ADTECH9 Series CNC Programming Manual

4.10 Extended special macro functions

4.10.1. RCOOR read workpiece coordinates
Function description: Read G54-G599 workpiece coordinates
Parameter: AXIS read axis No. 1-6 corresponding to
corresponding to
float RCOOR(INT8U AXIS,INT8U COOR)
Example: The program for reading the variable X-#100 in the G54 coordinates is as below:
#100=RCOOR[1,1]

4.10.2. RMACPOS read machine tool coordinates

Function description: Read machine tool
Parameter: AXIS No.
Returned value: It return the current machine to
float RMACPOS(INT8U AXIS)
Example: The program for reading the variable X-#100 in the machine tool coordinates is as below:
#100= RMACPOS[1]

4.10.3. WMACPOS write machine tool coordinates

Function description: Write tes
Parameter: AXIS NO. VAL writes coordinates Unit mm
Returned value 0
INT16U WMACPOS (INT8U AXIS,float VAL)
Example: The program for reading the variable X-#100 in the machine tool coordinates is as below:
#100=20 (the input value for the X mathine tool is 20)
WMACPOS [1,#100]

4.10.4. SPEEDS set interpolation speed

Function description: Set the interpolation speed
Parameter: STARTV initial speed of interpolation mm/min set to 0 in default
SPEEDV drive speed of interpolation mm/min set to 0 in default
Returned value 0
INT16U SPEEDS(INT32U START,INT32U speed)
Example: If the set initial interpolation speed is 200, the drive speed is 1500, the usage is as follows:
SPEEDS[200,1500]
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4.10.5. SPEEDA set positioning speed

Function description: Set positioning speed
Parameter: AXIS No.
STARTV the initial speed of AXIS mm/min set to 0 in default
SPEEDV the drive speed of AXIS mm/min set to 0 in default
Returned value 0
INT16U SPEEDA(INT8U AXIS,INT32U START,INT32U speed)
Example: Set No. 7 AXIS, the initial speed and running speed as 200 and 2000 respectively, as follows
SPEEDA[7,200,2000]

4.10.6. MOVEABS single axis moves to the machine

Function description: Single axis moving to the machine
POS mm Move osition
Parameter MODE: 0: Waiting for the end of the motion 1: Not waiting for the end of the motion
AXIS: Number of the motion axis
POS: Move the machine
Returned value: If correct, it returns 0; If error, it returns the value >1
INT16U MOVEABS(INT8U MODE,INT8U AXIS,float POS)
Example: set the position of , the program is as follows:
SPEEDA[7,200,2000] (Set the running speed)
MOVEABS[0,7,100]

4.10.7. MOVEREL relative moved position of single axis

Function description: Relative moved position of single axis AXIS Number of the moved single axis
POS mm Relatively moved position
Parameter: MODE: 0: wait for the end of the motion 1: not wait for the end of the motion
AXIS: Number of the motion axis
POS: Relatively moved position Unit: mm
Returned value: If correct, it returns 0; If error, it returns the value >1
INT16U MOVEREL (INT8U MODE, INT8U AXIS, float POS)

4.10.8. MOVEASA two axes

interpolation)
Function description: Two axes move to the machine
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Parameter MODE: Motion mode MODE motion mode (0: Positioning - wait for the end of the motion; 1:
interpolation - wait for the end of the motion; 2: positioning - not wait for the end of the motion; 3:
interpolation not wait for the end of the motion)
AXIS: A1: Number of the motion axis 1 P1: motion displacement 1 mm A2: Number of the motion axis
2 p2: motion displacement 2 mm
Returned value: If correct, it returns 0; If error, it returns the value >1
INT16U MOVEASA(INT8U MODE,INT8U A1,float P1,INT8U A2,float P2)

4.10.9. MOVERSA relative moved position of two axes (positioning or

interpolation)
Function description: Relative moved position of two axes
Parameter: MODE: Motion mode MODE motion mode (0: Positioning - wait for the end of the motion 1:
Interpolation - wait for the end of the motion 2: Posiioning - not wait for the end of the motion 3:
Interpolation - not wait for the end of the motion)
AXIS: A1: Number of the motion axis 1 P1: Motion displacement 1 mm A2: Number of the motion axis 2
p2: Motion displacement 2mm)
Returned value: If correct, it returns 0; If error, it returns the value >1
INT16U MOVERSA(INT8U MODE,INT8U A1,float P1,INT8U A2,float P2)

