Page 1 MELSEC iQ-R Motion Controller Programming Manual (G-Code Control) -R16MTCPU -R32MTCPU -R64MTCPU...
Page 3: Safety Precautions
SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer to MELSEC iQ-R Module Configuration Manual for a description of the PLC system safety precautions.
Page 4 [Design Precautions] WARNING ● For the operating status of each station after a communication failure, refer to manuals relevant to the network. Incorrect output or malfunction due to a communication failure may result in an accident. ● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely.
Page 5 [Design Precautions] CAUTION ● Do not install the control lines or communication cables together with the main circuit lines or power cables. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction due to noise. ●...
Page 6 [Installation Precautions] CAUTION ● Use the programmable controller in an environment that meets the general specifications in the Safety Guidelines included with the base unit. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. ●...
Page 7 [Wiring Precautions] CAUTION ● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction. ● Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.
Page 8 [Startup and Maintenance Precautions] WARNING ● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. ● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so may cause the battery to generate heat, explode, ignite, or leak, resulting in injury or fire.
Page 9 [Startup and Maintenance Precautions] CAUTION ● Startup and maintenance of a control panel must be performed by qualified maintenance personnel with knowledge of protection against electric shock. Lock the control panel so that only qualified maintenance personnel can operate it. ●...
Page 10 [Transportation Precautions] CAUTION ● When transporting lithium batteries, follow the transportation regulations. For details on the regulated models, refer to the MELSEC iQ-R Module Configuration Manual. ● The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant used for disinfection and pest control of wood packaging materials, may cause failure of the product.
Page 11: Conditions Of Use For The Product
Mitsubishi representative in your region. INTRODUCTION Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers. This manual describes the dedicated signals, parameters, data, and functions required for performing G-code control of the relevant products listed below.
Page 12: Table Of Contents
CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
Page 13 Auxiliary function ............... . . 80 Polar coordinate interpolation .
Page 14 G41.1: Normal line control - Left ON ............130 G42.1: Normal line control - Right ON.
Page 15 GOT program input/output function ............236 GOT program edit function .
Page 16: Relevant Manuals
[IB-0300309] device lists and others. e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features: • Required information can be cross-searched in multiple manuals.
Page 17: Terms
TERMS Unless otherwise specified, this manual uses the following terms. Term Description R64MTCPU/R32MTCPU/R16MTCPU or Abbreviation for MELSEC iQ-R series Motion controller Motion CPU (module) MR-J4(W)-B Servo amplifier model MR-J4-B/MR-J4W-B MR-J3(W)-B Servo amplifier model MR-J3-B/MR-J3W-B AMP or Servo amplifier General name for "Servo amplifier model MR-J4-B/MR-J4W-B/MR-J3-B/MR-J3W-B" RnCPU, PLC CPU or PLC CPU module Abbreviation for MELSEC iQ-R series CPU module Multiple CPU system or Motion system...
Page 18: Manual Page Organization
MANUAL PAGE ORGANIZATION Representation of numerical values used in this manual ■Axis No. representation In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value corresponding to axis No. as shown in the following table. Axis No. Axis No. Axis No.
Page 19 ■Machine No. representation In the positioning dedicated signals, "m" in "M43904+32m", etc. indicates a value corresponding to machine No. as shown in the following table. Machine No. Machine No. • Calculate as follows for the device No. corresponding to each machine. For machine No.8 in MELSEC iQ-R Motion device assignment M43904+32m ([St.2120] Machine error detection) M43904+327=M44128 D53168+128m ([Md.2020] Machine type)=M53168+287=D54064...
Page 20 Representation of device No. used in this manual The "R" and "Q" beside the device No. of positioning dedicated signals such as "[Rq.1140] Stop command (R: M34480+32n/ Q: M3200+20n)" indicate the device No. for the device assignment methods shown below. When "R" and "Q" are not beside the device No., the device No.
Page 21: Chapter 1 Overview
OVERVIEW G-Code Control Overview • G-code control uses the Motion CPU to analyze G-code programs for control. G-code control is applied on a wide range of manufacturing tools such as cutters and mills. • To use G-code control, the G-code add-on library must be installed. •...
Page 22: Performance Specifications
Performance Specifications G-code control specifications Item Specifications Number of G-code control configured Up to 8 axes axes (in a line) Number of contouring control axes Up to 4 axes Number of lines Up to 2 lines Operation mode Memory operation Program size/1 program Up to 512k bytes Number of programs...
Page 23: G-Code Control Add-On Library Configuration
G-Code Control Add-On Library Configuration G-code control add-on library The add-on library used for G-code control is shown below. Application Model Add-on library name G-code control SW10DND-GCD Gcode_Ctrl.adm *1  indicates the number of licenses. (01, 05, 10, 15, 20) Files size/Memory usage The file size and memory usage of the add-on library is shown below.
Page 24: Chapter 2 Starting Up The System
STARTING UP THE SYSTEM The procedure for G-code control is shown below. Starting Up the G-Code Control System The procedure to start up for G-code control system is shown below. Preparation • ¢ MELSEC iQ-R Motion Controller STEP 1 Install the add-on library for G-code control. Programming Manual (Common) Authenticate the license of the G-code control •...
Page 25 Start program • Turn ON "[Rq.3381] Program operation mode (memory STEP 7 Turn ON program operation mode (memory operation mode) (D54226.8+2s)" with the programs from STEP 3 mode). mode and start memory mode of automatic operation. • Check that "[St.3211] During memory mode Check that the system is in memory mode.
Page 26: 2.2 License Authentication Of G-Code Control Add-On Library
License Authentication of G-Code Control Add-On Library The G-code control add-on library requires authentication. When a G-code add-on library is installed without purchasing a license, a license period is set. When the license period is exceeded, a moderate error (error code: 3081H) occurs, and the G- code add-on library can no longer be used.
Page 27: G-Code Control System Device Assignment Method
G-Code Control System Device Assignment Method "MELSEC iQ-R Motion device assignment" is the recommended device assignment method when using G-code control. Refer to the following for details of device assignment methods. MELSEC iQ-R Motion Controller Programming Manual (Common) Refer to G-code control dedicated signals for devices used by G-code control.(Page 28 G-CODE CONTROL DEDICATED SIGNALS) Cautions When performing G-code control with R32MTCPU/R16MTCPU in "Q series Motion compatible device assignment", set the...
Page 28: G-Code Control System Stop Operation
G-Code Control System Stop Operation When one of the following stop causes occurs in a G-code control axis during G-code control, "[St.3215] G-code control finishing (D54441.3+4s)" turns ON, and after the stop processing of all axes in the line, "[St.3208] During G-code control (D54440.0+4s)", "[St.3215] G-code control finishing (D54441.3+4s)", and "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)"...
Page 29: Immediate Stop
Immediate stop There is no deceleration processing for this stop. The Motion CPU stops commands immediately but the servo amplifier coasts for the amount of droop pulses in the deviation counter. The timing chart for immediate stop is shown below. Immediate stop cause [St.3208] During G-code control (D54440.0+4s)
Page 30: Chapter 3 G-Code Control Dedicated Signals
G-CODE CONTROL DEDICATED SIGNALS G-code control devices used for G-code control are shown below. Device Device range MELSEC iQ-R Motion device assignment Q series Motion compatible device assignment Data register (D) D54192 to D55583 (1392 points) • When using R32MTCPU/R16MTCPU in Q series Motion compatible device assignment, the device range must be changed in device points/latch setting so that it is the minimum setting range or more for using G- code control.
Page 31: G-Code Control Common Command Signal
G-Code Control Common Command Signal Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D54224.0 Unusable D54224.1 D54224.2 D54224.3 D54224.4 D54224.5 D54224.6 D54224.7 D54224.8 D54224.9 D54224.A...
Page 32: G-Code Control Common Control Device
G-Code Control Common Control Device Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D54262 Unusable D54263  D54264 Cd.3305 Program No. for loading while running At running Command program load...
Page 33: G-Code Control Common Status
G-Code Control Common Status Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D54438.0 St.3272 G-code control operation cycle over flag G-code control Status signal operation cycle D54438.1 ...
Page 34: G-Code Control Common Monitor Device
G-Code Control Common Monitor Device Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D54480 Md.3000 G-code control setting operation cycle STOPRUN Monitor device D54481 Md.3001 G-code control operation cycle G-code control operation cycle...
Page 35 [Md.3004] Program load error information while running (D54493) Stores the error information when "[Md.3003] Program load status while running (D54492)" is failed. Monitor values Description No error Applicable program running No program file File format error Load area size exceeded Program No.
Page 36: G-Code Control Line Command Signal
G-Code Control Line Command Signal Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D54226 to D54227 Line 1 G-code control line command signal D54228 to D54229 Line 2 G-code control line command signal •...
Page 37 [Rq.3376] G-code control request (D54226.0+2s) This signal starts G-code control on a line by turning ON "[Rq.3376] G-code control request (D54226.0+2s)" of the applicable line. Turning OFF "[Rq.3376] G-code control request (D54226.0+2s)" when "[St.3208] During G-code control (D54440.0+4s)" is ON, ends G-code control. Refer to G-code control system start/end for details.(Page 25 G-Code Control System Start/ End) Setting value Description...
Page 38 [Rq.3380] Reset command (D54226.4+2s) This command is used to reset G-code control. When "[Rq.3380] Reset command (D54226.4+2s)" is turned OFFON, the following operations are executed. • "[St.3216] Resetting (D54441.8+4s)" is turned ON, and moving control axes decelerate to a stop. •...
Page 39: G-Code Control Line Control Device
G-Code Control Line Control Device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D54278 to D54293 Line 1 G-code control line control device D54294 to D54309 Line 2 G-code control line control device •...
Page 40: G-Code Control Line Status
G-Code Control Line Status Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D54440 to D54443 Line 1 G-code control line status D54444 to D54447 Line 2 G-code control line status • Details for each line Device No.
Page 41 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D54442.0+4s St.3218 M-code output M00 G-code control Status signal operation cycle D54442.1+4s St.3219 M-code output M01 D54442.2+4s St.3220 M-code output M02 D54442.3+4s...
Page 42 [St.3210] All axes smoothing zero (D54440.2+4s) This signal turns ON when the delay (delay by acceleration/deceleration time constant) for all control axes is zero. When the commanded movement by automatic operation, including the acceleration/deceleration time constant delay, completes all output processing this signal turns ON. The signal turns OFF while the movement command is being executed, and if there is an acceleration/deceleration time constant delay.
