# embedding_metadata

key: chroma:document
string_value:
Kn
Kd = 10000×5×254
72000×100 = 127
72
Both Kn and Kd are within the allowable range. No alarm is output.


key: chroma:document
string_value:
21. AXIS CONTROL FUNCTIONS PROGRAMMING B-64694EN/01
- 638 -
(c) For a millimeter machine and inch input
Command : G81.5 T1 V0.0013 ;
Operation : Synchronization between the spindle and V-axis is started at the ratio of a 
0.0013 inch (0.03302 mm) movement along the V-axis per spindle rotation.
Pm : (Number of pulses per spindle rotation) × (one rotation) → 72000 × 1
Ps : (Amount of V-axis movement) × CMR × 254 ÷ 100 → 13 × 5 × 254 ÷ 100
Kn
Kd = 13×5×254
72000×100 = 1651
720000


key: chroma:document
string_value:
72000×100 = 1651
720000
Both Kn and Kd are within the allowable range. No alarm is output.
- Example 2)
Based on the controlled axis configuration described in Fig. 21.6.5.3 , suppose that the spindle and V-axis 
are as follows:
Spindle pulse coder : 72000pulse/rev (4 pulses for one A/B phase cycle)
C-axis least command increment : 0.001deg
C-axis CMR : 1/2
V-axis least command increment : 0.001mm
V-axis CMR : 1/2


key: chroma:document
string_value:
V-axis CMR : 1/2
Then, the C-axis detection unit is 0.002 degree. The V-axis detection unit is 0.002 mm. 
In this case, the synchronization ratio (Kn, Kd) is related with a command as indicated below. Here, let 
Pm and Ps be the amounts of movements represented in the detection unit for the master axis and slave 
axis specified in a synchronization start command, respectively.
(1) When the master axis is the spindle, and the slave axis is the C-axis
(a) Command : G81.5 T1 C3.263 ;


key: chroma:document
string_value:
Operation : Synchronization between the spindle and C-axis is started at the ratio of a 
3.263-degree rotation about the C-axis per spindle rotation.
Pm : (Number of pulses per spindle rotation) × (one rotation) → 72000 × 1
Ps : (Amount of C-axis movement) × CMR → 3263 × 1 ÷ 2
Kn
Kd = 3263×1
72000×2 = 3263
144000
Both Kn and Kd are within the allowable range. No alarm is output.
(b) Command : G81.5 T1 C3.26 ;
The value specified for C slightly differs from that specified for C in (a).


key: chroma:document
string_value:
Operation : Synchronization between the spindle and C-axis is started at the ratio of a 
3.26-degree rotation about the C-axis per spindle rotation.
Pm : (Number of pulses per spindle rotation) × (one rotation) → 72000 × 1
Ps : (Amount of C-axis movement) × CMR → 3260 × 1 ÷ 2
Kn
Kd = 3260×1
72000×2 = 163
7200
Both Kn and Kd are within the allowable range. No alarm is output.
21.6.5.6 Retract function
See "Retract function" in the Subsection 21.6.1, "Electronic Gear Box".


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING 21. AXIS CONTROL FUNCTIONS
- 639 -
21.6.6 U-axis Control
Overview
Conventionally, the control of an axis on a spindle, such as the U-axis of a vertical lathe, from a motor 
mounted in a location other than the spindle has required a mechanism, consisting of a planetary gear box 
and differential gears, to prevent the axis from moving as the spindle is rotating.
The U-axis control function enables the U-axis to remain in a fixed position or to move at a programmed


key: chroma:document
string_value:
speed without using a mechanism such as a planetary gear box. This is done by causing the U-axis motor 
to rotate in such a way that U-axis movement, which would be caused by the rotation of the spindle, is 
canceled out. For details, refer to the manual supplied by the machine tool builder.
U-axis
Spindle
Fig. 21.6.6 (a) Example of a machine having the U-axis
Ｕ-axis
Ｕ-axis motor Spindle motor
Spindle
Fig. 21.6.6 (b) Example of the structure of a machine having the U-axis


key: chroma:document
string_value:
In the example of the above structure, the tool moves along the U-axis when the spindle rotates. This 
movement is canceled out by rotating the U-axis motor.


key: chroma:document
string_value:
21. AXIS CONTROL FUNCTIONS PROGRAMMING B-64694EN/01
- 640 -
21.7 TANDEM CONTROL
When enough torque for driving a large table cannot be produced by only one motor, two motors can be 
used for movement along a single axis. Positioning is performed by the main motor only. The sub motor 
is used only to produce torque. With this tandem control function, the torque produced can be doubled.
Table
Ball screw
Main motor
Sub motor
Fig. 21.7 Example of operation


key: chroma:document
string_value:
Fig. 21.7 Example of operation
In general, the NC regards tandem control as being performed for one axis. However, for servo parameter 
management and servo alarm monitoring, tandem control is regarded as being performed for two axes.
For details, refer to the relevant manual published by the machine tool builder.
WARNING
In case the names of the master axis and slave axis are different, be sure not to 
specify a programmed command for the slave axis.
21.8 SKIP FUNCTION FOR FLEXIBLE SYNCHRONIZATION


key: chroma:document
string_value:
CONTROL
Outline
This function enables the skip or high-speed skip signal (in the following explanation, these signals are 
collectively called skip signal) for the slave axis that is moved by command of the master axis in the 
flexible synchronization control mode.
This function has features such as the following:
- If a skip signal is input while a skip command for flexible synchronization control block is being


key: chroma:document
string_value:
executed, this block does not terminate until the specified number of skip signals have been input.
- The machine coordinates assumed when skip signals are input and the number of input skip signals
are stored in specified custom macro variables.
- The total number of the skip signal inputs is stored in another specified custom macro variable.
Format
Mxx ; Flexible synchronization control mode on
G31.8 G91 α 0 P_ Q_ R_ ; Skip command for flexible synchronization
control


key: chroma:document
string_value:
control
a : Specify the slave axis. The instruction value must be 0.
P_: The top number of the consecutive custom macro variables in which the machine 
coordinate positions of the slave axis at the skip signal inputs are stored.
Q_: The maximum allowable number of the skip signal inputs while G31.8 is running. 
(Range of command value: 1 to 512) 
R_: The number of the custom macro variables in which the total number of the inputs 
is stored.


key: chroma:document
string_value:
is stored.
This data is usually the same as the value specified by Q. 
Therefore this is not necessarily specified. Specify it to check the number of skip 
signal inputs.


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING 21. AXIS CONTROL FUNCTIONS
- 641 -
G31.8 is a one-shot G code.
During the execution of the G31.8 block, the machine coordinate positions of the slave axis at the skip 
signal inputs are stored in the consecutive custom macro variables where the top number of the variables 
is specified by P and the maximum allowable number of the skip signal inputs is specified by Q.
Also, this total number of the skip signal inputs is stored in the variable specified by R.
Example)


key: chroma:document
string_value:
Example)
Mxx Flexible synchronization control mode on
X--
Y--
G31.8 G91 A0 P100 Q30 R1 Skip command for flexible synchronization control
After 30 times of skip signal inputs, 30 machine coordinate positions of the A axis are stored respectively 
in the consecutive custom macro variables #100 to #129.
The total number of skip signal inputs is stored in the custom macro variable #1.
NOTE
1 In the G31.8 block, only one slave axis should be commanded. When more than


key: chroma:document
string_value:
two slave axes are specified, the alarm PS1152, "G31.9/G31.8 FORMAT 
ERROR" occurs.
2 If G31.8 is commanded out of the flexible synchronization control mode (Flexible 
synchronization control mode select signal switching accepted signal (MFSYNA, 
MFSYNB, MFSYNC or MFSYND) is “0”), the alarm PS1152 occurs.
3 If P is not specified, the alarm PS1152 occurs.
4 If R is not specified, the number of skip signal inputs is not stored in the custom 
macro variables


key: chroma:document
string_value:
macro variables
5 The number of custom macro variables specified in P and R must be the existing 
ones. If any nonexistent variable is specified, the alarm PS0115, "VARIABLE 
NO. OUT OF RANGE" occurs. If a variable shortage occurs, the alarm PS0115 
occurs, too.
6 Whether to use conventional skip signals or high-speed skip signals with this
function can be specified with bit 4 (HSS) of parameter No. 6200. When high 
speed skip is selected, specify which high-speed signals to enable with setting


key: chroma:document
string_value:
bits 0 to 7 (9S1 to 9S8) of parameter No. 6208.
7 The accumulated pulses and positional deviation due to
acceleration/deceleration is considered and compensated when storing the 
machine coordinate positions to the custom macro variables. 
8 The custom macro is necessary to use this function (bit 5 (NMC) of parameter 
No.8135 is 0).
21.9 HIGH PRECISION OSCILLATION FUNCTION
Overview
In this function, the feedrate of oscillation axis (equivalent to a chopping axis that is moved vertically and


key: chroma:document
string_value:
repeatedly for grinding) changes along sine curve. This function is effective to improve, the accuracy of 
movement between upper dead point and lower dead point.
Moreover, look-ahead feed forward function can be applied to oscillation motion, then higher accuracy 
can be achieved even if oscillation feedrate or upper or lower dead point is changed.


key: chroma:document
string_value:
21. AXIS CONTROL FUNCTIONS PROGRAMMING B-64694EN/01
- 642 -
Format
G81.1 Z_ Q_ R_ F_ ;
Z : Upper dead point (In case that an axis is other than the Z-axis, specify the axis address. Specify the 
distance as an absolute value.)
Q : Distance between the upper dead point and lower dead point
(Specify the distance as an incremental value from the upper dead point.)
R : Distance from the upper dead point to point R
(Specify the distance as an incremental value from the upper dead point.)


key: chroma:document
string_value:
F : Oscillation base feedrate
G80 ; Cancels oscillation
Point R : Z+R
Upper dead point : Z
Lower dead point : Z+Q
Q
R
Time
If the addresses of Z, Q, R, or F are omitted, the oscillation motion is performed by the value of 
parameters. On the other hand, the value of parameters is replaced by the value commanded for each
address.
Z
(Axis address)
Parameter (No.8370) : Oscillation axis number = Axis number.
Parameter (No.8372) : Upper dead point = Value of address Z.


key: chroma:document
string_value:
Q Parameter (No.8373) : Lower dead point = Value of address Q + value of address Z (If address 
Z is omitted, the value is parameter (No.8372)).
R Parameter (No.8371) : Point R = Value of address R + value of address Z (If address Z is 
omitted, the value is parameter (No.8372)).
F Parameter (No.8374) : Oscillation base feedrate = Value of address F.
NOTE
1 G81.1/G80 is the G code for suppressing buffering.
2 Specify G81.1/G80 in a single block.
Explanation
- Oscillation activated by signal input


key: chroma:document
string_value:
Before oscillation motion is started, oscillation axis, point R, upper dead point, lower dead point, and 
oscillation base feedrate must be set on the parameter screen or the oscillation screen. Oscillation motion 
is started once oscillation start signal CHPST has been set to "1" from "0". This signal is ignored, 
however, while oscillation axis is moving. 
When oscillation hold signal *CHLD is set to "0" during oscillation motion, the tool immediately moves


key: chroma:document
string_value:
to point R and stops. Setting the oscillation hold signal *CHLD to "1" restarts oscillation motion. 
Oscillation motion can also be stopped by setting oscillation start signal CHPST to "0" from "1", but only 
when oscillation motion was started by using that signal.


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING 21. AXIS CONTROL FUNCTIONS
- 643 -
Method of starting oscillation Method of cancelling oscillation State
Signal CHPST ="1"
Signal *CHLD = "0" It stops. (Suspending state)
Signal CHPST = "0" It stops. (Cancel state)
G80 command It stops. (Cancel state)
G81.1 command
Signal *CHLD = "0" It stops. (Suspending state)
Signal CHPST = "0" It doesn't stop.
G80 command It stops. (Cancel state)
NOTE
1 Switching to manual mode or suspending automatic operation, by means of feed


key: chroma:document
string_value:
hold, does not stop oscillation motion.
2 If a move command is specified for the oscillation axis while oscillation is being 
performed, an alarm PS5050, "ILL-COMMAND IN G81.1 MODE" is issued.
3 If a G81.1 command is specified during oscillation started by the signal, 
oscillation motion is not stopped. If point R, upper dead point, lower dead point, 
or oscillation feedrate has been modified by using the G81.1 command, 
oscillation is continued but using the modified data.


key: chroma:document
string_value:
4 The use of oscillation start signal CHPST to start oscillation motion is not 
enabled immediately after power-on; it is not enabled until the completion of 
manual reference position return.
5 The M codes which are used to set the oscillation start signal CHPST to "1" or 
"0" should be specified as buffering mask type M code (parameter Nos. 3411 to 
3432).
CAUTION
After the cancel of oscillation motion during NC automatic operation, to execute


key: chroma:document
string_value:
a move command (in the absolute or incremental mode) for the oscillation axis in 
an NC block during the same operation, use G-code (G80) for the cancel of 
oscillation.
If it is necessary to cancel by signal input, execute the following (1) or (2) after 
cancelling the oscillation.
(1) M code in which Each axis workpiece coordinate system preset signal 
WPRST is turned ON
(2) Workpiece coordinate system preset (G92.1)
For example, in the following program (O0001), to execute the move command


key: chroma:document
string_value:
(N60) after the cancel of oscillation motion (Z-axis) (N40), “M code in which 
each axis workpiece coordinate system preset signal WPRST is turned ON” or 
“Workpiece coordinate system preset (G92.1)” must be specified in N50.
 O0001
 N10 G94 G90 G00 X100.0
 N20 M55 ← Oscillation start signal is turned ON
 N30 G01 X30.0 F30.0
 N40 M56 ← Oscillation start signal is turned OFF
 N50 ____
← “M code in which each axis workpiece 
coordinate system preset signal WPRST for


key: chroma:document
string_value:
Z-axis is turned ON” or “Workpiece 
coordinate system preset (G92.1Z0.0)” is 
commanded.
 N60 G00 Z-50.0 ← Move command of Z-axis
 N70 M02


key: chroma:document
string_value:
21. AXIS CONTROL FUNCTIONS PROGRAMMING B-64694EN/01
- 644 -
- Oscillation feedrate (feedrate of movement to point R)
From the start of oscillation motion to reaching point R, the tool moves at the rapid traverse rate 
(specified by parameter No.1420).
The override function can be used for either the normal rapid traverse rate or oscillation feedrate, one of 
which can be selected by setting bit 0 (ROV) of parameter No. 8360. When the oscillation feedrate is


key: chroma:document
string_value:
overridden, settings excess of 100% are clamped to 100%.
- Oscillation feedrate (feedrate of movement from point R)
From point R, reached after the start of oscillation motion, to the center point between upper and lower 
dead points, the tool moves at the oscillation base feedrate (F). Afterwards, between the center point and 
the point where the oscillation motion is canceled, the tool moves with sine curve feedrate by Exp. 1. 







 × × × = × × × [ ] [ / ] [deg/ ] [1/ ]


key: chroma:document
string_value:
[ / min] [ / min]
180
60
F
| Q |
2 ( ) F sin s
mm mm s rad mm mm t k f t k π
f(t) : Sine curve feedrate [mm/min]
F : Oscillation base feedrate [mm/min]
Q : Distance between the upper dead point and lower dead point [mm]
k : Oscillation feedrate override (0.0 (0%) to 1.5 (150%))
Set by Oscillation feedrate override signal *CHP1 to *CHP8
t : Time [s]
The value (kF) of the product of oscillation base feedrate and oscillation override is clamped to the


key: chroma:document
string_value:
maximum oscillation feedrate (parameter No.8375) if the value (kF) is greater than the maximum 
oscillation feedrate. However, even if the value (kF) is not greater than maximum oscillation feedrate, it is 
clamped by the feedrate never exceeds the maximum allowable acceleration rate for 
acceleration/deceleration (parameter No.25652) during oscillation motion.
- Setting oscillation data
Set the following oscillation data:
Oscillation axis………………… Parameter (No.8370)


key: chroma:document
string_value:
Reference point (point R)……… Parameter (No.8371)
Upper dead point………………. Parameter (No.8372)
Lower dead point………………. Parameter (No.8373)
Oscillation base feedrate……….. Parameter (No.8374)
Maximum oscillation feedrate… Parameter (No.8375)
All data items other than the oscillation axis and maximum oscillation feedrate can be set on the 
oscillation screen. Moreover, the value of parameters is replaced by the value of G81.1 command.
- Stopping oscillation


key: chroma:document
string_value:
- Stopping oscillation
The following table lists the operations and commands that can be used to stop oscillation motion, the 
positions at which oscillation stops, and the operation performed after oscillation stops:
Operation/ command Stop position Operation after stops
G80 command It follows parameter OST (No.25651#0).
Reset OST=0 : Point R Canceled
PS, OT alarm OST=1 : Decelerated and stopped
CHPST: "0"
It follows parameters OST, SGS (No.25651#0,#2).
OST=0 or SGS=0 : Point R Canceled


key: chroma:document
string_value:
OST=1 and SGS=1 : Decelerated and stopped
*CHLD: "0"
It follows parameters OST, SGS, HST (No.25651#0,#2,#3). Restart after *CHLD goes 
"1" OST=0, SGS=0, or HST=0 : Point R
OST=1, SGS=1, and HST=1 : Decelerated and stopped
Emergency stop The tool stops immediately. Canceled
Servo alarm
…Exp. 1


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING 21. AXIS CONTROL FUNCTIONS
- 645 -
Example in the setting that stop position is point R. (In case of other than suspending by signal *CHLD = 
"0" and OT alarm.)
(1) Point R > Center point between upper and lower dead points
Upper dead point
Lower dead point
Point R Cancel
Center point
(i)
(ii)
After cancel command, oscillation motion is continued until oscillation axis passes center point 
between upper and lower dead points via next lower dead point (i).


key: chroma:document
string_value:
Afterwards, the axis moves to point R by linear interpolation (ii).
(2) Point R < Center point between upper and lower dead points
Upper dead point
Lower dead point
Point R
Cancel
(ii)
(i)
Center point
After cancel command, oscillation motion is continued until oscillation axis passes center point 
between upper and lower dead points via next upper dead point (i).
Afterwards, the axis moves to point R by linear interpolation (ii).


key: chroma:document
string_value:
In the case of suspending by signal *CHLD = "0" or cancel by OT alarm, oscillation axis moves to point 
R at once.
NOTE
The timing of cancellation motion might change according to the position of point 
R or the setting of acceleration rate of cancellation motion. 
- Movement from point R to the first dead point
The first dead point is decided by the position of point R.
Point R The first dead point
Point R is on upper dead point side from center point or is on the center point. Lower dead point


key: chroma:document
string_value:
21. AXIS CONTROL FUNCTIONS PROGRAMMING B-64694EN/01
- 646 -
- Omission of movements to point R and to the center point
By setting 1 to bit 0 (OST) of parameter No. 25651 and bit 1 (FFS) of parameter No. 25651, if oscillation 
motion is started by G81.1 command, movements to point R and to the center point can be omitted, and 
oscillation motion can be immediately started. In this case, the first dead point is as follows.
State before G81.1 command The first dead point


key: chroma:document
string_value:
In case of the first command of oscillation motion after the power is turned on or in the
state of reset. Lower dead point In the state that command of cancel was specified on the way to lower dead point at last 
oscillation motion.
In the state that command of cancel was specified on the way to upper dead point at last 
oscillation motion. Upper dead point
- Acceleration/deceleration
Linear acceleration/deceleration by parameter No.25653 is applied to the movement from point R to


key: chroma:document
string_value:
center point or the motion till stop. 
Moreover, when override is changed during oscillation motion, the acceleration/deceleration set by 
parameter No.25653 is effective.
Acceleration/deceleration of sine curve feedrate control is enabled on oscillation motion.
- Oscillation after the upper dead point or lower dead point has been changed
When the upper dead point or lower dead point is changed while oscillation motion is being performed,


key: chroma:document
string_value:
the tool moves to the dead points specified by the old data. Then, oscillation motion is changed to the new 
one using the new data.
The following describes the operations performed after the data has been changed.
(1) When the upper dead point is changed during movement from the upper dead point to the lower 
dead point
New upper dead point
Previous upper dead point
Lower dead point
The tool first moves to the lower dead point, then to the new upper dead point.


key: chroma:document
string_value:
(2) When the lower dead point is changed during movement from the upper dead point to the lower 
dead point
Upper dead point
New lower dead point
Previous lower dead point
The tool first moves to the previous lower dead point, then to the upper dead point, and finally to the 
new lower dead point.


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING 21. AXIS CONTROL FUNCTIONS
- 647 -
(3) When the upper dead point is changed during movement from the lower dead point to the upper 
dead point
New upper dead point
Previous upper dead point
Lower dead point
The tool first moves to the previous upper dead point, then to the lower dead point, and finally to the 
new upper dead point.
(4) When the lower dead point is changed during movement from the lower dead point to the upper 
dead point
Upper dead point


key: chroma:document
string_value:
dead point
Upper dead point
Previous lower dead point
New lower dead point
The tool first moves to the upper dead point, then to the new lower dead point.
- Look-ahead feed forward function
Look-ahead feed forward function can be effective for oscillation motion.
- Mode switching during oscillation motion
If the mode is changed during oscillation motion, oscillation motion does not stop. In manual mode, the


key: chroma:document
string_value:
oscillation axis cannot be moved manually. It cannot also be moved manually by means of the handle 
interrupt.
- Single block signal
Even when single block signal SBK is input during oscillation motion, oscillation continues.
- Interlock signal
Interlock signal for all axes *IT or Interlock signals for each axes *ITx is valid to the oscillation axis in 
oscillation mode. However, Interlock signal for each axis direction +MITx/-MITx is invalid to the 
oscillation axis in oscillation mode.


key: chroma:document
string_value:
If interlock is effective to the oscillation axis during oscillation motion, the oscillation axis decelerates
and stops immediately.
- Parameter setting
This oscillation function becomes effective by setting bit 0 (SSO) of parameter No. 25650 to 1.
- Flexible synchronization control
Flexible synchronization control whose master axis is the oscillation axis can be used.
If Look-ahead feed forward function is used, it is necessary to set the prameter also to the slave axis as


key: chroma:document
string_value:
well as the master axis. 
However, Inter-path flexible synchronization control with oscillation axis cannot be used.


key: chroma:document
string_value:
21. AXIS CONTROL FUNCTIONS PROGRAMMING B-64694EN/01
- 648 -
- Axis synchronous control
Axis synchronous control whose master axis is the oscillation axis can be used.
If Look-ahead feed forward function is used, it is necessary to set the parameters also to the slave axis as 
well as the master axis.
Limitation
- Workpiece coordinate system
While oscillation is being performed, do not change the workpiece coordinate system for the oscillation 
axis.
- PMC axis


key: chroma:document
string_value:
axis.
- PMC axis
When the oscillation axis is operating as the PMC axis, oscillation is not started.
- Mirror image
Never attempt to apply the mirror image function about the oscillation axis.
- Move command during oscillation motion
If a move command is specified for the oscillation axis while oscillation motion is being performed, an 
alarm (PS5050) "ILL-COMMAND IN G81.1 MODE" is issued.
- Canned Cycle
While oscillation is being performed, canned cycle can not be used.


key: chroma:document
string_value:
- Program restart / Quick program restart
When a program contains G codes for starting oscillation (G81.1) and stopping oscillation (G80), an 
attempt to restart that program results in an alarm (PS5050) being output.
When a program that does not include the oscillation axis is restarted during oscillation motion, the 
coordinates and amount of travel set for the oscillation axis are not affected after the restart of the 
program.
- Rotation axis


key: chroma:document
string_value:
program.
- Rotation axis
Oscillation operation cannot be used with rotation axis (type-A).
- Inch/Metric conversion commands
While oscillation is being performed, do not be specified inch/metric conversion commands.
- General purpose retract
While oscillation is being performed, do not be performed retraction. The oscillation motion does not stop 
by retraction.
- Stored stroke check
Stored stroke check 1-I (parameter Nos. 1320 and 1321) is only effective during oscillation motion.


key: chroma:document
string_value:
- Arbitrary angular axis control
Do not set angular axis and perpendicular axis of arbitrary angular axis control to oscillation axis.
- Three-dimensional coordinate conversion / Tilted working plane indexing
While oscillation is being performed, do not be specified three-dimensional coordinate conversion / tilted 
working plane indexing.
- Cs contour control axis
Do not set Cs contour control axis to oscillation axis. If Oscillation is specified for Cs contour control


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING 21. AXIS CONTROL FUNCTIONS
- 649 -
- Synchronous/Composite control
Do not set synchronous/composite control axis to oscillation axis.
- Polygon turning
T
Do not set control axis for polygon turning to oscillation axis.
- Manual handle interrupt
Manual handle interrupt is invalid to the axis in the oscillation mode.
(The slave axis of Flexible synchronization control or Axis synchronous control is contained)
Example
To start oscillation, specify the following command:


key: chroma:document
string_value:
G90 G81.1 Z100.0 Q-25.0 R10.0 F3000.0 ;
- The tool moves to point R (Z+R = Z110.0) with rapid traverse feedrate.
- Next, move to center point (Z87.5) between upper dead point (Z100.0) and lower dead point (Z+Q = 
Z75.0) at oscillation base feedrate (F3000.0[mm/min]).
- Then, perform repeated movement along the Z-axis between the upper dead point and the lower 
dead point with sine curve feedrate F by Exp. 1. Oscillation override k is enabled.
Lower dead point (Z75.0)
Upper dead point (Z100.0)


key: chroma:document
string_value:
Upper dead point (Z100.0)
Point R (Z110.0)
Center point between
upper and lower dead points 
(Z87.5)
Position 
Feedrate 
F = 3000.0 [mm/min]
F = -3000.0 [mm/min]
F = 0.0 [mm/min]
(k = 1.0 (100%))
To cancel oscillation motion, specify the following command:
G80 ;
Motion of cancel is as follows.
 Bit 0 (OST) of parameter No. 25651 is 
0: The tool moves to point R and stops.
1: The tool decelerates and stops.


key: chroma:document
string_value:
PROGRAMMING B-64694EN/01
- 650 -
22. MUITI-PATH CONTROL 
FUNCTION
22 MUITI-PATH CONTROL FUNCTION
22.1 OVERVIEW
The multi-path control function is designed to control the independent simultaneous machining with up to 
2 paths, and the peripheral device such as a loader for performing a non-machining operation. (machining 
path up to 2, loader path up to 2, up to 4 paths in total). This function is applicable to lathes and automatic


key: chroma:document
string_value:
lathes which perform cutting simultaneously with multiple tool posts, and machines which require 
additional control paths such as a loader control path.
For multi-path simultaneous machining, each machining program is stored in a folder in program memory 
for each path. When automatic operation is to be performed, each path is activated after selecting a 
program for machining with path 1 and programs for machining with paths 2 to 4 from the programs


key: chroma:document
string_value:
stored in the respective folders in program memory. Then the programs selected for the tool posts are 
executed independently at the same time. When tool post 1 and tool post 2 need to wait for each other 
during machining, the waiting function is available.
Other available functions specific to multi-path control include interference check for each path, balance 
cut, synchronous control, composite control, spindle control between each path, and common memory 
between each path.


key: chroma:document
string_value:
between each path.
Just one LCD/MDI is provided for the all paths. Before operation and display on the LCD/MDI, the path 
selection signal is used to switch between the paths.
Example) For a system with 2 paths
Fig. 22.1
22.2 WAITING FUNCTION FOR PATHS
Overview
Control based on M codes is used to cause one path to wait for the other during machining. When an M 
code for waiting is specified in a block for one path during automatic operation, the other path waits for


key: chroma:document
string_value:
the same M code to be specified before staring the execution of the next block. 
A range of M codes used as M codes for waiting is to be set in the parameters Nos. 8110 and 8111 
beforehand. Waiting can be ignored using a signal.


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING
- 651 -
22. MUITI-PATH CONTROL 
FUNCTION
Format
M m (Pp) ;
m: Number of an M code for waiting
p: (1) In the binary value specification mode, specify the sum of the binary values 
corresponding to the numbers of paths which are to wait for one another.
(2) In the path number specification mode, specify the numbers of all paths that are to 
wait for one another in combination.
If P command is not specified, paths 1 and 2 wait for each other.


key: chroma:document
string_value:
In case of 1 path system with loader control function, path 1 and loader path 1 wait for each
other.
Explanation
The following two methods for specifying paths which are to wait for one another at address P in the 
same block in which an M code for waiting is specified are available and can be selected using bit 1 
(MWP) of parameter No. 8103. One method is to specify the paths with the sum of their corresponding


key: chroma:document
string_value:
binary values (waiting set for three or more paths specified with binary values). The other is to specify 
them with their path numbers in combination (waiting specified with path numbers).
When address P is not specified, paths 1 and 2 wait for each other (waiting set for two paths). Always 
specify address P in a single block.
- Waiting specified with binary values
When bit 1 (MWP) of parameter No. 8103 is set to 0, the value specified at address P is assumed to be


key: chroma:document
string_value:
obtained using binary values. The following table lists the path numbers and corresponding binary values.
Table 22.2 (a)
Path number Binary value (decimal number)
1 1
2 or
Loader path 1(1 control path)
2
Loader path 1 (2 control paths) or
Loader path 2(1 control path)
4
Loader path 2 (2 control paths) 8
The bit position of each path in binary representation is shown below.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Fig. 22.2 (a)


key: chroma:document
string_value:
Fig. 22.2 (a)
To make all of paths 1, 2, and 3 wait for one another, the P value is obtained as follows:
Binary value of path 1 1 (0000 0000 0000 0001)
Binary value of path 2 2 (0000 0000 0000 0010)
Binary value of loader path 1 4 (0000 0000 0000 0100)
Sum 7 (0000 0000 0000 0111)
Path 1 (20 = 1)
Path 2 or loader path
(21 = 2)
Loader path (22 = 4)
Loader path (23 = 8)


key: chroma:document
string_value:
PROGRAMMING B-64694EN/01
- 652 -
22. MUITI-PATH CONTROL 
FUNCTION
All of the three paths can be made to wait for one another by specifying P7 together with an M code for 
waiting.
- Waiting specified with a combination of path numbers
When bit 1 (MWP) of parameter No. 8103 is set to 1, the value specified at address P is assumed to be a 
combination of path numbers. The following table lists the path numbers and corresponding values.
Table 22.2 (b)
Path number Value (decimal number)
1 1
2 or


key: chroma:document
string_value:
1 1
2 or
Loader path 1(1 control path)
2
Loader path 1 (2 control paths) or
Loader path 2(1 control path)
3
Loader path 2 (2 control paths) 4
To make all of paths 1, 2, and loader path 1 wait for one another, the P value is a number consisting of 1, 
2, and loader path 1.
Example) P123
There are no restrictions on the order in which the numeric characters are specified, and the following six 
possible values can be specified:
P123, P132, P213, P231, P312, P321


key: chroma:document
string_value:
Path numbers specified in combination in different orders for different paths are effective as long as the 
numbers of the relevant paths are specified.
Example)
The following are treated as the same P value and these paths can be made to wait for one another:
M200P123 for path 1, M200P231 for path 2, and M200P321 for path 3
Example
- When the value specified at P is obtained using binary values
Assume that the waiting ignore signal for path 2 is set to 1 and M101 to M103 (parameter No. 8110 = 101


key: chroma:document
string_value:
and parameter No. 8111 = 103) are set as M codes for waiting. In this case, programs O100, O200, and 
O300 for individual paths are executed as follows:
O0300;
G50 X Z ;
G00 X Z T0303;
M102 P7; ................. <2>
O0100;
G50 X Z ;
G00 X Z T0101;
M03 S1000;
.
.
M101 P3;................... <1>
G01 X Z F ;
.
.
M102 P7;................... <2>
M103 P7;................... <3>
O0200;
G50 X Z ;
G00 X Z T0202;
M03 S2000;
M101 P3; ...................<1>
G01 X Z F ;
.
.


key: chroma:document
string_value:
G01 X Z F ;
.
.
M102 P7; ...................<2>
M103 P7; ...................<3>
.
.
.
.
.
.
.
.
.
G00 X Z ;
.
.
M103 P7;................... <3>
G00 X Z ;
.
G01 X Z F ;
.
.
<<Waiting (M102)>>
<<Waiting (M103)>>
Path 1 Path 2 Loader path 1
Fig. 22.2 (b)


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING
- 653 -
22. MUITI-PATH CONTROL 
FUNCTION
<1> M101 P3; (making paths 1 and 2 wait for each other)
When the waiting ignore signal for path 2 is set to 0, paths 1 and 2 wait for each other. Because the 
signal is set to 1, however, paths 1 and 2 ignore the M code for waiting and immediately execute the 
next block.
<2> M102 P7; (making paths 1, 2, and loader path 1 wait for one another)


key: chroma:document
string_value:
In this example, loader path 1 waits for processing on paths 1 and 2 to terminate. Because the 
waiting ignore signal for path 2 is set to 1, however, loader path 1 assumes that waiting is completed 
when processing on path 1 terminates, and executes the next block.
<3> M103 P7; (making paths 1, 2, and loader path 1 wait for one another)
In this example, paths 1 and 2 wait for processing on loader path 1 to terminate. Because the waiting


key: chroma:document
string_value:
ignore signal for path 2 is set to 1, however, path 2 does not wait for processing on loader path 1 to 
terminate and executes the next block, but path 1 waits for loader path 1.
- When the value specified at P is obtained using path numbers in combination
Assume that the waiting ignore signal for path 2 is set to 1 and M101 to M103 (parameter No. 8110 = 101 
and parameter No. 8111 = 103) are set as M codes for waiting. In this case, programs O100, O200, and


key: chroma:document
string_value:
O300 for individual paths are executed as follows:
O0300;
G50 X Z ;
G00 X Z T0303;
M102 P123; ............. <2>
O0100;
G50 X Z ;
G00 X Z T0101;
M03 S1000;
.
.
M101 P12;................. <1>
G01 X Z F ;
.
.
M102 P123;............... <2>
M103 P123;............... <3>
O0200;
G50 X Z ;
G00 X Z T0202;
M03 S2000;
M101 P12; .................<1>
G01 X Z F ;
.
.
M102 P123; ...............<2>
M103 P123; ...............<3>
.
.
.
.
.
.
.
.
.
G00 X Z ;
.
.


key: chroma:document
string_value:
.
.
.
.
.
G00 X Z ;
.
.
M103 P123;............... <3>
G00 X Z ;
.
G01 X Z F ;
.
.
<<Waiting (M102)>>
<<Waiting (M103)>>
Path 1 Path 2 Loader path 1
Fig. 22.2 (c)
<1> M101 P12; (making paths 1 and 2 wait for each other)
When the waiting ignore signal for path 2 is set to 0, paths 1 and 2 wait for each other. Because the 
signal is set to 1, however, paths 1 and 2 ignore the M code for waiting and immediately execute the 
next block.


key: chroma:document
string_value:
next block.
<2> M102 P123; (making paths 1, 2, and loader path 1 wait for one another)
In this example, loader path 1 waits for processing on paths 1 and 2 to terminate. Because the 
waiting ignore signal for path 2 is set to 1, however, loader path 1 assumes that waiting is completed 
when processing on path 1 terminates, and executes the next block.
<3> M103 P123; (making paths 1, 2, and loader path 1 wait for one another)


key: chroma:document
string_value:
In this example, paths 1 and 2 wait for processing on loader path 1 to terminate. Because the waiting 
ignore signal for path 2 is set to 1, however, path 2 does not wait for processing on loader path 1 to 
terminate and executes the next block, but path 1 waits for loader path 1.


key: chroma:document
string_value:
PROGRAMMING B-64694EN/01
- 654 -
22. MUITI-PATH CONTROL 
FUNCTION
CAUTION
1 An M code for waiting must always be specified in a single block.
2 Unlike other M codes, the M code for waiting is not output to the PMC.
3 If the operation of a single path is required, the M code for waiting need not be 
deleted. By using the signal to specify that waiting be ignored (NOWT for the 
system with two paths (including loader paths), NMWT for the system with three


key: chroma:document
string_value:
or more paths (including loader paths)), the M code for waiting in a machining 
program can be ignored. For details, refer to the manual supplied by the 
machine tool builder.
4 If using a waiting M code in block multiple-M code command mode, be sure to 
specify it as the first M code.
22.3 WAITING M CODES OF HIGH-SPEED TYPE
Overview
Waiting M codes of high-speed type is useful function to shorten the Cycle time of a program operation.
Format
M m (P p) ;
m : Number of an M code for waiting


key: chroma:document
string_value:
p : (1) In the binary value specification mode, specify the sum of the binary values
corresponding to the numbers of paths which are to wait for one another.
(2) In the path number specification mode, specify the numbers of all paths that 
are to wait for one another in combination.
NOTE
Specify a waiting M code only in a block.
The irrelevant command, which is specified with a waiting M code in a block, is
ignored.
Explanation


key: chroma:document
string_value:
ignored.
Explanation
In order to use Waiting M codes of high-speed type, it is necessary to set the range of the M codes to 
parameters Nos. 8114 and 8115.
The usage of these type M codes is similar to normal waiting M codes. For instance, the way to set a path 
by address P and to use a no-wait signal or so on are the same.
22.4 COMMON MEMORY BETWEEN EACH PATH
Overview
In a multi-path system, this function enables data within the specified range to be accessed as data


key: chroma:document
string_value:
common to all paths. The data includes tool compensation memory and custom macro common variables.
Explanation
The path common memory function enables the following operations.
- Tool compensation memory
Part or all of tool compensation memory for individual paths can be used as common data by setting 
parameter No. 5029.


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING
- 655 -
22. MUITI-PATH CONTROL 
FUNCTION
Tool
compensation
number 20
Tool
compensation
number 1
50 tool
offset
pairs
30 tool
offset
pairs
Tool offset pairs of path
2 on lathe system
No.5029=20
Tool offset pairs of path
1 on lathe system
Fig. 22.4 (a)
NOTE
1 When a combined system including a machining center system and lathe system
is used, data is made common according to the same path control type.


key: chroma:document
string_value:
2 The same unit for tool compensation (bits 0 to 3 of parameter No. 5042) must be 
set for each of the machining center and lathe systems.
3 Set a value less than the number of tool compensation values for each path for 
parameter No. 5029.
4 If the value set for parameter No. 5029 is greater than the number of tool 
compensation values for each path, the minimum number of tool compensation 
values for individual paths is assumed.


key: chroma:document
string_value:
5 For details, refer to the relevant manual of the machine tool builder.
- Custom macro common variables
All or part of custom macro common variables #100 to #149 (, #199, or #499) and #500 to #599 (or 
#999) can be used as common data by setting parameters No. 6036 (#100 to #149 (, #199, or #499)) and 
6037 (#500 to #599 (or #999)).
50 macro
variables
50 macro
variables
Macro variable number 119
Macro variable number 100
Macro variables
for path 1
No.6036=20
Macro variables
for path 2


key: chroma:document
string_value:
Macro variables
for path 2
Fig. 22.4 (b)
NOTE
If the value of parameter No. 6036 or 6037 exceeds the maximum number of 
macro common variables, the maximum number of macro common variables is 
assumed.


key: chroma:document
string_value:
PROGRAMMING B-64694EN/01
- 656 -
22. MUITI-PATH CONTROL 
FUNCTION
22.5 SPINDLE CONTROL BETWEEN EACH PATH
Overview
This function allows a workpiece attached to one spindle to be machined simultaneously with two tool 
posts and each of two workpieces attached to each of two spindles to be machined simultaneously with 
each of two tool posts.
Spindle
Tool post 1
Tool post 2
Fig. 22.5 (a) Application to a lathe with one spindle and two tool posts
Tool post 2
Spindle 1
Tool post 1
Spindle 2


key: chroma:document
string_value:
Tool post 1
Spindle 2
Fig. 22.5 (b) Application to a lathe with two spindles and two tool posts
The spindle belonging to each path can generally be controlled by programmed commands for the path. 
With path spindle command selection signals, programmed commands for any path can control the 
spindle belonging to any path.
NOTE
For the method of spindle command selection, refer to the relevant manual of 
the machine tool builder.


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING
- 657 -
22. MUITI-PATH CONTROL 
FUNCTION
22.6 SYNCHRONOUS/COMPOSITE/SUPERIMPOSED 
CONTROL
Overview
In multi-path control, the synchronous control function, composite control function, and superimposed 
control function enable synchronous control, composite control, and superimposed control in a single 
path system or between multi-path systems.
Explanation
- Synchronous control


key: chroma:document
string_value:
- Synchronous control
- Synchronizes movement along an axis of one system with that along an axis of the other path.
Example)
Synchronizing movement along the Z1 (master) and Z2 (slave) axes (in the case of turning)
Workpiece
Z2 (Synchronized with 
movement along the Z1 axis)
Z1
Turret 1
X1
Machining according to a program for path 1
Fig. 22.6 (a)
- Synchronizes movement along an axis of one path with that along another axis of the same path.
Example)


key: chroma:document
string_value:
Example)
Synchronizing movement along the Z1 (master) and B1 (slave) axes (in the case of turning)
B1 (Synchronized with 
movement along the Z1 axis)
Workpiece 1
Z1
Turret 1
X1
Tail stock
Fig. 22.6 (b)


key: chroma:document
string_value:
PROGRAMMING B-64694EN/01
- 658 -
22. MUITI-PATH CONTROL 
FUNCTION
- Composite control
- Exchanges the move commands for different axes of different path.
Example)
Exchanging the commands for the X1 and X2 axes (in the case of turning)
→ Upon the execution of a command programmed for path 1, movement is performed along 
the X2 and Z1 axes.
Upon the execution of a command programmed for path 2, movement is performed along 
the X1 and Z2 axes.
Machining according to a program 
for path 1


key: chroma:document
string_value:
for path 1
Machining according to 
a program for path 2
Workpiece 1
Turret 1
Workpiece 2
Turret 1
Z1
X2
Z2
X1
Fig. 22.6 (c)
- Superimposed control
- Provides a move command of an axis for a different axis in another path.
Example)
Providing the Z2 (slave) axis with a move command specified for the Z1 (master) axis (in the 
case of turning)
Machining according to a program for path 2
Workpiece 1
Turret 1
Turret 2
Z1 X2
Z2
X1 Machining according to 
a program for path 1


key: chroma:document
string_value:
a program for path 1
Fig. 22.6 (d)
NOTE
The method used to specify synchronous, composite, or superimposed control 
varies with the machine tool builder. For details, refer to the manual supplied by 
the machine tool builder.