4.10.10. MOVEASB three axes

interpolation)
Function description: Three axes move to the machine
Parameter: MODE: Motion mode MODE motion mode (0: Positioning wait for the end of the motion 1:
Interpolation wait for the end of the motion 2: Positioning not wait for the end of the motion 3:
Interpolation not wait for the end of the motion)
AXIS: A1 Number of the motion axis 1 P1: Motion displacement 1mm A2: Number of the motion
axis
Returned value: If correct, it returns 0; If error, it returns the value >1

INT16U MOVEASB(INT8U MODE,INT8U A1,float P1,INT8U A2,float P2,INT8U A3,float P3)

4.10.11. MOVERSB Relative Position of Motion of Three axes

Function description: Relative position of motion of three axes
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Parameter MODE: Motion mode MODE motion mode (0: Positioning wait for the end of the motion 1:
Interpolation wait for the end of the motion 2: Positioning not wait for the end of the motion 3:
Interpolation not wait for the end of the motion)
AXIS: A1 Number of the motion axis 1 P1: Motion displacement 1mm A2: Number of the motion
axis
Returned value: If correct, it returns 0; If error, it returns the value >1
INT16U MOVERSB(INT8U MODE,INT8U A1,float P1,INT8U A2,float P2,INT8U A3,float P3)

4.10.12. MOVEASC absolute position of motion of multiple axes (positioning

or interpolation)
Function description: Absolute position of motion of multiple axes
Parameter: MODE: Motion mode MODE motion mode (0: Positioning wait for the end of the motion 1:
Interpolation wait for the end of the motion 2: Positioning not wait for the end of the motion 3:
Interpolation not wait for the end of the motion)
AXISTOTAL Total motion axis (pay attention to the six maximum a
parameter (for example, No. 1 axis Position 1 No. 2 axis Position 2 No. 3 axis Position 3)
Example: Two-axis motion MOVEASC[0,2,1,100,2,100]
Example: Three-axis motion MOVEASC[0,3,1,100,2,100,3,100]
Example: Four-axis motion MOVEASC[0,4,1,100,2,100,3,100,4,100]
Example: Five-axis motion MOVEASC[0,5,1,100,2,100,3,100,4,100,5,100]
Example: Six-axis motion MOVEASC[0,6,1,100,2,100,3,100,4,100,5,100,6,100]
Returned value: If correct, it returns 0; If error, it returns the value >1

4.10.13. MOVERSC relative position of motion of multiple axes (positioning or

interpolation)
Function description: Relative position of motion of multiple axes
Parameter: MODE: Motion mode MODE motion mode (0: Positioning wait for the end of the motion 1:
Interpolation wait for the end of the motion 2: Positioning not wait for the end of the motion 3:
Interpolation not wait for the end of the motion)
AXISTOTAL Total motion axis able
parameter (for example, No. 1 axis Position 1 No. 2 axis Position 2 No. 3 axis Position 3)
Example: Two-axis motion MOVEASC[0,2,1,100,2,100]
Example: Three-axis motion MOVEASC[0,3,1,100,2,100,3,100]
Example: Four-axis motion MOVEASC[0,4,1,100,2,100,3,100,4,100]
Example: Five-axis motion MOVEASC[0,5,1,100,2,100,3,100,4,100,5,100]
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Example: Six-axis motion MOVEASC[0,6,1,100,2,100,3,100,4,100,5,100,6,100]

Returned value: If correct, it returns 0; If error, it returns the value >1

4.10.14. WRITEOUT Write Physical Output

Function description: Write physical output (OUT)
Parameter NUM Port No. VALUE output level (0 or 1)
Returned value: If correct, it returns 0; If error, it returns the value >1
INT16U WRITEOUT(INT32U NUM,INT8U VALUE)

4.10.15. WRITELED Write Physical LED

Function description: Write physical LED
Parameter NUM: Port No. VALUE output level (0 or 1)
Returned value: If correct, it returns 0; If error, it returns the value >1
INT16U WRITELED(INT32U NUM,INT8U VALUE)

4.10.16. READOUT Read Physical Output

Function description: Read the status of physical output (OUT)
Parameter NUM: Port No.
Returned value: If correct, it returns 0 for low electrical level or 1 for high electrical level;If error, it returns the
value>1
INT16U READOUT(INT32U NUM)

