1

I
ntr
oduc
ti
on
to
CNC
Ma
chi
nes
 2
I
NTRODUCT
ION

Nu
mer
ic
alc
ont
rolf
orma
chi
nes.
too
lswe
rei
ntr
odu
cedi
n1950’
sbyPr
of.
Joh
nTPa
rso
ns.T
hef
ir
stNCma
chi
ne

wa
sbu
il
tatt
heMa
ssa
chu
set
tsi
nst
it
uteo
fTe
chn
olo
gyi
n1953b
yjo
inte
ffo
rtso
fUSAi
rFo
rce
,th
eMI
Tan
d

p
ars
on’
sco
ope
rat
ion
.NC i
sco
ntr
olb
ynu
mbe
rs.
NC i
sco
ntr
olr
eco
rde
din
for
mat
ionc
all
edp
artp
rog
ram,

wh
ichi
sse
tofc
ode
din
str
uct
ion
sgi
vena
snu
mbe
rsf
ora
uto
mat
icc
ont
rolo
famma
chi
nei
nap
re-d
ete
rmi
ned

s
equ
enc
e.

Nu
mer
ic
alc
ont
rolc
anb
ede
fin
eda
sa t
ech
niq
ueo
fco
ntr
oll
i
ngama
chi
net
oolb
yth
edi
rec
tin
ser
ti
ono
f

n
ume
ric
ald
ataa
tso
mep
oin
toft
hes
yst
em.
Thef
unc
ti
onst
hata
rec
ont
rol
l
edo
nth
e ma
chi
net
oola
re

d
isp
lac
eme
nto
fth
esl
i
deme
mbe
rs,s
pin
dles
pee
ds,
too
lse
lec
ti
one
tc.
Atf
ir
st,
then
ume
ric
alc
ont
rolwa
sus
ed

t
opr
odu
ceg
eoc
ent
ri
cal
l
y c
omp
lexp
art
s,b
utl
at
eru
sedf
ora
dde
def
fi
ci
enc
yinme
diu
mba
tchp
rod
uct
iono
f

t
urn
eda
ndmi
l
ledp
art
spr
ese
ntl
y,Nu
mer
ic
alc
ont
roli
semp
loy
edi
nal
lse
cto
rso
fpr
odu
cti
on.

Ra
pidd
eve
lop
men
tint
hef
iel
dofe
lec
tro
nic
ssu
cha
sin
teg
rat
edc
ir
cui
t,l
arg
esc
alei
nte
gra
tedc
ir
cui
tsa
nd

d
eve
lop
men
tof mi
ni
comp
ute
rle
adt
oth
ede
vel
opme
nto
f mi
ni
comp
ute
rsb
ase
d CNC s
yst
ems
.Fu
rth
er

d
eve
lop
men
tan
dth
eel
ect
ron
ic“c
hip
”re
vol
uti
onh
aveu
she
redi
nth
ecu
rre
ntg
ene
rat
ion “c
omp
acta
nd

p
owe
rfu
l”Mi
cr
opr
oce
sso
rba
sedCNCs
yst
ems
.

De
vel
opme
nto
fco
mpu
tern
ume
ric
all
yco
ntr
oll
ed (CNC) ma
chi
nesi
sano
uts
tan
din
gco
ntr
ibu
tio
ntot
he

ma
nuf
act
uri
ngi
ndu
str
ies
.Ith
asma
dep
oss
ibl
eth
eau
toma
tio
noft
hema
chi
ni
ngp
roc
esswi
thf
le
xib
il
it
ytoh
and
le

s
mal
ltome
diu
mba
tcho
fqu
ant
it
iesi
npa
rtp
rod
uct
ion
.

I
ni
ti
al
ly
,th
eCNCt
ech
nol
ogywa
sap
pli
edo
nba
sicme
talc
utt
ingma
chi
nel
i
kel
at
hes
,mi
l
li
ngma
chi
nes
,et
c.

L
ate
r,t
oin
cre
aset
hef
le
xib
il
it
yoft
hema
chi
nesi
nha
ndl
i
ngav
ari
etyo
fco
mpo
nen
tsa
ndt
ofi
ni
sht
hemi
na

s
ing
les
etu
pont
hes
amema
chi
ne,CNCma
chi
nesc
apa
bleo
fpe
rfo
rmi
ngmu
lt
ipl
eop
era
tio
nswe
red
eve
lop
ed.T
o

s
tar
twi
th,t
hisc
onc
eptwa
sap
pli
edt
ode
vel
opaCNCma
chi
ni
ngc
ent
ref
orma
chi
ni
ngp
ris
mat
icc
omp
one
nts

c
omb
ini
ngo
per
ati
onsl
i
kemi
l
li
ng,d
ril
l
ing
,bo
rin
gan
dta
pin
g.F
urt
her
,th
eco
nce
pto
fmu
lt
i-o
per
ati
onswa
sal
so

e
xte
nde
dfo
rma
chi
ni
ngc
yli
ndr
ic
alc
omp
one
nts
,wh
ichl
edt
oth
ede
vel
opme
nto
ftu
rni
ngc
ent
ers
.
 3
C
omp
ute
r Nu
mer
ic
alC
ont
rol(C
NC) i
sas
pec
ial
i
zeda
ndv
ers
ati
l
efo
rm o
f So
ftAu
toma
tio
nan
dit
s

a
ppl
i
cat
ion
sco
ver ma
nyk
ind
s,a
lt
hou
ghi
t wa
sin
iti
al
lyd
eve
lop
edt
oco
ntr
olt
hemo
ti
ona
ndo
per
ati
ono
f

ma
chi
net
ool
s.

Co
mpu
terNu
mer
ic
alCo
ntr
olma
ybec
ons
ide
redt
obeame
anso
fop
era
tin
gama
chi
net
hro
ught
heu
seo
f

d
isc
ret
enu
mer
ic
alv
alu
esf
edi
ntot
hema
chi
ne,wh
eret
her
equ
ire
d'i
npu
t't
ech
nic
ali
nfo
rma
tio
niss
tor
edo
na

k
indo
fin
putme
dias
ucha
sfl
opp
ydi
sk,h
ardd
isk
,CDROM,DVD,USBf
la
shd
riv
e,o
rRAM c
arde
tc.

T
hema
chi
nef
oll
ows a p
red
ete
rmi
neds
equ
enc
eof ma
chi
ni
ngo
per
ati
onsa
tth
epr
ede
ter
min
eds
pee
ds

n
ece
ssa
ryt
opr
odu
ceawo
rkp
iec
eoft
her
ig
hts
hap
ean
dsi
zea
ndt
husa
cco
rdi
ngt
oco
mpl
et
el
ypr
edi
ct
abl
e

r
esu
lts
.Ad
iff
ere
ntp
rod
uctc
anb
e p
rod
uce
d t
hro
ugh r
epr
ogr
ammi
ng a
nd a l
ow-q
uan
tit
y p
rod
uct
ion

r
uno
fdi
ff
ere
ntp
rod
uct
sisj
ust
if
ie
d.

ADVANT
AGEOFCNCMACHI
NES

 Hig
he rfl
exi
bil
it
y
 In
creasedp r
oduct
ivi
ty
 Consi
stentqual
ity
 Reduceds c
raprate
 Rel
iableoperat
ion
 Reducedn onproduc
ti
vetime
 Reducedma npo
wer
 Shortercycl
etime
 Hig
ha c
curac
y
 Reducedleadtime
 Jus
ti ntime(J I
T) manuf
actur
e
 Automati
cma te
ria
lhandl
ing
 Les
serf l
oorspace
 In
creasedo p
erati
onsafe
ty
 Machini
ngo fadvanc
edma te
ria
l
 4

T
hed
efi
ni
ti
ono
fCNCg
ive
nbyEl
ect
ron
icI
ndu
str
yAs
soc
iat
ion(EI
A) i
sasf
oll
ows
:

“As
yst
emi
nwh
icha
cti
onsa
rec
ont
rol
l
edb
yth
edi
rec
tin
ser
ti
ono
fnu
mer
ic
ald
ataa
tso
mep
oin
t.T
hes
yst
em

mu
sta
uto
mat
ic
all
yin
ter
pre
tatl
eas
tso
mep
ort
iono
fth
isd
ata
.”

I
nas
imp
lewo
rd,aCNCs
yst
emr
ece
ive
snu
mer
ic
ald
ata
,in
ter
pre
tth
eda
taa
ndt
henc
ont
rolt
hea
cti
on

a
cco
rdi
ngl
y.

CNCSY
STE
MS
I
NTRODUCT
ION

Nu
mer
ic
alc
ont
rol(NC) i
same
tho
demp
loy
edf
orc
ont
rol
l
ingt
hemo
tio
nso
fama
chi
net
ools
li
dea
ndi
ts

a
uxi
l
iar
yfu
nct
ion
swi
thi
npu
tint
hef
ormo
fnu
mer
ic
ald
ata
.A c
omp
ute
rnu
mer
ic
alc
ont
rol(CNC) i
sa

mi
cr
opr
oce
sso
r-b
ase
dsy
ste
mtos
tor
ean
dpr
oce
sst
hed
ataf
ort
hec
ont
rolo
fsl
i
demo
tio
nsa
nda
uxi
l
iar
y

f
unc
ti
onso
fth
ema
chi
net
ool
s.T
heCNCs
yst
emi
sth
ehe
arta
ndb
rai
nofaCNCma
chi
newh
iche
nab
lest
he

o
per
ati
ono
fva
rio
usma
chi
neme
mbe
rss
ucha
ssl
i
des
,sp
ind
les
,et
c.a
spe
rth
ese
que
ncep
rog
ramme
din
toi
t,

d
epe
ndi
ngo
nth
ema
chi
ni
ngo
per
ati
ons
.

T
hema
ina
dva
nta
geo
faCNCs
yst
eml
i
esi
nth
efa
ctt
hatt
hes
kil
l
soft
heo
per
ato
rhi
the
rtor
equ
ire
din

t
heo
per
ati
ono
fac
onv
ent
ion
alma
chi
nei
sre
mov
eda
ndt
hep
artp
rod
uct
ioni
sma
dea
uto
mat
ic
.

T
heCNCs
yst
emsa
rec
ons
tru
cte
dwi
thaNCu
niti
nte
gra
tedwi
thap
rog
ramma
blel
ogi
cco
ntr
oll
er(PL
C)

a
nds
omet
ime
swi
tha
nad
dit
ion
ale
xte
rna
lPL
C(n
on-i
nte
gra
ted
).T
heNCc
ont
rol
sth
esp
ind
lemo
veme
nta
nd

t
hes
pee
dsa
ndf
eed
sinma
chi
ni
ng.I
tca
lcu
lat
est
het
rav
ers
ingp
atho
fth
eax
esa
sde
fin
edb
yth
ein
put
s.T
he

PL
Cco
ntr
olst
hep
eri
phe
rala
ctu
ati
nge
leme
ntso
fth
ema
chi
nes
ucha
sso
len
oid
s,r
ela
yco
il
s,e
tc.Wo
rki
ng

t
oge
the
r,t
heNCa
ndPL
Cen
abl
eth
ema
chi
net
oolt
oop
era
tea
uto
mat
ic
all
y.Po
sit
ion
inga
ndp
arta
ccu
rac
y

d
epe
ndo
nth
eCNC s
yst
em'
sco
mpu
terc
ont
rola
lgo
rit
hms
,th
esy
ste
mre
sol
ut
iona
ndt
heb
asi
cme
cha
nic
al

ma
chi
nea
ccu
rac
y.Co
ntr
ola
lgo
rit
hmma
yca
usee
rro
rswh
il
eco
mpu
tin
g,wh
ichwi
l
lre
fl
ectd
uri
ngc
ont
our
ing
,bu
t

t
heya
rev
eryn
egl
i
gib
le.T
hou
ght
hisd
oesn
otc
aus
epo
intt
opo
intp
osi
ti
oni
nge
rro
r,b
utwh
enme
cha
nic
al

ma
chi
nei
nac
cur
acyi
spr
ese
nt,i
twi
l
lre
sul
tinp
oor
erp
arta
ccu
rac
y.
 5
Co
mpu
ter Nu
mer
ic
alCo
ntr
ol(CNC) i
sas
pec
ial
i
zeda
ndv
ers
ati
l
efo
rm o
f So
ftAu
toma
tio
nan
dit
s

a
ppl
i
cat
ion
sco
ver ma
nyk
ind
s,a
lt
hou
ghi
t wa
sin
iti
al
lyd
eve
lop
edt
oco
ntr
olt
hemo
tio
nan
dop
era
tio
nof

ma
chi
net
ool
s.