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING
- 659 -
22. MUITI-PATH CONTROL 
FUNCTION
22.7 WAITING FUNCTION BY SPECIFYING START POINT
Overview
Control based on M codes is used to make one path to wait for the other during machining. When an M
code for waiting is specified in a block of a path during automatic operation, the other path waits for the 
same M code to be specified before staring the execution of the next block.


key: chroma:document
string_value:
In this function, by specifying a start point with a waiting M code, absolute coordinate value of that path 
or the other path can be used as the condition for waiting.
Format
M_ P_ L_ IP ;
Format to specify coordinates of a start point.
M : Waiting M code.
IP : Absolute coordinate value of a start point.
L : Type of waiting (0,1).
L0 : This path waits until absolute coordinate on the other path arrives at 
start point. (When L0 is specified with P7, the alarm PS0161 occurs).


key: chroma:document
string_value:
L1 : The other path waits until absolute coordinate on this path arrives at 
start point.
P : Pattern of waiting (3,5,6,7).
P3 : path 1 and path 2 wait for each other.
P5 : path 1 and path 3 wait for each other.
P6 : path 2 and path 3 wait for each other.
P7 : path 1, path 2 and path 3 wait for each other.
∗The meaning of P command can be switched to “pattern of waiting with path 
number” by bit 1 (MWP) of parameter No.8103.
For more detail information, refer to “FANUC Series 0i-MODEL


key: chroma:document
string_value:
F CONNECTION MANUAL (FUNCTION) WAITING M CODES”. 
Note.
P3, P5, P7 can be specified in path 1.
P3, P6, P7 can be specified in path 2.
P5, P6, P7 can be specified in path 3.
Specify absolute coordinate value of start point after M_ P_ L_. If start point is 
specified before M_ P_ L_, this block is operated as a normal waiting M code.
Specify L in an only one path.
If L is not specified in a block, this block is operated as a normal waiting M code, not


key: chroma:document
string_value:
the waiting function by specifying start point.
M_ P_ ;
Format not to specify coordinates of start point.


key: chroma:document
string_value:
PROGRAMMING B-64694EN/01
- 660 -
22. MUITI-PATH CONTROL 
FUNCTION
Operation
(1) When a waiting M code is specified on one path during automatic operation, that path waits until 
other paths execute the same waiting M code.
(2) After all related paths execute the same waiting M, CNC compares the programmed coordinate values 
with current ones, and CNC decides a waiting area.
Waiting is completed when absolute coordinate value enters the gray area in the following chart.


key: chroma:document
string_value:
When command in coordinates for two axes
Start point which is 
commanded by program. Absolute coordinate value 
when a waiting M code is 
executed.
Waiting is completed when absolute 
coordinate value enters this area.
When command in coordinates for one axis
Start point which is 
commanded by program. Absolute coordinate value 
when a waiting M code is 
executed.
Waiting is completed when absolute 
coordinate value enters this area.


key: chroma:document
string_value:
(3) If L0 is commanded on a path, a next block of a waiting M code is executed on the other path, and
the path with L0 waits until absolute coordinate value on the other path enters 
a gray area. 
If L1 is commanded, a next block of a waiting M code is executed, and the path with L1 makes the 
other path wait until absolute coordinate value of the path with L1 enters a gray area.
(4) After completing the waiting, the waited path begins to execute a following block of a waiting M 
code.


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING
- 661 -
22. MUITI-PATH CONTROL 
FUNCTION
Example of program
L0 command
Path 1 Path 2
O0100 ;
G00 X0.0 Z0.0 ;
M103 P3 L0 X10.0 Z10.0 ;
Waiting for (1).
Path2 begins to wait till
other path crosses
coordinate values (X≤10.0, 
Z≤10.0).
Path2 begins to execute a 
next block because 
coordinate values of other 
path crosses (X≤10.0, 
Z≤10.0) in the middle of 
block (2).
O0100 ;
G00 X0.0 ;
G00 Z0.0 ;
 :
G00 X50.0 Z50.0 ;
M103 P3 ;.......................(1)


key: chroma:document
string_value:
X-30.0 Z-30.0 ;...............(2)
Path 1 Path 2
O0100 ;
G00 X0.0 Z0.0 ;
M103 P3 L0 X10.0 Z10.0 ;
Waiting for (1)
Path2 begins to wait till
other path crosses
coordinate values (X≤10.0, 
Z≤10.0).
Path2 keeps waiting 
because the requirement of 
Z axis is not met though 
coordinate value of X axis 
crosses (X≤10.0) in block 
(2).
Path2 begins to execute a 
next block because 
coordinate values crosses
Z≤10.0 on the way of block 
(3).
O0100 ;
G00 X0.0 ;
G00 Z0.0 ;
 :


key: chroma:document
string_value:
G00 X0.0 ;
G00 Z0.0 ;
 :
G00 X50.0 Z50.0 ;
M103 P3 ;.......................(1)
S1000 M03 ;
G99 G01 X-30.0 F0.2 ;...(2)
Z-30.0 ;...........................(3)


key: chroma:document
string_value:
PROGRAMMING B-64694EN/01
- 662 -
22. MUITI-PATH CONTROL 
FUNCTION
L1 command
Path 1 Path 2
O0100 ;
G00 X0.0 Z0.0 ;
M103 P3 L1 X10.0 Z10.0 ;
Waiting for (1)
Path2 begins to execute a 
next block
G00 X50.0 Z50.0 ; ......... (2)
O0100 ;
G00 X0.0 ;
G00 Z0.0 ;
 :
G00 X50.0 Z50.0 ;
M103 P3 ;.......................(1)
Waiting till other path 
crosses coordinate values 
(X≥10.0, Z≥10.0)
Path1 begins to execute a 
next block because 
coordinate values crosses
(X≥10.0, Z≥10.0) in the


key: chroma:document
string_value:
(X≥10.0, Z≥10.0) in the 
middle of block (2).
Waiting in 3 path system
Assume M101 to M199 (parameter No. 8110 = 101 and parameter No. 8111 = 199) are set as M codes for 
waiting. In this case, programs O100, O200, and O300 for individual paths are executed as follows:
Waiting by specifying a start point between path 1 and path 2, and another waiting by specifying a start 
point between path 2 and path 3 can be specified at the same time.


key: chroma:document
string_value:
In this example, both path 1 and path 3 wait for the movement of path 2
O0300 ;
G50 X Z ;
G00 X Z T0303;
M106 P6 L0 Z-50.0; .. (2)
O0100 ;
G50 X Z ;
G00 X Z T0101;
M03 S1000;
⋅
⋅
M103 P3 L0 X-10.0;...(1)
O0200 ;
G50 X Z ;
G00 X0 Z0 T0202;
M03 S2000;
M103 P3;...................(1)
<<Waiting(M103)>>
G00
M106 P6;...................(2)
(Blocks are executed.)
Z-100.0 ;
X-100.0 ;
⋅
⋅
⋅
⋅
⋅
G00 X Z ;
⋅
⋅
⋅
G01 X Z F ;
⋅
⋅
<<Waiting(M106) )>>
<<Waiting(M103)>>


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING
- 663 -
22. MUITI-PATH CONTROL 
FUNCTION
Note
Inch / metric switching
Specifying coordinates of the waiting function by specifying start point might be failed when the input 
unit system is changed by G20/G21 during executing program.
O0100 ;
G00 X0.0 Z0.0 ;
M103 P3 L0 X10.0 Z10.0 ;
(When M103 is executed, 
the other path is a unit of 
metric.)
Coordinates of a different 
unit are compared because 
the input unit system has 
been changed when waiting 
M code ends.


key: chroma:document
string_value:
M code ends.
O0100 ;
G20 ; (METRIC)
G00 X0 Z0 ;
 :
G21 ; (INCH)
G00 X50.0 Z50.0 ;
M103 P3 ;.......................(1)
X-30.0 Z-30.0 ;...............(2)
Current block display
The start position coordinates are not displayed in the current block display and the next block display of 
the program screen.
Execution macro
The waiting function by specifying start point cannot be used in execution macro (P-code program).


key: chroma:document
string_value:
Also, macro cannot be called by M code of the waiting function by specifying start point.
Manual operation during waiting
Even if mode of operation is changed to the manual mode during waiting by specifying start position, 
waiting is completed when absolute coordinate value enters the specified area.
At this time, change to the JOG mode in only a path which axis moves, and maintain memory mode in a 
path that is waiting.
Repetition of waiting command


key: chroma:document
string_value:
Repetition of waiting command
When both of paths command L0, waiting is not completed and halt because each path waits for the 
movement of the other path.
Path 1) Path2)
M_ P_ L0 X_ Z_ ; Halt M_ P_ L0 X_ Z_ ; Halt
When a path command L1 and another path command L0, waiting of a path with L1 is completed and 
executes a next block, however waiting of a path with L0 is not completed and halt.
Path 1) Path2)
M_ P_ L1 X_ Z_ ; Execute a next block M_ P_ L0 X_ Z_ ; Halt


key: chroma:document
string_value:
Amount of tool compensation and current position display
When the absolute coordinate value of the current position display reaches the start position, waiting is 
completed. Therefore, the start position can be shifted from the program coordinates when the tool 
compensation (wear-out compensation and tool-nose radius compensation etc.) is effective.
Example)
T0101 ; (When the amount wear-out compensation is X = -1.000)
G00 X0.0 ;
M103 P3 L1 X10.0 ;
G00 X20.0 ;


key: chroma:document
string_value:
G00 X20.0 ;
- When bit 6 (DAL) of parameter No. 3104#=0, waiting is completed when absolute coordinate 
value is X = 10.000 and the amount of distance to go is X = 9.000.


key: chroma:document
string_value:
PROGRAMMING B-64694EN/01
- 664 -
22. MUITI-PATH CONTROL 
FUNCTION
- When bit 6 (DAL) of parameter No. 3104#=0, waiting is completed when absolute coordinate 
value is X = 10.000 and the amount of distance to go is X = 10.000.
Manual handle retrace
Forward movement
There is not any restriction in forward movement.
Backward movement
When this function is effective, manual handle retrace function prohibits changing direction at a


key: chroma:document
string_value:
waiting M code block in backward movement. Continue backward movement until waiting M code 
is appeared in all paths.
NOTE
When this function or waiting M code is used with manual handle retrace, set bit 
4 (HMP) of parameter No.6400 to 1 in the both of paths, and when inversion or 
backward movement is inhibited in other path, inversion or backward movement 
is inhibited also for the current executed path.
Flexible path axis assignment


key: chroma:document
string_value:
Flexible path axis assignment
Do not execute flexible path axis assignment when paths are waiting.
Retrace (M system)
When the waiting function by specifying start point is available, a waiting M code cannot move backward.
Only forward movement is possible.
Incremental command
Even if incremental command mode is selected by G91 command in G code system B or C at the path 
where M code for the waiting function by specifying start point is specified, it is assumed that absolute


key: chroma:document
string_value:
coordinate value is specified as a start point.
If address U, V or W, that are incremental commands, are specified as start point, the alarm (PS0009) 
occurs.
Rotary axis roll- over
If a rotary axis which has roll-over function is specified as an axis of start point, this coordinate value, to 
which roll-over function is not applied, is compared with the current absolute coordinate value which is 
rounded by the angle corresponding to one rotation to judge whether a condition for waiting is met.


key: chroma:document
string_value:
Example)
The axis A is the rotary axis and the amount of movement per rotation is 360.000 
(Parameter No.1260 =360.000）
N10 G00 A0.0 ;
N20 M100 P3 L1 A180.0 ;
N30 G00 A-10.0 ;
After the end of N30 block, the absolute coordinate value of A axis is 350.0. Therefore, waiting sequence 
is completed because A is larger than 180.0 in the middle of the block.


key: chroma:document
string_value:
B-64694EN/01 PROGRAMMING
- 665 -
22. MUITI-PATH CONTROL 
FUNCTION
22.8 FUNCTION FOR LOADER CONTROL
Overview
The function for loader control is used to control the devices for performing a non-machining operation 
(peripheral device such as a loader). When this function is valid, the path for performing a loader control
is added besides a path for machining.
(In the subsequent explanation, the path which applies the function for loader control is called the loader


key: chroma:document
string_value:
path, while the other path is called the machining path.)
Explanation
- Path selection
A selected path can be switched between a machining path and a loader path by MDI key operation. 
Whenever key and key are pressed at the same time, a selected path is switched between a 
machining path and a loader path alternately. If the loader path 2 exists, when the loader path 1 is selected, 
the loader path 2 is switched by the MDI key operation.
Example)


key: chroma:document
string_value:
Example)
4-path system (machining path 1, machining path 2, loader path 1, and loader path 2)
• In case of selecting the machining path 1
Whenever MDI keys and are pressed at the same time, a selected path is switched in 
the following order.
Machining path 1 Loader path 1 Loader path 2
Path selection by MDI key operation can be disabled by setting bit 3 (SCD) of parameter No.8106.
- Part program storage size / Number of registerable programs


key: chroma:document
string_value:
A part program storage size and a number of registerable programs for the loader path are included in 
them of an entire system. Even when the loader path is added, part program storage size / number of 
registerable programs of an entire system do not change.
- Waiting M codes
Waiting M codes are available between the loader path and the machining path. For details, refer to 
“WAITING M CODES” in this manual.
- Custom macro common variables between each path


key: chroma:document
string_value:
All or part of custom macro common variables can be used as data common to all paths including
machining paths and loader paths. For details, refer to “MRMORY COMMON TO PATHS” in this 
manual.
- Spindle speed control
The loader path does not have spindle speed control.
- Tool functions
The loader path does not have tool functions. The loader path does not have a tool offset number and the 
tool compensation screen.


key: chroma:document
string_value:
PROGRAMMING B-64694EN/01
- 666 -
22. MUITI-PATH CONTROL 
FUNCTION
- Usable G codes
The following table shows the G codes which are available for a loader path. When the G codes which are 
not listed in this table are specified in a loader path, alarm PS0010, “IMPRPOER G-CODE” is issued.
T
G code system for a loader path can be set to a different system for a machining path. Which G code 
system is selected is set using bits 6 (GSB) and 7 (GSC) of parameter No. 3401.
Table 22.8 G code list


key: chroma:document
string_value:
Table 22.8 G code list
Machining 
center 
system
Lathe system
G code system Function
A B C
G00 G00 G00 G00 Positioning (Rapid traverse)
G01 G01 G01 G01 Linear interpolation (Cutting feed)
G04 G04 G04 G04 Dwell
G04.1 G04.1 G04.1 G04.1 G code preventing buffering
G09 G09 G09 G09 Exact stop
G10 G10 G10 G10 Programmable data input
G11 G11 G11 G11 Programmable data input mode cancel
G20 G20 G20 G70 Input in inch
G21 G21 G21 G71 Input in mm
G22 G22 G22 G22 Stored stroke check function on


key: chroma:document
string_value:
G23 G23 G23 G23 Stored stroke check function off
G27 G27 G27 G27 Reference position return check
G28 G28 G28 G28 Return to reference position
G30 G30 G30 G30 2nd, 3rd and 4th reference position return
G31 G31 G31 G31 Skip function
G92 G50 G92 G92 Coordinate system setting
G92.1 G50.3 G92.1 G92.1 Workpiece coordinate system preset
G52 G52 G52 G52 Local coordinate system setting
G53 G53 G53 G53 Machine coordinate system setting
G54 G54 G54 G54 Workpiece coordinate system 1 selection


key: chroma:document
string_value:
G54.1 G54.1 G54.1 G54.1 Additional workpiece coordinate systems
G55 G55 G55 G55 Workpiece coordinate system 2 selection
G56 G56 G56 G56 Workpiece coordinate system 3 selection
G57 G57 G57 G57 Workpiece coordinate system 4 selection
G58 G58 G58 G58 Workpiece coordinate system 5 selection
G59 G59 G59 G59 Workpiece coordinate system 6 selection
G61 G61 G61 G61 Exact stop mode
G63 G63 G63 G63 Tapping mode
G64 G64 G64 G64 Cutting mode
G65 G65 G65 G65 Macro call
G66 G66 G66 G66 Macro modal call


key: chroma:document
string_value:
G67 G67 G67 G67 Macro modal call cancel
G94 G98 G94 G94 Feed per minute
G90 - G90 G90 Absolute programming
G91 - G91 G91 Incremental programming


key: chroma:document
string_value:
B-64694EN/01 OPERATION 1. GENERAL
- 669 -
1 GENERAL
1.1 MANUAL OPERATION
Explanation
- Manual reference position return
The CNC machine tool has a position used to determine the machine position.
This position is called the reference position, where the tool is replaced or the coordinate are set. 
Ordinarily, after the power is turned on, the tool is moved to the reference position.
Manual reference position return is to move the tool to the reference position using switches and


key: chroma:document
string_value:
pushbuttons located on the operator's panel. (See Section, “MANUAL REFERENCE POSITION 
RETURN”.)
Fig. 1.1 (a) Manual reference position return
The tool can be moved to the reference position also with program commands.
This operation is called automatic reference position return. (See Chapter, “REFERENCE POSITION”.)


key: chroma:document
string_value:
1. GENERAL OPERATION B-64694EN/01
- 670 -
- The tool movement by manual operation
Using machine operator's panel switches, pushbuttons, or the manual handle, the tool can be moved along 
each axis.
Tool
Workpiece
Machine operator's panel
Manual pulse 
generator
Fig. 1.1 (b) The tool movement by manual operation
The tool can be moved in the following ways:
(i) Jog feed (See Section, “JOG FEED (JOG)”.)
The tool moves continuously while a pushbutton remains pressed.


key: chroma:document
string_value:
(ii) Incremental feed (See Section, “INCREMENTAL FEED”.)
The tool moves by the predetermined distance each time a button is pressed.
(iii) Manual handle feed (See Section, “MANUAL HANDLE FEED”.)
By rotating the manual handle, the tool moves by the distance corresponding to the degree of handle 
rotation.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 1. GENERAL
- 671 -
1.2 TOOL MOVEMENT BY PROGRAMING - AUTOMATIC 
OPERATION
Automatic operation is to operate the machine according to the created program. It includes memory, 
MDI and DNC operations. (See Chapter, “AUTOMATIC OPERATION”.)
Program
Tool
01000 ;
M S T ;
G92 X ;
G00 ;
G01 ;
 :
 :
 :
Fig. 1.2 (a) Tool Movement by programming
Explanation
- Memory operation
After the program is once registered in memory of CNC, the machine can be run according to the


key: chroma:document
string_value:
program instructions. This operation is called memory operation.
Machine
CNC memory
Registration, Running
CNC MDI unit
Fig. 1.2 (b) Memory operation
- MDI operation
After the program is entered, as a command group, from the MDI unit, the machine can be run according 
to the program. This operation is called MDI operation.
Manual program input
Machine CNC MDI unit
Fig. 1.2 (c) MDI operation
- DNC operation


key: chroma:document
string_value:
- DNC operation
In this mode of operation, the program is not registered in the CNC memory. It is read from the external 
input/output devices instead. This is called DNC operation.


key: chroma:document
string_value:
1. GENERAL OPERATION B-64694EN/01
- 672 -
1.3 AUTOMATIC OPERATION
Explanation
- Program selection
Select the program used for the workpiece. Ordinarily, one program is prepared for one workpiece. If two 
or more programs are in memory, select the program to be used, by searching the program number. (See 
Section, “PROGRAM SEARCH”.)
Programs in memory
Search for desired program by 
file name or program number.
Automatic 
operation
M30
G92
O1001


key: chroma:document
string_value:
operation
M30
G92
O1001
Fig. 1.3 (a) Program selection for automatic operation
- Start and stop 
Pressing the cycle start pushbutton causes automatic operation to start. By pressing the feed hold or reset 
pushbutton, automatic operation pauses or stops. By specifying the program stop or program termination 
command in the program, the running will stop during automatic operation. When one process machining 
is completed, automatic operation stops. (See Chapter, “AUTOMATIC OPERATION”.)


key: chroma:document
string_value:
Cycle start Start
Feed hold 
Reset
Automatic 
operation
Program stop
Program end
Stop caused 
by program
Stop
Fig. 1.3 (b) Start and stop for automatic operation
- Handle interruption 
While automatic operation is being executed, tool movement can overlap automatic operation by rotating 
the manual handle. (See Section, “MANUAL HANDLE INTERRUPTION”.)
Z
X
Programmed 
depth of cut
Tool position after 
handle interruption
Tool position 
during automatic 
operation
Depth of cut


key: chroma:document
string_value:
operation
Depth of cut 
by handle 
interruption
Fig. 1.3 (c) Handle interruption for automatic operation


key: chroma:document
string_value:
B-64694EN/01 OPERATION 1. GENERAL
- 673 -
1.4 TESTING A PROGRAM
Before machining is started, the automatic running check can be executed. 
It checks whether the created program can operate the machine as desired. 
This check can be accomplished by running the machine actually or viewing the position display change 
(without running the machine) (See Chapter, “TEST OPERATION”.).
1.4.1 Check by Running the Machine
Explanation
- Dry run


key: chroma:document
string_value:
Explanation
- Dry run 
Remove the workpiece, check only movement of the tool. Select the tool movement rate using the dial on 
the operator's panel. (See Section , “DRY RUN”.)
Tool
Table
Fig. 1.4.1 (a) Dry run
- Feedrate override
Check the program by changing the feedrate specified in the program. (See Section, “FEEDRATE 
OVERRIDE”.)
Tool
Feedrate specified by program :
100 mm/min.
Feedrate after feed rate
override (20%) : 20 mm/min.
Workpiece
Fig. 1.4.1 (b) Feedrate override


key: chroma:document
string_value:
1. GENERAL OPERATION B-64694EN/01
- 674 -
- Single block
When the cycle start pushbutton is pressed, the tool executes one operation then stops. By pressing the 
cycle start again, the tool executes the next operation then stops. The program is checked in this manner. 
(See Section, “SINGLE BLOCK”.)
Tool
Cycle start Stop Stop
Stop
Workpiece
Cycle 
start
Cycle 
start
Cycle 
start
Fig. 1.4.1 (c) Single Block
1.4.2 How to View the Position Display Change without Running 
the Machine


key: chroma:document
string_value:
the Machine
Explanation
- Machine Lock
Tool
The tool remains stopped, and only 
the positional displays of the axes change.
Workpiece
Fig. 1.4.2 (a) Machine Lock
- Auxiliary function lock 
When automatic running is placed into the auxiliary function lock mode during the machine lock mode, 
all auxiliary functions (spindle rotation, tool replacement, coolant on/off, etc.) are disabled. (See Section, 
“MACHINE LOCK AND AUXILIARY FUNCTION LOCK”.)
1.5 EDITING A PROGRAM


key: chroma:document
string_value:
1.5 EDITING A PROGRAM
After a created program is once registered in memory, it can be corrected or modified from the MDI unit.
(See Chapter, “EDITING PROGRAMS”.)
This operation can be executed using the program edit function.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 1. GENERAL
- 675 -
1.6 DISPLAYING AND SETTING DATA
The operator can display or change a value stored in CNC internal memory by key operation on the MDI 
screen. (See Chapter, “SETTING AND DISPLAYING DATA”.)
Screen
Keys
Data setting
CNC memory
Data displaying
Fig. 1.6 (a) Displaying and setting data
Explanation
- Offset value
Geometry Wear
11.0 1.0
22.0 2.0
 . . . . . .
 . . . . . .
Tool comp. No. 1
Tool comp. No. 2
. . . . . . . . . . . . . .


key: chroma:document
string_value:
. . . . . . . . . . . . . .
. . . . . . . . . . . . . .
Screen
Keys
Setting
CNC memory
Displaying
Fig. 1.6 (b) Displaying and Setting Offset Values
The tool has the tool dimension (length, diameter). When a workpiece is machined, the tool movement 
value depends on the tool dimensions.
By setting tool dimension data in CNC memory beforehand, CNC automatically generates tool routes that 
permit any tool to cut the workpiece specified by the program. Tool dimension data is called the offset


key: chroma:document
string_value:
1. GENERAL OPERATION B-64694EN/01
- 676 -
Machined 
shape
2nd tool path
1st tool path
Offset value of the 1st tool
Offset value of the 2nd tool
Fig. 1.6 (c) Offset value
- Displaying and setting operator's setting data
Apart from parameters, there is data that is set by the operator in operation. This data causes machine 
characteristics to change.
For example, the following data can be set:
• Inch/Metric switching
• Selection of I/O devices
• Mirror image cutting on/off


key: chroma:document
string_value:
• Mirror image cutting on/off
The above data is called setting data. (See Subsection, “Displaying and Entering Setting Data”.)
Setting data
Inch/Metric switching
Selection I/O device
Mirror image ON/OFF setting
 . . .
Program Automatic
operation
Operational 
characteristics
Movement of
the machine
Screen
Keys
Setting CNC memory
Displaying
Fig. 1.6 (d) Displaying and setting operator's setting data


key: chroma:document
string_value:
B-64694EN/01 OPERATION 1. GENERAL
- 677 -
- Displaying and setting parameters
The CNC functions have versatility in order to take action in characteristics of various machines.
For example, CNC can specify the following:
- Rapid traverse rate of each axis
- Whether increment system is based on metric system or inch system.
- How to set command multiply/detect multiply (CMR/DMR)
Data to make the above specification is called parameters. (See Subsection, “Displaying and Setting
Parameters”.)


key: chroma:document
string_value:
Parameters”.)
Parameters differ depending on machine tool.
Parameter
Rapid traverse rate
Position control
Reference position return
Backlash compensation data
Pitch error compensation data
 .
 . .
Program Automatic
operation
Operational 
characteristics
Movement of
the machine
Screen
Keys
Setting CNC memory
Displaying
Fig. 1.6 (e) Displaying and setting parameters
- Data protection key


key: chroma:document
string_value:
- Data protection key
A key called the data protection key can be defined. It is used to prevent part programs, offset values, 
parameters, and setting data from being registered, modified, or deleted erroneously. (See Chapter, 
“SETTING AND DISPLAYING DATA”.)
Program
Offset value
Parameters
Setting data
Screen
Keys
Data setting
CNC memory
Data protection key
Signal
Registration/modification
inhibition
Data 
protection 
key
Machine 
operator’s panel
Fig. 1.6 (f) Data protection key


key: chroma:document
string_value:
1. GENERAL OPERATION B-64694EN/01
- 678 -
1.7 DISPLAY
1.7.1 Program Display
The contents of the currently active program are displayed.
(See Subsection, “Program Contents Display”.)
Fig. 1.7.1 (a)
A list of the programs held in the currently selected folder is displayed.
Fig. 1.7.1 (b)
Running sequence number
The line currently being executed 
is indicated by the cursor.
Contents of program
Running program number


key: chroma:document
string_value:
B-64694EN/01 OPERATION 1. GENERAL
- 679 -
1.7.2 Current Position Display
The current position of the tool is displayed with the coordinate values. 
Moreover, the distance from the current position to a target point can be displayed as a remaining travel 
distance.
(See Subsections, “Position Display in the Workpiece Coordinate System”, “Position Display in the 
Relative Coordinate System”, and “Overall Position Display”.)
Y
X
X
Y
Workpiece coordinate 
system
Fig. 1.7.2 (a)
Fig. 1.7.2 (b)


key: chroma:document
string_value:
Fig. 1.7.2 (a)
Fig. 1.7.2 (b)
Axis status display of WRONG OPERATION PREVENTION FUNCTIONS
This function displays the axis status to the left of the axis name in the display of the machine coordinates,
absolute coordinates, relative coordinates, and distance to go.
For example, when the mirror image function is enabled for the X1 axis, the absolute coordinates are 
displayed as follows.
ABSOLUTE
M X1 10.000
 Y1 10.000
 Z1 0.000


key: chroma:document
string_value:
Y1 10.000
 Z1 0.000
The axis status is indicated as follows. These indications are listed in order of priority.
AXIS DETACH : D
FLEXIBLE PATH AXIS 
ASSIGNMENT: R
INTERLOCK : I
MACHINE LOCK : L
SERVO OFF : S


key: chroma:document
string_value:
1. GENERAL OPERATION B-64694EN/01
- 680 -
TORQUE CONTROL : T
AXIS MOVING : *
MIRROR IMAGE : M
REMOVED AXIS OF 
1.7.3 Alarm Display
When a trouble occurs during operation, error code and alarm message are displayed on the screen. (See 
Section, “ALARM DISPLA”.)
See APPENDIX G for the list of error codes and their meanings.
Fig. 1.7.3
1.7.4 Parts Count Display, Run Time Display
The position display screen displays a run time, cycle time, and parts count. (See Subsection, “Displaying


key: chroma:document
string_value:
B-64694EN/01 OPERATION 2. OPERATIONAL DEVICES
- 681 -
2 OPERATIONAL DEVICES
As operational devices, setting and display devices attached to the CNC, and machine operator's panels 
are available.
For machine operator's panels, refer to the relevant manual of the machine tool builder.
2.1 POWER ON/OFF
2.1.1 Turning on the Power
Procedure of turning on the power
Procedure
1 Check that the appearance of the CNC machine tool is normal. 
(For example, check that front door and rear door are closed.)


key: chroma:document
string_value:
2 Turn on the power according to the manual issued by the machine tool builder.
3 After the power is turned on, check that the position screen is displayed. An alarm screen is 
displayed if an alarm occurs upon power-on.
Fig. 2.1.1 (a) Position screen (for machining center system)
4 Check that the fan motor is rotating.
CAUTION
Until the positional or alarm screen is displayed at the power on, do not touch a 
key on the MDI unit. Some keys are used for the maintenance or special


key: chroma:document
string_value:
2. OPERATIONAL DEVICES OPERATION B-64694EN/01
- 682 -
2.1.2 Power Disconnection
Procedure of power disconnection
Procedure
1 Check that the LED indicating the cycle start is off on the operator's panel.
2 Check that all movable parts of the CNC machine tool is stopping.
3 If an external input/output device such as the Handy File is connected to the CNC, turn off the 
external input/output device.
4 Continue to press the <POWER OFF> button for about 5 seconds.


key: chroma:document
string_value:
5 Refer to the machine tool builder's manual for turning off the power to the machine.
2.2 SETTING AND DISPLAY UNITS
The setting and display units are shown in Subsections 2.1.1 to 2.1.4 of Part III.
10.4" LCD CNC Display Panel (15"/19" LCD CNC Display Panel) ............................................... III-2.2.1
Standard MDI Unit (ONG Key)........................................................................................................ III-2.2.2


key: chroma:document
string_value:
Standard MDI Unit (QWERTY Key) ............................................................................................... III-2.2.3
Small MDI Unit (ONG Key)............................................................................................................. III-2.2.4
2.2.1 10.4" LCD CNC Display Panel (15"/19" LCD CNC Display 
Panel)
LCD
Vertical softkeys
10.4”LCD CNC Display Panel
Horizontal softkeys
PCMCIA port
USB port


key: chroma:document
string_value:
PCMCIA port
USB port
NOTE: The configuration of 15"/19" LCD CNC Display Panel is equivalent to that of 10.4" LCD CNC Display Panel.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 2. OPERATIONAL DEVICES
- 683 -
2.2.2 Standard MDI Unit (ONG Key)
Unit with machining center system
Help key Reset key Address/numeric keys
Edit keys
Cancel (CAN) key
Shift key Input key
Page change keys
(Page key)
Cursor keys Function keys
AUX key
Uppercase/lowercase
switch key
CTRL key
ALT key
TAB key
Unit with lathe system
Help key Reset key Address/numeric keys
Edit keys
Cancel (CAN) key
Input key Shift key
Page change keys
(Page key)


key: chroma:document
string_value:
Page change keys
(Page key)
Cursor keys Function keys
AUX key
Uppercase/lowercase 
switch key
CTRL key
ALT key
TAB key


key: chroma:document
string_value:
2. OPERATIONAL DEVICES OPERATION B-64694EN/01
- 684 -
2.2.3 Standard MDI Unit (QWERTY Key)
Address keys
Reset key
Help key
Uppercase/lowercase 
switch key
Shift key
AUX key
CTRL key
ALT key
TAB key
Page change keys
(Page key)
Cursor keys
Function keys
Input key
Edit keys Cancel (CAN) key
Numeric keys


key: chroma:document
string_value:
B-64694EN/01 OPERATION 2. OPERATIONAL DEVICES
- 685 -
2.2.4 Small MDI Unit (ONG Key)
Unit with machining center system
Reset key
Help key
Shift key
Page change keys
(Page key)
Cursor keys
Function keys
Edit keys
Cancel (CAN) key
Input key
Address/numeric keys
Unit with lathe system
Reset key
Help key
Shift key
Page change keys
(Page key)
Cursor keys
Function keys
Edit keys
Cancel (CAN) key
Input key
Address/numeric keys


key: chroma:document
string_value:
2. OPERATIONAL DEVICES OPERATION B-64694EN/01
- 686 -
2.3 EXPLANATION OF THE MDI UNIT
Table 2.3 Explanation of the MDI unit
No. Name Explanation
1
RESET key
Press this key to reset the CNC, to cancel an alarm, etc.
2
HELP key Press this key to use the help function when uncertain about the operation 
of an MDI key (help function).
3 Soft keys The soft keys have various functions, according to the Applications. The soft key 
functions are displayed on the display unit.
4
Address and numeric


key: chroma:document
string_value:
4
Address and numeric 
keys
. . .
Press these keys to input alphabetic, numeric, and other characters.
5
SHIFT key Some keys have two characters on their key top. Pressing the <SHIFT> key 
switches the characters. Special character ^ is displayed on the screen when a 
character indicated at the bottom right corner on the key top can be entered.
6
INPUT key
When an address or a numerical key is pressed, the data is input to the buffer,


key: chroma:document
string_value:
and it is displayed on the screen. To copy the data in the key input buffer to the 
offset register, etc., press the key. This key is equivalent to the [INPUT] 
key of the soft keys, and either can be pressed to produce the same result. This 
key is also used to move to a folder on the program folder screen.
7
CANCEL (CAN) key
Press this key to delete the last character or symbol input to the key input buffer.
Example) When the key input buffer displays
>N001X100Z_


key: chroma:document
string_value:
>N001X100Z_
and the cancel key is pressed, Z is canceled and
>N001X100_
is displayed.
8
Edit keys
Press these keys when editing the program.
 : ALTER
 : INSERT
 : DELETE
9
Function keys
. . .
Press these keys to switch display screens for each function.
See Section, “Function Keys” for details of the function keys.
10
Cursor keys
There are four different cursor move keys.
: This key is used to move the cursor to the right or in the forward


key: chroma:document
string_value:
direction. The cursor is moved in short units in the forward direction.
: This key is used to move the cursor to the left or in the reverse direction. 
The cursor is moved in short units in the reverse direction.
: This key is used to move the cursor in a downward or forward direction. 
The cursor is moved in large units in the forward direction.
: This key is used to move the cursor in an upward or reverse direction. 
The cursor is moved in large units in the reverse direction.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 2. OPERATIONAL DEVICES
- 687 - 
No. Name Explanation 
11 
Page change keys 
(Page keys) Two kinds of page change keys are described below. 
: This key is used to changeover the page on the screen in the forward
direction. 
: This key is used to changeover the page on the screen in the reverse
direction. 
12 
Uppercase/lowercase 
switch key Press this key to switch between uppercase and lowercase when entering 
alphabetic characters. 
13 
PC function key


key: chroma:document
string_value:
13 
PC function key 
These keys are used with the personal computer functions. 
Explanation 
 - 15” LCD/MDI soft key configuration 
The 15” LCD panel has 12 soft keys horizontally and 9 soft keys vertically. 
As shown below, the 8 vertical soft keys and the lowermost key are used as chapter selection soft keys. 
By pressing each of these keys, the screen (chapter) belonging to each function can be selected. The


key: chroma:document
string_value:
horizontal 12 soft keys are used to perform operations on the screen selected with a vertical soft key. 
For an LCD display with a touch panel, touch a soft key on the screen to select it. 
Vertical soft keys
Horizontal soft keys
Displays operations on selected chapter.
 - 19” LCD/MDI soft key configuration 
The 19” LCD panel has 12 soft keys horizontally and 12 soft keys vertically. 
As shown below, the 9 lower vertical soft keys on the right side and the 12 horizontal soft keys are used


key: chroma:document
string_value:
for CNC screen operations and the other soft keys are available for personal computer functions. 
Use the 9 lower vertical soft keys on the right side and 12 horizontal soft keys for CNC screen operations 
in the same way as for the 15” LCD panel.


key: chroma:document
string_value:
2. OPERATIONAL DEVICES OPERATION B-64694EN/01
- 688 - 
Vertical soft keys
Horizontal soft keys
Displays operations on selected chapter.
Soft keys for personal computer functions
Soft keys for personal computer functions
In this manual, the descriptions below assume a 10.4" LCD display panel with 12 soft keys. 
 - MDI unit operation with multi-path control 
In the multi-path control, be sure to select the tool post for which data is specified, using the path


key: chroma:document
string_value:
selection switch on the machine operator's panel. Then, perform MDI unit operation, such as displaying 
or specifying various data items, and editing a program. 
2.4 FUNCTION KEYS AND SOFT KEYS 
The function keys are used to select the type of screen (function) to be displayed. When a soft key 
(section select soft key) is pressed immediately after a function key, the screen (section) corresponding to 
the selected function can be selected. 
2.4.1 General Screen Operations 
 - Procedure


key: chroma:document
string_value:
- Procedure 
1 By pressing a function key on the MDI unit, the chapter selection soft keys that belong to the 
function are displayed. 
Example 1) 
2 When one of the chapter selection soft keys is pressed, the screen of the chapter is displayed. If the 
soft key of a desired chapter is not displayed, press the continuous menu key. 
 In a chapter, a further choice may be made from multiple chapters. 
Operation selection key 
Chapter selection soft keys Continuous menu key


key: chroma:document
string_value:
B-64694EN/01 OPERATION 2. OPERATIONAL DEVICES
- 689 -
3 When the screen of a desired chapter is displayed, press the operation selection key to display 
operations to be performed.
4 Select a desired operation with the operation selection soft key.
Depending on the operation to be executed, an auxiliary menu of soft keys is displayed. Perform an 
operation according to the indications on the auxiliary menu.
Example 2)
Example 3)


key: chroma:document
string_value:
Example 2)
Example 3)
5 To return to the display of chapter selection soft keys, press the return menu key.
A general screen display procedure is provided above.
The actual display procedure varies from one screen to another.
For details, see each description of operation.
- Button design change depending on soft key state
The soft keys assume one of the following states, depending on the selection target:
- Chapter selection soft keys
- Operation selection soft keys


key: chroma:document
string_value:
- Auxiliary menu of operation selection soft keys
Depending on the state, the button images of the soft keys change.
From the button images, which state the soft keys are assuming can be known.
Example)
- Chapter selection soft keys
- Operation selection soft keys
- Auxiliary menu of operation selection soft keys
Return menu Operation selection soft keys key
Auxiliary menu


key: chroma:document
string_value:
2. OPERATIONAL DEVICES OPERATION B-64694EN/01
- 690 -
2.4.2 Function Keys
Function keys are provided to select the type of screen to be displayed. The following function keys are 
provided on the MDI unit:
Press this key to display the position screen.
 
Press this key to display the program screen.
 
Press this key to display the offset/setting screen.
 
Press this key to display the system screen.
 
Press this key to display the message screen.


key: chroma:document
string_value:
Press this key to display the graphics screen.
 
Press this key to display the custom screen 1 (conversational macro screen or C Language Executor 
screen).
 
