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Cam Lab Manual

This document provides information about the Computer Aided Manufacturing (CAM) Laboratory Manual for the Department of Mechanical Engineering at JSS Academy of Technical Education in Bengaluru, India. The manual includes details such as the vision, mission, and program educational objectives of the department, as well as information about faculty and staff responsible for the CAM laboratory.

Uploaded by

Aswin M
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
155 views80 pages

Cam Lab Manual

This document provides information about the Computer Aided Manufacturing (CAM) Laboratory Manual for the Department of Mechanical Engineering at JSS Academy of Technical Education in Bengaluru, India. The manual includes details such as the vision, mission, and program educational objectives of the department, as well as information about faculty and staff responsible for the CAM laboratory.

Uploaded by

Aswin M
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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CAM La

b
Ma
nua
l
JSSACADEMYOFTECHNICALEDUCATI
ON
BENGALURU-560060
DEPARTMENTOFMECHANI
CALENGI
NEERI
NG

VI
ISemest
er

Comput
erAi
dedManuf
act
uri
ng

Labor
ator
yManual

18MEL76
I
n-char
geFacul
tyMemberoft
heLabor
ator
y:

Dr
./
Mr.
/Ms.

Techni
cal
Staf
f:

Mr
./
Ms. _

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 1
CAM La
b
Ma
nua
l

De
par
tme
ntofMe
cha
nic
alEngi
nee
ring,
JSSATE,
Banga
lor
e560060

Vi
si
on

Bea
mongs
tthet
opMe
cha
nic
alEngi
nee
ringDe
par
tme
nti
nther
egi
onbys
cul
pti
ngc
ompe
tent
e
ngi
nee
rst
hroughe
duc
ati
ona
ndr
ese
arc
h.

Mi
ssi
on
M1:Bui
lds
trongf
ounda
tioni
nMe
cha
nic
alEngi
nee
ringdoma
inc
ompl
eme
nte
dwi
th
i
nte
rdi
sci
pli
nar
yski
ll
s.
M2:De
vel
ops
tat
e-of
-t
he-
artf
aci
li
ti
eswi
the
mpha
sisoni
ndus
tryi
nte
rac
tion,c
ons
ult
anc
y,
r
ese
arc
h,a
ndi
nnova
tion.
M3: Ena
blet
o s
eek pr
ofe
ssi
ona
lempl
oyme
nt, pur
sue hi
ghe
rst
udi
esa
nd p
romo
te
e
ntr
epr
ene
urs
hip.

Pr
ogr
amEduc
ati
ona
lObj
ect
ive
s(PEO)
PEO1:Gr
adua
tess
hal
lha
ves
oundknowl
edgei
nMe
cha
nic
alEngi
nee
ringdoma
in.
PEO2:Gr
adua
tess
hal
lha
vene
ces
sar
yski
ll
sfora
ddr
ess
ingi
ndus
trya
nds
oci
eta
lne
eds
.
PEO3:Gr
adua
tess
hal
lshow pr
ofe
ssi
ona
lis
mine
ngi
nee
ringpr
act
ice
sforl
if
e-l
ongl
ear
ning
wi
thpos
it
ivea
tti
tude
.

Pr
ogr
amSpe
cif
icOut
come
s(PSOs
)

PSO1:Appl
ythea
cqui
redknowl
edgei
nde
sign,t
her
mal
,ma
nuf
act
uri
nga
ndi
nte
rdi
sci
pli
nar
y
a
rea
sfors
olvi
ngi
ndus
tryr
ela
tedpr
obl
ems
.
PSO2:Sol
vec
ompl
exMe
cha
nic
alEngi
nee
ringpr
obl
emsus
inga
ppr
opr
iat
esof
twa
ret
ool
s.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 2
CAM La
b
Ma
nua
l
Pr
ogr
amOut
come
s(PO)
Ourgr
adua
teswi
llbea
blet
o:

1.Eng
ine
eri
ng knowl
edge
:Ap
plyt
he knowl
edge ofma
the
mat
ics
,sc
ienc
e,e
ngi
nee
ring
f
und
ame
nta
ls,a
nda
nengi
nee
rings
pec
ial
iza
ti
ont
othes
olut
ionofc
ompl
exe
ngi
nee
ring
pr
obl
ems
.
2.Pr
obl
ema
nal
ysi
s:I
dent
if
y,f
ormul
ate
,re
sea
rchl
it
era
tur
e,a
nda
nal
yzec
ompl
exe
ngi
nee
ring
pr
obl
emsr
eac
hings
ubs
tant
iat
edc
onc
lus
ionsus
ingf
ir
stpr
inc
ipl
esofma
the
mat
ics
,na
tur
al
s
cie
nce
s,a
nde
ngi
nee
rings
cie
nce
s.
3.De
sign/
deve
lopme
ntofs
olut
ions
:De
signs
olut
ionsf
orc
ompl
exe
ngi
nee
ringpr
obl
emsa
nd
de
signs
yst
emc
ompone
ntsorpr
oce
sse
stha
tme
ett
hes
pec
ifi
edne
edswi
tha
ppr
opr
iat
e
c
ons
ide
rat
ionf
ort
hepubl
iche
alt
hands
afe
ty,a
ndt
hec
ult
ura
l,s
oci
et
al,a
nde
nvi
ronme
nta
l
c
ons
ide
rat
ions
.
4.Co
nduc
tinve
sti
gat
ionsofc
ompl
expr
obl
ems
:Us
ere
sea
rch-
bas
edknowl
edgea
ndr
ese
arc
h
me
thodsi
ncl
udi
ngde
signofe
xpe
rime
nts
,ana
lys
isa
ndi
nte
rpr
eta
tionofda
ta,a
nds
ynt
hes
isof
t
hei
nfor
mat
iont
opr
ovi
deva
lidc
onc
lus
ions
.
5.Mode
rnt
oolus
age
:Cr
eat
e,s
ele
ct,a
nda
ppl
yappr
opr
iat
ete
chni
que
s,r
esour
ces
,andmode
rn
e
ngi
nee
ringa
ndI
Ttool
sinc
lud
ingpr
edi
cti
ona
ndmode
lingt
ocompl
exe
ngi
nee
ringa
cti
vit
ies
wi
tha
nunde
rst
andi
ngoft
hel
imi
tat
ions
.
6.Thee
ngi
nee
rands
oci
ety:Appl
yre
asoni
ngi
nfor
medbyt
hec
ont
ext
ualknowl
edg
etoa
sse
ss
s
oci
et
al,he
alt
h,s
afe
ty,l
ega
landc
ult
ura
lis
sue
sandt
hec
ons
eque
ntr
espons
ibi
li
ti
esr
ele
vant
t
othepr
ofe
ssi
ona
lengi
nee
ringpr
act
ice
.
7.Env
ironme
nta
nds
ust
aina
bil
it
y:Unde
rst
andt
hei
mpa
ctoft
hepr
ofe
ssi
ona
len
gine
eri
ng
s
olu
tionsi
nsoc
iet
ala
nde
nvi
ronme
nta
lcont
ext
s,a
ndde
mons
tra
tet
heknowl
edgeof
,and
ne
edf
ors
ust
aina
blede
vel
opme
nt.
8.Et
hic
s:Appl
yet
hic
alpr
inc
ipl
esa
ndc
ommi
ttopr
ofe
ssi
ona
let
hic
sandr
espons
ibi
li
ti
esa
nd
nor
msoft
hee
ngi
nee
ringpr
act
ic
e.
9. I
ndi
vidua
landt
eamwor
k:Func
tione
ffe
cti
vel
yasa
nindi
vidua
l,a
nda
same
mbe
rorl
eade
r
i
ndi
ver
set
eams
,andi
nmul
ti
dis
cipl
ina
rys
ett
ings
.
10.Co
mmuni
cat
ion:Communi
cat
eef
fec
tive
ly on c
ompl
exe
ngi
nee
ring a
cti
vit
ieswi
tht
he
e
ngi
nee
ringc
ommuni
tya
ndwi
ths
oci
etya
tla
rge
,suc
has
,be
inga
blet
ocompr
ehe
nda
nd

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 3
CAM La
b
Manual
wr
it
eef
fec
tiver
epor
tsa
ndde
signdoc
ume
nta
tion,ma
kee
ffe
cti
vepr
esent
ati
ons
,and gi
ve
a
ndr
ece
ivec
lea
rins
truc
tions
.
11.Pr
oje
ctma
nage
menta
nd f
ina
nce
:De
mons
tra
te knowl
edge a
nd unde
rst
andi
ng oft
he
e
ngi
nee
ringa
ndma
nage
mentpr
inc
ipl
esa
nda
ppl
ythe
set
oone
’sownwor
k,a
same
mbe
r
a
ndl
eade
rinat
eam,t
oma
nagepr
oje
ctsa
ndi
nmul
ti
dis
cipl
ina
rye
nvi
ronme
nts
.
12.Li
fe-
longl
ear
ning:Re
cogni
zet
hene
edf
or,a
nd ha
ve t
he pr
epa
rat
ion a
nd a
bil
it
yto
e
nga
gei
ninde
pende
nta
ndl
if
e-l
ongl
ear
ningi
nthebr
oade
stc
ont
extoft
echnol
ogi
calc
hange
.

Cour
seOut
come
s
CO1.De
mons
tra
tet
heknowl
edgeofCNCpa
rtpr
ogr
ammi
ngwi
ths
uit
abl
epr
ere
qui
si
tess
ucha
s
k
nowl
edgeofc
utt
ingt
ool
s,ma
chi
net
ool
s,ma
ter
ial
s,e
tc.
,le
adi
ngt
otoolpa
thve
rif
ica
tion
u
singa
ppr
opr
iat
epa
rtpr
ogr
ammi
ngs
oft
war
etool
.
CO2.Us
eappr
opr
iat
eCAM s
oft
war
etoolf
ors
imul
ati
ng t
urni
ng, dr
il
li
ng a
nd mi
ll
ing
o
per
ati
onst
her
ebyge
ner
ati
ngt
heNCpr
ogr
am,c
ycl
eti
mes
hee
t,t
ooll
is
t,t
ooll
ayout
,
e
tc.
ande
sti
mat
ingt
hepowe
rre
qui
red.
CO3.I
ll
ust
rat
ethewor
kingofa
naut
oma
teds
tor
agea
ndr
etr
ieva
lsys
temi
nanFMS.
CO4.De
mons
tra
tet
heknowl
edg
eofr
obotpr
ogr
ammi
ng f
ors
impl
erobotope
rat
ions
,and
t
hewor
kingp
rinc
ipl
esofh
ydr
aul
icsa
ndpne
uma
tic
s.

COs
/POs
/ PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12 PSO1 PSO2
PSOs
CO1 3 2 … 2 3 … … … 2 … … 2 1 2
CO2 3 2 … 2 3 … … … 2 … … 2 1 2
CO3 2 2 … 2 2 … … … 1 … … 2 1 2
CO4 2 2 … 2 3 … … … 1 … … 2 1 2
Ave
rage 2.
5 2 … 2 2.
75 … … … 1.
5 … … 2 1 2

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 4
CAM La
b
Ma
nua
l
Compu
terI
nte
gra
tedMa
nuf
act
uri
ngLa
b

Subj
ectCode : 15MEL77 IAMar
ks : 20
No.ofPra
cti
calHrs.
/Wee
k : 03 Exa
mHours : 03
Tota
lNo.ofPract
ica
lHr
s. : 42 Exa
mMa r
ks : 80

PART-A

Ma
nua
lCNCPa
rtPr
ogr
ammi
ngf
or2t
urni
nga
nd2mi
ll
ingpa
rts
.Se
lec
tiona
nda
ssi
gnme
ntof
t
ool
s,c
orr
ect
ionofs
ynt
axa
ndl
ogi
cale
rror
s,a
ndve
rif
ica
tionoft
oolpa
th.
CNC Pa
rtPr
ogr
ammi
ng us
ing CAM pa
cka
ges
.Si
mul
ati
on ofTur
ning,Dr
il
li
ng,Mi
ll
ing
ope
rat
ions
.3t
ypi
cals
imul
ati
onst
obec
arr
iedoutus
ings
imul
ati
onpa
cka
gesl
ike
:CADEM,
CAM La
b-Pr
o,Ma
ste
rCAM,e
tc.
Pr
ogr
am ge
ner
ati
onus
ings
oft
war
e.Opt
imi
zes
pindl
epowe
r,t
orqueut
il
iza
tion,a
ndc
ycl
eti
me.
Ge
ner
ati
ona
ndpr
int
ingofs
hopdoc
ume
ntsl
ikepr
oce
ssa
ndc
ycl
eti
mes
hee
ts,t
ooll
is
t,a
ndt
ool
l
ayout
s.Cutt
hepa
rti
nsi
ngl
ebl
ocka
nda
utomodea
ndme
asur
ethevi
rt
ualpa
rtons
cre
en.
Pos
tpr
oce
ssi
ngofCNCpr
ogr
amsf
ors
tanda
rdCNCc
ont
rols
yst
emsl
ikeFANUC,SI
NUMERI
C
a
ndMI
STUBI
SHI
.
PART-B
(
Onl
yforDe
mo/Vi
vavoc
e)

FMS( Fl
exi
bleManufac
turi
ngSyst
em):Progra
mmi ngofAutomat
ics
tor
agea
ndRe t
ri
e valsys
tem
(ASRS)andli
nea
rshuttl
econveyo
r.Inte
rfa
cingCNCl at
he,mil
li
ngwit
hloa
dingunloadingarm
andASRStobecarri
edoutonsimplecomponent
s.

PART-C
(
Onl
yforDe
mo/Vi
vavoc
e)

Robotpr
ogramming:Usi
ngTea
chPe
nde
nt& Of
fl
inepr
ogr
ammi
ngt
ope
rfor
m pi
cka
ndpl
ace
,
st
acki
ngofobje
cts
,2progr
ams
.

Pneumati
csandHydr
aul
ics
,El
ect
ro-
Pne
uma
tic
s:3t
ypi
cale
xpe
rime
ntsonBa
sic
soft
hes
etopi
cs
tobeconduc
ted.

Sc
hemeofExa
mina
tions

Twoque
sti
onsf
romPa r
tA –60Mar
ks(30+30)
Vi
vaVoce –20Ma
rks
Tot
al –80Mar
ks

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 5
CAM La
b
Ma
nua
l
Dosa
ndDon’
ts

Do:

1.Le
avet
hef
oot
wea
rout
si
det
hel
abi
nthede
signa
tedpl
ace
.
2.Ent
erl
ogi
nde
tai
lsi
nther
egi
st
er.
3.Wor
konl
yont
hea
llot
teds
yst
emt
hroughoutt
hes
eme
ste
r.
4.Wa
itpa
tie
ntl
yatyourde
signa
tedpl
acef
ori
nst
ruc
tions
.
5.Br
ingt
heLa
bma
nua
l,Obs
erva
ti
onbooka
ndLa
bre
cor
dre
gul
arl
y.
6.Compl
etet
her
ecor
dbookwi
thpr
evi
ouse
xpe
rime
ntsupda
ted.
7.Ma
int
ai
nst
ri
ctdi
sci
pli
nei
nsi
det
hel
ab.
8.Ke
epyourl
abc
lea
nandf
reeofdi
sor
der
.