Co
mpu
terNu
mer
ic
alCo
ntr
olma
ybec
ons
ide
redt
obeame
anso
fop
era
tin
gama
chi
net
hro
ught
heu
seo
f

d
isc
ret
enu
mer
ic
alv
alu
esf
edi
ntot
hema
chi
ne,wh
eret
her
equ
ire
d'i
npu
t't
ech
nic
ali
nfo
rma
tio
niss
tor
edo
na

k
indo
fin
putme
dias
ucha
sfl
opp
ydi
sk,h
ardd
isk
,CDROM,DVD,USBf
la
shd
riv
e,o
rRAM c
arde
tc.T
he

ma
chi
ne f
oll
ows a p
red
ete
rmi
ned s
equ
enc
e o
f ma
chi
ni
ng o
per
ati
ons a
t t
hep
red
ete
rmi
neds
pee
ds

n
ece
ssa
ryt
opr
odu
ceawo
rkp
iec
eoft
her
ig
hts
hap
ean
dsi
zea
ndt
husa
cco
rdi
ngt
oco
mpl
et
el
ypr
edi
ct
abl
e

r
esu
lts
.A d
iff
ere
ntp
rod
uctc
anb
epr
odu
cedt
hro
ughr
epr
ogr
ammi
nga
ndal
ow-q
uan
tit
ypr
odu
cti
onr
uno
f

d
iff
ere
ntp
rod
uct
sisj
ust
if
ied
.
 6
Co
ntr
olSy
ste
ms
Op
enL
oopSy
ste
ms:

Op
enl
oops
yst
emsh
aven
oac
ces
stot
her
ealt
imed
ataa
bou
tth
epe
rfo
rma
nceo
fth
esy
ste
man
dth
ere
for
eno

i
mme
dia
tec
orr
ect
iv
eac
ti
onc
anb
eta
keni
nca
seo
fsy
ste
mdi
st
urb
anc
e.T
hiss
yst
emi
sno
rma
ll
yap
pli
edo
nlyt
o

t
hec
asewh
eret
heo
utp
uti
sal
mos
tco
nst
anta
ndp
red
ict
abl
e.T
her
efo
re, a
nop
enl
oops
yst
em i
s

u
nli
kel
ytob
eus
edt
oco
ntr
olma
chi
net
ool
ssi
ncet
hec
utt
ingf
orc
ean
dlo
adi
ngo
fama
chi
net
ooli
sne
vera

c
ons
tan
t.T
heo
nlye
xce
pti
oni
sth
ewi
rec
utma
chi
nef
orwh
ichs
omema
chi
net
oolb
uil
der
sst
il
lpr
efe
rtou
sea
n

o
penl
oops
yst
emb
eca
uset
her
eisv
irt
ual
l
ynoc
utt
ingf
orc
einwi
rec
utma
chi
ni
ng.

Bl
ockDi
agr
amo
fanOp
enL
oopSy
ste
m

Cl
oseL
oopSy
ste
ms:

I
nac
los
elo
ops
yst
em,f
eed
bac
kde
vic
esc
los
elymo
nit
ort
heo
utp
uta
nda
nyd
ist
urb
anc
ewi
l
lbec
orr
ect
edi
n

t
hef
ir
sti
nst
anc
e.T
her
efo
reh
ighs
yst
ema
ccu
rac
yisa
chi
eva
ble
.Th
iss
yst
emi
smo
rep
owe
rfu
lth
ant
heo
pen

l
oops
yst
ema
ndc
anb
eap
pli
edt
oth
eca
sewh
eret
heo
utp
uti
ssu
bje
cte
dtof
req
uen
tch
ang
e.No
wad
ays
,

a
lmo
sta
llCNCma
chi
nesu
set
hisc
ont
rols
yst
em.

Bl
ockDi
agr
amo
faCl
oseL
oopSy
ste
m
 7
CONF
IGURAT
IONOFT
HECNCSY
STE
M

Fi
g.1s
howsasc
hema
ticd
iag
ramo
fth
ewo
rki
ngp
rin
cip
leo
faNCa
xiso
faCNCma
chi
nea
ndt
hei
nte
rfa
ceo
fa
CNCcont
rol
.

CNCs
yst
em Sp
ind
leHe
ad
Se
rvoDr
ive Se
rvoMo
tor
E
nco
der
P Co
mmand
N
L val
ue
C
C

Lead
Tac
ho Sc
rew
Wo
rkp
iec
e
Ge
nera
tor
Vel
oci
ty
F
eedba
ck T
abl
e

TapeRe
ader Po
sit
ionF
eed
bac
k
T
apePunc
h
Ot
herDev
ice
s
 Pr
oximi
tyswit
ches
I
npu
ts  Li
mitswit
che
s
Mach
ine  Rel
ayc oi
l
s
El
eme
nts  Pr
essureswi
tche
s
Ou
tpu
ts
 Fl
oatswit
ches

F
ig.
1Sc
hema
ticd
iag
ramo
faCNCma
chi
net
ool

ACNCs
yst
emc
ons
is
tso
fth
efo
ll
owi
ng6ma
jore
leme
nts
:

a
.InputDevi
ce
b
.Ma chi
neContr
olUni
t
c
.Ma chi
neTool
d
.Drivi
ngSyst
em
e
.F e
edbackDev
ices
f
. Di
spl
ayUnit

I
npu
tDe
vic
es

a
.Fl
opp
yDi
skDr
iv
e

F
lop
pyd
iski
sas
mal
lma
gne
tics
tor
aged
evi
cef
orCNCd
atai
npu
t.I
tha
sbe
ent
hemo
st

c
ommo
nst
ora
geme
diau
ptot
he 1
970s
,int
ermso
fda
tat
ran
sfe
rsp
eed
,re
li
abi
l
it
y,

s
tor
age s
ize
, d
ata h
and
li
ng a
nd t
he a
bil
i
ty t
o r
ead a
nd wr
it
e.F
urt
her
mor
e,

t
hed
atawi
thi
naf
lop
pyc
oul
dbee
asi
l
yed
ite
data
nyp
oin
tasl
onga
syo
uha
vet
hep
rop
er
 8
p
rog
ramt
ore
adi
t.

Ho
wev
er,
thi
sme
tho
dha
spr
ove
ntob
equ
ite p
rob
lema
tic i
n t
he l
ong r
un a
sfl
opp
ies

h
ave a t
end
enc
y t
o d
egr
adea
lar
min
glyf
asta
nda
res
ens
it
iv
etol
ar
gema
gne
ticf
ie
lds

a
nda
swe
lla
sth
edu
sta
nds
cra
tch
est
hatu
sua
ll
yex
is
tedo
nth
esh
opf
lo
or.

b
.USBF
las
hDr
iv
e

AUSBf
la
shd
riv
eisar
emo
vab
lea
ndr
ewr
it
abl
epo
rta
bleh
ardd
riv
ewi
thc
omp
act

s
iz
ean
dbi
gge
rst
ora
ges
izet
han af
lop
pyd
isk
.Da
tas
tor
edi
nsi
det
hef
la
shd
riv
ear
e

i
mpe
rvi
oust
odu
sta
nds
cra
tch
est
hate
nab
lef
la
shd
riv
est
otr
ans
ferd
ataf
rom

p
lac
etop
lac
e.I
nre
cen
tye
ars
,al
lco
mpu
ter
ssu
ppo
rtUSBf
la
shd
riv
est
ore
ada
nd

wr
it
eda
tat
hatma
kei
tbe
comemo
rea
ndmo
rep
opu
lari
nCNCma
chi
nec
ont
rol

u
nit
.

c
.Se
ri
alc
ommu
nic
ati
on

T
he d
ata t
ran
sfe
r b
etwe
en a c
omp
ute
r a
nd a CNC ma
chi
ne t
ooli
s o
fte
n

a
cco
mpl
i
she
dth
rou
ghas
eri
alc
ommu
nic
ati
onp
ort
. I
nte
rna
tio
nals
tan
dar
dsf
ors
eri
al

c
ommu
nic
ati
onsa
ree
sta
bli
she
dsot
hati
nfo
rma
ti
onc
anb
eex
cha
nge
dina
nor
der
lywa
y.T
he

mo
stc
ommo
nin
ter
fac
ebe
twe
enc
omp
ute
rsa
ndCNC ma
chi
net
ool
sisr
efe
rre
dtot
heE
IA

St
and
ardRS-2
32. Mo
sto
fth
epe
rso
nalc
omp
ute
rsa
ndCNCma
chi
net
ool
sha
veb
uil
tin

RS232p
orta
ndas
tan
dar
dRS-232c
abl
eisu
sedt
o c
onn
ect a C
NC ma
chi
ne t
o a

c
omp
ute
r wh
ich e
nab
les t
he d
ata t
ran
sfe
r i
nre
li
abl
ewa
y. Pa
rtp
rog
ramsc
anb
e

d
own
loa
dedi
ntot
heme
mor
yofama
chi
net
oolo
r u
plo
ade
d t
o t
he c
omp
ute
r f
or

t
emp
ora
ry s
tor
ageb
y r
unn
ing ac
ommu
nic
ati
onp
rog
ramo
nth
eco
mpu
tera
nds
ett
ingu
p

t
hema
chi
nec
ont
rolt
oin
ter
actwi
tht
hec
ommu
nic
ati
ons
oft
war
e.
 9

Di
rec
tNu
mer
ic
alCo
ntr
oli
sre
fer
redt
oas
yst
emc
onn
ect
ingas
eto
fnu
mer
ic
all
y

c
ont
rol
l
edma
chi
nest
oac
ommo
nme
mor
yfo
rpa
rtp
rog
ramo
rma
chi
nep
rog
ram

s
tor
agewi
thp
rov
isi
onf
oro
n-d
ema
ndd
ist
ri
but
iono
fda
tat
oth
ema
chi
nes
.(I
SO

2
806
:19
80)T
heNCp
artp
rog
rami
sdo
wnl
oad
edab
loc
koras
ect
iona
tat
imei
nto t
he

c
ont
rol
l
er. On
cet
hed
own
loa
deds
ect
io
nise
xec
ute
d,t
hes
ect
io
n wi
l
lbed
isc
ard
ed

t
ole
aver
oomf
oro
the
rse
cti
ons
.Th
isme
tho
disc
ommo
nlyu
sedf
orma
chi
net
ool
sth
atd
o

n
oth
avee
nou
ghme
mor
yors
tor
ageb
uff
erf
orl
ar
geNCp
artp
rog
rams
.

Di
st
ri
but
ed Nu
mer
ic
alCo
ntr
oli
sah
ier
arc
hic
als
yst
em f
ord
ist
ri
but
ingd
atab
etwe
en

ap
rod
uct
ion ma
nag
eme
ntc
omp
ute
ran
d NC s
yst
ems
. (I
SO 2806:
1994) T
he h
ost

c
omp
ute
risl
i
nke
d wi
th a n
umb
ero
f CNC ma
chi
neso
rco
mpu
ter
sco
nne
cti
ng t
o

t
he CNC ma
chi
nes f
or d
own
loa
din
g p
art p
rog
rams
. T
hec
ommu
nic
ati
onp
rog
ram

i
nth
eho
stc
omp
ute
rca
nut
il
i
zet
wo-wa
yda
tat
ran
sfe
rfe
atu
resf
orp
rod
uct
iond
ata

c
ommu
nic
ati
oni
ncl
udi
ng:p
rod
uct
ions
che
dul
e,p
art
spr
odu
ceda
ndma
chi
neu
ti
li
zat
ione
tc.
 1
0

Se
ri
alc
ommu
nic
ati
oni
naDi
st
ri
but
edNu
mer
ic
alC
ont
rols
yst
em

Ma
chi
neCo
ntr
olUn
it(MCU)

T
hema
chi
nec
ont
rolu
niti
sth
ehe
arto
fth
eCNCs
yst
em.T
her
ear
etwos
ub-u
nit
sint
hema
chi
nec
ont
rolu
nit
:
 1
1
t
heDa
taPr
oce
ssi
ngUn
it(DPU) a
ndt
heCo
ntr
olL
oopUn
it(CL
U).

.Da
a taPr
oce
ssi
ngUn
it

Onr
ece
ivi
ngap
artp
rog
ramme
,th
eDPU f
ir
stl
yin
ter
pre
tsa
nde
nco
dest
hep
artp
rog
ramme i
nto i
nte
rna
l

ma
chi
nec
ode
s.T
hei
nte
rpo
lat
oro
fth
e DPU t
henc
alc
ula
tet
hei
nte
rme
dia
tep
osi
ti
onso
fth
emo
tio
nin

t
ermso
fBL
U(b
asi
cle
ngt
hun
it) wh
ichi
sth
esma
ll
estu
nitl
eng
tht
hatc
anb
eha
ndl
edb
yth
eco
ntr
oll
er
.Th
e

c
alc
ula
tedd
ataa
rep
ass
edt
oCL
Ufo
rfu
rth
era
cti
on.

.Co
b ntr
olL
oopUn
it

T
hed
ataf
romt
heDPUa
rec
onv
ert
edi
ntoe
lec
tri
cals
ign
alsi
nth
eCL
Utoc
ont
rolt
he d
riv
ing s
yst
em t
o

p
erf
orm t
her
equ
ire
d mo
tio
ns. Ot
herf
unc
ti
onss
ucha
sma
chi
nes
pin
dleON/OF
F,c
ool
antON/OF
F,t
ool

c
lampON/OF
Far
eal
soc
ont
rol
l
edb
yth
isu
nita
cco
rdi
ngt
oth
ein
ter
nalma
chi
nec
ode
s.