4.10.17. READIN Read Physical Input

Function description: Read the status of Physical Input (IN)
Parameter NUM: Port No.
Returned value: If correct, it returns 0 for low electrical level or 1 for high electrical level;If error, it returns the
value>1
INT16U READIN(INT32U NUM)

4.10.18. READLED Read Physical LED

Function description: Read the output status of the physical LED
Parameter NUM: Port No.
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Returned value: If correct, it returns 0 for low electrical level or 1 for high electrical level;If error, it returns the
value>1
INT16U READLED(INT32U NUM)

4.10.19. MOVEWAITIN Search and Wait for the Input Signals in Motion
Function description: Search and wait for the IN signal to effectively stop in motion
Parameter AXIS: Number of the motion axis SPEEDV: Searching speed POS: Searching distance
(relative distance Unit mm) IN: Wait input signals TIMEOUT: timeout Unit ms wait continuously
when it is 0
Returned value: 0: Detect the IN stop the motion of the axis Timeout: 1 Error: Return>1
INT16U MOVEWAITIN(INT8U AXIS,INT32U SPEEDV,float POS,INT8U IN, INT32U TIMEOUT)

4.10.20. WAITMOVE Wait for the End of the Motion of All Axes
Function description: Wait for the end of the motion of all axes
Parameter: Number of the axis A1 A2 A3 and A4 after the end of motion (Note: Inputting 0 for A1, A2, A3
and A4 results to invalid axis which will not wait)
Returned value: If all axes end the motion, it returns 0; If error, it returns the value>1.
INT16U WAITMOVE(INT8U A1,INT8U A2,INT8U A3,INT8U A4)

4.10.21. WAITMOVED Wait for the End of Motion of All Axes

Function description: Wait for the end of the motion of all axes (Note: This function is used together with the
MOVExxx command and will err when it is used alone.)
Parameter: AXISTOTAL Total number of the axis that wait to end the motion (pay attention to the six
maximum axis
Eample: See below
WAITMOVE[1,2] Wait for No. 2 AXIS
WAITMOVE[2,2,3] Wait for No. 2 and No. 3 AXIS
WAITMOVE[3,4,5,6] Wait for No. 3, No. 4, No. 5 and No. 6 AXIS
WAITMOVE[4,1,2,3,5] Wait for No. 1, No. 2, No. 3 and No. 5 AXIS
WAITMOVE[5,1,2,3,5,6] Wait for No. 1, No. 2, No. 3, No. 5 and No. 6 AXIS
WAITMOVE[6,1,2,3,4,5,6] Wait for No. 1, No. 2, No. 3, No. 4, No. 5 and No. 6 AXIS
Returned value: If all axes end the motion, it returns 0; If it errs, it returns the value>1.
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4.10.22. WRITEPLC Write Physical or Auxiliary Output Point

Function description: Write the auxiliary point with the signal quantity interacting with PLC and larger than
1024
Parameter: NUM: Port No. VAL Output Signal value (0 or 1)
Note: (NUM<512 Write physical output point OUT)
(NUM >=1024 NUM < = 7999 write auxiliary point, which is the auxiliary point with the signal quantity
interacting with PLC)
Returned value: If correct, it returns 0; If error, it returns the value >1
INT16U WRITEPLC(INT32U NUM,INT8U VAL)

4.10.23. READPLC Read Physical or Auxiliary Output Point

Function description: Read physical or auxiliary output point
Note: (NUM < 512 Read physical input point)
(NUM >=1024 NUM < = 7999 Read auxiliary output point, which is the auxiliary point with the signal
quantity interacting with PLC)

If correct, it returns the auxiliary output coil value 0 or 1; If error, it returns value>1
INT16U READPLC(INT32U NUM)

4.10.24. WAITPLC Timeout Waiting for Read of Physical or Auxiliary Input

Point
Function description: Timeout waiting for read of physical or auxiliary input point
Parameter NUM physical input point 0-511 or the auxiliarypoint 1024-7999 with signal quantity interacting
with PLC VAL read effective value (0 or 1) TIMEOUT>0 Timeout (ms) 0 Wait continuously until the
signal is detected or [Press the Reset to quit]
Returned value In case of VAL, it returns 0 In case of no VAL after timeout, returns 1; In case of error, it
returns the value>1
INT16U WAITPLC(INT32U NUM,INT8U VAL, INT32U TIMEOUT)

4.11 Special M Code

M Code for axis synchronization and dynamic mapping