Don’
t:

1.Br
ingPe
ndr
ive
s/Mobi
le/CDsi
nsi
det
hel
ab.I
nca
set
heya
ref
ound,t
heywi
llbe
c
onf
isc
ate
d.
2.Cha
ngea
nys
ett
ingont
hec
omput
er.
3. Le
avet
hel
abwi
thoutt
hep
ermi
ssi
onoft
hes
taf
fconc
erne
d/i
nst
ruc
tor
.
4. St
artt
hec
omput
ers
yst
em/ma
chi
neunt
ilyoua
rea
ske
dtodos
o.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 6
CAM La
b
Ma
nua
l
PART-A

CNCPROGRAMMI
NG

Compu
terNume
ric
alCont
rolpr
ogr
ammi
ngi
sapr
oce
dur
eofpr
epa
ringade
tai
ledl
is
tof
i
nst
ruc
tionst
hatne
edt
obee
xec
ute
dbyt
hema
chi
nec
ont
roluni
t(MCU)t
oac
hie
vet
hef
ina
l
c
ompone
nts
hape
.CNCpr
ogr
ammi
ngc
anbedonebyt
wodi
ff
ere
ntwa
ys.

1.Ma
nua
lPa
rtpr
ogr
ammi
ng
2.Comput
erAs
sis
tedPa
rtPr
ogr
ammi
ng

MANUALPARTPROGRAMMI
NG:MPPi
nvol
veswr
it
ingpr
ogr
amswi
thas
etofa
lpha
bet
s,
numbe
rsa
nds
ymbol
s.Thec
ommonl
yus
edpa
rtpr
ogr
ammi
ngf
orma
tsa
re:
1.Fi
xeds
eque
nti
alf
orma
t
2.Ta
bse
que
nti
alf
orma
t
3.Wor
daddr
essf
orma
t
Wor
daddr
essf
orma
tist
hemos
tcommonl
yus
edone
.

NCBLOCK:NCbl
ocki
sac
oll
ect
ionofNCwor
ds.AnNCwor
disac
oll
ect
ionofa
ddr
ess
l
ett
ers&as
eque
ncenumbe
r.I
tgi
vesi
nfor
mat
iona
boutt
hemove
mentoft
het
ooli
nX,
Y&Zc
o
or
dina
tes
,thet
oolt
obeus
ed,s
pindl
espe
ed,f
eede
tc.
Age
ner
ali
zedNCbl
ocki
sgi
venbe
low:

N_G_X_Y_Z_R_F_S_T_M_
Ni
stheSe
que
ncenumbe
r.Ea
chbl
ockorl
ines
tar
tswi
thas
eque
ncenumbe
rwhi
ch
i
dent
if
iest
hebl
ock.I
tgi
vesa
nid
ent
if
yingnumbe
rfore
achbl
ockofi
nfor
mat
ion.I
tisge
ner
all
y
goodpr
act
ic
etoi
ncr
eme
nte
achbl
ocknumb
erby5or10t
oal
low a
ddi
ti
ona
lbl
ockst
obe
i
nse
rte
diff
utur
echa
nge
sar
ere
qui
red.
Gi
sthePr
epa
rat
oryf
unc
tionbywhi
cht
heMCUi
nst
ruc
tst
hema
chi
net
oola
stowha
tto
ne
xt.I
not
herwor
ds,va
riousma
chi
net
oolmove
ment
ssuc
hasl
ine
armove
ment
,ci
rcul
ar
move
ment
,ra
pidt
rave
rseoft
het
ool
,et
c.a
rec
ont
rol
ledbyG wor
ds.Pr
epa
rat
oryf
unc
tions
pr
epa
ret
hec
ont
rol
le
rtoc
arr
ythei
nst
ruc
tionst
hata
ret
ofol
lowa
fte
rtheGl
ett
er.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 7
CAM Lab
Ma
nual
X,Y&Za
reus
edt
ospe
cif
ythec
oor
dina
tesa
longX,Y&Za
xes
.Ri
sthear
cradi
ust
o
beus
edi
nci
rcul
ari
nte
rpol
ati
ons
.Fi
stheFe
edRa
tei
nmm/
minormm/
rev.S i
sthes
pindl
e
s
pee
dinRPM.Ti
sthet
oolf
unc
ti
onwhi
chs
pec
ifi
est
het
ypeoft
het
ool&i
tsof
fse
tnumbe
rin
a
utoma
ti
ctoolc
hange
r.
Mi
sthemi
sce
lla
neousf
unc
tionus
edt
ope
rfor
mauxi
li
aryf
unc
ti
onswhi
chdonotr
ela
te
t
othedi
mens
iona
lmove
ment
soft
hema
chi
net
oolort
hec
utt
ingt
ool
.The
sef
unc
tionsi
ncl
ude
t
oolc
hange
,spi
ndl
eON/
OFF,c
ool
antON/
OFF,pr
ogr
amSTART/
STOP,e
tc.

s
eeNCTURN
s
eeNC t
urni
sspe
cia
lpu
rpos
eCNC pa
rtpr
ogr
am ve
rif
ica
ti
ons
oft
war
eus
edf
ort
he
t
urni
ngc
ent
erpr
ogr
ams
.Tur
ningc
ent
erst
ypi
cal
lyus
eonl
yXa
ndZa
xisa
sshowni
nthef
ig
be
low.TheX-
axi
sde
not
est
hea
xispe
rpe
ndi
cul
art
othes
pindl
eandc
ont
rol
sthedi
ame
teroft
he
pa
rt.TheZ-
axi
sde
not
est
hemove
mentoft
het
oolpa
ral
lelt
othes
pindl
eaxi
sandc
ont
rol
sthe
l
engt
hoft
hepa
rt.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 8
CAM La
b
Ma
nua
l
Axe
sconve
nti
on:

Thema
ins
cre
enoft
heSe
eNCt
urnc
ons
ist
soft
hre
esc
ree
nsna
mel
y

1.Pr
ogr
ame
dit
ors
cre
en:Whe
rei
nthepr
ogr
ame
nte
rst
hepa
rtpr
ogr
ams
.
2.Synt
axe
rrorme
ssa
ges
cre
en:Whe
rei
nthee
rror
sint
hepa
rtpr
ogr
ama
redi
spl
aye
d.
3.Toolpa
ths
imul
ati
ons
cre
en:Whe
rei
nthes
pec
ifi
edpa
thoft
het
oolc
anbeobs
erve
d.
PROCEDURE

1.Doubl
ecl
ickont
heSe
eNCt
urni
con
2.St
artane
wfi
le
.Ent
ert
hepa
rtpr
ogr
ami
nthepr
ogr
ame
dit
ors
cre
en.
3.De
finet
hes
hapeoft
hebl
ank.
4.Se
lec
tthema
chi
ne
5.Che
ckt
hepr
ogr
amf
ora
nys
ynt
axe
rror
sandc
orr
ectt
hee
rror
s.
6.As
signi
ngat
oolf
ort
hedi
ff
ere
ntope
rat
ion.
7.Toolpa
ths
imul
ati
on

PREPARATORYCODES:( GCode s)
G-c
ode Funct
ion
G00 Rapidtrave
r sepositi
oni
ng
G01 Lineari
nterpolati
on( wi
thfeed)
G02 Circul
arint
e rpola
tionCW
G03 Circul
arint
e rpola
tionCCW
G04 Dwe ll
G20 Inchunit
G21 Me t
ricunit
G28 Automa t
icze roret
urn(homepositi
on)
G32/G33 Threadcutt
ing( si
nglemotion)
G40 Toolnosera diuscompensati
oncancel

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 9
CAM La
b
Ma
nua
l
G41 Toolnos eradiusc ompe nsa
tionl
eft
G42 Toolnos eradiusc ompe nsa
tionr
ight
G70 Fi
nishingc ycle
G71 St
ockr emova linturning
G72 St
ockr emova linfacing
G73 Pat
ternrepe at
i ng
G74 Peckdrill
ingonZa xis/Facegroovi
ng
G75 Groovingc ycle
G76 Multi
plet hreadingcyc le
G94/G98 Feedpe rmi nut e
G95/G99 Feedpe rrevolution

G00POSI
TIONI
NGI
NRAPI
D
N_G00X_Z_
TheG00c
omma
ndi
sar
api
dtoolmove
.Ar
api
dtoolmovei
sus
edt
omovet
het
ooll
ine
arl
yfr
om
pos
it
iont
opos
it
ionwi
thoutc
utt
inga
nyma
ter
ial
.Whe
nthet
oolbe
ingpos
it
ione
datapoi
nt
pr
epa
rat
oryt
oac
utt
ingmot
ion,t
osa
vet
imei
tismove
dal
ongas
tra
ightl
inea
tRa
pidt
rave
rse
,at
af
ixe
dtr
ave
rser
atewhi
chi
spr
e-pr
ogr
amme
dint
othema
chi
ne'
scont
rols
yst
em.Typi
calr
api
d
t
rave
rser
ate
sar
e10t
o25m/
min.
,butc
anbea
shi
gha
s80m/
min.

G01LI
NEARI
NTERPOLATI
ON
N_G0
1X_Z_F_

TheG0
1comma
ndi
sma
inl
yus
edf
ort
hel
ine
arr
emova
lofma
ter
ialf
rom awor
kpi
ece
.Any
c
ombi
nat
ionoft
heXorZa
xesc
anbeus
ed.Thema
chi
net
oolwi
llf
oll
owal
ine
art
raj
ect
ory
f
romt
hec
urr
entpos
it
iont
othet
arge
tpos
it
ion.Thet
oolmove
sal
ongas
tra
ightl
inei
noneort
wo
a
xiss
imul
tane
ous
lya
tapr
ogr
amme
dli
nea
rspe
e hef
d,t eedr
ate
.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 10
CAM La
b
Ma
nua
l

G02CI
RCULARI
NTERPOLATI
ON(
CLOCKWI
SE)
:
N_G02X_Z_R_F_(
Rspe
cif
iest
her
adi
us)

Ci
rcul
arI
nte
rpol
ati
oni
sde
fine
dbyt
heG02c
omma
nd.I
texe
cut
esa
llc
irc
ula
rorr
adi
alc
utsi
na
c
loc
kwi
semot
ion.TheG02c
omma
ndr
equi
resa
nendpoi
ntf
ort
hemove
,ther
adi
us,a
nda
f
eedr
ate
.

G03CI
RCULARI
NTERPOLATI
ON(
COUNTER-
CLOCKWI
SE)
N_G03X_Z_R_F_(
Rspe
cif
iest
her
adi
us)
TheG0
3comma
nde
xec
ute
sal
lra
dia
lcut
sinac
ount
erc
loc
kwi
semot
ion.I
tre
qui
resa
nendpoi
nt
f
ort
hemove
,the
nther
adi
us,
thedi
st
anc
efr
omt
hes
tar
tpoi
ntt
othec
ent
erpoi
nt,
andaf
eedr
ate
.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 11
CAM La
b
Ma
nua
l

G04DWELL
N_G04P_
TheG0
4comma
ndi
sanonmoda
ldwe
llc
omma
ndt
hatha
ltsa
lla
xismove
mentf
oras
pec
ifi
ed
t
imewh
ilet
hes
pindl
econt
inue
sre
vol
vinga
tthes
pec
ifi
edr
pm.Adwe
lli
ssome
time
sus
edt
o
a
llowf
ort
hec
lea
ranc
eofc
hips
.

G20I
NCHUNI
TS
N_G20
TheG20c
omma
ndde
faul
tst
hes
yst
emt
oinc
huni
ts
.Whe
napr
ogr
ami
sbe
ingr
una
ndt
heG20
c
omma
ndi
senc
ount
ere
d,a
llc
oor
dina
tesa
res
tat
eda
sinc
huni
ts
.Thi
scomma
ndi
sus
ual
lyf
ound
a
tthebe
ginni
ngofapr
ogr
am.Howe
ver
,itc
anbeus
edt
oswi
tchbe
twe
eni
ncha
ndme
tri
cuni
ts
whi
let
hemi
ddl
eofapr
ogr
am.

G21METRI
CORSIUNI
TS
N_G21
TheG21c
omma
ndd
efa
ult
sthes
yst
emt
ome
tri
cuni
ts
.Whe
napr
ogr
ami
sbe
ingr
una
ndt
heG21
c
omma
ndi
senc
ount
ere
d,a
llc
oor
dina
tesa
res
tat
eda
smi
ll
ime
teruni
ts
.Thi
scomma
ndi
sus
ual
ly
f
ounda
tthebe
ginni
ngofapr
ogr
am.Howe
ver
,itc
anbeus
edt
oswi
tchbe
twe
enme
tri
candi
nch
uni
tsi
nthemi
ddl
eofapr
ogr
am.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 12
CAM La
b
Ma
nua
l
G28AUTOMATI
CRETURNTOREFERENCEPOI
NT
N_G28X_Z_
TheG28c
omma
ndi
scommonl
yus
edpr
iort
oana
utoma
tict
oolc
hange
.Ita
llowst
hee
xis
ti
ng
t
oolt
obepos
it
ione
dtot
hepr
ede
fine
dre
fer
enc
epoi
nta
utoma
tic
all
yvi
aani
nte
rme
dia
tepos
it
ion.
Thi
sen
sur
est
hatwhe
nthet
oolt
urr
eti
senga
ged
,iti
spr
ope
rlya
ligne
dandc
lea
rst
hewor
kpi
ece
.

G33THREADCUTTI
NGMOTI
ON

Thr
eadc
utt
ingi
sdonebymovi
ngt
het
oola
longt
het
hre
adr
epe
ate
dlya
tdi
ff
ere
ntde
pthst
il
lthe
f
ina
lthr
eadpr
ofi
lei
sfor
med.Ea
chc
utmus
tst
arta
tthes
amea
ngul
arpos
it
ionont
hepa
rt.The
s
pindl
eha
sane
ncode
r,whi
chg
ene
rat
esapul
sea
texa
ctl
ythes
amea
ngul
arpos
it
ioni
neve
ry
r
evol
uti
on.Whe
nat
hre
adi
ngmo
tioni
spr
ogr
amme
d,t
hel
ine
armot
ionoft
het
ools
tar
tswhe
n
t
hispul
sei
sde
tec
ted.Thi
sens
ure
stha
teve
ryc
uts
tar
tsa
tthes
amea
ngul
arpos
it
ion
.Thr
ead
c
utt
ingmus
tbedonea
tcons
tants
pindl
espe
ed.

Bl
ockf
orma
t
N G33X Z F
X,
Zar
ethee
ndpoi
ntoft
het
hre
ada
ndFi
sthepi
tchoft
het
hre
ad.

Thec
ont
rol
lerc
alc
ula
tesf
eedr
atet
hrought
hef
oll
owi
ngr
ela
tions
hip
Fe
edr
ate=Pi
tchxSpi
ndl
espe
ed
Ea
cht
hre
adi
ngc
uti
nvol
ves4mot
ions
:1t
hre
adi
ngmot
iona
nd3r
api
dtr
ave
rsemot
ion
s.Si
ncea
t
hre
adn
orma
ll
yre
qui
resmul
ti
plec
uts
,G32r
esul
tsi
nal
ongpr
ogr
ama
ndi
snotnor
mal
lyus
ed.
TheG76c
anne
dcyc
lei
snor
mal
lyus
edf
ort
hre
adi
ng.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 13
CAM La
b
Ma
nua
l
G40TOOLNOSERADI
US(
TNR)COMPENSATI
ONCANCEL
N_G40
TheG4
0comma
ndc
anc
elsa
nyc
utt
erc
ompe
nsa
tiont
hatwa
sappl
ie
dtot
het
ooldur
inga
pr
ogr
am.I
tal
soa
ctsa
sas
afe
gua
rdt
oca
nce
lanyc
utt
erc
ompe
nsa
tiona
ppl
iedt
oapr
evi
ous
pr
ogr
amorG-
code
s.

