CNC Programming / Robotic Integration

Project Lead The WayComputer Integrated

Manufacturing

CNC and TTL Programming

NC Codes Sample NC Part and Program Handshaking Codes Sample Mill Handshaking Flow of Robot program Sample Robot Handshaking Progra

m TTL I/O Wire Connections

NC Codes

Block Number (N) Preparatory Codes (G) Miscellaneous Codes (M) Primary X Motion (X) Primary Y Motion (Y) Primary Z Motion (Z)

Preparatory Codes G90 - Absolute Coordinates G91 - Relative Coordinates G00 - Rapid Traverse (non-cutting move) G01 - Straight Line Interpolation (cutting move G02 - Circle Interpolation (clockwise) G03 - Circle Interpolation (c-clockwise) G04 - Dwell (wait) Pause between motions on

all axis. Time in seconds - G04F2 - pause for 2 sec.

G05 - Pause - waits for user intervention.

M Codes - Miscellaneous M00 - Pause M01 - Optional stop M02 - End of Program M03 - Spindle on M05 - Spindle off M06 - Tool Change M08 / M09 - Accessory # 1 on / off M10 / M11 - Accessory # 2 on / off

Sample NC Program Block

N00 G90 G01 X.5 Y.5 Z0 F1

BLOCK SEQUENCE #PREP CODE - ABSOLUTE

PREP CODE - SL INTERPOL

Y COORDINATE

X COORDINATE

Z COORDINATE

FEED RATE (IN/MIN)

SAMPLE PART

A 0.5 0.5B 0.5 1.5C 0.875 1D 1.25 1.5E 1.25 0.5F 1.75 1.5H 1.75 0.5I 1.75 1

ABSOLUTE COORD.

SAMPLE PROGRAM

N00 G90 ; ABSOLUTE COORDINTAESN01 M06T1 ; LOAD TOOL 1N02 M03 S3000 ; TURN SPINDLE ON TO 3000 RPMN03 G00 Z .1; RAPID TO .1 ABOVE PARTN04 G00 X.5Y.5 ; RAPID TO POINT AN05 G01 Z-.0625F9 ; PLUNGE 1/16 AT 9 IN/MIN.N06 G01 X.5Y1.5; STRAIGHT LINE INTERP TO BN07 G01 X.875Y1; STRAIGNT LINE INTERP TO CN08 G01 X1.25Y1.5; STRAIGHT LINE INTERP TO DN09 G01 X1.25Y.5; STRAIGHT LINE INTERP TO EN10 G01 Z.1; RETRACT CUTTING TOOL

Sample Program Continued

N11 G00 X1.75Y1.5; RAPID TO POINT FN12 G01 Z-.0625F9; PLUNG AT 9 IN/MIN.N13 G01 X1.75Y.5; STRAING LINE INTERP TO HN14 G03 X1.75Y1.5I1.75J1; CCW CIRCLE INTERP.N15 G01Z.1; RETRACT CUTTING TOOLN16 M05; TURN OFF SPINDLEN17 M06T00; UNLOAD CUTTING TOOLN18 G00X4Y3Z3; MOVE TABLE TO UNLOADING

POSITIONN19 M02; END OF PROGRAM

SIMULATE

Handshaking Codes

G25 - Wait until TTL output #1 (Robot) goes on G26 - Waits until TTL output #1(Robot) goes off G35 - Wait until TTL output #2 (Robot) goes on G36 - Waits until TTL output #2(Robot) goes off M25 - Sets Robot input #1 to off (Starts Robot) M26 - Sets Robot input #1 to on M35 - Sets Robot input #2 to off (Starts Robot) M36 - Sets Robot input #2 to on

Handshaking With The Mill

M10; OPEN VISEM26; TURN ROBOT INPUT ON (RESTRICTS ROBOT MOVEMENT)G00; MOVE TO LOAD/UNLOAD POSITIONM25; TURN ROBOT INPUT OFF (START ROBOT -

LOAD/UNLOAD)G04 F2; PAUSE FOR 2 SECONDSM26; RESET ROBOT INPUT TO ONG25; WAIT FOR ROBOT OUT #1 TO TURN ON THEN ONTINUEM11; TURN AUX. #2 OFF (CLOSE VISE) ****** RUN MILL PROGRAM ********************M47; REWIND PROGRAM

FLOW OF ROBOT PROGRAM

WAIT FOR MILL INPUT

LOAD VISE CYCLE

OUTPUT TO MILL - CUT PART

UNLOAD VISE CYCLE

WAIT FOR MILL INPUT

Handshaking With The Robot

WAIT GO TO POSITION - SAFE POSITION IF INPUT 1 OFF JUMP TO START (FROM MILL) JUMP TO WAIT START

LOAD MILL VISE GO TO POSITION - SAFE POSITION TURN OUTPUT 1 ON (START MILL PROGRAM) WAIT 10 - WAIT FOR 1 SECOND TURN OUTPUT 1 OFF (LIMIT MILL TO 1 CYCLE) WAIT FOR MILL LOOP - UNLOAD VISE JUMP TO START

TTL I/O Cable Connection

Pin # Wire Color Robot Controller Connection

1 Purple Output 1 NC

5 Blue Output 1 Common

4 Orange Input 1

9 Green Input Common

Gravity Feeder Connection Connect one wire to Input #2 Connect second wire to Input

Ground