Press this key to display the custom screen 2 (C Language Executor screen).


key: chroma:document
string_value:
B-64694EN/01 OPERATION 2. OPERATIONAL DEVICES
- 691 -
2.4.3 Soft Keys
By pressing a soft key after a function key, the corresponding screen of the function can be displayed.
The chapter selection soft keys of each function are described below.
The horizontal four keys on the right-hand side are assigned to chapter selection soft keys. When multiple 
pages are used for chapter selection soft keys, [+] is displayed on the continuous menu key (rightmost soft


key: chroma:document
string_value:
key). Press the continuous menu key to switch between chapter selection soft keys.
NOTE
1 Press function keys to switch between screens that are used frequently.
2 Some soft keys are not displayed depending on the option configuration.
If position indications are provided on the left half of the screen when a key other than the function key 
is pressed, the left half of the soft keys is displayed as follows at all times:
Position display screen


key: chroma:document
string_value:
Position display screen
The chapter selection soft keys that belong to the function key and the function of each screen are 
described below.
ABS REL ALL HNDL (OPRT) Page 1 +
(1) (2) (3) (4) (5)
MONI 3-D
MANUAL
(OPRT) Page 2 +
(6) (7) (8) (9) (10)
Table 2.4.3 (a) Position display screen
No. Chapter menu Description
(1) ABS Selects the absolute coordinate display screen.
(2) REL Selects the relative coordinate display screen.
(3) ALL Selects the overall coordinate display screen.


key: chroma:document
string_value:
(4) HNDL Selects the operation screen for manual handle operation.
(6) MONI Selects the screen for displaying the servo axis load meter, serial spindle load 
meter, and speedometer.
(7) 3-D
MANUAL
Displays a handle pulse interrupt amount in 3-dimensional manual feed.


key: chroma:document
string_value:
2. OPERATIONAL DEVICES OPERATION B-64694EN/01
- 692 -
Program screen
The chapter selection soft keys that belong to the function key and the function of each screen are 
described below.
PROGRA
M
FOLDER NEXT CHECK (OPRT) Page 1 +
(1) (2) (3) (4) (5)
TIME JOG RSTR ROBOT
SELECT
(OPRT) Page 2 +
(6) (7) (8) (9) (10)
Table 2.4.3 (b) Program
No. Chapter menu Description
(1) PROGRAM Selects the screen for editing or displaying a program.


key: chroma:document
string_value:
(2) FOLDER Selects the screen for displaying a list of part programs currently registered.
(3) NEXT Selects the screen for displaying the command values of the block currently 
executed and the next block to be executed among the command values.
(4) CHECK Selects the screen for displaying programs, position data, modal information, 
and so forth simultaneously.
(6) TIME Selects the screen for displaying executed program operation time.


key: chroma:document
string_value:
(7) JOG Selects the screen for executing, in the JOG mode, data specified in the 
program format from the MDI.
(8) RSTR Selects the operation screen for restarting an interrupted program operation.
(9) ROBOT SELECT Selects the screen for registering robot programs and part programs for the 
Robot connection function.
Offset/setting screen
The chapter selection soft keys that belong to the function key and the function of each screen are 
described below.
OFFSET SETTING WORK (OPRT) Page 1 +


key: chroma:document
string_value:
(1) (2) (3) (4) (5)
MACRO OPR TOOL 
MANAGER
(OPRT) Page 2 +
(6) (7) (8) (9) (10)
OFST.2 W.SHFT GEOM.2 (OPRT) Page 3 +
(11) (12) (13) (14) (15)


key: chroma:document
string_value:
B-64694EN/01 OPERATION 2. OPERATIONAL DEVICES
- 693 -
PR-LV EXTEND 
OFFSET
CHOPP
ING (OPRT) Page 4 +
CHUCK 
TAIL
LANG. PROTECT GUARD (OPRT) Page 5 +
(16) (17) (18) (19) (20)
(21) (22) (23) (24) (25)
TOOL 
LIFE (OPRT) Page 6 ＋
(26) (27) (28) (29) (30)
WORK 
SET ER (OPRT) Page 7 ＋
(31) (32) (33) (34) (35)
MACHIN
LEVEL
QUALTY
SELECT
or
or
Table 2.4.3 (c) Offset
No. Chapter menu Description
(1) OFFSET Selects the screen for setting tool offset values.


key: chroma:document
string_value:
(2) SETTING Selects the screen for setting the setting parameters.
(3) WORK Selects the screen for setting a workpiece coordinate system offset.
(6) MACRO Selects the screen for setting macro variables.
(8) OPR Selects the screen for operating some operation switches on the machine 
operator's panel as soft switches.
(9) TOOL MANAGER Selects the screen for setting data related to tool management.
(11) OFST.2 Selects the screen for setting a Y-axis offset.


key: chroma:document
string_value:
(12) W.SHFT Selects the screen for setting a workpiece coordinate system shift value.
(13) GEOM.2 Selects the screen for setting a second geometry offset.
(17) PR-LV Selects the screen for setting a precision level.
(18) EXTEND OFFSET Selects the screen for setting the offsets of the fourth and fifth axes.
(19) CHOPPING Selects the screen for setting about chopping.
(21) CHUCK TAIL Selects the chuck tail stock barrier screen.
(22) LANG. Selects the screen for setting a display language.


key: chroma:document
string_value:
(23) PROTECT Selects the screen for setting data protection.
(24) GUARD Selects the screen for setting wrong operation prevention.
(29) TOOL LIFE Selects the screen for operations and setting related to tool life management.
(31) WORK SET ER Selects the screen for setting errors related to workpiece mounting position.


key: chroma:document
string_value:
2. OPERATIONAL DEVICES OPERATION B-64694EN/01
- 694 -
System screen
The chapter selection soft keys that belong to the function key and the function of each screen are 
described below.
PARAM DGNOS SERVO 
GUIDEM
SYSTEM (OPRT) Page 1 +
(1) (2) (3) (4) (5)
MEMORY PITCH SERVO
PARAM
SP.SET (OPRT) Page 2 +
(6) (7) (8) (9) (10)
PMC
MAINTE
PMC
LADDER
PMC
Page 3 CONFIG
+
(11) (12) (13) (14) (15)
MCNG
TUNING
ALL IO ALL IO OPEHIS (OPRT) Page 4 +
COLOR MAINTE M-INFO W. DGNS (OPRT) Page 5 +


key: chroma:document
string_value:
(16) (17) (18) (19) (20)
(21) (22) (23) (24) (25)
FSSB PRMTUN P.MATE
MGR. (OPRT) Page 6 +
(26) (27) (28) (29) (30)
EMBED 
PORT
PCMCIA
LAN
ETHER
NET
PROFI 
MASTER (OPRT) Page 7 +
(31) (32) (33) (34) (35)
REMOTE
DIAG
M CODE 3D ERR
COMP (OPRT) Page 8 ＋
(36) (37) (38) (39) (40)
PROFI
SLAVE
DEVNET
MASTER
FL-net
1CH
DEVNET
SLAVE (OPRT) Page 9 ＋
(41) (42) (43) (44) (45)


key: chroma:document
string_value:
B-64694EN/01 OPERATION 2. OPERATIONAL DEVICES
- 695 -
DUAL 
CHECK
R.TIME
MACRO (OPRT) Page 10 ＋
(46) (47) (48) (49) (50)
ID-INF (OPRT) Page 11 ＋
(51) (52) (53) (54) (55)
CCLink
REMOTE
ROBOT
STATUS
ROBOT
CON. (OPRT) Page 12 ＋
(56) (57) (58) (59) (60)
USB FL-net
2CH (OPRT) Page 13 ＋
(61) (62) (63) (64) (65)
Table 2.4.3 (d) System
No. Chapter menu Description
(1) PARAM Selects the screen for setting parameters.
(2) DGNOS Selects the screen for displaying CNC state.


key: chroma:document
string_value:
(3) SERVO GUIDEM Selects the screen for displaying the servo guide mate.
(4) SYSTEM Selects the screen for displaying the current system status.
(6) MEMORY Selects the screen for displaying the contents of memory.
(7) PITCH Selects the screen for setting pith error compensation.
(8) SERVO PARAM Selects the screen for setting the servo-related parameters.
(9) SP.SET Selects the screen for spindle-related setting.
(11) PMC MAINTE Selects the screen related to PMC maintenance such as PMC signal state


key: chroma:document
string_value:
monitoring and tracing, and PMC parameter display/editing.
(12) PMC LADDER Selects the screen related to ladder display/editing.
(13) PMC CONFIG Displays the screen for displaying/editing data other than ladders that makes 
up a sequence program and for setting the PMC function.
(16) MCNG TUNING Displays the screen for setting the parameter set for emphasis on speed (LV1) 
or emphasis on precision (LV10).
(17) ALL IO
(RS-232C interface)
Selects the screen for data input and output.
(18) ALL IO


key: chroma:document
string_value:
(18) ALL IO
(Memory card)
Selects the screen for data input to and output from the memory card.
(19) OPEHIS Selects the screen for displaying the history of operations performed by the 
operator and issued alarms.
(21) COLOR Selects the screen for setting colors to be used on the screen.
(22) MAINTE Selects the screen for setting maintenance items to be managed periodically.
(23) M-INFO Selects the screen for displaying information about maintenance performed.


key: chroma:document
string_value:
(24) W.DGNS Selects the screen for displaying data such as servo positional deviation 
values, torque values, machine signals, and so forth as graphs.
(27) FSSB Selects the screen for making settings related to the high-speed serial servo 
bus (FSSB: Fanuc Serial Servo Bus).
(28) PRMTUN Selects the screen for setting parameters necessary for start-up and tuning.
(29) P.MATE MGR. Selects the screen for making settings related to Power mate manager.


key: chroma:document
string_value:
(31) EMBED PORT Selects the screen for making settings related to the embedded Ethernet 
(embedded port).


key: chroma:document
string_value:
2. OPERATIONAL DEVICES OPERATION B-64694EN/01
- 696 -
No. Chapter menu Description
(32) PCMCIA LAN Selects the screen for making settings related to the embedded Ethernet 
(PCMCIA Ethernet card).
(33) ETHERNET Selects the screen for making settings related to the fast Ethernet/fast data 
server.
(34) PROFI MASTER Selects the screen for making settings related to the PROFIBUS master 
function.
(36) REMOTE DIAG Selects the screen for making settings related to the Machine Remote 
Diagnosis.


key: chroma:document
string_value:
Diagnosis.
(37) M CODE Selects the screen for setting an M code group.
(39) 3D ERR COMP Selects the screen for making settings related to the 3-dimensional Error 
Compensation.
(41) PROFI SLAVE Selects the screen for making settings related to the PROFIBUS slave
function.
(42) DEVNET MASTER Selects the screen for making settings related to the DeviceNet master
function.
(43) FL-net 1CH Selects the screen for making settings related to the FL-net (port 1) function.


key: chroma:document
string_value:
(44) DEVNET SLAVE Selects the screen for making settings related to the DeviceNet slave function.
(46) DUAL CHECK Select sthe screen for making settings related to the Dual check safety 
function.
(47) R.TIME MACRO Select the screen for making settings related to real-time custom macro.
(51) ID-INF Selects the screen for displaying CNC ID information.
(56) CCLink REMOTE Selects the screen for making settings related to the CC-Link remote device 
function.


key: chroma:document
string_value:
function.
(57) ROBOT STATUS Selects the robot status screen for the Robot connection function.
(58) ROBOT CON. Selects the screen for making settings related to the Robot connection 
function.
(61) USB Selects the USB maintenance screen.
(62) FL-net 2CH Selects the screen for making settings related to the FL-net (port 2) function.
Message screen
The chapter selection soft keys that belong to the function key and the function of each screen are 
described below.
ALARM MSG HISTRY MSGHIS Page 1 +


key: chroma:document
string_value:
(1) (2) (3) (4) (5)
EMBED 
LOG
PCMCIA
LOG
ETHER
LOG
FL-net
1CH Page 2 +
(6) (7) (8) (9) (10)
USB
LOG
FL-net
2CH Page 3 +
(11) (12) (13) (14) (15)
DNET M 
HISTRY
DNET S 
HISTRY Page 4 +
(16) (17) (18) (19) (20)


key: chroma:document
string_value:
B-64694EN/01 OPERATION 2. OPERATIONAL DEVICES
- 697 -
Table 2.4.3 (e) Message
No. Chapter menu Description
(1) ALARM Selects the alarm message screen.
(2) MSG Selects the operator message screen.
(3) HISTRY Selects the screen for displaying the details of alarms issued so far.
(4) MSGHIS Selects the external operator message screen.
(6) EMBED LOG Selects the screen for displaying error messages related to the embedded 
Ethernet (embedded port).


key: chroma:document
string_value:
Ethernet (embedded port).
(7) PCMCIA LOG Selects the screen for displaying error messages related to the embedded 
Ethernet (PCMCIA Ethernet card).
(8) ETHER LOG Selects the screen for displaying error messages related to the fast 
Ethernet/fast data server.
(9) FL-net 1CH Selects the screen for displaying error messages related to the FL-net (port 1) 
function.
(12) USB LOG Selects the screen for displaying error messages related to the USB function.


key: chroma:document
string_value:
(13) FL-net 2CH Selects the screen for displaying error messages related to the FL-net (port 2) 
function.
(16) DNET M HISTRY Selects the screen for displaying communication histories related to the
DeviceNet master function.
(17) DNET S HISTRY Selects the screen for displaying communication histories related to the
DeviceNet slave function.
Graphic screen
The chapter selection soft keys that belong to the function key and the function of each screen are 
described below.


key: chroma:document
string_value:
described below.
When the graphic display function is enabled:
PARAM GRAPH (OPRT) Page 1 +
(1) (2) (3) (4) (5)
Table 2.4.3 (f) Graphic
No. Chapter menu Description
(1) PARAM Selects the screen for setting graphic parameters.
(2) GRAPH Selects the screen for graphically displaying the tool path.
When the dynamic graphic display function is enabled:
DRAW 
PARAM
PATH 
EXEC
ANIME 
EXEC
TOOL 
POS
(OPRT) Page 1
(1) (2) (3) (4) (5)
Table 2.4.3 (g) Graphic
No. Chapter menu Description


key: chroma:document
string_value:
No. Chapter menu Description
(1) DRAW PARAM Selects the screen for setting drawing parameters.
(2) PATH EXEC Selects the screen for drawing tool paths.
(3) ANIME EXEC Selects the screen for drawing animation.
(4) TOOL POS Selects the screen for displaying tool positions.


key: chroma:document
string_value:
2. OPERATIONAL DEVICES OPERATION B-64694EN/01
- 698 -
2.5 EXTERNAL I/O DEVICES
External I/O devices such as a memory card are available.
By using an external I/O device such as a memory card, the following data can be input or output:
1. Programs
2. Offset data
3. Parameters
4. Custom macro common variables
For how to input or output data and input data from or output it to a memory card, see Chapter, “DATA 
INPUT/OUTPUT”.
- Parameter setting


key: chroma:document
string_value:
- Parameter setting
Before an external input/output device can be used, parameters must be set as follows.
Main board
Channel 1 Channel 2
JA56A JA36A
RS-232-C RS-232-C
RS232C
interface
I/O CHANNEL=0
or
I/O CHANNEL=1
I/O CHANNEL=2
CNC
RS232C
interface
This CNC has a total of two channels of RS-232C interfaces. It also has memory card interface and USB 
interface. The input/output device to be used is specified by setting the channel (interface) connected to


key: chroma:document
string_value:
that device in setting parameter I/O CHANNEL.
The specified data, such as a baud rate and the number of stop bits, of an input/output device connected to 
a specific channel must be set in parameters for that channel in advance. (These settings are not required 
for the memory card interface and USB interface.)
For channel 1, two combinations of parameters to specify the input/output device data are provided.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 2. OPERATIONAL DEVICES
- 699 -
I/O CHANNEL
or foreground input
Set channels to be used
for data input/output.
I/O CHANNEL (0 to 5)
=0 : Channel 1
=1 : Channel 1
=2 : Channel 2
=3 : Channel 3
:
:
:
Input/output to and from the memory
card interface, etc. is also possible.
When IO4 is set
Foreground output
Background input
Background input
The channel setting is the same as 
No.0020.
Input/output channel number (parameter No.0020)
↓
 0101 Stop bit and other data


key: chroma:document
string_value:
0101 Stop bit and other data
I/O CHANNEL=0 0102 Number specified for the input/output device
 0103 Baud rate
 0111 Stop bit and other data
I/O CHANNEL=1 0112 Number specified for the input/output device
 0113 Baud rate
 0121 Stop bit and other data
I/O CHANNEL=2 0122 Number specified for the input/output device
 0123 Baud rate
:
:
:
I/O CHANNEL=5 
(Channel 1)
(Channel 1)
(Channel 2)
0020
0021
0022
0023


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 700 -
3 MANUAL OPERATION
3.1 MANUAL REFERENCE POSITION RETURN
The tool is returned to the reference position as follows :
The tool is moved in the direction specified in bit 5 (ZMI) of parameter No.1006 for each axis with the 
reference position return switch on the machine operator's panel. The tool moves to the deceleration point 
at the rapid traverse rate, then moves to the reference position at the FL speed. The rapid traverse rate and


key: chroma:document
string_value:
FL speed are specified in parameters Nos. 1424,1421, and 1425.
Four step rapid traverse override is effective during rapid traverse.
When the tool has returned to the reference position, the reference position return completion LED goes 
on. The tool generally moves along only a single axis, but can move along three axes simultaneously 
when specified so in bit 0 (JAX) of parameter No.1002.
Fig. 3.1 (a) Manual reference position return
Procedure for manual reference position return
Procedure


key: chroma:document
string_value:
Procedure
1 Press the reference position return switch, one of the mode selection switches.
2 To decrease the feedrate, press a rapid traverse override switch. 
3 Press the feed axis and direction selection switch corresponding to the axis and direction for 
reference position return. Continue pressing the switch until the tool returns to the reference position. 
The tool can be moved along three axes simultaneously when specified so in an appropriate


key: chroma:document
string_value:
parameter setting. The tool moves to the deceleration point at the rapid traverse rate, then moves to 
the reference position at the FL speed set in a parameter. When the tool has returned to the reference 
position, the reference position return completion LED goes on.
4 Perform the same operations for other axes, if necessary.
The above is an example. Refer to the appropriate manual provided by the machine tool builder for the 
actual operations.
X
MIRRROR IMAGE
Y Z C X2 Y2 Z2 X Y Z
PROGRAM


key: chroma:document
string_value:
Y Z C X2 Y2 Z2 X Y Z
PROGRAM
STOP
M02/
M30
MANU
ABS
SPINDLE
ORI TAP
ATC
READY NC? MC?
ZERO POSITION
Fig. 3.1 (b)


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 701 - 
Explanation 
 - Automatically setting the coordinate system 
Bit 0 (ZPR) of parameter No.1201 is used for automatically setting the coordinate system. When ZPR is 
set, the coordinate system is automatically determined when manual reference position return is 
performed. 
When α, β and γ are set in parameter 1250, the workpiece coordinate system is determined so that


key: chroma:document
string_value:
reference point on the tool holder or the position of the tip of the reference tool is X= α, Y = β, Z = γ
when reference position return is performed. This has the same effect as specifying the following 
command for reference position return: 
G92XαYβZγ; 
However, when the workpiece coordinate system is enable (bit 0 (NWZ) of parameter No.8136 is 0), it is 
not able to use. 
Limitation 
 - Moving the tool again


key: chroma:document
string_value:
- Moving the tool again 
Once the reference position return completion LED lights at the completion of reference position return, 
the tool does not move unless the reference position return switch is turned off. 
 - Reference position return completion LED 
The reference position return completion LED is extinguished by either of the following operations: 
- Moving from the reference position. 
- Entering an emergency stop state. 
 - The distance to return to reference position


key: chroma:document
string_value:
For the distance (Not in the deceleration condition) to return the tool to the reference position, refer to the 
manual issued by the machine tool builder. 
3.2 JOG FEED (JOG) 
In the jog mode, pressing a feed axis and direction selection switch on the machine operator's panel 
continuously moves the tool along the selected axis in the selected direction. 
The jog feedrate is specified in a parameter No.1423. 
The jog feedrate can be adjusted with the jog feedrate override dial.


key: chroma:document
string_value:
Pressing the rapid traverse switch moves the tool at the rapid traverse feedrate No. 1424 regardless of the 
position of the jog feedrate override dial. This function is called the manual rapid traverse. 
Manual operation is allowed for one axis at a time. 3 axes can be selected at a time by bit 0 (JAX) of 
parameter No.1002. 
While a switch is pressed, the tool
moves in the direction specified by
the switch. 
Z 
X 
Y 
Fig. 3.2 Jog Feed (JOG)


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 702 -
Procedure for JOG feed
Procedure
1 Press the jog switch, one of the mode selection switches.
2 Press the feed axis and direction selection switch corresponding to the axis and the direction where 
the tool is to be moved. While the switch is pressed, the tool moves at the feedrate specified in the
parameter No. 1423. The tool stops when the switch is released.
3 The jog feedrate can be adjusted with the jog feedrate override dial.


key: chroma:document
string_value:
4 Pressing the rapid traverse switch while pressing a feed axis and direction selection switch moves 
the tool at the rapid traverse rate while the rapid traverse switch is pressed. Rapid traverse override 
by the rapid traverse override switches is effective during rapid traverse.
The above is an example. Refer to the appropriate manual provided by the machine tool builder for the 
actual operations.
Explanation
- Manual per revolution feed


key: chroma:document
string_value:
- Manual per revolution feed
The manual per revolution feed is enabled for jog feed by setting bit 4 (JRV) of parameter No.1402 to 1.
During the manual per revolution feed, the tool is jogged at the feedrate that is obtained by multiplying 
the spindle speed and the manual feedrate override value by the feed amount per revolution specified with 
the parameter No. 1423.
In the case of linear axis (metric input), during manual per revolution feed, the tool is jogged at the 
following feedrate:


key: chroma:document
string_value:
following feedrate: 
Feed distance per rotation of the spindle (mm/rev) (specified with parameter No. 1423) × Manual feedrate 
override × actual spindle speed (rev/min).
Limitation
- Acceleration/deceleration for rapid traverse
Feedrate, time constant and method of automatic acceleration/ deceleration for manual rapid traverse are 
the same as G00 in programmed command.
- Change of modes
Changing the mode to the jog mode while pressing a feed axis and direction selection switch does not


key: chroma:document
string_value:
enable jog feed. To enable jog feed, enter the jog mode at first, then press a feed axis and direction 
selection switch.
- Rapid traverse prior to reference position return
If reference position return is not performed after power-on, pushing rapid traverse button does not 
actuate the rapid traverse but the remains at the JOG feedrate. This function can be disabled by setting bit 
0 (RPD) of parameter No.1401.
- Without the position coder


key: chroma:document
string_value:
- Without the position coder
Manual per revolution feed is not available at the setting of without the position coder (setting bit 0 
(NPC) of parameter No.1402 to 1 or bit 1 (FPR) of parameter No.3729 to 1).


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 703 -
3.3 INCREMENTAL FEED
In the incremental (INC) mode, pressing a feed axis and direction selection switch on the machine 
operator's panel moves the tool one step along the selected axis in the selected direction. The minimum 
distance the tool is moved is the least input increment. Each step can be 10, 100, or 1000 times the least 
input increment. 
With using bit 2 (HNT) of parameter No. 7103, each step can be additionally 10 times the least input


key: chroma:document
string_value:
increment.
The feedrate set in parameter No. 1423 is applied.
By using the manual feedrate override signal, the feedrate can be increased or decreased.
The tool can also be moved at the rapid traverse rate by using the manual rapid traverse selection signal, 
independent of the manual feedrate override signal.
Y
X
Z
Tool Each time a switch is 
pressed, the tool moves one 
step in the direction 
specified by the switch.
Fig. 3.3 Incremental feed
Procedure for incremental feed
Procedure


key: chroma:document
string_value:
Procedure
1 Press the INC switch, one of the mode selection switches.
2 Select the distance to be moved for each step with the magnification dial.
3 Press the feed axis and direction selection switch corresponding to the axis and direction the tool is 
to be moved. Each time a switch is pressed, the tool moves one step. The feedrate is the same as the 
jog feedrate.
4 Pressing the rapid traverse switch while pressing a feed axis and direction selection switch moves


key: chroma:document
string_value:
the tool at the rapid traverse rate.
Rapid traverse override by the rapid traverse override switch is effective during rapid traverse.
The above is an example. Refer to the appropriate manual provided by the machine tool builder for the 
actual operations.
Explanation
- Manual per revolution feed
The manual per revolution feed is enabled for incremental feed by setting bit 4 (JRV) of parameter 
No.1402 to 1.


key: chroma:document
string_value:
No.1402 to 1.
During the manual per revolution feed, incremental feed is performed at the feedrate that is obtained by 
multiplying the spindle speed and the manual feedrate override value by the feed amount per revolution 
specified with the parameter No. 1423.
In the case of linear axis (metric input), during manual per revolution feed, the tool is jogged at the 
following feedrate: 
Feed distance per rotation of the spindle (mm/rev) (specified with parameter No. 1423) × Manual feedrate


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 704 -
- Travel distance specified with a diameter
T
The distance the tool travels along the X-axis can be specified with a diameter.
3.4 MANUAL HANDLE FEED
In the handle mode, the tool can be minutely moved by rotating the manual pulse generator on the 
machine operator's panel. Select the axis along which the tool is to be moved with the handle feed axis 
selection switches.


key: chroma:document
string_value:
selection switches.
The minimum distance the tool is moved when the manual pulse generator is rotated by one graduation is 
equal to the least input increment. One of four types of magnifiers selected with the manual handle feed 
move distance select signal can be applied. With bit 2 (HNT) of parameter No. 7103, the minimum 
distance can be further 10 times greater.
Up to three manual pulse generators can be used. (Up to three manual pulse generators can be moved at a 
time.)


key: chroma:document
string_value:
time.)
If the option of Manual handle feed 4/5-units is enabled, up to five manual pulse generators can be used.
Fig. 3.4 (a) Manual handle feed
Procedure for manual handle feed
Procedure
1 Press the handle switch, one of the mode selection switches.
2 Select the axis along which the tool is to be moved by pressing a handle feed axis selection switch.
3 Select the magnification for the distance the tool is to be moved by pressing a handle feed


key: chroma:document
string_value:
magnification switch. The minimum distance the tool is moved when the manual pulse generator is 
rotated by one graduation is equal to the least input increment.
4 Move the tool along the selected axis by rotating the handle. Rotating the handle 360 degrees moves 
the tool the distance equivalent to 100 graduations.
The above is an example. Refer to the appropriate manual provided by the machine tool builder for the 
actual operations.
Explanation


key: chroma:document
string_value:
Explanation
- Availability of manual pulse generator in Jog mode (JHD)
Bit 0 (JHD) of parameter No.7100 enables or disables the manual handle feed in the JOG mode.
When bit 0 (JHD) of parameter No.7100 is set 1, both manual handle feed and incremental feed are 
enabled.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 705 - 
 - Manual handle feed in TEACH IN JOG mode (THD) 
By setting bit 1 (THD) of parameter No. 7100, manual handle feed in TEACH IN JOG mode can be 
enabled or disabled. 
 - Superimposed feed of the jog feed and the manual handle feed 
(parameter FJH (No. 7107#1)) 
When bit 0 (JHD) of parameter No. 7100 is set to 1 or bit 1 (THD) of parameter No. 7100 is set to 1, the


key: chroma:document
string_value:
operation when the manual handle feed is executed while the jog feed is different according to the setting 
of the parameter FJH (No. 7107#1). 
When bit 1 (FJH) of parameter No. 7107 is set to 0, the jog feed and the manual handle feed are 
superimposed. 
When bit 1 (FJH) of parameter No. 7107 is set to 1, the jog feed takes precedence and the manual handle 
feed is ignored. 
 - When manual handle feed exceeding the rapid traverse rate is specified


key: chroma:document
string_value:
The amount of pulses exceeding the rapid traverse rate can be saved by CNC as B. And amount of 
pulses B will be output as pulses C. 
ｔ
Rapid 
traverse 
rate 
A: Amount of pulses corresponds to value of
Rapid Traverse Rate. 
B: Amount of pulses accumulated in CNC. 
C: Amount of pulses the same as B. 
A 
B 
C 
Fig. 3.4 (b) Amount of pulses output by CNC in Manual Handle Feed 
Amount of pulses B is calculated in 2 cases as following: 
1) In case of parameter No.7117 = 0


key: chroma:document
string_value:
The feedrate is clamped at the Rapid Traverse Rate and generated pulses exceeding the Rapid 
Traverse Rate are ignored (B=0). 
2) In case of parameter No.7117 > 0
 The feedrate is clamped as the Rapid Traverse Rate, but the pulses exceeding the Rapid Traverse 
Rate is not ignored. Amount of pulses accumulated in CNC is calculated as following. (Although the 
rotation of manual pulse generator is stopped, if there is pulses accumulated in CNC, it will be


key: chroma:document
string_value:
output and the tool will move as long as amount of it.)
 Magnification set by manual handle feed selection signals MP1 and MP2 is m, value of parameter 
No.7117 is n. 
n < m: Clamping is set performed at value of parameter No.7117. 
n ≥ m: Amount A+B, shown in Fig. 3.4 (c), which’s value is multiple of m and small than n. As a 
result, clamping is performed as an integral multiple of the selected magnification.


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 706 -
n
ｍ
A
B
Pulses over (k⋅m) will be ignored
A: Amount of pulses the same 
as Rapid Traverse Rate.
B: Amount of pulses saved in 
CNC.
k : Integer number
A＋B=k⋅m
Fig. 3.4 (c) Amount of pulses exceeding the Rapid Traverse Rate (n ≥ m)
NOTE
Due to change of mode, clamping can be performed not as an integral multiple 
of the selected magnification.
The distance the tool moves may not match the graduations on the manual 
pulse generator.


key: chroma:document
string_value:
pulse generator.
- Upper feedrate limit in manual handle feed
The upper feedrate limit depends on the input signal (maximum manual handle feedrate switch signal 
HNDLF) from the PMC as follows:
- When HNDLF is set to “0”, the feedrate is clamped to the manual rapid traverse rate (parameter No. 
1424).
- When HNDLF is set to “1”, the feedrate is clamped to the feedrate set in parameter No. 1434.
- Movement direction of an axis to the rotation of MPG (HNGx)


key: chroma:document
string_value:
Bit 0 (HNGx) of parameter No 7102 switches the direction of MPG in which the tool moves along an axis, 
corresponding to the direction in which the handle of the manual pulse generator is rotated.
This parameter is valid only for the following functions:
- Manual handle feed
- Manual handle interruption
Limitation
WARNING
Rotating the handle quickly with a large magnification such as ×100 moves the 
tool too fast. The feedrate is clamped at the rapid traverse feedrate.
NOTE


key: chroma:document
string_value:
NOTE
Rotate the manual pulse generator at a rate of five rotations per second or lower. 
If the manual pulse generator is rotated at a rate higher than five rotations per 
second, the tool may not stop immediately after the handle is no longer rotated 
or the distance the tool moves may not match the graduations on the manual 
pulse generator.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 707 -
3.5 MANUAL ABSOLUTE ON AND OFF
Whether the distance the tool is moved by manual operation is added to the coordinates can be selected 
by turning the manual absolute switch on or off on the machine operator's panel. When the switch is 
turned on, the distance the tool is moved by manual operation is added to the coordinates. When the 
switch is turned off, the distance the tool is moved by manual operation is not added to the coordinates.
O
P1
P2


key: chroma:document
string_value:
O
P1
P2
Y axis
X axis
Manual operation
The coordinates values change by the
amount of manual operation.
Fig. 3.5 (a) Coordinates with the switch ON
The coordinates do not change.
X2
X1
Y1
Y2
P1
P2
O1
O2
Fig. 3.5 (b) Coordinates with the switch OFF
Explanation
The following describes the relation between manual operation and coordinates when the manual absolute 
switch is turned on or off, using a program example.
G01G90 X100.0Y100.0F010 ; <1>
X200.0Y150.0 ; <2>
X300.0Y200.0 ; <3>


key: chroma:document
string_value:
X300.0Y200.0 ; <3>
Fig. 3.5 (c) Program example
The subsequent figures use the following notation:
Movement of the tool when the switch is on
Movement of the tool when the switch is off
The coordinates after manual operation include the distance the tool is moved by the manual operation. 
When the switch is off, therefore, subtract the distance the tool is moved by the manual operation.


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 708 -
- Manual operation after the end of block
Coordinates when block <1> has been executed after manual operation (X-axis +20.0, Y-axis +100.0) at 
the end of movement of block <2>.
 X
 Y
Switch ON
Switch OFF
Manual
(100.0 , 100.0) operation
(200.0 , 150.0)
(120.0 , 200.0)
(220.0 , 250.0)
Fig. 3.5 (d) Manual operation after the end of block
- Manual operation after a feed hold


key: chroma:document
string_value:
Coordinates when the feed hold button is pressed while block <2> is being executed, manual operation 
(Y-axis + 75.0) is performed, and the cycle start button is pressed and released.
 X
 Y
Switch ON
Switch OFF
Manual
operation
(150.0 , 125.0)
(200.0 , 150.0)
(150.0 , 200.0)
(200.0 , 225.0)
(300.0 , 275.0)
(300.0 , 200.0)
Feed hold stop point
Fig. 3.5 (e) Manual operation after a feed hold
- When reset after a manual operation following a feed hold


key: chroma:document
string_value:
Coordinates when the feed hold button is pressed while block <2> is being executed, manual operation 
(Y-axis +75.0) is performed, the control unit is reset with the RESET button, and block <2> is read again.
 X
 Y
Switch ON
Switch OFF
Manual
operation
(150.0 , 125.0)
(200.0 , 150.0)
(150.0 , 200.0)
(200.0 , 225.0)
(300.0 , 275.0)
(300.0 , 200.0)
Feed hold stop point
Fig. 3.5 (f) When reset after a manual operation following a feed hold


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 709 -
- When a movement command in the next block is only one axis
When there is only one axis in the following command, only the commanded axis returns.
Program
N1 G90 G01 X100. Y100. F500 ;
N2 X200.0 ;
N3 Y150.0 ;
 X
 Y
Switch ON
Switch OFF
Manual
operation
(100.0 , 100.0)
(200.0 , 150.0)
(200.0 , 100.0)
 N1
 N2
 N3
Fig. 3.5 (g) When a movement command in the next block is only one axis
- When the next move block is an incremental


key: chroma:document
string_value:
When the following commands are incremental commands, operation is the same as when the switch is 
OFF.
- Manual operation during cutter or tool nose radius compensation
- When the switch is OFF
After manual operation is performed with the switch OFF during cutter or tool nose radius 
compensation, automatic operation is restarted then the tool moves parallel to the movement that 
would have been performed if manual movement had not been performed.


key: chroma:document
string_value:
The amount of separation equals to the amount that was performed manually.
- When the switch is ON during cutter or tool nose radius compensation
Operation of the machine upon return to automatic operation after manual intervention with the 
switch is ON during execution with an absolute command program in the cutter or tool nose radius 
compensation mode will be described. The vector created from the remaining part of the current


key: chroma:document
string_value:
block and the beginning of the next block is shifted in parallel. A new vector is created based on the 
next block, the block following the next block and the amount of manual movement. This also 
applies when manual operation is performed during cornering.


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 710 -
- Manual operation performed in other than cornering
Assume that the feed hold was applied at point PH while moving from PA to PB of programmed path 
PA, PB, and PC and that the tool was manually moved to PH'. The block end point PB moves to the 
point PB' by the amount of manual movement, and vectors VB1 and VB2 at PB also move to VB1' and 
VB2'. Vectors VC1 and VC2 between the next two blocks PB - PC and PC - PD are discarded and new


key: chroma:document
string_value:
vectors VC1' and VC2' (VC2' = VC2 in this example) are produced from the relation between PB' - PC
and PC - PD. However, since VB2' is not a newly calculated vector, correct offset is not performed at 
block PB' - PC. Offset is correctly performed after PC.
- Manual operation during cornering
This is an example when manual operation is performed during cornering. VA2', VB1', and VB2' are 
vectors moved in parallel with VA2, VB1 and VB2 by the amount of manual movement. The new


key: chroma:document
string_value:
vectors are calculated from VC1 and VC2. Then correct cutter or tool nose radius compensation is 
performed for the blocks following PC.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 711 -
- Manual operation after single block stop
Manual operation was performed when execution of a block was terminated by single block stop.
Vectors VB1 and VB2 are shifted by the amount of manual operation. Sub-sequent processing is the 
same as case a described above. An MDI operation can also be intervened as well as manual
operation. The movement is the same as that by manual operation.
3.6 MANUAL LINEAR/CIRCULAR INTERPOLATION


key: chroma:document
string_value:
In manual handle feed or jog feed, the following types of feed operations are possible along with the 
conventional feed operation with simultaneous single-axis control (for X, Y, Z, or other axis).
- Feed along a tilted straight line in the XY, YZ, or ZX plane based on simultaneous 2-axis control 
(linear feed)
- Feed along a circle in the XY, YZ, or ZX plane based on simultaneous 2-axis control (circular feed)
Tool
Workpiece
Tool
Workpiece
<Linear feed> <Circular feed>
NOTE


key: chroma:document
string_value:
NOTE
1 Two control axes should be included in the three standard axes.
2 In the following, only the case of the XY plane is described. If any other plane is 
used, replace XY with YZ or ZX. (Refer to the table below.)
XY plane YZ plane ZX plane
X Y Z
Y Z X


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 712 -
Explanations
Procedure
1 For manual handle feed, select the manual handle feed mode. For jog feed, select the jog feed mode.
2 For manual handle feed, use the handle feed axis selection switch to select the feed axis 
(simultaneous 1-axis feed in the X-, Y-, or Z-axis or simultaneous 2-axes feed of the X- and Y-axes 
along a specified line or circle) used when the manual handle is turned.


key: chroma:document
string_value:
For jog feed, use the feed axis direction selection switch to select the feed axis and its direction. The 
tool moves at the feedrate (jog feedrate) set in parameter No. 1423 in the specified axis direction or 
along the specified line or circle while the feed axis and its direction are selected.
3 For the manual handle, the tool moves in the specified axis direction when the manual handle is 
turned. The feedrate depends on the rotation speed of the manual handle. The amount of movement


key: chroma:document
string_value:
when the manual handle is turned for one pulse can be selected by the manual handle feed 
movement scale switch.
For jog feed, the manual feedrate override dial can be used to override the feedrate.
The above procedure is an example. For actual operation, refer to the manual provided by the machine 
tool builder.
- Line/circle definition
A line or circle definition is not required for axis direction feed. For linear or circular feed, however, a


key: chroma:document
string_value:
line or circle must be defined. (For example, in the case of circular feed, the center and radius of the circle 
must be specified.)
Refer to the manual provided by the machine tool builder.
- Manual handle feed
In manual handle feed, the tool can be moved along a specified axis (X-axis, Y-axis, Z-axis, or Nth-axis), 
along a rotated straight line (linear feed), or along a circle (circular feed).
(1) Feed along a specified axis (simultaneous 1-axis control)


key: chroma:document
string_value:
A single manual handle operation can move the tool along the desired axis, such as X-axis, Y-axis, 
or Z-axis, on a simultaneous 1-axis control basis.
Y
X
Path of travel using the Y-axis handle
Path of travel using the X-axis handle
Feed along a specified axis


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 713 -
(2) Linear feed (simultaneous 2-axis control)
A single manual handle operation can move the tool in parallel to the straight line on a simultaneous 
2-axis control basis. This manual handle is referred to as the "guidance handle". Also, the tool can be 
moved at right angles to a specified straight line on a simultaneous 2-axis control basis. This manual 
handle is referred to as the "approach handle". When the guidance handle or approach handle is


key: chroma:document
string_value:
turned clockwise or counterclockwise, the tool travels forward or backward along the respective 
path.
Y
X
Path of travel using the 
approach handle
Path of travel using the 
guidance handle
Specified straight line
Tool
Linear feed
(3) Circular feed (simultaneous 2-axis control)
A single manual handle operation can move the tool from the current position along a concentric 
circle that has the same center as a specified circle on a simultaneous 2-axis control basis. This


key: chroma:document
string_value:
manual handle is referred to as the guidance handle. Also, a single manual handle operation can 
move the tool along a straight line normal to a specified circle on simultaneous 2-axis control. This 
manual handle is referred to as the approach handle. When the guidance handle or approach handle 
is turned clockwise or counterclockwise, the tool travels forward or backward along the respective 
path.
Y
X
Specified circle
Path of travel using the 
guidance handle
Path of travel using the


key: chroma:document
string_value:
Path of travel using the 
approach handle Tool
Circular feed
- Feedrate for manual handle feed
The feedrate depends on the speed at which a manual handle is turned. The distance to be traveled by the 
tool (along a tangent in the case of linear or circular feed) per manual handle pulse can be selected using 
the manual handle feed travel distance magnification switch.
The approach handle clamp feedrate can be set using parameter No. 7160. The guidance handle clamp


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 714 -
- Manual handle selection
Up to five manual handles to be connected. For information on specifying the usage of the manual handle 
connected to each interface (for feed in the axis direction, use as a guidance handle, or use as an approach 
handle), refer to the manual issued by the machine tool builder.
- Direction of movement using manual handles


key: chroma:document
string_value:
When the tool is moved along a straight line or circle using the guidance handle or approach handle, the 
direction of the tool movement (for example, whether to make a clockwise or counterclockwise 
movement along a circle) when the handle is turned clockwise or counterclockwise can be specified.
Refer to the manual provided by the machine tool builder.
- Jog feed
In jog feed, the tool can be moved along a specified axis (X-axis, Y-axis, Z-axis, etc.), along a rotated


key: chroma:document
string_value:
straight line (linear feed), or along a circle (circular feed).
(1) Feed along a specified axis (simultaneous 1-axis control)
While a feed axis and its direction are specified with the feed axis direction selection switch, the tool 
moves in the specified axis direction. When the plane axis is fed, the feederate is dry run rate or the 
value of parameter No.1415. The feedrate can be overridden using the manual feedrate override dial.
NOTE


key: chroma:document
string_value:
NOTE
1 Two axes of the selected plane cannot be fed at the same time.
2 The manual rapid traverse is invalid.
When the axis excluding the plane axis is fed, the feederate is jog feedrate. The feedrate can be 
overridden using the manual feedrate override dial.
(2) Linear feed (simultaneous 2-axis control)
By defining a straight line, the tool can be moved as follows:
- While a feed axis and its direction are selected using the feed axis direction selection switch,


key: chroma:document
string_value:
the tool moves along a straight line parallel to the specified straight line on a simultaneous 
2-axis control basis.
- While a feed axis and its direction are selected using the feed axis direction selection switch, 
the tool moves along a straight line perpendicular to the specified straight line on a 
simultaneous 2-axis control basis.
The feedrate in the tangential direction is dry run rate or the value of parameter No.1415. The


key: chroma:document
string_value:
feedrate can be overridden using the manual feedrate override dial. Manual rapid traverse is invalid.
(3) Circular feed (simultaneous 2-axis control)
By defining a circle, the tool can be moved as follows:
- While a feed axis and its direction are selected using the feed axis direction selection switch, 
the tool moves from the current position along the concentric circle that has the same center as 
the specified circle.


key: chroma:document
string_value:
the specified circle.
- While a feed axis and its direction are selected using the feed axis direction selection switch, 
the tool moves along a straight line normal to the specified circle.
The feedrate in the tangential direction is dry run rate or the value of parameter No.1415. The 
feedrate can be overridden using the manual feedrate override dial. Manual rapid traverse is invalid.
- Manual handle feed in JOG mode


key: chroma:document
string_value:
Even in JOG mode, manual handle feed can be enabled using bit 0 (JHD) of parameter No. 7100. In this 
case, however, manual handle feed is enabled only when the tool is not moved using jog feed.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 715 -
Limitations
- Mirror image
The mirror image function is not available during the manual operation. (The manual operation can be 
executed when the mirror image switch is off and the mirror image setting is off.)
NOTE
If the tool is operated with the mirror image function activated, the normal 
operation will not be guaranteed.
- Rotation direction


key: chroma:document
string_value:
- Rotation direction
When this function is effective, bit 0 (HNGx) of parameter No. 7102 is invalid which is used to change 
the axis movement direction with respect to the rotation direction of the manual pulse generator. (The 
rotation direction of the manual pulse generator is always the same as the axis movement direction; that is, 
the operation is the same as when bit 0 (HNGx) of parameter No. 7102 is set to "0".)
- The amount of the shift for manual handle feed


key: chroma:document
string_value:
When this function is effective, parameters Nos. 12350 and 12351 used to determine the magnification of 
manual handle feed for each axis are invalid and the values of parameters Nos. 7113 and 7114 are used. 
(Parameters No. 7131 and No. 7132 are used for the second manual pulse generator, parameters Nos.
7133 and 7134 for the third, parameters Nos. 7135 and 7136 for the fourth, and parameters Nos. 7137 and 
7138 for fifth.)
- Incremental feed
This function is invalid for the incremental feed.


key: chroma:document
string_value:
- Synchronous/composite control
If the axis is set as the synchronous/composite control axis, this function is invalid.
3.7 RIGID TAPPING BY MANUAL HANDLE
For execution of rigid tapping, set rigid mode, then switch to handle mode and move the tapping axis with 
a manual handle. See the section of the rigid tapping to operate the rigid tapping by manual handle. For 
rigid tapping, refer to Section, “RIGID TAPPING” in the OPERATOR’S MANUAL (T series) or Section,


key: chroma:document
string_value:
“RIGID TAPPING” in the OPERATOR’S MANUAL (M series) and the relevant manual of the machine 
tool builder.
Rigid tapping by manual handle
Procedure
1 Stop the spindle and servo axes, then set MDI mode by pressing the MDI switch among the mode 
selection switches.
2 Enter and execute the following program:
Example 1) M series / T series (G code systems B, C)
M29 S100 ;
G91 G84 Z0 F1000 ;
Example 2) T series (G code system A)
M29 S100 ;
G84 W0 F1000 ;


key: chroma:document
string_value:
M29 S100 ;
G84 W0 F1000 ;
The program above is required to determine a screw lead and set rigid tapping mode. In this program, 
a tapping axis must always be specified. Specify a value that does not operate the tapping axis. With 
the M series, specify G84 (G74). With the T series, specify G84 (G88).


