NC Programming

Programming
Programming
For the Fanuc 0T controller
Axes convention
X Axis
Z Axis
Absolute and Incremental co-ordinates

In the absolute programming, the end point of a motion is programmed with reference to the program zero
point. In incremental programming, the end point is specified with reference to the current tool position.
X
50
N2
20
0,0
N1
30
50
Absolute traverse to N1, then to N2

X20.0 Z50.0
X50.0 Z30.0
Absolute traverse to N1, incremental to N2
X20.0 Z50.0
U30.0 W-20.0
Cadem Manufacturing Technology Center
CNC Turning
Programming
Programming
For the Fanuc 0M controller
Axes convention
The tool can be moved to any position in a 3 dimensional cartesian co-ordinate system.
The Z axis is along the spindle axis. The X and Y axes are perpendicular to Z.
VMC (Vertical Machining Center)
+
+Z
Z
+
Y
-
+Y
+X
-X
+
-Y
-Z
CNC Milling
Programming
HMC (Horizontal Machining Center)
+
Y
X
Z
+
Part
X
Machine table
CNC Milling
Programming
List of G-codes
G-code
G00
G01
G02
G03
G04
G20
G21
G28
G30
G40
G41
G42
G43
G52
G54
G55
G56
G57
G58
G59
G74
G76
G80
G81
G82
G83
G84
G85
G86
G87
G90
G91
G94
G95
G98
G99
Function
Positioning rapid traverse
Linear interpolation (feed)
Circular interpolation CW
Circular interpolation CCW
Dwell
Inch unit
Metric unit
Automatic zero return
2nd reference point return
Tool nose radius compensation cancel
Tool nose radius compensation left
Tool nose radius compensation right
Tool length compensation
Local co-ordinate system
Work co-ordinate system 1 selection
Left hand tapping cycle
Fine boring cycle
Canned cycle cancel
Drilling cycle
Drilling cycle with dwell
Peck drilling cycle / deep drill
Tapping cycle
Boring / Reaming cycle
Boring cycle
Back boring cycle
Absolute command
Incremental command
Feed per minute
Feed per revolution
Return to initial point in canned cycle
Return to R point in canned cycle
CNC Milling
Programming
List of M codes
M codes vary from machine to machine depending on the functions available on it. They are decided by the
manufacturer of the machine. The M codes listed below are the common ones.
M-codes
M00
M01
M02
M03
M04
M05
M06
M07
M08
M09
M19
M30
M98
M99
Function
Optional program stop automatic
Optional program stop request
Program end
Spindle ON clock wise (CW)
Spindle ON counter clock wise (CCW)
Spindle stop
Tool change
Mist coolant ON (coolant 1 ON)
Flood coolant ON (coolant 2 ON)
Coolant OFF
Spindle orientation
End of program, Reset to start
Sub program call
Sub program end
There are other M-codes for functions like gear change, pallet change, pallet clamp / unclamp, door open /
close etc.
Absolute and Incremental co-ordinates

In the absolute programming , the end point of a motion is programmed with reference to the program zero
point. In incremental programming, the end point is specified with reference to the current tool position.
Y
N2
50
20
0,0
N1
30
50
Absolute traverse to N1, then to N2

G90 X20.0 Z50.0
X50.0 Z30.0
Absolute traverse to N1, incremental to N2
G90 X20.0 Z50.0
G91 X-20. Y30
CNC Milling
Programming
G00 Rapid traverse

When the tool being positioned at a point preparatory to a cutting motion, to save time it is moved along a
straight line at Rapid traverse, at a fixed traverse rate which is pre-programmed into the machine's control
system. Typical rapid traverse rates are 10 to 25 m /min., but can be as high as 80 m/min.
Format
N_ G00 X__ Y__Z__
G01 Linear interpolation (feed traverse)

The tool moves along a straight line in one or two axis simultaneously at a programmed linear speed, the feed
rate.
Format
N__ G01 X__ Y__Z__ F__
Feed
Feed
Part
Part
CNC Milling
Programming
G02/03 Circular interpolation
Format
N__ G02/03 X__ Y__Z__ I__ J__K__ F__
OR
N__ G02/03 X__ Y__Z__ R__ F__
using the arc center

using the arc radius
G02 moves along a CW arc

G03 moves along a CCW arc
Arc center
The arc center is specified by addresses I, J and K. I, J and K are the X, Y and Z co-ordinates of the arc
center with reference to the arc start point.
Y
Arc start
Arc end
-I
-J
Arc center
I = X coord. of center - X coord. of start point

