NC PROGRAMMING

IE450 Manufacturing Systems

R. A. Wysk, Ph.D.

Agenda
Introduction

Types of NC Machines
Components of a NC Machine

Control Mechanisms
Interpolation Software Components

Readings
Chapters 9-10 of Computer Aided Manufacturing, Wang, H.P., Chang, T.C. and Wysk, R. A., 2rd Edition ,1991. http://www.engr.psu.edu/cim/ie450 /mllwrkbk.pdf

Exercise
Readiness Assessment Test
A.K.A. RAT

AS A INDIVIDUAL, prepare a detailed response for the Readiness Assessment test found on the web http://www.engr.psu.edu/cim/ie450/ie450rat3. doc (ratNC.doc in this module directory)

Open Book / Open Notes

Objectives
To be able to read and interpret an NC part program To be able to create NC part programs for milled parts To understand the difference between world, machine and part coordinates To understand how to set machine offsets To execute an NC part program

HISTORICAL DEVELOPMENT
15th century - machining metal. 18th century - industrialization, production-type machine tools. 20th century - F.W. Taylor - tool metal - HSS

Automated production equipment Screw machines Transfer lines Assembly lines using cams and preset stops Programmable automation NC

PLC
Robots

NEW NCs or CNCs

high speed spindle (> 20,000 rpm) high feed rate drive ( > 600 ipm) high precision ( < 0.0001" accuracy)

NC MACHINES
Computer control Servo axis control Tool changers Pallet changers On-machine programming Data communication Graphical interface

Group Exercise
As a group, discuss how you could justify the purchase of an NC machine. What are the downsides for purchasing an NC machine? Besides direct labor reductions, what other benefits come from NC machines?

NC MACHINES
MCU - Machine control unit MCU Machine Tool CLU - Control-loops unit CLU DPU

DPU - Data processing unit

NC MOTION-CONTROL
NC Program Execut ion Sy st em Dim ensio n s Com m ands

Int erpolat or & Se r v o - c o n t r o l Mec hanism

T r an sl at o r

Cont rol

Logic

Po w e r

Re la y

Linear

Mot ion

So len o id

NC MACHINE CLASSIFICATIONS
1. Motion control: point to point (PTP) continuous (contouring) path 2. Control loops: open loop closed loop 3. Power drives: hydraulic, electric,or pneumatic

NC MACHINE CLASSIFICATIONS
4. Positioning systems: incremental absolute positioning 5. Hardwired NC and softwired Computer Numerical Control (CNC)

POINT TO POINT
Moving at maximum rate from point to point. Accuracy of the destination is important but not the path.

Drilling is a good application.

CONTINUOUS PATH
Controls both the displacement and the velocity. Machining profiles. Precise control. Use linear and circular interpolators.

COMPONENTS OF AN NC MACHINE TOOL

Position transducer Machine table Gear box Tachometer

Controller

Motor
Leadscrew Servo drive

Magnetics control cabinet

NC MACHINE RATING
Accuracy Repeatability

Spindle and axis motor horsepower

Number of controlled axes Dimension of workspace

Features of the machine and the

controller.

NC ACCURACY
Accuracy = control instrumentation resolution and hardware accuracy.
Control resolution: the minimum length distinguishable by the control unit (BLU). Hardware inaccuracies are caused by physical machine errors.

HARDWARE INACCURACIES
Component tolerances: inaccuracies in the machine elements, machine-tool assembly errors, spindle runout, and leadscrew backlash.

Machine operation: Tool deflection (a function of the cutting force), produces dimensional error and chatter marks on the finished part.

HARDWARE INACCURACIES
Thermal error: heat generated by the motor operation, cutting process, friction on the ways and bearings, etc. Use cutting fluids, locating drive motors away from the center of a machine, and reducing friction from the ways and bearings

REPEATABILITY
Programmed position Repeatability

Avg. error

Test result

Converting the rotational motion of the motors to a linear motion.

Nut

LEADSCREWS
Leadscrew

Pitch

pitch (p): the distance between adjacent screw threads the number of teeth per inch (n):

n=1/p
BLU: Basic Length Unit (machine resolution) BLU = p / N

Open loop - No position feedback.

table pulses motor

CONTROL LOOPS

Use stepping motor.