Page 43 [St.3214] Automatic operation holding (D54441.2+4s) • This signal turns ON when automatic operation is on hold, and can be used to check for a holding cause such as "[Rq.3378] Automatic operation hold (feed hold) (D54226.2+2s)" ON when executing a movement command or auxiliary function command.
Page 44 [St.3219] M-code output M01 (D54442.1+4s) • This signal turns ON when the special auxiliary function M01 is output. Although it is a special auxiliary function M01, the normal signals "[St.3222] Auxiliary function strobe 1 (D54442.4+4s)" to "[St.3225] Auxiliary function strobe 4 (D54442.7+4s)"...
Page 45 [St.3222] Auxiliary function strobe 1 (D54442.4+4s) • This signal turns ON when the first group of auxiliary function (M function) is commanded. • This signal turns ON when the first group of auxiliary function (M function) is commanded by the G-code program of automatic operation.
Page 46 [St.3224] Auxiliary function strobe 3 (D54442.6+4s) • This signal turns ON when the third group of auxiliary function (M function) is commanded. • This signal turns ON when three or more auxiliary functions (M functions) in the same block are commanded by automatic operation.
Page 47: G-Code Control Line Monitor Device
G-Code Control Line Monitor Device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D54496 to D54623 Line 1 G-code control line monitor device D54624 to D54751 Line 2 G-code control line monitor device •...
Page 48 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D54532+128s Md.3038 Group 08 modal status G-code control Monitor device operation cycle D54533+128s Md.3039 Tool length compensation No. D54534+128s Md.3040 Tool length compensation amount...
Page 49 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D54562+128s Unusable D54563+128s D54564+128s D54565+128s D54566+128s D54567+128s D54568+128s D54569+128s D54570+128s D54571+128s D54572+128s D54573+128s D54574+128s D54575+128s D54576+128s D54577+128s...
Page 50 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D54596+128s Unusable D54597+128s D54598+128s D54599+128s D54600+128s D54601+128s D54602+128s D54603+128s D54604+128s D54605+128s D54606+128s D54607+128s D54608+128s D54609+128s D54610+128s D54611+128s...
Page 51 [Md.3018] Speed (D54502+128s, D54503+128s) The speed (0.01[mm/min]) during interpolation operation or non-interpolation operation is stored. Item Description During interpolation operation Stores the speed of the vector direction currently moving. During non-interpolation operation Stores the speed of the axis that has the highest speed of all axes currently moving. [Md.3019] G-code control error code (D54504+128s) •...
Page 52 [Md.3024] Block No. being executed (D54512+128s, D54513+128s) The block No. being executed is stored during G-code program operation. When the sequence No. is changed, the block No. starts from "0". When G-code program No.12 is executed. Program [Md.3022] Program No. being [Md.3023] Sequence No.
Page 53 [Md.3034] Group 07 modal status (D54526+128s) Modal status of group 07 is stored. G-code modal status Stored value G40 Tool radius compensation cancel G41 Tool radius compensation left G42 Tool radius compensation right [Md.3035] Tool radius compensation No. (D54527+128s) The tool radius compensation No. is stored. [Md.3036] Tool radius compensation amount (D54528+128s, D54529+128s) The tool radius compensation amount is stored.
Page 54 [Md.3047] Group 13 modal status (D54543+128s) Modal status of group 13 is stored. G-code modal status Stored value G61 Exact stop check mode G61.1 High-accuracy control mode G62 Automatic corner override G64 Cutting mode [Md.3049] Group 15 modal status (D54545+128s) Modal status of group 15 is stored.
Page 55 [Md.3059] M-code data 2 (D54556+128s, D54557+128s) • The value that follows after the auxiliary function address M is stored when auxiliary function (M function) is commanded. "8-digit BCD code", "Unsigned 32-bit binary data", and "Signed 32-bit binary data" can be selected for the output M-code data from G-code control system parameter "M Binary".
Page 56 [Md.3070] Program comment being executed (D54588+128s to D54595+128s) The program comment of the program being executed is stored as 8-words of ASCII code. 15 characters + 1 NULL character of the comment (the character string from "(" to ")") of the block following the end of record (%) set to the program start are stored.
Page 57: G-Code Control Line Monitor Device (Expansion)
G-Code Control Line Monitor Device (Expansion) Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D55264 to D55423 Line 1 G-code control line monitor device (expansion) D55424 to D55583 Line 2 G-code control line monitor device (expansion) •...
Page 58 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D55296+160s Md.3179 Program monitor being executed (2nd At block change Monitor device line) D55297+160s D55298+160s D55299+160s D55300+160s D55301+160s D55302+160s D55303+160s...
Page 59 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D55328+160s Md.3180 Program monitor being executed (3rd At block change Monitor device line) D55329+160s D55330+160s D55331+160s D55332+160s D55333+160s D55334+160s D55335+160s...
Page 60 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D55377+160s Unusable D55378+160s D55379+160s D55380+160s D55381+160s D55382+160s D55383+160s D55384+160s D55385+160s D55386+160s D55387+160s D55388+160s D55389+160s D55390+160s D55391+160s D55392+160s...
Page 61 [Md.3178] Program monitor being executed (1st line) (D55264+160s to D55295+160s) Stores one block of the block being executed (first line) of the G-code program that is running as an ASCII character string. A maximum of 64 characters (63 characters + \0) are stored in a block. For a G-code program being executed on line 1 Program block Program...
Page 62 Item Device No. D55320 D55321 D55322 D55323 D55324 D55325 D55326 D55327 ASCII character string • Device values stored in [Md.3180] Program monitor being executed (3rd line) Item Device No. D55328 D55329 D55330 D55331 D55332 D55333 D55334 D55335 ASCII character string Item Device No.
Page 63: G-Code Control Axis Status
3.10 G-Code Control Axis Status Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D54448, D54449 Line 1 G-code control axis status of axis 1 D54450, D54451 Line 1 G-code control axis status of axis 2 D54452, D54453 Line 1 G-code control axis status of axis 3 D54454, D54455...
Page 64 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D54449.8+2sn Unusable D54449.9+2sn D54449.A+2sn D54449.B+2sn D54449.C+2sn D54449.D+2sn D54449.E+2sn D54449.F+2sn [St.3076] Smoothing zero (D54448.0+2sn) • This signal turns ON when acceleration/deceleration processing ends, and there are no remaining commands. •...
Page 65: G-Code Control Axis Monitor Device
3.11 G-Code Control Axis Monitor Device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D54752 to D54783 Line 1 G-code control axis monitor device of axis 1 D54784 to D54815 Line 1 G-code control axis monitor device of axis 2 D54816 to D54847 Line 1 G-code control axis monitor device of axis 3 D54848 to D54879...
Page 66 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D54768+32sn Md.3147 Machine position Operation cycle Monitor device D54769+32sn D54770+32sn Md.3148 Machine target position G-code control operation cycle D54771+32sn D54772+32sn Md.3149...
Page 67 [Md.3145] Axis name (D54753+32sn) The number of the axis name set by [Motion Control Parameter][G-code Control Parameter][G-code Control Axis Parameter]"Line Axis Information""Axis Name" is stored. The following values are stored for each axis name number. Monitor value Axis name No setting [Md.3146] Rotating axis setting status (D54754+32sn) The information set by [Motion Control Parameter][G-code Control Parameter][G-code Control Axis Parameter]"Line Axis Information""Rotation Axis"...
Page 68 [Md.3149] Relative position (D54772+32sn, D54773+32sn) The current value of work coordinate system selection (G54 to G59) is stored. When 1000. is set to G54 Machine position 10000000 Absolute zero-position Relative position -10000000 Work coordinate system G54 zero-position When in the 10000000 machine position, "relative position=0". The relative position shifts according to the work coordinate system selection (G54 to G59).
Page 69: Internal Relay (M)/Data Register (D) Availability
3.12 Internal Relay (M)/Data Register (D) Availability The availability of common devices such as internal relays (M) and data registers (D), and devices on each axis during G- code control is shown below. Internal relays Common device : Available : Not available Device No.
Page 70 Axis status : Available : Not available Device No. Symbol Signal name During Remarks G-code MELSEC iQ-R Q series Motion control Motion device compatible assignment device assignment  M32400+32n M2400+20n St.1060 Positioning start complete Turns OFF at G-code control start. M32401+32n M2401+20n St.1061...
Page 71 Axis command signals : Available : Not available Device No. Symbol Signal name During Remarks G-code MELSEC iQ-R Q series Motion control Motion device compatible assignment device assignment  M34480+32n M3200+20n Rq.1140 Stop command  M34481+32n M3201+20n Rq.1141 Rapid stop command ...
Page 72: Data Registers
Data registers Axis monitor devices : Available : Not available Device No. Symbol Signal name During Remarks G-code MELSEC iQ-R Q series Motion control Motion device compatible assignment device assignment  D32000+48n D0+20n Md.20 Feed current value Updated every operation cycle. D32001+48n D1+20n ...
Page 73 Device No. Symbol Signal name During Remarks G-code MELSEC iQ-R Q series Motion control Motion device compatible assignment device assignment   D32039+48n #8019+20n Unusable D32040+48n D32047+48n 3 G-CODE CONTROL DEDICATED SIGNALS 3.12 Internal Relay (M)/Data Register (D) Availability...
Page 74: Chapter 4 G-Code Control Parameters
G-CODE CONTROL PARAMETERS This chapter describes the parameters used for G-code control. Refer to the following for R series common parameters, and Motion CPU common parameters. MELSEC iQ-R Motion Controller Programming Manual (Common) Refer to the following for Motion control parameters. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control) When using G-code control set the following.
Page 75: G-Code Control System Parameter
G-Code Control System Parameter Parameters for setting the number of axes used on a line etc., for each G-code control line. [Motion Control Parameter][G-code Control Parameter][G-code Control System Parameter] Item Default Setting range Direct Indirect setting Reference value setting section Valid/ Valid/ Fetch...
Page 76 Item Default Setting range Direct Indirect setting Reference value setting section Valid/ Valid/ Fetch invalid invalid cycle (Required size)    Page Plane Base axis I 0: No setting composition 1: X Base axis J    2: Y ...
Page 77 Item Default Setting range Direct Indirect setting Reference value setting section Valid/ Valid/ Fetch invalid invalid cycle (Required size) High- Acceleration/ 2000[mm/ 1 to 999999[mm/min]    Page accuracy deceleration min] control before interpolation - maximum speed   ...
Page 78: Line Basic Setting
Line basic setting Number of axes on line Set the number of G-code control axes to be used on a line. In G-code control axis parameter, provide settings for the number of axes set here in order from axis No.1. When the number of axes on line 1 is "4"...
Page 79 Deceleration check The execution block selects the deceleration check method of fast forward command (G00) and cutting command (G01, G02, G03). There are three deceleration check methods. Set the following values with the fast forward command (G00) and cutting command (G01, G02, G03). Setting value Deceleration check method Description...
Page 80: Override Setting
Permissible compensation value of arc center deviation Set the permissible compensation value for deviation of the center coordinate value of R-specified circular interpolation. When the deviation between "line connecting the start point and end point" and "command radius 2" is less than or equal to the permissible value, a correction is made so that the mid point of the line connecting the start point and end point becomes the arc center.
