Appendix A Turning and Milling G-code System

Appendix ATurning and Milling G-code System

A.1 Turning

Table A.1 G-codes for turning

G- Grp. Function FormatcodeG00 1 Rapid traverse [X /U ][Y /V ][Z /W ]G01 1 Linear interpolation [X /U ][Y /V ][Z /W ]G02 1 Circular interpolation [X /U ][Y /V ][Z /W ]

in clockwise direction [R /I J K ]G03 1 Circular interpolation [X /U ][Y /V ][Z /W ]

in counter-clockwise [R /I K ]direction

G04 0 Dwell [X /U /P ]G10 0 Programmable data P [X /U ][Y /V ][Z /W ]

input [R /C ]QG17 16 Selecting XY planeG18 16 Selecting ZX planeG19 16 Selecting YZ planeG20 6 Inch (or SI) systemG21 6 Metric systemG22 9 Stored stroke check func- [X /U ][Y /V ][Z /W ]

tion on I J KG23 9 Stored stroke check func-

tion offG25 8 Spindle vibration moni-

toring offG26 8 Spindle vibration moni-

toring onG27 0 Moving to origin and [X /U ][Y /V ][Z /W ]

check

431

432 A Turning and Milling G-code System

G28 0 Moving to origin [X /U ][Y /V ][Z /W ]G29 0 Moving from origin [X /U ][Y /V ][Z /W ]G30 0 Moving to 234 origin P [X /U ][Y /V ][Z /W ]G31 0 Skip P [X /U ][Y /V ][Z /W ]G32 1 Thread cutting [X /U ][Y /V ][Z /W ]G34 1 Variable lead thread [X /U ][Y /V ][Z /W ]K

cuttingG36 0 Tool radius compen- [X /U ][Y /V ][Z /W ]

sation on in X-directionG37 0 Tool radius compen- [X /U ][Y /V ][Z /W ]

sation on in Z-directionG40 7 Tool radius compen-

sation offG41 7 Tool radius compen-

sation on left sideG42 7 Tool radius compen-

sation on right sideG50 0 Setting up work coord- [X /U ][Y /V ][Z /W ]

inate systemG52 0 Setting up local coord- [X /U ][Y /V ][Z /W ]

inate systemG53 0 Setting up machine coord- [X /U ][Y /V ][Z /W ]

inate systemG54 14 Selecting work coordinate [X /U ][Y /V ][Z /W ]

systemG55 14 Selecting work coordinate [X /U ][Y /V ][Z /W ]





systemG65 0 Calling macro P L A B C D E F H M

Q R S T U V W X Y ZI I ..J J ..K K ..

G66 12 Calling macro modal P L A B C D E F H MQ R S T U V W X Y ZI I ..J J ..K K ..

G67 12 Macro call offG68 4 Mirror image onG69 4 Mirror image offG70 0 Finish cut cycle on P QG71 0 Outer diameter/Internal U R

diameter turning cycle P Q U WG72 0 Rough facing cycle W R

P Q U W

Table A1 (continued)

A.1 Turning 433

G73 0 Patten repeating cycle U W RP Q U W

G74 0 End face peck drilling Rcycle [X /U ][Y /V ][Z /W ]

P Q RG75 0 Drilling cycle on external R

and internal side [X /U ][Y /V ][Z /W ]P Q R

G76 0 Complex threading cycle P Q R[X /U ][Y /V ][Z /W ]P Q R

G80 10 Canned cycle cancelG83 10 Cycle for face drilling [X /U ][Y /V ][Z /W ]

for drilling R Q KG84 10 Cycle for face tapping [X /U ][Y /V ][Z /W ]

R P KG85 10 Cycle for face boring [X /U ][Y /V ][Z /W ]

R Q KG87 10 Cycle for side boring [X /U ][Y /V ][Z /W ]

R Q KG88 10 Cycle for side tapping [X /U ][Y /V ][Z /W ]

