A system in which actions are

controlled by direct insertion of

numerical data at some point. The
system must automatically
interpret at least some portion of
this data.
 NC MACHINES

Computer control
Servo axis control
Tool changers
Pallet changers
On-machine programming
Data communication
Graphical interface
THE HISTORY OF NC
1947: J. Parsons (Parsons Corporation) began
experimenting for using 3-axis curvature data to
control machine tool motion for the production of
aircraft components
1949: Parsons awarded a US Air Force contract to
build the first NC machine Laboratory for
Manufacturing Systems and Automation
1951: MIT was involved in the project
1952: NC achieved when MIT demonstrated that
simultaneous 3-axis movements were possible using
a laboratory-build controller and a Cincinnati
HYDROTEL vertical spindle
1955: after refinements NC become available to
industry
THE HISTORY OF NC
Early NC machines run off punched cards and tape
Due to the time and effort for editing and changing
tapes, computers were introduced for programming
Computer Aided Programming Languages:
Allow the development of an NC program using a
set of universal English commands
Computer translate commands into machine codes
Machine codes are punched into the tapes
Direct Numerical Control:
A computer is used as a partial or complete
controller of one or more NC machines
OBJECTIVES OF NUMERICAL CONTROL
Numerical control (NC) was developed with these
goals in mind:
To increase production
To reduce labor costs
To make production more economical
To do jobs that would be impossible or impractical
without NC
To increase the accuracy of duplicate parts
ADVANTAGES
Increased productivity
Reduced tool/fixture storage and cost
Faster setup time
Reduced parts inventory
Flexibility that speeds changes in design
Better accuracy of parts
Reduction in parts handling
Better uniformity of parts
Better quality control
Improvement in manufacturing control
DISADVANTAGES
Increase in electrical maintenance
High initial investment
Higher per-hour operating cost than traditional
machine tools
Retraining of existing personnel

NC is a general term used for Numerical Control.

CNC refers specifically to
COMPUTER NUMERICAL CONTROL.
CNC machines are all NC machines
But all NC machines are not CNC machines
 CNC MACHINES
Conventionally, an operator decides and adjusts various
machines parameters like feed , depth of cut etc
depending on type of job , and controls the slide
movements by hand.

In a CNC Machine, functions and slide movements are

controlled by motors using computer programs.
CNC machine control unit (MCU) decides cutting speed,
feed, depth of cut, tool selection , coolant on off and tool
paths.
The MCU issues commands in form of numeric data to
motors that position slides and tool accordingly.
CNC Motion-Control Commands

Commands for Commands for

motion individual components

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 NC classification regarding

Motion control: PTP versus continuous path

Control loops: open versus close
Power drives: hydraulic, electric, or pneumatic
Positioning systems: incremental or absolute
positioning
Hard-wired NC and soft-wired CNC

4/16/2015
 CONTINUOUS PATH

Controls both the displacement and

the velocity.
Machining profiles.
Precise control.
Use linear and circular interpolators.
Motion control for NC

Inverse kinematics is to convert

the position and orientation
commands into the machines
axes commands

Interpolation is to
coordinate multiple axes
to move the tool on a
desired trajectory

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Interpretation: Linear path

Interpolation is important when we try to control the path of the tool.

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MOTION CONTROL SYSTEMS
a. OPEN LOOP CONTROL
SYSTEM
Does not provide
positioning feedback to the
control unit.
Counts tool movement
pulses only
Cannot identify
discrepancies in positioning,
slightly inaccurate.
b . CLOSED LOOP SYSTEM
The electronic movement
pulses are sent from the
control to the
servomotor, enabling the
motor movement.
Movements are detected
by a feedback device
(transducer), which can
send a signal to the
control for checking after
each step.
CO-ORDINATE SYSTEMS IN CNC
Milling Machine
Operations such as milling, contouring, gear cutting, drilling,
boring, and reaming operations which can be performed on a
milling machine.
The milling machine can be programmed on three axes:
The X axis controls the table movement left or right.
The Y axis controls the table movement toward or away from the
column.
The Z axis controls the vertical (up or down) movement of
the knee or spindle.
5-axis machine - 1

