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Installation and debugging manual

Wiring :
1) CNC Controller to Servo driver wiring(Take TAC-GA32__series，QS7 and Panasonic A5 servo
for example)
CN11/12/13/14 ------------- G2A3204/08/15/22 Servo

Pin1 nCP+ Blue Pin32 Pulse+

Pin9 nCP- Gray Pin33 Pulse-
Pin2 nDir+ White Pin34 Sign+
Pin10 nDir- Brown Pin35 Sign-
Pin4 +24v red Pin18 COM+
Pin11 0v black Pin27 Alarm-
Pin11 0V black Pin6 Oz-
Pin5 nAlm green Pin26 Alarm+
Pin3 nPc yellow Pin5 Oz+
Pin7 En orange Pin10 Servo-on
Pin12 5V Purple

Note: should add 2 k resistance between Pin4 and Pin3(CN1/2/3/4), if connect nPC signal.

CN11/12/13/14---------------------SM1D10A /20A/30A/50A servo

Pin1 nCP+ Blue Pin25 Pulse+

Pin9 nCP- Gray Pin24 Pulse-
Pin2 nDir+ White Pin27 Direction+
Pin10 nDir- Brown Pin26 Direction-
Pin4 +24v red Pin9 +24v,
Pin11 0v black Pin3 Alarm-
Pin11 0V black Pin29 Oz-
Pin5 nAlm green Pin4 Alarm+
Pin3 nPc yellow Pin28 Oz+
Pin7 En orange Pin10 Servo-on
Pin12 5V Purple
Note: should add 2 k resistance between Pin4 and Pin3(CN1/2/3/4), if connect nPC signal.

To Panasonic A5 Servo
CN1/2/3/4 A5 Driver
Pin5 Alm green Pin37 Alm+
Pin7 En orange Pin29 S-on
Pin4 24v red Pin7 24v
Pin11 Gnd black Pin36,41 Alm-,COM-
Pin1 Pu+ Blue Pin44 Pu+
Pin9 Pu- Gray Pin45 Pu-
Pin2 Dr+ White Pin46 Dr+
Pin10 Dr- Brown Pin47 Dr-

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Note: should add 2 k resistance between Pin4 and Pin3(CN1/2/3/4), if connect nPC signal.

2) CNC -5th axis(servo spindle driver) wiring

CNC Connector CN15 MSD200 spindle servo driver CN1
Pin1 CP5+ Blue Pin32 Pulse-
Pin14 CP5- Gray Pin31 Pulse-
Pin2 Dir5+ White Pin34 Direction+
Pin15 Dir5- Brown Pin33 Direction-
Pin4 Alm5 green Pin11 Alarm+
Pin19 En5
Pin10 Pc5
Pin12 GND Black/blue Pin16 Analog GND
Pin13 Analog+ Red/Brown Pin17 Analog+
To relay coil - Pin10 ORT Finished
Pin8 X4.2 Orientation succeed 24V from relay contact
Pin9 Gnd black Pin13 CME
Pin20 Y4.0 Pin3 Mode
Pin11 24V+ red Pin15 24v
Pin22 Y4.2 Orientation output Pin4 Orientation
CNC OUTPUT CN62
Y0.3 Pink Pin2 Spindle CW
Y0.4 Blue Pin1 Spindle CCW

3) Input / Output Wiring:

All the input signals are 24v active,please do not give 0 volt to input port.
1) And please use the 24v from CN61/CN62 Input

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INPUT(CN61):Input signals are 24v active.And please use the power from CN61/CN62.
Subscript Address Function Explanation Color
Power
21 ~ 24 0V Controller internal 0V Blue
interface
18 ~ 20 empty empty empty
Power
25 ~ 28 +24V Controller internal 24V Light green red
interface
1 X0.0 SAGT Protective door detection signal Orange black
2 X0.1 SP External pause yellow
3 X0.2 THAN External tool clamp/unclamp Black
4 X0.3 DECX X axis homing decelerate signal Black white
5 X0.4 G31 Skip input Yellow black
6 X0.5 KYP Emergency stop buttom Purple
7 X0.6 LIMU Overtravel release signal Purple black
8 X0.7 PRKY Air pressure detect input signal Green
9 X1.0 TOPE Spindle tool unclamp on position signal Green white
10 X1.1 TCL0 Spindle tool clamp on position signal Green brown
11 X1.2 TZER Tool changer homing button Orange white
12 X1.3 DECZ Z axis homing decelerate signal Red white
13 X1.4 ST External cycle start signal pink white
14 X1.5 M41I Spindle the 1 gear on position signal
st
White black
15 X1.6 M42I Spindle the 2 gear on position signal
nd
Brown white
16 X1.7 Red black