G41TOOLNOSERADI
US(
TNR)COMPENSATI
ONLEFT
N_G41
TheG41c
omma
nda
ppl
iesc
utt
erc
ompe
nsa
tiont
othel
eftha
nds
ideoft
hepr
ogr
amme
dtool
pa
th.Thi
samounti
sequa
ltot
hec
urr
entt
ool
'
snos
era
diusva
lue
,whi
chi
sst
ore
dint
heTool
Of
fse
tRe
gis
tert
abl
eoft
hec
ont
rol
ler
.Thi
sre
gis
ternumbe
risr
efe
renc
edbyt
hel
astt
wodi
git
sin
t
het
oolc
hangec
omma
nd.Fore
xampl
e,at
oolc
hangec
omma
ndwi
thT0202wi
llr
efe
renc
ethe
t
oolnos
era
diusva
luei
nre
gis
ter#
2.

G42TOOLNOSERADI
USCOMPENSATI
ONRI
GHT
N_G42
TheG42c
omma
nda
ppl
iesc
utt
erc
ompe
nsa
tiont
other
ightha
nds
ideoft
hepr
ogr
amme
dtool
pa
th.Thi
samounti
sequa
ltot
hec
urr
entt
ool
'
snos
era
diusva
lue
,whi
chi
sst
ore
dint
heTool
Of
fse
tRe
gis
tert
abl
eoft
hec
ont
rol
ler
.

CANNEDCYCLES:
Ac
anne
dcyc
les
impl
if
iesapr
ogr
am byus
ingaf
ew bl
ocksc
ont
aini
ngG-
code
sfunc
tionst
o
s
pec
ifyt
hema
chi
ningope
rat
ionsu
sua
llys
pec
ifi
edi
nse
ver
albl
ocks
.

G70FI
NISHI
NGCYCLE
N_G70P_Q_
TheG7
0comma
ndi
sus
edi
mme
dia
tel
yaf
terar
oughi
ngc
ycl
e,s
ucha
saG71RoughTu
rni
ng,or
G72RoughFa
cingc
ycl
ecomma
nd.Ther
ema
ini
ngma
ter
iali
sma
chi
neda
sspe
cif
iedbyt
heP
a
ndQbl
ocknumbe
rva
lue
s,whi
chpoi
ntt
othes
tar
tandf
ini
shbl
ocksoft
hede
sir
edpa
rtpr
ofi
le
c
ont
our
.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 14
CAM La
b
Ma
nua
l
G71ROUGHTURNI
NGCYCLE
G71U(
d)R(
e)
G71P(
n)Q(
n)U(
u)W(
w)F(
f)

N(
n)____
_______
_______
N(n)
____

U=Re
fer
enc
epoi
nt
R=Re
tra
cti
onoft
het
ool
P=St
art
ingbl
ocknumbe
r
Q=En
dingbl
ocknumbe
r
d=De
pthofc
ut
e=Re
tra
cta
mount
n=Numbe
roft
hef
ir
stbl
ockoft
hes
hape
n=Numbe
roft
hel
astbl
ockoft
hes
hape
u=Fi
nis
hinga
ll
owa
ncei
nX
w=Fi
nis
hinga
ll
owa
ncei
nZ
f=Fe
edr
ate

TheG7
1comma
nda
utoma
tic
all
yge
ner
ate
srou
ghi
ngpa
sse
stot
urnawor
kpi
ecet
oas
pec
ifi
ed
pr
ofi
lel
eavi
nga
nal
lowa
ncef
orf
ini
shi
ng.I
tre
adsapr
ogr
ams
egme
nts
pec
ifi
edbyt
hePa
ndQ
l
ett
era
ddr
ess
esa
ndde
ter
mine
sthenumbe
rofpa
sse
s,t
hede
pthofc
utf
ore
achpa
ss,a
ndt
he
numbe
rofr
epe
atpa
sse
sfort
hec
ycl
e.

G72ROUGHFACI
NGCYCLE
G71U(
d)R(
e)
G71P(
n)Q(
n)U(
u)W(
w)F(
f)

N(n)____
_______
_______
N(n)____

d=Dept
hofcut
e=Re
tra
ctamount

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 15
CAM La
b
Ma
nua
l
n=Numberoft
hefi
rstbl
ockoft
hes
hape
n=Numberofthel
astbl
ockoft
hes
hape
u=Fi
nis
hingal
lowa
nc ei
nX
w=Fi
nis
hingal
lowa
nc ei
nZ
f=Fe
edrate

TheG7
2comma
nda
utoma
tic
all
yfa
cesof
fapa
rtt
oapr
ede
fine
dpr
ofi
le
,wi
thpr
ese
tof
fse
tsa
nd
f
ede
rat
esl
eavi
nga
nal
lowa
ncef
orf
ini
shi
ng.I
tre
adsapr
ogr
ams
egme
nts
pec
ifi
edbyt
hePa
ndQ
l
et
tera
ddr
ess
esa
ndde
ter
mine
sthenumbe
rofpa
sse
s,t
hede
pthofc
utf
ore
achpa
ss,a
ndt
he
numbe
rofr
epe
atpa
sse
sfort
hec
ycl
e.

G74Pe
ckDr
il
li
ngCyc
le
N_G74X0Z_K_F_
TheG7
4comma
ndi
nvol
vesi
ndi
vidua
lpe
ckmove
sine
achdr
il
li
ngope
rat
ion.Whe
nthi
s
c
omma
ndi
sinvoke
d,t
het
oolp
osi
ti
onsi
ts
elfa
sinas
tanda
rdG81dr
il
lcyc
le.TheK va
lue
s
pec
ifi
est
hepe
ckde
pth.

G75GROOVI
NGCYCLE
N_G75R(
e)
N_G75X_Z_P_Q_F_
TheG7
5comma
ndi
nvoke
sano
uts
idedi
ame
tergr
oovec
ycl
e.Thi
scyc
lei
nvol
vespl
unge
sint
o
t
hewor
kpi
ecef
romt
heout
si
deoft
hewor
kpi
ecepa
ral
lelt
otheXa
xis
.TheXva
luei
sthef
ina
l
di
ame
ter
.TheZva
luer
epr
ese
ntst
hef
ina
lZpos
it
ion.TheRva
lues
pec
ifi
est
her
etr
acta
fte
reve
ry
pl
unge
.TheP a
ndQ va
lue
sspe
cif
ythei
ncr
eme
nta
lmove
ment
sint
heX a
ndZ a
xes
,
r
espe
cti
vel
y.

G76THREADI
NGCYCLE
N_G76X_Z_D_K_A_F_
TheG7
6comma
nda
utoma
tic
all
ype
rfor
msa
llc
utt
ingope
rat
ionsr
equi
redt
oac
hie
veat
hre
ad.
TheG7
6cyc
lec
odei
sus
edf
ort
heCNCl
athes
ingl
epoi
ntt
hre
adi
nga
ppl
ica
tions
.Thi
scode
a
llowst
heCNCpr
ogr
amme
rtoe
nte
rtheda
tar
equi
redf
oras
pec
ifi
edt
hre
ads
ize&t
hec
ont
rol
ler
wi
llde
ter
minet
henumbe
roft
hre
adpa
sse
s& a
utoma
tic
all
ypos
it
iont
het
ool
.TheG76c
ode
r
educ
est
henumbe
rofpr
ogr
ammi
ngbl
ocksr
equi
redf
orat
hre
adi
ngope
rat
ion.

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For
mat
:
G76P Q R
G76X ZPQ F
Ex:G76P031560Q150R0.
015

P03i
ndi
cat
esNumbe
rofpa
sse
sforf
ini
shi
ngope
rat
ions
.
0 0
15i
ndi
cat
eaPul
lou
tangl
e(15 t
o22) .
60i
ndi
cat
eThr
eadAngl
e.
Q150i
sthede
pthofc
utf
ore
achp
assi
nmi
cron
s.
R0.
015i
sthef
ini
shi
nga
llowa
nce
.
G76X9
.854Z-
20P1073Q300F1
.75
X9.
854i
stheMi
norDi
ame
teri
nmmf
orM12X1.
75mmpi
tch.
Z-
20i
sthel
engt
hoft
het
hre
ad
P1073i
sthehe
ightoft
het
hre
adi
nmi
crons
.
Q300i
stheDe
pthofc
utf
orf
ir
stpa
ssi
nmi
cron
s.
F1.
75i
sthepi
tchoft
het
hre
ad.

G90ABSOLUTEPOSI
TIONI
NG
N_G90
TheG9
0comma
ndd
efa
ult
sthes
yst
emt
oac
cepta
llc
oor
dina
tesa
sabs
olut
ecoor
dina
tes
.The
se
c
oor
dina
tesa
reme
asur
edf
romaf
ixe
dor
igi
n(X0,Y0,Z0)a
nde
xpr
ess
edi
nte
rmsofX,Y,a
ndZ
di
st
anc
es.

G91I
NCREMENTALPOSI
TIONI
NG
N_G91
TheG91c
omma
ndde
faul
tst
hes
yst
emt
oac
cepta
llc
oor
dina
tesa
sinc
reme
nta
l,o
rre
lat
ive
,
c
oor
dina
tes
.Thi
scomma
ndi
sfoun
datt
hebe
ginni
ngofs
omepr
ogr
amst
ode
faul
tthes
yst
emt
o
i
ncr
eme
nta
lcoor
dina
tes
.Iti
spos
sibl
etos
wit
chbe
twe
eni
ncr
eme
nta
landa
bsol
utec
oor
dina
tesa
t
a
nyt
imewi
thi
napr
ogr
am(
seet
heG90c
omma
nd)
.
G98LI
NEARFEEDRATEPERTI
ME
N_G98
TheG9
8comma
nds
etst
hel
ine
arf
eedr
atet
ouni
ts(
inc
hormi
ll
ime
ter
)pe
rti
me(
min
ute
s).The
s
ett
ingde
pendsonwhi
cht
ypeofuni
tisc
urr
ent
lya
cti
ve.

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G99FEEDRATEPERREVOLUTI
ON
N_G99
TheG9
9comma
nds
etst
hef
eedr
atet
ouni
ts(
inc
hormi
ll
ime
ter
)pe
rre
vol
uti
on.Thes
ett
ing
de
pendsonwhi
cht
ypeofuni
tisc
urr
ent
lya
cti
ve.

MI
SELLANEOUSCODES:(
Mcode
s)
Mc
ode
sva
ryf
rom ma
chi
net
oma
chi
nede
pendi
ngont
hef
unc
tionsa
vai
la
bleoni
tandt
he
ma
nuf
act
ure
roft
hema
chi
nede
cid
est
hem.TheM c
ode
sli
st
edbe
lowa
ret
hec
ommonone
s.

M-
code
s Function
M00 Optionalpr ograms topa utomati
c
M01 Optionalpr ograms topre ques
t
M02 Programe nd
M03 SpindleONc loc
kwi s
e( CW)
M04 SpindleONc ounte
rc lockwi se(CCW)
M05 Spindlestop
M06 Toolc hange
M07 Mi s
tcool antON( coolant1ON)
M08 Floodc oolantON( coolant2ON)
M09 CoolantOFF
M30 Endofpr ogr am, Res e
ttos tar
t
M98 Subpr ogramc al
l
M99 Subpr ograme nd

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SAMPLEPROGRAMSFORTOOLPATHVERI
FICATI
ON-TURNI
NG

PROBLEM 1:

BI
LLETDI
A75LENGTH103STARTZ3

N01G21G99 N23G00Z5
N02G28U0W0 N24G01X41
N03M06T0101 N25G01Z-49F0.
2
N04M03S1000M08 N26G01X42F2
N05G00X76Z2 N27G00Z5
N06G01X-1F0.
2 N28M09M05
N07G00Z5 N29G28U0W0
N08G00X73 N30T0202M06
N09G01X73Z-100F0.
2 N31M03S500M08
N10G01X74F2 N32G00X71Z0
N11G00Z5 N33G01X-1
N12G01X71F2 N34G01Z2
N13G01X71Z-100F0.
2 N35G00X40
N14G01X72F2 N36G01Z-50F0.05
N15G00Z5 N37G01X70F0.05
N16G01X61 N38G01Z-100F0.05
N17G01Z-
49F0.2 N39G01X72F2
N18G01X62F2 N40G00Z0
N19G00Z5 N41G28U0W0
N20G01X51 N42M09M05
N21G01Z-
49F0.2 N43M30
N22G01X52F2

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PROBLEM 2:

O02
BI
LLETDI
A42LENGTH60STARTZ0

N01G21G98
N02G28U0W0
N03M06T0101
N04M03S1200
N05G00X42Z1
N06G71U0.5R1
N07G71P08Q17U0.1W0.1F35
N08G01X5Z0
N09X10Z-10
N10Z-
15
N11G02X25Z-25R10F25
N12G01Z-30F30
N13G03X35Z-35R5F25
N14G01Z-42
N15X40Z-47
N16G01Z-52
N17G28U0W0
N18M06T0202
N19M03S1500
N20G00X10Z1
N21G70P08Q17F25
N22G28U0W0
N23M05M09
N24M30

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PROBLEM 3:

BI
LLETDI
A55LENGTH113

N05G21G99 N85G28U0W0
N10G28U0W0 N90M09M05
N15M06T0101 N95M06T0202
N20M03S1000M08 N100M03S500M08
N25G00X55Z1 N105G70P40Q70F0.05
N30G71U0.5R0.5 N110G28U0W0
N35G71P40Q70U0.1W0. 1F0.
2 N115M09M05
N40G01X10Z0 N120M06T0303
N45G03X20Z-5R5F0.15 N125M03S500M08
N50G01X20Z-25F0.
2 N130G00X0Z1
N55G02X40Z-35R10F0.15 N135G01Z-10F0.
01
N60G01X40Z-55F0.
2 N140G01Z30F0.2
N65G01X50Z-70 N145M09M05
N70G01X50Z-110 N150G28U0W0
N75G00X55 N155M30
N80M09M05

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PROBLEM 4:

BI
LLETX32Z70

N05G21G98
N10G28U0W0
N15M06T0101
N20M03S1500
N25G00X33Z1
N30G71U0.5R1
N35G71P40Q65U0.1W0.1F40
N40G01X0Z0
N45G03X10Z-5R6
N50G01X10Z-20
N55G01X20Z-30
N60G01X20Z-40
N65G02X30Z-45R5
N70M05M09
N75G28U0W0
N80M0 6T0202
N85M03S1000
N90G70P40Q65S2000F25
N95G28U0W0
N100M05
N105M30

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PROBLEM 5:

BI
LLETX32Z70

N05G21G98
N10G28U0W0
N15M06T0101
N20M03S1500
N25G00X33Z1
N30G72W0.5R1
N35G72P40Q65U0.1W0.1F40
N40G01X32Z-50
N45G01X24Z-50
N50G01X24Z-40
N55G01X16Z-34
N60G01X12Z-34
N65G01X12Z0
N70M06T0202
N75G00X12Z-32
N80G75R1
N85G75X8Z-34P100Q200F15
N90G28U0W0
N95M05
N100M30

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PROBLEM 6:

BI
LLET42DI
A100LENGTHSTARTZ2

N01G21G98 N20G00X12Z- 32
N02G28U0W0 N21G01X8F10
N03M06T0101 N22G75R500
N04M03S1500M08 N23G75X8Z- 40P2500Q1000R0.
00
N05G00X42Z1 F15
N06G71U0.5R1 N24G00X20Z0
N07G71P08Q15U0.1W0.1F40 N25G28U0W0
N08G01X12Z0 N26M05M09
N09G01X12Z-46 N27M06T0404
N10G01X20Z-51 N28M03S300M08
N11G01X20Z-61 N29G00X12Z5
N12G03X36Z-69R8F35 N30G76P031560Q50R0. 015
N13G01X36Z-79F40 N31G76X9.854Z-30P1073Q100
N14G01X40Z-84 F1.
75
N15G01X40Z-94 N32G28U0W0
N16M05M09 N34M05
N17G28U0W0 N35M30
N18M06T0505
N19M03S350

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PROBLEM 7:

BI
LLETDI
A42L85

N05G21G98 N110G75R1
N10G28U0W0 N115G75X16Z- 38P100Q1000F15
N15M06T0101 N116M05M09
N20M03S1500M08 N117G28U0W0
N25G00X42Z1 N118M06T0303
N30G71U0.5R1 N119M03S500M08
N35G71P40Q60U0.1W0.
1F40 N120G00X40Z- 69
N40G01X18Z0 N125G75R1
N45G01X20Z-2 N130G75X36Z- 77P100Q1000F15
N50G01X20Z-42 N135M05M09
N55G01X40Z-62 N140G28U0W0
N60G01Z-82 N145M06T0404
N65M05M09 N150M03S500M08
N70G28U0W0 N155G00X20Z- 2
N75M06T0202 N160G76P031560Q50R0. 015
N80M03S2000M08 N165G76X18.161Z-32P919.5Q100
N85G70P40Q60F20 F1.
5
N90G28U0W0 N170M05M09
N95M06T0303 N175G28U0W0
N100M03S500M08 N180M30
N105G00X20Z-34

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PROBLEM 8:

BI
LLETDI
A22L75

N01G21G98 N32G76X10.
4675Z-
30P766.
25Q100
N02G28U0W0 N33F1.
25
N03M0 6T0101 N34M05M09
N04M03S1500M08 N35G28U0W0
N05G00X22Z1 N36G28U0W0
N06G71U0.5R1 N37M30
N07G71P10Q20U0. 1W0.1F35 M30
N08N10G01X12Z0
N09G01Z-34
N10G02X16Z- 44R15
N11G01Z-54
N12G03X20Z- 64R15
N13N20G01Z- 74
N14M05M09
N15G28U0W0
N21M06T0505
N22M03S400M08
N23G00X12Z- 32
N24G75R1
N25G75X8Z- 34P100Q1000F20
N26M05M09
N27G28U0W0
N28M06T0606
N29M03S400M08
N30G00X12Z1
N31G76P031560Q50R0.015

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PROBLEM 9:

[
INTERNALMULTI PLETURNI
NG]
[
BILLETX80Z100]

G21G98
G28U0W0
M06T0101
G50S2500
G96S250
M03S800
G00X0Z1
G74R1
G74X0Z-5Q500F30
G28U0W0
M06T0202
M03S600
G00X0Z1
G74R1
G74X0Z-75Q500F30
G28U0W0
M06T0303
M03S1500
G00X0Z1
G74R1
G74X0Z-75Q500I20
G28U0W0
M06T0404
M03S1500
G00X12Z1
G71U0.5R1
G71P01Q10U0.1W0.1F50
N01G01X50
N02G01Z0
N03GO1X50Z- 15
N04G01X47Z-30
N05G02X42Z-35R5
N06G03X38Z-39R4
N07G01X35Z-45
N08G01X35
N09G01Z-60
N10GO1X12
G28U0W0

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[
THREADI
NGCYCLE]

M06T0606
M03S600
G00X49Z1
G76P020060Q10R50
G76X51.836Z-
8P940Q363F1.
5
GO1X48F30
GO0Z2
G28U0W0
M05
M30

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s
eeNCMI
LL
s
eeNCmi
lli
sspe
cia
lpur
pos
eCNCpa
rtpr
ogr
am ve
rif
ica
tions
oft
war
eus
edf
ort
hema
chi
ning
c
ent
erpr
ogr
ams
.Mi
ll
ingma
chi
nesus
esa
llt
het
hre
eaxe
sass
howni
nthef
igur
ebe
low.I
nthe
ve
rti
calmi
ll
ingma
chi
ne,t
heZ-
axi
sde
not
est
hemove
mentpa
ral
lelt
othes
pindl
eaxi
si.
e.
,theup
a
nddo
wnmove
mentoft
hes
pindl
e.TheX-
axi
smove
stot
heope
rat
orsl
efta
ndr
ight
.TheYa
xis
move
stowa
rdsa
nda
wayf
romt
heope
rat
or.

Axi
sco
nve
nti
on

Thet
oolc
anbemove
dtoa
nypos
it
ioni
na3di
mens
iona
lca
rte
sia
nco-
ordi
nat
esys
tem.
TheZa
xisi
sal
ongt
hes
pindl
eax
is.
TheXa
ndYa
xesa
repe
rpe
ndi
cul
art
oZ.

VMC(
Ver
ti
calMa
chi
ningCe
nte
r)

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LI
STOFG-
CODES
G-c
ode Functi
on
G00 Positi
oni ngr api dt raverse
G01 Linearint erpol a t
ion( fe
e d)
G02 Circularint erpol a tionCW
G03 Circularint erpol a tionCCW
G04 Dwe ll
G20 Inchuni t
G21 Me t
ricuni t
G28 Automa ticz eror etur n
G40 Toolnos er adi usc ompe nsati
onc anc
el
G41 Toolnos er adi usc ompe nsati
onleft
G42 Toolnos er adi usc ompe nsati
onright
G43 Toollengt hc ompe ns at
ion
G80 Canne dc yc lec anc e l
G81 Dril
lingc yc le
G82 Dril
lingc yc lewi t
hdwe ll
G83 Peckdr illingc yc l
e/de epdr i
ll
G84 Tappingc yc le
G85 Boring/Re a mi ngc ycle
G86 Boringc yc l
e
G90 Absolutec omma nd
G91 Incr
e me nta lc omma nd
G94 Feedpe rmi nut e
G95 Feedpe rr e vol ution
G98 Returnt oi ni t
ia lp ointinc annedcycle
G99 Returnt oRpoi nti nc annedc ycl
e

CUTTERRADI
USCOMPENSATI
ON(
CRC)

G40To
olnos
era
diusc
ompe
nsa
ti
onCa
nce
l
G41Toolnos
era
diusc
ompe
nsa
tio
nLe
ft
G42Toolnos
era
diusc
ompe
nsa
ti
onRi
ght

G40CUTTERCOMPENSATI
ONCANCEL
N_G40
TheG4
0ca
nce
lsa
nyc
utt
erc
omp
ens
ati
ont
hatwa
sappl
iedt
othet
ooldur
ingapr
ogr
ama
nda
cts
a
sas
afe
gua
rdt
oca
nce
lanyc
utt
erc
ompe
nsa
tio
nappl
iedt
oapr
evi
ouspr
ogr
amorG-
code
s.

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G41CUTTERCOMPENSATI
ONLEFT
N_G4
1X_Y_Z_F_
TheG4
1compe
nsa
test
hec
utt
eras
pec
ifi
eddi
st
anc
etot
hel
eft
-ha
nds
ideoft
hepr
ogr
amme
dtool
pa
th.I
tisus
edt
ocompe
nsa
tef
ore
xce
ssi
vet
oolwe
arors
ubs
ti
tut
eat
oolt
opr
ofi
leapa
rt.

G42CUTTERCOMPENSATI
ONRI
GHT
N_G4
2X_Y_Z_F_
TheG4
2compe
nsa
test
hec
utt
eras
pec
ifi
eddi
st
anc
etot
her
ight
-ha
nds
ideoft
hepr
ogr
amme
d
t
oolpa
th.I
tisus
edt
ocompe
nsa
tef
ore
xce
ssi
vet
oolwe
arors
ubs
ti
tut
eat
oolt
opr
ofi
leapa
rt.

N G01G41/
42X Y D F

Ne
ces
sit
yofus
ingCRC

•Di
ff
icul
ttoc
alc
ula
tec
utt
erc
ent
erc
o-or
dina
tes
•I
fcut
terc
ent
erc
o-o
rdi
nat
esa
reus
eds
amedi
ame
terofc
utt
eri
sre
qui
redt
obeus
ed
Cut
terwe
arc
annotc
ompe
nsa
ted

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G43TOOLLENGTHCOMPENSATI
ON
N_G43H_
TheG43c
omma
ndc
ompe
nsa
tesf
ort
ooll
engt
hinapos
it
ivedi
rec
tion.Di
ff
ere
ntt
ool
s of
di
ff
ere
ntl
engt
hsa
reus
edi
nma
chi
ninga
nypa
rt.Thel
engt
hsoft
het
ool
sar
enotc
ons
ide
redi
n
t
hepa
rtpr
ogr
am.The
yar
eent
ere
dint
hema
chi
ne’
sme
mor
y,a
nda
rec
ons
ide
reda
utoma
tic
all
y
f
ore
achmot
ioni
nthepr
ogr
amde
pendi
ngont
het
oolt
hati
sbe
ingus
ed.Thet
ooll
engt
hsi
ntheZ
di
rec
tiona
rec
all
edt
heTooll
engt
hof
fse
ts.

CANNEDCYCLES
Ca
nne
dorf
ixe
dcy
cle
sar
epr
ogr
ammi
nga
idst
hats
impl
if
ypr
ogr
ammi
ng.Ca
nne
dcyc
les
c
ombi
nema
nypr
ogr
ammi
ngope
rat
ionsa
nda
rede
signe
dtos
hor
tent
hepr
ogr
aml
engt
h,
mi
nimi
zema
the
mat
ica
lca
lcul
ati
ons
,andus
emi
nima
ltoolmot
ions
.

Exa
mpl
es:Dr
il
li
ng,
pec
kdr
il
li
ng,
tappi
ng,
bor
ing,ba
cks
potf
aci
ng.

G81Dr
il
li
ngc
ycl
e

G82Dr
il
li
ngc
ycl
ewi
thdwe
ll(
Cou
nte
rbor
ecy
cle
)

G83Pe
ckdr
il
li
ngc
ycl
e/de
epdr
il
l

G84Ta
ppi
ngc
ycl
e

G85Re
ami
ngc
ycl
e

G86Bo
ringc
ycl
e

G81DRI
LLI
NGCYCLE

TheG81i
nvoke
sadr
il
lcyc
lea
tspe
cif
iedl
oca
tions
.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 32
CAM La
b

G82DRI
LLI
NGCYCLEWI
THDWELLORCOUNTERBORI
NGCYCLE
N_G82X_Y_Z_R_P_F_
TheG82c
ycl
efol
lowst
hes
ameope
rat
ingpr
oce
dur
esa
stheG81dr
il
li
ngc
ycl
e,wi
tht
hea
ddi
ti
on
ofadwe
ll.
G83DEEPHOLEDRI
LLI
NGCYCLE/PECKDRI
LLCYCLE
N_G83X_Y_Z_R_Q_F_
TheG8
3invol
vesi
ndi
vidua
lpe
ckmove
sine
achdr
il
li
ngope
rat
ion.Whe
nthi
sco
mma
ndi
s
i
nvoke
d,t
het
oolpos
it
ionsi
ts
elfa
sinas
tanda
rdG81dr
il
lcyc
le.

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par
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nic
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nee
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CAM La
b
Ma
nual

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 34
CAM La
b
Ma
nua
l

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 35
CAM La
b
Ma
nua
l

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 36
CAM La
b
Ma
nua
l
SAMPLEPROGRAMSFORTOOLPATHVERI
FICATI
ON–MI
LLI
NG&DRI
LLI
NG

PROBLEM NO.1:

O01
BILLET120X120X30MM

N01G21G94G90
N02G28X0Y0Z0
N03T0101
N04M03S1500M08
N05G00X0Y0Z5
N06G01X25Y35F35
N07G01Z- 10F40
N08G01Y55
N09G01X35Y65
N10G01Y75
N11G03X45Y85R10F35
N12G02X55Y95R10F35
N13G01X85F40
N14G02X95Y85R10F35
N15G01Y35F40
N16G02X85Y25R10F35
N17G01X35
N18G02X25Y35R10F35
N19G00Z5
N20M05
N21G28X0Y0Z0
N22M3 0

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par
tme
ntOfMe
cha
nic
alEngi
nee
ring 37
CAM La
b
Ma
nua
l

PROBLEM NO2:

O02
BILLET150X150X30MM

N01G21G94G90
N02G28X0Y0Z0
N03M06T01
G43H01
N04M03S1500M08
N05G00X0Y0Z5
N06G00X25Y25Z5
N07G01Z-10F40
N08G01X25Y100
N09G02X85Y100R30F30
N10G01X105Y50F40
N11G01X125Y40
N12G01Y25
N13G01X25Y25
N14G00Z5
N15M05M09
N16G28X0Y0Z0
N17M3 0

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par
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ntOfMe
cha
nic
alEngi
nee
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CAM La
b
Ma
nua
l

PROBLEM NO3:

O03
BILLET200X150X30MM

N01G21G94G90G40 N16G01Y25
N02G28X0Y0Z0 N17G01X25Y25
N03T01 N18G00Z5
G43H01 N19M05
N04M03S1500M08 N20G28X0Y0Z0
N05G00X0Y0Z5 N21T02
N06G00X25Y25 G43H02
N07G01Z-15F40 N22G00X55Y50Z3
N08X25Y75 N23G01Z-10
N09G01X67Y75 N24G00Z3
N10G03X75Y83R8F30 N25G00X145Y50
N11G01Y125F40 N26G01Z-10
N12G01X125 N27G00Z3
N13G01X125Y83 N28M05M09

N14G03X133Y75R8F30
N15G01X175

De
par
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ntOfMe
cha
nic
alEngi
nee
ring 39
CAM La
b
N29G28X0Y0Z0 Ma
nua
l
N30M30

De
par
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ntOfMe
cha
nic
alEngi
nee
ring 40
CAM La
b
Ma
nual
PROBLEM NO4:

O04
BILLET100X100X30MM CANNED

CYCLESUSED:G81&G85

N01G21G94G90 N18G99G85Z-
10R3F75
N02G28X0Y0Z0 N19Y75
N03M06T0101 N20X75
G43H01 N21Y25
N04M03S1500M08 N22X50Y50
N05G00X0Y0Z5 N23G80M09M05
N06G00X25Y25 N24G28X0Y0Z0
N07G99G81Z-10R5 F100 N25M06T03
N08Y75 N26M30
N09X75
N10Y25
N11X50Y50
N12G80M09M05
N13G28X0Y0Z0
N14M06T02
N15G43H02
N16M03S750M08
N17G00X25Y25
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par
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ntOfMe
cha
nic
alEngi
nee
ring 41
CAM La
b
Ma
nual
PROBLEM NO5:

O05
BILLET120X120X30MM

CANNEDCYCLESUSED:G83

N01G21G94G90 N14M03S1500M08
N02G28X0Y0Z0 N15G00X0Y0Z5
N03M06T01 N16G00X30Y65
G43H1 N17G99G83Z- 40Q5F100
N04M03S1500M08 N18X60Y95
N05G00X0Y0Z5 N19X90Y65
N06G00X25Y25 N20X60Y35
N07G99G83Z- 40Q5R5F1
00 N21G80M09M05
N08Y105 N22G28X0Y0Z0
N09X105 N23M30.
N10Y25
N11G80M09M05
N12G28X0Y0Z0
N13M06T02
G43H2

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cha
nic
alEngi
nee
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CAM La
b
Ma
nual
PROBLEM NO6:

