10/1/2011

NC,CNC&Robotics

WhatisNC/CNC?
NC is an acronym for Numerical Control and CNC is an acronym for Computer Numerical Control.

BySKMondal

WhatisthedifferencebetweenNCandCNC?
The difference between NC and CNC is one of age and capability. The earliest NC machines performed limited functions and movements controlled by punched tape or punch cards. cards As the technology evolved, the machines were equiped with increasingly powerful microprocessors (computers) with the addition of these computers, NC machines become CNC machines. CNC machines have far more capability than their predecessor. contd..

WhatisthedifferencebetweenNCandCNC?
Some of the enhancements that came along with CNC include: Canned Cycles, Sub Programming, Cutter Compensation, Work coordinates, Coordinate system rotation, automatic corner rounding, chamfering, and B spline interpolation.

WheredidCNCgetstarted?
1940 Jhon Parson developed first machine able to drill holes at specific coordinates programmed on punch cards. 1951 MIT developed servomechanism 1952 MIT developed first NC machines for milling. 1970 First CNC machines came into picture Nowadays modified 1970s machines are used.

IsitnecessarytohaveaCAD/CAM systemtoprogramaCNCmachine?
No, yes, may be. It all depends on the kind of work you are doing, your customers requirements and your staffs capability. CAM system give the programmer a tool for creating set up sheets and process drawings.

10/1/2011

DoallmachinesspeakthesameCNC language
No, while there is fairly standard set of G and M codes, there is some variation in their application. For example a G0 or G00 command is universally regarded as the command for rapid travel. Some older machines do not have a G00 command. On these machines, rapid travel is commanded by using the F (feed) word address.

WhatisaConversationalControl
CNC machine tool builders offer an option what is known as the conversational control. This control lets the operator/programmer use simple descriptive

language to program the part. The control then displayed a graphical representation of the instructions so the operator/programmer can verify the tool path.

AreCNCmachinesfasterthan conventionalmachines?
Yes, No, Sometimes. When it comes to making a single, simple part it is hard to beat a conventional mill or lathe. lathe CNC machines move faster in rapid travel than conventional machines.

AreCNCmachinesmoreaccurate thanconventionalmachines?
Yes, they can be. But like anything else it depends on who i running th machine, h h is i the hi how well th machines h ll the hi has been maintained, quality of setup and so on.

NC/CNCMachinesAdvantages
High Repeatability and Precision e.g. Aircraft parts Volume of production is very high Complex contours/surfaces need to be machined. E.g. Turbines Flexibility in job change, automatic tool settings, less scrap More safe, higher productivity, better quality Less paper work, faster prototype production, reduction in lead times

NC/CNCMachinesDisadvantages
Costlysetup,skilledoperators Computers,programmingknowledgerequired Maintenanceisdifficult

10/1/2011

NC/CNC/DNC
Direct Numerical Control is a system that uses a central computer to control several machines at the same time Distributed Numerical Control (DNC): the central computer downloads complete programs to the CNC t d l d l t t th machines, which can be workstations or PCs, and can get the information for the machine operations. The speed of the system is increased, large files can be handled and the number of machine tools used is expanded.
13

Directnumericalcontrol

14

DNC

BasicLengthUnit(BLU)
In NC machine, the displacement length per one pulse output from machine is defined as a Basic Length Unit (BLU). In the CNC computer each bit (binary digit) represents 1 BLU. BLU Bit = BLU Example: If one pulse makes a servo motor rotate by one degree and the servo motor moves the table by 0.0001 mm, one BLU will be 0.0001 mm. The lead of a ball screw is related to the displacement unit of the machine tool table.
15

StepperMotor
The stepper motor is special type of synchronous motor which is designed to rotate through a specific angle (Called step) for each electrical pulse received from the control unit.

10/1/2011

ControlSystemspossibleinCNCMachine
Point to point mode:

Pointtopointstraightlinemode

Coordinatesystem
All the machine tool use Cartesian Coordinate system. The first axis to be identified is the Z axis, This is followed by X and Y axes respectively.

