Programming 1

Programming
For the Fanuc 0T controller

Axes convention

X Axis

Z Axis

Absolute and Incremental co-ordinates

In the absolute programming, the end point of a motion is programmed with reference to the program zero
point. In incremental programming, the end point is specified with reference to the current tool position.

N2
50

20 N1

Z
0,0 30 50

Absolute traverse to N1, then to N2

X20.0 Z50.0
X50.0 Z30.0

Absolute traverse to N1, incremental to N2

X20.0 Z50.0
U30.0 W-20.0

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 Programming 1

Programming
For the Fanuc 0M controller

Axes convention
The tool can be moved to any position in a 3 dimensional cartesian co-ordinate system.
The Z axis is along the spindle axis. The X and Y axes are perpendicular to Z.

VMC (Vertical Machining Center)

+
+Z
Z
- +Y

Y +
X -X +X
- -
+

-Y
-Z

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 Programming 2

HMC (Horizontal Machining Center)

-
X
-
+ - Z
+

Y
Z

Part
X

Machine table

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 Programming 3

List of G-codes
G-code Function
G00 Positioning rapid traverse
G01 Linear interpolation (feed)
G02 Circular interpolation CW
G03 Circular interpolation CCW
G04 Dwell
G20 Inch unit
G21 Metric unit
G28 Automatic zero return
G30 2nd reference point return
G40 Tool nose radius compensation cancel
G41 Tool nose radius compensation left
G42 Tool nose radius compensation right
G43 Tool length compensation
G52 Local co-ordinate system
G54 Work co-ordinate system 1 selection
G55 Work co-ordinate system 2 selection
G56 Work co-ordinate system 3 selection
G57 Work co-ordinate system 4 selection
G58 Work co-ordinate system 5 selection
G59 Work co-ordinate system 6 selection
G74 Left hand tapping cycle
G76 Fine boring cycle
G80 Canned cycle cancel
G81 Drilling cycle
G82 Drilling cycle with dwell
G83 Peck drilling cycle / deep drill
G84 Tapping cycle
G85 Boring / Reaming cycle
G86 Boring cycle
G87 Back boring cycle
G90 Absolute command
G91 Incremental command
G94 Feed per minute
G95 Feed per revolution
G98 Return to initial point in canned cycle
G99 Return to R point in canned cycle

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 Programming 4

List of M codes
M codes vary from machine to machine depending on the functions available on it. They are decided by the
manufacturer of the machine. The M codes listed below are the common ones.

M-codes Function
M00 Optional program stop automatic
M01 Optional program stop request
M02 Program end
M03 Spindle ON clock wise (CW)
M04 Spindle ON counter clock wise (CCW)
M05 Spindle stop
M06 Tool change
M07 Mist coolant ON (coolant 1 ON)
M08 Flood coolant ON (coolant 2 ON)
M09 Coolant OFF
M19 Spindle orientation
M30 End of program, Reset to start
M98 Sub program call
M99 Sub program end

There are other M-codes for functions like gear change, pallet change, pallet clamp / unclamp, door open /
close etc.

Absolute and Incremental co-ordinates

In the absolute programming , the end point of a motion is programmed with reference to the program zero
point. In incremental programming, the end point is specified with reference to the current tool position.

N2
50

20 N1

X
0,0 30 50

Absolute traverse to N1, then to N2

G90 X20.0 Z50.0
X50.0 Z30.0

Absolute traverse to N1, incremental to N2

G90 X20.0 Z50.0
G91 X-20. Y30

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 Programming 5

G00 Rapid traverse

When the tool being positioned at a point preparatory to a cutting motion, to save time it is moved along a
straight line at Rapid traverse, at a fixed traverse rate which is pre-programmed into the machine's control
system. Typical rapid traverse rates are 10 to 25 m /min., but can be as high as 80 m/min.

Format
N_ G00 X__ Y__Z__

G01 Linear interpolation (feed traverse)

The tool moves along a straight line in one or two axis simultaneously at a programmed linear speed, the feed
rate.

