [Default]
3
J2 Board Address Select - Adjusts 2
board address for use as a primary 1
Jumper across Pins 1-2
board or as a secondary board.
identifies the board as the primary
Board must always be identified as
Motion Board. [Default: address
primary.
300H]
3
J3 Reset Select - Enables CNC to 2
perform a board reset. 1
Jumper across Pins 1-2,
enables the CNC to reset the
Motion Board. [Default]
3
2
1
No jumper installed, disables
CNC reset authority.
3
J4 Watchdog Reset Period - Sets 2
length of inactive period that 1
No Jumper, 250 msec.
activates a board reset. 3
2
NOTE: Preset at factory. Do not
1
change. Jumper across Pins 1-2, 500
msec.
3
2
1
Jumper across Pins 2-3, 62.5
msec. [Default]
3
J5 Activate Watchdog - enables 2
watchdog reset protection. 1
Watchdog resets board if no data is
Watchdog enabled. [Default]
sent back to CNC within prescribed 3
time period (system hangs). 2
1
Watchdog disabled.
Page 7-4 10-Feb-98

Table 7-2, Jumper Settings (Continued)

3
J10, J11 Axis 0 Output Select - Configures 2
board to generate either single- 1
Jumper across Pins 1-2, sets
ended or differential output for axis
axis to generate differential outputs.
0. Both jumpers must be set.
3
2
1
axis to generate single-ended
outputs. [Default]
3
ended or differential outputs for axis
3
2
1
outputs. [Default]
3
3
2
1
outputs. [Default]
3
3
2
1
outputs. [Default]
10-Feb-98 Page 7-5

Power Supply Requirements

The CNC’s power supply provides the +5VDC source for the processor
via ISA bus connector. An external power supply, supplied by the
machine builder, provides the +15VDC to bias the DAC for axis outputs.
This +15VDC source is connected to the system at the Motion Junction
Board and supplies the DSP Board via the harness.
CAUTION: The +15V power supply for the DACs must be on
whenever the CNC is on. Failure to maintain power to the DACs
could result in damage to the board. If it is necessary to apply
power to the CNC when the +15V power supply for the Motion Board
is unavailable, disconnect the harness at the 25-pin connector to
protect the board.
Axis Output Signals

Refer to Figure 7-2, Typical Axis Output Circuitry. Single-ended DAC
outputs are configured to supply single-ended or differential outputs using
the circuitry shown in the figure.
Connect a jumper across Pins 1 and 2 to produce a differential output
with a range of -10 VDC to +10 VDC between the positive and negative
output pins (a +5V to -5V range on the positive output pins and a +5V to -
5V range on the negative output pins).
Connect a jumper across Pins 2 and 3 to produce a single-ended output
with a range of -10 VDC to +10 VDC at the positive output pin. The
negative output pin remains at system ground.
Figure 7-2, Typical Axis Output Circuitry
Page 7-6 10-Feb-98

Axis outputs are supplied by an on-board quad 12-bit DAC (DAC4813).

The axis outputs (velocity inputs) to the servo amp can vary from +10VDC
(full forward velocity) to -10VDC (full reverse velocity). This provides a
full range of 20V. The system steps through the 20 volt range in 4.8 mV
increments.
Encoder Input Requirements
Figure 7-3, Encoder Input Circuitry

Encoder inputs to the DSP Board are received via the Motion Junction
Board. Encoder inputs should be TTL quadrature signals with a zero
cross marker. Refer to Figure 7-3, Encoder Input Circuitry.
Encoder inputs are fed to ANILAM custom ASIC counters. Counter
inputs are filtered via a passive, 2-stage capacitive network, then pulled
high with a 1k resistor. The ASIC counter also incorporates an on-chip
Schmidt trigger at each input to correct for input signal noise distortion.
Handwheel/DRO Interface
Refer to Figure 7-4, Handwheel Harness and Bracket Assembly.
Handwheel/DRO Ports 1 and 2 are physically located at board connectors
P4 and P5 respectively. (Configure these ports for handwheel or DRO
use in the Setup Utility.) A harness, P/N 31900688, plugs into P4 or P5 of
the Motion Board. The DE-9 connectors on the opposite end of the
harness are secured to a chassis connector bracket as shown in Figure
7-4, Handwheel Harness and Bracket Assembly.
10-Feb-98 Page 7-7

Figure 7-4, Handwheel Harness and Bracket Assembly

The board is designed for use with a 100 pulse/rev TTL encoder
handwheel. Ensure that the handwheel cable is fitted with male DE-9
connectors. Table 7-3, Handwheel Connector Pin Assignments shows
the handwheel connector pin assignments.
Table 7-3, Handwheel Connector Pin Assignments
Pin Handwheel I/O

1 Phase A signal
2 N/A
3 Zero Marker (if used)
4 N/A
5 Phase B signal
6 N/A
7 +5VDC
8 5V common
9 Shield (Connect at cabinet end only)
NOTE: To minimize noise, only connect harness shielding to Pin 9, on

the cabinet side of the handwheel cable.
Test Port (P7)

Refer to Figure 7-1, DSP Board. The P7 Test Port is designed for
manufacturing testing.
Probe Port (P8)

The P8 Probe Port is not currently used.
Page 7-8 10-Feb-98

70000322 - DSP Motion Control Board with Flash
Section 8 - DSP Motion Control Board with Flash

NOTE: For information on the DSP Setup Utility parameters, refer to
Section 13-1200T Setup Utility or Section 15-1400M Setup Utility.
Refer to Figure 8-1, DSP Board. The DSP Board with Flash supports
three axes of motion control, one spindle axis and two handwheel/DRO
ports.
This board uses a high performance, 33 MHz, 32-bit TMS320C31
Floating Point Digital Signal Processor with high speed memory. The
board performs real time interpolation, transformation and compensation
functions formerly executed on the CNC’s CPU. The board also provides
closed loop control and PID filter functions with feed forward control.
Compared to the LM-628 Motion Boards, the DSP Board significantly
improves the accuracy, finish and throughput of complex machined
surfaces.
Surface Mount Design and a high degree of integration result in a
compact, powerful unit with reliable performance. In addition to the
Surface Mount Design, this DSP board stores the firmware on flash. The
flash enables the firmware to be updated from floppy instead of requiring
an EPROM change.
This board is a direct replacement for older 4-axis Motion Boards or older
DSP boards that incorporate the Motion Junction Board.
When the CNC powers up, it performs a system hardware check to
determine what type of Motion Board is installed. When the system
detects a DSP Board, it automatically configures the software to utilize
the board’s high-speed processing capability. This allows the CNC more
time for block processing, display updates, peripheral communications
and IPI execution.
Each of the four controlled axes can be configured independently to
produce a single-ended or differential control voltage.
An on-board watchdog system is available to monitor the DSP chip’s
operation. If the DSP Board fails, it resets automatically.
10-Feb-98 Page 8-1

Figure 8-1, DSP Board with Flash (P/N 33000097)
Page 8-2 10-Feb-98

Interface Requirements
Interface the DSP Board to servos and encoders through the Motion
Junction Board, P/N 31900563. The Motion Junction Board contains
additional filters to reduce noise and ensure proper TTL signals.
Motion Junction Board Harness Requirements

Refer to Table 8-1, Harness Fabrication. A harness, P/N 31900768,
connects the DSP Board to the Motion Junction Board. This is the same
harness used in 4-axis board installations.
10-Feb-98 Page 8-3

Table 8-1, Harness Fabrication
Harness, P/N 31900768

DB-25F (Female) Both Ends
35"
HARN

15 Axis 0, DAC 2 Axis 0, Index
16 Axis 1, A Phase 3 Axis 0, Common
20 Axis 2, Common 7 Axis 2, Index
21 Axis 3, A Phase 8 Axis 2, DAC
24 +15 VDC 11 Shield (only connect
on the Motion
Junction Board side
of the harness).
25 15V common 12 15V common
-- -- 13 -15 VDC
CAUTION: Failure to connect Pin #12 (15V common), Pin #13 (-15 VDC) and Pin #24 (+15
VDC) properly can result in permanent damage to the board.
CAUTION: To help ensure noise suppression, only connect the harness shield to Pin 11
at the Motion Junction Board.
Page 8-4 10-Feb-98

Jumper Assignments
Refer to Figure 8-1, DSP Board. All jumpers are mounted with Pin 1
oriented toward the ISA bus edge connector.
Table 8-2, Jumper Settings
2
J1 Ties digital system ground to
1
analog system ground. Connected by a wire link on
the board. Normally no jumper is
required. [Default]
3
J3 Reset Select - Enables CNC to 2
perform a board reset. 1
enables the CNC to reset the
Motion Board. [Default]
3
2
1
No jumper installed, disables
CNC reset authority.
3
J4 Watchdog Reset Period - Sets 2
length of inactive period that 1
No Jumper, 250 msec.
activates a board reset. 3
2
NOTE: Preset at factory. Do not
1
change. Jumper across Pins 1-2, 500
msec.
3
2
1
Jumper across Pins 2-3, 62.5
msec. [Default]
3
J5 Activate Watchdog - enables 2
watchdog reset protection. 1
Watchdog resets board if no data is
Watchdog enabled. [Default]
sent back to CNC within prescribed 3
time period (system hangs). 2
1
Watchdog disabled.
10-Feb-98 Page 8-5

Table 8-2, Jumper Settings (Continued)

J10, J11 Axis 0 Output Select - Configures
1 2 3
board to generate either single-
ended or differential output for axis Jumper across Pins 1-2, sets axis
0. Both jumpers must be set. to generate differential outputs.
1 Jumper across Pins 2-3,

2 3
sets axis to generate single-ended

outputs. [Default]
1 2 3
board to generate either single-
ended or differential outputs for axis Jumper across Pins 1-2, sets axis
1. Both jumpers must be set. to generate differential outputs.
1 2 3
Jumper across Pins 2-3, sets axis

to generate single-ended outputs.
[Default]
board to generate either single- 1 Jumper across Pins 1-2,
2 3
ended or differential outputs for axis sets axis to generate differential

2. Both jumpers must be set. outputs.
1 2 3 Jumper across Pins 2-3,

outputs. [Default]
board to generate either single- 1 Jumper across Pins 1-2,
2 3
ended or differential outputs for axis sets axis to generate differential

3. Both jumpers must be set. outputs.
1 Jumper across Pins 2-3,

2 3

outputs. [Default]
Page 8-6 10-Feb-98

Power Supply Requirements

The CNC’s power supply provides the +5VDC source for the processor
via ISA bus connector. An external power supply, supplied by the
machine builder, provides the +15VDC to bias the DAC for axis outputs.
This +15VDC source is connected to the system at the Motion Junction
Board and supplies the DSP Board via the harness.
CAUTION: The +15V power supply for the DACs must be on
whenever the CNC is on. Failure to maintain power to the DACs
could result in damage to the board. If it is necessary to apply
power to the CNC when the +15V power supply for the Motion Board
is unavailable, disconnect the harness at the 25-pin connector to
protect the board.
Axis Output Signals

Refer to Figure 8-2, Typical Axis Output Circuitry. Single-ended DAC
outputs are configured to supply single-ended or differential outputs using
the circuitry shown in the figure.
Connect a jumper across Pins 1 and 2 to produce a differential output
with a range of -10 VDC to +10 VDC between the positive and negative
output pins (a +5V to -5V range on the positive output pins and a +5V to -
5V range on the negative output pins).
Connect a jumper across Pins 2 and 3 to produce a single-ended output
with a range of -10 VDC to +10 VDC at the positive output pin. The
negative output pin remains at system ground.
+15V
CCW J10 1
J12 2 10.0k
DAC4813 +15V 10k
1Meg J14 3
VDD J16 10.0k

TL062
CW -
+ + Output
-15V 10.0k
V OUT 1 10.0k
J11 1
10.0k 10.0k 2
- J13 3
ACOM - Output
+ J15
VSS 5.0k J17
TL062
-15V
CIR
Figure 8-2, Typical Axis Output Circuitry
10-Feb-98 Page 8-7

Axis outputs are supplied by an on-board quad 12-bit DAC (DAC4813).

The axis outputs (velocity inputs) to the servo amp can vary from +10VDC
(full forward velocity) to -10VDC (full reverse velocity). This provides a
full range of 20V. The system steps through the 20 volt range in 4.8 mV
increments.
Encoder Input Requirements
Figure 8-3, Encoder Input Circuitry

Encoder inputs to the DSP Board are received via the Motion Junction
Board. Encoder inputs should be TTL quadrature signals with a zero
cross marker. Refer to Figure 8-3, Encoder Input Circuitry.
Encoder inputs are fed to ANILAM custom ASIC counters. Counter
inputs are filtered via a passive, 2-stage capacitive network, then pulled
high with a 1k resistor. The ASIC counter also incorporates an on-chip
Schmidt trigger at each input to correct for input signal noise distortion.
Handwheel/DRO Interface
Refer to Figure 8-4, Handwheel Harness and Bracket Assembly.
Handwheel/DRO Ports 1 and 2 are physically located at board connectors
P3 and P4, respectively. (Configure these ports for handwheel or DRO
use in the Setup Utility.) A harness, P/N 31900688, plugs into P3 or P4 of
the Motion Board. The DE-9 connectors on the opposite end of the
harness are secured to a chassis connector bracket as shown in Figure
8-4, Handwheel Harness and Bracket Assembly.
DE-9
Connectors
P3 & P4
Port Connectors
Chassis Bracket
BRKT
Page 8-8 10-Feb-98

Figure 8-4, Handwheel Harness and Bracket Assembly

The board is designed for use with a 100 pulse/rev TTL encoder
handwheel. Ensure that the handwheel cable is fitted with male DE-9
connectors. Table 8-3, Handwheel Connector Pin Assignments shows
the handwheel connector pin assignments.
Table 8-3, Handwheel Connector Pin Assignments
Pin Handwheel I/O

1 Phase A signal
2 N/A
3 Zero Marker (if used)
4 N/A
5 Phase B signal
6 N/A
7 +5VDC
8 5V common
9 Shield (Connect at cabinet end only)
NOTE: To minimize noise, only connect harness shielding to Pin 9, on

the cabinet side of the handwheel cable.
Test Port (P11)

Refer to Figure 8-1, DSP Board. The P11 Test Port is designed for
manufacturing testing.
Probe Port (P5)

The P5 Probe Port is not currently used.
10-Feb-98 Page 8-9

70000322 - Serial Junction Board
Section 9 - Interconnection/Installation
IMPORTANT NOTE: Any 1200T/1400M system shipped prior to April,
1997 contains a Serial Junction Board interconnecting the Anicom
board, the Manual Panel and the I/O Board. Any system shipped
since April, 1997 does not use an Serial Junction Board. Disregard
this section if the machine does not use an Serial Junction Board.
The Serial Junction Board connects all of the system’s RS-232 resources,
including:
− PC 2560 Anicom Communications Board
− Manual Panel
− I/O Board
− External User RS-232 port(s)
It can be mounted at any convenient location.
Refer to Figure 9-1, Serial Junction Board for assembly size, mounting
hole locations, cable clearances and connector labels.
Serial Junction Board P8 connects to the I/O Board at the plug marked
"SERIAL COMM". Serial Junction Board P9 connects to the Manual
Panel at P2. Both connections are wired 1-to-1.
10-Feb-98 Page 9-1

Figure 9-1, Serial Junction Board
Page 9-2 10-Feb-98

Serial Junction Board to Anicom Board Connection

Seven channels of RS-232 data are connected from the PC 2560
Communications Board P6 via harness to the PC 844 Serial Junction
Board P1 connector. Refer to Figure 9-1, Serial Junction Board and
Table 9-1, Pin Assignments at Serial Junc. Bd. P1 Conn. (Anicom Bd.
P6 Conn.). The connection is wired 1-to-1, with DB-25 Male connectors
at both ends.
Figure 9-2, Serial Junction Board DB-25 P6 Connector (Female)
Table 9-1, Pin Assignments at Serial Junc. Bd. P1 Conn. (Anicom Bd. P6 Conn.)
1 ANILAM 1 Tx Data (Console)
2 ANILAM 7 Tx Data (Distribution Board) 14 ANILAM 1 Rx Data
3 ANILAM 6 Rx Data (RS-232) 15 ANILAM 7 Rx Data
4 ANILAM 8 Rx Data 16 ANILAM 6 Tx Data
5 ANILAM 2 Tx Data (Manual Panel) 17 ANILAM 8 Tx Data
6 ANILAM 5 Rx Data (Full RS-232) 18 ANILAM 2 Rx Data
7 ANILAM 5 Dsr* 19 ANILAM 5 Tx Data
8 ANILAM 5 Cts* 20 ANILAM 5 Rts*
9 ANILAM 4 Tx Data (Security Key) 21 ANILAM 5 Dtr*
10 ANILAM 4 Rx Data 22 ANILAM 4 Rts*
11 ANILAM 4 Dtr* 23 ANILAM 4 Dsr*
12 Ground 24 ANILAM 4 Cts*
13 PC 2560 P5 Pin 5 25 PC2560 P5 Pin 1
Serial Junction Board Connector Pinouts

This section provides the pinouts for all connections made at the board.
Use the pinouts to troubleshoot RS-232 problems. DE-9 connectors act
as RS-232 ports on the Serial Junction Board. Use a DE-9 female
connector when wiring to these connectors.
NOTE: ANILAM Port 3 is used internally on the Communications Board.
Therefore, no pinout is provided.
10-Feb-98 Page 9-3

Table 9-2, ANILAM Ports, Pin Assignments

CRT Console Communications Ports (ANILAM Port 1)
P2 or P9 P1 SIGNAL
P2, P9 Pin 2 Pin 14 Receive Data
P2, P9 Pin 3 Pin 1 Transmit Data
P2, P9 Pin 5 Pin 12 GND
Manual Panel Communications Port (Optional, ANILAM Port 2)
P6 P1 SIGNAL
P6 Pin 2 Pin 18 Receive Data
P6 Pin 3 Pin 5 Transmit Data
P6 Pin 5 Pin 12 GND
Security Key Communications Port (ANILAM Port 4)
P7 P1 SIGNAL
P7 Pin 4 Pin 11 DTR*
P7 Pin 5 Pin 12 GND
P7 Pin 6 Pin 23 DSR*
P7 Pin 7 Pin 22 RTS*
P7 Pin 8 Pin 24 CTS*
ANILAM Port 5, Full RS-232 Communications Port
Serial Junction Board P1 SIGNAL
P4 Pin 4 Pin 21 DTR*
P4 Pin 5 Pin 12 GND
P4 Pin 6 Pin 7 DSR*
P4 Pin 7 Pin 20 RTS*
P4 Pin 8 Pin 8 CTS*
ANILAM Port 6, Additional RS-232 Communications Port
P5 Pin 5 Pin 12 GND
Distribution Board Communications Port (ANILAM Port 7)
P8 Pin 5 Pin 12 GND
ANILAM Port 8, Spare Port
P3 Pin 5 Pin 12 GND
Page 9-4 10-Feb-98

ANILAM Port 1 RS-232 connection for the CRT Console is made via
ANILAM Port 1. The location of ANILAM Port 1 varies.
Generally, the P9 terminal block connector (6 pins) is
used. However, 1400M systems that require a DE-9
connector to interface to the console use P2.
ANILAM Port 2 The Manual Panel RS-232 port is at the Serial
Junction Board P6 connector. This connector is used
in 1400M systems that require connection to a manual
panel option.
ANILAM Port 4 The Security Key RS-232 port is at the Serial Junction
Board P7 connector. It is used in 1400M systems that
require a security key. In other cases, it can act as a
second full RS-232 port.
ANILAM Port 5 ANILAM Port 5 RS-232 communication is made via the
Serial Junction Board P4 connector.
ANILAM Port 6 ANILAM Port 6 RS-232 communication is made via the
Serial Junction Board P5 connector.
ANILAM Port 7 The Distribution Board RS-232 communication
connects to the Serial Junction Board P8 connector.
ANILAM Port 8 A spare port is available on the Serial Junction Board
P3 connector.
Security Key Connections (1400M Only)
The CNC system requires the user to verify 1400M software installations
and updates via an external security key device. This device connects to
the Serial Junction Board P7 connector during software installations and
updates.
10-Feb-98 Page 9-5

70000322- Anicom Board
Section 10 - Anicom Board

The Anicom Board is an ISA bus-compatible communications board that
provides seven channels of RS-232 communications. Refer to Figure
10-2, Anicom Board, P/N 31900050.
The Anicom P6 25-pin connector transmits and receives RS-232
communications. Refer Table 10-1, Anicom Board/Serial Junction
Board Harness Pin Assignments for pin assignments.
Figure 10-1, Anicom Board P6 DB-25 Connector
Table 10-1, Anicom Board/Serial Junction Board Harness Pin Assignments
Pin Use Signal Pin Use Signal

1 ANILAM Port 1 Tx Data
Console
2 ANILAM Port 7 Tx Data 14 ANILAM Port 1 Rx Data
Distribution
3 ANILAM Port 6 Rx Data 15 ANILAM Port 7 Rx Data
RS-232
4 ANILAM Port 8 Rx Data 16 ANILAM Port 6 Tx Data
5 ANILAM Port 2 Tx Data 17 ANILAM Port 8 Tx Data
Manual Panel
Full RS-232
8 ANILAM Port 5 DSR 20 ANILAM Port 5 RTS
9 ANILAM Port 4 Tx Data 21 ANILAM Port 5 DTR
Security Key
10 ANILAM Port 4 Rx Data 22 ANILAM Port 4 RTS
11 ANILAM Port 4 DTR 23 ANILAM Port 4 DSR
12 Ground 24 ANILAM Port 4 CTS
13 Unused 25 Unused
10-Feb-98 Page 10-1

Figure 10-2, Anicom Board, P/N 31900050
Page 10-2 10-Feb-98

Connection to System
NOTE: On earlier systems, the Anicom Board P6 connects to the Serial
Junction Board P1 via DB-25 connectors wired 1-to-1 on both ends.
Refer to Section 9 - Serial Junction Board for more information on
these systems.
On current systems (without Serial Junction Boards), the Anicom Board
connects directly to the Manual Panel, I/O Board and an RS-232
extension via Anicom Harness, P/N 31901114. Refer to Figure 10-3,
Anicom Connections, Systems without Serial Junction Boards (P/N
31901114).
Figure 10-3, Anicom Connections, Systems without Serial Junction Boards (P/N
31901114)
10-Feb-98 Page 10-3

Anicom Board Layout

The Anicom Board is an ISA bus-compatible communications board that
provides seven channels of RS-232 communications. Refer to Figure
10-4, Anicom Board P6 DB-25 Connector.
The Anicom P6 25-pin connector transmits and receives RS-232
communications. Refer Table 10-2, Anicom Board/Serial Junction
Board Harness Pin Assignments for pin assignments.
Figure 10-4, Anicom Board P6 DB-25 Connector
Table 10-2, Anicom Board/Serial Junction Board Harness Pin Assignments
Pin Use Signal Pin Use Signal

Console
2 ANILAM Port 7 Tx Data 14 ANILAM Port 1 Rx Data
Distribution
RS-232
4 ANILAM Port 8 Rx Data 16 ANILAM Port 6 Tx Data
5 ANILAM Port 2 Tx Data 17 ANILAM Port 8 Tx Data
Manual Panel
Full RS-232
8 ANILAM Port 5 DSR 20 ANILAM Port 5 RTS
9 ANILAM Port 4 Tx Data 21 ANILAM Port 5 DTR
Security Key
10 ANILAM Port 4 Rx Data 22 ANILAM Port 4 RTS
11 ANILAM Port 4 DTR 23 ANILAM Port 4 DSR
12 Ground 24 ANILAM Port 4 CTS
13 Unused 25 Unused
Page 10-4 10-Feb-98

P/N 70000322 – Aniflash Memory Board (1200T Only)
Section 11 - Aniflash Memory Board (1200T Only)

Refer to Figure 11-1, Aniflash Memory Board, P/N 31901089. The board
currently contains a maximum of 1.5 MB of FLASH memory and 1 MB of
CMOS SRAM backed-up by an on-board Lithium battery.
The board appears within the DOS address space as a 64K fixed area
and a 32K moveable page, addressable anywhere within the 8 MB space
on the board. The fixed area is currently addressed at C800:0000 to
D000:7FFF. The moveable page is currently addressed at D800:0000.
The first two pages of the board space appear as the fixed area. The
fixed area and moveable page can be changed via PLA program.
An 8-bit output port selects which 32K page from the 8 MB board space
appears as the moveable page. This port is currently addressed at 1C0h
but can be moved via PLA program.
The first half of the 8 MB board space contains FLASH memory. Select
these 128 pages by codes 00h to 7Fh on the page port. You can erase
and re-program FLASH memory only when the red toggle switch on the
rear of the board is in the up position. In normal operation, this switch is
down.
The next 1 MB of board space contains battery-backed CMOS SRAM.
Select these 32 pages by codes 80h to 9Fh on the page port.
A hardware reset selects page 0 of the FLASH.
NOTE: Pressing CTRL+ALT+DEL does not cause a hardware reset.
10-Feb-98 Page 11-1

P/N 70000322 – Aniflash Memory Board (1200T Only)
Figure 11-1, Aniflash Memory Board, P/N 31901089
Page 11-2 10-Feb-98

P/N 70000322 -Remote Floppy Drive Installation (Option)
Section 12 - Remote Floppy Drive Installation (Option)

This section describes how to install the floppy disk drive option in a
remote location. Hardware kit, P/N 31901145, is required for the
procedure.
Kit Contents
Hardware Kit, P/N 31901145
Part Number Description Quantity

21900413 Sheet Metal Floppy Drive Mounting Bracket 1
21900784 Sheet Metal Floppy Drive Cover 1
31300204 3.5” Floppy Disk Drive 1
31901140 12 & 5V Computer Power Supply Harness 1
36000369 External Floppy Drive Signal Harness 1
86100030 Phillips Flat Head Steel Machine Screw, 4-40 × 1/4” 4
86100123 Phillips Flat Head Steel Machine Screw, 6-32 × 3/4” 4
86100150 Phillips Flat Head Steel Machine Screw, 6-32 ×3/8” 1
Procedure
NOTE: The length of the external connecting cable, P/N 36000369,
determines the distance between the floppy disk drive and the system.
The maximum length is twenty-five feet. Location is at the discretion of
the machine builder.
1. Refer to Figure 12-1, Drilled Hole and Rectangular Cutout
Dimensions. Drill five holes and make a rectangular cutout for the
floppy drive.
2. Refer to Figure 12-2, Floppy Drive Mounting Bracket. Mount the
floppy drive to the provided bracket, P/N 21900413, with the four 4-40
X 1/4” Phillips screws, P/N 86100030.
3. Refer to Figure 12-3, Floppy Harness Locations. Plug the data
cable, P/N 36000369, into the 37-pin D-sub connector in the computer.
4. Plug the power cable, P/N 31901140, into the computer’s +5/+12V
power supply.
5. Attach the power and data cables to the floppy disk drive.
6. Use the 6-32 X 3/8” flat head screw, P/N 86100150, to mount the
floppy drive bracket to the cutout. Align the four mounting holes.
7. Attach the flip-top cover, P/N 21900784, to the floppy drive bracket
with the four provided 6-32 X 3/4” Phillips screws, P/N 86100123.
10-Feb-98 Page 12-1

Figure 12-1, Drilled Hole and Rectangular Cutout Dimensions
Figure 12-2, Floppy Drive Mounting Bracket. P/N 21900413
Page 12-2 10-Feb-98

Connect Remote Floppy Connect Power Supply

Harn. P/N 36000369 Here Harn. P/N 31901140
To Remote Floppy 37-Pin Here To Remote Floppy
Connector 4-Pin Connector
BACKPLN2
Ref. Dwg. 319001148
Figure 12-3, Floppy Harness Locations
10-Feb-98 Page 12-3

70000322 - 1200T Setup Utility
Section 13 - 1200T Setup Utility

Use the Setup Utility to configure the control and optimize the system for
virtually any turning application. Changes made to the Setup Utility are
stored in the control's memory board in a file named S12CONFI.CFG.
The machine builder performs most of the necessary machine setup at
the time of the installation.
Software Information
To facilitate verification of software version information, a text file is added
to all CNC Machine and Off-line software disks. The software version
contained on the disk is coded into the filename. The file lists the version
and the control type. The file names have a “0xxxx.txt” basic format.
Software version 4.14A is placed into the format as 0414A.txt. A disk
containing offline software version 4.14A-D would contain a file named
0414A-D.txt.
Navigating the Setup Utility
The Setup Utility provides access to all settings through a layered
organization of menus.
Each menu contains a list and a highlight. Use the highlight to select one
of the listed choices. To activate a highlighted selection, press ENTER.
Each menu provides access to configuration settings or another menu.
Some settings are made by using the ENTER key to switch a choice On or
Off, others require a specified value. To save settings automatically
press ENTER; or press Exit (F10). Closing a menu accesses the previous
menu.
Refer to Section 14 - 1200T Setup Utility Maps, which contains all the
maps referenced in this section.
Default Settings
The Setup Utility has default settings pre-loaded in the configuration file.
These settings remain active unless the operator changes them. In the
manual, default settings are listed in the following format:
[Default: setting]
10-Feb-98 Page 13-1

Keypad Keys
Refer to Table 13-1, Reference to Keypad Keys. In the manual, the
name of the symbol keys appear in small uppercase letters. The
corresponding characters are used for alphanumeric keys (A to Z, 1 to 9).
Table 13-1, Reference to Keypad Keys
Manual Reference Key Face

ARROWS
CLEAR
SHIFT
SPACE
Switches
Console switches are referred to as shown in Table 13-2, Console
Switches.
Table 13-2, Console Switches
Manual Reference Switch
AXIS selector switch
JOG selector switch

FEED
RAPID
FEEDRATE override switch
SPINDLE override switch
E-STOP
Page 13-2 10-Feb-98

Manual Panel Buttons

Manual Panel buttons are referred to as shown in Table 13-3, Manual
Panel Buttons.
Table 13-3, Manual Panel Buttons
Manual Reference Manual Panel Button
JOG PLUS
JOG MINUS
SERVO RESET
HOLD
START
SPINDLE REVERSE
SPINDLE FORWARD
SPINDLE OFF
Axis Keys
Before some parameters can be changed, you must specify the affected
axis. Use the X and Z keys on the keypad to specify the axis.
Enter Key
In order to enter parameters into the system, press ENTER.
Highlighting Menu Options

Use the ARROWS to highlight menu selections in the Setup Utility.
Exiting a Screen
Press Exit (F10) to return to a previous screen.
10-Feb-98 Page 13-3

Password Restricted Parameters

Some machine setup parameters have restricted access. Where
required, the CNC prompts the user to enter a password.
To access protected parameters:
1. Enter the service password at the insertion point and press ENTER.
The CNC will enable you to change the protected settings.
2. There are four access levels protected by passwords. Operators are
assigned limited passwords, which enable them to set parameters
used in normal machine operations. Service and factory passwords
enable a higher level of access. The PLC (Programmable Logic
Control) requires a separate password.
Table 13-4, Default Machine Passwords
Level Password
Limited MIN
Service MORE
PLC PI
Factory Reserved for factory use.
Saving Changes to Setup Parameters

When you exit the Setup Utility, if any parameters have been changed, a
“Save Changes?” prompt appears. Choose Yes (F1) to save changes;
No (F2) to cancel changes; or Cancel (F9) to cancel the changes.
Setup Utility Parameters

To set up a Setup Utility Parameter:
1. Highlight the parameter in the menu in which it appears. Press
ENTER.
2. Set up the parameters in one of the following methods:
A. Press ENTER to switch the selection.
B. If a pop-up menu appears after the parameter is selected,
highlight an option in the pop-up and press ENTER.
C. If an entry field highlights after the parameter is selected, enter the
appropriate value and press ENTER.
Setup Utility Menus
Refer to Map 1, Startup Screen and Menu A.
To access the Setup Utility Menus:
1. Plug the power cord into a dedicated line. (Failure to do so could
result in improper CNC operation.)
2. Turn on the machine.
3. After the control starts, the CNC software activates. When the CNC
software has successfully started, an informational screen will appear
containing the ANILAM company information, and the software
version number.
4. Press the F10 softkey below the CRT to continue. The Startup
Screen activates.
Page 13-4 10-Feb-98

5. Highlight Setup Utility. Press ENTER. The Setup Options Menu

activates (Menu A). This screen enables the installer to set up the
system.
Setup Options Menu
Refer to Map 16, Menu A. These menu categories enable the user to
configure the machine’s software parameters. Print configurations and
Units of Measurement are covered here.
Print Configurations
CAUTION: Keep an updated hard copy of the configuration file. If

the file is erased, the settings must be input manually after the
software is reinstalled.
Use the Print configurations selection to:
− Print a hard copy of the configuration file.
− Print the configuration file to the D:\USER directory so that it can be
listed by the Program Editor.
− Print the configuration file to a floppy disk.
Before you print the configuration file to any of these destinations, you
must specify the print filename in the Printer Setup Utility. Follow the
instructions below.
Printing the Configuration File

To print the configuration file to a floppy disk, the D:\USER directory or
the printer port:
1. Set up the default output device.
A. Refer to Map 16, Menu G. Highlight Default output device.
Press ENTER.
B. In the highlighted entry field, enter the appropriate parameter.
Refer to Table 13-5, Print Configuration Defaults. For the
desired Print Option, specify the corresponding Default Output
Device.
Table 13-5, Print Configuration Defaults
Print Option Default Output Device parameter
Floppy disk Specify the drive (A:\ or B:\), filename and
extension (must be *.G to be viewed by the
Program Editor). Examples: A:\TEST.TXT or
A:\TEST.G
D:\USER directory Enter filename. (CNC adds *.G extension
automatically).
Hard Copy (printer port) PRN
10-Feb-98 Page 13-5

2. Print the configuration file.

A. Refer to Map 16, Menu A. Highlight Print configurations. Press
ENTER. The CNC prompts you to accept the displayed print
configuration default file.
B. Press Yes (F1) to accept the default. The CNC displays a status
window that shows the line and page numbers as they are printed.
The CNC will prompt you when it completes the print job.
C. Press F10 to close the status window.
D. Verify that the CNC has printed the entire file.
Input Units of Measurement

The Units of Measurement entry determines the units in which data is
input into the setup. If you use mixed units, input all data in one format
(Inch or MM) first, then save. Change the format (Inch or MM), input the
rest of the data and save again. This eliminates the need to convert
values and enables you to input data precisely (no rounding during
conversion).
To set the default measurement mode:
1. Go to Map 16, Menu A. Highlight Units in Inch (Units in MM).
Press ENTER to switch between Inch and MM Modes.
Machine Axis Setup Utilities
The CNC supports four axes: X, Z, W and C. Enter the configuration
parameters for each axis in the Machine Axis Setup menus. There are
parameters for setting maximum speed, machine and display resolution,
servo gain, error compensation, etc.
System Resolution
The control uses feedback from a rotary encoder or linear scale to
provide the closed-loop positioning for the system.
Both scales and encoders can be used on the same system. For
instance, you might use linear scales on the X axis and an encoder on the
Z axis. It is not necessary to use a certain line count for a certain
resolution if the encoder is accurate enough to provide the resolution
required.
Page 13-6 10-Feb-98

Encoder vs. Linear Scale Axes

Set up each axis to use an encoder or scale, as follows. [Default: Encdr]
1. Refer to Map 1, Menu D. Go to Menu D. Highlight Type.
2. Press X or Z (axis being set). Press ENTER. A pop-up window
appears.
3. Highlight Scale or Encdr. Press ENTER. The CNC changes the
encoder Type to the selected option.
Encoder/Scale Resolution
NOTE: Resolution is displayed in the Setup Utility in MM. One micron is

0.001mm.
Enter the resolution of the scale or encoder for each axis. Resolution is
always given in Microns, regardless of whether the CNC is in Inch or MM
Mode. [Default: 2 Microns (0.002mm/.0001”] Refer to Table 13-6,
Micron to Inch Conversion for Micron to Inch equivalents.
Table 13-6, Micron to Inch Conversion
1 Micron .001mm .00005”

2 Microns .002mm .0001”
5 Microns .005mm .0002”
10 Microns .010mm .0005”
NOTE: If resolution settings do not match those of the installed

equipment, positioning errors will occur.
To set display resolution:
1. Go to Map 1, Menu D. Highlight Resolution.
appears displaying the following choices: 1, 2, 5 or 10 Micron setting.
3. Highlight the appropriate Resolution. Press ENTER.
Display Resolution
NOTE: Resolution for scales and encoders is always displayed in mm.

Set the display resolution. The display resolution must be equal to or
coarser than the resolution of the installed scale or encoder. Changing
the Display Resolution will not affect the accuracy of the machine.
Always set resolution in Microns, regardless of whether the CNC is in
Inch or MM Mode. [Default: 2 Microns (0.002mm/.0001”)] Resolution
settings should match the installed equipment.
1. Refer to Map 1, Menu D. Highlight Disp. Res.
appears, displaying the following choices: 1, 2, 5 or 10 Micron setting.
3. Highlight the appropriate Display Resolution. Press ENTER. The axis
display will show movement at the selected resolution.
10-Feb-98 Page 13-7

Encoder Line Count
NOTE: This parameter applies only to encoders and should not be used
for scales.
Enter the number of counts per revolution supported by the axis encoder.
The software accepts line counts of up to 10,000 counts per revolution.
[Default: 635]
To enter an encoder line count:
1. Go to Map 1, Menu D, Axis Resolution Setup Screen. Highlight
Enc. Lines.
2. Press X or Z (axis being set). Press ENTER. The CNC highlights the
Enc. Line entry field for the entered axis.
3. Enter the encoder line count. Press ENTER.
Ballscrew Pitch
for scales.
Pitch The linear distance traveled per one revolution of
the ballscrew.
Set the pitch of the ballscrew. Use the unit of measurement to which the
CNC defaults (Inch or MM). [Default: 0.20]
To enter the ballscrew pitch:
1. Go to Map 1, Menu D. Highlight Pitch.
Pitch entry field for the entered axis.
3. Enter the pitch of the ballscrew for that axis. Press ENTER.
Ratio of the Ballscrew to the Encoder
for scales.
The Ratio is the number of revolutions of the encoder that corresponds to
one full revolution of the ballscrew. [Default: 1.5]
To set the ratio:
1. Refer to Map 1, Menu D. Highlight Ratio.
Ratio entry field for the entered axis.
3. Enter the appropriate ratio for that axis. Press ENTER.
Page 13-8 10-Feb-98

Linear Correction Compensation

Use Linear Correction Compensation when mechanical errors are
detected, in the ballscrew or other parts of the machine, that affect the
distance displayed by the CNC. To determine the amount of correction,
measure the error with a calibration device. When Linear Correction is
activated, the CNC multiplies each commanded move by the
compensation value.
If no Linear Compensation is required, disable this feature. When
enabled, a different correction value can be specified for each axis.
[Default: Linear Correction turned Off] [Range: 0.300000 to 3.000000]
Correction = Distance Read by Control ÷ Distance Actually Traveled
This correction factor is applied linearly throughout the length of the axis.
To set Linear Correction Compensation:
1. Go to Map 1, Menu E. Highlight the menu selection that corresponds
to the axis being set. Press ENTER. The CNC highlights the entry
field for the axis.
2. Enter the appropriate Linear Compensation Correction. Press ENTER.
3. Highlight Linear correction compensation. This selection
activates/deactivates the option. Press ENTER to switch the selection
On/Off. The CNC activates Linear Compensation for all axes for
which values were entered.
Skew Error Compensation
Skew error The amount of error, in radians, one axis varies
from the parallel. The amount of required
correction is determined by an external calibration
device.
Skew Error Compensation can correct for orthogonal machine errors.
[Default: Skew Error Compensation turned Off]
To activate Skew Error Compensation on an axis:
1. Go to Map 1, Menu F. Highlight the menu selection that corresponds
field for the axis.
2. Enter the appropriate Skew Error value. Press ENTER.
3. Highlight Skew error compensation. Press ENTER to switch the
selection On/Off. Switch On to activate entered compensation. The
CNC activates Skew Compensation for all axes for which values were
entered.
In-Position Error Check
NOTE: All Rapid moves are performed in In-Position Mode.
When the CNC has positioned the tool within the In-Position Tolerance of
the target, the next programmed move is calculated. The CNC will
display the In-Position Indicator. The In-Position Tolerance can be
specified in the Setup Utility for each enabled axis.
[Default: 0.0004”]
Keep the following in mind when determining In-Position Tolerance:
10-Feb-98 Page 13-9

Encoders: The In-Position Tolerance is generally four times the

machine resolution. (i.e., if machine resolution is .0002”, then the
In-Position Tolerance will be .0008”.) This is a good benchmark
from which to begin to adjust this value.
Scales: The In-Position Tolerance equals the resolution of the
scale.
The In-Position Tolerance should always be smaller than the Continuous
Path Tolerance.
To define In-Position Tolerance:
1. Go to Map 1, Menu G. Highlight the menu selection that corresponds
field for the axis.
2. Enter the appropriate In-Position Tolerance. Press ENTER.
Continuous Path
With Continuous Path Mode active, the CNC blends one move into
another. The Continuous Path Mode is active at power on and is used for
feed moves.
The CNC approaches target and comes within the Continuous Path
Tolerance of the target position. At that point, the CNC begins to
calculate the next programmed move. The CNC does not perform an in-
position check before it executes the next move. This enables for smooth
contouring of a profile or surface.
[Default: 0.0700”]
To activate and define the Continuous Path Tolerance:
field for the axis.
2. Enter the appropriate Continuous Path Tolerance. Press ENTER.
3. Highlight Continuous Path. This selection activates/deactivates the
option. Press ENTER to switch the selection On/Off. Switch On to
activate Continuous Path Mode.
Default Rapid Rate
The Default Rapid Rate sets the speed at which the axis operates in
Rapid Mode. The machine builder sets the maximum rapid rate
according to the physical limitations of the machine. These factors
include:
− the available torque of the motors
− the available output of the servo drives
− the pitch of the ballscrew
− the amount of mass being moved
− any mechanical advantage gained by pulleys or gears
− other factors
To override the default rapid, adjust the FEEDRATE OVERRIDE switch. The
switch will vary the rapid speed from 0 to 100% and does not affect the
maximum rapid rate set.
Page 13-10 10-Feb-98

[Default: 200 inches per minute]

To set the Default Rapid Speed:
field for the axis.
2. Enter the appropriate Maximum Default Rapid Rate. Press ENTER.
Axis Default Feedrate
The Axis Default Feedrate setting establishes a default feedrate for each
axis in cases where a feedrate has not been programmed.
To set the Axis Default Feedrate for an axis:
1. Go to Map 2, Menu D. Highlight the menu selection that
corresponds to the axis being set. Press ENTER. The CNC highlights
the entry field for the axis.
2. Enter the appropriate Axis Default Feedrate. Press ENTER.
Regardless of the settings entered in this table, the user can program the
control to any other feedrate for the machine in either Manual or Auto
Mode.
Software Limits
NOTE: The machine should have the Home function enabled in order to
use software limits.
Positive and negative software limits enable you to create an envelope
that limits the area of travel.
This envelope is referenced to machine zero. The defined envelope will
shift according to the position of machine zero, if the machine zero
reference is changed.
If home limit switches are not used, use another method to determine an
absolute machine position (example, an indicator).
Enter positive and negative software limits separately for each axis.
[Default: Software Limits turned Off]
To enter Positive Software Limits:
1. Go to Map 2, Menu J. Highlight Software limits. Press ENTER to
switch the setting to On. The CNC enables software limits.
2. Highlight Positive software limits. Press ENTER. The CNC activates
the Positive Software Limits Setup screen (Menu I).
3. In Menu I, highlight the menu selection that corresponds to the axis
being set. Press ENTER. The CNC highlights the entry field for the
axis.
4. Enter the appropriate positive software limit. Press ENTER.
10-Feb-98 Page 13-11

To enter Negative Software Limits:

2. Highlight Negative software limits. Press ENTER. The CNC
activates the Negative Software Limits Setup screen (Menu H).
3. In Menu H, highlight the menu selection that corresponds to the axis
axis.
4. Enter the appropriate negative software limit. Press ENTER.
Use the software limits in conjunction with the home limit switches and a
"Homing" cycle command (G28) to ensure that the software limits are
reliably referenced to an absolute machine position each time the control
is turned on.
If home switches are not used, then some other method of determining an
absolute machine position must be used.
Backlash Compensation
Backlash The loss of motion that occurs when the encoder
reverses direction and begins to record motion
before the table actually moves. Backlash
compensation takes this lag into account and
corrects the move.
All systems that move masses under control exhibit backlash. Some
causes include: the flexing of structural components, bearing end thrust
or wind-up of the ballscrew that drives the slide.
Backlash must be measured and the value stored in the Setup Utility.
The control automatically calculates the necessary motion corrections,
once the Backlash Compensation is activated.
[Default: Backlash Compensation turned Off]
To activate and define Backlash Compensation for an axis:
field for the axis.
2. Enter the appropriate Backlash Compensation. Press ENTER.
3. Highlight Backlash compensation. This selection
On/Off. Switch On to activate Backlash compensation.
Page 13-12 10-Feb-98

Encoder Phasing
CAUTION: On systems that use the ANILAM DSP Motion Control
Board, the Phase B setting is not used.
On systems using the LM-628 Motion Control Board, do not change
both Phase A and Phase B settings to reverse the direction of the
count. Change only one phase setting, usually A.
Moving an axis in a positive direction should yield a positive count on the
axis display. Similarly, moving an axis in a negative direction should yield
a negative count on the axis display. If an axis display does not count in
the appropriate direction, adjust the Encoder Phase A settings to correct
the problem. [Phase A Default: Invert(ed) for X and Z axes]
This is the only way to change the direction of the count without making
hardware changes.
To adjust the Encoder Phase A Setting:
to the axis being set. Press ENTER to switch the setting (Not Invert/
Invert). Changing the Phase A setting inverts the direction of count
for the adjusted axis.
On systems that use motion control boards with the LM-628 chip, it is
sometimes necessary to change both Phase A and Phase B for the
Homing function to work properly. The control must read a coincidence of
the Phase A, Phase B and Index Pulses at the input to the LM-628 chip to
declare a “Home” point.
If you use the Phase B selection to orient the Index Pulse signal with the
Encoder A and B signals, the count direction cannot be swapped via
software alone. The A and B wires must physically be swapped, at a
convenient point.
To adjust the Encoder B software setting:
Invert).
Vector Limits
Vector limit switches (sometimes called directional limit switches) prevent
further motion along an axis, when tripped. The positive or negative
vector limit switch can also be used as a home switch for an axis.
NOTE: Directional limit switches must be wired normally closed. No
other configuration ensures proper and safe machine operation.
On PCB 843 I/O Controller Boards, eight input ports are shared with
vector limit input ports. A shared port that is used for a vector limit cannot
be used as a function input. Vector limits are assigned to specific ports.
Refer to Table 13-7, PCB 843, Vector Limit Input Port Assignments
for vector limit input port assignments.
[Default: Disabled]
Table 13-7, PCB 843, Vector Limit Input Port Assignments
Input Port Assigned Vector Limit
10-Feb-98 Page 13-13

8 X+
9 X-
10 C+
11 C-
12 Z+
13 Z-
14 U+
15 U-
To set up vector limits:
1. Refer to Map 3, Menu D. Highlight the required axis (axes) and
switch the vector limits to Enable.
Ballscrew Compensation
The control can correct for errors in the accuracy of the ballscrew, leading
to a high degree of accuracy on the finished workpiece. Use one of the
following two methods to compensate for ballscrew errors.
[Default Ballscrew Compensation Active setting: None]
Table 13-8, Ballscrew Compensation, Methods
Method Description When Used

Standard For each axis, the ballscrew When the ballscrew shows
Segment is divided into 128 or fewer (non-linear) errors
Lengths segments for calibration. throughout the length of the
Segment length is constant screw.
for all segments.
Variable For each axis, the ballscrew When the ballscrew shows a
Segment is divided into 16 segments more linear rising or falling
Lengths for calibration. Each error throughout its length.
segment length is variable.
Standard Segment Length Ballscrew Compensation
NOTE: Standard Segment Length Compensation must be used with the

Automatic File Loader.
NOTE: You must perform a Machine Home sequence before enabling

the Ballscrew Compensation.
Standard Compensation enables the ballscrew to be divided into as many
as 128 segments for calibration per axis. Segment length is constant for
all segments.
To set Standard Segment Length compensation, follow the procedure
below. Refer to Map 4.
[Default Active parameter : None]
1. Activate the Standard Segment Length Setup Menu.
A. Go to Menu D. Highlight Standard. Press ENTER.
B. The Standard parameters Setup Menu activates (Menu E). Use
this menu to set up the axes for Standard Ballscrew
Compensation.
Page 13-14 10-Feb-98

2. Set up the Number of Segments parameter. The machine builder

can specify up to 128 equal segments. The number of segments
multiplied by the segment size should equal the entire range of travel
for the axis being set.
A. Go to Menu F. Highlight the menu item pertaining to the axis
being set. Press ENTER. The entry field for the selected axis
highlights.
B. Enter the number of segments desired for that axis. Press ENTER.
C. Repeat the procedure for all axes.
3. Set up the Segment Length. In Standard Ballscrew Compensation,
the length of each lasered segment is the same. The CNC counts off
the segments from the beginning of the compensated area, as
determined by the sum of the Offset and Zero Cross values assigned.
The entered value should represent the segment length for each axis
and the direction in which the compensation is being performed
(positive or negative) along the axis.
To set up segment length for Standard Ballscrew Compensation:
A. Go to Menu J. Highlight the menu selection corresponding to the
axis being set. Press ENTER. The CNC highlights the entry field
for that axis.
B. Enter the appropriate Segment Length for that axis. (This will be a
negative number if the direction of travel is negative with reference
to the Home position.)
4. Set the Ballscrew Zero Cross and Offset parameters. Use Zero
Cross and/or Offset to set a starting point for Ballscrew
Compensation. Both values are measured from Machine Home.
These values include distance and direction (positive or negative)
from Machine Home.
The CNC adds the two values to determine the starting point. For
example, if the assigned Offset is -0.01mm and the Zero Cross is -
6.00mm, the CNC will begin the compensated (lasered) area -6.01mm
from Machine Home along the axis.
Commonly, Machine Home (0.0000) is the Zero Cross parameter and
the Offset is just off the limit switch. However, any point in an axis’
range of travel can be selected for the Offset or Zero Cross.
10-Feb-98 Page 13-15

To set up the Zero Cross parameter:

A. Go to Menu I. Highlight the menu selection corresponding to the
for that axis.
B. Enter the appropriate Zero Cross parameter for that axis. If the
Zero Cross parameter is at Machine Home, enter 0.0000. All
entered values are referenced to Machine Home.
To set up the Offset parameter:
A. Go to Menu H. Highlight the menu selection corresponding to the
for that axis.
B. Enter the appropriate Offset for that axis. If the Offset location is
Machine Home, enter 0.0000. The ballscrew offset is measured
from Machine Home.
5. Set up Table entries. Determine the compensation required per
segment. Use a laser to make these measurements for the axis that
require compensation.
The compensation value is the difference between the desired
positive or negative position commanded by the CNC and the actual
position read by the laser. Record the compensation for each
segment in the Table Entries Menu (Menu G).
The length of the table equals the largest number of entries assigned
to any axis. If X requires 13 segments and Z requires 9, the table will
be 13 lines long.
NOTE: Refer to Automatic File Loader for details on how to enter
values automatically.
To enter the Table entries manually:
A. Go to Menu G. Press X or Z to set the appropriate axis. The
entry field for that axis highlights.
B. Enter the compensation required for each segment assigned to
the axis. Press ENTER. The CNC accepts the entered values.
6. Activate Standard Ballscrew Compensation.
A. Go to Menu D. Highlight Active. Press ENTER.
B. The Active Setup Menu pops up. Highlight Standard. Press
ENTER. The CNC activates Standard Ballscrew Compensation, as
set up by the user.
Automatic File Loader

This feature automatically loads a properly formatted laser datafile into the
Table Entries Setup Menu (refer to Map 4, Menu G). It is only available
with Standard Length Ballscrew Compensation.
NOTE: The File Loader does not change the way the Standard Segment
Length Ballscrew Compensation is set up. (Refer to previous section.)
However, it requires additional information to be entered. Some clean-up
of the laser file will also be necessary.
Page 13-16 10-Feb-98

Figure 13-1, File Loader Window

To load the laser file automatically:
1. Go to Map 4, Menu G.
2. Press the LdFile (F8) softkey. Enter the appropriate password, if
requested to do so by the system. The File Loader Menu activates
(refer to Figure 13-1, File Loader Window).
3. Highlight Starting Segment. Enter the segment number of the first
table entry. Press ENTER.
4. Highlight Ending Segment. Enter the segment number for the last
5. Highlight Axis. Press ENTER. In the pop-up menu that appears,
highlight an axis (X or Z) and press ENTER.
6. Refer to Table 13-9, Ballscrew File Loader Parameters. Highlight
Action and press ENTER. In the pop-up menu that appears, highlight
an option and press ENTER.
7. Press LdFile (F8) again to load the file. Repeat the procedure on the
other axes. A successful load will show the new entries in the table.
10-Feb-98 Page 13-17

Table 13-9, Ballscrew File Loader Parameters

Parameter Description
Starting Segment Specifies the segment number used as the
first entry in the Table Entries. Entering a
value greater than 128 (maximum number of
segments enabled) results or greater than the
Ending Segment value generates an error
message.
Ending Segment Determines the row in the ballscrew
compensation table that will be the last to
receive data from the laser file. If the
segment limit on the table for the axis is
exceeded, data will not be entered beyond
the limit.
Axis Determines the axis the to which data will be
applied.
Action There are three types of actions that can be
performed while the data is being loaded.
New data can
− Overwrite the existing data in the table
− Add to the existing data
− be averaged with the existing data
Overwrite will clear any values in the table
beyond the segment limit for the axis. Add
and Average replace the old values. Action
makes it possible to fine-tune the ballscrew
compensation values from multiple passes of
laser readings.
Filename Enter the DOS filename of the laser file,
including the path, if different from the
default.
Page 13-18 10-Feb-98

Laser File Data File Format

The laser file data must be tailored to fit a readable format. The general
format of the data is:
n1, n2
where:
− n1 is the commanded position
− , is the delimiter
− n2 is the actual position as measured by the laser
Most laser datafiles have header information. Remove this information.
An example of an acceptable file format follows:

0 ,-1.05300568384907E-03
-1 ,-1.00202340866009
-2 ,-2.00227380774995
-3 ,-3.00247420656991
...............
-27 ,-27.0068997761763
-28 ,-28.0070941749639
The delimiter must be a comma (,).

Most text editors support Find/Change or Search/Replace commands to
facilitate such changes. The first number (0, -1, -2…) represents the
commanded position; the second number is the actual position measured
by the laser. For example, in the sample data file displayed above, a
commanded move to -2.000 inches actually went to
-2.00227380774995 inches.
Be sure to include the 0 value. It is used to calculate the first segment
value for the Ballscrew Compensation Table.
Generating Ballscrew Compensation Values from Laser Files

This section provides an overview of how the CNC automatically
interprets the laser data file. In the sample laser data file above:
− The segment length is 1 inch.
− The 0 inch value (commanded) from the laser data (measured) is
approximately -0.00105.
− The 1.0 inch value (commanded) from the laser data (measured) is
− The values are negative, signifying negative machine movement.
The CNC compares the two values by subtracting the one inch value from
the 0 inch value. The segment length is subtracted from the result. The
sign of the final result is reversed for positive travel values.
Method
Step 1: [ (Current Position) - (Previous Position) ] - (Segment Length)
= Directed Error
Step 2: - ( (Sign of Segment) (Directed Error) ) = Correction Entry
10-Feb-98 Page 13-19

Example
Step 1: ( (-1.00202) - (-0.00105) ) - (-1) = -0.00097
Step 2: -( -(-0.00097) ) = -0.00097
This technique is used to find all Ballscrew Compensation Table values.
The File Loader inserts all compensation values into the Table Entries
(Map 4, Menu G) automatically.
File Loader Error Messages

If the segment limit for the axis is exceeded because the user has
selected a too high Ending Segment value, no values will be entered for
any entry falling above the segment limit. In addition, a warning
message: “Data from file truncated!” will appear following the data
transfer.
Verify that the segment limit is set (found in an earlier menu) to the
desired limit before you load the laser file.
If the segment length setting has not been set to match the displacements
of the laser readings, the user will have invalid data entered into the
Ballscrew Compensation Table. The laser data provided above, for
example, shows displacements of one inch per segment. To avoid data
error, enter this value as the segment length prior to loading the data.
The positive/negative value of the segment size during ballscrew
compensation file loading must match the positive/negative direction of
machine travel during laser readings. The same applies to the laser
values.
The zero value in the laser file is the only exception to the above rule.
The zero value in the laser file may be either positive or negative,
regardless of the direction of travel. For example, a negative travel
laserfile should contain all negative values (with the possible exception of
the zero value). The segment size should be negative as well. For
positive travel, substitute positive for negative in all cases.
Variable Segment Length Ballscrew Compensation
NOTE: Perform a Machine Home sequence before enabling the

Ballscrew Compensation.
Use Variable Ballscrew Compensation to divide the ballscrew into as
many as 16 segments per axis for calibration. Each segment length is
variable.
[Default: Active parameter set to None]
To set up Ballscrew Compensation with Variable Segment Lengths, follow
the procedure below. Refer to Map 5.
1. Activate the Variable Segment Lengths Setup Menu of the axis being
set up.
A. Go to Menu D. Highlight Variable Segment. Press ENTER.
B. Menu E activates. Use this menu to set up the axes for Variable
Page 13-20 10-Feb-98

C. Highlight the menu selection corresponding to the axis being set

up. Press ENTER. The Variable Length Segment Lengths setup
menu for the selected axis activates (Menu F).
2. Set up the Number of Segments. The machine builder can specify
up to 16 segments of variable length per axis.
A. Go to Menu F (X axis setup shown).
B. Highlight Number of segments. Press ENTER. Enter the
appropriate number of segments for the axis. Press ENTER.
3. Set up the Segment length parameter. The machine builder can
specify up to 16 segments of variable lengths for the axis being set
up. The sum of the segment lengths should equal the entire range of
travel for the axis being set.
Variable Segment Compensation is best suited for ballscrews that
exhibit a more linear rising (or falling) error throughout their length.
To set up Variable Length Segment Lengths:
A. Go to Menu F. Highlight Segment Length. A table pops up into
which the segment lengths are entered. The number of entries in
the table equals the Number of Segments specified previously.
B. Press ENTER to activate the entry field for the first segment length.
Enter the length of the first segment and press ENTER. Enter the
length of the next segment and press ENTER. Enter all values
necessary to complete the table.
4. Set up Table entries. For the axis requiring compensation, determine
the compensation required per segment. Use a laser to make these
measurements. Compare the commanded position to the actual
position, as measured by the laser.
The compensation value is the difference between the positive or
negative position commanded by the CNC and the position read by
the laser. Record the compensation for each segment in the Table
Entries Menu.
be 13 lines long.
A. Go to Menu F. Highlight Table Entries. Press ENTER. A table
pops up into which the compensation values for each segment are
entered. The number of entries in the table equals the Number of
Segments specified previously.
B. Press ENTER to activate the entry field for the first compensation
value. Enter the compensation value of the first segment and
press ENTER. Enter all values necessary to complete the table.
5. Set up the Zero Cross and Offset parameters. Use Zero Cross
and/or Offset to set a starting point for Ballscrew Compensation. Both
values are measured from Machine Home. These values include
distance and direction (positive or negative) from Machine Home.
10-Feb-98 Page 13-21

The CNC adds the two values to come up with the starting point. For
example, if the assigned Offset is -0.01mm and the Zero Cross is -
6mm, the CNC will begin the compensated (lasered) area -6.01mm
Commonly, Machine Home (0.0000) is the Zero Cross parameter and
To set up the Zero Cross parameter:
A. Go to Menu F. Highlight Zero Cross. Press ENTER. The entry
field activates.
B. Enter the appropriate Zero Cross parameter for that axis. If the
Zero Cross parameter is at Machine Home, the entered value
should be 0.0000. All entered values are referenced to Machine
Home.
To set up the Offset parameter:
A. Go to Menu F. Highlight Offset. Press ENTER. The entry field
activates.
B. Enter the appropriate Offset parameter for that axis. If the Offset
parameter is at Machine Home, the entered value should be
0.0000. All entered values are referenced to Machine Home.
6. Activate Variable Length Ballscrew Compensation.
B. The Active Setup Menu pops up (Menu J). Highlight Variable
Segment. Press ENTER. The CNC activates Variable Length
compensation, as set up by the machine builder.
LM-628 Motion Control Board-Feed, Rapid and No Motion Gain Tables
NOTE: DSP Motion Control Board setup is detailed in a separate section.
The LM-628 chip controls the intensive, real-time computational tasks
required for positioning and velocity control of the motion axes. The gain
of an axis in Feed, Rapid and No Motion Modes can be set and
controlled.
This enables the technician to customize the output of the system to the
particular combination of servos, motors and feedback devices used on
an installation.
There are three Setup Utility menus which affect the gain of an axis:
− Feed Gain Table Setup Menu
− Rapid Gain Table Setup Menu
− No Motion (or holding) Gain Setup Menu
Use these menus to set a higher gain value for Feed Mode, where
greater accuracy is needed, than for Rapid Mode, when machine inertia,
available servo drive output power and other mechanical factors must be
considered. The No Motion Gain values control the gain of the axes
when the machine is holding position.
You must know how the PID (Positional, Integral and Derivative) filters of
the LM-628 chip work before you can change these values for optimal
machine operation.
Page 13-22 10-Feb-98

Default Values for LM-628 based motion control boards are shown on
Map 3.
When the CNC commands a move, (n), the output from the system is a
digital word, u’ (n), representative of that move. This digital word is
derived from the output of the interpolators, which create a move-required
value based upon: current position of the axis, the geometric equations
required to make the move, and the effect of any necessary
compensation parameters.
This move-required value is fed to the Digital PID Filter, so that the output
(digital word, u’ (n)) can be defined by the following equation:
Value Definition
Kp, Ki and Kd the Digital PID Filter Parameters
Kp Proportional Gain. This value is derived by directly
multiplying the Kp coefficient by the position error. It
is designed to compensate for immediate changes in
servo error position. It is the principal element used
to develop the ‘stiffness’ needed to hold axis position
at rest.
Ki Integral Gain. This value applies a long term
accumulation of error correction. It is used to ensure
that the static position error is zero: 0 position error
at rest or at constant velocity. It is derived by
multiplying the Ki coefficient by the position error and
then adding it to the previously computed Integral
Gain value. The Ki term provides a restoring force
that ensures static position error is zero.
Kd Derivative Gain. This value reacts to a long term
change in error. The Derivative value is calculated
by multiplying the Kd coefficient by the current error
minus the error calculated in the previous sample.
The Differential element reacts immediately (similar
to the Proportional element) and helps to stabilize the
axis faster.
10-Feb-98 Page 13-23

Ιl Integral Limit. The total maximum amount of Ki

correction enabled by the Digital Filter. Ki gain effect
is held to a preset maximum (the Ιl term) which is the
total maximum amount of Ki correction enabled by
the Digital Filter. Thus, a Ki term of 10, with an Ιl of
30, could apply first a Ki of 10, then a Ki of 20, then a
maximum Ki of 30, with three samples. Because the
Ιl has been reached, a fourth sample would result in
an applied Ki term of 30.
To change the Feed Gain Parameters:
1. Refer to Map 3. Go to the appropriate screen (for Feed, Rapid or No
Motion Gain Table).
2. Highlight the PID parameter being set (Kp, Ki, Kd or Ιl).
3. Press X, Z, W or C for the axis being set. The entry field for the axis
highlights.
4. Enter the appropriate value for the parameter. Press ENTER.
Jog Position
Jog Position defines a point on the machine, in reference to Machine
Home, to which the CNC will return when the Jog and Return function is
activated.
In Auto and S.Step Modes, the Jog and Return function enables the user
to remove the tool from the cut without aborting the program. It can be
used to change a tool or inspect a critical dimension during normal
operation.
To set the Jog and Return Position in X and Z:
1. Go to Map 6, Menu D. Highlight the axis being set. Press ENTER.
2. In the highlighted entry field, enter the appropriate coordinate for the
selected axis.
Axis Clamping
Refer to Map 6, Menu J. The control enables the user to clamp machine
axes that are not in motion during machining.
Switch the Clamping Allowed option to enable (Yes) or disable (No) the
clamping feature. [Default: Disabled (No)]
Wait For Finish determines whether an external Finish signal is required
upon the completion of clamping operations. Switch Wait for Finish to
Yes to require a Finish pulse or to No if a Finish pulse is not required.
NOTE: Refer to Section 13 - Interface Setup for details on the external
Finish signal.
Page 13-24 10-Feb-98

Clamping must be programmed via M-Code in the user program. Refer to

Table 13-10, Axis Clamping M-Code.
Table 13-10, Axis Clamping M-Code
M-Code Format Description
M9246 M9246 Xx Zz Ww Cc Activates clamping for
given axes.
When a machine axis is clamped, the servo drive output is disabled.
Then, the clamping mechanism is engaged and an error in position is
incurred. Specify the maximum error allowed with the Allowable Error
option.
To enter the Allowable Error:
1. Go to Map 6, Menu J. Highlight Allowable Error and press ENTER.
2. Enter the Allowable Error.
Outputs available from the PC 843 I/O Controller Board are used to
disable the various servo drives during clamping. These outputs are
specified with the Axis Ports option.
To disable an axis servo drive for clamping:
1. Refer to Map 6, Menu K. Highlight the axis for which outputs will be
assigned. Press ENTER. The Output Ports Setup Menu (Menu L)
activates.
2. Choose the output required to disable the servo drive of the selected
axis.
NOTE: The I/O Controller Board has eight outputs available. It is
possible to accidentally assign more than one function to a single output.
The user should verify that each output is assigned only one function.
Axis Ports
Use the Axis Ports Setup Menu to assign the active axes on the machine.
Normally, axes X, C and Z would be assigned to Ports 0-2, respectively.
There are four axis ports available (0-3). Displayed Ports 4 and 5 cannot
be used.
To set up the axis ports:
1. Go to Map 6, Menu E. Highlight a port (0-5). Press ENTER. A pop-up
menu that contains the available axes (X, Z, W or C, typically)
appears. Any axis can be assigned to any port. (Refer to Menu F.)
Highlight the appropriate axis and press ENTER. The selected axis is
assigned to that port.
2. Repeat the procedure to set up all active axes. For unused ports,
choose Disabled from the pop-up menu.
NOTE: When wiring an axis, the assigned axis port determines the
correct pin connections for the Encoder inputs and DAC outputs on the
Motion Junction Board. Vector limit switch wiring also depends on the
Axis Port assignments.
LM-628 Motion Control Board-Position Error Check Parameters
The control detects a loss of motion and declares an error via the Position
Error Check (PEC) algorithm. The variables of these calculations are
10-Feb-98 Page 13-25

configurable. Refer to Table 13-11, PEC Parameters for a list and

definition of these parameters.
If the PEC algorithm detects a fault, the servos will shut off and one of the
following messages appears:
“ERROR: (AXIS) LAG OVER MAX!”
“ERROR: LOST (AXIS) FEEDBACK!”
Table 13-11, PEC Parameters
Position Error Check Parameter Definition