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5-axis machine - 2

4/16/2015
5-axis machine - 3

4/16/2015
Rotary table attachment
(Courtesy of Fadal Machine)

4/16/2015
5 AXIS EXAMPLE
5 AXIS EXAMPLE
 AXIS REPRESENTATION
All computer controlled machines are able to accurately and
repeatedly control motion in various directions. Each of these directions
of motion is called an axis. Depending on the machine type there are
commonly two to five axes.
Additionally, a CNC axis may be either a linear axis in which
movement is in a straight line, or a rotary axis with motion following a
circular path.
NC program functions

Preparatory functions
Coordinates
Machining parameters: feed and speed
Tool control
Cycle functions
Coolant control
Miscellaneous control
Interpolators
4/16/2015
Reference Points

Machine Reference Zero:

Each axis of motion has a reference point which provides a
starting point for each axis
All positions are measured with respect to this point.
The reference points of all the axes determine a machines
reference zero point.
All distances are measured with respect to this point.

Program Reference Zero:

Reference point for measuring distance on the part or drawing.

Local Reference Zero:

Temporary reference point from which distances can be
measured.

4/16/2015
 Reference Points (contd)

Tool (0,0,0) m/c home zero

workpiece LRZ

(-5,-6,-7)

program reference zero

table

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 Machine Zero - Machine zero is a point at the origin of the machines
coordinate measuring system. All the Axis movements and other
IMPORTANT TERMS RELATED TO CNC MACHINING
dimensions are measured from this point. It is similar to the origin of
coordinate measuring system.
Machine reference point - It refers to the initial point of return for the
purpose of measuring/feedback systems. Whenever a CNC machine is
switched on the feedback system has to be initialized by referring this
point on every axis.
Work Zero - This is the origin for the measuring of dimensions of
work piece. The programmer is free to select it anywhere on the
drawing.
Absolute measuring system - In this measuring system all the
dimensions are made from the work zero, which defined. The machine
control uses work zero as the reference point to position the tool
during program execution. The main advantage of programming in
absolute system is that any point can be readily changed without
affecting subsequent dimensions.
 Incremental measuring system - The movements are based on the change
in position between two successive points. It expresses the relative distance
between the current location and the next position. This type of measuring system
is called Incremental Measuring system. The main advantage of this system is that
sum of the dimensions must always be zero if start point and finishing point is
same at the end of programming which makes it easy to check a program.

Axis designation (conventions) - Axis designation for each type of machine

tool is suggested in the EIA (Electronic Industries Association) RS 274-B standard.
This conforms to ISO Recommendations R831. The nomenclature of the three
main axes (X, Y AND Z) is based on the Left hand rule. The thumb indicates the
orientation of the X-axis; the index finger indicates the Y-Axis, and the middle
finger points in the direction of the Z-axis.

Tool and tool offset - The T function is used to call the particular tool and
tool offset in the program. The tool offset is used to correct the values entered in
the coordinate system preset block. Using the tool offsets, it is easy to set up the
tools and to make adjustments in part size.
 Spindle speed - The spindle speed is the rotational frequency of the spindle of
the machine, measured in revolutions per minute (RPM). The preferred speed is
determined based on the material being cut. Using the correct spindle speed for the
material and tools will greatly affect tool life and the quality of the surface finish.

Feed rate - Feed rate is the velocity at which the cutter is fed, that is, advanced
against the work piece. It is expressed in units of distance per revolution for turning
and boring (millimeters per revolution). For milling it is expressed in units of
distance per time for milling (millimeters per minute).