Format
N__ G01 X__ Y__Z__ F__

Feed
Feed

Part

Part

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 Programming 6

G02/03 Circular interpolation

Format
N__ G02/03 X__ Y__Z__ I__ J__K__ F__ using the arc center
OR
N__ G02/03 X__ Y__Z__ R__ F__ using the arc radius

G02 moves along a CW arc

G03 moves along a CCW arc

Arc center
The arc center is specified by addresses I, J and K. I, J and K are the X, Y and Z co-ordinates of the arc
center with reference to the arc start point.

Arc start
Y
Arc end
-I
-J
Arc center

I = X coord. of center - X coord. of start point

J = Y coord. of center - Y coord. of start point
K = Z coord. of center - Z coord. of start point
I, J and K must be written with their signs.
Arc radius

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 Programming 7

The radius is specified with address R.

Arc start
Y Arc end Arc radius

Arc center
X
Block format
N__ G02 X__Y__ Z__ R__ F__
N__ G03 X__Y__ Z__ R__ F__

Cutter radius compensation (CRC)

G40 Tool nose radius compensation Cancel
G41 Tool nose radius compensation Left
G42 Tool nose radius compensation Right

G41 G41

G42 G42

Block format

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 Programming 8

N__ G01 G41/42 X__ Y__ D__ F__

Feed rate mm/min
CRC offset number
CRC start co-ordinates absolute
CRC command code
Linear interpolation command code

Necessity of using CRC

• Difficult to calculate cutter center co-ordinates

• If cutter center co-ordinates are used
Same diameter of cutter is required to be used
Cutter wear can not compensated

Program Zero

Tool length compensation (G43)

Different tools of different lengths are used in machining any part. The lengths of the tools are not
considered in the part program. They are entered in the machine’s memory, and are considered automatically
for each motion in the program depending on the tool that is being used. The tool lengths in the Z direction
are called the Tool length offsets.

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 Programming 9

Gauge line

Length offset Length offset

Length offset

Length offset
Face milling cutter
T-slot milling cutter

Boring tool

Back boring tool

Part

Setting work co-ordinate system (G54 - G59)

G54 Work co-ordinate system 1 selection
G55 Work co-ordinate system 2 selection
G56 Work co-ordinate system 3 selection
G57 Work co-ordinate system 4 selection
G58 Work co-ordinate system 5 selection
G59 Work co-ordinate system 6 selection

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 Programming 10

Work co-ordinate system 3

selection

Work co-ordinate
system 1 selection

Work co-ordinate
system 2 selection Machine table

Work co-ordinate system 6

Work co-ordinate system 4 selection
selection
Work co-ordinate system 5
selection

Canned cycles
Canned or fixed cycles are programming aids that simplify programming. Canned cycles combine many
programming operations and are designed to shorten the program length, minimize mathematical
calculations, and use minimal tool motions.
Examples : drilling, peck drilling, tapping, boring, back spot facing.

G81 Drilling cycle

G82 Drilling cycle with dwell (Counter bore cycle)

G83 Peck drilling cycle / deep drill

G84 Right hand tapping cycle

G85 Boring / Reaming cycle

G86 Boring cycle

G87 Back boring cycle

G74 Left hand tapping cycle

G76 Fine boring cycle

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 Programming 11

Drilling cycle (G81)

With G98 return to initial point With G99 return to R point

Initial Rapid Feed Rapid Feed

point

R point / Safe height R point / Safe height

Format

N__ G98/99 G81 R__ Z__ F__

Infeed feed rate mm/min
Final depth
Safe height / R point
Drilling cycle code
Return position code
Block number

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 Programming 12

Counter bore cycle (G82)

With G98 return to initial point With G99 return to R point

Initial Rapid Feed Rapid Feed

point

R point / Safe height R point / Safe height

Dwell at bottom Dwell at bottom

P P

Format

N__ G98/99 G82 R__ Z__ P__ F__

Infeed feed rate mm/min
Dwell at bottom
Final depth
Safe height / R point
Counter bore drilling cycle code
Return position code
Block number

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 Programming 13

Peck drill cycle (G83)

With G98 return to initial point
Initial
Rapid Feed
point

Safe height / R point

Peck depth

Final depth

With G99 return to R point

Initial Rapid Feed
point

Safe height / R point

Peck depth

Final depth

Format
N__ G98/99 G83 R__ Z__ Q__ F__
Infeed feed rate mm/min
Peck depth
Final depth
Safe height / R point
Peck drilling cycle code
Return position code
Block number