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 716 -
CAUTION
In this MDI programming, never specify commands to position the tool at a 
drilling position and at point R. Otherwise, the tool moves along an axis.
3 When the entered program is executed, rigid tapping mode is set.
4 After rigid mode is set upon completion of MDI program execution, switch to the handle mode by 
pressing the handle switch among the mode selection switches.
CAUTION


key: chroma:document
string_value:
CAUTION
At this time, never press the reset key. Otherwise, rigid mode is canceled.
5 To perform rigid tapping, select a tapping axis with the handle feed axis select switch, and move the 
tapping axis with the manual handle.
Explanation
- Manual rigid tapping
Manual rigid tapping is enabled by bit 0 (HRG) of parameter No. 5203 to 1.
- Cancellation of rigid mode
To cancel rigid mode, specify G80 as same the normal rigid tapping. When the reset key is pressed, rigid


key: chroma:document
string_value:
mode is canceled, but the canned cycle is not canceled.
When the rigid mode switch is to be set to off for rigid mode cancellation (when bit 2 (CRG) of parameter 
No. 5200 is set to 0), the G80 command ends after the rigid mode switch is set to off.
- Spindle rotation direction
The rotation direction of the spindle is determined by a specified tapping cycle G code and the setting of 
bit 1 (HRM) of parameter No. 5203. For example, when the HRM parameter is set to 0 in G84 mode, the


key: chroma:document
string_value:
spindle makes forward rotations as the tapping axis moves in the minus direction. (When the tapping axis 
moves in the plus direction, the spindle makes reverse rotations.)
- Arbitrary tapping axis 
With the M series, an arbitrary tapping axis can be selected by setting bit 0 (FXY) of parameter No. 5101 
to 1. With the T series, an arbitrary tapping axis can be selected not by using bit 0 (FXY) of parameter No.


key: chroma:document
string_value:
5101 (but by using bit 0 (FXY) of parameter No. 5101 when the program format for FANUC Series 15 is 
specified). In this case, specify a G code for plane selection and the address of the tapping axis when 
setting the rigid tapping mode in the MDI mode.
- G84 command/same block specifying both M29 and G84 
As the MDI program command for setting the rigid mode, G84 can be specified as a rigid tapping G code


key: chroma:document
string_value:
(by setting bit 0 (G84) of parameter No. 5200 to 1), or M29 and G84 can be specified in the same block.
Example 1: G91 G84 Z0 F1000 S100 ;
Example 2: G91 G84 Z0 F1000 M29 S100 ;
- Specification of manual handle feed faster than the rapid traverse rate 
Set parameter No.7117 to 0 so that when manual handle feed is specified which is faster than the rapid 
traverse rate, the handle pulses beyond the rapid traverse rate are ignored.
- Program format for FANUC Series 15


key: chroma:document
string_value:
By setting bit 1 (FCV) of parameter No. 0001 to 1, the program format for FANUC Series 15 can be used 
for specification.
Example 1: G91 G84.2 (G84.3) Z0 F1000 S100; (M series)
Example 2: G84.2 W0 F1000 S100; (T series : G code systems A)
Example 3: G91 G84.2 Z0 F1000 S100; (T series : G code system B, C)


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 717 -
- Acceleration/deceleration type
When manual rigid tapping is executed, the acceleration/deceleration type and acceleration/deceleration 
time constant set in the rigid tapping parameters are valid.
The same settings are valid also for extraction.
- In the case of multi-spindle operation
In the case of multi-spindle operation, a spindle can be selected by specifying a P command as well as an 
S command.
Example :When the 2nd spindle is selected:


key: chroma:document
string_value:
M29 S100 P2;
G91 G84 Z0 F1000 ;
Limitation
- Excessive error check
In manual rigid tapping, only an excessive error during movement is checked.
- Tool axis direction handle feed
Tool axis direction handle feed is disabled.
- Extraction override
In manual rigid tapping, the extraction override function is disabled, and the use of an 
acceleration/deceleration time constant for extraction is disabled.
- Number of repeats


key: chroma:document
string_value:
- Number of repeats
In MDI programming, never specify K0 and L0, which are used to specify that the number of repeats is 0 
and to disable the execution of a G84 block. If K0 or L0 is specified, rigid mode cannot be set.
- Positioning of the tool to a drilling position 
When positioning the tool to a drilling position, select the X-axis or Y-axis with the axis select switch in 
handle mode. Never use the method of positioning to a drilling position in MDI mode or MEM mode.


key: chroma:document
string_value:
The method can operate the tapping axis.
- 3-dimensional rigid tapping
3-dimensional rigid tapping cannot be used in rigid tapping using the manual handle.
- Feed forward
In rigid tapping by manual handle, feed forward is disabled even if bit 2 (RFF) of parameter No. 5203 is 
set to 1 (Feed forward is enabled in rigid tapping).
- Constant surface speed control
If rigid tapping is commanded during constant surface speed control, alarm (PS0200), ”ILLEGAL S


key: chroma:document
string_value:
CODE COMMAND” is issued. Command rigid tapping after canceling constant surface speed control.
- Spindle Control with Servo Motor
Rigid tapping by manual handle cannot be used against the rigid tapping with servo motor.


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 718 -
3.8 3-DIMENSIONAL MANUAL FEED
M
This function enables the use of the following functions.
- 3-dimensional manual feed
- Tool axis direction handle feed/tool axis direction JOG feed/tool axis direction incremental 
feed
- Tool axis right-angle direction handle feed/tool axis right-angle direction JOG feed/tool axis 
right-angle direction incremental feed


key: chroma:document
string_value:
- Tool tip center rotation handle feed/tool tip center rotation JOG feed/tool tip center rotation 
incremental feed
- Table vertical direction handle feed/table vertical direction JOG feed/table vertical direction 
incremental feed
- Table horizontal direction handle feed/table horizontal direction JOG feed/table horizontal 
direction incremental feed
A handle interrupt can be generated for each handle feed. Handle interrupts work according to the


key: chroma:document
string_value:
corresponding handle feed specifications described hereinafter unless otherwise noted.
- Screen display functions
- Display of the coordinate of the tool tip
- Display of pulse values
- Display of the amount of machine axes movement
- Selecting a coordinate system when calculating the tool direction
If, in 3-dimensional manual feed, a workpiece coordinate system offset is set for a rotation axis, use bit 0


key: chroma:document
string_value:
(CAC) of parameter No. 12319 to select whether to use values in the workpiece or machine coordinate 
system when calculating the tool direction.
- When the bit 0 (CAC) of parameter No. 12319 = 0:
Values in the machine coordinate system are used.
For those parameters for configuring the machine, Nos. 19680 to 19714, that depend on the 
coordinate on a rotation axis, set the values assumed when the machine coordinate on the rotation 
axis is 0.
- When the bit 0 (CAC) of parameter No. 12319 = 1:


key: chroma:document
string_value:
Values in the workpiece coordinate system are used.
For those parameters for configuring the machine, Nos. 19680 to 19714, that depend on the 
coordinate on a rotation axis, set the values assumed when the workpiece coordinate on the rotation 
axis is 0.
For the functions below, values in the workpiece coordinate system of a rotation axis are used to calculate 
the tool direction and, therefore, if a workpiece coordinate system offset is set for a rotation axis, and


key: chroma:document
string_value:
3-dimensional manual feed is to be used together with any of the functions below, set bit 0 (CAC) of 
parameter No. 12319 to 1.
- Tilted working plane indexing
(Example)
Related parameters:
No.19680=2 (Tool rotation type)
No.19682=3 (the master rotation axis (C-axis) is about the Z-axis)
No.19687=2 (the slave rotation axis (B-axis) is about the Y-axis)


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 719 -
No.19697=3 (the reference tool axis direction is the Z-axis direction)
No.19698=0 (angle RA when the reference tool axis direction is tilted)
No.19699=0 (angle RB when the reference tool axis direction is tilted)
Workpiece coordinate system offset:
B=10.0
Example 1:
The tool is assumed to face the Z-axis direction when it is in the following states.
Position in the workpiece coordinate system B= -10.0


key: chroma:document
string_value:
Position in the machine coordinate system B=0.0
In this case, values in the machine coordinate system must be used to calculate the tool 
direction, set bit 0 (CAC) of parameter No. 12319 to 0.
Example 2:
The tool is assumed to face the Z-axis direction when it is in the following states.
Position in the workpiece coordinate system B=0.0
Position in the machine coordinate system B=10.0
In this case, values in the workpiece coordinate system must be used to calculate the tool


key: chroma:document
string_value:
direction, set bit 0 (CAC) of parameter No. 12319 to 1.
- 3-Dimensional manual feed by handle in JOG mode
Even in JOG feed mode, 3-Dimensional manual feed by handle feed can be enabled using bit 0 (JHD) of 
parameter No.7100.
- The manual handle interruption screen in Tilted working plane indexing mode
In Tilted working plane indexing mode, when 3-dimensional handle interrupt is executed in X,Y, and Z


key: chroma:document
string_value:
directions of the feature coordinate system (bit 0 (TWD) of parameter No.12320 is set to 1), it can be 
selected whether to display the travel distance in the manual handle interruption screen in the workpiece 
coordinate system or the feature coordinate system, by bit 3 (DMK) of parameter No.5402 and by bit 4
(MDT) of parameter No.12319.
In the case to display the travel distance in the feature coordinate system, set bit 3 (DMK) of parameter 
No.5402 to 0 and bit 4 (MDT) of parameter No.12319 to 1.


key: chroma:document
string_value:
NOTE
1 A 3-dimensional handle interrupt must not be generated when a rotation axis
command is being executed during automatic operation.
2 3-dimensional manual feed is disabled when the manual reference position 
return mode is selected.
3 If per-axis interlock is enabled to at least one of 3-dimensional manual feed 
axes, movement with manual feed is not performed.
3.8.1 Tool Axis Direction Handle Feed / Tool Axis Direction JOG 
Feed / Tool Axis Direction Incremental Feed
Overview


key: chroma:document
string_value:
Overview
In the tool axis direction handle feed, tool axis direction JOG feed, and tool axis direction incremental 
feed, the tool or table is moved in the tool axis direction.


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 720 -
Explanation
- Tool axis direction
The tool axis direction that is taken when all the rotation axes for controlling the tool are at an angle of 0 
degree is specified in parameters Nos.19697, 19698, and 19699. As the rotation axes for controlling the 
tool rotate, the tool axis direction changes according to the rotation axis angle.
- Tool axis direction feed in the tilted working plane indexing mode


key: chroma:document
string_value:
If bit 0 (TWD) of parameter No. 12320 is set to 1, the feed direction of the tool axis direction feed in the 
tilted working plane indexing mode is assumed to be the Z direction in the feature coordinate system of 
the tilted working plane indexing.
- Tool axis direction handle feed
The tool axis direction handle feed is enabled when the following four conditions are satisfied:
<1> Handle mode is selected.
<2> The tool axis direction feed mode signal (ALNGH) is set to "1" and the table base signal


key: chroma:document
string_value:
(TB_BASE) is set to "0".
<3> The state of the first manual handle feed axis selection signals (HS1A - HS1E) to make the tool axis 
direction handle feed mode effective is set in parameter No.12310.
<4> The value of parameter No.12310 matches the first manual handle feed axis selection signals (HS1A 
- HS1E).
Amount of movement
When the manual pulse generator is rotated, the tool is moved in the tool axis direction by the amount of 
rotation.
Feedrate clamp


key: chroma:document
string_value:
rotation.
Feedrate clamp
The feedrate is clamped so that the speed of each moving axis dose not exceed the manual rapid traverse 
rate (parameter No.1424). Handle pulses generated while the clamp feedrate is exceeded are ignored.
If Manual handle feed maximum feedrate change signal HNDLF is "1", clamping is performed by the 
maximum handle feedrate (parameter No. 1434).
- Tool axis direction JOG feed/tool axis direction incremental feed


key: chroma:document
string_value:
The tool axis direction JOG feed or tool axis direction incremental feed is enabled when the following 
three conditions are satisfied:
<1> JOG mode or incremental feed mode is selected.
<2> The tool axis direction feed mode signal (ALNGH) is set to "1" and the table base signal 
(TB_BASE) is set to "0".


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 721 -
<3> The feed axis direction selection signal (+Jn, -Jn (where n = 1 to the number of controlled axes)) is 
set to "1" for the axis corresponding to the direction specified by parameter No.19697. (Even when 
the tool axis direction is slant because of the settings of parameters Nos.19698 and 19699, the signal 
that activates the tool axis direction JOG feed or tool axis direction incremental feed is determined 
by parameter No.19697 only.)


key: chroma:document
string_value:
by parameter No.19697 only.)
Ex.) Parameter No.19697 = 3 (+Z-axis direction); Z-axis is the 3rd axis.
- +J3 : Tool axis direction +
- -J3 : Tool axis direction -
Feedrate
The feedrate is the dry run rate (parameter No.1410). The manual feedrate override feature is available.
If bit 2 (JFR) of parameter No. 12320 is set to 1, the feedrate of a rotation axis is the jog feedrate of the 
axis to be rotated (parameter No. 1423). The manual feedrate override feature is available.
Feedrate clamp


key: chroma:document
string_value:
Feedrate clamp
The feedrate is clamped so that the speed of each moving axis dose not exceed the manual rapid traverse 
rate (parameter No.1424).
3.8.2 Tool Axis Right-Angle Direction Handle Feed / Tool Axis 
Right-Angle Direction JOG Feed / Tool Axis Right-Angle 
Direction Incremental Feed
Overview
In the tool axis right-angle direction handle feed, tool axis direction JOG feed, or tool axis direction 
incremental feed, the tool or table is moved in the tool axis right-angle direction.


key: chroma:document
string_value:
If bit 1 (FLL) of parameter No. 12320 is set to 1, the tool or table is moved in the latitude or longitude 
direction determined by the tool axis direction vector.
Explanation
- Tool axis right-angle direction
There are two tool axis right-angle directions, which are perpendicular to the tool axis direction (see the 
previous section).
Parameter No.19697 Tool axis right-angle direction 1 Tool axis right-angle direction 2
1 (The reference tool direction is +X.) +Y direction +Z direction


key: chroma:document
string_value:
2 (The reference tool direction is +Y.) +Z direction +X direction
3 (The reference tool direction is +Z.) +X direction +Y direction
This table shows the tool axis right-angle directions that may be taken when the angles of all the rotation 
axes for controlling the tool are 0 degree and when parameters Nos.19698 and 19699 are both set to 0.
When the reference tool axis direction is inclined based on the settings of parameters Nos.19698 and


key: chroma:document
string_value:
19699, the tool axis right-angle direction is also inclined as much.
As the rotation axes for controlling the tool rotate, the tool axis right-angle direction changes according to 
the rotation axis angle.


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 722 -
(Example) When the tool rotation axes are B-axis and C-axis and the tool axis 
direction is the Z-axis direction
C B
Z
Y
X
Tool axis right-angle direction 2
Tool axis direction
B
C
Tool axis right-angle direction 1
Y
X
Z
B
C
- Latitude and longitude directions
When bit 1 (FLL) of parameter No. 12320 is set to 1, the feed direction is defined as follows:
Let a vector perpendicular to a plane formed by the tool axis direction vector ( T


key: chroma:document
string_value:

) and normal axis 
direction vector ( P

) (parameter No. 12321) be the tool axis right-angle direction 1 (longitude direction) 
vector ( 1

R ). When tool axis right-angle direction 1 is selected, a movement in the positive direction 
means a movement in this vector direction, and a movement in the negative direction means a movement 
in the direction opposite to the vector direction. (Longitude direction feed)
Equation: R P T    1 = ×


key: chroma:document
string_value:
Equation: R P T    1 = ×
Let a vector perpendicular to the tool axis direction vector (T

) and tool axis right-angle direction 1 
(longitude direction) vector ( 1

R ) be the tool axis right-angle direction 2 (latitude direction) vector ( R2
 ). 
When tool axis right-angle direction 2 is selected, a movement in the positive direction means a 
movement in this vector direction, and a movement in the negative direction means a movement in the


key: chroma:document
string_value:
direction opposite to the vector direction. (Latitude direction)
Equation: R2 T R1    = ×
When the tool axis direction vector ( T

) is parallel to the normal axis direction vector ( P

) (parameter No. 
12321) (when the angle between them is not greater than the setting of parameter No. 12322), tool axis 
right-angle direction 1 and tool axis right-angle direction 2 are assumed as follows:


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 723 -
Parameter No.12321 Normal axis direction Tool axis right-angle 
direction 1
Tool axis right-angle 
direction 2
1 +X direction +Y direction +Z direction
2 +Y direction +Z direction +X direction
3 +Z direction +X direction +Y direction
If 0 is set in parameter No. 12321, the normal axis direction is set to the reference tool axis direction 
(parameter No. 19697).


key: chroma:document
string_value:
(parameter No. 19697).
If a value other than 0 to 3 is specified in parameter No. 12321, alarm PS5459, “MACHINE 
PARAMETER INCORRECT” is issued.
- Tool axis right-angle direction feed in the tilted working plane indexing mode
If bit 0 (TWD) of parameter No. 12320 is set to 1, the feed direction of the tool axis right-angle direction 
feed in the tilted working plane indexing mode is defined as follows:
Tool axis right-angle direction 1:


key: chroma:document
string_value:
X direction in the feature coordinate system of the tilted working plane indexing
Tool axis right-angle direction 2: 
Y direction in the feature coordinate system of the tilted working plane indexing
- Tool axis right-angle direction handle feed
The tool axis right-angle direction handle feed is enabled when the following four conditions are 
satisfied:
<1> Handle mode is selected.
<2> The tool axis right-angle direction feed mode signal (RGHTH) is set to "1" and the table base signal


key: chroma:document
string_value:
(TB_BASE) is set to "0".
<3> The state of the first manual handle feed axis selection signals (HS1A - HS1E) to make the tool axis 
right-angle direction handle feed mode effective is set in parameter No.12311 or No.12312.
<4> The value of parameter No.12311 or No.12312 matches the first manual handle feed axis selection 
signals (HS1A - HS1E).
Amount of movement
When the manual pulse generator is rotated, the tool is moved in the tool axis right-angle direction by the 
amount of rotation.


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 724 -
Feedrate clamp
The feedrate is clamped so that the speed of each moving axis dose not exceed the manual rapid traverse 
rate (parameter No.1424). Handle pulses generated while the clamp feedrate is exceeded are ignored.
If Manual handle feed maximum feedrate change signal HNDLF is "1", clamping is performed by the 
maximum handle feedrate (parameter No. 1434).
- Tool axis right-angle direction JOG feed/tool axis right-angle direction


key: chroma:document
string_value:
incremental feed
The tool axis right-angle direction JOG feed or tool axis right-angle direction incremental feed is enabled 
when the following three conditions are satisfied:
<1> JOG mode or incremental feed mode is selected.
<2> The tool axis right-angle direction feed mode signal (RGHTH) is set to "1" and the table base signal 
(TB_BASE) is set to "0".
<3> The feed axis direction selection signal (+Jn, -Jn (where n = 1 to the number of controlled axes)) is


key: chroma:document
string_value:
set to "1" for the axis corresponding to the direction that is perpendicular to the direction specified 
by parameter No.19697. (Even when the tool axis direction is slant because of the settings of 
parameters Nos.19698 and 19699, the signal that activates the tool axis right-angle direction JOG 
feed or tool axis right-angle direction incremental feed is determined by parameter No.19697 only.)
Ex.) Parameter No.19697=3 (+Z-axis direction); X-, Y-, and Z-axes are the 1st, 2nd, and 3rd axes


key: chroma:document
string_value:
respectively.
- +J1 : Tool axis right-angle direction 1 +
- -J1 : Tool axis right-angle direction 1 -
- +J2 : Tool axis right-angle direction 2 +
- -J2 : Tool axis right-angle direction 2 -
Feedrate
The feedrate is the dry run rate (parameter No.1410). The manual feedrate override feature is available.
If bit 2 (JFR) of parameter No. 12320 is set to 1, the feedrate is the jog feedrate (parameter No. 1423) for


key: chroma:document
string_value:
a driven feed axis direction selection signal. The manual feedrate override feature is available.
Feedrate clamp
The feedrate is clamped so that the speed of each moving axis dose not exceed the manual rapid traverse 
rate (parameter No.1424).


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 725 -
3.8.3 Tool Tip Center Rotation Handle Feed / Tool Tip Center 
Rotation JOG Feed / Tool Tip Center Rotation Incremental 
Feed
Overview
In the tool tip center rotation handle feed, tool tip center rotation JOG feed, and tool tip center rotation 
incremental feed, when a rotary axis is rotated by manual feed, the linear axes (X, Y, and Z axes) are 
moved so that turning the rotation axis does not change the relative relationship between the tool tip


key: chroma:document
string_value:
position and the workpiece (table).
- The following figure shows an example where the tool is rotated on the rotation axis. In this case, 
the linear axes are moved so that the position of the tool tip is not moved with respect to the 
workpiece.
Workpiece
Tool tip position
- The following figure shows an example where the table is rotated on the rotation axis. As in the 
previous case, the linear axes are moved so that the position of the tool tip is not moved with respect


key: chroma:document
string_value:
to the workpiece (table).
B
Z
Y
X
B B
Table Workpiece
- Tool tip center rotation handle feed
The tool tip center rotation handle feed is enabled when the following four conditions are satisfied:
<1> Handle mode is selected.
<2> The tool tip center rotation feed mode signal (RNDH) is set to "1".
<3> The state of the first manual handle feed axis selection signals (HS1A - HS1E) to make the tool tip 
center rotation handle feed mode effective is set in parameter No.12313 or No.12314.


key: chroma:document
string_value:
<4> The value of parameter No.12313 or No.12314 matches the first manual handle feed axis selection 
signals (HS1A - HS1E).


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 726 -
Amount of movement
When the manual pulse generator is rotated, the rotation axis is moved by the amount of rotation. The 
linear axes (X, Y, and Z axes) are moved so that turning the rotation axis does not change the relative 
relationship between the tool tip position and the workpiece.
Feedrate clamp
The feedrate is clamped so that the synthetic speed of the linear axes (in the tangential direction) does not


key: chroma:document
string_value:
exceed the manual rapid traverse rate (parameter No.1424) (of any moving linear axis). The feedrate is 
also clamped so that the speed of the rotation axis does not exceed the manual rapid traverse rate 
(parameter No.1424) (of that particular axis). Handle pulses generated while the clamp feedrate is 
exceeded are ignored.
If Manual handle feed maximum feedrate change signal HNDLF is "1", clamping is performed by the 
maximum handle feedrate (parameter No. 1434).


key: chroma:document
string_value:
- Tool tip center rotation JOG feed/tool tip center rotation incremental feed
The tool tip center rotation JOG feed or tool tip center rotation incremental feed is enabled when the 
following three conditions are satisfied:
<1> JOG mode or incremental feed mode is selected.
<2> The tool tip center rotation feed mode signal (RNDH) is set to "1".
<3> The feed axis direction selection signal (+Jn, -Jn (where n = 1 to the number of controlled axes)) is 
set to "1" for the rotation axis to be rotated.


key: chroma:document
string_value:
Ex.) When the B-axis (4th axis) is rotated
- +J4 : Tool tip center rotation feed +
- -J4 : Tool tip center rotation feed -
Feedrate
Control is exerted so that the synthetic speed of the linear axes (in the tangential direction) is the dry run 
rate (parameter No.1410). The manual feedrate override feature is available.
If bit 2 (JFR) of parameter No. 12320 is set to 1, the feedrate of a rotation axis is the jog feedrate of the


key: chroma:document
string_value:
axis to be rotated (parameter No. 1423). The manual feedrate override feature is available.
Feedrate clamp
The feedrate is clamped so that the synthetic speed of the linear axes (in the tangential direction) does not 
exceed the manual rapid traverse rate (parameter No.1424) (of any moving linear axis). The feedrate is 
also clamped so that the speed of the rotation axis does not exceed the manual rapid traverse rate 
(parameter No.1424) (of that particular axis).


key: chroma:document
string_value:
- Selection of the tool length offset value
The tool length in 3-dimensional manual feed is determined as explained below. (Table 3.8.3 )
If bit 2 (LOD) of parameter No. 19746 is set to 0, the value set in parameter No. 12318 is assumed to be 
the tool length.
If the LOD parameter is set to 1, and the tool length offset function is performed, the offset data specified 
for the tool length offset is assumed to be the tool length.


key: chroma:document
string_value:
If the LOD parameter is set to 1, and the tool length offset function is not performed, the tool length is 
determined as follows. If bit 3 (LOZ) of parameter No. 19746 is set to 0, the value set in parameter No. 
12318 is assumed to be the tool length in 3-dimensional manual feed; if LOZ is set to 1, the tool length is 
assumed to be 0.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 727 -
Table 3.8.3 Tool length offset value in 3-dimensional manual feed
Bit 2 (LOD) of parameter No. 19746
= 0
= 1
Tool length offset enabled Tool length offset canceled
Bit 3 (LOZ) of 
parameter No. 19746
= 0 Parameter
No. 12318 Offset data Parameter No. 12318
= 1 0
The tool length offset function is enabled when the following two conditions are both satisfied:


key: chroma:document
string_value:
- The tool length offset function listed below is enabled (modal code of group 8 except G49)
- G43/G44 : Tool length compensation
- The H/D code is other than 0.
If bit 6 (CLR) of parameter No. 3402 is set to 0 not to clear the tool length offset vector, G codes of group 
8, and H codes at the time of a reset, the tool length offset status is maintained when a reset is made in the 
tool length offset mode.
3.8.4 Table Vertical Direction Handle Feed / Table Vertical Direction


key: chroma:document
string_value:
JOG Feed / Table Vertical Direction Incremental Feed
Overview
In the table vertical direction handle feed, table vertical direction JOG feed, and table vertical direction 
incremental feed, the tool is moved in the table vertical direction.
Explanation
- Table vertical direction
The table vertical direction is a direction vertical to the table. It is equal to the tool axis direction specified


key: chroma:document
string_value:
in parameter No.19697 when all of the rotation axes for controlling the table are at a an angle of 0 degree. 
When the rotation axes for controlling the table rotate, the table vertical direction changes according to 
the rotation axis angle.
B
B
Z
Y
X
Table vertical direction
- Table-based vertical direction feed in the tilted working plane indexing mode
If bit 0 (TWD) of parameter No. 12320 is set to 1, the feed direction of the table-based vertical direction


key: chroma:document
string_value:
feed in the tilted working plane indexing mode is assumed to be the Z direction in the feature coordinate 
system of the tilted working plane indexing.


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 728 -
- Table vertical direction handle feed
The table vertical direction handle feed is enabled when the following four conditions are satisfied:
<1> Handle mode is selected.
<2> Both the tool axis direction feed mode signal ALNGH and the table base signal TB_BASE are set to 
"1".
<3> The state of the first manual handle feed axis selection signals HS1A - HS1E to make the table 
vertical handle feed mode effective is set in parameter No.12310.


key: chroma:document
string_value:
<4> The value of parameter No.12310 matches the first manual handle feed axis selection signals HS1A -
HS1E.
Amount of movement
When the manual pulse generator is rotated, the tool is moved in the table vertical direction by the amount 
of rotation.
Feedrate clamp
The feedrate is clamped so that the speed of each moving axis dose not exceed the manual rapid traverse 
rate (parameter No.1424). Handle pulses generated while the clamp feedrate is exceeded are ignored.


key: chroma:document
string_value:
If Manual handle feed maximum feedrate change signal HNDLF is "1", clamping is performed by the 
maximum handle feedrate (parameter No. 1434).
- Table vertical direction JOG feed/table vertical direction incremental feed
The table vertical direction JOG feed or table vertical direction incremental feed is enabled when the 
following three conditions are satisfied:
<1> JOG mode or incremental feed mode is selected.


key: chroma:document
string_value:
<2> Both the tool axis direction feed mode signal ALNGH and the table base signal TB_BASE are set to 
"1".
<3> The feed axis direction selection signal [+Jn,-Jn (where n = 1 to the number of controlled axes)] is 
set to "1" for the axis corresponding to the direction specified by parameter No.19697.
Ex.) Parameter No.19697 = 3 (+Z-axis direction); Z-axis is the 3rd axis.
- +J3 : Table vertical direction +
- -J3 : Table vertical direction -
Feedrate


key: chroma:document
string_value:
Feedrate
The feedrate is the dry run rate (parameter No.1410). The manual feedrate override feature is available.
If bit 2 (JFR) of parameter No. 12320 is set to 1, the feedrate is the jog feedrate (parameter No. 1423) for 
a driven feed axis direction selection signal. The manual feedrate override feature is available.
Feedrate clamp
The feedrate is clamped so that the speed of each moving axis dose not exceed the manual rapid traverse 
rate (parameter No.1424).


key: chroma:document
string_value:
rate (parameter No.1424).
3.8.5 Table Horizontal Direction Handle Feed / Table Horizontal 
Direction JOG Feed / Table Horizontal Direction Incremental 
Feed
Overview
In the table horizontal direction handle feed, table horizontal direction JOG feed, and table horizontal 
direction incremental feed, the tool is moved in the table horizontal direction.
If bit 1 (FLL) of parameter No. 12320 is set to 1, the tool or table is moved in the latitude or longitude


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 729 -
Explanation
- Table horizontal direction
There are two table horizontal directions, which are perpendicular to the table vertical direction (see the 
previous section).
Parameter No.19697 Table horizontal direction 1 Table horizontal direction 2
1 (The reference tool direction is +X.) +Y direction +Z direction
2 (The reference tool direction is +Y.) +Z direction +X direction
3 (The reference tool direction is +Z.) +X direction +Y direction


key: chroma:document
string_value:
This table shows the table horizontal directions that may be taken when the angles of all the rotation axes 
for controlling the table are 0 degree.
As the rotation axes for controlling the table rotate, the table horizontal direction changes according to the 
rotation axis angle.
B
B
Z
Y
X
Table horizontal direction 2
Table horizontal direction 1
(Example) When the table rotation axis is the B-axis, and the table vertical direction 
is the Z-axis direction
B
Z
Y
X


key: chroma:document
string_value:
B
Z
Y
X
Table horizontal direction 2
Table horizontal 
direction 1
X
Y
Z
B
B Table vertical direction
- Latitude and longitude directions
When bit 1 (FLL) of parameter No. 12320 is set to 1, the feed direction is defined as follows:
Let a vector perpendicular to a plane formed by the table-based vertical direction vector ( T

) and normal 
axis direction vector ( P

) (parameter No. 12321) be the table-based horizontal direction 1 (longitude 
direction) vector ( 1



key: chroma:document
string_value:
direction) vector ( 1

R ). When tool axis right-angle direction 1 is selected, a movement in the positive 
direction means a movement in this vector direction, and a movement in the negative direction means a 
movement in the direction opposite to the vector direction. (Longitude direction feed)
Equation: R P T    1 = ×


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 730 -
Let a vector perpendicular to the table-based vertical direction vector ( T

) and table-based horizontal 
direction 1 (longitude direction) vector ( 1

R ) be the table-based horizontal direction 2 (latitude direction) 
vector ( R2
 ). When tool axis right-angle direction 2 is selected, a movement in the positive direction 
means a movement in this vector direction, and a movement in the negative direction means a movement


key: chroma:document
string_value:
in the direction opposite to the vector direction. (Latitude direction)
Equation: R2 T R1    = ×
When table-based vertical direction vector ( T

) is parallel to the normal axis direction vector ( P

) 
(parameter No. 12321) (when the angle between them is not greater than the setting of parameter No. 
12322), tool axis right-angle direction 1 and tool axis right-angle direction 2 are assumed as follows:
Parameter No. 
12321
Normal axis 
direction
Table-based horizontal direction 
1


key: chroma:document
string_value:
1
Table-based horizontal direction 
2
1 +X direction +Y direction +Z direction
2 +Y direction +Z direction +X direction
3 +Z direction +X direction +Y direction
If 0 is set in parameter No. 12321, the normal axis direction is set to the tool axis direction.
If a value other than 0 to 3 is specified in parameter No. 12321, alarm PS5459, "MACHINE 
PARAMETER INCORRECT" is issued.
Table-based vertical 
direction: T
Table-based horizontal 
direction 2 (latitude 
direction): R2


key: chroma:document
string_value:
direction): R2
Table-based horizontal 
direction 1 (longitude 
direction): R1
Normal axis direction: P
- Table-based horizontal direction feed in the tilted working plane indexing 
mode
If bit 0 (TWD) of parameter No. 12320 is set to 1, the feed direction of the table-based horizontal 
direction feed in the tilted working plane indexing mode is defined as follows:
Table-based horizontal direction 1: 
X direction in the feature coordinate system of the tilted working plane indexing


key: chroma:document
string_value:
Table-based horizontal direction 2: 
Y direction in the feature coordinate system of the tilted working plane indexing
- Table horizontal direction handle feed
The table horizontal direction handle feed is enabled when the following four conditions are satisfied:
<1> Handle mode is selected.
<2> Both the tool axis right-angle direction feed mode signal RGHTH and the table base signal 
TB_BASE are set to 1.


key: chroma:document
string_value:
TB_BASE are set to 1.
<3> The state of the first manual handle feed axis selection signals HS1A - HS1E to make the table 
horizontal direction handle feed mode effective is set in parameter No.12311 or No.12312.
<4> The value of parameter No.12311 or No.12312 matches the first manual handle feed axis selection 
signals HS1A - HS1E.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 731 -
Amount of movement
When the manual pulse generator is rotated, the tool is moved in the table horizontal direction by the 
amount of rotation.
Feedrate clamp
The feedrate is clamped so that the speed of each moving axis dose not exceed the manual rapid traverse 
rate (parameter No.1424). Handle pulses generated while the clamp feedrate is exceeded are ignored.


key: chroma:document
string_value:
If Manual handle feed maximum feedrate change signal HNDLF is "1", clamping is performed by the 
maximum handle feedrate (parameter No. 1434).
- Table horizontal direction JOG feed/table horizontal direction incremental feed
The table horizontal direction JOG feed or table horizontal direction incremental feed is enabled when the 
following three conditions are satisfied:
<1> JOG mode or incremental feed mode is selected.


key: chroma:document
string_value:
<2> Both the tool axis right-angle direction feed mode signal RGHTH and the table base signal 
TB_BASE are set to "1".
<3> The feed axis direction selection signal (+Jn, -Jn (where n = 1 to the number of controlled axes)) is 
set to "1" for the axis corresponding to the direction that is perpendicular to the direction specified 
by parameter No.19697.
Ex.) Parameter No.19697 = 3 (+Z-axis direction); X-, Y-, and Z-axes are the 1st, 2nd, and 3rd axes 
respectively.


key: chroma:document
string_value:
respectively.
- +J1 : Table horizontal direction 1 +
- -J1 : Table horizontal direction 1 -
- +J2 : Table horizontal direction 2 +
- -J2 : Table horizontal direction 2 -
Feedrate
The feedrate is the dry run rate (parameter No.1410). The manual feedrate override feature is available.
If bit 2 (JFR) of parameter No. 12320 is set to 1, the feedrate is the jog feedrate (parameter No. 1423) of a 
driven feed axis direction selection signal. The manual feedrate override feature is available.


key: chroma:document
string_value:
Feedrate clamp
The feedrate is clamped so that the speed of each moving axis dose not exceed the manual rapid traverse 
rate (parameter No.1424).
Note
1 When a 3-dimensional handle interrupt is performed, rotation axis command execution must not be 
in progress in automatic operation.
2 When the manual reference position return mode is selected, 3-dimensional manual feed is not 
enabled.
3 If per-axis interlock is enabled to at least one of 3-dimensional manual feed axes, movement with


key: chroma:document
string_value:
manual feed is not performed.
4 When the offset value specified for the tool length offset function is used for tool center point 
rotation feed (when bit 2 (LOD) of parameter No. 19746 is set to 1), the controlled point should 
generally be shifted. (Set bit 5 (SVC) of parameter No. 19665 to 1.)
In this case, specify the tool length with a radius value.
5 The feed direction of a 3-dimensional handle interrupt is updated as follows.
(a) When bit 7 (PRA) of parameter No. 12319 is set to 0


key: chroma:document
string_value:
It is updated when one of the following operation is executed.
- The mode of NC (ex, MEM or HANDLE) is changed.
- Reset is executed.
- The state of manual handle interrupt axis selection signals (HS1IA to HS1ID<Gn041.0 to 3>,
HS1IE<Gn411.4> in case of manual pulse generator No.1) is changed.
- 3-dimensional manual feed turns enabled or disabled.


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 732 -
(b) When bit 7 (PRA) of parameter No. 12319 is set to 1
It is always updated.
3.9 DISTANCE CODED LINEAR SCALE INTERFACE
Overview
The interval of each reference marks of distance coded linear scale are variable. Accordingly, if the 
interval is determined, the absolute position can be determined. The CNC measures the interval of 
reference marks by axis moving of short distance and determines the absolute position. Consequently the


key: chroma:document
string_value:
reference position can be established without moving to reference position.
10.02 10.04
20.02
20.00 20.00
Reference mark 1 Reference mark 2Mark 1 Mark 2 Mark 1
Fig. 3.9 Example of distance coded linear scale
3.9.1 Procedure for Reference Position Establishment
Procedure
(1) Select the JOG mode, and set the manual reference position return selection signal ZRN to "1". 
(2) Set a direction selection signal(+J1,-J1,+J2,-J2,…) for a target axis.


key: chroma:document
string_value:
(3) The axis is fed at a constant low speed (reference position return FL feedrate specified by parameter 
No.1425 setting).
(4) When a reference mark is detected, the axis stops, then the axis is fed at a constant low speed again.
(5) Above (4) is executed repeatedly until two, three or four reference marks are detected. And absolute 
position is determined and reference position establishment signal (ZRF1,ZRF2,ZRF3, …) turns to


key: chroma:document
string_value:
"1". (A number of reference marks is determined by bit 2 (DC2x) and 1 (DC4x) of parameter 
No.1802.)
The timing chart for this procedures is given below.
JOG
ZRN
+J1
Reference mark
ZRF1
Feedrate FL rate FL rate FL rate
Fig. 3.9.1 Timing chart for reference position establishment


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 733 -
- Procedure for establishing a reference position through automatic operation
If an automatic reference position return (G28) is specified before a reference position is not established, 
steps (3) to (5) above are performed automatically.
After the reference position is established, the automatic reference position return is performed.
- Stopping the operation for establishing a reference position


key: chroma:document
string_value:
The operation for establishing a reference position is stopped if any of
the following operations is performed in steps (3) to (5), described above.
- Reset
- Setting the feed axis direction selection signal (+J1, -J1, +J2, -J2, etc.) to 0
If any of the following operations is performed during the operation of automatic reference position 
return (G28) before a reference position is not established, the operation for establishing a reference 
position stops:
- Reset


key: chroma:document
string_value:
position stops:
- Reset
- Performing feed hold during movement from an intermediate position
If the operation for establishing a reference position is stopped by an operation other than a reset, the 
operation for establishing a reference position must be reset and resumed.
3.9.2 Reference Position Return
(1) When the reference position is not established and the axis moved by turning the feed axis direction


key: chroma:document
string_value:
signal (+J1,-J1,+J2,-J2,...) to "1" in REF mode, the reference position establishment procedure is 
executed.
(2) When the reference position is already established and the axis is moved by turning the feed axis 
direction signal (+J1,-J1,+J2,-J2,...) to "1" in REF mode, the axis is moved to the reference point 
without executing the reference position establishment procedure.
(3) When the reference position is not established and the reference position return command (G28) is


key: chroma:document
string_value:
executed, the reference position establishment procedure is executed. The next movement the axis 
depends on the setting of bit 0 (RFS) of parameter No. 1818.
(4) When the reference position is already established and the reference position command (G28) is 
executed, the movement of the axis depends on the setting of bit 1 (RF2) of parameter No.1818.
3.9.3 Distance Coded Rotary Encoder
In case of setting a rotary axis, if bit 3 (DCRx) of parameter No.1815 is set, the setting axis is regarded as


key: chroma:document
string_value:
being equipped with a distance coded rotary encoder.
In case of distance coded rotary encoder, the marker interval may be different from parameter setting 
value. (a-b section of the following figure) When the reference point return is executed through this 
section, it is not able to establish the reference point. Therefore, in case of distance coded rotary encoder, 
if the reference point return is started for B point from A point of below figure, the reference point is not


key: chroma:document
string_value:
established yet at B point. The reference point return is re-started for C point. The reference point return 
procedure is finished at C point.


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 734 -
9.64
9.98
9.96
19.66
20.02 20.02
20.02
9.94
20.00 20.00
20.00
A
B
C
b 
a 
- When the reference point return procedure is executed, the coordinate value are rounded in 0 to 360 
degree, even if Machine coordinate values are linear axis type.
- In case of distance coded rotary encoder, only the measurement by three points or four points is 
possible. (bit 2 (DC2) of parameter No.1802 is disregarded as 0.)


key: chroma:document
string_value:
3.9.4 Axis Synchronization Control
Requirements when this function is used with axis synchronization control 
axes
When this function is used with axis synchronization control axes, the distance coded linear scale used for 
the master axis and that used for the slave axis must have reference marks placed at identical intervals.
(Set identical values in parameters Nos. 1821 and 1882 for both the master and slave axes.)


key: chroma:document
string_value:
A distance coded linear scale can be installed on the master and slave axes either in the same or opposite 
direction.
This function does not work unless the use of this function is specified for both the master and slave axes 
(bit 2 (DCL) of parameter No. 1815 is 1).
Also, in all parameters related to this function, except parameter No. 1883, 1884 (distance from the scale 
zero point to reference position 1, 2), set identical values for both the master and slave axes.


key: chroma:document
string_value:
If a parameter value for the master axis differs from the corresponding parameter value for the slave axis, 
alarm SV1051, “ILLEGAL SYNCHRONOUS AXIS” is issued.
NOTE
When this function is used with axis synchronization control axes for which the 
operation mode is switched between synchronization operation and normal 
operation, this function is enabled only if the synchronization select signal 
(SYNC1, SYNC2, ...) is "1". (During establishment of a reference position, the


key: chroma:document
string_value:
synchronization select signal status must be maintained.)
Reference position establishment with axis synchronization control axes
With axis synchronization control axes, a reference position is established as follows. When a reference 
mark for the master or slave axis is detected, a stop takes place temporarily. Then, a feed operation is 
performed again at the reference position return FL feedrate. This sequence is repeated until a reference


key: chroma:document
string_value:
mark is detected three or four times for both the master and slave axes. Then the absolute position is 
calculated for both the master and slave axes, and the reference position establish signals ZRF1, ZRF2, ... 
are set to "1".
After the reference position has been established by the above operation, a synchronization error is 
corrected. (Checking for excessive synchronization error alarm 2 is made even during reference position 
establishment.)


