Turn & Corresponding Points

Turn Points
They are the points that defines the edges of the contour of the part. At each point
the slope, direction and hence the equation of next feature changes.
In the figure, the turn points are: points a, b, c, d, e & f

70
40 20

e d
80

f
c
80 30

b
a 80 50

Choosing the Part ZERO to be “a”, then the coordinates of the turn points are:
Point X Y
a 0 0
b 80 0
c 130 30
d 110 130
e 40 130
f 0 80

Corresponding Points
They are the points where the center of the cutter should be when the turn point
will be machined. The contour joining the corresponding points is the cutter path
which should be programmed in the part program.
the coordinates of the corresponding points depends on the cutter radius. Assume
the radius is 10 mm, then:
Point X Y
a1 - 10 - 10
b1 80 + 10 * tan(74.531) - 10
c1
c1
d1
e1
e2
f1
f2

b g
a g
c
h c1
h
b1

Angle
a abc = 149.062 deg Angle bcd = 106.9 deg cc1 = 10/sin(53.45)

x1
c
y1
c1
 Interpolation

1. Digital interpolation
a) Linear Interpolator (G01)
CNC machine is constrained to move along axial directions (i.e. x, y, z, ..) only
in increments no smaller than the distance corresponding to a single pulse,
then any line that will be programmed will be approximated by the
machine to a series of small steps.

Take a machine that is fitted with a pulse generator producing a maximum

pulse rate of 100000 pulse / second and is designed to move with a fast
traverse when programming “G00” by 30 m / min, i.e. the machine is
designed to have a resolution of:-
The max. traverse speed = 30 m / min = 30000 mm / min = 500 mm / sec
Hence, the pulse rate = 500 / 100000 = 0.005 mm / pulse
Now, It is required to move from point A (10 , 15) to point B (90 , 115) with a
feed rate of 100 mm / min, the programmed Block will be:
N …. G01 X90 Y115 F100

B (90,115)

Fy

Fx
A (10,15)
X
Then, the controller will command the X-drive to move with a rate of (Fx) and the
Y-drive to move with a rate of (Fy), where:
Fx = F * cos(Ө) and Fy = F * sin(Ө) and Ө = tan-1[(YB – YA) / (XB – XA)]

In the above case, Ө = tan-1(100 / 80) = 51.34 deg

Fx = 100 cos(51.34) = 62.47 mm/min and Fy = 78.087 mm / min
X-drive pulse rate should be (V*x ) = 62.47 / (0.005*60) = 208.23 pulse/sec
Y-drive pulse rate should be (V*y ) = 260.29 pulse/sec
The time to move from point “A” to “B” is = 1.28 min

Hence, the sequence is:

- The machine produces a maximum pulse rate of “Vmax*”

- the programmed feed rate “F” corresponds to a required pulse rate of “Vc*”
- the machine reduces the maximum pulse rate to the programmed pulse rate.
This is done by a unit known as the Variable Pulse Rate Control (VPRC)
- the machine produced the correct rate for X-drive ( Vc* cosӨ) and y-drive (
Vc* sinӨ) through the Velocity Path computer (VPC).

V*x
V*max V*c
Pulse generator VPRC VPC

V*y

In this case the machine moves in steps which is known as quasi-continuous

movement i.e. the straight line is approximated by a series of small steps which
are coordinated by the interpolator and the MCU.
 b) Arc Interpolator (G02 & G03)

Similarly for circular movement, it is required to move from point “A (120,30)” to

point “B” with a feed rate of 80 mm/min, The center location is “O (80,0)”.

Fy
F
B
P
Fx

R JP A

O IP

The motion Block will be:

N…. G03 XB YB I40 J30 F80
Hence,
Fx = F * sin(Ө) and Fy = F * cos(Ө) and Ө = tan-1(J / I)
As the drives receive the pulses they move incrementally and simultaneously as,
point “A” moves to another point “P”, I and J change to IP and JP and so on until it
reaches point “B”.

2. Software Interpolation

In this method the intermediate points are calculated from the equation of the
function (Linear or circular). In linear case suppose that x 1,y1 and x2,y2 are the start
and end points of the travel and the interpolation will be carried out for n
intermediate points, then:
 i
( x 2 − x1)
xi = x1 + 
n =1 n

i
( y 2 − y1)
yi = y1 + 
n =1 n

Y
X2,y2

X1,y1

In case of arc interpolation, three methods are in use by the different controller, i.e.
equations based on:

- the chord method

- the tangent method
- the secant method.

Y Y B Y
B B

A A
A
X X
X

Chord method tangent method secant method

 i. Chord Method

Assuming the arc is going from point A (x 1,y1) to point B (x 2,y2) and the center of the
arc is O (xc,yc) , and the interpolation is based on the chord method, then:-

I = X s- Xc
J = Y s- Yc
Өs (start point angle) = tan -1(Ys / Xs)
Өe (end point angle) = tan -1(Ye / Xe)
Өarc (arc angle) = Өe – Өs
R ( arc radius) = sqrt(X s2 + Ys2)
S is the resolution
Өstep = (incremental angle) = 2 * cos-1((R-S) / R)
N (number of steps) = Өarc / Өstep
LOOP from i = 0 to N
Xi = R * cos(Ө s + i * Өstep)
Yi = R * sin(Ө s + i * Өstep)
END LOOP

ii. Tangent Method

Assuming the arc is going from point A (x 1,y1) to point B (x 2,y2) and the center of the
arc is O (xc,yc) , and the interpolation is based on the tangent method, then:-

I = X s- Xc
J = Y s- Yc
Өs (start point angle) = tan -1(Ys / Xs)
Өe (end point angle) = tan -1(Ye / Xe)
Өarc (arc angle) = Өe – Өs
R ( arc radius) = sqrt(X s2 + Ys2)
S is the resolution
Өstep = (incremental angle) = 2 * cos -1(R / (R + S))
N (number of steps) = Өarc / Өstep
LOOP from i = 0 to N
Xi = (R+S) * cos(Ө s + i * Өstep)
Yi = (R+S) * sin(Ө s + i * Өstep)
END LOOP

iii. Secant Method

Assuming the arc is going from point A (x 1,y1) to point B (x 2,y2) and the center of the
arc is O (xc,yc) , and the interpolation is based on the secant method, then:-

I = X s- Xc
J = Y s- Yc
Өs (start point angle) = tan -1(Ys / Xs)
Өe (end point angle) = tan -1(Ye / Xe)
Өarc (arc angle) = Өe – Өs
R ( arc radius) = sqrt(X s2 + Ys2)
S is the resolution
Өstep = (incremental angle) = 2 * cos -1((R-S/2) / (R+S/2))
N (number of steps) = Өarc / Өstep
LOOP from i = 0 to N
Xi = (R+S/2) * cos(Ө s + i * Өstep)
Yi = (R+S/2) * sin(Ө s + i * Өstep)
END LOOP