Cutting Speed - Cutting speed may be defined as the rate (or speed) that the
material moves past the cutting edge of the tool , irrespective of the machining
operation used the surface speed.
 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.
THE CONSTRUCTION OF CNC MACHINES
Hydrostatic Slide Way
Hydrostatics are an improvement
over rolling element and plain slides
because they are a non-contact
bearing, resulting in zero starting
friction, zero wear, error averaging for
straight, smooth silent operation and
the highest possible damping
function.
 Recirculating Ball Screw
A ball screw is a mechanical linear actuator
that translates rotational motion to linear
motion with little friction. A threaded shaft
provides a spiral raceway for ball bearings
which act as a precision screw. As well as
being able to apply or withstand high thrust
loads they can do so with minimum internal
friction.
They are made to close tolerances and are
therefore suitable for use in situations in
which high precision is necessary.
The ball assembly acts as the nut while the
threaded shaft is the screw.
In a CNC machine, the connection between
the screw and the nut is through an endless
stream of re-circulating steel balls, replacing
sliding friction threads with rolling friction.
Advantages are higher efficiency,
reversibility and reduction in wear and tear.
Control systems
There are two types of control systems on CNC machines:
Open loop (less accurate)
Closed loop (more accurate)
Drive motors
The drive motors control machine slide movement on CNC
equipment. Types used :
1. Stepper motors (convert a digital pulse into a small rotation,
mostly used in applications where low torque is required )
2. DC servo motors (rotate in response to the applied voltage,
used to drive lead screw and gear mechanisms, provide higher-
torque o/p
3. AC servo motors (controlled by varying the voltage frequency
to control speed, more power than a DC servo, used to drive a
lead screw and gear mechanism )
4. Fluid servo motors (variable speed motors, produce more
power, in the case of pneumatic motors, than electric
servomotors)
Drives of CNC Machine Tool
Leadscrew and machine ways (Courtesy of
Cincinnati Milacron)

4/16/2015
Tool changers
Several different cutting tools are used to produce a part.
The tools must be replaced quickly for the next machining
operation.
Majority of NC/CNC machine tools are equipped with
automatic tool changers.
They allow tool changing without the intervention of the
operator.
Automatic Tool Changer
Grips the tool in the spindle, pulls it out, and replaces it with
another tool.
Tool changers are equipped for either random or sequential
selection.
IN RANDOM TOOL SELECTION
THERE IS NO SPECIFIC PATTERN OF TOOL SELECTION.
IN SEQUENTIAL TOOL SELECTION,
THE TOOLS MUST BE LOADED IN THE EXACT ORDER
IN WHICH THEY ARE CALLED FOR IN THE PROGRAM.
Turret Head 180 Degree Rotation
Tool Changer Tool Changer
Pivot Insertion
Tool Changer
 What is an Encoder?
An encoder is a sensing device which takes motion from a physical component
and converts it into a digital pulse, which is then sent to a controller and
manipulated for a desired purpose.
 How Does an Encoder Work?
There are many differences in the various types of encoders,
but the two main ones are: rotary and linear encoders
(both examples are optical)

The signal goes to the controll

The disk moves by some
To perform a desired function
type of automatic rotation

The filter transforms the

sinusoidal wave into a
square wave

The photo sensor responds

The LED points
to the oscillating light by
orthogonally at the disk
outputting a sine wave

Rotary Encoder
How Does an encoDer workcontinueD?
Two Types of Optical Encoders:

Incremental

Absolute

Incremental (Single or Absolute

Quadrature)
- Generates unique word pattern
- Reads high and low signals
- Each word signifies an angular position
- Indicates movement from one
position to another - Indicates movement from base frame

- Single does not indicate

direction
 How Does an encoDer workcontinueD?

This type of sensor detects the distance between

lines or bearings along a linear path and takes
that data to output a digital signal.

The encoder resolution is dependent upon the spacing of

lines. It can be as small as 2 m 1 nm, reading paths th
have more than 1300 lines/inch and moving at speeds as
as 30 feet/second.