J = Y coord. of center - Y coord. of start point
K = Z coord. of center - Z coord. of start point
I, J and K must be written with their signs.
Arc radius
CNC Milling
Programming
The radius is specified with address R.
Arc start
Arc radius
Arc end
Arc center
Block format
N__ G02 X__Y__ Z__ R__ F__
N__ G03 X__Y__ Z__ R__ F__
Cutter radius compensation (CRC)

G40
G41
G42
Tool nose radius compensation Cancel

Tool nose radius compensation Left
Tool nose radius compensation Right
G41
G41
G42
G42
Block format
CNC Milling
Programming
N__ G01 G41/42 X__ Y__ D__ F__

Feed rate mm/min
CRC offset number
CRC start co-ordinates absolute
CRC command code
Linear interpolation command code
Necessity of using CRC
Difficult to calculate cutter center co-ordinates

If cutter center co-ordinates are used
Same diameter of cutter is required to be used
Cutter wear can not compensated
Program Zero
Tool length compensation (G43)

Different tools of different lengths are used in machining any part. The lengths of the tools are not
considered in the part program. They are entered in the machines memory, and are considered automatically
for each motion in the program depending on the tool that is being used. The tool lengths in the Z direction
are called the Tool length offsets.
CNC Milling
Programming
Gauge line
Length offset
Length offset
Length offset
Length offset
Face milling cutter
T-slot milling cutter
Boring tool
Back boring tool
Part
Setting work co-ordinate system (G54 - G59)

G54
G55
G56
G57
G58
G59

CNC Milling
Programming
10
Work co-ordinate system 3

selection
Work co-ordinate
system 1 selection
Work co-ordinate
system 2 selection

selection
Machine table

selection
selection
Canned cycles
Canned or fixed cycles are programming aids that simplify programming. Canned cycles combine many
programming operations and are designed to shorten the program length, minimize mathematical
calculations, and use minimal tool motions.
Examples : drilling, peck drilling, tapping, boring, back spot facing.
G81
Drilling cycle
G82
Drilling cycle with dwell (Counter bore cycle)
G83
Peck drilling cycle / deep drill
G84
Right hand tapping cycle
G85
Boring / Reaming cycle
G86
Boring cycle
G87
Back boring cycle
G74
Left hand tapping cycle
G76
Fine boring cycle
CNC Milling
Programming
11
Drilling cycle (G81)

With G98 return to initial point
Initial
point
Rapid
With G99 return to R point

Feed
R point / Safe height
Rapid
Feed
Format
N__ G98/99 G81 R__ Z__ F__
Infeed feed rate mm/min
Final depth
Safe height / R point
Drilling cycle code
Return position code
Block number
CNC Milling
Programming
12
Counter bore cycle (G82)

Initial
point
Rapid

Rapid
Feed
Feed
Dwell at bottom
Dwell at bottom
Format
N__ G98/99 G82 R__ Z__ P__ F__
Dwell at bottom
Final depth
Counter bore drilling cycle code
Block number
CNC Milling
Programming
13
Peck drill cycle (G83)

Initial
point
Rapid
Feed

Peck depth
Final depth

Rapid
Initial
point
Feed

Peck depth
Final depth
Format
N__ G98/99 G83 R__ Z__ Q__ F__
Peck depth
Final depth
Peck drilling cycle code
Block number
CNC Milling
Programming
14
Tapping cycle (G84)

Right hand tapping

Initial
point
Rapid
Feed
Initial
point
Rapid
Feed
Spindle CW
Spindle CW
Retract feed rate

equals infeed feed
rate
Retract feed rate

equals infeed feed
rate
Final depth
Final depth
Spindle CCW
Spindle CCW
Feedrate = Spindle RPM x Pitch
Format
N__ G98/99 G84 R__ Z__ F__
Infeed / retract feed rate mm/min
Final depth
Right hand tapping cycle code
Block number
Spindle direction in RH tapping