Ma
chi
neT
ool

T
hisc
anb
ean
yty
peo
fma
chi
net
oolo
req
uip
men
t. I
nor
dert
oob
tai
nhi
gha
ccu
rac
yan
dre
pea
tab
il
it
y,t
he

d
esi
gna
ndma
keo
fth
ema
chi
nes
li
dea
ndt
hed
riv
ingl
eads
cre
wofaCNCma
chi
nei
sofv
it
ali
mpo
rta
nce
.Th
e

s
li
desa
reu
sua
ll
yma
chi
nedt
ohi
gha
ccu
rac
yan
dco
ate
dwi
tha
nti
-fr
ic
ti
onma
ter
ials
ucha
sPT
FEa
ndT
urc
it
ein

o
rde
rtor
edu
cet
hes
ti
cka
nds
li
pph
eno
men
on. L
arg
edi
ame
terr
eci
rc
ula
tin
gba
lls
cre
wsa
ree
mpl
oye
dto

e
li
min
atet
heb
ack
las
han
dlo
stmo
tio
n.Ot
herd
esi
gnf
eat
ure
ssu
cha
sri
gi
dan
dhe
avyma
chi
nes
tru
ctu
re;s
hor
t

ma
chi
net
abl
eov
erh
ang
,qu
ickc
han
get
ool
i
ngs
yst
em, e
tca
lsoc
ont
ri
but
etot
heh
igha
ccu
rac
yan
d

h
ighr
epe
ata
bil
i
tyo
fCNCma
chi
nes
.
 1
2

Ba
llSc
rewi
naC
NCma
chi
ne Ba
lls
cre
wst
ruc
tur
e

Dr
ivi
ngSy
ste
m

T
hed
riv
ings
yst
emi
sani
mpo
rta
ntc
omp
one
nto
faCNCma
chi
nea
sth
eac
cur
acya
ndr
epe
ata
bil
i
tyd
epe
ndv
ery

mu
cho
nth
ech
ara
cte
ris
ti
csa
ndp
erf
orma
nceo
fth
edr
ivi
ngs
yst
em. T
her
equ
ire
men
tist
hatt
hed
riv
ings
yst
em

h
ast
ore
spo
nsea
ccu
rat
el
yac
cor
din
gtot
hep
rog
ramme
din
str
uct
ion
s.T
hiss
yst
emu
sua
ll
yus
ese
lec
tri
cmo
tor
s

a
lt
hou
ghh
ydr
aul
i
cmo
tor
sar
eso
met
ime
sus
edf
orl
arg
ema
chi
net
ool
s.T
hemo
tori
sco
upl
ede
ith
erd
ire
ctl
yor

t
hro
ughag
earb
oxt
oth
ema
chi
nel
eads
cre
wtomo
vest
hema
chi
nes
li
deo
rth
esp
ind
le.T
hre
ety
peso
f

e
lec
tri
calmo
tor
sar
eco
mmo
nlyu
sed
.

a
.DCSe
rvoMo
tor

T
hisi
sth
emo
stc
ommo
nty
peo
ffe
edmo
tor
sus
edi
nCNCma
chi
nes
.Th
epr
inc
ipl
eofo
per
ati
oni
sba
sedo
nth
e

r
ota
ti
ono
fana
rma
tur
e wi
ndi
ngi
nap
erma
nen
tlye
ner
gi
zed ma
gne
ti
cfi
el
d.T
hea
rma
tur
e wi
ndi
ngi
s
 1
3
c
onn
ect
edt
oac
ommu
tat
or,wh
ichi
sac
yli
nde
rofi
nsu
lat
edc
opp
ers
egme
ntsmo
unt
edo
nth
esh
aft
.DCc
urr
ent

i
spa
sse
dtot
hec
ommu
tat
ort
hro
ughc
arb
onb
rus
hes
,wh
icha
rec
onn
ect
edt
oth
e

ma
chi
net
ermi
nal
s.T
hec
han
geo
fth
emo
tors
pee
disb
yva
ryi
ngt
hea
rma
tur
evo
lta
gea
ndt
hec
ont
rolo
f

mo
tort
orq
uei
sac
hie
vedb
yco
ntr
oll
i
ngt
hemo
tor
'sa
rma
tur
ecu
rre
nt. I
nor
dert
oac
hie
vet
hen
ece
ssa
ry

d
yna
micb
eha
vio
uri
tiso
per
ate
dinac
los
edl
oops
yst
eme
qui
ppe
dwi
ths
ens
orst
oob
tai
nth
eve
loc
it
yan
d

p
osi
ti
onf
eed
bac
ksi
gna
ls.

DCSe
rvoMo
tor

b
.ACSe
rvoMo
tor

I
nan AC s
erv
omo
tor
,th
ero
tori
sap
erma
nen
t ma
gne
t wh
il
eth
est
ato
rise
qui
ppe
dwi
th3-p
has
e
 1
4
wi
ndi
ngs
.Th
esp
eedo
fth
ero
tori
seq
ualt
oth
ero
tat
ion
alf
req
uen
cyo
fth
ema
gne
ticf
iel
doft
hes
tat
or,

wh
ichi
sre
gul
at
edb
yth
efr
equ
enc
yco
nve
rte
r.ACmo
tor
sar
egr
adu
all
yre
pla
cin
gDCs
erv
omo
tor
s.T
hema
in

r
eas
oni
sth
att
her
eisn
oco
mmu
tat
oro
rbr
ush
esi
nACs
erv
omo
tors
oth
atma
int
ena
ncei
svi
rt
ual
l
yno
tre
qui
red
.

F
urt
her
mor
e,ACs
erv
osh
aveas
mal
l
erp
owe
r-t
o-we
igh
tra
tioa
ndf
ast
err
esp
ons
e.

ACSe
rvoMo
tor

.St
c epp
ingMo
tor

A s
tep
pin
g mo
tori
sad
evi
cet
hatc
onv
ert
sth
eel
ect
ri
calp
uls
esi
ntod
isc
ret
eme
cha
nic
alr
ota
tio
nal

mo
tio
nso
fth
emo
tors
haf
t.T
hisi
sth
esi
mpl
estd
evi
cet
hatc
an b
eap
pli
ed t
o CNC ma
chi
ness
inc
eit

c
an c
onv
ertd
igi
tald
ata i
nto a
ctu
alme
cha
nic
ald
isp
lac
eme
nt. I
tisn
otn
ece
ssa
ry t
o h
ave a
ny

a
nal
og-t
o-d
igi
talc
onv
ert
ern
orf
eed
bac
kde
vic
efo
rth
eco
ntr
ols
yst
em.T
heya
rei
dea
ll
ysu
ite
dtoo
penl
oop

s
yst
ems
.

Ho
wev
er,s
tep
pin
gmo
tor
sar
eno
tco
mmo
nlyu
sedi
nma
chi
net
ool
sdu
etot
hef
oll
owi
ngd
rawb
ack
s:s
lows
pee
d,

l
owt
orq
ue,l
owr
eso
lut
iona
nde
asyt
osl
i
pinc
aseo
fov
erl
oad
.Ex
amp
leso
fst
epp
ingmo
tora
ppl
i
cat
iona
ret
he

ma
gne
tich
eado
ffl
opp
y-d
iscd
riv
ean
dha
rdd
iscd
riv
eofc
omp
ute
r,d
ais
y-wh
eelt
ypep
rin
ter
,X-Yt
ape

c
ont
rol
,an
dCNCE
DM Wi
re-c
utma
chi
ne.
 1
5

St
epp
ingMo
tor

F
eed
bac
kDe
vic
e

I
nor
dert
oha
veaCNCma
chi
neo
per
ati
nga
ccu
rat
el
y,t
hep
osi
ti
ona
lva
lue
san
dsp
eedo
fth
eax
esn
eedt
obe

c
ons
tan
tlyu
pda
ted
. T
wot
ype
soff
eed
bac
kde
vic
esa
ren
orma
ll
yus
edp
osi
ti
ona
lfe
edb
ackd
evi
cea
ndv
elo
cit
y

f
eed
bac
kde
vic
e.

.Po
a sit
ion
alF
eedBa
ckDe
vic
es

T
her
ear
etwot
ype
sofp
osi
ti
ona
lfe
edb
ackd
evi
ces
:li
nea
rtr
ans
duc
erf
ord
ire
ctp
osi
ti
ona
lme
asu
reme
nta
nd

r
ota
rye
nco
derf
ora
ngu
laro
rin
dir
ectl
i
nea
rme
asu
reme
nt.

L
ine
arT
ran
sdu
cer
s–
 1
6
Al
i
nea
rtr
ans
duc
eri
sad
evi
ce mo
unt
edo
nth
ema
chi
net
abl
etome
asu
ret
hea
ctu
ald
isp
lac
eme
nto
fth
e

s
li
dei
nsu
chawa
yth
atb
ack
las
hofs
cre
ws;mo
tor
s,e
tcwo
uldn
otc
aus
ean
yer
rori
nth
efe
edb
ackd
ata
.

T
hisd
evi
cei
sco
nsi
der
edt
obeo
fth
ehi
ghe
sta
ccu
rac
yan
dal
somo
ree
xpe
nsi
vei
nco
mpa
ris
onwi
tho
the
r

me
asu
rin
gde
vic
esmo
unt
edo
nsc
rewso
rmo
tor
s.

L
ine
arT
ran
sdu
cer

Ro
tar
yEn
cod
ers–

Ar
ota
rye
nco
deri
sad
evi
cemo
unt
eda
tth
een
doft
hemo
tors
haf
tors
cre
wtome
asu
ret
hea
ngu
lar

d
isp
lac
eme
nt.T
hisd
evi
cec
ann
otme
asu
rel
i
nea
rdi
spl
ace
men
tdi
re
ctl
ysot
hate
rro
rma
yoc
curd
uet
oth
e

b
ack
las
hofs
cre
w a
nd mo
tore
tc.Ge
ner
al
ly
,th
ise
rro
rca
nbec
omp
ens
ate
dfo
rbyt
he

ma
chi
neb
uil
deri
nth
e ma
chi
nec
ali
bra
tio
npr
oce
ss.
 1
7

I
ncr
eme
nta
lan
dAb
sol
ut
eRo
tar
yEn
cod
er

b
.Ve
loc
it
yFe
edb
ackDe
vic
e

T
hea
ctu
als
pee
doft
hemo
torc
anb
eme
asu
redi
nte
rmso
fvo
lta
geg
ene
rat
edf
romat
ach
ome
termo
unt
eda
t

t
hee
ndo
fth
emo
tors
haf
t.DCt
ach
ome
teri
ses
sen
tia
ll
yas
mal
lge
ner
ato
rth
atp
rod
uce
sano
utp
utv
olt
age

p
rop
ort
ion
alt
oth
esp
eed
.Th
evo
lta
ge g
ene
rat
edi
sco
mpa
redwi
tht
hec
omma
ndv
olt
agec
orr
esp
ond
ingt
oth
e

d
esi
reds
pee
d.T
hed
iff
ere
nceo
fth
evo
lta
gesc
ani
sth
enu
sedt
oac
tua
tet
hemo
tort
oel
i
min
atet
hee
rro
r.
 1
8

T
ach
oge
ner
ato
r

Di
spl
ayUn
it

T
heDi
spl
ayUn
its
erv
esa
sani
nte
rac
ti
ved
evi
ceb
etwe
ent
hema
chi
nea
ndt
heo
per
ato
r. Wh
ent
he ma
chi
ne

i
sru
nni
ng,t
he Di
spl
ay Un
itd
isp
lay
sth
epr
ese
nts
tat
uss
ucha
sth
epo
sit
iono
fth
ema
chi
nes
li
de,t
he

s
pin
dleRPM,t
hef
eedr
ate
,th
epa
rtp
rog
ramme
s,e
tc.I
nana
dva
nce
dCNCma
chi
ne,t
heDi
spl
ayUn
itc
an

s
howt
heg
rap
hic
ssi
mul
at
iono
fth
eto
olp
aths
oth
atp
artp
rog
ramme
sca
nbev
eri
fi
edb
efo
ret
he

a
ctu
all
y
 1
9
ma
chi
ni
ng.Mu
cho
the
rimp
ort
anti
nfo
rma
tio
nab
outt
he CNCs
yst
emc
ana
lsod
isp
lay
edf
orma
int
ena
ncea
nd

i
nst
al
la
tio
nwo
rks
ucha
sma
chi
nep
ara
met
ers
,lo
gicd
iag
ramo
fth
epr
ogr
amme
rco
ntr
oll
er
,er
rorma
ssa
gesa
nd

d
iag
nos
ti
cda
ta.

Se
rvoDr
ive
As
erv
odr
ivec
ons
is
tso
fas
erv
oamp
li
fi
era
ndas
erv
omo
tor
.Th
ema
int
asko
fas
erv
oamp
li
fi
er(a
lsoc
all
ed

a
mpl
i
fi
er,s
erv
oco
ntr
oll
er,o
rju
stc
ont
rol
l
er)i
sth
eco
ntr
olo
fth
emo
torc
urr
ent
.Ina
ddi
ti
on,E
SRs
erv
o

a
mpl
i
fi
erso
ffe
rab
roa
dsp
ect
rumo
ffu
nct
ion
ali
ty

Wh
il
emo
sto
fth
eel
ect
ri
cald
riv
esa
reo
per
ate
datc
ons
tan
tsp
eed
,as
erv
odr
iveh
asar
ath
er"h
ect
ic
"li
fe.

Of
teni
tha
stoa
cce
ler
atet
oth
era
teds
pee
dwi
thi
naf
ewmi
l
li
sec
ond
son
lyt
ode
cel
era
teas
hor
tti
mel
at
er

j
usta
squ
ick
.An
dofc
our
set
het
arg
etp
osi
ti
oni
stob
ere
ach
ede
xac
tl
ywi
tha
ner
roro
faf
ewh
und
red
thso
f

ami
l
li-me
ter
.

Co
mpa
redt
oot
herc
ont
rol
l
edd
riv
ess
erv
odr
ive
sha
vet
hea
dva
nta
geo
fhi
ghd
yna
mic
san
dac
cur
acy
,fu
lls
tal
l

t
orq
ue,a
ndc
omp
actmo
tor
swi
thh
ighp
owe
rde
nsi
ty.

Se
rvod
riv
esa
reu
sedwh
ereh
ighd
yna
mic
s(i
.e.f
asta
cce
ler
ati
ona
ndd
ece
ler
ati
on)a
ndg
ooda
ccu
rac
yat

r
eac
hin
gta
rge
tpo
sit
ion
sar
eimp
ort
ant
.Th
ego
odc
ont
rolb
eha
vio
ura
ll
owst
heo
pti
mala
dap
tat
iont
oth
e

a
ppl
i
cat
ion(e
.g.p
osi
ti
oni
ngwi
tho
uto
ver
sho
ot).Bu
tal
sot
hes
moo
thr
un(d
uet
osi
nus
oid
alc
ommu
tat
ion
)

a
ndt
hep
oss
ibi
l
it
yofe
xac
tsy
nch
ron
isa
tio
noft
woo
rmo
red
riv
eso
penawi
def
iel
d.Be
cau
seo
fth
eirwi
de

s
pee
dra
nges
erv
odr
ive
sca
nbeu
sedi
nah
ugen
umb
ero
fap
pli
cat
ion
s.