29 X2.0 TFRX Tool changer forward on position signal Gray white

30 X2.1 TBAX Tool changer backward on position signal Gray black

31 X2.2 TCUX Tool changer tool counter signal white

32 X2.3 DECY Y axis homing decelerate signal red
33 X2.4 DEC4 The 4 axis homing decelerate signal
th
Yellow white
34 X2.5 TZEX Tool changer zero position signal Light green
35 X2.6 TRSW Tool Magazine current tool detect signal pink
36 X2.7 TMSW Spindle tool detect switch signal Pink black
37 X3.0 LMIX X axis overtravel input Yellow orange
38 X3.1 LMIY Y axis overtravel input Purple white
39 X3.2 LMIZ Z axis overtravel input Green black
40 X3.3 TCW Tool changer reversal buttom signal orange
41 X3.4 TCCW Tool changer forward buttom signal brown
42 X3.5 M82K5 M82/83 K5 signal gray
Tool changer forward buttom signal/5th
43 X3.6 TFRX Brown black
homing deceleration / M82 83 K6 detect
Tool changer backward buttom signal/ M82
44 X3.7 TBAX Blue white
83 K7 detect

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Output(CN62):
All the output signals are 0v active.And please use the power from CN61/CN62

Subscript Address Function Explanation Color

17 ~ 19 0V Power Controller Internal 0V Blue
interface
26 ~ 28 Empty
20 ~ 25 +24V Power Controller Internal 24V
interface
1 Y0.0 COOL Coolant output(M8/M9) Orange/black
2 Y 0.1 M32 Lubrication output(M32/M33) Yellow
3 Y 0.2 TCLA tool unclamp/clamp(M16/M17) Black
4 Y 0.3 M03 Spindle anticlockwise rotation (forward) Black/white
5 Y 0.4 M04 Spindle clockwise rotation (reversal) Yellow/Black
6 Y 0.5 M05 Spindle stop Purple
7 Y 0.6 Reserve Purple/black
8 Y 0.7 SPZD Spindle brake Green
9 Y 1.0 S1/M41 Spindle mechanical gear output 1 Green/white
10 Y 1.1 S2/M42 Spindle mechanical gear output 2 Green/brown
11 Y 1.2 S3/M43 Spindle mechanical gear output 3 Orange/white
12 Y 1.3 S4/M44 Spindle mechanical gear output 4 Red/white
13 Y 1.4 K1 K1(M70/M71) Pink/white
14 Y 1.5 M10 Blow(M10/M11) White/black
15 Y 1.6 K2 K2(M72/M73) Brown/white
16 Y 1.7 K3 K3(M74/M75) Red/black
29 Y 2.0 TLP Spindle tool unclamp indicator Gray/white
30 Y 2.1 Brake Gray/black
31 Y 2.2 CLPY Three - color light – yellow light White
32 Y 2.3 CLPG Three – color light – green light Red
33 Y 2.4 CLPR Three – color light – red light Yellow/white
34 Y 2.5 Reserve Light green
35 Y 2.6 Reserve Pink
36 Y 2.7 Reserve Pink/black
37 Y 3.0 K4 K4(M76/M77) Yellow/orange
38 Y 3.1 TCCY Tool changer CW Purple/white
39 Y 3.2 TCWY Tool changer CCW Green/black
40 Y 3.3 TFRY Tool changer forward Orange
41 Y 3.4 TBAY Tool changer bcakward Brown
42 Y 3.5 TBAL Tool changer backward indicator light Gray
43 Y 3.6 Reserve Brown/black
44 Y 3.7 Reserve Blue/white

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Input / output Wiring signal for example:

Home Switch Wiring.

If Use proximity sensor, please select PNP NO type.

