How to Use

Charly 4U
Milling Machine
USING THE GCODE
FOR ISO FILE

I - Overview of the ISO code

G-code is the name of one of the program me Angagaation to drive

machine tools with numerical control. It was developed by the EIA in
the early 60s, and finally standardized by ISO in February 1980 under
reference RS274D / (ISO 6893).
Given the absence of further developments, the wide variety of
machine tool configurations, and little demand for true interoperability,
few CNC controllers meet this standard. Extensions and variants have
been added independently by different manufacturers, so that
operators must know the different dialects and peculiarities of the
machines they use, and CAM systems should be limited to the lowest
common denominator of the machines they command.
Many manufacturers have tried to circumvent this difficulty to remain
compatible by following the path marked out by Fanuc. Unfortunately,
Fanuc does not comply with the standard RS-274 or to its previous
standards, and has been slow to add new features and use the
growing power of computers. For example, they have changed the
order in g20/21 G70/G71, they used parentheses for comments which
caused problems when introducing mathematical calculations.

G-code files produced by programs such as CAM Mayka, Artcam,

Alphacam, etc.. These applications typically use converters called
post-processors to optimize the code for use on a particular
machine. Post-processors are generally modified by the user to
optimize their use. Such programs must be tailored for each type of
machine tool.
G-code is also the name of a command in a CNC program that begins
with the letter G, and generally it is a code that describes the type of
action to take, for example:

fast moving
moving at a controlled speed in a straight line or an arc
range of motion at a controlled rate to achieve a hole, cut a piece to a
given size, or added a decorative profile on the edge of a piece.

The positioning codes:

X position
Y position
Z position
A position
B position
C position
I X-axis data of an arc
J Y-axis data of an arc
Radius R

 The command codes:

M code, sometimes referred to as function

'diverse' ("Miscellaneous" in English)

F speed
S speed
N line number
T Selection Tool
Different machines can use the same code to
perform different functions, even the machines
that use the same CNC controller.

II - Overview of milling and

milling machines

Origins:
Original program (OP) is the origin point of the program from which the
movements of the machine is programmed.
Original machine (OM) is the origin point in space from which to
measure the machine movements. It is defined by the manufacturer
and it is fixed.
Work piece (Opp) is used to place the coin in the machine. It is defined by the
operator.

Corrections
The markers used to account for different tool lengths and diameters.
Spell length strawberry: Activated automatically when changing
tool M6.
Cutter radius correction: G41 and G42, G40 cancellation.
G41 positions the tool to the left of the programmed path of a value
equal to the radius.
G42 positions the tool to the right of the programmed path of a value
equal to the radius.

 Axes
The Z axis of a CNC machine is always the axis of the

rotating pin.
The X and Y axes are arranged in a direct orthogonal
with respect to Z.
The X axis is the one that allows the greatest
distance of travel. The last axis being the axis Y.

On some machines, there are additional axes

Axe called A, B, C.
Axes A, B, C rotary axes are:
A rotating around X,
B about Y,
C around Z.

IV - Instructions analyzed
by the ISO code for Gpilote
Charlyrobot

PREAMBLE:
The motion commands are processed centrally tool for XY and Z to the
end of tool (not management tool offset).
G0 and G1 commands are modal.
Orders G2 and G3 are not modal. In the latest versions of the control
module, a command G2 or G3 is accepted as implicitly recognized by
the presence of the parameters I, J. or R.

The first shift at the beginning or after a machining tool change must
specify the XY Z.
Commands executed:
XYZ coordinates of points in mm.
A Coordinate degree of the rotation axis horizontal and parallel to the X
axis (4th axis)
A is used when the origin of Y, Z must correspond to the coordinates Y,
Z of the 4th axis.
limited to 650 laps
G0 Rapid movement (not subject)

F Feed rate in mm / min.

G1 Linear Interpolation using the speed of the last command F.
G2, G3 Circular interpolation using the speed of the last command F.
Only in the XY plane. G2: clockwise arc. G3: arc counterclockwise.
If R is specified, the smaller the arc is applied. If not specify I, J corresponding to
X, Y coordinates of the center of the arc.
G4 F ... Timing of the program in seconds.
G14 Beginning of the sliding mode (optional)
G15 End of the sliding mode (optional)
G16 cancels the automatic mode cast
G14 and G15 commands are used only after command G16 to be placed at the
beginning of the file.
G28 Return to high speed behind - move sequence: ZXYA
Homing G52 machine (optional)
G90 Absolute mode (default, recommended)
G91 Relative Mode
N Line number (optional)
M2 End of program (optional)
M3 Power pin clockwise
On M4 pin counterclockwise (will eventually be assimilated to M3)
Spindle stop M5 (optional with the automatic stop at end of file)
M6 New Tool
S Spindle speed r / min (optional if the pin is not driven by AD)
T Tool number

Analyzed but ignored

commands:

Angle D or 3 additional forward speed

E Angle or 2 additional feed rate
G83 Drilling cycle G80 ... (ignore the whole block)
Any other command Gxx G
H (available for special use)
L (available for special use, eg subroutines)
Any other command Mxx M
P 3 movement parallel to the axis X
Q 3 motion parallel to the axis Y
R 3 movement parallel to the axis Z

V - Syntax a program
Example 1: Making simple 3 axes.

N10 G71
N20 G90
N30 T1
N40 S8000
N50 G0 X10 Y10 Z10
N60 G1 Z-1 F1200
N70 X20
N80 Y20
N90 X10
Y10 N100
N110 Z10
N120 T2
N130 G0 X10 Y20 Z10
N140 G1 Z-1 F800
N150 G2 X20 Y20 R10 F1200
F800 N160 G1 Z10

 Description of how the program works:

N10 indicates a line number, it is optional. G71 sets the unit metric unit G70 in inches.