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 735 -
Scale end
Reference mark
(1) (2) (3)
(a) (b) (c)
Master axis
Slave axis
Start point End Point
(Example of 3 points measurement system)
In the above example, the following sequence is executed.
a. When the reference mark (1) of the master axis is detected, both master axis and slave axis stop.
b. Both the axes begin to move again at a reference position return FL feedrate.


key: chroma:document
string_value:
c. When the reference mark (a) of the slave axis is detected, both axes stop again.
d. Both the axes begin to move again at FL feedrate.
e. Both axes repeat the operation until all point ((2) -> (b) ->(3) -> (c)) are detected.
f. When the slave axis detects the third reference mark (c), both the axes end the reference position 
establishment.
NOTE
In case of this function is used with axis synchronization control axes, if the value


key: chroma:document
string_value:
of parameters Nos. 1883 and 1884 for both the master and slave axes is 0, the 
reference position is not established. Also, the reference position establish signals 
ZRF1, ZRF2, ... are set to "0".
3.9.5 PMC Axis Control
In PMC axis control, if the reference position return command (axis control command code 05H) is issued for 
an axis having a distance coded linear scale, reference position return is performed according to the reference 
position return sequence for the distance coded linear scale.


key: chroma:document
string_value:
Specifically, the following operations take place:
Before reference position 
establishment
The reference position is established by detecting two, three or four reference marks.
Movement to the reference position is not performed.
After reference position 
establishment
Positioning at the reference position is performed.
3.9.6 Angular Axis Control
There are the following limitations when the angular axis control is used.


key: chroma:document
string_value:
- It is necessary to use the linear scale with the distance coded reference mark for both the 
perpendicular axis and the angular axis.
- When the reference point of the perpendicular axis is established, it is necessary to establish the 
reference point of the angular axis previously. When the reference point of the angular axis is not 
previously established, the alarm DS0020, “REFERENCE RETURN INCOMPLETE” is generated.


key: chroma:document
string_value:
- During the reference point establishment operation of the angular axis, the command in the 
perpendicular axis is invalid in the manual reference point return.


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 736 -
3.9.7 Note
(1) In the case of the actual interval of reference marks is different from parameter setting value, the 
alarm DS1449, “REFERENCE MARKS ARE DIFFERENT FROM PARAMETER” occurs.
(2) This function is disabled if any of the following conditions is satisfied:
- Either parameter No.1821 (mark-1 interval) or parameter No.1882 (mark-2 interval) is set to 0.


key: chroma:document
string_value:
- The setting of parameter No.1821 is greater than or equal to the setting of parameter No.1882.
- The difference between the settings made for parameters Nos. 1821 and 1882 is greater than or 
equal to twice either setting.
- The absolute-position detection function is enabled. (Bit 5 (APCx) of parameter No.1815 is set 
to 1.)
(3) A difference of parameters Nos.1821 and 1882 must be more than 4.
Example)
When the scale, which is that mark1 interval is 20.000mm and mark2 interval is 20.004mm, is


key: chroma:document
string_value:
used on IS-B machine :
When the detection unit of 0.001mm is selected, parameter No.1821 and No.1882 must be set 
20000 and 20004, and the difference of them is 4.
To use such a scale, adjust the detection unit by modification of parameters No.1820 (CMR) 
and Nos.2084/2085(flexible feed gear) to make the difference of parameters Nos.1821 and 
1882 more than 4 as following examples.
(a) Set the detection unit=0.0001mm, and set No.1821=200000, No.1882=200040


key: chroma:document
string_value:
(b) Set the detection unit=0.0005mm, and set No.1821=40000, No.1882=40008
NOTE
When the detection unit is changed, parameters relating to the detection unit 
(such as the effective area and positional deviation limit) must also be changed 
accordingly.
(4) In this procedure, the axis does not stop until two, three or four reference marks are detected. If this 
procedure is started at the position near the scale end, CNC can not detect three or four reference


key: chroma:document
string_value:
marks and the axis does not stop until over travel alarm occurs. Care to start at the position that has 
enough distance from scale end.
Scale end
Reference marks
Start point (Bad) Start point (Good)
(5) When the axis used this function, the following function can not be used.
- Absolute position detection (absolute pulse coder)
(6) If axial movement is made in the direction opposite to that of reference position return, the


key: chroma:document
string_value:
movement is reversed to the direction of reference position return after three or four reference marks 
have been detected. Steps (3) to (5) of the basic procedure for establishing a reference position are 
carried out to establish the reference position.
(7) Straightness compensation function
When the reference point establishment of moving axis is executed after the establishment of 
compensation axis, the compensation axis is moved by straightness compensation amount when the


key: chroma:document
string_value:
reference point of moving axis is established.
(8) The reference point establishment is not performed during synchronous control is activated.
(9) The reference point establishment is not performed during composite control is activated.
(10) The reference point establishment is not performed during superimposed control is activated.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 737 -
3.10 LINEAR SCALE WITH DISTANCE-CODED REFERENCE 
MARKS (SERIAL)
Overview
By using High-resolution serial output circuit for the linear scale with distance-coded reference marks 
(serial), the CNC measures the interval of referenced mark by axis moving of short distance and 
determines the absolute position.
This function enables high-speed high-precision detection by using High-resolution serial output circuit.


key: chroma:document
string_value:
It is available that using maximum stroke 30 meters length.
Explanation
The linear scale with distance-coded reference marks (serial) is combined the irregular reference marked 
linear scale with the High-resolution serial output circuit, it can detect the accurate position.
Reference mark signal
10.02 10.04 10.06
0 20 40 60
The CNC measures the interval of referenced mark by axis moving of short distance and determines the


key: chroma:document
string_value:
absolute position, because of the interval of each reference mark is different with regular interval.
It is not necessary that the axis is moved to the reference position for establishment of reference position.
This function enables high-speed high-precision detection by using High-resolution serial output circuit.
It is available that using maximum stroke 30 meters length.
- Connection
It is available under linear motor system and full closed system.


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 738 -
- Procedure for reference position establishment through manual operation
(1) Select the JOG mode, and set the manual reference position return selection signal ZRN to "1". 
(2) Set a direction selection signal(+J1,-J1,+J2,-J2,…) for a target axis.
(3) The axis is fed at a constant low speed (reference position return FL feedrate specified by parameter 
No.1425 setting).


key: chroma:document
string_value:
No.1425 setting).
(4) When the absolute position of linear scale with distance-coded reference marks (serial) is detected, 
the axis stops. Then the absolute position of CNC is calculated and reference position establishment 
signal (ZRF1,ZRF2,ZRF3,…) turns to "1". 
The timing chart for this procedures is given below.
FL rate
JOG
ZRN
+J1
Reference mark
ZRF1
Feedrate


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 739 -
- Procedure for reference position establishment through automatic operation
If an automatic reference position return (G28) is specified before a reference position is not established, 
steps (3) to (4) above are performed automatically.
After the reference position is established, the automatic reference position return is performed by setting 
of bit 0 (RFS) of parameter No. 1818.
- Stopping the operation for establishing a reference position


key: chroma:document
string_value:
The operation for establishing a reference position is stopped if any of
the following operations is performed in steps (3) to (4), described above.
- Reset
- Setting the feed axis direction selection signal (+J1, -J1, +J2, -J2, etc.) to "0"
- Setting the Servo off signals (SVF1, SVF2, etc.) to "1"
If any of the following operations is performed during the operation of automatic reference position


key: chroma:document
string_value:
return (G28) before a reference position is not established, the operation for establishing a reference 
position stops:
- Reset
- Performing feed hold during movement from an intermediate position
- Setting the Servo off signals (SVF1, SVF2, etc.) to "1"
If the operation for establishing a reference position is stopped by an operation other than a reset, the 
operation for establishing a reference position must be reset and resumed.


key: chroma:document
string_value:
- Establishing a reference position and moving to the reference position
By following operation, establishing a reference position and moving to the reference position is 
performed.
Moving through manual 
operation in REF mode
Moving through automatic operation by automatic 
reference position return (G28)
The reference 
position is not 
established.
Establishing the reference 
position
Firstly, moving to the intermediate position, and 
establishing the reference position.


key: chroma:document
string_value:
Secondly, whether moving to the reference position or not 
is performed by setting bit 0 (RFS) of parameter No.1818.
The reference 
position is 
established.
Moving to the reference position Whether moving to the intermediate position and the 
reference position or not is performed by setting bit 1 
(RF2) of parameter No.1818.
- Feed axis synchronization control
In case of using the axis synchronization control, please confirm the following items.


key: chroma:document
string_value:
- When this function is used with axis synchronization control axes, the linear scale with 
distance-coded reference marks (serial) used for the master axis and that used for the slave axis must 
have reference marks placed at identical intervals.
- The linear scale with distance-coded reference marks (serial) can be installed on the master and slave 
axes either in the same or opposite direction.
- To the parameters, which relate to this function (except No.1883, No.1884), the same value must be


key: chroma:document
string_value:
set for the master axis and for the slave axis.
- The linear scale with distance-coded reference marks (serial) should be applied for the master axis 
and the slave axis.
If either of the master axis or the slave axis is not the linear scale with distance-coded reference 
marks (serial), alarm DS0018, "SERIAL DCL:MISMATCH(SSYNC CTRL)" occurs when reference 
position establishment is tried.
- During operating the establishment of reference position, the state of signal (SYNCn or SYNCJn)


key: chroma:document
string_value:
3. MANUAL OPERATION OPERATION B-64694EN/01
- 740 -
Procedure for reference position establishment by axis synchronization control is as follows.
- Both of axes (master axis and slave axis) are fed on the reference position return FL feedrate until 
distance coded scales of both axes detect the absolute position. 
- Then absolute position of both axes are calculated and Reference Position Establishment Signals 
(ZRF1,ZRF2,...) turn to "1".
- Angular axis control


key: chroma:document
string_value:
- Angular axis control
In case of using the angular axis control, please confirm the following items.
- It is necessary to use the linear scale with distance-coded reference marks (serial) for both the 
perpendicular axis and the angular axis.
If not, the alarm DS0019, "SERIAL DCL:MISMATCH(ANGL-AXIS)" occurs when reference 
position establishment is commanded.
- When the reference point establishment of angular and perpendicular axes are tried, please set bit 2


key: chroma:document
string_value:
(AZR) of parameter No. 8200 to 0 and input signal NOZAGC to "0".
If not, the alarm DS0019 occurs when reference position establishment is commanded.
- When the reference point of the perpendicular axis is established, it is necessary to establish the 
reference point of the angular axis previously. When the reference point of the angular axis is not 
previously established, the alarm DS0020, "REFERENCE RETURN INCOMPLETE" occurs.


key: chroma:document
string_value:
- On angular axis control, if you use automatic setting of parameter No.1883,1884 on reference point 
establishment, please establish reference point of perpendicular axis after reference point 
establishment and return of angular axis.
In manual reference position return, the perpendicular axis cannot be specified while the angular axis 
reference point is being established. The perpendicular axis, if specified, is ignored.
CAUTION


key: chroma:document
string_value:
CAUTION
1 When the Linear scale with distance-coded reference marks (serial) is used, 
please set bit 3 (SDCx) of parameter No.1818 to 1.
2 On the Linear scale with distance-coded reference marks (serial), the axis does 
not stop until three reference marks are detected. If this procedure is started at 
the position near the scale end, CNC can not detect three reference marks and 
the axis does not stop until over travel alarm occurs. Please care to start at the


key: chroma:document
string_value:
position that has enough distance from scale end.
And if establishment of reference position is failed, the establishment is retried. 
Then axis does not stop until still more three reference marks are detected. So 
please set the maximum move amount (detection unit : parameter No.14010) not 
to reach the scale end.
Scale end
Reference marks
Start point (Bad) Start point (Good)
3 On flexible synchronization control mode, reference position can't be 
established.


key: chroma:document
string_value:
established.
4 Straightness compensation function
When the reference point establishment of moving axis is executed after the 
establishment of compensation axis, the compensation axis is moved by 
straightness compensation amount when the reference point of moving axis is 
established.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 3. MANUAL OPERATION
- 741 -
CAUTION
5 It is not available to use this function and the temporary absolute coordinate 
setting together.
6 Angular axis control cannot be performed together with synchronous control, 
composite control, or superposition control.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 742 -
4 AUTOMATIC OPERATION
Programmed operation of a CNC machine tool is referred to as automatic operation.
4.1 MEMORY OPERATION
Programs are registered in memory in advance. When one of these programs is selected and the cycle start 
switch on the machine operator's panel is pressed, automatic operation starts, and the cycle start LED 
goes on.
When the feed hold switch on the machine operator's panel is pressed during automatic operation,


key: chroma:document
string_value:
automatic operation is stopped temporarily. When the cycle start switch is pressed again, automatic 
operation is restarted.
When the on the MDI unit is pressed, automatic operation terminates and the reset state is entered.
For the multi-path control, the programs for the multiple paths can be executed simultaneously so the 
multiple paths can operate independently at the same time.
The following procedure is given as an example. For actual operation, refer to the manual supplied by the


key: chroma:document
string_value:
machine tool builder.
Memory operation
Procedure
1 Press the MEMORY mode selection switch. 
2 Select a program from the registered programs. To do this, follow the steps below.
2-1 Press the function key to display the program screen.
2-2 Press the address key .
2-3 Enter a program number using the numeric keys.
2-4 Press the [O SRH] soft key.
3 For the multi-path control, select the path to be operated with the path selection switch on the 
machine operator's panel.


key: chroma:document
string_value:
machine operator's panel.
4 Press the cycle start switch on the machine operator's panel. 
Automatic operation starts, and the cycle start LED goes on. When automatic operation terminates, 
the cycle start LED goes off.
5 To stop or cancel memory operation midway through, follow the steps below.
a. Stopping memory operation
Press the feed hold switch on the machine operator's panel. The feed hold LED goes on and the 
cycle start LED goes off. The machine responds as follows:


key: chroma:document
string_value:
(i) When the machine was moving, feed operation decelerates and stops.
(ii) When dwell was being performed, dwell is stopped.
(iii) When M, S, or T was being executed, the operation is stopped after M, S, or T is finished.
When the cycle start switch on the machine operator's panel is pressed while the feed hold LED 
is on, machine operation restarts.
b. Terminating memory operation
Press on the MDI unit. 
Automatic operation is terminated and the reset state is entered.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 743 -
Explanation
- Memory operation
After memory operation is started, the following are executed:
(1) A one-block command is read from the specified program.
(2) The block command is decoded.
(3) The command execution is started.
(4) The command in the next block is read.
(5) Buffering is executed. That is, the command is decoded to allow immediate execution.


key: chroma:document
string_value:
(6) Immediately after the preceding block is executed, execution of the next block can be started. This is 
because buffering has been executed.
(7) Hereafter, memory operation can be executed by repeating the steps (4) to (6).
- Stopping and terminating memory operation
Memory operation can be stopped using one of two methods: Specify a stop command, or press a key on 
the machine operator's panel.
- The stop commands include M00 (program stop), M01 (optional stop), and M02 and M30 (program 
end).


key: chroma:document
string_value:
end).
- There are two keys to stop memory operation: The feed hold key and reset key.
- Program stop (M00)
Memory operation is stopped after a block containing M00 is executed. When the program is stopped, all 
existing modal information remains unchanged as in single block operation. The memory operation can 
be restarted by pressing the cycle start button. Operation may vary depending on the machine tool builder. 
Refer to the manual supplied by the machine tool builder.
- Optional stop (M01)


key: chroma:document
string_value:
- Optional stop (M01)
Similarly to M00, memory operation is stopped after a block containing M01 is executed. This code is 
only effective when the Optional Stop switch on the machine operator's panel is set to ON. Operation may 
vary depending on the machine tool builder. Refer to the manual supplied by the machine tool builder.
- Program end (M02, M30)
When M02 or M30 (specified at the end of the main program) is read, memory operation is terminated 
and the reset state is entered.


key: chroma:document
string_value:
Since it depends on machine specification whether the active line returns to top of program or not when 
M02 or M30 is read, refer to the manual provided by the machine tool builder for details.
- Feed hold
When Feed Hold button on the operator's panel is pressed during memory operation, the tool decelerates 
to a stop at a time.
- Reset
Automatic operation can be stopped and the system can be made to the reset state by using on the


key: chroma:document
string_value:
MDI unit or external reset signal. When reset operation is applied to the system during a tool moving 
status, the motion is slowed down then stops.
- Optional block skip
A block skip slash (/) must be specified at the beginning of a block.
Note that if a slash is placed elsewhere, the information from the slash to immediately before the EOB 
code is ignored.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 744 -
- Cycle start for the multi-path control
For the multi-path control, a cycle start switch is provided for each path. This allows the operator to 
activate a single paths to operate them at the same time in memory operation or MDI operation. In general, 
select the path to be operated with the path selection switch on the machine operator's panel and then


key: chroma:document
string_value:
press the cycle start button to activate the selected path. (The procedure may vary with the machine tool 
builder. Refer to the appropriate manual issued by the machine tool builder.)
4.2 MDI OPERATION
In the MDI mode, a program consisting of up to 511 characters can be created in the same format as 
normal programs and executed from the MDI unit.
MDI operation is used for simple test operations.


key: chroma:document
string_value:
The following procedure is given as an example. For actual operation, refer to the manual supplied by the 
machine tool builder.
MDI Operation
Procedure
1 Select the MDI mode.
For the multi-path control, select the path for which a program is to be created with the path 
selection switch. Create a separate program for each path.
2 Press the function key to select the program screen. The following screen appears:
MDI program screen
At this time, program number "O0000" is inserted automatically.


key: chroma:document
string_value:
3 Prepare a program to be executed by an operation similar to normal program editing. M99 specified 
in the last block can return control to the beginning of the program after operation ends. Word 
insertion, modification, deletion, word search, address search, and program search are available for 
programs created in the MDI mode.
4 To entirely erase a program created in MDI mode, use one of the following methods:
a. Enter address key , then press .


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 745 -
5 To execute a program, set the cursor on the head of the program. 
Push Cycle Start button on the operator's panel. By this action, the prepared program will start. 
(For the multi-path control, select the path to be operated with the path selection switch on the 
machine operator's panel beforehand.) When the program end (M02, M30) or ER(%) is executed, 
the prepared program will be automatically erased and the operation will end.


key: chroma:document
string_value:
By command of M99, control returns to the head of the prepared program.
6 To stop or terminate MDI operation in midway through, follow the steps below.
a. Stopping MDI operation
Press the feed hold switch on the machine operator's panel. The feed hold LED goes on and the 
cycle start LED goes off. The machine responds as follows:
(i) When the machine was moving, feed operation decelerates and stops. 
(ii) When dwell was being performed, dwell is stopped.


key: chroma:document
string_value:
(iii) When M, S, or T was being executed, the operation is stopped after M, S, or T is finished.
When the cycle start switch on the machine operator's panel is pressed, machine operation 
restarts.
b. Terminating MDI operation
Press the .
Automatic operation is terminated and the reset state is entered. 
When a reset is applied during movement, movement decelerates then stops.
Explanation
The previous explanation of how to execute and stop memory operation also applies to MDI operation,


key: chroma:document
string_value:
except that in MDI operation, M30 does not return control to the beginning of the program (M99 
performs this function).
- Erasing the program
Programs prepared in the MDI mode will be erased in the following cases:
- In MDI operation, if M02, M30 or ER(%) is executed.
- When bit 6 (MER) of parameter No. 3203 is set to 1, and the last block of the program is executed in 
single block operation
NOTE
In the two cases above, program erasure can be prevented by setting bit 6


key: chroma:document
string_value:
(MKP) of parameter No. 3204 to 1.
- In MEM mode, if memory operation is performed.
- In EDIT mode, if any editing is performed.
- When the address key and are pressed.
- Upon reset when bit 7 (MCL) of parameter No.3203 is set to 1
NOTE
Upon reset when the parameter MCL = 0, the cursor moves to the end of the 
program.
- Restart
If a program is not executed even once after the program is input, the program is executed from the


key: chroma:document
string_value:
beginning, regardless of where the cursor is placed. However, a program is executed starting at the 
beginning of the block where the cursor is place, if the program is stopped for a reason such as single 
block operation after restart of an MDI operation then is restarted after an editing operation.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 746 -
CAUTION
When an MDI program is restarted, the program is executed starting at the 
beginning of the block where the cursor is placed, regardless of the cursor 
position in the block.
(Example)
When the cursor is placed on G90
:
G91 X100.0 G90Y200.0 Z300.0 ;
:
The program is executed starting at the beginning (namely, G91) of this 
block. So, the tool moves by 100.0 along the X-axis in the incremental


key: chroma:document
string_value:
programming, and moves to 200.0 and 300.0 along the Y-axis and Z-axis, 
respectively, in the absolute programming.
- Editing a program during MDI operation
A program can be edited during MDI operation. By setting bit 5 (MZE) of parameter No. 3203 to 1, 
editing can be disabled. However, even when bit 5 (MZE) of parameter No. 3203 is set to 1, editing can 
be enabled by resetting the operation.
- Absolute/incremental command


key: chroma:document
string_value:
- Absolute/incremental command
When bit 4 (MAB) of parameter No. 3401 is set to 1, the absolute/incremental programming of MDI 
operation does not depend on G90/G91. In this case, the incremental programming is set when bit 5 
(ABS) of parameter No. 3401 is set to 0, and the absolute programming is set when bit 5 (ABS) of 
parameter No. 3401 is set to 1.
Bit 4 (MAB) of parameter No. 3401=0 Bit 4 (MAB) of parameter No. 3401=1
Parameter ABS =0 Parameter ABS =1
Absolute mode operation with G90


key: chroma:document
string_value:
command, and incremental programming 
operation with G91 command
Incremental mode operation at all 
times, independent of G90/G91 
command
Absolute mode operation at all 
times, independent of G90/G91 
command
NOTE
When G code system A is used on a lathe system, the parameters MAB and 
ABS are invalid.
Limitation
- Program registration
Programs created in MDI mode cannot be registered.
- Number of characters in a program


key: chroma:document
string_value:
A created program can consist of up to 511 characters including "O0000" automatically inserted.
- Subprogram nesting
The subprogram call command (M98) can be described in a program created in MDI mode. That is, 
programs that are registered in memory through MDI operation can be called and executed. The level of 
subprogram call nesting is the same as in MEM operation.
- Macro call
When the custom macro function is enabled, a macro program can be created and executed even in the


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 747 -
NOTE
The GOTO statement, WHILE statement, and DO statement cannot be executed 
in a program created in the MDI mode. An alarm PS0377, "ILLEGAL MODE 
FOR GOTO/WHILE/DO" is issued.
When a program including those statements is to be executed, register the 
program in the program memory then call the program for execution.
4.3 DNC OPERATION
By activating automatic operation during the DNC operation mode (RMT), it is possible to perform


key: chroma:document
string_value:
machining (DNC operation) while a program is being read in via RS-232C interface. Available devices 
include a memory card, Embedded Ethernet and Data Server.
To use the DNC operation function, it is necessary to set the parameters related to the RS-232C interface 
in advance.
The procedure described below is just an example. For actual operation, refer to the relevant manual of 
the machine tool builder. For a Data Server, also refer to the “Fast Ethernet/Fast Data Server 
OPERATOR’S MANUAL”.
NOTE


key: chroma:document
string_value:
OPERATOR’S MANUAL”.
NOTE
DNC operation cannot be performed using a program in a USB memory.
DNC operation
Procedure
1 Press the REMOTE switch on the machine operator's panel to enter the DNC mode.
2 Select the program to be executed. 
The memory card (or floppy cassette):
- Selecting a DNC operation file
On the memory card (or floppy cassette) list screen, move the cursor to the file to be subjected 
to DNC operation and press "DNC SET" to select the file to be subjected to DNC operation.


key: chroma:document
string_value:
(The selected file is marked with "D".)
- Releasing a DNC operation file
On the memory card (or floppy cassette) list screen, move the cursor to the file for which DNC 
operation is released and press "DNC CLEAR" to release the DNC operation file. (The "D" 
mark for the file is removed.)


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 748 -
The Embedded Ethernet:
- Selecting a DNC operation file
On the Embedded Ethernet host file list screen, move the cursor to the file to be subjected to 
DNC operation and press "DNC SET" to select the file to be subjected to DNC operation. 
- Releasing a DNC operation file
On the Embedded Ethernet, DNC operation file is released, when the power is turned off.


key: chroma:document
string_value:
3 Press the cycle start switch to execute the selected file. For details on the REMOTE switch, refer to 
the manual provided by the machine tool builder.
4 During DNC operation, executed programs are listed on the program check screen and program 
screen.
Fig. 4.3 (a) PROGRAM screen


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 749 -
Fig. 4.3 (b) PROGRAM CHECK screen
NOTE
1 Before selecting a DNC operation file, be sure to release all schedule data. DNC 
operation and schedule operation cannot be specified at the same time.
2 A DNC operation file cannot be released during DNC operation.
3 To switch between devices when DNC settings are made, release the settings 
and then make the settings again.
Explanation


key: chroma:document
string_value:
Explanation
During DNC operation, subprograms and macro programs stored in memory can be called.
Limitation
- M198 (command for calling a program from within an external input/output 
unit)
In DNC operation, M198 cannot be executed. If M198 is executed, alarm PS0210, "CAN NOT 
COMMAND M198/M99" is issued.
- Custom macro
In DNC operation, custom macros can be specified, but no repeat instruction and branch instruction can


key: chroma:document
string_value:
be programmed. If a repeat instruction or branch instruction is executed, alarm PS0123, "ILLEGAL 
MODE FOR GOTO/WHILE/DO" is issued.
- M99
For returning from a subprogram or macro program to the calling program during DNC operation, the 
specification of a return command (M99P...) with a sequence number specified is not allowed.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 750 -
4.4 SCHEDULE OPERATION
To perform schedule operation, select files (programs) registered in a memory card and specify the 
sequence of execution and the repetition count of each program.
NOTE
Schedule operation cannot be performed using a program in a USB memory.
Schedule operation
Procedure
1 Press the REMOTE switch on the machine operator's panel to enter the DNC mode.
2 Select the program to be subjected to schedule operation.


key: chroma:document
string_value:
- Setting a schedule
Move the cursor to the file to be subjected to schedule operation and press the soft key 
[SCHEDUL ADD]. The files registered as schedule data are marked with "S" on the left sides 
of their file names. The files are subjected to schedule operation in the order in which the files 
are selected. When settings are made this way, the repetition count of execution of each file is 
set to 1. To change the repetition count or execution order or check the schedule, press the soft


key: chroma:document
string_value:
key [SCHEDUL LIST] to display the schedule list screen.
[SCHEDUL ADD]
Adds the file at the cursor position as schedule data.
[SCHEDUL DEL]
Deletes the file at the cursor position from schedule data when the file is registered as schedule 
data.
[SCHEDUL LIST]
Lists the settings of schedule data to edit the repetition count or the like (see the next page for 
details).
- Editing a schedule
To edit schedule data, press the soft key [SCHEDUL LIST] to display the schedule list screen,


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 751 -
[FILE UP] Moves the file at the cursor position up one line and moves the replaced file down 
one line.
[FILE DOWN] Moves the file at the cursor position down one line and moves the replaced file up 
one line. 
[DELETE] Deletes the file at the cursor position and moves the files below the cursor up one 
line.
[INSERT] Moves the files below the cursor down one line.
[ALL DELETE] Deletes all records.


key: chroma:document
string_value:
3 Press the cycle start switch to execute the selected files. For details on the REMOTE switch, refer to 
the manual provided by the machine tool builder.
NOTE
1 Before setting schedule operation, release DNC operation files in the MDI mode. 
DNC operation and schedule operation cannot be specified at the same time.
2 Before starting schedule operation, confirm that schedule data is set correctly on 
the schedule list screen.


key: chroma:document
string_value:
the schedule list screen.
3 Schedule data cannot be changed or edited during schedule operation. Before 
changing schedule data, make a reset to stop operation.
4 When M02 or M30 is not commanded at the end of the program that does the 
schedule operating, "%" is executed, and alarm PS5010, "END OF RECORD" is 
occurred.
Restrictions
- Repetition count
The maximum repetition count during schedule operation is 9999. When a negative value is specified, an


key: chroma:document
string_value:
endless loop (LOOP display) is assumed. The file for which 0 is set is skipped and processing proceeds to 
the next file.
- Number of registered files 
The maximum number of programs that can be registered as schedule setting data is 20.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 752 -
- Selectable files
The files to be selected as schedule setting data must be registered in the same folder. (Files in the 
different folders cannot be selected.)
- M code
Even if a code other than M02 and M30 in the execution program is executed, the current count on the 
schedule execution status screen is not increased.
- Floppy disk folder display during execution of a file


key: chroma:document
string_value:
During schedule operation, folders in a floppy disk cannot be displayed in a background edit.
- Intervention during automatic operation
Intervention in schedule operation cannot be performed during automatic operation.
- During multi-path control
The scheduling function cannot be used by multiple paths at the same time.
4.5 EXTERNAL SUBPROGRAM CALL (M198)
During memory operation, you can call and execute a subprogram registered in an external device (such


key: chroma:document
string_value:
as a Memory Card, Handy File, or Data Server) connected to the CNC.
NOTE
A program in a USB memory cannot be called using an external subprogram call 
(M198).
Format
M198 Pxxxxxxxx Lyyyyyyyy ;
↑ ↑
Pxxxxxxxx : Program number (or file number)
Lyyyyyyyy : Number of repetitive calls
• If calling with a file name
M198 <xxxx> Lyyyyyyyy ;
↑ ↑
xxxx : File name of an external subprogram
Lyyyyyyyy : Number of repetitive calls


key: chroma:document
string_value:
When address L is omitted, the number of repetitive calls is assumed to be 1.
FS16 compatible command format
(The following command format is valid only when a 4-digit program number is used.)
M198 Pxxxx yyyy ;
 ↑ ↑
xxxx : Number of repetitive calls
yyyy : Program number (or file number)
When the number of repetitive calls is omitted, it is assumed to be 1.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 753 -
Explanation
M code M198 specifies an external subprogram call. You can also call an external subprogram using an 
M code set in parameter No. 6030. (When an M code other than M198 is set as an M code for calling an 
external subprogram, M198 is executed as a normal M code.)
Specify a program number (file number) registered in an external device at address P. If the specified


key: chroma:document
string_value:
program number (file number) is not registered in the connected external device, an alarm PS1079, 
"PROGRAM FILE NOT FOUND" is issued.
If calling with a file name, the file name of an external subprogram must be specified immediately after 
M198.
If, in an external subprogram call specified with a file name, no program is registered in the connected 
external device, alarm SR1079 (alarm SR1966, "FILE NOT FOUND (MEMORY CARD)" in the case of 
a memory card) is issued.


key: chroma:document
string_value:
a memory card) is issued.
Characters that can be used in the file name of an external subprogram and the number of characters in a 
file name are as described below.
- The following characters can be used in a file name:
Alphabetical characters (uppercase and lowercase letters), numeric characters, and the four symbols 
below:
- + _ .
Because "." and ".." are reserved file names, they cannot be used.


key: chroma:document
string_value:
- The maximum number of characters that can be used in a file name in each external device, as well 
as the alarms that are issued if an item out of the range (such as a character that cannot be specified) 
is specified, is as given below.
External device name Number of characters Alarm issued if an item out of the range is specified
Handy File 17 SR1079
FLOPPY CASSTTE 17 SR1079
Memory Card 12 SR1968
Data Server 32 PS0311
Example 1)


key: chroma:document
string_value:
Example 1)
If using a Data Server as the external device, specify the command for calling the 
external subprogram located on the Data Server, as follows:
M198 <SMPL100> L10; Calls SAMPL100 ten times.
File name on the Data Server: SMPL100
％
<SMPL100>（Sample Program1）;
N1 G55;
N2 G90 G01 X0 Y0 Z30.0 F1000;
N3 G01 X0 Y0 Z0 F1000;
N4 ……;


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 754 -
Example 2)
If using a memory card as the external device, specify the command for calling 
the external subprogram located on the memory card, as follows:
M198 <SMPL200> L20; Calls SAMPL200 twenty times.
File name on the memory card: SMPL200
NOTE
1 If the file name of an external subprogram differs from its program name, as in 
the example below, specify the file name (SMPL200) on the Memory Card.


key: chroma:document
string_value:
2 If an MS-DOS format floppy disk is used with a Handy File, a file name can be 
specified as follows:
- A file name of up to 12 characters, 8 characters + "." + 3characters, can be 
specified. For an external subprogram call, there are cases in which no alarm 
is issued even if a call is made with a specification exceeding 12 characters, 
as in the following example.
Example) M198 <ABCDEFGH>
For this command, the file with the file name, "ABCDEFGH.DAT", is the one 
to be called.


key: chroma:document
string_value:
to be called.
Even if <ABCDEFGHIJKLMN> is specified as a file name, the file with the 
first 8 characters + "DAT", i.e., "ABCDEFGH.DAT", is the one to be called.
Example 3)
M198 P0123 L3; 
This command specifies that the subprogram having external subprogram number 
O0123 is to be called three times repeatedly.
The subprogram is called from the main program and executed as follows:
Main program Sub program
1 2 3
N0010 ... ;
N0020 ... ;
N0030 M198 P0123 L3 ;
N0040 ... ;
N0050 ;
N0060 ... ;


key: chroma:document
string_value:
N0050 ;
N0060 ... ;
0123 ... ;
N1020 ... ;
N1030 ... ;
N1040 ... ;
N0050 ... ;
N1060 ... M99 ;
- Program number call
- File name call
You can also specify a subprogram call with its program number instead of the file number by the setting 
of bit 2 (SBP) of parameter No. 3404.
%
O0200（Sample Program2）;
N1 G55;
N2 G90 G01 X0 Y0 Z30.0 F1000;
N3 G01 X0 Y0 Z0 F1000;
N4 ……;


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 755 -
- Program number O8-digit
The called file name is as follows.
Table 4.5 (a) The file name called when instructing in M198
Device
Program number is
7-digit or less.
(example: M198P1234567)
Program number is
8-digit.
(example: M198P12345678)
When an external device is excluding a fast 
data server, or is a fast data server excluding 
in the storage mode.
“O” plus a 7-digit numeric
(example: O1234567)
a 8-digit numeric
(example: 12345678)


key: chroma:document
string_value:
(example: 12345678)
When an external device is a fast data server
in the storage mode.
“O” plus a 8-digit numeric
(example: O01234567)
a 8-digit numeric
(example: 12345678)
- Input/Output file name for multi-path system
When bit 0 (MDP) of parameter No.138 is set to 1, the file name having extension with the path number 
can be called.
The extension of each path is as follows.
Table 4.5 (b) Extension of subprogram
Path number Extension
1 Nothing
2 P-2
3 P-3
4 P-4
5 P-5
6 P-6
7 P-7


key: chroma:document
string_value:
4 P-4
5 P-5
6 P-6
7 P-7
8 P-8
9 P-9
10 P10
Example) When "M198 P0123" is executed, the following file name is called.
Table 4.5 (c) File name called by M198
Path number File name
Parameter MDP=0 Parameter MDP=1
1 O0123 O0123
2 O0123 O0123.P-2
3 O0123 O0123.P-3
4 O0123 O0123.P-4
5 O0123 O0123.P-5
6 O0123 O0123.P-6
7 O0123 O0123.P-7
8 O0123 O0123.P-8
9 O0123 O0123.P-9
10 O0123 O0123.P10


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 756 -
NOTE
1 An external subprogram call can be specified during program operation in the 
MEM/MDI mode. However, in case of using with MDI mode, it is necessary to 
set the parameter bit 1 (MDE) of parameter No.11630 to 1.
2 An external subprogram call is available for the following external devices:
External device name Program number call File number call File name call
Handy File Available Available Available


key: chroma:document
string_value:
FLOPPY CASSTTE Available Available Available
Memory Card Available Unavailable Available
Data Server Available Unavailable Available
3 To perform a subprogram call using a Memory Card as the external device, set 
bit 7 (MNC) of parameter No. 138 to 1 and I/O channel (parameter No. 0020) to 
4.
A program number call is always enabled regardless of the setting of bit 2 (SBP) 
of parameter No. 3404.
4 To perform a file name call using a Handy File or floppy cassette as the external


key: chroma:document
string_value:
device, set bit 2 (SBP) of parameter No. 3404 to 1.
5 called using another external device subprogram call. (An alarm PS1080, 
“DUPLICATE DEVICE SUB PROGRAM CALL” is issued.)
Main program
 (internal memory)
M198
Sub program
(External device)
M198
Sub program
(External device)
Cannot be 
called. 
(Alarm)
Can be called.
6 A subprogram registered in internal memory can be called from a subprogram 
called using an external device subprogram call. From the called subprogram in


key: chroma:document
string_value:
internal memory, another external device subprogram call cannot be performed. 
(An alarm (PS1080) is issued.) 
Main program
 (internal memory)
M198
Sub program
(External 
device)
M98 Can be called.
Sub program
 (internal 
memory)
M198
Sub program
(External 
device)
Cannot be called. 
(Alarm) Can be called.
7 A call using the external device subprogram call function is counted as one level 
of subprogram nesting.


key: chroma:document
string_value:
of subprogram nesting.
8 In a multi-path system, an external device subprogram call cannot be performed 
simultaneously from multiple paths.
When external subprogram calls using the Data Server that are available in 
multi-path systems are used, however, external subprogram call commands 
using the Data Server can be specified simultaneously from multiple paths.
9 In an external subprogram call operation, custom macros can be specified, but


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 757 -
4.6 EXTERNAL SUBPROGRAM CALLS USING THE DATA 
SERVER AVAILABLE IN MULTI-PATH SYSTEMS
Overview
In a multi-path system, external subprogram call commands using the Data Server can be specified 
simultaneously from multiple paths.
Fig. 4.6 (a) External subprogram calls specified simultaneously from multiple paths
Explanation
In a multi-path system, external subprogram call commands using the Data Server can be specified


key: chroma:document
string_value:
simultaneously from multiple paths.
・Example) Specifying an external subprogram call simultaneously from two paths
During the execution of an external subprogram command (M198) in path 1, another external subprogram 
call command (M198) can be executed from path 2, as shown below.
Data Server
Path 1
External subprogram 
call command
Path 2
External subprogram 
call command
External subprogram 
call commands can 
be used 
simultaneously from
multiple paths.


key: chroma:document
string_value:
multiple paths.
Program for path 1 Program for path 2
Path n
External subprogram 
call command
Program for path n


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 758 -
Fig. 4.6 (b) Specifying an external subprogram call in paths 1 and 2 simultaneously
Note
NOTE
1 This function is enabled only when the Data Server is selected as a foreground 
input device.
Other devices such as a memory card cannot be used to execute an external 
subprogram call command simultaneously in multiple paths.
2 DNC operation cannot be performed simultaneously in multiple paths.


key: chroma:document
string_value:
3 The same external subprogram cannot be executed simultaneously in multiple 
paths.
4 Before specifying an external subprogram command, set a folder for performing 
an external subprogram call. For details, refer to the following manual:
”Fast Ethernet / Fast Data Server OPERATOR’S MANUAL (B-64014EN)”
5 To use this function, set bit 0 (ESB) of parameter No. 8107 to 1.
Path 1 Path 2
:
N100 G01 F3000.0 ;
N110 M198 P1000 ;
N120 G0 X10.0 ;
N130 Y10.0 ;
:
:
N200 G17 G02 ;
N210 I-10.0 F100.0 ;


key: chroma:document
string_value:
N210 I-10.0 F100.0 ;
N220 M198 P2000 ;
N230 G01 ;
:
In paths 1 and 2, an external subprogram call is executed simultaneously.
Data Server
Program for path 1
O1000
Program for path 2
O2000
O1000 ;
:
:
M99 ;
O2000 ;
:
:
M99 ;


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 759 -
4.7 MANUAL HANDLE INTERRUPTION
By rotating the manual pulse generator in the automatic operation mode (manual data input, DNC 
operation, or memory operation) or in the memory editing mode, handle feed can be superimposed on 
movement by automatic operation. A handle interruption axis is selected using the manual handle 
interruption axis selection signals HSnIA to HSnIE.


key: chroma:document
string_value:
The minimum unit of travel distance per scale division is the least input increment. One of four types of 
magnifiers selected with manual handle feed selection signals MP1 and MP2 can be applied. With bit 3 
(HIT) of parameter No. 7103, the minimum unit of travel distance can be further 10 times greater. 
A handle feed magnifier is selected using the manual handle feed amount selection signal. (See 
"MANUAL HANDLE FEED".)
Programmed
depth of cut
Z
X Tool position after
handle interruption


key: chroma:document
string_value:
handle interruption
Tool position
during automatic
operation
Depth of cut
by handle
interruption Workpiece
Fig. 4.7 Manual handle interruption
WARNING
The travel distance per scale division by manual handle interruption is the least 
input increment as with manual handle feed. With a machine of metric input and 
inch output, for example, the travel distance per 254 scale divisions is 0.01 inch. 
With a machine of inch input and metric output, the travel distance per 100 scale


key: chroma:document
string_value:
divisions is 0.254 mm.
Explanation
- Interruption operation
1 When the handle interruption axis selection signal for a handle interruption axis is set to “1” in the 
automatic operation mode (manual data input, DNC operation, or memory operation) or in the 
memory editing mode, manual handle interruption can be performed by rotating the handle of the 
manual pulse generator.
NOTE
Even when the feedrate override signal sets 0%, manual handle interruption can 
be accepted.