O06
BILLET350X250X30MM

CANNEDCYCLESUSED:G81&G86

N01G21G94G90 N20G00X225Y50Z5
N02G28X0Y0Z0 N21G99G81Z-10R5F100
N03M06T01 N22G00X275Y100
N04G43H01 N23X225Y137.
5
N05M03S1500M08 N24G80M09M05
N06G00X0Y0Z10 N25G28X0Y0Z5
N07G01X25Y75F100 N26M06T03
N08G01Z-10 G43H03
N09G01Y125 N27M03S500M08
N10X100Y175 N28G00X225Y50Z5
N11X225 N29G99G86R5Z-10F75
N12G02X225Y25R75F70 N30G00X275Y100
N13G01X100 N31X225Y137.
5
N14G01X25Y75 N32G80M09M05
N15G01Z5 N33G28X0Y0Z5
N16M05M09 N34M30
N17G28X0Y0Z5 N35M30
N18M06T02
G43H02
N19M03S1000M08

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ntOfMe
cha
nic
alEngi
nee
ring 43
CAM La
b
Ma
nual
PROBLEM NO7:
BILLET90X90X10MM
O1234
G90G21
M06T01
G90G00X10.0Y40.S1000
M03Z1
M98P10055
M70
M98P10055
M80
M71
M98P10055
M81
M70
M71
M98P10055
M05
Z100
G00G91G28Y0.0
M30

O55
G00X1 0Y40
G01Z-5.0F100
X40Y10
X10.
Y1 0.0
X10Y40
G00Z5
M99

PROBLEM NO8:
[RECTANGULAR POCKETI
NG]
G91G28X0Y0Z0
M06T1
M03S1500
G90G00X0Y0
G01X20Y20Z-5F30
G01X20Y40
G01X40Y40
G01X40Y20
G01X20Y20
G01X0Y0Z5000
G91G28X0Y0Z0
M05
M30

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 44
CAM La
b
Ma
nual

SI
MULATIONOFMACHINI
NGOPERATI ONSUSI
NGACAM
SOFTWARETOOL(CAPSt
urna
ndCAPSmil
l)

CAPSt
urna
ndCAPSmi
lla
ret
heCADEM’
Sappl
ica
tions
oft
war
etool
sava
ila
blet
o
s
imul
atet
urni
ng& mi
ll
ingr
ela
tedope
rat
ionsbyc
rea
tingc
ompl
exde
signsa
ndmod
els
.Itc
an
a
lsobeut
il
ize
dasat
oolt
oge
ner
ateapa
rta
ndi
ntur
ntoge
ner
atet
heNCpa
rtpr
ogr
amf
ort
he
pa
rtge
ner
ate
d.Wr
it
ingama
nua
lpa
rtpr
ogr
amr
equi
rest
heknowl
edgeoft
hepa
rt(
dra
wing)t
obe
pr
oduc
ed,t
hes
ynt
axoft
hepr
ogr
am,t
heknowl
edgeofpr
epa
rat
orya
ndmi
sce
lla
neousc
ode
sfor
va
riousc
ont
rolmode
ls,e
tc.But
,byus
ingCAPSt
urn& CAPSmi
ll
,thepa
rtpr
ogr
am wi
ll
ge
ner
atebyi
ts
elff
ort
hepa
rtdr
awnbyt
heope
rat
or.I
tisa
lsopos
sibl
etoi
nte
rfa
cet
hiss
oft
war
e
di
rec
tlyt
oaCNCma
chi
newhe
rei
nthepa
rtde
signe
dca
nbema
chi
ned.

Thepr
ogr
ammi
ngpr
oce
ssofCAPSt
urn&CAPSmi
lli
ncl
ude
sthef
oll
owi
ng8s
teps

St
eps Ope
rat
ion Me
nuopt
ion

1 St
artane
wpr
ogr
am Fi
le

2 De
fineawor
kse
tup

3 Dr
awt
hepa
rt Ge
ome
try

4 De
fineBl
ank Ge
ome
try

5 Pe
rfor
mMa
chi
ning Ma
chi
ning

6 Se
lec
tMa
chi
ne Ma
chi
nes

7 Vi
ewt
oolpa
th Toolpa
th

8 Ge
ner
ateNCpr
ogr
am NCpr
ogr
am

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 45
CAM La
b
Ma
nual

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 46
CAM La
b
Ma
nua
l

Cyc
let
imec
alc
ula
tion
Extr
eme l
yaccur
atecyc
leti
me–l e
s st
han1%e r
ror
.
Tryoutmanyproces
sopti
ons,d
ecideontheo
newithl
eas
tcyc
let
ime
.
Genera
tespr
inta
blecyc
leti
mesheet.
Reducecycl
etime
Reduce
documentat
ion
ti
meReduceski l
l
l
evelof
progr
ammer

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 46
CAM La
b
Ma
nual

Spi
ndl
epowe
rgr
aph

Chec
kifyouar
eusi
ngt
hea va
ila
bles
pindl
epowe
rtot
hema
ximum.
Che
cki
f
youar
eover
-us
ingt
hes
pindle
.

Reducecycl
eti
me
Reducedamagetomachi
ne

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 47
CAM La
b
Ma
nual

TOGENERATETHEPROGRAM
St
epsi
nCAPSTURN/
CAPSMI
LLNCpr
ogr
ammi
ng

1.St
artne
wpr
ogr
am
2.De
finewor
kse
tup
Ge
ner
ate
:
3.Dr
awt
hepa
rt
4.Dr
awt
hebl
ank
Ma
chi
ning:
5.Pe
rfor
mma
chi
ning
6.Se
lec
tma
chi
ne
Si
mul
ati
on:
7.Vi
ewt
oolpa
th

Too
lPa
th&NCPr
ogr
amGe
ner
ati
on:
8.Ge
ner
ateNCpr
ogr
am

1.St
artne
wpr
ogr
am

Doubl
ecl
ickont
heCAPSTURNi
con

Or

Se
lec
tst
art
-pr
ogr
am–CADEM –CAPSTURN

2.De
finewor
kse
tup

Se
tupd
atai
sre
qui
redf
orma
chi
ning,a
nddoc
ume
nta
tioni
sre
lat
edt
othede
tai
lsoft
he
pr
ogr
am.
Thewor
kse
tupda
tai
sdi
vide
dint
o
Se
tupda
ta1,

Se
tupda
ta2a
nd

Doc
ume
nta
tion.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 48
CAM La
b
Ma
nua
l
Ent
eri
ngt
hes
etupda
tama
nda
tor
y,whi
ledoc
ume
nta
tioni
sopt
iona
l.

3.Dr
awt
hepa
rt

Dr
aw-
uset
hedr
awi
ngt
ool
stoc
ons
truc
tthege
ome
tryoft
hepa
rt

Dr
aw-
def
inepa
rt–c
rea
tepa
rts
hap
e

4.Dr
awt
hebl
ank

Dr
aw–de
finebl
ank

5.Pe
rfo
rmma
chi
ning

Swi
tcht
othema
chi
ningme
nuc
lic
kingont
hema
chi
ningt
ab

Se
lec
tappr
opr
iat
ema
chi
ningope
rat
iona
ndde
finet
oolde
tai
lsus
edf
ort
hatope
rat
ion

6.Se
lec
tma
chi
ne

Se
lec
tsui
tabl
ema
chi
nef
romt
hea
vai
la
blel
is
t

7.Vi
ewt
oolpa
th.

Swi
tcht
otoolpa
thmodebyc
lic
kingont
oolpa
tht
ab

Se
lec
ttoolpa
th-
sta
rt

8.Ge
ner
ateNCpr
ogr
am

Cl
ickonNCPROGRAM ONTHEme
nuba
r

9.Doc
ume
nts

Powe
r
Tool
lis
t
Ti
meSt
udyShe
et

De
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cha
nic
alEngi
nee
ring 49
CAM La
b
Ma
nua
l
St
epst
oSi
mul
ateCAPSTURN
Ext
ern
alMa
chi
ning:

8
6
6
3
0

5 5 1 5 1
5

BLANK
1.
Fac
ing
2.
cont
ourt
urn
3.
Groovi
ng
4.Thr
eadi
ng

OK>Cr
eat
eane
wpa
rt>Ok
J
awpos
it
ona
bsol
uteZ=80
Cl
ear
anc
eOD=35
Cl
ear
anc
eZ=2
OK

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 50
CAM La
b
Ma
nua
l
Ge
ome
try:

Dr
aw>Mul
ti
li
ne>0,
0>6,
0>8,
-2,
>8,
-12>done
Dr
aw>Gr
oove
>Ba
sewi
dth=5>de
pth=2>e
xte
rna
l>OK>8,
-12
Dr
awMul
ti
li
ne>8,
-17>8,
-22>12,
-27
Dr
aw Ar
c>St
art
-End-
Radi
us>12,
-27>17,
-32>5>Ok
Dr
aw Ar
c>St
art
-End-
Radi
us>22,
-37>17,
-32>5>Ok
Dr
awMul
ti
li
ne>22,
-37>30,
-37>30,
-50>done
Dr
awn>De
finePa
rt>Se
lec
tthedr
awnObj
ect
>Ye
s
Dr
awn>Mul
ti
li
ne>0,
2>35,
2>35,
-80
>done
Dr
awn>De
findBl
ank>Le
ngt
h=80
,di
a=35,
Sta
rtZ=2>Ok

Ma
chi
ning:

Tur
ningOpe
rat
ion
Pl
ainFa
ce>Ne
wtool
>Se
lec
ttool
>Ok>Se
lec
t35,
2>35,
0>De
pthofCut
=0.
5
Cont
ourTur
n>Ne
wTool
>Se
lec
tSui
tal
beTool
>OK>0,
0>30,
-50>De
pthofCut
=0.
5
Gr
oove
>Ra
dia
l>Ne
wtool
>Se
lec
tsui
tabl
etool
>Se
lec
tthegr
oove
>OK
Thr
ead
>Ne
wtool
>Sui
tabl
etool
>Se
lec
tli
neoft
hre
ad>Noofc
utt
ingpa
ss=4>Thr
ead
Pi
tch=1>Thr
eadDe
pth=0.
613>OK

ToolPa
th:
Si
mul
ati
onSt
art
s

NCPr
ogr
am:
Edi
tyourna
mea
ndUSNNumbe
r
Sa
vei
nSui
tabl
efol
der
OK

Doc
ume
nts
Powe
r
Tool
lis
t
Ti
meSt
udyShe
et

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 51
CAM La
b
Ma
nua
l
CAPSTURN

I
nte
rna
lMa
chi
ning:

2
0
2
1
2
2 2 3
10

Ope
rat
ions
1.
Fac
ing
2.
Cent
reDr
il
l
3.
Pec
kDr
il
l
4.
Dri
ll
5.
Bor
ing
6.
Tappi
ng

OK>Cr
eat
eane
wpa
rt>OK
J
awpos
it
ona
bsol
uteZ=100
Cl
ear
anc
e=0
Out
erDi
ame
ter=30
OK

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 52
CAM La
b
Ma
nua
l
Ge
ome
try:
Dr
aw>Mul
ti
li
ne>24,
0>24,
-30>20,
-30>20,
-50>1
2.5,
-50>12.
5,-
70>0,
-70>done
Dr
aw>De
finePa
rt>Se
lec
ttheOb
jec
t>Ye
s
Dr
awn Mul
ti
li
ne>0,
0>30,
0>30,
-90>Done
Dr
aw>De
fineBl
ank>Se
lec
tthebl
ank>Ye
s

Ma
chi
ning:

Hol
eOpe
rat
ion
Ce
ntr
eDr
il
l>Ne
wtoo
l>Se
lec
tSu
ita
blet
ool
>OK
ToolTi
pde
pth=1>OK
Pe
ckDr
il
li
ng>Ne
wtool
>Se
lec
tSui
ta
bleTool
>OK
Hol
eDe
pth=70>Pe
ckDe
pth=5>OK
Dr
il
li
ng>Ne
wTool
>Dr
il
l>Twi
stDr
il
l>Se
lec
t12.
5dr
il
l>OK
Hol
ede
pth=70>OK
Fi
nis
hBor
ing
Ne
wtool
>Se
lec
tSui
ta
blebor
ingt
ool
>OK
Hol
ede
pth=50>Bor
edi
ame
ter
=20>OK
Fi
nis
hbor
ing
Ne
w>Se
lec
tsui
tabl
ebor
ingt
ool
>Ok
Hopede
pth=50>Bor
eDi
amt
er=20>Ok
Fi
nis
hBor
ing>Ne
wtool
>Se
lec
tsui
tabl
ebor
ingt
ool
>OK
Fi
nis
hBor
ing>Hol
eDe
pth=30>Bo
reDi
ame
ter24>OK
Ta
ppi
ng>Ne
wTool
>Ta
pMe
tri
c>Se
lec
tsui
tabl
eta
ppi
ngt
ool
=M24X3t
ap>Ok
Hol
ede
pth=20>OK

ToolPa
th:
Si
mul
ate

NCPr
ogr
am:
Edi
tyourna
mea
ndUSNNumbe
r
Sa
vei
nSui
tabl
efol
der
OK

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 53
CAM La
b
Ma
nua
l

Doc
ume
nts
Powe
r
Tool
lis
t
Ti
meSt
udyShe
et

CAPSMI
LL

5
5
1
5
0

1
5

1
10
0

62,

62,
5

2
37,

5
5

5
5

7
10

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 54
CAM La
b
Ma
nua
l
Ope
rat
ions
1.Fa cemi ll
2.Si demi ll
3.Sl otmill
4.T–Sl otmi ll
5.Tr ack, Slotmil
l
6.Re c
tangularPocket
ing
7.Ci rcul
arpoc ket
ing
8.Hol eope rati
ons

OK>Cr
eat
eane
wpa
rt>OK
OK

Ge
ome
try:

Dr
aw>Sha
pes
>Re
cta
ngl
e(oppos
it
ecor
ner
)>0,0>100,
100>done
Dr
aw>Sha
pes
>Sl
ot>Le
ngt
h=100,
Bre
adt
h=5>OK>50,
92.
5>OK
Dr
aw>Sha
pes
>Sl
ot>Le
ngt
h=100,
Bre
adt
h=5>OK>50,7.
5>OK
Dr
aw>Poi
ntpa
tte
rn>Poi
ntsr
ando
m>25,
37.
5>done
>50,
37.
5
Dr
aw>Sha
pes
>Re
cta
ngl
e(Cor
nerl
engt
hwi
dth)
>Le
ngt
h=15,Br
eadt
h=15>Ok>15,62.
5>done
Dr
aw>Sha
pes
>Re
cta
ngl
e(Cor
nerl
engt
hwi
dth)
>Le
ngt
h=15,
Bre
adt
h=15>Ra
dius
=7.
5>Ok>75,
62.
5>d
one
Dr
awn>Sha
pes
>Tr
ack>Le
ngt
h=4,Ar
cra
dius
=10>Ok>-
2,50
Dr
awn>Sha
pes
>Tr
ack>Le
ngt
h=4,
Arcr
adi
us=1
0>Ok>102,
50
Dr
aw>De
finebl
ank>Ma
ximumX=105,Y=105>Mi
nimumX=-
5,Y=-
5>Bl
ankThi
ckne
ss=15>
Zc
oor
dina
tea
tthebot
tom=-
8>ok

Ma
chi
ning:

Mi
ll
ingOpe
rat
ion:
Fa
cemi
ll
ing>Ne
wtool
>Se
lec
tsu
ita
blet
ool
;>Ok>Se
lec
tac
ont
our
>Ma
ter
ial
t
hic
kne
ss=3>OK>Se
lec
tma
chi
nes
tar
ti
ngpoi
nts
uit
abl
y
Si
demi
ll
>Ne
wtool
>Se
lec
tsui
tab
let
ool
>Ok>Se
lec
tac
ont
our
>Se
lec
tst
art
ingpoi
ntof
ma
chi
ning>Mi
llt
hewhol
econt
our
=Ye
s>Se
lec
tthes
ideofmi
ll
ingout
si
de>Ma
ter
ialwi
dth=5,
Ma
ter
ialde
pth=12>OK

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 55
CAM La
b
Ma
nua
l
Sl
otmi
ll
>Ne
wtool
>Se
lec
tsui
ta
blet
ool
>Ok>Se
lec
tthes
lot
>De
pth=4>OK
Re
cta
ngul
arPoc
ket
ing:
Ne
wtool
>Se
lec
tsui
tabl
etool
>OK>Se
lec
tre
cta
ngul
arc
ont
our
>Poc
ketde
pth=12>OK

Ci
rcul
arPoc
ket
ing:
Ne
wtool
>Se
lec
tsui
tabl
etool
>OK>Se
lec
tci
rcul
arc
ont
our
>Poc
ketde
pth=12>OK

Hol
eOpe
rat
ion:
Ce
ntr
edr
il
l>Se
lec
tne
wtool
>Se
lec
tsui
tabl
etool
>OK>Se
lec
t25,
37.
5>done
>Se
lec
t50,
37.
5>d
one
>No.

