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Geometry Statements
Points
P1 = POINT/20.0,40.0,60.0
P2 = POINT/INTOF,L1,L2
Lines
• A line defined in APT is considered to be infinite length in
both directions. Also, APT treats a line as a vertical plane
that is perpendicular to the x-y plane.
L3 = LINE/P3,P4
L4 = LINE/P5,PARLEL,L3
Computer-Assisted Part Programming
Geometry Statements
Circles
• In APT, a circle is considered to be a cylindrical surface that
is perpendicular to the x-y plane and extends to infinity in the
z-direction.
C1 = CIRCLE/CENTER,P1,RADIUS,25.0
C2 = CIRCLE/P4,P5,P6
Planes
• In APT, a plane extends indefinitely.
PL1 = PLANE/P1,P2,P3
PL2 = PLANE/P2,PARLEL,PL1
Computer-Assisted Part Programming
Geometry Statements
Motion Commands
The format of an APT motion command is:
Point-to-point motions
Point-to-point motions
GOTO/P2
GODLTA/0,0,-50.0
GODLTA/0,0,50.0
Computer-Assisted Part Programming
Motion Commands
Contouring Motion Commands
The surfaces in APT contouring motions that guide the cutting tool
Computer-Assisted Part Programming
Motion Commands
There are several ways in which the check
surface can be used. This is determined by
using any of four APT modifier words in the
descriptive data of the motion statement. The
four modifier words are TO, ON, PAST, and
TANTO.
Computer-Assisted Part Programming
Motion Commands
Use of the APT motion words. The tool has moved from a previous
position to its present position. The direction of the next move
is determined by one of the APT motion words GOLFT, GORGT,
GOFWD, GOBACK, GOUP, or GODOWN.
Computer-Assisted Part Programming
Motion Commands
To begin the sequence of motion commands, the FROM
statement is used. The statement following the FROM
command defines the initial drive surface, part surface, and
check surface. With reference to the following figure, the
sequence takes the following form:
FROM/PTARG
GO/TO,PL1,TO,PL2,TO,PL3
• GO/TO,PL1,TO,PL2,TO,PL3
• GORGT/PL3,PAST,PL4
Computer-Assisted Part Programming
Motion Commands
Note that PL2 is not mentioned in this new
command. PL3, which was the check surface
in the preceding command is now the drive
surface in the new command. And the new
check surface is PL4. Although the part
surface may remain the same throughout the
motion sequence, the drive surface and check
surface must be redefined in each new
contouring motion command.
Computer-Assisted Part Programming
Motion Commands
The planes around the part outline can be
replaced by lines, and the APT commands can
be replaced by the following:
FROM/PTARG
GO/TO,L1,TO,PL2,TO,L3
GORGT/L3,PAST,L4
Computer-Assisted Part Programming
Example APT Contouring Motion Commands
Computer-Assisted Part Programming
Example APT Contouring Motion Commands
Computer-Assisted Part Programming
Example APT Contouring Motion
Commands
• Let us write the APT motion commands to profile
mill the outside edges of our sample workpart.
•The tool begins its motion sequence from a target
point PTARG located at x=0, y=-50mm and z=10mm.
• We also assume that "part surface" PL2 has been
defined as a plane parallel to the x-y plane and
located 25mm below the top surface of the part. The
reason for defining in this way is to ensure that the
cutter will machine the entire thickness of the part.
Computer-Assisted Part Programming
Example APT Contouring Motion
Commands
FROM/PTARG
GO/TO,L1,TO,PL2,ON,L4
GORGT/L1,PAST,L2
GOLFT/L2,TANTO,C1
GOFWD/C1,PAST,L3
GOFWD/L3,PAST,L4
GOLEFT/L4,PAST,L1
GOTO/P0
Computer-Assisted Part Programming
Examples:
• PARTNO is the first statement in an APT program, used to
identify the program; for example, PARTNO SAMPLE PART
NUMBER ONE
• REMARK is used to insert explanatory comments into the
program that are not interpreted or processed by the APT
processor.
• FINI indicates the end of an APT program.
Computer-Assisted Part Programming
Example:
Computer-Assisted Part Programming
Example:
• Drilling
• Drill tool diameter = 7 mm
• Tool number 1
• N = 1000 r.p.m clockwise
• Vf = 0.05 mm/min
• Milling
• End mill tool diameter = 20 mm
• Tool number 2
• N = 1000 r.p.m clockwise
• Vf = 50 mm/min
360xrg ns xrg
np or
p p
vt f r Np
Engineering Analysis of CNC Positioning Systems
vt ns rg f r ns rg
fp or
60 p 60 p
Engineering Analysis of CNC Positioning Systems
360
7.5o
48
Thus, the number of pulses to move the table 250 mm is
vt 500
N 83.333 rev/min
p 6
The motor speed:
N m rg N 5( 83.333 ) 416.667 rev/min
ns rge
fr ns rge 500(48)(4)
fp 266.667 Hz
60 p 60(6.0)
(c) Motor speed = table velocity (feed rate) divided by
leadscrew pitch, corrected for gear ratio:
rg f r
5(500)
Nm 416.667 rev/min
p 6.0
Engineering Analysis of CNC Positioning Systems
Control resolution
• Control resolution refers to the control system's ability to
divide the total range of the axis movement into closely
spaced points that can be distinguished by the MCU.
• Control resolution is defined as the distance separating two
adjacent addressable points in the axis movement.
• Addressable points are locations along the axis to which the
worktable can be specifically directed to go. It is desired for
control resolution to be as small as possible.
• This depends on limitations imposed by: (1) the
electromechanical components of the positioning system
and/or (2) the number of bits used by the controller to
define the axis coordinate location.
Engineering Analysis of CNC Positioning Systems
CR MaxCR1 ,CR2
A desirable criterion is for CR2 CR1 ,meaning that the
electromechanical system is the limiting factor that
determines control resolution. The bit storage capacity of a
modern computer controller is sufficient to satisfy this criterion
except in unusual situations. Resolutions of 0.0025 mm (0.0001
in) are within the current state of NC technology.
Engineering Analysis of CNC Positioning Systems
Accuracy
The capability of a positioning system to move the worktable to
the exact location defined by a given addressable point is limited
by mechanical errors that are due to various imperfections
in the mechanical system. These imperfections include play
between the leadscrew and the worktable, backlash in the gears,
and deflection of machine components.
We assume that the mechanical errors form an unbiased normal
statistical distribution about the control point whose mean μ = 0.
We further assume that the standard deviation of the distribution
is constant over the range of the axis under consideration. Given
these assumptions, then nearly all of the mechanical errors
(99.74%) are contained within 3 of the control point, as shown
in the previous figure for a portion of the axis range that includes
two control points.
Engineering Analysis of CNC Positioning Systems
Solution:
(a) Control resolution is the greater of CR1 and CR2:
p 6.0
CR1 0.025mm
ns rg 48(5.0)
1000 1000
CR2 16 0.01526mm
2 1 65,535
Solution:
(b) Accuracy
(c) Repeatability