Righthandcoordinatesystems

10/1/2011

5axesCNCverticalaxismachiningcentreconfiguration

Absolute and Incremental Coordinate System

Thefollowingarethestepstobefollowed whiledevelopingtheCNCpartprograms.
Processplanning Axesselection Toolselection Cuttingprocessparametersplanning Jobandtoolsetupplanning Machiningpathplanning Partprogramwriting Partprogramproving

Absolute Coordinate System

Incremental Coordinate System

10/1/2011

BasicCNCPrinciples

For a CNC machine control unit (MCU) decides cutting speed, feed, depth of cut, tool selection , coolant on off and tool paths. The MCU issues commands in form of numeric data to motors that position slides and tool accordingly.

PartProgramming
FANUCCONTROLL SIEMENSCONTROLL

CNCprogramming
Importantthingstoknow:

CoordinateSystem Units,incrementalorabsolutepositioning Coordinates:X,Y,Z,RX,RY,RZ Feedrateandspindlespeed CoolantControl:On/Off,Flood,Mist ToolControl:Toolandtoolparameters

ProgrammingKeyLetters
O Programnumber(Usedforprogramidentification) N Sequencenumber(Usedforlineidentification) G Preparatoryfunction X Xaxisdesignation Y Yaxisdesignation g Z Zaxisdesignation R Radiusdesignation F Feedratedesignation S Spindlespeeddesignation H Toollengthoffsetdesignation D Toolradiusoffsetdesignation T ToolDesignation M Miscellaneousfunction

ExplanationofcommonlyusedGcodes
G00 Preparatory code to control final position
of the tool and not concerned with the path that is followed in arriving at the final destination. G01 Tool is required to move in a straight line connecting current position and final position. Used for tool movement without any machining point to point control. (linear interpolation) G02 Tool path followed is along an arc specified by I, J and K codes.( circular interpolation)

10/1/2011

CNCProgrammingBasics
Each letter address relates to a specific machine function. G and M letter addresses are two of the most common. A G letter specifies certain machine preparations such as inch or metric modes, or absolutes versus incremental modes. A M letter specifies miscellaneous machine functions and work like on/off switches for coolant flow, tool changing, or spindle rotation. Other letter addresses are used to direct a wide variety of other machine commands.

TableofImportantGcodes
G00RapidTransverse G01LinearInterpolation G02CircularInterpolation,CW G03CircularInterpolation,CCW G17XYPlane,G18XZPlane,G19YZPlane G XYPl G XZPl G YZPl G20/G70Inchunits G21/G71MetricUnits G40Cuttercompensationcancel G41Cuttercompensationleft G42Cuttercompensationright

TableofImportantGcodes
G43Toollengthcompensation(plus) G44Toollengthcompensation(minus) G49Toollengthcompensationcancel G80Cancelcannedcycles G81Drillingcycle G82Counterboringcycle G83Deepholedrillingcycle G90Absolutepositioning G91Incrementalpositioning

Rapidtraverse:G00
G00:
tomakethemachinemoveatmaximumspeed. Itisusedforpositioningmotion. G90G00X20.0Y10.0 G90G00X20 0Y10 0
G90: absolute coordinate s
Start End

(20,10) (10,10)

(0,0)

Linearinterpolation:G01
G01:
linearinterpolationatfeedspeed. G91G0lX200.0Y100.0F200.0
G91: incremental coordinates Y 100.0 End

Circularinterpolation:G02,G03
G02,G03: Forcircularinterpolation,thetooldestinationandthecircle centerareprogrammedinoneblock G02isclockwiseinterpolation,G03iscounterclockwise interpolation
G 02 R G17 X __ Y __ G 03 I __ G 02 R G18 X __ Z __ G 03 I __ G 02 R G19 Y __ Z __ G 03 J __ F __; J __ F __; K __ F __; K __

Start

200.0

End point

Circlecenter,radius

10/1/2011

Circularinterpolation:G02,G03
Y X R=-50mm End

Circularinterpolation:G02,G03
Y End

SpecifyCenterwithI,J,K
I,J,Karetheincremental distancefromthestartof thearc; Start Viewingthestartofarcas theorigin,I,J,Khave positiveornegativesigns.