Page 81: Plane Composition
Plane composition Base axis I/Base axis J/Base axis K Set the axis names of the base axes for which the plane is composed. Set the axis names set here to [Motion Control Parameter][G-code Control Parameter][G-code Control Axis Parameter]"Line Axis Information""Axis name" also. When using two axes etc., set "0"...
Page 82: Auxiliary Function
Minimum rotating movement amount Set the minimum movement amount of the block that performs a rotation operation at the joint directly before, during normal line control. Normal line control axis rotating radius Set the length from the center of the normal line control axis to the tip of the tool. Used to calculate the rotating speed of the block joint, and during circular interpolation.
Page 83 Acceleration/deceleration before interpolation - time constant Set the cutting feed time constant for acceleration/deceleration before interpolation. The relationship between the vector speed waveform and "acceleration/deceleration before interpolation - maximum speed" and "Acceleration/deceleration before interpolation - time constant" is shown below. Vector speed Maximum speed...
Page 84: G-Code Control Axis Parameter
G-Code Control Axis Parameter Set the parameters for the axis information of each axis on each line for G-code control. [Motion Control Parameter][G-code Control Parameter][G-code Control Axis Parameter] Item Default value Setting range Direct Indirect setting Reference setting section Valid/ Valid/ Fetch invalid...
Page 85: Line Axis Information
Item Default value Setting range Direct Indirect setting Reference setting section Valid/ Valid/ Fetch invalid invalid cycle (Required size) High- Rapid traverse 0[mm/min] 0 to 1000000[mm/min]    Page accuracy rate during high- control accuracy control mode   ...
Page 86: Stored Stroke Limit
Stored stroke limit Software limit -/Software limit + Set the movement range in the + direction (upper limit value) and - direction (lower limit value) of the stored stroke limit. In the following cases, a moderate error (error code: 30FDH (details code: 0024H)) occurs. Rotation axis Rotation axis type Store stroke limit...
Page 87: Speed/Time Constant
Speed/time constant Fast forward speed Set the fast forward speed for each axis. Refer to fast forward speed for details. (Page 173 Fast forward speed) Cutting feed clamp speed Set the maximum speed for cutting feed rate on each axis. When the feed rate in G01 is commanding a value that exceeds the cutting feed clamp speed, the speed is clamped at the cutting feed clamp speed that has been set.
Page 88: Rotation Axis Information
Rotation axis information Rotation axis type Set the rotation axis type to rotation (shortcut valid/invalid), or linear. The setting is valid when rotation axis is set to "1: Rotation axis". The method of movement differs according to the rotation axis type that is set. ■Rotation type (0: Shortcut invalid) •...
Page 89: Tandem Function
■Linear type (3: All linear coordinates) • All linear coordinates have a range of -9999.9999 to 9999.9999[degree]. • Same operation as a linear axis. • After ending G-code control once and then transitioning to G-code control again, the work coordinate position is set based on the machine coordinate position.
Page 90: High-Accuracy Control
High-accuracy control Rapid traverse rate during high-accuracy control mode Set the fast forward speed during high-accuracy control mode for each axis. When set to "0", the G-code control axis parameter "fast forward speed" is used. Cutting feed clamp speed for high-accuracy control mode Set the cutting feed maximum speed during high-accuracy control for each axis.
Page 91: G-Code Control Processwork Parameter
G-Code Control Work Parameter Set the parameters of the tool used for processing in G-code control. [Motion Control Parameter][G-code Control Parameter][G-code Control Work Parameter] Item Default Setting range Direct Indirect setting Reference value setting section Valid/ Valid/ Fetch invalid invalid cycle (Required size)
Page 92: Tool Compensation Data
Select tool radius or diameter compensation Set tool compensation amount specified by radius or diameter. Tool compensation data Tool radius compensation amount Set the compensation amount for the tool radius. Up to 40 can be set for both lines. Tool radius compensation amount Tool length compensation amount Set the compensation amount for the tool length.
Page 93: Chapter 5 G-Code Control Programs
G-CODE CONTROL PROGRAMS G-Code Control Program Composition The files of the G-code program are created in text format. One G-code program is created per file. Multiple G-code programs cannot be created in one file. Refer to the following for the storage destination of G-code program files. MELSEC iQ-R Motion Controller Programming Manual (Common) G-code programs are created and written to the Motion CPU by the following methods.
Page 94: G-Code Program Format
G-code program format The file format of a G-code program is shown below. Item Description Line feed code CRLF(0x0D, 0x0A) Character code ASCII code File size Up to 512k bytes G-code program A G-code program is a collection of units called "blocks" which command a single operation (sequence) of a machine. These blocks describe the actual order in which the tool moves.
Page 95 Block A block is a collection of units called "words" which include instructions for a single operation. A block includes the information required to perform specific operations on a machine, and is a complete command. With a line break, the line feed code is recognized as the end of the block.
Page 96: Fetching G-Code Program Files
Fetching G-Code Program Files The G-code program is stored in the standard ROM on the Motion CPU as a G-code program file. Refer to the following for storage destinations in the standard ROM. MELSEC iQ-R Motion Controller Programming Manual (Common) The timing for fetching files is shown below.
Page 97: Pre-Read Buffer
Fetching program file during operation using file transmission via FTP server The following describes the procedure for fetching program file during operation using the file transmission via FTP server. Refer to the following for details of file transmission via FTP server. MELSEC iQ-R Motion Controller Programming Manual (Common) Operating procedure Store the G-code program file in storage folder for the G-code program file ($MMTPRJ$/gcode/prog/temp).
Page 98: Decimal Point Input
Decimal Point Input In the G-code program input information which defines the path, distance, and speed of the tool, a decimal point that commands the zero point in [mm] units can be input. For commands that do not use a decimal point, the minimum digit is the minimum input command unit.
Page 99: Coordinate System
When a decimal point is not used at an address where decimal point command are valid, the last digit of the command data matches with the command unit. (Example) When "X1" is specified, the command is equivalent to "X0.0001". Coordinate System This section describes the coordinate systems.
Page 100: Local Coordinate System
Local coordinate system This coordinate system is for specifying a coordinate system within the work coordinate system currently selected. With this, the work coordinate system can be temporarily changed. Local coordinate systems can be independently specified on each work coordinate system, for work coordinate system 1 to 6 (G54 to G59). The home position of a local coordinate system is commanded by the distance from the home position of the specified work coordinate system.
Page 101: G-Code
G-Code G-code is commands that specify the operation modes in each block of the program. G-code list The G-code used in G-code programs are listed below. G-code Group Description Remarks Positioning Linear interpolation Circular interpolation CW Circular interpolation CCW Dwell (time specified) Exact stop check G12.1 Polar coordinate interpolation mode start...
Page 102: Modal/Unmodal
Modal/Unmodal In G-code, there are modal commands and unmodal commands. Classification Group Description Modal G-code 01, 02, 03, 05, 07, 08, 12, 13, One of the G-code commands in the group is always specified as the operation mode. 15, 16, 21 The operation mode continues until another G-code from the group is commanded, or a cancel command is made.
Page 103 Group G-code Group                     G12.1                 ...
Page 104 Group G-code Group in modal           G40.1           G41.1 G42.1             ...
Page 105: G00: Positioning (Fast Forward)
G00: Positioning (Fast forward) Performs high-speed positioning to the commanded end point with the current point as the starting point. Code Format □ □ G00 X x ,F f Fast forward speed Coordinate commands □ is an additional axis Processing details •...
Page 106: G01: Linear Interpolation
G01: Linear interpolation Performs linear interpolation to the commanded end point from the current position at the commanded speed. The commanded feed speed is specified as the linear speed (composite speed) for the direction of movement. Code Format □ □ G01 X x ,F f Feed speed...
Page 107: G02: Circular Interpolation Cw (Center Specified)
G02: Circular interpolation CW (center specified) Moves along an arc (CW) to the specified coordinate position (end point) from the current position (start point). The moving speed is the commanded feed speed. Code Format G02 X x Feed speed Arc center coordinates Coordinate command Processing details •...
Page 108 Precautions • A 360 arc (perfect circle) is created in the following cases. • The end point coordinates are completely omitted, and I, J, K addresses are used to specify the center • The end point and start point are the same position •...
Page 109: G03: Circular Interpolation Ccw (Center Specified)
G03: Circular interpolation CCW (center specified) Moves along an arc (CCW) to the specified coordinate position (end point) from the current position (start point). The moving speed is the commanded feed speed. Code Format G03 X x Feed speed Arc center coordinates Coordinate command Processing details •...
Page 110 Precautions • A 360 arc (perfect circle) is created in the following cases. • The end point coordinates are completely omitted, and I, J, K addresses are used to specify the center • The end point and start point are the same position •...
Page 111: G02: Circular Interpolation Cw (R-Specified)
G02: Circular interpolation CW (R-specified) Moves along an arc (CW) with a specified radius, to the specified coordinate position (end point) from the current position (start point). The moving speed is the commanded feed speed. Code Format G02 X x Feed speed Arc radius Coordinate command...
Page 112 • For G02 (CW), when both R-specified and center specified (I, J, K) are specified in the same block at the same time, the R- specified arc command takes priority. • If a perfect circle command (start point and end point the same) is specified in R-specified circular interpolation, the R- specified arc command ends immediately, and there is no operation.
Page 113: G03: Circular Interpolation Ccw (R-Specified)
G03: Circular interpolation CCW (R-specified) Moves along an arc (CCW) with a specified radius, to the specified coordinate position (end point) from the current position (start point). The moving speed is the commanded feed speed. Code Format G03 X x Feed speed Arc radius Coordinate command...
Page 114 • For G03 (CCW), when both R-specified and center specified (I, J, K) are specified in the same block at the same time, the R-specified arc command takes priority. • If a perfect circle command (start point and end point the same) is specified in R-specified circular interpolation, the R- specified arc command ends immediately, and there is no operation.
Page 115: G04: Dwell (Time Specified)