Check idle time (ms) The amount of time, in milliseconds, enabled between
the internal command for a move and the input of
counts from the feedback device, signifying motion.
[Default: 100 msec]
Maximum lag error The error distance enabled at rest or low feedrates,
before declaring a fault. [Default: 0.0047]
Minimum lag for speed break Used when a system is very responsive and has a low
lag. If the lag drops below this distance, the low feed
condition will be used. [Default: 0.0004]
Check idle time during homing (ms) The amount of time, in milliseconds, enabled between
This is the same as the Check idle time (ms)
parameter, but is used only during Homing. [Default:
100 msec]
Error checking Provides the ability to configure or disable the Position
Error Checking (PEC) option for troubleshooting.
[Default: PEC & Rapid Warning]
The following options appear when
the Error checking parameter is
activated. Choose one.
1. Off Disables PEC.
2. PEC Only Enables the PEC to remain active, but disables the
Rapid Warning messages. (In the event of a servo-
motor combination that does not reach rapid speeds
quickly enough, but provides acceptable performance,
this selection can be useful.)
3. PEC & Rapid Warning Enables PEC and will issue a warning message if the
Rapid rate is not reached or the machine takes too long
to reach the Rapid rate.
CAUTION: The PEC parameter must be enabled for
the system to be able to declare a servo fault and
shut down the system when an error is detected.
To change a PEC parameter:
1. Go to Map 6, Menu H.
2. Highlight the PEC parameter to be changed. Press ENTER. The entry
field for that parameter highlights.
3. Enter the appropriate value in the entry field. Press ENTER.
Page 13-26 10-Feb-98

4. For the Error checking parameter, a pop-up menu appears, with the
following choices: Off, PEC Only and PEC & Rapid Warning. (Refer
to Menu I.) Highlight one of the choices in the pop-up menu. Press
ENTER. The CNC activates the selected choice.
LM-628 Motion Control Board-Rapid Ramping

The Rapid Ramping parameters can alter the acceleration and
deceleration of an axis, if required. [Default: Disabled (Enable Usage to
No)]
− To increase the acceleration and deceleration time of the system,
decrease the Rapid Ramping parameter.
− To decrease the acceleration and deceleration time of the system,
increase the Rapid Ramping parameter.
The parameter enables the machine builder to adjust the number of micro
moves performed during acceleration in Rapid (G00) moves only (feed
moves are not affected).
Use the Rapid Ramp Buffer to make the adjustment. [Default: 7] To
change, enter a value in the Rapid Ramp Buffer, and switch Enable
Usage to Yes.
To adjust the Rapid Ramping Parameter:
1. Go to Map 6, Menu G.
2. Highlight Rapid Ramp Buffer. Press ENTER. The entry field
highlights.
4. Highlight Enable Usage. Press ENTER to switch the selection
between Yes and No. Choose Yes to enable the entered Rapid
Ramp Buffer. Choose No to disable the entered Rapid Ramp Buffer.
If the parameter is disabled, the CNC applies a default of 7 in the
Rapid Ramp Buffer.
Spindle Axis
Refer to Map 9, Menu C. Use this menu to set up all parameters
associated with the spindle axis (C).
Spindle DC Output
Spindle output refers to the type of DC drive output provided by the
control, as required for the spindle drive being used.
Unipolar output varies linearly, depending on the spindle speed selected.
The range is 0 to +10 VDC. [Default]
10-Feb-98 Page 13-27

Bipolar output ranges from -10 to +10 VDC. A voltage of 0 VDC

represents a commanded 0 RPM spindle speed. The system outputs a
negative DC voltage for Spindle Reverse (M4) and positive DC voltage for
Spindle Forward (M3) commands. The DC voltage is linear with respect
to the RPM of the spindle speed command. Consequently, required
voltage (0 to + 10 VDC) increases as spindle speed increases (in reverse
or forward directions). The maximum voltage, + 10 VDC, is output at the
highest RPM value of the gear range.
1. Go to Map 9, Menu C.
2. Highlight Spindle output. Press ENTER to switch the setting to
Bipolar or Unipolar.
Spindle Gear Ranges (Option)
NOTE: The Analog Spindle Output option is required for controlled

spindle operation.
Depending upon the mechanical considerations of the system, the spindle
drive may or may not require gearing and belt drive arrangements to
provide the necessary spindle speeds and torque.
The machine builder can use the Setup Utility to set up either a single
gear range or up to four separate gear ranges. Refer to Map 9, Menu C.
To set up for a single gear range, switch Gear Ranges Used to Single-
M40. To set up for multiple gear ranges, switch Gear Ranges Used to
Multiple.
If you choose a single gear range, the CNC does not require a gear range
program entry during spindle operation.
For example, a command to activate a DC spindle drive at 1500 RPM in
reverse direction would be programmed as follows:
S1500 M04 (no gear range)
The DC output would be a linear value based on the high setting for M40
gear range.
If you choose multiple gear ranges, the CNC assumes DC spindle
operation. The machine builder can program up to four separate gear
ranges (M41, M42, M43 and M44). Each gear range specifies a minimum
and maximum speed for the range. The CNC program requires three
entries for spindle operation commands: gear range, speed and direction,
as follows:
M42 S1500 Gear range and speed
M03 Direction
To set up a single Spindle Gear Range:
The default Low/High setting for the M40 gear range is 50 and 6,000
RPM.
2. Highlight Gear ranges used. Press ENTER to switch the setting to
Single-M40.
3. Highlight Low setting for M40 gear range. Press ENTER. Enter the
appropriate Low range RPM. Press ENTER to store the setting.
Page 13-28 10-Feb-98

4. Highlight High setting for M40 gear range. Press ENTER. Enter the
appropriate High range RPM. Press ENTER to store the setting.
To set up multiple (M41 - M43) gear ranges:
2. Highlight Gear ranges used. Press ENTER to switch the setting to
Multiple.
3. Highlight Low setting for… (choose appropriate selection for M41 -
M43). Press ENTER. Enter the appropriate Low range RPM. Press
ENTER to store the setting.
4. Highlight High setting for… (choose appropriate selection for M41 -
M43). Press ENTER. Enter the appropriate High range RPM. Press
5. Set up all necessary gear ranges.
The high and low settings for each range act as a window of allowable
speeds for the range. Ranges can overlap.
At the highest RPM in the range, the system outputs the maximum DC
voltage, +10 VDC. 0 RPM always represents 0 VDC. The lowest RPM
voltage will be a ratio of the highest speed to the lowest speed.
(Example: If M41 has a range of 1000 RPM to 10,000 RPM, 10,000 RPM
results in 10 VDC and 1000 RPM results in 1 VDC.)
NOTE: If Spindle Forward is active, the voltage will be positive. If
Spindle Reverse is active, the voltage will be negative.
Gear Change RPM

Refer to Map 9, Menu C. Gear change RPM specifies the spindle speed
at which a gear change will be performed.
Number of Lines on the Spindle Encoder

When the machine is fitted with a spindle encoder, the machine builder
can set the spindle speed display to correspond to the spindle encoder
specifications.
Open loop operation of the Spindle Axis is possible. It is not necessary
for the spindle to be fitted with an encoder to enable DC spindle
programming.
[Default: 1,024 lines per revolution]
To set up the number of spindle encoder lines:
1. Go to Map 9, Menu C. Highlight Lines on spindle encoder per
revolution. Press ENTER.
2. The entry field for the parameter highlights. Enter the number of
encoder lines. Press ENTER.
10-Feb-98 Page 13-29

Spindle RPM Display

Configure the Spindle RPM display to accept either feedback from a
spindle encoder or display programmed RPM. [Default: Program] This
parameter does not affect RPM or voltage output to the spindle, only the
displayed RPM value.
To set up the RPM display:
2. Highlight Spindle RPM Display. Press ENTER to switch between the
following choices: Feedback or Program. Switch to Feedback to
configure the spindle RPM display for encoder feedback. Switch to
Program to configure the display to exhibit the programmed RPM.
Encoder/Spindle Ratio
Set up the ratio of the encoder RPM to the spindle RPM. The default
setting, 1.0, indicates that the encoder and spindle are revolving at the
same rate.
To set up the Encoder/Spindle ratio:
2. Highlight Multiplication spindle factor. Press ENTER. The entry field
for the selection highlights. Enter the appropriate ratio (encoder to
spindle). Press ENTER.
Check Spindle during Gear Change

Refer to Map 9, Menu C. Highlight Check spindle operation during
gear change. Switch the setting to enable (Yes) or disable (No) the
feature.
If you select Yes, you must stop the Spindle (M5 command) before a gear
change (For example: Change from M41 to M42). Select No to change
gears directly without stopping the spindle.
Stop Program on Gear Change

You can configure the control to stop program execution during a gear
change. To stop the program during a gear change:
1. Refer to Map 9, Menu C. Highlight Stop Program on gear change.
2. Press ENTER to switch the setting on (Yes) and off (No). If Yes, the
CNC checks for spindle movement (RPM). If there is spindle
movement, it displays an error message and stops the machine. If
No, the CNC will not stop the program on a gear change.
Check RPM to be within Gear Range

Use Check RPM to be within gear range to prevent the programmer
from designating an RPM outside the active gear range, as follows:
1. Refer to Map 9, Menu C. Highlight Check RPM to be within gear
range.
CNC checks the RPM. If the entered RPM is not within the active
Page 13-30 10-Feb-98

gear range, the CNC generates an error message. If No, the CNC
does not check the entered RPM against the active gear range.
Special U, V, W Setup
In addition to the standard motion axes (X, Z), the CNC supports a third
control axis (W). This axis is used to control either a standard linear axis
or a rotary axis. It can also be used as a DRO (Digital Read Out) to
display position.
W Axis Display
To set up the display to include the additional axis:
1. Go to Map 9, Menu D. Set Display W axis to Yes. The CNC will
display the W axis on the Position Display. Press No to disable the
option.
W Axis Type
Refer to Table 13-12, Additional Axis Function.
To define the W axis type:
1. Go to Map 9, Menu E.
2. Select W axis set to and press ENTER.
3. Select one of the following:
Table 13-12, Additional Axis Function
None Disabled
Linear Motion Controlled Linear Axis
Rotary Motion Controlled Rotary Axis
Linear DRO Linear DRO
Rotary DRO Rotary DRO
When rotary is selected, the user has the option to reset the axis display
when the position of the axis reaches 360 degrees of motion. This does
not affect the programming of the axis.
For example, a move of 400 degrees is programmable and executable,
but the axis will display 40 degrees (not 400) at the completion of the
move, assuming a starting point of 0 degrees.
W Rotary axis reset at 360 enables/disables this option. Switch Yes to
enable and No to disable the option.
Interface Setup
This section describes how to configure I/O functions.
The exchange of control signals between machine devices and the
control is controlled by the system I/O Controller. Input signal
implementation is a standard feature, available in all modes.
The specific properties of the signals exchanged are configured via
software settings made in the Setup Utility. Refer to Section 14 - Setup
Utility Maps to locate the menus required for I/O setup.
The Interface Setup Utilities enable the user to specify how the CNC
Control interfaces with the machine. Selection of the type of
10-Feb-98 Page 13-31

Programmable Controller (if used) is facilitated by these menus, as is

setup of the input and output ports of the I/O Controller Board.
Input signals from machine devices to the control are handled by the
System I/O Controller in all configurations.
There are four basic output configurations.
− ANILAM’s Integral Programmable Intelligence (IPI) Option: IPI is a
program that runs in the background of the CNC computer. IPI runs a
conditional logic program written in IPI Operational Code. IPI has
direct access to the control’s registers and system flags. IPI is linked
to the System I/O Controller via an RS-232 link. The output signals
are generated at the I/O controller ports. When IPI is used, all outputs
are controlled by IPI.
− Programmable Logic Controller (PLC): All outputs are generated at
the PLC (output ports on the System I/O Controller are disabled). The
PLC runs a conditional logic program written in the PLC
manufacturer’s language. Control registers and flags are internally
translated to PLC compatible instructions and are sent to the PLC via
RS-232.
− Distribution Board: Basic M-function and S-function services are
activated by the execution of programmed M-Code or S-code blocks.
Output signals are generated at the System I/O Controller ports.
− Disabled: No I/O signals are exchanged between the machine and
the control.
Appropriate security devices must be in place to enable M and S function
output options. Refer to Table 13-13, Machine Output Options.
Table 13-13, Machine Output Options
Spindle Outputs Optional

IPI Option Optional
M-function Option Optional
The specific properties of the input and output signals are configured via
software settings made in the CNC Setup Utility.
I/O Port Locations

On 1200T controls, I/O is handled by the I/O controller (PCB 843). The
input and output ports are physically located on the board.
Figure 13-2, PCB 843 I/O Controller, P4 Connector
Page 13-32 10-Feb-98

Refer to Figure 13-2, PCB 843 I/O Controller, P4 Connector. PCB 843
I/O ports are single-bit ports located at the board’s P4 connector. There
are 16 input and 8 output ports. Eight of the input ports can also be used
as vector limit inputs. Refer to Table 13-7, PCB 843, Vector Limit Input
Port Assignments. When these ports are used as vector limit inputs,
they can no longer be used as input ports.
Output ports are located at one end of the connector and input ports at
the other. Port numbers are silk-screened on the board. Do not confuse
the port numbers with connector pin numbers. The port numbers are
above and below the connector. Pins 1, 14, 15 and 28 of the connector
are also silk-screened at the sides of the connector.
Interface Type
Refer to Map 9, Menu G. Use this menu to configure the I/O interface
type. Highlight the required selection and press ENTER.
Selection of a PLC type disables the output ports and configures the
control to send machine control and status information to the PLC (via
RS-232). Specific information is sent to corresponding registers
(sometimes called internal relays) in the PLC.
Refer to Table 13-14, Control I/O Interface Types for a description of
each selection. Only the Distrib. Board selection enables use of the
output ports for system outputs.
[Default: Distrib. Board]
10-Feb-98 Page 13-33

Table 13-14, Control I/O Interface Types
Interface Interface Application

Selections
Disabled Distribution Board is disabled, no I/O signals are exchanged between the
machine and the control.
Distrib. Board Configures the control to enable the exchange of input and output signals
between the control and the machine via the System I/O Controller. Inputs
from the machine generate function signals that are sent from the board to
the control via RS-232. Function signals from the control are sent to the
Distribution Board (via RS-232) to activate the required output ports.
AB-SLC150 Configures the control to exchange machine status information with Allen-
Bradley SLC 150 Programmable Controllers via RS-232.
MITSU. F/A Configures the control to exchange machine status information with
Mitsubishi F1/F2 Series Programmable Controllers via RS-232.
SAIA-PCD Configures the control to exchange machine status information with S.A.I.A
PCD4 Programmable Controllers via RS-232.
ANILAM IPI Configures the control to use Integral Programmable Intelligence (IPI). The
IPI uses the output ports located on the System I/O Controller.
OMRON CQM1 Configures the control to exchange machine status information with Omron
CQM1 Programmable Controllers via RS-232.
NOTE: RS-232 communication parameters between the control and the System I/O
Controller are permanently set to 9600 baud, 8 bit 1 stop, no parity. Communications
parameters for RS-232 between the control and a PLC are set from the Communications
Setup Menu. Refer to Map 10, Menu J.
Page 13-34 10-Feb-98

Output Functions
When selected, the System I/O Controller can generate outputs to activate or
deactivate various machine devices, as commanded by the CNC.
M-function numbers (1-99) correspond to programmed M-Code blocks (1-
99). Execution of an M-Code block activates the outputs assigned to like
numbered M-function.
A single S-function output is available. If set up, the execution of any S-
Code block will activate its assigned ports.
There are two parts to setting up an output port.
− Configure the port to produce the signal (and logic) type required to
control the device on the machine.
− Assign the port to the functions that will activate and deactivate it. A
port can be used by more than one function.
Output Ports
Refer to Figure 13-3, Typical Inactive Port Operation (Default Port
Settings) and Figure 13-4, Typical Active Port Operation (Default Port
Settings). The default port settings open and close relays that operate
devices on the machine.
Default port settings provide a 24V common source when the port is active.
The port is in a high impedance state when inactive. Each output port is
rated for a 500 mA current. Usually, one function is used to activate
selected port(s) and another is used to deactivate the port(s).
Distribution Board
Inactive Port
(Default Setup) Machine Machine Relay
Circuit
Port At High (Open)
Impedance
State
24VDC Power Supply
24VDC
Common +24VDC
Figure 13-3, Typical Inactive Port Operation (Default Port Settings)
10-Feb-98 Page 13-35

Distribution Board
Active Port
Circuit
Port Provides (Closed)
24VDC
Common
24VDC Power Supply
24VDC
Common +24VDC
Figure 13-4, Typical Active Port Operation (Default Port Settings)

Each port can be independently configured to generate a constant output or
a single pulse of definable width, with either high or low active logic.
Logical combinations of port options may be used together.
Refer to Map 9, Menu I. Use this menu to configure the output signals for
the system. Refer to Table 13-15, Output Signal Configuration Options
for an explanation of the output signal options.
Table 13-15, Output Signal Configuration Options
Pulse(msec) Port output is maintained for the period specified by the builder. Enter the
number of milliseconds (range 0 rto 32,000). If a zero (msec) Pulse is used,
output is maintained until port is turned off. The CNC will hold execution of the
program for the duration of a non-zero (msec) Pulse.
Delay(msec) Holds program execution for the specified period of time following the
completion of the M-function. Enter the number of milliseconds. Use any value
from 0 to 32,000. If the Delay is set to zero (msec), there is no delay.
Finish When a function activates an output port that has been set for a finish pulse,
the CNC holds execution of the program until an “External finish pulse” input
function is received. If no finish pulse is received by the end of the timeout
period, the CNC displays an error message and stops the program. If Finish is
specified for a port that has a non-zero (msec) Pulse, the “External finish pulse”
is only acknowledged after the Pulse expires.
Active Sets port logic as active high or active low. When set active high, the port
provides a 24V common source when activated. When set active low, the port
is in a high impedance state when activated.
Page 13-36 10-Feb-98

Refer to Map 9 and configure output ports as follows:

1. From Menu H, highlight the port being configured and press ENTER.
Menu I activates.
2. Menu I lists the configuration choices. Refer to Table 13-15 for a
description of each option.
Output Ports Assignment

The control can be configured to generate a single S-function and M-
functions M1 - M99. An M-function can activate or deactivate the ports
assigned to it. The S-function only activates the ports assigned to it. A port
can be assigned to more than one function. Due to the similarity in
procedure only M-function setup is described.
Refer to Map 10. Assign the M-function output ports as follows:
NOTE: The Menu D Ports On and Ports Off columns display hexadecimal
representations of the ports assigned to each operation.
1. From Menu D, highlight the M-function being set up and press ENTER.
Menu E activates.
2. From Menu E, highlight Ports On to select the output ports to be
activated by the function.
NOTE: The Menu F “Used” column lists the type of function to which a port
is assigned. “Bit” numbers correspond to PC 843 board output port
numbers.
3. From Menu F, select and set ports On or Off. An On setting means the
function will activate the port (turn it on). An Off setting means the port
is ignored. Close the menu when finished.
4. From Menu E, highlight Ports Off to select the output ports to be
deactivated by the function.
5. From Menu F, select and set ports On or Off. An On setting means the
function will deactivate the port (turn it off). An Off setting means the
port is ignored.
Input Functions
The input port setup configures the control to accept inputs from the
machine. When any of the inputs assigned to a function is activated, the
System I/O Controller sends the appropriate signal to the CNC via RS-232.
On the PCB 843 I/O controller, machine inputs and vector limit inputs share
eight of the input ports. Each vector limit is assigned to a specific port. If
an input port is set up as a vector limit input, do not use it for any other
input function.
There are two parts to setting up an input port:
− Configure the port.
− Assign the port to functions that use it.
Input Ports Configuration
10-Feb-98 Page 13-37

Input ports must be configured to interpret either the presence or the

absence of an input. A port configured “Active High” is active when it
receives a high (24 VDC) input signal. A port configured “Active Low” is
active when it is not receiving a 24 VDC input signal.
Refer to Map 10. Configure the input ports as follows:
1. From Menu G, highlight the port being configured. Press ENTER to
switch the selection between the High and Low.
Input Ports Assignment

If any of the ports assigned to a function are active, the System I/O
Controller will send a signal back to the CNC via RS-232. A port can be
used by more than one function.
Refer to Map 10. Assign input function input ports as follows:
1. From Menu H, select the required function and press ENTER. Menu I
activates.
2. From Menu I, select the ports that will be used to generate the function
signal to the CNC. An On setting means that an active signal from the
port will be needed to generate the function. An Off setting means that
signals at the port are not required by the function.
NOTE: The Menu H Ports column displays a hexadecimal representation
of the ports assigned to the function.
CNC Input Functions

Refer to Table 13-16, Input Function Descriptions. Each input function
causes the CNC to perform a specific action. Refer to Table 13-16, Input
Function Descriptions.
Table 13-16, Input Function Descriptions
Input Function
Tool guard This input holds the CNC program and stops the machine spindle.
The input must be removed before the program can be continued.
To restart the spindle, press START once. To continue the program,
press START a second time. If the spindle was not running when the
function was activated, press START once to continue the program.
The tool guard function complies with regulations that require an
intact tool guard to run the machine.
External finish pulse A finish pulse is an input signal from a machine device that signals
the control when the requested operation is completed.
When an output port configured for a finish pulse is activated, the
control is put on hold until a finish pulse input is received.
While on hold, the control will not run program blocks or respond to
keypad inputs.
Optional block skip (0) Activating this input enables a block skip command, /0.
External start Imitates the START key on the control’s keypad.
Page 13-38 10-Feb-98

External hold Imitates the HOLD key on the control’s keypad.
External feed hold This input holds the program if the control attempts a feed. This
function is normally activated by a spindle off condition.
External manual select This input enables non-commanded machine moves. Position
display is generated from encoder inputs. In this mode, the control
no longer commands axis motion. This feature enables an operator
to move the machine with the handwheels, using the control as a
Digital Read Out. This function is used with the Auto/Manual switch
included in the kit.
Start reading keyboard This input enables the control to accept inputs from the control
keypad (or keyboard). This function is only used to re-enable the
keypad (keyboard) after a Stop reading keyboard input.
Stop reading keyboard Prevents the control from responding to inputs from the keypad (or
keyboard). This feature enables the builder to set up a keyboard
lockout system. When the keypad (or keyboard) is locked out, only
the FEEDRATE OVERRIDE switch remains active, enabling feedrate
adjustments.
Spindle CW (M3) When activated, control initiates an M3 output. Duplicates Manual
Panel spindle CW function.
Spindle CCW (M4)
When activated, control initiates an M4 output. Duplicates Manual
Panel spindle CCW function.
Spindle OFF (M5)
Panel SPINDLE OFF function.
General Error input
This function halts the program and generates an Error message.
message You must correct the error condition before the program can be
restarted.
General Warning input
This function generates a Warning message at the control, while
message enabling the control to continue execution of a program.
Setting Finish Pulse Timeout

When an output port configured for a finish pulse activates, the control goes
on hold until it receives an External finish pulse. While on hold, the control
will not run program blocks or respond to keypad inputs.
NOTE: If holding for a finish pulse, press E-STOP to reset the CNC.
The finish pulse is a signal sent to the control by the machine device when
the requested operation is completed.
If no finish pulse is received by the end of the timeout period, the CNC
displays an error message.
Refer to Map 10, Menu C and set the Timeout as follows:
1. Highlight Timeout and press ENTER. The control prompts for a value.
10-Feb-98 Page 13-39

2. Enter the required number of milliseconds. [Default: 10,000 (10 sec)]

[Range: 0 to 600,000] A zero milliseconds value causes the CNC to
hold for the finish pulse indefinitely.
I/O Settings for Factory Assembled M-function Hardware

Refer to Table 13-17, Factory Assembled M-function Settings and
Table 13-18, Factory Assembled Input Function Settings. Retrofit kits
that include factory assembled M-function hardware are pre-wired for the
I/O settings shown in the tables.
Table 13-17, Factory Assembled M-function Settings
M-function Ports-On Ports-Off Device Operation

M2 0000 0007 End of program, stop
spindle, coolant and
feed.
M3 0001 0002 Spindle Forward On
Spindle Reverse Off
M4 0002 0001 Spindle Reverse On
Spindle Forward Off
M5 0000 0007 Spindle & Coolant Off
M8 0004 0000 Coolant On
M9 0000 0004 Coolant Off
All output ports are wired to use pulse - 0, delay - 0, Finish - No, Active - High port settings.
Table 13-18, Factory Assembled Input Function Settings
Input Function Ports

External manual select 0010
Input port is wired to use Active - High setting.
Issue M5 on Servo Fault or E-STOP

Enable (Yes) this option to stop the spindle automatically if the E-STOP is
pressed or if the system declares a servo fault. When the option is disabled
[Default: No], the system will not stop the spindle automatically on a servo
fault or E-STOP.
Page 13-40 10-Feb-98

Restore Outputs on I/O Reset

Determines whether the outputs of the I/O Controller and I/O Expansion are
to be restored when the I/O Controller resets. A reset state can be caused
by power loss or an I/O Controller malfunction. If entry is set to Yes, I/O
outputs are restored to their last state (before the reset occurred). If entry
is set to [Default: Yes], I/O outputs are not restored.
Display Internal Interface Messages

The CNC displays these internal messages: Feed Hold, External Hold and
External Stop. Set to Yes to display these messages. [Default: Yes] Set to
No and the CNC will not display these messages. Set the entry to No if
you use a programmable controller or IPI to generate other messages.
Tool Management
Default Tool Table

To enter the default tool table file:
1. Go to Map 12, Menu C. Highlight Default tool-table file and press
ENTER. In the highlighted entry field, enter the name of the file.
[Default: S12LTOOL.DAT]
Activation Option
The following Tool Setup parameters require the user to specify a type of
activation:
− Activate tool length offset [On Tn]
− Output Signal [On Tn]
− Orient Spindle [No]
− Stop program execution [No]
− Use tool change macro [On Tn]
The available activation options are listed in Table 13-19, Tool Setup
Activation Options.
Table 13-19, Tool Setup Activation Options
Activation Description
Setting
No Function is not used.
On Tn Function activates only when a tool is activated (T-Word).
On M6 Function activates only when Tool Changer M-function
(M6) activated.
Both Function activates when a tool number or M6 is activated.
10-Feb-98 Page 13-41

Manual Tool Change Operation

For manual tool change operations (i.e., when a tool changer is not being
used), use the settings specified in Table 13-20, Manual Tool Change
Settings.
Table 13-20, Manual Tool Change Settings
Manual Tool Change Parms. Required Description

Setting
Activate tool length offset On Tn Tool Length Offset activates upon completion
of a T-Word command to the Programmable
Controller.
Output signal On Tn Refers to T-Code data being sent to the
Programmable Controller via RS-232. Select
On Tn to enable the output signal.
Stop program execution No or On Tn Enabling this parameter halts the program
until the CNC is given a Cycle Start from the
Manual Panel. For manual tool change
operations using a Programmable Controller,
set this selection No (disabled). For manual
tool change operations without a
Programmable Controller, set to On Tn. The
CNC will hold program execution and display
a message. Press START to resume the
program run.
Number of digits in T-Word 4 format of T-Words (Txxxx).
Automatic Tool Change Operation

The M6 command is used during automatic tool changer operations. The
user can program specialized Macro program modules to facilitate the use
of any tool changer. Select and edit these Macros via the Tool
Management menu.
Page 13-42 10-Feb-98

Table 13-21, Automatic Tool Change Settings
Automatic Tool Required Description

Change Para. Setting
Activate tool length On M6 Tool Length Offset activates upon an M6 command.
offset
Output signal On M6 "Signal" refers to T-Code data being sent to the
Programmable Controller via RS 232. This selection
enables that output, upon completion of an M6
command to the Programmable Controller.
On M6, T-Code data is output by the Control to the
Programmable Controller until a Finish pulse is sent.
The M6 data is sent by the Control, and a second
Finish pulse is required from the Programmable
Controller. If no Tool number is programmed on the
same line as the M6 in the CNC program, then the
currently active Tool offset data remains unchanged.
Orient spindle No Sets up a CNC-controlled, closed loop orientation
cycle. If the machine has a mechanically controlled
or spindle drive controlled orientation cycle, then the
setting for this parameter should be No and
orientation can be activated via M-Code.
Default Spindle Enter angle value Selects an angle of orientation beyond the marker
Orientation Angle in degrees. pulse. The range is 0.1 to 360 degrees. This
feature eliminates the need for exact mechanical
positioning of the spindle encoder. The spindle
orientation angle is programmable via CNC software.
Spindle Orientation Enter orientation Specifies the orientation RPM of the Spindle.
RPM RPM Consult Spindle Drive documentation to verify
proper Spindle speed encoding and appropriate
orientation speeds. Maximum programmable
orientation spindle speed is 50 RPM.
Stop program No When enabled, halts program execution until START
execution is pressed. During automatic tool changer
operations that use a Programmable Controller, set
this selection to No (disabled).
Use tool change On M6 Sets function to activate on M6 command.
macro
Tool change macro Macro filename Filename of the macro to be used during tool
program change operations.
Tool change macro Macro Number Macro Number to be used during tool change
number operations.
NOTE: Macro files can contain more than one
macro (number).
10-Feb-98 Page 13-43

Number of digits in T-Word Format A 4-digit word enables tools 1 to 99. A 6-digit word
T-Word (4 or 6 digits) enables tools 1 to 999. Refer to Section 14 -
Setting the Number of Digits for T-Words.
Number of Tools to Enter maximum Enables the user to limit the number of tools
display in table # of tools. displayed in the tool table. [Range: 25 to 255]
Default tool-table Enter filename. [Default: LATHTOOL.DAT]
file
Force spindle off Yes When enabled, holds spindle operation during tool
during tool change change.
Setting the Number of Digits for T-Words

Use the Number of digits in T-Word parameter (Map 12, Menu C) to
configure the format of programmed T-Words. In the CNC program, a
four-digit selection enables the programmer to use four-digit tool codes:
"T 30 04"
The first two digits specify the tool "pot" or carousel position of the tool to
be used (30). The second two digits specify the tool offset (T 04).
If a two-digit code is programmed, the offset number being used and the
tool being used will be the same:
"T 04" - calls offset 4 and tool pot 4
A six-digit selection will enable the programmer to use six-digit tool codes:
"T 130 104"
The first three digits specify the tool "pot" or carousel position of the tool
to be used (130). The second three digits specify the tool offset being
used (T 104). If a three-digit code is programmed, then the offset number
being used and the tool being used will be the same:
"T 104" - calls offset 104 and tool pot 104
Tool Change Macro Parameters

A tool change macro is a subprogram that prepares the machine axes
and initiates auxiliary functions prior to automatic tool changes.
Refer to Map 12, Menu C. The Setup Utility contains parameters to
create, call and edit the tool change macro filename and macro number.
To enable the tool change macro, set the Use tool change macro
parameter to On Tn, On M6 or Both.
A tool change macro can be called in the Setup Utility by specifying the
filename and macro number. Use the Tool change macro program
parameter to specify the tool changer macro filename. Use the Tool
change macro number to specify the appropriate macro number within
the program.
NOTE: The macro file is stored in the D:\S1200 directory.
The tool change macro can be edited from the Setup Utility. Press the
Edit (F8) softkey to activate the Edit Mode for the macro file and number
specified in the menu.
Page 13-44 10-Feb-98

Miscellaneous Setup Utilities

The Miscellaneous Setup Utility contains a variety of control functions not
included in other setup menus. Refer to Map 11, Menu C.
Manual Panel Port

Refer to Map 11, Menu C. Highlight Manual panel port to activate a
pop-up. The pop-up lists the available RS-232 ports.
For standard CNC systems, set the Manual panel port to ANILAM 1. (On
older systems, this is an RS-232 port on the PC 844 Serial Junction
board, which connects to the Anicom Board. On current systems, it is a
port on the Anicom Board.) The other RS-232 port selections are
available only for troubleshooting use and should not be selected during
normal operation. Do not select the COM 1 port. This port is reserved for
Programmable Controller communications.
Disabled is used for simulation systems or for Offline software. Manual
Panel operations are disabled.
To enable the Manual Panel Port:
1. Go to Map 11, Menu C. Highlight Manual panel port. Press ENTER.
A pop-up activates.
2. Highlight ANILAM 1. Press ENTER.
Maximum Programmable Feedrate

The maximum programmable feedrate limits machine travel in feedrate.
[Default: 80.0 inches per minute] [Range: 0.0 to 500.0]
To set the maximum programmable feedrate:
1. Go to Map 11, Menu C. Highlight Max programmed feedrate.
Press ENTER.
2. In the highlighted entry field, enter the maximum feedrate. Press
ENTER.
NOTE: Use the FEEDRATE OVERRIDE switch to override the maximum

programmable feedrate. The range of the switch is 0 to 120 percent of
the maximum programmable feedrate. The switch enables the operator
to vary the feedrate in increments of 10.
NOTE: The max. programmed feedrate selection specifies the feed to

rapid gain break. This is the speed at which the control will change from
Feed (high) gain to Rapid (low) gain. Gain values are set in Feed Gain
Table, Rapid Gain Table and No Motion Gain Table menus.
10-Feb-98 Page 13-45

Default Jog Feedrate/Rapid Rate

Set up the default feedrate/rapid rate at which the machine travels in Jog
Mode. This defines the default speed the machine will travel when the
JOG keys are pressed by the operator.
[Default: Feed- 40.0, Rapid-200]
To set up the Default Jog rates:
1. Go to Map 11, Menu C. Highlight Feedrate for jog on Manual Panel
or Rapidrate for jog on Manual Panel. Press ENTER.
NOTE: Enter 0 for Rapidrate for jog on Manual Panel to use the default
rapid rates.
2. In the highlighted entry field, enter the appropriate rate. Press ENTER.
NOTE: Use the FEEDRATE OVERRIDE switch to override the Default Jog
Feedrate/Rapid rate. The range of the switch is 0 to 120 percent of the
maximum programmable feedrate; or 0 to 100 of the maximum
programmable Rapid rate. The switch enables the operator to vary the
feedrate in increments of 10.
Maximum Rotary Feedrate

Max programmed rotary feedrate sets the maximum speed, in degrees
per minute, that a rotary axis may be programmed.
[Default: 3000] [Range: 0.0 to 12,700.0]
To set the maximum rotary feedrate:
1. Go to Map 11, Menu C, Miscellaneous Setup Menu. Highlight Max
programmed rotary feedrate.
2. Press ENTER to activate the entry field. Enter the feedrate and press
ENTER to activate it.
Feedrate. The range of the switch is 0 to 120 percent of the maximum
programmable feedrate. The switch enables the operator to vary the
feedrate in increments of 10. This menu selection defines the rotary
feedrate at 100%.
Default Jog Rotary Feedrate

Rotary feedrate for jog on Manual Panel sets the default rotary feedrate
for Feed moves commanded using the JOG keys located on the Manual
Panel.
[Default: 1,016] [Range: 0.0 to 12,700.0 degrees per minute]
To set the default jog rotary feedrate:
1. Go to Map 11, Menu C, Miscellaneous Setup Menu. Highlight
Rotary feedrate for jog on Manual Panel.
Page 13-46 10-Feb-98

Feedrate. The range of the switch is 0 to 120 percent of the maximum
programmable feedrate. The switch enables the operator to vary the
feedrate in increments of 10. This menu selection defines the rotary
feedrate at 100%.
Acceleration
The acceleration value programmed into the LM-628 Precision Motion
Controllers of the Motion Control Board is preset at the factory to 66,000.
CAUTION: This parameter should only be changed by trained
technical personnel. Changing the acceleration to a value that is too
low could cause an undesired lack of response in machine motion.
LM-628 Motion Control Board-Feed and Rapid Velocity Offset Factors

Use the Velocity Offset Factor to correct for any difference between the
commanded velocity and the actual velocity of the LM-628 system. It is
available for Feedrate and Rapid rate velocities. A value of 1.00 means
that no offset is applied. The velocity offset corrects for computational,
physical or mechanical errors inherent in the system. [Default for both
settings: 1.08]
1. Go to Map 11, Menu C. Highlight Feed velocity offset factor or
Rapid velocity offset factor. Press ENTER.
2. In the highlighted entry field, enter the appropriate offset factor. Press
ENTER. The CNC offsets the commanded Rapid or Feed velocity by
the entered factor.
CAUTION: This parameter should only be changed by trained
technical personnel.
Simulation Mode
In Simulation Mode, the CNC does not generate DAC and I/O outputs.
[Default: No]
To set up the CNC for Simulation Mode:
1. Go to Map 11, Menu C. Highlight Force simulation mode. Press
ENTER to switch the option to Yes.
2. The CNC starts in Simulation Mode. In Simulation Mode, you can
command and display moves, but the machine does not actually
move.
10-Feb-98 Page 13-47

Servo Delay
The operator can program a delay to enable the servos to stabilize before
the CNC commands a move.
[Default: 1 sec.] [Range: 0 to 10]
To program a servo delay:
1. Go to Map 11, Menu C. Highlight Servo up delay. Press ENTER.
2. In the highlighted entry field, enter the appropriate servo delay, in
seconds.
Saving File when Main Power Fails
NOTE: If the system does not include a UPS, this feature cannot be
used.
Save files when main power fails enables the user to specify that
program editing sessions be saved to hard disk when main power fails.
This prevents data loss in case of a power failure.
When the selection is enabled (Yes), the current editing session is saved
to the hard drive, while the control's Uninterrupted Power Supply (UPS)
maintains the computer's input power.
[Default: No]
To save files when main power fails:
1. Go to Map 11, Menu C. Highlight Save files when main power
fails. Press ENTER.
2. Switch the parameter to Yes (enabled) or No (disabled).
Machine Type
Machine type specifies the type of machine used. This setting should
always be switched to Lathe.
To specify Machine Type:
1. Go to Map 11, Menu C. Highlight Machine type. Press ENTER.
2. In the pop-up menu, highlight Lathe. Press ENTER.
Reversing G2/G3 Commands

Refer to Map 11, Menu C. Reverse G2/G3 enables the user to reverse
the default settings for G2/G3 commands. Hence, the default settings of
G2 = Circular Interpolation CW and G3 = Circular Interpolation CCW
reverse to G2 = CCW and G3 = CW. Use this option as required for
program files from other sources.
[Default: disabled (No)] Switch the setting to Yes to enable the
parameter and reverse the G2/G3 commands.
Page 13-48 10-Feb-98

Front/Rear Tool Post

Lathe tool post specifies whether front or rear tool post is being used.
To select Front/Rear Tool Post:
1. Go to Map 11, Menu C. Highlight Lathe tool post. Press ENTER.
2. In the pop-up menu, highlight Front or Rear (Tool Post). Press
ENTER.
Selecting Diameter or Radius Mode

To set the X Axis for Diameter/Radius Mode:
1. Go to Map 11, Menu C. Highlight Lathe X programming mode.
Press ENTER to switch the selection between Diameter/Radius Mode.
CNC Custom Character Set

Refer to Map 11, Menu C. Load CNC custom character set should be
set to VGA CNC.
Configure the Number of Handwheel Ports on LM-628 System (Option)

Refer to Map 11, Menu C. Remote handwheels specifies the number of
remote Handwheel encoders. The system supports 1 or 2 remote
handwheels, mounted on the system by the machine builder.
The handwheel encoders are connected via harness to Counter Ports
CTR 0 and CTR 1, located in the last slot of the computer chassis. If only
one handwheel is used, make the connection at CTR 0.
When this option is enabled (enter 1 or 2), HANDWH (F10) activates in
the Control software.
To configure the number of handwheels:
1. Refer to Map 7, Menu P. Highlight Remote handwheels. Press
ENTER.
2. Enter the number of handwheels. Press ENTER.
Screen Blanking Delay

Refer to Map 11, Menu C. Screen Blanking Delay specifies the period,
in minutes, of the screen blanking delay. The delay will be the time
between a detected CRT idle condition and the activation of the screen
saver.
To re-activate the CRT display, press any key.
Automatic Feed Override on Arc Moves

When this feature is activated, the CNC modifies the feedrate of arc
moves in Cutter Compensation mode. It is designed to ensure that when
the edge of the tool contacts the work piece it is cutting at the
programmed feedrate.
10-Feb-98 Page 13-49

The CNC slows down the feedrate on inside arc moves and speeds up
the feedrate on outside arc moves. The compensated feedrate assigned
by the CNC depends on the active Cutter Compensation Mode (G41 Left
of Path or G42 Right of Path), the active tool nose radius and the
programmed arc radius.
To activate automatic feed override on arc moves:
1. Go to Map 11, Menu C. Highlight Automatic feedrate override on
arcs.
2. Press ENTER to switch the setting to Yes. The CNC activates
automatic override feedrate for arc moves made in Cutter
Compensation Mode. Switch the setting to No to deactivate the
feature.
[Default: No]
Feedrate Mode
Go to Map 11, Menu C. Feedrate mode switches the default feedrate
mode between FPR (G95, Feedrate per Revolution) and FPM (G94,
Feedrate per Minute). The default setting is FPM.
Default SCI in Manual

Go to Map 11, Menu C. Enable (Yes) Default SCI in Manual to activate
the Simplified Command Interface Mode automatically when the control
starts. [Default: No]
Rapid Moves are Free (Unsynchronized)

Go to Map 11, Menu C. Specifies whether rapid moves are synchronized
(all axes reach target at the same time using a vectored rapid rate) or not.
Set to No to maintain synchronization. Set to Yes to enable all axes to
run at their programmed rapid rates, in which no vectored rapid rate is
used.
Dwell RPMs in FPR Mode

The Dwell (G4) command can be set up according to revolutions of the
spindle.
Normally, a Dwell command is timed. Consider the following example:
G4 T2
Under a timed dwell, this command would cause the CNC to dwell for two
seconds.
For a Dwell based on spindle revolutions, the CNC halts dwells for the
indicated number of revolutions. For example:
G4 T200
The CNC would dwell for 200 revolutions of the spindle.
Page 13-50 10-Feb-98

To switch to Dwell RPMS in FPR Mode:

1. Go to Map 11, Menu C. Highlight Dwell RPMs in FPR Mode.
2. Press ENTER to switch option to Yes. When No is selected, Dwell
commands are timed. When Yes is selected, Dwell commands are
based on spindle revolutions. [Default: No]
Machine Home
Most machines have an absolute reference point for each axis that is
defined by hardware and called Machine Home. The control can use the
zero marker pulse of the axis encoder and the vector limit switch to define
Machine Home.
Machine Home can also be defined using only the zero marker of an
encoder or scale.
Refer to Map 12, Menu F to set up the Home parameters.
Homing the Axes

Once defined, the Machine Home feature can be set to require a machine
home at power up. Set the Home required parameter to Yes to operate
in this manner. Select Homing at any time in the CNC mode, regardless
of whether it is required by the Setup parameter.
The operator chooses in what order the machine homes the axes and the
speed at which the CNC moves to the Home limit switch.
“Retract” speed (speed at which axis moves to Index Pulse) is not
configurable through the Setup Utility.
NOTE: Even if the Home required parameter is on (Yes) and no home
sequence has been performed, the axes can be moved via the JOG keys
on the Manual Panel.
Enabling the Homing Feature

Refer to Map 12, Menu E. Home required specifies whether the CNC
requires a Home Sequence prior to performing any other operations.
Switch the option on (Yes) and off (No). [Default: No]
If Home required is set to Yes, the home sequence must be performed
before resuming normal operation in the control software.
To set up the Home required parameter:
1. Go to Map 12, Menu E. Highlight Home required.
2. Press ENTER to switch the setting to Yes. The CNC enables the
Homing feature. Switch the setting to No to deactivate the feature.
10-Feb-98 Page 13-51

Homing Order
The default axes homing order is 3, 1, 4, 2 corresponding to Z, X, W and
C, respectively. To change the order in which axes are homed:
1. Go to Map 12, Menu F. Highlight the menu selection corresponding
to the axis being set. Press ENTER.
2. A pop-up menu appears containing the following choices (First,
Second, Third and Fourth). Highlight the appropriate choice and
press ENTER.
3. Press Exit (F10) to close the pop-up menu.
4. Repeat the procedure for all required axes.
Homing Direction of Travel

Refer to Map 12, Menu G. Use the Home type parameter to set the
direction of travel for the Homing feature. [Default for X and Z: With
negative index limit]
Menu H lists the available settings. No Homing disables the homing
function for the selected axis. Positive/Negative refers to the direction
that the axis will travel during Homing, in reference to Machine Home.
With positive/negative index limit moves the chosen axis in the
positive/negative direction until the CNC detects an Index Pulse from the
scale or encoder. This method requires that the Machine Home position
be known and physically marked on the movement axis to ensure
repeatability.
With positive/negative index and vector limit works in the following
manner. When homing is initiated, the CNC travels in the
positive/negative direction along the axis being homed until it trips the
vector limit switch. The axis will then reverse direction until an Index
Pulse is detected. The CNC sets Machine Home for that axis at the point
where the Index Pulse is detected.
To set up the proper direction of travel for Homing:
1. Go to Map 12, Menu H. Highlight the appropriate homing direction
choice. Press ENTER.
Homing Speed
To set up the speed at which the CNC moves the machine during
Homing:
1. Go to Map 12, Menu I. Highlight the menu selection corresponding to
the axis being set. Press ENTER.
2. The entry field highlights. Enter the appropriate speed and press
ENTER.
3. Complete the procedure for all active axes.
Page 13-52 10-Feb-98

Axis Home Preset Values

The user can automatically set Machine Zero to some other value on any
and all axes via the Setup Utility. [Default: disabled (Off)]
To set up Preset values for axes:
1. Go to Map 12, Menu J. Highlight the selection corresponding to the
axis being preset. Press ENTER.
2. Enter the Preset value in the highlighted entry field.
3. Repeat for all Preset axes.
4. Highlight Home preset and press ENTER to switch the selection to
Yes. The Preset value activates the Preset Values at the Machine
Zero position. The CNC displays the new values. Switch the setting
to No to disable the Preset values.
Index Pulse Check

With the Index Pulse Check enabled, the CNC checks for an Index Pulse
during Homing. If the CNC fails to detect an Index Pulse within a certain
distance, the CNC declares a fault and displays a message. The default
setting is disabled (No).
To enable/disable the Index Pulse Check:
1. Go to Map 12, Menu E. Highlight Enable index pulse check.
2. Press ENTER to switch the setting. Switch the setting to No to
deactivate the feature. Switch the setting to Yes to activate the
feature.
Builder Messages
IPI or Programmable Controllers can display customized messages to
indicate machine status or possible error conditions. These messages
are set up in the Setup Utility and displayed in the message area of the
CNC screen. To use custom messages, the operator must create an
appropriate conditional logic program that will send various PgC Message
bits to the control.
IPI or Programmable Controllers can send 256 different messages to the
control, numbered from 0 to 255. The error messages are broken down
into two categories:
− Error codes stop execution of the user program.
− Warning codes display error messages. Program execution
continues.
10-Feb-98 Page 13-53

Refer to Table 13-22, Message Numbers and Types for error codes and
ranges.
Table 13-22, Message Numbers and Types
Message Number Message Type
0 None
1 to 127 Error
127 to 255 Warning
You can create and edit Builder messages via the Builder Messages
parameter.
To enable the Builder Messages option:
1. Go to Map 13, Menu C and highlight Use Custom Messages. Press
ENTER to switch the setting to Yes (enabled). [Default: Disabled (No)]
2. Save the changes before exiting and exit the Setup Utilities. The
CNC creates the Builder Messages file MBENG.TXT.
Each message can be up to 49 characters in length. Refer to Map 13,
Menu C. Use Edit Error Messages to enter or edit Error messages.
Use Edit Warning Messages to enter or edit Warning messages.
Figure 13-5, Builder Messages - Error Message Window

To edit Error messages:
1. Go to Map 13, Menu C and highlight Edit Error Messages. Press
ENTER. The Prog. Controller Error Messages screen activates (refer
to Figure 13-5, Builder Messages - Error Message Window).
2. Highlight the message to be entered or edited. Press ENTER. The
message text box activates.
3. Enter the message text in the box. Press ENTER. The CNC assigns
an index number and a message number to each message.
Page 13-54 10-Feb-98

NOTE: The user can also use a message’s index number (including
period) to access the message text box and edit the message:
1. With the Builder Message Window activated, type the message index
number and press ENTER.
2. Edit the message.
Figure 13-6, Builder Messages - Warning Message Window

To edit Warning messages:
1. Go to Map 13, Menu C and highlight Edit Warning Messages.
Press ENTER. The Prog. Controller Warning Messages screen
activates (refer to Figure 13-6, Builder Messages - Warning
Message Window).
NOTE: The user can also use a message’s index number (including
period) to access the message text box and edit the message:
1. With the Builder Message Window activated, type the message index
number and press ENTER.
Purchased Language Option
Machine builders can order a system that displays messages and other
text in a language other than English. [Default: English] This is a
purchased option. The required text files and a hardware key must be
installed for the option to operate properly.
If the operator attempts to set up the option for a language and the CNC
cannot find the associated text file, an error message is displayed.
10-Feb-98 Page 13-55

To set up the CNC to display text in a language other than English:

1. Go to Map 13, Menu D. Highlight the appropriate language and press
ENTER.
2. The CNC installs the language file and the system restarts. The
displayed messages and other text should now be in the selected
language.
Software Updates
To install updated software:
1. Insert the disk containing the updated version of the software.
2. Go to Map 13, Menu B. Highlight Software Update. Press ENTER.
The system restarts to begin the installation procedure.
3. Follow the prompts on the screen to complete the installation. The
process takes less than 5 minutes. If the system cannot install the
new version for any reason, it displays an error message. Otherwise,
the system displays messages when it has completed each stage of
the installation procedure (Extracting Control software, etc.).
4. The system displays a message when installation is complete and
automatically restarts.
Installation Prompts
During software installation, the CNC prompts the operator regarding the
status of the installation. Follow the on-screen instructions to complete
the installation.
Refer to Table 13-23, Installation Prompts. During a software
installation, the CNC may display the following prompt. The operator
should respond as indicated.
Table 13-23, Installation Prompts
Prompt Operator Response

“The write enable switch on the Flip the switch up and press
back of the ROM disk board is in Continue (F10).
the down position. Place the NOTE: The location of the write
switch in the up position in order to enable switch on the ROM disk
continue the installation. Press varies. It is the red switch
F10 to Continue.” protruding from the card slot near
the VGA and RS-232 cables.
Page 13-56 10-Feb-98

Changing the Passwords

CAUTION: Carefully consider any planned changes to passwords
controlling access to the Setup Utility. If the password is forgotten,
the operator has to erase the current configuration file and reinstall
the software (restoring the default password) to access the
parameters.
Keep an updated hard copy of the configuration file. If the file is
erased, the settings must be manually input after the software is
reinstalled.
To change the password:
1. Go to Map 13, Menu H. Highlight the level of the password to be
changed. Press ENTER. The CNC prompts for the old password.
2. Enter the old password and press ENTER. The CNC prompts for the
new password.
3. Enter the new password and press ENTER. The CNC prompts for
confirmation of the new password.
4. Re-enter the new password and press ENTER. The CNC activates the
new password.
General Software
The General Software Setup Utility (refer to Map 14, Menu C) enables
the user to configure settings for the following:
− Control Software
− Communications
− Draw feature
− Edit
− Program Screens
− CRT Display
− Printer
10-Feb-98 Page 13-57

Control Software Parameters

Refer to Map 14, Menu C. This menu describes settings for the control
software. Refer to Table 13-24, Control Software Parameters for
descriptions and setting information.
Table 13-24, Control Software Parameters
Control Software Parameter Function Settings

Default axis display Switches the default axis Normal-Configures the axis
display between large and display to show Machine,
normal. Program, Target and Distance To
Go displays. [Default]
Large-Configures the axis
display to show enlarged X and Z
position and Distance To Go
displays only.
Default units Switches the default Inch-Activates Inch Mode as
measurement units (Inch/MM default. [Default]
Modes). MM-Activates MM Mode as
default.
Default axis values Switches Absolute / Absolute-Every move is made in
Incremental default mode reference to an Absolute Zero
(determines how axis values position (Program Zero or Part
for arcs, lines and other Zero). [Default]
moves are measured). Incremental-Each move is made
in reference to the last
programmed endpoint.
Circle adjustments Determines whether circle Center-When the CNC
centers or endpoints will be encounters incorrect coordinates
adjusted. Adjustment is for either a circle center or
required when the CNC endpoint, the position of the
encounters incorrectly circle center is adjusted. [Default]
programmed circle center or Endpoint-When the CNC
endpoint coordinates. encounters incorrect coordinates
for either a circle center or
endpoint, the position of the
circle endpoint is adjusted.
Page 13-58 10-Feb-98

Circle centers Switches the default mode for Absolute-CNC interprets

programmed circle center programmed circle center
coordinates. coordinates as Absolute values.
Incremental- CNC interprets
programmed circle center
coordinates as Incremental values.
[Default]
Modal- CNC interprets
coordinates as the current mode of
the CNC, Absolute or Incremental
values.
Maximum arc correction Maximum amount of correction 0.005-[Default]
the CNC will apply to an input
arc value before declaring an
error.
Internal accuracy Maximum accuracy available 0.000001-[Default]
on a system (system
resolution).
External accuracy Maximum accuracy obtainable 0.0001-[Default]
on a given machine (machine
resolution).
Metric display resolution Sets the decimal display 3,3,3,3-[Default] for axes X, Z, W
resolution to the number of and C, respectively.
significant digits entered. (A
value of 3 means the CNC will
display movement in that axis
to the third position to the right
of the decimal point - .001.)
This setting does not affect the
accuracy of the machine or the
finished work.
Inch display resolution Sets the decimal display 4,4,4,4- [Default] for axes X, Z, W
resolution to the number of and C, respectively.
to the fourth position to the right
of the decimal point - 0.0001).
This setting does not affect the
accuracy of the machine or
finished work.
Compensation cutoff angle Prevents or reduces wasted 15 degrees [Default]
travel on acute angles. (Refer
to Figure 13-7, Compensation
Cutoff Angle.)
Keyboard beep Enables/disables keyboard On-Enables keyboard beep.
beep. [Default]
10-Feb-98 Page 13-59

Off-Disables keyboard beep.

User macro file Specifies macro filename USERCANN.G [Default]
created by user.
Load user macro file Specifies whether to load user No-Do not automatically load user
macro at system startup. macro at startup. [Default]
Yes-Automatically load user macro
at startup.
Load system macro file Switch to choose when to load Never-Canned cycle file is never
the canned cycles. Changing loaded. CNC cannot execute
parameter requires a reboot. programmed canned cycles.
Always-Canned cycle file is always
loaded. [Default]
Swap-Portions of the canned cycle
file are loaded as required.
Load G-Code help Switch to choose when to load Never-G-Code help files are never
the editor help templates. loaded. Edit Help Templates are
Changing parameter requires a not available.
reboot. Always-G-Code help files are
always loaded. [Default]
Swap-G-Code help files are loaded
as required.
Disk access marker Activates/deactivates the Disk On-Activates the Disk access
access marker. marker. When the CNC is
reading/writing information from/to
a disk or other medium, the Disk
access marker appears in the
upper left corner of the screen.
The Disk access marker looks like
a small arrow. [Default]
Off-Deactivates Disk access
marker.
Page 13-60 10-Feb-98

Compensation Cutoff Angle
Figure 13-7, Compensation Cutoff Angle

Refer to Figure 13-7, Compensation Cutoff Angle. Assume all
programmed moves are made with Tool Nose Radius Compensation
active. The diagram describes two scenarios:
10-Feb-98 Page 13-61

Diagram A shows the tool path that results when no Compensation

Cutoff Angle is used. The tool path travels beyond the part diameter to a
point where compensated Moves 1 and 2 intersect, before the CNC
executes move 2.
Diagram B shows the tool path that results when a Compensation Cutoff
Angle is used (assume 15 degree Compensation Cutoff Angle value).
The CNC introduces an arc move, equal to the radius of the cutter,
between programmed Moves 1 and 2. (This arc is not programmed, but a
function of the active Compensation Cutoff Angle.) This alters the tool
path, decreasing the amount of travel necessary to complete the
programmed moves.
Page 13-62 10-Feb-98

Communications
Refer to Map 16, Menu C for the available Communications Parameters.
The 1400M is equipped to exchange data with other RS-232 compatible
devices. To accomplish RS-232 communication, the baud , parity, data
bits, stop bits and software parameters of the CNC and the device with
which it is communicating with must agree.
Enter default communication parameters in the device’s Setup Utility at
initial CNC setup. These parameters can also be changed from the
Communications screen in the control software. (Parameter changes
made in the Communications screen are not permanent.) Every time the
control is powered up, the CNC’s default settings are reloaded.
Communications Setup Parameters

Refer to Map 15, Menu C. Table 13-25, Communications Parameters
contains a description of each parameter and its settings.
Table 13-25, Communications Parameters
Communications Function Settings

Parameter
Port Select communications port COM1, ANILAM 1, ANILAM 2, ANILAM 4,
(Anilam 5) or disable. Must [Default: ANILAM 5, full RS-232 port],
enable for remote ANILAM 6, ANILAM 8 or Disabled
communications.
NOTE: Do not select Com1
if a PLC is used.
Baud Select a baud. 110, 150, 300, 600, 1200, 2400, 4800,
[Default: 9600] or 19,200
Parity Select parity. Odd, [Default: Even] or None
Data Bits Enter number of data bits. 5, 6, [Default: 7] or 8
Stop Bits Enter number of stop bits. 0, [Default: 1] or 2
Software Refers to “Xon” or “Xoff” or [Default: On, to enable handshaking] or
“handshaking” (transmission Off to disable handshaking.
or receipt of data via RS-232
channels) in communications
packages.
NOTE: Both sending and receiving devices must have the same baud, parity, data bits, stop bits and
software parameter settings.
10-Feb-98 Page 13-63

To set up the communications parameters:

1. Refer to Map 15, Menu C. Highlight the appropriate parameter.
Press ENTER.
2. When you select Port, Baud, Parity or Stop bits, a pop-up menu
activates. Select an option and press ENTER.
3. When you select Data bits or Software, press ENTER to cycle through
the available settings.
Draw Mode
Refer to Map 15, Menu G for the available Draw Mode Parameters. The
parameters affect both Real-time and Simulation Draw Modes. Refer to
Table 13-26, Draw Mode Setup Parameters for a description of each
parameter and its settings.
Table 13-26, Draw Mode Setup Parameters
Draw Mode Parameter Function Settings

Restore to previous Sets the CNC to re-activate Yes-CNC re-activates last session when
session the last active session when Draw activated. [Default]
the user re-enters Draw. No-CNC ignores parameter.
Default program block Sets default mode for Draw. Auto-[Default]
mode S.Step
Motion
Axis display Determines whether axis On-Shows axis displays. [Default]
displays appear in Draw Off-Does not show axis displays.
Mode.
Display program text Determines whether program Yes-Shows program text. [Default]
text appears in Draw Mode. No-Does not show program text.
Automatic re-run Switches the automatic re- Yes-Each time a softkey is pressed, the
run function on and off. program will be re-drawn. [Default]
No-CNC will not redraw the graphic until
the operator presses the Run (F3)
softkey.
Grid Activates/deactivates grid as None-Deactivates grid. [Default]
a dotted or solid line. Solid-Activates solid line grid.
Dotted-Activates dotted line grid.
Page 13-64 10-Feb-98

Grid Size Determines the size of the Enter a value. (Example: [Default: 1] If
grid. The grid size will be in the CNC is in Inch Mode, each square in
the active measurement unit, the grid will be one square inch in size for
Inch or MM. this setting.)
NOTE: The CNC converts the set grid
value if the measurement unit is
changed. For example: if the Grid Size is
set for 1 in Inch Mode and the user
switches to MM Mode, the CNC changes
the Grid Size to 25.4mm.
Tool display Turns the tool display on and On-The static tool (as defined by the Tool
off. Location Code and Radius in the Tool
Page) will be displayed as it cuts the part.
[Default] or Off-No tool is displayed.
Default Auto-Zoom This factor changes the size Enter a value. [Default: 0.85 (85
Scaling Factor at which the CNC draws the percent)] [Range: 0.25 to 10.00]
programmed part in the Draw
Window. Use it to reduce or
enlarge the graphic.
Default Auto-Zoom This factor reduces the size Enter a value. [Default: 0.85 (85
Scaling Factor of the graphic in the Draw percent)] [Range: 0.25 to 10.00]
Auto erase Switches the automatic erase On-Each time a program is Run in Draw,
function Off and On. the CNC automatically erases the display
graphics and text before running the
program. [Default]
Off-Does not automatically erase graphic
display before it runs a program.
NOTE: Optionally, press DISPLAY (F5),
highlight the Erase option and press
ENTER to clear the display.
Cutter compensation in Activates/deactivates cutter Ignore-CNC will not show compensated
draw compensation in Draw moves (if any) used in the program.
Modes. Use-CNC shows compensated and non-
compensated programmed moves.
Both-CNC runs the program twice. First,
the program is run without compensated
moves. Then, the program is run
showing compensated moves. This
enables the user to compare the two
paths and detect programming errors
related to compensation. [Default]
10-Feb-98 Page 13-65

Aspect ratio correction Corrects for distortion in [Default: 1.47]

factor displayed graphics. CAUTION: Only qualified technicians
(Flattened circles, etc.) should adjust this setting.
Lathe Symmetrical Enable (Yes) to mirror Yes - Enable option. [Default]
draw programmed moves - show No - Disable option.
the entire part. Disable (No)
to show only programmed
moves - half view of part.
Save draw image Saves draw image when Yes - saves draw image. [Default]
user switches to Edit Mode. No - does not save draw image.
In Draw Mode, when the Edit
(F2) softkey is pressed, the
CNC switches to Edit Mode.
The user can later re-enter
the Draw Window. If this
option is enabled (Yes), the
CNC saves the last draw
image and displays it when
the user re-enters the Draw
Window.
Changing the Size of the Draw Program Part

The Default Auto-Zoom Scaling Factor changes the size at which the
CNC draws the programmed part, when a program runs in Draw Mode.
[Default: 0.85 (85 percent of the Draw Window)] [Range: 0.25 to 10.00]
Decrease the factor to reduce part size; increase the factor to enlarge
part size. The size of the (X, Y and Z) axis reference lines will not
change.
If you change the parameter to a value greater than 1.00, a portion or all
of the part will probably exceed the dimensions of the Draw Window and
not appear on-screen. Decrease the AUTO-ZOOM factor to correct.
To change the size of the Draw programmed part:
1. In Draw Mode, press Display (F5). A pop-up appears.
2. Highlight Fit and press ENTER.
3. The CNC prompts the user that it is calculating the Fit and runs the
program. The size of the displayed part depends on the AUTO-
ZOOM factor entered.
Page 13-66 10-Feb-98

Edit Mode
Refer to Map 15, Menu M, Editor Setup Menu for the available Edit
Mode Parameters. Refer to Table 13-27, Edit Mode Parameters for a
description of each parameter and its settings.
Table 13-27, Edit Mode Parameters
Edit Mode Parameter Function Settings

Restore to previous If enabled (Yes): When user Yes - restores to previous session.
session exits a program in Edit Mode, [Default]
the CNC marks the position No - Does not restore to previous
where the last edit was session.
made. The next time the
program is opened, the
cursor will be located at that
spot.
Show top line Determines whether an Yes - Display top line.
optional “top line” will be No - Do not display top line. [Default]
displayed in the Edit Mode.
The top line contains the
active mode information and
the first block of the program.
Default insert mode Switches on/off Insert Mode On - Automatically sets Insert Mode as
default. Insert Mode inserts default.
new text without overwriting Off - Does not automatically set Insert
existing text. Mode as default. [Default]
Cursor to start of line When enabled, cursor will go Yes - Cursor will automatically go to the
on scroll to the start of the line on a beginning of the line on scroll moves.
scroll. Scroll moves advance No - Cursor will not automatically go to
the cursor up or down the the beginning of the line on scroll moves.
active screen. Use the [Default]
ARROWS or designated
softkeys (UP or DOWN) to
scroll through menus.
Extended screen Enables/disables small text Yes - Smaller text will be displayed in the
display (50 lines) program display. Displays Edit Mode.
up to 50 lines of No - Normal text will be displayed in the
programming blocks Edit Mode. [Default]
simultaneously.
10-Feb-98 Page 13-67

Auto tab to previous This option is available only Yes - Enables auto tab to previous line’s
line’s position with offline systems or position. [Default]
systems with keyboards No - Disables auto tab to previous line’s
attached. When a line is position.
indented, the CNC uses the
indented position as the first
tab position of the following
line. For example: You
indent one line by 4 spaces
and then move to the
beginning of the next line by
pressing ENTER. When you
press the tab key, the cursor
will advance 4 spaces.
Update screen on When non-programmed Yes - Updates screen (prints macro
macros macros are used (Play, results) line by line as macro is run.
Record and Repeat options [Default]
in the Control Software Edit No - Updates screen (prints macro
Mode), this parameter results) after macro is completed.
defines how the CNC display
will be updated.
NOTE: Refer to the
Programming and
Operations Manual (P/N
70000308) for details on how
to use the Play, Record and
Repeat options in the Edit
Mode.
Default tab width This option is available only [Default: 4]
with offline systems or
systems with keyboards
attached. Sets default tab
width. Range is 2 to 16
spaces. When the user
presses the tab key, the
cursor advances by the
specified number of spaces.
Force Caps Lock on PC Determines whether text Yes-Text always appears in uppercase
keyboard entered in the Edit Mode letters. [Default]
always appears in uppercase No-Text appears as typed, in uppercase
letters. or lowercase letters.
Page 13-68 10-Feb-98

Create backup program A backup program is created Yes-Backup program is created and
when an edit is made. Every maintained.
time the program is edited, No-No backup programs are created.
the CNC updates the backup [Default]
file. The backup program will
not contain an edit until a
new edit is made.
Delete internal file When the program is saved, Yes-Deletes internal file when the user
when program saved the CNC automatically saves a file and replaces it with updated
deletes the existing internal file. [Default]
file (*.S files) and replaces it No-CNC does not delete internal file
with the saved file. when the user saves a program.
Case sensitive Find Determines whether the Find Yes-Find search parameter looks for
feature will look for words that match the entered word
uppercase and lowercase exactly, including capitalization and style.
letters to determine a match. No-Find search parameter looks for
typed in word regardless of capitalization
and style. [Default]
Memory reserved from Specifies the amount of Enter a value. [Default: 64K]
Editor (in K-bytes) memory that the Editor does
not use.
10-Feb-98 Page 13-69

Program Directory
Refer to Map 16, Menu C, Program Setup Menu for the available
Program Parameters. These parameters control the way program
information is displayed in the Program Directory; whether backup files
will be deleted during optimization, and; whether and how often the
software checks the disk.
Refer to Table 13-28, Program Parameters and Selections for a
Table 13-28, Program Parameters and Selections
Program Directory Function Settings
Parameter
Program directory Type of programs stored. *.G (program file extension)
pattern NOTE: Do not change this parameter.
Program directory Specifies what program Short-Filename and extension only.
display mode information will be displayed [Default]
in the Program Directory. Long-Detailed program information,
including file size, etc.
Program directory sort Specifies order in which Ignore-CNC ignores parameter.
order programs are listed in the Name-Alphanumeric order by filename.
Program Directory. [Default]
Extension-Alphanumeric order by
extension.
Size-By file size.
Date-By date program was created.
Automatically check For machines equipped with Always
disk at startup hard drives, specifies Daily
whether and how often CNC
Weekly
will check the hard drive.
Monthly
Never-[Default]
Delete backup files For machines equipped with Yes-Backup files deleted during
during optimize hard drives, specifies optimization process. [Default]
whether backup files will be No-Backup files maintained during
deleted during hard drive optimization process.
optimization.
Directory for user CNC will store user programs Enter user directory location [Default:
program in specified directory. C:\USER]
Page 13-70 10-Feb-98

