HUST CNC H6D-T User manual

Lathe CNC Controller
Manual
Ver Nov. , 2013
HUST Automation Inc.
No. 80 Kon Yei Road, Toufen, Miaoli, Taiwan
Tel: [phone]
Fax: [phone]

Table of Contents
I
TABLE OF CONTENTS
1 H6D-T Main Features of CNC Lathe Controller 1-1
2 Operation 2-1
2.1 Basic Operation 2-1
Screen Description 2-1
Startup Screen 2-1
MPG TEST Screen 2-2
Auto Mode Screen 2-3
MDI Mode Screen 2-7
Edit Mode display 2-10
Program Selection Screen 2-14
Jog Mode Screen 2-16
MPG Mode Screen 2-17
Home Mode Screen 2-18
I/O Mode Screen 2-19
Parameter Screen 2-21
Software Version Screen 2-22
System Parameter Screen 2-23
Tool Radius 2-25
Tool Compensation Screen 2-27
G54~G59: Work coordinate setting page 2-29
Error message 2-30
Graph Mode Screen 2-30
2.2 Program Editing 2-31
2.2.1 Programming Overview 2-31
2.2.1.1 Part Programs 2-31
2.2.1.2 Programming Methods 2-31
2.2.1.3 Program Composition 2-33
2.2.1.4 Coordinate System 2-35
Coordinate Axis 2-36
Coordinate Positioning Control 2-36
Work Origin 2-39
Machine Origin 2-40
2.2.1.5 Numerical Control Range 2-41

HUST CNC H6D-T Manual
II
2.2.2 Program Editing 2-42
2.2.2.1 Creating a New Program 2-42
2.2.2.2 Editing a Program 2-43
2.2.2.3 Entering Fractions 2-48
2.2.2.4 Editing Notes 2-48
3 G/M Codes 3-1
3.1 Command codes 3-1
3.2 Positioning,G00 3-4
3.3 Linear Cutting,G01 3-5
3.4 G02,G03 Circular Interpolation 3-7
3.5 Dwell Command,G04 3-11
3.6 Parabolic Cutting,G05 3-12
3.7 Exact Stop Check,G09,G61,G62 3-15
3.8 Spindle Positioning Command,G15 3-16
3.9 Cylindrical Plane,G16 3-16
3.10 Plane setup,G17-G19 3-20
3.11 Automatic Reference Position Return,G28 3-23
3.12 Return From Reference Position,G29 3-24
3.13 2nd Reference Position Return,G30 3-25
3.14 Thread Cutting,G32 3-26
3.15 G33 Tapping Cutting Canned Cycle 3-30
3.16 G34 Variable Lead Thread Cutting 3-31
3.17 Canned Cycle Functions (For implication of programming) 3-36
3.17.1 Single Cutting Canned Cycle,G90,G92,G94 3-36
Longitudinal Cutting Fixed Cycle,G90 3-36
Outer/Inner Diameter Tapered Lateral Canned Cycle,G90 3-37
Thread Cutting Fixed Cycle,G92 3-38
Tapered Thread Cutting Canned Cycle,G92 3-39
Face Cutting Fixed Cycle,G94 3-40
Face Cutting Fixed Cycle,G94 3-41
3.17.2 Compound Canned Cycle Functions,G70~G76 3-42
Finishing Cycle,G70 3-43
Longitudinal Rough Cutting Cycle,G71 3-43
Face Rough Cutting Cycle,G72 3-47
Formed Material Rough Cutting Cycle,G73 3-50