Linear Encoder
Ara Knaian

ELECTRIC MOTORS
How a DC Motor Works

Brushes
Motor Modeling
I
V ,
Voltage and
Torque and
Current In Q Heat Out
Pin P
Speed Out

Power In = Power Out

VI Q
2
VI I R
Motor Modeling

F IL B

Km I
Pittman Motor Data Sheet
Pittman Motor Data Sheet
Bidirectional Motor Drive: H-
Bridge
Speed Control: PWM

Like Low Voltage

(slow)

Like High Voltage

(fast)
Rotary Shaft Encoder
Practical Motor Controller
Block Diagram

H Bridge Motor Mechanical Encoder

System

Microcontroller Limit
Switch
Stepper Motors
Stepper Motor Selection

Permanent Magnet / Variable Reluctance

Unipolar vs. Bipolar
Number of Stacks
Number of Phases
Degrees Per Step
Microstepping
Pull-In/Pull-Out Torque
Detent Torque
Power Transmission

Tw = Tw
Tw = Fv
Induction Motors
Universal Motors
LINEAR MOTORS
Tubular Linear Motor
CNC Router with Linear Motors?

F 1000N
v 0.01m / s

Pmech Fv 1 W
2

1000N
PD 1890 W
N
23
W
 Electropermanent Stepper

Rotor

Stator

Alnico

Nd-Fe-B Fe
Copper Wire Coil

Before Installation of Coils After Installation of Coils

Electropermanent Stepper
Operation
T

Tpulse
V1

V2

Time

Tpulse = 100s
T = 40 ms
 Different Types of Encoders
The most current type of encoders:

Rotary Linear

Hollow Shaft Magnetic Brake

 ENCODER DETAILS
Encoder Costs Different Encoder Applications

Cheap $15 - $30

Mice and Trackballs
Light $30 - $100

Medium $100 - 400

Cutting Machines
Heavy Duty $400 +

There are also many Rotating Radar Platform

places where you
can get customized
encoders, these are
usually expensive, Photographic Lenses
but not as expensive
as the high-end
heavy duty encoders Micrometers
 ENCODER DETAILSCONTINUED
WHO USES ENCODERS?

Research and Development encoders assist in data collectio

Robotics Companies position sensors, accelerometers, etc

Manufacturing CNC machines, automation tools

Universities experiments, research, etc.

People creating things for personal use

Supporting Technology

Controllers

LCDs

Software

Power Input to the Rotary

and Sensors
 Important Vendors and Encoder Specs
TURCK www.turck-usa.com/Products/Encoders/
US DIGITAL www.usdigital.com
EPC www.encoder.com/quickreference.html
BAUMER ELECTRIC www.baumerelectric.com/usa/
BEI ENCODERS www.bei-encoder.com/ (They seem to be #1, or at least on the net)
GPI ENCODERS www.gpi-encoders.com/
ELCIS www.elcis.com/ENGLISH/index.html
LENORD AND BAUER www.lenord.de/en/
QUANEM DEVICES INC.
www.quantumdev.com/products/optical_encoders/index.html
OMRON www.omron247.com/Industrial-Automation/Store/

www.quantumdev.com/products/optical_encoders/hr12.html

www.quantumdev.com/products/optical_encoders/jr12.html

www.quantumdev.com/products/optical_encoders/qd200.html

www.quantumdev.com/products/optical_encoders/qd787_hollow.html

www.quantumdev.com/products/optical_encoders/qr12.html
 Important LIMITATIONS AND STANDARDS
PPR = Pulses Per Revolution, or inches for linear encoders, can be up to 150,000

Voltage input is usually 5 volts, but can be up to 25 volts

Frequency Response should be around 500kHz

Type of Format = Incremental Single or Quadrature, or Absolute

Accuracy is around 1 mechanical

Temperature is very important, should have an average operating temp. of -20 to 115

Maximum Shaft Speed = around 8000 RPM

Also look at vibration, how it can be mounted, moment of inertia, storage temperature

How Encoders Can be Integrated?