Display
Refer to Map 16, Menu F for the available Display Parameters. The
listed parameters control how text and graphics are displayed on the
screen. There are separate settings for the Editor, CNC Control and Help
screens and the displayed softkeys.
Printer
Refer to Map 16, Menu G for the available Printer Parameters. Refer to
Table 13-29, Printer Parameters and Selections for a description of
each parameter and its settings.
Table 13-29, Printer Parameters and Selections
Printer Parameter Function Settings
Default output device Specifies where the file will 1. Enter PRN to send file to the printer.
be printed. 2. Enter drive, path and filename with
extension to print to a file. If the
filename entered is not a current file,
the CNC creates the file and transfers
the data to the file. If the filename
entered is an existing file, the CNC
overwrites the data in the file with the
print file data.
[Default: PRN]
NOTE: The user directory is C:\USER.
Lines per page Number of lines to be printed Enter value [Default: 55]
per page (8.5 X 11”).
Page heading Prints a page heading Yes-Print heading. [Default].
including filename, date and No-Do not print heading.
time and page number.
Line numbers Prints line numbers on hard Yes-Choose Yes to print line numbers.
copy of file. No-Choose No if no line numbers are
desired. [Default]
Print quality Sets print quality. Generally, NLQ-Near Letter Quality, highest quality,
the lower the printer quality, lowest speed.
the faster the file prints. Utility-Middle quality, middle speed.
High Speed-Low quality, high speed.
Ignore-Use printer defaults. [Default]
Characters per inch Sets the number of 10-characters per Inch (CPI). [Default]
characters to be printed per 12-CPI
inch. Choosing Ignore will
17-CPI
cause the CNC to print at the
default value. 20-CPI
Ignore-uses printer defaults.
10-Feb-98 Page 13-71

DSP Setup
NOTE: For DSP hardware configuration information, refer to Section 7-
DSP Motion Control Board, Description and Operation.
Before you set any system parameters, balance the Motion Control Board
servo outputs, the Servo Amplifier outputs and set the Servo Amplifier
Gain per the instructions contained in Section 13-Motion Setup/Testing
Utility.
Feed, Rapid and No Motion Gain Tables
NOTE: Gain Tables setup for LM-628 Motion Control Board systems is
described earlier in this section.
The DSP chip handles the intensive, real-time computational tasks
of an axis in feed, rapid and no motion modes can be set and controlled.
an installation.
There are three Setup Utility menus which affect the gain of an axis:
Through these setup menus, a higher gain value can be set for Feed
Mode, when greater accuracy is needed, than for Rapid Mode, when
machine inertia, available servo drive output power and other mechanical
factors must be considered. The No Motion Gain values control the gain
of the axes when the machine is holding position.
To manipulate these values for optimum machine operation, you must
understand how the PID (Positional, Integral and Derivative) filters of the
DSP chip work.
Map 7.
derived from the output of the interpolators, which create a move required
required to make the move, and the effect of any required compensation
parameters.
Page 13-72 10-Feb-98

Value Definition
is designed to compensate for immediate changes in
servo error position. It is the principal element used
to develop the ‘stiffness’ needed to hold axis position
at rest.
accumulation of error correction over time. It is used
to ensure that the static position error is zero: 0
position error at rest or at constant velocity. It is
derived by multiplying the Ki coefficient by the
position error and then adding it to the previously
computed Integral Gain value. The Ki term provides
a restoring force that ensures that static position
error is zero.
Kd Derivative Gain. This value reacts to a change in
error over time. The Derivative value is calculated by
multiplying the Kd coefficient by the current error
to the Proportional element) and helps stabilize the
axis faster.
correction permitted by the Digital Filter. Ki gain
effect is held to a preset maximum (the Ιl term) which
is the total maximum amount of Ki correction
permitted by the Digital Filter. Thus, a Ki term of 10,
with an Ιl of 30, could apply first a Ki of 10, then a Ki
of 20, then a maximum Ki of 30, with three samples.
Because the Ιl has been reached, a fourth sample
would result in an applied Ki term of 30.
Motion Gain Table).
highlights.
10-Feb-98 Page 13-73

Feed and Rapid Acceleration/Deceleration

Refer to Map 7, Menu D. These parameters define Rapid and Feed
acceleration and deceleration ramp times (in milliseconds).
DSP Integrity Check

Refer to Map 7, Menu D. This parameter enables an integrity check of
the DSP Motion Control Board. The integrity check is performed when
the control is first turned on.
DSP Position Error Check Parameters

configurable. If the PEC algorithm detects a fault, the servos will shut off
and one of the following messages appears:
Refer to Map 7, Menu H. The position error check algorithm predicts the
motion status of the machine and compares the prediction to the
machine’s actual motion state. If the prediction does not match the actual
state, the control analyzes the algorithm parameters to determine if a
potential error condition is developing. Refer to Table 13-30, DSP PEC
Parameters for builder-controlled PEC parameters.
Table 13-30, DSP PEC Parameters
Parameter System Usage

Max idle time (ms) Time in milliseconds to wait after a system
change of state. This setting enables the
builder to set a machine motion stabilization
period. [Default: 100 msec]
Max lag error Maximum enabled lag error at rest. [Default:
0.0100 msec]
Check Rapidrate Enables (Yes) or disables (No) rapid rate test.
This test checks the feedback during rapid
moves to see if the axes are reaching the
programmed rapid rate. [Default: Yes]
Check Feedrate Enables or disables (No) feed test. This test
checks the feedback during feed moves to
see if the axes are reaching the programmed
feedrate. [Default: Yes]
Enable error checking Enables (Yes) or disables (No) position error
checking. [Default: Yes]
Page 13-74 10-Feb-98

Configure the Number of Handwheel Ports on a DSP System (Option)

CTR 0 and CTR 1, located in the last slot of the computer chassis. If only
one handwheel is used, make the connection at CTR 0.
1. Refer to Map 7, Menu P. Highlight Remote handwheels. Press
ENTER.
2. Enter the number of handwheels.
Handwheel/Readout Settings
Refer to Map 8, Menu L. Use this menu to set up the first installed
handwheel. Use Map 8, Menu K if a second handwheel is installed.
Refer to Table 13-31, DSP - Handwheel/DRO Settings for information
on the settings used to configure each Handwheel/DRO port for a
handwheel or digital readout (DRO).
Table 13-31, DSP - Handwheel/DRO Settings
Port Type Select None, Handwheel or Readout

Resolution (used with handwheel only) Selects the axis resolution for the handwheel
attached to the port. Setting the resolution to
SK Switch enables the operator to select a
resolution from the softkeys. Setting the
resolution to MP Switch enables the operator
to select a resolution from the jog selector on
the Manual Panel.
Axes (used with handwheel only) Selects the axes controlled by the handwheel
on this port. Setting the axis to SK Switch
enables the operator to select an axis from the
softkeys. Setting the axis to MP Switch
enables the operator to select an axis from the
rotary switch on the Manual Panel.
Phase Switch this setting to invert one channel of the
encoder output. Inverting one channel
changes the relationship of the A and B
phases by 180° (positive direction becomes
negative direction).
Resolution Factor (used with handwheel The resolution factor adjusts handwheel
only) resolution per unit click, increasing or reducing
the speed of the handwheel.
Servo Loop Sample Time
10-Feb-98 Page 13-75

Refer to Map 8, Menu J. This feature sets the rate at which the servo
loop operates. [Default: 0.0400]
Enable Velocity Look Ahead

Refer to Map 8, Menu J. Switch the setting to enable (Yes) or disable
(No) Velocity Look Ahead. [Default: Yes]
Fine-Tuning DSP Systems with Scales

On machines equipped with glass scales and that use an Anilam DSP
Motion Control Boards, the following changes need to be made in the
Setup Utility to minimize or eliminate the effects of lost motion on the
control system.
NOTE: This procedure requires you to move between the Setup Utility
and the CNC’s Manual screen. Whenever you make a change to the
Setup Utility, make sure to save the changes when prompted (press Save
(F1)).
Lost motion The distance the ballscrew and/or motor moves
before the table begins to move. This lost motion is
the result of the mechanical characteristics of the
motor and ballscrew.
Since a scale measures table motion, movement corrections required by
mechanical characteristics or servo drift can only be made after the CNC
detects table movement.
Use this procedure to compensate for the observed lost motion by fine
tuning the DSP setup parameters.
Make changes in the DSP Setup Utility only after an axis is aligned and
stable. Before changing the DSP Setup, first balance the servo cards, set
the signal gain, adjust the PID filter gains and make sure following error
(lag) is the same on all axes.
1. In the CNC’s Setup Utility, ensure the CNC is set to “linear scale”, with
the proper scale resolution and display resolution settings.
2. Use the AXIS SELECTOR switch to select the required axis for a manual
move.
3. Use the JOG selector switch to set the CNC to Jog Mode 1. This sets
the axis to move in increments of 1 times the machine resolution each
time you press a JOG key.
4. Use the PLUS or MINUS JOG key to move the axis in a positive or
negative direction.
5. Use the PLUS or MINUS JOG key to move the axis in the opposite
direction as in Step 4.
Page 13-76 10-Feb-98

6. Look at the ballscrew (or handwheel) of the axis. When lost motion
occurs, the ballscrew moves a much greater distance than the system
resolution (Example: 0.0005” on a 10 micron scale). That distance is
the lost motion on that axis.
NOTE: It is acceptable for the system to move a few times the lost
motion amount to adjust itself, as long as the lost motion does not affect
table movement or become a continuous oscillation (hunting).
7. If your system is oscillating (hunting) within that distance, make the
following adjustments within the DSP Setup screen:
A. Check the Servo Loop Sample Time. With a 10 micron
resolution glass scale, set the servo sampling time to 0.800 msec.
With 1, 2 or 5 micron resolution scales, the value should remain at
the default value, 0.400 msec. (Use increments of 0.050 msec
when making minor adjustments to this value.)
B. Eliminate the hunting created by the lost motion. While the axis is
not moving, adjust the No-Motion Gain Table values to limit the
reaction time of the servo’s digital filter, as follows:
− Eliminate any integral gain by setting the Ki and Il to 0.
Integral gain accumulates over time, increasing the correction
output and instigating oscillation due to lost motion.
− Set the Kp value to 1.50. If oscillation continues, reduce Kp in
steps of 0.10, until oscillation stops.
NOTE: Lowering the Kp gain delays the correction time not only to
lost motion but also to drift offsets on the system.
8. Repeat the procedure on all enabled axes.
9. From the CNC’s Manual screen, use the JOG keys in Feed Mode to
test the responsiveness of the axis. If an axis coasts when the JOG
key is released, reduce the Feed Accel/Decel setting in the DSP
Setup screen. Use steps of 10 msec when adjusting this parameter.
NOTE: Always make minor adjustments to Setup Utility parameters
and check until the problem being corrected is fixed. If you make
major changes to parameters, you may fix the problem at hand, but
cause others.
10-Feb-98 Page 13-77

Motion Setup/Testing Utility (MST)

This section describes the Motion Setup/Testing (MST) Utility that
performs motion setup and testing. The MST Utility generates the signals
required to balance the outputs. A basic knowledge of machine operation
and programming is required. Refer to the appropriate programming
manual for details on programming and operation.
This section outlines procedures for balancing the Motion Control Board
outputs, balancing the Servo Amplifier outputs and adjusting the signal
gain on 1200T systems that use the DSP Motion Control Board.
This involves:
− Servo Board Balancing
− Servo Board Signal Gain Setting (motor step response is displayed in
open loop)
The following troubleshooting capabilities are provided:
− Detection of Index Pulse
− Detection of counts between Index Pulses (actual resolution)
− Tuning for optimal Kp value
The following General Status information is displayed:
− Display Of CNC Active G-Codes
− Display of machine position, feedrates, RPM, dwell and override.
Accessing the MST Utility

Refer to Figure 13-1, MST Software Selection Screen. The Motion
Setup/Testing Utility (MST) is accessed from the main software selection
screen, which activates automatically once the CNC has started
successfully.
Figure 13-1, MST Software Selection Screen

To activate the MST Utility:
1. Turn on the CNC. The Startup Screen activates automatically.
2. From the Startup Screen, highlight Motion Setup/Testing. Press
ENTER. The MST screen activates.
Page 13-78 10-Feb-98

Activating the MST Screen
Figure 13-2, 1200T Motion Setup/Testing Screen

Refer to Figure 13-2, 1200T Motion Setup/Testing Screen. The same
screen is used to perform all MST functions. The axis positions displayed
correspond to current machine position. The graphics area displays step
response for Signal Gain and Tuning functions.
Table 13-32, MST Screen Areas and Explanations
MST Screen Area Explanation

General Status Shows Active Modes, Machine Position for
each axis, RPM, Dwell, Spindle Speed and
Feedrate, Active Axis and other status
machine information.
Graph Area Displays step response for Signal Gain and
Tuning functions.
Prompt Area Displays messages to the operator regarding
information that must be supplied.
Active G and M Codes Displays currently active G and M Codes.
Message Area Displays error messages.
Softkeys Activate by pressing the corresponding
function keys (F1-F10) located below the CRT
on the console.
Shift Softkeys Press SHIFT then press F4 to activate Home
(SHIFT + F4).
10-Feb-98 Page 13-79

MST Softkeys
NOTE: The user must select an active axis before selecting an MST
command (F1-F9).
The Motion Setup/Testing Utility commands are activated via softkeys
located under the CRT on the console. To activate a function, press the
corresponding softkey (F1-F10).
Refer to Table 13-33, MST Softkey Functions for softkey names and
functions.
Table 13-33, MST Softkey Functions
Softkey Name Function

F2 ResChk Calculates the resolution of the
active axis. Troubleshooting
tool.
F3 IndexP Detects Index Pulse and
displays an indicator next to the
Active Axis line of the MST
screen. Troubleshooting tool.
F4 MANUAL Cancels active MDI or test
command.
F5 MDI Displays a command.
F6 Balance Sends out the signal needed to
Balance the outputs of the
system (0.0 VDC). Used to
balance the Motion Control
Board and the Servo Amplifiers.
F7 SigGain Enables the operator to set the
servo board signal gain for the
active axis.
Activates Tuning test which
F8 Tuning
generates an optimum Kp value
within the constraints specified
by the user.
F9 Save Press after you complete the
Tuning test (F8) to save the final
Kp value generated by the test.
F10 Exit Returns the CNC to the software
selection screen.
SHIFT + F4 Home Performs a machine Home
sequence.
Clearing a Prompt Field or Message

Press SPACE to clear an erroneous entry or message from the screen.
Selecting an Axis
Page 13-80 10-Feb-98

NOTE: Select an active axis before you select an MST command (F1-
F9). If no axis is selected, the CNC prompts you to do so with an error
message.
Use the X and Z keypad keys to select and activate their corresponding
axes. The active axis is displayed in the upper left corner of the General
Status area of the MST Screen.
Entering a Password
The CNC prompts for a password when you enter the MST Utility and
when you activate the first MST softkey command (F1-F9). Once you
activate the first softkey command, the CNC will not prompt for the
password for subsequent commands. Enter the appropriate password
and press ENTER. The softkey will then activate. Once the password has
been successfully entered once, the CNC will not prompt for the
password again, unless the user exits and re-enters the MST Utility.
Checking Axis Resolution (F2)

Press the ResChk (F2) softkey to calculate the actual resolution for the
active axis. The actual resolution and the resolution in the Setup are both
displayed for comparison. After you activate the test, move the axis for at
least two encoder revolutions, via MDI, Jog Mode or manually. The
calculation is performed only once.
Detecting the Index Pulse (F3)

When the operator presses the IndexP (F3) softkey, the CNC displays a
flashing “I” whenever it detects an Index Pulse. The flashing “I” replaces
the axis name (X or Z) of the active axis. The Index Pulse indicator
(flashing “I”) for the spindle axis is shown on the RPM field. Refer to
Figure 13-3, Index Pulse Indicator . In the drawing, the Index Pulse
Indicator takes the place of the X axis on a lathe application.
Figure 13-3, Index Pulse Indicator

Every time the CNC detects an Index Pulse, the Index Pulse Indicator
activates in the form of a flashing “I”, until the test is disabled. Make
moves in MDI, Jog Mode or by manually moving the handwheels.
NOTE: If the operator uses Continuous Jog Mode during the Index Pulse
test, the test is canceled when the continuous jog key is released.
10-Feb-98 Page 13-81

Activating Manual Data Input Mode

Press MDI (F5) to activate the MDI Prompt Box. (Refer to Figure 13-4,
MDI Prompt Box.) Enter MDI commands in the prompt box.
Figure 13-4, MDI Prompt Box
Canceling the Active MDI or Test Command

Press MANUAL (F4) to cancel the active MDI or test command.
Alignment of Motion Control Axes

To balance the outputs properly, all connections between the Motion
Control Board and the servo amplifiers should be complete.
Perform all of the adjustments on one axis at a time. Make the
adjustments in the following order:
1. Select an Axis
2. Balance the Motion Control Board outputs
3. Balance the Servo Amplifier outputs
4. Set Servo Amplifier gain
Balancing the Motion Control Board (F6)
NOTE: For Systems Equipped with ANILAM Servo Amplifier Board P/N
31500966: All measurements for this procedure can be made at the J2
test point, see Figure 13-5, ANILAM Servo Amplifier, P/N 31500966.
Measure command voltages across Pin #1 and Pin #2 of the J2 test
connector.
NOTE: For Systems not equipped with the ANILAM Servo Board:
Measure command voltages at the P3 connector of the PCB 845 Motion
Junction Board, see Figure 13-7, PCB 845 Motion Junction Board P3
Connector.
New Motion Control Boards are adjusted at the factory and should
already be within limits. However, you can make adjustments using
following the procedure.
Page 13-82 10-Feb-98

NOTE: To avoid mechanical problem caused by axis drifting, first

balance the Motion Control Board with the servos off. Next, verify the
Motion Control Board balance with the servos on and correct for voltage
offset, as required.
1. Press Balance (F6) to output a zero voltage signal to the axis.
2. Press START.
3. Make adjustments for axis outputs 0-3 on the Motion Control Board at
potentiometers R20-R23, respectively.
4. Adjust the potentiometer for the selected axis until the voltage across
the pins is 0 VDC (±0.001 V).
5. Press MANUAL (F4) to cancel the test.
Balancing Servo Amplifier Outputs (F6)

When the command signal voltage from the motion control board is 0, the
axis should be stationary and the tachometer should read 0 VDC (±0.001 V).
Monitor the Tach voltage across Pins #1 and #3 of the J2 test connector.
To balance the servo amplifier output:
NOTE: Energize the servos.
2. Press START.
3. On the ANILAM Servo Amplifier for the axis being adjusted, adjust the
RV5 potentiometer until the Tach voltage is 0 VDC (± 0.001 V). This
indicates that the active axis is stationary. Refer to the manufacturer’s
instructions if another type of servo amp is used.
4. Press Manual (F4) to cancel the Balance command.
10-Feb-98 Page 13-83

Setting the Signal Gain (F7)

This procedure describes the gain adjustment of an ANILAM Servo
Amplifier, see Figure 13-5, ANILAM Servo Amplifier, P/N 31500966.
Refer to the manufacturer’s instructions if another type servo amp is
used.
NOTE: 0.9 V is used during this procedure.
The gain is adjusted at 10 percent of the machine’s maximum Rapid
speed, using the fastest axis.
1. Press SigGain (F7).
2. Look at the Prompt Area of the MST screen. Enter a timed delay at
the T(sec) entry field (2 seconds is usually adequate). T is the
amount of time the axis will travel in one direction before it reverses to
travel the same distance in the opposite direction. The actual
distance depends on the feedrate that corresponds to 0.9V.
NOTE: Use the SPACE key to clear the entry.
3. Press START. In the Graph Area of the screen, the CNC generates an
open loop step response that includes rise time.
4. Adjust the signal gain at the RV1 pot until the displayed feedrate is at
10 percent of the machine’s maximum Rapid speed, using the fastest
axis. (The builder defines the maximum rapid speed in the Setup
Utility.)
J2
Test Connector
Pin #1 Common
Pin #2 Signal Input
Pin #3 Tachometer Input
J2
RV1 Signal Gain

RV2
RV3
RV4
RV5 Balance
Fault LED
GTJ3
Figure 13-5, ANILAM Servo Amplifier, P/N 31500966

If the system is equipped with an ANILAM Servo Amplifier Board, P/N
31500966, make all voltage measurements at the J2 test point. Measure
command voltage across Pins #1 and #2. Measure the tachometer
output across Pins #1 and #3.
Page 13-84 10-Feb-98

Output
Balance
Pots
R20
R21
R22
R23
DSPPOTS
Figure 13-6, ANILAM DSP Motion Control Board Balance Pots

On the ANILAM DSP Motion Control Board, make adjustments for axis
outputs 0-3 at potentiometers R20-R23, respectively.
PCB845
Figure 13-7, PCB 845 Motion Junction Board P3 Connector

The PCB 845 Motion Junction Board is commonly used in 1200T control
systems. P3 connector pin pairs D0-D3 correspond to axis outputs 0-3
respectively. To measure the command signal, connect the volt meter
leads across the connector pin pair for the required axis.
10-Feb-98 Page 13-85

Tuning (F8)
Figure 13-8, Tuning Graphic Display

Refer to Figure 13-8, Tuning Graphic Display. The Tuning function can
determine an optimum Kp value within the constraints specified by the
user. The default Kp value is usually fine for most machines. To fine-
tune, enter the Kp values manually or use this test.
Gain values obtained by the test are only suggested values, it is possible
to have many different settings that produce similar results. Other values
that produce satisfactory machine motion need not be changed to the test
values.
The CNC cycles through the test three times. Each cycle ends when one
of the following conditions is met:
− The entered OvSht% value is exceeded during a cycle.
− The KpMax value is reached during a cycle.
During the test, the CNC moves the selected axis one inch in a positive
direction and rapids back to the starting position. The movement is
performed once at each Kp value, beginning with the KpMin, and the
CNC displays the step response graph. Upon completion of the test, the
CNC displays a “final Kp value”, recommended by the test.
NOTE: All three cycles must be completed to achieve a valid test result.
Feed speed should correspond to the Rapid speed if determining Kp for
rapid moves. Feed speed should be the most commonly used feed
speed for feed moves.
KpMax should be greater than KpMin. If the operator mistakenly enters
a KpMin that exceeds the KpMax, the CNC displays an Error message.
Page 13-86 10-Feb-98

The CNC starts the test at the KpMin value entered. It samples at and
displays a step response for each Kp Value between the KpMin and
KpMax, in increments of one. (For a KpMin of 10 and KpMax of 30, the
CNC displays a step response for each Kp (10, 11, 12…30). If the
KpMax value is reached, the CNC ends the cycle.
OvSht% is the amount of overshoot the CNC will search for before it ends
the cycle. 1 to 3 percent is a normal overshoot range for this test. If the
CNC detects an overshoot percentage exceeding the entered OvSht%, it
ends the cycle.
To run the test:
1. Energize the servos.
2. Press Tuning (F8).
3. Enter the Tuning parameters.
4. Press START. The CNC begins the test.
5. Press MANUAL (F4) to cancel.
Saving a Kp Value as a Default (F9)
Figure 13-9, Saving the Final Kp Value

Press Save (F9), after you complete the Tuning (F8) test, to save the
final Kp value generated by the test. Refer to Figure 13-9, Saving the
Final Kp Value.
To save the test Kp value:
1. At the completion of the Tuning test, press Save (F9). The Save Kp
menu activates and the CNC prompts the user to save the final Kp
value as a Rapid or Feed Kp value.
2. Use the ARROWS to highlight the [Feed] or [Rapid] option. Press
ENTER.
3. The CNC stores the test (New) Kp value in the configuration file for
Feed/Rapid moves.
10-Feb-98 Page 13-87

Exiting the MST Screen (F10)

Press Exit (F10) to exit the MST Screen and return to the main software
selection screen.
Homing the Machine (SHIFT + F4)

Press Home (SHIFT + F4) to perform a machine Home sequence. The
servos must be on in order for this command to work. Press Manual (F4)
to cancel the Home command. All previously configured axes are homed.
Page 13-88 10-Feb-98

P/N 70000322 - 1200T Setup Utility Maps
Section 14 - 1200T Setup Utility Maps

This section contains maps referenced in Section 13 -1200T Setup
Utility.
10-Feb-98 Page 14-1

Software Options Setup Options Machine/Installation Machine Axis - Setup
Page 14-2
2. Setup Utility 1. Machine/ Installation 1. Machine Axis 1. Resolution
2. Linear correction compensation
Startup Screen Menu A Menu B 3. Skew error compensation
Select Software Package Select Setup Option Select Setup Menu 4. In position
5. Continuous path
6. Default rapid
7. Default feed
8. Software limits
9. Backlash compensation
10. Encoder Phase A
Menu C
Machine Axis Setup Menu
In Position - Setup
1. X In position ... 0.0004

2. Z In position ... 0.0004
3. W In position ... 0.0004
4. C In position ... 0.0004
Menu G
In Position Setup Menu
Map 1
Skew Error Compensation - Setup Linear Correction Compensation - Setup
1. X Skew error compensation ... 0.0000 1. X Linear correction compensation ...

1.000000
2. Z Skew error compensation ... 0.0000 2. Z Linear correction compensation ...
1.000000
3. W Skew error compensation ... 0.0000 3. W Linear correction compensation ...
1.000000
4. C Skew error compensation ... 0.0000 4. C Linear correction compensation ...
1.000000
5. Skew error compensation ...... Off 5. Linear correction compensation ......
Off Axis Resolution - Setup
Menu F Menu E
Skew Error Compensation Setup Menu X Z W C
Linear Correction Compensation Setup Menu
1. Type Encdr Encdr Encdr Encdr
2. Disp. Res. .002 .002 .002 .002
3. Resolution .002 .002 .002 .002
4. Enc. Lines 635 635 635 635
5. Pitch 0.20 0.20 0.20 0.20
6. Ratio 1.00 1.00 1.00 1.00
Menu D
Axis Resolution Setup Menu
12MAP1
10-Feb-98
Software Options Setup Options Machine/Installation
Continuous Path - Setup
10-Feb-98
2. Setup Utility 1. Machine/ Installation 1. Machine Axis
1. X Continuous path .... 0.0700
Startup Screen
Menu A Menu B 2. Z Continuous path .... 0.0700
Select Software Package
Select Setup Option Select Setup Menu 3. W Continuous path .... 0.0700
4. C Continuous path .... 0.0700
5. Continuous path ........ On
Menu F
Continuous Path Setup Menu
Default Rapid - Setup
1. Default rapid rate X axis ... 200.

Default Feed - Setup
2. Default rapid rate Z axis ... 200.

3. Default rapid rate W axis ... 200.
1. Default feed rate X axis ... 10.0 4. Default rapid rate C axis ... 200.
2. Default feed rate Z axis ... 10.0
3. Default feed rate W axis ... 10.0 Menu E
Machine Axis - Setup 4. Default feed rate C axis ... 10.0 Default Rapid Setup Menu
Menu D
5. Continuous path Default Feed Setup Menu
6. Default rapid Positive Software Limit - Setup
Software Limits - Setup
Map 2
7. Default feed
8. Software limits 1. X+ Software limit .... 0.0000
1. Positive software limits... 0.0000
9. Backlash compensation 2. Z+ Software limit ....
2. Negative software limits.. 0.0000
10. Encoder Phase A 3. W+ Software limit ....
3. Software limits................. Off 0.0000
11. Encoder Phase B 4. C+ Software limit ....
12. Vector Limits
Menu J
13. Ballscrew compensation Menu I
Software Limits Setup Menu
14. Feed Gain Table Positive Software Limit Setup Menu
Negative Software Limit - Setup

Menu C
Machine Axis Setup Menu Backlash Compensation - Setup 1. X- Software limit .... 0.0000
2. Z- Software limit .... 0.0000
1. X Backlash compensation ... 0.0000 3. W- Software limit .... 0.0000
2. Z Backlash compensation ... 0.0000 4. C- Software limit .... 0.0000
3. W Backlash compensation ... 0.0000
4. C Backlash compensation ... 0.0000
Menu H
5. Backlash compensation ...... Off
Negative Software Limit Setup Menu
Menu G
Backlash Compensation Setup Menu 12MAP2
Page 14-3
Page 14-4
Startup Screen
Menu A Menu B
Select Software Package
Select Setup Option Select Setup Tool
Encoder Phase A - Setup
1. Phase for X axis .... Not Invert

2. Phase for Z axis .... Not Invert
3. Phase for W axis ... Not Invert
4. Phase for C axis ..... Not Invert

Menu F
Encoder Phase A Setup Menu
Machine Axis - Setup

Encoder Phase B - Setup
10. Encoder Phase A
11. Encoder Phase B
Map 3
12. Vector Limits 2. Phase for Z axis .... Not Invert
13. Ballscrew compensation 3. Phase for W axis ... Not Invert
Vector Limits - Setup
14. Feed gain table 4. Phase for C axis .... Not Invert
15. Rapid gain table Enable
1. X vector limits ....
16. No motion gain table Enable Menu E
2. Z vector limits ....
17. Jog Position Disable Encoder Phase B Setup Menu
3. W vector limits ...
18. Axis Clamping Disable
4. C vector limits ....
19. Axis Ports
20. Position Error Check Menu D
Vector Limits Setup Menu
Menu C
Rapid Gain Table - Setup Feed Gain Table - Setup
No Motion Gain Gain Table - Setup
C X Z W C X Z W C
Z X W 1. Kp 1. Kp
1. Kp 10 10 10 10 10 25 25 25 25
10 10 10 2. Ki 2. Ki
2. Ki 10 0 0 0 0 0 0 0 0
10 10 10 3. Kd 3. Kd
3. Kd 0 10 10 10 10 0 0 0 0
0 0 0 4. Il 4. Il
4. Il 1 0 0 0 0 0 0 0 0
1 1 1
Menu H Menu I
Menu G
Rapid Gain Setup Menu Feed Gain Table Setup Menu 12Map3
No Motion Gain Setup Menu
10-Feb-98
10-Feb-98
2. Setup Utility 1. Machine Installation 1. Machine Axis 13. Ballscrew compensation
Startup Screen Menu A Menu B Menu C
Select Software Package Select Setup Option Select Setup Tool Machine Axis Setup Menu
Ballscrew Compensation - Setup
1. Standard...............
2. Variable Segment. Number of Segments - Setup
3. Active.................... None
1. Number of segments for X ... 1
Menu D 1
2. Number of segments for Z ...
Ballscrew Compensation Setup Menu 1
3. Number of segments for W ...
4. Number of segments for C ... 1
Map 4
Standard Parameters - Setup
Menu F
Number of Segments Setup Menu Table Entries - Setup
1. Number of segments
2. Table entries X Z W C
3. Offset 1. 0.00000 0.00000 0.00000 0.00000
4. Zero cross
5. Segment length Menu G
Menu E Zero Cross - Setup Table Entries Setup Menu
Standard Parameters Setup Menu
1. Zero cross for X ... 0.00000
Segment Length - Setup 2. Zero cross for Z ... 0.00000 Offset - Setup
3. Zero cross for W .. 0.00000
1. Length of segments for X ... -1.00000 4. Zero cross for C ... 0.00000 1. Ballscrew offset for X ... 0.00000
2. Length of segments for Z ... -1.00000 2. Ballscrew offset for Z ... 0.00000
3. Length of segments for W ... Menu I 3. Ballscrew offset for W .. 0.00000
-1.00000
4. Length of segments for C ... Zero Cross Setup Menu 4. Ballscrew offset for C ... 0.00000
-1.00000
Menu J Menu H
Segment Length Setup Menu Offset Setup Menu 12MAP4
Page 14-5
Page 14-6
2. Setup Utility 1. Machine Installation 1. Machine Axis 13. Ballscrew compensation
1. Standard...............
2. Variable Segment.
3. Active.................... None
Segment Lengths
Menu D
Ballscrew Compensation Setup Menu 1. X parameters
2. Z parameters
Map 5
3. C parameters X Variable Segment Lengths - Setup
4. W parameters
Menu E 1. Number of segments... 1
Segment Lengths Setup Menu 2. Offset.......................... 0.00000 1. 0.00000
None 3. Zero cross................... 0.00000
Standard 4. Segment length...........
Variable Segment 5. Table entries...............
Menu J Menu F 1. 0.00000

Active Setup Menu (X) Variable Segment Length Setup Menu
12MAP5
10-Feb-98
Output Port - Setup
10-Feb-98
Bit Used On/Off
Startup Screen 1... Off
Menu B
Select Software Package 2... Off
Select Setup Tool
3... Off
Menu A 4... Off
Select Setup Option 5... Off
Axis Clamping - Setup 6... Off
7... Off
Machine Axis - Setup Jog Position - Setup 8... Off
1. Clamping allowed .. No
2. Wait for finish......... 9... Off
1. X Jog position .... 0.0000 No
12. Vector Limits 3. Allowable error........ 10. Off
2. Z Jog position .... 0.0000 0.0000
13. Ballscrew compensation

3. W Jog position .... 0.0000 4. Axis Ports..............

14. Feed gain table Menu L
15. Rapid gain table 4. C Jog position .... 0.0000 Menu J Output Ports Setup
16. No motion gain table Menu D Axis Clamping Setup Menu Menu
17. Jog Position Jog Position Setup Menu
18. Axis Clamping Axis Clamping Ports - Setup
19. Axis Ports
20. Position Error Check 1. X Axis Port... 0000
21. Rapid Ramping 2. Z Axis Port... 0000
Map 6
22. DSP MCB Setup 3. W Axis Port.. 0000
Menu C 4. C Axis Port... 0000
Machine Axis Setup Menu Menu K
Axis Clamping Ports Axis Ports - Setup
Rapid Ramping - Setup Setup Menu
7 1. Port 0... X
1. Rapid Ramp Buffer.... 2. Port 1... C
No
2. Enable Usage............ 3. Port 2... Z
4. Port 3... Disabled Disabled
Menu G
5. Port 4... Disabled X
Rapid Ramping Position Error Check (PEC) - Setup 6. Port 5... Disabled Z
Setup Menu
Menu E W
1. Check idle time (ms)......................... 100
Axis Ports Setup Menu C
2. Maximum lag error........................... 0.0047
3. Mminimum lag for speed break......... 0.0004 Menu F
Off
4. Check idle time during homing (ms).. 100 Options Setup
PEC Only
5. Error checking.................................. PEC & Rapid Warning Menu
PEC & Rapid Warning
Menu H Menu I
Position Error Check Setup Menu OptionsSetup Menu 12Map6
Page 14-7
2. Setup Utility 1. Machine/Installation 1. Machine Axis 22. DSP MCB Setup
Page 14-8
Startup Screen Menu A
Select Software Package Select Software Setup Option Menu B Menu C
Select Setup Tool Menu Machine Axis Setup Menu
DSP - MCB Setup

DSP - Feed Filter Parameters
1. Feed Filter Parameters.............. X Z W C
2. Rapid Filter Parameters............. 1. Kp 15.000 15.000 15.000 15.000
3. No Motion Filter Parameters...... 2. Ki 10.000 10.000 10.000 10.000
4. Feed Accel/Decel (ms).............. 140.00 3. Kd 10.000 10.000 10.000 10.000
5. Rapid Accel/Decel (ms)............. 140.00 4. Kf 0.000 0.000 0.000 0.000 DSP - Rapid Filter Parameters
Map 7
6. Position Error Check................... 5. Il 50.000 50.000 50.000 50.000 X Z W C
7. Handwheel DRO #1.................... 6. Ds 2. 2. 2. 2. 1. Kp 15.000 15.000 15.000 15.000
8. Handwheel DRO #2.................... 2. Ki 10.000 10.000 10.000 10.000
9. Check DSP Integrity.................... Menu E 3. Kd
Yes 10.000 10.000 10.000 10.000
10. Servo Loop Sample Time (ms)... 0.4000 DSP - Feed Filter Parameter Setup Menu 4. Kf 0.000 0.000 0.000 0.000
11. Enable Velocity Look Ahead....... Yes 5. Il 50.000 50.000 0.000 0.000
6. Ds 2. 2. 2. 2.
Menu D Menu F
DSP - Setup Selection Menu DSP - Rapid Filter Parameters Setup Menu
DSP - No Motion Filter Parameters

DSP - Position Error Check X W Z C
1. Kp 15.000 15.000 15.000 15.000
1. Max idle time (ms).............. 100.00 2. Ki 10.000 10.000 10.000 10.000
2. Max lag error...................... 0.0100 3. Kd 10.000 10.000 10.000 10.000
3. Check Rapidrate................. Yes 4. Kf 0.000 0.000 0.000 0.000
4. Check Feedrate.................. Yes 5. Il 50.000 50.000 50.000 0.000
5. Enable error checking........ Yes 6. Ds 2. 2. 2. 2.
Menu G
Menu H DSP - No Motion Filter Parameters Setup Menu
DSP - Position Error Check Setup Menu
10-Feb-98
12MAP7
10-Feb-98
..................................
Startup Screen Menu A Menu C
6. Miscellaneous Miscellaneous Setup
Select Software Package Select Setup Option Select DSP Motion Control Board
..................................
19. Remote Handwheels... 2 Setup
Menu B
Select Setup Tool Menu P
Select # of Handwheels
DSP - MCB Setup

1. Feed Filter Parameters.............. None

2. Rapid Filter Parameters............. Handwheel
3. No Motion Filter Parameters..... Readout
4. Feed Accel/Decel (ms).............. 140.00 DSP - Handwheel/DRO #1
5. Rapid Accel/Decel (ms).............. 140.00 Menu V
6. Position Error Check................... Set Port Type
1. Port Type................................. None
7. Handwheel DRO #1.................... 2. Resolution (HW Only)..............
8. Handwheel DRO #2.................... MP Switch
3. Axis (HW Only)........................ MP Switch
9. Check DSP Integrity.................... Yes 4. Phase.......................................
Map 8
10. Servo Loop Sample Time (ms)... 0.4000 Not invert
5. Resolution Factor (HW Only)... 1.00
11. Enable Velocity Look Ahead....... Yes
MP Switch
Menu L Fixed 1
Menu J Configure CTR #0 Handwheel/DRO Fixed 10
DSP - Setup Selection Menu None Fixed 100
Select Handwheel Setup Handwheel Menu U
Readout Set Port Type Menu R
Set Resolution
DSP - Handwheel/DRO #2
MP Switch MP Switch
Fixed 1 Fixed X
1. Port Type................................. None
Fixed 10 Fixed Z
2. Resolution (HW Only).............. MP Switch
Fixed 100
3. Axis (HW Only)........................ SK Switch Menu Q
SK Switch
4. Phase....................................... Not invert Set Axis
1.00 Menu S
5. Resolution Factor (HW Only)...
Set Resolution
Menu K SK Switch
Configure CTR #1 Handwheel/DRO Fixed X
Fixed Z Menu T
Set Axis
Page 14-9
12MAP8
Software Options Setup Options Machine/Installation Spindle Axis - Setup
2. Setup Utility 1. Machine Installation 2. Spindle Axis 1. Spindle output ........................................
Page 14-10
Unipolar
3. Special U,V,W 2. Gear ranges used .................................. Single-M40
Startup Screen Menu A 4. Interface 3. Low setting for M40 gear range .............. 50
Select Software Package Select Setup Menu 4. High setting for M40 gear range ............. 6,000
Menu B
5. Low setting for M41 gear range .............. 50
Select Setup Tool
6. High setting for M41 gear range ............. 6,000
7. Low setting for M42 gear range............... 165
Interface - Setup 8. High setting for M42 gear range ............. 501
Interface - Setup Disabled 9. Low setting for M43 gear range............... 500
1. Type ............................................. Distrib. Board Distrib. Board 10. High setting for M43 gear range.............. 1,471
1. 2.Type .............................................
Timeout ........................................... 10,000 AB-SLC150 11. Low setting for M44 gear range............... 1,470
2. 3.Timeout
Output...........................................
Port ..................................... AB-SLC500 12. High setting for M44 gear range.............. 4,640
3. 4.Output Port .....................................
S-Function Setup ........................... 0000 MITSU. F/A 13. Gear change RPM...................................
10
4. 5.S-Function
M-Function Setup
Setup ...........................
........................... SAIA-PCD 14. Lines on spindle encoder per revolution... 1,024
5. 6.M-Function
Input PortSetup ...........................
......................................... ANILAM IPI 15. Multiplication spindle factor...................... 1.0
6. 7.Input Port
Input .........................................
Functions ................................ OMRON CQM1 16. Spindle RPM display................................ Program
7. 8.Input Functions ................................
Communications Parameters........... 17. Check spindle during RPM change..........
Menu G Yes
8. 9.Communications
Issue M5 on SvoFlt Parameters...........
or Estop ........... No 18. Stop program on gear change..................
Options Setup Menu No
Issue
9. 10. M5 on
Restore outputs
SvoFlton orI/OEstop ...........
reset............ Yes 19. Check RPM to be within gear range......... Yes
Restore
10.11. Displayoutputs I/O reset............
internaloninterface messages. Yes
11. Display internal interface messages. Menu C
Spindle Axis Setup Menu
Map 9
Menu E Interface Setup Menu
Special W - Setup
Output Port Setup
1. Display W axis..................... No
2. W axis set to........................ None
Port Pulse Delay Finish Active
Output Port Setup 3. W Rotary axis reset at 360... No
0 ..... 0 0 No High
1 ..... 0 0 No High
Bit Used On/Off Menu D
2 ..... 0 0 No High
0 ..... Off Z Axis Type Setup Menu
3 ..... 0 0 No High None
1 ..... Off
4 ..... 0 0 No High Linear
2 ..... Off
5 ..... 0 0 No High Rotary
3 ..... Off M-Function Port Setup
6 ..... 0 0 No High Linear DRO
4 ..... Off
7 ..... 0 0 No High 0 Rotary DRO
5 ..... Off Pulse(msec) ...
8 ..... 0 0 No High 0
Delay(msec) ... Menu E
Menu J 9 ..... 0 0 No High No
Finish ............. Options Setup Menu
Output Port Setup Menu 10 ... 0 0 No High High
Active .............
Menu H
Output Port Setup Menu Menu I
M-Function Port Setup Menu
12MAP9
10-Feb-98
M-Function Setup
10-Feb-98
2. Setup Utility 1. Machine Installation 3. Interface
M-Code Ports On Ports Off
Startup Screen Menu A Menu B M 01 0000 0000
Select Software Package Select Setup Option Select Setup Tool M 02 0000 0000
M 03 0000 0000
M 04 0000 0000
M 05 0000 0000
Input Port M 06 0000 0000
M 07 0000 0000
Port Active M 08 0000 0000
Interface - Setup
Interface - Setup 0 ..... High M 09 0000 0000
1 ..... High M 10 0000 0000
1. Type ............................................. Distrib. Board
M 11 0000 0000
1. 2.Type .............................................
Timeout ........................................... 10,000 2 ..... High
2. 3.Timeout
Output...........................................
Port ..................................... 3 ..... High
Menu D M-Function 01
3. 4.Output Port .....................................
S-Function Setup ........................... 0000 4 ..... High
M-Function Setup Menu
4. 5.S-Function
M-Function Setup
Setup ...........................
........................... 5 ..... High
5. 6.M-Function ........................... 6 ..... High 1. Ports On ....0000
Input PortSetup .........................................
6. 7.Input Port ......................................... 7 ..... High 2. Ports Off ....0000
Input Functions ................................
7. 8.Input Functions ................................
Communications Parameters........... 8 ..... High Menu E
8. 9.Communications
Issue M5 on SvoFlt Parameters...........
or Estop ........... No 9 ..... High M-Function 01 Setup
Issue
9. 10. M5 on
Restore outputs
SvoFlton orI/OEstop ...........
reset............ Yes Menu
Menu G
Map 10
Restore
10.11. Displayoutputs I/O reset............
internaloninterface messages. Yes
11. Display internal interface messages. Input Port Setup Menu I3 Port(s)
Menu C Interface Setup Menu
0 ..... Off Output Port Setup
Interface Communications - Input Functions 1 ..... Off
Setup 2 ..... Off Bit Used On/Off
1. Tool guard ...................... 0000
3 ..... Off 0 ..... Off
2. External finish pulse ....... 0000
1. Baud 9600 4 ..... Off 1 ..... Off
3. Optional block skip (0).... 0000
2. Parity EVEN 5 ..... Off 2 ..... Off
4. External start .................. 0000
3. Data bits 7 6 ..... Off 3 ..... Off
5. External hold ................... 0000
4. Stop bits 1 7 ..... Off 4 ..... Off
6. External feed hold ........... 0000
5. Software Off 8 ..... Off 5 ..... Off
7. External manual select .... 0000
9 ..... Off Menu F
Menu J 8. Start reading keyboard .... 0000
10.... Off Output Port Setup Menu
Interface Communications 9. Stop reading keyboard .... 0000
Setup Menu 10. Spindle CW (M3) ............. 0000
Menu I
11. Spindle CCW (M4) ......... 0000
Input Ports Setup Menu
12. Spindle off (M5) 0000
13. General Error input message 0000
14. General Warning input message 0000 Menu H
Input Functions Setup Menu
12Map10
Page 14-11
Software Options Setup Options Machine/Installation Miscellaneous -Setup
Page 14-12
2. Setup Utility 1. Machine Installation 6. Miscellaneous 1. Manual panel port ................................... Disabled
2. Max programmed feedrate....................... 80.0
Startup Screen Menu A Menu B 3. Feedrate jog on manual panel ................. 40.0
Select Software Package Select Setup Option Select Setup Tool 4. Rapidrate for jog on manual panel............ 200.0
5. Max programmed rotary feedrate............. 3,000.0
6. Rotary feedrate for jog on manual panel .. 1,016.0
7. Acceleration............................................. 66,000
8. Feed velocity offset factor........................ 1.08
9. Rapid velocity offset factor....................... 1.08
Yes COM1
10. Force simulation mode.............................
1 ANILAM1
11. Servo up delay.........................................
No ANILAM2
12. Save files when main power fails.............
ANILAM5
ANILAM6
ANILAM8
Menu C
Disabled
Miscellaneous Setup Menu
Menu D
Miscellaneous - Setup Options Setup
Menu
13. Machine type......................................... Mill
Lathe
14. Reverse G2/G3...................................... Lathe
No
Map 11
15. Lathe tool post....................................... Rear Menu F
16. Lathe X programming mode................... Diameter Options Setup Menu
17. Load CNC custom character set............. VGA CNC
18. Remote handwheels............................... 2
19. Screen blanking delay (minutes) ............ 5
20. Automatic feedrate override on arcs........ No
21. Feedrate mode........................................ FPM
22. Dwell RPMs in FPR mode....................... No
23. Default SCI in Manual............................. Yes
24. Rapid moves are free (unsynchronized).. No
Menu C (continued) Default

Miscellaneous Setup Menu EGA CNC
VGA CNC
Menu G
Options Setup Menu
12MAP11
10-Feb-98
Software Options Setup Options Machine/Installation Tool Management - Setup
10-Feb-98
2. Setup Utility 1. Machine Installation 5. Tool Management 1. Activate tool length offset................ On Tn
7. Home 2. Output signal................................... On Tn
Startup Screen Menu A 3. Orient spindle.................................. No
Select Software Package Select Setup Option Menu B 4. Default Spindle Orientation angle.... 0.0
Select Setup Tool 5. Spindle Orientation RPM................. 10
6. Stop program execution.................. No
7. Use tool change macro.................... On Tn
8. Tool change macro program............
Home - Setup 9. Tool change macro number.............. 08001
10. Number of digits in T word................ 4
1. Home required.................. No 11. Number of tools to display in table..... 99
2. Home sequence............... {3,1,6,2} 11. Default tool-table file.......................... S12LTOOL.DAT
3. Home type........................
13. Force spindle off during tool change... Yes

4. Datum search speed......... No
5. Home preset...................... OnTn
6. Enable index pulse check... No Menu C On M6
Tool Management Setup Menu Both
Menu E
Home Setup Menu
Menu D
Home Preset - Setup Options Setup
Home Sequence Menu
Map 12
1. X Home preset... 0.0000 Third
Home sequence for X........
2. Z Home preset.... 0.0000 First
Home sequence for Z........ No homing
3. W Home preset... 0.0000 Sixth
Home sequence for W....... With positive index limit
4. C Home preset.... 0.0000
Home sequence for C........ Second With positive index and vector limit
5. Home preset....... Off
With negative index limit
Menu J Menu F With negative index and vector limit
Home Preset Setup Menu Home Sequence Setup Menu
Menu H
Home Type - Setup Options Setup
Menu
Datum Search Speed - Setup With positive index and vector limit
1. Home type for X.......
2. Home type for Z....... With positive index and vector limit
1. X datum search feed..... 40.0 No homing
3. Home stype for W....
2. Z datum search feed..... 40.0 No homing
4. Home type for C......
3. W datum search feed.... 40.0
4. C datum search feed..... 40.0
Menu G
Menu I Home Type Setup Menu
Datum Search Speed Setup Menu
12MAP12
Page 14-13
Software Options Setup Options Machine/Installation Builder Messages - Setup
Page 14-14
2. Setup Utility 1. Machine Installation 8. Builder Messages 1. Use Custom Messages No
9. Language 2. Edit Error Messages
Startup Screen Menu A 10. Software Update 3. Edit Warning Messages
Select Software Package Select Setup Option 11. Digitizing
Menu C
12. DNC Setup
Builder Messages Setup Menu
13. Security
Menu B
Language
Select Setup Menu
English
Spanish
French
German
Security - Setup Italian
Menu D
1. Limited password Language Setup Menu
2. Service password
3. Prog. Controller password
Menu H Digitizing - Setup

Security Setup Menu
Map 13
1. Output............ Port
2. Port settings...
DNC - Setup Menu E

Digitizing Setup Menu Digitizing - Setup
1. Execution Mode ............................. Buffered 16K
2. Buffer Size (in buffered mode) ....... 32K 1. Port......... ANILAM 6
32K
3. Use DNC Macro at end of block.... No 2. Baud....... 9600
64K
4. DNC Macro Number...................... 100 3. Parity....... EVEN
128K
5. Ignore G41/2, G59 and Blueprint .. Yes 4. Data bits.. 7
Max
6. Wait for Start ................................. First 5. Stop bits.. 1
Menu J 6. Software.. On
Menu G Buffer Size
DNC Setup Menu Setup Menu Menu F
Digitizing Setup Menu
No
First
Every
Menu I
Options Setup Menu
12MAP13
10-Feb-98
Software Options Setup Options General Software
10-Feb-98
2. Setup Utility 2. General Software 1. Control Software
Startup Screen Menu B

Menu A
Select Software Package General Software Setup Menu
Select Setup Option
Control Software - Setup
1. Default axis display............................. Normal

2. Default units ....................................... Inch
3. Default axis values ............................. Absolute
4. Circle adjustments .............................. Center Absolute
Incremental
Map 14
5. Circle centers ..................................... Incremental
6. Maximum arc correction ..................... 0.005000 Modal
7. Internal accuracy ............................... 0.00000100 Metric Display Resolution - Setup Menu D
8. External accuracy .............................. 0.00010000
Options Setup Menu
9. Metric display resolution ..................... {3,3,3,3} X axis mm display resolution ... 3
10. Inch display resolution ........................ {4,4,4,4} Z axis mm display resolution ... 3
11. Compensation cutoff angle ................. 15.0 W axis mm display resolution .. 3
12. Keyboard beep ................................... On C axis mm display resolution ... 3
13. User macro file.................................... USERCANN.G
14. Load user macro file .......................... No Menu E
15. Load system macro file....................... Always Metric Display Resolution Setup Menu Inch Display Resolution - Setup
16. Load G-Code help............................... Always
17. Disk access marker............................ On 4
X axis inch display resolution ...
Z axis inch display resolution ... 4
Menu C Never W axis inch display resolution ... 4
Control Software Setup Menu Always C axis inch display resolution ... 4
Swap
Menu F
Menu G Inch Display Resolution Setup Menu
Options Setup Menu
12MAP14
Page 14-15
Software Options Setup Options General Software Communications - Setup COM1
ANILAM 1
Page 14-16
2. Setup Utility 2. General Software 1. Control Software 1. Port .......... ANILAM 5 ANILAM 2
2. Communications 2. Baud...... ... 9600 ANILAM 5
Startup Screen Menu A 3. Draw 3. Parity ........ EVEN ANILAM 6
Select Software Package Select Setup Option 4. Editor 4. Data bits ... 7 ANILAM 8
5. Stop bits ... 1 Disabled
Menu B 6. Software ... On Menu D
General Software Setup Menu Menu C Options Setup
Communications Setup Menu
Menu
None 110
Editor - Setup Odd 150
Even 300
1. Restore to previous session.................... Yes 600

Menu F
2. Show top line ......................................... Yes 1200
Options Setup Menu
3. Default insert mode................................. Off 2400
4. Cursor to start of line on scroll................. No 4800
5. Extended screen display (50 lines).......... No Auto 9600
6. Auto tab to previous line's position........... Yes S. Stop 19200
7. Update screen on macros........................ Yes Motion Menu E
8. Default tab width...................................... 4 Draw - Setup Menu H Options Setup Menu
9. Force Caps Lock on PC keyboard............ Yes
Map 15
Options Setup
10. Create backup program............................ No 1. Restore to previous session ............. Yes
Menu
11. Delete internal file when program saved... Yes 2. Default program block mode ............ Auto
12. Case sensitive Find.................................. No 3. Axis display ...................................... On
13. Memory reserved (in K-bytes).................. 64 4. Display program text ........................ Yes
5. Automatic re-run .............................. Yes None
Menu M 6. Grid .................................................. None Solid
Editor Setup Menu 7. Grid size .......................................... 1.0 Dotted
8. Tool display ...................................... On None
Flat Menu I
9. Default tool type .............................. Flat
Ball Options Setup Menu
10. Tool length factor............................... 3.00
11. Default AUTO-ZOOM scaling factor... 0.85
Menu I
12. Auto erase......................................... On
Options Setup Menu
13. Cutter compensation in draw............. Both
14. Aspect ratio correction factor............. 1.47
15. Lathe Symmetrical draw.................... Yes Ignore
16. Save draw image............................... Yes Use
Both
Menu G
Draw Setup Menu Menu K
Options Setup Menu 12MAP15
10-Feb-98
Software Options Setup Options General Software Communications - Setup
10-Feb-98
2. Setup Utility 2. General Software 5. Program 1. Program directory pattern............... *.G
3. Prog. Controller Setup 6. Display 2. Program directory display mode..... Short
Startup Screen 4. Print configurations 7. Printer 3. Program directory sort order........... Name
Select Software Package 5. Units in Inch 4. Automatically check disk at startup.. Never
Menu B 5. Delete backup files during optimize.. Yes
Menu A General Software Setup 6. Directory for user programs............. C:\USER
Select Setup Option Menu
Menu C
Printer - Setup Always

NLQ Daily
1. Default output device..... Utility Weekly

PRN Ignore
2. Lines per page................ High Speed Monthly
55 Name
3. Page heading................. Ignore Never
Yes Extension
4. Line numbers................. No Menu H Size
Menu E
5. Print quality.................... Ignore Options Setup Menu Date
Options Setup Menu
6. Characters per inch........ 10
Menu D
Menu G Display - Setup Options Setup
Menu
Map 16
Printer Setup Menu
---Editor---
1. Normal Text ...................... Example
2. Marked Text....................... Example
3. Current Line....................... Example
4. Frame................................ Example
5. Automatic re-run ................ Example
6. Errors................................. Example
---Softkeys---
7. Normal............................... Example
8. Highlight............................. Example
Menu F
Display Setup Menu
12MAP16
Page 14-17
P/N 7000322 - 1400M Setup Utility
Section 15 - 1400M Setup Utility

The 1400M Setup Utility provides a means by which to configure the
control and optimize the system for virtually any milling application.
Changes made to the Setup Utility are stored in the control's memory
card in a file named C4CONFIG.CFG. The machine builder performs
most of the necessary machine setup at the time of the installation.
Software Information
To facilitate verification of software version information, a text file is added
to all CNC machine and offline software disks. The software version
contained on the disk is coded into the filename. The file lists the version
and the control type. The file names have a “0xxxx.txt” basic format.
Software version 4.14A is placed into the format as 0414A.txt. A disk
containing software version 4.14A-D would contain a file named 0414A-
D.txt.
Navigating the Setup Utility
The Setup Utility provides access to all settings through a layered
organization of menus.
Each menu contains a list and a highlight. Use the highlight to select one
of the listed choices. Press ENTER to activate highlighted selections.
Each menu provides access to configuration settings or another menu.
For some settings, switch the ENTER key On or Off. Other settings
require you to enter a specified value. To save settings automatically,
press ENTER or press the Exit (F10) control softkey. Close a menu to
access the previous menu.
Refer to Section 16 - Setup Utility Maps, which contains all of the maps
referenced in this section.
Keypad Keys
Refer to Table 15-1, Reference to Keypad Keys. In the manual, the
name of the symbol keys appear in small uppercase letters. The
corresponding characters are used for alphanumeric keys (A to Z, 1 to 9).
Table 15-1, Reference to Keypad Keys
Manual Reference Key Face

ARROWS
CLEAR
SHIFT
SPACE
10-Feb-98 Page 15-1

Axis Keys
Some parameters require you to specify an axis. Use the X, Y or Z key
to specify the axis.
Switches
Console switches are referred to as shown in Table 15-2, Console
Switches.
Table 15-2, Console Switches
Manual Reference Switch
AXIS selector switch
JOG selector switch

FEED
RAPID
FEEDRATE OVERRIDE switch
SPINDLE OVERRIDE switch
E-STOP
Page 15-2 10-Feb-98

Manual Panel Buttons

Manual Panel buttons are referred to as detailed in Table 15-3, Manual
Panel Buttons.
Table 15-3, Manual Panel Buttons
Manual Reference Manual Panel Button
JOG PLUS
JOG MINUS
SERVO RESET
HOLD
START
SPINDLE REVERSE
SPINDLE FORWARD
SPINDLE OFF
Enter Key
Press ENTER to enter parameters into the system.
Highlighting Menu Options

Press Up Arrow and Down Arrow (F3 and F4) to highlight menu
selections in the Setup Utility.
Exiting a Screen
Press Exit (F10) to return to the previous screen.
10-Feb-98 Page 15-3

Password Restricted Parameters

Enter a password to change protected machine setup parameters when a
password prompt appears on the screen.
To access protected parameters:
1. Type the service password at the insertion point and press ENTER.
The CNC will allow you to change the protected settings.
There are four access levels protected by passwords. Operators are
assigned limited passwords, which allow them to set parameters used in
normal machine operations. Service and factory passwords allow a
higher level of access. The PLC (Programmable Logic Control) requires
a separate password.