Dr
il
li
ng:
Dr
il
l>Se
lec
tne
wtool
>tooldi
a5>de
pth12>OK>Se
lec
t25,
37.
5>done
>Se
lec
t50,
37.
5>d
one
>OK

Count
erBor
ing:
Se
lec
tne
wtool
>tooldi
a7.
5>Ok
>Se
lec
t25,37.
5>done
>Se
lec
t50,37.
5>done
>No>hol
e
de
pth=5>Ok

Ta
ppi
ng:
Se
lec
tne
wtool
>M5.
0*0.
80t
apme
tri
c>Ok>Se
lec
t25,
37.
5>done
>Se
lec
t50,
37.
5>done
>hol
e
de
pth=12>Ok
ToolPa
th:
Si
mul
ate
NCPr
ogr
am:
Edi
tyourna
mea
ndUSNNumbe
r
Sa
vei
nSui
tabl
efol
der
OK

Documents
Power
Tooll
is
t
TimeStudyShe
et

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 56
CAM La
b
Ma
nua
l
PART-B
FMS(
Fle
xibl
eMa
nuf
act
uri
ngSy
ste
m):Pr
ogr
ammi
ngofAut
oma
ti
cst
ora
gea
ndRe
tri
eva
lsys
tem
(
ASRS)a
ndl
ine
ars
hut
tl
econve
yor
.Int
erf
aci
ngCNCl
athe
,mi
ll
ingwi
thl
oadi
ngunl
oadi
nga
rm
a
ndASRSt
obec
arr
iedoutons
impl
ecompone
nts
.

FLEXI
BLEMANUFACTURI
NGSYSTEM (
FMS)
Thene
edf
oramor
efl
exi
bler
esp
ons
etor
api
dlyc
hangi
ngma
rke
tde
mandsha
sca
use
dar
athe
r
dr
ama
ticc
hangei
nthephi
los
ophyont
hede
signa
ndt
hel
ayoutofpr
oduc
tions
yst
ems
,aswe
lla
s
on pr
oduc
tion or
gani
zat
ions a
nd e
ven pr
oduc
tde
vel
opme
nt(
Zij
m,W.H.M.
,1987)
.
Phi
los
ophi
cal
ly,FMSi
ncor
por
ate
sas
yst
em vi
ewofma
nuf
act
uri
ng.Thebuz
zwor
dfort
oda
y’s
ma
nuf
act
ure
ris“
agi
li
ty”
.Ana
gil
ema
nuf
act
ure
risonewhoi
sthef
ast
estt
othema
rke
t,ope
rat
es
wi
tht
hel
owe
stt
ota
lcos
tandha
sthegr
eat
esta
bil
it
yto“
del
ight
”hi
s/
herc
ust
ome
rs.FMSi
s
s
impl
yawa
ytha
tthema
nuf
act
ure
rsa
rea
blet
oac
hie
vet
hisa
gil
it
y.Phys
ica
lly,af
lexi
ble
ma
nuf
act
uri
ngs
yst
em(
FMS)i
sahi
ghl
yaut
oma
tedGr
oupTe
chnol
ogy(
GT)ma
chi
nec
ell
,
c
ons
ist
ingofagr
oupofpr
oce
ssi
ngs
tat
ions(
usua
ll
yCNCma
chi
net
ool
s),i
nte
rconne
cte
dbya
n
a
utoma
tedma
ter
ialha
ndl
inga
nds
tor
ages
yst
em,a
ndc
ont
rol
ledbya
nint
egr
ate
dcomput
er
s
yst
em.AnFMSi
sca
pabl
eofpr
oce
ssi
ngava
rie
tyofdi
ff
ere
ntpa
rts
tyl
ess
imul
ta
neo
usl
yunde
r
NCpr
ogr
amc
ont
rola
tthedi
ff
ere
ntwor
kst
ati
ons
.

Sc
hema
tic
all
y,a
nFMSc
anbes
howna
sbe
low:

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 57
CAM La
b
Ma
nua
l
Type
sofFMS

Fl
exi
blema
nuf
act
uri
ngs
yst
emsc
anbedi
st
ingui
she
dac
cor
dingt
o:
• Theki
ndsofope
rat
ionst
heype
rfor
m:pr
oce
ssi
ngope
rat
ionsora
sse
mbl
yope
rat
ions
.
• Numbe
rofma
chi
nesa
ndl
eve
loff
lexi
bil
it
y.

Ba
sedonnumbe
rofpr
oce
ssi
ngma
chi
nes
,FMSsc
anbe
• Si
ngl
e-ma
chi
nec
ell
• Fl
exi
blema
nuf
act
uri
ngc
ell
• Fl
exi
blema
nuf
act
uri
ngs
yst
em.

As
ingl
e-ma
chi
nec
ellc
ons
ist
sofoneCNCma
chi
ningc
ent
erc
ombi
nedwi
thapa
rts
-st
ora
ge
s
yst
emf
oruna
tte
nde
dope
rat
ion(
fi
g.ne
xts
li
de)
Af
lexi
blema
nuf
act
uri
ngc
ell(
FMC)c
ons
ist
soft
woort
hre
epr
oce
ssi
ngwor
kst
ati
ons(
typi
cal
ly
CNCma
chi
ningc
ent
ersort
urni
ngc
ent
ers
)pl
usapa
rts
-ha
ndl
ings
yst
em.Thepa
rts
-ha
ndl
ing
s
yst
emi
sconne
cte
dtoal
oad/
unl
oads
tat
ion.
Af
lexi
blema
nuf
act
uri
ng s
yst
em(
FMS)ha
sfourormor
epr
oce
ssi
ng s
tat
ionsc
onne
cte
d
me
cha
nic
all
ybyac
ommonpa
rts
-ha
ndl
ings
yst
ema
nde
lec
troni
cal
lybyadi
st
ri
but
edc
omput
er
s
yst
em.

Ba
sedonLe
velofFl
exi
bil
it
y,f
lexi
blema
nuf
act
uri
ngs
yst
emsa
rec
las
sif
ieda
s
(
1)De
dic
ate
dFMSs
,and(
2)Ra
ndo
m-or
derFMSs
Ade
dic
ate
dFMSi
sde
signe
dtopr
oduc
eal
imi
tedva
rie
tyofpa
rts
tyl
es.

Ar
and
om-
orde
rFMSi
smor
eappr
opr
iat
efort
hef
oll
owi
ngc
irc
ums
tanc
es:
(
1)t
hepa
rtf
ami
lyi
sla
rge
,(2)t
her
ear
esubs
tan
tia
lva
ria
tionsi
npa
rtc
onf
igur
ati
ons
,(3)ne
wpa
rt
de
signsa
rei
ntr
oduc
edi
ntot
hes
yst
ema
nde
ngi
nee
ringc
hange
swi
llbema
det
opa
rtsc
urr
ent
ly
pr
oduc
ed,
and(
4)t
hepr
oduc
tions
che
dul
eiss
ubj
ectt
ocha
ngef
romda
y-t
o-da
y.
I
tise
qui
ppe
dwi
thge
ner
al-
pur
pos
ema
chi
nest
ode
alwi
tht
hepr
oduc
tva
ria
tionsa
ndi
sca
pabl
e
ofpr
oce
ssi
ngpa
rtsi
nva
riouss
eque
nce
s(r
andomor
der
).

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 58
CAM La
b
Ma
nua
l
Compo
nent
sofFMS
Thet
hre
eba
sicc
ompone
ntsofaf
lexi
blema
nuf
act
uri
ngs
yst
ema
re:(
1)pr
oce
ssi
ngwor
kst
ati
ons
,
(
2)ma
ter
ialha
ndl
inga
nds
tor
ages
yst
em,a
nd(
3)c
omput
erc
ont
rols
yst
em.
I
naddi
ti
on,e
vent
hougha
nFMSi
shi
ghl
yaut
oma
ted,pe
opl
ear
ere
qui
redt
oma
nagea
ndope
rat
e
t
hes
yst
em.

Func
tionst
ypi
cal
lype
rfor
medbyhuma
nsi
ncl
ude
:
• l
oadi
ngr
awwor
kpa
rtsi
ntot
hes
yst
ema
ndunl
oadi
ngf
ini
she
dpa
rts(
ora
sse
mbl
ies
)fr
om
t
hes
yst
em
• c
hangi
nga
nds
ett
ingt
ool
s
• p
erf
ormi
nge
qui
pme
ntma
int
ena
ncea
ndr
epa
ir
• p
erf
ormi
ngNCpa
rtpr
ogr
ammi
ng
• p
rogr
ammi
nga
ndope
rat
ingt
hec
omput
ers
yst
em
• ma
nagi
ngt
hes
yst
em.

FMSAppl
ica
tionsa
ndBe
nef
it
s
FMSt
echnol
ogyi
smos
twi
del
yappl
iedi
nma
chi
ningope
rat
ions
.Ot
hera
ppl
ica
ti
onsi
ncl
ude
s
hee
tme
talpr
esswor
king,f
orgi
ng,a
nda
sse
mbl
y.
Thepr
inc
ipa
lbe
nef
it
sofFMSa
re:
1.I
ncr
eas
edma
chi
neut
il
iza
ti
on.
2.Fe
werma
chi
nesr
equi
red.
3.Re
duc
ti
oni
nfa
ctor
yfl
oors
pac
ere
qui
red.
4.Gr
eat
err
espons
ive
nes
stoc
hange
.
5.Re
duc
edi
nve
ntor
yre
qui
reme
nts
.
6.Lowe
rma
nuf
act
uri
ngl
eadt
ime
s.
7.Re
duc
eddi
rec
tla
borr
equ
ire
ment
sandhi
ghe
rla
borpr
oduc
tivi
ty.
8.Oppor
tuni
tyf
oruna
tte
nde
dpr
oduc
tion.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 59
CAM La
b
Ma
nua
l
Aut
oma
tedSt
ora
gea
ndRe
tri
eva
lSys
tem(
AS/
RS)
Ana
utoma
ted/
st
ora
gea
ndr
etr
ieva
lsys
tem(
AS/
RS)c
anbede
fine
dasas
tor
ages
yst
emt
hat
pe
rfor
mss
tor
agea
ndr
etr
ieva
lope
rat
ionswi
ths
pee
danda
ccur
acyunde
rade
fine
dde
gre
eof
a
utoma
ti
on.
Theope
rat
ionsa
ret
ota
llya
utoma
ted,c
omput
erc
ont
rol
led,a
ndf
ull
yint
egr
ate
dwi
thf
act
ory
a
nd/
orwa
rehous
eope
rat
ions
,andhuma
nwor
ker
scont
rolt
hee
qui
pme
nta
ndpe
rfor
mthe
s
tor
age
/re
tri
eva
ltr
ans
act
ions
.AS/
RSAREc
ust
om de
signe
dfore
acha
ppl
ica
tion,a
lth
ought
he
de
signsa
reba
sedo
nst
anda
rdmodul
arc
ompone
ntsa
vai
labl
efr
om e
achr
espe
cti
veAS/
RS
s
uppl
ier
.
AnAS/
RSc
ons
ist
sofoneormor
est
ora
gea
isl
est
hata
ree
achs
ervi
cedbyas
tor
age
/re
tri
eva
l
(
S/R)ma
chi
ne.Thea
isl
esha
ves
tor
ager
acksf
orhol
dingt
hes
tor
edma
ter
ial
s.TheS/
Rma
chi
nes
a
reus
edt
ode
live
rma
ter
ial
stot
hes
tor
ager
acksa
ndt
ore
tri
evema
ter
ial
sfr
omt
her
acks
.

Compo
nent
sofa
nAS/
RS:
Vi
rt
ual
lya
lloft
hea
utoma
teds
tor
age
/re
tri
eva
lsys
temsc
ons
istoft
hef
oll
owi
ngc
ompone
nts
:(1)
s
tor
ages
truc
tur
e,(
2)S/
Rma
chi
ne,(
3)s
tor
agemodul
es(
e.g.
,pa
lle
tsf
oruni
tloa
ds)
,an
d(4)one
ormor
epi
ckup-
and-
depos
its
tat
ions
.Ina
ddi
ti
on,ac
ont
rols
yst
emi
sre
qui
redt
oop
era
tet
he
AS/
RS.

Ba
sicc
ompone
ntsi
na(
i)f
ixe
dai
sl
eAS/
RS,
(ii
)ca
rous
elt
ypeAS/
RS

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 60
CAM La
b
Ma
nua
l
AS/
RSType
sandAp
pli
cat
ions
Uni
tloa
dAS/
RS
De
ep-
laneAS/
RS
Mi
nil
oadAS/
RS
Ma
n-o
n-boa
rdAS/
RS
Aut
oma
tedi
temr
etr
ieva
lsys
tem
Ve
rti
call
if
tst
ora
gemodul
es(
VLSM)

Ma
nya
ppl
ica
tionsofAS/
RSt
ech
nol
ogyha
vebe
ena
ssoc
iat
edwi
thwa
rehous
inga
ndd
ist
ri
but
ion
ope
rat
ions
.An AS/
RS c
ana
lso beus
edt
ost
orer
aw ma
ter
ial
sand wor
k-i
n-pr
oce
ssi
n
ma
nuf
act
uri
ng.Thr
eea
ppl
ica
ti
ona
rea
sca
nbedi
st
ingui
she
dfora
utoma
teds
tor
age
/re
tri
eva
l
s
yst
ems
:(1)uni
tloa
dst
ora
gea
ndha
ndl
ing,(
2)or
derpi
cki
ng,a
nd(
3)wor
k-i
n-pr
oce
sss
tor
age
s
yst
ems
.
Aut
oma
teds
tor
age
/re
tri
eva
lsys
temsa
rea
lsous
edi
nhi
gh-
produc
tionope
rat
ions
.Exa
mpl
esa
re
f
oundi
nthea
utomobi
lei
ndus
try
,whe
res
omef
ina
las
sembl
ypl
ant
sus
ela
rgec
apa
cit
yAS/
R
s
yst
emst
ote
mpor
ari
lys
tor
eca
rands
mal
ltr
uckbodi
esbe
twe
enma
jora
sse
mbl
yst
eps
.The
AS/
RSc
anbeus
edf
ors
tagi
nga
nds
eque
nci
ngt
hewor
kuni
tsa
ccor
dingt
othemos
tef
fi
cie
nt
pr
oduc
ti
ons
che
dul
e.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 61
CAM La
b
Ma
nua
l
ROBOTPROGRAMMI
NG[
1]

I
ndus
tri
alRobot
An i
ndus
tri
alr
obot i
s a ge
ner
al-
pur
pos
e, pr
ogr
amma
ble ma
chi
ne pos
ses
sin
gce
rta
in
a
nthr
opomor
phi
ccha
rac
ter
ist
ics
.The mos
tobvi
ousa
nthr
opomor
phi
ccha
rac
ter
ist
ic ofa
n
i
ndus
tri
alr
oboti
sit
sme
cha
nic
ala
rmt
hati
sus
edt
ope
rfor
m va
riousi
ndus
tri
alt
ask
s.Ot
her
huma
n-l
ikec
har
act
eri
st
icsa
rct
her
obot
'
sca
pabi
li
tyt
ore
spondt
ose
nsor
yinput
s,c
ommuni
cat
e
wi
thot
herma
chi
nes
,andma
ked
eci
si
ons
.The
sec
apa
bil
it
iespe
rmi
trobot
stope
rfor
m ava
rie
ty
ofus
efult
asks
.