Se
rvod
riv
esr
uni
nla
rge
,hi
ghl
yau
toma
tedi
nst
al
la
ti
onswi
ths
eve
rald
oze
nso
fax
esa
swe
lla
sinma
chi
nes

wi
tho
nlyaf
ewa
xeswh
ichp
erh
apso
per
atei
nde
pen
den
tly
.

Se
rvomo
tor

Se
rvo mo
tor
sar
eel
ect
ri
c mo
tor
sth
ata
red
esi
gne
dsp
eci
al
lyf
orh
ighd
yna
mic
s. Se
rvo mo
tor
sbyE
SR

d
ist
ing
uis
hth
ems
elv
esb
yac
omp
actd
esi
gnwi
thh
ighp
owe
rde
nsi
tya
ndah
ighd
egr
eeo
fpr
ote
cti
on(u
ptoI
P

65
).T
heyc
omea
sACs
erv
omo
tor
s(b
rus
hle
ss)o
rDCs
erv
omo
tor
s(wi
thb
rus
hesf
ort
hec
ommu
tat
ion
).

T
heh
ighp
owe
rde
nsi
tyi
sac
hie
vedb
ype
rma
nen
tma
gne
tsma
deo
fne
ody
miu
m-i
ron
-bo
ron(Nd
FeB),s
ama
riu
m
 20
-c
oba
lt(SmCo
),o
rfe
rri
tema
ter
ial
.Th
ese
rvomo
tori
seq
uip
pedwi
thap
osi
ti
ons
ens
orwh
ichp
rov
ide
sth
e

c
ont
rol
l
erwi
thp
osi
ti
ona
nds
pee
din
for
mat
ion
.

Asas
tan
dar
d,t
heAC s
erv
o mo
tor
sar
eeq
uip
ped wi
thr
eso
lve
rs.I
nco
mbi
nat
ion wi
tht
hed
igi
tals
erv
o

a
mpl
i
fi
erss
inc
ose
nco
der
s(a
bso
lut
een
cod
er,s
ing
le-t
urno
rmu
lt
i-t
urn
) a
ndh
igh
-re
sol
ut
ioni
ncr
eme
nta
l

e
nco
der
sma
ybeu
seda
swe
ll
,inc
aseh
igh
era
ccu
rac
yord
yna
mic
sisr
equ
ire
d.T
heDCs
erv
omo
tor
sca
nbe

e
qui
ppe
dwi
tht
ach
oge
ner
ato
rsa
nd/o
rin
cre
men
tale
nco
der
s. F
ord
ime
nsi
oni
ngt
hemo
tort
hef
oll
owi
ngd
ata

a
rei
mpo
rta
nt:t
hema
sso
fth
epa
rtst
obemo
ved
,th
ecy
clet
imeo
fth
eap
pli
cat
ion
,an
dth
efr
ic
ti
ont
orq
ue.

Wi
tht
hes
eda
tat
her
ate
dan
dpe
akt
orq
ue(ma
ximu
mac
cel
era
tio
nord
ece
ler
ati
on)a
ndt
her
ate
dsp
eedc
an

b
eca
lcu
lat
ed.I
fre
qui
red
,ge
arsa
reu
sedt
oma
tcht
hemo
men
tofi
ner
ti
aoft
hemo
tort
oth
emo
men
tof

i
ner
ti
aoft
hea
ppl
i
cat
ion
.

Se
rvoa
mpl
i
fi
er

T
hes
erv
oamp
li
fi
er(a
lsoc
all
eda
mpl
i
fi
er,s
erv
oco
ntr
oll
er,o
rju
stc
ont
rol
l
er)c
ont
rol
sth
ecu
rre
nto
fth
e

mo
torp
has
esi
nor
dert
osu
ppl
yth
ese
rvomo
torwi
the
xac
tl
yth
ecu
rre
ntr
equ
ire
dfo
rth
ede
sir
edt
orq
uea
nd

t
hed
esi
reds
pee
d.T
hee
sse
nti
alp
art
sofas
erv
oamp
li
fi
era
ret
hep
owe
rse
cti
ona
ndt
hec
ont
roll
oop
s.

T
hep
owe
rse
cti
onc
ons
is
tso
fama
insr
ect
if
ier
,aDC-b
us,a
ndap
owe
rci
rc
uitwh
ichs
upp
li
est
hei
ndi
vi
dua
l

mo
torp
has
eswi
thc
urr
ent
.

T
hec
ont
roll
oop
s(a
nal
ogu
eord
igi
tal
)dr
ivet
hep
owe
rci
rc
uita
ndb
yco
nst
ant
lyc
omp
ari
ngs
etp
oin
twi
th

a
ctu
alv
alu
ese
nsu
ret
hatt
hemo
tork
eep
sex
act
lyt
oth
ede
sir
edmo
tio
nse
venu
nde
rva
ryi
ngl
oad
.

SI
NUME
RIK SI
EME
NS

SY
STE
M3

LSM-
L
o g
icSub
modu
le
 21

 Op
era
torCo
ntr
olPa
nel

F
ig.
4sh
owsa t
ypi
calHi
nume
rik31
00 CNC s
yst
em'
sop
era
torc
ont
rolp
ane
l.T
heo
per
ato
rco
ntr
olp
ane
l

p
rov
ide
sth
eus
eri
nte
rfa
cet
ofa
cil
i
tat
eat
wo-wa
yco
mmu
nic
ati
onb
etwe
ent
heu
ser
,CNCs
yst
ema
ndt
he

ma
chi
net
ool
.Th
isc
ons
is
tso
ftwop
art
s:

 Vi
deoDi
spl
ayUn
it(VDU)

 Ke
ybo
ard

Vi
deoDi
spl
ayUn
it(VDU)

T
heVDUd
isp
lay
sth
est
atu
soft
hev
ari
ousp
ara
met
erso
fth
eCNCs
yst
ema
ndt
hema
chi
net
ool
.Itd
isp
lay
sal
l

c
urr
enti
nfo
rma
tio
nsu
cha
s:

 Co
mpl
et
ein
for
mat
iono
fth
ebl
ockc
urr
ent
lyb
ein
gex
ecu
ted

 Ac
tua
lpo
sit
ionv
alu
e,s
eto
rac
tua
ldi
ff
ere
nce
,cu
rre
ntf
eedr
ate
,sp
ind
les
pee
d

 Ac
ti
veGf
unc
ti
ons

 Ma
inp
rog
ramn
umb
er,s
ubr
out
inen
umb
er

 Di
spl
ayo
fal
len
ter
edd
ata
,us
erp
rog
rams
,us
erd
ata
,ma
chi
ned
ata
,et
c.

 Al
armme
ssa
gesi
npl
ai
nte
xt

 So
ftk
eyd
esi
gna
tio
ns

I
nad
dit
iont
oaCRT
,af
ewL
EDsa
reg
ene
ral
l
ypr
ovi
dedt
oin
dic
atei
mpo
rta
nto
per
ati
ngmo
desa
nds
tat
us.

Vi
deod
isp
layu
nit
sma
ybeo
ftwot
ype
s:

1
. Mo
noc
hro
meo
rbl
acka
ndwh
ited
isp
lay
s
 22
2.Co
lord
isp
lay
s

Op
era
tor
'sa
ndma
chi
nep
ane
l


SI
NUME
RIK SI
EME
NS

SY
STE
M3

E
mer
gen
cySt
op X+

Z Z+
-
X
-
POWE
RON
Cy
cle Addr
ess
Keys
/Nume
ric
al
ke
yboar
d
Co
ntr
ole
leme
ntsa
ndi
ndi
cat
orso
fth
eop
era
tor
'sp
ane
l
LE
D-i
ndi
cato
r Re
setc
han
geo
ver
Fo
rassi
gnme
nt
Pr
ograminpr
ogre
ss Ofke
ys Ass
ignme
ntof
Fe
edh ol
d ke
ys
Pos
it
ionnotyetre
ache
d Canc
elword
(Machi
neinmoti
on)
Al
arm Al
te
rwo
rd
Cha
ngetoactu
al
CRT va
luedi
spl
ay Ent
erword
Chan
geo v
erto
Bas
icd
isp
lay Ch
ang
eofd
isp
lay cu
stome
rd i
spl
ay
To
olco
mpensat
ion
Ze
rooff
set L
eaff
orwa
rds Ope
rat
org
uid
anc
e
Ye
s,No
Te
st Le
afbac
kwar
ds
Par
tpr
ogr
am Ri
ght
-Le
ftCurs
or De
let
ein
put
St
art
 23
Ke
ybo
ard

Ak
eyb
oar
disp
rov
ide
dfo
rth
efo
ll
owi
ngp
urp
ose
s:

 E
dit
ingo
fpa
rtp
rog
rams
,to
old
ata
,an
dma
chi
nep
ara
met
ers
.

 Se
lec
ti
ono
fdi
ff
ere
ntp
age
sfo
rvi
ewi
ng.

 Se
lec
ti
ono
fop
era
tin
gmo
des
,e.
g.ma
nua
lda
tai
npu
t.

 Se
lec
ti
ono
ffe
edr
ateo
ver
ri
dea
nds
pin
dle
ssp
eedo
ver
ri
de.

 E
xec
uti
ono
fpa
rtp
rog
rams
.

 E
xec
uti
ono
fot
hert
ollf
unc
ti
ons
.

 Ma
chi
neCo
ntr
olPa
nel(MCP)

I
tist
hed
ire
cti
nte
rfa
ceb
etwe
eno
per
ato
ran
dth
eNCs
yst
em,e
nab
li
ngt
heo
per
ati
ono
fth
ema
chi
net
hro
ugh

t
heCNCs
yst
em.F
ig.
5sh
owst
heMCPo
fHi
nume
rik31
00s
yst
em.

Du
rin
gpr
ogr
ame
xec
uti
on,t
heCNCc
ont
rol
sth
eax
ismo
tio
n,s
pin
dlef
unc
ti
ono
rto
olf
unc
ti
ono
nama
chi
ne

t
ool
,de
pen
din
gup
ont
hep
artp
rog
rams
tor
edi
nth
eme
mor
y.Pr
iort
oth
est
art
ingo
fth
ema
chi
nep
roc
ess
,

ma
chi
nes
hou
ldf
ir
stb
epr
epa
redwi
ths
omes
pec
if
ict
ask
sli
ke,

 E
sta
bli
shi
ngac
orr
ectr
efe
ren
cep
oin
t

 L
oad
ingt
hes
yst
emme
mor
ywi
tht
her
equ
ire
dpa
rtp
rog
ram

 L
oad
inga
ndc
hec
kin
goft
oolo
ffs
ets
,ze
roo
ffs
ets
,et
c.

F
ort
hes
eta
sks
,th
esy
ste
mmu
stb
eop
era
tedi
nsp
eci
fi
cop
era
tin
gmo
des
oth
att
hes
epr
epa
rat
oryf
unc
ti
ons

c
anb
ees
tab
li
she
d.
 24

Co
ntr
ole
leme
ntso
fth
ema
chi
nec
ont
rolp
ane
l
Ra
pidt
rav
ers
eac
ti
vat
e
Spi
ndl
e
Modese
lec
tor Spi
ndl
espe
ed F
eedra
te/r
api
d Di
rec
ti
onk
eys OFF ON
Swi
tc
h ov
erri
de t
rav
erseover
ri
de

E
mer
gen
cySt
op X+

Z Z+
- Fe
ed
X Hol
d/St
art
-
POWE
RON Cy
cles
tar
t
Cy
cle

Si
ngl
e Bl
ock Dr
y
NCON Keyoper
ate
d bl
ock De
let
e Ru
n
swi
tchfo
rinpu
t
i
n h
ibi
t
Bl
ocks
ear
ch Ra
pidTra
ver
se Manualenc
oder
Ov
erri
deact
ie a
v ct
iv
ei n
X-andZ-axi
sresp
.

F
ig.
5Ma
chi
nec
ont
rolpan
elo
fHi
nume
rik31
00
sys
tem

Mo
deso
fop
era
tio
n

Ge
ner
all
y,t
heCNCs
yst
emc
anb
eop
era
tedi
nth
efo
ll
owi
ngmo
des
:

 Ma
nua
lmo
de

 Ma
nua
lda
tai
npu
t(MDI
) mo
de

 Au
toma
ticmo
de

 Re
fer
enc
emo
de

 I
npu
tmo
de

 Ou
tpu
tmo
de,e
tc.
 25

Ma
nua
lmo
de:

I
nth
ismo
de,mo
veme
nto
fama
chi
nes
li
dec
anc
arr
iedo
utma
nua
ll
ybyp
res
si
ngt
hep
art
ic
ula
rjo
gbu
tto
n

(+o
r-).T
hes
li
de(a
xis
)iss
ele
cte
dth
rou
gha
nax
iss
ele
cto
rswi
tc
hort
hro
ughi
ndi
vi
dua
lswi
tc
hes(e
.g.
,

X+,X-,Y
+,Y
-,Z+,Z-,e
tc.
).T
hef
eedr
ateo
fth
esl
i
demo
veme
nti
spr
efi
xed
.CNCs
yst
ema
ll
owst
he

a
xist
obej
ogg
eda
thi
ghf
eedr
atea
lso
.Th
eax
ismo
veme
ntc
ana
lsob
eac
hie
vedma
nua
ll
yus
ingah
andwh
eel

i
nte
rfa
cei
nst
eado
fjo
gbu
tto
ns.I
nth
ismo
des
li
desc
anb
emo
vedi
ntwowa
ys:

 Co
nti
nuo
us

 I
ncr
eme
nta
l

Co
nti
nuo
usmo
de:I
nTh
ismo
de,t
hes
li
dewi
l
lmo
vea
slo
nga
sth
ejo
gbu
tto
nisp
res
sed
.