SpecifyRwith signbeforeit:
180 +R >180 R

Start

R=50mm

Center i G91G02X60.0Y20.0R50.0 F300.0 G91G02X60.0Y20.0R50.0 F300.0

Circularinterpolation:G02,G03
N0010G92X200.0Y40.0Z0; N0020G90G03X140.0Y100.0I60.0F300 N0030G02X120.0Y60.0I 50.0
Or G92: Todefineworking coordinate

Circularinterpolation:G02,G03
AnnotationforCircularInterpolation
I0.0,J0.0,andK0.0canbeomitted. IfX,Y,Zareallomittedintheprogram,thatmeans startandendofarcaresamepoints. startandendofarcaresamepoints
N0020G02I20.0(afullcircle)

N0010G92X200.0Y40.0Z0 N0010G92X200 0Y40 0Z0 N0020G90G03X140.0Y100.0R60.0F300 N0030G02X120.0Y60.0R50.0

G90: absolute coordinates
Y 100 60 40 O

IfI,J,K,andRallappearsincircularinterpolation instruction,RisvalidandI,J,andKareinvalid
R50 R60 X

90 120 140

200

ToolCompensation
ToolRadiusCompensation
LefthandG41 RighthandG42 CanceltoolradiuscompensationG40 C l l di i G

ToolRadiusCompensation
Toolradiuscompensationsmakeitpossibleto programdirectlyfromthedrawing,andthuseliminate thetooloffsetcalculation
G41(G42)H
H:theradiusoftooltocompensateissavedinamemoryunitthat H th di ft lt t i di itth t isnamedH G41/G42isdirectlyrelatedwithdirectionoftoolmovementand whichsideofpartiscut.

ToolHeightCompensation
PositiveG43 NegativeG44 CanceltoolheightcompensationG49

10/1/2011

CancelToolCompensation:G40
Notethedifferencebetweentwoways
N0060G40G01 X2.000Y1.700M02 N0060G01 X2.000Y1.700 7 4 N0070G40 M02

ToolHeightCompensation
G43(G44)H
H:specifiedmemoryunitusedtosaveheight compensationoftool. Positivecompensation(G43):
realposition=specifiedposition+valuesavedinH

Negativecompensation(G44):
realposition=specifiedposition valuesavedinH
rampoffblock effectivetotheendpoint

ToolHeightCompensation
Example:
N0010G91G00X12.0Y80.0 N0020G44Z32.0H02 Ifweput0.5mmintoH02, realposition=32.0 0.5=32.5
G91: incremental coordinates

TableofImportantMcodes
M00Programstop M01Optionalprogramstop M02Programend M03Spindleonclockwise M04Spindleoncounterclockwise M05Spindlestop M06Toolchange M08Coolanton M09Coolantoff M10Clampson M11Clampsoff M30Programstop,resettostart

Canceltoolheightcompensation:G49

Rulesforprogramming
Block Format N135 G01 X1.0 Y1.0 Z0.125 F5 Sample Block Restrictions on CNC blocks Each may contain only one tool move Each may contain any number of non-tool move G-codes Each may contain only one feed rate Each may contain only one specified tool or spindle speed The block numbers should be sequential Both the program start flag and the program number must be independent of all other commands (on separate lines) The data within a block should follow the sequence shown in the above sample block

ExampleofCNC Programming
WhatMustBeDoneToDrillAHoleOnACNC VerticalMillingMachine g

10/1/2011

ToolHome

Top View

Top View

2.)ZAxisRapidMove JustAboveHole 3.)TurnOnCoolant 4.)TurnOnSpindle ) O i dl

1.)X&YRapidToHolePosition

Front View

Front View

.100

Top View
5 5.)ZAxisFeedMoveto DrillHole

Top View

6.)RapidZAxisMove OutOfHole

Front View

Front View

HeresTheCNCProgram!