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 Programming 14

Tapping cycle (G84)

Right hand tapping

With G98 return to initial point With G99 return to R point

Initial Rapid Feed Initial Rapid Feed

point point

R point / Safe height R point / Safe height

Spindle CW Spindle CW

Retract feed rate Retract feed rate

equals infeed feed equals infeed feed
rate rate
Final depth Final depth

Spindle CCW Spindle CCW

Feedrate = Spindle RPM x Pitch

Format

N__ G98/99 G84 R__ Z__ F__

Infeed / retract feed rate mm/min
Final depth
Safe height / R point
Right hand tapping cycle code
Return position code
Block number

Spindle direction in RH tapping

CW during infeed
CCW during outfeed

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 Programming 15

Reaming cycle (G85)

With G98 return to initial point With G98 return to R point
Rapid Feed Rapid Feed
Initial Initial
point point

R point / Safe height R point / Safe height

Final depth Final depth

Format

N__ G98/99 G85 R__ Z__ F__

Infeed / retract feed rate mm/min
Final depth
Safe height / R point
Reaming cycle code
Return position code
Block number

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 Programming 16

Boring cycle (G86)

With G98 return to initial point With G99 return to R point
Rapid Feed Rapid Feed
Initial
point

Spindle CW Spindle CW

R point / Safe height R point / Safe height

Final depth Final depth

Spindle stop Spindle stop

Format

N__ G98/99 G86 R__ Z__ F__

Infeed feed rate mm/min
Final depth
Safe height / R point
Boring cycle code
Return position code
Block number

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 Programming 17

Back boring cycle (G87)

Spindle orientation
Initial point

Bore axis

Lateral shift

Final depth
Spindle CW Safe height / R point

Format
N__ G98 G87 R__ Z__ Q__ F__
Infeed feed rate mm/min
Lateral shift
Final depth
Safe height / R point
Back boring cycle code
Return position code
Block number

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 Programming 18

Tapping cycle (G74)

Left hand tapping

With G98 return initial point With G99 return R point

Initial Rapid Feed Initial Rapid Feed

point point

R point / Safe height R point / Safe height

Spindle CCW Spindle CCW

Retract feed rate Retract feed rate

equals infeed feed equals infeed feed
rate rate
Final depth Final depth

Spindle CW Spindle CW

Feedrate = Spindle RPM x Pitch

Format

N__ G98/99 G74 R__ Z__ F__

Infeed / retract feed rate mm/min
Final depth
Safe height / R point
Left hand tapping cycle code
Return position code
Block number

Spindle direction in LH tapping

CCW during infeed
CW during outfeed

Fine boring cycle (G76)

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 Programming 19

Fine boring cycle (G76)

With G98 return to initial point With G99 return to R point
Rapid Feed Rapid Feed
Initial Initial
point point

Lateral shift Lateral shift

Spindle CW Spindle CW

R point / Safe height R point / Safe height

Final depth Final depth

Dwell at Dwell at
bottom bottom
Lateral shift Lateral shift

Spindle Orientation Spindle Orientation

Format
N__ G98 G76 R__ Z__ Q__ F__
Infeed feed rate mm/min
Lateral shift
Final depth
Safe height / R point
Fine boring cycle code
Return position code
Block number

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 Programming 20

Verifying NC programs
Safety priorities
Safety priorities must be followed when verifying programs.

Operator safety - priority 1

Safety of the person operating the machine

Machine tool safety - priority 2

Prevention of damage to the machine

Workpiece safety - priority 3

Prevention of part rejection

Typical errors
Syntax errors
Errors which prevent the machine controller from executing a command. E.g., writing G101 instead of G01

Motion errors
Machine does not generate an error, so these are difficult to diagnose.
E.g., Writing X instead of Z; wrong co-ordinates; reversing CW and CCW commands; improper
incremental/absolute mode selection.

Omission errors
Omitting decimal points, forgetting to program feed rates, forgetting to turn on the coolant

Setup errors
Wrongly measured work offset and tool offsets, or correct measurement and wrong entry

Program verification procedures

A new program is checked by executing it in some or all of the verification modes.

Dry run with Machine lock

Used for checking syntax errors. Motion errors are not checked.

• Set Machine lock ON and Dry run ON.