G04: Dwell (time specified) Waits the specified time to execute the next block. Code Format ■X specification G04 X x Dwell time (0 to 99999.999[s]) ■P specification G04 P p Dwell time (0 to 99999999[ms]) Processing details • The setting range for dwell time by X is "0 to 99999.999" and decimal point commands are valid. When the decimal point is omitted, the dwell time is 0.001[s] units.
Page 116: G09: Exact Stop Check
G09: Exact stop check Performs deceleration check for the specified block only. Code Format G01 X Can only be used with G01, G02, G03 commands Processing details • The G09 command performs deceleration check in the specified block only. • The G09 command executes the next block after deceleration check at the specified coordinate position. •...
Page 117: G12.1: Polar Coordinate Interpolation Mode Start
G12.1: Polar coordinate interpolation mode start Starts polar coordinate interpolation mode which transforms linear axis movement (tool movement) and rotating axis movement (work rotation) for contouring control. This is effective when cutting out a linear notch from the outer diameter of a workpiece, grinding a camshaft etc. Code Format G12.1...
Page 118 ■Polar coordinate interpolation mode operation when combined with each function The polar coordinate interpolation mode operation for each function is shown below. Function Polar coordinate interpolation mode operation Program commands in polar • Program commands during polar coordinate interpolation control are commanded using the Cartesian coordinate coordinate interpolation values of the linear axis and rotating axis (virtual axis) on the polar coordinate interpolation plane.
Page 119 Function Polar coordinate interpolation mode operation Plane selection With a polar coordinate interpolation mode start command (G12.1), the plane (polar coordinate interpolation plane) for polar coordinate interpolation is determined according to the axis name set in G-code control parameter "polar coordinate interpolation linear axis"...
Page 120 Function Polar coordinate interpolation mode operation Local coordinate system setting (G52) When commanded during polar coordinate interpolation mode, a minor error (error code: 1FC3H (details code: 0322H)) occurs. Basic machine coordinate system selection (G53) Work coordinate system selection Before polar coordinate interpolation is commanded, set the work coordinate system so that the center of the rotating axis is the home position of the coordinate system.
Page 121 Program example ■Program that positions by polar coordinate interpolation mode Operation Program Remarks G17 G90 G00 X40.0 C0 Z0 Determining the start position G12.1 Polar coordinate interpolation mode: Start G01 G42 X20.0 F2000 Actual start of working C10.0 Shape program (By Cartesian coordinate values on the X-C plane.) G03 X10.0 C20.0 R10.0 G01 X-20.0...
Page 122: G13.1: Polar Coordinate Interpolation Mode Cancel
G13.1: Polar coordinate interpolation mode cancel Ends polar coordinate interpolation mode. Code Format G13.1 G13.1 Processing details • The G13.1 command cancels the set polar coordinate interpolation mode start (G12.1), and ends polar coordinate interpolation mode. • Use the G13.1 command in an independent block. When another command is used on the same block, a minor error (error code: 1FC3H (details code: 0306H, or 0324H)) occurs.
Page 123: G17 To G19: Plane Selection
G17 to G19: Plane selection Specify the plane for circular interpolation and the plane for tool radius compensation. Code Format G17, G18, G19 Processing details • Plane selection specifies the plane for performing circular interpolation or tool radius compensation. G-code Description X-Y plane selection Z-X plane selection...
Page 124: G38: Tool Radius Compensation Vector Setting
G38: Tool radius compensation vector setting Change or keep the compensation vector during tool radius compensation. Code Format G38 I i Compensation vector direction Processing details • When G38 command is executed, the compensation vector can be changed or kept during tool radius compensation. •...
Page 125 Program example ■Program that keeps the compensation vector for positioning Tool radius compensation amount is "compensation No.: 01", "compensation amount: 5[mm]" Operation Program Remarks G90 X0. Y0. Move to "X0,Y0" by absolute value command G91 G01 G41 X20. Y20. D01 F500. Move to "X20,Y20"...
Page 126: G39: Tool Radius Compensation Corner Arc
G39: Tool radius compensation corner arc Inserts an arc with the compensation amount as the radius without an intersection point calculation at the workpiece corner. Code Format G39 X x Coordinate command Processing details • When the G39 command is executed, an arc with the compensation amount as the radius is inserted without an intersection point calculation.
Page 127 Program example ■Program that uses the radius as the compensation amount in the command position Tool radius compensation amount is "compensation No.: 01", "compensation amount: 5[mm]" Operation Program Remarks G90 X0. Y0. Move to "X0,Y0" by absolute value command G91 G01 G42 X20. Y20. D01 F100. Move to "X20,Y15"...
Page 128: G40: Tool Radius Compensation Cancel
G40: Tool radius compensation cancel Cancels the set tool radius compensation amount (G41, G42). Code Format G40 X x Coordinate command Processing details • The G40 command cancels the set tool radius compensation amount (G41, G42) and performs positioning. • Refer to tool radius compensation for details of tool radius compensation. (Page 183 Tool radius compensation) Program example ■Program that cancels tool radius compensation (left) Tool radius compensation amount is "compensation No.: 10", "compensation amount: 10[mm]"...
Page 129: G41: Tool Radius Compensation - Left
G41: Tool radius compensation - Left The actual path of the tool center for the programmed path is compensated by an amount of the tool radius. The path is calculated by intersection operation method therefore the overcutting of inside corners can be prevented. Code Format G41 X x...
Page 130: G42: Tool Radius Compensation - Right
G42: Tool radius compensation - Right The actual path of the tool center for the programmed path is compensated by an amount of the tool radius. The path is calculated by intersection operation method therefore the overcutting of inside corners can be prevented. Code Format G42 X x...
Page 131: G40.1: Normal Line Control Cancel
G40.1: Normal line control cancel Cancels the set normal line control (G41.1, G42.1). Code Format G40.1 G40.1 X x Feed speed Coordinate command Processing details • The G40.1 command cancels the set normal line control (G41.1, G42.1) and performs the specified positioning. •...
Page 132: G41.1: Normal Line Control - Left On
G41.1: Normal line control - Left ON Controls the rotation of a rotating axis so that the tool is always in the normal direction for a movement axis selecting a plane. Code Format G41.1 G41.1 X x Feed speed Coordinate command Processing details •...
Page 133: G42.1: Normal Line Control - Right On
G42.1: Normal line control - Right ON Controls the rotation of a rotating axis so that the tool is always in the normal direction for a movement axis selecting a plane. Code Format G42.1 G42.1 X x Feed speed Coordinate command Processing details •...
Page 134: G43: Tool Length Compensation (+)
G43: Tool length compensation (+) Adds the set compensation amount to the movement command. By setting actual difference from the tool length as the compensation amount, programs can be created without having to remember the tool length. Code Format G43 Z z Tool No.
Page 135 Program example ■Program that adds the compensation amount to the command position (absolute value command) Tool length compensation amount is "compensation No.: 01", "compensation amount: 100" Operation Program Remarks G90 G53 Z0. Move to the Z-axis "0" position of the machine coordinate system Absolute value command G43 Z5.
Page 136: G44: Tool Length Compensation
G44: Tool length compensation (-) Subtracts the set compensation amount from the movement command. By setting the actual difference from the tool length as the compensation amount, programs can be created without having to remember the tool length. Code Format G44 Z z Tool No.
Page 137 Program example ■Program that subtracts the compensation amount from the command position (absolute value command) Tool length compensation amount is "compensation No.: 01", "compensation amount: 100" Operation Program Remarks G90 G53 Z0. Move to the Z-axis "0" position of the machine coordinate system Absolute value command G44 Z5.
Page 138: G49: Tool Length Compensation Cancel
G49: Tool length compensation cancel Cancels the set tool length compensation amount (G43, G44). Code Format G49 Z z Coordinate command Processing details • The G49 command cancels the set tool length compensation amount (G43, G44) and performs positioning. • The G49 command calculates the movement amount by the following calculation. Program Z-axis movement amount Operation...
Page 139: G52: Local Coordinate System Setting
G52: Local coordinate system setting Set the position of the local coordinate system offset on the selected work coordinate system. Code Format G52 X x Local coordinate offset position on the work coordinate system Processing details • The local coordinate system can be set so that the position commanded on the work coordinate system (G54 to G59) is the program home position.
Page 140 Program example ■Program that positions to a specified position from the position of the local coordinate system offset of the work coordinate system in absolute value mode • Work coordinate system offset setting amount Address Offset setting amount Work coordinate system 1 (G54) Operation Program Remarks...
Page 141 ■Program that positions to a specified position from the position of the local coordinate system offset of the work coordinate system in incremental value mode • Work coordinate system offset setting amount Address Offset setting amount Work coordinate system 1 (G54) Operation Program Remarks...
Page 142 ■Program that positions to a specified position from the position of the local coordinate system offset of multiple work coordinate systems • Work coordinate system offset setting amount Address Offset setting amount Work coordinate system 1 (G54) Work coordinate system 2 (G55) 1000 1000 2500...
Page 143: G53: Basic Machine Coordinate System Selection
G53: Basic machine coordinate system selection Moves to command positions on the basic machine coordinate system. Code Format G53 X x Coordinate on basic machine coordinate system Processing details • The basic machine coordinate system is used to indicate positions specifically determined by the machine. •...
Page 144: G54 To G59: Work Coordinate System 1 Selection To Work Coordinate System 6 Selection
G54 to G59: Work coordinate system 1 selection to work coordinate system 6 selection Selects the work coordinate system and moves to the specified position of the work coordinate system at the specified feed speed. Code Format G54, G55, G56, G57, G58, G59 Position where work coordinate position is determined Processing details...
Page 145 Program example ■Program that performs positioning to specified positions of multiple work coordinate systems • Offset settings for work coordinate systems Address Offset setting Work coordinate system 1 (G54) Work coordinate system 2 (G55) 2000 1000 Operation Program Remarks G90 G00 G53 X0. Y0. Move to "X0,Y0"...
Page 146 ■Program that puts three of the same workpieces on the G54 to G56 coordinate systems and performs positioning • Offset settings for work coordinate systems Address Offset setting Work coordinate system 1 (G54) Work coordinate system 2 (G55) Work coordinate system 3 (G56) 1000 Operation Program...
Page 147: G61: Exact Stop Check Mode
G61: Exact stop check mode Performs a deceleration check. Code Format Processing details • The G61 command performs a deceleration check at all the end points of in blocks for cutting commands. • The G61 command performs a deceleration check for each specified coordinate before executing the next block. •...
Page 148: G61.1: High-Accuracy Control Mode