Table of Contents
III
Face Cut-Off Cycle,G74 3-53
Longitudinal Cut-Off Cycle,G75 3-56
Compound Thread Cutting Canned Cycle,G76 3-58
Notes on Compound Canned Cycle (G70~G76) 3-61
3.18 G50 Coordinate system & Spindle clamp speed setting 3-62
3.19 Constant Surface Cutting Speed Setting,G96 3-63
3.20 Cutting Speed Cancellation),G97 3-64
3.21 Feed-rate Setting,G98,G99 3-64
3.22 Inch/Metric Measurement Mode ,G20,G21 3-64
3.23 Deep Drilling Canned (peck drill)Cycle G83,G80 3-65
3.24 Tapping Cycle G84,G80 3-65
3.25 Auxiliary Functions,M-code,S-code 3-68
3.26 Subprograms 3-71
Structure of the Subprogram 3-71
Execution of the Subprogram 3-71
3.27 Tool Radius Compensation 3-65
3.27.1 Total Offset Compensation Setting and Cancellation 3-65
3.27.2 Tool-tip Radius and the Direction of Fictitious Tool-tip,G41,
G42,G40 3-66
3.27.3 Interference Check 3-86
3.27.4 Notes on Tool Radius Compensation 3-89
3.28 Coordinate System 3-91
3.28.1 Local Coordinate System Setting,G52 3-91
3.28.2 Basic machine coordinate system ,G53 3-92
3.28.3 Work Coordinate System,G54~G59 3-93
3.29 Corner chamfer (,C_),round-angle chamfer (,R_)functions 3-96
3.29.1 Chamfer (,C__) 3-96
3.29.2 Round-angle chamfer (,R_) 3-98
3.30 Liner angle function (,A_) 3-99
3.31 Geometry function command 3-101
3.32 Automatic calculation of Line-Arc intersection point 3-104
4 MCM Parameters 4-1
4.1 MCM Parameters 4-1
4.1.1 Basic Parameters 4-1
4.1.2 MCM Parameters 4-1

HUST CNC H6D-T Manual
IV
4.2 Description of Parameters 4-5
5 Connections 5-1
5.1 System Connection Descriptions 5-1
5.2 System Installation 5-2
5.2.1 Operating Environment 5-2
5.2.2 Considerations for the design of control panel 5-2
5.2.3 Internal temperature design 5-2
5.3 H6D-T External Dimensions 5-4
5.3.1 H6D-T Controller 5-4
5.3.2 H6DL-T Controller 5-6
5.3.3 H6D-T Auxiliary Panel 5-8
5.3.4 H6DL-T Auxiliary Panel 5-9
5.3.5 H6D-T Accessories Dimensions 5-10
5.4 Connector Type 5-12
5.5 Connector Name 5-12
5.6 Connector Pin-out Definition 5-13
Axis Connector Pin 5-13
MPG (H6D) 5-14
MPG (H9D) 5-15
AD/DA Analog Signal Wiring 5-16
5.6.1 G31 INPUT Control Signals 5-17
5.6.2 Axial Control,pin assignment and wiring 5-18
5.6.3 Wiring of Manual Pulse Generator (MPG) 5-19
5.6.4 Wiring of Spindle Control 5-20
5.6.5 I/O Wiring 5-22
5.6.6 I/O Wiring Schematic 5-24
5.6.7 Wiring of System AC Power Supply 5-30
5.6.8 Servo on Wiring Examples 5-31
6 Error Messages 6-1
7 AppendixA 7-1

Table of Contents
V
7.1 Description of MCM Machine Constants 7-22
8 AppendixA 8-1
Input Planning 8-1
Input Signal Format Setting 8-2
Output Point Planning 8-2
9 AppendixB - PC On-Line Operation 9-1
9.1 PC Performs Online Operation via RS232 and The Controller 9-1
9.1.1 Program Transfer From PC To CNC Controller 9-2
9.1.2 Program Transfer from CNC Controller to PC 9-3
9.1.3 Transfer MCM Data from PC to CNC Controller 9-4
9.1.4 Transfer MCM Data from CNC Controller to PC 9-5
9.1.5 Transfer Data Variable from PC to CNC controller 9-5
9.1.6 Transfer Data Variable from CNC controller to PC 9-5
9.1.7 Transfer PLC Ladder from PC to CNC controller 9-6
9.1.8 Transfer LCD Screen Display Data from PC to CNC 9-7
9.1.9 Transfer Controller System Data from PC to CNC 9-7
9.1.10 Transfer function tables from PC to CNC controller 9-8
9.1.11 PC to Controller (ARM) 9-8
9.1.12 HCON.EXE Program Operation 9-9
9.1.13 RS232C Connection 9-12
9.2 HUST H6C-T Transmission Modes 9-13
9.3 USB Device Mode 9-14
9.4 USB Host Mode 9-14
9.5 Operational Instruction of A Standard H6C-T Transmission
Interface 9-14
9.5.1 File Download Interface 9-15
9.5.2 File Upload Interface 9-18
10 AppendixC - Method for usingthe most often used G10command 10-1
11 AppendixD Servo Motor W iring 11-1