CW during infeed
CCW during outfeed
CNC Milling
Programming
15
Reaming cycle (G85)

Initial
point
Rapid

Feed
Final depth
Initial
point
Rapid
Feed
Final depth
Format
N__ G98/99 G85 R__ Z__ F__
Final depth
Reaming cycle code
Block number
CNC Milling
Programming
16
Boring cycle (G86)

Initial
point
Rapid

Feed
Rapid
Feed
Spindle CW
Spindle CW
Final depth
Final depth
Spindle stop
Spindle stop
Format
N__ G98/99 G86 R__ Z__ F__
Final depth
Boring cycle code
Block number
CNC Milling
Programming
17
Back boring cycle (G87)

Spindle orientation
Initial point
Bore axis
Lateral shift
Final depth
Spindle CW
Format
N__ G98
G87 R__ Z__ Q__ F__

Lateral shift
Final depth
Back boring cycle code
Block number
CNC Milling
Programming
18
Tapping cycle (G74)

Left hand tapping
With G99 return R point
With G98 return initial point

Initial
point
Rapid
Feed
Initial
point
Rapid
Feed
Spindle CCW
Spindle CCW
Retract feed rate

equals infeed feed
rate
Retract feed rate

equals infeed feed
rate
Final depth
Final depth
Spindle CW
Spindle CW
Feedrate = Spindle RPM x Pitch
Format
N__ G98/99 G74 R__ Z__ F__
Final depth
Left hand tapping cycle code
Block number
Spindle direction in LH tapping

CCW during infeed
CW during outfeed
Fine boring cycle (G76)
CNC Milling
Programming
19
Fine boring cycle (G76)

Initial
point
Rapid

Feed
Initial
point
Lateral shift
Rapid
Feed
Lateral shift
Spindle CW
Spindle CW
Final depth
Final depth
Dwell at
bottom
Dwell at
bottom
Lateral shift
Lateral shift
Spindle Orientation
Spindle Orientation
Format
N__ G98
G76 R__ Z__ Q__ F__

Lateral shift
Final depth
Fine boring cycle code
Block number
CNC Milling
Programming
20
Verifying NC programs
Safety priorities
Safety priorities must be followed when verifying programs.
Operator safety - priority 1

Safety of the person operating the machine
Machine tool safety - priority 2
Prevention of damage to the machine
Workpiece safety - priority 3
Prevention of part rejection
Typical errors
Syntax errors
Errors which prevent the machine controller from executing a command. E.g., writing G101 instead of G01
Motion errors
Machine does not generate an error, so these are difficult to diagnose.
E.g., Writing X instead of Z; wrong co-ordinates; reversing CW and CCW commands; improper
incremental/absolute mode selection.
Omission errors
Omitting decimal points, forgetting to program feed rates, forgetting to turn on the coolant
Setup errors
Wrongly measured work offset and tool offsets, or correct measurement and wrong entry
Program verification procedures

A new program is checked by executing it in some or all of the verification modes.
Dry run with Machine lock

Used for checking syntax errors. Motion errors are not checked.
Set Machine lock ON and Dry run ON.

Set feed rate override switch to maximum to execute the cycle fast.
The spindle rotates, the turret indexes and the display changes as per program, but axes do not move.
Tool and work offsets need not be set.
CNC Milling
Programming
21
Dry run with air cutting

Used for checking motion errors and correctness of spindle direction. Since execution is at dry run feed,
difference between rapid and feed motions is not known. Collisions cannot be checked.
Set the tool offsets. Set the work offset so that all motions occur away from work holding devices like
the chuck.. Do not load a part.
Set Machine lock OFF and Dry run ON. All machine functions and motions are active.
Set feed rate override switch to minimum for safety.
Normal cycle with air cutting
Used for checking collisions.
Set all functions for normal machine execution.
For safety, when in doubt set the feed rate override switch to minimum.
Carefully watch for motions which result in tool colliding with the part or work holding device.
Single block execution
Used for checking motion errors and part dimensional accuracy.
Set the work offset normally, and load a part.
Set the tool offsets to leave excess stock on the part.
Check the Distance to go value to detect potential motion errors.
Check all dimensions. For critical dimensions alter the tool offsets and rerun the tool again to check
whether the dimension is within tolerance. Repeat till tolerance is achieved.
CNC Milling
Programming
Radius and diameter programming