ToolAtHome

Top View

7.)TurnOffSpindle 8.)TurnOffCoolant 9.)X&YAxisRapid MoveHome

Top View

Front View

Front View

O0001 N005G54G90S600M03 N010G00X1.0Y1.0 N015G43H01Z.1M08 N020G01Z.75F3.5 N025G00Z.1M09 N030G91G28X0Y0Z0 N035M30

10

10/1/2011

ToolAtHome

ToolAtHome

Top View

O0001
O0001 NumberAssignedtothisprogram

Top View

O0001 N005G54G90S600M03
N005 G54 G90 S600 M03 SequenceNumber FixtureOffset AbsoluteProgrammingMode SpindleSpeedsetto600RPM SpindleoninaClockwiseDirection

Front View

Front View

Top View

O0001 N005G54G90S600M03 N010G00X1.0Y1.0

G00 G X1.0 Y1.0 RapidMotion R idM i XCoordinate1.0in.fromZero YCoordinate1.0in.fromZero

Top View

O0001 N005G54G90S600M03 N010G00X1.0Y1.0 N015G43H01Z.1M08

G43 H01 Z.1 M08 ToolLengthCompensation SpecifiesToollengthcompensation ZCoordinate.1in.fromZero FloodCoolantOn

Front View

Front View

Top View

O0001 N005G54G90S600M03 N010G00X1.0Y1.0 N015G43H01Z.1M08 N020G01Z.75F200

G01 Z.75 F200 StraightLineCuttingMotion ZCoordinate.75in.fromZero FeedRatesetto200mm/min.

Top View

O0001 N005G54G90S600M03 N010G00X1.0Y1.0 N015G43H01Z.1M08 N020G01Z.75F3.5 N025G00Z.1M09

G00 Z.1 M09 RapidMotion ZCoordinate.1in.fromZero CoolantOff

Front View

Front View

11

10/1/2011

Top View

O0001 N005G54G90S600M03 N010G00X1.0Y1.0 N015G43H01Z.1M08 N020G01Z.75F3.5 75 3 5 N025G00Z.1M09 N030G91G28X0Y0Z0

G91 IncrementalProgrammingMode G28 ZeroReturnCommand X0,Y0,Z0 X,Y,&ZCoordinatesatZero

Top View

Front View

Front View

O0001 N005G54G90S600M03 N010G00X1.0Y1.0 N015G43H01Z.1M08 N020G01Z .75F3.5 N020G01Z.75F3.5 N025G00Z.1M09 N030G91G28X0Y0Z0 N035M30
M30 EndofProgram

APTLanguage
APT (Automatically Programmed Tools) TheAPTlanguageconsistsofmanydifferenttypesof statementsmadeupofthefollowingvalidletters,numerals andpunctuationmarks. Letters: ABCDEFGHIJKLMNOPQRSTWWXYZ Numerals: 0123456789 / Aslashdividesastatementintotwosections.eg., GO/PAST, , Acommaisusedasaseparatorbetweentheelementsin astatementgenerallytotherightoftheslash. = Anequalsisusedforassigninganentitytoasymbolic name,e.g.,CI=CIRCLE/25,50,30.

Words
The words to be used in the statements are built up from one to six letters or numerals with the first one being a letter. No special character is allowed in the words.

ThecompleteAPTpartprogramconsistsof thefollowingfourtypesofstatements
Geometry Motion Postprocessor Compilationcontrol

12

10/1/2011

APTLanguage
Additionalstatements:
MACHIN/DRILL, 2 COOLNT/ p Forexample: COOLNT/MIST COOLNT/FLOOD COOLNT/OF FEDRAT/ SPINDL/ Forexample: SPINDL/ON SPINDL/1250, CCLW TOOLNO/ TURRET/ END

APTLanguage

OthercapabilitiesofAPT,themacrofacility,withusevariableargumentasina FORTRANsubroutine,forexample:

P0 = POINT/0.0, 0.3, 0.1 FROM/P0 CALL/DRILL, X=1.0, Y=1.0, Z=0.1, DEPTH=0.7 CALL/DRILL, X=2.0, Y=1.0, Z=0.1, DEPTH=0.7 GOTO/P0
whenthedefinitionofthemacroDRILLis:

DRILL = MACRO/X, Y, Z, DEPTH GOTO/X,Y,Z GODLTA/0,0, -DEPTH GODLTA/0,0, DEPTH TARMAC

73

74

OtherPartProgramming Languages

Point (POINT)
PTA = POINT/ 3,4,5
y (3, 4, 5) PTA z

ADAPT (ADaptationAPT)wasthefirstattempttoadaptAPT programmingsystemforsmallercomputers AUTOSPOT (AUTOmaticSytemforPOsitioningTools)was developedbyIBMandfirstintroducedin1962 EXAPT (EXtendedsubsetofAPT)wasdevelopedjointlyin Germaninabout1964byseveraluniversitiestoadaptAPTfor Europeanuse.ItiscompatiblewithAPTandthuscanusethe E I i ibl i hAPT d h h sameprocessorasAPT COMPACT wasdevelopedbyManufacturingDataSystems,Inc. (MDSI) SPLIT (SundstrandProcessingLanguageInternallyTranslated) wasdevelopedbySundstrandCorporation,intendedforitsown machinetools MAPT (MicroAPT)isasubsetofAPT,toberunonthe microcomputers

75

Point (POINT)
PTB = POINT/ INTOF, LIN1, LIN2

Point (POINT)
PTD = POINT/ YSMALL, INTOF, LIN3, C1 PTD = POINT/ XSMALL, INTOF, LIN3, C1 PTC = POINT/ YLARGE, INTOF, LIN3, C1 PTC = POINT/ XLARGE, INTOF, LIN3, C1 y

PTC

LIN2

LIN3 PTB LIN1 PTD C1

13

10/1/2011

Point (POINT)
PTE = POINT/ YLARGE, INTOF, C1, C2 PTE = POINT/ XLARGE, INTOF, C1, C2 PTF = POINT/ YSMALL, INTOF, C1, C2 PTF = POINT/ XSMALL, INTOF, C1, C2

Point (POINT)
PT7 = POINT/ CENTER, C6
y
y PTE C6

C1

PT7

PTF

C2

Line (LINE)
LIN1 = LINE/ P1, P2
y

Line (LINE)
LIN4 = LINE/ PT6, 15, -30, 3
y PT6 P2

P1 L4 LIN1 x x (15,30,3)

Line (LINE)
L12 = LINE/ PT4, ATANGL, 20, XAXIS L14 = LINE/ PT1, ATANGL, 40 L15 = LINE/ 32, -3, 2, ATANGL, -15, XAXIS L16 = LINE/ PT3, ATANGL, 40, YAXIS
y PT3 40 L16 PT1 PT4 L14 L L12

Line (LINE)
LIN = LINE/ POINT, ATANGL, ANGLE (in degrees), LINE
y LINE2

P1

30

LINE1

LINE2=LINE/P1,ATANGL,30,LINE1
40 L15 20 15 (32,3,2) x
x

14

10/1/2011

Line (LINE)
LIN = LINE/ SLOPE, SLOPE VALUE, INTERC, MODIFIER, d where the slope value is y/x. The modifier options are [XAXIS, YAXIS], and d is the corresponding intercept value on the selected axis (i.e., modifier).
y

Line (LINE)
LIN = LINE/ ATANGL, DEGREES, INTERC, MODIFIER, d The modifier options are [XAXIS, YAXIS], and d is the corresponding intercept value on the selected axis (i.e., modifier).

