List of ISO supported G-Codes and M-functions

ARISTOTLE G-Codes List of ISO supported G-Codes and M-functions G-code Function G00 Travers motion and positioning G01 Linear interpolation G02 Circular interpolation CW G03 Circular interpolation CCW G04 Dwell G06.2 Non-uniform B-Spline interpolation - NURBS G06.05 Spline Interpolation * G7 Plane rotation G7.1 Plane rotation cancel G8 3D tool path conversion to 5-axis processing G09 Exact stop G10 Tool offset value and work coordinates shift G12.1 Polar coordinate interpolation mode G13.1 Polar coordinate interpolation cancel mode G15 Polar coordinates command cancel G16 Polar coordinates command G17 XY plane designation G18 ZX plane designation G19 YZ plane designation G20 Inch input designation G21 Metric input designation G28 Return to Reference Position G29 Return from Reference Position G30 2nd, 3rd and 4th Reference Position Return G31 Skip function G34 Display a String G37 Input a Number or Numbers G40 Tool radius compensation cancel G41 Tool radius compensation, left G42 Tool radius compensation, right G43 Tool length offset, + G44 Tool length offset, - G49 Tool length offset cancel G50 Scaling off G50.1 Mirror off G51 Scaling on G51.1 Mirror on G54 Shift to work coordinate system 1 G55 Shift to work coordinate system 2 G56 Shift to work coordinate system 3 G57 Shift to work coordinate system 4 G58 Shift to work coordinate system 5 G59 Shift to work coordinate system 6 G60 Single Direction Positioning G61 Exact stop mode G62 Automatic corner override * G64 Exact stop mode cancel * G65 Non-modal call of user macro G66 Modal call of user macro G67 Modal Macro call cancel G68 Coordinate system rotation G69 Coordinate system rotation cancel G73 Drilling Canned cycle G74 Left Hand Rigid Tapping cycle G74.1 Left Hand Tapping cycle G76 Fine Boring cycle G80 Canned cycle cancel G81 Drilling cycle G82 Drilling/Counter Boring cycle G83 Peck drilling cycle G84 Rigid Tapping cycle G84.1 Tapping cycle G85 Boring cycle G86 Boring cycle G87 Back Boring cycle G88 Boring cycle G89 Boring cycle G90 Absolute command designation. G91 Incremental command designation G92 Programming of absolute zero point G93 Inverse Time Feedrate * G98 Return to initial point for canned cycles G99 Return to point R for canned cycles G110 Enable Forbidden Zone Entry Check G111 Disable Forbidden Zone Entry Check G125 Tool motion in MDI backward to the last move active (5-axis) G140 5-axis tool path rotation (RTCP) cancel G141 5-axis tool path rotation (RTCP) G147 5-axis indexing plane rotation position correction G149 Start Round and/or Chamfer. G-149 Cancel Round and/or Chamfer. G998 Smoothing On (High Speed Machining) G999 Smoothing Off G5001 Run SHARNOA G-code * Functions can be implemented by request

M-functions. The machine builder may specify its own M-codes, from M200 to M999, via the integrated PLC system. The standard CNC M-functions are listed in the table below. M-code M00 M01 M02 M03 M04 M05 M06 M07 M08 M09 M11 M111 M13 M14 M18 M20 M22 M24 M25 M26 M27 M29 M30 M33 M34 M35 M36 M38 M40 Function Program stop Optional stop End of program Spindle forward rotation Spindle reverse rotation Spindle stop Tool change Coolant On Spray On Coolant and Spray OFF Spindle orientation On Spindle orientation (maintenance) On Tool search Pocket search Rigid Tapping On (ISO approach) Magazine home position search End of Program and Power OFF Chip Conveyor CW On Conveyor CW and Wash Down On Conveyor CW and Wash Down Off Conveyor CCW and Wash Down On Rigid Tapping On End of Program Spindle CW On and Coolant On Spindle CCW