• Set feed rate override switch to maximum to execute the cycle fast.
• The spindle rotates, the turret indexes and the display changes as per program, but axes do not move.
• Tool and work offsets need not be set.

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 Programming 21

Dry run with air cutting

Used for checking motion errors and correctness of spindle direction. Since execution is at dry run feed,
difference between rapid and feed motions is not known. Collisions cannot be checked.
• Set the tool offsets. Set the work offset so that all motions occur away from work holding devices like
the chuck.. Do not load a part.
• Set Machine lock OFF and Dry run ON. All machine functions and motions are active.
• Set feed rate override switch to minimum for safety.

Normal cycle with air cutting

Used for checking collisions.
• Set the tool offsets. Set the work offset so that all motions occur away from work holding devices like
the chuck.. Do not load a part.
• Set all functions for normal machine execution.
• For safety, when in doubt set the feed rate override switch to minimum.
• Carefully watch for motions which result in tool colliding with the part or work holding device.

Single block execution

Used for checking motion errors and part dimensional accuracy.
• Set the work offset normally, and load a part.
• Set the tool offsets to leave excess stock on the part.
• Set all functions for normal machine execution.
• For safety, when in doubt set the feed rate override switch to minimum.
• Check the Distance to go value to detect potential motion errors.
• Check all dimensions. For critical dimensions alter the tool offsets and rerun the tool again to check
whether the dimension is within tolerance. Repeat till tolerance is achieved.

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 Programming 2

Radius and diameter programming

X co-ordinates can be Radius or Diameter values.

100

50
B

Dia 100

Dia 50

Tool traverse from A to B Tool traverse from A to B

in Radius mode in Diameter mode

N2 X25. N2 X50.
N3 Z-50. N3 Z-50.
N4 X50. N4 X100.
N5 Z-100. N5 Z-100.

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 Programming 3

List of G-codes
G-code Function
G00 Positioning rapid traverse
G01 Linear interpolation (feed)
G02 Circular interpolation CW
G03 Circular interpolation CCW
G04 Dwell
G20 Inch unit
G21 Metric unit
G28 Automatic zero return
G30 2nd reference point return
G32 / G33 Thread cutting (single motion)
G40 Tool nose radius compensation cancel
G41 Tool nose radius compensation left
G42 Tool nose radius compensation right
G50 / G92 Local co-ordinate system setting, max. spindle speed setting
G70 Finishing cycle
G71 Stock removal in turning
G72 Stock removal in facing
G73 Pattern repeating
G74 Peck drilling on Z axis / Face grooving
G75 Peck drilling on X axis / Int-Ext grooving
G76 Multiple threading cycle
G94 / G98 Feed per minute
G95 / G99 Feed per revolution
G96 Constant surface speed control
G97 Constant surface speed control cancel

List of M codes
M codes vary from machine to machine depending on the functions available on it and the manufacturer of
the machine decides them. The M codes listed below are the common ones.

M-codes Function
M00 Optional program stop automatic
M01 Optional program stop request
M02 Program end
M03 Spindle ON clock wise (CW)
M04 Spindle ON counter clock wise (CCW)
M05 Spindle stop
M06 Tool change
M07 Mist coolant ON (coolant 1 ON)
M08 Flood coolant ON (coolant 2 ON)
M09 Coolant OFF
M30 End of program, Reset to start
M98 Sub program call
M99 Sub program end

There are other M-codes for functions like gear change, tail stock quill in/out, chuck clamp/unclamp, chip
conveyor forward/backward, door open / close etc.

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 Programming 4

G00 Rapid traverse

When the tool being positioned at a point preparatory to a cutting motion, to save time it is moved along a
straight line at Rapid traverse, at a fixed traverse rate which is pre-programmed into the machine's control
system. Typical rapid traverse rates are 10 to 25 m /min., but can be as high as 80 m/min.

Format
N_ G00 X_ Z_

Rapid traverse

G01 Linear interpolation (feed traverse)

The tool moves along a straight line in one or two axis simultaneously at a programmed linear speed, the feed
rate.