Encoders are part of sensor and actuator systems, in which during automated processes
feedback is given to ensure precise location of the TCF and other joints.
 SUMMARY
SENSORS
A sensor is a device that responds to a physical stimulus by outputting a readable sig

The two measuring types are: analog and discrete (digital)

The measurement variables are: thermal, mechanical, electrical, chemical, magnetic

radiation, biological

The power inputs: active (no power required), passive (external power source requir

When purchasing a sensor you should know:

What is being measured?
How do I want the measurement displayed?
How small do I need the resolution?
How much power is necessary to run the sensor
How much am I willing to spend?

MEMS (Microelectromechanical systems) are the top-of-the-line sensors used in ind

They can be found in all most any technology: cameras, watches, cell phon
They are lighter, faster, smaller (can be as small as 1 m)
 SUMMARY
ENCODERS

Encoders are very close to sensors, they receive physical feedback and convert it into
a
digital signal which is then read by a controller for a desired purpose.

Two main different types of encoders:

Rotary Absolute, Incremental (Single and Quadrature) Digital output from slit along
disk
Linear Digital signal from lines along a linear path of the LED sensor

Encoder Beneficiaries: Universities, Robotics Companies, Manufacturers, R & D,

Individuals

Supporting Technology Controllers, Digital Readouts, Software, Power to the

Rotary

When buying an encoder always check:

Voltage ( 5 volts - 25volts), Frequency Response (500 kHz), Type of
Format (Incremental: Single or Quadrature; or Absolute), Accuracy ( 1
mechanical),
 INTERPOLATION
The method by which contouring machine tools
move from one programmed point to the next is
called interpolation.
This ability to merge individual axis points into a
predefined tool path is built into most of todays
MCUs.
There are five methods of interpolation:
Linear, Circular, Helical, Parabolic, And Cubic
All contouring controls provide linear interpolation,
and most controls are capable of both linear,
circular , helical, parabolic, and cubic interpolation.
These are used by industries that manufacture
parts which have complex shapes, such as
aerospace parts and dies for car bodies.
LINEAR INTERPOLATION
 CIRCULAR INTERPOLATION
To program an arc , the MCU requires only the coordinate positions
(the XY axes) of the circle center, the radius of the circle, the start point
and end point of the arc being cut, and the direction in which the arc is
to be cut (clockwise or counterclockwise)
STRUCTURE OF CNC PROGRAM
CNC PROGRAMMING
Computer Numerical control machines are programmed by means of a
series of coded instructions, commonly entered into the controller using manual
programming. A typical block of instruction is of the following form:
Block Format
N135 G01 X1.0 Y1.0 Z0.125 F5
Sample Block
Restrictions on CNC blocks
Each may contain only one tool move
Each may contain any number of non-tool move G-codes
Each may contain only one feed rate
Each may contain only one specified tool or spindle speed
The block numbers should be sequential
Both the program start flag and the program number must be independent
of all other commands (on separate lines)
The data within a block should follow the sequence shown in the above
sample block
 PART PROGRAMMING STRUCTURE
Name of the program
Selection of Working plane, Measuring system ( Absolute or incremental ),
Unit of measurement (mm or inch)
Defining and calling work origin
Tool changing position (Remote area away from work piece), Tool call & Tool change
First position (Movement in working Plane) and Second positioning (Movement in
spindle axis) for working, Spindle start & coolant on
Third positioning for working (for mechanizing, tool movement with tool radius
compensation)
Depth of cut (in feed only)
Definition of geometry/preparation of profile (feeding of CNC drawing data)
Return to second position, spindle stop & coolant off
Cancellation of fixed cycles, Macro instructions, Special commands, Tool Radius
compensation
Return to tool change position
Movement in spindle axis and in working plane
If required, repeat step Nos. to 16 as required.
End of part program
 WARNINGS AND CAUTIONS RELATED TO
PROGRAMMING

Coordinate system setting

Positioning by nonlinear interpolation
Function involving a rotation axis
Inch/metric conversion
Constant surface speed control
When an axis subject to constant surface speed
control approaches the origin of the work-piece
coordinate system, the spindle speed may become
excessively high. Therefore, it is necessary to specify
a maximum allowable speed.
 Stroke check
Tool post interference check
Absolute/incremental mode
Plane selection
Torque limit skip
Programmable mirror image