Level Password
Limited LIMITED
Service SERVICE
PLC PLC
Saving Changes to Setup Parameters

If you change any parameters, a “Save Changes?” prompt appears
when you exit the Setup Utility. Choose Yes (F1) to save changes, No
(F2) to cancel changes and Cancel (F9) to return to Setup Utility.
NOTE: When No (F2) is pressed, all parameters revert to their default
settings.
Setting up Parameters
To set parameters in the Setup Utility:
1. Highlight the menu in which the parameter appears. Press ENTER.
2. Use one of the following three methods to set parameters:
A. If a default choice is listed in an entry field, press ENTER to cycle
through the available selections.
B. If a pop-up menu appears after the parameter is selected,
highlight the required option and press ENTER.
C. If an entry field highlights after the parameter is selected, enter the
required value or setting and press ENTER.
Page 15-4 10-Feb-98

Accessing the Setup Utility Menus

To access Setup Utility menus:
1. Turn on the control via the main disconnect switch on the door of the
servo cabinet.
2. When the control is turned on, the CNC software starts automatically.
The CNC displays messages to indicate the status of the startup.
3. When the CNC software has successfully started, a screen displaying
ANILAM company information and the software version number
appears.
4. Press (F10) to continue. The Startup selection screen appears.
5. Highlight Setup Utility. Press ENTER. The Setup Options, Menu A
appears. (Refer to Map 1, Menu A.) This screen accesses the setup
parameters for a standard 2- or 3-axis system.
Setup Options Menu
Refer to Map 17, Menu A. These menu categories configure the
machine’s software parameters. Print configurations and Units of
Measurement are covered here. The other Setup Options selections are
discussed elsewhere.
Print Configurations
CAUTION: Keep an updated hard copy of the configuration file. If

the file is erased, the settings must be input manually after the
software is reinstalled.
Use the Print configurations selection to:
− Print a hard copy of the configuration file.
− Print the configuration file to the D:\USER directory so that it can be
listed by the Program Editor.
− Print the configuration file to a floppy disk.
Before you print the configuration file to any of these destinations, you
must specify the print filename in the Printer Setup Utility. Follow the
instructions below.
10-Feb-98 Page 15-5

Printing the Configuration File

To print the configuration file to a floppy disk, the D:\USER directory or
the printer port:
1. Set up the default output device.
A. Refer to Map 17, Menu G. Highlight Default output device.
Press ENTER.
B. In the highlighted entry field, enter the appropriate parameter.
Refer to Table 15-5, Print Configuration Defaults. For the
desired Print Option, specify the corresponding Default Output
Device.
Table 15-5, Print Configuration Defaults
Print Option Default Output Device parameter
Floppy disk Specify the drive (A:\ or B:\), filename and
extension (must be *.M to be viewed by the
Program Editor). Examples: A:\TEST.TXT or
A:\TEST.G
D:\USER directory Enter filename. (CNC adds *.M extension
automatically).
Hard Copy (printer port) PRN
2. Print the configuration file.
A. Refer to Map 17, Menu A. Highlight Print configurations. Press
ENTER. The CNC prompts you to accept the displayed print
configuration default file.
B. Press Yes (F1) to accept the default. The CNC displays a status
window that shows the line and page numbers as they are printed.
The CNC will prompt you when it completes the print job.
C. Press F10 to close the status window.
D. Verify that the CNC has printed the entire file.
Input Units of Measurement

The Units of Measurement entry determines the units used to input
dimensional data. If mixed units are used, input all data in one format
(Inch or MM) first, then save. Change the format (Inch or MM), input the
rest of the data and save again. You no longer need to convert values,
but can input data precisely (no rounding during conversion).
To set the default measurement mode:
1. Go to Map 16, Menu A. Highlight Units in Inch (Units in MM) and
press ENTER to switch between Inch and MM Modes.
Machine Axis Setup Utilities
Machine axes refer to the X, Y and Z axes. The basic operating
specifications of these axes are entered into the control via the Machine
Axis Setup menus.
In addition to the three basic axes, certain parameters of additional axes
(typically called U, V and W) are handled here.
System Resolution
Page 15-6 10-Feb-98

The control uses feedback from either rotary encoders or linear scales to
provide the closed-loop positioning for the system. Resolution of the
system (whether the feedback device is an encoder or a scale) is set via
the Machine Axis Setup.
Different types of feedback devices may be used in one system. For
instance, linear scales could be used on the X and Y axes and an
encoder on the Z axis. When an encoder is used, it is not necessary to
use a certain line count for a certain resolution if the encoder is accurate
enough to provide the required resolution.
Encoder vs. Linear Scale Axes

Set each axis for the type of feedback device used, either encoder or
scale. [Default: Encoder]
To set an axis as an encoder or scale:
1. Go to Map 1, Menu D. Highlight Type.
2. Press X, Y or Z (axis being set). Press ENTER. A pop-up window will
display the following choices: Scale and Encoder.
3. Highlight Scale for axes that use a linear scale. Highlight Encoder for
axes that use an encoder. Press ENTER. The CNC changes the
encoder Type to the selected option.
Encoder/Scale Resolution
NOTE: Resolution can be displayed in the Setup Utility in MM Mode or

Inch Mode. One micron equals 0.001mm. [Default: Inch Mode]
Enter the required resolution for each axis. Always select resolution in
microns, regardless of whether the CNC is in Inch Mode or MM Mode.
[Default: 2 Microns (0.002mm/.0001”)]
Refer to Table 15-6, Micron-Inch Conversion for ANILAM conversion
values.
Table 15-6, Micron-Inch Conversion
1 Micron .001mm .00005”

2 Microns .002mm .0001”
5 Microns .005mm .0002”
10 Microns .010mm .0005”
NOTE: If resolution settings do not match those of the installed
equipment, positioning errors will occur.
1. Go to Map 1, Menu D.
2. Highlight Resolution.
3. Press X, Y or Z (axis being set). Press ENTER. A pop-up window will
display the following choices: 1, 2, 5 or 10 Micron.
4. Highlight the appropriate resolution. Press ENTER.
Display Resolution
10-Feb-98 Page 15-7

NOTE: Resolution can be displayed in the Setup Utility in MM Mode or

Inch Mode. One micron equals 0.001mm. [Default: Inch Mode]
You can set the resolution of the axis display. The display resolution
must be equal to or coarser than the actual resolution of the installed
scale or encoder. Changing the Display Resolution will not affect the
accuracy of the machine. Always select resolution in microns, whether
the CNC is in Inch Mode or MM Mode. [Default: 2 Microns
(0.002mm/.0001 in.)]
Ensure that resolution settings match the installed equipment.
1. Go to Map 1, Axis Resolution Setup, Menu D.
2. Highlight Disp. Res.
3. Press X, Y or Z (axis being set). A pop-up window will display the
following choices: 1, 2, 5 or 10 Micron.
4. Highlight the appropriate display resolution. Press ENTER. The axis
display will show movement at the selected resolution.
Encoder Line Count
NOTE: This parameter applies only to encoders. Do not use it with scale
installations.
Enter the number of counts per revolution supported by the axis encoder.
The software accepts line counts of up to 10,000 counts per revolution.
[Default: 635 lines for X, Y and Z.]
To enter an encoder line count:
1. Go to Map 1, Menu D.
2. Highlight Enc. Lines.
3. Press X, Y or Z (axis being set). The CNC highlights the encoder line
entry field for the axis.
4. Enter the encoder line count. Press ENTER.
Page 15-8 10-Feb-98

Setting the Ballscrew Pitch
installations.
Pitch The linear distance traveled per revolution of the
ballscrew.
Set the pitch of the ballscrew. Use the unit of measurement (inch or mm)
to which the CNC defaults. [Default: 0.20]
To enter ballscrew pitch:
1. Go to Map 1, Menu D. Highlight Pitch.
2. Press X, Y or Z (axis being set). The CNC highlights the pitch entry
field for the axis.
3. Enter the pitch of the ballscrew for that axis. Press ENTER.
Ratio of the Ballscrew to the Encoder
installations.
Ratio The number of revolutions of the encoder that
correspond to one full revolution of the ballscrew.
[Default: 1.0]
To set the ratio:
1. Go to Map 1, Menu D. Highlight Ratio.
2. Press X, Y or Z (axis being set). The CNC highlights the ratio entry
field for the axis.
3. Enter the appropriate ratio for that axis. Press ENTER.
10-Feb-98 Page 15-9

Linear Correction Compensation

Linear correction compensation corrects for detected mechanical errors
(in the ballscrew or elsewhere) that affect the indicated distance
displayed by the CNC. To determine the amount of correction required,
measure the error with a calibration device. When linear correction is
activated, the commanded move is multiplied by the compensation value.
If no linear compensation is required, disable this feature. When enabled,
you can specify a different correction value for each axis.
Correction = Distance Read by Control ÷ Distance Actually Traveled
This correction factor is applied linearly throughout the length of the axis.
[Default: Disabled (Off)] [Range: 0.300000 to 3.000000]
To set linear correction compensation:
to the axis being set. Press ENTER. The CNC highlights the entry field
for each axis.
2. Enter the appropriate linear compensation correction. Press ENTER.
3. Highlight Linear correction compensation. This selection
On/Off to activate/deactivate compensation values entered. The CNC
activates linear compensation for all affected axes.
Skew Error Compensation
Skew Error Compensation can correct for orthogonal machine errors.
Skew Error is the amount of error, in radians, an axis deviates from the
parallel.
Skew error compensation corrects for orthogonal machine errors. Use a
calibration device to determine the amount of correction required.
[Default: Disabled (Off)]
To activate Skew error compensation on an axis:
field for each axis.
2. Enter the appropriate skew error value. Press ENTER.
3. Highlight Skew error compensation. This selection
On/Off. Switch On to activate compensation entered. The CNC
activates skew compensation for all affected axes.
Page 15-10 10-Feb-98

In-Position Check
NOTE: Rapid moves always execute in In-Position Mode.
When the CNC has positioned the tool within the in-position tolerance of
the target, it calculates the next programmed move. At this time, the CNC
displays the in-position indicator. Specify the in-position tolerance for
each enabled axis in the Setup Utility.
[Default: 0.0004”]
When determining in-position tolerance:
− For encoders, tolerance is usually four times the machine resolution.
(That is, if machine resolution is .0002”, in-position tolerance will be
.0008”.) Use this as a benchmark from which to adjust this value.
− For linear scales, tolerance equals the resolution of the scale.
In-position tolerance must be smaller than continuous path tolerance.
To define in-position tolerance:
to the axis being set. Press ENTER. The CNC highlights the entry field
for the axis.
2. Enter the appropriate in-position tolerance. Press ENTER.
Continuous Path
With Continuous Path Mode active, the CNC blends one move into
another, without a complete stop between moves. The Continuous Path
Mode activates at power on and is used for feed moves.
The CNC approaches the target position and comes within the continuous
path tolerance of the target. Then, the CNC begins to calculate the next
programmed move. It does not make an in-position check before it
executes the next move. This results in a smoothly contoured profile or
surface.
[Default: 0.0700” for all axes, with Continuous path turned On]
To activate and define the continuous path tolerance:
field for the axis.
2. Enter the appropriate tolerance. Press ENTER.
3. Highlight Continuous path. This selection activates/deactivates the
option. Press ENTER to switch the selection On/Off. Switch On to
activate Continuous Path Mode.
10-Feb-98 Page 15-11

Default Rapid Rate

Default Rapid Rate sets the speed at which an axis operates in Rapid
Mode. The machine builder sets the maximum rapid rate according to the
physical constraints of the machine. These factors include:
− available motor torque
− available servo drive output
− ballscrew pitch
− mass to be moved
− any mechanical advantage gained by pulleys or gears
To override the default rapid, adjust FEEDRATE OVERRIDE. The switch will
vary the rapid speed from 0 to 100% and does not affect the maximum
rapid rate set.
[Default: 200 inches per minute (no caps)]
To set the default rapid speed:
field for the axis.
2. Enter the appropriate maximum default rapid rate. Press ENTER.
Axis Default Feed Rate
The Axis Default Feed Rate establishes a default feedrate for each axis,
wherever a feedrate has not been programmed.
[Default: 10 inches per minute (no caps)]
To set the axis default feed rate for an axis:
1. Go to Map 2, Menu D. Highlight the menu selection that
corresponds to the axis being set. Press ENTER. The CNC highlights
the entry field for the axis.
2. Enter the appropriate axis default feedrate. Press ENTER.
Setting Software Limits
NOTE: The machine must have the Machine Home function enabled in
order to use software limits.
You can set positive and negative software limits to restrict travel range.
Reference this physical limit to Machine Zero. If the Machine Zero
position is changed, the restriction limits will shift accordingly.
If no homing limit switches are used, use another method to determine an
absolute machine position (an indicator, for example).
Enter positive and negative software limits separately for each axis.
Page 15-12 10-Feb-98

To enter Positive Software Limits:

2. Highlight Positive software limits. Press ENTER. The CNC activates
the Positive Software Limits Setup screen (Menu I).
3. In Menu I, highlight the menu selection that corresponds to the axis
axis.
4. Enter the appropriate positive software limit. Press ENTER.
To enter Negative Software Limits:
2. Highlight Negative software limits. Press ENTER. The CNC
activates the Negative Software Limits Setup screen (Menu H).
3. In Menu H, highlight the menu selection that corresponds to the axis
axis.
4. Enter the appropriate negative software limit. Press ENTER.
Use the software limits in conjunction with the home limit switches and a
Homing cycle command (G28) to ensure that the software limits are
reliably referenced to an absolute machine position each time the control
is turned on.
If home switches are not used, use another method to determine an
absolute machine position.
Backlash Compensation
Backlash is the loss of motion that occurs when the encoder reverses
direction and begins to record motion before the table actually moves.
Backlash compensation takes this lag into account and corrects the
move. All systems that move mass under control exhibit backlash. Some
causes include: structural component flexion, bearing end thrust and
wind-up of the ballscrew that drives the slide.
Measure backlash and store the value in the Setup Utility. Once backlash
compensation activates, the control automatically calculates the
necessary motion corrections.
To activate and define backlash compensation for an axis:
field for the axis.
2. Enter the appropriate backlash compensation. Press ENTER.
3. Highlight Backlash compensation. This selection
On/Off. Switch On to activate backlash compensation.
10-Feb-98 Page 15-13

Encoder Phasing
CAUTION: On systems that use the ANILAM DSP Motion Control

Board, the Phase B setting is not used.
On systems that use the LM-628 Motion Control Board, do not
change both Phase A and Phase B settings to reverse the direction
of the count. Change only one phase setting, usually A.
Moving an axis in a positive direction should result in a positive count on
the axis display. Likewise, moving an axis in a negative direction should
result in a negative count on the axis display. If an axis display does not
count in the appropriate direction, adjust the Encoder Phase A settings
to correct the problem. [Phase A Default: Not Invert(ed)]
This is the only way to change the direction of the count without making
hardware changes.
To adjust the Encoder Phase A Setting:
1. Go to Map 3, Menu F.
2. Highlight the menu selection that corresponds to the axis being set.
Press ENTER to switch the setting (Not Invert/ Invert). Change the
Phase A setting to invert the direction of count for the adjusted axis.
For systems that use motion control boards with the LM-628 chip, it is
sometimes necessary to change both Phase A and Phase B for the
Homing function to work properly. The control must sense a coincidence
of the Phase A, Phase B and Index pulses at the input to the LM-628 chip
to declare a “Home” point.
If the Phase B selection is used to orient the Index pulse signal with the
Encoder A and B signals, the count direction cannot be swapped via
software alone. The A and B wires must physically be swapped, at a
convenient point.
To adjust the Encoder B software setting:
Invert).
Vector Limit
Vector limits switches, sometimes called directional limit switches,
prevent further motion along an axis, when tripped. Either vector limit
may also be used as a Home switch for an axis.
NOTE: Directional limit switches must be wired normally closed. No
other configuration ensures proper and safe machine operation.
On PCB 843 I/O Controller Boards, eight of the input ports can be used
as vector limit input ports. A vector limit port cannot be used for another
input function. Vector limits are assigned to specific ports.
Page 15-14 10-Feb-98

Refer to Table 15-7, PCB 843, Vector Limit Input Port Assignments
for vector limit input port assignments.
[Default: Enable for X, Y and Z]
Table 15-7, PCB 843, Vector Limit Input Port Assignments
Input Port Assigned Vector Limit
8 X+
9 X-
10 Y+
11 Y-
12 Z+
13 Z-
14 U+
15 U-
To set up vector limits:
1. Refer to Map 3, Menu D. Highlight the required axis (axes) and
switch the vector limits to Enable.
Ballscrew Compensation
The CNC can compensate for inaccuracies along the ballscrew. This
ensures a high degree of precision in the finished workpiece. [Default
Active parameter: None]
Table 15-8, Ballscrew Compensation, Methods
Method Description When Used

Standard For each axis, the ballscrew Use when the ballscrew
Segment is divided into 128 or fewer shows non-linear errors
Lengths segments for calibration. throughout the length of the
Segment length is constant screw.
for all segments.
Variable For each axis, the ballscrew Use for those ballscrews
Segment is divided into 16 segments that exhibit a more linear
Lengths for calibration. Each rising or falling error
segment length is variable. throughout their length.
Standard Segment Length Ballscrew Compensation
NOTE: When using the Automatic File Loader, use Standard Segment
Lengths Ballscrew Compensation.
NOTE: Perform a Machine Home sequence before you enable ballscrew

compensation.
In Standard Ballscrew Compensation, the ballscrew is divided into as
many as 128 segments per axis for calibration. Segment length is
constant for all segments. [Default Active parameter: None]
10-Feb-98 Page 15-15

Use the following procedure to set Ballscrew Compensation with

Standard Segment Length. Refer to Map 4.
1. Activate the Standard Segment Length Setup Menu.
A. Go to Map 4, Menu D. Highlight Standard. Press ENTER.
B. The Standard Parameters Setup Menu activates (Menu E). Use
this menu to set up the axes for Standard Ballscrew
Compensation.
2. Set the Number of Segments parameter. The machine builder can
specify as many as 128 same-sized segments. To determine the
number of segments required, consider that the number of segments
multiplied by the segment size should equal the entire range of travel
for the axis being set.
A. Go to Map 4, Menu F. Highlight the menu item pertaining to the
axis being set. Press ENTER. The entry field for the selected axis
highlights.
B. Enter the number of segments desired for that axis. Press ENTER.
C. Repeat the procedure for all axes being set.
3. Set the Segment Length for Standard Ballscrew Compensation. In
standard ballscrew compensation, the length of each lasered segment
is the same. The CNC counts off the segments from the beginning of
the compensated area, as determined by the sum of the Offset and
Zero cross values assigned.
The entered value should represent the segment length for each axis
and the direction (positive or negative) of compensation along the
axis.
To set segment length:
A. Go to Map 4, Menu J. Highlight the menu selection
corresponding to the axis being set. Press ENTER. The CNC
highlights the entry field for that axis.
B. Enter the appropriate segment length for that axis. (This will be a
negative number for the negative travel direction with respect to
the Machine Home position.)
4. Set the Ballscrew Zero cross and Offset parameters. Both the Zero
cross and Offset parameters provide means by which the machine
builder can set a starting point for ballscrew compensation.
Both values are measured from Machine Home. These values
include distance and direction (positive or negative) from Machine
Home.
example, if the assigned offset is -0.01mm and the Zero cross is
-6.00mm, the CNC will begin the compensated (lasered) area
-6.01mm from Machine Home along the axis.
Typically, Machine Home (0.0000) is the Zero cross parameter and
the Offset is just off the limit switch. However, any point along the
range of travel can be selected for the Offset or Zero cross.
Page 15-16 10-Feb-98

To set the Ballscrew Zero cross parameter:

A. Go to Map 4, Menu I. Highlight the menu selection corresponding
field for that axis.
B. Enter the appropriate Zero cross parameter for that axis. If the
Zero cross parameter is at Machine Home, enter 0.0000. All
entered values are referenced to Machine Home.
To set the Ballscrew Offset parameter:
A. Go to Map 4, Menu H. Highlight the menu selection
corresponding to the axis being set. Press ENTER. The CNC
highlights the entry field for that axis.
B. Enter the appropriate Ballscrew Offset for that axis. If the Offset
location is Machine Home, enter 0.0000. The ballscrew offset is
measured from Machine Home.
5. Set the Table Entries parameter. Determine the amount of
compensation required for each segment along an axis. Use a laser
to make these measurements.
The compensation value is the difference between the desired
positive or negative position commanded by the CNC and the actual
position measured by the laser. Record the compensation required
for each segment in the Table Entries Menu (Menu G).
be 13 lines long.
NOTE: Refer to Automatic File Loader for details on how to enter
values automatically.
To enter Table entries manually:
A. Go to Map 4, Menu G. Press X, Y or Z to set the appropriate axis.
The entry field for that axis highlights.
B. Enter the compensation required for each segment assigned to
the axis. Press ENTER. The CNC accepts the entered values.
6. Activate Standard Ballscrew Compensation.
A. Go to Map 4, Menu D. Highlight Active. Press ENTER.
B. The Active Setup Menu appears. Highlight Standard. Press
ENTER. The CNC activates ballscrew compensation, as set by the
user.
Automatic File Loader

This feature automatically loads a properly formatted laser data file into the
Table Entries Setup Menu (refer to Map 4, Menu G).
NOTE: The File Loader does not change the way standard segment
length ballscrew compensation is set. (Refer to previous section.)
However, you must enter additional information. Some clean-up of the
laser file will be necessary.
10-Feb-98 Page 15-17

Figure 15-1, File Loader Window

To load the laser file automatically:
1. Go to Map 4, Menu G. Press Ldfile (F8). Enter the appropriate
password, if so required by the system. The File Loader Menu
appears (refer to Figure 15-2, PCB 843 I/O Controller, P4
Connector).
2. Highlight Starting Segment. Type the segment number of the first
3. Highlight Ending Segment. Type the segment number for the last
4. Highlight Axis. Press ENTER. Highlight an axis (X, Y or Z) in the pop-
up menu that appears. Press ENTER.
5. Highlight Action. Press ENTER. (Refer to Table 15-9, Ballscrew File
Loader Parameters.) Highlight an option in the pop-up menu that
appears. Press ENTER.
6. Press Ldfile (F8) again to load the file. Repeat the procedure for the
other axes. A successful load will show the new entries in the table.
Table 15-9, Ballscrew File Loader Parameters
Page 15-18 10-Feb-98

Starting Segment Controls starting segment for entry of data into
the Table Entries Window. Entering a value
greater than 128 (maximum number of
segments allowed) results in an error message.
Entering a value greater than the Ending
Segment value will cause an error message to
be displayed.
Ending Segment Controls which row in the ballscrew
compensation table will be the last to receive
data from the laser file. If the segment limit on
the table for the axis is exceeded, data will not
be entered beyond the limit.
Axis Controls to which axis the data will be applied.
Action The following actions can be performed while
the data is being loaded:
− Overwrite the existing data in the table
− Add to the existing data
− Average with the existing data
Overwrite will clear any values in the table
beyond the segment limit for the axis. Add and
Average simply replace the old values. Use the
Action option to fine-tune the ballscrew
compensation values from multiple passes of
laser readings.
Filename: Enter the DOS filename of the laser file,
including the path, if it is different from the
default.
Laser File Data File Format

The laser file data must be in the proper format for the File Loader Utility.
The general format of the data is:
n1, n2 where:
− n1 is the commanded position
− , is the delimiter
− n2 is the actual position as measured by the laser
10-Feb-98 Page 15-19

Most laser data files have header information, which should be removed.
An example of an acceptable file format follows:
0 ,-1.05300568384907E-03
-1 ,-1.00202340866009
-2 ,-2.00227380774995
-3 ,-3.00247420656991
...............
-27 ,-27.0068997761763
-28 ,-28.0070941749639
The delimiter must be a comma (,).
Most text editors support Find/Change or Search/Replace commands that
facilitate such changes. The first number (0, -1, -2…) represents the
commanded position; the second number is the actual position that the
laser measures. For example, in the sample data file displayed above, a
commanded move to -2.000” actually went to:
-2.00227380774995”.
Be sure to include the 0 value. It is used to calculate the first segment
value for the ballscrew compensation table.
Generating Ballscrew Compensation Values from Laser Files

This section describes how the CNC automatically interprets the laser
data file. In the sample laser data file above:
− The segment length is 1 inch.
− The 0 inch value (commanded) from the laser data (measured) is
− The one inch value (commanded) from the laser data (measured) is
− The values are negative, signifying negative machine movement.
The CNC compares the two values by subtracting the one inch value from
the 0 inch value. The segment length is subtracted from the result. The
sign of the final result is reversed for positive travel values.
Method
Step 1: [ (Current Position) - (Previous Position) ] - (Segment Length)
= Directed Error
Step 2: - ( (Sign of Segment) (Directed Error) ) = Correction Entry
Example
Step 1: ( (-1.00202) - (-0.00105) ) - (-1) = -0.00097
Step 2: -( -(-0.00097) ) = -0.00097
This technique is used to find all ballscrew compensation table values.
All compensation values are inserted automatically into the Table Entries
Setup Menu (Map 4, Menu G) by the File Loader.
Page 15-20 10-Feb-98

File Loader Error Messages

The File Loader loads up to 128 table entries. If more than 128 entries
appear, the CNC displays a warning, “Data from file truncated!” The
message will appear following the data transfer.
Verify that you have set the segment limit (found in an earlier menu)
properly before attempting to load the laser file.
Ensure that the segment length setting matches the displacements of the
laser readings. Otherwise, the ballscrew compensation table will contain
invalid data. The laser data provided above, for example, shows
displacements of one inch per segment. To avoid data error, you must
enter this value (1”) as the segment length before you load the laser
readings.
The positive/negative sign of the segment size during ballscrew
compensation file loading must match the direction of machine travel
used for the laser readings. This also applies to the laser values.
The zero value in the laser file can be positive or negative, regardless of
the direction of travel. Otherwise, a negative travel laser file must contain
all negative values (with the possible exception of the zero value). The
segment size must be negative as well. For positive travel, substitute
“positive” for “negative” in all cases.
Variable Segment Lengths Ballscrew Compensation
NOTE: Perform a Machine Home sequence before enabling Ballscrew

Compensation.
In Variable Ballscrew Compensation, the ballscrew is divided into 16
segments per axis for calibration. Each segment length is variable.
[Default Active parameter: Disabled (None)]
To set up Ballscrew Compensation with Variable Segment Lengths, refer
to Map 5.
1. Activate the Variable Segment Lengths Setup Menu of the axis being
set up.
A. Go to Menu D. Highlight Variable Segment. Press ENTER.
B. Menu E activates. Use this menu to set up the axes for Variable
C. Highlight the menu selection corresponding to the axis being set
up. Press ENTER. The Variable Length Segment Lengths setup
menu for the selected axis activates (Menu F).
2. Set up the Number of Segments. The machine builder can specify
up to 16 segments of variable length per axis.
A. Go to Menu F (X axis setup shown). Highlight Number of
segments. Press ENTER. Enter the appropriate number of
segments for the axis. Press ENTER.
10-Feb-98 Page 15-21

3. Set the Segment length parameter. The machine builder can specify
up to 16 segments of variable lengths for the axis being set. The sum
of the segment lengths should equal the entire range of travel for the
axis being set. Variable Segment Ballscrew Compensation is best-
suited for those leadscrews which exhibit a more linear rising (or
falling) error throughout their lengths.
To set Variable Length Segment Lengths:
A. Go to Menu F. Highlight Segment Length. The table appears.
The number of entries in the table equals the Number of
B. Press ENTER to activate the entry field for the first segment length.
Enter the length of the first segment and press ENTER. Enter the
length of the next segment and press ENTER. Enter all values
necessary to complete the table.
4. Set Table entries. For the axis requiring compensation, determine
the compensation required per segment. Use a laser to make these
measurements. Compare the commanded position to the actual
position, as measured by the laser.
The compensation value is the difference between the positive or
negative position commanded by the CNC and the position read by
the laser. Record the compensation for each segment in the Table
Entries Menu.
to any axis. If X requires 13 segments, Y requires 10, and Z requires
9, the table would be 13 lines long.
A. Go to Menu F. Highlight Table Entries. Press ENTER. A table
appears in which the compensation values for each segment are
entered. The number of entries in the table equals the Number of
B. Press ENTER to activate the entry field for the first compensation
value. Enter the compensation value of the first segment and
press ENTER. Enter all values necessary to complete the table.
5. Set the Ballscrew Zero cross and Offset parameters. Both the Zero
cross and the Offset parameters provide a way for the machine
builder to set a starting point for Ballscrew Compensation. Both
values are measured from Machine Home. These values include
distance and direction (positive or negative) from Machine Home.
example, if the assigned Offset is -0.01mm and the Zero cross is -
6mm, the CNC will begin the compensated (lasered) area -6.01mm
Commonly, Machine Home (0.0000) is the Zero cross parameter and
To set the Ballscrew Zero cross parameter:
A. Go to Menu F. Highlight Zero Cross. Press ENTER. The entry
field activates.
B. Enter the appropriate Zero cross parameter for that axis. If the
Zero cross parameter is at Machine Home, the entered value
Page 15-22 10-Feb-98

should be 0.0000. All entered values are referenced to Machine

Home.
To set the Ballscrew Offset parameter:
A. Go to Menu F. Highlight Offset. Press ENTER. The entry field
activates.
B. Enter the appropriate Offset parameter for that axis. If the Offset
parameter is at Machine Home, the entered value should be
0.0000. All entered values are referenced to Machine Home.
6. Activate Variable Length Ballscrew Compensation.
B. The Active Setup Menu pops up (Menu J). Highlight Variable
Segment. Press ENTER. The CNC activates Variable Length
Ballscrew compensation, as set up by the machine builder.
LM-628 Motion Control Board-Feed, Rapid and No Motion Gain Tables
NOTE: DSP setup is discussed in a separate section.
The LM-628 chip handles the intensive, real-time computational tasks
of an axis in feed, rapid and no motion modes can be set and controlled.
The technician can customize the output of the system to the combination
of servos, motors and feedback devices on a specific installation.
There are three Setup Utility menus that affect the gain of each axis:
These setup menus allow you to set a higher gain value for Feed moves,
which require greater accuracy than Rapid moves. In Rapid Mode,
factors must be considered. The no-motion gain values control the gain
Be familiar with the PID (Positional, Integral and Derivative) filters of the
chip to manipulate these values for maximum performance. Refer to Map
3 for the system defaults.
digital word, u’ (n), representation of that move. This digital word is
value based upon current position of the axis, the geometric equations
required to make the move, and the effect of any required compensation
parameters.
10-Feb-98 Page 15-23

Value Definition
compensates for immediate changes in servo error
position. It is the principal element used to develop
the ‘stiffness’ needed to hold axis position at rest.
that ensures that the static position error is zero.
error. The Derivative value is calculated by
axis faster.
Motion Gain Table).
3. Press X, Y or Z for the axis being set. The entry field for the axis
highlights.
Page 15-24 10-Feb-98

Jog Position
Jog position defines a point on the machine in reference to Machine
Home to which the CNC will return when the Jog and Return function is
activated.
In Auto and S. Step Modes, use the Jog and Return function to remove
the tool from the cut without aborting the program. It can be used to
change a tool or inspect a critical dimension during normal operation.
[Default: X0, Y0, Z0, U0, V0, W0]
To set the Jog and Return Position in X, Y or Z:
1. Go to Map 7, Menu D. Highlight the axis being set. Press ENTER.
2. In the highlighted entry field, enter the appropriate coordinate for the
selected axis.
Axis Clamping
The control can clamp machine axes that are not in motion during
machining.
Switch the Clamping Allowed option to enable (Yes) or disable (No) the
clamping feature. [Default: disabled (No)]
Wait For Finish determines whether an external Finish signal is required
upon the completion of clamping operations. Switch Wait for Finish to
Yes to require a Finish pulse or to No if a Finish pulse is not required.
NOTE: Refer to the Section 15 - Interface Setup for details on the
external Finish signal.
Clamping must be programmed via M-Code in the user program. Refer to
Table 15-10, Axis Clamping M-Code.
Table 15-10, Axis Clamping M-Code
M-Code Format Description
M9246 M9246 Xx Yy Zz Uu Vv Ww Activates clamping for
given axes.
When a machine axis is clamped, the servo drive output is disabled. The
clamping mechanism is engaged and an error in position is incurred.
Specify the maximum allowable error with the Allowable Error option.
To enter the Allowable Error:
1. Go to Map 7, Menu J. Highlight Allowable Error. Press ENTER.
2. Enter the Allowable Error.
Outputs available from the PC 843 I/O Controller Board are used to
disable the various servo drives during clamping. These outputs are
specified with the Axis Ports option.
To disable an axis servo drive for clamping:
1. Refer to Map 7, Menu K. Highlight the axis for which outputs will be
assigned. Press ENTER. The Output Ports Setup Menu (Menu L)
activates.
2. Choose the output required to disable the servo drive of the selected
axis.
10-Feb-98 Page 15-25

NOTE: The I/O Controller Board has 8 available auxiliary outputs. It is

possible to assign more than one function to a single output accidentally.
The user should verify that each output is assigned only one function.
Axis Ports
Use the Axis Ports Setup Menu to assign the active axes on the machine.
Normally, axes X, Y, Z, U, V and W are assigned to ports 0 to 5,
respectively.
To set the axis ports:
1. Go to Map 7, Menu E.
2. Highlight a port (0 to 5). Press ENTER.
3. A pop-up menu appears showing the available axes; X, Y, Z, U, V or
W. Typically, these can be assigned to the selected port. (Refer to
Menu F.) Highlight the appropriate axis and press ENTER. The CNC
assigns the selected axis to that port.
4. Repeat the procedure to set all active axes. For unused ports,
choose Disabled from the pop-up menu.
NOTE: When wiring an axis, the assigned axis port determines the
correct pin connections for the Encoder inputs and DAC outputs on the
Motion Junction Board. Vector limit switch wiring also depends on the
Axis Port assignments.
LM-628 Motion Control Board-Position Error Check Parameters
configurable. Refer to Table 15-11, PEC Parameters for a list and
definition of these parameters.
If the PEC algorithm detects a fault, the servos will shut off and one of the
Page 15-26 10-Feb-98

Table 15-11, PEC Parameters
Position Error Check Parameter Definition

Check idle time (ms) The amount of time, in milliseconds, allowed between
[Default: 100 msec]
Maximum lag error The error distance allowed at rest or low feedrates,
before declaring a fault. [Default: 0.0047]
Minimum lag for speed break Used when a system is very responsive and has a low
lag. In the event the lag drops below this distance, the
low feed condition will be used. [Default: 0.0004]
Check idle time during homing (ms) The amount of time, in milliseconds, allowed between
This is the same as Check idle time (ms) parameter,
but is used only during Homing. [Default: 100 msec]
Error checking Provides the ability to configure or disable PEC option
for troubleshooting or comparison purposes. [Default:
PEC & Rapid Warning]
The following options appear when
the Error checking parameter is
activated. Choose one.
1. Off Disables PEC.
2. PEC Only Disables the Rapid Warning messages while PEC
remains active. (In the event of a servo-motor
combination that does not reach rapid speeds quickly
enough, but provides acceptable performance, this
selection can be useful.)
3. PEC & Rapid Warning Enables PEC and will issue a warning message if the
Rapid rate is not reached or the machine takes too long
to reach the Rapid rate.
CAUTION: The PEC parameter must be enabled for
the system to be able to declare a servo fault and
shut down the system when an error is detected.
To change a PEC parameter:
1. Go to Map 7, Menu H.
2. Highlight the PEC parameter for the axis to be changed. Press
ENTER. The corresponding entry field for that parameter highlights.
4. For the Error checking parameter, a pop-up menu appears with the
choices: Off, PEC Only and PEC & Rapid Warning. (Refer to Menu
I.) Highlight one of the choices. Press ENTER. The CNC activates the
selected choice.
10-Feb-98 Page 15-27

LM-628 Motion Control Board-Rapid Ramping

In special circumstances, Rapid Ramping can alter the acceleration and
deceleration of an axis, if required. [Default: disabled (Enable Usage is
set to No)]
− To increase the acceleration and deceleration time of the system,
decrease the Rapid Ramping parameter.
− To decrease the acceleration and deceleration time of the system,
increase the Rapid Ramping parameter.
The parameter adjusts the number of micro moves performed during
acceleration in Rapid (G00) moves only (feed moves are not affected).
Use the Rapid Ramp Buffer to make the adjustment. [System default: 7]
To change, enter a value in the Rapid Ramp Buffer, and switch Enable
Usage to Yes.
To adjust the Rapid Ramping Parameter:
1. Refer to Map 7, Menu G. Highlight Rapid Ramp Buffer. Press
ENTER. The entry field highlights.
3. Highlight Enable Usage. Press ENTER to switch the selection
between Yes and No. Choose Yes to enable the entered Rapid
Ramp Buffer. Choose No to disable the entered Rapid Ramp Buffer.
If the parameter is disabled, the CNC applies the default.
Spindle Axis
Refer to Map 10, Menu C. Use these settings to configure spindle
settings and gear ranges.
Spindle DC Output
Spindle output refers to the type of DC drive output provided by the
control, as required for the spindle drive being used.
Unipolar output varies linearly, depending on the spindle speed selected.
The range is 0 to +10 VDC. [Default]
Bipolar output ranges from -10 to +10 VDC. A voltage of 0 VDC
represents a commanded 0 RPM spindle speed. The system outputs a
negative DC voltage for Spindle Reverse (M4) and positive DC voltage for
Spindle Forward (M3) commands. The DC voltage is linear with respect
to the RPM of the spindle speed command. Consequently, required
voltage (0 to ±10 VDC) increases as spindle speed increases (in reverse
or forward directions). The maximum voltage, ±10 VDC, is output at the
highest RPM value of the gear range.
2. Highlight Spindle output. Press ENTER to switch the setting between
Bipolar or Unipolar.
Page 15-28 10-Feb-98

Spindle Gear Ranges

Depending upon the mechanical considerations of the system, the spindle
drive might or might not require gearing and belt drive arrangements in
order to provide required spindle speeds and torque.
The machine builder can use the Setup Utility to set either a single gear
range or up to four separate gear ranges. Refer to Map 10, Menu C.
To set up for a single gear range, switch Gear Ranges Used to Single-
M40 [Default]. To set up for multiple gear ranges, switch Gear Ranges
Used to Multiple.
When a single gear range is chosen, a programmed gear range is not
required during spindle operation.
For example, a command to activate a DC spindle drive at 1500 RPM
reverse direction would be programmed as follows: S1500 M04. The DC
output would be a linear value based on the high setting for M40 gear
range.
When multiple gear ranges are used, DC spindle operation is assumed.
The machine builder can program up to four separate gear ranges (M41,
M42, M43 and M44) . Each gear range specifies a minimum and a
maximum speed for the range. The CNC program requires three entries
for spindle operation commands: gear range, speed and direction, as
follows:
M42 S1500 Gear range and speed
M03 Direction
At the highest RPM in the range, the system outputs the maximum DC
voltage, +10 VDC. 0 RPM always represents 0 VDC. The lowest RPM
voltage will be a ratio of the highest speed to the lowest speed.
(Example: If M41 has a range of 1000 RPM to 10,000 RPM, 10,000 RPM
results in 10 VDC and 1000 RPM results in 1 VDC.)
NOTE: If Spindle Forward is active, the voltage is positive. If Spindle
Reverse is active, the voltage is negative.
Program the RPM and spindle direction (positive or negative) in the Tool
Page. With the tool activated, the corresponding spindle direction and
speed take effect.
[Default: Low/High setting for the M40 gear range is 50 and 6,000 RPM]
To set the Spindle Gear Range:
1. Go to Map 10, Menu C. Highlight Gear ranges used. Press ENTER
to switch the setting between Single-M40 and M40-M41. [Default:
Single-M40]
2. Highlight Low setting for... (choose appropriate setting for M41-
M43). Press ENTER. Enter the appropriate Low range RPM. Press
3. Highlight High setting for... (choose appropriate selection for M41-
M43). Press ENTER. Enter the appropriate High range RPM. Press
4. Set up all necessary gear changes.
Spindle Axis
10-Feb-98 Page 15-29

In most cases, you should set Axis used by spindle to V [Default].

To change the setting:
1. Refer to Map 10, Menu C. Highlight Axis used by spindle.
2. Press ENTER to switch the setting.
Gear Change RPM

Refer to Map 10, Menu C. Gear change RPM specifies the spindle
speed at which a gear change will be performed.
[Default: 10]
Spindle/Encoder Ratio
For machines fitted with spindle encoders, the machine builder can set
the spindle speed display to correspond to the spindle encoder
specifications.
Open loop operation of the Spindle Axis is possible. It is not necessary
for the spindle to be fitted with an encoder to allow DC spindle
programming.
[Default: 1,000 lines per revolution]
To set the number of spindle encoder lines:
1. Go to Map 10, Menu C. Highlight Lines on spindle encoder per
revolution. Press ENTER.
2. The entry field for the parameter highlights. Enter the number of
encoder lines. Press ENTER.
Encoder/Spindle Ratio
Set the ratio of the encoder RPM to the spindle RPM. [Default: 1.0] The
default setting indicates that the encoder and spindle are revolving at the
same rate.
To set the Encoder/Spindle ratio:
2. Highlight Multiplication spindle factor. Press ENTER. The entry field
for the selection highlights. Enter the appropriate ratio (encoder to
spindle). Press ENTER.
Page 15-30 10-Feb-98

Spindle RPM Display

Configure the CNC to display feedback from a spindle encoder or the
programmed RPM. [Default: Feedback]
This parameter affects only the displayed RPM. It does not affect spindle
RPM or voltage output to the spindle.
To set the RPM display:
1. Go to Map 10, Menu C. Highlight Spindle RPM Display. Press
ENTER to switch between Feedback or Program. Switch to
Feedback to configure the RPM display for encoder feedback; to
Program for the programmed RPM.
Checking Spindle During Gear Change

Refer to Map 10, Menu C. Highlight Check spindle operation during
gear change.
If you select Yes, you must stop the Spindle (M5 command) before a gear
change (For example: Change from M41 to M42). Select No to change
gears directly without stopping the spindle. [Default: Yes],
Stop Program on Gear Change

You can configure the control to stop program execution during a gear
change. To stop the program during a gear change:
1. Refer to Map 10, Menu C. Highlight Stop Program on gear change.
CNC checks for spindle movement (RPM). If there is spindle
movement, it gives an error message and stops the machine. If No,
the CNC will not stop program execution for a gear change.
[Default: No]
Check RPM to be within Gear Range

Use the Check RPM to be within gear range parameter to prevent the
programmer from designating an RPM outside the active gear range, as
follows:
1. Refer to Map 10, Menu C. Highlight Check RPM to be within gear
range parameter.
CNC checks the RPM. If the entered RPM is not within the active
gear range, the CNC generates an error message. If No, the CNC
does not check the entered RPM against the active gear range.
[Default: Yes]
10-Feb-98 Page 15-31

Special U, V, W Setup
In addition to the standard motion control axes available in most controls,
the control is capable of handling additional motion control axes labeled
U, V and W. Additional axes typically control either a standard linear axis
or a rotary axis for versatile machine positioning. These axes can also be
used as separate DROs to display position.
Refer to Map 10, Menu D. Use this menu to configure additional axes.
The additional axes can be included on the monitor Position Display.
Switch Display U/V/W axis to Yes to include an additional axis on the
Position Display or No to disable the option.
[Default: Disabled]
U/V/W axis set to defines the function of the additional axis (refer to
Table 15-12, Additional Axis Function).
Table 15-12, Additional Axis Function
None Disabled
Linear Motion Controlled Linear Axis
Rotary Motion Controlled Rotary Axis
Linear DRO Linear DRO
Rotary DRO Rotary DRO
To define the function of the additional axis:
1. Go to Map 10, Menu E. Highlight an option and press ENTER.
When Rotary is selected, you have the option to reset the axis display
when the axis position reaches 360 degrees of motion. This does not
affect the programming of the axis in the CNC software.
For example, a move of 400 degrees is programmable and executable,
but the axis will display 40 degrees (not 400) at the completion of the
move, assuming a starting point of 0 degrees.
U/V/W Rotary axis reset at 360 initializes the axis display to 0 when it
reaches 360 degrees. Switch to Yes to enable and No to disable the
option. It is used for rotary axes only.
Interface Setup
This section describes how to set up I/O functions.
The exchange of control signals between machine devices and the
control is governed by the system I/O Controller. Input signal
implementation is a standard feature, available in all modes.
The specific properties of the signals exchanged are configured via the
software settings made in the Setup Utility.
Input signals from machine devices to the control are governed by the
System I/O Controller in all configurations.
Page 15-32 10-Feb-98

There are four basic output configurations.

− ANILAM’s Integral Programmable Intelligence (IPI) Option: IPI is a
program that runs in the background of the CNC computer. IPI runs a
conditional logic program using IPI Operational Code. IPI has direct
access to the control’s registers and system flags. The IPI program is
linked to the System I/O Controller via RS-232. The output signals
are generated at the I/O controller ports. When IPI is used, all outputs
are controlled by IPI.
− Programmable Logic Controller (PLC): All outputs are generated at
the PLC (output ports on the System I/O Controller are disabled). The
PLC runs a conditional logic program written in the PLC
manufacturer’s language. Control registers and flags are internally
translated to PLC-compatible instructions and are sent to the PLC via
RS-232.
− Distribution Board: Basic M-Function and S-Function services are
activated by the execution of programmed M Code or S-code blocks.
Output signals are generated at the System I/O Controller ports.
− Disabled: No I/O signals are exchanged between the machine and
the control.
Appropriate security devices must be in place to enable M- and S-function
output options. The specific properties of the input and output signals are
configured via software settings made in the Setup Utility.
I/O Port Locations

I/O is handled by a separate I/O controller (PCB 843). The input and
output ports are physically located on these boards.
Figure 15-2, PCB 843 I/O Controller, P4 Connector

Refer to Figure 15-2, PCB 843 I/O Controller, P4 Connector. PCB 843
I/O ports are single bit ports located at the board’s P4 connector. There
are 16 input and 8 output ports. Eight of the input ports can also be used
as vector limit inputs. (Refer to Table 15-7, PCB 843, Vector Limit
Input Port Assignments.) When these ports are used as vector limit
inputs, they can no longer be used as input ports.
10-Feb-98 Page 15-33

Output ports are located at one end of the connector and input ports at
the other. Port numbers are silk-screened on the board. Do not confuse
the port numbers with connector pin numbers. The port numbers are
above and below the connector. Pins 1, 14, 15 and 28 of the connector
are also silk-screened at the sides of the connector.
Interface Type
Refer to Map 10, Menu J. Use this menu to configure the I/O interface
type. Highlight the required selection and press ENTER.
Selection of a PLC type disables the output ports and configures the
control to send machine control and status information to the PLC (via
RS-232). Specific information is sent to specific registers (sometimes
called internal relays) in the PLC.
Refer to Table 15-13, Control I/O Interface Types for a description of
each selection. Only the Distrib. Board selection enables use of the
output ports for system outputs.
Table 15-13, Control I/O Interface Types
Interface Interface Application

Selections
Disabled Distribution Board is disabled, no I/O signals are exchanged between the
machine and the control.
Distrib. Board Configures the control to allow the exchange of input and output signals
between the control and the machine via the System I/O Controller. Inputs
from the machine generate function signals that are sent from the board to
the control via RS- 232. Function signals from the control are sent to the
Distribution Board (via RS-232) to activate the required output ports.
[Default]
MITSU. F/A Configures the control to exchange machine status information with
Mitsubishi F1/F2 Series Programmable Controllers via RS-232.
SAIA-PCD Configures the control to exchange machine status information with S.A.I.A.
PCD4 Programmable Controllers via RS-232.
ANILAM IPI Configures the control to use IPI. IPI uses the output ports located on the
System I/O Controller.
OMRON CQM1 Configures the control to exchange machine status information with Omron
CQM1 Programmable Controllers via RS-232.
Page 15-34 10-Feb-98

NOTE: RS-232 communication parameters between the control and the System I/O Controller
(ANILAM IPI or Distribution Board) are permanently set to 9600 baud, 8 data bits, 1 stop bit and
no parity. Communications parameters for RS-232 between the control and a PLC (all PLC
options) are set from the Communications Setup Menu. Refer to Map 11, Menu J for the
Communications Setup Menu. Refer to Section 17 - Programmable Controller Interface.
Setup Software
Refer to Map 10, Menu F. The Setup software parameter specifies the
Programmable Controller software used to develop Programmable
Controller logic programs to control machine functions. You must know
the directory and executable filename of the software being used, as this
entry specifies the file for which the control searches to set up the
Programmable Controller.
Output Functions
The System I/O Controller can generate outputs to activate or deactivate
various machine devices, as commanded by the CNC.
M-function numbers (1 to 99) correspond to programmed M-Code blocks
(1 to 99). Execution of an M-Code block activates the outputs assigned
to a like numbered M-function.
A single S-function output is available. If set up, the execution of any S-
Code block will activate its assigned ports.
Output port setup is a two-part process:
− Configure the port to produce the signal (and logic) type required to
control the device on the machine.
− Assign the port to the functions that will activate and deactivate it. A
port can be used by more than one function.
Output Ports
Refer to Figure 15-3, Typical Inactive Port Operation (Default Port
Settings) and Figure 15-4, Typical Active Port Operation (Default Port
Settings). The default port settings are designed to open and close
relays that operate devices on the machine.
Default port settings provide a 24V common source when the port is
active. The port is in a high impedance state when it is inactive. Each
output port is rated for a 500 mA current. Usually, one function is used to
activate selected port(s) and another is used to deactivate the port(s).
10-Feb-98 Page 15-35

Distribution Board
Inactive Port
Circuit
Port At High (Open)
Impedance
State
24VDC Power Supply
24VDC
Common +24VDC
Figure 15-3, Typical Inactive Port Operation (Default Port Settings)
Distribution Board
Active Port
Circuit
Port Provides (Closed)
24VDC
Common
24VDC Power Supply
24VDC
Common +24VDC
Figure 15-4, Typical Active Port Operation (Default Port Settings)

Each port can be independently configured to generate a constant output
or a single pulse of definable width, with either high or low active logic.
Logical combinations of port options may be used together.
Page 15-36 10-Feb-98

Refer to Map 10, Menu H to configure the output signals for the system.
Table 15-14, Output Signal Configuration Options
Pulse (msec) Port output is maintained for the period specified by the builder. Enter the
number of milliseconds (range 0 to 32,000). If a Zero Pulse is used, output is
maintained until port is turned off. The CNC will hold execution of the program
for the duration of a non-zero Pulse. [Default: 0]
Delay (msec) Holds program execution for the specified period of time following the
completion of the M-function. Enter the number of milliseconds. Use any value
from 0 to 32,000. If the Delay is set to 0, there is no delay. [Default: 0]
Finish When a function activates an output port that has been set for a finish pulse,
the CNC holds execution of the program until an External finish pulse input is
received. If no finish pulse is received by the end of the timeout period, the
CNC displays an error message and terminates the program. If Finish is
specified for a port that has a non-zero Pulse, the External finish pulse is only
acknowledged after the Pulse expires. [Default: No]
Active Sets port logic as active high or active low. When set active high, the port
provides a 24V common source when activated. When set active low, the port
is in a high impedance state when activated. [Default: High]
Refer to Map 10 and configure output ports as follows:

1. From Menu H, Output Port Setup Menu, highlight the port being
configured. Press ENTER. Menu I activates.
2. Set up the configuration choices. Refer to Table 15-14, Output Signal
Configuration Options for a description of each option.
Output Ports Assignment

The control can be configured to generate a single S-function and M-
functions M1 to M99. An M-function can activate or deactivate the ports
assigned to it. The S-function only activates the ports assigned to it. A
port can be assigned to more than one function. Due to the similarity in
procedures, only M-function setup is described.
Refer to Map 11. Assign the M-function output ports as follows:
NOTE: The Menu D Ports On and Ports Off columns display
hexadecimal representations of the ports assigned to each operation.
1. From Menu D, highlight the M-function being set up and press ENTER.
Menu E activates.
2. Highlight Ports On to select the output ports to be activated by the
function.
NOTE: The Menu F Used column lists the type of function that a port is
assigned to: M for M-function, S for S-function and CP for axis clamping.
Bit numbers correspond to PC 843 Board output port numbers.
3. From Menu F, select and set ports On or Off. An On setting means
the function will activate the port (turn it on), an Off setting means the
port is ignored. Close the menu when finished.
10-Feb-98 Page 15-37

4. From Menu E, highlight Ports Off to select the output ports to be

deactivated by the function.
5. From Menu F, select and set ports On or Off. An On setting means
the function will deactivate the port (turn it off). An Off setting means
the port is ignored.
Input Functions
The input port setup configures the control to accept inputs from the
machine. When any of the inputs assigned to a function are activated,
the System I/O Controller sends the appropriate signal to the CNC via
RS-232.
On the PCB 843 I/O controller, machine inputs and vector limit inputs
share eight of the input ports. Each vector limit is assigned to a specific
port. If an input port is set up as a vector limit input, do not used it for any
other input function.
Input port setup is a two-part process:
− Configure the port.
− Assign the port to functions that use it.
Input Ports Configuration

Input ports must be configured to detect the presence or the absence of
an input. A port configured Active High is active when it receives a high
(24 VDC) input signal. A port configured Active Low is active when it is
not receiving a (24 VDC) input signal.
To configure the input ports:
1. Go to Map 11, Menu G, highlight the port being configured and press
ENTER to switch the selection between the High and Low settings.
Input Ports Assignment

If any of the ports assigned to a function are active, the System I/O
Controller will send a signal back to the CNC via RS-232. A port can be
used by more than one function.
To assign input functions to input ports:
1. Go to Map 11, Menu H, select the required function and press ENTER.
Menu I activates.
2. Select the ports that will be used to generate the function signal to the
CNC. An On setting means that an active signal from the port will be
needed to generate the function. An Off setting means that signals at
the port are not required by the function.
NOTE: The Menu H Ports column displays a hexadecimal
representation of the ports assigned to the function.
Input Function Usage
Page 15-38 10-Feb-98

Refer to Table 15-15, Input Function Descriptions. Each input

function causes a specific action by the CNC. The purpose of each
function is listed in the table.
Table 15-15, Input Function Descriptions
Input Function Use

Tool guard This input holds the CNC program and stops the machine
spindle. The input must be removed before the program can be
continued.
To restart the spindle, press START once. To continue the
program press START a second time. If the spindle was not
running when the function was activated, press START once to
continue the program.
The tool guard function complies with regulations that require an
intact tool guard to run the machine.
External finish pulse A finish pulse is an input signal from a machine device that
informs the control that the requested operation is complete.
When an output port configured for a finish pulse is activated,
the control is put on hold until a finish pulse input is received.
While on hold, the control will not continue to run program
blocks (if in Programmed Mode) and will not respond to keypad
inputs (if in Manual Mode).
Optional block skip (0 to 9) Activating this input enables a block skip command, /0 through
/9.
External start This input performs the same function as the START key on the
control’s keypad.
External hold This input performs the same function as the HOLD key on the
control’s keypad.
External feed hold This input holds the program if the control attempts a feed. This
function is normally activated by a spindle off condition.
External manual select This input enables non-commanded machine moves. Position
display is generated from encoder inputs. In this mode, the
control no longer commands axis motion. This feature enables
you to move the machine with handwheels, using the control as
a Digital Read Out. This function is used with the Auto/Manual
switch included in the kit.
Start reading keyboard This input enables the control to accept inputs from its keypad
(or keyboard). This function is only used to re-enable the
keypad (keyboard) after a Stop reading keyboard input.
10-Feb-98 Page 15-39

Table 13 - 9, continued
Stop reading keyboard This function informs the control not to respond to inputs from the
CNC keypad (or keyboard). This feature enables the builder to set
up a keyboard lockout system. When the keypad (or keyboard) is
locked out, only the CNC’s Feedrate Override Knob remains active,
enabling feedrate adjustments.
Initialize #999 to 0 Sets programmable user variable #999 to 0 value.
Increment #999 Increments each occurrence of user variable #999 by 1.
Set 100% feed override Locks in the feed override to 100%. The CNC will ignore any other
feedrate setting made via the FEED OVERRIDE switch on the Manual
Panel.
Spindle CW (M3) When activated, control initiates an M3 output. Duplicates Manual
Panel spindle CW function.
Spindle CCW (M4)
Panel spindle CCW function.
Spindle OFF (M5)
Panel spindle OFF function.
Clamping finish pulse Used with axis clamping. When activated, signals the CNC that the
axis clamping operation has been completed.
Laser too close to part Special feature used with laser devices on older LM-628-based
Motion Control Boards.
Laser within tolerance Special feature used with laser devices on older LM-628-based
Laser too far from part Special feature used with laser devices on older LM-628-based
General Error input
This function holds the program and generates an Error message.
message The condition generating the input signal must be corrected before
the program can be restarted.
General Warning input
This function generates a Warning message at the control, while
message allowing the control to continue to run a program.
Finish Pulse Timeout

When an output port that is configured for a finish pulse is activated, the
control is put on hold until an External finish pulse is received. While on
hold, the control will not run program blocks (in Programmed Mode) and
will not respond to keypad inputs (in Manual Mode).
The finish pulse is a signal from a machine device to the control that the
requested operation is finished.
NOTE: If holding for a finish pulse, press E-STOP to reset the CNC.
If no finish pulse is received by the end of the timeout period, the CNC
displays an error message.
Page 15-40 10-Feb-98

To set the Timeout:

1. Go to Map 11, Menu C. Highlight Timeout and press ENTER. The
control prompts for a value.
2. Key in the required number of milliseconds. [Default: 10,000 (10 sec)]
[Range: 0 to 600,000] A 0 msec value causes the CNC to hold for
the finish pulse indefinitely.
I/O Settings for Factory Assembled M-Function Hardware

Refer to Table 15-16, Factory Assembled M-function Settings and
Table 15-17, Factory Assembled Input Function Settings. Kits that
include factory assembled M-function hardware are pre-wired for the I/O
settings shown.
Table 15-16, Factory Assembled M-function Settings
M-Function Ports-On Ports-Off Device Operation

M2 0000 0007 End of program, stop
spindle, coolant and
feed.
M3 0001 0002 Spindle Forward On
Spindle Reverse Off
M4 0002 0001 Spindle Reverse On
Spindle Forward Off
M5 0000 0007 Spindle & Coolant Off
M8 0004 0000 Coolant On
M9 0000 0004 Coolant Off
All output ports are wired to use pulse - 0, delay - 0, Finish - No, Active - High port settings.
Table 15-17, Factory Assembled Input Function Settings
Input Function Ports

External manual select 0010
Input port is wired to use Active High setting.
10-Feb-98 Page 15-41

Issue M5 on Servo Fault or E-STOP

Enable (Yes) this option to automatically stop the spindle if the E-STOP is
pressed or the system declares a servo fault. When the option is
disabled (No), the system will not automatically stop the spindle on a
servo fault or E-STOP. [Default: No]
Restore Outputs on I/O Reset

Specifies if the outputs of the I/O Controller and I/O Expansion are to be
restored when the I/O Controller resets. A reset state can be caused by
lost power or a malfunctioning I/O Controller. If entry is set to Yes, I/O
outputs are restored to the last state they were in before the reset
occurred. If entry is set to Yes, I/O outputs are not restored. [Default:
Yes]
Display Internal Interface Messages

The CNC displays these internal messages: Feed Hold, External Hold and
External Stop. Set to Yes to display these messages. Set to No and the
CNC will not display these messages. Set the entry to No if you are a
programmable controller or IPI to generate other messages. [Default: Yes]
Tool Management
Default Tool Table

To enter the default tool table file:
1. Go to Map 12, Menu C. Highlight Default tool table file and press
ENTER. In the highlighted entry field, type in the name of the file.
[Default: MILLTOOL.C4]
Activation Options
The following Tool Setup parameters require you to specify a type of activation:
− Activate tool length offset [Default: On Tn]
− Output Signal [Default: On Tn]
− Orient Spindle [Default: No]
− Stop program execution [Default: No]
− Use tool change macro [Default: No]
The available activation options are listed in Table 15-18, Tool Setup
Activation .
Table 15-18, Tool Setup Activation
Activation Description
Setting
No Function is not used.
On Tn Function activates only when a tool is activated (T-Word).
On M6 Function activates only when Tool Changer M-function
(M6) activated.
Both Function activates when a tool number or M6 is activated.
Page 15-42 10-Feb-98

Manual Tool Change Operation

For manual tool change operations (i.e., when a tool changer is not being
used), use the settings specified in Table 15-19, Manual Tool Change
Settings.
Table 15-19, Manual Tool Change Settings
Manual Tool Change Para. Required Description

Setting
Activate tool length offset On Tn Tool Length Offset activates upon completion
of a T-word command to the Programmable
Controller.
Output signal On Tn Refers to T-code data being sent to the
Programmable Controller via RS-232. Select
On Tn to enable the output signal when the
T-code activates.
Stop program execution No or On Tn Halts the running program until given a Cycle
Start from the Manual Panel. For manual tool
change operations using a Programmable
Controller, set this selection to No (disabled).
For manual tool change operations without a
Programmable Controller, set to On Tn. The
CNC will hold program run and display a
message. Press START to resume program
run.
Tool changer installed No Set to No (disabled). Use this selection to
enable closed loop orientation of the spindle
during tool changer operation.
Number of digits in T-word 4 Format of T-words (Txxxx).
10-Feb-98 Page 15-43

Automatic Tool Change Operation

Refer to Map 12, Menu C. Program specialized Macro program modules
to facilitate the use of any tool changer. Select and edit these Macros via
the Tool Management Menu. Use the M6 command during automatic tool
changer operations.
Table 15-20, Automatic Tool Change Settings
Automatic Tool Required Description

Change Para. Setting
Activate tool length On M6 Tool Length Offset activates upon an M6 command.
offset
Output signal On M6 "Signal" refers to T-code data being sent to the
Programmable Controller via RS-232. This selection
enables that output, upon completion of an M6
command to the Programmable Controller.
On M6, T-Code data is output by the Control to the
Programmable Controller until a Finish pulse is sent.
The M6 data is sent by the Control and a second
Finish pulse is required from the Programmable
Controller. If no Tool number is programmed on the
same line as the M6 in the CNC program, then the
currently active Tool offset data remains unchanged.
Orient spindle No Sets up a CNC-controlled, closed loop orientation
cycle. If the machine has a mechanically controlled
or spindle drive controlled orientation cycle, then the
setting for this parameter should be No and
orientation can be activated via M-code.
Default Spindle Enter angle value Selects an angle of orientation beyond the marker
Orientation Angle in degrees. pulse. The range is 0.1 to 360 degrees. This
feature eliminates the need for exact mechanical
positioning of the spindle encoder. The spindle
orientation angle is programmable via CNC software.
Spindle Orientation Enter orientation Specifies the orientation RPM of the Spindle.
RPM RPM Consult relevant spindle drive documentation for
proper Spindle speed encoding and appropriate
orientation speeds. Maximum programmable
orientation spindle speed is 50 RPM. Refer to
Section 15 - Enabling M19 Commands.
Stop program No When enabled (Yes), halts program run until START
execution is pressed. For automatic tool changer operations
with a Programmable Controller, set to No
(disabled).
Page 15-44 10-Feb-98

Tool changer None or Enables/disables M19 command. Refer to Section

installed Fixed 15 - Enabling M19 Commands.
Replacement or Choose one of the following parameters:
Random − None: Disables M19
Replacement − Fixed Replacement: enables M19; active tool
always returned to the same bin after use.
− Random Replacement: enables M19; active
tool can be placed in the next available bin.
CNC indexes the tool changer and keeps track of
the bin number corresponding to each tool
number. Adds Fix and Bin columns to the Tool
Page. BIN specifies BIN in which a tool is
initially located. FIX specifies if the
corresponding tool needs to go back into the
same BIN from which it was taken. [Default]
Use tool change On M6 Sets function to activate on M6 command.
macro
Tool change macro Macro filename Filename of the macro to be used during tool
program change operations.
Tool change macro Macro Number Macro Number to be used during tool change
number operations.
NOTE: Macro files can contain more than one
macro (number).
Number of digits in T-word Format A 4-digit word will allow selection of from 1 to 99
T word (4 or 6 digits) tools. A 6-digit word will allow selection of from 1 to
999 tools. Refer to Section 15 - Setting the
Number of Digits for T Words.
Number of bins in Enter number. Number of bins.
tool changer
Number of Tools to Enter maximum Limits the number of tools displayed in the tool table.
display in table # of tools. [Default: 99] [Range: 25 and 255]
Default tool-table Enter filename. [Default tool table file: MILLTOOL.C4].
file
10-Feb-98 Page 15-45

Enabling M19 Commands

Format: M19
Enable/disable the M19 command during tool changer operations through
the Tool changer installed parameter in the Tool Management Setup
(refer to Map 12, Menu C). The M19 command orients the spindle to a
given angle via the spindle orientation RPM, which is also set in Menu
C. The orientation is performed in Closed Loop Mode.
An M19 commands the orientation. The spindle will remain held in closed
loop control, even after the Finish signal for the M19 is transmitted by the
Programmable Controller, until a Tool Change Finish signal is next
transmitted.
The M19 Code may be output at any time during the M6 automatic tool
change cycle. (For example: A positive spindle position is necessary
until the tool is removed from the draw bar or other tool holding
mechanism.)
The tool changer installed parameter configures the replacement of
tools into the tool changer. (Refer to Menu L) Set the parameter to Fixed
Replacement if a tool should be replaced in the bin from which it was
taken. Set the parameter to Random Replacement to return the tool to
the first available bin.
The Random Replacement setting adds two columns to the Tool Page,
FIX and BIN. In the BIN column, enter the initial Bins for all tools in the
Tool Page. Enter a Y in the FIX column for tools that must always be
returned to their original bins.
Setting the Number of Digits for T-Words

Use the Number of digits in T-word parameter (Map 12, Menu C) to
configure the number of available T-words. In the CNC program, a four-
digit selection is necessary to enable four-digit tool codes:
"T 30 04"
The first two digits specify the tool "pot" or carousel position of the tool to
be used (30). The second two digits specify the tool offset being used
(T 04).
If a two-digit code is programmed, the offset number being used and the
tool being used will be the same:
"T 04" - calls offset number 4 and tool pot number 4
A six-digit selection will permit the programmer to use six-digit tool codes:
"T 130 104"
The first three digits specify the tool "pot" or carousel position of the tool
to be used (130). The second three digits specify the tool offset being
used (T 104). If a three-digit code is programmed, then the offset number
being used and the tool being used will be the same:
"T 104" - calls offset number 104 and tool pot number 104
Page 15-46 10-Feb-98

Tool Change Macro Parameters

A tool change macro is a subprogram that prepares the machine axes
and initiates necessary auxiliary functions prior to automatic tool changer
operation.
Refer to Map 12, Menu C. The Setup Utility contains parameters to
create, call and edit the tool change macro filename and macro number.
To enable the tool change macro, set the Use tool change macro
parameter to On Tn, On M6 or Both.
To call a tool change macro in the Setup Utility, specify the filename and
macro number. Use the Tool change macro program parameter to
specify the tool changer macro filename. Use the Tool change macro
number to specify the appropriate macro number within the program.
NOTE: The macro file is stored in the C:\S1400 directory.
The tool change macro can be edited from the Setup Utility. Press Edit
(F8) to activate the Edit Mode for the macro file and number specified in
the menu.
If the Tool Change Macro is created by an editing function other than Edit
(F8), it must also be edited by the Setup Utility at least once. This action
installs the Macro and adds required hidden file header data.
Tool Changer Macro Example

Table 15-21, Tool Changer Macro will stop the spindle and send all axes
to a safe absolute position. It is a generalized version of an actual macro.
Table 15-21, Tool Changer Macro
M2 * THIS COMMAND IS NOT OUTPUT TO
THE * PROGRAMMABLE CONTROLLER
O 40000 * CREATES G8000
M5 * STOP SPINDLE
G28 Z * HOME Z AXIS
IF (#1070 < 71) THEN * VERIFY CNC CONTROL IS IN IN. MODE
G90 G0 Z-0.2362 * SAFE INCH POSITION FOR Z AXIS
ELSE * IF CNC CONTROL IS IN METRIC MODE
G90 G00 Z-0.6
* SAFE METRIC POSITION
ENDIF
G53 O0 * CANCEL WORK CO-ORDINATES
G90 G0 X0 Y0 * MOVE TO SAFE X AND Y POSITION
M99 * END OF MACRO
M2 is required in the first block of the tool change macro file.
Use the relevant G-code to call macros at any time during CNC operation.
The macros, created by the macro file, are numbered in the range of
G8000 to G8999. Use the O(n) Address Word, followed by the
appropriate value, to program a macro G-code. Add 32,000 to the
desired G-code number (n). For example, the O40000 program
command would create a G8000 Code; O40002 would create G8002, etc.
10-Feb-98 Page 15-47

Miscellaneous Setup Utilities

The Miscellaneous Setup Utilities enable you to configure various Control
functions not addressed by other setup option menus. These functions
are detailed in following sections. Refer to Map 13, Menu C.
Manual Panel Port

Refer to Map 13, Menu C. Highlight Manual panel port to activate a
pop-up. The pop-up lists the available RS-232 ports.
For standard CNC systems, set the Manual panel port to ANILAM 1. (On
older systems, this is an RS-232 port on the PC 844 Serial Junction
board, which connects to the Anicom Board. On current systems, it is a
port on the Anicom Board.) The other RS-232 port selections are
available only for troubleshooting use and should not be selected during
normal operation. Do not select the COM 1 port. This port is reserved for
Programmable Controller communications.
Disabled is used for simulation systems or for Offline software. Manual
Panel operations are disabled.
To enable the Manual Panel Port:
1. Go to Map 13, Menu C. Highlight Manual panel port. Press ENTER.
A pop-up activates.
2. Highlight ANILAM 1. Press ENTER.
Maximum Programmable Feedrate

The maximum programmable feedrate sets a limit on how fast the CNC
will allow the machine to travel in feedrate. [Default: 80.0 inches per
minute]
To set the maximum programmable feedrate:
1. Go to Map 13, Menu C. Highlight Max programmed feedrate.
Press ENTER.
2. In the highlighted entry field, enter the maximum feedrate. Press
ENTER.
NOTE: The maximum programmable feedrate can be overridden with the

FEEDRATE OVERRIDE switch. The range of the switch is 0 to 120 percent
of the maximum programmable feedrate. The switch varies the feedrate
in increments of 10.
NOTE: The max programmed feedrate selection specifies the feed to

rapid gain break. This is the speed at which the control will change from
Feed (high) gain to Rapid (low) gain. Gain values are set in the Feed
Gain Table, Rapid Gain Table and No Motion Gain Table.
Default Jog Feedrate/Rapid rate

Set up the default feedrate/rapid rate at which the machine travels in Jog
Mode. This defines the machine’s default Jog speed.
[Default: Feed- 40.0, Rapid-200]
To set up the Default Jog Feedrate/Rapid rate:
Page 15-48 10-Feb-98

1. Go to Map 13, Menu C. Highlight Feedrate for jog on Manual Panel

or Rapidrate for jog on Manual Panel. Press ENTER.
NOTE: Enter 0 for Rapidrate for jog on Manual Panel to use the default
rapid rates.
2. In the highlighted entry field, enter the appropriate rate. Press ENTER.
NOTE: The Default Jog Feedrate/Rapid rate can be overridden with the
FEEDRATE OVERRIDE switch. The range of the switch is 0 to 120 percent
of the maximum programmable feedrate; or 0 to 100 percent of the
maximum programmable Rapid rate. The switch varies the feedrate in
increments of 10.
Dry Run Linear Feedrate

When a program is run in Dry Run Mode, the machine’s linear axes (X, Y
and optionally Z) move through the program without cutting into the work.
The CNC activates Coolant Off and the work may or may not be placed
on the table.
Dry Run Mode is activated by M-codes M105 and M106 and deactivated
by M107. Dry run feed rates are set in the Setup Utility. They are often
faster than conventional feed rates, but can be set at any rate. [Default:
40.0] [Range: 10.0 to 200.0 inches per minute]
Table 15-22, Dry Run Mode M-Codes
M Code Function Description

M105 Dry run on. Enable machine Z Dry Run Mode.
Program runs at dry run feedrates
specified in the Setup.
M106 Z Dry run on Enable machine Dry Run Mode.
Program runs at dry run feedrates
specified in the Setup, without moving Z
axis.
M107 Cancel Dry run Cancels active Dry Run Mode.
To set up the Dry Run Mode feedrate:
1. Go to Map 13, Menu C. Highlight Linear axis dry run feedrate.
Maximum Rotary Feedrate

Max programmed rotary feedrate sets the maximum speed, in degrees
per minute, that a rotary axis may be programmed. [Default: 3,000.0]
[Range: 0.0 to 12,700.0]
1. Go to Map 13, Menu C. Highlight Max programmed rotary
feedrate.
10-Feb-98 Page 15-49

NOTE: The Default Jog Feedrate can be overridden with the FEEDRATE
OVERRIDE switch . The range of the switch is 0 to 120 percent of the
maximum programmable feedrate. The switch varies the feedrate in
increments of 10. This menu selection defines the rotary feedrate at
100%.
Default Jog Rotary Feedrate

Rotary feedrate for jog on manual panel sets the default rotary feedrate
for Feed moves commanded using the Jog PLUS (+) and MINUS (-) keys
located on the Manual Panel. [Default: 1,016] [Range: 0.0 to 12,700.0
degrees per minute]
To set the default jog rotary feedrate:
1. Go to Map 13, Menu C. Highlight Rotary feedrate for jog on
manual panel.
NOTE: The Default Jog Feedrate can be overridden with the FEEDRATE
OVERRIDE switch. The range of the switch is 0 to 120 percent of the
maximum programmable feedrate. The switch varies the feedrate in
increments of 10. This menu selection defines the jog rotary feedrate at
100%.
Dry Run Rotary Feedrate

Rotary axis dry run feedrate specifies the feedrate, in degrees per
minute, at which rotary axes will travel during Dry Run Mode. Dry Run
Mode is activated by M105 or M106 and canceled by M107, similar to the
Dry Run Mode for linear axes (refer to Dry Run Linear Feedrate).
[Default: 1,000.0] [Range: 254.0 to 2, 540.0]
1. Go to Map 13, Menu C. Highlight Rotary axis dry run feedrate.
Acceleration
The acceleration value programmed into the LM-628 Precision Motion
Controllers of the Motion Control Board is preset at the factory to 66,000.
CAUTION: Only trained technical personnel should change this
parameter. Changing the acceleration to a value that is too low
could cause an undesired lack of response in machine motion.
Page 15-50 10-Feb-98

LM-628 Motion Control Board-Feed and Rapid Velocity Offset Factors

The CNC corrects for the difference between the commanded velocity
and the actual velocity of LM-628 systems. It is available for Feedrate
and Rapid rate velocities. A value of 1.00 means that no offset is applied.
The velocity offset corrects for computational, physical or mechanical
errors inherent in the system. [Default for both settings: 1.08]
1. Go to Map 13, Menu C. Highlight Feed velocity offset factor or
Rapid velocity offset factor. Press ENTER.
2. In the highlighted entry field, enter the appropriate offset factor. Press
ENTER. The CNC offsets the commanded Rapid or Feed velocity by
the entered factor.
CAUTION: Only trained technical personnel should change this
parameter.
Simulation Mode
In Simulation Mode, the CNC does not generate DAC and I/O outputs.
[Default No (disabled)]
To set up the CNC for Simulation Mode:
1. Go to Map 13, Menu C. Highlight Force simulation mode. Press
ENTER to switch the option to Yes. The CNC starts in Simulation
Mode. Moves can be commanded and displayed, but no actual
machine movements occurs.
Programming a Servo Delay