G61.1: High-accuracy control mode Controls the deviation in processing that is caused by the delay in the control system. Code Format G61.1 G61.1 Processing details • The G61 command is modal. It remains in effect until any of exact stop check mode (G61), automatic corner override (G62), and cutting mode (G64) command from the same group are commanded.
Page 149: G62: Automatic Corner Override
G62: Automatic corner override Applies the override to the feed speed automatically, and reduces the load on the tool during inside corner cutting or automatic corner R inside cutting in tool radius compensation. Code Format Processing details • When the G62 command is executed in conjunction with an interpolation command, automatic corner override is performed.
Page 150 ■Automatic corner R For inside compensation at automatic corner R, the override set in the parameter is applied automatically over the deceleration area (Ci), and the corner R section. (The angle is not checked.) Program path Tool center path Corner R center Corner R section Deceleration area Work surface...
Page 151 ■Automatic corner override operations with each function The operations for automatic corner override are shown below. Function Automatic corner override operation Positioning (G00) Automatic corner override is not applied at a positioning command. Linear interpolation (G01) Automatic corner override is applied for linear interpolation. Circular interpolation (G02, G03) Automatic corner override is applied for circular interpolation.
Page 152: G64: Cutting Mode
G64: Cutting mode Executes the next block without deceleration stops between cutting feed blocks. Code Format Processing details • The G64 command is the opposite of the exact stop check mode (G61). The G64 command continuously executes blocks without performing a deceleration check between cutting feed blocks. The interpolation command codes that can be used with the G64 command are G01, G02, and G03 only.
Page 153: G68: Program Coordinate Rotation Mode Start
G68: Program coordinate rotation mode start Specifies a rotation angle for the coordinate system and performs positioning on the rotated shape. Code Format G68 X x Rotation angle Coordinate command Processing details • The G68 command specifies a rotation angle for the local coordinate system, and performs positioning on the rotated shape.
Page 154 • Movement commands immediately after G68 command must be made in absolute value command mode. When made in incremental value mode, a minor error (error code: 1FC3H (details code: 0327H)) occurs. • The operation for the local coordinate system setting during program coordinate rotation can be selected by setting the G- code work parameter "coordinate rotation type".
Page 155 Operation Program 0: Coordinate rotation type 0 1: Coordinate rotation type 1 Y10. (X’’20, Y’’10) (X’’20, Y’’-10) (X’’20, Y’’30) (X’’20, Y’’10) (X’’10, Y’’30) Work coordinates Work coordinates Local coordinates Local coordinates The commanded Y-axis moves on the rotated coordinate The commanded Y-axis moves on the rotated coordinate system.
Page 156 ■Program coordinate rotation mode operation when combined with each function The program coordinate rotation mode operation for each function is shown below. Function Operation Rotating axis Coordinate rotation can also be performed on rotating axes. In this case the angle [degree] is processed as the length [mm] of rotation.
Page 157 • Paths for when the local coordinates (2), and program coordinate rotation (3) are not set 1500 1000 1000 1000 1500 Work coordinate system 1 1000 1500 2000 2500 Basic machine coordinates [Unit: mm] 5 G-CODE CONTROL PROGRAMS 5.6 G-Code...
Page 158: G69: Program Coordinate Rotation Mode Cancel
G69: Program coordinate rotation mode cancel Cancels the set program coordinate rotation offset. Code Format Processing details • The G69 command cancels the set program coordinate rotation mode start (G68) and ends program coordinate rotation mode. • Movement commands immediately after G69 command must be made in absolute value command mode. When made in incremental value mode, a minor error (error code: 1FC3H (details code: 0327H)) occurs.
Page 159: G90: Absolute Value Command
G90: Absolute value command The coordinate command is executed as an absolute value command. Code Format G90 X x Coordinate command Processing details • In absolute value mode, positioning to the position commanded by the program is performed with no regard to the current position.
Page 160 Program example ■Example for comparing absolute value command and incremental value command • Absolute value command Program Remarks G90 X70. Y70. Move to "X70,Y70" by absolute value command. • Incremental value command Program Remarks G91 X70. Y70. Move to "X100,Y100" by incremental value command. (100, 100) Incremental value command...
Page 161: G91: Incremental Value Command
G91: Incremental value command The coordinate command is executed as an incremental value command. Code Format G91 X x Coordinate command Processing details • In incremental value mode, the movement is made for the specified value only, with the current position as the start point (0).
Page 162 Program example ■Example for comparing absolute value command and incremental value command • Incremental value command Program Remarks G91 X70. Y70. Move to "X100,Y100" by incremental value command. • Absolute value command Program Remarks G90 X70. Y70. Move to "X70,Y70" by absolute value command. (100,100) (70,70) Absolute...
Page 163: G94: Feed Per Minute (Non-Synchronized Feed)
G94: Feed per minute (non-synchronized feed) The commands from the block are commanded at a feed speed of one minute [mm/min]. Code Program Processing details • By commanding G94, the values that follow F can be commanded at a feed speed of one minute [mm/min]. •...
Page 164: M-Code
M-Code M-codes are specified by 8 digits (M-99999999 to M99999999) that follow an address M, and up to four can be commanded in a block. When M-code data is commanded "[Md.3058] M-code data 1 (D54554+128s, D54555+128s)" to "[Md.3061] M- code data 4 (D54560+128s, D54561+128s)" and "[St.3222] Auxiliary function strobe 1 (D54442.4+4s)" to "[St.3225] Auxiliary function strobe 4 (D54442.7+4s)"...
Page 165: M00: Program Stop
M00: Program stop Stops the execution of the program. Code Format Processing details When the M00 command is executed, the program stops without executing the next block. After stopping, the execution of the next block is started by turning ON "[Rq.3382] Auxiliary function complete 1 (FIN1) (D54227.0+2s)". Program example ■Program that stops during positioning, and restarts Operation...
Page 166: M01: Optional Stop
M01: Optional stop When the optional stop signal is ON and the M01 command is executed, the program stops. Code Format Processing details • When the optional stop signal is ON and the M01 command is executed, the program stops without executing the next block.
Page 167: M02: Program End
M02: Program end Ends the program. Code Format Processing details When the M02 command is executed, the program execution ends. An M02 command (or M30 command) is required in the last block of a program. Program example ■Ending the program after positioning completion Program Remarks Absolute position command...
Page 168: M30: Program End
M30: Program end Ends the program. Code Format Processing details When the M30 command is executed, the program execution ends. An M30 command (or M02 command) is required in the last block of a program. Program example ■Ending the program after positioning completion Program Remarks Absolute position command...
Page 169: Chapter 6 Auxiliary And Applied Functions
AUXILIARY AND APPLIED FUNCTIONS Relationship between G-Code Control and Each Function The relationship between G-code control and each function is shown below. : Valid, : Invalid Function G-code control Details  Torque limit function Torque limit value can be changed by torque limit value change instruction (M(P).CHGT/ D(P).CHGT, CHGT).
Page 170 Function G-code control Details Mark detection function  The same as other positioning methods.  Mixed operation cycle function Cannot be used. When G-code control and mixed operation cycle are both set to be used, a moderate error (error code: 30F9H) occurs when the Multiple CPU system power supply is turned ON. ...
Page 171: Auxiliary Function (M Function)
Auxiliary Function (M Function) Auxiliary function, also called M function, is used to command G-code control auxiliary functions. M-code output When M00, M01, M02, and M30 are commanded, "[St.3218] M-code output M00 (D54442.0+4s)" to "[St.3221] M-code output M30 (D54442.3+4s)" are output in addition to "[Md.3058] M-code data 1 (D54554+128s, D54555+128s)" to "[Md.3061] M- code data 4 (D54560+128s, D54561+128s)"...
Page 172 Example ■Stopping block with the status of the optional stop signal M00 command [St.3213] Automatic operation starting (D54441.1+4s) [Md.3058] M-code data 1 (D54554+128s, D54555+128s) [St.3218] M-code output M00 (D54442.0+4s) [St.3222] Auxiliary function strobe 1 (D54442.4+4s) [Rq.3382] Auxiliary function complete 1 (FIN1) (D54227.0+2s) [Rq.3379] Single block (D54226.3+2s) [Operation]...
Page 173: Auxiliary Function Complete
Auxiliary function complete When an auxiliary function (M function) is commanded, the completion signal is waited for before proceeding to the next block by creating the processing and completion sequences in a Motion SFC program or sequence program. There are two types of completion signals available.
Page 174 Auxiliary function complete 2 (FIN2) The operation for when the FIN2 signal is used is shown below. For Motion SFC programs and sequence programs, use a process that checks that the auxiliary function strobe signal is OFF before turning OFF "[Rq.3383] Auxiliary function complete 2 (FIN2) (D54227.1+2s)".
Page 175: Feed Function
Feed Function Fast forward speed Fast forward speed is the positioning speed when positioning by the G00 command. Set the fast forward speed in [Motion Control Parameter][G-code Control Parameter][G-code Control Axis Parameter]"Speed/Time Constant""Fast Forward Speed". For the path when positioning, there is the "interpolation type" which is a straight line from the start to the end point, and the "non-interpolation type"...
Page 176: Cutting Feed Speed
Cutting feed speed For the cutting feed speed, set feed speed[mm/min] per minute and an address F. The cutting feed speed is valid for G01 commands, G02 commands, G03 commands. The cutting feed speed is clamped by the value set in [Motion Control Parameter][G-code Control Parameter][G-code Control Axis Parameter]"Speed/Time Constant""Cutting Feed Clamp Speed".
Page 177: Feed Speed Specification And The Effects On Each Control Axis
Feed speed specification and the effects on each control axis Control axes are divided into linear axes which control linear movement, and rotating axes which control rotational movement. The feed speed is used to specify the displacement speed of these axes, and has different effects on the tool movement speed when cutting depending on if controlling a linear axis or rotating axis.
Page 178 Controlling a rotating axis When controlling a rotating axis, the specified feed speed acts as the rotation speed (angular speed) of the rotating axis. Thus, the cutting speed (vector speed) for the tool advance direction changes according to the distance between the center of rotation and the tool.
Page 179 Controlling linear axes and rotating axes at the same time Whether the controlling equipment controls linear axes or rotating axes, they are all treated the same way. When controlling a rotating axis, the values given by coordinate language (A, B, C) are the angles, and the value given by the feed speed (F) is used as the vector speed for all axes.
Page 180: Deceleration Check
Deceleration check The deceleration check function reduces the impact on machinery when the feed speed of the control axis changes abruptly, and can also prevent the rounding of corners when cutting corners by decelerating to a stop at the block joint, before executing the next block.