HUST CNC H6D-T Manual
VI

1 Main-Features of HUST H6D-T Lathe CNC Controlle
1 - 1
Main-Features of HUST H6D-T Lathe CNC Controller
Available for operation with a maximum of 6 axes (depending on the actual model
number).
It can be worked with impulse command or voltage command type of server system.
Max. response speed will be 2,500,000 impulses per second (2500 KPPS). When
operated at 1 m resolution, it can even reach 150m per minute.
It achieves 0.5us of response speed for fast acceleration/deceleration control, which
is faster than 2ms response of conventional CNS digital control for 4000 times.
Simultaneous operation of speed control and position control in providing a flexible
option for the customer.
Encoder feedback function is provided for speed control and position control. It not
only achieves accurate position judgment and much easier failure detection but can
prevent the mechanical conflict in a more effective way.
It can flexibly work with Optical Scale for performing fully closed loop control in
achieving more accurate position alignment.
Automatic identification of NPN, PNP signal format at the input point without the
need to shift the switch. Further, the electrical layout is configured in a more
convenient manner for easier and flexible operation.
When activating the special action control mode, it achieves faster working speed
than the ordinary digital control model while providing much higher efficiency and
more stabilized performance.
It is available for designing convenient LCD screen for displaying the editing
system on LCD. Simple and easier for learning. Further, the user can also select PC
screen to display the edit software to carry out monitoring or program inspection.
Through RS232 interface, the user can transmit the data on PC and run the program
(hands-on learning) or execute the transmission directly via USB, SD card interface.

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Program Designed by CAD/CAM on PC. Program input from PC through RS232C
interface.
Based on varied characteristics of CNC models, the MCM Parameter Setting Table
can be used to set the mechanical parameters for enhancing the amiability of the
machine.
Using the well-based Tool management function, the customer can set up 40-tool
lifespan management and select the desired operation count, time limit.
Provide 40 sets of tool-length offsets.
It is equipped with gear gap compensation function for adjusting the gear gap error
after using the Guide Stud. Further, it also has 40-section pitch compensation
function to offset the pitch wearing in different sections.
It is provided with 6 sets of working coordinate system setting functions to facilitate
the program design and Workpiece machining.
Full follow-up type of tapping mode in achieving more perfect thread, more
accurate thread depth control and faster speed.
Each axis can be set as active, passive mode or single-node non-stop mode.
It is equipped with gear gap compensation function for adjusting the gear gap error
after using the Guide Stud. Further, it also has the 40-section pitch compensation
function to offset the pitch wearing in different sections.
It is provided with 6 sets of working coordinate system setting functions to facilitate
the program design and Workpiece machining.
Full follow-up type of tapping mode in achieving more perfect thread, more
accurate thread depth control and faster speed.
Each axis can be set as active, passive mode or single-node non-stop mode.

1 Main-Features of HUST H6D-T Lathe CNC Controlle
1 - 3
Self-diagnostic and error signaling function.
MPG hand-wheel test and collision free function for cutting products at the speed
controller by MPG.
IO Module is designed with separate Transition Board and Signal Board in
achieving lower maintenance cost, simpler installation and more stabilized
performance.
Provided with standard 24 input points and 16 output points (optional single-piece
Transition Board can be selected to provide 48 input points and 32 output points) of
programmable logic control. It can be expanded up to 256 input point and 176
output points of programmable logic control.
This operator’s manual includes basic operation, program editing, G/M code, parameter
settings, connections and maintenance (plus warning descriptions) with examples and
explanations for each command.
If there are any problems with the application, please fill out a problem sheet indicating
the nature of the problem. Send it by either fax or mail. We will respond as soon as
possible.