R P KG89 10 Cycle for side boring [X /U ][Y /V ][Z /W ]R KG90 1 Outer diameter/internal [X /U ][Y /V ][Z /W ]R

diameter cutting cycleG92 1 Threading cycle [X /U ][Y /V ][Z /W ]RG94 1 End face turning cycle [X /U ][Y /V ][Z /W ]RG96 2 Constant surface speed

controlG97 2 Constant surface speed

control cancelG98 5 Feed per minuteG99 5 Feed per revolutionG107 22 Cylindrical interpolation CG112 20 Polar coordinate interp-

olationG113 20 Polar coordinate interp-

olation cancel



A.2 Milling

Table A.2 G-codes for milling

G- Grp. Meaning Data elementscodeG00 1 Rapid traverse X Y ZG01 1 Linear interpolation X Y ZG02 1 Circular interpolation in X Y Z [R /I J K ]

clockwise directionG03 1 Circular interpolation in X Y Z [R /I J K ]

counter clockwise directionG04 0 Dwell [X /P ]G10 0 Programmable data input L P RG15 17 Polar coordinate commandG16 17 Polar coordinate command

cancelG17 16 Selecting XY planeG18 16 Selecting ZX planeG19 16 Selecting YZ planeG20 6 Input in inchesG21 6 Input in mmG22 9 Stored stroke check X Y Z I J K

function onG23 9 Stored stroke check

function offG27 0 Reference position X Y Z

return checkG28 0 Automatic return to X Y Z

reference positionG29 0 Movement from refer- X Y Z

ence positionG30 0 2nd, 3rd, and 4th P X Y Z

reference position returnG31 0 Skip P X Y ZG33 1 Threading X Y ZG39 0 Tool radius compensation: [X Y Z /I J K ]

corner circularinterpolation

G40 7 Tool radius compensationoff

G41 7 Tool radius compensationon in left side

G42 7 Tool radius compensationon in right side

G43 13 Tool length compensation + X Y Z HG44 13 Tool length compensation – X Y Z H

A.2 Milling 435

G49 13 Tool length compensationoff

G50 11 Scaling offG51 11 Scaling on X Y Z [P /I J K]G52 0 Setting local coordinate X Y Z

systemG53 0 Setting machine corrdinate X Y Z

system settingG54 14 Selecting work coordinate X Y Z

systemG55 14 Selecting work coordinate X Y Z





systemG61 15 Exact stop mode onG62 15 Automatic corner override

mode onG63 15 Tapping modeG64 15 Cutting modeG65 0 Macro call P L A B C D E F H M

Q R S T U V W X Y ZI I ..J J ..K K ..

G66 12 Macro modal call P L A B C D E F H MQ R S T U V W X Y ZI I ..J J ..K K ..

G67 12 Macro modal call cancelG68 18 Coordinate system rot. X Y Z RG69 18 Coordinate system

rotation cancelG73 10 Peck drilling cycle X Y Z R Q KG74 10 Left-handed tapping X Y Z R P K

cycleG76 10 Fine boring cycle X Y Z R Q KG80 10 Canned cycle cancelG81 10 Drilling cycle or spot X Y Z R K

boring cycleG82 10 Drilling cycle or X Y Z R P K

counter boring cyclewith dwell

G83 10 Peck drilling cycle X Y Z R Q KG84 10 Tapping cycle X Y Z R P KG85 10 Boring cycle X Y Z R K



10 Boring cycle X Y Z R KG87 10 Back boring cycle X Y Z R Q KG88 10 Boring cycle with X Y Z R P K

dwellG89 10 Boring cycle with dwell X Y Z R P KG90 3 Absolute programmingG91 3 Incremental programmingG92 0 Setting for workpiece X Y Z

coordinate systemG94 5 Feed per minuteG95 5 Feed per revolutionG96 2 Constant surface speed ctl.G97 2 Constant surface speed

control cancelG98 19 Canned cycle: return

to initial levelG99 19 Canned cycle: return

to R point levelG107 22 Cylindrical interpolation CG112 20 Polar coordinate

interpolation mode onG113 20 Polar coordinate

interpolation mode offG84.2 10 Rigid tapping cycle X Y Z R P K FG84.3 10 Left-handed rigid X Y Z R P K F

tapping cycle

G86Table A2 (continued)

A.3 Classification of G-code Groups 437

A.3 Classification of G-code Groups

The group of G codes can be divided into two groups; one-shot group and modal group. The modalgroup consists of a variety of groups. ‘One-shot group’ means the set of G-codes that has an influ-ence on a single block. Unlike one-shot G-codes, the G-codes in the modal group continue to havean influence on the next blocks until the cancel command is called.