Page 181 ■Smoothing check method After a deceleration check and checking that the position commands of all axes on the line have reached their target position, the execution of the next block starts. Execution block Next block Ts : Acceleration/deceleration time Td : Deceleration check time Td=Ts+α(0 to 4ms *1: When the operation cycle is 1.777ms or more, the deceleration check time is a maximum of...
Page 182 Deceleration check when movement changes to the reverse direction When the direction of movement is reversed in the cutting feed, the deceleration check is as follows. : Deceleration check, : No deceleration check Current block Next block Other than G00/G01 ...
Page 183 ■Reverse of the direction of movement for G1->G1 Set whether to perform deceleration check or not for reverse of the direction of movement for G1->G1 in [Motion Control Parameter][G-code Control Parameter][G-code Control System Parameter]"Control Setting""G1G1 Deceleration Check". G1->G1 deceleration check Description Same direction Reverse direction Do not execute deceleration...
Page 184: Tool Compensation Function
Tool Compensation Function Tool compensation There are two types of tool compensation functions as illustrated below: Tool length compensation, and tool radius compensation. Set the tool compensation amounts in [Motion Control Parameter][G-code Control Parameter][G-code Control Work Parameter]"Tool Compensation Data". When using tool compensation, specify the tool compensation No. •...
Page 185: Tool Length Compensation
Tool compensation No. (H/D) "H" and "D" are used as addresses for specifying tool compensation Nos. A maximum of 40 groups can be used between lines. H is used for tool length compensation, and D is used for tool radius compensation. Tool compensation Setting range Tool length compensation...
Page 186 ■Inside corner (  180) : Program path, : Tool center path, : Tangent to the arc at intersection, : Parallel line to program path LinearLinear LinearArc Single block Compensation stopping point θ θ Single block Compensation stopping point Arc center Start point Start point ■Outside corner (obtuse angle)(90...
Page 187 ■Outside corner (acute angle)( < 90) : Program path, : Tool center path, : Tangent to the arc at intersection, : Parallel line to program path Tool radius compensation type LinearLinear LinearArc Type A Arc center Single block stopping point Single block stopping point Compensation...
Page 188 ■Inside corner (obtuse angle) (90   < 180) : Program path, : Tool center path, : Tangent to the arc at intersection, : Parallel line to program path LinearLinear LinearArc θ θ Compensation Compensation Compensation Single block Compensation stopping point Single block stopping point...
Page 189 ■Outside corner (obtuse angle) (90   < 180) : Program path, : Tool center path, : Tangent to the arc at intersection, : Parallel line to program path LinearLinear LinearArc Single block stopping point Arc center Compensation Single block Compensation stopping point Compensation...
Page 190 ■When the end point of arc is not on the arc When the difference between the start point radius and the end point radius is within range, circular interpolation connects to the commanded end point in the shape of a spiral. When outside the range for arc deviation, a minor error (error code: 1FC3H (details code: 0313H)) occurs.
Page 191 Tool radius compensation cancel operation Under the following conditions, tool radius compensation changes to compensation cancel mode. In compensation cancel mode the compensation vector is "0", and the tool center path matches the program path. For G-code programs that include tool compensation, always end the program in the compensation cancel state.
Page 192 ■Outside corner (acute angle) ( < 90) : Program path, : Tool center path, : Tangent to the arc at intersection, : Parallel line to program path Tool radius compensation type LinearLinear LinearArc Type A Arc center Single block stopping point Single block stopping point Compensation...
Page 193 Tool radius compensation (G41, G42) and I, J, K command (I, J type vector command) By commanding tool radius compensation (G41, G42) and "I, J, K" in the same block, the direction of compensation can be changed at will. An example using "I, J type vector (G17 plane)" is used to describe the vector created by tool radius compensation commands (G41, G42).
Page 194 ■Commanding "I, J" during compensation mode : Program path, : Tool center path • With a movement command I, J type vector Program Operation When "I, J" is commanded (G17 G41 G91) N100 G41 G00 X150 J50 D01 N110 G02 I50 N120 G00 X-150 I, J type vector N100...
Page 195 ■Points • Command I, J type vectors in linear mode (G00, G01). If in arc mode at the start of compensation, a minor error (error code: 1FC3H (details code: 0315H)) occurs. I, J commands in arc mode during compensation mode will specify the center of the arc.
Page 196 ■Direction of compensation vector The directions of the compensation vector for the I, J type vector in tool radius compensation mode are shown below. • Tool radius compensation (left) mode (G41) Rotate the direction specified by I, J 90 to the left when looking at the home position from the positive direction of the Z- axis (third axis) I100 I-100...
Page 197 Interference check Interference check prevents the tool compensated by tool radius compensation from cutting into the material (interference) when the tool radius is big for the program path. There are three types of interference check which are set in [Motion Control Parameter][G-code Control Parameter][G-code Control Work Parameter]"Tool Radius Compensation""Interference Check"...
Page 198 ■Conditions for no interference check In the following cases, interference check cannot be performed and cutting (interference) occurs. • When three movement command blocks cannot be pre-read. (There are three blocks or more out of the five pre-read blocks which do not have movement) •...
Page 199 ■Interference check avoid The following is the operation for when interference check avoid is valid. <Example 1> • The tool center path is (1)→(3). : Program path : Tool center path without interference check : Tool center path with interference check avoid : Compensation vector <Example 2>...
Page 200 In the following cases, the path cannot be changed, and an interference check alarm occurs. • When there is a valid end point vector in the next block even when all end point vectors are erased in the current block Interference check is performed for N2 and all end point vectors are erased but the N3 end point vector is treated as valid.
Page 201 Select tool radius or diameter compensation The tool radius compensation can be specified as tool diameter in [Motion Control Parameter][G-code Control Parameter][G-code Control Work Parameter]"Tool Radius Compensation""Select Tool Radius or Diameter Compensation". When diameter compensation is set, the compensation amount set to the commanded tool number is recognized as diameter compensation, and this is converted to a radius compensation amount when compensating.
Page 202 • ArcArc • When there is intersection (A) at the change of compensation direction Arc center Compensation Compensation Arc center Arc center • When there is no intersection at the change of compensation direction Arc center Arc center Compensation Compensation Compensation Arc center •...
Page 203 ■Changing the compensation No. during tool radius compensation Do not change the compensation No. during compensation mode. The following is the operation when the compensation No. is changed during compensation mode. Program G41 G01 ..D01 (=0, 1, 2, 3) N101 G0...
Page 204 ■Command for temporarily erasing compensation vectors When basic machine coordinate system selection (G53) is commanded during compensation mode, compensation vectors are temporarily erased, and compensation mode returns automatically afterwards. In this case, compensation cancel operation is not performed, and immediately after the intersection vector the tool moves to a point without a vector (point commanded by program).
Page 205 • When commanded with tool radius compensation cancel When a block without movement is commanded together with G40, only the compensation vector is cancelled. Program Operation N6 G91 X50. Y100. N7 G40 M5 N8 X150. Y30. ■When "I, J, K" are commanded to tool radius compensation cancel (G40) When "I, J, K"...
Page 206 • Take note that uncut sections remain when an arc is more than 360 as a result of the details of "I, J, K" by G40 after an arc command. Program Operation (G42, G91) Compensation N1 G01 X200. N2 G03 J50. N3 G40 G01 X100.
Page 207 ■Tool radius compensation start and Z-axis cutting operation At the start of cutting, normally radius compensation is applied beforehand at a location away from the work (normally the X-Y plane), followed by cutting by the Z-axis. When the Z-axis operation is divided into two stages, a fast forward stage and cutting after making contact with the work, take caution with the following when programming.
Page 208 For the G-code program (program 2), by taking into account the internal calculation and commanding in the same direction as the direction after the Z-axis has dropped as shown in the G-code program below (program 3), immediately before Z-axis cutting, overcutting can be prevented. N2 is commanding in the same direction as N6 therefore compensation is performed correctly.
Page 209: Operation Supporting Functions
Operation Supporting Functions Automatic operation start (cycle start) By specifying the program No., sequence No., and block No. of the G-code program for automatic operation, the specified block is cued and a program can be started with the leading edge of "[Rq.3377] Automatic operation start (cycle start) (D54226.1+2s)".
Page 210: Automatic Operation Hold (Feed Hold)
Cautions • When a sequence No., or block No. are specified for program startup, time is needed to search for the startup block thus it may take time for the block to actually start. • When the same sequence No. is specified multiple times in one program, the program is started from the position of the sequence No.
Page 211: Reset
Reset G-code control operation can be reset by the leading edge of "[Rq.3380] Reset command (D54226.4+2s)". The operation for each function when reset is performed is shown below. Function Operation Related devices G-code modal Initialization • [Md.3028] Group 01 modal status (D54520+128s) Set according to the •...
Page 212: Single Block
• While resetting, "[St.3216] Resetting (D54441.8+4s)" turns ON and controlling axes start to decelerate to a stop. When resetting is completed "[St.3216] Resetting (D54441.8+4s)" turns OFF, and "[St.3217] Reset complete (D54441.9+4s)" turns ON. The automatic operation status changes to a reset status, and "[St.3212] During automatic operation (D54441.0+4s)"...
Page 213: Normal Line Control Function
Normal Line Control Function In program operation the normal line control function controls the rotation of a rotating axis (C-axis) so that the tool is always in the normal direction for a movement axis currently selecting a plane. • At a block joint, the rotation of a rotating axis (C-axis) is controlled so that the tool is always in the normal direction at the start point of the next block.
Page 214 Normal line control rotation operation for movement commands ■Normal line control start The movement of axes selecting planes is performed after the rotation of a normal line control axis to keep it at a right angle to the advancing direction at the start point of the normal line control command block. In both normal line control type  and type , the rotating direction of the normal line control axis at startup is the direction that is 180[degree] or less (shortcut) .
Page 215 • Block joint : Program path, : Tool radius compensation path, : Tool end path Tool radius Description Operation compensation LinearLinear LinearArc ArcArc Without Move the block after rotating the normal line control axis so that is at a right angle to the movement direction of the plane selecting axis of the next block...