HUST CNC H6D-T Manual
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2 Operation
2 - 1
2 Operation
2.1 BasicOperation
Screen Description
* Startup Screen
After powering the controller, the following startup screen displays:
Fig. 2-1
After 3 seconds, the next screen displays according to the “Mode Selection” setting.
When turning the “PRON” knob from left to right, the following modes are displayed in
order:
“MPG - TEST” “AUTO” “MDI” “EDIT” “PRNO” “JOG”
“MPGx1” “MPGx10” “MPGx100” “HOME”
Fig. 2-2
Controller buttons function key following order from left to right: “RESET”
“IO/MCM” “TOOL RADIUS” “TOOL OFFSET” “GRAPH”

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2 - 2
* MPG TEST Screen
The following screen displays when the “Mode Selection” knob is set to “MPG –
TEST”:
Fig. 2-3
After this mode is selected, the movement of all axes in the program is controlled by the
MPG when the program is running. The axis will stop moving when the MPG has no
input.
In this mode, the program process will proceed in order when the program is running,
regardless of the direction of the hand-wheel. The program process will not return when
the hand-wheel is rotated anti-clockwise.
Press the F7 Key to shift the multiple of MPG Hand Wheel as X1, X10 and X100
alternately, and other function keys will be the same as the Auto Mode. Please refer to
Auto Mode function key description.

2 Operation
2 - 3
* Auto Mode Screen
The following screen displays when the “Mode Selection” knob is set to “Auto”:
Fig. 2-4
1. Parameter Monitoring: Select under Auto Mode, Program Est. Mode and MDI
Mode (for the engineering technician). Under the aforesaid mode, press the F1 Key
to access the Variation monitoring screen. Under Variation monitoring screen, enter
the variation address to be monitored and it will display the real-time value of such
variation address.
2. Servo Monitoring:Select under Auto Mode, Program Est. Mode and MDI Mode
(for the engineering technician). Under the aforesaid mode, press F3 Key to access
the “Servo Monitoring” screen. Under this screen, select the axis to be monitored
and the user can monitor the real-time command of each axis and the Servo
responding status.
3. Restart:Select only before running the program.
(1) In the “Edit Screen” (as per Fig. 2-8 below), you may search the interrupted
node or reset for restarting such node. Press F4 Key after completing the
search or setting; when “Restart” indicates reverse white, it means such
function is active.
(2) Under Auto screen, press F4 Key to select or cancel the function restarting.
When “Restart” indicates reverse white, it means such function is closed;
otherwise, it will be cancelled. After pressing “Start” key to run the program
again, the program will start running from the previously interrupted node or
the “Restart” node being set.
( When setting “If to grab previous node when restarting” parameter item
as “0”, the system will grab the previous node after pressing “Start” key and

HUST CNC H6D-T Manual
2 - 4
the program will advance to the “Set Restart” node of the previous node for
the system to run the program of this node and the one that follows. When
setting “If to grab previous node when restarting” parameter item as “1”, ,
the system will not grab previous node after pressing “Start” key; instead,
the program will run in the direction from “Set Restart” node. )
4. Semi-Auto/Auto:When setting “If setting the program as Auto Start” of the
mechanical parameters as “1” (required), the F6 Key will display
“Semi-Auto/Auto” for the user to shift between Semi-Auto and Auto working
modes via F6 Key.
Semi-Auto: When the program reaches M02/M30, the working will end.
Auto: When the program reachesM02/M30, the working will not stop and will
start automatic cycle for processing the next Workpiece.
During running the working program, the user may shift between Semi-Auto and
Auto via F6 Key.
5. Preview Program:Select under Auto and Program Est. mode to observe the
program content.
Under Auto screen, press F8 Key to access the Preview screen, which will display
the program content for the selected program number and then press F1 for
returning to Auto screen.
6. M01 Stop:This function can be selected at all times whether under running or
stopping status.
On Auxiliary Panel, press “M01 Stop” key to select or cancel the stopping
function. When the “M01 Stop” indicator is on, it means such function is active;
otherwise, it will be cancelled. Upon activating the “M01 Stop” function, the
“M01 Command” in the program will be deemed as stopping command; however,
the “M01 Command” will become invalid if such function is not selected.
7. Node Execution:This function can be selected at all times whether under running
or stopping status.
On Auxiliary Panel, press “Node Run” key to select or cancel such function. When
the “Node Run” indicator is on, it means such function is active; otherwise, it will
be cancelled. After selecting this function, it will not run the entire program upon
each pressing of “Start” key; instead, the program on the next line will be executed