On and Coolant On Rotary Axis A or C Clamp Rotary Axis A or C Unclamp Program, Spindle, Coolant Conv. Stop Spindle Load Adaptive Control On M41 M48 M49 M50 M51 M53 M56 M70 M71 M75 M76 M81 M82 M83 M98 M99 M104 M105 M129 M135 M136 M170 M171 M195 M199 Spindle Load Adaptive Control Off. Tool Clamp (maintenance) Tool Unclamp (maintenance) Tool length measurement devise (Renishaw or equivalent) ON Tool length measurement devise (Renishaw or equivalent) OFF Spindle measurement probe ON Manual Tool Change Graph View (versus time) On Graph View Off Pot Up (maintenance) Pot Down (maintenance) Arm 0 (maintenance) Arm 60 (maintenance) Arm 180 (maintenance) Subprogram call (ISO approach) Subprogram end. Coolant Through Spindle On Coolant Through Spindle OFF Spindle Orientation (maintenance) Tilting Axis B Clamp Tilting Axis B Unclamp Inch units (SHARNOA approach) Metric units (SHARNOA approach) Rotational axis modulo 0 360 degr. Automatic change of servo parameters. The machine builder, to implement his machine design requirements, may specify other M-codes, not listed above. The machine builder and end user can address any custom made macro program and/or subroutine to run as additional M-code. This mechanism allows easy running of any program within existing program in memory (widely used by implementation of Measurement Subroutines Library). IV) Calculation functions. Standard arithmetic calculations : _ + _ - _ * _ / () # [for parameters] Logic operations: < / <= / <> / > / >= / = = / JMP / SKP Trigonometric functions: SIN / COS / TAN / CTAN / ATAN / ACOS / ASIN Mathematical functions: EXP / SQRT / LOG / ABS / ROUND / FIX / FUP / FRC

PS 5 VDC; +/-12VDC Controller Box XT-9001+XT-9002 USB Communication PC Ethernet, LAN, Internet Motor Power RS232 Communication Channel XT-9703 XT-9703 Motor I/O Connection I/O Connection Encoder XT-9720 PS 24VDC Motors, Encoders, Linear Scales Connections Encoder Encoder Drive Spindle Drive Spindle Drive Spindle Encoder Op. Panel Enclosure Screen, Keyboard, Mouse. MPG Power

SPECIFICATIONS ARISTOTLE PHYSICAL Type: Modular System with Main Processor board and System Interface boards (up to 4). Dimensions: 17x12.5 cm (6.7x4.9 inches) main board 33x11.5 cm (13x4.5 inches) System Interface board. Weight: 0.6 Kg (1.3 lb.) CPU Model: Texas Instruments DSP 320VC33-150 Type: 32-bit, Floating Point MEMORY RAM: 256 K x 32-bit words (1 Mb static memory) RAM Speed: 0 wait state Dual Ported RAM: 4 Kb Flash Memory: 8 M x 8-bit (4 Mbt) PERFORMANCE Axes: Up to 8 Axes one System Interface board Up to 16 Axes with two System Interface boards. Stepper Motors Control Mode: up to 16 Axes. Position Control Mode: up to 16 Axes. Velocity Control Mode: up to 16 Axes. Torque Control Mode: up to 16 Axes. Commutation Control Mode: up to 8 Axes. Simultaneously Controlled Synchronized Axes: Max. 8 groups of synchronized axes, max. 16 axes on each group. Flexible axes group coordinate setting. All axes in the same group (same coordinate system) are perfectly synchronized to the servo cycle. Servo Cycle Time: 250 µsec (16 axes) Commutation Cycle Time: 83 µsec (8 axes) Response Time to Command: 0.25 msec Block Execution Rate: Up to 4000 blocks/sec Servo Algorithms: PID with Feedforward; Adaptive torque Feedforward, Notch filter, S-curve speed control with user configured jerk; Autohoming procedure; Continuous vector feed with look ahead up to 512 steps; Lead and temperature screw with cross-axis compensation; Electronic Cams, Gearing; Multi-axis interpolation linear / circular. Dynamic encoder resolution change, Multi-set of motion