Table A.3 G-code grouping

Group Command0 One-shot command1 Feed command2 Constant surface speed command3 Absolute/Incremental programming command4 Mirror image command5 Feed unit selection command6 Programming unit selection command7 Tool radius compensation command8 Spindle vibration detection command9 Stroke limit input command

10 Cycle code command11 Scaling command12 Macro call command13 Tool length compensation command14 Work coordinate system selection command15 Cutting mode command16 Plane selection command17 Polar coordinate command18 Coordinate system rotation command19 Return position setting command for drilling cycle20 Polar coordinate system command21 High-speed machining command22 Cylindrical interpolation command23 Skip command

*Note: the group number can vary depending on the CNC makers and is not fixed.

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Index

AAM, 404absolute-type encoder, 13AC servo motor – synchronous, 11acc/dec control, 107acc/dec control – algorithm, 109acc/dec control – block overlap, 126–128acc/dec control – digital circuit, 112acc/dec control – digital filter, 109acc/dec control – exponential, 117–120acc/dec control – filter, 109acc/dec control – functions, 200, 216acc/dec control – implementation, 199, 202,

215acc/dec control – input/output, 199, 215acc/dec control – linear, 112–114acc/dec control – machining error, 121–126acc/dec control – S-shape, 114–116acceleration, 107–114acceleration - deceleration controller, 24adaptive control module, 157ADCAI, 107–128, 187ADCBI, 107, 108, 128–155, 187, 211ADCBI-type NCK – architecture, 211address, 237aging, 328AGV, 4AIM, 404and – AND, 260and not – ANDN, 261and stack – ANDS, 266application layer, 275approximation errors, 77APT, 281architecture – system hardware, 344area for data input, 273area for machine operation, 273area for MPG handling, 273

area for status display, 271ARM, 400, 404automatic gain tuning, 168automatic programming, 278, 280

ball screw, 15ball screw mechanisms, 4, 6basic instruction, 250, 256Bath–United Kingdom, 427binary semaphore, 330block classification – normal-normal, 133–136block classification – normal-short, 138, 139block classification – short-normal, 136–138block classification – short-short, 140, 141block overlap, 126, 132block overlap control, 132block record buffer, 359, 374block record memory, 65, 67

CAD, 4CAI, 4, 6CAM, 4CAN Bus, 22cancel mode, 50CAPP, 4, 278cascade loop structure, 173cascade structure, 159causal FIR, 176causal FIR filter, 177causal/noncausal FIR, 176chord height error, 90circular slot cycle, 55classification of continuous blocks, 132–141clock manager, 323closed loop, 18, 19closed-type CNC system, 387CMM, 4, 6

447

448 Index

CNC, 7, 8, 21, 22CNC architecture design, 315CNC control loop, 17CNC system – architecture, 348CNC system – closed, 390CNC system – communication data

classification, 370CNC system – components, 19CNC system – modeling, 356CNC system – progress, 29code interpreter, 33common bus type, 344common element, 242, 245communication – inter-process, 323communication model, 242compatibility, 391compensation function, 50compiling method, 233complex fixed cycle, 305computer aided programming technologies,

416configuration model, 242connectivity, 241constant surface speed control function, 53constructed geometry method, 300context switching, 322context switching time, 341continuous mode, 126contour control, 69, 160, 161contour error, 160control – contour, 160, 161control – D, 164control – derivative, 164control – feedback, 179control – feedforward, 171, 173–178, 182control – PI, 164control – point-to-point, 160, 161control – position, 161control – tracking, 160, 161control system – PID, 157controller – derivative, 164controller – feedback, 161controller – P, 161controller – PI, 161controller – PID, 162conversational programming, 279, 283convolution, 109coordinate system, 40CORBA, 416corner machining cycle, 310corner speed, 142, 144, 148corner speed – acute angle, 142, 144corner speed – speed difference, 144, 145counter, 235

counting semaphore, 330coupling, 16CPU unit, 231, 232create event service, 384critical section, 334current control loop, 159curvature, 103cutting, 3cutting angle, 307cutting condition database, 301cutting edge angle, 307cutting feature, 290cutting machines, 3cyclic task – high priority, 358cyclic task – low priority, 358cylindrical interpolation, 46