2 Operation
2 - 5
upon each pressing of “Start” key.
8. Node Skip:This function can be selected at all times whether under running or
stopping status.
On Auxiliary Panel, press “Node Skip” key to select or cancel such function.
When “Node Skip” indicator is on, it means such function is active; otherwise, it
will be cancelled. When hitting “/1” Node during the execution after selecting this
function, it will skip and will not execute such node.
9. W orkingQuantityand Time Indication (as per Fig. 2-3):
(1) Set Count: Set the limit value of the working count (to set under Parameter
screen). When set value equals to 0, the maximum value of the working count
will be limitless.
(2) Working Count: When running to M15, an increment of “1” will be added. If
manual reset is required, under Auto Display screen, quickly press “0” Key
for twice and it will be reset to zero. Further, the user can also run “M16
Command” to clear the working count.
(3) The program will stop automatically when the working count reaches the Set
Count, therefore M15 Command should be located at the rearmost end of the
working process. Upon reaching the working count, the screen will indicate
the working count up message. At this time, the customer can restart the
program using the Reset key or pressing the Start key directly to restart the
program and reset the worked count to zero.
(4) Working Time: Display the duration (second) of the program currently
executed. When restarting the program after the program is interrupted or
ended, it will reset to zero automatically.
(5) Calendar: As per Fig. 2-3, the figures displayed under the “Working Time”
represent the current time. The time can be set under “Software Version”
screen.
10. W orkingRoute Drafting:Under Auto Mode or Program Est. Mode, the customer
can access the drafting screen by pressing the “Draft” key to observe the working
route, as per Fig. 2-6.
(1) Display Percentage: With Page Up/Page Down page key, you may adjust the
displayed percentage of the working route flexibly in dynamic way.
(2) Display Position: With Up/Down/Left/Right Direction Cursor key, you may
adjust the graphical Home Position displayed in the screen or adjust the draft
Home Position by letter keys in a quicker manner.
I-Screen Upper Left; J-Screen Middle Up; K-Screen Upper Right

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R-Screen Middle Left; S-Screen Center; T-Screen Middle Right
G-Screen Lower Left; F-Screen Lower Middle; M-Screen Lower
Right
(3) Coordinate Plane Shift: Letter X-XY Plane, Letter Y-YZ Plane, Letter Z-XZ
Plane.
(4) Clear the drafted working route: By pressing “Clear” key, you may erase the
drafted working track from the Draft screen.
(5) The drafting action will be divided into the the following two types:
“Hands-on Draft”, “Fast Draft”.
Shift Method: Under Draft Mode and before starting the program, press
“Fast” key (once for ON and press again for OFF).
Fast Key Indicator ON “Fast Draft”
Fast Key Indicator OFF “Hand-on Draft”
“Hand-on Draft”:Servo axis displacement command together with M, T and
S codes will be executed.
“Fast Draft”: Servo axis will be locked without displacement, but M, T
and S codes will be executed.
Such function is useful for initial working, as the operator can check if the
working route is correctly planned under absolute safe conditions.
(6) Press “F1” Key to return to the Main Screen indicated by the current mode
knob.
Fig. 2-7

2 Operation
2 - 7
* MDIMode Screen
The following screen displays when the “Mode Selection” knob is in “MDI”:
Fig. 2-8
Under this mode, input node command directly and press “Start” key and you can
execute this node command immediately
Example:
1. Edit M03 S1000:
2. Press “Enter” key.
3. Press “Start” key.
After the above-said operation, the Spindle will make CW turning (speed: 1000
rpm/min).

HUST CNC H6D-T Manual
2 - 8
11. Tool Life:Under MDI Mode, press F5 Key to access (valid when the Tool Life
management function is active).
Fig. 2-5