 A machine has 1 BLU = 0.001".To move the

table 5" on X axis at a speed (feed rate) of 6 ipm. pulse rate = speed/BLU = 6 ipm/0.001 ipp= 6,000 pulse/min

CONTROL LOOPS

pulse count = distance/BLU

= 5/0.001 = 5,000 pulses

CLOSED LOOP
_
Up-down counter DAC Amp

Differential amplifier

Shaft

DC Mot or

Tachomet er

Encoder

+
Reference pulses

Closed-loop control mechanism

INTERPOLATION Control multiple axes simultaneously to move

Y

on a line, a circle, or a curve. Y

(10,5)

(10,5)

(3,2) X

(3,2)

Point-to-point control path (10-3) 7 Vx =6 = 6 = 5.5149 2 2 49+ 9 (10-3) + (5-2) (5-2) 3 Vy =6 = 6 = 2.3635 2 2 49+ 9 (10-3) + (5-2)

Linear path

 Most common : linear and circular

Since interpolation is right above the servo level, speed is critical, and the process must not involve excessive computation. Traditional NC interpolators: Digital Differential Analyzer (DDA) Higher order curves, such as Bezier's curve, use off-line approximation algorithms to break the curves into linear or circular segments.

INTERPOLATORS

COORDINATE SYSTEMS
y z

Right hand rule

Z axis align with the spindle - +Z moves away from the workpiece or the spindle. X axis - Lathe: perpendicular to the spindle. Horizontal machine: parallel to the table. Vertical machine: +X points to the right.

MACHINE COORDINATES
Z X - Primary Feed axis Z - Spindle axis Y - Remaining axis

PROGRAM STORAGE
Paper tape
Paper or Mylar coated paper. Diskettes From other computers through RS 232 or local area network (LAN)

SYMBOLIC CODES
ASCII or ISO, use even parity
EIA - Binary Coded Decimal (BCD), RS 244A standard, use odd parity.

 EIA RS-274 standard

TAPE INPUT FORMATS

Fixed sequential format 0010 01 07500 06250 00000 00000 612 Tab sequential format T0010 T01 T07500 T06250 T T T612 Word-address format N0010 G01 X07500 Y06250 S612

Resources
Primary Reference: Chang T-C., Wysk, R. A., and Wang, H-P., Computer Aided Manufacturing, Prentice Hall International Series in Industrial and Systems Engineering, Upper Saddle Valley, NJ 07458. ISBN 0-13-754524-X

Agenda
Introduction Absolute and Incremental Programming Elements of NC Program NC Words (G, M, T, S, Codes) Examples Cutter Compensation and Offsets Examples Conclusions

Introduction to NC programming
Manual part programming Computer-assisted part programming

Formats
Fixed-Address Tab-Sequential

Word-Address

Manual NC programming

Absolute Programming
Incremental Programming Example (on Board)

Basic Elements of NC Program

Blocks of Commands NC Words NC Function ~ NC word(s) Several Functions in one block When viewing, a block is same as a line of text Pre-defined Terminator Optional Blocks

NC WORDS
A G-code program consists the following words: N, G, X, Y, Z, A, B, C, I, J, K, F, S, T, R, M An EIA standard, RS-273 defines a set of standard codes.

Basic Elements of NC Program

a. Preparatory functions: which unit, which interpolator, absolute or incremental programming, which circular interpolation plane, cutter compensation, etc. b. Coordinates: three translational, and three rotational axes. c. Machining parameters: feed, and speed. d. Tool control: tool diameter, next tool number, tool change. e. Cycle functions: drill cycle, ream cycle, bore cycle, mill cycle, clearance plane. f. Coolant control: coolant on/off, flood, mist. g. Miscellaneous control: spindle on/off, tape rewind, spindle rotation direction, pallet change, clamps control, etc. h. Interpolators: linear, circular interpolation

NC WORDS G codes
Table 9.1 G codes g00 Rapid traverse Line ar interpolation g40 Cutter compensation - cancel Cutter compensation - left Cutter compensation -right Inch format Metric format Full circle programming Off Full circle programming On Fixed cycle cancel Fixed cycles Absolute dimension programming Incremental de imension programming

N code.
sequence number

g01 g02

g41 g42 g70 g71 g74 g75

Circular inte rpolation, CW Circular inte rpolation, CCW Dwe ll Acceleration Deceleration X-Y Plane Z-X Plane Y-Z Plane Thread cutting, cons tant lead Thread cutting, increasing

example: g03 N0010 g04 G code.

g08

preparatory g09 word.

g17

g80 g81 -9 g90

* g18
g19 g33 g34

g91

NC WORDS- BLU
X, Y, Z, A, B, C Codes. coordinate positions of the tool. The coordinates may be specified in decimal number (Decimal Programming), or integer number (BLU Programming). BLU programming: leading zero, trailing zero.
In the leading zero format:

X00112 Y002275 Z001

In the trailing zero format, the program looks like:

X11200 Y22750 Z10000

NC WORDS Circular Interpolation Circular Interpolation:

Full circle ON
(5.000,4.000)

sequence no.

destination center

N0100 G02 X7.000 Y2.000 I5.000 J2.000 Cut from (5.000,4.000) to (7.000,2.000) CW

(7.000,2.000) (5.000,2.000)

 F Code. feed speed. inch/min (ipm), or ipr.