(NO type: K022 , Bit4 Bit5 Bit6 Bit7 set 1)
(NC type: K022 , Bit4 Bit5 Bit6 Bit7 set 0)

(P.S: Press CHNAGE key can choose the cursor moving by each bit or by each parameter)
Relate Parameter
K parameter: (Press PLC key few times to K parameters page)
K22: Bit4--Bit7 Set Each Axis Home Switch Signal (0 NC 1 N0)

Status parameter(Press PARAMETER key few times to STATUS parameters page)

No.006 Bit 0=1, after get home switch signal, go reversely. Bit0=1 go forward
No.006 Bit 3=1, Use servo Z phase signal for homing.
Bit3=0， Not use servo Z phase signal for homing
No.006 Bit4=0，Without servo Z phase signal, machine homing with A type
Bit4=1，Without servo Z phase signal, machine homing with B type
No.026: Bit0--Bit4 ,Axis Homing direction

Data Parameter :
080 Homing low speed (after get home switch signal, move with low speed)
070-074: Each axis Homing high speed (Axis moving to find Home switch)

Axis Travel Limit Wiring method 1

The limit and Emergency Stop are all using one input signal.

Relate Parameters:

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K010
Bit5-limit reset signal (clear the alarm) is high / low e-level : NC or NO Signal
Bit6-limit alarm e-level :Limit Signal is NC or NO type?
Bit7-limit is available : Set Axis travel Limit function enable

Axis Travel Limit Wiring method 2

The Limit signals are all independent

Relate Parameters:
Emergency stop(limit):
Status para.No21 bit 2=1 Emergency stop signal enable
bit 2=0 Emergency stop signal disable

Axis Servo Setting:

Status parameter
009: Bit0-4 set each axis servo alarm signal e-level (1 NO 0 NC)
008: Bit0-4 each axis moving direction (0 or 1)
020: Bit0-4 each axis jog direction (0 or 1) : the keyboard axis JOG moving direction

Electronic Gear Ratio :

Data Parameter No.000-009
Calculation formula :
CMR/CMD= δ*ZM/( 1000*L*ZD)
δ：Pulse per revolution of Motor(PPR)
ZM ：Gear teeth of lead screw
ZD：Gear teeth of motor
L: Ballscrew pitch

E.g. Servo motor encoder PPR=10000 , Ballsrew pitch=5mm, Motor connect to Ballscrew
directly

CMR/CMD=10000*/5000=2/1

E. G. Servo motor encoder PPR=10000 , Ballsrew pitch=10mm, Motor connect to

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Ballscrew by pulley ,the gear ratio is 1:2 (motor size is small wheel , ballscrew side is bigger
wheel)

CMR/CMD=(10000*/10000)*2=1/1

Spindle :

Data parameter No.200：Spindle max. limit speed

Data parameter No.210：Spindle max. Speed of gear1

1,Rigid tapping （with servo spindle）

status para.58.0=1 spindle control mode when tapping(0:follow 1:servo)
K15.7 =1 Cs axis function(0:invilid 1:available)
K15.5 =1 Spindle switch feedback signal e-level

Demo
M3S500
G73X10Y10Z-20R5Q10F1000
G83X15Y10Z-20R5Q10
M5
G80
M29S500
G99G84X20Y30Z-20R5F1000
M30

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2, Elastic tapping(with encoder)

status para.58.0=0 spindle control mode when tapping(0:follow 1:servo)
K15.7=0 Cs axis function(0:invilid 1:available)

PARAMETERS CHANGE—Parameters password

（1） Press controller “SETTING” key ,then press page down shift to RIGHTS SETTING interface.
Input password 769816

The rights will become level 2 , like upper picture shows,Means you can change parameters, PLC
etc.

PARAMETERS LIST

Status Para.
001:
Bit0: 1-Inch unit 0- Metric unit (for input ,programming)

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Bit3: 0:Single step(SBK) 1: MPG

Bit4: 0:Spindle rpm controlled by analog 1:spindle rpm controller by switch signals outputs

002:
Bit5-Pulse mode: 0: Sign+direction 1:Orthogonality pulse
Bit6-Pulse width: 0: 1 Auto 1: 2.5 Microseconds
Bit7-Spindle using CW/CCW control or +/- analog control

003:
Bit0-tool comp. value convert automatically when switch to inch mode?
=1 yes =0 No
Bit1- work-coordinate value convert automatically when switch to inch mode
=1 yes =0 No
Bit2- Clear mechanical coordinate manually =0 Invalid =1 valid

Bit4-Tool length compensation type = 0:A type , =1:B type

Bit5-pitch compensation enable =0 Invalid =1 valid
Bit6-ATC Linear tool changer =0 Invalid =1 valid