I
ncr
eme
nta
lmo
de:He
ncet
hes
li
dewi
l
lmo
vet
hro
ughaf
ix
edd
ist
anc
e,wh
ichi
sse
lec
tab
le.No
rma
ll
y,s
yst
em

a
ll
owsj
ogg
ingo
fax
esi
n1,1
0,1
00,1
000,1
0000,i
ncr
eme
nts
.Ax
ismo
veme
nti
satap
ref
ix
edf
eedr
ate
.Iti
s

i
ni
ti
ate
dbyp
res
si
ngt
hep
rop
erj
og+o
rjo
g-k
eya
ndwi
l
lbel
i
mit
edt
oth
enoo
fin
cre
men
tss
ele
cte
dev
eni
f

t
hej
ogb
utt
oni
sco
nti
nuo
usl
ypr
ess
ed.F
ors
ubs
equ
entmo
veme
ntt
hej
ogb
utt
onh
ast
ober
ele
ase
dan
don
ce

a
gai
npr
ess
ed.

Ma
nua
lDa
taI
npu
t(MDI
) Mo
de

I
nth
ismo
det
hef
oll
owi
ngo
per
ati
onc
anb
epe
rfo
rme
d:

 Bu
il
di
ngan
ewp
artp
rog
ram

 E
dit
ingo
rde
let
ingo
fpa
rtp
rog
rams
tor
edi
nth
esy
ste
mme
mor
y

 E
nte
rin
gore
dit
ingo
rde
let
ingo
f:

------T
oolo
ffs
ets(T
O)

------Ze
roo
ffs
ets(ZO)

------T
estd
ata
,et
c.
 26

T
eac
h-i
n

So
mes
yst
ema
ll
owsd
ire
ctma
nua
lin
puto
fap
rog
ramb
loc
kan
dex
ecu
tio
noft
hes
ame
.Th
ebl
ock
sth
us

e
xec
ute
dca
nbec
hec
kedf
orc
orr
ect
nes
sofd
ime
nsi
onsa
ndc
ons
equ
ent
lyt
ran
sfe
rre
din
tot
hep
rog
ramme
mor
y

a
spa
rtp
rog
ram.

Pl
ayb
ack

I
nse
tti
ngu
pmo
desl
i
kej
ogo
rin
cre
men
tal
,th
eax
isc
anb
etr
ave
rse
dei
the
rth
rou
ght
hed
ire
cti
onk
eyso
rvi
a

t
heh
andwh
eel
,an
dth
een
dpo
sit
ionc
anb
etr
ans
fer
redi
ntot
hes
yst
emme
mor
yasc
omma
ndv
alu
es.Bu
tth
e

r
equ
ire
dfe
edr
ate
s,s
wit
chi
ngf
unc
ti
onsa
ndo
the
rau
xil
i
aryf
unc
ti
onsh
avet
obea
dde
dtot
hep
artp
rog
rami
n

p
rog
rame
dit
ingmo
de.

T
hus
,te
ach
-ina
ndp
lay
bac
kop
era
tin
gme
tho
dal
l
owsap
rog
ramt
ocr
eat
edd
uri
ngt
hef
ir
stc
omp
one
ntp
rov
e

o
ut.

Au
toma
ticMo
de(Au
toa
ndSi
ngl
eBl
ock
)

I
nth
ismo
det
hes
yst
ema
ll
owst
hee
xec
uti
ono
fap
artp
rog
ramc
ont
inu
ous
ly.T
hep
artp
rog
rami
sex
ecu
ted

b
loc
kbyb
loc
k.Wh
il
eon
ebl
ocki
sbe
inge
xec
ute
d,t
hen
extb
loc
kisr
eadb
yth
esy
ste
m,a
nal
yze
dan
dke
pt

r
ead
yfo
rex
ecu
tio
n.E
xec
uti
ono
fth
epr
ogr
amc
anb
eon
ebl
ocka
fte
ran
oth
era
uto
mat
ic
all
yort
hes
yst
emwi
l
l

e
xec
uteab
loc
k,s
topt
hee
xec
uti
ono
fth
ene
xtb
loc
kti
l
liti
sin
iti
ate
dtod
oso(b
ypr
ess
ingt
hes
tar
t

b
utt
on).Se
lec
ti
ono
fpa
rtp
rog
rame
xec
uti
onc
ont
inu
ous
ly(Au
to)o
ron
ebl
ocka
tat
ime(Si
ngl
eBl
ock
)is

d
onet
hro
ught
hema
chi
nec
ont
rolp
ane
l.

Ma
nys
yst
emsa
ll
owb
loc
ks(s
ing
leo
rmu
lti
pl
e)t
ober
etr
ace
dint
heo
ppo
sit
edi
rec
ti
on.Bl
ockr
etr
acei
s

a
ll
owe
don
lywh
enac
ycl
est
ops
tat
eise
sta
bli
she
d.Pa
rtp
rog
rame
xec
uti
onc
anr
esu
mea
ndi
tse
xec
uti
on

b
egi
nswi
tht
her
etr
ace
dbl
ock
.Th
isi
sus
efu
lfo
rto
oli
nsp
ect
iono
rinc
aseo
fto
olb
rea
kag
e.Pr
ogr
ams
tar
t

c
anb
eef
fec
teda
tan
ybl
ocki
nth
epr
ogr
am,t
hro
ught
heBL
OCKSE
ARCHf
aci
l
it
y.
 27

Re
fer
enc
eMo
de

Un
dert
hismo
det
hema
chi
nec
anb
ere
fer
enc
edt
oit
sho
mep
osi
ti
ons
oth
ata
llt
hec
omp
ens
ati
ons(e
.g.
,

p
itc
her
rorc
omp
ens
ati
on)c
anb
epr
ope
rlya
ppl
i
ed.Pa
rtp
rog
ramsa
reg
ene
ral
l
ypr
epa
redi
nab
sol
ut
emo
dewi
th

r
esp
ectt
oma
chi
nez
ero
.Ma
nyCNCs
yst
emsma
kei
tco
mpu
lso
ryt
ore
fer
enc
eth
esl
i
deso
fth
ema
chi
net
oth
eir

h
omep
osi
ti
onsb
efo
reap
rog
rami
sex
ecu
tedwh
il
eot
her
sma
kei
top
tio
nal
.

I
npu
tMo
dea
ndOu
tpu
tMo
de(I
/OMo
de)

I
nth
ismo
de,t
hep
artp
rog
rams
,ma
chi
nes
etu
pda
ta,t
oolo
ffs
ets
,et
c.c
anb
elo
ade
d/u
nlo
ade
din
to/f
rom

t
heme
mor
yoft
hes
yst
emf
rome
xte
rna
lde
vic
esl
i
kep
rog
rammi
ngu
nit
s,ma
gne
ticc
ass
ett
eso
rfl
opp
ydi
scs
,et
c.

Du
rin
gda
tai
npu
t,s
omes
yst
emsc
hec
kfo
rsi
mpl
eer
ror
s (l
i
kep
ari
ty,t
apef
orma
t,b
loc
kle
ngt
h,u
nkn
own

c
har
act
ers
,pr
ogr
ama
lr
ead
ypr
ese
nti
nth
eme
mor
y,e
tc.
).T
ran
sfe
rofd
atai
sdo
net
hro
ughaRS232Co
r

RS422Cp
ort
.

 Ot
herPe
rip
her
als

T
hes
ein
clu
des
ens
ori
nte
rfa
ce,p
rov
isi
onf
orc
ommu
nic
ati
one
qui
pme
nt,p
rog
rammi
ngu
nit
s,p
rin
ter
,ta
pe

r
ead
er/p
unc
heri
nte
rfa
ce,e
tc.
 28

I
NTE
RFACI
NG

I
nte
rco
nne
cti
ngt
hei
ndi
vi
dua
lel
eme
ntso
fbo
tht
hema
chi
nea
ndt
heCNCs
yst
emu
sin
gca
ble
san
dco
nne
cto
rsi
s

c
all
edi
nte
rfa
cin
g.

E
xtr
emec
ares
hou
ldb
eta
kend
uri
ngi
nte
rfa
cin
g.Pr
ope
rgr
oun
din
gine
lec
tri
cali
nst
al
la
tio
nismo
ste
sse
nti
al
.

T
hisr
edu
cest
hee
ffe
ctso
fin
ter
fer
enc
ean
dgu
ard
sag
ain
ste
lec
tro
nics
hoc
ktop
ers
onn
el.I
tisa
lsoe
sse
nti
al

t
opr
ope
rlyp
rot
ectt
hee
lec
tro
nice
qui
pme
nt.

Ca
blewi
reso
fsu
ffi
ci
ent
lyl
arg
ecr
oss
-se
cti
ona
lar
eamu
stb
eus
ed.E
vent
hou
ghp
rop
erg
rou
ndi
ngr
edu
cest
he

e
ffe
cto
fel
ect
ri
cali
nte
rfe
ren
ce,s
ign
alc
abl
ere
qui
resa
ddi
ti
ona
lpr
ote
cti
on.T
hisi
sge
ner
all
yac
hie
vedb
yus
ing

s
hie
lde
dca
ble
s.Al
lth
eca
bles
hie
ldsmu
stb
egr
oun
deda
tco
ntr
olo
nly
,le
avi
ngo
the
ren
dfr
ee.Ot
hern
ois
e

r
edu
cti
ont
ech
niq
uesi
ncl
udeu
sin
gsu
ppr
ess
iond
evi
ces
,pr
ope
rca
bles
epa
rat
ion
,fe
rro
usme
talwi
rewa
ys,e
tc.

E
lec
tri
cale
ncl
osu
ress
hou
ldb
ede
sig
nedt
opr
ovi
dep
rop
era
mbi
entc
ond
iti
onsf
ort
hec
ont
rol
l
er.

MONI
TORI
NG

I
nad
dit
iont
oth
eca
ret
ake
nbyt
hema
chi
net
oolb
uil
derd
uri
ngd
esi
gna
ndi
nte
rfa
cin
g,b
asi
cco
ntr
ola
lso

i
ncl
ude
sco
nst
ant
lya
cti
vemo
nit
ori
ngf
unc
ti
ons
.Th
isi
sino
rde
rtoi
den
tif
yfa
ult
sint
heNC,t
hei
nte
rfa
ce

c
ont
rola
ndt
hema
chi
nea
tanl
arg
est
aget
opr
eve
ntd
ama
geso
ccu
rri
ngt
oth
ewo
rkp
iec
e,t
oolo
rma
chi
ne.I
f

af
aul
toc
cur
s,f
ir
stt
hema
chi
ni
ngs
equ
enc
eisi
nte
rru
pte
d,t
hed
riv
esa
res
top
ped
,th
eca
useo
fth
efa
ulti
s

s
tor
eda
ndt
hend
isp
lay
eda
sana
lar
m.Att
hes
amet
ime
,th
ePL
Cisi
nfo
rme
dth
ata
nNCa
lar
mex
it
s.I
n

Hi
nume
rikCNCs
yst
em,f
ore
xamp
le,t
hef
oll
owi
ngc
anb
emo
nit
ore
d:

 Re
ad-i
n

 F
orma
t

 Me
asu
rin
gci
rc
uitc
abl
es

 Po
sit
ione
nco
der
san
ddr
ive
s

 Co
nto
ur

 Sp
ind
les
pee
d

 E
nab
les
ign
als
 29
 Vo
lta
ge

 T
emp
era
tur
e

 Mi
cr
opr
oce
sso
rs

 Da
tat
ran
sfe
rbe
twe
eno
per
ato
rco
ntr
olp
ane
lan
dlo
gicu
nit

 T
ran
sfe
rbe
twe
enNCa
ndPL
C

 Ch
ang
eofs
tat
uso
fbu
ffe
rba
tte
ry

 Sy
ste
mpr
ogr
amme
mor
y

 Us
erp
rog
ramme
mor
y

 Se
ria
lin
ter
fac
es

DI
AGNOST
ICS

T
hec
ont
rolwi
l
lge
ner
al
lyb
epr
ovi
dedwi
tht
esta
ssi
st
anc
efo
rse
rvi
cep
urp
ose
sino
rde
rtod
isp
lays
omes
tat
us

o
nth
eCRTs
ucha
s:

 I
nte
rfa
ces
ign
alsb
etwe
enNCa
ndPL
Caswe
lla
sbe
twe
enPL
Can
dma
chi
ne

 F
lag
soft
hePL
C

 T
ime
rso
fth
ePL
C

 Co
unt
erso
fth
ePL
C

 I
npu
t/o
utp
uto
fth
ePL
C

F
ort
heo
utp
uts
ign
als
,iti
sal
sop
oss
ibl
etos
eta
ndg
ene
rat
esi
gna
lco
mbi
nat
ion
sfo
rte
stp
urp
ose
sino
rde
rto

o
bse
rveh
owt
hema
chi
ner
eac
ttoac
han
geds
ign
al.T
hiss
imp
li
fi
est
rou
bles
hoo
tin
gco
nsi
der
abl
y.
 30

MACHI
NEDAT
A

Ge
ner
all
y,aCNCs
yst
emi
sde
sig
neda
sag
ene
ral
-pu
rpo
sec
ont
rolu
nit
,wh
ichh
ast
obema
tch
edwi
tht
he

p
art
ic
ula
rma
chi
net
owh
icht
hes
yst
emi
sin
ter
fac
ed.T
heCNCi
sin
ter
fac
edt
oth
ema
chi
neb
yme
anso
fda
ta,

wh
ichi
sma
chi
nes
pec
if
ic
.Th
eNCa
ndPL
Cma
chi
ned
atac
anb
een
ter
eda
ndc
han
gedb
yme
anso
fex
ter
nal

e
qui
pme
nto
rma
nua
ll
ybyt
hek
eyb
oar
d.T
hes
eda
taa
ref
ix
eda
nde
nte
redd
uri
ngc
ommi
ss
ion
ingo
fth
ema
chi
ne

a
ndg
ene
ral
l
yle
ftu
nal
te
redd
uri
ngma
chi
neo
per
ati
ons
.