NC WORDS- F and S Codes

F code must be given before either G01, G02, or G03 can be used. Example: N0100 G02 X7.000 Y2.000 I5.000 J2.000 F6.00 S Code. cutting speed code. Programmed in rpm. S code does not turn on the spindle, spindle is turned on by a M code. N0010 S1000

NC WORDS- T and R Codes

T Code. tool number. Actual tool change does not occur until a tool change M code is specified. R Code. cycle parameter.
The cycle may be programmed in one block, such as (cycle programming is vendor specific.): N0010 G81 X1.000 Y2.000 Z0.000 R 1.300
1 0.7" 0.3" 1" 3 (1,2,2) Initial height 2 R plane

5 Z point 4

NC WORDS M Codes
M Code. miscellaneous word.

Table 9.2. M codes m00 Program stop m01 Optional stop m02 End of program m03 Spindle CW m04 Spindle CCW m05 Spindle off m06 m07 m08 m09 m30 Tool change Flood coolant on Mist coolant on Coolant off End of tape

MANUAL PART PROGRAMMING

Example 9.1

Machined from a 5" x 4" x 2" workpiece. low carbon steel.

The process plan: 1. Set the lower left bottom corner of the part as the machine zero point (floating zero programming).

2. Clamp the workpiece in a vise.

3. Mill the slot with a 3/4" four flute flat end mill made of carbide. From the machinability data handbook, the recommended feed is 0.005 inch/tooth/rev, and the recommended cutting speed is 620 fpm.

4. Drill two holes with a 0.75" dia twist drill. Use 0.18 ipr feed and 100 fpm speed.

PART DRAWING
2 ho les 0 . 7 5 0 .0 0 1 .7 5 0 . 0 0 1 M MA BC 4 .0 0 0 R1 . 0 0 0 3 .0 0 0

2 .0 0 0 1 .0 0 0

A B

1 .7 5

3 .0 0 0
5 .0 0 0

.5 0 0

2 .0 0 0

C
A l l d i m en si o n in i n ch e s. A ll t o l er a n ce 0 . 0 0 1 "

SOLUTION TO EXAMPLE
Solution:
The cutting parameters need be converted into rpm and ipm. Milling:

RPM = 12 V = 12 x 620 fpm = 3,157 rpm D 0.75 inch

12 x 100 fpm 0.75 inch = 509 rpm

Drilling:

12 V RPM = = D

Vf = f RPM= 0.018 ipr x 509 rpm = 9.16 ipm

SETUP AND CUTTER PATH

p2 p3 H2 p8 H1 p4 p6 p7 p5

p9 p1
(0,0,0)

Drill

End mill

Vise jaw

(0,0,0)

CUTTER LOCATIONS The coordinates of each point (cutter location) are calculated below:
p1': ( 1.75+0.375, -0.1-0.375, 4.00) = (2.125, -0.475, 4.000) p1: (2.125,-0.475, 2.000-0.500) = (2.125,-0.475,1.500) p2: (2.125,4.000+0.100,1.500) = (2.125,4.100,1.500) p3: (3.000-0.375,4.100,1.500) = (2.625,4.100,1.500) p4: (2.625,1.375,1.500) p5: (3.000,2.000-1.000+0.375,1.500) = (3.000,1.375,1.500) p6: (3.000,2.625,1.500) p7: (3.000,2.000,1.500) p8: (2.625,2.000,1.500) p9: (2.625,-0.100,1.500) p9': (2.625,-0.100,4.000)

PART PROGRAM
Part program
N0010 G70 G 90 T08 M06

Explanation
Set the machine to inch format and absolute dimension programming.

N0020 G00 X2.125 Y-0.475 Z4.000 S3157 Rapid to p1'. N0030 G01 Z1.500 F63 M03 Down feed to p1, spindle CW.