Page 216 Normal line control temporary cancel During normal line control, the rotating operation for normal line control is not performed at a block, and it’s joint to the previous block, where the movement amount is smaller than the movement amount set in [Motion Control Parameter][G- code Control Parameter][G-code Control System Parameter]"Normal Line Control""Minimum Rotating Movement Amount".
Page 217 Rotating direction of a normal line control axis at block joints The rotating direction of normal line control axes at block joints differs according to normal line control type  and normal line control type . There are also limitations on the rotating angle depending on the angle ε set in [Motion Control Parameter][G-code Control Parameter][G-code Control System Parameter]"Normal Line Control""Minimum Rotating Angle"...
Page 218 ■Normal line control type I : Program path, : Tool end path Normal line control axis rotating angle for block joint:  G41.1 G42.1 -ε<  <ε 90° θ θ ε 180° 0° θ -ε θ No rotation No rotation 270°...
Page 219 ■Normal line control type II : Program path, : Tool end path Normal line control axis rotating angle for block joint:  G41.1 G42.1 -ε<  <ε 90° θ θ ε 180° 0° θ -ε θ No rotation No rotation 270°...
Page 220 Operation when the rotating angle is less than the minimum rotating angle During normal line control, when the rotating angle of the block joint is less than the minimum rotating angle, a rotating operation is not inserted. For the rotating angle where rotating operation is not inserted, there is no interpolation immediately after the block joint.
Page 221 • Cutting immediately after block joint : Program path, : Tool end path Normal line control type Speed of normal line control rotating axis Normal line control type  The normal line control axis rotating speed set in [Motion Control Parameter][G-code Control Parameter][G-code Control System Parameter]"Normal Line Control""Normal Line Control Axis Rotating Speed".
Page 222 ■Normal line control rotating speed during circular interpolation : Program path, : Tool end path Normal line control type Speed of normal line control rotating axis Normal line control type  The normal line control axis rotating speed is a rotating speed based on the feed speed F. f = F ×...
Page 223 Automatic arc insertion at corner During normal line control, an arc is automatically inserted to the corner of an axis movement selecting a plane. Automatic arc insertion at corner is performed with normal line control type . Set the radius of the insertion arc in [Motion Control Parameter][G-code Control Parameter][G-code Control System Parameter]"Normal Line Control""Normal Line Control Axis Insert Radius".
Page 224 ■Program example • Normal line control type  (when processing continuous circular interpolation by normal line control) Program Operation N101 G90 G53 G00 X0. Y0. C0. N102 X25. Y-10. N103 G17 N105 N104 G41.1 G03 X35. Y0. R10. F10. N105 G03 X8. Y9. R15. N110 N106 N106 G02 X-8.
Page 225 Cautions • During normal line control, the program coordinates are updated according to the movement of the normal line axis. Therefore program normal line control by the program coordinate system. • For single block, the normal line control axis stops at the position of the start of rotating. •...
Page 226: High-Accuracy Control
High-Accuracy Control In high-accuracy control, the deviation in work that is caused by the delay in the control system is controlled. High-accuracy control is effective in work that requires sharp edges at corners and work that requires the deviation on curves to be minimized.
Page 227 High-accuracy control operation when combined with each function The high-accuracy control operation for each function is shown below. Function Operation Normal line control • When normal line control and high-accuracy control mode are used together, set the parameters so that tolerable acceleration control for each axis is enabled.
Page 228: Acceleration/Deceleration Before Interpolation
Acceleration/deceleration before interpolation In order to control the impact on the machine when starting/stopping, acceleration/deceleration control is performed for movement commands and the speed curve is smoothened. However, because the acceleration/deceleration processing when high-accuracy control is disabled is performed after interpolation, corners at block joints become rounded and deviations from the commanded shape occur.
Page 229 Path control in circular interpolation commands For circular interpolation commands, with the conventional acceleration/deceleration control method after interpolation, the acceleration/deceleration smoothing process is affected and the path output from the Motion CPU to the servo amplifier is deviated inwards from the actual commanded path, and the radius of the arc becomes smaller. With acceleration/deceleration control method before interpolation, interpolation is performed after acceleration/deceleration control therefore the path output from the Motion CPU to the servo amplifier is the same as the commanded path.
Page 230: Optimum Speed Control
Optimum speed control When movement direction changes at corners and arcs, the acceleration that corresponds to the change in direction and feed speed is generated. If that acceleration is large, the machine vibrates and traces from working are left on the working surface. In high-accuracy control mode, deceleration control (optimum speed control) is performed to keep the generated acceleration equal to or less than the tolerable acceleration set in the parameters.
Page 231 Optimum corner deceleration When the composite speed that is generated at the joints between blocks is kept equal to or lower than the common tolerable acceleration for each axis determined by the G-code control system parameters "acceleration/deceleration before interpolation - maximum speed", "acceleration/deceleration before interpolation - time constant", and the accuracy coefficient by deceleration control, highly precise edges can be cut.
Page 232 Tolerable acceleration control for each axis (optimum acceleration control) The acceleration that occurs at the joint between blocks is evaluated by each axis and deceleration control for passing block joints at the optimum speed is performed. This enables the cutting of highly precise edges. The optimum speed is calculated so that the acceleration that occurs at each axis at the block joints is equal to or less than the tolerable acceleration for each axis.
Page 233 However, when the tolerable acceleration differs between base axes, arcs can become warped. Therefore set the tolerable acceleration of the base axes so that they are the same value. When the G-code control axis parameters "cutting feed for each axis before interpolation - maximum speed" and "cutting feed for each axis before interpolation - time constant" set to the base axis are "0", the tolerable acceleration for all base axes is set as the lowest tolerable acceleration of all the base axes.
Page 234 Item Details Parameter used Tolerable corner Calculated based on the data of the ■G-code control system parameter acceleration for parameter used. • Corner accuracy coefficient each axis ■G-code control axis parameter [m/s • Cutting feed for each axis before interpolation - maximum speed •...
Page 235 Item Details Parameter used Theoretical The theoretical arc radius reduction[mm] <Optimum corner deceleration> <Tolerable acceleration control for each axis> ■G-code control system parameter ■G-code control system parameter radius reducing for an arc with radius R is calculated difference based on the data of the parameter •...
Page 236: Vector Accuracy Interpolation
Vector accuracy interpolation During fine segment commands, when joints between blocks have extremely small angles, and are smooth (no optimum corner deceleration), vector accuracy interpolation function makes the joints even smoother. : Vector precision interpolation : Commanded path Arc entrance/exit speed control At joints where changes from line to arc or arc to line occur, a change in acceleration can occur causing the machine to vibrate.
Page 237: Tandem Function
Tandem Function The tandem function outputs the same movement command of a specified axis (master axis) to another axis (slave axis) during G-code control. The axes used for tandem function are set in [Motion Control Parameter][G-code Control Parameter][G-code Control Axis Parameter]"Tandem Function""Master Control Axis Name". The tandem function enable information can be checked with "[Md.3153] Tandem function enabled information (D54755+32sn)".
Page 238: G-Code Program Operation By Got
G-Code Program Operation by GOT G-code programs can be input/output and edited on a GOT screen by connecting the GOT and Motion CPU. The GOT models and engineering software versions that support G-code program operation are shown below. Compatible models Product Model GOT2000 series...
Page 239: Appendices
APPENDICES Appendix 1 G-Code Control Error Details Codes G-code control error details codes The detail codes when a G-code control error is detected are shown below. Detailed information 1 ■G-code control parameter error (minor error (error code: 1FC0H)), G-code control configuration error (moderate error (error code: 30FDH)) The details codes for when G-code control parameter error (minor error (error code: 1FC0H)), and G-code control configuration error (moderate error (error code: 30FDH)) are detected are shown below.
Page 240 Rewrite the G-code program file. If the same error occurs, the possible cause is a hardware failure of the Motion controller. Please consult your local Mitsubishi Electric representative. 0041H G-code program capacity • The G-code program exceeds the maximum file •...
Page 241 ■G-code control operation error (minor error (error code: 1FC1H)) The details codes for when G-code operation error (minor error (error code: 1FC1H)) is detected are shown below. Details code Description Error details and cause Corrective action 0101H Stored stroke limit over The operation went outside of the stored stroke limit.
Page 242 ■G-code control stop error (minor error (error code: 1FC2H)) The details codes for when G-code control stop error (minor error (error code: 1FC2H)) is detected are shown below. Details code Description Error details and cause Corrective action 0201H Reset command ON Automatic operation start (cycle start) is not possible Check that "[Rq.3380] Reset command"...
Page 243 Details code Description Error details and cause Corrective action 0313H Arc radius difference over The arc start point, end point or arc center is incorrect. • Correct the values of the specified addresses of the program start point, end point, arc center and radius.
Page 244: Add-On License Error Details Codes
Details code Description Error details and cause Corrective action 0326H Plane selection in A plane selection command (G17, G18, G19) was After coordinate rotation command, be sure to execute coordinate rotation commanded during a coordinate rotation command. a coordinate rotation cancel command before making a plane selection command (G17, G18, G19).
Page 245: Appendix 2 G-Code Control Event Details Codes
Appendix 2 G-code Control Event Details Codes G-code control event details codes The detail codes when a G-code control event is detected are shown below. Detailed information 1 ■G-code control system information (information (event code: 07FAH)) The details codes for when G-code control system information (information (event code: 07FAH)) is detected are shown below.
Page 246: Revisions
Japanese manual number: IB-0300370-B This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 247: Warranty
WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
Page 248: Trademarks
TRADEMARKS Ethernet is a registered trademark of Fuji Xerox Corporation in Japan. Microsoft, Microsoft Access, Excel, SQL Server, Visual Basic, Visual C++, Visual Studio, Windows, Windows NT, Windows Server, Windows Vista, and Windows XP are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.
Page 250 IB(NA)-0300371-B(1712)MEE MODEL: RMT-P-GCD-E HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Chapter 1 Overview