LINE1

LINE1

LINE1=LINE/SLOPE,1,INTERC,xaxis,6
=30 x

LINE1=LINE/ATANGL,30,INTERC,d
x

(6,0)PointofXIntercept

Line (LINE)
The LEFT & RIGHT modifier indicates whether the line is at the left or right tangent point, depending on how one looks at the circle from the point. L1 = LINE/ PT51, LEFT, TANTO, C11

Line (LINE)
L2 = LINE/ PT51, RIGHT, TANTO, C11 L3 = LINE/ PT40, RIGHT, TANTO, C11 L4 = LINE/ PT40, LEFT, TANTO, C11
L3 Right

L1 L1 C11 PT51 PT51 Right L2 Left Left L4

PT40

Line (LINE)
LN3 = LINE/ PNT6, PARLEL, LN15 LN4 = LINE/ PNT5, PERPTO, LN13
y PNT6 LN3 LN4 PNT5

Plane (PLANE)
LN5 = LINE/ INTOF, PLAN1, PLAN2
LN5

LN15

LN13

PLAN1 PLAN2

15

10/1/2011

Plane (PLANE)
PLAN10 = PLANE/ PT6, PT12, PT15

Plane (PLANE)
PLAN14 = PLANE/ PT4, PARLEL, PLAN10 PLAN14 = PLANE/ PARLEL, PLAN10, YSMALL, 3.0
PLAN10 PT15 PT15 PLAN10

PT6 y

PT12 3.0 y PT6 PT12 3.0

PT4 z PLAN14 z

PT4

PLAN14 x

Circle (CIRCLE)

Circle (CIRCLE)
C3 = CIRCLE/ CENTER, PT6, TANTO, LN4 C7 = CIRCLE/ CENTER, PT8, PT5
y C1 4.3 PT3 (3,6,5) LN4 PT5 y

C1 = CIRCLE/ 3, 6, 5, 4.3 C1 = CIRCLE/ CENTER, PT3, RADIUS, 4.3

y

PT6 C3

PT8 C7

The Machining Plan:

Contouring: Part surface: the surface on which the end of the tool is riding. Drive surface: the surface against which the edge of the tool rides. Check surface: a surface at which the current tool motion is to stop.

The Machining Plan

Drivesurface
y

Checksurface

cutter
x

Directionof cuttermotion

Partsurface

16

10/1/2011

The Machining Plan

The Machining Plan

Motion commands:

CS

CS

CS

GOLFT/ GORGT/ GOUP/

: Move left along the drive surface : Move right along the drive surface : Move up along the drive surface : Move forward from a tangent position

DS

DS

DS

GODOWN/ : Move down along the drive surface GOFWD/ GOBACK/ : Move backward from a tangent position

TO

ON

PAST

Machining Specifications
Postprocessor commands for a particular machine tool are: MACHIN/ : used to specify the machine tool and call the postprocessor for that tool: , MACHIN/ DRILL, 3 COOLNT/ : allows the coolant fluid to be turned on or off: COOLNT/ MIST COOLNT/ FLOOD COOLNT/ OFF

Machining Specifications
FEDRAT/ : specifies the feed rate for moving the tool along the part surface in inches per minute: FEDRAT/ 4.5 SPINDL/ : gives the spindle rotation speed in revolutions per minute: SPINDL/ 850 TURRET/ : can be used to call a specific tool from an automatic tool changer: TURRET/ 11

Machining Specifications
TOLERANCE SETTING: Nonlinear motion is accomplished in straight-line segments, and INTOL/ and OUTTOL/ statements dictate the number of straight-line segments to be generated. INTOL/ 0.0015 OUTTOL/ 0.001

Machining Specifications
PARTNO: identifies the part program and is inserted at the start of the program. CLPRINT: indicates that a cutter location printout is desired. CUTTER: specifies a cutter diameter for offset (rough versus finish p ( g cutting). If a milling cutter is 0.5 in. in diameter and we have CUTTER/ 0.6 then the tool will be offset from the finish cut by 0.05 in.

17

10/1/2011

Machining Specifications
FINI: specifies the end of the program.