Compensation function
CNC CODES
The most common codes used when programming CNC machines tools
are G-codes (preparatory functions), and M codes (miscellaneous
functions).
Other codes such as F, S, D, and T are used for machine functions such as
feed, speed, cutter diameter offset, tool number, etc.
G-codes are sometimes called cycle codes because they refer to some
action occurring on the X,Y, and/or Z axis of a machine tool,
The G-codes are grouped into categories such as Group 01, containing
codes G00, G01, G02, G03. which cause some movement of the machine
table or head.
Group 03 includes either absolute or incremental programming, while
Group 09 deals with canned cycles.
A G00 code rapidly positions the cutting tool while it is above the work
piece from one point to another point on a job. During the rapid traverse
movement, either the X or Y axis can be moved individually or both axes
can be moved at the same time. The rate of rapid travel varies from
machine to machine
 CODE TYPES
Sequence Number (N-Codes)
This is an identification number for each block of instructions and increases
sequentially through the program.
Preparatory Function (G-Codes)
The G-codes are the codes that position the tool and do the actual work These
codes are largely standardized and can be seen in the provided G-code table.
Many of the preparatory functions can indicate canned cycles.
Co- ordinate Codes
These indicate the co-ordinates for the tool movement. Four to five axis
machines can have the following axes

Cartesian Co-ordinates Angular positions for Circular Interpolation

the Cartesian axes about Cartesian axes
X A I
Y B J
Z C K
Feed rate (F-code)
This specifies the feed rate for the operation. The units
may be mm per minute or mm per revolution (indicated by
the G-code used), with the decimal point implied at a fixed
position from the right.
Spindle speed (s-code)
This specifies the spindle speed to be used for the
operation.
Tool Number
This indicates to the controller which tool is to be used for
the operation. In case of tool adaptors with multiple tool
slots, the machine just switches to the next tool without
removing the earlier one form the adaptor.
 G CODES (FANUC MACHINE CONTROL)
G CODE FUNCTION
G00 Positioning (Rapid traverse)
G01 Linear Interpolation (Cutting feed)
G02 Circular interpolation /Helical cutting CW
G03 Circular interpolation/Helical cutting CCW
G04 Dwell Time
G17 XY plane selection
G18 ZX plane selection
G19 YZ plane selection
G20- 21 Input in inch and mm respectively.
G28 Return to reference point
G40 Cutter compensation cancel
G41 Cutter compensation left
G42 Cutter compensation right
G43 Tool length compensation + direction
G44 Tool length compensation direction
G53 Machine coordinates system selection
G54 - 59 Work co-ordinate system 1 -6 selection
G71 Stock removal Canned Cycle
G73 Pattern Repeating Canned Cycle
G76 Thread Cutting Canned Cycle
G78 Grooving Cycle Canned Cycle
G81 Drilling cycle, spot boring
G82 Drilling cycle, counter boring
G83 Peck drilling cycle
G90 Absolute command
G91 Incremental command
G92 Programming of absolute zero point
G94/98 Feed per minute
G95/99 Feed per rotation
G96 Constant surface speed control
G97 Constant surface speed controls cancel
G98 Return to initial point in canned cycle
G99 Return to R point in canned cycle
 MISCELLANEOUS CODE (M-CODE)
CODE FUNCTION
M00 Program stop, spindle and coolant off
M01 Optional programmable stop
M02 End of program-often interchangeable with M30
M04 Spindle on CCW
M05 Spindle stop
M06 Tool change
M07 Coolant supply No. 1 on
M08 Coolant supply No. 2 on
M09 Coolant off
M10 Clamp
M11 Unclamp
M13 Spindle on, CW + Coolant on
M14 Spindle on, CCW + Coolant on
M 20 29 Unassigned
M30 Program stops at end of tape+ tape rewind
M31 Interlock by-pass
M40-M45 Gear Changes; otherwise unassigned
M90 Reserved for user
M99 (Subroutine call) Reserved for user
PREPARATORY FUNCTION (G CODE)
G00-Rapid position
G01-Linear interpolation
G02-Circular interpolation (CW)
G03-Circular interpolation(CCW)
G20- Inch data input
G21- Metric data input
G28- Reference point return
G40- Tool nose radius compensation cancel
G50- Maximum spindle speed setting
G70- Finishing cycle
G71- stock removal in turning
G72- stock removal in facing
G74- peck drilling in z-axis
G75- Multiple grooving cycle
G76- Multiple thread cutting cycle
G98- Feed per minute
MISCELLANEOUS
FUNCTION (M CODE)
M03- Spindle rotation (cw)
M05- Spindle stop
M06- Tool change
M08- Coolant ON
M09- Coolant OFF
M70- X-axis mirror ON
M71- Y-axis mirror ON
M80-X-axis mirror OFF
M81-Y-axis mirror OFF
M98- Sub program call
M99- Sub program exit
The G01, G02, and G03 codes move the axes at a controlled feed
rate.
G01 is used for straight-line movement (linear interpolation).
G02 (clockwise) and G03 (counterclockwise) are used for arcs
and circles (circular interpolation).
MISCELLANEOUS CODES