G-Code Control Overview

Performance Specifications

G-Code Control Add-On Library Configuration

Chapter 2 Starting up the System

Starting up the G-Code Control System

2.2 License Authentication of G-Code Control Add-On Library

Control Cycle of G-Code Control

G-Code Control System Device Assignment Method

G-Code Control System Start/End

G-Code Control System Stop Operation

Chapter 3 G-Code Control Dedicated Signals

G-Code Control Common Command Signal

G-Code Control Common Control Device

G-Code Control Common Status

G-Code Control Common Monitor Device

G-Code Control Line Command Signal

G-Code Control Line Control Device

G-Code Control Line Status

G-Code Control Line Monitor Device

G-Code Control Line Monitor Device (Expansion)

G-Code Control Axis Status

G-Code Control Axis Monitor Device

Internal Relay (M)/Data Register (D) Availability

Chapter 4 G-Code Control Parameters

G-Code Control System Parameter

G-Code Control Axis Parameter

G-Code Control Processwork Parameter

Chapter 5 G-Code Control Programs

G-Code Control Program Composition

Fetching G-Code Program Files

Pre-Read Buffer

Decimal Point Input

Coordinate System

G-Code

M-Code

Chapter 6 Auxiliary and Applied Functions

Relationship between G-Code Control and each Function

Auxiliary Function (M Function)

Feed Function

Tool Compensation Function

Operation Supporting Functions

Normal Line Control Function

High-Accuracy Control

Tandem Function

G-Code Program Operation by GOT

Appendices

Appendix 1 G-Code Control Error/G-Code Control Event Details Codes

Appendix 2 G-Code Control Event Details Codes

Quick Links

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Summary of Contents for Mitsubishi Electric MELSEC iQ-R16MTCPU