D control, 164DA-BA-SA, 397DC servo motor, 10DDA, 70–73DDA – algorithm, 77, 78DDA – hardware, 75DDA – integrator, 72, 76DDA – interpolation, 73, 79deadlock, 336deceleration, 107–114derivative control, 164derivative controller, 164derivative gain, 164design of PC-NC and open CNC, 353design of system kernel, 361development of the machining cycle, 305device manager, 323digital differential analyzer, 70–73, 75, 76, 78,

79digital filter, 109, 110direct access method, 369direct search, 82direct search algorithm, 77, 78, 85direct search interpolation, 84, 85distributed system, 317DPM, 359drawing instruments, 4drilling cycle, 297drilling sequence, 312driving motor and sensor, 9driving system components, 8DRV, 33, 34dry run, 57dual port memory, 359dwell, 49dwell function, 49dynamic priority scheduling, 328

Index 449

e-manufacturing, 397EDM machines, 3embedded motion controller, 353embroidery machines, 4encoder, 12EPFL–Switzerland, 426error – contour, 160error – position, 160error – trajectory, 160error compensation module, 157error handler, 63ethernet, 354Euler algorithm, 92, 93Euler algorithm – improved, 92, 93Euler method, 77, 96event, 331event handler, 377event service, 385event-driven scheduling, 328exact stop, 49exact stop mode, 126, 127EXAPT, 281executor, 62executor basic commands, 256executor implementation example, 254executor programming sequence, 253exponential-type Acc/Dec control, 117exponential-type acc/dec control, 117exponential-type acc/dec pulse profile, 111EXPRESS schema, 404extensibility, 391

FA, 4face milling pattern, 56FANUC 0 series, 350FANUC 150i, 350FAPT, 281feature mode, 289feed function, 48feedback control, 159, 179feedback control following error, 179feedback controller, 161feedforward, 59feedforward control, 171, 173–178, 182feedforward control following error, 182feedrate, 69, 86fine boring cycle, 55fine interpolation, 96fine interpolator, 203fine interpolator – functions, 204fine interpolator – implementation, 203fine interpolator – input/output, 204fine interpolator – verification, 205first-come, first-served scheduling, 327

fixed cycle function, 53fixed sample time scheduling, 328fixed-priority scheduling, 328flexibility, 391flexible coupling, 16FMS, 4following error, 179, 183following error analysis, 179full open CNC, 393function block diagram – FBD, 246, 247functional instruction, 250functions – ACCDEC Expo, 202functions – ACCDEC Expo B0, 202functions – ACCDEC Expo ES, 202functions – ACCDEC Linear, 201functions – ACCDEC Linear B0, 201functions – ACCDEC Linear ES, 201functions – ACCDEC Scurve, 201functions – ACCDEC Scurve B0, 202functions – ACCDEC Scurve ES, 201functions – ARoughInterpolation, 198functions – CircleNormalBlock, 220functions – CircleSmallBlock, 220functions – CircularIPO Pre, 223functions – CWCCWInterpolation, 199functions – DetermineIBlockVelocity, 214functions – DetermineVelocityBetweenCC,

215functions – DetermineVelocityBetweenCL, 215functions – DetermineVelocityBetweenLC, 214functions – DetermineVelocityBetweenLL, 214functions – DetermineVelocityProfile, 216functions – ecal, 202functions – FIPO, 204functions – FIPO Linear, 204functions – FIPO Moving, 205functions – lcal, 202functions – LinearInterpolation, 199functions – LinearIPO Pre, 223functions – LineNormalBlock, 217functions – LineSmallBlock, 218functions – LookAhead, 214functions – Mapping, 226functions – POS, 209functions – RoughInterpolation, 223functions – scal, 202

G-code, 37, 397, 398, 431, 434, 437G00, 43, 47G01, 44, 47G02, 44, 47G03, 44, 47G04, 49G09, 48, 49