M03
DIRECTION OF ROTATION
(CLOCKWISE)

M04
DIRECTION OF ROTATION
(COUNTERCLOCKWISE)

M05
SPINDLE STOP

M06
TOOL CHANGE WITH
AUTOMATIC RETRACTION

M30
END OF PROGRAM
AND RETURN TO BEGINNING
OF PROGRAM
SYNTAX FOR TURNING CENTRE
(LATHE )
FAST TRAVERSE-G00
G00 X Z
G00 => Fast Traverse
X , Z => Co-ordinate values
LINEAR MOTION-G01
G01 X Z
G01 => Linear motion
X , Z => Co-ordinate values
REFERENCE POINT-G28
G28 U0 W0
G28 => Reference point
U , W => Machine Reference Point
CIRCULAR INTERPOLATION-G02/G03
G02 X Z R F
G03 X Z R F
G02 => Clockwise circular interpolation
G03 => Counter clockwise interpolation
X , Z => Co-ordinate values
R => Radius of the CW /CCW ARC
MULTIPLE TURNING-G71 PATTERN REPEATING G73
G71 U R G73 U R
G71 P Q U W F G73P Q U W F
G71 => Multiple Turning G73 => Pattern Repeating
U => Depth of cut U => Amt. of Matl. To be removed
R => Relief amount (Max. dia of w/p Min. dia of profile)/2
P => Start block R => U/ Depth of cut
Q => End block P => Start block
U => Finishing allowance in the X axis Q => End block
W => Finishing allowance in the Z axis U => Finishing allowance in the X axis
F => Feed /minute W => Finishing allowance in the Z axis
F => Feed /minute

FINISHING CYCLE-G70 FINISHING CYCLE-G70

G70 P Q F G70 P Q F
G70 => Finishing Cycle G70 => Finishing Cycle
P => Start block P => Start block
Q => End block Q => End block
F => Feed /minute F => Feed /minute
GROOVING CYCLE-G75
G75 R
G75 X Z P Q F
G75 => Grooving Cycle
R => Return amount
X , Z => Co-ordinate values
P => Peck increment in X-axis (microns)
Q => Stepping distance in Z-axis (microns)
F => Feed /minute
MULTIPLE THREADING CYCLE-G76
G76 P(m)(r)(a) Q(q1) R
G76 X Z P Q(q2) F
m => Repetitive count in finishing
r => Pull out angle
a => Angle of tool tip
q1 => Minimum cutting depth
R => Finishing allowance
X , Z => Co-ordinate values
P => Height of the thread as a radius value
x 1000
q2 => Depth of the first cut as a radius
value x 1000
F => Lead or Pitch of the thread
 WORD ADDRESS FORMAT
Each line of program == 1 block