X co-ordinates can be Radius or Diameter values.
100
50
B
Dia 100
Dia 50
A
Tool traverse from A to B

in Radius mode
Tool traverse from A to B

in Diameter mode
N2 X25.
N3 Z-50.
N4 X50.
N5 Z-100.
N2 X50.
N3 Z-50.
N4 X100.
N5 Z-100.
CNC Turning
Programming
List of G-codes
G-code
G00
G01
G02
G03
G04
G20
G21
G28
G30
G32 / G33
G40
G41
G42
G50 / G92
G70
G71
G72
G73
G74
G75
G76
G94 / G98
G95 / G99
G96
G97
Function
Positioning rapid traverse
Linear interpolation (feed)
Circular interpolation CW
Circular interpolation CCW
Dwell
Inch unit
Metric unit
Automatic zero return
2nd reference point return
Thread cutting (single motion)
Tool nose radius compensation cancel
Tool nose radius compensation left
Tool nose radius compensation right
Local co-ordinate system setting, max. spindle speed setting
Finishing cycle
Stock removal in turning
Stock removal in facing
Pattern repeating
Peck drilling on Z axis / Face grooving
Peck drilling on X axis / Int-Ext grooving
Multiple threading cycle
Feed per minute
Feed per revolution
Constant surface speed control
Constant surface speed control cancel
List of M codes
M codes vary from machine to machine depending on the functions available on it and the manufacturer of
the machine decides them. The M codes listed below are the common ones.
M-codes
M00
M01
M02
M03
M04
M05
M06
M07
M08
M09
M30
M98
M99
Function
Optional program stop automatic
Optional program stop request
Program end
Spindle ON clock wise (CW)
Spindle ON counter clock wise (CCW)
Spindle stop
Tool change
Mist coolant ON (coolant 1 ON)
Flood coolant ON (coolant 2 ON)
Coolant OFF
End of program, Reset to start
Sub program call
Sub program end
There are other M-codes for functions like gear change, tail stock quill in/out, chuck clamp/unclamp, chip
conveyor forward/backward, door open / close etc.
CNC Turning
Programming
G00 Rapid traverse

When the tool being positioned at a point preparatory to a cutting motion, to save time it is moved along a
straight line at Rapid traverse, at a fixed traverse rate which is pre-programmed into the machine's control
system. Typical rapid traverse rates are 10 to 25 m /min., but can be as high as 80 m/min.
Format
N_ G00 X_ Z_
Rapid traverse
G01 Linear interpolation (feed traverse)

The tool moves along a straight line in one or two axis simultaneously at a programmed linear speed, the feed
rate.
Format
N__ G01 X__ Z__ F__
Feed motion
CNC Turning
Programming
G02/03 Circular interpolation
CCW arc
CW arc
Format
N__ G02/03 X__ Z__ I__ K__ F__
OR
N__ G02/03 X__ Z__ R__ F__
using the arc center

using the arc radius
G02 moves along a CW arc

G03 moves along a CCW arc
Arc center
The arc center is specified by addresses I and K. I and K are the X and Z co-ordinates of the arc center with
reference to the arc start point.
X
Arc start
Arc end
-K
-I
Arc center
Z
I =(X coord. of center - X coord. of start point)/2
K = Z coord. of center - Z coord. of start point
I and K must be written with their signs.
CNC Turning
Programming
Arc radius
The radius is specified with address R.
Arc radius
Arc end
Arc start
Arc center
N__ G02 X__ Z__ R__ F__

N__ G03 X__ Z__ R__ F__
If the radius is used, only arcs of less than 180 deg. can be programmed in a block. An arc with included
angle greater than 180 deg. must be specified in two blocks.
Tool nose radius compensation

G40
G41
G42
Tool nose radius compensation Cancel

Tool nose radius compensation Left
Tool nose radius compensation Right
Right side G42

Left side G41
Right side G42
X axis
Left side G41

Z axis
CNC Turning
Programming
Theoretical tool tip (TTT)

