UNIT – 5

CNC MACHINING CENTERS:

Introduction to CNC, elements of CNC, CNC machining centers, part programming, and
fundamental steps involved in development of part programming for milling and turning.
ROBOTICS: Introduction to Robot configuration, Robot motion, Robot Programming, end
effectors, Robot sensors and Robot applications. 06 Hours
 CNC Machining Centers The term “machining center” describes
almost any CNC milling and drilling
machine that includes an automatic
tool changer and a table that clamps
the workpiece, indexing tables etc in
place. The concept of machining
center is to bring the machine to the
work instead of vice versa. Machining
center is a machine for both milling
and hole making on a variety of non-
round or prismatic shapes. It can
machine in multi axes
The primary types of machining centers are either vertical or horizontal. The vertical type is
often preferred when work is done on a single phase and favor precision .
With the use of rotary tables, more than one side of a workpiece, or several workpieces, can
be machined without operator intervention. Vertical machining centers using a rotary table
have four axes of motion. Three are linear motions of the table while the fourth is the table’s
rotary axis. Horizontal centers with their horizontal spindles are better suited to larger, boxy
workpieces. With a horizontal spindle, a wider variety of workpiece shapes are easier to mount
and chips fall out is better. Like vertical machining centers, horizontal centers have multiple-
axis table movements. Typically, the horizontal center’s table rotates to present all four sides of
a workpiece to the tooling. Horizontal machining centers generally favor production.
Part programming methods
1. Manual
2. Computer assisted
In manual part programming, the
machining instructions are prepared on a
form called a part programme manuscript.
The manuscript is a listing of the relative
cutter/work piece positions which must be
followed to machine the work piece.
In computer assisted part programming,
much of the tedious computational work
required in manual part programming is
transferred to the computer. This is
especially appropriate for complex work
piece geometries and jobs with many
machining steps. Use of computer in these
situations results in significant saving in
part programming time.

APT (Automatically Programmed Tool)

 Program structure
(i) Sequence Number (N-Word)
The first word in every block is the sequence number. The sequence number is used to identify
the block. The sequence number is preceded by word N and is written as N 0001, N 0002, N
9999, etc. The programme is executed from lowest block number to highest unless instructed
otherwise. It is customary to start with block No. 0001 or 0010 and proceed in steps of 5 or 10,
so that accidental omitted block may be inserted easily.
(ii) Preparatory Function (G-Words)
The preparatory word prepares the control unit to execute the instructions that are to follow.
The preparatory function is represented by two digits preceded by G i.e. G00… G99. The
preparatory function enables the controller to interpret the data which follows and it precedes
the coordinate words. For example G01 is used to prepare the controller for linear
interpolation. Some of the preparatory functions are given in Table.
iii) Coordinates (X-, Y- and Z-Words)
These words give the final coordinate positions for X, Y, Z motions. In two-axis CNC system only two-
coordinate words would be used. To specify angular positions around the three-coordinate axis
additional, i.e. a-word and b-word, are used. In addition the words I, J, K, are used to specify the
position of arc centre in case of circular interpolation. Different CNC systems use different formats
for expressing coordinates of a point. While giving the data positive sign is optional but negative sign
has to be given in case of negative dimensional positions.
Code Function
G00 Rapid traverse
G01 Linear interpolation
G02 Circular interpolation (clock wise)
G03 Circular interpolation (counter clock wise)
G04 Dwell
G05 Hold /delay
G17 XY plane designation
G18 XZ plane designation
G19 YZ plane designation
G33 Thread cutting
G40 Cutter compensation-cancel
G41 Cutter compensation-left
G42 Cutter compensation-right
G63 Thread cutting cycle
G70 Dimensioning in inch units
G71 Dimensioning in metric units
G80 Canned cycle-cancel
G81-G89 Canned Cycles
G90 Absolute dimensioning
G91 Incremental dimensioning
G92 Zero preset
G94 Feed rate mm/min
G95 Feed rate mm/rev.
(iv) Feed Function (F-Word)

The feed function is used to specify the feed rate in the machining operation. The feed rate is
expressed in millimeters per minute (mm/min) or mm/rev. If the feed is 200 mm/min, it will be
represented as F 200. The appropriate G code should be specified to instruct the machine
whether the feed value is in mm/min or in mm/rev. (G94 to G95).

(v) Spindle Speed Function (S-Word)

The spindle speed is specified either in revolutions per minute (rpm) or as meters per minute.
If the speed is given in meters per minute, the control unit calculates the rev/minute using the
appropriate formulae. If the machine is required to run at 800 rpm the speed will be specified
as S 800.

(vi) Tool Selection Function (T-Word)

T-word is needed only for machines with programmable tool turret or automatic tool changer
(ATC). Each tool pocket on the tool turret or ATC has a distinct tool number. The T-word in the
part programme specifies which tool is to be used in the operation. The tool number for a
particular operation is specified as T00 to T99. Also with each tool code, the corresponding tool
length offset is also specified with the help of two additional digits i.e. T01.01 where second 01
denotes the tool length offset for tool No. 01.
(vii) Miscellaneous Function (M-Word)

The miscellaneous function word is used to specify certain miscellaneous or auxiliary functions
which do not relate to the dimensional movements of the machine. The miscellaneous
functions may be spindle start, spindle stop, coolant ON/OFF, etc. An example of M-word is
M02 which indicates end of programme. The miscellaneous functions are given in Table 5.2.

Code Function
M02 Programme stop
M03 Spindle start (clock wise)
M04 Spindle start (counter clock wise)
M05 Spindle stop
M06 Tool change
M08 Coolant on
M09 Coolant off
M30 Programme stop and tape rewind
(viii) End of Block (EOB)

The EOB symbol identifies the end of instruction block.

N010 G01 X0000 Y0000 F200 S800 T010.01 M30 EOB
N- Sequence number

G- Preparatory function (G01-LINEAR INTERPOLATION)

X- X-coordinate

Y- Y-coordinate

F- Feed rate

S- Spindle speed

T- Tool number

M- Miscellaneous function (M30 - Program stop)

EOB- End of block

N010 G71 G90 G94 EOB Metric mode, Absolute system and Feed in mm/min
N020 M03 F200 S1000 EOB Spindle start CW at 1000 rpm, feed rate is 200mm/min
N030 G00 X10.00 Y10.0 0 EOB Move in rapid to point P(10, 10)
N040 G00 Z2.00 EOB Move in rapid to a point 2mm above the work piece.
N050 G01 Z-10.00 EOB Linear interpolation, Drill hole
N060 G00 Z2.00 EOB Move in rapid to point 2mm above work piece surface
N070 G00 X50.00 EOB Move in rapid to X = 50
N080 G01 Z-10.00 EOB Drill hole
N090 G00 Z2.00 EOB Same as N060 5
0,0 5
N100 G00 Y20.00 EOB Move to Y = 20
50
N110 G01 Z-10.00 EOB Same as N080
N120 G00 Z20.00 EOB Move in rapid to a point 20 mm Above workpiece surface
N130 G00 X00 Y00 EOB Move in rapid to (X0, Y0)
N140 M02 Programme end