CommonRobotConf
igur
ati
ons
Ar
obo
tma
nipul
atorc
anhedi
vide
dint
otwos
ect
ions
:abody-
and-
arma
sse
mbl
yandawr
ist
a
sse
mbl
y.The
rea
reus
ual
lyt
hre
ede
gre
es-
of-
fre
edom a
ssoc
iat
edwi
tht
hebody-
and
-ar
m,a
nd
e
ithe
rtwoort
hre
ede
gre
es-
of-
fre
edoma
ssoc
iat
edwi
tht
hewr
ist
.Att
hee
ndoft
hema
nipul
at
or'
s
wr
isti
sade
vic
ere
lat
edt
othet
askt
hatmus
tbea
ccompl
is
hedbyt
her
obot
.Thede
vic
e,c
all
eda
n
e
nde
ffe
ctor
,isus
ual
lye
ithe
r(1)agr
ippe
rforhol
dingawor
kpa
rtor(
2)at
oolf
orp
erf
ormi
ng
s
omepr
oce
ss.Thebody-
and-
armoft
her
oboti
sus
edt
opos
it
iont
hee
nde
ffe
ctora
ndt
her
obot
'
s
wr
isti
sus
edt
oor
ientt
hee
nde
ffe
ctor
.

RobotPr
ogr
ammi
ng
Todou
sef
ulwor
k,ar
obotmus
tbepr
ogr
amme
dtope
rfor
mit
smot
ionc
ycl
e.A r
obotpr
ogr
am
c
anbede
fine
dasapa
thi
nspa
cet
obef
oll
owe
dbyt
hema
nipul
ator
,combi
nedwi
thp
eri
phe
ral
a
cti
onst
hats
uppor
tthewor
kcy
cle
.Exa
mpl
esoft
hepe
riphe
rala
cti
onsi
ncl
udeope
ninga
nd
c
los
ingt
hegr
ippe
r,pe
rfor
mingl
ogi
calde
cis
ionma
king,a
ndc
ommuni
cat
ingwi
thot
herpi
ece
sof
e
qui
pme
nti
nther
obotc
ell
.Ar
obo
tispr
ogr
amme
dbye
nte
ringt
hepr
ogr
ammi
ngc
omma
ndsi
nto
i
tsc
ont
rol
lerme
mor
y.Di
ff
ere
ntr
obot
sus
e
di
ff
ere
ntme
thodsofe
nte
ringt
hec
omma
nds
.Toda
y,
ne
arl
yal
lindus
tri
alr
obot
sha
vedi
git
alc
omput
ers
a
s t
hei
rcont
rol
ler
s,
toge
the
r wi
th
c
ompa
tibl
est
ora
ged
evi
cesa
sthe
irme
mor
yuni
ts
.
For s
uchr
obot
s,t
he f
oll
owi
ngp
rog
rammi
ng
me
thod
sar
einus
e:

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 62
CAM La
b
Ma
nua
l
● Le
adt
hroughme
thod
● Comput
er-
li
kepr
ogr
ammi
ngl
angua
ges
● Of
fl
inepr
ogr
ammi
ng.

Thel
eadt
hroughme
thodma
kesus
eofat
eac
hpe
nda
ntt
opowe
rdr
ivet
her
obott
hroughi
ts
mot
ions
eque
nce
.Thet
eac
hpe
nda
nti
sus
ual
lyas
mal
lha
ndhe
ldde
vic
ewi
ths
wit
che
sanddi
als
t
ocon
trolt
her
obot
sphys
ica
lmove
ment
s.Ea
chmot
ioni
sre
cor
dedi
ntome
mor
yforf
utur
e
pl
ayba
ckdur
ingwor
kcyc
le.Thel
eadt
hroughme
thodi
sve
rypopul
ara
mongr
obotpr
ogr
ammi
ng
me
thod
sbe
caus
eofi
tse
asea
ndc
onve
nie
nce
.
Compu
ter
-l
ike(
robot
)pr
ogr
ammi
ngl
angua
ges
Theus
eoft
ext
ualpr
ogr
ammi
ngl
angua
gesbe
camea
nappr
opr
iat
epr
ogr
ammi
ngme
thoda
s
di
git
alc
omput
erst
ookove
rthec
ont
rolf
unc
tioni
nrobot
ics
.The
irus
eha
sbe
ens
ti
mul
ate
dbyt
he
i
ncr
eas
ingc
ompl
exi
tyoft
het
ask
stha
trobot
sar
eca
lle
dont
ope
rfor
m,wi
tht
hec
onc
omi
tant
ne
edt
oimbe
dlogi
calde
cis
ionsi
ntot
her
obotwor
kcyc
le.The
sec
omput
er-
li
kepr
ogr
ammi
ng
l
angua
gesa
rer
eal
lyon-
li
ne/
off
-fi
neme
thodsofpr
ogr
ammi
ng,be
caus
ether
obotmu
sts
ti
llbe
t
aughti
tsl
oca
tionsus
ingt
hel
ead-
thr
oughme
thod.

TheVALLa
ngua
ge
•TheVALl
angua
gewa
sde
vel
ope
dforPUMAr
obot
•VALs
tandsf
orVi
ctor
sAs
sembl
yLa
ngua
ge
VALi
sba
sic
all
yof
f-l
inel
angua
gei
nwhi
chp
rogr
am de
fini
ngt
hemot
ions
eque
ncei
sca
nbe
de
vel
ope
dof
f-l
inebu
tva
riouspoi
ntl
oca
tionus
edi
nthewor
kcyc
lea
rede
fine
dbyl
eadt
hrough.
VALs
tat
eme
ntsa
redi
vide
dint
otwoc
ate
gor
ies
:
a
)Moni
tor
ingc
omma
ndb)Pr
ogr
ammi
ngi
nst
ruc
tions
.
Moni
torc
omma
nda
res
etofa
dmi
nis
tra
tivei
nst
ruc
tionst
hatdi
rec
ttheope
rat
ionoft
her
obot
s
yst
em.
Someoft
hef
unc
tionsofMoni
torc
omma
ndsa
re:
● Pr
epa
ringt
hes
yst
emf
ort
heus
ert
owr
it
epr
ogr
amsf
orPUMA
● De
fini
ngpoi
ntsi
nspa
ce
● Comma
ndi
ngt
hePUMAt
oexe
cut
eapr
ogr
am
● Li
st
ingpr
ogr
amont
heCRT
Exa
mpl
esf
ormoni
torc
omma
ndsa
re:EDI
T,EXECUTE,
SPEED,
HEREe
tc.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 63
CAM La
b
Ma
nua
l
Pr
ogr
ami
nst
ruc
tionsa
reas
etofs
tat
eme
ntsus
edt
owr
it
erobotpr
ogr
ams
.Ones
tat
eme
ntus
ual
ly
c
orr
espondst
oonemove
mentoft
her
obot
sar
morwr
ist
.
Exa
mpl
eforpr
ogr
ami
nst
ruc
tionsa
reMovet
opo
int
,movet
oapoi
nti
nas
tra
ightl
inemot
ion,ope
n
gr
ippe
r,c
los
egr
ippe
r.(
MOVE,MOVES,APPRO,APPROS,DEPART,
OPENI
,CLOSEI
,ANDEXI
T)

TheMCLLa
ngua
ge
● MCLs
tandsf
orMa
chi
neCont
rolLa
ngu
agede
vel
ope
dbyDougl
as.
● Thel
angua
gei
sba
sedo
ntheAPT a
ndNC l
angua
ge.De
signe
dcont
rolc
ompl
ete
ma
nuf
act
uri
ngc
ell
.
● MCLi
senha
nce
mentofAPTwhi
chpos
ses
sesa
ddi
ti
ona
lopt
ionsa
ndf
eat
ure
sne
ede
dto
d
oof
f-l
inepr
ogr
ammi
ngofr
obot
icwor
kce
ll.
● Addi
ti
ona
lvoc
abul
arywor
dswe
rede
vel
ope
dtopr
ovi
det
hes
uppl
eme
nta
ryc
apa
bil
it
ies
i
nte
nde
dtobec
ove
redbyt
heMCL.The
sec
apa
bil
it
iesi
ncl
udeVi
si
on,I
nspe
cti
ona
nd
Cont
rolofs
igna
ls.
● MCLa
lsope
rmi
tst
heus
ert
ode
fineMACROSl
ikes
tat
eme
ntt
hatwoul
dbec
onve
nie
nt
t
ous
efors
pec
ial
iz
eda
ppl
ic
ati
ons
.
● MCLpr
ogr
ami
sne
ede
dtoc
ompi
let
opr
oduc
eCLFI
LE.
● Somec
omma
ndsofMCL pr
ogr
ammi
ngl
angua
gesa
reDEVI
CE,SEND,RECEI
V,
WORKPT,
ABORT,TASK,REGI
ON,LOCATEe
tc.

Of
f-l
inepr
ogr
ammi
ng:
Thi
sme
thodi
nvol
vest
hepr
epa
rat
ionoft
her
obotpr
ogr
am of
f-
li
ne,i
nama
nne
rsi
mil
art
oNC
pa
rtpr
ogr
ammi
ng.Of
f-
li
ner
obotpr
ogr
ammi
ngi
stypi
cal
lya
ccompl
is
hedona c
omput
er
t
ermi
nal
.Af
tert
hepr
ogr
am ha
sbe
enpr
epa
red,i
tise
nte
redi
ntot
her
obotme
mor
yforus
e
dur
ingt
hewor
kcyc
le.Thea
dva
nta
gedofof
f-
li
ner
obotpr
ogr
ammi
ngi
stha
tthepr
oduc
tiont
ime
oft
her
oboti
snotl
ostt
ode
layi
nte
achi
ngt
her
obotane
wta
sk.Pr
ogr
ammi
ngof
f-
li
nec
anbe
donewhi
let
her
oboti
sst
il
linpr
oduc
tionont
hepr
ece
dingj
ob.Thi
sme
anshi
ghe
rut
il
iza
tionof
t
her
obota
ndt
hee
qui
pme
ntwi
thwhi
chi
tope
rat
es.
Anot
herbe
nef
ita
ssoc
iat
edwi
thof
f-
li
nepr
ogr
ammi
ngi
sthepr
ospe
ctofi
nte
gra
tingt
her
oboti
nto
t
hef
act
oryCAD/
CAM da
taba
sea
ndi
nfor
mat
ions
yst
em.

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 64
CAM La
b
Ma
nua
l
Sa
mpl
eRobotPr
ogr
amsf
orSi
mpl
eOpe
rat
ions(
pic
k,pl
acea
nds
tac
k)
<pr
ogr
amt
ype
="i
con"
>
MOVETOAGRI
POPEN
MOVETOB
GRI
PCLOSE
MOVETOC
MOVETOD
MOVETOE
GRI
POPEN
MOVETOF
HOME
END

Us
erI
nte
rpha
seofr
obots
ims
oft
war
e

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 65
CAM La
b
Ma
nua
l

Mot
ion
s

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 66
CAM La
b
Ma
nua
l

Thef
oll
owi
ngs
ub-
sec
tionsde
scr
ibet
het
askc
omma
ndsa
vai
labl
einRoboCI
M 5150.
1.Channel
2.De l
ay
3.Do
4.El se
5.End
6.Endi f
7.Gos ub
8.Gr ip
9.Gr ipclose
10.Gripope n
11.Home
12.Input
13.Me ssage
14.Movet o
15.Output
16.Rc hannel
17.Re l
ay
18.Re pe
at

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 67
CAM La
b
Ma
nua
l
PNEUMATI
CSANDHYDRAULI
CS,
ELECTRO-
PNEUMATI
CS

I
nindus
tri
es,t
hre
eme
thodsa
reus
edf
ort
rans
mit
ti
ngpowe
rfr
om onepoi
ntt
oanot
her
.
Me
cha
nic
alt
rans
mis
sioni
sthr
oughs
haf
ts,ge
ars
,cha
ins
,be
lts
,et
c.El
ect
ri
calt
rans
mis
sioni
s
t
hroughwi
res
,tr
ans
for
mer
s,e
tc.Fl
uidpowe
rist
hroughl
iqui
dsorga
sinac
onf
ine
dspa
ce.

Thet
ermsPne
uma
tic
s(pne
umame
ani
nga
iri
nGr
eek)a
ndHydr
aul
ic hydr
s( ame
ani
ngwa
teri
n
Gr
eek)a
reus
edt
osi
gni
fyt
hea
ppl
ica
tion
soff
lui
d powe
r.Pne
uma
tic
sus
esa
nea
sil
y
c
ompr
ess
ibl
ega
ssuc
hasa
iroras
uit
abl
epur
ega
s-whi
lehydr
aul
icsus
esr
ela
tive
ly
i
ncompr
ess
ibl
eli
qui
dme
dias
ucha
soi
l(pe
trol
euma
nds
ynt
het
icoi
ls
).Fl
uidpowe
rist
heus
eof
f
lui
dsu
nde
rpr
ess
uret
oge
ner
ate
,cont
rol
,andt
rans
mitpowe
r.

Fl
uidp
owe
rsys
temspe
rfor
m wor
kbyapr
ess
uri
zedf
lui
dbe
ari
ngdi
rec
tlyonapi
st
oni
na
c
yli
nde
rori
naf
lui
dmot
or.Af
lui
dcyl
inde
rpr
oduc
esaf
orc
ere
sul
ti
ngi
nli
nea
rmot
ion,whe
rea
s
af
lui
dmot
orpr
oduc
est
orquer
esul
ti
ngi
nrot
arymot
ion.Wi
thi
naf
lui
dpowe
rsys
tem,c
yli
nde
rs
a
ndmot
ors(
als
oca
ll
eda
ctua
tor
s)dot
hede
sir
edwor
k.Cont
rolc
ompone
ntss
ucha
sva
lve
s
r
egul
atet
hes
yst
em.