450 Index

G15, 41G31, 56G33, 50G40, 50G41, 50G42, 50G43, 51G44, 51G49, 51G50.1, 42G51, 41G51.1, 42G54, 41G55, 41G56, 41G57, 41G58, 41G59, 41G61, 48, 126G62, 49G63, 49G64, 48, 49, 126G68, 42G70, 54G71, 54G72, 54G73, 54G74, 54G75, 54G76, 54G80, 54G81, 54G82, 54G83, 54G84, 54G84.2, 54G84.3, 54G85, 54G86, 54G87, 54G88, 54G89, 54G90, 41, 43, 45, 54G91, 41, 43, 45G92, 54G94, 54G96, 53G97, 53G98, 54G99, 54G&M code, 397G&M code – difficult traceability, 398G&M code – information loss, 397G&M code – lack of interoperability, 398

G&M code – non-compatibility, 398G&M-code interpreter, 62gain – derivative, 164gain – proportional, 163gain – tuning, 166–168gain – tuning automatic, 168, 169gain – tuning Ziegler–Nichols, 167Giddings and Lewis, 8GPMC, 29graphic representation, 234

hard real-time system, 319hardware interpolator, 70hardwired NC, 7helical interpolation, 45hierarchical structure, 273hybrid loop, 19

I control, 162ICS, 396IEC1131, 241–245, 247IEC1131-3, 27, 241–243, 247IEC1131-3 PLC languages, 246IEC1131-3 software model, 243IKF, 175improved Euler algorithm, 92, 93improved Euler method, 96improved Tustin algorithm, 95, 96, 195IMS, 399incremental-type encoder, 12induction-type AC servo motor, 10induction-type servo motor, 11input unit, 230, 231inspection, 4instruction list – IL, 247instruction list –IL, 246intelligent and autonomous technologies, 415intelligent STEP-CNC system, 418inter-module communication, 371inter-process communication, 323, 337, 338inter-task communication, 381InterBus-S, 22interchangeability, 391interference space angle, 307interlock function, 237internal block memory, 64interoperability, 391interpolation - sampled data, 77interpolation errors, 77interpolation functions, 42interpolator, 24, 69–79, 81–106, 188interpolator – hardware, 70–75interpolator – implementation, 188interpolator – input/output, 196

Index 451

interpolator – software, 75–79, 81–90, 92–106interpretative method, 232interpreter, 24, 33interpreter – execution, 191interpreter – input/output, 192interpreter – structure, 188introduction to NC systems, 3inverse compensation filter, 175IPC, 323, 337, 338ISO 10303, 399ISO 14649, 396, 399ISO 6983, 397ISR, 323ISW–Stuttgart, 424

Jacquard, 8jig and fixture, 4

Kearney and Tracker, 8kernel layer, 275, 276key performance indices, 340

ladder diagram – LD, 234, 235, 246, 247, 253language-type programming, 279, 280latency time, 378linear interpolation, 73linear movement guide, 15linear type acc/dec control, 112linear type acc/dec pulse profile, 111linear-circular overlap, 141, 142LINUX, 356LM guide, 15loader, 27local coordinate system, 40look ahead, 57, 145–155look ahead algorithm, 147look ahead function, 49look ahead module, 213look-ahead module – functions, 214look-ahead module – implementation, 213look-ahead module – input/output, 213loop cycle time, 361loop driver mechanism, 366loosely coupled type, 345LSI, 7

M address, 37M-code, 238, 397, 398M02, 50M19, 54M30, 50, 53machine coordinate system, 40machine lock, 57machine tool, 3

machine tool PLC programming, 235machines – cutting, 3, 4machines – EDM, 3machines – embroidery, 4machines – milling, 3machines – mother, 3machines – non-cutting, 3machines – press, 3machines – turning, 3machines – woodworking, 4machining center sequence flow, 240machining cycle for arbitrary shape, 306machining error, 121–124, 126machining feature, 405, 406machining geometry definition, 299machining operation, 405, 406machining operation cycle, 296machining strategy, 290machining strategy data, 301–303, 305machining tool, 405macro executor, 63main program, 39manual programming, 278mapping – functions, 226mapping module, 225mapping module – input/output, 225material removal rate, 420maximum allowable acceleration, 144maximum allowable error, 101Mazatrol conversational system, 289memory manager, 322message system, 338method for specifying part shape, 295milling cycle, 298milling machines, 3MMC, 33, 34MMI, 21, 22, 28, 29, 271–286, 288–311, 313MMI – monitoring and alarm functions, 23MMI – operation functions, 22MMI – parameter setting functions, 23MMI – program editing functions, 23MMI – service and utility functions, 23MMI function, 22, 271MMI unit, 22mnemonic, 234, 253modal code, 37modularity, 391module – function, 360, 403monotonic scheduling, 361mother machines, 3moving average method, 97MPG, 273MTB, 387multi-processing hardware, 344