key: chroma:document
string_value:
be accepted.
2 For the method of selecting a manual handle interruption axis, refer to the relevant manual of the 
machine tool builder.
3 The feedrate during manual handle interruption is the sum of feedrate used for automatic operation 
and the feedrate used for movement by manual handle interruption. However, the feedrate during 
manual handle interruption is controlled so that it does not exceed the maximum allowable cutting 
feedrate for the axis.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 760 -
Example
Suppose that the maximum allowable cutting feedrate for an axis is 5 m/min, and 
that a movement is made in the + direction at 2 m/min along the axis. In this 
case, manual handle interruption can be accepted even when the manual pulse 
generator is rotated up to a speed equivalent to 3 m/min. Manual handle 
interruption by rotation in one direction can be accepted even when the manual


key: chroma:document
string_value:
pulse generator is rotated to a speed equivalent to 7 m/min.
If the manual pulse generator is rotated to a speed beyond the upper limits, 
those pulses from the manual pulse generator that correspond to the excess are 
lost, resulting in a mismatch between the scale mark of the manual pulse 
generator and the actually interrupted travel distance.
4 For a magnifier for manual handle interruption, refer to the relevant manual of the machine tool 
builder.


key: chroma:document
string_value:
builder.
5 If the travel direction is reversed as a result of manual handle interruption, backlash compensation is 
performed. Pitch error compensation is performed for the position after interruption.
6 In manual handle interruption, only acceleration/deceleration for cutting feed is enabled. By setting 
bit 0 (MNJ) of parameter No. 1606 to 1, acceleration/deceleration for both of cutting feed and jog 
feed can be applied to manual handle interruption.


key: chroma:document
string_value:
- Manual handle interruption and coordinate system
1 The amount of manual handle interruption shifts the workpiece coordinate systems and the local 
coordinate system. So, the machine moves, but the coordinates in the workpiece coordinate systems 
and the local coordinate system remain unchanged.
Regardless of which coordinate system is selected, all workpiece coordinate systems and the local 
coordinate system shift by the same amount.
- Absolute coordinates


key: chroma:document
string_value:
- Absolute coordinates 
→ Remain unchanged by handle interruption.
- Relative coordinates 
→ Change by the amount of handle interruption.
- Machine coordinates 
→ Change by the amount of handle interruption.
(Machine coordinate system)
(Workpiece coordinate system after
interruption)
(Workpiece coordinate system before
interruption)
 Path after
 interruption
Programmed path
Shift by manual handle
interruption


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 761 -
2 Even when manual handle interruption is performed, the machine coordinate system remains 
unchanged. The absolute command (G53) in the machine coordinate system is not affected by 
manual handle interruption.
(G90G54****)
(G90G53****)
(Machine coordinate system)
(Workpiece coordinate system after 
interruption)
(Workpiece coordinate system before 
interruption)
Path after 
interruption
Programmed path
Shift by manual handle


key: chroma:document
string_value:
Shift by manual handle
interruption
3 In automatic reference position return (G28), the end point (reference position) is not affected by 
manual handle interruption. However, the midpoint is in the workpiece coordinate system, so that 
the position shifted by the amount of interruption becomes the midpoint.
- Cancellation of the amount of interruption
Operation by which the workpiece coordinate system shifted by manual handle interruption from the


key: chroma:document
string_value:
machine coordinate system is returned to the original workpiece coordinate system is referred to 
cancellation of the amount of interruption.
When the amount of interruption is canceled, the workpiece coordinate system is shifted by the amount of 
manual handle interruption, and the amount of interruption is reflected in the absolute coordinates.
Interruption shifts the workpiece coordinate system from the machine coordinate system.
(Machine zero point)
Workpiece
coordinate system


key: chroma:document
string_value:
Workpiece
coordinate system
before interruption
Workpiece
coordinate
system after 
interruption
Position before interruption
Position after 
interruption
Interruption
Workpiece
origin offset
By cancellation, the workpiece coordinate system returns to the state present before handle interruption.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 762 -
(Machine zero point)
Workpiece
coordinate system
after cancellation
Workpiece
coordinate
system before 
cancellation
Position after 
cancellation
Interruption amount 
cancellation
Workpiece
origin 
offset
In the following cases, the amount of interruption is canceled:
- When a reset is made (when bit 1 (RTH) of parameter No. 7103 is set to 1)
- When emergency stop state is canceled (when bit 1 (RTH) of parameter No. 7103 is set to 1)


key: chroma:document
string_value:
- When a manual reference position return operation is performed
(when G28 is specified before a reference position is established)
- When a reference position is set without dogs
- When the workpiece coordinate system is preset
NOTE
When the amount of interruption is cleared using soft keys, only the indication of 
the amount of interruption becomes 0, and the workpiece coordinate system 
remains unchanged.
- Clearing the amount of interruption by soft keys


key: chroma:document
string_value:
Clearing of the amount of interruption means that the indication of the amount of interruption by manual 
handle interruption is set to 0. The workpiece coordinate system does not change.
"Clearing all axes" or "Clearing any axis" is performed on the path for which the amount of manual 
handle interruption is indicated. 
When bit 3 (HLC) of parameter No. 7100 is enabled, soft key [INTRPT CANCEL], which is used for this


key: chroma:document
string_value:
operation, appears. When HLC is disabled, soft key [INTRPT CANCEL] does not appear. 
To select "Clearing all axes" or "Clearing any axis", follow the procedure below.
1 Press function key on the MDI unit. 
2 Press soft key [HANDLE].
3 Press soft key [(OPRT)].
4 To prepare for "Clearing all axes" or "Clearing any axis", press soft key [INTRPT CANCEL].
To prepare for "Clearing all axes" or "Clearing any axis", perform one of the following.
- Clearing all axes


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 763 -
- Clearing any axis
- Enter the axis name and then press soft key [INTRPT CANCEL].
- Press soft key [INTRPT CANCEL], enter the axis name, and press soft key [EXEC].
If an incorrect axis name is entered, a warning message stating "FORMAT ERROR" appears.
- Relation with other functions
The following table indicates the relation between other functions and the movement by handle 
interruption.


key: chroma:document
string_value:
interruption.
Table 4.7 (a) Relation between other functions and the movement by handle interruption
Signals Relation
Machine lock Machine lock is effective. When machine lock is on, no movement is made due to 
handle interruption.
Interlock Interlock is effective. When interlock is on, no movement is made due to handle 
interruption.
Mirror image Mirror image is not effective. Interrupt functions on the plus direction by plus direction 
command, even if this signal turns on. 
- Position display


key: chroma:document
string_value:
- Position display
The following table shows the relation between various position display data and the movement by 
handle interruption.
Table 4.7 (b) relation between various position display data and the movement by handle interruption
Signals Relation
Absolute coordinate value Handle interruption does not change absolute coordinates.
Relative coordinate value Relative coordinates are changed by the travel distance specified by handle 
interruption.


key: chroma:document
string_value:
interruption.
Machine coordinate value Machine coordinates are changed by the travel distance specified by handle 
interruption.
- Travel distance display
Press the function key , then press the chapter selection soft key [HNDL]. The move amount by the 
handle interruption is displayed. The following 4 kinds of data are displayed concurrently.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 764 -
(a) INPUT UNIT:
Handle interruption move amount in input unit system 
Indicates the travel distance specified by handle interruption according to the least input increment.
(b) OUTPUT UNIT :
Handle interruption move amount in output unit system
Indicates the travel distance specified by handle interruption according to the least command 
increment.
(c) RELATIVE:
Position in relative coordinate system


key: chroma:document
string_value:
Indicates the present relative position where the amount of the handle interruption was included.
(d) DISTANCE TO GO:
The remaining travel distance in the current block has no effect on the travel distance specified by 
handle interruption.
The handle interruption move amount is cleared when the manual reference position return ends every 
axis.
- Display for five-axis systems or better
Systems having five or more axes provide the same display as the overall position display.
Note
NOTE


key: chroma:document
string_value:
Note
NOTE
1 In a manual operation mode such as the jog feed mode, manual handle feed 
mode, or TEACH IN HANDLE mode, handle interruption cannot be performed. 
2 During a machine lock or interlock, handle interruption does not cause 
movement.
3 Manual handle interruption is disabled for the axis in any of the following states.
- Follow-up state
- PMC axis control state
4 Manual handle interruption cannot be performed for the axis specified in the G00


key: chroma:document
string_value:
mode. But manual handle interrupt is enabled within the rapid traverse rate of 
the specified axis by setting bit 1 (RMI) of parameter No.10480.
4.7.1 Manual Interruption of 3-dimensional Coordinate System 
Conversion
Overview
When the manual pulse generator is rotated in the 3-dimensional coordinate conversion mode, the travel 
distance specified by the manual pulse generator is superposed on the travel distance by automatic


key: chroma:document
string_value:
operation in the direction of the selected handle feed axis on the coordinate (program coordinate) system 
after 3-dimensional coordinate conversion.
Z
X
Y
Z
X'
Y
Z'
Y'
X
Coordinate system 
before conversion
Coordinate system after conversion
(When the Z-axis is selected, the 
travel distance is superposed on the 
Z'-axis as shown in the figure above.)
Fig. 4.7.1 Manual interruption of 3-dimensional coordinate system conversion


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 765 -
Explanation
- Interruption 
This function performs interruption only when all of conditions 1 to 6 below are met. Otherwise, 
interruption does not occur. 
1. During the automatic operation mode (MEM mode, MDI mode, or RMT mode)
2. During the 3-dimensional coordinate conversion mode
3. During the cutting mode (G01, G02, G03, or other G code for cutting is being executed.)


key: chroma:document
string_value:
4. When interrupt is done to three axes of the target as 3-dimensional coordinate conversion
5. When 3-dimensional coordinate conversion manual interrupt enable/disable switch signal is set to 
“0”
6. When the tool axis direction, the tool axis right-angle direction, or the tool tip center rotation is not 
selected for the 3-dimensional manual feed
The feedrate superposed along the 3-dimensional coordinate conversion mode does not exceed the 
maximum cutting speed of each axis.


key: chroma:document
string_value:
- Manual interruption and coordinate system
When this function operates, the absolute coordinate values do not include the travel distance by manual 
interruption. The absolute coordinate values are therefore not updated even when the manual pulse 
generator is rotated.
The machine coordinate values and relative coordinate values include the travel distance by manual 
interruption. However, the values are represented on the coordinate system before being converted. As


key: chroma:document
string_value:
shown in Fig. 4.7.1, the travel distance of the manual handle interruption is superposed along the Z'-axis. 
The travel distance is displayed using the X, Y, and Z coordinates of the coordinate system before being 
converted.
The travel distance by this function can be monitored on the manual handle interruption screen. Bit 3 
(DMK) of parameter No. 5402 specifies whether the coordinate system (X, Y, Z) before being converted


key: chroma:document
string_value:
or the coordinate system (X', Y', Z') or after being converted is used to display the amount of interruption 
by the manual handle.
Note
Handle interruption is disabled during execution of a G68 or G69 block.
4.8 MIRROR IMAGE
During automatic operation, the mirror image function can be used for movement along an axis. In this 
case, the absolute coordinate is updated to the same direction as a programmed path, and the machine


key: chroma:document
string_value:
coordinate and the relative coordinate are updated to the opposite direction from a programmed path.
To use this function, set the mirror image switch to ON on the machine operator's panel, or set the mirror 
image setting to ON from the MDI unit.
Y
X
Tool
Y-axis mirror image goes on.
Programmed tool 
path
Tool path after the 
mirror image 
function is used
Fig. 4.8 (a) Mirror image


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 766 -
Procedure for mirror image
Procedure
The following procedure is given as an example. For actual operation, refer to the manual supplied by the 
machine tool builder.
1 Press the single block switch to stop automatic operation. 
When the mirror image function is used from the beginning of operation, this step is omitted.
2 Press the mirror image switch for the target axis on the machine operator's panel.


key: chroma:document
string_value:
Alternatively, turn on the mirror image setting by following the steps below:
2-1 Set the MDI mode.
2-2 Press the function key .
2-3 Press the [SETING] soft key for chapter selection to display the setting screen.
Fig. 4.8 (b) Setting screen
2-4 Move the cursor to the mirror image setting position, then set the target axis to 1.
3 Enter an automatic operation mode (MEM mode or MDI mode), then press the cycle start button to 
start automatic operation.


key: chroma:document
string_value:
start automatic operation.
Explanation - The mirror image function can also be turned on and off by setting bit 0 (MIRx) of parameter 
No.0012 to 1 or 0.
- For the mirror image switches, refer to the manual supplied by the machine tool builder.
- Shifting workpiece coordinate system
When operation using mirror image is executed after the workpiece coordinate system is specified, the 
workpiece coordinate system is shifted from the machine coordinate system.


key: chroma:document
string_value:
This shifted amount can be cancelled by the following operation.
- Manual reference position return
- Workpiece coordinate system preset (G92.1, G50.3)
- Each axis workpiece coordinate system preset signals WPRST1-WPRST8
- Programmable mirror image (G50.1, G51.1)
When programmable mirror image (machining center system) and ordinary mirror image are specified at 
the same time, programmable mirror image is applied first.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 767 -
- Retrace
Mirror image is enabled during reverse execution and forward reexecution of the retrace function. 
Therefore, it is necessary during the reverse execution and the forward reexecution to make mirror image 
in the same state as the forward execution.
Limitation
- Manual operation and automatic reference position return
Even if mirror image is applied, the following directions are not reversed.
- Direction of manual operation


key: chroma:document
string_value:
- Direction of movement, from the intermediate position to the reference position during automatic 
reference position return
In these cases, the machine coordinate and the relative coordinate are updated to the same direction as a 
movement, and the absolute coordinate is updated to the opposite direction from a movement.
M
- Single direction positioning
Mirror image is not applied in parameter No.5440 set direction. Even in the mirror image mode, the


key: chroma:document
string_value:
direction of single direction positioning remains unchanged.
If positioning of linear interpolation type is used, and the state of mirror image when a single direction 
positioning block is looked ahead differs from the state of mirror image when the execution of the block 
is started, an alarm is issued. When switching mirror image in the middle of a program, disable looking 
ahead by specifying a non-buffering M code. Then, switch mirror image when there is no look-ahead 
block.
・


key: chroma:document
string_value:
block.
・
- Boring cycle (G76 and G87)
Even if mirror image is applied, shift direction for boring cycles (G76 and G87) is not reversed.
- High precision oscillation function
Never attempt to apply mirror image about the oscillation axis.
- Manual linear/circular interpolation
Mirror image is not available during the manual operation.
- Program restart, Quick program restart
The tool cannot be returned to a correct position when mirror image is used. However, P type return is


key: chroma:document
string_value:
possible for a block that switched between ON and OFF most recently or a subsequent block. In this case, 
mirror image signal status present when the program was interrupted must be maintained.
- Manual intervention and return
When performing manual intervention and return, never use mirror image.
- Tool retract and recover
When retracting the tool manually in the tool withdrawal mode, do not use mirror image.
- Arbitrary speed threading
Thread cannot be re-machined with mirror image applied.


key: chroma:document
string_value:
- General purpose retract
The retract direction is the movement direction of the machine regardless of whether mirror image is valid 
or not. (A mirror image is not applied to the updating of absolute coordinates.)


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 768 -
- AI contour control
In the speed control with the cutting feed, the travel direction on the Z-axis is determined with the 
appropriate NC command. Therefore, if mirror image is applied on the Z-axis, the direction on the Z-axis 
cannot be determined. When using the speed control with the cutting load, do not use mirror image.
4.9 PROGRAM RESTART


key: chroma:document
string_value:
4.9 PROGRAM RESTART
This function specifies Sequence No. of a block to be restarted when a tool is broken down or when it is 
desired to restart machining operation after a day off, and restarts the machining operation from that block. 
It can also be used as a high-speed program check function.
There are two restart methods: the P-type method and Q-type method.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 769 -
Procedure for program restart by specifying a sequence number
Procedure 1
[P TYPE]
1 Retract the tool and replace it with a new one. When necessary, change the offset. (Go to procedure
2.)
[Q TYPE]
1 When power is turned ON or emergency stop is released, perform all necessary operations at that 
time, including the reference position return.
2 Move the machine manually to the program starting point (machining start point), and keep the


key: chroma:document
string_value:
modal data and coordinate system in the same conditions as at the machining start.
3 If necessary, modify the offset amount. (Go to procedure 2.)
Procedure 2
[COMMON TO P TYPE / Q TYPE]
1 Turn the program restart switch on the machine operator's panel ON.
2 Press function key to display the desired program.
3 Find the program head. Press .
4 Enter the sequence number of the block to be restarted, then press the soft key [P TYPE] or [Q 
TYPE].
xxxxx 
[Q TYPE]
or
[P TYPE]
Sequence number


key: chroma:document
string_value:
or
[P TYPE]
Sequence number
If the same sequence number appears more than once, the location of the target block must be 
specified. Specify a frequency and a sequence number.
xxxyyyyy 
[Q TYPE]
or
[P TYPE]
Sequence number (The rightmost five digits.)
Frequency


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 770 -
5 The sequence number is searched for, and the program restart screen appears on the LCD display.
Fig. 4.9 (a) Program restart screen
DESTINATION shows the position at which machining is to restart.
DISTANCE TO GO shows the distance from the current tool position to the position where 
machining is to restart. A number to the left of each axis name indicates the order of axes


key: chroma:document
string_value:
(determined by parameter setting) along which the tool moves to the restart position.
The coordinates and amount of travel for restarting the program can be displayed for up to four axes. 
If your system supports five or more axes, pressing the [RSTR] soft key again displays the data for 
the fifth and subsequent axes. 
M : Up to 30 most recently specified M codes. The maximum number of displayed M codes differs 
depending on the size of the display.


key: chroma:document
string_value:
With 10.4"/15"/19" LCD/MDI unit : Up to 30 M codes
T : Two most recently specified T codes
S : Most recently specified S code
B : Most recently specified B code
Codes are displayed in the order in which they are specified. All codes are cleared by a program 
restart command or cycle start in the reset state.
6 Turn the program re-start switch OFF. At this time, the figure at the left side of axis name 
DISTANCE TO GO blinks.


key: chroma:document
string_value:
DISTANCE TO GO blinks.
7 Check the screen for the M, S, T, and B codes to be executed. If they are found, enter the MDI mode, 
then execute the M, S, T, and B functions. After execution, restore the previous mode. These codes 
are not displayed on the program restart screen.
8 Check that the distance indicated under DISTANCE TO GO is correct. Also check whether there is 
the possibility that the tool might hit a workpiece or other objects when it moves to the machining


key: chroma:document
string_value:
restart position. If such a possibility exists, move the tool manually to a position from which the tool 
can move to the machining restart position without encountering any obstacles.
9 Press the cycle start button. The tool moves to the machining restart position at the dry run feedrate 
sequentially along axes in the order specified by parameter No. 7310 settings. Machining is then 
restarted.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 771 -
Procedure for program restart by specifying a block Number
Procedure 1 
[P TYPE]
1 Retract the tool and replace it with a new one. When necessary, change the offset. (Go to procedure 
2.)
[Q TYPE]
1 When power is turned ON or emergency stop is released, perform all necessary operations at that 
time, including the reference position return.
2 Move the machine manually to the program starting point (machining start point), and keep the


key: chroma:document
string_value:
modal data and coordinate system in the same conditions as at the machining start.
3 If necessary, modify the offset amount. (Go to procedure 2.)
Procedure 2
[COMMON TO P TYPE / Q TYPE]
1 Turn the program restart switch on the machine operator's panel ON.
2 Press function key to display the desired program.
3 Find the program head. Press .
4 Enter the number of the block to be restarted then press the soft key [P TYPE] or [Q TYPE]. The 
block number cannot exceed eight digits.
B xxxxxxxx


key: chroma:document
string_value:
B xxxxxxxx 
[Q TYPE]
or
[P TYPE]
Block number
5 The block number is searched for, and the program restart screen appears on the LCD display.
Fig. 4.9 (b) Program restart screen
DESTINATION shows the position at which machining is to restart.
DISTANCE TO GO shows the distance from the current tool position to the position where 
machining is to restart. A number to the left of each axis name indicates the order of axes


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 772 -
The coordinates and amount of travel for restarting the program can be displayed for up to four axes. 
If your system supports five or more axes, pressing the [RSTR] soft key again displays the data for 
the fifth and subsequent axes. 
M : Up to 30 most recently specified M codes. The maximum number of displayed M codes differs 
depending on the size of the display.
With 10.4-/15-/19-inch LCD/MDI unit : Up to 30 M codes


key: chroma:document
string_value:
T : Two most recently specified T codes
S : Most recently specified S code
B : Most recently specified B code
Codes are displayed in the order in which they are specified. All codes are cleared by a 
program restart command or cycle start in the reset state.
6 Turn the program re-start switch OFF. At this time, the figure at the left side of axis name 
DISTANCE TO GO blinks.
7 Check the screen for the M, S, T, and B codes to be executed. If they are found, enter the MDI mode,


key: chroma:document
string_value:
then execute the M, S, T, and B functions. After execution, restore the previous mode. These codes 
are not displayed on the program restart screen.
8 Check that the distance indicated under DISTANCE TO GO is correct. Also check whether there is 
the possibility that the tool might hit a workpiece or other objects when it moves to the machining 
restart position. If such a possibility exists, move the tool manually to a position from which the tool


key: chroma:document
string_value:
can move to the machining restart position without encountering any obstacles.
9 Press the cycle start button. The tool moves to the machining restart position at the dry run feedrate 
sequentially along axes in the order specified by parameter No. 7310 settings. Machining is then 
restarted.
Outputting the M, S, T, and B codes for program restart
After the block to be restarted is searched for, you can perform the following operations:
1 Before the tool is moved to the machining restart position


key: chroma:document
string_value:
<1> The most recently specified M, S, T, and B codes can automatically be output to the PMC.
The most recently specified S code is output as the maximum spindle speed when the S code is 
specified in the block containing G92 or as the specified spindle speed in other cases. As the 
most recently specified S code, only one S code is displayed on the program restart screen 
regardless of whether the S code is specified in the block containing G92.


key: chroma:document
string_value:
<2> While the block to be restarted is being searched for, all sampled M codes and most recently 
specified S, T, and B codes can automatically be output to the PMC. Up to 35 M codes can be 
sampled. If the number of sampled M codes exceeds 35, the 35 most recently specified M 
codes are output to the PMC.
Switch between operations <1> and <2> using bit 6 (MOA) of parameter No. 7300.
2 Before the tool reaches the machining restart position


key: chroma:document
string_value:
On the program restart screen, you can specify M, S, T, and B codes from the MDI unit in the MEM 
or DNC mode without changing the mode.
Outputting the most recently specified M, S, T, and B codes
When bit 7 (MOU) of parameter No. 7300 is set to 1, pressing the cycle start switch after searching for 
the block to be restarted automatically outputs the most recently specified M, S, T, and B codes to the 
PMC before the tool is moved to the machining restart position.


key: chroma:document
string_value:
In the single block stop status, after the most recently specified M, S, T, and B codes are output, pressing 
the cycle start switch again moves the tool to the machining restart position.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 773 -
Outputting all M codes and most recently specified S, T, and B codes
When bit 6 (MOA) of parameter No. 7300 is set to 1, pressing the cycle start switch after searching for 
the block to be restarted automatically outputs all M codes and most recently specified S, T, and B codes 
to the PMC before the tool is moved to the machining restart position.
(Example)


key: chroma:document
string_value:
(Example)
When M10, M11, M12, M13, M14, T0101, S1000, and B10 are sampled, a program is executed in 
the format shown below before the tool is moved to the machining restart position:
M10 T0101 S1000 B10 ;
M11 ;
M12 ;
M13 ;
M14 ;
Outputting M, S, T, and B codes on the program restart screen
When bit 7 (MOU) of parameter No. 7300 is set to 1, you can specify M, S, T, and B codes from the MDI 
unit in the MEM or DNC mode without changing the mode after searching for the block to be restarted


key: chroma:document
string_value:
until the tool reaches the machining restart position.
Procedure
1 When the block to be restarted is searched for using the program restart function, the program restart 
screen appears. When bit 7 (MOU) of parameter No. 7300 is set to 1, operation soft keys 
[OVERSTORE], [ERASE], and [INPUT] are displayed.
Fig. 4.9 (c) Program restart screen (outputting M, S, T, and B codes)
2 Before the tool reaches the machining restart position, pressing soft key [OVERSTORE] selects the


key: chroma:document
string_value:
over store mode. In the over store mode, data can be entered in the M, S, T, and B fields displayed in 
the (OVERSTORE) section.
To select the over store mode while the tool is moving to the machining restart position, hold restart 
operation by feed hold and press soft key [OVERSTORE].
Enter M, S, T, and B codes to be output in the (OVERSTORE) section from the MDI unit.
(Example)
To enter M10, S1000, T101, and B20 in the (OVERSTORE) section:
<1> Enter M 1 0 from the MDI unit.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 774 -
<2> Press the [INPUT] key.
You can also enter the S, T, and B codes by performing steps <1> and <2>.
Fig. 4.9 (d) Program restart screen when M, S, T, and B codes are output
3 When values have been entered in the (OVERSTORE) section, pressing the cycle start switch 
outputs each code in the (OVERSTORE) section. The values in the (OVERSTORE) section are 
cleared.


key: chroma:document
string_value:
cleared.
4 To clear the values entered in the (OVERSTORE) section as M, S, T, and B codes, press soft key 
[ERASE]. All entered values are cleared.
5 Pressing soft key [OVERSTORE] again in the over store mode cancels the mode. Pressing the reset 
key also cancels the over store mode.
6 To continue with restart operation, cancel the over store mode and press the cycle start switch.
CAUTION
1 The M, S, T, and B codes specified in the over store mode are not displayed on 
the program restart screen.


key: chroma:document
string_value:
the program restart screen.
2 In the over store mode, changing the operation mode to other than the MEM or 
DNC mode does not cancel the over store mode. In this case, no values can be 
entered in the (OVERSTORE) section.
3 In lathe systems, do not specify a T code in the over store mode. If a T code is 
specified, it is not executed.
Approach to the program restart position per arbitrary axis
This function achieves the following in a program restart:


key: chroma:document
string_value:
- On the program restart screen, set the axis name of a single arbitrary axis by keying in or pressing a 
soft key. Then, perform a cycle start so that the target axis moves to the program restart position at 
the dry run speed, independently of the order set in parameter No. 7310.
To enable this function, set bit 7 (OAA) of parameter No. 11250 to 1.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 775 -
Procedure
The procedure for a program restart by using this function is described below.
Enter the state in which a program restart is possible, as described below.
Enter either MEM or DNC mode.
Fig. 4.9 (e) Program restart screen
Press the soft key [(OPRT)], then press the continuous menu key. Soft key [SET MV.AX] appears.
Fig. 4.9 (f) Program restart screen (movement axis setting)


key: chroma:document
string_value:
Key in the axis name of the axis to move, and press the soft key [SET MV.AX], and the keyed-in axis 
name will flash.
NOTE
If an illegal axis is specified, the warning message, "THERE IS NO SPECIFIED 
NAME OF AXIS", appears.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 776 -
Fig. 4.9 (g) Program restart screen (movement axis setting, movement axis cancellation)
If wanting to cancel the axis that has been set and set another axis, key in this axis name, and press the 
soft key [SET MV.AX]. To move the axis, perform a cycle start, and the axis specified as described above 
will move to the program restart position at the dry run speed. When the movement of the axis starts, the 
axis name no longer flashes.


key: chroma:document
string_value:
axis name no longer flashes.
By pressing the soft key [CLEAR MV.AX], the axis that has been set as described above can be canceled. 
If the CNC mode is changed, the axis that has been set will be canceled (the axis name no longer flashes).
After the completion of the movement of all axes to the program restart position, perform a cycle start to 
restart machining.
If a cycle start is performed when the movement of all axes to the program restart position is not


key: chroma:document
string_value:
completed (or the axes are not yet moved) and no axis is set, the axes will move to the program restart 
position at the dry run speed. In this case, they will move in the order in which they are set in parameter 
No. 7310. Then, restart machining.
NOTE
1 If the soft key [CLEAR MV.AX] is pressed when no movement axis is set, the 
warning message, "THE MOVING AXIS HAS NOT BEEN SET", appears.
2 If the soft key [SET MV.AX] or [CLEAR MV.AX] is pressed in either of the states


key: chroma:document
string_value:
below, a warning message appears, making operation impossible.
- In a mode other than MEM and DNC modes
Warning message: WRONG MODE
- Another axis is being moved, or restart coordinates are not set.
Warning message: COMMAND ILLEGAL USE
Explanation
- Block number
When the CNC is stopped, the number of executed blocks is displayed on the program screen or program 
restart screen as BC. The operator can specify the number of the block from which the program is to be


key: chroma:document
string_value:
restarted, by referencing the number displayed on the screen. The displayed number indicates the number 
of the block that was executed most recently. For example, to restart the program from the block at which 
execution stopped, specify the displayed number, plus one.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 777 -
The number of blocks is counted from the start of machining, assuming one NC line of a CNC program to 
be one block.
(Example 1)
CNC Program Number of blocks
O 0001 ;
G90 G92 X0 Y0 Z0 ;
G01 X100.0 F100.0 ;
G03 X0 I-50.0 F50.0 ;
M30 ;
1
2
3
4
5
(Example 2)
CNC Program Number of blocks
O 0001 ;
G90 G92 X0 Y0 Z0 ;
G90 G00 Z100.0 ;
G81 X100.0 Y0.0 Z120.0 R-80.0 F50.0 ;
#1=#1+1 ;
#2=#2+1 ;
#3=#3+1 ;
G00 X0 Z0 ;
M30 ;
1
2
3
4
4


key: chroma:document
string_value:
M30 ;
1
2
3
4
4
4
4
5
6
Macro statements are not counted as blocks.
- Storing / clearing the block number
The block number is held in memory while no power is supplied. The number can be cleared by cycle 
start in the reset state.
- Block number when a program is halted or stopped
The program screen usually displays the number of the block currently being executed. When the 
execution of a block is completed, the CNC is reset, or the program is executed in single-block stop mode,


key: chroma:document
string_value:
the program screen displays the number of the program that was executed most recently. When a CNC 
program is halted or stopped by feed hold, reset, or single-block stop, the following block numbers are 
displayed:
Feed hold : Block being executed
Reset : Block executed most recently
Single-block stop : Block executed most recently
For example, when the CNC is reset during the execution of block 10, the displayed block number 
changes from 10 to 9.
- MDI intervention


key: chroma:document
string_value:
- MDI intervention
When MDI intervention is performed while the program is stopped by single-block stop, the CNC 
commands used for intervention are not counted as a block.
- Block number exceeding eight digits
When the block number displayed on the program screen exceeds eight digits, the block number is reset 
to 0 and counting continues.
- Presetting the relative coordinate values after the search


key: chroma:document
string_value:
If bit 3 (RPR) of parameter No.7301 is 1, relative coordinate values are preset by absolute coordinate 
values after the search in program restart.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 778 -
Program restart for flexible synchronization control
Parameter setting
By setting bit 0 (FRS) of parameter No. 13421 to 1, a program restart is possible in a program that 
contains an M code command for turning the flexible synchronization control mode on/off.
If bit 0 (FRS) of parameter No. 13421 is 0, and an attempt is made to perform a program restart in a


key: chroma:document
string_value:
program that contains an M code command for turning the flexible synchronization control mode on/off, 
alarm PS5244, “TOO MANY DI ON” is issued.
Creating/executing a program
1. If this function is used, it is not possible to specify a slave axis during flexible synchronization 
control. If an attempt is made to specify a slave axis, alarm PS5376, “FSC SLAVE AXIS CAN NOT 
COMMANDED” is issued.
(Example)
C: master axis, A: slave axis
O0001 ;
N10 C0 A0 ;
N20 M133 ;
N30 C10.0 A5.0 ;
N40 C20.0 ;


key: chroma:document
string_value:
N30 C10.0 A5.0 ;
N40 C20.0 ;
N50 M136 ;
N60 G90 A20.0 ;
N70 G91 A10.0 ;
 :
2. When flexible synchronization control is canceled, a workpiece coordinate system preset is 
automatically performed on the slave axis.
3. If, after flexible synchronization control is canceled, an incremental command is issued for the slave 
axis before an absolute command, alarm PS5377, “INVALID COMMAND AFTER FSC OFF” is 
issued.
(Example)
C: master axis, A: slave axis
O0002 ;
N10 C0 A0 ;
N20 M133 ;
N30 C10.0 ;


key: chroma:document
string_value:
N20 M133 ;
N30 C10.0 ;
N40 C20.0 ;
N50 M136 ;
N60 G90 A20.0 ;
N70 G91 A10.0 ;
 :
Operating a program restart
1. Before starting a program restart, make sure that the flexible synchronization control mode matches 
the synchronous control mode on the program command in the block in which the restart is desired 
(state of the M code command for turning the flexible synchronization control mode on/off). If they 
do not match, alarm PS5374, “FSC MODE MISMATCH IN RESTART” is issued. In the period


key: chroma:document
string_value:
from the beginning of the program to the time the M code for turning the flexible synchronization 
control mode on/ff is issued for the first time, synchronous control mode is regarded as being off on 
the program command.
Turns synchronous control mode on
Turns synchronous control mode off
Alarm PS5376
The slave axis requires an absolute command.
Turns synchronous control mode on
Turns synchronous control mode off


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 779 -
(Example)
C: master axis, A: slave axis
O0003 ;
N10 C90.0 ;
N20 A90.0 ;
N30 C0 A0 ;
N40 M133 ;
N50 C10.0 ;
N60 C20.0 ;
N70 M136 ;
N80 G90 A20.0 ;
N90 G91 A10.0 ;
 :
If the block in which to perform a restart is N50, it is necessary to enter the flexible 
synchronization control mode before performing a program restart.
2. During the execution of a program restart (period from the time the soft key [P TYPE] or [Q TYPE]


key: chroma:document
string_value:
is pressed until the end of the movement of all axes to the restart position), it is not possible to 
change the flexible synchronization control mode. If an attempt to change it, alarm PS5375, “FSC 
MODE CAN NOT CHANGED” is issued.
3. If a block under flexible synchronization control is specified as a restart block, the DISTANCE TO 
GO of the slave axis is 0. The restart position of the slave axis is "********".


key: chroma:document
string_value:
4. If specifying a restart block after the cancellation of flexible synchronization control, specify a block 
after the absolute command for the axis that was the slave axis. If a block before the absolute 
command is specified, alarm PS5378, “INVALID RESTART BLOCK” is issued.
(Example)
C: master axis, A: slave axis
O0003 ;
N10 A90.0 ;
N20 C90.0 ;
N30 C0 A0 ;
N40 M133 ; 
N50 C10.0 ;
N60 C20.0 ;
N70 M136 ;
N80 G90 A20.0 ;
N90 G91 A10.0 ;
 :


key: chroma:document
string_value:
N90 G91 A10.0 ;
 :
If N80 is specified as a restart block, alarm PS5378 is issued.
If N90 is specified as a restart block, the alarm is not issued because N90 is after the absolute 
command for the slave axis of N80.
Continuing flexible synchronization control in the event of the emergency stop or 
servo-off state
Usually, if the machine enters the emergency stop or servo-off state, flexible synchronization control is


key: chroma:document
string_value:
canceled. By setting bit 1 (FCN) of parameter No. 13421 to 1, it is now possible to continue flexible 
synchronization control. (This function can be used even if bit 0 (FRS) of parameter No. 13421 is 0.)
In this case, if the machine enters the emergency stop or servo-off state, the difference between the 
current machine position of the slave axis and the correct synchronous control position in relation to the


key: chroma:document
string_value:
master axis becomes the positional deviation of the slave axis. If the emergency stop or servo-off state is 
canceled, the slave axis moves to the correct synchronous control position.
Turns synchronous control mode on
Turns synchronous control mode off
Restart block
Turns synchronous control mode on
Turns synchronous control mode off


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 780 -
Reference position return/machine coordinate system selection during flexible 
synchronization control
Usually, if any of G27, G28, G29, G30, and G53 is specified during flexible synchronization control, 
alarm PS0010, “IMPROPER G-CODE” is issued. If bit 2 (FRF) of parameter No. 13421 is set to 1, alarm 
PS5381, “INVALID COMMAND IN FSC MODE” is issued in either of the following cases. (This


key: chroma:document
string_value:
function can be used even if bit 0 (FRS) of parameter No. 13421 is 0.)
- G28 is issued for the master axis when the reference position is not established for the master axis 
under flexible synchronization control.
- If any of G27 to G30, and G53 is issued for the slave axis.
Program restart for the Cs contour controlled axis
Usually, before a program restart operation can be started, it is necessary to enter Cs contour control 
mode and establish the origin of the Cs contour controlled axis.


key: chroma:document
string_value:
By using the Cs axis coordinate establishment function and setting bit 5 (CCS) of parameter No. 7300 to 
1, however, it is no longer necessary to enter Cs contour control mode or establish the origin of the Cs 
contour controlled axis before starting a program restart operation.
In this case, it is possible to change to Cs contour control mode, if necessary, after the end of the search 
for the block subject to the restart.


key: chroma:document
string_value:
If the system enters Cs contour control mode, the origin of the Cs contour controlled axis is established 
with the Cs axis coordinate establishment function. And, the "DISTANCE TO GO" of the Cs contour 
controlled axis is recalculated.
If the system is not in Cs contour control mode, the "DISTANCE TO GO" of the Cs contour control axis 
is 0. "********" appears for "DESTINATION".
NOTE
To use the Cs contour controlled axis coordinate establishment function, the


key: chroma:document
string_value:
reference position return must be performed on the Cs contour controlled axis at 
least once after the power is turned on.
Program restart for 3-dimensional coordinate conversion / Tilted working 
plane command
If the block subject to a restart is in 3-dimensional coordinate conversion mode G68 (machining center 
system)/G68.1 (lathe system) or Tilted working plane command mode, it is possible to select whether the


key: chroma:document
string_value:
movement of the axes to the restart position should be in the program coordinate system or the workpiece 
coordinate system, by using bit 1 (3DD) of parameter No. 7301. If parameter bit 3DD is 0, the axes move 
to the restart position one at a time, as seen from the program coordinate system, and if it is 1, they move 
to the restart position one at a time, as seen from the workpiece coordinate system.
The "DESTINATION" and "DISTANCE TO GO" displays follow the setting of 3DD.


key: chroma:document
string_value:
The "ABSOLUTE" display follows the bit 6 (DAK) of parameter No. 3106.
Setting to prevent movement to restart position
When there are two or more axes which has the same setting value in parameter No.7310, the movement 
to the restart position is not executed in the second or more axis.
Limitation
- P type Restart
In the following conditions, P type restart cannot be performed:
- Automatic operation has not been performed since power-on.


key: chroma:document
string_value:
- Automatic operation has not been performed since emergency stop was released.
- Automatic operation has not been performed since the coordinate system was changed or shifted 
(change of the external workpiece origin offset value).