004：
Bit6-Min moving unit
Bit7-Inch/meter output

005
Bit0: Rigid Tapping using 4th axis?(0：Yes 1:No)
Bit3: Executed M02 cursor return to head(0:No 1:Yes)
Bit4: Executed M30 cursor return to head(0:No 1:Yes)
Bit7: Program edition support Block delete?((0:No 1:Yes)

006
Bit0- Homing mode(0:before 1:after ) block
Bit3-Using servo Z signal for homing?(0:No 1:Yes)
Bit4-without servo Z phase signal ,homing type( 0:V block ,0:concave Block)
Bit7-Controller main page display when power on(0:All 1:Monitor)

007
Bit2-Entire circular using special processing(0:Yes 1:No)
Bit8- 0/1:After booting ,system go to REL/ABS page

008
Bit0-7 axis moving direction

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009
Bit0-7 axis ,spindle servo alarm signal e-level 0: NC type 1: NO type

010
Bit0: Parameter lock is always switch on?(0:Yes ,1:No)
Bit1: Setting page is simplified(0:Yes ,1:No)
Bit3: PLC Parameters backup/restore function avaiable?(0:Yes ,1:No)
Bit4: Circular programming speed limit (0: invalid 1: Valid)

011
Bit0: When backlash is more than allowable value , system compensate the value firstly then
execute the next line (0: invalid 1: Valid)
Bit1: Program lock is always on （0：Yes 1: No)
Bit3: Prospect processing when high speed (0:No 1:Yes)
Bit4: Corner speed optimization (0:No 1:Yes)
Bit5: When Emergency stop alarm ,system need homing or not(1:No 0:Yes)
Bit6: System booting, need to set spindle speed again（0:Yes 1: No)
Bit 7:backlash compensation type is acceleration/deceleration or fixed frequency

012
Bit0: Before Homing,Rapid travel is available?(0:No 1:Yes)
Bit1: Prospect processing,the acceleration/decelearation smoothly deal with(0:No,1:Yes)
Bit2: High speed cutting open? (0:No 1:Yes)
Bit3: Installment password level(0:Machine Mfg. 1:Controller Mfg.)
Bit4: 0/1:JOG acceleration (0: linear ,1:Ladder)
Bit5: Prospect processing with stepper motor,using smooth deal?(0:No 1:Yes)
Bit6: Installment password input as registration code?(0:Yes 1:No)

013
Bit0: MPG(0:CCW 1:CW)Coord is increasing
Bit1: Execute M99 ,production counting add 1 (0:No 1:Yes)
Bit2: After production quantity finish,press Reset to clear?(0:No 1:Yes)
Bit3: Read G code file format(0:Universal 1: ENG)
Bit5: Axis enable signal controlled by PLC(0:No 1:Yes)
Bit6: MPG trial cutting function is available(0:No 1:Yes)
Bit7: MPG rotate displacement is all execute?(0:No 1:Yes)

014
Bit0: G00 interpolation track is(0:No-linear 1:linear)
Bit1: Rapid feeding feedrate is F0(0:Non-stop 1:Stop)
Bit2: Linear tool changer precision checking(0:No 1:Yes)
Bit6: Each axis Max.control speed is independent(0:N0 1:Yes)
Bit7: Whether feeding speed is internal setting(0:No 1:Yes)

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015
Bit0: Mechanical zero point remember(0:No 1:Yes)
Bit1: Without homing and execute G28(0:use block 1:alarm)
Bit2: Without homing,execute code except G28 will alarm(0:No 1:Yes)
Bit3: After homing.manual back with(0:rapid 1:manual)Speed
Bit6: Execute G28(0:No 1:Yes)use block every time
Bit7: Manually homing with multi-axis(0:Yes 1:No)

016
Bit0-rapid travel type (pre-acc/dec or after-acc/dec )

017
Bit 0-whether to be look-ahead mode

018
Bit0-Clear #100-#199 data when press Reset
Bit1- Clear #1-#50 data when press Reset
Bit3-single piece processing time clear

019
Bit2: Automatic Radius-compensate interference check(0:No 1:Yes)
Bit3: Tool feed and retract type in Radius-compensate(0:A,1:B)
Bit4: G28,G30 at middle point cancel Radius-comp(0:Yes 1:No)
Bit5: G28,G30 middle point cancel Radius-comp(0:Standard,1:Vertical)
Bit6: Tool radius compensation setting(0:Radius,1:Diameter)
Bit7: In R-comp,Corner circular function enable(0:No,1:Yes)