452 Index

multi-processing system, 317multi-programming system, 317mutual exclusion, 335

NC, 7NC machine tools – history, 7NC machines, 3, 4NC systems, 4NCK, 21, 22, 24, 26–29, 33, 34, 109, 159,

187–226NCK function, 23NCK unit, 24NIST–USA, 427non-causal FIR, 176, 177non-causal FIR filter, 177non-cutting machines, 3non-cyclic task, 357non-pre-emption scheduler, 327normal block, 130numerical control kernel, 21, 22, 24, 26–29,

109, 159, 187–226NURBS, 59–61, 99–101, 103, 105NURBS – interpolation, 59, 98, 99, 102NURBS – interpolation algorithm, 101NURBS – surface machining, 61

OAC, 30offline tasks, 4offset cancel mode, 51offset mode, 51on-machine measurement, 420online tasks, 4open CNC system, 387, 389open environment common interface controller,

392open environment controller, 392open loop, 19open MMI, 392open modular architecture controller, 392open system interface, 375operating system, 317operating system configuration, 347operation sequence control, 305or – OR, 262or not – ORN, 263or stack – ORS, 267oriented geometry method, 300OS layer, 275, 277output unit, 230overlap between a linear and a circular profile,

141

P control, 162, 163P controller, 161

painting, 3parallel programming, 320parser, 62Parsons, 8part program, 34–37, 39–42part program for the milling operation, 411part programming, 410part programming for the turning operation,

414partially open CNC, 392path generator, 63PC NC, 353PC-based MMI, 275performance – key indices, 340PI control, 164PI controller, 161PID, 157, 162–166PID controller, 162, 164–166PID controller for the discrete time domain,

164PLC, 21, 22, 24, 25, 27–29, 229–250, 253–269,

284PLC – Executer, 27PLC – loader, 27PLC – program tasks, 364PLC –programmer, 27PLC compiler, 233PLC configuration elements, 248PLC element, 230PLC function, 25PLC program executor, 248, 362PLC program interpolator, 233PLC programmer, 250PLC programming, 234, 238PLC programming signal definition, 239PLC system, 249PLC system functions, 240, 249PLC unit, 27PMSM, 8point-to-point control, 69, 160, 161portability, 241, 391position control, 160, 161position control loop, 159position controller, 24, 157, 208position controller – functions, 209position controller – implementation, 208position controller – input/output, 209position controller – verification, 209position error, 160post-line tasks, 4post-processing, 398Postech–Korea, 425Pratt and Whitney, 8pre-emption scheduler, 326

Index 453

pre-emptive multi-tasking, 361press machines, 3priority, 381priority scheduling, 327, 365process coordinator, 322process creation, 324process management, 323process manager, 322process planning, 4, 278process scheduling, 325process state transition, 324process synchronization, 330process termination, 324Profi-Bus, 22PROFIBUS, 375profile machining cycle, 297program executor, 250program structure, 35program verification, 56programmable logic control, 229–250,

253–269, 284programming – automatic, 278, 280programming – conversational, 279programming – language-type, 279, 280programming – manual, 278programming – parallel, 320programming – real-time, 320programming – sequential, 320programming language, 232, 234, 242, 244,

245programming method comparison, 284programming methods, 299, 300programming model, 244programming procedure, 292proportional control, 162, 163proportional gain, 163punch press, 9

radial error, 90rate monotonic, 328read – RD, 256read not – RDN, 257read not stack – RDNS, 265read stack – RDS, 264real time extension, 356, 378real-time control system, 28real-time OS, 315, 316, 318, 320, 322, 325,