The operator can program a delay to allow the servos to stabilize before
the CNC commands a move. [Default: 1 sec] [Range: 0 to 10]
To program a servo delay:
1. Go to Map 13, Menu C. Highlight Servo up delay. Press ENTER.
2. In the highlighted entry field, enter the appropriate servo delay.
Saving Files when Main Power Fails
NOTE: If the system does not include an Uninterrupted Power Supply

(UPS), this feature is not available.
Save files when main power fails enables you to specify that program
editing sessions be saved to the hard disk when main power fails. This
prevents data loss in case of a power failure.
When the selection is enabled (Yes), the current editing session is saved
to the hard disk drive. The control's UPS maintains input power.
[Default: No]
To save files when main power fails:
1. Go to Map 13, Menu C. Highlight Save files when main power
fails. Press ENTER to switch the parameter to Yes (enabled).
10-Feb-98 Page 15-51

Machine Type
Machine type specifies the type of machine used. For 1400M systems,
this setting is usually switched to Mill.
To specify machine type:
1. Go to Map 13, Menu C. Highlight Machine type. Press ENTER.
2. In the pop-up menu, highlight Mill. Press ENTER.
Reversing G2/G3 Commands

Refer to Map 13, Menu C. Reverse G2/G3 enables you to reverse the
default settings for G2/G3 commands: the default settings of G2 =
Circular Interpolation CW and G3 = Circular Interpolation CCW reverse to
G2 = CCW and G3 = CW. Thus, you can access program files from other
offline sources without changing the program.
Switch the setting to Yes to enable the parameter and reverse the G2/G3
commands. [Default: No (disabled)]
Loading CNC Custom Character Set

Refer to Map 13, Menu C. Load CNC custom character set should be
set to VGA CNC.
Remote Handwheels Setup (Option)

remote Handwheel encoders connected to the system. The 1400M
system supports one or two remote handwheels, mounted on the system
by the machine builder.
Handwheel encoders are connected via harness to Counter Ports CTR 0
and CTR 1 located in the last slot of the computer chassis. Enter the
number of handwheels connected to the system.
When this option is enabled (enter 1 or 2), the HANDWH (F10) activates
in the Control software. [Default: Disabled (0)]
Screen Blanking Delay

Refer to Map 13, Menu C. Screen Blanking Delay specifies the period,
in minutes, of the screen blanking delay. The delay will be the time
between a detected CRT idle condition and the activation of the screen
saver. [Default: 5 minutes]
To re-activate the CRT display, press any key.
Automatic Feed Override on Arc Moves

When this feature is activated, the CNC modifies the feedrate of arc
moves in Cutter Compensation Mode. It ensures that the tool cuts at the
programmed feedrate at the point where the edge of the tool contacts the
workpiece.
Page 15-52 10-Feb-98

The CNC slows down the feedrate on inside arc moves and speeds up
the feedrate on outside arc moves. The compensated feedrate assigned
by the CNC depends on the active Cutter Compensation Mode (G41 Left
of Path or G42 Right of Path), the active tool nose radius and the
programmed arc radius. [Default: Disabled (No)]
To activate automatic feed override on arc moves:
1. Go to Map 13, Menu C. Highlight Automatic feedrate override on
arcs.
2. Press ENTER to switch the setting to Yes. The CNC activates
automatic override feedrate for arc moves made in Cutter
Compensation Mode. Switch the setting to No to deactivate the
feature.
Feedrate Mode
Go to Map 13, Menu C. Feedrate mode switches the default feed rate
mode between FPR (G95, Feedrate per Revolution) and FPM (G94,
Feedrate per Minute). [Default: FPM]
Dwell in FPR Mode

The Dwell (G4) command can be set up according to revolutions of the
spindle.
Normally, a Dwell command is timed. Consider the following example:
G4 T2
Under a timed dwell, this command would cause the CNC to dwell for two
seconds.
For a Dwell based on spindle revolutions, the CNC halts dwells for the
indicated number of revolutions. For example:
G4 T200
The CNC would dwell for 200 revolutions of the spindle.
To switch to Dwell RPMS in FPR Mode:
1. Go to Map 13, Menu C. Highlight Dwell RPMs in FPR Mode.
2. Press ENTER to switch option to Yes. When No is selected, Dwell
commands are timed. When Yes is selected, Dwell commands are
based on spindle revolutions. [Default: No]
Rapid Moves are Free (Unsynchronized)

Refer to Map 13, Menu C. Set up rapid moves for synchronized or
unsynchronized motion. Switch to Rapid moves are free
(unsynchronized) to change the way Rapid moves are executed. When
No is selected, Rapid moves are synchronized. When Yes is selected,
Rapid moves are free (unsynchronized). [Default: No]
10-Feb-98 Page 15-53

Machine Home
Most machines have an absolute reference, called Machine Home,
defined by hardware. The 1400M control uses the zero marker pulse of
the encoder and the home limit switch to define Machine Home.
Machine Home can also be defined using only the zero marker of an
encoder or scale.
Homing the Axes

Once defined, the Machine Home feature can be set to require a machine
home when the control is turned on. Set the Home required parameter
to Yes to operate in this manner. You can select Homing at any time in
the CNC mode, whether or not it is required by the Setup parameter.
You choose the order in which the machine homes the axes and the
speed at which the CNC moves to the Home limit switch.
“Retract” speed (speed at which axis moves to index pulse) is not
configurable through the Setup Utility.
NOTE: Even if the Home required parameter is on (Yes) and no home
sequence has been performed, the axes can be moved via the PLUS (+)
and MINUS (-) Jog keys on the Manual Panel.
Enabling the Homing Feature

Home required specifies whether the CNC requires a Home Sequence
prior to performing any other operations at system power up. Switch the
option on (Yes) and off (No). [Default: No]
If Home required is set to Yes, you must perform the home sequence
before you resume normal operations in the control software.
To set up the Home required parameter:
1. Go to Map 12, Menu F. Highlight Home required.
2. Press ENTER to switch the setting to Yes. The CNC enables the
Homing feature. Switch the setting to No to deactivate the feature.
Axis Homing Order

[Default homing order: 3, 2, 1, 4, 5, 6 (corresponding to axes Z, Y, X, U, V
and W, respectively)] To set the order in which axes are homed:
1. Go to Map 12, Menu G. Highlight the menu selection corresponding
to the axis being set. Press ENTER.
2. A pop-up menu appears. Highlight the appropriate choice (First,
Second, etc.) and press ENTER.
Homing Feature Travel Direction

This menu details the types of homing available. Use Home type to set
the direction of travel for the Homing feature. [Default: No homing] No
Homing disables the homing function.
Positive/Negative refers to the direction that the axis will travel during
Homing, in reference to Machine Home.
Page 15-54 10-Feb-98

With positive/negative index limit moves the selected axis in the

positive/negative direction until the CNC detects an Index pulse from the
scale or encoder. This method requires that the Machine Home position
be known and physically marked on the movement axis, to ensure
repeatability.
With positive/negative index and vector limit works as follows:
When homing is initiated, the CNC travels in the selected
positive/negative direction along the axis being homed until it trips the
home switch. The axis will then reverse direction until an Index pulse is
detected. The CNC sets Machine Home for that axis at the point where
the Index pulse is detected.
To set up the direction of travel for Homing:
1. Go to Map 12, Menu I. Highlight the appropriate homing direction
choice. Press ENTER.
10-Feb-98 Page 15-55

Homing Speed
To set the speed the machine travels at during Homing:
1. Go to Map 12, Menu J. Highlight the menu selection (datum search
speed) corresponding to the axis being set. Press ENTER.
2. The entry field highlights. Enter the appropriate speed and press
ENTER.
[Default speed for all axes: 40 inches per minute]
Axis Home Preset

You can automatically preset Machine Zero to any coordinates.
To set up Preset values for axes:
1. Go to Map 12, Menu K. Highlight the selection corresponding to the
axis being preset. Press ENTER.
2. Enter the preset value in the highlighted entry field.
3. Repeat for all preset axes.
4. Highlight Home preset and press ENTER to switch the selection to On.
When the machine reaches Machine Zero, the CNC sets the display
to the preset values entered for all axes. The CNC displays the new
values in place of 0.0000. Set to Off to disable.
[Default: disabled (Off)]
Enabling Index Pulse Check

With this feature enabled, the CNC checks for an Index Pulse during
homing. If the CNC fails to detect an Index Pulse within a certain
distance, it declares a fault and displays an error message. [Default:
disabled (No)]
To enable/disable the Index Pulse Check:
1. Go to Map 12, Menu F. Highlight Enable index pulse check.
2. Press ENTER to switch the setting. Switch the setting to No to
deactivate the feature. Switch the setting to Yes to activate the
feature.
Builder Messages
IPI and Programmable Controller system can display customized
messages to indicate machine status or possible error conditions. These
messages are set up in the Setup Utility and displayed in the message
area of the CNC screen. To use custom messages, you must create an
appropriate conditional logic program that will send various PgC Message
bits to the control.
IPI or Programmable Controller can send 256 different messages to the
control, numbered from 0 to 255. The error messages are broken down
into two categories:
− Error codes stop execution of the user program.
− Warning codes display an error message only, but the program run
will continue.
Page 15-56 10-Feb-98

Refer to Table 15-23, Message Numbers and Types for error codes and
ranges.
Table 15-23, Message Numbers and Types
0 None
1 to 127 Error
127 to 255 Warning
These Builder messages can be created and edited via the Builder
Messages parameter.
To enable Builder Messages:
1. Go to Map 14, Menu C and highlight Use Custom Messages. Press
ENTER to switch the setting to Yes (enabled). [Default: No (disabled)]
2. Save the changes before you exit the Setup Utilities. The CNC
creates the builder messages file MBENG.TXT.
Each message can be up to 49 characters in length. Use Edit Error
Messages to enter or edit Error messages. Use Edit Warning
Messages to enter or edit Warning messages.
Figure 15-5, Builder Messages - Error Message Window

To edit Error messages:
1. Go to Map 14, Menu C and highlight Edit Error Messages. Press
ENTER. The Prog. Controller Error Messages screen activates (refer
to Figure 15-5, Builder Messages - Error Message Window).
10-Feb-98 Page 15-57

NOTE: You can also use a message’s index number (including period) to
access the message text box and edit the message:
1. With the Builder Message Window (Map 14, Menu C) activated, type
the message index number and press ENTER.
Figure 15-6, Builder Messages - Warning Message Window

To edit Warning messages:
1. Go to Map 14, Menu C and highlight Edit Warning Messages.
Press ENTER. The Prog. Controller Warning Messages screen
activates (refer to Figure 15-6, Builder Messages - Warning
Message Window).
NOTE: You can also use a message’s index number (including period) to
access the message text box and edit the message:
1. With the Builder Message Window (Map 14, Menu C) activated, type
the message index number and press ENTER.
Purchased Language Option
Machine builders can order a system that displays messages and other
text in languages other than English. [Default: English] This is a
purchased option. The required text files and a hardware key must be
installed for the option to operate properly.
If you attempts to set up the option for a Language and the CNC cannot
find the associated text file, an error message results.
Page 15-58 10-Feb-98

To set up the CNC to display text in a language other than English:

1. Go to Map 14, Menu D. Highlight the appropriate language and press
ENTER.
2. The CNC installs the language file and the system restarts. The
displayed messages and other text should now appear in the selected
language.
Software Updates
To install an updated version of the Control software:
1. Insert the disk containing the updated version of the software.
2. Go to Map 14, Menu B. Highlight Software Update. Press ENTER.
3. Follow the prompts on the screen to complete the installation. The
process takes less than five minutes. If the system cannot install the
new version for any reason, it displays an error message. Otherwise,
the system displays messages when it has completed each stage of
the installation procedure (Extracting Control software, etc.).
4. The system displays a message when installation is complete and
automatically restarts.
Installation Prompts
During software installation, the CNC prompts you regarding the status of
the installation. Follow the on-screen instructions to complete the
installation.
LM-628 MCB Digitizing
NOTE: Digitizing is only supported in LM-628 Motion Control Board
systems.
Use the Digitizing Setup menu to set up the block skip function (G31).
NOTE: The skip function cannot be used unless the appropriate
hardware has been installed. Check the machine tool manual to
determine whether the Skip Function can be used.
Use the skip function to interrupt the execution of a program block. If an
external skip input is received during the execution of this block, the CNC
interrupts the block and runs the next block.
This function is used when the exact length of a motion is not known,
such as when an automatic probe is used.
G31 is Non-modal and affects only the block in which it is programmed. If
no skip signal is received, the CNC executes the move commanded in the
block containing the G31.
The user must set up:
− the output type (Port or Disk)
− the Port Settings
10-Feb-98 Page 15-59

To set up the output type:

1. Go to Map 14, Menu E. Highlight Output. Press ENTER to switch the
setting between Port and Disk. The output of the digitizing probe can
be sent to a disk or to an RS-232 port. Select Disk if output is to a
floppy disk or hard drive. Select Port if output is to an RS-232 port.
NOTE: Do not use COM1 as the Digitizing Port.
To set up the Digitizing RS-232 port:
1. Go to Map 14, Menu E. Highlight Port Settings. Press ENTER to
activate the Digitizing Setup Menu (Menu F).
2. Set up the communications parameters. Refer to Table 15-24,
Digitizing Communication Parameter Defaults.
Table 15-24, Digitizing Communication Parameter Defaults
Parameter Default
Port ANILAM 6
Baud 9600
Parity EVEN
Data bits 7
Stop bits 1
Software On
Direct Numeric Control
Direct Numeric Control (DNC) runs programs that are not stored in the
CNC’s hard drive. The CNC can run programs that exceed the control’s
memory capacity via remote machine or computer. This includes CAD
and CAM programs. The program is sent via RS 232 from another
computer, CNC or device.
Selecting a DNC Execution Mode

Refer to Map 14, Menu G. The Execution Mode parameter tells the
CNC to execute the transmitted data in Drip Feed or Buffered Mode.
[Default: Buffered]
In Buffered Mode, the CNC stores incoming data in a buffer (Received
Buffer) until the buffer is full. Then, the data is transferred to the
Execution Buffer and the CNC executes the transferred blocks. While the
CNC executes the Execution Buffer data, it stores more data in the
Received Buffer. When all the data in the Execution Buffer has been
executed, the CNC transfers the contents of the Received Buffer into the
Execution Buffer and continues executing the program. The Received
Buffer fills up with new data. The process continues until the entire
program has been transmitted and executed.
In Drip Feed Mode, the program is transmitted via RS-232, one block at
a time. Blocks are executed as soon as they are received. There is no
initial delay.
Page 15-60 10-Feb-98

To select Buffered/Drip Feed Mode:

1. Go to Map 14, Menu G. Highlight Execution Mode. Press ENTER to
switch the selection between Drip Feed or Buffered.
Setting the Buffer Size

This parameter specifies the amount of memory to be reserved for DNC
in Buffered Mode. The choices are: 16K, [Default: 32K], 64K, 128K and
Max.
Max means that the control will intelligently estimate the maximum
amount of memory that can be allocated. Depending on the size of the
program and the amount of available RAM available on the CNC,
choosing Max might allow the entire program to be transmitted before
execution begins.
To set the Buffer size:
1. Go to Map 14, Menu G. Highlight Buffer Size (in buffered mode).
Press ENTER. A pop-up appears.
2. Select the appropriate buffer size. Press ENTER.
Using a DNC Macro

To use a specified DNC Macro at the end of each block:
1. Refer to Map 14, Menu G. Highlight DNC Macro Number. Press
ENTER.
2. Enter the DNC Macro Number [Default: 100].
3. Highlight Use DNC Macro at end of block. Press ENTER to switch
the setting to Yes (enabled). [Default: No (Disabled)]
Ignore G41/2, G59 and Blueprint

The operator can enable/disable processing for G41 (left of path), G42
(right of path), G59 (Corner Rounding) and Blueprint programming
(Canned Cycles). While in DNC, these features should be disabled
unless absolutely required. If these features are enabled, even if a
program does not use them, the CNC will waste processing time.
To enable/disable Tool Comp and CornerRad:
1. Go to Map 14, Menu G. Highlight Ignore G41/2, G59 and Blueprint.
2. Press ENTER to switch the selection. Choose Yes to disable the listed
features. Choose No to enable the listed features. [Default: Yes]
10-Feb-98 Page 15-61

Wait for Start

Refer to Map 14, Menu G. Use the Wait for Start parameter to specify
whether the control will hold execution of the transmitted data until the
START key is pressed. Refer to Table 15-25, Wait for Start Parameter
Choices.
Table 15-25, Wait for Start Parameter Choices
No First Every
Drip Feed Executes DNC Requires the START key to Requires the START key
data as soon as be pressed before the to be pressed before the
it is available. execution of the first execution of every
block. block.
Buffered Executes DNC Requires the START key to Do not use. To run
data as soon as be pressed before the program block by block,
it is available. execution of the first switch to Single Step
block. Default setting. Mode.
To set the Wait for Start parameter:
1. Go to Map 14, Menu G. Highlight Wait for Start. Press ENTER. The
options pop-up menu activates (Menu I).
2. Highlight an option and press ENTER.
Changing the Passwords
CAUTION: Avoid changing the passwords that limit access to the
Setup Utility. If the password is forgotten, you must erase the
current configuration file and reinstall the software (restoring the
default password). The configuration settings will be lost.
Refer to Table 15-26, Default Machine Passwords for the default
passwords. To change the password:
1. Go to Map 14, Menu J. Highlight the level of the password to be
changed. Press ENTER. The CNC prompts for the old password.
2. Enter the old password and press ENTER. The CNC prompts for the
new password.
3. Enter the new password and press ENTER. The CNC prompts for
confirmation of the new password.
4. Re-enter the new password and press ENTER. The CNC activates the
new password.
Level Password
Limited LIMITED
Service SERVICE
PLC PLC
Page 15-62 10-Feb-98

General Software
The General Software Setup Utility (refer to Map 15, Menu B) configures
settings for the following:
− Control Software
− Communications
− Draw feature
− Edit
− Program Screens
− CRT Display
− Printer
Control Software Parameters

Refer to Map 15, Menu C. This menu describes settings that affect the
control software. Refer to Table 15-27, Control Software Parameters
for descriptions and setting information.
Table 15-27, Control Software Parameters
Control Software Parameter Function Settings

Default axis display Switches the default axis Normal-Configures the axis
display between large and display to show Machine,
normal. Program, Target and Distance To
Go displays. [Default]
Large-Configures the axis
display to show enlarged X, Y
and Z position displays only.
Default plane A plane defines movement XY-[Default]
along two axes, excluding a XZ
third. Thus, planar movement
YZ
is two-dimensional. Circular
moves and tool diameter
compensation are confined to
the plane chosen by the user.
(Linear moves can occur in all
three axes simultaneously.)
Default units Switches the default Inch-Activates Inch Mode as
measurement units (Inch/MM default. [Default]
Modes). MM-Activates MM Mode as
default.
Default axis values Switches Absolute/ Absolute-Every move is made in
Incremental default mode reference to an Absolute Zero
(determines how axis values position (Program Zero or Part
for arcs, lines and other Zero). [Default]
moves are measured). Incremental-Each move is made
in reference to the last
programmed endpoint.
10-Feb-98 Page 15-63

Circle adjustments Determines whether circle Center-When the CNC

centers or endpoints will be encounters incorrect coordinates
adjusted. Adjustment is for either a circle center or
required when the CNC endpoint, the position of the
encounters incorrect circle circle center will be adjusted.
center or endpoint [Default]
coordinates. Endpoint-When the CNC
encounters incorrect coordinates
for either a circle center or
endpoint, the position of the
circle endpoint will be adjusted.
Circle centers Switches the default mode for Absolute-CNC interprets
programmed circle center programmed circle center
coordinates. coordinates as Absolute values.
Incremental- CNC interprets
coordinates as Incremental
values. [Default]
Maximum arc correction Maximum amount of 0.005000 [Default]
correction the CNC will apply
to an input arc value before
declaring an error.
Internal accuracy Maximum accuracy available 0.00000100 [Default]
(system resolution).
External accuracy Maximum system accuracy 0.00010000 [Default]
obtainable on a given
machine (machine resolution).
Metric display resolution Sets the decimal display 3,3,3,3,3,3-[Default for axes X, Y,
resolution to the number of Z, U, V and W, respectively]
to the third position to the
right of the decimal point -
.001.) This setting does not
affect the accuracy of the
machine or finished work.
Inch display resolution Sets the decimal display 4,4,4,4,4,4- [Default for axes X,
resolution to the number of Y, Z, U, V and W, respectively]
to the fourth position to the
right of the decimal point -
0.0001). This setting does
not affect the accuracy of the
machine or finished work.
Page 15-64 10-Feb-98

Compensation cutoff angle Minimizes wasted travel on 15 degrees [Default]

acute angle. (Refer to Figure
15-7, Compensation Cutoff
Angle.)
Keyboard beep Enables/disables keyboard On-Enables keyboard beep.
beep. [Default]
Off-Disables keyboard beep.
User macro file Specifies macro filename USERCANN.G [Default]
created by user.
Load user macro file Specifies whether to load user No-Do not automatically load
macro at system startup. user macro at startup. [Default]
Yes-Automatically load user
macro at startup.
Load system macro file Switches choices for when to Never-Canned cycle file is never
load the canned cycles. loaded. CNC cannot run
Changing parameter requires programmed canned cycles.
a restart. Always-Canned cycle file is
Swap-Portions of the canned
cycle file are loaded as required.
Load G-Code help Switches choices for when to Never-G-code help files are
load the editor help templates. never loaded. Edit Help
Changing parameter requires Templates are not available.
restart. Always-G-code help files are
Swap-G-code help files are
loaded as required.
Disk access marker Activates/deactivates the Disk On-Activates the Disk access
access marker. marker. When the CNC is
reading/writing information
from/to a disk or other medium,
the Disk access marker appears
in the upper left corner of the
screen. The Disk access marker
looks like a small arrow. [Default]
Off-Deactivates Disk access
marker.
10-Feb-98 Page 15-65

Compensation Cutoff Angle
Figure 15-7, Compensation Cutoff Angle
Page 15-66 10-Feb-98

Refer to Figure 15-7, Compensation Cutoff Angle. Assume all

programmed moves are made with Tool Diameter Compensation active.
The diagram describes two scenarios:
Diagram A shows the tool path that results when no Compensation
Cutoff angle is used. The tool path travels beyond the part diameter to a
point where compensated Moves 1 and 2 intersect, before the CNC
executes Move 2.
Diagram B shows the tool path that results when a Compensation Cutoff
angle is used. The CNC introduces an arc move, equal to the radius of
the cutter, between programmed Moves 1 and 2. This arc is not
programmed, but is a function of the active Compensation Cutoff Angle
and alters the tool path, decreasing the amount of travel necessary to
complete the programmed moves.
Communications
Refer to Map 16, Menu C for the available Communications Parameters.
The control is equipped to exchange data with other RS-232 compatible
devices. To accomplish RS-232 communication, the baud, parity, data
bits, stop bits and software parameters of the CNC and the device with
which it is communicating with must agree.
Enter default communication parameters in the device’s Setup Utility at
initial CNC setup. These parameters can also be changed from the
Communications screen in the control software. (Parameter changes
made in the Communications screen are not permanent.) Every time the
control is powered up, the CNC’s default settings are reloaded.
10-Feb-98 Page 15-67

Communications Setup Parameters

Refer to Map 16, Menu C. Table 15-28, Communications Parameters
contains a description of each parameter and its settings.
Table 15-28, Communications Parameters
Communications Function Settings

Parameter
Port Select communications port COM1, ANILAM 1, ANILAM 2, ANILAM 4,
(Anilam 5) or disable. Must [Default: ANILAM 5, full RS-232 port],
enable for remote ANILAM 6, ANILAM 8 or Disabled
communications.
NOTE: Do not select COM1
if a PLC is used.
Baud Select a baud. 110, 150, 300, 600, 1200, 2400, 4800,
[Default: 9600] or 19,200
Parity Select parity. Odd, [Default: Even] or None
Data Bits Enter number of data bits. 5, 6, [Default: 7] or 8
Stop Bits Enter number of stop bits. 0, [Default: 1] or 2
Software Refers to “Xon” or “Xoff” or [Default: On, to enable handshaking] or
“handshaking” (transmission/ Off to disable handshaking.
receipt of data via RS-232) in
communications packages.
NOTE: Both sending and receiving devices must have the same baud, parity, data bits, stop bits and
software parameter settings.
To set up the communications parameters:
1. Refer to Map 16, Menu C. Highlight the appropriate parameter.
Press ENTER.
2. When you select Port, Baud, Parity or Stop bits, a pop-up menu
activates. Select an option and press ENTER.
3. When you select Data bits or Software, press ENTER to cycle through
the available settings.
Page 15-68 10-Feb-98

Draw Mode Setup Parameters

Refer to Map 16, Menu G for the available Draw Mode Parameters. The
parameters affect both Real-Time and Simulated Draw Modes. Refer to
Table 15-29, Draw Mode Setup Parameters for a description of each
Table 15-29, Draw Mode Setup Parameters
Draw Mode Parameter Function Settings

Restore to previous Sets the CNC to re-activate Yes-CNC re-activates last session when
session the last active session when Draw activated. [Default]
you re-enters Draw. No-CNC ignores parameter.
Default program block Sets default mode in Draw. Auto [Default]
mode S.Step
Motion
Axis display Determines whether axis On-Shows axis displays. [Default]
displays appear in Draw Off-Does not show axis displays.
Mode.
Display program text Determines whether program Yes-Shows program text. [Default]
text appears in Draw Mode. No-Does not show program text.
Automatic re-run Switches the automatic re- Yes-Each time a softkey is pressed, the
run function on and off. program will be re-drawn. [Default]
No-CNC will not redraw the graphic until
you press Run (F3).
Grid Activates/deactivates grid as None-Deactivates grid. [Default]
a dotted or solid line. Solid-Activates solid line grid.
Dotted-Activates dotted line grid.
Grid Size Determines the size of the Enter a value. (Example: [Default: 1.0]
grid (in the active Inch or MM If the CNC is in Inch Mode, each square
Mode). in the grid will be one square inch in size
for this setting.)
NOTE: The CNC converts the set grid
value if the measurement unit is
changed. For example: if the Grid Size is
set for 1 in Inch Mode and you switch to
MM Mode, the CNC changes the Grid
Size to 25.4 mm (equal to 1 inch).
Tool display Turns the tool display on and On-The tool (as defined by the Tool
off. Location Code and Radius in the Tool
Page) will be displayed as it cuts the
workpiece. [Default]
Off-No tool is displayed.
10-Feb-98 Page 15-69

Default tool type Determines shape of None-No tool shown.

displayed tool. Flat-Flat-end tool shown. [Default]
Ball-Ball-end tool shown.
Tool length factor This factor multiplied by tool Enter a value. (Example: [Default: 3.00]
nose radius (as defined in At this setting, if the active tool nose radius
the Tool Page) determines is 0.5”, the displayed tool length will be
the length of the displayed 1.5”.)
tool.
Default Auto-Zoom This factor changes the size Enter a value. [Default: 0.85 (85 percent)]
Scaling Factor at which the CNC draws the [Range: 0.25 to 10.00]
programmed part in the Draw
Auto erase Switches the automatic erase On-Each time a program runs in Draw, the
function Off and On. CNC automatically erases the display
graphics and text before running the
program. [Default]
Off-Does not automatically erase graphic
display before running a program.
To clear the display you can also:
1. Press DISPLAY (F5).
2. Highlighting Erase. Press ENTER. The
CNC clears the display.
Cutter compensation in Activates/deactivates cutter Ignore-CNC will not show compensated
draw compensation in Draw moves (if any) used in the program.
Modes. Use-CNC shows compensated and non-
compensated programmed moves.
Both-CNC runs the program twice. First,
the program is run without compensated
moves. Second, the program is run
showing compensated moves. This
provides a comparison of the two paths to
determine programming errors related to
compensation. [Default]
Draw view Determines perspective of XY (top view)-displays program in X and Y.
Draw view. XZ-displays program in X and Z.
YZ-displays program in Y and Z.
ISO-displays program in X, Y and Z.
[Default]
Aspect ratio correction Corrects for distortion in [Default: 1.47]
factor displayed graphics. CAUTION: Only qualified technicians
(Flattened circles, etc.) should adjust this setting.
Page 15-70 10-Feb-98

Save draw image Saves draw image when Yes - Saves draw image.
user switches to Edit Mode. No - Does not save draw image. [Default]
In Draw Mode, when the Edit
(F2) softkey is pressed, the
CNC switches to Edit Mode.
The user can later re-enter
the Draw Window. If this
option is enabled (Yes), the
CNC saves the last draw
image and displays it when
you re-enter the Draw
Window.
Changing the Size of the Draw Program Part

The Default Auto-Zoom Scaling Factor changes the size at which the
CNC draws the programmed part, when a program runs in Draw Mode.
[Default: 0.85 (85 percent of the Draw Window)] [Range: 0.25 to 10.00]
Decrease the factor to reduce part size; increase the factor to enlarge
part size. The size of the (X, Y and Z) axis reference lines will not
change.
If you change the parameter to a value greater than 1.00, a portion or all
of the part will probably exceed the dimensions of the Draw Window and
not appear on-screen. Decrease the AUTO-ZOOM factor to correct.
To change the size of the Draw programmed part:
1. In Draw Mode, press Display (F5). A pop-up appears.
2. Highlight Fit and press ENTER.
3. The CNC calculates the Fit and runs the program. The size of the
displayed part depends on the AUTO-ZOOM factor entered.
10-Feb-98 Page 15-71

Edit Mode Setup Parameters

Refer to Map 16, Menu M for the available Edit Mode Parameters. Refer
to Table 15-30, Edit Mode Parameters for a description of each
Table 15-30, Edit Mode Parameters
Edit Mode Function Settings

Parameter
Restore to If enabled (Yes): When user exits a Yes - restores to previous session.
previous session program in Edit Mode, the CNC marks [Default]
the position where the last edit was No - does not restore to previous
made. The next time the program is session.
opened, the cursor will be located at
that spot.
Show top line Determines whether an optional “top Yes - Display top line.
line” will be displayed in the Edit No - Do not display top line. [Default]
Mode. The top line contains the
active mode information and first
block of the open program.
Default insert Switches on/off Insert Mode default. On - Automatically sets Insert Mode
mode Insert Mode inserts new text without as default.
overwriting existing text. Off - Does not automatically set Insert
Mode as default. [Default]
Cursor to start of When enabled, cursor will go to the Yes - Cursor will automatically go to
line on scroll start of the line on a scroll. Scroll the beginning of the line on scroll
moves advance the cursor up or down moves.
the active screen. Use the AAROW No - Cursor will not automatically go
keys or designated softkeys (UP or to the beginning of the line on scroll
DOWN) for scrolling. moves. [Default]
Extended screen Enables/disables small text program Yes - Smaller text will be displayed in
display (50 lines) display. Displays up to 50 lines of the Edit Mode.
programming blocks simultaneously. No - Normal text will be displayed in
the Edit Mode. [Default]
Auto tab to This option is available only with Yes - Enables auto tab to previous
previous line’s offline systems or systems with line’s position. [Default]
position attached keyboards. When a line is No - Disables auto tab to previous
indented, the CNC uses the indented line’s position.
position as the first tab position of the
following line. For example: The user
indents one line by four spaces and
then moves to the beginning of the
next line by pressing ENTER. When
you press TAB, the cursor now
advances four spaces.
Page 15-72 10-Feb-98

Update screen on When non-programmed macros are Yes - Updates screen (prints macro
macros used (Play, Record and Repeat results) line by line as macro is run.
options in the Control Software Edit [Default]
Mode), this parameter defines how No - Updates screen (prints macro
the CNC display will be updated. results) after macro is completed.
Default tab width This option is available only with [Default: 4]
offline systems or systems with
keyboards attached. Sets default tab
width. Range is 2 to 16 spaces.
When you press TAB, the cursor
advances by the specified number of
spaces.
Force Caps Lock Determines whether text entered in Yes-Text always appears in
on PC keyboard the Edit Mode always appears in uppercase letters. [Default]
uppercase letters. No-Text appears as typed, in
uppercase or lowercase letters.
Create backup A backup program is created when an Yes-Backup program is created and
program edit is made. Every time the program maintained.
is edited, the CNC updates the No-No backup programs are created.
backup file. The backup program will [Default]
not contain an edit until a new edit is
made.
Delete internal file When the program is saved, the CNC Yes-Deletes internal file when you
when program automatically deletes the existing save a file and replaces it with
saved internal file (*.S files) and replaces it updated file. [Default]
with the saved file. No-CNC does not delete internal file
when you save a program.
Case sensitive Determines whether the Find feature Yes-Find search parameter looks for
Find will search for uppercase and words that exactly match the entered
lowercase letters to determine a word regarding capitalization and
match. style.
No-Find search parameter looks for
the entered word, regardless of
capitalization and style. [Default]
Memory reserved Specifies the amount of memory that Enter a value. [Default: 180K]
from Editor (in K- the Editor does not use.
bytes)
10-Feb-98 Page 15-73

Program Directory Parameters

Refer to Map 17, Menu C for the available Program Parameters. These
parameters concern:
− The way program information is displayed in the Program Directory
− Whether backup files will be deleted during optimization
− Whether and how often the disk is checked via software
Refer to Table 15-31, Program Parameters and Selections for a
Table 15-31, Program Parameters and Selections
Program Directory Function Settings
Parameter
Program directory Type of programs stored. *.G (program file extension)
pattern NOTE: Do not change this parameter.
Program directory Specifies what program Short-Filename and extension only.
display mode information will be displayed [Default]
in the Program Directory. Long-Detailed program information,
including file size, etc.
Program directory sort Specifies the order in which Ignore-CNC ignores parameter.
order programs are listed in the Name-Alphanumeric order by filename.
Program Directory. [Default]
Extension-Alphanumeric order by
Extension.
Size-By file size.
Date-By date program was created.
Automatically check For machines equipped with Always
disk at startup hard drives, specifies Daily [Default]
whether and how often CNC
Weekly
will check the hard drive.
Monthly
Never
Delete backup files For machines equipped with Yes-Backup files deleted during
during optimize hard drives, specifies optimization process. [Default]
whether backup files will be No-Backup files maintained during
deleted during hard drive optimization process.
optimization.
Directory for user CNC will store user programs Enter user directory location: C:\USER
program in specified directory. [Default]
Display Settings
Refer to Map 17, Menu F for the available Display Parameters. The
listed parameters control how text and graphics are displayed on the
screen. There are separate settings for the Editor, CNC Control and Help
screens and the displayed softkeys.
Page 15-74 10-Feb-98

Printer Settings
Refer to Map 17, Menu G for the available Printer Parameters. Refer to
Table 15-32, Printer Parameters and Selections for a description of
each parameter and its settings.
Table 15-32, Printer Parameters and Selections
Printer Parameter Function Settings

Default output device Specifies where file will be 1. Enter PRN to send file to the printer.
printed. 2. Enter drive, path and filename with
extension to print to a file. If the
filename entered is not a current file,
the CNC creates the file and transfers
the data to the file. If the filename
entered is an existing file, the CNC
overwrites the data in the file with the
print file data.
[Default: PRN].
NOTE: The user directory for 1400M
systems is C:\USER.
Lines per page Number of lines to be printed Enter value [Default: 55]
per page (8.5 X 11”).
Page heading Prints a page heading Yes-Print heading. [Default]
including filename, date and No-Do not print heading.
time and page number.
Line numbers Prints line numbers on hard Yes-Choose Yes to print line numbers.
copy of file. No-Choose No if no line numbers are
desired. [Default]
Print quality Sets print quality. Generally, NLQ-Near Letter Quality, highest quality,
the lower the printer quality, lowest speed.
the faster the file prints. Utility-Middle quality, middle speed.
High Speed-Low quality, high speed.
Ignore-Uses printer defaults. [Default]
Characters per inch Sets the number of 10-characters per Inch (CPI). [Default]
characters to be printed per 12-CPI
inch. Choose Ignore to print
17-CPI
at the default value.
20-CPI
Ignore-uses printer defaults.
10-Feb-98 Page 15-75

DSP Setup
NOTE: For DSP hardware configuration information, refer to Section 7-
DSP Motion Control Board or Section 8-DSP Motion Control Board
with Flash.
Before you set any system parameters, balance the Motion Control Board
servo outputs, the Servo Amplifier outputs and set the Servo Amplifier
Gain per the instructions contained in Section 15 - Motion
Setup/Testing Utility.
Feed, Rapid and No Motion Gain Tables
NOTE: Setup for LM-628 Motion Control Board systems is described in

another section.
The DSP chip performs the intensive, real-time computational tasks
of an axis in Feed, Rapid and No Motion Modes can be set and
controlled.
an installation.
There are three Setup Utility menus that affect the axis gain:
Through these setup menus, a higher gain value can be set for Feed
Mode, when greater accuracy is needed, than for Rapid Mode, when
factors must be considered. The No Motion Gain values control the gain
Manipulating these values for optimal machine operation requires a
knowledge of how the PID (Positional, Integral and Derivative) filters of
the DSP chip work.
Map 8 and Map 9.
required to make the move and the effect of any required compensation
parameters.
Page 15-76 10-Feb-98

Value Definition
compensates for immediate changes in servo error
position. It is the principal element used to develop
the ‘stiffness’ needed to hold axis position at rest.
that ensures that the static position error is zero.
error. The Derivative value is calculated by
axis faster.
Motion Gain Table).
highlights.
10-Feb-98 Page 15-77

Feed and Rapid Acceleration/Deceleration

Refer to Map 8, Menu D. These parameters define Rapid and Feed
acceleration and deceleration ramp times (in milliseconds).
[Default: 140.00]
DSP Position Error Check Parameters

The control detects a loss of motion and declares an error via the PEC
algorithm. The variables of these calculations are configurable. If the
PEC algorithm detects a fault, the servos will shut off and one of the
Refer to Map 8, Menu G. The PEC predicts the motion status of the
machine and compares the prediction to the machine’s actual motion
state. If the prediction does not match the actual state, the control
examines the algorithm parameters to determine if a potential error
condition is developing. Refer to Table 15-33, DSP PEC Parameters.
Table 15-33, DSP PEC Parameters
Parameter System Usage

Max idle time (ms) Time in milliseconds to wait after a system
change of state. Use this setting to set a
machine motion stabilization period. [Default:
100 msec]
Max lag error Maximum allowed lag error at rest. [Default:
0.0100 msec]
Check Rapidrate Enables (Yes [Default]) or disables (No) rapid
rate test. This test checks the feedback
during rapid moves to see if the axes are
reaching the programmed rapid rate.
Check Feedrate Enables (Yes [Default]) or disables (No) feed
test. This test checks the feedback during
feed moves to determine whether the axes
are reaching the programmed feed rate.
Enable error checking Enables (Yes [Default]) or disables (No)
position error checking.
Page 15-78 10-Feb-98

Configure the Number of Handwheel Ports on DSP System (Option)

CTR 0 and CTR 1, located on the computer chassis. If only one
handwheel is used, make the connection at CTR 0.
1. Refer to Map 13, Menu C. Highlight Remote handwheels. Press
ENTER.
2. Enter the number of handwheels.
Handwheel/Readout Settings
Refer to Map 9, Menu L. Use this menu to set up the first installed
handwheel. Use Map 9, Menu K if a second handwheel is installed.
Refer to Table 15-34, DSP - Handwheel/DRO Settings for information
on the settings used to configure each Handwheel/DRO port for a
handwheel or DRO.
Table 15-34, DSP - Handwheel/DRO Settings
Port Type Select None, Handwheel or Readout

Resolution (used with handwheel only) Selects the axis resolution for the handwheel
attached to the port. Set the resolution to SK
Switch to select a resolution from the
softkeys. Set the resolution to MP Switch to
select a resolution from the jog selector on the
manual panel.
Axes (used with handwheel only) Selects the axes controlled by the handwheel
on this port. Set the axis to SK Switch to an
axis from the softkeys. Set the axis to MP
Switch to select an axis from the rotary switch
on the manual panel.
Phase Switch this setting to invert one channel of the
encoder output. An inversion of one channel
changes the relationship of the A and B
phases by 180° (positive direction becomes
negative direction).
Resolution Factor (used with handwheel The resolution factor adjusts handwheel
only) resolution per unit click, increasing or reducing
the speed of the handwheel.
10-Feb-98 Page 15-79

DSP Integrity Check

Refer to Map 8, Menu D. This parameter enables (Yes) or disables (No)
an integrity check of the DSP Motion Control Board. The integrity check
is performed when the control is first turned on. [Default: Yes]
Servo Loop Sample Time

Refer to Map 9, Menu J. Sets the rate at which the servo loop operates.
[Default: 0.0400]
Enable Velocity Look Ahead

Refer to Map 9, Menu J. Switch the setting to enable [Default: Yes] or
disable (No) Velocity Look Ahead.
Fine-Tuning DSP Systems with Scales

On DSP systems equipped with glass scales, make the following Setup
Utility changes to minimize the effects of lost motion.
NOTE: This procedure requires you to move between the Setup Utility
and the CNC’s Manual screen. Whenever a change is made to the Setup
Utility, you should make sure to save the changes when prompted (press
Save (F1)).
Lost motion The distance the ballscrew and/or motor moves
before the table begins to move. Lost motion is the
result of the mechanical characteristics of the motor
and ballscrew.
Since a scale measures table motion, movement corrections required by
mechanical characteristics or servo drift can only be made after the CNC
detects table movement.
The procedure compensates for the observed lost motion by fine-tuning
the DSP setup parameters.
Make changes in the DSP Setup Utility only after an axis is aligned and
stable. Refer to Section 15 - Motion Setup/Testing Utility. Before you
change the DSP Setup, balance the servo cards, set the signal gain,
adjust the PID filter gains and make sure the following error (lag) is the
same on all axes.
1. In the CNC’s Setup Utility, ensure that the CNC is set to “linear scale”,
with the proper scale resolution and display resolution settings.
2. Use the AXIS selector switch to select the required axis for a manual
move.
3. Use the JOG selector switch to set the CNC to Jog Mode 1. This sets
the axis to move in increments of 1 times the machine resolution each
time you press a JOG key.
4. Use the PLUS or MINUS JOG key to move the axis in a positive or
negative direction.
5. Use the PLUS or MINUS JOG key to move the axis in the opposite
direction.
Page 15-80 10-Feb-98

6. Look at the ballscrew (or handwheel) of the axis. When lost motion
occurs, the ballscrew moves a much greater distance than the system
resolution (Example: 0.0005” on a 10 micron scale). That distance is
the lost motion on that axis.
NOTE: It is acceptable for the system to move a couple of times the lost
motion amount to adjust itself, as long as the lost motion does not affect
table movement or become a continuous oscillation (hunting).
7. If your system is oscillating (hunting) within that distance, make the
following adjustments within the DSP Setup screen:
A. Check the Servo Loop Sample Time. With a 10 micron
resolution glass scale, set the servo sampling time to 0.800 msec.
With 1, 2 or 5 micron resolution scales, the value should remain at
the default value, 0.400 msec. (Use increments of 0.050 msec
when making minor adjustments to this value.)
B. Eliminate the hunting created by the lost motion. While the axis is
not moving, adjust the No-Motion Gain Tables to limit the reaction
time of the servo’s digital filter, as follows:
− Eliminate any integral gain by setting the Ki and Il to 0.
Integral gain accumulates over time, increasing the correction
output and instigating oscillation due to lost motion.
− Set the Kp value to 1.50. If oscillation continues, reduce Kp in
steps of 0.10, until oscillation stops.
NOTE: Lowering the Kp gain delays the correction time not only to
lost motion but also to drift offsets on the system.
8. Repeat the procedure on all enabled axes.
9. From the CNC’s Manual screen, use the JOG keys in Feed Mode to
test the responsiveness of the axis. If an axis coasts when the JOG
key is released, reduce the Feed Accel/Decel setting in the DSP
Setup screen. Use increments of 10 msec when adjusting this
parameter.
NOTE: Always make minor adjustments to Setup Utility parameters
and check until the problem being corrected is fixed. If you make
large changes to parameters, you may fix the problem at hand, but
cause others.
10-Feb-98 Page 15-81

Motion Setup/Testing Utility (MST)

This section describes the Motion Setup/Testing (MST) Utility used to
carry out motion-specific setup and testing. The MST Utility generates
the signals required to balance the outputs. A basic knowledge of
machine operation and programming is required. Refer to the appropriate
programming manual for details on programming and operation.
This section describes procedures for balancing the Motion Control Board
outputs, balancing the Servo Amplifier outputs and adjusting the signal
gain on systems that use the DSP Motion Control Board.
This involves:
− Servo Board Balancing
− Servo Board Signal Gain Setting (motor step response is displayed in
open loop)
The following troubleshooting capabilities are provided:
− Detection of Index Pulse
− Detection of counts between index pulses (actual resolution)
− Tuning for optimal Kp value
The following General Status information is displayed:
− Display Of CNC Active G-codes
− Display of machine position, feedrates, RPM, dwell and override.
Accessing the MST Utility

Refer to Figure 15-8, MST Software Selection Screen. The Motion
Setup/Testing Utility (MST) is accessed from the main software selection
screen, which activates automatically once the CNC has successfully
started.
Figure 15-8, MST Software Selection Screen

To activate the MST Utility:
1. Power up the CNC. The Startup Screen activates automatically.
2. From the Startup Screen, highlight Motion Setup/Testing. Press
ENTER. The MST screen activates.
Page 15-82 10-Feb-98

Activating the MST Screen
Figure 15-9, Motion Setup/Testing Screen

Refer to Figure 15-9, Motion Setup/Testing Screen. This screen
accesses all MST functions. The axis positions displayed correspond to
current machine position. The graphics area is used to display step
response for Signal Gain and Tuning functions.
Table 15-35, MST Screen Areas and Explanations
MST Screen Area Explanation

General Status Shows Active Modes, Machine Position for each axis,
RPM, Dwell, Spindle Speed and Feedrate, Active Axis and
other information regarding the status of the machine.
Graph Area Displays step response for Signal Gain and Tuning
functions.
Prompt Area Displays messages regarding information that must be
supplied.
Active G and M Codes Displays currently active G and M Codes.
Message Area Displays error messages.
Softkeys To activate these keys, press the corresponding function
keys (F1-F10), located below the CRT on the console.
Shift Softkeys The Home (SHIFT + F4) softkey is activated by pressing
the SHIFT key, then pressing F4.
10-Feb-98 Page 15-83

MST Softkeys
NOTE: Select an active axis before selecting an MST command (F1-F9).

The Motion Setup/Testing Utility commands are activated via softkeys
located under the CRT on the console. To activate a function, press the
corresponding softkey (F1-F10).
Refer to Table 15-36, MST Softkey Functions for softkey names and
functions.
Table 15-36, MST Softkey Functions
Softkey Name Function

F2 ResChk Calculates the resolution of the
active axis. Troubleshooting
tool.
F3 IndexP Detects Index Pulse and
displays an indicator beside the
Active Axis line of the MST
screen. Troubleshooting tool.
F4 MANUAL Cancels active MDI or test
command.
F5 MDI Displays a command.
F6 Balance Sends out the signal needed to
Balance the outputs of the
system (0.0 VDC). Used to
balance the Motion Control
Board and the Servo Amplifiers.
F7 SigGain Sets the servo board signal gain
for the active axis.
Activates Tuning test which
F8 Tuning
generates an optimum Kp value
within the constraints specified
by the user.
F9 Save Press after you complete the
Tuning test (F8) to save the final
Kp value generated by the test.
F10 Exit Returns the CNC to the software
selection screen.
SHIFT + F4 Home Performs a Machine Home
sequence.
Clearing a Prompt Field or Message

Press SPACE to clear an erroneous entry or message from the screen.
Page 15-84 10-Feb-98

Selecting an Axis
NOTE: Select an active axis before selecting an MST command (F1-F9).

If no axis is selected, the CNC displays an error message prompting you
to do so.
Use the X, Y and Z axis keys on the console keypad to select and
activate the corresponding axes. The active axis is displayed in the upper
left corner of the General Status area of the MST Screen.
Entering a Password
When you enter the MST Utility and presses an MST softkey command
(F1-F9), the CNC prompts for the password. Enter the appropriate
password and press ENTER. The softkey will then activate. Once the
password has been successfully entered once, the CNC will not prompt
for the password again, unless you exit and re-enter the MST Utility.
Checking Axis Resolution (F2)

Press ResChk (F2) to calculate the actual resolution for the active axis.
The actual resolution and the resolution in the Setup are both displayed
for comparison. Once this test is activated, move the axis for at least two
encoder revolutions, via MDI or Jog Mode, or manually. The calculation
is performed only once.
Detecting the Index Pulse (F3)

Press IndexP (F3) to display a flashing “I” whenever the CNC detects an
Index Pulse. The flashing “I” replaces the axis name (X,Y, or Z) of the
active axis. In Figure 15-10, Index Pulse Indicator , the Index Pulse
indicator (flashing “I”) for the spindle axis is displayed in the RPM field
and the Index Pulse Indicator takes the place of the X axis.
Figure 15-10, Index Pulse Indicator

Every time the CNC detects an Index Pulse, the Index Pulse Indicator
activates in the form of a flashing “I”, until the test is disabled. Make
moves in MDI, Jog Mode or by manually moving the handwheels.
NOTE: If you use continuous jog mode during the Index Pulse test, the
test is canceled when the continuous jog key is released.
10-Feb-98 Page 15-85

Activating Manual Data Input Mode

Press MDI (F5) to activate the MDI Prompt Box. (Refer to Figure 15-11,
MDI Prompt Box.) Enter MDI commands in the prompt box.
Figure 15-11, MDI Prompt Box
Canceling the Active MDI or Test Command

Press MANUAL (F4) to cancel the currently active MDI or test command.
Alignment of Motion Control Axes

To balance the outputs properly, all connections between the Motion
Control Board and the servo amplifiers should be complete.
Perform all of the adjustments on one axis at a time. Make the
adjustments in the following order:
1. Select an Axis
2. Balance the Motion Control Board outputs
3. Balance the Servo Amplifier outputs
4. Set Servo Amplifier gain
Balancing the Motion Control Board (F6)
NOTE: For systems Equipped with ANILAM Servo Amplifier Board P/N
31500966: Make all measurements for this procedure at the J2 test point,
(refer to Figure 15-12, ANILAM Servo Amplifier, P/N 31500966).
Measure command voltages across Pins #1 and #2 of the J2 test
connector.
NOTE: For systems not equipped with the ANILAM Servo Board:
Measure command voltages at the P3 connector of the PCB 845 Motion
Junction Board (refer to Figure 15-14, PCB 845 Motion Junction Board
P3 Connector).
New Motion Control Boards are adjusted at the factory and should be
within limits. However, you can use the following procedure to make
adjustments.
Page 15-86 10-Feb-98

NOTE: To avoid mechanical problem caused by axis drift, initially

balance the MCB with the servos off. Next, verify the MCB balance
with the servos on and correct for voltage offset, as required.
2. Press START.
3. Make adjustments for axis outputs 0-3 on the Motion Control Board at
potentiometers R20-R23, respectively.
4. Adjust the potentiometer for the selected axis until the voltage across
the pins is 0 VDC (±0.001 V).
Balancing Servo Amplifier Outputs (F6)

When the command signal voltage from the motion control board is 0, the
axis should be stationary and the Tachometer should read 0 VDC
(±.001 V). Monitor the Tach voltage across Pins #1 and #3 of the J2 test
connector.
To balance the servo amplifier output.
2. Press START.
3. On the ANILAM Servo Amplifier for the axis being adjusted, adjust the
RV5 potentiometer until the Tach voltage is 0 VDC (±0.001 V). This
indicates that the active axis is stationary. Refer to the manufacturer’s
instructions if another type of servo amp is used.
4. Press Manual (F4) to cancel the Balance command.
Setting the Signal Gain (F7)

This procedure describes the gain adjustment of an ANILAM Servo
Amplifier, refer to Figure 15-12, ANILAM Servo Amplifier, P/N
31500966. Refer to the manufacturer’s instructions if another type servo
amp is used.
NOTE: 0.9 V is used during this procedure.
The gain is adjusted at 10% of the machine’s maximum Rapid speed,
using the fastest axis.
10-Feb-98 Page 15-87

To set Signal Gain:

1. Press SigGain (F7).
2. Look at the Prompt Area of the MST screen. Enter a timed delay at
the T(sec) entry field (2 seconds is usually adequate). T is the
amount of time the axis will travel in one direction before it reverses
for the same amount of travel in the opposite direction. The actual
distance depends on the feedrate that corresponds to 0.9 V.
NOTE: Use the SPACE key to erase the entry and enter another number.
3. Press START. The CNC generates an open loop step response,
including rise time, in the Graph Area of the screen.
4. Adjust the signal gain at the RV1 pot until the displayed feedrate is at
10% of the machine’s maximum Rapid speed, using the fastest axis.
The machine builder defines the maximum rapid speed in the Setup
Utility.
J2
Test Connector
Pin #1 Common
Pin #2 Signal Input
Pin #3 Tachometer Input
J2
RV1 Signal Gain

RV2
RV3
RV4
RV5 Balance
Fault LED
GTJ3
Figure 15-12, ANILAM Servo Amplifier, P/N 31500966

If the system is equipped with an ANILAM Servo Amplifier Board, P/N
31500966, all voltage measurements can be made at the J2 test point.
Measure command voltage across Pins #1 and #2. Measure the
tachometer output across Pins #1 and #3.
Page 15-88 10-Feb-98

Output
Balance
Pots
R20
R21
R22
R23
DSPPOTS
Figure 15-13, ANILAM DSP Motion Control Board Balance Pots

On the ANILAM DSP Motion Control Board, adjustments for axis outputs
0 to 3 are made at potentiometers R20-R23 respectively.
PCB845
Figure 15-14, PCB 845 Motion Junction Board P3 Connector

The PCB 845 Motion Junction Board is commonly used in control
systems. P3 connector pin pairs D0 to D3 correspond to axis outputs 0 to
3, respectively. To measure the command signal, connect the volt meter
leads across the connector pin pair for the required axis.
10-Feb-98 Page 15-89

Tuning (F8)
Figure 15-15, Tuning Graphic Display

Refer to Figure 15-15, Tuning Graphic Display. The Tuning function
can determine an optimal Kp value within the specified constraints. The
default Kp value is usually adequate for most machines. Fine-tune by
entering the Kp values manually or using this test.
Gain values obtained by using the test are only suggested values. It is
possible to have numerous settings that produce similar results. Other
values that produce satisfactory machine motion need not be changed to
the test values.
The CNC cycles through the test three times. Each cycle ends when one
of the following conditions are met:
− The entered OvSht% value is exceeded during a cycle.
− The KpMax value is reached during a cycle.
During the test, the CNC moves the selected axis one inch in a positive
direction and rapids back to the starting position. The movement is
performed once at each Kp value, beginning with the KpMin. The CNC
displays the step response graph. Upon completion of the test the CNC
displays a “final Kp value”, recommended by the test.
NOTE: The test must complete all three cycles to achieve a valid result.
Feed speed should correspond to the Rapid speed if determining Kp for
rapid moves. Feed speed is the most commonly used feed speed for
feed moves.
KpMax should be greater than KpMin. If you mistakenly enter a KpMin
that exceeds the KpMax, the CNC displays an Error message.
Page 15-90 10-Feb-98

The CNC starts the test at the KpMin value entered. It samples each Kp
value between KpMin and KpMax, in increments of one. It displays a
step response for each Kp Value. (For a KpMin of 10 and KpMax of 30,
the CNC displays a step response for a Kp of 10, 11, 12…30). If the
KpMax value is reached, the CNC ends the cycle.
OvSht% is the amount of overshoot the CNC will search for before
ending the cycle. 1 to 3 percent is a normal overshoot range for this test.
If the CNC detects an overshoot percentage exceeding the entered
OvSht%, it ends the cycle.
To run the test:
1. Energize the servos.
2. Press Tuning (F8).
3. Enter the Tuning parameters.
4. Press START. The CNC begins the test.
5. Press MANUAL (F4) to cancel.
Saving a Kp Value as a Default (F9)
Figure 15-16, Saving the Final Kp Value
After completing the Tuning (F8) test, press Save (F9) to save the final
Kp value generated by the test. Refer to Figure 15-16, Saving the Final
Kp Value.
To save the test Kp value:
1. At the completion of the Tuning test, press Save (F9). The Save Kp
menu activates and the CNC prompts you to save the final Kp value
as a Rapid or Feed Kp value.
2. Use the ARROWS to highlight the [Feed] or [Rapid] option. Press
ENTER.
3. The CNC stores the test (New) Kp value in the configuration file for
Feed/Rapid moves.
10-Feb-98 Page 15-91

Exiting the MST Screen (F10)

Press Exit (F10) to exit the MST Screen and return to the main software
selection screen.
Homing the Machine (SHIFT + F4)

Press Home (SHIFT + F4) to perform a Machine Home sequence. The
CNC homes all axes setup. The servos must be on in order for this
command to work. Press Manual (F4) to cancel the Home command.
Page 15-92 10-Feb-98

P/N 70000322 - 1400M Setup Utility Maps
Section 16 - 1400M Setup Utility Maps

This section contains maps referenced in Section 15-1400M Setup
Utility.
10-Feb-98 Page 16-1

Page 16-2
2. Setup Utility 1. Machine/ Installation 1. Machine Axis 1. Resolution
2. Linear correction compensation
Startup Screen Menu A Menu B 3. Skew error compensation
Select Software Package Select Setup Option Select Setup Menu 4. In position
Menu C
In Position - Setup
1. X In position ... 0.0004

2. Y In position ... 0.0004
3. Z In position ... 0.0004
4. U In position ... 0.0004
Linear Correction Compensation - Setup

5. V In position ... 0.0004

6. W In position ... 0.0004
1. X Linear correction compensation ... 1.000000
Menu G 2. Y Linear correction compensation ... 1.000000
In Position Setup Menu 3. Z Linear correction compensation ... 1.000000
4. U Linear correction compensation ... 1.000000
5. V Linear correction compensation ... 1.000000
6. W Linear correction compensation .. 1.000000
7. Linear correction compensation ....... Off
Map 1
Menu E
Skew Error Compensation - Setup Linear Correction Compensation Setup Menu
1. X Skew error compensation ... 0.0000

2. Y Skew error compensation ... 0.0000
3. Z Skew error compensation ... 0.0000
4. U Skew error compensation ... 0.0000 Axis Resolution - Setup
5. V Skew error compensation ... 0.0000
6. W Skew error compensation .. 0.0000 X Y Z U V W
7. Skew error compensation ...... Off 1. Type Encdr Encdr Encdr Encdr Encdr Encdr
2. Disp. Res. .002 .002 .002 .002 .002 .002
Menu F 3. Resolution .002 .002 .002 .002 .002 .002
Skew Error Compensation Setup Menu 4. Enc. Lines 635 635 635 635 635 635
5. Pitch 0.20 0.20 0.20 0.20 0.20 0.20
6. Ratio 1.00 1.00 1.00 1.00 1.00 1.00
Menu D
Axis Resolution Setup Menu
14MAP1
10-Feb-98
Software Options Setup Options Machine/Installation Continuous Path - Setup
10-Feb-98
2. Setup Utility 1. Machine/ Installation 1. Machine Axis 1. X Continuous path ... 0.0700
2. Y Continuous path ... 0.0700 Menu F
Startup Screen Menu A Menu B 3. Z Continuous path ... 0.0700 Continuous Path
Select Software Package Select Setup Option Select Setup Menu 4. U Continuous path ... 0.0700 Setup Menu
5. V Continuous path ... 0.0700
6. W Continuous path .. 0.0700
7. Continuous path ...... On
Default Rapid - Setup
1. Default rapid rate X axis ... 200.

Menu E
200.
2. Default rapid rate Y axis ...

Default Rapid
3. Default rapid rate Z axis ... 200.
Setup Menu
4. Default rapid rate U axis ... 200.
5. Default rapid rate V axis ... 200.
6. Default rapid rate W axis... 200.
Machine Axis - Setup
5. Continuous path
6. Default rapid Default Feed - Setup
7. Default feed Software Limits - Setup
Map 2
8. Software limits 1. Default feed rate X axis ... 10.0
9. Backlash compensation 1. Positive software limits .... 2. Default feed rate Y axis ... 10.0
2. Negative software limits ... 3. Default feed rate Z axis ... 10.0
Menu C 3. Software limits................... Off 4. Default feed rate U axis ... 10.0
Machine Axis Setup Menu 5. Default feed rate V axis ... 10.0
Menu J 6. Default feed rate W axis .. 10.0
Software Limits Setup Menu
Menu D
Default Feed Setup Menu
Backlash Compensation - Setup
Negative Software Limit - Setup Positive Software Limit - Setup
1. X Backlash compensation ... 0.0000
2. Y Backlash compensation ... 0.0000 1. X- Software limit .... 0.0000 1. X+ Software limit ... 0.0000
3. Z Backlash compensation ... 0.0000 2. Y- Software limit .... 0.0000 2. Y+ Software limit ... 0.0000
4. U Backlash compensation ... 0.0000 3. Z- Software limit .... 0.0000 3. Z+ Software limit ... 0.0000
5. V Backlash compensation ... 0.0000 4. U- Software limit .... 0.0000 4. U+ Software limit ... 0.0000
6. W Backlash compensation .. 0.0000 5. V- Software limit .... 0.0000 5. V+ Software limit ... 0.0000
7. Backlash compensation ...... Off 6. W- Software limit ... 0.0000 6. W+ Software limit .. 0.0000
Menu G Menu H Menu I

Backlash Compensation Setup Menu Negative Software Limit Setup Menu Positive Software Limit Setup Menu
14MAP2
Page 16-3
Page 16-4
Startup Screen Menu A Menu B

Select Software Package Select Setup Option Select Setup Tool
Encoder Phase A - Setup

2. Phase for Y axis .... Not Invert
3. Phase for Z axis .... Not Invert
4. Phase for U axis ... Not Invert
5. Phase for V axis ... Not Invert
6. Phase for W axis .... Not Invert

Menu F
Machine Axis - Setup Encoder Phase A Setup Menu
10. Encoder Phase A

11. Encoder Phase B Encoder Phase B - Setup
12. Vector Limits
13. Ballscrew compensation 1. Phase for X axis .... Not Invert
Map 3
14. Straightness compensation 2. Phase for Y axis .... Not Invert
15. Feed gain table Vector Limits - Setup 3. Phase for Z axis .... Not Invert
16. Rapid gain table 4. Phase for U axis .... Not Invert
1. X vector limits .... Enable 5. Phase for V axis .... Not Invert
17. No motion gain table
2. Y vector limits .... Enable 6. Phase for W axis .. Not Invert
18. Jog Position
3. Z vector limits .... Enable
19. Axis Clamping Menu E
20. Axis Ports 4. U vector limits .... Disable
Encoder Phase B Setup Menu
21. Position Error Check 5. V vector limits .... Disable
6. W vector limits ... Disable
Menu C Menu D
Machine Axis Setup Menu Vector Limits Setup Menu
Feed Gain Table - Setup
No Motion Gain Gain Table - Setup
Rapid Gain Table - Setup X Y Z U V W
X Y Z U V W 1. Kp 25 25 25 25 25 25
1. Kp 10 10 10 10 10 10 X Y Z U V W 2. Ki
1. Kp 0 0 0 0 0 0
2. Ki 10 10 10 10 10 10 10 10 10 10 10 10 3. Kd
2. Ki 0 0 0 0 0 0
3. Kd 0 0 0 0 0 0 0 0 0 0 0 0 4. Il
3. Kd 0 0 0 0 0 0
4. Il 1 1 1 1 1 1 10 10 10 10 10 10
4. Il 0 0 0 0 0 0 Menu I
Menu G Feed Gain Table Setup Menu
No Motion Gain Setup Menu Menu H
Rapid Gain Setup Menu 14Map3
10-Feb-98
10-Feb-98
2. Setup Utility 1. Machine/Installation 1. Machine Axis 13. Ballscrew compensation

Select Software Package Select Setup Option Select Setup Menul Machine Axis Setup Menu
Ballscrew Compensation - Setup Number of Segments - Setup

1. Standard............... 1. Number of segments for X ... 1
2. Variable Segment.. 2. Number of segments for Y ... 1
3. Active.................... None 3. Number of segments for Z ... 1
Menu D 4. Number of segments for U ... 1

Ballscrew Compensation Setup Menu 5. Number of segments for V .... 1
6. Number of segments for W ... 1
Standard Parameters - Setup Menu F

Number of Segments Setup Menu Table Entries - Setup
1. Number of segments
2. Table entries X Y Z U V W
3. Offset 1. 0.00000 0.00000 0.00000 0.00000 0.0000 0.0000
Map 4
4. Zero cross
5. Segment length Menu G
Table Entries Setup Menu
Menu E
Standard Parameters Setup Menu Offset - Setup
Zero Cross - Setup 1. Ballscrew offset for X ... 0.00000

Segment Length - Setup 2. Ballscrew offset for Y ... 0.00000
1. Zero cross for X ... 3. Ballscrew offset for Z ... 0.00000
0.00000 0.00000
1. Length of segments for X ... -1.00000 2. Zero cross for Y ... 4. Ballscrew offset for U ...
0.00000 0.00000
2. Length of segments for Y ... -1.00000 3. Zero cross for Z ... 5. Ballscrew offset for V ....
0.00000 0.00000
3. Length of segments for Z ... -1.00000 4. Zero cross for U ... 6. Ballscrew offset for W ...
0.00000
4. Length of segments for U ... -1.00000 5. Zero cross for V .... 0.00000 Menu H
5. Length of segments for V ... -1.00000 6. Zero cross for W ... 0.00000 Offset Setup Menu
6. Length of segments for W .. -1.00000
Menu I
Menu J
Zero Cross Setup Menu
Segment Length Setup Menu
14MAP4
Page 16-5
Page 16-6
2. Setup Utility 1. Machine/Installation 1. Machine Axis 13. Leadscrew compensation

1. Standard.................
2. Variable Segment...
3. Active..................... None
Segment Lengths
Menu D
Ballscrew Compensation Setup Menu 1. X parameters
2. Y parameters
Map 5
3. Z parameters X Variable Segment Lengths - Setup
4. U parameters
5. V parameters 1. Number of segments... 1
6. W parameters 2. Offset.......................... 0.00000 1. 0.00000
None 3. Zero cross................... 0.00000
Menu E
Standard 4. Segment length...........
Segment Lengths Setup Menu
Variable Segment 5. Table entries...............
Menu J Menu F 1. 0.00000

Active Setup Menu (X) Variable Segment Length Setup Menu
14MAP5
10-Feb-98
10-Feb-98
2. Setup Utility 1. Machine/Installation 1. Machine Axis 14. Straightness compensation

Straightness Compensation - Setup
1. X Straightness compensation... X Straightness Compensation

2. Y Straightness compensation...
3. Straightness compensation...... Off 1. Number of segments... 1
2. Offset.......................... 0.00000
Map 6
Menu D 3. Zero cross................... 0.00000
Straightness Compensation Setup Menu Straightness
4. Segment length........... -1.00000
5. Table entries............... Y Z
1. 0.00000 0.00000
Menu E
X Straightness Compensation Setup Menu Menu F
Y Straightness Compensation Options Straightness
Setup Menu
1. Number of segments... 1
2. Offset.......................... 0.00000
3. Zero cross................... 0.00000 Straightness
4. Segment length........... -1.00000
5. Table entries............... X Z
1. 0.00000 0.00000
Menu G
Y Straightness Compensation Setup Menu Menu I
Options Straightness
Setup Menu
14MAP6
Page 16-7
Output Port - Setup
Page 16-8
Bit Used On/Off
Startup Screen Menu A Menu B 0... Off
Select Software Package Select Setup Option Select Setup Tool Axis Clamping - Setup 1... Off
2... Off
1. Clamping allowed .. No 3... Off
2. Wait for finish......... No 4... Off
3. Allowable error....... 0.0000 5... Off
Jog Position - Setup 4. Axis Ports.............. 6... Off
7... Off
1. X Jog position .... 0.0000 Menu J 8... Off
2. Y Jog position ... 0.0000 Axis Clamping Setup Menu 9... Off
3. Z Jog position .... 0.0000 10. Off
4. U Jog position ... 0.0000

Menu L
5. V Jog position .... 0.0000 Axis Clamping Ports Output Ports Setup
6. W Jog position ... 0.0000
Machine Axis - Setup Menu
Menu D 1. X Axis Port... 0000
18. Jog Position Jog Position Setup Menu 2. Y Axis Port... 0000
19. Axis Clamping 3. Z Axis Port.. 0000
20. Axis Ports 4. U Axis Port... 0000
21. Position Error Check 5. V Axis Port... 0000
Map 7
22. Rapid Ramping 6. W Axis Port... 0000
23. DSP MCB Setup
Menu K
Menu C Axis Clamping Ports
Machine Axis Setup Menu Setup Menu Axis Ports - Setup
Rapid Ramping - Setup
1. Port 0... X
2. Port 1... Y
1. Rapid Ramp Buffer.... 7
3. Port 2... Z
2. Enable Usage............ No
4. Port 3... U Disabled
Menu G 5. Port 4... V X
Position Error Check (PEC) - Setup 6. Port 5... W
Rapid Ramping Y
Setup Menu Menu E Z
1. Check idle time (ms)........................ 100
Axis Ports Setup Menu U
2. Maximum lag error........................... 0.0047
V
3. Minimum lag for speed break........... 0.0004
Off W
4. Check idle time during homing (ms). 100
PEC Only Menu F
5. Error checking................................. PEC & Rapid Warning
PEC & Rapid Warning Options Setup
Menu H Menu I Menu
Position Error Check Setup Menu OptionsSetup Menu
14Map7
10-Feb-98
10-Feb-98
Select Software Package Select Software Setup Option Select Setup Tool Menu Machine Axis Setup Menu
DSP - Feed Filter Parameters

DSP - MCB Setup W
X Y Z U V
1. Kp 15.000 15.000 15.000 15.000 15.000 15.000
1. Feed Filter Parameters.............. 0.000
2. Ki 0.000 0.000 0.000 0.000 0.000
2. Rapid Filter Parameters............. 10.000
3. Kd 10.000 10.000 10.000 10.000 10.000
3. No Motion Filter Parameters.....
4. Kf 0.000 0.000 0.000 0.000 0.000 0.000

4. Feed Accel/Decel (ms).............. 140.00 0.000

5. Il 0.000 0.000 0.000 0.000 0.000
5. Rapid Accel/Decel (ms).............. 140.00 5.
6. Ds 5. 5. 5. 5. 5.
6. Position Error Check...................
7. Handwheel DRO #1.................... Menu E
8. Handwheel DRO #2.................... DSP - Feed Filter Parameter Setup Menu
9. Check DSP Integrity.................... Yes
10. Servo Loop Sample Time (ms)... 0.4000
12. Enable Velocity Look Ahead....... Yes
Map 8
Menu D
DSP - Setup Selection Menu DSP - Rapid Filter Parameters
X Y Z U V W
1. Kp 10.000 10.000 10.000 10.000 10.000 10.000
2. Ki 0.000 0.000 0.000 0.000 0.000 0.000
3. Kd 10.000 10.000 10.000 10.000 10.000 10.000
4. Kf 0.000 0.000 0.000 0.000 0.000 0.000
5. Il 0.000 0.000 0.000 0.000 0.000 0.000
6. Ds 2. 2. 2. 2. 2. 2.
DSP - Position Error Check
Menu F
1. Max idle time (ms) ................ 100.00 DSP - Rapid Filter
DSP - No Motion Filter Parameters
2. Max lag error ........................ 0.0100 Parameters Setup Menu
3. Check Rapidrate ................... Yes X Y Z U V W
1. Kp 10.00 10.000 10.000 10.000 10.000 10.000
4. Check Feedrate .................... Yes 2. Ki 5.000 5.000 15.000 5.000 5.000 5.000
5. Enable error checking .......... Yes 3. Kd 10.000 10.000 10.000 10.000 10.000 10.000
Menu H 4. Kf 0.000 0.000 0.000 0.000 0.000 0.000
DSP - Position Error Check Setup Menu 5. Il 10.000 10.000 10.000 10.000 10.000 10.000
6. Ds 5. 5. 5. 5. 5. 5.
Menu G
Page 16-9
DSP - No Motion Filter Parameters Setup Menu
14MAP8
Page 16-10
6. Miscellaneous
Startup Screen Menu A Menu C
Select Software Package Select Setup Option Menu B Select DSP Motion
Select Setup Tool Miscellaneous - Setup Control Board Setup
2
17. Remote Handwheels .........
Menu P
Select # of Handwheels
DSP MCB - Setup
1. Feed Filter Parameters .........

