CHAPTER

The Cartesian
Coordinate System

Throughout the CNC process of CAD, CAM, and tool referencing, some type
of coordinate system must be used to keep track of referencing. What takes
place on the computer should match that of what occurs at the physical machine. Most readers will recall this coordinate system from one or more basic
mathematics courses taken in the past. It is the Cartesian coordinate system
that is typically used in the types of applications discussed throughout this
book. There are other coordinate systems widely used in multi-axis robotics
applications (kinematics, polar) that are not addressed in this text. If you are
a person who has difficulty with math, please do not fret! You will not need
to understand or compute any algebra or trigonometric equations. In fact, all
that is involved is some very basic geometry.
Figure 7-1 shows a two-dimensional (i.e., 2D) representation of the Cartesian coordinate system. Particular points of interest are that the X and Y lines
that are orthogonal (meaning, at 90 degrees to each other). Also note that
where the lines of intersection cross is defined to have values of X = 0 and
Y = 0.
Figure 7-2 shows the same 2D Cartesian coordinate system with a bit
more information superimposed. Note that the intersection of the X and Y
axes are the "zero" points for each axis, respectively. Hence, any values to
the right of the Y axis will have a positive X value. Conversely, any values
above the X axis will have a positive Y value. By definition, the Cartesian
coordinate system is said to have four "Quadrants" (again, refer to Fig. 7-2).
Arbitrary X and Y point values have been selected in each of the quadrants
to show their corresponding X and Y numerical values. It is also customary
to refer to the coordinate axes in a certain "order." That being X, then Y, and,
finally, Z. There are actually several more possible axis designators, but we
FIGURE 7 - 1

Defining the
coordinate system.

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Application Software
FIGURE 7 - 2

Coordinate system
with quadrants and
sample points.

will restrict our discussions to three dimensions. By using the X, Y, Z pattern

it is not always necessary to denote the axis by its letter. A common shorthand
method is to just use the numerical values for each axis while still adhering
to the same pattern. For example, one way to represent the coordinate point
of X = 4, Y = 7, and Z = 2, with the shorthand notation, would be < 4 , 7 , 2 > .
Please refer back to Fig. 7-2 for various examples of this notation. Also pay
particular attention to the fact that at least one of the X or Y values in quadrants
II, III, and IV have at least one negative location value, whereas all coordinate
values in quadrant I are positive values.
The most common physical topology of CNC-based implementations can
be generalized by using either the mill or lathe architecture. From a generalized perspective to aid in the understanding of the Cartesian coordinate
system, the term mill can be referred to as a metal working mill, but also a
table router, plasma cutting table, water jet table, laser table, or even an XYZ
pick and place machine. The thing that is common to all of the aforementioned systems is that they all are based upon three sets of orthogonally (i.e.,
right-angle) placed axes. The addition of the third axis is visualized as a line
extending at right angles through the intersection of the XY plane and is at
right angles to this plane. Positive Z values are determined from the righthand rule. Using your right hand, extend your four fingers in the positive X
direction. Then, curl your fingers into the positive Y direction. Your thumb
will now be pointing in the positive Z direction of the coordinate system.
There is more discussion on the Z axis later on.

The Table or Mill Topology

Although it is altogether possible to define the X and Y zero-points of your
CNC tabletop as being directly in the center of the quadrants as shown in
FIGURE 7 - 3

Showing typical XY
zero locations on
a table.

The C a r t e s i a n C o o r d i n a t e S y s t e m

FIGURE 7 - 4

The two

most common
Z zero locations.

Figs. 7-1 and 7-2, it is universally accepted to adopt a "quadrant I" coordinate strategy. By defining the lower-left corner of the CNC work table as the
X = 0 and Y = 0 being your reference point, this allows the CNC operator
and programmer to work with positive values of both X and Y. (Please see
Fig. 7-3.) (Important note: Although any point on the table can be defined as
the zero reference point, we will adopt the "lower-left" corner as our X, Y
zero reference point throughout this book unless mentioned otherwise.) Both
rectangles shown in Fig. 7-3 are valid layouts as they both use the lower-left
corner as a zero reference point.
Now that you are familiar with the two-dimensional coordinate system
and the X, Y zero location as a reference point, all that remains in our simple
3D model is the addition of the Z axis. In practice, the zero reference point for
the Z plane of motion is defined by the user (i.e., programmer and operator)
at the time the machine code file is generated. Generally, there are two zero
reference points used: The top of the material to be worked or the top of the
table surface, usually referred to as the spoil board. It is important to note that
the top of the spoil-board surface in actuality is the bottom of the material.
Novice users typically have an easier time learning the concept of zeroing the
Z axis (i.e., tip of tool cutter) at the top of the material to be machined. Hence,
any Z axis values that are negative will be in the negative Z direction and
will be cutting into the material. Conversely, any positive Z axis values will
be above the material to be machined. (Please refer to Fig. 7-4 for a graphical representation of both Z zero points commonly used.) Just as knowing
where your zero reference point is located in the X and Y planes, it is equally
important to understand where your "Z zero" reference is located.

Lathe/Rotary Topology
By using the table or mill topology, we can now extrapolate this same coordinate convention system to describe a rotary or lathe topology. Referring
to Fig. 7-5, you will notice that a basic lathe configuration consists of two
FIGURE 7 - 5

A top-

down view of a
lathe showing the
axes.

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FIGURE 7-6

Lathe

view showing
possible X and Z
zeroing locations.

orthogonal sets of axes (i.e., the X and Z). Unfortunately, there are not any
typical and straightforward zeroing points used on the lathe as compared to
the mill topology. The most generalized zero point along the Z axis is usually the point where the tip of the cutting tool abuts the end of the stock being
turned. With regard to the X zero point, the two most common zeroing points
are located either at the center line of the rotating stock or at the perimeter of
the rotating stock. (See Fig. 7-6 for detail on the zeroing points located on a
lathe.) Note that the lathe chuck is holding the rotating stock. It is customary
to denote the longer axis that is inline with the spinning material to be the
Z axis. The shorter axis is referred to as the X and it is placed at a 90 degree
angle to the Z.