Ma
chi
ned
atae
nte
redi
sus
ual
l
yre
lev
antt
oth
eax
ist
rav
ell
i
mit
s,f
eedr
ate
s,r
api
dtr
ave
rses
pee
dsa
nd

s
pin
dles
pee
ds,p
osi
ti
onc
ont
rolmu
lti
pl
ic
ati
onf
act
or,Kvf
act
or,a
cce
ler
ati
on,d
rif
tco
mpe
nsa
tio
n,a
dju
stme
nt

o
fre
fer
enc
epo
int
,ba
ckl
ashc
omp
ens
ati
on,p
itc
her
rorc
omp
ens
ati
on,e
tc.Al
sot
heo
pti
ona
lfe
atu
reso
fth
e

c
ont
rols
yst
ema
rema
dea
vai
l
abl
etot
hema
chi
net
oolb
uil
derb
yen
abl
i
ngs
omeo
fth
ebi
tso
fma
chi
ned
ata
.

Ap
pli
cat
ion
sofCNCMa
chi
nes
CNCma
chi
nesa
rewi
del
yus
edi
nth
eme
talc
utt
ingi
ndu
str
yan
dar
ebe
stu
sedt
opr
odu
ce

t
hef
ol
lo
win
gty
peso
fpr
odu
ct:

• Pa
rtswi
thc
omp
li
cat
edc
ont
our
s

• Pa
rtsr
equ
iri
ngc
los
eto
ler
anc
ean
d/o
rgo
odr
epe
ata
bil
i
ty

• Pa
rts r
equ
iri
ng e
xpe
nsi
ve j
ig
s a
nd f
ix
tur
es i
f p
rod
uce
d o
n

c
onv
ent
io
nalma
chi
nes

• Pa
rtst
hatma
yha
ves
eve
rale
ngi
nee
rin
gch
ang
es,s
ucha
sdu
rin
g

t
hed
eve
lop
men
tst
ageo
fap
rot
oty
pe

• I
nca
seswh
ereh
uma
ner
ror
sco
uldb
eex
tre
mel
yco
stl
y

• Pa
rtst
hata
ren
eed
edi
nah
urr
y

• Sma
llb
atc
hlo
tso
rsh
ortp
rod
uct
ionr
uns
 31

So
mec
ommo
nty
peso
fCNCma
chi
nesa
ndi
nst
rume
ntsu
sedi
nin
dus
trya
rea
sfo
ll
owi
ng:

• Dr
il
l
ingMa
chi
ne

• L
ath
e/T
urn
ingCe
ntr
e

• Mi
l
li
ng/Ma
chi
ni
ngCe
ntr
e

• T
urr
etPr
essa
ndPu
nch
ingMa
chi
ne

• Wi
rec
utE
lec
troDi
sch
arg
eMa
chi
ne(E
DM)

• Gr
ind
ingMa
chi
ne

• L
ase
rCu
tti
ngMa
chi
ne

• Wa
terJ
etCu
tti
ngMa
chi
ne

• E
lec
troDi
sch
arg
eMa
chi
ne

• Co
ord
ina
teMe
asu
rin
gMa
chi
ne

• I
ndu
str
ialRo
bot
 32

PL
CPROGRAMMI
NG
Pr
ogr
amma
bleL
ogi
cCo
ntr
oll
er(PL
C)

APL
Cma
tch
est
heNCt
oth
ema
chi
ne.PL
Cswe
reb
asi
cal
l
yin
tro
duc
eda
sre
pla
ceme
ntf
orh
ardwi
redr
ela
y

c
ont
rolp
ane
ls.T
heywe
red
eve
lop
edt
ober
epr
ogr
amme
dwi
tho
uth
ard
war
ech
ang
eswh
enr
equ
ire
men
tswe
re

a
lt
ere
dan
dth
usa
rer
eus
abl
e.PL
Csa
ren
owa
vai
l
abl
ewi
thi
ncr
eas
edf
unc
ti
ons
, mo
reme
mor
yan
dla
rge

i
npu
t/o
utp
utc
apa
bil
i
ti
es.F
ig.
7gi
vest
heg
ene
ral
i
zedPL
Cbl
ockd
iag
ram.

I
nth
eCPU,a
llt
hed
eci
si
onsa
rema
der
ela
tiv
etoc
ont
rol
l
ingama
chi
neo
rap
roc
ess
.Th
eCPUr
ece
ive
s

i
npu
tda
ta,p
erf
ormsl
ogi
cald
eci
si
onsb
ase
dup
ons
tor
edp
rog
ramsa
ndd
riv
est
heo
utp
uts
.Co
nne
cti
onst
oa

c
omp
ute
rfo
rhi
era
rch
ica
lco
ntr
ola
red
onev
iat
heCPU.

T
heI
/Os
tru
ctu
reo
fth
ePL
Csi
son
eoft
hei
rma
jors
tre
ngt
hs.T
hei
npu
tsc
anb
epu
shb
utt
ons
,li
mits
wit
che
s,

r
ela
yco
nta
cts
,an
alo
gse
nso
r,s
ele
cto
rswi
tc
hes
,pr
oxi
mit
yswi
tc
hes
,fl
oats
wit
che
s,e
tc.T
heo
utp
utsc
anb
e

mo
tors
tar
ter
s,s
ole
noi
dva
lve
s,p
osi
ti
onv
alv
es,r
ela
yco
il
s,i
ndi
cat
orl
i
ght
s,L
EDd
isp
lay
s,e
tc.

T
hef
iel
dde
vic
esa
ret
ypi
cal
l
yse
lec
ted
,su
ppl
i
eda
ndi
nst
al
le
dbyt
hema
chi
net
oolb
uil
dero
rth
een
dus
er.

T
hev
olt
agel
eve
loft
hef
ie
ldd
evi
cest
husn
orma
ll
yde
ter
min
est
het
ypeo
fI/O.So
,po
wert
oac
tua
tet
hes
e

d
evi
cesmu
sta
lsob
esu
ppl
i
ede
xte
rna
ltot
hePL
C.T
hePL
Cpo
wers
upp
lyi
sde
sig
nat
eda
ndr
ate
don
lyt
o

o
per
atet
he

i
nte
rna
lpo
rti
onso
fth
eI/O s
tru
ctu
res
,an
dno
tth
efi
el
dde
vic
es.A wi
dev
ari
etyo
fvo
lta
ges
,cu
rre
nt

c
apa
cit
iesa
ndt
ype
sofI
/Omo
dul
esa
rea
vai
l
abl
e.

T
hep
rin
cip
leo
fop
era
tio
nofaPL
Cisd
ete
rmi
nede
sse
nti
al
lyb
yth
ePL
Cpr
ogr
amme
mor
y,p
roc
ess
or,i
npu
ts

a
ndo
utp
uts
.

T
hep
rog
ramt
hatd
ete
rmi
nesPL
Cop
era
tio
niss
tor
edi
nth
ein
ter
nalPL
Cpr
ogr
amme
mor
y.T
hePL
Cop
era
tes

c
ycl
i
cal
l
y,i
.e.wh
enac
omp
let
epr
ogr
amh
asb
eens
can
ned
,its
tar
tsa
gai
natt
heb
egi
nni
ngo
fth
epr
ogr
am.
 33
Att
heb
egi
nni
ngo
fea
chc
ycl
e,t
hep
roc
ess
ore
xami
nest
hes
ign
als
tat
usa
tal
lin
put
saswe
lla
sth
eex
ter
nal

t
ime
rsa
ndc
oun
ter
san
dar
est
ore
dinap
roc
essi
mag
ein
put(PI
I).Du
rin
gsu
bse
que
ntp
rog
rams
can
nin
g,t
he

p
roc
ess
ort
hea
cce
sse
sth
isp
roc
essi
mag
e.

T
oex
ecu
tet
hep
rog
ram,t
hep
roc
ess
orf
etc
heso
nes
tat
eme
nta
fte
ran
oth
erf
romt
hep
rog
rammi
ngme
mor
y

a
nde
xec
ute
sit
.Th
ere
sul
tsa
rec
ons
tan
tlys
tor
edi
nth
epr
oce
ssi
mag
eou
tpu
t(PI
O) d
uri
ngt
hec
ycl
e.At

t
hee
ndo
fas
can
nin
gcy
cle
,i.
e.p
rog
ramc
omp
let
ion
,th
epr
oce
sso
rtr
ans
fer
sth
eco
nte
ntso
fth
epr
oce
ss

i
mag
eou
tpu
ttot
heo
utp
utmo
dul
esa
ndt
oth
eex
ter
nalt
ime
rsa
ndc
oun
ter
s.T
hep
roc
ess
ort
henb
egi
nsan
ew

p
rog
rams
can
.

Pr
ogr
ammi
ng T
ape Tap
e Pr
int
ers
Uni
ts Rea
der Pu
ncher

F
ig.
6Sy
ste
mwi
thp
eri
phe
rald
evi
ces

I
npu
ts
Pr
oce
sso
r L
o g
ic St
ora
ge
Pr
ogr
amme
r memory memo
ry Ou
tpu
ts F
iel
d
De
vic
es
 34

Power
Power Su
p p
ly
Su
p p
ly

F
ig.
7Ge
ner
ali
zedPL
Cbl
ockd
iag
ram

Wh
atd
oes‘
PLC’me
an?

APL
C(Pr
ogr
amma
bleL
ogi
cCo
ntr
oll
ers
) i
sani
ndu
str
ialc
omp
ute
rus
edt
omo
nit
ori
npu
ts,a
ndd
epe
ndi
ng

u
pont
hei
rst
atema
ked
eci
si
onsb
ase
doni
tsp
rog
ramo
rlo
gic
,toc
ont
rol(t
urno
n/o
ff)i
tso
utp
utst
o

a
uto
mat
eama
chi
neo
rap
roc
ess
.

PROGRAMMABL
ELOGI
CCONT
ROL
LER

“Ad
igi
tal
l
yop
era
tin
gel
ect
ron
ica
ppa
rat
uswh
ichu
sesap
rog
ramma
bleme
mor
yfo
rth
ein
ter
nals
tor
age

o
fin
str
uct
ion
sbyi
mpl
eme
nti
ngs
pec
if
icf
unc
ti
onss
ucha
slo
gics
equ
enc
ing
,ti
min
g,c
oun
tin
g,a
nd

a
rit
hme
tict
oco
ntr
ol,t
hro
ughd
igi
talo
ran
alo
gin
put
/ou
tpu
tmo
dul
es,v
ari
oust
ype
sofma
chi
neso
r

p
roc
ess
es”.

T
rad
iti
ona
lPL
CAp
pli
cat
ion
s

*I
nau
toma
teds
yst
em,PL
Cco
ntr
oll
eri
sus
ual
l
yth
ece
ntr
alp
arto
fap
roc
essc
ont
rols
yst
em.

*T
oru
nmo
rec
omp
lexp
roc
ess
esi
tisp
oss
ibl
etoc
onn
ectmo
rePL
Cco
ntr
oll
erst
oac
ent
ralc
omp
ute
r.

Di
sad
van
tag
eso
fPL
Cco
ntr
ol

-T
oomu
chwo
rkr
equ
ire
dinc
onn
ect
ingwi
res
.

-Di
ff
ic
ult
ywi
thc
han
geso
rre
pla
ceme
nts
.

-Di
ff
ic
ult
yinf
ind
inge
rro
rs;r
equ
iri
ngs
kil
l
fulwo
rkf
orc
e.

-Wh
enap
rob
lemo
ccu
rs,h
old
-upt
imei
sin
def
ini
te
,us
ual
l
ylo
ng.

Ad
van
tag
eso
fPL
Cco
ntr
ol

*Ru
gge
dan
dde
sig
nedt
owi
ths
tan
dvi
bra
tio
ns,t
emp
era
tur
e,h
umi
di
ty,a
ndn
ois
e.
 35
*Ha
vei
nte
rfa
cin
gfo
rin
put
san
dou
tpu
tsa
lre
adyi
nsi
det
hec
ont
rol
l
er.

*E
asi
l
ypr
ogr
amme
dan
dha
vea
nea
sil
yun
der
sto
odp
rog
rammi
ngl
ang
uag
e.

Ma
jorT
ype
sofI
ndu
str
ialCo
ntr
olSy
ste
ms

I
ndu
str
ialc
ont
rols
yst
emo
rICSc
omp
ris
eofd
iff
ere
ntt
ype
sofc
ont
rols
yst
emst
hata
rec
urr
ent
lyi
nop
era
tio
n

i
nva
rio
usi
ndu
str
ies
.Th
esec
ont
rols
yst
emsi
ncl
udePL
C,SCADAa
ndDCSa
ndv
ari
ouso
the
rs:

PL
C

T
heya
reb
ase
dont
heBo
ole
anl
ogi
cop
era
tio
nswh
ere
ass
omemo
del
sus
eti
mer
san
dso
meh
avec
ont
inu
ous

c
ont
rol
.Th
esed
evi
cesa
rec
omp
ute
rba
seda
nda
reu
sedt
oco
ntr
olv
ari
ousp
roc
essa
nde
qui
pme
ntswi
thi
na

f
aci
l
it
y.PL
Csc
ont
rolt
hec
omp
one
ntsi
nth
eDCSa
ndSCADAs
yst
emsb
utt
heya
rep
rima
ryc
omp
one
ntsi
n

s
mal
l
erc
ont
rolc
onf
ig
ura
tio
ns.