2. Rapid Filter Parameters ........

3. No Motion Filter Parameters..

4. Feed Accel/Decel (ms) ......... 140.00
5. Rapid Accel/Decel (ms) ........ 140.00
6. Position Error Check .............
7. Handwheel/DRO #1 .............. DSP Handwheel/DRO #1
8. Handwheel/DRO #2 .............. None
9. Check DSP integrity ............. 1. Port Type .............................. None Handwheel
Yes
10. Servo Loop Sample Time ..... 2. Resolution (HW Only) ............ MP Switch Readout
0.400
Map 9
11. Enable Velocity Look Ahead .. Yes 3. Axis (HW Only) ..................... MP Switch Menu V
4. Phase ................................... Not Invert Set Port Type
Menu J 5. Resolution Factor (HW Only) ... 1.00 MP Switch
DSP Setup Selection Menu Fixed 1
Menu L
Select Handwheel Setup Fixed 10
None Configure CTR #0 Handwheel/DRO
Fixed 100
Handwheel
Menu R
Readout
Set Resolution
DSP Handwheel/DRO #2 Menu U
Set Port Type MP Switch MP Switch
1. Port Type ............................... None Fixed 1 Fixed X
2. Resolution (HW Only) ........... MP Switch Fixed 10 Fixed Y
3. Axis (HW Only) ..................... SK Switch Fixed 100 Fixed Z
4. Phase ..................................... Not Invert SK Switch Menu Q
5. Resolution Factor (HW Only) ... 1.00 SK Switch Set Axis
Menu S
Fixed X
Menu K Set Resolution
Fixed Y
Configure CTR #1 Handwheel/DRO Fixed Z
Menu T
Set Axis
14MAP9
10-Feb-98
Software Options Setup Options Machine/Installation Spindle Axis - Setup
10-Feb-98
2. Setup Utility 1. Machine/Installation 2. Spindle Axis 1. Spindle output ........................................ Unipolar
3. Special U,V,W 2. Gear ranges used .................................. Single-M40
Startup Screen Menu A 4. Interface 3. Low setting for M40 gear range .............. 50
Select Software Package Select Setup Menu 4. High setting for M40 gear range ............. 6,000
Menu B
5. Low setting for M41 gear range .............. 50
Select Setup Tool
6. High setting for M41 gear range ............. 6,000
7. Low setting for M42 gear range............... 165
Interface - Setup 8. High setting for M42 gear range ............. 501
Disabled 9. Low setting for M43 gear range............... 500
1. Type ............................................... Distrib. Board Distrib. Board 10. High setting for M43 gear range.............. 1,471
2. Setup software................................ PCIS AB-SLC150 11. Low setting for M44 gear range............... 1,470
3. Timeout .......................................... 10,000 AB-SLC500 12. High setting for M44 gear range.............. 4,640
MITSU. F/A
4. Output Port ..................................... 13. Axis used by spindle............................... V

5. S-Function Setup ............................ 0000 SAIA-PCD 14. Gear change RPM................................... 10

6. M-Function Setup ........................... ANILAM IPI 15. Lines on spindle encoder per revolution.. 1,000
7. Input port ........................................ OMRON CQM1 16. Multiplication spindle factor...................... 1.0
8. Input Functions ............................... Menu J 17. Spindle RPM display................................ Feedback
9. Communications Parameters........... Options Setup Menu 18. Check spindle during gear change.......... Yes
10. Issue M5 on SvoFlt or Estop ........... No 19. Stop program on gear change................. No
11. Restore outputs on I/O Cont. reset .. Yes 20. Check RPM to be within gear range........ Yes
12. Display internal interface messages. Yes
Menu C
Map 10
Menu F Interface Setup Menu Spindle Axis Setup Menu
Special U,V,W - Setup

Output Port Setup Output Port Setup
1. Display U axis..................... No
Bit Used On/Off Port Pulse Delay Finish Active 2. Display V axis..................... No
0 ..... Off 0 ..... 0 0 No High 3. Display W axis.................... No
1 ..... Off 1 ..... 1 0 No High 2. U axis set to........................ None
2 ..... Off 2 ..... 1 0 No High 5. V axis set to........................ None
3 ..... Off 3 ..... 1 0 No High 6. W axis set to....................... None
4 ..... Off 4 ..... 1 0 No High 7. U Rotary axis reset at 360... No
5 ..... Off 5 ..... 1 0 No High M-Function Port Setup 8. V Rotary axis reset at 360... None
No
6 ..... Off 6 ..... 1 0 No High 9. W Rotary axis reset at 360... Linear
No
7 ..... Off 7 ..... 1 0 No High Pulse(msec) ... 0
Rotary
8 ..... Off 8 ..... 1 0 No High Delay(msec) ... 0 Menu D
Linear DRO
9 ..... Off 9 ..... 0 0 No High Finish ............. No Z Axis Type Setup Menu
Rotary DRO
10 ... Off 10 ... 0 0 No High Active ............. High
Menu E
Menu G Menu H Options Setup
Menu I
Output Port Setup Menu Output Port Setup Menu Menu
M-Function Port Setup Menu
14MAP10
Page 16-11
M-Function Setup
Page 16-12
2. Setup Utility 1. Machine Installation 3. Interface
M-Code Ports On Ports Off
1400M Startup Screen Menu A Menu B M 01 0000 0000
Select Software Package Select Setup Option Select Setup Tool M 02 0000 0000
M 03 0000 0000
M 04 0000 0000
M 05 0000 0000
Interface - Setup Input Port M 06 0000 0000
Interface - Setup M 07 0000 0000
1. Type ............................................. Port Active M 08 0000 0000
Distrib. Board
1. 2.Type .............................................
Setup software .............................. 0 ..... High M 09 0000 0000
PCIS
2. 3.Setup software
Timeout ..............................
........................................ 1 ..... High M 10 0000 0000
10,000
2 ..... High
3. 4.Timeout
Output........................................
Port ................................... M 11 0000 0000
4. 5.Output Port ...................................

S-Function Setup .......................... 3 ..... High
0000 Menu D
5. 6.S-Function
M-Function Setup
Setup ..........................
.......................... 4 ..... High M-Function 01
6. 7.M-Function .......................... 5 ..... High M-Function Setup Menu
Input Port Setup.......................................
7. 8.Input Port
Input .......................................
Functions .............................. 6 ..... High 1. Ports On ....0000
8. 9.Input Functions ..............................
Communications Parameters.......... 7 ..... High 2. Ports Off ....0000
Communications
9. 10. Parameters.......... 8 ..... High I1 Port(s)
Issue M5 on SvoFlt or Estop .......... No Menu E
Issue
10.11. M5 on
Restore outputs
SvoFlton orI/OEstop
Cont. ..........
reset.. 9 ..... High
Yes Off M-Function 01 Setup
Restore
11.12. I/O Cont. reset.. 10 ... High 0 .....
Displayoutputs
internaloninterface messages. Yes Menu
12. Display internal interface messages. 1 ..... Off
Map 11
Menu G
Menu C Interface Setup Menu Input Port Setup Menu 2 ..... Off
3 ..... Off
4 ..... Off
Off Output Port Setup
5 .....
Interface Communications - Setup Input Functions
6 ..... Off
Functions Port Bit Used On/Off
7 ..... Off
1. Baud................ 9600 1. Tool guard ............................... 0000 0 ..... Off
8 ..... Off
2. Parity............... EVEN 2. External finish pulse ................. 0000 1 ..... Off
9 ..... Off
3. Data bits.......... 7 3. Optional block skip (0)............... 0000 2 ..... Off
10.... Off
4. Stop bits.......... 1 4. Optional block skip (1)............... 0000 3 ..... Off
5. Software.......... Off 5. Optional block skip (2)............... 0000 4 ..... Off
Menu I
6. Optional block skip (3)............... 0000 5 ..... Off
Input Ports Setup
Menu J 7. Optional block skip (4) .............. 0000 6 ..... Off
Menu
Interface Communications Menu H 8. Optional block skip (5)............... 0000 7 ..... Off
Setup Menu Input 9. Optional block skip (6) ............... 0000 8 ..... Off
Functions 10. Optional block skip (7)................ 0000 9 ..... Off
Setup Menu 11. Optional block skip (8)................ 0000 10 ... Off
12. Optional block skip (9)................ 0000
13. External Start ............................ Menu F
0000
14. External hold ............................. Output Port Setup Menu
0000
14Map11
10-Feb-98
Software Options Setup Options Machine/Installation Tool Management - Setup
10-Feb-98
2. Setup Utility 1. Machine/Installation 5. Tool Management 1. Activate tool length offset................ On Tn
6. Miscellaneous 2. Output signal................................... On Tn
Startup Screen Menu A 7. Home 3. Orient spindle.................................. No
Select Software Package Select Setup Option 4. Default Spindle Orientation Angle... 0.0
Menu B
5. Spindle Orientation RPM................. 10
Select Setup Tool
6. Stop program execution.................. No
7. Tool changer installed..................... None
8. Use tool change macro.................... No
9. Tool change macro program............
Home - Setup
10. Tool Change macro number........... O8000
No 11. Number of digits in T word.............. 4
1. Home required.................. Home Sequence 12. Number of bins in tool changer....... 0
2. Home sequence................ {3,2,1,4,5,6}
13. Number of Tools to display in table. 99

3. Home type......................... Home sequence for X... Third 14. Default tool-table file.............. MILLTOOL.C4
4. Datum search speed......... Home sequence for Y... Second
5. Home preset...................... Home sequence for Z... First Menu C Tool Management Setup Menu
6. Enable index pulse check... No Home sequence for U... Fourth
Menu F Home sequence for V... Fifth No
Home sequence for W.. Sixth None
Home Setup Menu Menu L Menu D On Tn
Fixed Replacement
Menu G On M6
Random Replacement
Home Sequence Setup Menu Both
Map 12
Home Preset - Setup Home Type - Setup
0.0000 1. Home type for X .... No homing

1. X Home preset .....
0.0000 2. Home type for Y .... No homing
2. Y Home preset .....
0.0000 3. Home type for Z .... No homing
3. Z Home preset .....
0.0000 4. Home type for U .................. No homing
4. U Home preset .....
0.0000 5. Home type for V ................... No homing
5. V Home preset .....
0.0000 Datum Search Speed - Setup 6. Home type for W .................. No homing
6. W Home preset ...
7. Home preset ........ Off Menu H
1. X datum search feed ..... 40.0 Home Type Setup Menu
Menu K 2. Y datum search feed ..... 40.0
Home Preset Setup Menu 3. Z datum search feed ..... 40.0 No homing
4. U datum search feed..... 40.0 With positive index limit
5. V datum search feed ..... 40.0 With positive index and vector limit
6. W datum search feed ..... 40.0 With negative index limit
With negative index and vector limit
Menu J
Datum Search Speed Setup Menu Menu I
Options Setup Menu
14MAP12
Page 16-13
Page 16-14
2. Setup Utility 1. Machine/Installation 6. Miscellaneous
Startup Screen Menu A Menu B

Select Software Package Select Setup Option Select Setup Tool
COM1
ANILAM1
Miscellaneous -Setup
ANILAM2
ANILAM5
1. Manual panel port ..................................... ANILAM 1
ANILAM6
2. Max programmed feedrate........................ 80.0
ANILAM8
3. Feedrate for jog on manual panel ............. 40.0

Disabled
4. Rapidrate for jog on manual panel............. 200.0
5. Linear axis dry run feedrate....................... 40.0 Menu D
6. Max programmed rotary feedrate.............. 3,000.0 Options Setup
7. Rotary feedrate for jog on manual panel .. 1,016.0 Menu
8. Rotary axis dry run feedrate..................... 1,000.0
9. Acceleration.............................................. 66,000
10. Feed velocity offset factor........................ 1.08
11. Rapid velocity offset factor....................... 1.08
Map 13
12. Force simulation mode............................. No
13. Servo up delay......................................... 1
14. Save files when main power fails.............. Mill
No
15. Machine type............................................ Lathe
Mill
16. Reverse G2/G3......................................... No Menu E
17. Load CNC custom character set............... VGA CNC Options Setup Menu
18. Remote handwheels................................. 0
19. Screen blanking delay (minutes) .............. 5
20. Automatic feedrate override on arcs......... No
21. Feedrate mode.......................................... FPM
None
22. Dwell RPMs in FPR mode......................... No
EGA CNC
23. Rapid moves are free (unsynchronized)... No
VGA CNC
Menu C Menu F
Miscellaneous Setup Menu Options Setup Menu
14MAP13
10-Feb-98
Software Options Setup Options Machine/Installation Builder Messages - Setup
10-Feb-98
2. Setup Utility 1. Machine/Installation 8. Builder Messages 1. Use Custom Messages ...No
9. Language 2. Edit Error Messages
Startup Screen Menu A 10. Software Update 3. Edit Warning Messages
Select Software Package Select Setup Option 11. Digitizing
Menu C
12. DNC Setup
Builder Messages Setup Menu
13. Security
Menu B
Select Setup Menu Language
English
Spanish
French
German
Security - Setup Italian
1. Limited password Menu D
2. Service password Language Setup Menu
3. Prog. Controller password
Menu J Digitizing - Setup

Security Setup Menu
Map 14
1. Output............ Port
2. Port settings...
DNC - Setup Menu E

Digitizing Setup Menu Digitizing - Setup
1. Execution Mode ............................. Buffered
2. Buffer Size (in buffered mode) ....... 32K 1. Port......... ANILAM 6
3. Use DNC Macro at end of block.... No 2. Baud....... 9600
4. DNC Macro Number...................... 100 3. Parity....... EVEN
5. Ignore G41/2, G59 and Blueprint .. Yes 4. Data bits.. 7
6. Wait for Start ................................. First 5. Stop bits.. 1
6. Software.. On
Menu G
DNC Setup Menu Menu F
Digitizing Setup Menu
No
First
Every
Menu I
Options Setup Menu
14MAP14
Page 16-15
Software Options Setup Options General Software
Page 16-16
2. Setup Utility 2. General Software 1. Control Software
Startup Screen Menu B

Menu A
Select Software Package General Software Setup Menu
Select Setup Option
Control Software - Setup

XY
1. Default axis display............................. Normal Menu E
XZ
2. Default plane ...................................... XY Options Setup Menu
YZ
3. Default units ....................................... Inch
4. Default axis values ............................. Absolute Absolute
Map 15
5. Circle adjustments ............................. Center Incremental
6. Circle centers ..................................... Incremental Menu D
0.005000 Metric Display Resolution - Setup
7. Maximum arc correction ..................... Options Setup Menu
8. Internal accuracy ............................... 0.00000100
X axis mm display resolution ... 3
9. External accuracy .............................. 0.00010000
Y axis mm display resolution ... 3
10. Metric display resolution ..................... {3,3,3,3,3,3}
Z axis mm display resolution ... 3
11. Inch display resolution ........................ {4,4,4,4,4,4}
U axis mm display resolution ... 3
12. Compensation cutoff angle ................. 15.0
V axis mm display resolution ... 3
13. Keyboard beep ................................... On
W axis mm display resolution .. 3 Inch Display Resolution - Setup
14. User macro file.................................... USERCANN.G
15. Load user macro file ........................... No Menu E
Always Metric Display Resolution Setup Menu X axis inch display resolution ... 4
16. Load system macro file.......................
Always Y axis inch display resolution ... 4
17. Load G-Code help...............................
On Z axis inch display resolution ... 4
18. Disk access marker.............................
U axis inch display resolution ... 4
Never
Menu C V axis inch display resolution ... 4
Always
Control Software Setup Menu W axis inch display resolution ... 4
Swap
Menu G Menu F
Options Setup Menu Inch Display Resolution Setup Menu
14MAP15
10-Feb-98
Software Options Setup Options General Software Communications - Setup COM1
ANILAM 1
10-Feb-98
2. Setup Utility 2. General Software 1. Control Software 1. Port .......... ANILAM 5 ANILAM 2
2. Communications 2. Baud......... 9600 ANILAM 5
Startup Screen 3. Draw 3. Parity ........ EVEN ANILAM 6
Menu A
Select Software Package 4. Editor 4. Data bits ... 7 ANILAM 8
Select Setup Option
5. Stop bits ... 1 Disabled
Menu B 6. Software ... On Menu D
General Software Setup Menu Menu C Options Setup
Menu
None 110
Editor - Setup Odd 150
Even 300
1. Restore to previous session.................... Yes 600

Menu F
2. Show top line ......................................... Yes 1200
Options Setup Menu
3. Default insert mode................................. Off 2400
4. Cursor to start of line on scroll................. No 4800
5. Extended screen display (50 lines).......... No Auto 9600
6. Auto tab to previous line's position........... Yes Draw - Setup S. Step 19200
7. Update screen on macros........................ Yes Motion
1. Restore to previous session ............. Menu E
8. Default tab width...................................... 4 Yes
2. Default program block mode ............ Menu H Options Setup Menu
9. Force Caps Lock on PC keyboard............ Yes Auto
Map 16
3. Axis display ...................................... Options Setup
10. Create backup program............................ No On
4. Display program text ........................ Menu
11. Delete internal file when program saved... Yes Yes None
12. Case sensitive Find.................................. No 5. Automatic re-run .............................. Yes Solid
13. Memory reserved (in K-bytes).................. 64 6. Grid .................................................. None Dotted
7. Grid size .......................................... 1.0 Menu I
8. Tool display ...................................... None
Menu M On Options Setup Menu
9. Default tool type .............................. Flat
Editor Setup Menu Flat
10. Tool length factor............................... Ball
3.00
11. Default AUTO-ZOOM scaling factor.. 1.00 Menu I Ignore
12. Auto erase......................................... On Options Setup Menu Use
13. Cutter compensation in draw............. Both Both
14. Draw view.......................................... ISO
15. Aspect ratio correction factor............. 1.47 Menu K
16. Save draw image............................... Yes XY Options Setup Menu
XZ
Menu G YZ
Draw Setup Menu ISO
Menu L
Options Setup Menu
14MAP16
Page 16-17
Software Options Setup Options General Software Program - Setup
Page 16-18
2. Setup Utility 2. General Software 5. Program 1. Program directory pattern............... *.G
3. Prog. Controller Setup 6. Display 2. Program directory display mode..... Short
1400M Startup Screen 4. Print configurations 7. Printer 3. Program directory sort order........... Name
Select Software Package 5. Units in Inch 4. Automatically check disk at startup.. Never
Menu B 5. Delete backup files during optimize.. Yes
Menu A General Software Setup 6. Directory for user programs............. C:\USER
Select Setup Option Menu
Menu C
Program Setup Menu
Printer - Setup Always

NLQ Daily
1. Default output device..... Utility Weekly

PRN Ignore
2. Lines per page................ High Speed Monthly
55 Name
3. Page heading................. Ignore Never
Yes Extension
4. Line numbers................. No Menu H Size
Menu E
5. Print quality.................... Ignore Options Setup Menu Date
Options Setup Menu
6. Characters per inch........ 10
Menu D
Menu G Display - Setup Options Setup
Menu
Map 17
Printer Setup Menu
---Editor---
1. Normal Text ...................... Example
2. Marked Text....................... Example
3. Current Line....................... Example
4. Frame................................ Example
5. Automatic re-run ................ Example
6. Errors................................. Example
---Softkeys---
7. Normal............................... Example
8. Highlight............................. Example
Menu F
Display Setup Menu
12MAP17
10-Feb-98
70000322 - Programmable Controller Interface
Section 17 - Programmable Controller Interface

Some machine interfaces require a programmable controller for
miscellaneous machine functions (M-functions) and spindle control (S-
functions). The programmable controller used depends on the complexity
of the processes being controlled and the number of inputs and outputs
needed to accomplish the required tasks.
Allen-Bradley Programmable Controller SLC-150
Connection between Control and Programmable Controller

The Allen-Bradley SLC-150 Programmable Controller connects to the
CNC via the COM1 RS-232 port on the CNC and the RS-232/RS 422
converter on the programmable controller. Communication is "on
demand". Data is sent only when a change of state is necessary.
Connection is via harness, P/N 31900085, to the 1745 PCC module.
Refer to Table 17-1, Allen Bradley SLC Harness Connection for the
pinout.
Table 17-1, Allen Bradley SLC Harness Connection
DE-9 COM1 DB-25 1745 PCC
1 8
2 3
3 2
4 20
5 7
6 6
7 4
8 5
9 22
10-Feb-98 Page 17-1

Communication Parameters
Refer to Table 17-2, Allen-Bradley SLC-150 Communications
Parameters.
Table 17-2, Allen-Bradley SLC-150 Communications Parameters
Bi-Directional, Full Duplex

Baud 9600
Data bits 7
Stop bit 1
CRC 1 Byte
Parity Even
NOTE: The AUTO/MANUAL switch must be set to

AUTO in order to use the Allen Bradley Programmable
Controller SLC-150.
Internal Relays
The CNC exchanges information with the programmable controller by
writing to and reading from its internal registers. When programming the
programmable controller, handle these registers as though they were
"internal" relays. Internal relays are not connected directly to output
devices.
The available internal relays are numbered 701 to 863. The data transfer
area relays are numbered 701 to 780.
Page 17-2 10-Feb-98

Designation of Internal Relays

Refer to Table 17-3, Allen-Bradley SLC-150 Internal Relays. The table
provides the internal relays used for communication between the
programmable controller and the 1200T/1400M controls.
Table 17-3, Allen-Bradley SLC-150 Internal Relays
Code Or Signal Relay(s) Type

M-CODES 701 to 716 READ ONLY
S-CODES 717 to 732 READ ONLY
T-CODES 733 to 740 READ ONLY
H-CODES 741 to 748 READ ONLY
E-STOP 764 READ ONLY

SPINDLE ENABLE 763 READ ONLY
CO-INCIDENCE 762 READ ONLY
FEED 761 READ ONLY
COMPUTER OVER- 760 READ ONLY
TEMPERATURE
MANUAL MODE SELECT 759 READ ONLY
TOOL CHANGER FINISHED 758 READ ONLY
REC'D
TOOL CHANGE MACRO END 757 READ ONLY
SPINDLE DRIVE CLOSED LOOP 756 READ ONLY
RUN/SINGLE STEP 755 READ ONLY
KEEP CURRENT TOOL IN SAME 754 READ ONLY
BIN
RESERVED FOR FUTURE USE 753 READ ONLY
AXES AT HOME POSITION 752 READ ONLY
FINISHED 780 WRITE

SERVO FAULT 779 WRITE
FEED HOLD 778 WRITE
TOOL CHANGER FINISHED 777 WRITE
EXTERNAL STOP 776 WRITE
EXTERNAL HOLD 775 WRITE
ERROR MESSAGES 765 to 772 WRITE
10-Feb-98 Page 17-3

Access READ ONLY relays only via the CNC. Do not attempt to write to
these relays via the programmable controller. To do so will cause
unpredictable and possibly dangerous results.
The CNC encodes M, S, T and H codes in BCD (Binary Coded Decimal -
8421 Code) by the CNC. In each case, the MSB is the highest-numbered
relay.
LSB Least Significant Bit
MSB Most Significant Bit
M Codes are for Miscellaneous or Machine functions. S Codes are for
Spindle functions. T Codes are for Tool functions. H Codes are for pre-
tool codes used with automatic tool changer systems.
M, S, T and H Codes
When the CNC executes an M, S, T or H code, it transfers the
appropriate BCD number into the designated relay group. The CNC's
execution of the part program will then dwell until the programmable
controller program sets the Finished relay (number 780). The CNC then
resets the M, S, T or H code to zero. The programmable controller
program will reset the Finished Relay (Number 780).
Page 17-4 10-Feb-98

CNC Flags
Refer to Table 17-4, Allen-Bradley SLC-150 CNC Flags. CNC flags are
the relays set by the CNC to enable certain devices or indicate status of
the CNC or part program. The programmable controller program
decodes these flags and takes appropriate action.
Table 17-4, Allen-Bradley SLC-150 CNC Flags
CNC Flag Number Description

764 E-Stop Relay. Turned on by the CNC when no
serious error condition exists and the machine
could be under power.
763 Spindle Enable Relay. Energized when the
digitizing probe is not being used and the spindle
motor could be on.
762 Co-Incidence Relay. Turned on when all axes
are at their programmed target positions.
761 Feed Relay. Energized when the CNC is
operating in Feed (G01) Mode.
760 The Computer Over-Temperature Relay. Set if
the control's temperature sensor is set.
759 Manual Mode Flag Relay. Set by the CNC when
in Manual Mode operation.
758 Tool Finish Acknowledge Relay. Turned on by
the system when Tool Finish signal has been
received by the CNC.
757 Tool Change Macro End Relay. Turned on by
the system when the Tool Change Macro has
ended.
756 Spindle Closed Loop Relay. Turned on by the
system when rigid tapping requires closed-loop
spindle control.
755 CNC Run Mode Relay. Turned on by the
system when the CNC is in AUTO/Single-Step
and not in HOLD.
754 Fixed Tool Bin Relay. Turned on by the system
when the current tool must be in a specific bin.
753 Reserved for future use.
752 Home Position Relay. Turned on by the system
when the selected axes of the machine are at the
Home position.
10-Feb-98 Page 17-5

PLC Flags
Refer to Table 17-5, Allen-Bradley SLC-150 PLC Flags. PLC flags are
the relays set by the programmable controller program to indicate the
status of the machine and auxiliary devices, such as power draw bars,
tool changers, spindle drives, etc.
Table 17-5, Allen-Bradley SLC-150 PLC Flags
PLC Flag Number Description
780 Finish Relay. Set by the programmable
controller's program when the control sends an M,
S, T or H code. Part program execution can now
proceed.
779 Servo Fault Relay. Indicates that the servo
amplifiers are not powered up or are unavailable
for another reason.
778 Feed Hold Relay. Energized if the CNC cannot
run in Feed (G01) Mode due to machine problems
or constraints. While in Feed Hold, Rapid (G00)
moves will still be allowed.
777 Tool Change Finish Relay. When the
programmable controller has finished the most
recent Tool operation, Relay 777 is turned on.
When Relay 758 is turned on by the control, the
programmable controller turns off Relay 777.
776 External Stop Bit. If the programmable controller
turns Relay 776 on, all motion will halt for as long
as Relay 776 remains on. When Relay 776 turns
off, program execution continues at the current
block.
775 External Hold Bit. If the programmable controller
turns Relay 775 on, all motion will halt. (Similar to
pressing HOLD on the CNC keyboard.) After Relay
775 turns off and START is pressed, the current
block will continue.
Error/Warning Messages
The programmable controller can send 256 different messages,
numbered from 0 to 255, to the control. The Error/Warning messages,
unlike the M, S, T and H codes, are not coded in BCD, but in normal
binary.
The MSB of the Error/Warning message area is Internal Relay 772. The
LSB is 765. This provides the required eight bits of binary code for 256
different messages. Refer to Table 17-6, Message 86 Example.
Page 17-6 10-Feb-98

Table 17-6, Message 86 Example

MSB LSB Message
Relay 772 771 770 769 768 767 766 765
State off on off on off on on off
Equals 128 64 32 16 8 4 2 1
Message 0+ 64 + 0 + 16 + 0+ 4+ 2+ 0= 86
The error messages categorized as: Error codes and Warning codes.
Error codes will stop execution of the user program. Warning codes will
display an error message without halting the user program.
Table 17-7, Error and Warning Message Codes
0 NONE
1 to 127 ERROR
127 to 255 WARNING
The displayed text is stored in the \S1400 subdirectory, in the
MBENG.TXT file. This file can be edited via the Setup Utility (refer to the
appropriate Setup Utility section on Builder Messages). For Message 86,
the required text message might be:
86.>Msg 86.. SPINDLE DRIVE OVER VOLTAGE FAILURE
When the PLC program detects this fault, it sets the appropriate internal
relays. The associated message is displayed in the message area of the
CNC. Program execution stops until the fault is corrected.
10-Feb-98 Page 17-7

Address Table
Refer to Internal Relays and Designation of Internal Relays for
information about the internal relays with which you can program the
programmable controller.
Table 17-8, Allen-Bradley SLC-150 Address Table
Address Address Function
1 - 10 External inputs- CPU chassis
101 - 110 External inputs- CPU chassis
X01 - X10 External inputs- Expansion address block No. X
11 - 16 External outputs- CPU chassis
111 - 116 External outputs- CPU chassis
X11 - X16 External outputs- Expansion address block No. X
701 - 863 Internal relay type instructions
864 - 866 SLC-150 special instructions
867 TCAT startup instruction
868 Program initialization instruction
869 - 873 Fine time base instructions
876 Auto/Man switch of the SLC-150
901 - 932 Timer/counter/sequencer/ high speed input instructions
951 - 982 Status instructions- Timer/counter
overflow/underflow and sequencer completion
Monitor Function
Programmable controller operation can be monitored during CNC
operation via the PLC Monitor.
To activate the monitor:
1. Type P on the command line and press ENTER. The PLC Monitor
display activates.
Refer to Figure 17-1, Allen-Bradley SLC-150 PLC Monitor. The display
is separated into three areas. The top area shows the status of the M, S,
T and H codes, PLC and CNC flags and PLC Messages. The middle
area shows the status of the internal relays. The bottom area shows the
status of the programmable controller inputs and outputs.
Page 17-8 10-Feb-98

Status Area for

M, S, T, H Codes, PLC and
CNC flags and PLC Messages
Internal Relays Status Area
PLC Monitor
FlagsPLC 0000 0000 Message 0 0000 0000
M0 0000 0000 0000 0000 S0 0000 0000 0000 0000
T0 0000 0000 H0 0000 0000 FlagsCNC 0000 0000 0000 0000
812 0000 0000 804 0000 0000 796 0000 0000 788 0000 0000
844 0000 0000 836 0000 0000 828 0000 0000 820 0000 0000
868 0000 0000 860 0000 0000 852 0000 0000
310 00 0000 0000 210 00 0000 0000 110 00 0000 0000 10 00 0000 0000
318 0000 0000 218 0000 0000 118 0000 0000 18 0000 0000
AB150PGC
Programmable Controller Inputs
and Outputs Status Area
Figure 17-1, Allen-Bradley SLC-150 PLC Monitor
Data Transfer Internal Relays Display

Refer to Figure 17-1, Allen-Bradley SLC-150 PLC Monitor. The top
area of the screen describes Data Transfer Internal Relays 701 to 780.
All monitored relays are read from left to right, from the highest to the
lowest numbered relay. A "1" in any position indicates that the relay is
active.
The FlagsPLC are internal relays set by the programmable controller to
indicate the status of the machine and the program.
10-Feb-98 Page 17-9

17-9, PLC Flags for Allen-Bradley SLC-150
Flag Meaning
780 FINISHED
779 SERVO FAULT
778 FEED HOLD
777 TOOL CHANGER FINISHED
776 EXTERNAL STOP
775 EXTERNAL HOLD
Relays 774 and 773 are not currently used.
AB SLC-150 PLC Flags
and Internal Relay Reference
FlagsPLC 0 000 00 0 0
780 773
779 774
778 775
777 776
ABPLCF2
Figure 17-2, Allen Bradley SLC-150 PLC Flags and Internal Relay Reference
Error messages are coded in Internal Relays 765 to 772, and displayed
as follows:
AB SLC-150 Message Flags

Message 0 0 000 00 0 0
(MSB) 772 765 (LSB)
771 766
770 767
769 768
ABPLCM
Figure 17-3, Message Bits and Internal Relay Reference

M, S, T and H codes are all displayed similarly; from the highest-
numbered relay (MSB) to the lowest-numbered relay (LSB), from left to
right.
Page 17-10 10-Feb-98

For example, the T codes are displayed as shown in Figure 17-4, T

Codes and Internal Relay Reference.
AB SLC-150 T Codes
T0 0 000 00 0 0
(MSB) 740 733 (LSB)
739 734
738 735
737 736
ABPLCT
Figure 17-4, T Codes and Internal Relay Reference

Refer to Table 17-10, Allen-Bradley SLC-150 CNC Flags. The
FlagsCNC are internal relays set by the CNC to enable certain devices or
to indicate the status of the CNC or part program.
Flag Meaning
764 EMERGENCY STOP
763 SPINDLE ENABLE
762 CO-INCIDENCE
761 FEED
760 COMPUTER OVER-TEMPERATURE
759 MANUAL MODE
758 TOOL CHANGER FINISHED RECEIVED
757 TOOL CHANGE MACRO END
756 SPINDLE DRIVE CLOSED LOOP
755 RUN/SINGLE STEP
754 KEEP CURRENT TOOL IN SAME BIN
753 RESERVED FOR FUTURE USE
752 AXES AT HOME POSITION
751 to 749 Not currently used.
10-Feb-98 Page 17-11

AB SLC-150 Flags CNC

FlagsCNC 0 0 0 0 0 0 0 0 0 0 0 0 00 0 0
764 749
763 750
762 751
761 752
760 753
759 754
758 755
757 756
ABPLCF3
Figure 17-5, AB SLC-150 Flags CNC and Internal Relay Reference
Internal Relays Display

Refer to Figure 17-1, Allen-Bradley SLC-150 PLC Monitor. The middle
area of the screen shows the status of the internal relays used by the
programmable controller program. These are Relays 781 to 863.
A "1" indicates that a particular relay is active. The function of any
particular bit is assigned by the programmable controller program.
Function can be determined with the Allen-Bradley PCIS software.
Refer to Figure 17-6, Internal Relay Display Example. All internal relay
displays are coded in the same way. A reference number is listed first,
followed by the status bits, decreasing from left to right.
AB SLC-150 Internal
Relay Display Example
812 0 000 00 0 0
812 805
811 806
810 807
809 808
ABR812
Figure 17-6, Internal Relay Display Example
Input and Output Relays Display

Refer to Figure 17-1, Allen-Bradley SLC-150 PLC Monitor. The bottom
of the PLC Monitor displays the status of the inputs and outputs of the
programmable controller. A "1" indicates that an input or output is active.
The meaning of each input or output varies according to the machine.
This information is also available from machine schematics or the
programmable controller program, using PCIS.
All input and output relays are coded in the same way. A reference
number is listed first, followed by the status bits, decreasing from left to
right.
Page 17-12 10-Feb-98

AB SLC-150 Input Relay Display Example

110 0 0 0 0 0 0 0 0 0 0
101
102
103
104
105
106
110 107
109 108
ABPLC110
Figure 17-7, Input Relay Display Example
10-Feb-98 Page 17-13

Allen-Bradley Programmable Controller SLC-500
CNC to Programmable Controller Connection

The Allen-Bradley Programmable Controller connects to the CNC via the
COM1 RS-232 port on the CNC and the RS-232/RS-422 converter on the
programmable controller. Communication is "on demand". Data is sent
only when a change of state is necessary.
Connect COM1 on the console to 1770-KF3. (Refer to Table 17-11, AB
SLC-500 Harness Connection 1.). Next, connect 1700-KF3 to the SLC
500 controller. (Refer to Table 17-12, AB SLC-500 Harness
Connection 2.)
Table 17-11, AB SLC-500 Harness Connection 1
DE-9 COM1 DB-25 1770-KF3

1,6 20
2 2
3 3
4 6,8
5 7
7 5
8 4
N/C 1 (shield)
Table 17-12, AB SLC-500 Harness Connection 2
KF-3 (Removable TB) Cable 1747-C11

1 EARTH N/C
2 SHIELD shield
3 SIG GND N/C
4 DATA B red
5 DATA A black
6 TERMINATION N/C
Page 17-14 10-Feb-98

Refer to Table 17-13, Allen-Bradley SLC-500 Communications
Parameters.
Table 17-13, Allen-Bradley SLC-500 Communications Parameters

Baud 9600
Data bits 8
Stop bit 1
CRC 1 Byte
Parity Even
Internal Register
writing to and reading from its internal registers.
Data transfer is handled via Integer Data Registers N7:240 to N7:255.
10-Feb-98 Page 17-15

Internal Registers
Refer to Table 17-14, Allen-Bradley SLC-500 Internal Registers. The
table provides the internal registers used for communication between the
programmable controller and the 1200T/1400M controls.
Table 17-14, Allen-Bradley SLC-500 Internal Registers
Code Or Signal Register/Bit(s) Type

M-CODES N7:241/0-15 READ ONLY
S-CODES N7:242/0-15 READ ONLY
T-CODES N7:243/0-15 READ ONLY
H-CODES N7:244/0-15 READ ONLY
E-STOP N7:240/0 READ ONLY

SPINDLE ENABLE N7:240/1 READ ONLY
CO-INCIDENCE N7:240/2 READ ONLY
FEED N7:240/3 READ ONLY
COMPUTER OVER TEMPERATURE N7:240/4 READ ONLY
MANUAL MODE SELECT N7:240/5 READ ONLY
TOOL CHANGER FINISHED REC'D N7:240/6 READ ONLY
TOOL CHANGE MACRO END N7:240/7 READ ONLY
SPINDLE DRIVE CLOSED LOOP N7:240/8 READ ONLY
RUN/SINGLE STEP N7:240/9 READ ONLY
KEEP CURRENT TOOL IN SAME BIN N7:240/10 READ ONLY
FUNCTION ACKNOWLEDGED N7:240/11 READ ONLY
AXES AT HOME POSITION N7:240/12 READ ONLY
FINISHED N7:249/0 WRITE

SERVO FAULT N7:249/1 WRITE
FEED HOLD N7:249/2 WRITE
TOOL CHANGER FINISHED N7:249/3 WRITE
EXTERNAL STOP N7:249/4 WRITE
EXTERNAL HOLD N7:249/5 WRITE
ERROR MESSAGES N7:248/0-7 WRITE
FUNCTION N7:250/0-15 WRITE
Page 17-16 10-Feb-98

Access READ ONLY relays only via the CNC. Do not attempt to write to
these relays via the programmable controller. To do so will cause
The CNC encodes M, S, T and H codes in BCD (Binary Coded Decimal -
8421 Code). In each case, the MSB is the highest-numbered relay.
Spindle functions. T Codes are for Tool functions. H Codes are pre-tool
codes for use with automatic tool changer systems.
M, S, T and H Codes
When the CNC executes an M, S, T or H code, the appropriate BCD
number is transferred into the designated relay group. The control's
controller program sets the Finished Bit N7:249/0. The CNC resets the
M, S, T or H code to zero and the programmable controller program
resets the Finished Bit N7:249/0.
10-Feb-98 Page 17-17

CNC Flags
Refer to Table 17-15, Allen-Bradley SLC-500 CNC Flags. CNC flags
are the bits set by the CNC to enable certain devices or to indicate the
status of the CNC or part program. The programmable controller
program decodes these flags and takes appropriate action.

N7:240/0 E-Stop Flag. Turned on by the CNC when no
N7:240/1 Spindle Enable Flag. Energized when the
motor could be on.
N7:240/2 Co-Incidence Flag. Turned on when all axes
N7:240/3 Feed Flag. Energized when the CNC is
operating in Feed (G1) Mode and not Rapid (G0)
Mode.
N7:240/4 The Computer Over-Temperature Flag. Set if
N7:240/5 Manual Mode Flag. Set by the CNC when in
Manual Mode operation.
N7:240/6 Tool Finish Flag. Turned on by the system
when Tool Finish signal has been received by the
CNC.
N7:240/7 Tool Changed Macro End Flag. Turned on by
the system when the Tool Change Macro has
ended.
N7:240/8 Spindle Closed Loop Flag. Turned on by the
spindle control.
N7:240/9 CNC Run Mode Flag. Turned on by the system
when the CNC is in AUTO/Single-Step and not in
HOLD.
N7:240/10 Fixed Tool Bin Flag. Turned on by the system
N7:240/11 Function Request Number Flag. Turned on by
the system when the Function Request Number
has been received and acted upon by the control.
N7:240/12 Home Position Flag. Turned on by the system
Home position.
Page 17-18 10-Feb-98

PLC Flags
Refer to Table 17-16, Allen-Bradley SLC-500 PLC Flags. PLC flags are
the bits set by the programmable controller program to indicate the status
of the machine and auxiliary devices, such as power draw bars, tool
changers, spindle drives, etc.
Table 17-16, Allen-Bradley SLC-500 PLC Flags
N7:249/0 Finish Flag. Set by the programmable controller
program when an M, S, T or H code has been sent
by the CNC and part program execution can now
resume. The 2 or 4-digit BCD number is transferred
as 8 or 16 bits into the register(s). The part program
will then dwell until N7:249/0 is turned on by the PLC
program. The system will reset the M, S, T, or H
code to and the part program will resume. The PLC
program should then reset N7:249/0.
N7:249/1 Servo Fault Flag. Set by the programmable
controller program to indicate that the servo
amplifiers are not powered up or are unavailable for
another reason.
N7:249/2 Feed Hold Flag. Energized when the CNC cannot
be run in Feed (G01) Mode due to machine
problems or constraints. While in Feed Hold, Rapid
(G00) moves will still be allowed.
N7:249/3 Tool Finish Flag. When the programmable
controller has finished the most recent Tool
operation, N7:249/3 is turned on. When N7:240/6 is
turned on by the control, N7:249/3 is turned off by
the programmable controller.
N7:249/4 External Stop Flag. If the programmable controller
turns N7:249/4 on, all motion will halt as long as it is
on. When 249/4 turns off, the CNC continues
execution of the current block.
N7:249/5 External Hold Flag. If the programmable controller
turns N7:249/5 on, all motion will halt. (Similar to
pressing HOLD on the CNC keyboard.) After
N7:249/5 turns off and START is pressed, the CNC
continues execution of the current block.
N7:250 Function Request Number Area. If the Function
Request Number area is other than all zeros, the
CNC will execute the corresponding function. When
the function is completed, the CNC turns on Bit
N7:240/11. The programmable controller program
then sets the function number to zero. The CNC
then turns bit N7:240/11 off.
10-Feb-98 Page 17-19

binary.
Refer to Table 17-17, AB SLC-500 Message 86 Example.
Table 17-17, AB SLC-500 Message 86 Example
Register MSB LSB
N7:248 bit
Relay 7 6 5 4 3 2 1 0
Equals 128 64 32 16 8 4 2 1
Message 0 + 64 + 0 + 16 + 0 + 4 + 2 + 0= 86
The error messages categorized as Error codes or Warning codes.

0 NONE
1 to 127 ERROR
127 to 255 WARNING
The displayed text is stored in the \S1400 subdirectory, in the
appropriate Setup Utility section on Builder Messages). For message 86,
Page 17-20 10-Feb-98

Monitor Function
During CNC operation, you can monitor the programmable controller via
the PLC Monitor.
display activates.
Refer to Figure 17-8, Allen-Bradley SLC-500 PLC Monitor. The display
is separated into three areas. The top area displays the status of the M,
S, T and H codes, PLC and CNC flags and PLC Messages. The middle
Status Area for

PLC Monitor
M0 0000 0000 0000 0000 S0 0000 0000 0000 0000
T0 0000 0000 H0 0000 0000 FlagsCNC 0000 0000 0000 0000
B15 0000 0000 B7 0000 0000 B31 0000 0000 B23 0000 0000
B47 0000 0000 B39 0000 0000 B63 0000 0000 B55 0000 0000
B79 0000 0000 B71 0000 0000 B95 0000 0000 B87 0000 0000
I15 0000 0000 I7 0000 0000 I31 0000 0000 I23 0000 0000
O15 0000 0000 O7 0000 0000 O31 0000 0000 O23 0000 0000
AB500PGC
Figure 17-8, Allen-Bradley SLC-500 PLC Monitor
10-Feb-98 Page 17-21

Data Transfer Internal Registers Display

Refer to Table 17-19, PLC Flags for Allen-Bradley SLC-500. The top
area of the screen shows the Data Transfer register N7:249. All
displayed relays are read from left to right, from the highest to lowest
numbered relay. A "1" in any position indicates that the relay is active.
The FlagsPLC are internal register bits set by the programmable
controller program to indicate the status of the machine and the
programmable controller program.
Table 17-19, PLC Flags for Allen-Bradley SLC-500
Flag Bit
FINISHED N7:249/0
SERVO FAULT N7:249/1
FEED HOLD N7:249/2
TOOL CHANGER FINISHED N7:249/3
EXTERNAL STOP N7:249/4
EXTERNAL HOLD N7:249/5
Bits 6 and 7 are not currently used.
AB SLC-500 PLC Flags Reference
(N7:249 bits)
FlagsPLC 0 0 0 0 0 0 0 0
0 7
1 6
2 5
3 4
ABPLCFL
Figure 17-9, AB SLC-500 PLC Flags (N7:249 Bits)

Refer to Figure 17-10, AB SLC-500 Message Bits Reference (N7:248).
Error messages are coded in N7:248/0 to 7.
AB SLC-500 Message Reference
(N7:248 bits)
Message 0 0 0 0 0 0 0 0 0
(MSB) 7 0 (LSB)
6 1
5 2
4 3
ABPLC248
Figure 17-10, AB SLC-500 Message Bits Reference (N7:248)
Page 17-22 10-Feb-98

M, S, T and H codes are all displayed similarly, with the most significant
bit to the left, and least significant bit to the right. Refer to Figure 17-11,
AB SLC-500 Tool Code Reference for an example using T Codes.
Tool Code Bits Reference
(N7:243 bits)
T0 0 0 0 0 00 0 0
(MSB) 7 0 (LSB)
6 1
5 2
4 3
AB500T
Figure 17-11, AB SLC-500 Tool Code Reference (N:243)

The FlagsCNC are internal relays set by the CNC to enable certain
devices or indicate status of the CNC or part program.
Table 17-20, CLC Flags for Allen-Bradley SLC-500
Function Flagbit
E-STOP N7:240/0
SPINDLE ENABLE N7:240/1
CO-INCIDENCE N7:240/2
FEED N7:240/3
COMPUTER OVER TEMPERATURE N7:240/4
MANUAL MODE SELECT N7:240/5
TOOL CHANGER FINISHED REC'D N7:240/6
TOOL CHANGE MACRO END N7:240/7
SPINDLE DRIVE CLOSED LOOP N7:240/8
RUN/SINGLE STEP N7:240/9
KEEP CURRENT TOOL IN SAME BIN N7:240/10
FUNCTION ACKNOWLEDGED N7:240/11
AXES AT HOME POSITION N7:240/12
Bits 13 to 15 are not currently used.
Figure 17-12, Flag CNC Bits Relay Reference
CNC Flags (N7:240 Bit)
FlagsCNC 0 0 0 0 0 0 0 0 0 0 0 0 00 0 0
0 15
1 14
2 13
3 12
4 11
5 10
6 9
7 8
AB500CNC
Internal Registers Display
10-Feb-98 Page 17-23

Refer to Figure 17-8, Allen-Bradley SLC-500 PLC Monitor. The middle

area of the screen shows the status of the bit registers used by the
programmable controller program.
A "1" indicates that a particular relay is active. The function of a particular
bit is assigned by the programmable controller program. Function can be
determined with the Allen-Bradley APS software.
Refer to Figure 17-13, AB SLC-500 Bit Register Display Example. All
internal relay displays are coded in the same way. A reference number is
listed first, followed by the status bits, decreasing from left to right.
AB SLC-500 Bit Register Display (B15)
0 000 00 0 0
15 8
14 9
13 10
12 11
AB500B15
Figure 17-13, AB SLC-500 Bit Register Display Example
Input And Output Relays Display

Refer to Figure 17-8, Allen-Bradley SLC-500 PLC Monitor. The bottom
area of the PLC Monitor shows the status of the inputs and outputs of the
programmable controller. A "1" indicates that a particular input or output
is active. The meaning of each input or output depends on the applicable
machine. This information is also available from Machine schematics or
the programmable controller program itself, with APS.
All Input and Output relays are coded in the same way. A reference
number is listed first, followed by the status bits, decreasing from left to
right.
AB SLC-500 Input Display (I15)
0 000 00 0 0
15 7
14 8
13 9
12 10
AB500i15
Figure 17-14, AB SLC-500 Input Display Example
Page 17-24 10-Feb-98

Allen-Bradley SLC-500 Interface Setup

You must configure the PLC settings in the Setup Utility for use with the
Allen-Bradley SLC-500. For 1200T controls, refer to Section 13 -1200T
Setup Utility. For 1400M controls, refer to Section 15 - 1400M Setup
Utility.
Setting Up the Interface Type

Set the Interface Type must to AB SLC-500.
Selecting the Setup Software for Programmable Controller (1400M only)

For 1400M systems, the setup software must also be specified. ANILAM
typically uses APS, but other directory names can be specified while
loading the APS software.
Setting up the Communications Parameters

Refer to Table 17-21, AB SLC-500 Communications Parameters for
the required communication parameters.
Table 17-21, AB SLC-500 Communications Parameters
Baud 9600
Parity EVEN
Data bits 8
Stop bits 1
Software ON
Advanced Programming Software (APS) Setup

1. Setting Online Configurations
Refer to the APS programming manual (Allen-Bradley P/N 1747-PA2E) to
set the online configurations indicated in Table 17-22, APS Online
Configurations.
Table 17-22, APS Online Configurations
F1 Port COM1
F2 Current Device KF3/KE (Full-Duplex)
F4 KF3/KE Address 0
F5 PROC Address 1
F6 MAX Node Address 31
Press Save to File (F9) now to save these values.
10-Feb-98 Page 17-25

2. Setting KF3/KE/Full Duplex Configurations

Press F7 now to set the KF3/KE/Full Duplex Configuration. Refer to
Table 17-23, AB SLC-500 KF3/K3/Full Duplex Configuration.
Table 17-23, AB SLC-500 KF3/K3/Full Duplex Configuration
F1 Baud (PC to KF3/KE) 9600

F2 Parity EVEN
F3 Error Check BCC
F4 Use Modem (Flow Control) NO
F5 Dial Phone Number N/A
F6 Modem Init String N/A
F7 Phone Number N/A
F8 Auto Disconnect N/A (minutes)
3. Setting the Full Duplex Configuration
Press F10 now to set the Full Duplex Configuration. Refer to Table 17-
24, AB SLC-500 Full Duplex Configuration.
Table 17-24, AB SLC-500 Full Duplex Configuration
F1 ACK Timeout (x55 ms) 18

F2 NAK Retries 3
F3 ENQ Retries 3
F5 Command Reply Timeout (x55 ms) 198
The APS online configuration is complete. The KF3 and CNC must also
be configured.
Page 17-26 10-Feb-98

1770-KF3 Setup
Refer to the Allen-Bradley manual catalog (Allen-Bradley P/N 1770-KF3)
for information on operating the KF3 and connecting it to the CNC. Refer
to Table 17-25, KF3 Setup Values.
Table 17-25, KF3 Setup Values
Optn. Data Optn. Data

0 00 0. 31
1 19 1. 01
2 01 2. 02
3 96 3. 10
4 01 4. 00
5 00 5. 00
6 00 6. 10
7 00 7. 00
8 00 A A6
1200T/1400M / KF3 / SLC-500 Interconnect Wiring

The KF3 is connected to the CNC via the COM1 port. For connection
instructions, refer to Allen-Bradley publication number 1770-KF3,
Chapter 2 - Installing the KF3.
The applicable RS-232 cable is detailed in either Figure 2.15 "Connection
to IBM Computer with Handshake Signals (25-pin)" or Figure 2.16
"Connection to IBM Computer with Handshake Signals (9 pin).” Nine pin
RS-232 ports are standard with ANILAM CNC systems. (Refer to Table
17-26, KF3 DB-25 to COM1 Cable Connections.)
Table 17-26, KF3 DB-25 to COM1 Cable Connections
KF3 (DB-25 F) 1200T/1400M COM1 (DE-9 F)

1 SHIELD
TXD 2 2 RXD
RXD 3 3 TXD
RTS 4 8 CTS
CTS 5 7 RTS
GND 7 5 GND
DSR 6 4 DTR
DCD 8
DTR20 6 DSR
1 DCD
The KF3 DH-485 is connected to the SLC-500 via cable 1747-C11. Cut
off the end of the cable that does not connect to the SLC-500.
Refer to Allen-Bradley publication 1770-KF3, Chapter 2 - Installing the
KF3. Table 17-27, Interconnection Wiring, DH-485 Link to the SLC-
500 contains the required connections.
10-Feb-98 Page 17-27

Table 17-27, Interconnection Wiring, DH-485 Link to the SLC-500
KF3 (REMOVABLE TB) SLC-500

1 EARTH Connector used as provided.
2 SHIELD (shield wire) Connector used as provided.
3 SIG GND Connector used as provided.
4 DATA B (red wire) Connector used as provided.
5 DATA A (black wire) Connector used as provided.
6 TERMINATION Connector used as provided.
SLC-500 Initialization Instructions

In order for the 1200T/1400M to communicate with the SLC-500, certain
registers and flags must be defined in the ladder program of the SLC-500.
A new SLC-500 will have a blank memory and will not allow the user to
establish a link.
Once connected to the SLC-500, access the APS software and initialize
the SLC-500's ladder program as follows:
1. Create the new file as described in the Allen-Bradley publication
1747-PA2E.
2. On the main APS screen, press OFFLINE PRG/DOC (F3).
3. Press MONITOR FILE (F8).
4. Press GENERAL UTILITY (F7).
5. Press MEMORY MAP (F1).
6. Press CREATE DT FILE (F6).
7. Enter “B3:11.” Press ENTER.
8. Press CREATE DT FILE (F6).
9. Enter “N7:255.” Press ENTER.
10. Press Escape twice. Press EXIT (F3).
11. Press RETURN TO MENU (F3).
12. Press YES (F8) twice.
13. Enter the ladder program.
Page 17-28 10-Feb-98

Mitsubishi Programmable Controller
Control to Programmable Controller Connection

The 1200T/1400M CNC is connected to the Mitsubishi Programmable
Controller via RS-232 port COM1 on the CNC and an interface unit on the
programmable controller. Communication is "on demand". Data is sent
only when a change of state is necessary.
Connection is to a F2-20GF1 module mounted on the programmable
controller via dedicated cable PCX Kit1, available from Mitsubishi. This
cable provides power, otherwise unavailable with the F/A series PLCs, for
RS-232 communication and signal connection to the CNC.
Refer to Table 17-28, Mitsubishi Communication Parameters.
Table 17-28, Mitsubishi Communication Parameters

Baud 9600 (typical)
Data bits 8
Stop bit 1
Parity Even
CRC 1 Byte
The F2-20GF1 Interface Module must be set for 9600 baud via a 4-
position DIP switch. Refer to Table 17-29, Mitsubishi Baud Settings.
Table 17-29, Mitsubishi Baud Settings
Baud Switch 1 Switch 2 Switch 3 Switch 4

19200 ON OFF OFF OFF
9600 ON OFF OFF ON
4800 ON OFF ON OFF
2400 ON OFF ON ON
Data Registers
writing to and reading from data registers 760 to 777 of the programmable
controller. Register bits are referred to in the following format:
Register 761 bit 10 = 761/10
10-Feb-98 Page 17-29

Designation of Data Registers

Refer to Table 17-30, Mitsubishi Data Registers. The table provides
the data registers used for communication between the programmable
controller and the CNC.
Table 17-30, Mitsubishi Data Registers
Code Or Signal Register Type

M-CODES 770 READ ONLY
S-CODES 771 READ ONLY
T-CODES 772 READ ONLY
H-CODES 773 READ ONLY
(NOT USED) 777 bit 11 N/A

E-STOP 777 bit 10 READ ONLY
SPINDLE ENABLE 777 bit 9 READ ONLY
CO-INCIDENCE 777 bit 8 READ ONLY
FEED 777 bit 6 READ ONLY
COMPUTER OVER-TEMP 777 bit 5 READ ONLY
MANUAL MODE 777 bit 4 READ ONLY
TOOL FINISH ACKNOWLEDGE 777 bit 2 READ ONLY
AXES AT HOME POSITION 777 bit 1 READ ONLY
SPINDLE CLOSED LOOP 777 bit 0 READ ONLY

FINISHED 761 bit 10 WRITE
SERVO FAULT 761 bit 9 WRITE
FEED HOLD 761 bit 8 WRITE
TOOL CHANGER FINISHED 761 bit 6 WRITE
EXTERNAL STOP 761 bit 5 WRITE
EXTERNAL HOLD 761 bit 4 WRITE
ERROR MESSAGES 760 bits 7 to 0 WRITE
CAUTION: The registers designated as READ ONLY must be accessed via the
control. Any attempt to write to these relays by the programmable controller
program could cause unpredictable and possibly dangerous results.
Page 17-30 10-Feb-98

The control encodes M, S, T and H codes in BCD (Binary Coded

Decimal-8421 Code). In each case, the MSB is the highest-numbered
relay.
M, S, T and H Codes
When the control executes an M, S, T or H code, the appropriate 3-digit
BCD number is transferred into the designated register. The control's
controller program sets the Finished Bit, 761/10. The control will then
reset the M, S, T or H code to zero. The programmable controller
program will reset Finished Bit 761/10.
10-Feb-98 Page 17-31

CNC Flags
Refer to Table 17-31, Mitsubishi CNC Flags. CNC flags are the register
bits set by the CNC to enable certain devices or indicate status of the
CNC or part program. The programmable controller program decodes
these flags and takes appropriate action.
Table 17-31, Mitsubishi CNC Flags

777/10 E-Stop Bit. Turned on by the CNC when no
777/9 Spindle Enable Bit. Energized when the
motor could be on.
777/8 Co-Incidence Bit. Turned on when all axes are
at their programmed target positions.
777/6 Feed Bit. Energized when the CNC is operating
in Feed (G01) Mode and not Rapid (G00) Mode.
777/5 Computer Over-Temperature Bit. Set if the
control's temperature sensor is set.
777/4 Manual Mode Flag Bit. Set by the CNC when in
777/2 Tool Finish Bit. Turned on by the system when
the Tool Finish signal has been received by the
CNC.
777/1 Tool Change Macro Ended Bit. Turned on by
the system when the selected axes of the
machine are at the Home position.
777/0 Spindle Closed Loop Bit. Turned on by the
system when Rigid Tapping requires closed-loop
control of the spindle.
776/10 CNC Run Mode Bit. Turned on by the system
when the CNC is in AUTO/Single Step and not in
HOLD.
776/9 Fixed Bin Tool Bit. Turned on by the system
776/8 Reserved for future use.
776/7 Home Position Bit. Turned on by the system
home position.
Page 17-32 10-Feb-98

PLC Flags
Refer to Table 17-32, Mitsubishi PLC Flags. PLC flags are the relays
set by the programmable controller program to indicate status of the
machine and auxiliary devices, such as power draw bars, tool changers,
spindle drives and so forth.
Table 17-32, Mitsubishi PLC Flags
761/11 Not currently used.
761/10 Finished Bit. Set when an M, S, T or H code has
been sent by the CNC. Part program execution
can now proceed.
761/9 Servo Fault Bit. Indicates that the servo
for another reason.
761/8 Feed Hold Bit. Energized if the CNC cannot be
761/7 Not currently used.
761/6 Tool Finish Bit. Turned on when the PLC has
finished the most recent Tool operation. When
777/2 is turned on, the PLC turns off 761/6.
761/5 External Stop Bit. If the PLC turns 761/5 on, all
motion will halt until 761/5 is turned off. When
761/5 is turned off, program execution resumes at
current block.
761/4 External Hold Bit. If the PLC turns 761/4 on, all
motion will halt. (Similar to pressing HOLD on the
CNC keyboard.) When 761/4 turns off and START
is pressed, the CNC continues program execution
at the current block.
761/2 Refer to 761/6.
Bits 761/11, 7, 3, 1 and 0 are not currently used.
10-Feb-98 Page 17-33

numbered from 0 to 255, to the control.
The error messages are categorized as Error codes and Warning codes.
display an error message, without halting the user program.