N20 G90 sets the absolute mode (G91 mode relative). It defaults to G90 if not specified.

N30 application tool 1.

Gpilote will automatically position the pin in the tool change position.

With a tool changer, will take the tool placed in a position in the rack. It will introduce the
tool automatically pin, if there is one.

N40 sets the speed to 8000 rev / min.

the M3 is not required, the pin starts automatically the first move, and stops
automatically after the last move.

N50 G0 runs out on a trip at high speed (the maximum speed set in the machine
Charlyrobot).

X, Y and Z are required on the first line G0 or after a tool change. The following
values define the start position of the machine compared to the original program and the
room.

N60 G1 defines a linear displacement speed programmed by the control F, by 1200 mm /

min. Z-1 indicates that the machine returns to 1 mm in the matter (if we consider that the
origin is located on the top of the block).

N70 to N110 control G1 is modal, ie it remains active until another command cancels, as
another command G, M and T.

 N120 T2 command requests a new tool number 2, the program is

interrupted, the pin will be positioned at the position change tool in

manual mode a message, you must then put the tool required, or if is a
tool changer, spindle will ask the tool T1 and take the new tool.
N130 new set of axes for the G0 X, Y and Z.
N140 defines a linear movement, cf. N60
N150 G2 expresses a circular motion in the direction of clockwise

(reverse clockwise).
It starts at the point earlier and moves back to the point indicated by X
and Y.
There are two ways to define the circularity:
or by defining the radius R,
or by defining the center of the circle I and J (respectively expressing x and y

coordinates of the center of the circle).

ATTENTION! Gpilote does not define an arc greater than or equal to 180

, otherwise it will take the smaller of the two arcs possible. To define a
circle or arc greater than 180 must break the circle or arc as long arcs as
necessary, always strictly less than 180 .
N160 back the tool out of the material in G1 (G0 better than an order to
set a speed).
N170 At the end of the program, the pin back in Z then moves diagonally
to the OM. Control M2 and M5 are not necessary.

Example 2: Making a circle

N10 G90
F3000.000 N20N30 G01 X101.500 Y0.000 Z0.000
N40 G04 F10
N50 G01 X100.000 Y0.000
N60 G03 X-100000 Y0.000 I0.000 J0.000
N70 G03 Y0 X100.000 I0.000 J0.000
N75 G03 X0.000 Y100.000 I0.000 J0.000
N80 G01 X0.000 Y101.500
N85 G00 Z0.1
N90 G04 F3
N95 G00 Z0
N100 G01 X0.000 Y100.000
N110 G02 X0.000 Y-100 000 I0.000 J0.000
N115 G02 X0.000 Y100.000 I0.000 J0.000
N120 G02 X100.000 Y0.000 I0.000 J0.000
N130 G01 X101.500 Y0.000
N135 G00 Z0.1
N140 G04 F10
N150 G00 Z0

 N10, G90 sets the absolute mode (G91 mode relative). It defaults to

G90 if not specified.

N20, F sets the speed to 3000 mm / min, 50 mm / s.
N30, on this program, there is no G0, G1 is immediate, which sets the
first move. It is therefore defined on three axes X, Y and Z.
N40, G04 procrastinate the program, according to time specified by
the F10, 10 seconds.
N50 G01 marks a programmed movement indicated by the ordinates
X, Y or Z.
N60 to N75, the three G03 is a full circle to that 360 degree is divided
into two part always strictly less than 180 degrees. The value of I and J
mark the center of the circle. As the origin of the program is at the
center of the circle, these values are 0.There is a 3 rd circle arc made.
N80 moves the pin on a linear plot.
N85, a small wound of 0.1 mm.
N90 delay of 3 sec.
N95, the pin back down to the altitude 0.
N100 to 135, achieving the same route as N50 to N85 but in the other
direction. G02 instead of G03.
N140, timer 10 sec.
N150, G00 which puts the pin in position Z 0. end of the program.

Example 3: Realization of a circle in a square,

using the relative mode. The origin of the program
is located in the X and Y in the center of the
plate.

 PROGRAM

N5 / completion of a circle in a square

N10 G71
N20 G90
N30 T1
N40 S8000
N50 G0 X0 Y0 Z10
N60 G1 X50 Z1 F1200
N70 G3 X-50 Y0 I0 J0
N80 G3 X50 Y0 I0 J0
N90 G1 Z10
N100 G91
N110 G1 Y50
N120 Z-9
N130 X-100
N140 Y-100
N150 X100
N160 Y100
N170 Z9
N180 G90
N190 G0 X0 Y0

 Description of how the program works:

N5, the sign / mark a comment, like the parentheses.

N10, the G71 sets the metric.
N20, G90 switches absolute.
N30, Application tool T1
N40, set the speed to 8000 rev / min
N50, the first movement sets the G0
N60, the pin down to 1 mm, and at the same time moves to the start of the next item on
the speed F 1200 mm / min.
N70, G3 makes a first semi-circle defined by its center at I and J in the center.
N80, the 2nd G3 makes the second half of the circle.
N90, the pin goes back to the height 10 mm.
N100, the G91 will switch on.
N110, put the pin in the original position of the square in the upper right is 50 mm above
the circle Y.
N120, G1 pin down the 9 mm, to take the pin elevation 1 mm (10-1 = 9).
N130 to N160, carries a 100 mm square, each movement is made in relation to the arrival
of the previous point.
N170, up the pin 9 mm, to return to the elevation of Z = 10 mm.
N180, G90 delivers the absolute mode in place.
N190, the pin positions at the origin of the program in X and Y. end of the program.