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 781 -
The block that can be restored properly by P type program restart is a block for which coordinate system 
setup or change was performed most recently before machining was interrupted.
- Restart block
The block where the program is to restart is not necessarily be the block at which the program was 
interrupted. You can restart the program from any block. For P-type restart, however, the block where the


key: chroma:document
string_value:
program is to restart must use the same coordinate system as when program execution was interrupted.
- Single block
When the single-block operation is enabled at the time of a movement to the restart point, a single-block 
stop occurs each time an axis operation takes place. In this case, no MDI operation is allowed.
- Manual intervention
During movement to the restart point, manual intervention is allowed for an axis for which a return


key: chroma:document
string_value:
operation has not yet been performed. However, manual operations do not cause any movement along 
axes for which a return operation has already been completed.
- MDI
When the search operation has ended, no move command can be specified by MDI before axis 
movement.
- Reset
Do not perform a reset operation during the time from the start of the search operation of the restart 
sequence until machining is restarted.


key: chroma:document
string_value:
If a reset operation is performed, the restart steps must be performed again from the beginning.
- Feed hold
If a feed hold operation is performed during the search, the restart steps must be performed again from the 
beginning.
- Manual absolute
Every manual operation must be performed with the manual absolute mode turned on regardless of 
whether the manual operation is performed before or after machining.
- Reference position return


key: chroma:document
string_value:
- Reference position return
Unless an absolute position detector (absolute pulse coder) is provided, be sure to perform reference 
position return after power-up, then perform restart operation.
- Program restart switch
When the program restart switch is on, pressing the cycle start switch does not start operation.
- Blocks specifying a macro statement, macro call, and subprogram call
Blocks specifying a macro statement, macro call, and subprogram call are not searched for even when


key: chroma:document
string_value:
they have a sequence number. In such a case, search for a block previously preceding such a block.
- Interruption type custom macro
During movement to the machining restart point at a dry run feedrate, no interruption type custom macro 
can be started. If an interruption type custom macro is started, alarm DS0024, “UINT SIGNAL WAS 
ILLEGALLY INPUT” is issued.
- Index table indexing
When index table indexing is used for the machine, position the tool to the restart position before


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 782 -
- Commands that prevent program restart
Program restart cannot be performed for blocks placed in the following modes:
- Polygon turning (G50.2)
- Threading (G32,G33), Circular threading (G35,G36), Threading cycle (G92), Multiple-thread 
cutting cycle (G76)
- Polar coordinate interpolation (G12.1)
- Balance cutting (G68)
- Rigid tapping
- Spindle positioning


key: chroma:document
string_value:
- Spindle positioning
If any of the following commands is included between the beginning of a program and the block where 
the program is to restart, program restart cannot be performed:
- Workpiece coordinate system preset (G92.1,G50.3)
- Commands for enabling and disabling synchronous/composite control and superimposed control 
- Commands for enabling and disabling axis synchronous control
- M, S, and T commands not usable in over store mode


key: chroma:document
string_value:
The M, S, and T functions listed below, unlike the other M, S, and T functions, have special meanings 
within the CNC. These M, S, and T commands cannot be specified from the over store screen. To specify 
these commands, cancel the over store mode, and execute them in MDI operation.
Example:
- Spindle positioning
- Rigid tapping
- Tool management
- Tool offset for lathe system (T code)
Notes
(1) If bit 4 (INT) of parameter No. 13117 is 1, the interference check for cutter/tool nose radius


key: chroma:document
string_value:
compensation during a restart can be disabled.
(2) If bit 6 (SQB) of parameter No. 13117 is 1, a restart with a block number can be disabled. If B and a 
block number is specified as the block subject to a restart, a "format error" warning occurs.
If the actual execution of the conditional branch statement (if statement) of the custom macro 
program differs from its execution during a program restart, set bit 6 (SQB) of parameter No. 13117
to 1.


key: chroma:document
string_value:
to 1.
(3) If bit 7 (SQP) of parameter No. 13117 is 1, a P type restart is disabled. In this case, the soft key [P 
TYPE] no longer appears. If a P type program restart is not to be used, it is possible to disable the 
use of the P type by setting SQP to 1.
(4) A macro call block or a subprogram call block cannot be specified as the block subject to a restart.
(5) A tool direction control (G53.1) block cannot be specified as the block subject to a restart.


key: chroma:document
string_value:
(6) The following system variables are not updated during a restart search:
#5021 to #5040 and #100051 to #100100 ABSMT
#5041 to #5060 and #100101 to #100150 ABSOT
#5061 to #5080 and #100151 to #100200 ABSKP


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 783 -
CAUTION
As a rule, the tool cannot be returned to a correct position under the following 
conditions.
Special care must be taken in the following cases since none of them cause an 
alarm:
- Manual operation is performed when the manual absolute mode is OFF.
- Manual operation is performed when the machine is locked.
- When the mirror image is used. However, P type return is possible for a block


key: chroma:document
string_value:
that switched between ON and OFF most recently or a subsequent block. In 
this case, the mirror image signal status present when the program was 
interrupted must be maintained.
- When no coordinate system is set up at the beginning of a program in which 
main commands are executed in the incremental mode.
- When manual operation is performed in the course of axis movement for 
returning operation.
- When the program restart is commanded for a block between the block for


key: chroma:document
string_value:
skip cutting and subsequent absolute command block.
- When program restart is specified in the machine lock state, then the 
machine lock is canceled.
- When program restart specified for an intermediate block for a multiple 
repetitive canned cycle
- In general, when a coordinate system is set up, changed, or shifted after the 
search operation ends, the tool cannot be returned to a correct position.
Keep the following in mind when restarting a program including macro variables.
- Common variable


key: chroma:document
string_value:
- Common variable
When the program is restarted, the previous values are inherited as common 
variables without being preset automatically. Before restarting the program, 
initialize the appropriate variables to the original values used at start of the 
previous automatic operation.
- DI/DO
At restart of the program, DI can be read by a system variable, but DO 
cannot be output.
- Clock
When the program is being restarted, the clock time can be obtained by a


key: chroma:document
string_value:
system variable, but the time cannot be preset.
- Tool offset and workpiece origin offset
When the program is being restarted, the offset can be read by a system 
variable, but change of the offset is allowed only for the Q type.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 784 -
4.9.1 Auxiliary Function Output in Program Restart Function
Overview
This function provides the following features for program restart:
- M/S/T/B codes found during a search through a block to be restarted for operation are output to the 
program restart screen and an MDI program. Then the M/S/T/B functions can be executed from the 
MDI program.
- On a system having the M-code grouping feature, M codes are grouped. When they are output to the


key: chroma:document
string_value:
above MDI program, only the M code specified last, among the M codes in the same group, is 
output to the program restart screen and MDI program.
- M codes for calling subprograms/custom macros and their arguments are also output to the MDI 
program.
- The order in which individual axes move the tool to the machining restart position can be not only 
conventionally parameter-set but also set from the program restart screen.
Explanation
Program restart procedure


key: chroma:document
string_value:
Program restart procedure
Follow the procedure below to restart a program using this function:
1. Turn on the program restart switch.
2. Display a program you want to restart and search for the beginning of the program.
3. Enter the sequence number (Nxxxx) or block number (Bxxxx) of a block you want to restart, then 
press the soft key [P TYPE] or [Q TYPE].
4. Upon completion of searching the block, the program restart screen will be displayed.


key: chroma:document
string_value:
5. The M/S/T/B codes found by the search are output to the MDI program. (For details, see "M/S/T/B 
code output to the MDI program".)
6. On the program restart screen, set the order in which individual axes moves the tool to the 
machining restart position.
(For details, see "Specifying the order in which axes move the tool to the machining restart 
position".)
7. Turn off the program restart switch.
At this time, the number to the left of each axis name under "DISTANCE TO GO" blinks.


key: chroma:document
string_value:
8. Switch to MDI mode and check the MDI program. Fix the MDI program as required, then execute 
cycle start.
9. When the execution of the MDI program is completed, return to MEM mode.
10. Check whether the distance in "DISTANCE TO GO" is correct and whether the tool does not hit the 
workpiece or any other object when moving to the machining restart position. If the tool hits 
anything, move the tool manually to a position free from interference.


key: chroma:document
string_value:
11. Press the cycle start button. The tool moves on each axis in the order set in step 6 to the machining 
restart position at the dry run feedrate, then restarts machining.
NOTE
1 In steps 4, 7, and 11, the warning "ORDINAL NUMBER ERROR (RESTART)" is 
displayed if the order in which individual axes move the tool is set incorrectly.
2 If the warning occurs in step 4 or 7, you can perform the step that follows.
3 If the warning occurs in step 11, cycle start cannot be executed.


key: chroma:document
string_value:
In this case, correct the order in which axes move the tool to the program restart 
position, then perform step 11 again.
M/S/T/B code output to the MDI program
This function causes the CNC to automatically output to the MDI program the M/S/T/B codes found 
during a search for a block in which to restart operation.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 785 -
NOTE
1 Up to 50 M/S/T/B codes or macro call arguments can be output.
2 If there are no M/S/T/B codes to be output, the MDI program will not be created.
3 The number of characters that can be output to the MDI program is 512 
including the program number (O0000) and EOB. If 512 characters are 
exceeded, only the latest command code of up to 512 characters is output.
- Codes that can be output to the MDI program
- S/T/B codes


key: chroma:document
string_value:
- S/T/B codes
The code that appears last during a search is output. If, however, the T code is the same as the 
current modal T code, it is possible to specify whether to output it, by using bit 4 (MTO) of 
parameter No. 11250.
NOTE
1 In a lathe system, it is possible to specify whether to output T and B codes, using 
a parameter.
2 The S code of the clamp command of maximum spindle speed (G92S_; for the 
M series and G50S_; for the T series) is not output.


key: chroma:document
string_value:
3 When high-precision spindle speed control is valid, if decimal fraction of S code 
is 0 or decimal fraction of S code is omitted, decimal fraction of S code output by 
this function is omitted.
Example 1)
When high-precision spindle speed control is valid, if "S123.0" is commanded, S 
code output by this function is "S123" (if "S123" is commanded, spindle rotates 
at a speed of 123.0[min-1
]).
Example 2)
When high-precision spindle speed control is valid, if "S123" is commanded, S


key: chroma:document
string_value:
code output by this function is "S123".
4 If extended spindle name is commanded, S code output by this function is “S_ 
P_”.
- M code
For a system that has the M code grouping function, it is possible to group M codes from "M CODE 
GROUP" on the system screen.
If grouped M codes are found, only the M code in the group that is specified last is output.
All M codes that are not grouped are output. If, however, multiple M codes with the same number 
are specified, only the last single one is output.


key: chroma:document
string_value:
Subprogram call and custom macro call M codes are also output. Together with M codes, their 
arguments are also output to the MDI program. (For details, see "Output of subprogram/custom 
macro call M codes".)
NOTE
1 If multiple M codes are specified in a single block or if multiple MSTB codes are 
specified, it is possible to specify whether to output them to one block at a time 
or in the same block in the MDI program, by using bit 3 (MCO) of parameter No.


key: chroma:document
string_value:
11250. (In either case, they are output in the MSTB order.)
2 If "0" or "1" is set as a group No., the M code is regarded as not belonging to any 
M code group.
3 Even if the option is enabled, it is possible to suppress a group check by setting 
bit 1 (MGC) of parameter No. 3400 to 1.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 786 -
(Example)
Set N100 in the program O100 below as a restart block.
M code group settings
- M10, M11 : Group 2
- M120, M220, M320 : Group 3
- M51 : Group 0 (no group)
 
Output of subprogram/custom macro call M codes
In the output of M/S/T/B codes to the MDI program, subprogram and custom macro call M codes are also 
output. Together with M codes, their arguments are also output to the MDI program.
NOTE


key: chroma:document
string_value:
NOTE
1 When the MDI program to which M/S/T/B codes are output is executed, the 
modal data and the workpiece coordinate system at the block position searched 
for during a program restart are effective. Thus, if a move command is to be 
executed in the program called from a custom macro call M code such as a tool 
change command, use the G53 (machine coordinate system selection) 
command so that it is not affected by the modal data or the workpiece coordinate 
system.


key: chroma:document
string_value:
system.
2 Those M/S/T/B codes that are specified in the subprogram and custom macro 
programs (including P-CODE calls) called with M codes are not output.
3 Waiting M codes are not output.
4 As a restart block, do not specify a block containing a subprogram call code.
- Subprogram call M codes
Subprogram call M codes specified with parameters Nos. 6044 to 6046 or Nos. 6071 to 6079 are output to 
the MDI program.
- Macro program call M codes


key: chroma:document
string_value:
- Macro program call M codes
Macro program call M codes specified with parameters Nos. 6047 to 6049 or Nos.6080 to 6089 are 
output to the MDI program.
- Arguments of macro calls
Together with macro call M codes, their arguments are also output to the MDI program.
O100
M10 -- Group 2
:
M11 -- Group 2
:
M120 -- Group 3
:
M51 -- Group 0
:
M10 -- Group 2
:
M220 -- Group 3
:
M51 -- Group 0
:
M320 -- Group 3
:
:
N100 X10. Y10. -- Restart block
M10
M51
M320
M codes that are output


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 787 -
If the arguments of macro calls are to be output to the MDI program, and they are specified as macro 
variables or operations in the original program, the arguments are converted into numeric values.
(Example)
Original program MDI program
#500 = 100.0 ;
M20 A[#500/7] ; M20 A 14.2857143 ;
NOTE
Conversion results are represented by 9-digit numbers, the decimal point, and 
the minus sign.


key: chroma:document
string_value:
the minus sign.
If a result cannot be represented by 9 digits, alarm PS5373, “ARGUMENT 
CONVERSION ERROR” is issued.
(Example)
In the example below, arguments cannot be converted into 9-digit numbers, 
so that alarm PS5373, “ARGUMENT CONVERSION ERROR” is issued.
M20 A[123456789.*10.0] ; (1234567890. , 10 digits)
M20 B[0.00000001/10.0] ; (0.000000001 , 10 digits)
Specification of the order of movement to the machining restart position


key: chroma:document
string_value:
Usually, the order of movement to the machining restart position is the fixed one that is set in parameter 
No. 7310. This function enables changing of the order on the program restart screen when a program 
restart operation is performed.
The movement order can be changed after the end of the search for a program restart block until the start 
of the movement to the restart position.
- Procedure for specifying the order of movement to the program restart 
position


key: chroma:document
string_value:
position
1. On the program restart screen, the cursor is displayed at the movement order display position to the 
left side of axis addresses.
Fig. 4.9.1 Program restart screen
2. Using the up and down arrow keys, position the cursor on an axis for which to set the movement 
order, and enter a numeric value.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 788 -
NOTE
1 If the movement order is changed on the program restart screen, the value of 
parameter No. 7310 is also changed.
2 If an attempt is made to set a "0" or a value exceeding the number of controlled 
axes for an input value, the warning message, "DATA IS OUT OF RANGE", 
appears.
Note
If using this function, be sure to set bit 7 (MOU) of parameter No. 7300 to 0.
4.10 QUICK PROGRAM RESTART


key: chroma:document
string_value:
4.10 QUICK PROGRAM RESTART
This function restarts machining from a block by specifying the block on the relevant screen to restart 
machining after a tool is damaged or after holidays.
- For this function, a screen for restart operation is available. This screen is called “program restart 
setting screen”. To perform program restart, first specify a target block on the program restart setting 
screen, next press soft key [SEARCH EXEC]. Then, program restart is executed.


key: chroma:document
string_value:
- On the program restart setting screen, information (including the program name and sequence 
number) on the last executed block is displayed as primary information. This information can be 
checked to see the machining interrupted point easily.
- On the program restart setting screen, in addition to the information on the last executed block, 
information on some blocks executed before that can be displayed. This information can be


key: chroma:document
string_value:
automatically memorized in CNC memory during the operation of a program. This memory is called 
“program restart memory”.
Block information memorized in program restart memory is called “restart block information”.
- You can select an arbitrary block in restart block information and press soft key [SEARCH EXEC] 
to restart automatic operation from that block.
Fig. 4.10 (a) Program restart setting screen


key: chroma:document
string_value:
- You can also restart a program after changing a block number or sequence number displayed on the 
program restart setting screen, using the MDI unit.
- To restore the machine to the suitable status (including the auxiliary function status and spindle 
status), use the “auxiliary function output in program restart” function. See Section, “Auxiliary 
Function Output in Program Restart Function” for details.
- For this function, either of the following two types of restart methods can be selected.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 789 -
1. Search method
Use this type when it is difficult to restore the status of modal information and auxiliary 
functions manually. This type can be selected to restart a program not only from the block 
memorized in the program restart memory, but also from another block. When this method is 
selected, the modal information and position information of the block from which to restart the 
program can be restored automatically.


key: chroma:document
string_value:
Application cases : When the power is turned off after machining is interrupted
When another workpiece is machined after machining is interrupted, and 
the restart block information on the previous workpiece is not memorized
When the program is to be restarted from a block which is not memorized 
in the program restart memory
Function : By using the “auxiliary function output in program restart” function, the 
auxiliary function status can be restored.


key: chroma:document
string_value:
The tool automatically moves to the restart position along each axis when 
the program is restarted.
Operation : Restores modal information and coordinate values while performing the 
simulated execution of the program until the block specified in the restart 
block setting screen is found. (Updates modal information and coordinate 
values without moving the tool along any axis.)
Mainly updates the following data:
- Modal information including G, F, D, and H codes
- Absolute coordinate system


key: chroma:document
string_value:
- Absolute coordinate system
- Auxiliary function output in the program restart
2. Direct jump method
Use this type when the operator restores the status of modal information and auxiliary 
functions manually and restarts the machining. This method can be selected only when the 
program is to be restarted from the block memorized in the program restart memory.
When this method is selected, program restart is performed at high speed, though the modal


key: chroma:document
string_value:
information and position information of the restart block are not restored. Restart operation will 
be completed in a short time compared with the search method, in particular, when the restart 
block is in the middle of a long program.
Application cases : When the operator can easily restore the machine status because changes in 
the machine status are few when, for example, machining is interrupted, 
and is to be restarted immediately)


key: chroma:document
string_value:
When a program is to be restarted from a block where operation can be 
started without restoring the machine status, such as a block on a 
machining process boundary
Function : The “auxiliary function output in program restart” function cannot be used. 
The operator must determine whether to specify required auxiliary 
functions and specify them.
The machine must be positioned at the restart position manually before 
operation is restarted because the tool does not move to the restart position


key: chroma:document
string_value:
along any axis when the program is restarted.
Modal G codes and other modal information must be set to the suitable 
status by MDI operation before operation is restarted.
Operation : Moves only the program cursor to the specified block at high speed 
without restoring modal information or coordinate values.
- Executing cycle start after pressing soft key [SEARCH EXEC] on the program restart setting screen


key: chroma:document
string_value:
restarts operation. When the search method is selected, the auxiliary function status is restored by 
the “auxiliary function output in program restart” function and the tool is moved to the restart 
position before operation is restarted.
- When soft key [TIME] is pressed, the elapsed time from the start of program to the restart block is 
displayed instead of the sequence number. And if [SEQ.NO] is pressed, sequence number is 
displayed again.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 790 -
Fig. 4.10 (b) Program restart setting screen (elapsed time)
Procedure for restarting a program using the search method
Procedure 1
1. When power is turned on or emergency stop is released, perform all necessary operations at that time, 
including reference position return.
2. Confirm that the program to be restarted is selected. If you want to restart in the middle of a


key: chroma:document
string_value:
subprogram, confirm that the main program that calls the subprogram is selected.
3. Move the machine by manual operation to first the program starting point (position in which 
machining began first) and place the modal data and coordinate system in the same conditions as at 
the start of machining.
4. Modify the offset amount if necessary.
5. Go to procedure 2.
Procedure 2
1. Select the MEM or DNC mode.
2. Press function key . Press soft key [RESTRT], then [RESTRT SETING]. The following


key: chroma:document
string_value:
program restart setting screen appears.
The last item in the restart point list is the last block that was executed.
3. Go to procedure 3.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 791 -
Fig. 4.10 (c) Program restart setting screen (restart point list)
NOTE
The program display shown on the right side of the screen in the figure above 
can be displayed only for the following cases:
(1) Memory operation
(2) Memory card program operation/editing
(3) Operation of a program in the Data Server as a program by memory 
operation or execution of the program by an M98 subprogram call


key: chroma:document
string_value:
Accordingly, any program executed by an M198 external subprogram call or 
operated in the DNC mode is not displayed.
Procedure 3
1. Select a block from which to restart the program on the screen.
To check detailed information of each block, press soft key, [(OPRT)], then [DETAIL]. Detailed 
information of the restart point pointed out by the cursor is displayed. To display the list screen 
again after checking detailed information, press soft key [LIST].


key: chroma:document
string_value:
- When the block from which to restart the program is displayed
→ Go to procedure 3-1.
- When a block near the block from which to restart the program is displayed
→ Go to procedure 3-2.
- When neither of the above blocks is displayed
→ Go to procedure 3-3.
Procedure 3-1 (When the block from which to restart the program is 
displayed)
1. Select a desired restart point using cursor keys and page keys .
(Go to procedure 4.)


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 792 -
Fig. 4.10 (d)
Procedure 3-2 (When a block near the block from which to restart the 
program is displayed)
When a block near the block from which to restart the program is displayed as the restart point, specify 
the restart block by editing information of the restart point as follows:
1. Select a desired restart point using cursor keys and page keys .
2. Press soft key [(OPRT)], then [EDIT].
Move the cursor and edit data.


key: chroma:document
string_value:
Move the cursor and edit data.
Enter desired sequence number, block number, and repetition count. When a sequence number is 
assigned to the restart block, specify the sequence number and repetition count without specifying 
any block number.
Fig. 4.10 (e) Program restart setting screen (edit)


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 793 -
NOTE
There are the following restrictions when two or more items are edited:
1 Among SEQUENCE NO., CURRENT BLOCK COUNT, and TOTAL BLOCK 
COUNT, only one item can be edited. Two or more items cannot be edited at 
a time. If one item is edited, the other two items become invalid.
2 In the REPEAT section, only one item can be edited. Two or more items 
cannot be edited at a time.
If one item is edited, the other two items become invalid.


key: chroma:document
string_value:
The value in the CURRENT BLOCK COUNT field can be changed by selecting an arbitrary block 
in the program display window (on the right side of the screen) instead of entering the block number 
or sequence number. Follow the procedure below:
(1) Press the key.
The cursor moves to the program display window (on the right side of the screen).
(2) Press the keys and select an arbitrary block from which to restart the program.


key: chroma:document
string_value:
The value in the [CURRENT BLOCK COUNT] field in detailed information (on the left side 
of the screen) is automatically changed to the selected block.
It is possible ti search word by using soft key [SRH↑] and [SRH↓].
Fig. 4.10 (f) Specifying a block in the program display window
NOTE
This method is available for the following cases:
1. For restarting the program from a block in the memory operation mode
2. For restarting the program from a block in the memory card program 
operation/editing mode


key: chroma:document
string_value:
operation/editing mode
3. For operating a program in the Data Server as a program by memory 
operation or executing it by an M98 subprogram call
Accordingly, this method is not available for a block in a program executed 
by an M198 external subprogram call or operated in the DNC mode.
3. Go to procedure 4.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 794 -
Procedure 3-3 (When neither of the blocks is displayed)
Use this procedure when the block from which to restart the program is not displayed or if you want to 
restart another program that is not the interrupted program, from a desired block. Follow the procedure 
below:
1. Press soft key [(OPRT)] on the program restart setting screen. Then, press soft key [EDIT], then 
[NEW].


key: chroma:document
string_value:
[NEW].
2. Enter the program name to restart. When restart is performed in the program which is called by 
M198 external subprogram or the program which is used in DNC mode, press soft key [DNC 
SELECT]. And enter file name.
3. Enter the sequence number or block number, and other data of the block from which to restart the 
program to specify the restart block.
Fig. 4.10 (g)
Enter a value in the relevant field as follows:
(1) To specify a block with a sequence number


key: chroma:document
string_value:
When a sequence number is assigned to the block from which to restart the program, set the 
sequence number in the [SEQUENCE NO.] field.
When the same sequence number appears in the program more than once, set the number 
corresponding to the block in the [REPEAT (SEQUENCE NO.)] field. If this number is 
omitted, the block is assumed to be the first block having the relevant sequence number that 
appears in the program.


key: chroma:document
string_value:
appears in the program.
When the block from which to restart the program is in the subprogram, set the subprogram 
name to the item of "PROGRAM NAME". This setting is unnecessary if the block from which 
to restart the program is in the main program. The setting of the subprogram name can be 
omitted by setting a bit 4 (NPN) of parameter No.11251 to 1. The sequence number can be 
specified for NPN=1 without the distinction between the main program and the subprogram.


key: chroma:document
string_value:
(2) To specify a block with a block number
When no sequence number is assigned to the block from which to restart the program, set the 
number of that block in the [CURRENT BLOCK COUNT] field.
Specify the block number with the number of lines (EOBs) from the beginning of the program. 
When the same block is executed more than once according to the GOTO statement, specify 
the number of repetitions that corresponds to that block in the [REPEAT (BLOCK COUNT)]


key: chroma:document
string_value:
field. If this number is omitted, the block is assumed to be the first block.
(3) To specify a block with the number of execution blocks
When the number of blocks executed from the beginning of the program is known, set the 
number in the [TOTAL BLOCK COUNT] field.
4. Go to procedure 4.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 795 -
Procedure 4
1. Press soft keys [(OPRT)], [RESTRT TYPE], and [SEARCH] to select the search method as the 
restart type. “SEARCH” is displayed for [RESTART TYPE] on the screen.
Fig. 4.10 (h)
NOTE
In the initial status after power-on, the search method is selected as the restart 
type.
2. Press soft key [SEARCH EXEC]. The selected restart point is searched for. When the search ends, 
the program restart screen appears.


key: chroma:document
string_value:
For details of this screen, see step 5 in “Procedure 2” in “Procedure for program restart by specifying 
a sequence number” in Section, “PROGRAM RESTART”.
When the CNC is not reset state and the soft key [SEARCH EXEC] is pressed, the warning "CNC 
MODE ERROR" is displayed.
3. Go to procedure 5.
Procedure 5
1. Set the order in which the tool moves to the machining restart position along axes on the program 
restart screen if necessary. The warning "ORDINAL NUMBER ERROR (RESTART)" is displayed


key: chroma:document
string_value:
if not correctly set.
2. Set the MDI mode and check the MDI program. After modifying the MDI program if necessary, 
execute cycle start.
3. After the MDI program has been executed, return the machine to the MEM mode.
4. Check whether the distance displayed under [DISTANCE TO GO] is correct. Also check whether 
there is the possibility that the tool might hit a workpiece or other objects when it moves to the


key: chroma:document
string_value:
machining restart position. If such a possibility exists, move thee tool manually to a position from 
which the tool can move to the machining restart position without encountering any obstacles.
5. Press the cycle start button. The tool moves to the machining restart position at the dry run feedrate 
sequentially along axes in the order specified in step 1.
You can also move the tool to the machining restart position sequentially along axes by selecting an


key: chroma:document
string_value:
arbitrary axis at a time, independently of the order set in step 1. For details, see “Approach to the 
program restart position per arbitrary axis” in Section, “PROGRAM RESTART”.
After the tool moves to the machining restart position along all axes, machining is restarted. Then, 
the program check screen automatically appears.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 796 -
For details of steps 1 and 2 above, see Subsection, “Auxiliary Function Output in Program Restart 
Function”.
Procedure for restarting a program using the direct jump method
Procedure 1 
1. When power is turned on or emergency stop is released, perform all necessary operations at that time, 
including reference position return.
2. Confirm that the program to be restarted is selected. If you want to restart in the middle of a


key: chroma:document
string_value:
subprogram, confirm that the main program that calls the subprogram is selected.
Procedure 2 
1. Press function key . Press soft key [RESTRT], then [RESTRT SETING]. The following 
program restart setting screen appears.
The last item in the restart point list is the last block that was executed.
2. Check whether the block from which to restart the program is displayed. If the block is not displayed, 
the program cannot be restarted using the direct jump method. Use the search method to restart the


key: chroma:document
string_value:
program.
Fig. 4.10 (i)
3. Check the status of modal information and auxiliary functions in the block from which to restart the 
program. Restore the status by MDI operation if necessary.
4. Go to procedure 3.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 797 -
Procedure 3
1. Select the MEM or DNC mode.
2. On the program restart setting screen, press soft keys [(OPRT)], [RESTRT TYPE], and [JUMP] to 
select the direct jump method as the restart type. “JUMP” is displayed for [RESTART TYPE] on the 
screen.
Fig. 4.10 (j)
3. Select the block from which to restart the program using the cursor and press soft key [SEARCH 
EXEC].
4. Go to procedure 4.
Procedure 4


key: chroma:document
string_value:
Procedure 4
1. The program cursor jumps to the specified block. On the program screen, check whether the cursor 
indicates the target block.
2. Check modal information and others again and specify the status by MDI operation if necessary.
3. Move the tool to the restart position by manual operation.
4. Return the machine to the MEM or DNC mode and execute cycle start.
The program is executed from the cursor position.
Explanation
- Program restart memory


key: chroma:document
string_value:
- Program restart memory
1. The following blocks are memorized in the program restart memory:
a. Last executed block
b. Blocks of positioning (When some blocks are consecutive, the first block is memorized)
c. Blocks of subprogram calls (including M98, M198, G65, G, and M code macro calls and 
subprogram calls)
d. Other blocks judged to be suitable for restarting a program (blocks for turning each mode on or 
off and others that function as a breakpoint in a program)


key: chroma:document
string_value:
2. If the program restart memory becomes full, block information is deleted from the older one and the 
information on a new block is overwritten.
3. The program restart memory is cleared when operation is started in the MEM or RMT mode after a 
reset.
The memory is also cleared when the program is changed and restart operation using the search 
method starts.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 798 -
4. When a program is restarted with a new restart point specified (“Procedure 3-3” in “Procedure for 
restarting a program using the search method”), the information on the blocks memorized before 
restart operation is not cleared. After the program is restarted, block information after restart is 
added following the block information memorized before restart.
- Program restart using the search method


key: chroma:document
string_value:
1. Any sequence number in the programmable parameter input (G10L52 or G10L50) mode is not 
searched for when a search is executed with specifying a sequence number.
2. When a short cut is specified for a rotary axis, the tool also uses a short cut to the machining restart 
position.
3. If the single-block operation is enabled when the tool moves to the machining restart position, a 
single-block stop occurs each time the tool moves along an axis. During this operation, however, no


key: chroma:document
string_value:
MDI operation is allowed.
4. While the tool is moving to the machining restart position, manual intervention is allowed for an 
axis along which the tool has not moved to the restart position. The tool is not moved manually 
along any axis along which it has moved, however.
5. During movement to the machining restart position, no interruption type custom macro can be 
started. If an interruption type custom macro is started, alarm DS0024, “UINT SIGNAL WAS 
ILLEGALLY INPUT” is issued.


key: chroma:document
string_value:
ILLEGALLY INPUT” is issued.
- Procedure for restarting a program using the direct jump method
There are the following limitations.
1. A direct jump may not be able to be selected depending on the block. (Example: Block in the cutter 
or tool nose radius compensation mode)
If an attempt is made to select “JUMP” as the restart type for such a block, the warning message, 
“ILLEGAL DATA”, is displayed and the setting is not accepted.


key: chroma:document
string_value:
2. The direct jump method can be selected to restart a program from a block memorized in the program 
restart memory. If an attempt is made to use the direct jump method to restart a program from a 
block which is not memorized in the program restart memory, warning message “ILLEGAL DATA” 
is displayed.
3. When a direct jump method is selected, the status of items including position information, modal


key: chroma:document
string_value:
information, and macro variables is not restored. The “auxiliary function output in program restart”
function is not also executed. For this reason, the operator must restore the status by manual or MDI 
operation with considering the status of the restart block.
4. In the following cases, a direct jump can be selected for a block in a subprogram or external 
subprogram call:
(a) Subprogram call using M98
(b) Subprogram call using G65
(c) Block in a subprogram on the Data Server operating by M198


key: chroma:document
string_value:
(d) Block in a program on the Data Server operating in the DNC mode
In other cases, a direct jump cannot be selected for a block in a subprogram or external subprogram 
call.
That is, a direct jump cannot be selected for the following blocks:
(e) Block in a subprogram specified by an M or G code or a program called by a macro call
(f) Block operating in the DNC mode (other than the Data Server)
(g) Block in an execution macro


key: chroma:document
string_value:
5. Note that there are the following limitations for blocks described in c. and d. above:
(1) It is not possible to jump to the right position when there is a branch instruction of the custom 
macro.
(2) It may take 1 to a few minutes to move the cursor to the restart block in a long program longer 
than 20 MB.
6. The jump position is shifted if the number of lines in the program is changed by editing the program 
after interrupted.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 799 -
- Stop at the restart position
When bit 1 (RPS) of parameter No.7331 is set to 0, it enables to stop at the restart position by single 
block operation. When bit 1 (RPS) of parameter No.7331 is set to 1, it enables to stop at the restart 
position even for continuous operation.
- Execution macro (macro executor)
A program cannot be restarted from a block in an execution macro.
- Modal display on the restart block setting screen


key: chroma:document
string_value:
The modal display on the restart block setting screen indicates the status before the execution of the 
memorized block. That is, data specified in the memorized block is not displayed.
- Reset
Do not perform reset operation from the start of a search for restart to the restart of machining.
If reset operation is performed, perform restart operation from the beginning again.
- Feed hold
If performing feed hold operation during search, perform restart operation from the beginning again.


key: chroma:document
string_value:
- Manual absolute
Perform every manual operation with the manual absolute mode turned on regardless of whether the 
manual operation is performed before or after machining.
- Reference position return
When no absolute position detector (absolute pulse coder) is provided, be sure to perform reference 
position return after power-on, then perform restart operation.
- Cs contour control
For details, see Item, “Program restart for the Cs contour controlled axis” in Section, “PROGRAM 
RESTART”.


key: chroma:document
string_value:
RESTART”.
- Flexible synchronization control
Setting bit 0 (FRS) of parameter No. 13421 to 1 enables program restart in a program containing an M 
code for turning the flexible synchronization mode on or off.
For details, see Item, “Program restart for flexible synchronization control” in Section, “PROGRAM 
RESTART”.
- Tilted working plane indexing
To restart a program from a block in the tilted working plane indexing mode using a direct jump method, 
follow the procedure below:


key: chroma:document
string_value:
follow the procedure below:
1. Return the tool to the restart position.
2. Execute [SEARCH EXEC] using the direct jump method.
3. Specify the tilted working plane indexing mode using the MDI unit after the program has been 
restarted (blinking RSTR disappears).
4. If the program is restarted from block after tool axis direction control, please command tool axis 
direction control.
5. The present absolute coordinate is matched to the absolute coordinates of the restart block.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 800 -
・ Other notes
WARNING
In principle, the tool cannot return to a correct position in the following cases.
Special care must be taken in the following cases since none of them cause an 
alarm.
- Manual operation is performed when the manual absolute mode is off.
- Manual operation is performed when the machine is locked.
- The mirror image is used.
- A program in which main commands are executed in the incremental mode


key: chroma:document
string_value:
does not begin with coordinate system setting.
- Manual intervention is performed while the tool is returning to the restart 
position along an axis.
- Program restart is specified for a block between the block for skip cutting and 
subsequent absolute command block.
- After program restart is specified in the machine lock state, the machine lock 
state is canceled.
- A program is restarted from a block in a multiple repetitive canned cycle with 
specifying a block or sequence number.


key: chroma:document
string_value:
- In general, if a coordinate system is set up, changed, or shifted or a tool 
compensation value is changed, the tool cannot return to the correct position.
CAUTION
Keep the following in mind when restarting a program including a macro variable.
- Common variable
When a program is restarted, the previous values are inherited as common 
variables without being preset automatically. For this reason, before 
restarting the program, initialize the required variables to the original values


key: chroma:document
string_value:
used at the start of the previous automatic operation.
- DI/DO
During the restart of a program, DI can be read by a system variable, but DO 
cannot be output.
- Clock
During the restart of a program, the clock time can be obtained by a system 
variable, but the time cannot be preset.
- Relation to other functions
The symbols in the table are described below:
A : Can restart a program from a block in the mode of each function.


key: chroma:document
string_value:
NA : Cannot restart a program from a block in the mode of each function. Also cannot restart a program 
when any of these commands is specified in the first block of the program to the restart block.
*1 : There are some limitations. see Remarks.
*2 : Can restart a program after the status of items including modal information, macro variables, and 
auxiliary functions is restored by MDI operation or manual operation.


key: chroma:document
string_value:
*3 : May restart a program using the “auxiliary function output in program restart” function in some 
cases.
*4 : Cannot restart a program from a block in the mode of each function.
Can restart a program from a block in which the mode is off when the program contains a block for 
turning the mode on or off.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 801 -
*5 : Coordinate values are calculated on the assumption that the block is executed to the end point. 
Therefore, if the program is restarted from a block without specifying an absolute command at least 
once following this command, the positioned coordinate values may be different from those 
actually executed.
From blocks from which a program can be restarted using the conventional program restart function, a


key: chroma:document
string_value:
program can also be restarted using the search method.
Table 4.10 Relation to other functions
Function name Search 
method
Direct 
jump 
method
Remarks
Automatic operation (Memory operation) A A
DNC operation A *1 Only the DNC operation of the Data Server is 
available on the direct jump method. When the 
program restart is executed excluding the Data 
Server, the warning of "ILLEGAL DATA" is 
displayed and the restart is not started.


key: chroma:document
string_value:
DNC operation with memory card A NA In the direct jump method, the warning of 
"ILLEGAL DATA" is displayed and the restart 
is not started.
Schedule function NA NA In the search method, alarm SR1968,
"ILLEGAL FILE NAME (MEMORY CARD)" is 
generated.
In the direct jump method, the warning of 
"ILLEGAL DATA" is displayed and the restart 
is not started.
Optional block skip *1 *1 The optional block skip signal cannot be 
changed while executing the program restart.


key: chroma:document
string_value:
The program restart cannot be correctly 
executed, and restarts in a wrong block when 
the signal is changed.
Positioning A A
Single direction positioning (G60) A A
Linear interpolation A A
Circular interpolation A A
Helical interpolation A A
Dwell A A
Thread cutting, synchronous cutting *4 *4 The thread shifts when restarting on the way of 
the threading blocks continuously 
commanded.
Multi threading *4 *4 Same as the above-mentioned
Continuous threading *4 *4 Same as the above-mentioned


key: chroma:document
string_value:
Variable lead thread cutting *4 *4 Same as the above-mentioned
Circular thread cutting *4 *4 Same as the above-mentioned
Skip *5 *2
High-speed skip *5 *2
Multi-step skip *5 *2
Continuous high-speed skip *5 *2
Torque limit skip *5 *2
Polar coordinate interpolation *4 *4 In the search method, tool position might shift 
by operating after the program restarts.
In the direct jump method, the warning of 
"ILLEGAL DATA" is displayed and the restart 
is not started.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 802 -
Function name Search 
method
Direct 
jump 
method
Remarks
Cylindrical interpolation *4 *4 Alarm PS0176, "ILLEGAL G-CODE 
USE(G07.1 MODE)" is generated and restart 
is not available in both search methods and 
the direct jump methods.
Polar coordinate command A *4 In the direct jump method, the warning of 
"ILLEGAL DATA" is displayed and the restart 
is not started.
Normal direction control A *4 In the direct jump method, the warning of


key: chroma:document
string_value:
"ILLEGAL DATA" is displayed and the restart 
is not started.
Mirror image NA *2 In the search method, tool position might shift 
by operating after the program restarts.
Programmable mirror image A *4 In the direct jump method, the warning of 
"ILLEGAL DATA" is displayed and the restart 
is not started.
Mirror image for double turret A *4 In the direct jump method, the warning of 
"ILLEGAL DATA" is displayed and the restart 
is not started.
Scaling A *4 In the direct jump method, the warning of


key: chroma:document
string_value:
"ILLEGAL DATA" is displayed and the restart 
is not started.
Figure copying A *4 In the direct jump method, the tool path might 
shift by operating after the program restarts.
Coordinate system rotation A *4 In the direct jump method, the tool path might 
shift by operating after the program restarts.
3-dimensional coordinate system 
conversion
A *2 If G68(G68.1) is commanded with MDI 
operation and 3-dimensional coordinate 
system conversion mode is restored, the direct


key: chroma:document
string_value:
jump method is available.
Tilted working plane indexing A *2 See item “Tilted working plane indexing” for 
details when a direct jump method is selected.
See item “Workpiece setting error 
compensation (or tilted working plane indexing 
+ tool center point control)” to use tool center 
point control simultaneously.
Workpiece coordinate system A *2
Workpiece coordinate system preset
(G92.1/G50.3)
NA *2 In the search method, tool position might shift 
by operating after the program restarts.


key: chroma:document
string_value:
Coordinate system setting (G92/G50) A *2
Reference position return A A
Reference position return check A A
2nd reference position return A A
3rd/4th reference position return A A
Tool length offset A *2
Tool offset (G45 to G48) A *2
Tool offset (T code on lathe system) A *2
Tool radius / Tool nose radius 
compensation
A *4 In the direct jump method, the warning of 
"ILLEGAL DATA" is displayed and the restart 
is not started.
Tool offset for Milling and Turning function A *2


key: chroma:document
string_value:
Automatic tool length measurement (M 
series) / Automatic tool offset (T series)
*5 *2
Plane selection A *2


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 803 -
Function name Search 
method
Direct 
jump 
method
Remarks
Balanced cutting *4 *4 Synchronization between paths might shift by 
operating after the program restarts.
In the direct jump method, the warning of 
"ILLEGAL DATA" is displayed and the restart 
is not started.
Programmable data input A A
Programmable parameter input A A For the blocks between G10L52 (or G10L50) 
and G11, program restart with specifying a


key: chroma:document
string_value:
sequence number is disabled.
Sub program call (M98) A A
Sub program call (M198) A *1 Only a program call on the Data Server is 
available for a direct jump method.
Inch/metric conversion A *2
Direct drawing dimension programming A *4
Chamfering/Corner R A *4
Optional chamfering corner R A *4
Custom macro A *2
Interruption type custom macro A *2
Canned cycle *4 *4 Tool path might shift by operating after the 
program restarts.


key: chroma:document
string_value:
program restarts.
Multiple repetitive cycles *4 *4 Tool path might shift by operating after the 
program restarts.
Multiple repetitive cycles II *4 *4 Tool path might shift by operating after the 
program restarts.
Canned cycles for grinding *4,*5 *4 Tool path might shift by operating after the 
program restarts.
Canned cycle for drilling (except rigid 
tapping)
A *4 In the direct jump method, the warning of 
"ILLEGAL DATA" is displayed and the restart 
is not started.


key: chroma:document
string_value:
is not started.
Small-hole peck drilling cycle *4 *4 In the search method, operation is restarted 
from the beginning of the hole machining.
In the direct jump method, the warning of 
"ILLEGAL DATA" is displayed and the restart 
is not started.
Rigid tapping *4 *4 In the search method, an alarm PS0200,
"ILLEGAL S CODE COMMAND" is generated 
after restart.
In the direct jump method, the warning of 
"ILLEGAL DATA" is displayed and the restart 
is not started.
PMC axis control *3 *2


key: chroma:document
string_value:
PMC axis control *3 *2
Real time custom macro NA *4 The real time custom macro is not executed 
while restarting. Therefore, the real time 
custom macro might not operate correctly after 
the program restarts. (both search methods 
and the direct jump methods)
Polygon turning *4 *4
Polygon turning by Cs contour control *4 *4
Polygon machining with two spindles *4 *4


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 804 -
Function name Search 
method
Direct 
jump 
method
Remarks
High-speed HRV3 control (G5.4) *4 *2 On/off of this function is not restored as for the 
search method either.
If G05.4Q1 or Q0 is commanded by MDI 
operation and the state is restored after 
restarted, operation can be restarted. (both 
search methods and the direct jump methods)
Optimum torque acceleration/deceleration A A
Jerk control A A
AI contour control I A A


key: chroma:document
string_value:
AI contour control I A A
AI contour control II A A
Exact stop mode A *2
Tapping mode A *2
Cutting mode A *2
Auxiliary function *3 *2
2nd auxiliary function *3 *2
M code group check *3 *2
Tool management function *3 *2 When the search method is selected and a 
tool exchange macro is executed after search, 
the amount of tool offset may be incorrect. 
(For a macro using a command such as 
H#8409D#8410)
Tool life management *3 A
Embedded macro A A
Arbitrary angular axis control A A


key: chroma:document
string_value:
Axis synchronous control NA *4 In the search method, program restart can be 
restarted if the synchronization is always ON.
If on/off of synchronization is changed by M 
code etc. in the program, the position of the 
master axis and the slave axis might shift after 
restart.
Synchronous/Composite control NA *4 If on/off is changed by M code etc. in the 
program, the position of the master axis and 
the slave axis might shift after restart.


key: chroma:document
string_value:
Superimposed Control NA *4 If on/off is changed M code etc. in the 
program, the position of the master axis and 
the slave axis might shift after restart.
Synchronous/Composite/Superimposed 
control by program command
NA *4 If on/off is changed in the program, the 
position of the master axis and the slave axis 
might shift after restart.
Flexible synchronization control *1 *1 See item “Flexible synchronization control”.


key: chroma:document
string_value:
Hobbing/Electric gear box NA *4 The machining is executed with the function is 
invalid after restarted.
Electric gear box 2 pair NA *4 Same as the above-mentioned
Electric gear box automatic phase 
synchronization
NA *4 Same as the above-mentioned
Spindle electric gear box NA *4 Same as the above-mentioned
Machining condition selecting function A *2
Spindle positioning *4 *4 The spindle must be positioned to the restart 
position by MDI operation in advance.


key: chroma:document
string_value:
Cs contouring control *3 *2 See item “Cs contour control” for details when 
the search method is selected.
Spindle speed fluctuation detection A *2
Spindle synchronous control *3 *2


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 805 -
Function name Search 
method
Direct 
jump 
method
Remarks
Live tool control with servo motor *3 *2
Servo/spindle synchronous control *3 *2
Macro executor *4 *4 A program cannot be restarted from a block in 
an execution macro.
- Presetting the relative coordinate values after the search 
If bit 3 (RPR) of parameter No.7301 is 1, relative coordinate values are preset by absolute coordinate


key: chroma:document
string_value:
values after the search in quick program restart. However, this preset function is invalid in direct jump 
method of quick program restart. 
4.10.1 Suppress Motion of Quick Program Restart
Overview
Suppress motion is a function which prohibits the approach to the start point of the specified restart block. 
In the conventional specification, the approach is performed to the start point of the restart block. To


key: chroma:document
string_value:
perform the approach to the end point of the restart block, the next block must be specified as the restart 
block. This function enables the tool to be moved to the end point of the specified restart block.
For example, when a block for approach is inserted in the machining program, the block for approach can 
be specified as the restart block and the tool can be moved to the end point of the block.
NOTE
An approach block is used for moving the tool closer to the workpiece from an


key: chroma:document
string_value:
arbitrary position (such as a tool change position). Normally, all axes used for the 
interrupted machining are specified. An approach block may consist of more 
than one block. In this case, select the first approach block as the restart block.
Example) Operation example
O1234;
:
N100 G91G28Z0;
N110 G28X0Y0;
N120 T01M6;
N130 G90G00X-50.0Y0; Approach block for the X- and Y-axes
N140 Z-10.0; Approach block for the Z-axis
N150 G41G01X-50.0F1000.0D1;
N160 Y50.0;
:


key: chroma:document
string_value:
N160 Y50.0;
:
When N130 is specified as the restart block, the tool moves from the current position to the 
end point of N130.
Fig. 4.10.1 (a) Operation during suppress motion


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 806 -
Explanation
Setting bit 5 (SPR) of parameter No. 11250 to 1 enables suppress motion to be selected.
- Operation method
1. On the program restart information screen, press soft key [(OPRT)].
Fig. 4.10.1 (b) Program restart information screen
2. The following soft keys appear. Press the continuous menu key.
Fig. 4.10.1 (c) Soft key display before [(OPRT)] is pressed
3. Soft keys [SET SUPRES] and [CLEAR SUPRES] appear.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 807 -
4. To enable suppress motion, press soft key [SET SUPRES]. The number displayed on the left of each 
address changes to “--“, the values under DESTINATION change to the current coordinates, and the 
values under DISTANCE TO GO change to 0.000.
Fig. 4.10.1 (e) Program restart information screen(SET SUPRES)
5. To disable suppress motion, press soft key [CLEAR SUPRES]. The original numbers and values are 
displayed again.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 808 -
- Block for which suppress motion is available
To perform suppress motion, select a block which satisfies conditions (1) to (3) below:
(1) An absolute command is specified in the block.
If an incremental command is specified in the restart block, alarm PS1930, “ILLEGAL COMMAND 
AFTER RESTART”, occurs.
(2) The G00 or G01 command is specified in the block.
If a command other than G00 or G01 is specified in the block, alarm PS1930 occurs.


key: chroma:document
string_value:
(3) The block is not a modal block listed below.
If the restart block is a modal block listed below, suppress motion is not available even when the 
G00 or G01 command is specified in that block. If suppress motion is performed for a modal block 
listed below, alarm PS1931, “ILLEGAL MODE AFTER RESTART”, occurs.
- Programmable mirror image
- 3-dimensional coordinate system conversion
- Coordinate system rotation
- Tilted working plane indexing
- Tilted working plane indexing by tool axis direction


key: chroma:document
string_value:
- Tilted working plane indexing (incremental multiple command)
- Scaling
- Polar coordinate interpolation
- Normal direction control
- Canned cycle for drilling
- Canned cycle
- Saving the suppress motion status
By setting bit 6 (SAV) of parameter No. 11250 to 1, the suppress motion status can be saved. With this 
function, once suppress motion setting is performed, the setting can be omitted after that.


key: chroma:document
string_value:
The suppress motion status can be checked using parameter No. 7310. When suppress motion is used, a 
negative value is set in parameter No. 7310.
For an axis for which an invalid value is set in parameter No. 7310, the suppress motion status is not 
saved.
Caution
CAUTION
When suppress motion is used, the tool moves to the end point of the restart 
block only along the axis specified in the restart block. For this reason, the tool


key: chroma:document
string_value:
does not move to the end point of the restart block along any axis that is not 
specified in the restart block.
When N160 in the example is specified for the restart block, the tool moves not 
along path B, but along path A as shown below:
N160
Current position
Path B
Path A
X
Y
Along any axis that is not specified in the restart block, move the tool to a 
position where it will not hit anything when it moves during restart operation, in 
the manual mode in advance.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 809 -
Note 
NOTE
1 While the tool is moving along another axis, suppress motion cannot be set or 
canceled. If suppress motion is set or canceled while the tool is moving along 
another axis, the warning message, “COMMAND ILLEGAL USE”, is displayed.
2 Performing approach for each arbitrary axis in the suppress motion status 
cancels the suppress motion.
4.10.2 Quick Program Restart for a Machining Cycle


key: chroma:document
string_value:
When the MANUAL GUIDE i function is enabled, program operation can be restarted in the middle of a 
hole machining cycle of MANUAL GUIDE i.
You can specify the restart position of a hole machining cycle on the detailed machining cycle restart 
information screen to restart a program easily.
Fig. 4.10.2 (a) Detailed machining cycle restart information screen
NOTE
This function is available only for a hole machining cycle.
(This function is not available for Multi-path simultaneous program restart.)