The Theoretical Tool Tip is the point on the tool that is used as the reference point for determining tool
offsets. When a motion is commanded, the TTT point on the tool moves to the commanded point. The path
of the TTT point (point A in the figure) normally will not match with the co-ordinates in the program.
To get an accurate contour during machining, the TTT point must move in such a manner that the nose
radius is tangential to the contour.
Effect of tool nose radius on the part

1. If tool nose radius compensation is not used for the motion from P1 to P2, excess cutting occurs as shown
in the figure.
2. If tool nose radius compensation is not used for motion from P2 to P3, material is left out as shown in the
figure.
CNC Turning
Programming
Direction of immaginary tool nose

Imaginary tool nose number (Type No) must be set in advance (before tool index) as well as offset values.
Z
Type No. 1
Type No. 2
Type No. 3
Type No. 4
Z
Z
X
X
Z
X
Type No. 5
X
Z
Type No. 6
Z
X
Type No. 7
Type No. 8
Z
CNC Turning
Programming
The direction of the imaginary tool nose viewed from the tool nose center is determined by the direction of
the tool during cutting.
Internal / External tools
3
Neutral tools
CNC Turning
Programming
10
Thread cutting motion G32
G32
Thread cutting is done by moving the tool along the thread repeatedly at different depths tiil the final thread
profile is formed. Each cut must start at the same angular position on the part. The spindle has an encoder,
which generates a pulse at exactly the same angular position in every revolution. When a threading motion is
programmed, the linear motion of the tool starts when this pulse is detected. This ensures that every cut starts
at the same angular position.
Thread cutting must be done at constant spindle speed.
Block format
N__ G32 X__ Z__ F__
X, Z are the end point of the thread and F is the pitch of the thread.
The controller calculates feed rate through the following relationship
Feed rate = Pitch x Spindle speed
Each threading cut involves 4 motions: 1 threading motion and 3 rapid traverse motions. Since a thread
normally requires multiple cuts, G32 results in a long program and is not normally used. The G76 canned
cycle is normally used for threading.
CNC Turning
Programming
11
Canned cycles
A canned cycle simplifies a program by using a few blocks containing G-codes functions to specify the
machining operations usually specified in several blocks.
Turning Cycle - G71

Format
G71 U (d) R (e)
G71 P (n) Q(n) U(u) W(w) F(f) S(s) T(t)
N (n) _ _ _ _
_______
_______
N (n)_ _ _ _
d = Depth of cut
e = Retract amount
n = Number of the first block of the shape
n = Number of the last last block of the shape
u = Finishing allowance in X
w =Finishing allowance in Z
f = Feed rate
s = Spimdle speed
t = Tool number
Facing Cycle - G72

Format
G71 U (d) R (e)
G71 P (n) Q(n) U(u) W(w) F(f) S(s) T(t)
N (n) _ _ _ _
_______
_______
N (n) _ _ _ _
d = Depth of cut
e = Retract amount
n = Number of the first block of the shape
n = Number of the last last block of the shape
w =Finishing allowance in Z
f = Feed rate
s = Spindle speed
t = Tool number
CNC Turning
Programming
12
Multipass Turning Cycle - G73

Format
G73 U (i) W (k) R (d)
G73 P (n) Q (n) U (u) W (w) F (f) S(s) T (t)
N (n)_ _ _ _ _
________
________
N (n)_ _ _ _ _
i = Relief in the X axes direction
k = Relief in the Z axis direction
d = Number of cuts
n = Number of first block of the shape
n = Number of the last block of the shape
w = Finishing allowance in Z
f = Feed rate
s = Spimdle speed
t = Tool number
Axial Drilling Cycle -G74

Format
G74R (e)
G74X (U)_ Z (W)_ P(i) Q (k) R(d) F(f)
e = Retract amount
X = X component of point B
U = Incremental amount from A to B
Z = Z component of point C
W = Increment amount from A to C
i = Movement amount in X direction
k = Depth of cut in Z direction
d = Relief Amount of the tool at the cutting bottom
f = Feed rate
CNC Turning
Programming
13
Radial Grooving Cycle - G75

Format
G75R (e)
G75X (U)_ Z (W)_ P(i) Q (k) R(d) F(f)
e = Retract amount
X = X component of point B
U = Incremental amount from A to B
Z = Z component of point C
W = Increment amount from A to C
i = Movement amount in X direction
k = Depth of cut in Z direction
d = Relief Amount of the tool at the cutting bottom
f = Feed rate
Thread Cutting Cycle - G76