020
Bit0: X axis direction key reverse (0:Yes 1:No)
Bit1: Y axis direction key reverse (0:Yes 1:No)
Bit2: Z axis direction key reverse (0:Yes 1:No)
Bit3: 4th axis direction key reverse (0:Yes 1:No)
Bit4: 5th axis direction key reverse (0:Yes 1:No)
Bit6: Before working check spindle SAR signal(0:No 1:Yes)
Bit7: When working,(0:allow 1:not allow)spindle stop

021
Bit0: External start signal(0:available 1:invalid)
Bit1: External stop signal(0:available 1:invalid)
Bit2: Emergency stop signal(0:check 1:not check)

022

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Bit0: 2nd limit region(0:Inside 1:Outside)

Bit1: Before homing,Software limit is available?(0:No 1:Yes)
Bit2: Alarm trigger (0:before1:after)over travel
Bit6: In G17 plane ,G02/G03 assign K will alarm(0:No 1:Yes)
Bit7: Assign more than 2 same address alarm(0:No 1:Yes)

023
Bit0: Tool probe input coordinate(0:Para.set 1:Current)
Bit1: G31 tool probe function(0:Valid 1:Invalid)
Bit2: G31 tool probe function(0:1 tool 1:multi-tool)

025
Bit0 –Position, program monitor interface display(0:relative 1:remainder value)
Bit1 –Press[EDIT] switch to program interface(0:No 1:Yes)
Bit2- Automatic switch to Alarm interface(0:No 1:Yes)
Bit6- In(0:EDIT 1:Any)mode.press Reset cursor go to PROG head
Bit7- Function ATAN,ASIN range(0:-90~90 1:90~270)

026
Each axis homing direction(0:Positive 1:Negative)

029
Bit4-whether forbid No.8000-8999 program edit
Bit5-whether forbid No.0000-9999 program edit

030
Bit7: Return to reference point in auto mode available? (0:No 1:Yes)

031
Bit0: Rigid tapping lead setting F(0:No 1:Yes)

033
Bit0-4 axis set to be linear/ rotary type? (0:linear axis ,1:rotary axis)
Bit5- Rotary table Dividing command(0:G90/G91 assign,1:Abs coordinate)

034
Bit4: Y axis to be Cs axis (0:available 1:invalid)
Bit5: 4th axis to be Cs axis (0:available 1:invalid)
Bit7: Whether to be 4/5 axis linkage system(0:No,1:Yes)

035
Bit0-when the 4th axis is rotary axis, ABS coordinate cycle is available ?(0:No,1:Yes)
Bit1-when 4th axis is rotary axis, will move (0:According sign 1:Nearby)
Bit2- (4th axis)-relative coordinate cycle is available or not ? (0:No,1:Yes)

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036
Bit1- 5th axis is rotary axis(0:Rotary A 1:Rotary B)
Bit5- 5th axis to be Cs axis(0:available 1:invalid)

037
Bit0-when the 5th axis is rotary axis, ABS coordinate cycle is available ?(0:No,1:Yes)
Bit1-when 5th axis is rotary axis, will move (0:According sign 1:Nearby)
Bit2-(5th axis)-relative coordinate cycle is available or not ? (0:No,1:Yes)

042
Bit0-whether constant surface speed cutting (0:No 1:Yes)
Bit3-G68 Coordinate rotating angle(0:Absolute 1:G90/G91 assign)
Bit7-When Program restart,Z with(0:G00,1:G01)move

043
Bit0-Whether use scaling function(0:No 1:Yes)
Bit2-X axis scaling is available(0:No 1:Yes)
Bit3-Y axis scaling is available(0:No 1:Yes)
Bit4-Z axis scaling is available(0:No 1:Yes)
Bit7-Axis scaling ratio assign type:(0:P, 1:IJK)assign

044
Bit3-G76,G87 displacement(0:Q assign,1:I,J,K assign)
Bit4-G76,G87 tool retract direction(0:plus,1:minus)
Bit5-G76,G87 tool retract axis(0:X, 1:Y)
Bit7-Deep hole drilling(G73,G83),No feed will alarm?