DCS

Di
st
ri
but
edCo
ntr
olSy
ste
msc
ons
is
tso
fde
cen
tra
li
zede
leme
ntsa
nda
llt
hep
roc
ess
esa
rec
ont
rol
l
edb
yth
ese

e
leme
nts
.Hu
mani
nte
rac
ti
oni
smi
ni
miz
eds
oth
ela
borc
ost
san
din
jur
iesc
anb
ere
duc
ed.

Emb
edd
edCo
ntr
ol

I
nth
isc
ont
rols
yst
em,s
mal
lco
mpo
nen
tsa
rea
tta
che
dtot
hei
ndu
str
ialc
omp
ute
rsy
ste
mwi
tht
heh
elpo
fa

n
etwo
rka
ndc
ont
roli
sex
erc
ise
d.

SCADA

Su
per
vis
oryCo
ntr
olAn
dDa
taAc
qui
si
ti
onr
efe
rst
oac
ent
ral
i
zeds
yst
ema
ndt
hiss
yst
emi
sco
mpo
sedo
fva
rio
us

s
ubs
yst
emsl
i
keRe
mot
eTe
leme
tryUn
its
,Hu
manMa
chi
neI
nte
rfa
ce,Pr
ogr
amma
bleL
ogi
cCo
ntr
oll
ero
rPL
Can
d

Co
mmu
nic
ati
ons
.
 36

Ha
rdwa
reCo
mpo
nen
tso
faPL
CSy
ste
m

Pr
oce
sso
run
it(CPU),Me
mor
y,I
npu
t/Ou
tpu
t,Po
wers
upp
lyu
nit
,Pr
ogr
ammi
ngd
evi
ce,a
ndo
the
rde
vic
es.

Ce
ntr
alPr
oce
ssi
ngUn
it(CPU)

CPU–Mi
cr
opr
oce
sso
rba
sed
,ma
yal
l
owa
rit
hme
tico
per
ati
ons
,lo
gico
per
ato
rs,b
loc
kme
mor
ymo
ves
,co
mpu
ter

i
nte
rfa
ce,l
oca
lar
ean
etwo
rk,f
unc
ti
ons
,et
c.

CPUma
kesag
rea
tnu
mbe
rofc
hec
k-u
pso
fth
ePL
Cco
ntr
oll
eri
ts
elfs
oev
ent
uale
rro
rswo
uldb
edi
sco
ver
ed

e
arl
y.

Sy
ste
mBu
sse
s

T
hei
nte
rna
lpa
thsa
lon
gwh
icht
hed
igi
tals
ign
alsf
lowwi
thi
nth
ePL
Car
eca
ll
ed

b
uss
es.

T
hes
yst
emh
asf
ourb
uss
es:

-T
heCPUu
sest
hed
atab
usf
ors
end
ingd
atab
etwe
ent
hed
iff
ere
nte
leme
nts
,

-T
hea
ddr
essb
ust
ose
ndt
hea
ddr
ess
eso
flo
cat
ion
sfo
rac
ces
si
ngs
tor
edd
ata
,

-T
hec
ont
rolb
usf
ors
ign
alsr
ela
tin
gtoi
nte
rna
lco
ntr
ola
cti
ons
,

-T
hes
yst
emb
usi
sus
edf
orc
ommu
nic
ati
onsb
etwe
ent
heI
/Op
ort
san
dth
eI/Ou
nit
.
 37
Me
mor
y

Sy
ste
m(ROM) t
ogi
vep
erma
nen
tst
ora
gef
ort
heo
per
ati
ngs
yst
ema
ndt
hef
ix
edd
atau
sedb
yth
eCPU.

RAM f
ord
ata
.Th
isi
swh
erei
nfo
rma
tio
niss
tor
edo
nth
est
atu
sofi
npu
tan
dou
tpu
tde
vic
esa
ndt
hev
alu
eso
f

t
ime
rsa
ndc
oun
ter
san
dot
heri
nte
rna
lde
vic
es.E
PROM f
orROM’
sth
atc
anb
epr
ogr
amme
dan
dth
ent
he

p
rog
ramma
dep
erma
nen
t.

I
/OSe
cti
ons

I
npu
tsmo
nit
orf
iel
dde
vic
es,s
ucha
sswi
tc
hesa
nds
ens
ors
.

Ou
tpu
tsc
ont
rolo
the
rde
vic
es,s
ucha
smo
tor
s,p
ump
s,s
ole
noi
dva
lve
s,a
ndl
i
ght
s.

Po
werSu
ppl
y

Mo
stPL
Cco
ntr
oll
er
swo
rke
ith
era
t24VDCo
r220VAC.So
mePL
Cco
ntr
oll
ersh
ave
 el
ect
ri
cals
upp
lya
sa

s
epa
rat
emo
dul
e,wh
il
esma
lla
ndme
diu
mse
rie
sal
rea
dyc
ont
aint
hes
upp
lymo
dul
e.

Pr
ogr
ammi
ngDe
vic
e

T
hep
rog
rammi
ngd
evi
cei
sus
edt
oen
tert
her
equ
ire
dpr
ogr
ami
ntot
heme
mor
yoft
hep
roc
ess
or.

T
hep
rog
rami
sde
vel
ope
dint
hep
rog
rammi
ngd
evi
cea
ndt
hent
ran
sfe
rre
dtot
he me
mor
yun
ito
fth
ePL
C.

PL
COPE
RAT
IONS:

I
npu
tRe
lay
s

T
hes
ear
eco
nne
cte
dtot
heo
uts
idewo
rld
.Th
eyp
hys
ica
ll
yex
is
tan
dre
cei
ves
ign
alsf
roms
wit
che
s,s
ens
ors
,

e
tc.T
ypi
cal
l
yth
eya
ren
otr
ela
ysb
utr
ath
ert
heya
ret
ran
sis
tor
s.

I
nte
rna
lUt
il
i
tyRe
lay
s

T
hes
edon
otr
ece
ives
ign
alsf
romt
heo
uts
idewo
rldn
ord
oth
eyp
hys
ica
ll
yex
is
t.T
heya
res
imu
lat
edr
ela
ysa
nd

a
rewh
ate
nab
lesaPL
Ctoe
li
min
atee
xte
rna
lre
lay
s.

T
her
ear
eal
sos
omes
pec
ialr
ela
yst
hata
red
edi
cat
edt
ope
rfo
rmi
ngo
nly

o
net
ask
.
 38
Co
unt
ers

T
hes
edon
otp
hys
ica
ll
yex
is
t.T
heya
res
imu
lat
edc
oun
ter
san
dth
eyc
anb
epr
ogr
amme
dtoc
oun
tpu
lse
s.

T
ypi
cal
l
yth
esec
oun
ter
sca
nco
untu
p,d
owno
rbo
thu
pan
ddo
wn.Si
ncet
heya
res
imu
lat
edt
heya
rel
i
mit
ed

i
nth
eirc
oun
tin
gsp
eed
.

So
mema
nuf
act
ure
rsa
lsoi
ncl
udeh
igh
spe
edc
oun
ter
sth
ata
reh
ard
war
eba
sed
.

T
ime
rs

T
hes
eal
sod
ono
tph
ysi
cal
l
yex
is
t.T
heyc
omei
nma
nyv
ari
eti
esa
ndi
ncr
eme
nts
.

T
hemo
stc
ommo
nty
pei
sano
n-d
ela
yty
pe.

Ot
her
sin
clu
deo
ff-d
ela
yan
dbo
thr
ete
nti
vea
ndn
on-r
ete
nti
vet
ype
s.I
ncr
eme
ntsv
aryf
rom1
mst
hro
ugh1
s.

Ou
tpu
tRe
lay
s

T
hes
ear
eco
nne
cte
dtot
heo
uts
idewo
rld
.Th
eyp
hys
ica
ll
yex
is
tan
dse
ndo
n/o
ffs
ign
alst
oso
len
oid
s,l
i
ght
s,

e
tc.

T
heyc
anb
etr
ans
is
tor
s,r
ela
ys,o
rtr
iac
sde
pen
din
gup
ont
hemo
delc
hos
en.

Da
taSt
ora
ge

T
ypi
cal
l
yth
erea
rer
egi
st
ersa
ssi
gne
dtos
imp
lys
tor
eda
ta.Us
ual
l
yus
eda
ste
mpo
rar
yst
ora
gef
orma
tho
rda
ta

ma
nip
ula
ti
on.

T
heyc
ana
lsot
ypi
cal
l
ybeu
sedt
ost
ored
atawh
enp
owe
risr
emo
vedf
romt
he

PL
C.

T
heSi
mat
icS5PL
Cisa
nau
toma
tio
nsy
ste
mba
sedo
nPL
C.I
twa
sma
nuf
act
ure
dan
dso
ldb
ySi
eme
ns.Su
ch

a
uto
mat
ions
yst
emsc
ont
rolp
roc
esse
qui
pme
nta
ndma
chi
ner
yus
edi
nma
nuf
act
uri
ng.

ST
EP5p
rog
rammi
ngl
ang
uag
eisu
sedf
orwr
it
ingu
serp
rog
ramsf
orSI
MAT
ICS5p
rog
ramma
blec
ont
rol
l
ers
.

T
hep
rog
ramc
anb
ewr
it
tena
nde
nte
redi
ntot
hep
rog
ramma
blec
ont
rol
l
era
sin
:
 39

 St
ate
men
tli
st(ST
L),F
ig.
12(a
)

 Co
ntr
ols
yst
emf
lowc
har
t(CSF
),F
ig.
12(b
)

 L
add
erd
iag
ram(L
AD),F
ig.
12(c
) (b
) Co
ntr
ols
yst
emf
low
I2.
3 A c
har
tCSF
N
St
ate
mentl
i
st D
STL
(
Ia
4)
.1
A I 2.3 O
A I 4.1 R
O I 3.2 I3.
2 Q1
.6
= Q 1
.6

(c
) Ladderdi
agr
amL
AD
A I 2.
3 St
ate
men
t
I2.
3 I4.
1

Op
era
tio
n A I 2.
3 Op
era
nd

I 2. Pa
rame
ter
3 I3.
2
Op
era
ndi
den
tif
ier

F
ig.
12Pr
ogr
amma
blec
ont
rol
l
er

T
hes
tat
eme
ntl
i
std
esc
ri
best
hea
uto
mat
iont
askb
yme
anso
fmn
emo
nicf
unc
ti
ond
esi
gna
tio
ns.

T
hec
ont
rols
yst
emf
lowc
har
tisag
rap
hicr
epr
ese
nta
tio
noft
hea
uto
mat
iont
ask
.

T
hel
add
erd
iag
ramu
sesr
ela
yla
dde
rlo
gics
ymb
olst
ore
pre
sen
tth
eau
toma
tio
nta
sk.

T
hes
tat
eme
nti
sth
esma
ll
estST
EP5p
rog
ramc
omp
one
nt.I
tco
nsi
st
soft
hef
oll
owi
ng:

Op
era
tio
n,i
.e.wh
ati
stob
edo
ne?

E
.g. A=ANDoper
ati
on(ser
iescon
nect
ion
)
O=ORop
era
tio
n(par
all
elconne
cti
on)
S=SE
Toper
ati
on(ac
tuat
ion
)

Op
era
nd,i
.e.wh
ati
stob
edo
newi
th?

E
.g. I4.
5,i
.e.wi
tht
hes
ign
alo
fin
put4.
5
 40

T
heo
per
andc
ons
is
tso
f:

 Op
era
ndi
den
tif
ier(I=i
npu
t,Q=o
utp
ut,F=f
la
g,e
tc.
)

 Pa
rame
ter
,i.
e.t
hen
umb
ero
fop
era
ndi
den
tif
ier
sad
dre
sse
dbyt
hes
tat
eme
nt.F
ori
npu
ts,o
utp
utsa
nd

f
la
gs(i
nte
rna
lre
laye
qui
val
ent
s),t
hep
ara
met
erc
ons
is
tso
fth
eby
tea
ndb
ita
ddr
ess
es,a
ndf
ort
ime
rs

a
ndc
oun
ter
,by
tea
ddr
esso
nly
.

T
hes
tat
eme
ntma
yin
clu
dea
bso
lut
eop
era
nds
,e.
g.I5.
1,o
rsy
mbo
li
cop
era
nd,e
.g.IL
S1.Pr
ogr
ammi
ngi
s

c
ons
ide
rab
lys
imp
li
fi
edi
nth
ela
terc
asea
sth
eac
tua
lpl
antd
esi
gna
tio
nisd
ire
ctl
yus
edt
ode
scr
ibet
hed
evi
ce

c
onn
ect
edt
oth
ein
puto
rou
tpu
t.

T
ypi
cal
l
y,as
tat
eme
ntt
ake
supo
newo
rd(t
wob
yte
s)i
nth
epr
ogr
amme
mor
y.

ST
RUCT
URE
DPROGRAMMI
NG

T
heu
serp
rog
ramc
anb
ema
demo
rema
nag
eab
lea
nds
tra
igh
tfo
rwa
rdi
fiti
sbr
oke
ndo
wni
ntor
ela
tiv
ese
cti
ons
.

Va
rio
uss
oft
war
ebl
ockt
ype
sar
eav
ail
abl
efo
rco
nst
ruc
ti
ngt
heu
serp
rog
ram.

Pr
ogr
amb
loc
ks(PB) c
ont
aint
heu
serp
rog
ramb
rok
end
own i
ntot
ech
nol
ogi
cal
l
yorf
unc
ti
ona
ll
yre
lat
ed

s
ect
ion
s(e
.g.p
rog
ramb
loc
kfo
rtr
ans
por
tat
ion
,mo
nit
ori
ng,e
tc.
).F
urt
herb
loc
ks,s
ucha
spr
ogr
amb
loc
ks

o
rfu
nct
ionb
loc
ksc
anb
eca
ll
edf
romaPB.