0 NONE
1 to 127 ERROR
127 to 255 WARNING
The displayed text is stored in the \S1200 or \S1400 subdirectory, in the
If the programmable controller program had detected this fault and set the
appropriate internal relays, this message would be displayed in the
message area of the control. Program execution halts until the fault is
corrected. ANILAM recommends that only qualified personnel attempt to
create and edit PLC program and message files.
Page 17-34 10-Feb-98

Address Table
Refer to Table 17-34, Mitsubishi Address Table. Use the table to
program the PLC. Also reference relevant Mitsubishi programming
documentation on the MEDOC program.
Table 17-34, Mitsubishi Address Table
DEVICE DESIGNATION F-40 SERIES F-60 SERIES

Inputs X 24 Available 36 Available
400 - 413 000 - 013
500 - 513 400 - 413
500 - 513
Outputs Y 16 Available 24 Available
430 - 437 030 - 037
530 - 537 430 - 437
530 - 537
Internal Registers M 128 Available
100 - 177
200 - 277
*Latch Registers M 64 Available
300 - 377
Special Use Registers M 16 Available
070 - 077
470 - 473
570 - 575
Timers (0.1 sec) T 24 Available
050 - 057
450 - 457
550 - 557
Timers (0.01sec) T 8 Available
650 - 657
*Counters (0 to 999) C 30 Available
060 - 067
460 - 467
560 - 567
*High Speed Counter C 1 Available
660 - 661 (pair)
*Step Ladder S 40 Available
600 - 647
10-Feb-98 Page 17-35

Table 17-34, Mitsubishi Address Table, continued…

Special Functions F 6 Available
670 - 675
Registers & Jump D 64 Available
700 - 777
*Indicates a battery backed-up function.
Monitor Function
During CNC operation, monitor PLC operation via the PLC Monitor.
display activates.
Refer to Figure 17-15, Mitsubishi PLC Monitor. The display is
separated into three areas. The top area displays the status of the M, S,
T and H codes, PLC and CNC flags and PLC Messages. The middle
Figure 17-15, Mitsubishi PLC Monitor
Status Area for
PLC Monitor
FlagsPLC 0000 0000 0000 Message 0 0000 0000 0000
M0 0000 0000 0000 0000 S0 0000 0000 0000 0000
T0 0000 0000 H0 0000 0000 FlagsCNC 0000 0000 0000 0000
107 0000 0000 117 0000 0000 127 0000 0000 137 0000 0000
147 0000 0000 157 0000 0000 167 0000 0000 177 0000 0000
13 0000 0000 0000 413 0000 0000 0000 513 0000 0000 0000
37 0000 0000 437 0000 0000 537 0000 0000
MITSPGC

Page 17-36 10-Feb-98

Refer to Figure 17-15, Mitsubishi PLC Monitor. The top area of the
screen describes Data Transfer Internal Relays 760 to 777. All monitored
relays are read from left to right, highest to lowest numbered relay. A "1"
in any position indicates that the relay is active.
The FlagsPLC are register bits set by the programmable controller
program to indicate status of the machine and the programmable
controller program.
Table 17-35, Mitsubishi PLC Flags
Flag Meaning
(NOT USED) 761 bit 11
FINISHED 761 bit 10
SERVO FAULT 761 bit 9
FEED HOLD 761 bit 8
TOOL CHANGER FINISHED 761 bit 6
EXTERNAL STOP 761 bit 5
EXTERNAL HOLD 761 bit 4
Figure 17-16, Mitsubishi PLC Flags and Register 761 Reference
PLC Flags (Reg. 761 Bits)
0 0 0 0 0 0 0 0 00 0 0
0
1
2
3
11 4
10 5
9 6
8 7
MIT761
Error messages are coded in Register 760 and displayed as follows:

Figure 17-17, Message Bits/Register 760 Bits Reference
Mitsubishi Message Bits (Reg. 760)
Message 0 0000 0000 0000
(MSB) 11 0 (LSB)
10 1
9 2
8 3
4
5
6
7 MIT760
M, S, T and H codes are all displayed similarly, with highest-numbered

relay (MSB) to the left, and the lowest-numbered relay (LSB) to the right.
10-Feb-98 Page 17-37


For example, T codes are displayed as shown in Figure 17-18, T Codes
and Register 772 Reference.
Figure 17-18, T Codes and Register 772 Reference
T Codes (Reg. 772 Bits)
T Codes 0 0 0 0 0 0 0 0
(MSB) 7 0 (LSB)
6 1
5 2
4 3
MIT762
Refer to Table 17-36, Mitsubishi CNC Flags. M and S codes are 12 bits
in length. For M codes, the most significant BCD digits are coded in
register 770, starting at bit 11. For S codes, the bits are coded in register
771, starting at bit 11.
The FlagsCNC are Register bits set by the CNC to enable certain
Table 17-36, Mitsubishi CNC Flags
CNC Flag Bit

E-STOP 777 bit 10
SPINDLE ENABLE 777 bit 9
CO-INCIDENCE 777 bit 8
FEED 777 bit 6
COMPUTER OVER-TEMP 777 bit 5
MANUAL MODE 777 bit 4
TOOL FINISH ACKNOWLEDGE 777 bit 2
AXES AT HOME POSITION 777 bit 1
SPINDLE CLOSED LOOP 777 bit 0
Page 17-38 10-Feb-98

Figure 17-19, CNC Flags and Internal Relay Reference

Mitsubishi CNC Flags and
Internal Relay Reference
FlagsCNC 0 0 0 0 0 0 0 0 0 0 0 0 00 0 0
11 Not Used
10 Not Used
9 Not Used
8 Not Used
7 0
6 1
5 2
4 3
MITCNC
Internal Relays Display

Refer to Figure 17-15, Mitsubishi PLC Monitor. The middle area of the
PLC Monitor shows the status of the internal relays used by the PLC
program. These are relays 100 to 177.
A "1" indicates that a relay is active. The meaning of any particular bit is
assigned by the PLC program and determined by the MEDOC program.
All internal relay displays are similarly coded. A reference number, then
the status bits, decreasing from left to right.
Figure 17-20, Internal Relay Display Reference
Internal Relay Display Reference
107 0 0 0 0 00 0 0
107 100
106 101
105 102
104 103
MIT107
Input And Output Relays Display

Refer to Figure 17-15, Mitsubishi PLC Monitor. The bottom area of the
PLC Monitor displays the status of the inputs and outputs of the
programmable controller.
A "1" indicates that an input or output is active. The meaning of each
input or output is determined by the particular machine’s PLC program.
Refer to the machine schematics and the programmable controller
program, using MEDOC.
All input and output relays are similarly coded. A reference number, then
the status bits, decreasing from left to right.
10-Feb-98 Page 17-39

Figure 17-21, Input Relay Display Example

Mitsubishi Input Relay
Display Example
413 0 0 0 0 0 0 0 0 00 0 0
400
401
402
403
413 404
412 405
411 406
410 407
MIT413
Page 17-40 10-Feb-98

SAIA Programmable Controller PCD4
CNC to Programmable Controller Connection

The 1200T/1400M CNC is connected to the SAIA Programmable
Controller via the RS-232 COM1 port on the control. Communication is
on an "on demand" basis. Data is sent only when a change of state is
necessary.
The PCD4 series PLCs have four available RS-232 ports (0 - 3). Port 0 is
on the front panel PGU interface and requires a DE-9 connector. Ports 1,
2, and 3 are screw terminal connections. Refer to the following four
tables for pinout information.
Table 17-37, SAIA Port 0 Connection
DE-9 COM1 PGU Interface DE-9

2 3
3 2
5 5
7 8
8 7
1, 4, 6, 9 N/C
1, 4, 6, 9 N/C
Table 17-38, Connection for Serial Interface Number 1
DE-9 PCD4 Terminal

1 17
2 11
3 10
4 13
5 GND
6 12
7 15
8 14
10-Feb-98 Page 17-41

Table 17-39, Serial Interfaces 2 and 3 Connection
DE-9 COM1 PCD4 Terminal Port 2 PCD4 Terminal Port 3

2 21 31
3 20 30
5 GND GND
7 25 35
8 24 34
1, 4, 6, 9
N/C
Table 17-40, SAIA Communications Parameters
Bi-Directional, Full-Duplex
Baud 9600
Data bits 7
Stop bit 1
CRC 1 Byte
Parity Even
Refer to Table 17-40, SAIA Communications Parameters.
Each serial channel must be initialized via Assign Serial Interface (SASI).
This will configure the operating mode and baud for each channel.
Up to four serial channels are possible. Each channel can be run in a
different mode and different speed.
Example: “UART:9600,7,E,1;MODE:SD0;DIAG:F1000,R4000;”
The above example is the command to initiate RS-232 communication
with the CNC. Refer to SAIA Reference guide, Series PCD, edition
26/733 E1 for use of other RS-232 formats.
Internal Registers
The 1200T/1400M CNC exchanges information with the programmable
controller by writing to and reading from its internal registers. Data
transfer is handled via Registers 4080 to 4095.
Page 17-42 10-Feb-98

Designation of Internal Registers

Refer to Table 17-41, SAIA Internal Registers for designation of the
internal registers of the SAIA PCD4.
Table 17-41, SAIA Internal Registers
Code Or Signal Register/Bit(s) Type

M-CODES 4088/0-15 READ ONLY
S-CODES 4089/0-15 READ ONLY
T-CODES 4090/0-15 READ ONLY
H-CODES 4091/0-15 READ ONLY
E-STOP 4095/0 READ ONLY

SPINDLE ENABLE 4095/1 READ ONLY
CO-INCIDENCE 4095/2 READ ONLY
FEED 4095/3 READ ONLY
COMPUTER OVER TEMPERATURE 4095/4 READ ONLY
MANUAL MODE 4095/5 READ ONLY
TOOL CHANGER FINISHED REC'D 4095/6 READ ONLY
TOOL CHANGE MACRO END 4095/7 READ ONLY
SPINDLE DRIVE CLOSED LOOP 4095/8 READ ONLY
RUN/SINGLE STEP 4095/9 READ ONLY
KEEP CURRENT TOOL IN SAME BIN 4095/10 READ ONLY
FUNCTION ACKNOWLEDGED 4095/11 READ ONLY
AXES AT HOME POSITION 4095/12 READ ONLY
FINISHED 4081/0 WRITE

SERVO FAULT 4081/1 WRITE
FEED HOLD 4081/2 WRITE
TOOL CHANGER FINISHED 4081/3 WRITE
EXTERNAL STOP 4081/4 WRITE
EXTERNAL HOLD 4081/5 WRITE
ERROR MESSAGES 4080/0-7 WRITE

FUNCTION 4082/0-15 WRITE
Access READ ONLY relays only via the CNC. Any attempt to write to
these relays via the programmable controller program could produce
The control encodes M, S, T and H codes in BCD (Binary Coded Decimal
- 8421 Code). M Codes are for Miscellaneous or Machine functions.
10-Feb-98 Page 17-43

S Codes are for Spindle functions. T Codes are for Tool functions. H
Codes are pre-tool codes for use with automatic tool changer systems.
M, S, T and H Codes
number is transferred to the designated register. The control's execution
of the part program will then dwell until the programmable controller
program sets Finished bit 4081/0. The CNC resets the M, S, T or H code
to zero and the programmable controller program resets Finished Bit
4081/0.
Page 17-44 10-Feb-98

CNC Flags
Refer to Table 17-42, SAIA CNC Flags. CNC flags are the bits set by
the CNC to enable certain devices or to indicate the status of the CNC or
part program. The programmable controller program decodes these flags
and takes appropriate action.
Table 17-42, SAIA CNC Flags

4095/0 E-Stop Flag. Turned on by the CNC when no
4095/1 Spindle Enable Flag. Energized when the
motor could be on.
4095/2 Co-Incidence Flag. Turned on when all axes
4095/3 Feed Flag. Energized when the CNC is
operating in Feed (G01) Mode and not Rapid
(G00) Mode.
4095/4 Computer Over-Temperature Flag. Set if the
control's temperature sensor is set.
4095/5 Manual Mode Flag. Set by the CNC when in
4095/6 Tool Finish Flag. Turned on by the system
when the Tool Finish signal has been received by
the CNC.
4095/7 Tool Macro Ended Flag. Turned on by the
system when the Tool Change Macro has ended.
4095/8 Spindle Closed Loop Flag. Turned on by the
spindle control.
4095/9 CNC Run Mode Flag. Turned on by the system
when the CNC is in AUTO/Single Step and not in
HOLD.
4095/10 Fixed Bin Tool Flag. Turned on by the system
4095/11 Function Request Acknowledge Bit. Turned
on by the system when the Function Request
Number has been received and acted upon by
the control.
4095/12 Home Position Bit. Turned on by the system
Home position.
10-Feb-98 Page 17-45

PLC Flags
Refer to Table 17-43, SAIA PLC Flags. PLC flags are the relays set by
the programmable controller program to indicate the status of the
spindle drives, etc.
Table 17-43, SAIA PLC Flags
4081/0 Finish Flag. Set when an M, S, T or H code has
been sent by the CNC and part program execution
can proceed.
The 2 or 4-digit BCD number is transferred as 8 or
16 bits into the register(s). The part program will
then dwell until 4081/0 is turned on by the PLC
program. The system will reset M, S, T or H to
zero and the part program will proceed. The PLC
program then resets 4081/0.
4081/1 Servo Fault Flag. Indicates that the servo
for another reason.
4081/2 Feed Hold Flag. Energized if the CNC cannot be
4081/3 and 6 Tool Finish Flag. When the programmable
controller has finished the most recent Tool
operation, 4081/3 is turned on. When 4095/6 is
turned on by the control, 4081/3 is turned off by
the programmable controller.
4081/4 External Stop Flag. If the programmable
controller turns 4081/4 on, all motion halts. When
249/4 turnsoff, program execution continues at the
current block.
4081/5 External Hold Flag. If the programmable
controller turns 4081/5 on, all motion will halt, just
as if HOLD on the CNC keyboard were pressed.
After 4081/5 turns off and the START key is
pressed, the current block will continue. If the
Function Request Number area is other than all
zeros, the corresponding function will be executed
by the CNC.
4095/11 Function Request Acknowledge Flag. When
the function is completed, the CNC turns on Bit
4095/11. The programmable controller program
then sets the function number to zero. The CNC
will then turn bit 4095/11 off.
Page 17-46 10-Feb-98

unlike the M, S, T and H codes, are not coded in BCD, but normal binary.
The MSB of the Error/Warning displayed at the left and the eight required
bits of binary code allow 256 different messages.
Refer to Table 17-44, Error Message Example.
Table 17-44, Error Message Example
MSB LSB
Register 7 6 5 4 3 2 1 0
4080 bit
Equals 128 64 32 16 8 4 2 1
Message 0+ 64 + 0 + 16 + 0+ 4+ 2+ 0= 86

0 NONE
1 to 127 ERROR
127 to 255 WARNING
relays. The associated message is displayed on the message area of the
CNC and program execution stops until the fault is corrected.
ANILAM recommends that only qualified personnel attempt to create or
edit PLC programs or message files.
10-Feb-98 Page 17-47

Monitor Function
You can monitor the PLC during CNC operation via the PLC Monitor.
display activates.
Refer to Figure 17-22, SAIA PLC Monitor. The display is separated into
three areas. The top area displays the status of the M, S, T and H codes,
PLC and CNC flags and PLC Messages. The middle area shows the
status of the internal relays. The bottom area shows the status of the
programmable controller inputs and outputs.
Status Area for

PLC Monitor
M0 0000 0000 0000 0000 S0 0000 0000 0000 0000
T0 0000 0000 H0 0000 0000 FlagsCNC 0000 0000 0000 0000
F0 0000 0000 F8 0000 0000 F16 0000 0000 F24 0000 0000
F32 0000 0000 F40 0000 0000 F48 0000 0000 F56 0000 0000
F64 0000 0000 F72 0000 0000 F80 0000 0000 F88 0000 0000
IO0 0000 0000 IO8 0000 0000 IO16 0000 0000 IO24 0000 0000
IO32 0000 0000 IO40 0000 0000 IO48 0000 0000 IO56 0000 0000
SAIAPGC
Figure 17-22, SAIA PLC Monitor
Page 17-48 10-Feb-98

Data Transfer Internal Registers Display

Refer to Figure 17-22, SAIA PLC Monitor. The top area shows the Data
Transfer register 4081. A “1” in any position indicates that a bit is active.
Refer to Table 17-46, SAIA PLC Flags. The FlagsPLC are internal
register bits set by the programmable controller program to monitor
machine and PLC status.
Table 17-46, SAIA PLC Flags
Flag Bit
FINISHED 4081/0
SERVO FAULT 4081/1
FEED HOLD 4081/2
TOOL CHANGER FINISHED 4081/3
EXTERNAL STOP 4081/4
EXTERNAL HOLD 4081/5
Bits 6 and 7 are not currently used.
Figure 17-23, PLC Flags/4081 Bits Reference
SAIA PLC Flags (4081 Bits)
FlagsPLC 0 0 0 0 00 0 0
0 7
1 6
2 5
3 4
SAIA4081
Error messages are coded in Register 4080/0 to 7. Refer to Figure 17-

24, Message Bits Reference.
Figure 17-24, Message Bits Reference
SAIA Message Bits Reference (Bit 4080)
Message 0 0 0 0 0 00 0 0
(MSB) 7 0 (LSB)
6 1
5 2
4 3
SAIA4080
Refer to Figure 17-25, Tool Code Bits Reference. M, S, T and H codes

are all displayed similarly, with the most significant bit to the left, and the
least significant bit to the right.
10-Feb-98 Page 17-49

Figure 17-25, Tool Code Bits Reference

SAIA Message Bits Reference (Bit 4090)
T0 0 0 0 0 00 0 0
(MSB) 7 0 (LSB)
6 1
5 2
4 3
SAIA4090
Refer to Table 17-47, SAIA CNC Flags. The FlagsCNC are internal
register bits set by the CNC to enable certain devices or indicate status of
the CNC or part program.
Table 17-47, SAIA CNC Flags
Flag Bit
E-STOP 4095/0
SPINDLE ENABLE 4095/1
CO-INCIDENCE 4095/2
FEED 4095/3
COMPUTER OVER-TEMP. 4095/4
MANUAL MODE SELECT 4095/5
TOOL CHANGER FINISHED REC’D 4095/6
TOOL CHANGE MACRO END 4095/7
SPINDLE DRIVE CLOSED LOOP 4095/8
RUN/SINGLE STEP 4095/9
KEEP CURRENT TOOL IN SAME BIN 4095/10
FUNCTION ACKNOWLEDGED 4095/11
AXES AT HOME POSITION 4095/12
Bits 13 to 15 are not currently used.
Figure 17-26, Flags CNC Bits Relay Reference
CNC Flags (4095 Bit)
FlagsCNC 0 0 0 0 0 0 0 0 0 0 0 0 00 0 0
0 15
1 14
2 13
3 12
4 11
5 10
6 9
7 8
SAIACNC
Page 17-50 10-Feb-98

Internal Registers Display

Refer to Figure 17-22, SAIA PLC Monitor. The middle area shows the
status of the bit registers used by the programmable controller program.
A “1” indicates that a relay is active. The meaning of any particular bit is
assigned by the programmable controller program and can be determined
by using the SAIA APS software. Refer to SAIA Programming
Documentation for details.
Refer to Figure 17-27, Bit Register Display Example. All internal relay
displays are similarly coded. A reference number is listed first, followed
by the status bits, increasing from left to right.
Figure 17-27, Bit Register Display Example
SAIA Bit Register
Display Example (F8)
F8 0 0 0 0 0 0 0 0
8 15
9 14
10 13
11 12
SAIAF8
Input/Output Registers Display

Refer to Figure 17-22, SAIA PLC Monitor. The bottom area of the PLC
Monitor displays the status of the inputs and outputs of the programmable
controller. A “1” indicates that a particular input or output is active. The
meaning of each input or output depends on the needs of a particular
machine.
This information is also available from Machine schematics or the
programmable controller program itself, using the SAIA PCD4
programming software.
All input and output registers are similarly coded. First a reference
number is listed, followed by the status bits, increasing from left to right.
Figure 17-28, I/O Display Example
SAIA Bit Register
Display Example (IO8)
IO 8 0 0 0 0 0 0 0 0
8 15
9 14
10 13
11 12
SAIAIO8
10-Feb-98 Page 17-51

Omron CQM1 Programmable Controller Interface Specifications

This section defines the interface between the Omron CQM1
Programmable Logic Controller of the 1200T/1400M and the main CPU.
Communication is “on demand”. Data is sent only when a change of
state is necessary.
Refer to Figure 17-29, Omron Communications Parameters.
Figure 17-29, Omron Communications Parameters
Bi-Directional, Full-Duplex
Baud 9600
Data bits 7
Stop bit 2
Parity Even
CRC 1 byte
(Commands and responses are as described in the Omron CQM1
Programmable Controller Programming Manual, Cat. No. W228-E1-2.)
Control and Programmable Controller Connection

The Omron CQM1 Programmable Controller connects to the CNC via the
COM1 RS-232 port on the CNC and the DE-9 CQM 1 port on the
Controller. Refer to Table 17-48, Omron PLC to 1200T/1400M
Interconnection.
Communication is “on demand”. Data is sent only when a change is
necessary.
Table 17-48, Omron PLC to 1200T/1400M Interconnection
1200T/1400M DE-9 COM1 Omron CQM1 DE-9
Not Connected. 1 (shield)
2 2
3 3
5 9
1,4, 6, 7, 8, 9 Not Connected 4, 5, 6, 7, 8 Not connected
Internal Relays
The CNC exchanges information with the programmable controller by writing
to and reading from its internal registers. When you program the PLC, handle
these registers as though they were “internal” relays. Internal relays are not
directly connected to output devices.
The data transfer relays are 1600 to 2215.
Page 17-52 10-Feb-98

Designation of Internal Relays

Refer to Table 17-49, Omron Internal Relays. The table provides the
internal relays used for communication between the programmable
controller and the 1200T/1400M controls.
Table 17-49, Omron Internal Relays
Code Or Signal Channel (Relays) Type

M-CODES Channel 16 (1600 to 1615) READ ONLY
S-CODES Channel 17 (1700 to 1715) READ ONLY
T-CODES Channel 18: Lower Byte READ ONLY
(1800 to 1807)
H-CODES Channel 18: Upper Byte READ ONLY
(1808 to 1815)
E-STOP Channel 19 (1915) READ ONLY

SPINDLE ENABLE Channel 19 (1914) READ ONLY
CO-INCIDENCE Channel 19 (1913) READ ONLY
FEED Channel 19 (1912) READ ONLY
COMPUTER OVER-TEMPERATURE Channel 19 (1911) READ ONLY
MANUAL MODE SELECT Channel 19 (1910) READ ONLY
TOOL CHANGER FINISHED REC'D Channel 19 (1909) READ ONLY
TOOL CHANGE MACRO END Channel 19 (1908) READ ONLY
SPINDLE DRIVE CLOSED LOOP Channel 19 (1907) READ ONLY
RUN/SINGLE STEP Channel 19 (1906) READ ONLY
KEEP CURRENT TOOL IN SAME BIN Channel 19 (1905) READ ONLY
FUNCTION ACKNOWLEDGE BIT Channel 19 (1904) READ ONLY
AXES AT HOME POSITION Channel 19 (1903) READ ONLY
FINISHED Channel 20 (2015) WRITE

SERVO FAULT Channel 20 (2014) WRITE
FEED HOLD Channel 20 (2013) WRITE
TOOL CHANGER FINISHED Channel 20 (2012) WRITE
EXTERNAL STOP Channel 20 (2011) WRITE
EXTERNAL HOLD Channel 20 (2010) WRITE
ERROR MESSAGES Channel 21: Lower Byte WRITE

(2100 to 2107)
FUNCTION NUMBER AREA Channel 22 WRITE
(2200 to 2215)
Access the READ ONLY relays only via the CNC. Do not attempt to write
to these relays via the programmable controller. To do so will cause
unpredictable results.
10-Feb-98 Page 17-53

The CNC encodes M, S, T and H in BCD (Binary Coded Decimal-8421

Code). In each case, the MSB is the highest-numbered relay.
M, S, T and H Codes
number is transferred into the designated relay group. The control's
controller program sets the Finished relay (Channel 20, Relay 2015). The
CNC then resets the M, S, T or H code to zero. The PLC program will
reset the Finished Relay (Channel 20, Relay 2015).
Page 17-54 10-Feb-98

CNC Flags
Refer to Table 17-50, Omron CNC Flags. CNC flags are the relays set
by the CNC to enable certain devices or indicate status of the CNC or
part program. The programmable controller program decodes these flags
and takes appropriate action.
Table 17-50, Omron CNC Flags

1915 E-Stop Relay. Turned on by the CNC when no
1914 Spindle Enable Relay. Energized when the
motor could be on.
1913 Co-Incidence Relay. Turned on when all axes
1912 Feed Relay. Energized when the CNC is
operating in Feed (G01) Mode.
1911 The Computer Over-Temperature Relay. Set if
1910 Manual Mode Flag Relay. Set by the CNC when
in Manual Mode operation.
1909 Tool Finish Acknowledge Relay. Turned on by
the system when Tool Finish signal has been
received by the CNC.
1908 Tool Change Macro Ended Relay. Turned on
by the system when the Tool Change Macro has
ended.
1907 Spindle Closed Loop Relay. Turned on by the
spindle control.
1906 CNC Run Mode Relay. Turned on by the
system when the CNC is in AUTO/Single-Step
and not in HOLD.
1905 Fixed Bin Tool Relay. Turned on by the system
1904 Function Acknowledge Relay. When the
Function Request Number has been received
and acted upon, Relay 1904 will be turned on by
the system.
1903 Home Position Relay. Turned on by the system
Home position.
10-Feb-98 Page 17-55

Omron PLC Flags

Refer to Table 17-51, Omron PLC Flags. PLC flags are the relays set
by the programmable controller program to indicate the status of the
spindle drives, etc.
Table 17-51, Omron PLC Flags
2015 Finish Relay. Set by the programmable
controller's program when an M, S, T or H code
has been sent by the CNC and part program
execution can now proceed.
2014 Servo Fault Relay. Indicates that the servo
for some other reason.
2013 Feed Hold Relay. Energized if the CNC cannot
2012 Tool Change Finish Relay. When the
programmable controller has finished the most
recent Tool operation, Relay 777 turns on. When
the CNC turns on Relay 758, the PLC turns off
Relay 777.
2011 External Stop Bit. If the programmable controller
turns Relay 776 on, all motion halts until Relay
776 turns off. When it is off, program execution
resumes at the current block.
2010 External Hold Bit. If the programmable controller
turns Relay 775 on, all motion will halt. (Similar to
pressing HOLD on the CNC keyboard.) After Relay
775 turns off and the START key is pressed, the
current block will continue.
Channel 22 (Relays 2200 to 2215) is the function number area. If the
Function Request Number area is other than all zeros, the CNC executes
the corresponding function. When the function is completed, the CNC
turn on Relay 1904. The PLC program will set the function number to
zero. The CNC will then turn off Relay 1904.
binary.
The MSB of the Error/Warning message area is Internal Relay 2100. The
LSB is 2107. This provides the required eight bits of binary code for 256
different messages.
Page 17-56 10-Feb-98

Refer to Table 17-52, Message 86 Example.

Table 17-52, Message 86 Example
MSB LSB Message
Relay 2107 2106 2105 2104 2103 2102 2101 2100
Equals 128 64 32 16 8 4 2 1
Message 0+ 64 + 0 + 16 + 0+ 4+ 2+ 0= 86
display an error message without halting user program execution.

0 NONE
1 to 127 ERROR
127 to 255 WARNING
Monitor Function
Monitor PLC operation during CNC operation via the PLC Monitor.
display activates.
10-Feb-98 Page 17-57

Refer to Figure 17-30, Omron PLC Monitor. The display is separated

into three areas. The top area displays the status of the M, S, T and H
codes, PLC and CNC flags and PLC Messages. The middle area shows
the status of the internal relays. The bottom area shows the status of the
programmable controller inputs and outputs.
Figure 17-30, Omron PLC Monitor
Status Area for
PLC Monitor
M0 0000 0000 0000 0000 S0 0000 0000 0000 0000
T0 0000 0000 H0 0000 0000 FlagsCNC 0000 0000 0000 0000
2315 0000 0000 2307 0000 0000 2215 0000 0000 2207 0000 0000
2515 0000 0000 2507 0000 0000 2415 0000 0000 2407 0000 0000
2715 0000 0000 2707 0000 0000 2615 0000 0000 2607 0000 0000
115 0000 0000 107 0000 0000 15 0000 0000 7 0000 0000
10115 0000 0000 10107 0000 0000 10015 0000 0000 100007 0000 0000
OMRONPGC

Data Transfer Internal Relays Display

Refer to Figure 17-31, PLC Flags and Internal Relay Reference. The
top area of the screen describes Data Transfer internal relays, 1600 to
2215. All monitored relays are read from left to right, highest to lowest
numbered relay. A "1" in any position indicates that the relay is active.
Page 17-58 10-Feb-98

Figure 17-31, PLC Flags and Internal Relay Reference

OMRON PLC Flags
FlagsPLC 0 0 0 0 0 0 0 0
2015 Not Used
2014 Not Used
2013 2010
2012 2011
OMRONPLC
Error messages are coded in internal relays 2100 to 2107.

Figure 17-32, Message Bits and Internal Relay Reference
OMRON Message
Message 0 0 0 0 0 00 0 0
(MSB) 2107 2100 (LSB)
2106 2101
2105 2102
2104 2103
OMRONM
M, S, T and H codes are all displayed similarly, with highest-numbered

relay (MSB) to the left, lowest-numbered relay (LSB) to the right.
For example, the T codes are displayed as shown in Figure 17-33, T
Codes and Internal Relay Reference.
Figure 17-33, T Codes and Internal Relay Reference
OMRON T Codes
T0 0 0 0 0 00 0 0
(MSB) 1807 1800 (LSB)
1806 1801
1805 1802
1804 1803
OMRONT
10-Feb-98 Page 17-59

Refer to Table 17-54, Omron (CQM 1 or PLC) CNC Flags. The CQM 1
or PLC FlagsCNC are internal relays set by the CNC to enable certain
Table 17-54, Omron (CQM 1 or PLC) CNC Flags
Flag Meaning
1915 EMERGENCY STOP
1914 SPINDLE ENABLE
1913 CO-INCIDENCE
1912 FEED
1911 COMPUTER OVER-TEMPERATURE
1910 MANUAL MODE
1909 TOOL CHANGER FINISHED RECEIVED
1908 TOOL CHANGE MACRO END
1907 SPINDLE DRIVE CLOSED LOOP
1906 RUN/SINGLE STEP
1905 KEEP CURRENT TOOL IN SAME BIN
1904 FUNCTION ACKNOWLEDGE BIT
1903 AXES AT HOME POSITION
1902 to 1900 are currently not used.
CNC Flags (4095 Bit)
FlagsCNC 0 0 0 0 0 0 0 0 0 0 0 0 00 0 0
1915 Not Used
1914 Not Used
1913 Not Used
1912 1903
1911 1904
1910 1905
1909 1906
1908 1907
OMRONCNC
Figure 17-34, Omron CNC Flags (Bit 4095)
Page 17-60 10-Feb-98

70000322 - Integral Programmable Intelligence User’s Guide
Section 18 - Integral Programmable Intelligence User’s Guide

Description and Operation
Traditionally, inputs and outputs between the CNC and the machine
required numerous relays with which to switch signals between the CNC
and the hardware. The relay logic was hardwired and depicted with
ladder diagrams. These relays consumed power, were subject to failure
and required hardware reconfiguration to change.
More recently, the programmable controller, an add-on device, replaced
relays with solid state circuitry. The programmable controller design
solved the problems associated with relays. It generated a faster
response, was programmable and more flexible. However, it was still a
physical add-on; it required cabinet space and drew power.
IPI Description
Integral Programmable Intelligence (IPI) is a software package that runs
in the background of the CNC. IPI monitors inputs, from the control panel
and machine switches, through the standard I/O system. When
conditions are correct, the IPI directs the I/O system to generate the
appropriate output. Hence, the term “conditional logic.”
Because IPI is integral to the CNC, it requires no additional hardware
space or power and is less prone to RS-232 failures. IPI is compatible
with the CNC ’s existing I/O Board, but does require you to install an
inexpensive software option.
Most inputs and outputs to IPI are digital and can be thought of as
TRUE/FALSE, ACTIVE/INACTIVE, ON/OFF. The combination or sequence of
events required to generate an output is determined by the program
loaded at machine setup.
The IPI instruction set enables implementation of basic Boolean
functions, timed functions, sequenced functions and conditional
expressions. This results in a high degree of versatility.
Later machine modifications require changes to the program only. The
program is written with the same text Editor used to write G-code part
programs for the CNC. Ladder diagrams are easily translated into IPI
code.
10-Feb-98 Page 18-1

Software
IPI consists of the following programs:
Editor Accessed from the setup menu, it is the same
Editor used for writing machine part programs.
Loader A compiler that translates IPI into binary machine
code.
Interpreter The portion of the package that runs in the
background to monitor and switch the input/output
bus.
I/O Board
1200T and 1400M I/O hardware consists of the I/O Board and optional
I/O Expansion Board. These units act as a central switch that accepts
inputs and generates outputs as required.
Inputs
Format Xn
Inputs to the IPI are indicated with an X, followed by the input number
(X0, X1…). All inputs have at least one additional permanent label that
reflects the nature of the input. Inputs are identified by the physical
location of the input to the I/O Board. The condition or state of each input
(ON/OFF, TRUE/FALSE) is stored in a state memory register by the IPI using
the same designation. Not all inputs are externally wired to the I/O Board.
Some are received via the CNC . Likewise, not all inputs interpret an
active or true statement the same way electrically.
Table 18-1, Input Type Descriptions
Input Description
TTL Inputs Designated X0 - X7, X28 and X29. These inputs
are received by the CNC directly from the
operation panel.
Vector Limits Designated X8 - X15. These inputs, if used, are
generated from travel limit switches. A true or
active vector limit input is the absence of a 24VDC
signal.
General Purpose Designated X16 - X27. Located on the main I/O
Inputs Board, these 24VDC inputs are assigned to
locations in the system, as required.
General Purpose Designated X32 - X47. Located on the optional I/O
Expansion Inputs Expansion Board. These 24VDC inputs are
assigned to locations in the system, as required.
Page 18-2 10-Feb-98

Table 18-2, Input Designators and Locations
X Designator Type Input Assigned Labels Physical Location

X0 TTL TIN0 Signals originate in
X1 TTL TIN1 external manual
X2 TTL TIN2 panel, if used.
X3 TTL TIN3 Inputs go directly
X4 TTL TIN4 to manual panel
X5 TTL TIN5 and are sent to
X6 TTL TIN6 CNC via RS 232.
X7 TTL TIN7
X8 Vector Limit VLIM0 D3 I/O Board, P4, Pin 7
PLIM0
NLIM0
PLIM1
NLIM1
PLIM2
NLIM2
PLIM3
NLIM3
X16 Gen. Purpose IN0 D3 I/O Board, P4, Pin 21
10-Feb-98 Page 18-3

X Designator Type Input Assigned Labels Physical Location

X28 TTL TIN8 Same as for X0 - X7.
X29 TTL TIN9
X30 Reserved N/A N/A
X31 Reserved N/A N/A
X32 Expansion Gen. Purp. XIN0 I/O Exp. Bd. P3, Pin 1
Outputs
Format Yn
Outputs are indicated with a Y, followed by the output number (Y0, Y1…)
The outputs are also identified by their physical locations on the I/O
board. All outputs have at least one additional permanent label. IPI
output states are stored in output memory registers, identified by the Y
designator of the same name. The output states, stored in the Y
registers, are used to generate electrical signals once every IPI
computation cycle. The outputs electrical signals are actually generated
by the I/O Board. All outputs represent a logical true or active condition
by an electrical 24V common (24V ground) signal.
Page 18-4 10-Feb-98

Table 18-3, Output Designators and Locations
Y Designator Assigned Labels Physical Location

Y0 OUT0 D3 I/O Board, P4, Pin 18
Y3 OUT3 D3 I/O Board, P4, Pin15
Y8 OUT8 These outputs are not
Y9 OUT9 available for use
Y10 OUT10 with the current I/O
Y11 OUT11 configuration.
Y12 OUT12
Y13 OUT13
Y14 OUT14
Y15 OUT15
Y16 XOUT0 I/O Expansion Board P3, Pin 10
10-Feb-98 Page 18-5

The IPI Cycle

IPI operation cycle is detailed below:
1. Upon activation, IPI clears all memory registers and resets all internal
timers.
2. It executes any initialization instructions that appear before the
program START.
3. At START, IPI samples all inputs and saves the states in the memory
registers. The values stored in the input registers are assessed by
the interpreter during the current cycle. This prevents interruption of a
cycle in progress by a sudden change.
4. As the interpreter runs, it determines the states of the outputs and
stores these states in the output memory registers.
5. At program END, the interpreter finishes. The I/O system is instructed
to generate outputs, as indicated by the states stored in the output
registers.
6. IPI cycles back to START. All old data remain in memory, unless
updated from input state changes that occurred since the last
sampling cycle.
Memory Registers
IPI uses two types of memory registers: Boolean registers that only store
TRUE/FALSE states and numeric registers that hold integer values. The
numeric memory registers enable IPI to perform timing, counting and
comparison operations.
Inputs and outputs are IPI elements which use similarly designated
registers. Additional types of memory registers include:
− Multifunctional Elements
− Timers
− Sequence Elements
Page 18-6 10-Feb-98

Refer to Table 18-4, Register Capabilities.

− Numeric values greater than zero become TRUE in a state-only register.
− A numeric value of zero become FALSE in a state-only register.
− A state value of TRUE becomes a 1 in a numeric register.
− A state value of FALSE becomes a 0 in a numeric register.
Table 18-4, Register Capabilities
Register Type Numeric State Values

Values
Inputs - X Identifiers X
Outputs - Y Identifiers X
Sequence Outputs - S Identifiers X
Multifunction Registers - M Identifiers X X
Timer Registers - T Identifiers X X
Multifunction Registers
IMPORTANT NOTE: Multifunction registers M0 - M47 have reserved,
specialized functions. The IPI programmer has access to multifunction
registers M48 - M255 for general purpose use. Earlier versions of IPI
allowed general purpose use of registers M1 - M47. IPI programs that
use M41 - M47 for general purposes must be re-written without using
these registers.
Format Mn, n is a number 0 to 255
Multifunction memory registers are general purpose registers that have
several uses. Multifunction registers are assigned M designators. There
are 256 multifunction registers available, numbered M0 - M255.
Multifunction registers M0 - M47 are reserved. Multifunction registers
M48 - M255 are available for the intermediate storage of a value or state.
The value stored in a multifunction register can be used in an instruction
like any other parameter. Most reserved multifunction registers also have
a permanently assigned label. Multifunction registers have no permanent
board address. To output the value stored in a multifunction register, the
value must be sent to an IPI output.
Multifunction registers can store Boolean true/false states or numeric
values.
10-Feb-98 Page 18-7

Refer to Table 18-5, Assigned Read Only Multifunction Registers. M0

- M31 are generated by the CNC and can be considered CNC inputs to
the IPI. These same registers are used to generate readings on the
display. The information stored in these registers is available on a Read
Only basis.
Table 18-5, Assigned Read Only Multifunction Registers
M Designator Assigned Label Purpose
M0 SPINDLE True when not probing and spindle may run.
M1 POSN True when CNC is in position.
M2 EXP Distribution ONLY: True if I/O Expansion Board is
present.
M3 PWRFAIL True if +24V is on.
M4 FEED Feed mode flag.
M5 SVOFF True if servo is off.
M6 ESTOP True if E-Stop is out.
M7 DSTOP True if Dead-Stop is closed.
M8 CARRY Carry Flag/Register.
M9 TRUE Always ON.
M10 FALSE Always OFF.
M11 OVTEMP True if computer over temp.
M12 --- Reserved.
M13 HOME True when Z or XYZ at home.
M14 SPLOOP True when spindle in closed loop mode.
M15 RUN True when CNC in RUN mode.
M16 MAN True when CNC in MANUAL mode.
M17 MFLAG True when new M code is received.
M18 MCODE M code number.
M19 SFLAG True when new spindle code is received.
M20 SCODE Spindle number.
M21 TFLAG True when new tool number is received.
M22 TCODE Tool number.
M23 HFLAG True when new H code number is received (tool pre-set
code).
M24 HCODE H code number.
M25 --- Reserved.
M26 TMACEND Tool Macro end flag.
M27 - M31 --- Reserved.
Page 18-8 10-Feb-98

Refer to table Table 18-6, Assigned Read/Write Multifunction

Registers. M32 - M47 are generated by the IPI and monitored internally
by the CNC. These registers can be considered inputs from the IPI to the
CNC. This allows the IPI program to output to the CNC and to generate
on-screen messages. These are read and write registers.
Table 18-6, Assigned Read/Write Multifunction Registers
M32 XMIT True when IPI accepts CNC data.
M33 FINISH Set true to signal M or S Finish. When M or S function is
cleared, reset to false.
M34 SVOFLT Set true to signal a servo fault.
M35 FHOLD Set True to inhibit feed moves. Rapid moves will
execute normally.
M36 TCHGFIN Tool changer finished bit.
M37 XSTOP Set true to stop CNC motion. Start button will resume
motion.
M38 XHOLD Set true to hold CNC motion. Set to false to resume
motion.
M39 MSG Set any non-zero number to display message.
M40 --- Reserved.
M41 SPDAN0V When SPDAN0V M41 is TRUE (non-zero), the IPI will
disable the analog output to the spindle. When M41 is
FALSE (zero), the analog output to the spindle is not
affected.
M42 MREGRAN Used to cycle the multifunction registers displayed on the
IPI monitor. Allows the user to view M0-M256 by
selecting a range of registers to be displayed (refer to
Table 18-7, Changing the Multifunction Registers
Displayed on the IPI Monitor).
M43 SPDGRCH When M43 is in the range of 40-44, the CNC will enable
the corresponding gear range. The gear range specified
is only used for calculating a proportional spindle analog
output voltage. When M43 is outside of the range 40-44,
the CNC ignores this register.
M44 CNCERR Used by the CNC to pass error conditions to the IPI.
M45 IORESET Used to pass the state of the I/O Board to the IPI.
Choices:
0 All OK
1 Reset Detected
2 Reset OK
M46 KEYMASK Used by the IPI program to mask out certain keys from
the operator.
M47 --- Reserved.
10-Feb-98 Page 18-9

M41-SPDAN0V
When M41-SPDAN0V is TRUE (non-zero), IPI will disable the analog
output to the spindle. When M41 is FALSE (zero), the analog output to the
spindle is not affected.
For example, if the spindle is running at 1000 RPM and M41 is set to
TRUE, the corresponding voltage output to the spindle will be 0V. Once
M41 is set to FALSE (zero), the corresponding output to the spindle will be
the same as it was before the M41 was set to TRUE. If an S-word is used
before setting M41 to FALSE, the analog output will correspond to the
newly-programmed RPM.
M42-MREGRAN
M42-MREGRAN is a bitmask that enables the user to cycle through the
range of multifunction registers displayed on the IPI monitor. Currently,
only M48-M63 are displayed on the IPI monitor. M42 allows the user to
change the range of displayed registers. Only sixteen registers can be
displayed at once. The available ranges are listed in Table 18-7,
Changing the Multifunction Registers Displayed on the IPI Monitor.
Table 18-7, Changing the Multifunction Registers Displayed on the IPI Monitor
Range Mreg Bitmask Bitmask (Binary)

No. Range (Hex)
1 M0-M15 0001h 0000000000000001
2 M16-M31 0002h 0000000000000010
3 M32-M47 0004h 0000000000000100
4 M48-M63 0008h 0000000000001000
5 M64-M79 0010h 0000000000010000
6 M80-M95 0020h 0000000000100000
7 M96-M111 0040h 0000000001000000
8 M112-M127 0080h 0000000010000000
9 M128-M143 0100h 0000000100000000
10 M144-M159 0200h 0000001000000000
11 M160-M175 0400h 0000010000000000
12 M176-M191 0800h 0000100000000000
13 M192-M207 1000h 0001000000000000
14 M208-M223 2000h 0010000000000000
15 M224-M239 4000h 0100000000000000
16 M240-M255 8000h 1000000000000000
Page 18-10 10-Feb-98

Reserved Multifunction Registers

To display multiple ranges simultaneously, combine the necessary
hexadecimal bitmask values. When more than one range is displayed, the
IPI monitor screen flips between ranges every five seconds.
For example, to display ranges 1 and 2, combine the Bitmask values for
Range 1 (0001h) and Range 2 (0002h) to get 0x0003 (MOV 00003H
MREGRAN).
The default value of M42 is 0008h, which displays Range 4 (M48-M63).
To display all ranges set M42 to FFFFh (MOV FFFFH MREGRAN).
M43-SPDGRCH
Set M43-SPDGRCH in the range of 40-44 to enable the corresponding
gear range. The specified range is used to calculate a proportional
spindle analog output voltage only. When M43 is outside the range 40-
44, the CNC ignores this register.
When M43 is not zero, a '1' is displayed on the monitor screen, on the last
bit of the PLC flags section. To see the actual value, the proper M-
register range (Range 3, 0004h) must be displayed, using M42-
MREGRAN
M44-CNCERR
The CNC uses M44-CNCERR to pass error conditions to IPI. The CNC
can only pass one error (Set 1-4) at a time to IPI. To enable the CNC to
pass another error, the IPI program must clear M44 (set to zero).
Table 18-8, Error Condition Values
Condition Value
File Read Error 1
File Write Error 2
Checksum Error 3
New File 4
10-Feb-98 Page 18-11

M45-IORESET
The CNC uses M45-IORESET to pass the state of the I/O Board to IPI.
Refer to Table 18-9, IORESET Condition Range for valid values.
Table 18-9, IORESET Condition Range
Condition Value
All OK 0
Reset Detected: a reset condition on the I/O 1
Board has been detected.
Reset OK: I/O Board has recovered from a reset 2
condition.
The CNC guarantees that M45 will see a nonzero condition for at least
one IPI scan. However, the IPI program should monitor M45 on every
scan to ensure that all nonzero conditions are trapped. Do not write to
M45.
The CNC will set M45 to 1 (Reset Detected) if:
− I/O Board sends reset code to CNC (0x2F)
− +24V power is lost
− I/O Board communications lost (lost sync due to watchdog expiration).
M45 will remain set to 1 as long as the error condition exists. When it no
longer detects the error condition, the CNC attempts to restore normal
communication with the I/O Board. Once normal communication is
established, M45 is set to 2 (Reset OK). On a subsequent scan, M45 will
be set to 0 (All OK).
M46-KEYMASK
The IPI program uses M46-KEYMASK to mask out certain keys from the
operator. M46 contains a bit value; each bit corresponds to a key. Refer
to Table 18-10, KEYMASK M47 Bit Numbers and Keys for keys
assigned to M46 bits.
Table 18-10, KEYMASK M47 Bit Numbers and Keys
Bit No. CNC Key Bitmask (Hex) Bitmask (Binary)

1 Start 0001h 0000000000000001
2 Hold 0002h 0000000000000010
3 Spindle CW 0004h 0000000000000100
4 Spindle CCW 0008h 0000000000001000
5 Spindle OFF 0010h 0000000000010000
6 All Keyboard Input 0020h 0000000000100000
Page 18-12 10-Feb-98

Combine the appropriate bitmask hex values to mask out multiple keys at
once. For example, to mask out the Spindle CW, Spindle CCW and
Spindle OFF, combine 0004h (Spindle CW), 0x0008 (Spindle CCW) and
0x0010 (Spindle OFF) to get 1C. The following command converts the
value to binary format and uses the appropriate base indicator:
MOV 11100b M46
The command will mask out the specified spindle keys.
To enable the spindle keys to be used later in the program, clear M46 in a
subsequent execution scan. For example:
MOV 0 M46
The command enables all previously masked keys.
General Purpose Multifunction Registers

M48 - M255 are general purpose multifunction registers. They are read
and write registers that store intermediate values for later use.
10-Feb-98 Page 18-13

Shared Registers
The IPI and CNC share sixteen M-registers. These are CNC variables
#1100 to 1115, which correspond to IPI M-registers 224 to 239,
respectively. These variables enable the IPI program and the CNC to
exchange information by reading and writing back and forth in both
programs.
Example 1 - IPI to CNC
A value written in the IPI program can be read by a CNC program.
IPI program LD M55 M224 *Copies contents of M55 into
command: M224. (Example: M55 = 4.
Therefore, M224 = 4.)
Subsequently, in a CNC program:
CNC program If ( #1100 > 1 ) then *Since CNC variable #1100
block: print (Hello World!) corresponds to IPI variable
M224, the CNC reads the value
stored in the IPI program (M224
= 4:#1100 = 4). Since 4 is
greater than 1, the CNC
executes the command and
prints, “Hello World!”
Example 2 - CNC to IPI
A value written in the CNC program can be read by the IPI program.
CNC program #1101 = 2 *Sets CNC variable #1100 to 2.
block:
can be used in the IPI program as in
IPI program IF 100 ( M225 EQ 2 ) *Since IPI M-register M225
command: corresponds to CNC variable
#1101, the CNC reads the
value stored in the CNC
program (#1101 = 2.
Therefore, M225 = 2.) In this
case, M225 EQ 2 would be
TRUE and the conditional
instructions following the IF
block would be executed.
Page 18-14 10-Feb-98

Static M-registers - M240 to M255

The CNC reserves a range of sixteen M-registers (M240-M255) that you
can use to store values that might be needed after a power down
condition.
The registers are saved in a binary data file (IPIMREGS.DAT) located in
the system directory. When the CNC software is started up from the
Software Options screen, the IPIMREGS.DAT is read and M240-M255
are restored to their previously saved values. The data contain a
checksum to guard against corruption. If a corrupted IPIMREGS.DAT is
detected, the M240-M255 registers revert to their default values (zero in
all cases).
The registers are saved every time a value within the range changes. To
avoid excessive disk operations and slow program execution, do not
program frequent value changes in the range. To monitor errors in
reading and writing the data file, check M44.
Timer Registers
Format Tn, n is a number 0-49
There are 50 timing registers available (T0-T49). A timer is configured by
the instruction that first uses it in a program. Later references to the
same timer are only to sample its state value.
The time delay is expressed in decimal seconds, read by the interpreter in
milliseconds.
Each timer actually uses two registers; a state register and a time-
keeping register. The RD instruction permits use of the countdown value
when necessary. Refer to “Advanced IPI Instructions.”
Sequence Registers
There are 256 sequence registers available. These are designated S0 -
S255. Sequence registers are also available to the programmer at any
time. When any one sequence register is set to a TRUE value, all others
are automatically reset to FALSE.
For example, when the IPI program starts, sequence register S0 is
always set to TRUE. Therefore, all others are FALSE.
I/O and Expansion Boards

Refer to Figure 18-1, I/O/Expansion Board Input & Output Principles.
The I/O and expansion boards act as the switch board for the I/O system.
When the I/O Board generates an output, the output is supplied 24V
common from the board. Outputs are rated to carry a load of 500mA.
Most inputs from the system are received at the board and sent to the
CNC for evaluation. Upon command from the IPI program, the CNC
signals the I/O Board to generate an output at the specified location.
10-Feb-98 Page 18-15

Figure 18-1, I/O/Expansion Board Input & Output Principles
CAUTION: 24V common is not a machine or earth ground. It is an

isolated source.
IPI Monitor
The state value stored in input registers (X0 - X80), output registers (Y0 -
Y80), timed registers (T0 - T64) and multifunction registers (M8 - M63)
can all be viewed from the CNC Monitor.
Viewing the IPI Monitor

To access the IPI Monitor:
1. From the CNC software’s Manual mode, press P then ENTER. The IPI
Monitor screen activates. Refer to Figure 18-2, IPI Monitor Screen.
NOTE: In Auto or S.Step, press P to activate the IPI Monitor screen.
The IPI Monitor shows the state values: 1 for TRUE and 0 for FALSE, for the
following registers.
− M registers
− X registers
− Y registers
− T registers
The IPI Monitor shows the numeric values for the following registers:
− M, S, T and H codes from the CNC
− Message registers from the IPI to the CNC
− Current register’s value (labeled state)
Refer to Figure 18-3, CNC Flags for CNC flags from the CNC to IPI. These
are Read Only registers. Refer to Figure 18-4, IPI Flags for IPI Flags from
IPI to the CNC. These are Read/Write Registers.
Page 18-16 10-Feb-98

CNC Flags M, S, T, & H Message Current

Code Register State
IPI Flags Registers Register
IPI Monitor
IPI Flags 000 000 Message 000 State 000
CNC Flags 0100 0100 0000 0000 M00 0 S00 0 T00 0 H00 0
M048 0 0 0 0 M052 0 0 0 0
M056 0 0 0 0 M060 0 0 0 0
T00 0000 0000 X08 0000 0000 T16 0000 0000 T24 0000 0000
T32 0000 0000 T40 0000 0000 T48 0000 0000 T56 0000 0000
X00 0000 0000 X08 0000 0000 X16 0000 0000 X24 0000 0000 X32 0000 0000
X40 0000 0000 X48 0000 0000 X56 0000 0000 X64 0000 0000 X72 0000 0000
Y00 0000 0000 Y08 0000 0000 Y16 0000 0000 Y24 0000 0000 Y32 0000 0000
Y40 0000 0000 Y48 0000 0000 Y56 0000 0000 Y64 0000 0000 Y72 0000 0000
Outputs Inputs Timers Multifunction

(Y Registers) (X Registers) (T Registers) (M Registers)
IPIMON
Figure 18-2, IPI Monitor Screen

CNC Flags 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Emergency Stop Unused

Spindle Enable Unused
In Position Unused
Feed Tool Change Macro End Flag
Axes At Home Function Acknowledged
Tool Changer Finished Recieved Tool Bin
Manual Mode Run / Single Step
Over Temperature Spindle Drive Closed Loop
IPIM2
Figure 18-3, CNC Flags

IPI Flags
0000 000 0
Tool Changer Finished Unused

Feed Hold SPDAN0V
Servo Fault External Hold
Finished External Stop
IPIM3
Figure 18-4, IPI Flags
10-Feb-98 Page 18-17

Working with IPI
Configuring IPI Setup

Refer to Figure 18-7, IPI Setup Map. Before IPI can be programmed,
you must configure the system to recognize the IPI package. Configure
the CNC as follows:
1. Exit the CNC software to go to the 1400M Startup Screen.
2. Highlight Setup Utility and press ENTER. Menu A, Setup Options
activates.
3. Highlight Machine/Installation and press ENTER. Menu B
Machine/Installation activates.
4. Highlight Interface and press ENTER. Menu C, Interface - Setup
activates.
5. Highlight Type and press ENTER. The password prompt appears.
6. Type the password and press ENTER. Menu D, Interface Selection
activates.
7. Highlight ANILAM IPI and press ENTER. The pop-up closes and
ANILAM IPI is the active interface type.
Programming the IPI

Typically, IPI programming proceeds as follows:
1. The technician develops the program.
2. The technician goes to setup and activates the IPI editor.
3. The technician enters or copies the IPI program. The program can be
written offline with a standard text editor.
4. The technician runs the loader and the loader compiles the code.
Error messages and warnings are posted on the screen as it runs,
then saved to a file.
5. The technician views the error file and makes code changes as
appropriate, re-compiling as often as necessary.
6. When the compiler is able to compile a program successfully, the
compiled program is saved and activated.
Page 18-18 10-Feb-98

File Names
An IPI file can have any valid filename. The filename extensions are
assigned automatically as follows:
IPI Program file FILENAME.DBO (text file)
IPI Executable FILENAME.DBI (binary file)
Compiler List File FILENAME.LST (text file)
Compiler Error File FILENAME.ERR (text file)
The DBO file is the program edited by the user.
DBI files are binary machine code generated by the loader as it compiles.
If any errors occur, the DBI file is deleted. This prevents accidental
execution of an IPI program that contains errors. Binary output files are
generated only if no errors occur during the compilation.
LST files are generated if the compiler is instructed to do so by the user,
or if a #LIST directive is programmed.
ERR files contain errors or warnings generated by the compiler during
compilation.
Accessing IPI Setup Menu

Refer to Figure 18-7, IPI Setup Map. To access IPI:
1. Exit the CNC software to access the 1400M Startup Screen.
2. Highlight Setup Utility and press ENTER. Menu A, Setup Options
activates.
3. Highlight Prog. Controller Setup and press ENTER. A password
prompt appears.
4. Type the password and press ENTER. The IPI Setup Menu activates.
Using the IPI Editor

Before you run the Editor, select an existing program or a new one. To
create a new program, name it.
Creating a New Program

New program names can be any combination of letters and numbers, up
to eight characters in length. Do not use spaces or symbols. The
appropriate file name extension will be forced to DBO, regardless of what
is entered.
To create a new IPI program:
1. Refer to Figure 18-7, IPI Setup Map. From Menu E, IPI Setup
Menu, highlight New Program and press ENTER. The CNC prompts
for the new program name.
2. Type a program name and press ENTER. When you run the Editor,
the new program will be loaded.
10-Feb-98 Page 18-19

Selecting an Existing Program

To edit an existing program:
1. Refer to Figure 18-7, IPI Setup Map. From Menu E, IPI Setup
Menu, highlight Select Program and press ENTER. Menu F, Select
Program activates.
2. Highlight the desired program name and press ENTER. The selected
program will be loaded when the Editor is activated.
Activating the Editor

To activate the Editor:
1. Select or create a program.
2. Refer to Figure 18-7, IPI Setup Map. From Menu E, IPI Setup Menu
highlight the Edit selection and press ENTER. The Editor activates
and the selected program is displayed.
Loading and Compiling a Program

The compiler will run on any program currently in the Editor, or on any
selected program.
To activate the compiler:
1. Select the desired program.
2. Refer to Figure 18-7, IPI Setup Map. From Menu E, IPI Setup Menu
highlight Load. Press ENTER. The compiler activates and the screen
displays machine status, errors and warnings.
3. After compilation, press any key to return to exit.
Program Management Utilities

The IPI package has a program management screen to make the
following file management utilities available. To access the SHIFT
softkeys, press SHIFT first, followed by the appropriate softkey number.
Refer to Table 18-11, IPI File Management Softkeys.
Page 18-20 10-Feb-98

Table 18-11, IPI File Management Softkeys
Softkey Label Number

Delete (F3)
Copy (F4)
List (F5)
Load (F6)
Print (F7)
Edit (F8)
Format (F9)
Un-Del (Shift + F3)
Copy? (Shift + F4)
Mask (Shift + F5)
Rename (Shift + F8)
Display (Shift + F9)
10-Feb-98 Page 18-21

Writing IPI Programs
How the Interpreter Uses Instructions

Think of the IPI interpreter’s operation as being serial in nature. It never
calculates with more than two values at once. Three types of values are
available for use:
− New element’s value or state.
− Current register’s value or state.
− Previous register’s value or state.
Refer to Figure 18-5, Interpreter Operation. The current register and
previous register are the two general purpose register’s IPI uses for all
functions. A general description follows:
1. The first instruction loads the first element into the current register.
Some instructions will copy the value already in the current register to
the previous register and some will not. In this example, the first
instruction is a Load instruction and copies the current registers value
to the previous register.
2. The second instruction contains some operation that does not affect
the previous register and a second element. The operation is
performed with the value in the current register and the second
element. The result is kept in the current register. The value that was
in the current register is lost.
3. The third instruction also contains some operation that does not affect
the previous register and a third element. The operation is performed
with the value in the current register and the new element. The
second result remains in the current register and the first result is lost.
As new instructions are combined with values in the current register,
the value in the current register is constantly updated and old values
are lost.
Figure 18-5, Interpreter Operation

Values in the current state register can be sent to an output or to another
register for storage. Only a few more advanced instructions use the value
in the previous register. Most instructions use the new elements and the
current register.
To program more efficiently, make the new element an expression
instead of a single element. When the new element is an expression, the
result of the expression is seen as the value or state of the new element.
Page 18-22 10-Feb-98

Program START and END Instructions

Table 18-12, Start and End Instructions
Operation Description
START Denotes start of repeating portion of IPI program.
Optional.
END Must be last instruction in IPI program. Tells interpreter
program has finished, time to generate outputs and
repeat cycle. Required.
The START instruction is optional, and does not need to be the first
instruction in the program. START informs the interpreter where to begin
each program cycle. Program instructions that precede START are not
repeated after the first cycle. If START is not used, all instructions are
executed every cycle.
Instructions inserted before START can begin initialization steps, which
are done only once. The IPI interpreter clears all of its registers and
reads all inputs at the first instruction, not at START.
The END instruction must be added to every program. END informs the
interpreter that the program has finished. When the interpreter
encounters END, it generates outputs on the I/O Board, based on the
states stored in the Y registers. The interpreter then transfers IPI flags to
the CNC and restarts the program. It runs only the instructions that
appear after the program START.
Building IPI Program Instructions

Program instructions are the actual lines of IPI code. Program
instructions are constructed using operation codes, elements and
expressions, assembled in the proper format.
Instruction Operands
Instruction operands are values stored in input, output, sequence,
multifunction and timer registers. These elements are identified by their
X, Y, S, M and T designators, or by their assigned labels. An element
can also be a constant. Element names must be separated from other
instruction parameters by at least one blank space.
10-Feb-98 Page 18-23

Operation Codes
IPI uses codes to identify different operations. Operation codes inform
the IPI:
− What function to perform with new element or expression.
− The value in the current register.
− The value in the previous register (if used).
The operation code is not case-sensitive. It can start on any column in
the line. Leading tabs and spaces will be ignored.
Expressions
Expressions perform Boolean operations, comparison operations and
mathematical operations with pairs of operands. Insert the expression in
an instruction as if it were a single element.
Most expressions produce state outputs. Only the add and subtract
expressions produce numeric values. Use expressions to shorten
program length or provide options. Expression results are converted to
states or values as necessary to complete an operation. (Refer to Table
18-13, Expression Operands (State Value = s, Numeric Value = n).
Page 18-24 10-Feb-98

Table 18-13, Expression Operands (State Value = s, Numeric Value = n)
Expression Definition
( s1 AND s2 ) Results in TRUE only when both operands are TRUE. Otherwise,
FALSE.
( s1 OR s2 ) Results in TRUE if either parameter is TRUE. Results in FALSE
only when both are FALSE.
( s1 ANI s2 ) Results in FALSE only when both parameters are TRUE.
Otherwise, TRUE.
CAUTION: The ANI function in an expression is not the same
as the ANI function in the instruction set.
( s1 ORI s2 ) Results in FALSE when either parameter is TRUE, is TRUE when
both are FALSE.
CAUTION: The ORI function in an expression is not the same
as the ORI function in the instruction set.
( s1 XOR s2 ) Results in TRUE when one and only one parameter is TRUE.
Results in FALSE if both are in the same state.
( s1 XNR s2 ) Results in FALSE when one, but not the other parameter is TRUE.
The result is TRUE if both are in the same state.
( n1 + n2 ) Adds the two register values.
( n1 - n2 ) Subtracts the two register values. If the result is negative, an
overflow will occur, and the result is undefined.
( n1 EQ n2 ) Results in TRUE if the register values are the same.
( n1 NE n2 ) Results in TRUE if the register values are different.
( n1 GT n2 ) Results in TRUE if r1 is greater than r2.
( n1 LT n2 ) Results in TRUE if r1 is less than r2.
( n1 GE n2 ) Results in TRUE if r1 is greater than or equal to r2.
( n1 LE n2 ) Results in TRUE if r1 is less than or equal to r2.
Expressions are primarily used to perform conditional evaluations of
numeric values. However, both state values and numeric values can be
used. Expressions begin with a left parenthesis and end with a right
parenthesis. Only two elements (or one element and one constant),
separated by an operator, are permitted per expression. Expressions
cannot be nested. Expression results depend on the type of operation
performed.
Numeric Parameters
Multifunction memory registers can store numeric values as well as
Boolean TRUE/FALSE states. When combined with instructions containing
expressions, IPI can monitor numeric values as a condition. Numeric
values can be used in decimal, binary, octal and hexadecimal formats.
However, the internal format is always binary.
There are two different types of values: byte values and word values.
Binary values range from 0 to 255. Word values range from 0 to 65535.
Binary, octal, hex and decimal values will all be accepted. The default
base is decimal.
10-Feb-98 Page 18-25

To designate another base, insert the base indicator to the right of the
number. (Refer to Table 18-14, Number Base Indicators and
Examples.)
Table 18-14, Number Base Indicators and Examples
Number Indicator Example (decimal equivalent)

Base
Binary B 10110b = 10110 binary (22 decimal)
Octal O, or Q 27q = 27 octal (23 decimal)
Decimal D or no 27d or 27 = 27 decimal
indicator Default
Hex H or X 4fh = 4f hex (79 decimal)
Creating Additional I/O Labels

Labels are used to reference strings of characters. If SPDLFWD has
been defined to represent Y6, when the compiler encounters the string
SPDLFWD, it will substitute the Y6 identifier. As noted earlier, many
permanent labels are pre-assigned.
Since SPDLFWD is more specific, the program becomes easier to read
and understand. Labels can be used to reference specific elements,
specify delay values and rename operation codes. The following rules
apply:
− Label names can be a string of any combination of alphanumeric
characters of 1 to 32 characters in length. Do not use blank spaces.
Names must start with a letter.
− Once a label has been defined, it cannot be redefined, deleted or
changed in any way later in the program.
− All labels are active only in the program in which they are defined.
Refer to “Compiler Directives” for more information on creating labels.
Using Comments
The compiler ignores any line of code in an IPI program that starts with an
asterisk (*) or a semicolon ( ; ). This feature allows the programmer to
add documentation to the program or to mark (“comment”) code to be
ignored by the CNC. A comment can be placed on the same line as
program instruction.
Active Instruction Explanatory comment, ignored by compiler.
LD M55 *LOAD MULTI-FUNCTION REGISTER 55.
Blank lines are also allowed and will be ignored.
Page 18-26 10-Feb-98

Finish Signal Generation

Generation of a proper finish signal is critical for proper IPI/CNC
interaction. Finish signals are processed as follows:
1. The CNC sends an MSTH Code to the IPI and the IPI retrieves the
CNC flags from the CNC.
2. The CNC halts program execution and sets the IPI finish flag (M33 -
FINISH) high. The CNC then waits for a FINISH low to resume
program execution. At the same time, the IPI internally clears the
MSTH Code.
The IPI internally clears the MSTH after the first iteration (rising edge),
when an MSTH code is seen. Otherwise, the IPI would interpret an
MSTH more than once (on the rising and falling edges of the signal).
This guarantees that a particular code is only seen once.
3. When the MSTH is completed, the FINISH status is low. At this point, the
CNC sees the falling edge of the FINISH flag (low) and program execution
resumes.
Generation of
Finish Signal
Send MSTH To IPI
Get CNC flags From

CNC
CNC holds program

execution. IPI
Set FINISH HIGH on internally clears
MSTH MSTH.
CNC continues normal

program execution.
FINISH is acknowledged
by CNC, which sends
Set FINISH LOW when MSTH = 0.
done processing
MSTH
Send IPI flags To CNC
Done
finflow.vsd
Figure 18-6, IPI: MSTH Code to Finish Signal
10-Feb-98 Page 18-27

IPI Operation Set

IPI programs can be written in various degrees of complexity. Available
instruction sets include, from the simplest to the most complex:
− Single-element instructions.
− Two-element instructions.
− Two-element instructions that use an expression as one of the
elements.
− Instructions that use timers.
− Instructions that use the previous state register.
You can write a complete IPI program with only single-element
instructions. However, the fewer lines of instruction there are the faster
the program will run.
The tables in this section illustrate available operation codes. Refer to
Table 18-15, Summary of IPI Operands for a summary of available IPI
operation codes. Refer to Table 18-16, Detailed Description and
Examples of Operands for detailed explanations and examples of each
operation code.
Syntax is demonstrated using pairs of brackets to contain instruction
elements. Appropriate elements are identified by keywords.
Syntax format: “[keyword]”
Ladder diagram equivalents and truth tables are provided where
appropriate.
Symbols used in the ladder diagrams include:
A contact that is normally closed (when the relay is
not energized).
A contact that is normally open (when the relay is
not energized).
A coil that signifies the end instruction for the rung.
Page 18-28 10-Feb-98

Table 18-15, Summary of IPI Operands
Operand Function
LD Loads new element’s state value into current register. If new element has
numeric value, it is converted to appropriate state value.
Loads any value already in the current register into the previous register.
OUT Takes the value in the current register and writes it to the specified register.
Only multifunction registers can receive numeric values. All other registers
convert value to a state.
LDI Loads an element’s inverse state value to current register.
If current register had an initial value, it is moved to previous register.
If element has numeric value, it is converted to appropriate state value.
MOV Combines functions of read and output into one operator.
Current and previous registers are not used.
Numeric values are moved intact if registers are compatible. Value/state
conversions occur otherwise.
RD Loads element value into current register.
Copies any value already in the current register into the previous register.
If element value is numeric, it is loaded without conversion to a state.
If element value is a state value, it is loaded as a state value.
RD can be used to access a numeric value after a mathematical operation or to
load the count value of a timer.
AND Performs a Boolean logic AND function with value in current register and new
element.
Result remains in current register. Previous register is unaffected.
ANI Performs a Boolean logic AND function with value in current register and the
inverse value of the new element.
Result remains in current register, previous register is unaffected.
OR Performs Boolean logic OR function using new element and state value in
current register.
ORI Performs a Boolean logic OR function with value in current register and the
inverse value of the new element.
INV Inverts specified element.
Inverts current register when no element is specified.
If the value to be inverted is a numeric value, it is converted to a state value,
then inverted.
ANB Performs Boolean AND function with value in previous register, value in current
register and new element value.
ORB Performs Boolean OR function with value in previous register, value in current
register and new element’s value.
SET If current register holds a TRUE value, TRUE is copied in new element’s register.
If current register holds a FALSE value, no activity occurs.
10-Feb-98 Page 18-29