APT Program
MACHIN/ MILL P0 = POINT/ 0, 0, 3 P1 = POINT/ 1, 0 L1 = LINE/ P1, SLOPE, 0 L2 = LINE/ P1, SLOPE, 90 L3 = LINE/ PARLEL, L1, YLARGE, 2 L4 = LINE/ (POINT/ 4, 2), SLOPE, 1, L3 L5 = LINE/ (POINT/ 6, 4), ATANGL, 270, L4 10, 0), PEPTO, L6 = LINE/ (POINT/ 10 0) PEPTO L3 P2 = POINT/ INTOF, L3, L4 P3 = POINT/ INTOF, L4, L5 P4 = POINT/ INTOF, L5, L3 PL = PLANE/ P1, P2, P3 CUTTER/ 60 TOLER/ 0.1 SPINDL/ 200 COOLNT/ ON FEDRAT/ 20 P0 L2 P1 L1 L3 L4 P2 P3 L5 P4 L3 L6

APT Program
MACHIN/ MILL P0 = POINT/ 0, 0, 3 P1 = POINT/ 1, 0 L1 = LINE/ P1, SLOPE, 0 L2 = LINE/ P1, SLOPE, 90 L3 = LINE/ PARLEL, L1, YLARGE, 2 L4 = LINE/ (POINT/ 4, 2), SLOPE, 1, L3 L5 = LINE/ (POINT/ 6, 4), ATANGL, 270, L4 L6 = LINE/ (POINT/ 10, 0), PEPTO, L3 10 0) PEPTO P2 = POINT/ INTOF, L3, L4 P3 = POINT/ INTOF, L4, L5 P4 = POINT/ INTOF, L5, L3 PL = PLANE/ P1, P2, P3 CUTTER/ 60 TOLER/ 0.1 SPINDL/ 200 COOLNT/ ON FEDRAT/ 20 P0 L6 L1 L5 L4 L3 L2

APT Program
FROM/ P0 GOTO/ L1, TO, PL, TO, L2 GOFWD/ P1, PAST, L3 GORGT/ L3, TO, P2 GOLFT/ P2, TO, P3 GORGT/ P3, TO, P4 GORGT/ P4, PAST, L6 GORGT / L6, PAST, L1 GORGT / L1, TO, P1 COOLNT/ OFF END FINI P0 L2 P1 L1 L3 L4 P2 P3 L5 P4 L3 L6

APTLanguage Example:

APTLanguage Answer:
FROM/SP GO/TO, L1, TO, PS, ON, L6 GORGT/L1, PAST, L2 GORGT/L2, TANTO, C1 GOFWD/C1, TANTO, L3 GOFWD/L3, PAST, L4 GOLFT/L4, PAST, L5 GOLFT/L5, PAST, L6 GOLFT/L6, PAST, L1 GOTO/SP
107 108

18

10/1/2011

APTLanguage Example1:

APTLanguage Answer:
P0 = POINT/0.0, 3.0, 0.1 P1 = POINT/1.0, 1.0, 0.1 P2 = POINT/2.0, 1.0, 0.1 FROM/P0 GOTO/P1 GODLTA/0, 0, -0.7 GODLTA/0, 0, 0.7 GOTO/P2 GODLTA/0, 0, -0.7 GODLTA/0, 0, 0.7 GOTO/P0
109 110

APTLanguage
OtherMotionstatements:
GO/{TO}, Drive surface, {TO} Part surface, {TO}, Check surface Or GO/{TO}, Drive surface, {TO} Part surface, {TANTO}, Check surface AndthesamewithPASTorONinsteadofTO GOLFT/ GORGT/ GOUP/ GODOWN/ GOFWD/ GOBACK/ Forexample: GO/TO, L1, TO, PS, TANTO, C1 GO/PAST, L1, TO, PS, TANTO, C1
111

APTLanguage Example2:

112

APTLanguage Answer:
FROM/SP GO/TO, L1, TO, PS, ON, L4 GORGT/L1, PAST, L2 GOLFT/L2, PAST, L3 GOLFT/L2 PAST GOLFT/L3, PAST, C1 GOLFT/C1, PAST, L3 GOLFT/L3, PAST, L4 GOLFT/L4, PAST, L1 GOTO/SP
113

19

10/1/2011

20

10/1/2011

21