Format
N__ G01 X__ Z__ F__

Feed motion

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 Programming 5

G02/03 Circular interpolation

CW arc CCW arc

Format
N__ G02/03 X__ Z__ I__ K__ F__ using the arc center
OR
N__ G02/03 X__ Z__ R__ F__ using the arc radius

G02 moves along a CW arc

G03 moves along a CCW arc

Arc center
The arc center is specified by addresses I and K. I and K are the X and Z co-ordinates of the arc center with
reference to the arc start point.

Arc start
X
Arc end
-K
-I

Arc center
Z

I =(X coord. of center - X coord. of start point)/2

K = Z coord. of center - Z coord. of start point
I and K must be written with their signs.

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 Programming 6

Arc radius
The radius is specified with address R.

Arc start
X Arc end Arc radius

Arc center
Z
N__ G02 X__ Z__ R__ F__
N__ G03 X__ Z__ R__ F__

If the radius is used, only arcs of less than 180 deg. can be programmed in a block. An arc with included
angle greater than 180 deg. must be specified in two blocks.

Tool nose radius compensation

G40 Tool nose radius compensation Cancel
G41 Tool nose radius compensation Left
G42 Tool nose radius compensation Right

Right side G42

Left side G41

Right side G42 X axis

Left side G41

Z axis

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 Programming 7

Theoretical tool tip (TTT)

The Theoretical Tool Tip is the point on the tool that is used as the reference point for determining tool
offsets. When a motion is commanded, the TTT point on the tool moves to the commanded point. The path
of the TTT point (point A in the figure) normally will not match with the co-ordinates in the program.

To get an accurate contour during machining, the TTT point must move in such a manner that the nose
radius is tangential to the contour.

Effect of tool nose radius on the part

1. If tool nose radius compensation is not used for the motion from P1 to P2, excess cutting occurs as shown
in the figure.

2. If tool nose radius compensation is not used for motion from P2 to P3, material is left out as shown in the
figure.

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 Programming 8

Direction of immaginary tool nose

Imaginary tool nose number (Type No) must be set in advance (before tool index) as well as offset values.

Z
Z
X
X

Type No. 1 Type No. 2

Type No. 3 Type No. 4

Z
Z

X
X

Z
X
Type No. 5 X

Type No. 6

X Type No. 7 Type No. 8

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 Programming 9

The direction of the imaginary tool nose viewed from the tool nose center is determined by the direction of
the tool during cutting.

Internal / External tools

2 1

3 4

Neutral tools

7 5

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 Programming 10

Thread cutting motion G32

G32

Thread cutting is done by moving the tool along the thread repeatedly at different depths tiil the final thread
profile is formed. Each cut must start at the same angular position on the part. The spindle has an encoder,
which generates a pulse at exactly the same angular position in every revolution. When a threading motion is
programmed, the linear motion of the tool starts when this pulse is detected. This ensures that every cut starts
at the same angular position.

Thread cutting must be done at constant spindle speed.

Block format
N__ G32 X__ Z__ F__

X, Z are the end point of the thread and F is the pitch of the thread.

The controller calculates feed rate through the following relationship

Feed rate = Pitch x Spindle speed

Each threading cut involves 4 motions: 1 threading motion and 3 rapid traverse motions. Since a thread
normally requires multiple cuts, G32 results in a long program and is not normally used. The G76 canned
cycle is normally used for threading.

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 Programming 11

Canned cycles
A canned cycle simplifies a program by using a few blocks containing G-codes functions to specify the
machining operations usually specified in several blocks.

Turning Cycle - G71

Format
G71 U (d) R (e)
G71 P (n) Q(n) U(u) W(w) F(f) S(s) T(t)
N (n) _ _ _ _
_______
_______
N (n)_ _ _ _

d = Depth of cut
e = Retract amount
n = Number of the first block of the shape
n = Number of the last last block of the shape
u = Finishing allowance in X
w =Finishing allowance in Z
f = Feed rate
s = Spimdle speed
t = Tool number

Facing Cycle - G72

Format
G71 U (d) R (e)
G71 P (n) Q(n) U(u) W(w) F(f) S(s) T(t)
N (n) _ _ _ _
_______
_______
N (n) _ _ _ _

d = Depth of cut
e = Retract amount
n = Number of the first block of the shape
n = Number of the last last block of the shape
u = Finishing allowance in X
w =Finishing allowance in Z
f = Feed rate
s = Spindle speed
t = Tool number