326, 329, 332, 333, 335, 339, 341–346,348–351

real-time OS – structure, 321real-time programming, 320reference pulse interpolator, 76, 86reference pulse method, 78reference word interpolation, 90

reference word interpolator, 76, 87, 88reference word interpolator for circles, 88reference word interpolator for lines, 87relay gain tuning, 168relay method, 168remaining pulse, 195request/answer method, 369resolver, 14resource protection, 334resources, 334resources – system, 334reusability, 391ring buffer, 188, 338, 377ring menu structure, 273robots, 3rough input, 196rough interpolator, 193, 222rough interpolator – circular interpolation, 195rough interpolator – functions, 223rough interpolator – implementation, 193, 222rough interpolator – input/output, 222rough interpolator – linear interpolation, 193rough output, 198RS 274, 397RT LINUX, 356RTOS, 315, 316, 318, 320, 322, 325, 326, 329,

332, 333, 335, 339, 341–346, 348–351RTOS kernel, 321

S-code, 53, 238S-shape type acc/dec control, 114S-shape type acc/dec pulse profile, 111Sabin, 427sampled data interpolation, 77, 86, 96scalability, 391scaling function, 41scheduling, 327, 328scheduling – event-driven, 328scheduling – first-come, first-served, 327scheduling – fixed sample time, 328scheduling – priority, 327scheduling – time-slice, 327self-waking thread, 369semaphore, 330, 365semaphore shuffling time, 341semi-closed loop, 18sequence of part programming, 278sequential programming, 320SERCOS, 22, 389servo, 8, 10servo controller, 158, 159servo driving mechanism, 8servo motor, 8, 10SFC, 241, 245

454 Index

SFP, 6, 421shared memory, 337, 376, 383shop floor programming, 415, 421shopfloor programming, 6short block, 130Siemens 840C, 350Siemens 840D, 350signal, 331simple fixed cycle, 305single block, 57SISO, 162skip function, 56soft bus, 30, 416soft PLC, 247–249soft real-time system, 319Soft-NC, 30, 248, 353, 355, 357, 359, 362–364,

366–369, 372–377, 388, 392, 393, 416software model, 242softwired NC, 7SOP, 284, 285speed control loop, 159speed feedforward controller, 177speed profile, 129speed profile generation, 129–132speed sensor, 15speed within block, 151spindle, 9spindle function, 53spindle motor, 9spindle orientation function, 53spindle position function, 53spline interpolation, 47stack register, 254stairs approximation, 77, 79, 82, 83stairs approximation algorithm, 78stairs approximation interpolator, 79standard bus type, 344standard communication protocol, 22standard geometry method, 300standardization, 241, 391start-up mode, 50statement list representation, 234static priority scheduling, 328STEP, 398, 399STEP compliant CNC, 397STEP manufacturing, 399step response method, 167STEP-CNC, 397, 415, 417STEP-NC, 395–430STEP-NC data model, 396STEP-NC technology, 397structure of a real-time OS, 321structure of MMI system, 275structured text – ST, 246, 247

subprogram, 39, 40symbolic conversational system, 280symmetry, 42synchronous-type servo motor, 10, 11system call, 321system hardware architecture, 344system resources, 334system response, 361, 365

T-code, 238tacho generator, 15tapping machine, 9task dispatch latency time, 341task priority, 381task scheduling, 28task scheduling – priority, 28task switching time, 340task synchronization, 331, 365, 378Taylor algorithm, 93, 96Taylor method, 77threading, 50time sharing system, 317time-slice scheduling, 327timer, 235timer handler, 377tool database, 301tool function, 50tool length compensation function, 51tool offset database, 301tool radius compensation, 50tool sequence database, 301torque feedforward controller, 178tracking control, 160, 161trajectory error, 160turning fixed cycle, 305turning machines, 3Tustin algorithm, 94–96Tustin algorithm – improved, 95Tustin method, 77type of STEP-CNC, 417

ultimate sensitivity method, 167United States Air Force, 8user input, 299user programming languages, 245

virtual mode, 355VME bus, 349

Weck, 175welding, 3woodworking machines, 4WOP, 6, 284workingstep, 405

Index 455

workpiece coordinate system, 40workplan, 405workshop oriented programming, 6, 284write – WR, 258write not – WRN, 259WZL–Aachen, 422

Yasnac, 234

zero-phase error-tracking control, 174, 175Ziegler–Nichols method, 166, 167ZPETC, 174, 175

Appendix A Turning and Milling G-code System

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Transcript of Appendix A Turning and Milling G-code System