Or
gan
iza
tio
nbl
ock
s(OB) c
ont
ainb
loc
kca
ll
sde
ter
min
ingt
hes
equ
enc
einwh
icht
hePBsa
ret
obep
roc
ess
ed.

I
tist
her
efo
rep
oss
ibl
etoc
allPBsc
ond
iti
ona
ll
y(d
epe
ndi
ngo
nce
rta
inc
ond
iti
ons
).

I
nad
dit
ion
,sp
eci
alOBsc
anb
epr
ogr
amme
dbyt
heu
sert
ore
actt
oin
ter
rup
tio
nsd
uri
ngc
ycl
i
cpr
ogr
ammi
ng

p
roc
ess
ing
.Su
cha
nin
ter
rup
tca
nbet
ri
gge
redb
yamo
nit
ori
ngf
unc
ti
oni
fon
eors
eve
ralmo
nit
ore
dev
ent
s

o
ccu
r.

F
unc
ti
onb
loc
k(F
B) i
sbl
ockwi
thp
rog
ramsf
orr
ecu
rre
nta
ndu
sua
ll
yco
mpl
exf
unc
ti
on.I
nad
dit
iont
oth
e

b
asi
cop
era
tio
ns,t
heu
serh
asae
xte
nde
dop
era
tio
nath
isd
isp
osa
lfo
rde
vel
opi
ngf
unc
ti
onb
loc
ks.T
he

p
rog
rami
naf
unc
ti
onb
loc
kisu
sua
ll
yno
twr
it
tenwi
tha
bso
lut
eop
era
nds(e
.g.I1
.5) b
utwi
ths
ymb
oli
c

o
per
and
s.T
hise
nab
lesaf
unc
ti
onb
loc
ktob
eus
eds
eve
ralt
ime
sov
erwi
thd
iff
ere
nta
bso
lut
eop
era
nds
.
 41
F
ore
venmo
rec
omp
lexf
unc
ti
ons
,st
and
ardf
unc
ti
onb
loc
ksa
rea
vai
l
abl
efr
omap
rog
raml
i
bra
ry.Su
chF
Bsa
re

a
vai
l
abl
e,e
.g.f
ori
ndi
vi
dua
lco
ntr
ols
,se
que
ncec
ont
rol
s,me
ssa
ges
,ar
it
hme
tico
per
ati
ons
,twos
tepc
ont
rol

l
oop
s,o
per
ato
rco
mmu
nic
ati
ons
,li
st
ing
,et
c.T
hes
est
and
ardF
Bsf
orc
omp
lexf
unc
ti
onsc
anb
eli
nke
ditt
he

u
serp
rog
ramj
ustl
i
keu
serwr
it
tenF
Bss
imp
lyb
yme
anso
fac
alla
lon
gwi
tht
her
ele
van
tpa
rame
ter
s.

T
heSe
que
nceb
loc
k(SB) c
ont
aint
hes
tepe
nab
li
ngc
ond
iti
ons
, mo
nit
ori
ngt
ime
san
dco
ndi
ti
onsf
ort
he

c
urr
ents
tepi
nse
que
ncec
asc
ade
.Se
que
nceb
loc
ksa
ree
mpl
oye
d,f
ore
xamp
le,t
oor
gan
iset
hes
equ
enc
e

c
asc
adei
nco
mmu
nic
ati
onwi
thas
tan
dar
dFB.

T
hed
atab
loc
ks(DB) c
ont
aina
llf
ix
edo
rva
ria
bled
atao
fth
eus
erp
rog
ram.

CY
CLI
CPROGRAM PROCE
SSI
NG

T
heb
loc
kso
fth
eus
erp
rog
rama
ree
xec
ute
dint
hes
equ
enc
einwh
icht
heys
pec
if
iedi
nth
eor
gan
isa
tio
nbl
ock
.

I
NTE
RRUPTDRI
VENPROGRAM PROCE
SSI
NG

Wh
enc
ert
aini
npu
tsi
gna
lch
ang
eso
ccu
r,c
ycl
i
cpr
oce
ssi
ngi
sin
ter
rup
teda
tth
ene
xtb
loc
kbo
und
arya
nda
n

OBa
ssi
gne
dtot
hise
ven
tiss
tar
ted
.Th
eus
erc
anf
ormu
lat
ehi
sre
spo
nsep
rog
ramt
oth
isi
nte
rru
pti
nth
eOB.

T
hec
ycl
i
cpr
ogr
ame
xec
uti
oni
sth
ere
sume
dfr
omt
hep
oin
tatwh
ichi
twa
sin
ter
rup
ted
.

T
IMECONT
ROL
LEDPROGRAM E
XECUT
ION

Ce
rta
inOb
sar
eex
ecu
teda
tth
epr
ede
ter
min
edt
imei
nte
rva
ls(e
.g.e
ver
y100ms
,200ms
,500ms
,1s
,2s
,an
d

5s
).F
ort
hisp
urp
ose
,cy
cli
cpr
ogr
ame
xec
uti
oni
sin
ter
rup
teda
tth
ebl
ockb
oun
dar
yan
dre
sume
dag
aina
t

t
hisp
oin
t,o
ncet
her
el
eva
ntOB h
asb
eene
xec
ute
d.F
ig.
13g
ive
sth
eor
gan
isa
tio
nan
dex
ecu
tio
nofa

s
tru
ctu
redu
serp
rog
ram.
 42

St
ruc
tur
edp
rog
rammi
ng

PB1 F
B2
OB1

PB2 F
B3

Pr
ogr
amb
loc
k(PB) F
unc
ti
onb
loc
k(PB)
Or
gan
isa
tio
nbloc
k
(OB)
Cycl
eexec
uti
on
PB F
B
OB

PB F
B

I
nte
rru
pt-d
riv
ene
xec
uti
on

PB F
B
OB

Po
int
satwh
ichi
nte
rru
pt-d
riv
enp
rog
ramc
anb
ein
ser
ted

St
arta
ndf
ini
sho
fin
ter
rup
t-d
riv
enp
rog
rame
xec
uti
on

F
ig.
13Or
gan
isa
tio
nan
dex
ecu
tio
nofas
tru
ctu
redu
serp
rog
ram
 43

E
XAMPL
ESOFPL
CPROGRAM

Be
for
eat
temp
tin
gtowr
it
eaPL
Cpr
ogr
am,f
ir
stg
oth
rou
ght
hei
nst
ruc
ti
ons
eto
fth
epa
rti
cul
arl
ang
uag
eus
ed

f
ort
hee
qui
pme
nt,a
ndu
nde
rst
andt
heme
ani
ngo
fea
chi
nst
ruc
ti
on.T
hens
tud
yho
wtou
set
hes
ein
str
uct
ion
s

i
nth
epr
ogr
am(t
hro
ughi
l
lus
tra
tio
nex
amp
lesg
ive
nint
hema
nua
l).On
cet
hef
ami
l
iar
iz
ati
ont
aski
sov
er,t
hen

s
tar
twr
it
ingt
hep
rog
ram.

F
oll
owt
hef
oll
owi
ngs
tep
stowr
it
eaPL
Cpr
ogr
am.

 L
istd
owne
achi
ndi
vi
dua
lel
eme
nt(f
iel
dde
vic
e)o
nth
ema
chi
nea
sIn
put
/Ou
tpu
t.

 I
ndi
cat
eag
ain
ste
ache
leme
ntt
her
esp
ect
iv
ead
dre
ssa
sid
ent
if
ierd
uri
nge
lec
tri
cali
nte
rfa
cin
goft
hes
e

e
leme
ntswi
tht
hePL
C.

 Br
eakd
ownt
hec
omp
let
ema
chi
nea
uxi
l
iar
yfu
nct
ion
sth
ata
rec
ont
rol
l
edb
yth
ePL
Cin
toi
ndi
vi
dua
l,s
elf

c
ont
ain
edf
unc
ti
ons
.

 I
den
tif
yea
chi
ndi
vi
dua
lfu
nct
iona
sse
par
ateb
loc
k(PBx
x/F
Bxx
)

 On
cet
hePBsa
ndF
Bsf
ore
achf
unc
ti
ona
rei
den
tif
ied
,ta
ket
hemo
neb
yon
efo
rwr
it
ingt
hep
rog
ram.

 L
istd
ownt
hep
rec
ond
iti
onsr
equ
ire
dfo
rth
epa
rti
cul
arf
unc
ti
ons
epa
rat
el
y.

 No
ted
ownt
hea
ddr
esso
fth
eli
st
ede
leme
nts
.

 Wr
it
edo
wnt
hef
lowc
har
tfo
rth
efu
nct
ion
.

 T
ran
sla
tet
hef
lowc
har
tin
toPL
Cpr
ogr
amu
sin
gth
ein
str
uct
ion
sal
rea
dyf
ami
l
iar
iz
ed.

 Co
mpl
et
eth
epr
ogr
amt
ran
sla
tio
nofa
lli
ndi
vi
dua
lfu
nct
ion
sins
imi
l
arl
i
nes
.

 Ch
eckt
hei
ndi
vi
dua
lbl
ock
sin
dep
end
ent
lya
ndc
orr
ectt
hep
rog
ramt
oge
tth
ere
qui
redr
esu
lt
s.

 Or
gan
izea
llt
hep
rog
ramb
loc
ksi
nth
eor
gan
iza
ti
onb
loc
kde
pen
din
gup
ont
hes
equ
enc
einwh
icht
heya
re

s
upp
ose
dtob
eex
ecu
teda
spe
rth
ema
inma
chi
nef
unc
ti
onf
lowc
har
t.

 Ch
eckt
hec
omp
let
epr
ogr
amwi
tha
llt
heb
loc
ksi
nco
rpo
rat
edi
nth
efi
nalp
rog
ram.
 44

Ex
amp
le1
:Sp
ind
leON
Pr
eco
ndi
ti
ons F
eed
bac
kel
eme
nts Ad
dre
ssF
aul
tin
dic
ati
on Ad
dre
ssRe
mar
k

Toolcl
amp Pr
essureswit
ch I2.
4 L
amp Q2.1
Jo
bc l
amp Pr
oximi
tys wi
tc
h I3.
2 L
amp Q1.
7
Doorcl
ose Li
mitswit
ch I5.
7 L
amp Q4.0
Lub
ric
ati
onONPL
Cou
tputb i
t Q1.
0 L
amp Q7.
7
Dri
veread
y I
nputsignalf
rom I4.
6 L
amp Q0.
4
Dr
iveu ni
t

PB 1
2wr
it
teni
sth
ein
div
idu
alf
unc
ti
onmo
dul
efo
rsp
ind
leON f
ora
llt
hep
rec
ond
iti
onsc
hec
keda
ndf
oun
d

s
ati
sf
act
ory
.Th
isf
unc
ti
oni
sre
qui
redt
obee
xec
ute
don
lywh
ent
hes
pin
dler
ota
tio
nisr
equ
est
edb
yth
eNCi
n

t
hef
ormo
fab
loc
kint
hep
artp
rog
ram.

Wh
ene
verNCd
eco
dest
hep
artp
rog
ramb
loc
k,i
tint
urni
nfo
rmst
hePL
Cth
rou
ghaf
ix
edb
uff
erl
oca
tio
n

t
hats
pin
dler
ota
tio
nisr
equ
est
ed.Sa
yFl
agb
itF1
00.
0isi
den
tif
iedf
ort
hisi
nfo
rma
tio
nco
mmu
nic
ati
on.Wi
th

t
hisd
ata
,sp
ind
leONf
unc
ti
onmo
dul
eca
nber
eca
ll
edi
nth
eor
gan
isa
tio
nbl
ockOB1a
sfo
ll
ows
.

OB1

……

A F1
00.
0

J
C PB1
2

……
BE

Now,spin
dleON f
unc
ti
onmo
dul
ePB1
2wi
l
lbee
xec
ute
don
lywh
enF1
00.
0iss
et.Ot
her
wis
eth
efu
nct
ion
ex
ecut
ionwil
lbeb
ypas
sed
.
 45

F
LOW CHART
PB1
2
ST
ART
Co
mme
nts
NO
I
NDICATE T
OOLCL
AMP AN I 2.4 T
oolnotc
lamp
ed
FAULT = Q 2.1 Dis
pla
yfaul
t
l
amp
Y
ES

NO AN I 3.
2 J
obnotcl
amped
I
NDICATE J
OBCL
AMP = Q 1.7 Dis
pla
yfaul
t
FAULT l
amp

Y
ES

NO AN I 5.7 Doo
rnotcl
ose
d
I
NDICATE DOORCL
OSE
D = Q 4.0 Di
spl
ayf
aul
t
FAULT l
amp

Y
ES

NO AN Q 1.
0 L
ubr
ic
ati
onnoton
I
NDICATE L
UBRI
CAT
IONON = Q 7.
7 Displ
ayfa
ultl
amp
FAULT

Y
ES

NO
I
NDICATE DRI
VERE
ADY AN I 4.6 Dr
ivenotr
eady
FAULT = Q 0.4 Di
spl
ayfa
ult
l
amp
Y
ES

Y
ES
E
xit STOP ANYF
AUL
T ON I 2. 4 To o
ln o
tc l
amped
SPI
NDLE ON I 3. 2 Jobn otcl
amped
ON I 5. 7 Do ornotclos
ed
NO ON Q 1 .0 L
ubr i
cat
ionnoto n
ON I 4. 6 Drivenotready
R Q 67.3 Re setspi
ndleenabl
e
bi
t
BEC Blockend
DOSPI
NDL
EON
co
ndi
ti
ona
ll
y
A I 2. 4 Toolcl
amped
A I 3. 2 Jobcl
amped
A I 5. 7 Doorclo
sed
 46

E
ND