G76p (m) (r) (a) (d min) R (d)
G76X (u) Z (W)_ R(i) P (k) Q(d) F(L)
Format
m = No.of idle passes
r = Chamfering amount
a = Angle of tool tip
d min = Minimum thread depth
d = Finishing Allowance
i = Taper value
k = Height of thread
d = Depth of cut in first cut
L = Lead of thread
CNC Turning
Programming
14
Verifying NC programs
Safety priorities
Safety priorities must be followed when verifying programs.
Operator safety - priority 1
Safety of the person operating the machine
Machine tool safety - priority 2
Prevention of damage to the machine
Workpiece safety - priority 3
Prevention of part rejection
Typical errors
Syntax errors
This prevents the machine controller from executing a command. E.g., writing G101 instead of G01
Motion errors
Machine does not generate an error, so these are difficult to diagnose.
E.g., Writing X instead of Z; wrong co-ordinates; reversing CW and CCW commands; improper
incremental/absolute mode selection.
Omission errors
Omitting decimal points, forgetting to program feed rates, forgetting to turn on the coolant
Setup errors
Wrongly measured work offset and tool offsets, or correct measurement and wrong entry
Program verification procedures

A new program is checked by executing it in some or all of the verification modes.
Dry run with Machine lock
Used for checking syntax errors. Motion errors are not checked.
Set Machine lock ON and Dry run ON.

Set feed rate override switch to maximum to execute the cycle fast.
The spindle rotates, the turret indexes and the display changes as per program, but axes do not move.
Tool and work offsets need not be set.
CNC Turning
Programming
15
Dry run with air cutting

Used for checking motion errors and correctness of spindle direction. Since execution is at dry run feed,
difference between rapid and feed motions is not known. Collisions cannot be checked.
Set Machine lock OFF and Dry run ON. All machine functions and motions are active.
Set feed rate override switch to minimum for safety.
Normal cycle with air cutting
Used for checking collisions.
Carefully watch for motions which result in tool colliding with the part or work holding device.
Single block execution
Used for checking motion errors and part dimensional accuracy.
Set the work offset normally, and load a part.
Set the tool offsets to leave excess stock on the part.
Check the Distance to go value to detect potential motion errors.
Check all dimensions. For critical dimensions alter the tool offsets and rerun the tool again to check
whether the dimension is within tolerance. Repeat till tolerance is achieved.
CNC Turning

NC Programming

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NC Programming

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Programming

Absolute and Incremental co-ordinates

Absolute traverse to N1, then to N2

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VMC (Vertical Machining Center)

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HMC (Horizontal Machining Center)

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Absolute and Incremental co-ordinates

Absolute traverse to N1, then to N2

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G00 Rapid traverse

G01 Linear interpolation (feed traverse)

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G02/03 Circular interpolation

using the arc center

G02 moves along a CW arc

I = X coord. of center - X coord. of start point

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The radius is specified with address R.

Cutter radius compensation (CRC)

Tool nose radius compensation Cancel

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N__ G01 G41/42 X__ Y__ D__ F__

Necessity of using CRC

Difficult to calculate cutter center co-ordinates

Tool length compensation (G43)

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Face milling cutter

T-slot milling cutter

Back boring tool

Setting work co-ordinate system (G54 - G59)

Work co-ordinate system 1 selection

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Work co-ordinate system 3

Work co-ordinate system 4

Work co-ordinate system 6

Drilling cycle with dwell (Counter bore cycle)

Peck drilling cycle / deep drill

Right hand tapping cycle

Boring / Reaming cycle

Back boring cycle

Left hand tapping cycle

Fine boring cycle

Cadem Manufacturing Technology Center

Drilling cycle (G81)

With G99 return to R point

R point / Safe height

R point / Safe height

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Counter bore cycle (G82)

With G99 return to R point

R point / Safe height

R point / Safe height

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Peck drill cycle (G83)

Safe height / R point

With G99 return to R point

Safe height / R point

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Tapping cycle (G84)

With G99 return to R point

With G98 return to initial point

N G01 G41/42 X Y D F__

G87 R Z Q F

G76 R Z Q F

N G02 X Z R F__