Each block is composed of several instructions, or (words)

Sequence and format of words:

N3 G2 X+1.4 Y+1.4 Z+1.4 I1.4 J1.4 K1.4 F3.2 S4 T4 M2

destination feed rate

sequence coordinates tool
no dist to
center of spindle speed
circle
preparatory function
miscellaneous function
 MACHINE
The machine zeroZERO
point can POINT
be set by three methods
By the operator,
Manually by a programmed absolute zero shift, or
By work coordinates, to suit the holding fixture or the part to be machined.
Manual setting
The operator can use the MCU controls to locate the spindle over the desired
part zero and
Then set the x and y coordinate registers on the console to zero.
Absolute zero shift
The absolute zero shift can change the position of the coordinate system by a
command in the CNC program.
The programmer first sends the machine spindle to home zero position by a
G28 command in the program.
Then another command (G92 for absolute zero shift) tells the MCU how far
from the home zero location, the coordinate system origin is to be positioned
as shown in the fig.
G00 RAPID POSITIONING
G01 LINEAR INTERPOLATION
CIRCULAR INTERPOLATION G02 & G03
CIRCULAR INTERPOLATION
THREAD CUTTING G33

G33 X Z K
Where,
K = Pitch of the
thread
CUTTER RADIUS COMPENSATION

G42(Radius compensation on
the right side of the profile)

G41(Radius compensation on
the left side of the profile)
 STOCK REMOVAL IN TURNING

U (i d) : depth of cut (radius designation) designation without sign) in x direction

R (e ) : escaping amount/retraction
P : sequence number of first block for Programming of finishing shape
Q : sequence number of last block for programming of finishing shape
U (i u) : distance and direction of finishing allowance in X direction (dia /radius)
W (i w): distance and direction of finishing allowance in Z direction
 PATTERN REPETITION (G73)
G73 U(i I) W(i k) R(d)
G73 P(-) Q(-) U(i u) W(i w) F(f) S(s) T(t) ;
U(i I) = Maximum Dia of the Work piece-Minimum diameter of the
profile /2
W(i k) = Escape Distance and direction in Z axis
R( d) = U(i I) / Depth of cut = No. of times the cycle is to be repeated
FINISHING CYCLE G70
G75- GROOVING CANNED CYCLE

G75(X direction grooving :

Peck drill cycle in turning)

G75 R(e) :
G75 X(u) Z(w) P( i) Q( k) R( d) F :
THREADING CANNED CYCLE G76
G76 P (m r a) Q (D) R (d)
There is also a provision for an R-
G76 X (Root Diameter) Z ( Distance of thread)
word for taper threads.
P (Depth) Q (First Depth) F (Feed)
The threading cycle in this program is based
on the following parameters:
m= Number of finishing passes = 3,
r = Chamfer distance = 1.5 3.5 = 5.25 mm
(3.5 mm is pitch)
a= Thread angle (tool-tip angle) = 60 degree,
Q= Minimum depth of cut or Finishing
allowance = 150 micron = 0.15 mm
X= Core diameter = 25.706 mm
Z= Axial end of thread = 30 mm in the
negative Zdirection
P= Depth of thread = 2147 micron = 2.147 mm
Q= First depth of cut = 250 micron = 0.25 mm,
F= Lead (= pitch, for single-start) = 3.5 mm
CNC MILLING
RECTANGULAR POCKET MILLING

G66 P9020
XY I J Q Z R K F
G67
CICRCULAR POCKET MILLING
G66 P9016
XY I Q Z R K F
G67
DRILLING CYCLE
G81 X Y Z R K F; * IF Z = -10
K = 1 IF IT HAS TO REPEAT 10 TIMES
DEEP HOLE DRILLING CYCLE

G83 X Y Z R Q K F
DRILLING CYCLE
G88 X Y Z R P K F