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 Programming 12

Multipass Turning Cycle - G73

Format
G73 U (i) W (k) R (d)
G73 P (n) Q (n) U (u) W (w) F (f) S(s) T (t)
N (n)_ _ _ _ _
________
________
N (n)_ _ _ _ _

i = Relief in the X axes direction

k = Relief in the Z axis direction
d = Number of cuts
n = Number of first block of the shape
n = Number of the last block of the shape
u = Finishing allowance in X
w = Finishing allowance in Z
f = Feed rate
s = Spimdle speed
t = Tool number

Axial Drilling Cycle -G74

Format
G74R (e)
G74X (U)_ Z (W)_ P(i) Q (k) R(d) F(f)

e = Retract amount
X = X component of point B
U = Incremental amount from A to B
Z = Z component of point C
W = Increment amount from A to C
i = Movement amount in X direction
k = Depth of cut in Z direction
d = Relief Amount of the tool at the cutting bottom
f = Feed rate

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 Programming 13

Radial Grooving Cycle - G75

Format
G75R (e)
G75X (U)_ Z (W)_ P(i) Q (k) R(d) F(f)

e = Retract amount
X = X component of point B
U = Incremental amount from A to B
Z = Z component of point C
W = Increment amount from A to C
i = Movement amount in X direction
k = Depth of cut in Z direction
d = Relief Amount of the tool at the cutting bottom
f = Feed rate

Thread Cutting Cycle - G76

G76p (m) (r) (a) (d min) R (d)
G76X (u) Z (W)_ R(i) P (k) Q(∆d) F(L)

Format
m = No.of idle passes
r = Chamfering amount
a = Angle of tool tip
d min = Minimum thread depth
d = Finishing Allowance
i = Taper value
k = Height of thread
∆d = Depth of cut in first cut
L = Lead of thread

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 Programming 14

Verifying NC programs
Safety priorities
Safety priorities must be followed when verifying programs.

Operator safety - priority 1

Safety of the person operating the machine

Machine tool safety - priority 2

Prevention of damage to the machine

Workpiece safety - priority 3

Prevention of part rejection

Typical errors
Syntax errors
This prevents the machine controller from executing a command. E.g., writing G101 instead of G01

Motion errors
Machine does not generate an error, so these are difficult to diagnose.
E.g., Writing X instead of Z; wrong co-ordinates; reversing CW and CCW commands; improper
incremental/absolute mode selection.

Omission errors
Omitting decimal points, forgetting to program feed rates, forgetting to turn on the coolant

Setup errors
Wrongly measured work offset and tool offsets, or correct measurement and wrong entry

Program verification procedures

A new program is checked by executing it in some or all of the verification modes.

Dry run with Machine lock

Used for checking syntax errors. Motion errors are not checked.

• Set Machine lock ON and Dry run ON.

• Set feed rate override switch to maximum to execute the cycle fast.
• The spindle rotates, the turret indexes and the display changes as per program, but axes do not move.
• Tool and work offsets need not be set.

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 Programming 15

Dry run with air cutting

Used for checking motion errors and correctness of spindle direction. Since execution is at dry run feed,
difference between rapid and feed motions is not known. Collisions cannot be checked.
• Set the tool offsets. Set the work offset so that all motions occur away from work holding devices like
the chuck.. Do not load a part.
• Set Machine lock OFF and Dry run ON. All machine functions and motions are active.
• Set feed rate override switch to minimum for safety.

Normal cycle with air cutting

Used for checking collisions.
• Set the tool offsets. Set the work offset so that all motions occur away from work holding devices like
the chuck.. Do not load a part.
• Set all functions for normal machine execution.
• For safety, when in doubt set the feed rate override switch to minimum.
• Carefully watch for motions which result in tool colliding with the part or work holding device.

Single block execution

Used for checking motion errors and part dimensional accuracy.
• Set the work offset normally, and load a part.
• Set the tool offsets to leave excess stock on the part.
• Set all functions for normal machine execution.
• For safety, when in doubt set the feed rate override switch to minimum.
• Check the Distance to go value to detect potential motion errors.
• Check all dimensions. For critical dimensions alter the tool offsets and rerun the tool again to check
whether the dimension is within tolerance. Repeat till tolerance is achieved.

Cadem Manufacturing Technology Center CNC Turning