N0040 G01 Y4.100

N0050 G01 X2.625 N0060 G01 Y1.375

Feed to p2.
To p3. To p4.

PART PROGRAM
Part program Explanation

N0070 G01 X3.000 To p5. N0080 G03 Y2.625 I3.000 J2.000 Circular interpolation to p6. N0090 G01 Y2.000 To p7. N0100 G01 X2.625 To p8. N0110 G01 Y-0.100 To p9 N0120 G00 Z4.000 T02 M05 To p9', spindle off, tool #2. N0130 F9.16 S509 M06 Tool change, set new feed and speed. N0140 G81 X0.750 Y1.000 Z-0.1 R2.100 M03 Drill hole 1. N0150 G81 X0.750 Y3.000 Z-0.1 R2.100 Drill hole 2. N0160 G00 X-1.000 Y-1.000 M30 Move to home position, stop the machine.

CNCS VERIFICATION

CNCS 3D DRAWING

Offsets
Fixture
G10, G54, G54.1 Diameter

Tool
Length compensation Part-Edge compensation Cutter Compensation Next Slides Others Discussed in Lab Exercises (Simulators)

Tool Radius Compensation

Cutter Compensation Shifting tool path so that the actual finished cut is either moved to the left or right of the programmed path. Normally, shifted exactly by tool radius Tool Entry and Exit Issues

Tool Radius Compensation

Start of Compensation.
(a) G41 (b) G42

G41 (or G42) and G01 in the same block ramp takes place at block N0010. N0010 G01 G42 X0.500 Y1.700 N0020 G01 X1.500
G41 G42

(0.5, 1.7) (1.5, 1.7)

G41 (or G42) and G01 in separate blocks the compensation is effective from the start.

N0010 G41
N0020 G01 X0.500 Y1.700 N0030 G01 X1.500

G41

G42

Tool Radius Compensation

Inside Corner.

Cutter path is inside a corner, stops at the inside cutting point

N0010 G41 N0020 G01 X1.500 Y2.000 N0030 G01 X0.000 Y1.600
(0, 1.6)
G42

(1.5, 2.0)

Use of M96 and M97. Cutting tool that is larger than the height of the step, M97 must be used N0010 G41 N0020 G01 X1.000 Y1.000 N0030 G01 Y0.800 M97 N0040 G01 X2.000
G41 M97

G41

M96

TOOL-RADIUS COMPENSATION
Cancel Tool Compensation.
G40 in the same block ramp off block. N0060 G40 X2.000 Y1.700 M02
G42 G41 G40

(2.000, 1.700)

G40 in a block following the last motion, the compensation is effective to the end point (2.000,1.700). N0060 X2.000 Y1.700
G41

N0070 G40 M02

G40 G42

(2.000, 1.700)

EXAMPLE
A square 2.0 in. x 2.0 in. is to be milled using a 1/2 in. end milling cutter. Write an NC part program to make the square. Solution Let us set up the lower left corner of the square at (6.0,6.0). Using toolradius compensation, the square can be produced.

2.000

2.000

(6 ,6)

PART PROGRAM
Part Program N0010 G41 S1000 F5 M03 N0020 G00 X6.000 Y6.000 N0030 G01 Z-1.000 N0040 Y8.000 N0050 X8.000 N0060 Y6.000 N0070 X6.000 N0080 Z1.000 N0090 G40 M30 Explanation

Begin compensation, set feed and speed, spindle on Move to lower left corner Plunge down the tool Cut to upper left corner Cut to upper right corner Cut to lower right corner Cut to lower left corner Lift the tool End compensation, stop the machine

Exercise
Complete the exercise on setting up an NC machine. The exercise can be found at
http://www.engr.psu.edu/cim/ie450/ie450as2.doc

TURNING
2.87 5 .250 .625 1.12 5 R.125 1.00 0 2.12 5 2.87 5

Z X

Part design

Cutter path

Tool

Cutter path

TURNING
Programming tool point Surfaces cut

No compensation needed.

IMAGINARY TOOL POINT

Programmed tool path Surface created

COMPUTER ASSISTE PART PROGRAMMING

Machine-oriented languages - machine specific General-purpose languages - use post processors to generate Part program machine specific code Translate input symbols Arithmetic calculation
CLCutter offset RS-494 BCL Language Processor CL data Post Processor N-G code RS-273

calculations

Post processing

Summary
NC can reduce machining skill NC can reduce the time required to machine a part NC provides sophisticated contour capability NC is a flexible method for manufacture of sophisticated machined components

Questions