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 810 -
Procedure for quick program restart for a machining cycle
Procedure
The procedure for quick program restart for a hole machining cycle is described below:
1. In the MEM or DNC mode, execute the automatic operation of a hole machining cycle of MANUAL 
GUIDE i.
Fig. 4.10.2 (b) Base screen of MANUAL GUIDE i (1)
2. Interrupt or terminate the machining cycle, retract the tool, and replace it with a new one. Then, on


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 811 -
3. The CNC restart information list screen appears. Then, press soft key [MACHIN CYCLE].
Fig. 4.10.2 (d) CNC restart information list screen
NOTE
Pressing soft key [MANUAL GUIDE] returns to the base screen of MANUAL 
GUIDE i. (when bit 2 (SMR) of parameter No. 11351 is set to 1)
4. The CNC detailed machining cycle restart information screen appears. The screen displays a list of


key: chroma:document
string_value:
restart points (up to 50 points) for the hole machining cycle on the left side and a preview window 
for the positions of the holes (each hole position is indicated with “+”) on the right side. Move the 
cursor to the restart point of the hole position for restarting the cycle.
Fig. 4.10.2 (e) CNC detailed machining cycle restart information screen


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 812 -
5. Press soft key [SEARCH EXEC]. The machine takes a dry run to the restart point. At the same time, 
the program restart screen appears.
Fig. 4.10.2 (f) CNC program restart screen
NOTE
Pressing soft key [MANUAL GUIDE] returns to the base screen of MANUAL 
GUIDE i. (when bit 2 (SMR) of parameter No. 11351 is set to 1)
6. Then, press the cycle start button. The tool moves from the current tool position to the restart point


key: chroma:document
string_value:
along axes in the order specified in parameter No. 7310 at the dry run feedrate. After the tool moves 
until the values under DISTANCE TO GO become 0, machining is performed from the restart point.
Explanation
- CNC detailed machining cycle restart information screen
When soft key [MACHIN CYCLE] is pressed on the CNC restart information list screen, the following 
screen appears:
Fig. 4.10.2 (g) CNC detailed machining cycle restart information screen


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 813 -
The CNC detailed machining cycle restart information screen has the following soft keys.
Table 4.10.2 (a) Soft keys on the CNC detailed machining cycle restart information screen
Soft key Description
LIST Displays the CNC restart information list screen.
SEARCH EXEC Performs a dry run to the restart point of the specified hole position and displays the CNC 
program restart screen.
This screen displays the following items.


key: chroma:document
string_value:
Table 4.10.2 (b) Items displayed on the CNC detailed machining cycle restart information screen
Item Description
NO. Serial number assigned to each restart data item displayed in the list (up to three characters)
PROG. NAME Execution program name (up to nine characters)
If the program name consists of 10 or more characters, the first seven characters and “...”
are displayed.
T-NO T code or tool number (up to eight characters) (NOTE 1)


key: chroma:document
string_value:
TYPE Tool icon indicating a machining type. Each tool icon indicates a machining type as follows:
: Center drilling or drilling
: Boring, fine boring, or back boring
: Tapping or thread milling
: Reaming
Preview “+” indicates the hole position of each machining profile. The hole position of the selected 
restart point is displayed in the cursor color (initial value: Yellow). The coordinates of the hole 
position are displayed at the bottom of the screen. (NOTE 2)
NOTE


key: chroma:document
string_value:
NOTE
1 The value displayed for T-NO differs depending on the settings of bit 2 (PCT) of 
parameter No. 3108 and bit 0 (DHN) of parameter No. 11320 as listed in the 
table below.
Table 4.10.2 (c) T-NO-related parameters
Bit 2 (PCT) of 
parameter No. 
3108
Bit 0 (DHN) of 
parameter No. 
11320
T-NO value
1 1 Spindle tool number (HD.T)
1 0
0 1
0 0
Modal T code
When T0102 is specified in a lathe system, not compensation 
number 02, but tool number 1 is displayed.


key: chroma:document
string_value:
For a machine for which a tool in the standby position is specified, 
the number of the tool in the standby position is displayed for 
T-NO.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 814 -
NOTE
2 Color numbers specified on the CNC color setting screen are used for the 
preview display colors.
Fig. 4.10.2 (h) Preview screen configuration
Table 4.10.2 (d) Preview display colors
Preview display item Color number Initial value Mainly used for
<1> Background 0 
(fixed)
Soft key frame
<2> Hole position (“+”) 15 Background color
<3> Hole position at the cursor 4 Cursor


key: chroma:document
string_value:
<4> Coordinates of hole position 13 Alter possible data background
- Restart position of hole machining
The restart position of hole machining depends on “return mode (I)”, input data of a hole machining 
cycle.
There are the following three return modes. The restart position is the block immediately before point R 
or I.
(1) [point I - 1]:
The tool returns to the point R level before moving from a hole to another hole. It returns to the 
point I level at the end of machining.


key: chroma:document
string_value:
For the first hole position, machining restarts from the block immediately before point I (start point 
of operation 1). For the second or subsequent hole position, machining restarts from the hole 
position immediately before point R (start point of operation 5).
<2> Hole position (“+”)
<4> Coordinates of 
hole position
<1> Background
<3> Hole position at 
the cursor


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 815 -
Fig. 4.10.2 (i) Machining operation for [point I - 1]
(2) [point I - 2]:
The tool returns to the point I level before moving from a hole to another hole, including the last 
operation.
For the first hole position, machining restarts from the block immediately before point I (start point 
of operation 1). For the second or subsequent hole position, machining restarts from the hole 
position immediately before point I (start point of operation 6).


key: chroma:document
string_value:
Fig. 4.10.2 (j) Machining operation for [point I - 2]
(3) [point I - 3]:
The tool returns to the point R level before moving from a hole to another hole, including the last 
operation.
For the first hole position, machining restarts from the block immediately before point R (start point 
of operation 2). For the second or subsequent hole position, machining restarts from the hole 
position immediately before point R (start point of operation 5).
Rapid traverse
Cutting feed
Position I
Position R


key: chroma:document
string_value:
Position I
Position R
Operation 1
Operation 2
Operation 3
Operation 4
Operation 5
Operation 6 Operation 7
Operation 8
Rapid traverse
Cutting feed
Position I
Position R
Operation 1
Operation 2
Operation 3 Operation 4
Operation 6
Operation 8 Operation 9
Operation 10
Operation 5
Operation 7


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 816 -
Fig. 4.10.2 (k) Machining operation for [point I - 3]
- Warning
Related warning messages are listed below.
Table 4.10.2 (e) Related warning messages
Message Description
EXECUTING OPERATION Soft key [RESTRT] was pressed during automatic operation.
After the completion of automatic operation, press soft key [RESTRT].
IT IS NOT EXECUTED No hole machining cycle has been operated.
After performing automatic operation, press soft key [MACHIN CYCLE].


key: chroma:document
string_value:
Notes
(1) This function is available only for a hole machining cycle. If an attempt is made to perform quick 
program restart for a machining cycle for other than hole machining, warning message “IT IS NOT 
EXECUTED” is displayed.
(2) Machining can be restarted only from an executed block. Hole position information for restart is 
stored when each block is executed. The memory in which the information is stored is called 
program restart memory.


key: chroma:document
string_value:
program restart memory.
(3) Information on up to 50 restart points can be stored in the program restart memory. For a multi-path 
system, information on up to 50 restart points are stored for each path.
(4) If the program restart memory becomes full, hole position information is deleted from the older one 
and the information on a new hole position is overwritten.
(5) The program restart memory is kept stored after power-on.


key: chroma:document
string_value:
(6) The program restart memory is cleared when automatic operation is performed in the MEM or DNC 
mode after a reset.
(7) After execution, if the machining program is modified and program restart is performed, the restart 
position is changed. If the machining program is modified, be sure to operate the program, then 
perform program restart.
(8) The restart position of a hole machining cycle is the block immediately before point R or I.


key: chroma:document
string_value:
(9) For a multi-path system, specify the restart position so that the waiting M codes for each path are 
consistent.
(10) Detailed machining cycle restart information screen is not displayed in Multi-path simultaneous 
program restart mode.
Rapid traverse
Cutting feed
Position I
Position R
Operation 1
Operation 2
Operation 3
Operation 4
Operation 5
Operation 6 Operation 7


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 817 -
4.10.3 Quick Program Restart for Multi Path System
Overview
When the machining was restarted by quick program restart in multi path system, it has been necessary to 
operate the program restart every one path. 
In this function, when the program restart is operated in one path, the program restart is automatically 
operated as for other paths. As a result, the program restart can be executed by an easy operation in the


key: chroma:document
string_value:
machine with a multi path system.
Explanation
When the program restart is operated in certain one path, it is automatically operated in the multi path
system as for other paths.
This operation is called "multi path quick program restart" ("multi path restart" at the following).
As for this function, only the program restart of the search method is possible. It cannot be used with the 
direct jump method.
Block that restart is possible


key: chroma:document
string_value:
Block that restart is possible
It is the following blocks that can restart the machining by the multi path restart.
(1) Block that is memorized in program restart memory, and was interrupted machining
(2) Block of waiting M code that was memorized in program restart memory, or arbitrary waiting M
code specified on program restart setting screen
Fig.4.10.3 (a) Screen for specify waiting M code
(3) Block of arbitrary sequence number specified on program restart setting screen without using


key: chroma:document
string_value:
program restart memory
When the program restart is executed to the block like the above-mentioned in certain one path, an 
operation of the program restart is automatically started as for other paths. When an operation of the 
program restart is started, each path starts the search of a target block severally.
Operation when the block of above-mentioned (1) - (3) is specified is as follows.
(a) Block where machining was interrupted


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 818 -
(b) Block of the waiting M code
A block of the specified waiting M code is searched in each path, and the search stops in a block in 
which it was found. However, if the subprogram call is commanded in the same block as the waiting 
M code, the search stops at a first block of the subprogram. (Machining is restarted from a head of 
subprogram.)
(c) Block of arbitrary sequence number


key: chroma:document
string_value:
A block of the specified sequence number is searched in each path, and the search stops in a block in 
which it was found. This method can be used in case that the same sequence number is put on the 
program in each path as a sign of the delimitation of the machining.
When the block that corresponds to above-mentioned (a)-(c) is specified as a restart block, the following 
method to specify are possible.
Table4.10.3 (a) Search that restart for multi path system is possible
Method to specify


key: chroma:document
string_value:
Method to specify
Kind of restart block
Select in list or detail 
screen 
Select in list or detail 
screen and edit
Direct specification by 
newly edit
(a) Block where machining
was interrupted Available Not available Not available
(b) Block of the waiting M
code Available Not available Available
(c) Block of arbitrary sequence 
number Not available Not available Available
NOTE
1 Warning "CAN NOT RESTART IN MULTI PATH MODE" is displayed when multi


key: chroma:document
string_value:
path restart is executed with specifying blocks other than the above-mentioned 
(a)-(c).
2 No-wait signal can be used as well as normal automatic operation when 
searching a waiting M code. It is not searched in a path which the waiting M 
code is disable.
However, warning “CAN NOT RESTART IN MULTI PATH MODE” is displayed in 
the following cases.
- It is ignoring waiting in operation path.
- The path that can be searched by ignoring waiting is below one path.


key: chroma:document
string_value:
3 When the alarm is issued in a path executing the multi path restart, alarm 
PS0060, "SEQUENCE NUMBER NOT FOUND" or alarm PS0071, "DATA NOT 
FOUND" is issued in other paths of the same group.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 819 -
Procedure of multi path restart
(1) Restart from the list screen
Fig.4.10.3 (b) List screen
1. Display the list screen.
2. Move the cursor to a restart point that is attached to the number of the sign of *. 
3. Multi path restart is executed when soft key [SEARCH EXEC] is pressed.
NOTE
1 In the list screen, multi path restart can be executed only for the block where the


key: chroma:document
string_value:
program stopped at last or the block including waiting M code. * is displayed in 
the left of the list in the restart point that can be execute multi path restart.
Warning "CAN NOT RESTART IN MULTI PATH MODE" is displayed when 
restarting for a restart point without *.
2 Alarm PS0071, "DATA NOT FOUND" is issued when the block of waiting M code 
is specified and the M code is not found in the program of each path.
3 In the path to which multi path restart is set, the waiting M code is displayed in


key: chroma:document
string_value:
stead of sequence number on the list screen. A sequence number is displayed 
on the list screen when the single path restart mode is selected or the multi path 
restart is not set.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 820 -
(2) Restart from detailed restart point screen
Fig.4.10.3 (c) Detail screen
1. Move the cursor to restart point that has adhered to number * in the restart point list screen, and 
press soft key [DETAIL].
2. Detailed restart point screen is displayed.
3, Multi path restart is executed when soft key [SEARCH EXEC] is pressed.
NOTE
1 When search is executed in restart point that cannot execute multi path restart,


key: chroma:document
string_value:
warning "CAN NOT RESTART IN MULTI PATH MODE" is displayed.
2 The waiting M code is displayed in a path that multi path restart is set. The 
waiting M code is not displayed when single path restart mode is selected or the 
multi path restart is not set.
(3) Restart from new restart point screen
Fig.4.10.3 (d) New restart point screen


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 821 -
1. Press soft key [NEW] in the list screen.
2. New restart point screen is displayed.
3. Input either a waiting M code or a sequence number.
4. Multi path restart is executed when soft key [SEARCH EXEC] is pressed.
NOTE
1 If the restart is executed when the input waiting M code or the sequence number 
is not in the program of each path, alarm PS0060, "SEQUENCE NUMBER NOT 
FOUND" or alarm PS0071, "DATA NOT FOUND" is issued.


key: chroma:document
string_value:
2 In the new restart point screen, it can not specify the restart block by block 
number or program display.
3 The waiting M code can be specified in the path which multi path restart is set. 
A waiting M code is not displayed when single path restart mode is selected or
the multi path restart is not set.
Operation after search is completed
The target path of dry run movement after search is specified by bit 0 (MPD) of parameter No. 7331.
- When bit 0 (MPD) of parameter No. 7331 is set 0 :


key: chroma:document
string_value:
The order in the path which dry run movement is executed after search can be specified by 
parameter No.7338.
It enters the state of STRT after the axes move to the machining restart position with dry run and the 
machining program becomes waiting for execution.
When all paths of the same group enter the state of STRT, the waiting state is released and the 
machining program is executed.
In the path that 0 is set to parameter No.7338, the dry run movement and the machining program are


key: chroma:document
string_value:
executed without waiting for other path.
- When bit 0 (MPD) of parameter No. 7331 is set 1 :
Dry run is executed in the path that has been selected by the path selection signal.
It is necessary to do cycle start in each path whenever the selected path is changed by the path 
selection signal.
It enters the state of STRT after the axes move to the machining restart position with dry run and the
machining program becomes waiting for execution.


key: chroma:document
string_value:
When all paths of the same group enter the state of STRT, the waiting state is released and the 
machining program is executed.
CAUTION
1 In case of bit 0 (MPD) of parameter No. 7331 is set 0, when one path enters in 
the state of STRT, the movement of a dry run of next path is automatically 
started.
2 In case of parameter bit 0 (MPD) of parameter No. 7331 is set 1, the path has 
not been selected by the path selection signal does not accept the cycle start to 
a dry run movement after search.


key: chroma:document
string_value:
3 Program restart under way signal becomes "1" until the movement of a dry run in 
all paths that belong to the same group is completed. However, when the 
movement of a dry run in the path is completed, signal becomes "0" as for the 
path set bit 0 (MPD) of parameter No. 7331 to 0 and parameter No.7338=0.
WARNING
The path of the same group to restart a multi path begins the execution of the 
machining program after waiting for other paths, but it does not synchronize with


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 822 -
Operation procedure of dry run movement after restarting
When bit 0 (MPD) of parameter No. 7331 is set 0:
Table4.10.3 (b) Operating procedure when the order in path of dry run movement is specified
Operation 
sequence Operation State after operation
Path1 Path2 Path3
1 Cycle start for all paths Dry run move
STRT - -
2 - STRT - Dry run move
STRT
3 - STRT Dry run move
STRT STRT
4 - Automatic 
operation restart
Automatic 
operation restart


key: chroma:document
string_value:
Automatic 
operation restart
Automatic 
operation restart
*It is assumed that the order in the path that moves by a dry run is path1 → path3 → path2.
STRT : Waiting for execution of machining program in STRT state
NOTE
1 In the single block operation, the automatic operation restarts at the same time 
in all paths when cycle start is done after single block stop after the movement of 
the last axis in path2 is completed.
2 In the continuous operation, operation sequence 1-4 is executed without


key: chroma:document
string_value:
stopping.
When bit 0 (MPD) of parameter No. 7331 is set 1:
Table4.10.3 (c) Operating procedure when the order in path of dry run movement is specified by the path 
selection signal
Operation 
sequence Operation State after operation
Path1 Path2 Path3
1 Select path1 by the path selection 
signal - - -
2 Cycle start Dry run move
STRT - -
3 Select path3 by the path selection 
signal STRT -
4 Cycle start STRT - Dry run move
STRT
5 Select path2 by the path selection 
signal STRT - STRT


key: chroma:document
string_value:
signal STRT - STRT
6 Cycle start STRT Dry run move
STRT STRT
7 - Automatic 
operation restart
Automatic 
operation restart
Automatic 
operation restart
STRT : Waiting for execution of machining program in STRT state
CAUTION
1 When all paths enter the STRT state, operation sequence 7 is begun.
2 Whenever the path is selected by the path selection signal, it is necessary to do 
the cycle start even if continuous operation.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 823 -
Single path restart
 Fig. 4.10.3 (e) Program restart screen
When a soft key [SINGLE PATH] is pushed, it is change in the single path restart mode.
In the single path restart mode, it can be done the program restart operation only in the path under the 
display. 
"SINGLE PATH" is displayed on the right of a left screen like showing in Fig. 4.10.3 (e) the single 
system restart mode inside.


key: chroma:document
string_value:
system restart mode inside.
The single path restart mode is canceled by either of the following operations.
- Program restart operation is executed.
- Another screen was selected.
- Soft key [MULTI PATH] is pushed.
Limitation
- Miscellaneous function
The miscellaneous function under the search is not output to PMC.
Please restore the state of the miscellaneous function by MDI operation before restarting the machining
after the search ends.
- Synchronous / Composite / Superimposed control


key: chroma:document
string_value:
On/off command of the synchronous control, the composite control, and the superimposed control by the 
miscellaneous function or G code under the search is invalid.
Please restore the state of the synchronous control, the composite control, and the superimposed control 
by MDI operation before restarting the machining after the search ends.
- Flexible path axis assignment
In the command of the flexible path axis assignment under the search, the flexible path axis assignment is 
not operated.


key: chroma:document
string_value:
not operated.
Please restore the state of the flexible path axis assignment by MDI operation before restarting the 
machining after the search ends.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 824 -
4.10.4 Improvement of Quick program restart for non-machining 
program
Overview
In Quick Program Restart function, when a program is executed in MEM or RMT mode, restart block 
information is automatically memorized in the program restart memory.
After a machining program is interrupted, another program, which is not related to machining, is 
sometimes executed for the purpose of tool retract and the preparation of the machining in MEM or RMT


key: chroma:document
string_value:
mode. In this case, restart the block information is newly memorized, and the restart block information on 
the machining program memorized till then is overwritten. (It is not overwritten when a non-machining 
program is executed in MDI mode.)
By this improvement, restart block information is not memorized in the case of a certain specific program. 
As a result, even when programs of tool retract and machining preparation are executed during the


key: chroma:document
string_value:
machining, restart block information related to machining can be kept.
Explanation
When the parameter to activate this function is set and the following programs are executed, restart block 
information is not memorized. 
(1) Program with specific program number
Specify the range of the program number by the parameter No.7335 and No.7336. When the 
program with the program number specified here is selected as a main program, restart block 
information is not memorized.


key: chroma:document
string_value:
information is not memorized. 
Moreover, restart block information of a subprogram called from this main program is not 
memorized. When the program specified here is called from the main program whose restart block 
information is memorized, restart block information is memorized.
NOTE
The folder cannot be used. Restart block information is not memorized when the 
program number is within the range, regardless of a folder.
(2) One touch macro call


key: chroma:document
string_value:
(2) One touch macro call
Restart block information is not memorized by setting bit 0 (OMC) of parameter No. 7330 to 1 
while a one-touch macro is being executed.
Example
If parameter No.7335=7900 and No.7336=20 are set when program O7900-O7919 is used as a program 
for the tool retract, the relation between the main program number and the memorization of restart block 
information is as follows. 
Main program number Restart block information
O0001 — O7988 Memorized
O7900 — O7919 Not memorized


key: chroma:document
string_value:
O7900 — O7919 Not memorized
O7920 — O9999 Memorized
For instance, when O0001 is executed, restart block information about O0001 is memorized. 
Restart block information about O0001 is kept, even if O0001 is interrupted on the way and O7901 for 
tool retract is selected as a main program and executed. 
The program can be easily restarted by using kept restart block information if O0001 is selected again as 
a main program after the tool retract program is executed.


key: chroma:document
string_value:
Restart block information about O0001 is overwritten, when O0001 is interrupted on the way and O0002 
is newly executed as a main program, and restart block information on O0002 is memorized.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 825 -
4.11 TOOL RETRACT AND RECOVER
The tool can be retracted from a workpiece to replace the tool, if damaged during machining, or to check 
the status of machining. Then, the tool can be returned to restart machining efficiently.
Procedure for tool retract and recover
Procedure1 - Programming
Specify a retraction axis and distance in command G10.6IP_ beforehand. In the sample program below,


key: chroma:document
string_value:
the N20 block specifies that the Z-axis is the retraction axis and the retraction distance is to be 50 mm.
N30
N10
(Sample program)
N10 G91 Z-50. ;
N20 G10.6 Z50. ;
N30 G01 X150. F500. ;
X
Z
Y
Procedure 2 - Retract
Suppose that the TOOL WITHDRAW switch on the machine operator's panel is turned on when the tool 
is positioned at point A during execution of the N30 block.
N30
A
Machine operator's panel 
TOOL BEING 
WITHDRAWN
RETRACTION 
POSITION 
TOOL 
WITHDRAW
TOOL 
RETURN


key: chroma:document
string_value:
TOOL 
WITHDRAW
TOOL 
RETURN
Next, the tool withdrawal mode is set and the TOOL BEING WITHDRAWN LED goes on. At this time, 
automatic operation is temporarily halted. The tool is then retracted by the programmed distance. If point 
A is the end point of the block, retraction is performed after automatic operation is stopped. Retraction is 
based on linear interpolation. The minimum feedrate among the parameter No.7042 values of moving


key: chroma:document
string_value:
axes is used for retraction. Upon completion of retraction, the RETRACT POSITION LED on the 
operator's panel goes on.
N30
A
Point E
Machine operator's panel 
TOOL BEING 
WITHDRAWN
RETRACTION 
POSITION 
TOOL 
WITHDRAW
TOOL 
RETURN


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 826 -
During retraction, the screen displays PTRR and STRT.
- PTRR blinks in the field for indicating states such as the program editing status.
- STRT is displayed in the automatic operation status field.
- MTN is displayed in the field for indicating status such as movement along an axis.
Procedure 3 - Withdrawal
Set the manual operation mode, then withdraw the tool. For manual operation, either jog feed incremental


key: chroma:document
string_value:
feed, or handle feed is possible.
3
X
Y
Z
1
2
4
5 6
7
8
10 9
11
12
Point E
Point A
Procedure 4 - Return
After withdrawing the tool and any additional operation such as replacing the tool, move the tool back to 
the previous retraction position. To return the tool to the retraction position, return the mode to automatic 
operation mode, then turn the TOOL RETURN switch on the operator's panel on then off again. The tool


key: chroma:document
string_value:
returns to the retraction position at the feedrate specified by parameter No.7042 for each axis.
When the tool has returned to the retraction position, the RETRACTION POSITION LED comes on.
X
Y
Z
9
Point A
Point E 1
2
5
3
6
4
7
10
8
11
12


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 827 -
During return operation, the screen displays PTRR and MSTR.
- PTRR blinks in the field for indicating states such as program editing status.
- MSTR is displayed in the automatic operation status field.
- MTN is displayed in the field for indicating states such as movement along an axis.
Procedure 5 - Repositioning
While the tool is at the retraction position (point E in the figure below) and the RETRACTION


key: chroma:document
string_value:
POSITION LED is on, press the cycle start switch. The tool is then repositioned at the point where 
retraction was started (i.e. where the TOOL WITHDRAW switch was turned on). Repositioning is based 
on linear interpolation. The minimum feedrate among the parameter No.7042 values of moving axes is 
used for repositioning.
N30 A
Point E
Upon completion of repositioning, the tool withdraw mode is cancelled, and the TOOL BEING 
WITHDRAWN LED goes off and restart N30.
NOTE


key: chroma:document
string_value:
NOTE
1 If negative value or zero is set in parameter No.7042 of moving axes, retract,
recovery and re-positioning are performed at the dry run feedrate.
2 Manual feedrate override signal is effective for the feedrate of parameter 
(No.7042).
Limitation
1 If the origin, presetting, workpiece origin offset value (or external workpiece origin offset value), or 
workpiece coordinate shift amount (for a lathe system) is changed after the retraction position is


key: chroma:document
string_value:
specified with G10.6 in the absolute mode, the change is not reflected in the retraction position. 
After such changes are made or the workpiece origin offset value (or external workpiece origin 
offset value) or workpiece coordinate shift amount (for a lathe system) is changed, respectively the 
retraction position with G10.6.
2 When retracting the tool manually in the tool withdrawal mode, do not use the machine lock, 
mirror-image, or scaling function.


key: chroma:document
string_value:
3 Tool retract and recover cannot be performed along axes that are in the modes below.
- Superimposed control
WARNING
The retraction axis and retraction distance specified in G10.6 must be changed 
in an appropriate block according to the figure being machined. Be very careful 
when specifying the retraction distance; an incorrect retraction distance may 
damage the workpiece, machine, or tool.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 828 -
4.11.1 Retract
Explanation
- When no retraction distance is specified
If no retraction distance or direction required for retraction are specified, retraction is not performed when 
the TOOL WITHDRAW switch on the operator's panel is turned on. Instead, the block being executed in 
automatic operation is interrupted (automatic operation is held or stopped). In this state, the tool can be 
withdrawn and returned.
N30 Point A
Point E


key: chroma:document
string_value:
N30 Point A
Point E
- Retraction from the automatic operation hold or stop state
When the single block switch is turned on during automatic operation, or the TOOL WITHDRAW switch 
is turned on after the automatic operation hold or stop state is set by feed hold: Retraction is performed, 
then the automatic operation hold or stop state is set again.
- Stopping retraction
During retraction, feed hold operation is ignored. However, reset operation is enabled (retraction is


key: chroma:document
string_value:
stopped at reset). When an alarm is issued during retraction, the retraction is stopped immediately.
- Repositioning immediately after retraction
After retraction is completed, tool repositioning can be started without performing the withdraw and 
return operations.
4.11.2 Withdrawal
Explanation
- Axis selection
To move the tool along an axis, select the corresponding axis selection signal. Never specify axis 
selection signals for two or more axes at a time.
- Path memorization


key: chroma:document
string_value:
- Path memorization
When the tool is moved in manual operation along an axis, the control unit memorizes up to 20 paths of 
movements. If the tool is stopped after being moved along a selected axis and is then moved along 
another selected axis, the position where this switch takes place is memorized. After 20 paths have been 
memorized, the control unit does not memorize any additional switching points.
- Reset
Upon reset, memorized position data is lost and the tool withdraw mode is cancelled.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 829 -
4.11.3 Return
Explanation
- Return path
When there are more than 20 return paths, the tool first moves to the 20th position, then to the 19th
position, then to the 18th position, and so forth until the retraction position is reached.
- Single block
The single block switch is enabled during return operation. If the single block switch is turned off,


key: chroma:document
string_value:
continuous return operation is performed. If the single block switch is turned off, the tool stops at each 
memorized position. In this case, return operation can be resumed by turning the TOOL RETURN switch 
on then off again.
- Interruption of return operation
When an alarm is issued during return operation, return operation stops.
- Feed hold
The feed hold function is enabled during return operation.
4.11.4 Repositioning
Explanation
- Feed hold


key: chroma:document
string_value:
Explanation
- Feed hold
The feed hold function is disabled during repositioning.
- Operation after completion of repositioning
The operation after completion of repositioning depends on the automatic operation state present when 
the TOOL WITHDRAW switch is turned on.
(1) When automatic operation is being started
After completion of repositioning, the interrupted execution of the block is resumed.
(2) When automatic operation is held or stopped


key: chroma:document
string_value:
After completion of repositioning, the tool stops once at the repositioned point, then the original 
automatic operation hold or stop state is set. When the cycle start switch is pressed, automatic 
operation is resumed.
4.11.5 Tool Retract and Recover for Threading
Explanation
- Differences between ordinary tool retract and recover and tool retract and 
recover for threading
(1) During retraction, chamfering is performed between the specified retraction axis and threading axis.


key: chroma:document
string_value:
(2) After retraction, one block that does not specify threading is executed and the tool stops.
(3) When the major axis for threading is specified as the retraction axis, retraction is not performed by 
turning the TOOL WITHDRAW switch on. In this case, after a block that does not specify threading 
is executed, an alarm PS0429, “ILLEGAL COMMAND IN G10.6” is issued and the tool stops.
(4) As repositioning, the tool is returned to the position specified in the first block that does not specify


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 830 -
- Operation procedure
(1) Specify a retraction axis and retraction distance in command “G10.6IP- -;”.
O1234
G90G0X0Z0 ;
S150 M03 ;
N10 G91 G00 X-50.0 ;
N20 G10.6 X40.0 ;
N30 G33 Z-100.0 F2.0 ;
N40 G00 X50.0 ;
N50 Z100.0 ;
M02;
Retraction axis: X
Retraction distance: 40.0
N10
N30
N50
N40
b
a d
c
Threading
X
Z
(2) Turn the TOOL WITHDRAW switch during the execution of a threading command block.


key: chroma:document
string_value:
(3) The tool withdrawal mode is set and retraction is performed. Chamfering at 45 degrees is performed 
between the retraction axis and major axis for threading using the retraction distance as the 
chamfering amount during retraction.
Details of retraction differ depending on whether the remaining travel distance for the threading 
command is smaller than the retraction distance when the TOOL WITHDRAW switch is turned on 
as follows:


key: chroma:document
string_value:
as follows:
(a) When remaining travel distance for threading ≥ retraction distance
When the position where 45-degree chamfering by the retraction distance ends does not exceed 
the threading end position (c), the tool moves to the threading end position after the termination 
of chamfering.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 831 -
(b) When the remaining travel distance for threading < retraction distance
When the position where 45-degree chamfering by the retraction distance ends exceeds the 
threading end position (c), the tool moves to the retraction position along the retraction axis 
after it reaches the threading end position.
(4) After retraction is completed, the next block that does not specify threading is executed and the tool 
stops.


key: chroma:document
string_value:
stops.
In this example, “X50.0” is specified in the first block that does not specify threading in the 
incremental mode, the tool moves to point E and stops.
If the major axis for threading is specified as the retraction axis, the block that does not specify 
threading is executed without performing retraction, an alarm PS0429 is issued, and the tool stops.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 832 -
(5) As repositioning, the tool returns to the position specified in the first block that does not specify 
threading.
In this example, the repositioning position is point d. Automatic operation after repositioning starts 
at the N50 block.
NOTE
1 In threading cycle and multiple threading cycle, tool retract and recover is invalid. 
2 In circular threading, tool retract and recover is invalid.


key: chroma:document
string_value:
3 When dry run is executed, tool retract and recover is invalid.
4 In continuous threading blocks other than last threading block, if retract start at a 
location near the block end, retract is executed in multiple blocks.
Location where the tool
retract signal is set to “1”
Tool path with tool retract execution
Tool path without tool retract execution
Retract in multiple blocks
Threading block Threading block


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 833 -
NOTE
5 In taper threading, specify the retract position as the tool does not collide the 
workpiece surely because the tool might collide depending on specification of 
retract position as following figure.
The location where the tool retraction 
signal TRESC is set to 1,
The tool path with tool retract
The tool path without tool retract
Taper threading block
Retract position
X
Z


key: chroma:document
string_value:
Retract position
X
Z
The workpiece might collide because the tool path with retract does not pass the retract 
direction side than the tool path without retract.
4.11.6 Operation Procedure for a Canned Cycle for Drilling
Explanation
- Retract
When the TOOL WITHDRAW switch is turned on during a canned cycle for drilling (abbreviated 
as a canned cycle below), retraction is performed depending on the cycle operation being executed at 
that time.


key: chroma:document
string_value:
that time.
(1) During operation 1, the tool moves by the retraction distance specified in G10.6 in the same way as 
for ordinary retraction.
(2) During operation 2, the tool stops operation 2, moves to the initial point, and stops.
(3) During operation 3, the tool stops operation 3, executes cycle operations 4, 5, and 6 from that 
position, and stops at the initial point.


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 834 -
(4) During operation 4, 5, or 6, the tool continues the operation and stops at the initial point.
When the TOOL WITHDRAW switch is turned on during operation 2 to 6, the tool does not move 
according to the retraction specified in G10.6. After the TOOL WITHDRAW switch is turned on 
and the tool moves to the initial point, however, the tool withdrawal mode is set.


key: chroma:document
string_value:
When the second or subsequent canned cycle is being executed and the TOOL WITHDRAW switch 
is turned on during operation 2 to 6, the retraction position differs depending on G98 (return to 
initial level) or G99 (return to point R level).
- G98 (return to initial level): The tool moves to the initial level.
- G99 (return to point R level):The tool moves to the point R level.
(5) During operation 2 to 6, the tool also moves to the initial point and stops when the TOOL


key: chroma:document
string_value:
WITHDRAW switch is turned on without the G10.6 command specified.
- Repositioning
When the tool is at the retraction position and the cycle start switch is pressed, repositioning is 
performed for the canned cycle.
(1) Repositioning performed when the TOOL WITHDRAW switch is turned on during operation 1
After the completion of repositioning, automatic operation is resumed in the same way as for 
ordinary repositioning.


key: chroma:document
string_value:
ordinary repositioning.
(2) Repositioning performed when the TOOL WITHDRAW switch is turned on during operation 2
The canned cycle is reexecuted from operation 2.
(3) Repositioning performed when the TOOL WITHDRAW switch is turned on during operation 3
The canned cycle is reexecuted from operation 2.
(4) Repositioning performed when the TOOL WITHDRAW switch is turned on during operation 4, 5, 
or 6
The canned cycle is reexecuted for the same hole position from operation 2.


key: chroma:document
string_value:
B-64694EN/01 OPERATION 4. AUTOMATIC OPERATION
- 835 -
4.12 MANUAL INTERVENTION AND RETURN
Overview
If you use feed hold to stop the tool from moving an axis during automatic operation and restarts the tool 
after manual intervention, for example, for checking a cutting surface, the tool can resume automatic 
operation after automatically returning to the pre-intervention position.
Explanation
Setting bit 0 (MIT) of parameter No. 7001 enables manual intervention and return.


key: chroma:document
string_value:
The sequence of manual intervention and return is as Fig. 4.12 :
1. The N1 block cuts a workpiece.
Tool
N1
N2
2. Stop the tool using feed hold in the middle of the N1 block (at point A).
N2
N1 Point A
3. Retract the tool to point B by manual operation, then restart the machine.
N2
N1 Point A
Point B
Manual intervention
4. After the tool automatically returns to point A by non-linear interpolation type positioning at the dry


key: chroma:document
string_value:
run feedrate, the remaining move command of the N1 block is executed.
N2
N1 Point A
Point B
Return (Non-linear interpolation 
type positioning)
Fig. 4.12 Sequence of manual intervention and return


key: chroma:document
string_value:
4. AUTOMATIC OPERATION OPERATION B-64694EN/01
- 836 -
WARNING
Manual intervention must be performed correctly with meticulous care, following 
the machining direction and the shape of the workpiece, not to damage the 
workpiece, machine, and/or tool.
N2
N1 Point A
Point B
Return (Non-linear 
interpolation type positioning)
N2
N1 Point A
Point B Manual intervention
- Manual absolute on/off
In manual absolute off mode, the tool does not return to the stop position. Instead, the tool moves


key: chroma:document
string_value:
according to the manual absolute on/off function.
- Return feedrate
For the return operation, the dry run feedrate is used, and the jog feedrate override function is enabled. 
When manual rapid traverse rate selection signal RT is "1", the return feedrate is not dry run feedrate but 
rapid traverse rate.
- Return operation
Return operation is performed according to non-linear interpolation type positioning.
- Single block


key: chroma:document
string_value:
- Single block
If the single block stop switch is on during return operation, the tool stops at the stop position once and 
restarts movement when cycle start is executed again.
- Cancellation
If a reset, alarm, or emergency stop occurs during manual intervention or return operation, the manual 
intervention and return function is cancelled.
- MDI mode
The manual intervention and return function can be used in the MDI mode as well.
- Relation to other functions