parameters, Special control algorithms with dead zones. Cubic, spline interpolation, 1/T control, and Inverse kinematics computations are optional. INPUTS/OUTPUTS Digital I/O: 128 fast standard digital inputs/outputs for general purpose use 16 programmable ports of 8 I/O (up to 512 I/O with 4 System Interface boards - optional). Analog Inputs: 16 fast inputs (up to 64) 12-bit resolution ±10 VDC; impedance 30 kohm; 16-bit res. - optional. Analog Outputs: 8 outputs (up to 32) ±10 Volt DC 12-bit (optional 16-bit) resolution for motor commands. Can be used as general purpose DAC, when not used in motion control loop. Feedback: Standard square wave (digital encoder) and electric phase detector (encoder +Hall Effect); encoder over temperature input; sin/cos feedback optional. Second Feedback: Standard square wave. Encoder frequency: up to 10 MHz with 12-bit counter (20 MHz-optional), using dual feedback with specially developed dynamic algorithms in firmware allowing very high motion speeds with virtually no-limited input frequency of encoder readings. Programmable real position strobe signal: 1 output (4 - optional) within 0.2 microseconds. Programmable real position pulse train: 1 output (4 optional) related to encoder feedback frequency by factor 1 256. Auxiliary Pulse count inputs: 4 inputs (up to 16 optional) with 8-bit by frequency up to 500 KHz High Speed Position Capture (Latch Input): 1 per axis + 8 additional inputs (up to 32) with anti-bounds protection; allows normally close or open configuration response time within 0.1 microseconds. POWER REQUIREMENTS (from on-board connector) 1.0 A @ +5Volt 0.4 A @ +12Volt 0.4 A @ -12Volt KINEMATICS RANGES and ACCURACY Velocity and Acceleration Ranges: No limits (due to floating point DSP) Position: ±1 Billion counts Gear Ratio Range: No limits Filter Constants: No limits Position Accuracy: ±1 count Position Capture Accuracy: within ±1 count Velocity Accuracy: 0.005% Motor Commands Accuracy: 12-bit or 0.005 Volt; 16-bit or 0.0003 Volt optional. COMMUNICATION USB communication channel. RS 232 and RS422 (485): Serial communication channels. Fast serial communication (up to 15 Mbit/s). DEVELOPMENT ENVIRONMENT (PLC). Development Software: ProcessDesigner and ProcessDebugger Graphic FBD Language: Object Oriented Function Block Diagram standard (IEC-1131) with multitasking support for PLC development. Designer: ProcessDesigner as a PLC tool, which implements the process algorithms with inputs and outputs. Debugging: ProcessDebugger enables debugging of the process while monitoring status of each I/O signal, variables and messages. PROGRAMMING LANGUAGE API Functions for Windows 98/ME/NT/2000/XP: DLL functions and ComServer methods available in C, C++, MS VC++, ANSI C, MS Visual Basic, Delphi allowing customization of operator interfaces. Scripting Language: Simple, based on TCL scripting environment supporting variables, math expressions, subroutine call, comparisons, etc. and extended for motion control commands (allows use of simple ASCII code, ISO G-code, SHARNOA G-code and HPGL file formats). CONFIGURATION TOOLS Development Software: ControlConfiguration software allows system setup, configuration of the machine limits, tuning and executing of any defined task to test real operation of the machine. MotionAnalyzer allows monitoring of real motion parameters as in multi-channel oscilloscope with memory AxisMotion and MotionViewer simple tests utilities. Ballbar utility allowing easy test of axes interpolation. Graphic Interface: Graphic displays show status and response of axes, real parameter values.