045
Bit0-Reset or E-stop clean F,H,D codes?(0:No 1:Yes)
Bit2-Using multi-spindles function？(0:No 1:Yes)

050
Bit0: Whether insert sequence No. Automatically (0:No, 1:Yes)
Bit1: In program interface run program from(0:the first 1:cursor current)line

054
Bit0: Without spindle encoder, feeding by per revolution(0:N0, 1:Yes)
Bit1: Controller connect spindle encoder?(0:No, 1:Yes)

058
Bit0: Spindle control mode of tapping(0:follow 1:servo)

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Bit1: Hi-speed tapping cycle for deep hole enable(0:No 1:Yes)

Bit3: Flexible tapping,spindle orientation?(0:No 1:Yes)

059
Bit0: Fast running rate control by (0:panel key 1:band switch)
Bit1: Feed rate adjust by (0:panel keys 1:band switch)
Bit2: Spindle rate adjust by (0:panel keys 1:band switch)
Bit4: Whether use external MPG(0:No 1:Yes)
Bit6: Whether use external operation panel (0:No 1:Yes)
Bit7: Whether use external edit lock (0:No 1:Yes)

060:
Bit0: Feeding axis servo drive alarm enable (0:No 1:Yes)
Bit1: Spindle servo drive alarm is available (0:No 1:Yes)
Bit2: Emergency stop alarm is available (0:No 1:Yes)
Bit3: Hardware limit alarm is available (0:No 1:Yes)

Status Para.
000-009: electronic gear ratio
010-019：1st software limit
020-029：2nd software limit
030：backlash compensation unit
31-35: backlash compensation value
36-40：the length which compensated with fixed fre.when backlash compensation
41：the time constant of acc & dec
42-46：backlash positioning error
49: PLC ladder steps

50-69：reference point coordinate in1-4 mechanical coordinate system

70-74：homing high speed
75-79：reference point offset
80：homing low speed
82：dry running speed
83：the default speed when program without F value
84：internal given speed of cutting feed
85：F0 speed
86：Rapid or non-pre-read max. Speed
87：Rapid or non-pre-read min. speed
88：Max. speed in pre-read mode
89：Min. speed in pre-read mode
90-94：rapid travel positioning speed

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95,96: Spindle pulse CMR ,CMD

97,98: Spindle pulse angle CMR,CMD
99: Horizontal/vertical panel(0:Horizontal 1:Vertical)
104：Handel wheel linear acc & dec time
105: Handel wheel index acc & dec time
110:(All axis)continuously feeding speed(JOG)
113-117：manual jog rapid traverse speed
118: Circular speed decline ratio
119: Max.circular programming speed
200：spindle max. limit speed
201: spindle encoder bit
209：spindle max speed during tapping
210-212：1-3 gears spindle speed
220-225：encoder belt pulley ratio
230-235：1-3 gears spindle electronic gear ratio
360：processed workpieces quantity
361：required processing workpieces quantity
375-379：cutting max. speed

K parameters：
K001
Bit0- tool changer enable

K003
Bit4-MPG axis option is available or not?

K010
Bit1-Press reset to turn off coolant, lubrication spindle?
Bit3-feeding rate can adjust or not?
Bit4-spindle jog is available in manual、home，MPG mode？
Bit5-limit reset signal is high、low e-level
Bit6-limit alarm e-level
Bit7-limit is available

K014
Bit 0- spindle umclamp signal e-level
Bit1-spindle clamp signal e-level
Bit2-safty door signal function
Bit3-safty door close signal e-level
Bit4-when safety door open whether turn off spindle
Bit7-tools clamp、unclamp enable

K015
Bit0-spindle gears switch function

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Bit1-whether check gear switch on position signal

Bit2-M41/M42 e-level
Bit3-spindle gears save after power off
Bit5-spindle mode switch successfully input signal
Bit6-spindle mode switch whether close outline control
Bit7-Cs function enable
K016
Bit0-external feederate switch enable
Bit2-auto lubrication
Bit7-MPG,BDT*1000 is available or not ?

K020
Bit0-external cycle start signal e-level
Bit1-external pause signal e-level
Bit7- 5th axes servo alarm e-level

K21
Bit0 -spindle orientation key’s function : for orientation or CS axes
Bit1-spindle orientation finish checking signal e-level
Bit4-After spindle finish orientation, output will off

K22
Bit0-4 X,Y,Z,A,B axes homing switch signal e-level
NC:0 NO:1

K30
Bit0- tool changer homing or not?
Bit2-tool changer homing switch signal e-level
Bit3-tool changer arm in on position signal e-level
Bit4-tool changer arm out on position signal e-level
Bit5-tool changer counter sensor e-level
Bit6-manual set tool changer zero point
Bit7-tool changer in debugging model

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