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Integration
NC Codes
Sample NC Part and Program
Handshaking Codes
Sample Mill Handshaking
Flow of Robot program
Sample Robot Handshaking Program
TTL I/O Wire Connections
NC Codes
Block Number (N)
Preparatory Codes (G)
Miscellaneous Codes (M)
Primary X Motion (X)
Primary Y Motion (Y)
Primary Z Motion (Z)
Preparatory Codes
G90 - Absolute Coordinates
G91 - Relative Coordinates
G00 - Rapid Traverse (non-cutting move)
G01 - Straight Line Interpolation (cutting move
G02 - Circle Interpolation (clockwise)
G03 - Circle Interpolation (c-clockwise)
G04 - Dwell (wait) Pause between motions on all axis.
Time in seconds - G04F2 - pause for 2 sec.
G05 - Pause - waits for user intervention.
M Codes - Miscellaneous
M00 - Pause
M01 - Optional stop
M02 - End of Program
M03 - Spindle on
M05 - Spindle off
M06 - Tool Change
M08 / M09 - Accessory # 1 on / off
M10 / M11 - Accessory # 2 on / off
Sample NC Program Block
N00 G90 G01 X.5 Y.5 Z0 F1
FEED RATE (IN/MIN)
Z COORDINATE
Y COORDINATE
X COORDINATE
PREP CODE - SL INTERPOL
PREP CODE - ABSOLUTE
BLOCK SEQUENCE #
SAMPLE PART
ABSOLUTE COORD.
A 0.5 0.5
B 0.5 1.5
C 0.875 1
D 1.25 1.5
E 1.25 0.5
F 1.75 1.5
H 1.75 0.5
I 1.75 1
SAMPLE PROGRAM
N00 G90 ; ABSOLUTE COORDINTAES
N01 M06T1 ; LOAD TOOL 1
N02 M03 S3000 ; TURN SPINDLE ON TO 3000 RPM
N03 G00 Z .1; RAPID TO .1 ABOVE PART
N04 G00 X.5Y.5 ; RAPID TO POINT A
N05 G01 Z-.0625F9 ; PLUNGE 1/16 AT 9 IN/MIN.
N06 G01 X.5Y1.5; STRAIGHT LINE INTERP TO B
N07 G01 X.875Y1; STRAIGNT LINE INTERP TO C
N08 G01 X1.25Y1.5; STRAIGHT LINE INTERP TO D
N09 G01 X1.25Y.5; STRAIGHT LINE INTERP TO E
N10 G01 Z.1; RETRACT CUTTING TOOL
Sample Program Continued
N11 G00 X1.75Y1.5; RAPID TO POINT F
N12 G01 Z-.0625F9; PLUNG AT 9 IN/MIN.
N13 G01 X1.75Y.5; STRAING LINE INTERP TO H
N14 G03 X1.75Y1.5I1.75J1; CCW CIRCLE INTERP.
N15 G01Z.1; RETRACT CUTTING TOOL
N16 M05; TURN OFF SPINDLE
N17 M06T00; UNLOAD CUTTING TOOL
N18 G00X4Y3Z3; MOVE TABLE TO UNLOADING POSITION
N19 M02; END OF PROGRAM
SIMULATE
Handshaking Codes
G25 - Wait until TTL output #1 (Robot) goes on
G26 - Waits until TTL output #1(Robot) goes off
G35 - Wait until TTL output #2 (Robot) goes on
G36 - Waits until TTL output #2(Robot) goes off
M25 - Sets Robot input #1 to off (Starts Robot)
M26 - Sets Robot input #1 to on
M35 - Sets Robot input #2 to off (Starts Robot)
M36 - Sets Robot input #2 to on
Handshaking With The Mill
4 Orange Input 1