Ba
sicCompone
ntsofaHydr
aul
icSys
tem:
Fi
gur
ebe
lows
howsas
impl
eci
rcui
tofahydr
aul
ics
yst
emwi
thba
sicc
ompone
nts
:

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 68
CAM La
b
Ma
nua
l
 Thehydr
aul
ica
ctua
tori
sade
vic
eus
edt
oconve
rtt
hef
lui
dpowe
rint
ome
cha
nic
alpowe
r
t
odous
efulwor
k.Thea
ctua
torma
ybeoft
hel
ine
art
ype(
e.g.
,hydr
aul
icc
yli
nde
r)or
r
ota
ryt
ype(
e.g.
,hydr
aul
icmot
or)t
opr
ovi
del
ine
arorr
ota
rymot
ion,r
espe
cti
vel
y.
 Thehydr
aul
icpumpi
sus
edt
ofor
cet
hef
lui
dfr
om t
her
ese
rvoi
rtor
estoft
hehydr
aul
ic
c
irc
uitbyc
onve
rti
ngme
cha
nic
ale
ner
gyi
ntohydr
aul
ice
ner
gy.
 Va
lve
sar
eus
edt
ocont
rolt
hedi
rec
tion,pr
ess
urea
ndf
lowr
ateofaf
lui
dfl
owi
ngt
hrough
t
hec
irc
uit
.
 Ext
erna
lpowe
rsuppl
y(mo
tor
)isr
equi
redt
odr
ivet
hepump.
 Re
ser
voi
risus
edt
ohol
dth
ehydr
aul
icl
iqui
d,us
ual
lyhydr
aul
icoi
l.
 Pi
pings
yst
emc
arr
iest
heh
ydr
aul
icoi
lfr
omonepl
acet
oanot
her
.
 Fi
lt
ersa
reus
edt
ore
movea
nyf
ore
ignpa
rti
cle
ssoa
ske
ept
hef
lui
dsys
temc
lea
nand
e
ffi
cie
nt,a
swe
lla
savoi
dda
maget
othea
ctua
tora
ndva
lve
s.
 Pr
ess
urer
egu
lat
orr
egul
ate
s(i
.e
.,ma
int
ains
)ther
equi
redl
eve
lofpr
ess
urei
nthe
h
ydr
aul
icf
lui
d.

Ba
sicCompone
ntsofaPne
uma
ticSys
tem:
Fi
gur
ebe
lows
howsas
impl
eci
rcui
tofapne
uma
tics
yst
emwi
thba
sicc
ompone
nts
:

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 69
CAM La
b
Ma
nua
l
Thef
unc
ti
onsofva
riousc
ompone
ntss
howni
nFi
g.a
bovea
rea
sfol
lows
:
 Thepne
uma
tica
ctua
torc
onve
rtst
hef
lui
dpowe
rint
ome
cha
nic
alpowe
rtope
rfor
mus
eful
wor
k.
 Thec
ompr
ess
ori
sus
edt
ocompr
esst
hef
res
hai
rdr
awnf
romt
hea
tmos
phe
re.
 Thes
tor
ager
ese
rvoi
risus
edt
ost
oreagi
venvol
umeofc
ompr
ess
eda
ir.
 Theva
lve
sar
eus
edt
ocon
trolt
hedi
rec
tion,f
lowr
atea
ndpr
ess
ureofc
ompr
ess
eda
ir.
 Ext
erna
lpowe
rsuppl
y(mot
or)i
sus
edt
odr
ivet
hec
ompr
ess
or.
 Thepi
pings
yst
emc
arr
iest
hepr
ess
uri
zeda
irf
romonel
oca
tiont
oanot
her
.

Fl
uidpowe
rappl
ica
tionsc
anbec
las
sif
iedi
ntot
woma
jors
egme
nts
:
St
ati
ona
ryhydr
aul
ics
:St
ati
ona
ryhydr
aul
ics
yst
emsr
ema
inf
ir
mlyf
ixe
dinonepos
it
ion.The
c
har
act
eri
st
icf
eat
ureofs
tat
iona
ryhydr
aul
icsi
stha
tva
lve
sar
ema
inl
ysol
enoi
dope
rat
ed.

Thea
ppl
ica
ti
onsofs
tat
iona
ryhyd
raul
ic
sar
easf
oll
ows
:
 Pr
oduc
tiona
nda
sse
mbl
yofve
hic
lesofa
llt
ype
s.
 Ma
chi
net
ool
sandt
rans
ferl
ine
s.
 Li
ft
inga
ndc
onve
yingde
vic
es.
 Me
tal
-f
ormi
ngpr
ess
es.
 Pl
ast
icma
chi
ner
ysuc
hasi
nje
cti
on-
mol
dingma
chi
nes
.
 Rol
li
ngma
chi
nes
.
 Li
ft
s.
 Foodpr
oce
ssi
ngma
chi
ner
y.
 Aut
oma
ticha
ndl
inge
qui
pme
nta
ndr
obot
s.

Mobi
lehydr
aul
ics
:Mobi
lehydr
aul
ics
yst
emsmoveonwhe
elsort
rac
kss
ucha
sat
owe
rcr
ane
ore
xca
vat
ort
ruc
ktoope
rat
einma
nydi
ff
ere
ntl
oca
tionsorwhi
lemovi
ng.A c
har
act
eri
st
ic
f
eat
ureofmobi
lehydr
aul
icsi
stha
ttheva
lve
sar
efr
eque
ntl
yma
nua
llyope
rat
ed.Thea
ppl
ica
tions
ofmob
ilehydr
aul
icsa
rea
sfol
lows
:

 Aut
omobi
les
,tr
act
ors
,ae
ropl
ane
s,mi
ssi
le,
boa
ts,
etc
.
 Cons
truc
tionma
chi
ner
y.

De
par
tme
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nic
alEngi
nee
ring 70
CAM La
b
Ma
nua
l
 Ti
ppe
rs,
exc
ava
tor
sande
leva
tingpl
atf
orms
.
 Li
ft
inga
ndc
onve
yingde
vic
es.
 Agr
icul
tur
alma
chi
ner
y.

Pne
uma
tics
yst
emsa
reus
edi
naut
oma
tione
qui
pme
nts
ucha
str
ans
ferl
ine
s,r
obot
s,e
tc.
;in
br
akes
yst
emofa
utomobi
les
,ra
ilwa
ycoa
che
s,e
tc.
;ma
ter
ialha
ndl
inge
qui
pme
nt,me
dic
al
e
qui
pme
nt,
powe
rha
mme
rsa
ndnutr
unne
rs,e
tc.

ELECTROPNEUMATI
CS[
5]
Ane
lec
tro-
pne
uma
tics
yst
emc
ons
ist
sofe
lec
tri
calc
ont
rols
yst
emsope
rat
ingpne
uma
ticpowe
r
s
yst
ems
.Thei
nte
rfa
cebe
twe
ent
hee
lec
tri
cala
ndpne
uma
tics
yst
emsi
sma
inl
yac
compl
is
hed
t
hroughs
ole
noi
dva
lve
s.De
vic
esl
ikel
imi
tswi
tche
sandpr
oxi
mit
yse
nsor
sar
eus
eda
sfe
edba
ck
e
leme
nts
.
I
nEl
ect
ro-
pne
uma
tic
s,a
nel
ect
ri
cals
igna
lei
the
rfr
om AC orDC s
our
cei
sus
ed.Ope
rat
ing
vol
tage
sra
ngef
rom a
round12Vt
o220Vol
ts
.Thef
ina
lcont
rolva
lvei
sac
tiva
tedbys
ole
noi
d
a
ctua
tio
n.
Cont
rolofEl
ect
r-
pne
uma
tics
yst
emi
sca
rri
edoute
ithe
rus
ingc
ombi
nat
ionofRe
laysa
nd
Cont
act
orsorwi
tht
hehe
lpofPr
ogr
amma
bleLogi
cCont
rol
ler
s(PLCs
).ARe
layi
sof
teni
sus
ed
t
oconve
rts
igna
linp
utf
rom s
ens
orsa
nds
wit
che
stonumbe
rofout
puts
igna
ls(
eit
hernor
mal
ly
c
los
edornor
mal
lyope
n).
I
nEl
ect
ro-
pne
uma
ticc
ont
rol
,thr
eei
mpor
tants
tep
sinvol
veda
re:
I
nputSi
gna
lGe
ner
ati
onbys
wit
che
sandc
ont
act
ors
,andva
rioust
ype
sofc
ont
acta
ndpr
oxi
mit
y
s
ens
ors
.
Si
gna
lPr
oce
ssi
ngbyac
ombi
nat
ionofCont
act
orsa
ndRe
laysorus
ingPr
ogr
amma
bleLogi
c
Cont
rol
ler
s.
I
nputSi
gna
lGe
ner
ati
ona
nde
ndu
se:The
ses
igna
lsa
cti
vat
esol
enoi
ds,i
ndi
cat
orsora
lar
ms.

Si
mpl
eexe
rci
sesonp
neuma
tic
san
dhydr
aul
icsc
irc
uit
s.
(
asi
mul
at
ionus
ingope
nsour
cet
ool
sma
ybede
mons
tra
ted)

De
par
tme
ntOfMe
cha
nic
alEngi
nee
ring 71
CAM La
b
Ma
nua
l
Ref
ere
n c
es:
[
1].Groover,Mikel
lP.Automa
tion,Pr
oducti
onSyst
emsa
ndComput
er-
Int
egr
ate
dMa
nuf
act
urng,4th
i
Edit
ion,Pea
rsonHighe
rEducati
on,NJ,2015.

[
2].Groover
,Mi ke
llP.Funda
ment
alsofMode
rnMa
nuf
act
uri
ng:Ma
ter
ial
s,Pr
oce
sse
sandSys
tems
,
4t
he d.
,JohnWi l
ey&Sons,I
nc.
,2010.

[
3].Shi
va na
nd,H.K.,Benal
,M.M.a
ndKot
i,V.Fl
exi
bleMa
nuf
act
uri
ngSys
tems
,Ne
wAge
Int
ernat
iona
l(P)Ltd.
,2006

[
4].ht
tps
:/
/npt
el.
ac.
in/
cour
ses
/11
2106175/
Modul
e%201/
Lec
tur
e%201.
pdf

[
5].ht
tps
:/
/npt
el.
ac.
in/
cour
ses
/11
2106175/
Modul
e%204/
Lec
tur
e%2041.
pdf

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CAM La
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EXERCI
SEPROBLEMS

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b
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nua
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nic
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nee
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CAM La
b
Ma
nua
l

De
par
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ntOfMe
cha
nic
alEngi
nee
ring 75
CAM La
b
Ma
nua
l

De
par
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ntOfMe
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nic
alEngi
nee
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CAM La
b
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nua
l

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CAM La
b
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nua
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VI
VAVOCEQUESTI
ONS

01.Wha
tisCAM?
02.Wha
tar
ethea
dva
nta
ges
,li
mit
ati
onofCAM?
03.Di
ff
ere
nti
atebe
twe
enc
onve
nti
ona
landc
omput
erc
ont
rol
ledma
chi
nes
?
04.Wha
tar
eNC,
CNCa
ndDNCma
chi
nes
?
05.Wha
tar
edi
ff
ere
ntt
ype
sofmot
ionc
ont
rol
le
rsi
nCNCma
chi
nes
?
06.Di
ff
ere
nti
atebe
twe
ena
bsol
utea
ndi
ncr
eme
nta
lpr
ogr
ammi
ng?
07.Expl
ai
ntheva
rioust
ype
sofpr
ogr
ammi
ngf
orma
t
08.Expl
ai
nNCpr
oce
dur
e
09.Expl
ai
nse
que
nceno,
pre
par
ator
ycodea
ndmi
sc.c
ode
.
10.Wha
tist
heme
ani
ngofc
anne
dcyc
le?
11.Whyc
utt
erc
ompe
nsa
tioni
sre
qui
redi
ntur
ninga
ndmi
ll
ing?
12.Wha
tisma
chi
nez
ero,
homez
eroa
ndwor
kze
ro?
13.Wha
tisATCa
nde
xpl
aini
tsa
dva
nta
ges
?
14.Wha
tar
edi
ff
ere
ntt
ype
sofATC?
15.Expl
ai
nsi
ngl
egr
ippe
randdoubl
egr
ippe
rar
minc
aseofma
chi
ningc
ent
er.
16.Wha
tisAPC?
17.Wha
tar
ethea
dva
nta
gesofAPC?
18.Di
ff
ere
nti
atebe
twe
enr
api
dandl
ine
armove
ment
.
19.Wha
tar
ethel
imi
tat
ionsofNCma
chi
nesove
rCNCma
chi
nes
?
20.Di
ff
ere
nti
atebe
twe
ent
urni
nga
ndma
chi
ningc
ent
er.
21.Howdoyoudi
ff
ere
nti
ateVMCa
ndHMC?
22.Wha
tar
ethea
xisc
onve
nti
onsi
ntur
ningc
ent
er?
23.Wha
tar
ethea
xisc
onve
nti
onsi
nma
chi
ningc
ent
er?
24.Expl
an4tha
i nd5tha
xisi
nca
seofma
chi
ningc
ent
er.
25.Howdoyout
estt
heNCp
rogr
am?
26.Wha
tiss
ub-
progr
ammi
nga
ndMa
cros
?Whyi
tisr
equi
red?
27.Na
mes
tanda
rdCAM pa
cka
ges
.
28.Di
ff
ere
nti
ateG02a
ndG03pr
epa
rat
oryf
unc
tion.
29.Di
ff
ere
nti
ateG00a
ndG01pr
epa
rat
oryf
unc
tion.

De
par
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nic
alEngi
nee
ring 78
CAM La
b
Ma
nua
l
30.Wha
tisG80pr
epa
rat
oryc
ode
?
31.Wha
tist
heme
ani
ngofr
efe
renc
eshi
ft
?
32.Howdoyous
ett
her
efe
ren
ceont
hewor
k-pi
ecei
ntur
ningc
ent
er?
33.Howdoyous
ett
her
efe
renc
eont
hewor
k-pi
ecei
nma
chi
ningc
ent
er?
34.Wha
tar
ethes
afe
tyme
asur
esr
equi
redwhi
leope
rat
ingt
urni
ng/
mac
hini
ngc
ent
er?
35.Li
stva
riouss
tanda
rdc
ont
rol
ler
s.
36.De
finer
obot
.
37.Whyr
oboti
sre
qui
red?
38.Wha
tar
etheva
riousc
onf
igur
ati
onofr
obot
?
39.Expl
ai
npi
tch
,yokea
ndwr
is
tinr
obot
?
40.Expl
ai
ndi
ff
ere
ntr
obotpr
ogr
ammi
ngme
thods
.
41.Expl
ai
nappl
ica
tiona
reaofr
obot
.
42.Howdoyoue
xpl
aini
nte
lli
genc
erobot
?
43.Howdoyoue
xpl
ainof
f-l
inepr
ogr
ammi
ngme
thod?
44.De
finef
lui
dpowe
r?
45.Wha
tishydr
aul
icsa
ndpne
uma
tics
yst
em?
46.De
finePa
sca
l’sl
aw?
47.Li
stt
hec
ompone
ntsofahydr
aul
ica
ndpne
uma
tics
yst
em?
48.Li
stt
hea
dva
nta
gea
nddi
sadva
nta
gesofhydr
aul
ica
ndpne
uma
tics
yst
em?
49.Howa
repumpsc
las
sif
ied?Gi
vee
xampl
es
50.Wha
tist
hef
unc
tionc
ont
rolc
ompone
nti
nthehydr
aul
ics
yst
em?Li
stt
hem&gi
ve
e
xampl
eea
ch
51.Wha
tar
ethema
jorc
ens
esofahydr
aul
ics
yst
embr
eakdown?
52.Li
stpr
ope
rti
esofhydr
aul
icf
lui
ds?
53.Wha
tisahydr
aul
icpowe
rpa
ck?

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nee
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