This instruction serves to latch the new element to a TRUE value for subsequent
cycles.
A subsequent MOV statement or a RES instruction can be used to unlatch the
register.
RES This instruction resets the new element to a FALSE value for subsequent cycles.
If current register holds a TRUE value, FALSE is copied in new element’s register.
If current register holds a FALSE value, no activity occurs.
A subsequent MOV statement or a SET instruction can be used to re-latch the
register.
CTL/CTR Used in pairs.
CTL - ANDs specified element with all subsequent instructions until deactivated.
CTR - deactivates any active CTL instructions.
DEC For every cycle in which the current register value is true, the numeric value of
the new element decreases.
Numbers cannot decrease to less than zero.
INC For every cycle that the current register value is true, the numeric value of the
new element increases.
RST Restart instruction. Restarts countdown timer if current register‘s state value is
TRUE and designated timer is currently in a delay countdown state.
NOP No operation is performed.
OKBD Output Keyboard instruction. Used to output key codes to the CNC. The CNC
interprets these key codes as if the user had pressed the corresponding key.
Only one key code can be passed per IPI scan.
For a key code to be interpreted by the CNC, it must be different from scan to
scan.
OTI Output until Input. Specified output is pulsed for a maximum of 10 seconds or
until the corresponding input is energized. The output can be a Y value or
output label.
Page 18-30 10-Feb-98

Table 18-16, Detailed Description and Examples of Operands
LD Syntax Valid elements:

Loads new element’s state LD [element] M registers
value into current register. If T registers
new element has numeric S registers
value, it is converted to X registers
appropriate state value. Y registers
Expressions
Loads any value already in the
current register into the
previous register.
Examples Explanation
LD Example #1 State value in X2 register is copied to current register. Current
One state value element. register’s previous value is copied to previous register.
LD X2
LD Example #2 If multifunction register’s value is numeric, value is converted

One multifunction element. to state value equivalent and is loaded into current register.
Current register’s previous value is copied to previous register.
LD M55
(Continued)
10-Feb-98 Page 18-31

LD (Continued)
LD Example #3 X0 is ANDed with X1 and resulting state is loaded in current
Expression used as element. register. Current register’s previous value is copied to previous
register.
LD ( X0 AND X1 )
OUT Syntax Valid elements:

Takes the value in the current OUT [element] M registers
register and writes it to the T registers
specified register. S registers
X registers
Only multifunction registers
Y registers
can receive numeric values.
All other registers convert
value to a state.
OUT Example #1 Value in current register is sent to Y10 register. Value in Y10
One element. register must be a TRUE/FALSE state.
OUT Y10
OUT Example #2 Value in current register is sent to M70 register. Value sent to
One element. M70 register can be a state or number.
OUT M70
Page 18-32 10-Feb-98

LDI Syntax Valid Elements:

Loads element’s state value to LDI [element] Y registers
current register. M registers
T registers
If current register had value, it
S registers
is moved to previous register.
X registers
If element has numeric value, Expressions
it is converted to appropriate
state value.
LDI Example #1 X2’s inverse state is determined and saved in the current
One element. register. Current register’s previous value is copied to previous
register.
LDI X2
LDI Example #2 X0 is ANDed with X1, the inverse is determined and stored in
Expression used as element. the current register. Current register’s previous value is copied
to previous register.
LDI ( X0 AND X1 )
10-Feb-98 Page 18-33

MOV Syntax Valid Elements:

Combines functions of read MOV [element] [element] Y registers
and output into one operation. M registers
T registers
Current and previous registers
S registers
are not used.
X registers
Numeric values are moved Constants
intact if registers are Expressions
compatible. Otherwise,
values/state conversions
occur.
MOV Example #1 State value of input register X2 is read and copied into output
Two elements. register Y7. Current register and previous register are not
involved.
MOV X2 Y7
X2
Y7
MOV Example #2 Numeric value of 500 is loaded into multifunction register M50.
Constant and element. Current register and previous register are not involved.
MOV 500 M50
MOV Example #3 State values in X2 register and X5 register are ANDed within
Expression and element. the expression. The resulting state is loaded into the Y10
output register. Current register and previous register are not
MOV ( X2 AND X5 ) Y10
involved.
Page 18-34 10-Feb-98

RD Syntax Valid Elements

Loads element value into RD [element] Y registers
current register. M registers
T registers
Copies any value already in
S registers
the current register into the
X registers
previous register.
If element value is numeric, it
is loaded without conversion
to a state.
If element value is a state
value, it is loaded as a state
value.
RD can be used to access a
numeric value after a
mathematical operation or to
load the count value of a
timer.
RD Example #1 Copies T20’s timer count into current register as a numeric
Read timer count. value. Timer’s state value is not used. Refer to “Working
with Timers.”
RD T20
RD Example #2 Copies M55 value into current register. If value is numeric, it is

Read multifunction register not converted to a state.
value.
RD M55
10-Feb-98 Page 18-35

AND Syntax Valid Elements:

Performs a Boolean logic AND AND [Element] Y registers
function with value in current M registers
register and new element. T registers
S registers
Result remains in current
X registers
register. Previous register is
Expressions
unaffected.
Truth Table Ladder Equivalent Logic Symbol
(Continued)
Page 18-36 10-Feb-98

AND (Continued)
AND Example #1
One parameter instructions.
LD X10 Input state of X10 is loaded into current register. Current

register’s previous value is copied into previous register.
AND X15 Input state of X15 register is ANDed with the state value in the
current register, result is kept in current register.
OUT M55
Value in current register is sent to register M55.
(Continued)
10-Feb-98 Page 18-37

AND (Continued)
AND Example #2
Two parameter instructions.
LD ( X10 OR Y10 ) State values of X10 and Y10 registers are ORed and loaded
into current register. Current register’s previous value is
copied into previous register.
AND ( M100 OR X15 )

Value in register M100 is converted to a state value and ORed
with state value stored in register X15. The result is ANDed
with the earlier result, generating the final result. Final result
remains in current register.
OUT M55
State value in current register is copied into M55 register.
Page 18-38 10-Feb-98

ANI Syntax Valid Elements:

Performs a Boolean logic AND ANI [element] Y registers
register and the inverse value T registers
of the new element. S registers
X registers
Expressions
register, previous register is
unaffected.
(Continued)
10-Feb-98 Page 18-39

ANI (Continued)
ANI Example #1

ANI X15
Inverse state of X15 register is ANDed with the state value in
the current register. Result is kept in current register.
OUT M55
(Continued)
Page 18-40 10-Feb-98

ANI (Continued)
ANI Example #2
LD ( X2 OR Y10 ) State values in X2 and Y10 registers are ORed, resulting state
is loaded into current register. Current register’s previous
value is copied into previous register.
State value stored in input register X3 is inverted and ANDed

ANI X3
to previous result. Final result remains in current register.
OUT Y10
State value in current register is copied to Y10 output register.
10-Feb-98 Page 18-41

OR Syntax Valid Elements:

Performs Boolean logic OR OR [element] Y registers
function using new element M registers
and state value in current T registers
register. S registers
X registers
Expressions
register. Previous register is
unaffected.
(Continued)
Page 18-42 10-Feb-98

OR (Continued)
OR Example #1

OR X15 Input state of X15 register is ORed with the state value in the
current register. Result is kept in current register.
OUT M55
(Continued)
10-Feb-98 Page 18-43

OR (Continued)
OR Example #2
LD ( X10 AND M100 ) State value in X10 register and state value equivalent in M100
register are ANDed, result is loaded into current register.
Current registers previous value is copied into previous
register.
OR ( T20 AND X15 )

Timer 20 state value and state value in X15 register are
ANDed, then ORed with the value in the current register. Final
result remains in current register.
OUT M55
Value in current register is copied to M55 register.
Page 18-44 10-Feb-98

ORI Syntax Valid Elements

Performs a Boolean logic OR ORI [element] Y registers
register and the inverse value T registers
of the new element. S registers
X registers
Expressions
register, previous register is
unaffected.
(Continued)
10-Feb-98 Page 18-45

ORI (Continued)
ORI Example #1

ORI X15
X15 status register is inverted and ORed with the state value in
the current register. Result is kept in current register.
OUT M55
(Continued)
Page 18-46 10-Feb-98

ORI (Continued)
ORI Example #2
LD ( X15 AND M95 ) State value in X15 register and equivalent state value in M95
register are ANDed. Result is loaded into current register.
Current register’s previous value is copied into previous
register.
ORI T25 Timer T25’s state value is inverted and ORed with value in
current register. Final result is kept in current register.
OUT M70
Value in current register is copied to M70 register.
10-Feb-98 Page 18-47

INV Syntax Valid Elements

Inverts specified element. INV [element] Y registers
- or - M registers
Inverts current register when
INV
no element is specified.
If the value to be inverted is
numeric, it is converted to a
state value, then inverted.
INV Example #1
INV Y4
State value of Y4 register is inverted. Current and previous

registers not affected.
(Continued)
Page 18-48 10-Feb-98

INV (Continued)
INV Example #2
LD X4 Loads X4 input into current register. Current register’s

previous value is copied into previous register.
OR M55
ORs value in current register with M55. Result held in current

register.
INV
OUT Y4
Inverts result and sends to Y4 register.
10-Feb-98 Page 18-49

ANB Syntax Valid Elements

Performs Boolean AND ANB [element] Y registers
function with value in previous M registers
register, value in current T registers
register and new element’s S registers
value. X registers
Expressions
(Continued)
Page 18-50 10-Feb-98

ANB (Continued)
ANB Example #1 X10 M100 M70
M55
T20 X15
X12 M125
Loads result of expression into current register, copies current

LD ( X10 OR T20 ) value of current register into previous register.
Current register’s value is ORed with value in X12 register,

OR X12 result remains in current register. OR operation does not
change value in previous register.
(Continued)
10-Feb-98 Page 18-51

ANB (Continued)
ANB Example #1 Value in current register is copied to previous register.
LD ( M100 OR X15 ) Resulting value of new expression is loaded into current
register.
Value in current register is ORed with value of new element,

OR M125
result remains in current register. OR operation does not
change value in previous register.
ANB M70
Value in previous register, current register and new element
are ANDed together to produce result that remains in current
register.
(Continued)
Page 18-52 10-Feb-98

ANB Example #1 (Continued)

OUT M55 Copies value in current register to M55 multifunction register.
ORB Syntax Valid Elements

Performs Boolean OR function ORB [element] Y registers
with value in previous register, M registers
value in current register and T registers
new element’s value. S registers
X registers
Expressions
(Continued)
10-Feb-98 Page 18-53

ORB (Continued)
ORB Example #1 X10 M100 X5
M55
X12 M50 X7
T20 X15
LD ( X10 AND M100 ) Copies value in current register to previous register, evaluates
new expression and loads resulting value into current register.
Value in current register is ANDed with value in X5 register,

result is saved in current register.
AND X5
(Continued)
Page 18-54 10-Feb-98

ORB (Continued)
ORB Example #2 Value in Current register is copied to previous register, new
LD (X12 AND M50 ) expression is evaluated and result remains in current register.
NOTE: The value shown in the previous register is the result
of ORB Example #1.
AND X7
Value in current register is ANDed with new element. Result

ORB ( T20 AND X15 )
New expression is evaluated and its value ORed with value in

current register and value in previous register, final result
(Continued)
10-Feb-98 Page 18-55

ORB Example #2 (Continued)

OUT M55 Copies value in current register to M55 multifunction register.
Page 18-56 10-Feb-98

SET Syntax Valid Elements
This instruction latches the SET [element] Y registers
new element to a TRUE value M registers
for subsequent cycles.
If current register holds a TRUE
value, a TRUE state value is
copied into the new element’s
register.
If current register holds a
FALSE value, no activity
occurs.
A subsequent MOV statement
or a RES instruction can be
used to unlatch the register.
SET Example #1
LD X2 Loads current value into previous register and loads value in

X2 register into current register.
SET Y10
Sets value in Y10 register to true if X2 was true. No action
taken if X2 was false.
10-Feb-98 Page 18-57

RES Syntax Valid Elements

This instruction resets the new RES [element] Y registers
element to a FALSE value for M registers
subsequent cycles.
If current register holds a TRUE
value, FALSE is copied in new
element’s register.
If current register holds a
FALSE value, no activity
occurs.
A subsequent MOV statement
or a SET instruction can be
used to re-latch the register.
RES Example #1
LD X3 Copies value from current register into previous register and

loads value from X3 register into current register.
RES Y10
Resets value in Y10 register to FALSE if X3 was TRUE. No

action taken if X3 was FALSE.
Page 18-58 10-Feb-98

CTL/CTR Syntax Valid Elements

Used in pairs. Activate Y registers
CTL [element] M registers
CTL - ANDs specified element
T registers
with all subsequent
Deactivate S registers
instructions until deactivated.
CTR X registers
CTR - deactivates any active
CTL instructions.
Ladder Equivalent
(Continued)
10-Feb-98 Page 18-59

CTL/CTR (Continued)
CTL/CTR Example #1
Moves value from current register to previous register and

loads new expression result into the current register.
LD ( X10 AND M90 )
Value in current register is ANDed with T5 register’s state

value. Result remains in current register.
AND T5
(Continued)
Page 18-60 10-Feb-98

CTL/CTR Example #1 Continued

OUT M95 Copies the value in the current register to multifunction register
M95.
Specifies that value in M95 register will be ANDed with all

subsequent instructions.
CTL M95 New expression result is ANDed with value in M95 register.
Result is copied directly to Y2 register.
MOV ( M100 AND X5 ) Y2
Next expression is ANDed with value in M95 register. Result

is copied directly to Y3 register.
MOV ( M50 AND X7 ) Y3
Next expression is ANDed with value in M95 register. Result

is copied directly to M75 register.
MOV X15 M75
CTL function deactivated.
CTR
10-Feb-98 Page 18-61

DEC Syntax Valid Elements

Every cycle that the current DEC [element] M registers
register value is true causes a
decrease in the new element’s
numeric value by 1.
Numbers cannot decrease to
less than zero.
DEC Example #1 Copies value from current register into previous register, loads
LD X2 value from X2 register into current register.
DEC M80
If current register’s value went from false to true during this

cycle, the M80 register value is decreased by 1.
Page 18-62 10-Feb-98

INC Syntax Valid Elements

Every cycle that the current INC [element] M registers
register value remains TRUE,
the new element’s numeric
value increases by 1.
INC Example #1 Copies value from current register into previous register and
LD X2 loads value from X2 register into current register.
INC M80 If current register’s value went from false to true during this
cycle, the M80 register value is increased by 1.
RST Syntax Valid Elements

Restart instruction that restarts RST [element] T registers
countdown timer if current
register‘s state value is TRUE
and designated timer is
currently in a delay countdown
state.
Example Explanation
RST Example #1 T1’s count value is set to the configured preset value. Timer’s
RST T1 logic state is not affected.
NOP Syntax Valid Elements

No operation is performed. NOP
10-Feb-98 Page 18-63

OKBD Syntax Common Key Codes

Output Keyboard instruction is OKBD [xxxxH] CNC Key PC Key (Hex Notation)
used to output key codes to - or - Start ALT_S (11FH)
the CNC in an IPI program. OKBD [xxxxX] Hold ALT_H (123H)
The CNC interprets these key Spindle CW ALT_F (121H)
codes as if the user had Spindle CCW ALT_G (122H)
pressed the corresponding Spindle Stop ALT_O (118H)
key. Only one key code can
be passed per IPI scan. For a NOTE: Hexadecimal notation can be
key code to be interpreted by indicated by an X or H following the
the CNC, it must differ from number.
scan to scan.
Example Explanation
OKBD Example #1 The START (ALT_S) key code is output. It has the same
affect as physically pressing the required key on a PC
OKBD 11FH
keyboard or console keypad.
OTI Syntax Valid Elements

Output until input instruction. OTI [element] Y registers
The specified output is pulsed or
for 10 sec, or until the
OTI [output label]
corresponding input is
energized. The output can be
a Y value or an output label.
The specified input bit is the
same bit location as the
specified output on the
corresponding input port.
The OTI command executes
directly on the I/O Board
firmware. Reaction time is very
fast (<1msec) without
RS-232 communication
overhead.
Example Explanation
OTI Example #1 The Y10 output signal is pulsed (goes high) for 10 sec or until
OTI Y10 the corresponding X10 input is detected. When the X10 input
is detected, the Y10 signal goes low.
OTI Example #2 The OUTPUT1 (Y1) register is pulsed (goes high) for 10
OTI OUTPUT1 seconds or until the corresponding input INPUT1 (X1) is
detected. When the INPUTX is detected, the OUTPUT1
signal goes low.
Page 18-64 10-Feb-98

Advanced IPI Instructions
Timers
Timed events count through as many program cycles as are required in
the course of their operation. This is one reason short IPI cycles are
efficient. The shorter the cycle, the closer timers can operate to real time.
Timers employ two registers: a state register that contains the
TRUE/FALSE value used by the program and a counting register to count
down time. The countdown register’s real time numeric value in a cycle
can be accessed using an RD instruction. The timer’s state value is
normally used to generate an output.
Use the following instructions to generate an output with a timer.
OUT instruction This instruction appears first in the program and
always uses the OUT operation code. It assigns the
timer identifier number, defines the current register’s
state value (at the point it appears in the program as
the source or triggering event), and specifies the
timer configuration and countdown period.
MOV instruction Subsequent references to a timer register will move
the real time state value of the timer register to
some other register, where it is used as a condition
or to produce an output.
10-Feb-98 Page 18-65

There are three timer configurations:

Delayed On If the current register value changes from FALSE to
TRUE during the current cycle, the timer begins a
countdown that lasts as many cycles as
necessary. When the countdown is complete, the
timer’s state register loads the high. In a future
cycle, if the current register changes to FALSE, at
the same point in the program, the timer’s state
register returns to low, with no delay.
Delayed Off If the current register’s value changes from TRUE
to FALSE during the current cycle, the timer begins
a countdown that lasts as many cycles as
necessary. When countdown is complete, the
timer’s state register loads the FALSE. In a future
cycle, if the current register’s state changes to
TRUE, at the same point in the program, the timer’s
state register returns to TRUE, with no delay.
Delayed On Then If the current register’s state changes from FALSE
Off to TRUE when the OUT instruction is read, the
timer begins a countdown. When the countdown
is complete, the timer’s state value switches
between TRUE/FALSE. In a future cycle, if the
current register’s state changes from TRUE to
FALSE, it will have no effect on the timer’s state
value.
All timer definition instructions use the OUT or MOV operations, as shown
in the following tables.
Page 18-66 10-Feb-98

Table 18-17, Timer Instruction Definitions
OUT Instruction Syntax Valid parameters

This instruction must precede OUT T[type] [identifier] [time] Types:
all MOV instructions for the ON
same timer. OFF
{blank}
Identifiers:
0 through 49
Time:
Decimal seconds.
Delayed On If the current register’s value changes from FALSE to TRUE
OUT TON10 0.1 during the current cycle, the T10 timer begins a 100 msec
countdown. In 100 msec, the T10 register will load and
maintain a TRUE value. If, in a future cycle, the current state
register turns from TRUE to FALSE at the same point in the
program, the T10 register will load and maintain a FALSE value
with no delay.
MOV T10 Y10 Copies the value in the T10 register to the Y10 register every
cycle.
Delayed Off If the current register’s value changes from TRUE to FALSE
OUT TOFF10 0.1 during the current cycle, the T10 timer begins a 100 msec
countdown. In 100 msec, the T10 register will load and
maintain a FALSE value. If, in a future cycle, the current state
register turns from FALSE to TRUE at the same point in the
program, the T10 register will load and maintain a TRUE value
with no delay.
cycle.
Delayed On/Off If the current register’s value changes from FALSE to TRUE
OUT T10 0.1 during the current cycle, the T10 timer begins a 100 msec
countdown. In 100 msec, the T10 register will switch its state
value. If, in a future cycle, the current state register turns from
TRUE to FALSE at the same point in the program, it has no
effect on the state in the T10 register.
cycle.
10-Feb-98 Page 18-67

Conditional Instruction Sets

Table 18-18, Conditional Execution Instructions
Conditional Instruction Function

IF If
ELS else
EDF end if
CLP conditional jump
EJP end jump
IF, ELS and EDF form instruction sets. CLP and EJP form instruction
sets.
IF/ELS/EDF Instructions
Refer to Table 18-18, Conditional Execution Instructions for the
available conditional statement commands. Conditional statements allow
the programmer to vary the instructions, based on the value of a given
register or expression.
Each complete set of conditional instructions must be numbered. This
block number is used by both the compiler and the IPI interpreter to
separate nested IFs. IF block numbers may be reused at different points
in the program, but should be unique regarding currently active IF levels.
The block number follows the “IF” command, as follows:
Format 1: IF [block number]
An IF statement may include an optional new expression or element. If
the IF statement includes a new expression or element, the conditional
statement is based on its value. Otherwise, the value in the default
register is used. The currently active register is the default.
Format 2: IF [block number] [optional element or expression]
Refer to Format 2. When the CNC executes an IF statement, it
evaluates the value in the current register of the new element or
expression. If the value is TRUE, the IPI interpreter will execute the
subsequent instructions until it encounters a matching ELS or EDF. If the
new element or expression is FALSE, the interpreter skips to the matching
ELS or EDF instruction.
When a matching ELS is encountered, if the new element/expression or
current register is false, the instructions following the ELS are processed.
A matching EDF instruction terminates the process and sequential
program execution resumes.
IF/ELS/EDF sets can be nested. A nested IF/EDF set may be placed
within a parent CJP/EJP or IF/EDF set. The nested set must be closed
before the parent set is closed. The programmer can nest conditional
statement sets up to ten levels deep.
Page 18-68 10-Feb-98

Refer to Table 18-19, Conditional Statement Programming Examples.

Table 18-19, Conditional Statement Programming Examples
IF/ELS/EDF Syntax Valid Parameters

IF - Begins conditional IF [block number] Elements:
statement. CNC executes - or - Y registers
subsequent instructions if IF [block number] [element] M registers
relevant register value is true. T registers
The relevant register value is S registers
the current register or the new X registers
element register.
ELS - Provides intermediate ELS [block number]
step in the process. Executes Block Numbers:
subsequent instructions if new Any integer, all numbers
expression, new element or must match.
current register is FALSE.
EDF - Terminates conditional EDF [block number]
instruction set.
IF 25 If value in current register* is TRUE, first instruction set is
First Instruction Set executed and the second instruction set is ignored.
ELS 25 If value in current register is FALSE, first instruction set is
ignored and second instruction set is executed. EDF
Second Instruction Set
terminates instruction set.
EDF 25
IF 80 X5 If value in X5 register is TRUE, first instruction set is executed
First Instruction Set and the second instruction set is ignored.
ELS 80 If value in X5 register is FALSE, first instruction set is ignored
and second instruction set is executed. EDF terminates
instruction set.
EDF 80
IF 60 ( M50 NE 25 ) If result of expression (M50 NE 25) is TRUE, first instruction set
First Instruction Set is executed and the second instruction set is ignored.
ELS 60 If result of expression (M50 NE 25) is FALSE, first instruction
set is ignored and second instruction set is executed. EDF
terminates instruction set.
EDF 60
*NOTE: When no element is provided in the IF statement block, the CNC uses the default
register, which is the currently active register.
10-Feb-98 Page 18-69

Conditional Jumps
The conditional jump (CLP) instruction acts like an IF/ELS/EDF statement
with no instructions given between IF and ELS.
Format 1: CLP [block number]
A CLP statement may include an optional new expression or element. If
the CLP statement includes a new expression or element, the conditional
statement is based on its value. Otherwise, the value in the default
register is used. The current register is the default.
Format 2: IF [block number] [optional element or expression]
When the CNC executes a conditional jump, the value in the current
register or the new element/expression is evaluated. If the value is
FALSE, the IPI interpreter will execute the subsequent instructions. If the
value is TRUE, the program jumps to the end jump (EJP) instruction.
In all cases, the EJP instruction concludes the instruction set and
sequential program execution resumes.
CLP/EJP sets can be nested. A nested CLP/EJP set may be placed
within a parent CJP/EJP or IF/EDF set. The nested set must be closed
before the parent set is closed. The programmer can nest conditional
statement sets up to ten levels deep.
CLP/EJP Syntax Valid Elements
CLP - Begins conditional CLP [block number] [element] Elements:
statement. Executes - or - Y registers
subsequent instructions if new CLP [block number] M registers
element, new expression or T registers
current register value is FALSE. S registers
Jumps to EJP instruction if X registers
TRUE. Block Numbers:
EJP - Ends conditional jump EJP [block number] Any integer, all numbers
instruction set. must match.
CLP 20 If value in current register* is TRUE. conditional instructions are
Conditional Instructions ignored. CNC jumps to EJP. If value in current register is
FALSE, conditional instructions are executed. EJP terminates
EJP 20
instruction set.
CLP 35 X5 If value in X5 register is TRUE, conditional instructions are
Conditional Instructions ignored. CNC jumps to EJP. If value in X5 register is FALSE,
conditional instructions are executed. EJP terminates
EJP 35
instruction set.
CLP 55 ( M50 NE 25 ) If resulting value of expression (M50 NE 25) is TRUE,
Conditional Instructions conditional instructions are ignored. CNC jumps to EJP. If
value of expression is FALSE, conditional instructions are
EJP 55
executed. EJP terminates instruction set.
*NOTE: When no element is provided in the CLP statement block, the CNC uses the default
register, which is the currently active register.
Page 18-70 10-Feb-98

Compiler Directives
A compiler directive is an instruction to the compiler that is not compiled
as part of the IPI program. A compiler directive produces no binary code
for the IPI interpreter. Directives are indicated by a pound sign (#) as the
first character of the line, followed by the required directive.
DEFINE
Format: #DEFINE [label name] [label meaning]
The #DEFINE directive is used to define a label. To define a label, use
the DEFINE directive, name the label and specify the meaning of the
label, in that order. (For example: #DEFINE XP_LIMIT X8.)
The label in this example defines the label “XP_LIMIT” and ties the label
to the X8 input register. XP_LIMIT is the X axis positive vector limit.
Once the label is defined, any time the compiler encounters the program
string XP_LIMIT, it will replace the text with X8.
In future references, the X positive vector limit switch can be referenced
as XP_LIMIT or X8.
LIST
Format: #LIST
The LIST directive will instruct the compiler to generate a file listing
output. When the compiler encounters this directive for the first time, and
the list mode is not on, the compiler re-compiles with List Mode activated.
It is recommended that the programmer place the LIST directive close to
the beginning of the source file. The result is program name first.
MAXSIZE
Format: #MAXSIZE [nnnn]
Instructs the compiler to generate an error if the actual number of bytes
generated by the instructions exceeds that of the number specified in the
MAXSIZE directive. This is to assist the programmer when program
space is limited. Maxsize refers to the total number of bytes generated by
the IPI instructions.
MAXSTEPS
Format: #MAXSTEPS [nnnn]
The MAXSTEPS directive instructs the compiler to generate an error if
the actual number of compiled instructions exceeds that of the number
specified in the MAXSTEPS directive. This is supplied in order to assist
the programmer in time-critical applications.
10-Feb-98 Page 18-71

RANGE
Format: #RANGE [Element] [starting value] [ending value]
Defines a numeric range for a specified element. This is supplied in order
to reduce errors due to hardware limitations.
For example: The I/O Board has sixteen inputs. The programmer wants
to avoid calling an input higher than fifteen. The corresponding range
directive would be:
#RANGE X 0 15, where
X is the element (input)
0 is the range minimum
15 is the range maximum
The CNC would flag any X numbers outside the defined range.
SYNTAX
Format: #SYNTAX
Instructs the compiler not to produce an output file, but to check syntax
only. If the syntax directive is used, it must appear before the first
statement that produces output.
Page 18-72 10-Feb-98

Programming Tips
Plan the Program

Before you begin to create an IPI program, plan the task carefully. Define
all tasks that the IPI will be required to perform, including specific inputs
and outputs. Once the particulars are defined, you will be able to
formulate methods to achieve the required tasks.
In the planning phase, ladder diagrams are a good way to visualize
circuits. When you create a ladder diagram, keep each circuit as simple
as possible. Simple circuits are easy to understand and troubleshoot.
When you convert the diagram to IPI code, use as few instructions as
possible. This will help the IPI program to execute as efficiently as
possible.
Using Labels
Use labels to identify specific inputs, outputs and internal elements. You
can also use labels to rename instructions, specify delay times and other
constants and specify expressions. Labels cannot be used to rename a
compiler directive.
Always define the label first. The #DEFINE compiler directive provides
the best method by which to define the label. A table of pre-defined
labels exists. You cannot redefine these labels. Always rename an IPI
instruction when you use a label. If an IPI instruction is used as a label,
that instruction will no longer operate.
Labels can be used to define other labels. For example, if the
programmer defines DELAY as 0.1 and TIMER as TON5, the label
DELAYTIMER can be defined as TIMER DELAY. The compiler will
translate the two labels, and then define DELAYTIMER as TON5 0.1.
NOTE: Embedded spaces are not allowed in the label itself, but are
allowed in the label translation.
10-Feb-98 Page 18-73

Using Conditional Execution

You can use conditional execution to alter the programmed circuit based
on logical conditions. However, extra care must be taken when you use
the CNC instruction inside a conditional.
Table 18-20, Conditional Execution within Conditional Statements
Block Function
IF 2 IF block beginning conditional statement.
|
CTL M20 When the IF block executes, control M20 is executed,
but there is no control return inside the IF block. After
the IF block executes, the control M20 will still be in
effect. If the condition for the IF block is FALSE, the
control M20 will not be executed, and therefore will
never take effect.
|
EDF EDF closing conditional statement.
ANILAM recommends that the conditional blocks be self-contained blocks
of code. All controls should have control returns inside the IF block.
Using Sequence States

Sequence States can be used to create a step ladder effect on the IPI
program. Only one state can be active at a time. When a Sequence
State is set to TRUE, all others are set to FALSE.
Page 18-74 10-Feb-98

Figure 18-7, IPI Setup Map
10-Feb-98 Page 18-75

Sample IPI Program

Following is a complete IPI program sample. It includes examples of
most of the operands discussed in the preceding sections. Refer to
Table 18-15, Summary of IPI Operands for a description of each of the
operands available. Refer to Table 18-16, Detailed Description and
Examples of Operands for programming examples of each operand.
*BASIC IPI PROGRAM
*M0 THRU M47 SYSTEM REGISTERS

*M224 THRU M239 IPI AND CNC SHARED REGISTERS
*M240 THRU M255 NON-VOLATILE REGISTERS
#DEFINE FINWAIT M48 *COMPILER ASSIGNS LABEL FINWAIT TO M48

#DEFINE MFTN2 M49 *COMPILER ASSIGNS LABEL MFTN2 TO M49
START *DEFINES REPEATING PORTION OF PROGRAM
*FINISH PULSE GENERATION
LD ( MFLAG OR SFLAG ) *SETS FINISH HIGH ON ANY FLAG

OR ( TFLAG OR HFLAG )
SET FINISH
LDI FINWAIT *SET FINWAIT HIGH DURING OPERATIONS THAT

*REQUIRE PROGRAM HOLD TILL COMPLETE
AND FINISH *LOOK FOR FINISH ANDed WITH FINWAIT LOW
OUT TON0 0.1 *0.1 SEC FINISH PULSE DURATION
IF 0 T0 *IF #0 LOOKS FOR TO ACTIVE

RES FINISH *RESETS FINISH AFTER FINISH TIMER T0
EDF 0 *END IF #0
*BASIC M-FUNCTIONS: SPINDLE FORWARD, REVERSE, OFF; COOLANT ON AND OFF;

*PROGRAM END, SUBROUTINE END.
*THESE MULTIFUNCTION REGISTERS ARE VISABLE IN THE DEFAULT IPI MONITOR N37
*DISPLAY. USE THESE REGISTERS TO SET I/O BOARD OUTPUTS AS REQUIRED.
LD ( MCODE EQ 2 ) *SET MFTN2 FOR PROGRAM END: REGISTER M49

OUT MFTN2
LD ( MCODE EQ 3 ) *SET MFTN3 FOR SPINDLE FWD: REGISTER M50

OR MFTN3 *LATCH ON
ANI MFTN5 *DISABLE ON M5
ANI ( MFTN2 OR MFTN30 ) *DISABLE ON M2 OR M30
RES MFTN4 *RESET M4: ALLOWS DIRECT DIRECTION HANGE
OUT MFTN3 *USE TO SET OUTPUT FOR SPINDLE FORWARD
Page 18-76 10-Feb-98

LD ( MCODE EQ 4 ) *SET MFTN4 FOR SPINDLE REV: REGISTER M51

OR MFTN4 *LATCH ON
RES MFTN3 *RESET M3: ALLOWS DIRECT DIRECTION CHANGE
OUT MFTN4 *USE TO SET OUTPUT FOR SPINDLE REVERSE
LD ( MCODE EQ 5 ) *SET MFTN5 FOR SPINDLE STOP: REGISTER M52

OUT MFTN5
LD ( MCODE EQ 8 ) *SET MFTN8 FOR COOLANT ON: REGISTER M53

OR MFTN8 *LATCH ON
OUT MFTN8
LD ( MCODE EQ 9 ) *SET MFTN9 FOR COOLANT OFF: REGISTER M54

OUT MFTN9
LD ( MCODE EQ 30 ) *SET MFTN30 FOR SUBPGM END: REGISTER M55

OUT MFTN30
* 0.5 SECOND BLINKER
LDI T2 *USE FOR WARNING LIGHTS, ETC.

OUT T2 0.5
*SETS IPI MONITOR TO DISPLAY SELECTED REGISTER RANGES
IF 1 ( HCODE EQ 1 ) *DISPLAY REGISTERS M0-M15 (SYSTEM)

MOV 1 MREGRAN
EDF 1
MOV 2H MREGRAN
EDF 2
MOV 4H MREGRAN
EDF 3
IF 4 ( HCODE EQ 4 ) *DISPLAY REGISTERS M48-M63 (DEFAULT DISPLAY)
MOV 8H MREGRAN
EDF 4
IF 5 ( HCODE EQ 5 ) *DISPLAY REGISTERS M64-M79
MOV 10H MREGRAN
EDF 5
MOV 20H MREGRAN
EDF 6
MOV 40H MREGRAN
EDF 7
MOV 80H MREGRAN
EDF 8
MOV 100H MREGRAN
EDF 9
10-Feb-98 Page 18-77

MOV 200H MREGRAN

EDF 10
MOV 400H MREGRAN
EDF 11
MOV 800H MREGRAN
EDF 12
MOV 1000H MREGRAN
EDF 13
MOV 2000H MREGRAN
EDF 14
IF 15 ( HCODE EQ 15 ) *DISPLAY REGISTERS M224-M239 (IPI & CNC SHARE)
MOV 4000H MREGRAN
EDF 15
IF 16 ( HCODE EQ 16 ) *DISPLAY REGISTERS M240-M255 (NON-VOLATILE)
MOV 8000H MREGRAN
EDF 16
END
Page 18-78 10-Feb-98

P/N 70000322 - Index
Allen-Bradley SLC 500 Programmable

# Controller, 17-14
Allen-Bradley SLC-150 Programmable
#DEFINE, 18-71
Controller, 17-1
Ιl, 13-24, 13-73, 15-24, 15-77 Allowable Error, 13-25, 15-25
#LIST, 18-71 analog command signal, 6-1
#MAXSIZE, 18-71 ANB, 18-29, 18-50
#MAXSTEPS, 18-71 AND, 18-29, 18-36
#RANGE, 18-72 ANI, 18-29, 18-39
#SYNTAX, 18-72 Anicom Board, 10-1, 10-4
Anicom Board connection, 1-11, 1-17
1 Aniflash Memory Board, 11-1
1200T maps, 13-1 ANILAM IPI, 13-34, 15-34
1200T Setup Utility Maps, 14-1 ANILAM Port 1, 9-5
12CONFI.CFG, 13-1 ANILAM Port 2, 9-5
1400M Maps, 15-1 ANILAM Port 4, 9-5
ANILAM Port 5, 9-5
4 ANILAM Port 6, 9-5
ANILAM Port 7, 9-5
4-Axis MJB ANILAM Port 8, 9-5
connection to Motion Control Board, 4-2 ANILAM power supply, 2-4
encoder input, 4-3 ANILAM Power Supply, 1-6
input power supply, 4-3 Arc Feed Override, 13-49, 15-52
servo output, 4-3 Aspect ratio correction factor, 13-66, 15-70
4-Axis MJB, cable clearances, 4-1 Auto erase, 13-65, 15-70
4-Axis Motion Junction Board. See 4-Axis MJB Auto tab to previous line’s position, 13-68, 15-72
Automatic feedrate override on arcs, 15-53
6 Automatic File Loader, 13-16, 15-17
6-Axis MJB Automatic re-run, 13-64, 15-69
cable connections, 5-1 Automatic Tool Change, 13-42, 15-44
connection to Motion Control Board, 5-2 Automatically check disk at startup, 13-70, 15-
encoder inputs, 5-1, 5-3 74
jumper assignment for encoder input, 5-1 AUTO-ZOOM, 13-66, 15-71
power supply, 5-5 Auto-Zoom Scaling Factor, 13-65, 15-70
servo output, 5-4 Axes, 13-75, 15-79
6-Axis MJB, cable clearances, 5-1 Axis Clamping, 13-24
6-Axis Motion Junction Board. See 6-Axis MJB Axis Clamping
activation M-Code, 13-25, 15-25
7 Axis Default Feed Rate, 15-12
Axis Default Feedrate, 13-11
78C10 microcomputer, 2-1 Axis display, 13-64, 15-69
Axis Keys, 13-3, 15-2
A Axis Port, 13-25
Axis Ports, 13-25, 15-25, 15-26
AB-SLC150, 13-34, 15-34
Axis used by spindle, 15-30
AB-SLC500, 13-34, 15-34
AC power connection, 1-10
Accel/Decel, 13-77, 15-81 B
Activate tool length offset, 13-42, 13-43, 15-43, Backlash Compensation, 13-12, 15-13
15-44 Balance, 13-80, 13-83, 15-84, 15-87
Activating Dry Run, 15-49 Ballscrew Compensation, 13-14, 15-15
Activating Z Dry Run. See Ballscrew Pitch, 13-8, 15-9
Active, 13-36, 15-37 Baud, 13-63, 15-67, 15-68
AD 767 DAC, 6-1, 6-9 BIN, 15-46
Bipolar, 13-28, 15-28
10-Feb-98 Index - 1
P/N 70000322 - Index
bond points, 1-2 Data Bits, 13-63, 15-67, 15-68

Boolean registers, 18-6 DC power supply connection, 1-10
Buffer Size, 15-61 Dead Stop Limit relay, 1-19
Buffer Size (in buffered mode), 15-61 Dead Stop Limits circuit, 1-18
Buffered, 15-62 DEC, 18-30, 18-62
Buffered Mode, 15-60 Default Auto-Zoom Scaling Factor, 13-66, 15-71
Builder Messages, 13-53, 15-56 Default axis display, 13-58, 15-63
Default axis values, 13-58, 15-63
C Default insert mode, 13-67, 15-72
Default Jog Feedrate/Rapid rate, 15-48
C4CONFIG.CFG, 15-1
Default output devices, 13-71, 15-75
Canceling Dry Run, 15-49
Default plane, 15-63
Case sensitive Find, 13-69, 15-73
Default program block mode, 13-64, 15-69
Characters per inch, 13-71, 15-75
Default Rapid Rate, 13-10, 15-12
Check Feedrate, 13-74, 15-78
Default SCI in Manual, 13-50
Check idle time (ms), 13-26, 15-27
default settings
Check idle time during homing (ms), 13-26, 15-
reference format, 13-1
27
Default Spindle Orientation Angle, 13-43, 15-44
Check Rapidrate, 13-74, 15-78
Default tab width, 13-68, 15-73
Check spindle operation during gear change,
Default Tool Table, 13-41, 15-42
13-30, 15-31
Default tool type, 15-70
Checking RPM to be within Gear Range, 13-30,
Default tool-table file, 13-44, 15-45
15-31
Default units, 13-58, 15-63
Circle adjustments, 13-58, 15-64
Delay, 2-12
Circle centers, 13-59, 15-64
Delay (msec), 15-37
Clamping Allowed, 13-24, 15-25
Delay(msec), 13-36
Clamping finish pulse, 15-40
Delayed Off, 18-66, 18-67
clear field, 13-80
Delayed On, 18-66, 18-67
CLP, 18-70
Delayed On Then Off, 18-66
CMOS SRAM, 11-1
Delayed On/Off, 18-67
CNC Flags, 18-16
Delete backup files during optimize, 13-70, 15-
CNCERR M44, 18-11
74
comments, 18-26
Delete internal file when program saved, 13-69,
Communications, 13-63, 15-67
15-73
Compensation cutoff angle, 13-59, 15-65
differential input, 5-1
Compensation Cutoff Angle, 13-61, 15-66
differential inputs, 4-2
compiler directives, 18-71
Digitizing, 15-59
compiling an IPI program, 18-20
Dimensional Data
conditional logic, 18-1
major assemblies, 1-25
conditional statements, 18-74
Directory for user program, 13-70, 15-74
Configuration File, 13-1
Disk access marker, 13-60, 15-65
Configuration File, 1400M, 15-1
Display Internal Interface Messages, 13-41, 15-
console keyboard connection, 1-15
42
Continuous Path, 13-10, 15-11
Display program text, 13-64, 15-69
Control Software Parameters, 13-58, 15-63
Display Resolution, 13-7, 15-8
counting register, 18-65
Display U Axis, 15-32
Create backup program, 13-69, 15-73
Display V Axis, 15-32
creating an IPI program, 18-19
Display W axis, 13-31, 15-32
CTL, 18-74
Display, setup, 13-71, 15-74
CTL/CTR, 18-30, 18-59
Distribution Board, 18-15
Cursor to start of line on scroll, 13-67, 15-72
DNC, 15-60
Cutter compensation in draw, 13-65, 15-70
DNC Macro Number, 15-61
Draw view, 15-70
D Drip Feed, 15-62
DAC circuit, 6-9 Drip Feed Mode, 15-60
DAC output, 6-9 DRO Axis, 15-32
Index - 2 10-Feb-98
P/N 70000322 - Index
DRO Axis Setup, 13-31 Error checking, 13-26, 15-27

DRO interface, 7-7, 8-8 Error messages, 15-57
Dry Run Linear Feed Rate, 15-49 Error Messages, 13-54, 15-57
Dry Run Mode, 15-49, 15-50 E-STOP, 1-1
DSP Integrity Check, 13-74, 15-80 Execution Mode, 15-60
DSP MCB Exit, 13-3, 13-80, 15-84
as replacement for LM 628 MCB, 7-1, 8-1 Exit (F10), 13-3, 15-3
axis output signals, 7-6 Expansion Board, 18-15
connection to Motion Junction Board, 7-3 expressions, 18-24
Encoder inputs, 7-7 Extended screen display (50 lines), 13-67, 15-72
interface requirements, 7-3 External accuracy, 13-59, 15-64
Jumper Assignments, 7-4 External feed hold, 13-39, 15-39
Power Supply Requirements, 7-6 External finish pulse, 13-38, 15-39
DSP MCB with flash External hold, 13-39, 15-39
axis output signals, 8-7 External manual select, 13-39, 13-40, 15-39, 15-
connection to Motion Junction Board, 8-3 41
Encoder inputs, 8-8 External start, 13-39, 15-39
interface requirements, 8-3
Jumper Assignments, 8-5 F
Power Supply Requirements, 8-7
Feed, 13-86, 15-90
DSP Motion Control Board. See DSP MCB
feed acceleration/deceleration, 13-74, 15-78
configuring, 15-76
Feed Gain Table, 13-22, 13-72, 15-23, 15-76
configuring, 13-72
Feed Velocity Offset Factor, 13-47, 15-51
DSP Motion Control Board with Flash, 8-1
Feedback, 13-30, 15-31
DSP Position Error Check, 13-74, 15-78
Feedrate for jog on Manual Panel, 13-46
DSP Setup, 13-77, 15-81
Feedrate mode, 15-53
Dwell for FPR Mode, 15-53
Feedrate Mode
Dwell RPMs in FPR Mode, 13-50
FPM, 13-50
FPR, 13-50
E
FEEDRATE OVERRIDE switch, 13-45, 13-46,
Earth ground lines, 2-13 13-47, 15-48, 15-49, 15-50
EDF, 18-68 File Loader, 15-21
Edit (F8), editing program from Tool Page, 13- final Kp value, 13-86, 15-90
45, 15-47 Fine Tuning Scales, 13-76, 15-80
Edit Error Messages, 13-54, 15-57 Finish, 13-36, 15-37
Edit Mode, setup, 13-67, 15-72 Finish Pulse Timeout, 15-40
Edit Warning Messages, 13-54, 15-57 finish signal generation, 18-27
EJP, 18-70 FIX, 15-46
electrical codes, 1-1 Fixed Replacement, 15-46
electromagnetic interference, 1-2, 1-3 FLASH memory, 11-1
ELSE, 18-68 Force Caps Lock on PC keyboard, 13-68, 15-73
EMI, 1-2, 1-3 Force simulation mode, 13-47, 15-51
Enable error checking, 13-74, 15-78 Force spindle off during tool change, 13-44
Enable Homing, 13-51, 15-54
Enable Velocity Look Ahead, 13-76, 15-80 G
Encoder, 15-7
G31, 15-59
Encoder Line Count, 13-8, 15-8
Gear change RPM, 13-29, 15-30
Encoder Phase A, 13-13, 15-14
General Error input message, 13-39, 15-40
Encoder Phasing, 13-13, 15-14
General Software Setup, 13-57, 15-63
encoder resolution, 13-7, 15-7
General Warning input message, 13-39, 15-40
encoder setup, 13-7, 15-7
Grid, 13-64, 15-69
Encoder/Spindle Ratio, 13-30, 15-30
Grid Size, 13-65, 15-69
END, 18-23
Grounding Guidelines, 1-2
ENTER, 13-3
Enter Key, 13-3, 15-3
10-Feb-98 Index - 3
P/N 70000322 - Index
H IPI file names, 18-19

IPI Filer Loader, 18-2
H Codes, 17-4, 17-17, 17-31, 17-44, 17-54
IPI Flags, 18-16
handwheel interface, 7-7, 8-8
IPI Interpreter, 18-2
hexadecimal notation, 2-12
IPI Monitor, 18-16
Home, 13-80, 13-88, 15-84, 15-92
IPI program, writing, 18-22
Home required, 13-51, 15-54
IPI programming, planning, 18-73
Homing Axis Preset Values, 13-53, 15-56
IPI Setup, 18-18
Homing Direction, 13-52, 15-54
Isolation Transformer, 1-3
Homing Index Pulse Check, 13-53, 15-56
Issue M5 on Servo Fault or E-STOP, 13-40, 15-
Homing Speed, 13-52, 15-56
42
Homing, setting axes' home order, 13-52, 15-54
hunting, 13-77, 15-81
J
I Jog position, 15-25
Jog Position, 13-24
I/O Board connection, 1-10
I/O Controller board, 2-1
K
I/O Controller Board
Input Power LEDs, 2-4 Kd, 13-23, 13-73, 15-24, 15-77
input power supply, 2-4 Keyboard beep, 13-60, 15-65
installation dimensions, 2-1 keyboard, connection, 1-16
output LEDs, 2-10 KEYMASK M46, 18-12
Servo Interface, 2-6 keys
I/O Controller connection, 1-10 reference format, 13-2, 15-1
I/O Expansion board, 2-1 Ki, 13-23, 13-73, 13-77, 15-24, 15-77, 15-81
I/O Expansion Board, 3-1 Kp, 13-23, 13-73, 13-77, 15-24, 15-77, 15-81
input power supply, 3-6 KpMax, 13-86, 15-90
I/O Interface Locations, 1-21 KpMin, 13-86, 15-90
I?O Controller Board
input LEDs, 2-9 L
IF, 18-68
Ignore G41/2, G59 and Blueprint, 15-61 Ladder Diagram Symbols, defined, 18-28
Il, 13-77, 15-81 Language, 13-55, 15-58
In Position Error Check, 13-9, 15-11 laser file format, 13-19, 15-19
INC, 18-30, 18-63 Laser too close to part, 15-40
Inch display resolution, 13-59, 15-64 Laser too far from part, 15-40
Increment #999, 15-40 Laser within tolerance, 15-40
IndexP, 13-80, 13-81, 15-84, 15-85 Lathe Symmetrical draw, 13-66
Initialize #999 to 0, 15-40 Lathe tool post, 13-49
inport ports Lathe X programming mode, 13-49
setup, 13-37 LD, 18-29, 18-31
input assignment, 2-10 LDI, 18-29, 18-33
input LEDs, 3-5 Leadscrew. See ballscrew
input ports Least Significant Bit, defined, 17-4, 17-6, 17-10,
setup, 15-38 17-17, 17-20, 17-31, 17-38, 17-47, 17-54, 17-
Input Ports Configuration, 13-38, 15-38 56, 17-59
input ports, assigning function, 15-38 limit switches, 1-1
Inputs, IPI, 18-2 Line numbers, 13-71, 15-75
Installation Prompts, 13-56, 15-59 Linear Correction Compensation, 13-9, 15-10
Integral Programmable Intelligence, 18-1 Lines on spindle encoder per revolution, 13-29,
Interface Setup, 13-31, 15-32 15-30
Internal accuracy, 13-59, 15-64 Lines per page, 13-71, 15-75
INV, 18-29, 18-48 LM 628 chip, 6-1
IORESET M45, 18-12 Load CNC custom character set, 13-49, 15-52
IPI Editor, 18-2 Load G-Code help, 13-60, 15-65
IPI editor, using, 18-19 Load system macro, 13-60, 15-65
Index - 4 10-Feb-98
P/N 70000322 - Index
Load user macro file, 13-60, 15-65 Memory reserved, 13-69, 15-73
loading an IPI program, 18-20 Menu Options, selecting, 13-3, 15-3
lost motion, 13-76, 15-80 Metric display resolution, 13-59, 15-64
LSB, defined, 17-4, 17-6, 17-10, 17-17, 17-20, M-function
17-31, 17-38, 17-47, 17-54, 17-56, 17-59 setup, 13-37, 15-37
LT 1002, 6-1, 6-9 M-functions, 13-35, 15-35
microcomputer status indicators, 2-14
M Mill, 15-52
MILLTOOL.C4, 15-42
M Codes, 17-4, 17-17, 17-31, 17-43, 17-54
Minimum lag for speed break, 13-26, 15-27
M functions, 2-11
Miscellaneous Setup Utilities, 13-45, 15-48
M105, 15-49
MITSU. F/A, 13-34, 15-34
M106, 15-49
Mitsubishi Programmable Controller, 17-29
M107, 15-49
monitor connection, 1-13
M19, 15-46
Most Significant Bit, defined, 17-4, 17-6, 17-10,
M2, 13-40, 15-41
17-17, 17-20, 17-31, 17-38, 17-47, 17-54, 17-
M3, 13-40, 15-41
56, 17-59
M4, 13-40, 15-41
Motion Board connection, 1-14
M41, 13-28, 15-29
Motion Control Board. See MCB
M42, 13-28, 15-29
Motion Junction Board connection, 1-14
M43, 13-28, 15-29
Motion Setup/Testing, 13-78, 15-82
M44, 13-28, 15-29
MOV, 18-29, 18-34, 18-65
M5, 13-40, 15-41
M-registers, 18-7
M8, 13-40, 15-41
MREGRAN M42, 18-10
M9, 13-40, 15-41
MSB, defined, 17-4, 17-6, 17-10, 17-17, 17-20,
M9246, 13-25, 15-25
17-31, 17-38, 17-47, 17-54, 17-56, 17-59
Machine Axis, 13-6, 15-6
MST, 13-78, 15-82
Machine Home, 13-51, 15-54
canceling, 13-82, 15-86
Machine Type, 13-48, 15-52
exiting, 13-88, 15-92
MANUAL, 13-80, 15-84
softkeys, 13-80, 15-84
manual panel
MST screen, 13-79, 15-83
switches, 13-2
multifunction registers, 18-7
Manual Panel buttons, 13-3
multiple board design, 2-1
Manual Panel Connection, 2-13
multiple gear range spindle, 13-28
Manual panel port
Multiplication spindle factor, 13-30, 15-30
lathe, 13-45, 15-48
Manual Tool Change Operation, 13-42, 15-43
N
Manual Tool Change Para., 15-43
Max, 15-61 National Electrical Code, 1-1
Max idle time (ms), 13-74, 15-78 negative software limits, 15-12
Max lag error, 13-74, 15-78 Negative Software Limits, 13-11
Max programmed feedrate, 13-45 No Motion Gain Table, 13-22, 13-72, 15-23, 15-
Max programmed rotary feedrate, 13-46, 15-49 76
Maximum arc correction, 13-59, 15-64 noise control, 1-2
Maximum lag error, 13-26, 15-27 NOP, 18-30, 18-63
Maximum Programmable Feedrate, 15-48 Number of bins in tool changer, 15-45
MBENG.TXT, 13-54, 15-57 Number of digits in T word, 15-45
MCB Number of digits in T-word, 15-43, 15-46
component parts, 6-1 Number of digits in T-Word, 13-42, 13-44
Index pulse polarity, 6-5 Number of Lines (Spindle Encoder), 13-29, 15-
input circuit, 6-8 30
jumper settings, 6-4 Number of Tools to display in table, 13-44, 15-
Motion Junction Board connection, 6-7 45
MDI, 13-80, 13-82, 15-84, 15-86 numeric parameters, 18-25
Measurement Mode, 13-6, 15-6 Numeric registers, 18-6
memory registers, 18-6
10-Feb-98 Index - 5
P/N 70000322 - Index
O Program Directory, setup, 13-70, 15-74

Programmable Logic Controller, 17-1
OKBD, 18-30, 18-64
Proportional Integral Derivative algorithm, 6-1
OMRON CQM1, 13-34, 15-34
Pulley Ratio, 13-8, 15-9
Omron CQM1 Programmable Logic Controller,
Pulse (msec), 15-37
17-52
Pulse(msec), 13-36
Operation codes, 18-24
pulsed output, 13-36
Operational Amplifiers, 6-1
Optional block skip, 13-39, 15-39
R
OR, 18-29, 18-42
ORB, 18-29, 18-53 Random Replacement, 15-46
ORI, 18-29, 18-45 rapid acceleration/deceleration, 13-74, 15-78
Orient spindle, 13-43, 15-44 Rapid Gain Table, 13-22, 13-72, 15-23, 15-76
oscillation, 13-77, 15-81 Rapid Moves are Free (Unsynchronized), 13-50
OTI, 18-30, 18-64 Rapid Ramp Buffer, 13-27, 15-28
OUT, 18-29, 18-32, 18-65, 18-67 Rapid Ramping
output functions. See S-function, M-function. LM-628, 13-27, 15-28
See S-function, M-function Rapid velocity offset factor, 15-51
output LEDs, 3-6 Rapid Velocity Offset Factor, 13-47
output ports Rapidrate for jog on Manual Panel, 13-46
setup, 13-35, 15-35 ratio
Output signal, 13-42, 13-43, 15-43, 15-44 encoder to spindle, 13-30
outputs assignment, 2-11 RD, 18-29, 18-35
Outputs, IPI, 18-4 Remote handwheels, 13-49, 13-75, 15-52, 15-
OvSht%, 13-87, 15-91 79
required systems, 1-6
P RES, 18-30, 18-58
ResChk, 13-80, 13-81, 15-84, 15-85
Page heading, 13-71, 15-75
reset LED, 2-14
Parameters, setting up, 13-4
Resolution, 13-75, 15-79
Parity, 13-63, 15-67, 15-68
Resolution Factor, 13-75, 15-79
Password, 13-81, 15-85
Restore Outputs on I/O Reset, 13-41, 15-42
Password, entering, 13-4, 15-4
Restore to previous session, 13-64, 13-67, 15-
Passwords, changing, 13-57, 15-62
69, 15-72
PC 844, 9-1
restricted parameters, 13-4
PEC & Rapid Warning, 13-26, 15-27
Reverse G2/G3, 13-48
PEC algorithm, 15-26
Reversing G2/G3, 13-48, 15-52
PEC Only, 13-26, 15-27
RFI, 1-3
Phase, 13-75, 15-79
Rotary axis dry run feedrate, 15-50
PID algorithm, 6-1
Rotary feedrate for jog on manual panel, 15-50
Port, 13-63, 15-68
Rotary feedrate for jog on Manual Panel, 13-46
position data, 4-1, 5-1
RPM Display Mode
Position Error Check
feedback, 13-30, 15-31
LM 628, 13-26
program, 13-30, 15-31
Position Error Check algorithm, 15-26
RST, 18-30, 18-63
positive software limits, 15-12
Positive Software Limits, 13-11
S
power failure, 15-51
power requirements, 1-6 S Codes, 17-4, 17-17, 17-31, 17-44, 17-54
Print configurations, 13-5, 15-5 S functions, 2-11
Print quality, 13-71, 15-75 S12LTOOL.DAT, 13-41
Printer, setup, 13-71, 15-75 SAIA Programmable Controller, 17-41
Printing the Configuration File, 13-5, 15-6 SAIA-PCD, 13-34, 15-34
Program, 13-30, 15-31 Save, 13-87, 15-91
Program directory display mode, 13-70, 15-74 Save draw image, 13-66, 15-71
Program directory pattern, 13-70, 15-74 Save files when main power fails, 13-48, 15-51
Program directory sort order, 13-70, 15-74 Saving Changes, 13-4, 15-4
Index - 6 10-Feb-98
P/N 70000322 - Index
Scale, 15-7 lathe, 13-27

scale resolution, 13-7, 15-7 Spindle Axis, 15-30
scale setup, 13-7, 15-7 Spindle CCW (M4), 13-39, 15-40
Scales, Fine Tuning, 13-76, 15-80 Spindle CW (M3), 13-39, 15-40
scales, on DSP systems, 13-76, 15-80 Spindle Gear Ranges, 13-28, 15-29
SCI Mode, 13-50 Spindle OFF (M5), 13-39, 15-40
Screen Blanking Delay, 13-49, 15-52 spindle orientation RPM, 15-46
security key, 9-5 Spindle Orientation RPM, 13-43, 15-44
selecting an IPI program, 18-20 spindle output
Selecting Diameter Mode, 13-49 bipolar, 13-27
Selecting Front Tool Post, 13-49 unipolar, 13-27
Selecting Radius Mode, 13-49 Spindle Output, 13-27
Selecting Rear Tool Post, 13-49 Bipolar, 15-28
Sequence registers, 18-15 Unipolar, 15-28
Sequence States, 18-74 Spindle RPM Display, 13-30, 15-31
Serial Junction Board, 1-9. See SJB S-registers, 18-15
Serial Junction Board connection, 1-11 Standard Segment Length Ballscrew
Serial Junction Board, connection, 1-11 Compensation, 13-14, 15-15
Servo Delay, 13-48, 15-51 Standard Segment Lengths Ballscrew
Servo Enable circuit, 1-18 Compensation, 13-14, 15-15
Servo Loop Sample Time, 13-76, 13-77, 15-80, START, 18-23
15-81 Start reading keyboard, 13-39, 15-39
Servo On relay, 1-19 Startup Screen, 13-4
Servo up delay, 13-48, 15-51 state register, 18-65
SET, 18-30, 18-57 static registers, 18-15
Set 100% feed override, 15-40 status LED, 2-14
Setting up Parameters, 13-4, 15-4 Stop Bits, 13-63, 15-67, 15-68
Setup Options, 15-5 Stop program execution, 13-42, 13-43, 15-43,
Setup Software, 15-35 15-44
Setup Utility Maps, 16-1 Stop Program on gear change, 13-30, 15-31
Setup Utility, entering, 13-4, 15-5 Stop reading keyboard, 13-39, 15-40
Setup Utility, organization, 13-1, 15-1 Stopping Program on Gear Change, 13-30, 15-
S-function, 13-35, 15-35 31
shared registers, 18-14 System Resolution, 15-7
shield wire grounding, 1-14 System Resolution Setup, 13-6
Show top line, 13-67, 15-72 System Wiring Diagrams, 1-30
SigGain, 13-80, 13-84, 15-84, 15-88
Signal Gain, 13-84, 15-87 T
Simulated Draw Mode, setup, 13-64, 15-69
T Codes, 17-4, 17-17, 17-31, 17-44, 17-54
Simulation Mode, 13-47, 15-51
terminal blocks, 1-1
single gear range spindle, 13-28
timed output, 13-36
single-ended input, 4-2, 5-1
Timeout, 13-40, 15-41
SJB
Timer registers, 18-15
connection to Anicom Board, 9-3
Timers, 18-65
Skew Error Compensation, 13-9, 15-10
Tool activation options, 13-41, 15-42
Software, 13-63, 15-68
Both, 13-41, 15-42
software information, 13-1, 15-1
No, 13-41, 15-42
software limits, 15-12
On M6, 13-41, 15-42
Software Parameters, 13-63, 15-67
On Tn, 13-41, 15-42
Software Update, 13-56, 15-59
Tool change macro number, 13-43, 13-44, 15-
software version, 13-1
45, 15-47
Software Version, 15-1
Tool change macro program, 13-43, 13-44, 15-
SPDAN0V M41, 18-10
45, 15-47
SPDGRCH M43, 18-11
tool changer installed, 15-46
Special U, V, W Setup, 13-31, 15-32
Tool changer installed, 15-43, 15-45, 15-46
spindle axis
10-Feb-98 Index - 7
P/N 70000322 - Index
Tool display, 13-65, 15-69 Variable Segment Length Ballscrew

Tool guard, 13-38, 15-39 Compensation, 13-20
Tool length factor, 15-70 Variable Segment Lengths Ballscrew
T-registers, 18-15 Compensation, 13-14, 15-15, 15-21
TTL quadrature, 4-1, 5-1 Vector Limit, 13-13, 15-14
Tuning, 13-86, 15-90 Vector Limits, 2-11
Vector Limits assignment, 2-11
U VGA CNC, 13-49, 15-52
VGA connection, 1-12
U axis set to, 15-32
U Rotary axis reset at 360, 15-32
W
Uninterrupted Power Supply, 15-51
Unipolar, 13-27, 15-28 W axis set to, 13-31, 15-32
Units in Inch, 13-6, 15-6 W axis type, 13-31
Units in MM, 13-6, 15-6 W Rotary axis reset at 360, 13-31, 15-32
Unsynchronized Rapid Moves, 15-53 Wait for Finish, 13-24
Update screen on macros, 13-68, 15-73 Wait For Finish, 15-25
Updating Software Version, 13-56, 15-59 Wait for Start, 15-62
Use Custom Messages, 13-54, 15-57 Warning messages, 15-58
Use DNC Macro at end of block, 15-61 Warning Messages, 13-54, 13-55, 15-57
Use tool change macro, 13-43, 13-44, 15-45, Wiring Guidelines, 1-1
15-47 Wiring Servo Amplifiers, 1-3
User macro file, 13-60, 15-65 Wiring System Grounds, 1-3
using the Setup Utilities, 13-4 With positive/negative index and vector limit, 13-
52, 15-55
V With positive/negative index limit, 13-52, 15-55
writing an IPI program, 18-22
V axis set to, 15-32
V Rotary axis reset at 360, 15-32
Index - 8 10-Feb-98
ANILAM Inc.
3300 Corporate Way
Miramar, FL
USA 33025
(954) 430-6600
(954) 450-6700
sales@anilam.com
ANILAM Ltd.
16 Plover Close, Interchange Park
Newport Pagnell
Bucks, MK16 9PS
England
(0) 1908 514500
(0) 1908 610 111
sales@anilam.co.uk
ANILAM Inc.
(Regional office) Petalling Jaya Ind. Park
A1 - A14, 1st/FL., Jalan Klemajuan
46200 Petalling Jaya, Malaysia
(603) 757 7619
(603) 757 4659
anilam@po.jaring.my
ANILAM GMBH
Kehisteinstrasse 2
D-84529 Tittmoning
(08683) 8985-21
(08683) 7347
ANILAM ELECTRONICA s.r.l.

10043 Orbassano
Strada Borgaretto 38
Torino, Italy
(011) 900 2606
(011) 900 2466
anilita@mbox.vol.it
P/N 70000322
10-Feb-98

1200T Diagrama Eletrico

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1200T Diagrama Eletrico

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1200T/1400M Hardware

and Interface Manual

ANILAM Inc. P/N 70000322

Unreleased Draft Copy Introduction 1

Section 1 - Installation and Interconnection -------------------------------------------------------1-1

P6 Earth Ground Connection ------------------------------------------------------------------------------- 2-13

Probe Port (P8)-------------------------------------------------------------------------------------------------7-8

Machine Axis Setup Utilities --------------------------------------------------------------------------------- 13-6

Input Ports Configuration -------------------------------------------------------------------------------- 13-38

Installation Prompts --------------------------------------------------------------------------------------- 13-56

Ratio of the Ballscrew to the Encoder ------------------------------------------------------------------ 15-9

Issue M5 on Servo Fault or E-STOP ----------------------------------------------------------------- 15-42

General Software--------------------------------------------------------------------------------------------- 15-63

Monitor Function ------------------------------------------------------------------------------------------- 17-21

Software ---------------------------------------------------------------------------------------------------------- 18-2

Section 1 - Installation and Interconnection

General Wiring Guidelines

IMPORTANT NOTE: For safe operation, ensure that wiring conforms to

10-Feb-98 Page 1-1

General Grounding Guidelines

Establish Bonding Points on the Machine

Use Interior or Exterior Tooth Lock Washers between Points of Contact

Page 1-2 10-Feb-98

Wiring of System Grounds

Wiring Servo Amplifiers

10-Feb-98 Page 1-3

Compliance with the EC Directives

EN 50081-1 Electromagnetic compatibility - Generic emissions

This testing was performed at NRTL-certified MET Laboratories, Inc., 914

Page 1-4 10-Feb-98

Guidelines for Construction of an CE Compliant System

10-Feb-98 Page 1-5

Power Requirements of the Standard Systems

Page 1-6 10-Feb-98

Figure 1-1, 1200T/1400M System Interconnection without a Serial Junction Board

10-Feb-98 Page 1-7

Figure 1-2, 1200T/1400M System Interconnection with a Serial Junction Board

Page 1-8 10-Feb-98

31900584 Used with ANILAM Power Supply, AC power harness

36000572 DB25-M, 1 to 1, DB25-M. Refer to Anicom Board to Serial

31900585 DE15-M, 1 to 1, DE15-M. Refer to 15-pin VGA cable from VGA

31900768 DB25-F, 1 to 1, DB25-F. Refer to Motion Board to Motion

31900649 MINIDIN 6-M. Refer to Figure 1-9. Console Keyboard to

10-Feb-98 Page 1-9

DC Power Supply to I/O Board Connection

AC Power to I/O Board Connection

Page 1-10 10-Feb-98

Anicom Board to Serial Junction Board Connection

Figure 1-5, Assembly Harness, Anicom Board to Serial Junction Board,

10-Feb-98 Page 1-11

VGA Monitor to Computer VGA Connection

Page 1-12 10-Feb-98

Monitor to Computer +12V Power Supply Connection (1200T Only)

TO MONITOR 4O" TO COMPUTER

10-Feb-98 Page 1-13

Motion Control Board to Motion Junction Board Connection

Page 1-14 10-Feb-98

Console Keyboard to Computer Connection

Figure 1-9, Assembly Harness, Console Keyboard to Computer, P/N 31900649

10-Feb-98 Page 1-15

External Keyboard Connection

REF KEYBD INTFC

Figure 1-10, External Keyboard to Keyboard Interface P1 Connection, P/N 31900381