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CNC Programming / Robotic Integration

CNC Programming / Robotic Integration. Project Lead The Way Computer Integrated Manufacturing. CNC and TTL Programming. NC Codes Sample NC Part and Program Handshaking Codes Sample Mill Handshaking Flow of Robot program Sample Robot Handshaking Program TTL I/O Wire Connections. NC Codes.

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CNC Programming / Robotic Integration

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  1. CNC Programming / Robotic Integration Project Lead The Way Computer Integrated Manufacturing

  2. CNC and TTL Programming • NC Codes • Sample NC Part and Program • Handshaking Codes • Sample Mill Handshaking • Flow of Robot program • Sample Robot Handshaking Program • TTL I/O Wire Connections

  3. NC Codes • Block Number (N) • Preparatory Codes (G) • Miscellaneous Codes (M) • Primary X Motion (X) • Primary Y Motion (Y) • Primary Z Motion (Z)

  4. Preparatory Codes • G90 - Absolute Coordinates • G91 - Relative Coordinates • G00 - Rapid Traverse (non-cutting move) • G01 - Straight Line Interpolation (cutting move • G02 - Circle Interpolation (clockwise) • G03 - Circle Interpolation (c-clockwise) • G04 - Dwell (wait) Pause between motions on all axis. Time in seconds - G04F2 - pause for 2 sec. • G05 - Pause - waits for user intervention.

  5. M Codes - Miscellaneous • M00 - Pause • M01 - Optional stop • M02 - End of Program • M03 - Spindle on • M05 - Spindle off • M06 - Tool Change • M08 / M09 - Accessory # 1 on / off • M10 / M11 - Accessory # 2 on / off

  6. Sample NC Program Block N00G90G01X.5Y.5Z0F1 FEED RATE (IN/MIN) Z COORDINATE Y COORDINATE X COORDINATE PREP CODE - SL INTERPOL PREP CODE - ABSOLUTE BLOCK SEQUENCE #

  7. SAMPLE PART ABSOLUTE COORD.

  8. SAMPLE PROGRAM N00 G90 ; ABSOLUTE COORDINTAES N01 M06T1 ; LOAD TOOL 1 N02 M03 S3000 ; TURN SPINDLE ON TO 3000 RPM N03 G00 Z .1; RAPID TO .1 ABOVE PART N04 G00 X.5Y.5 ; RAPID TO POINT A N05 G01 Z-.0625F9 ; PLUNGE 1/16 AT 9 IN/MIN. N06 G01 X.5Y1.5; STRAIGHT LINE INTERP TO B N07 G01 X.875Y1; STRAIGNT LINE INTERP TO C N08 G01 X1.25Y1.5; STRAIGHT LINE INTERP TO D N09 G01 X1.25Y.5; STRAIGHT LINE INTERP TO E N10 G01 Z.1; RETRACT CUTTING TOOL

  9. Sample Program Continued N11 G00 X1.75Y1.5; RAPID TO POINT F N12 G01 Z-.0625F9; PLUNG AT 9 IN/MIN. N13 G01 X1.75Y.5; STRAING LINE INTERP TO H N14 G03 X1.75Y1.5I1.75J1; CCW CIRCLE INTERP. N15 G01Z.1; RETRACT CUTTING TOOL N16 M05; TURN OFF SPINDLE N17 M06T00; UNLOAD CUTTING TOOL N18 G00X4Y3Z3; MOVE TABLE TO UNLOADING POSITION N19 M02; END OF PROGRAM SIMULATE

  10. Handshaking Codes • G25 - Wait until TTL output #1 (Robot) goes on • G26 - Waits until TTL output #1(Robot) goes off • G35 - Wait until TTL output #2 (Robot) goes on • G36 - Waits until TTL output #2(Robot) goes off • M25 - Sets Robot input #1 to off (Starts Robot) • M26 - Sets Robot input #1 to on • M35 - Sets Robot input #2 to off (Starts Robot) • M36 - Sets Robot input #2 to on

  11. Handshaking With The Mill M10; OPEN VISE M26; TURN ROBOT INPUT ON (RESTRICTS ROBOT MOVEMENT) G00; MOVE TO LOAD/UNLOAD POSITION M25; TURN ROBOT INPUT OFF (START ROBOT - LOAD/UNLOAD) G04 F2; PAUSE FOR 2 SECONDS M26; RESET ROBOT INPUT TO ON G25; WAIT FOR ROBOT OUT #1 TO TURN ON THEN ONTINUE M11; TURN AUX. #2 OFF (CLOSE VISE) ****** RUN MILL PROGRAM ******************** M47; REWIND PROGRAM

  12. FLOW OF ROBOT PROGRAM WAIT FOR MILL INPUT LOAD VISE CYCLE OUTPUT TO MILL - CUT PART WAIT FOR MILL INPUT UNLOAD VISE CYCLE

  13. Handshaking With The Robot • WAIT • GO TO POSITION - SAFE POSITION • IF INPUT 1 OFF JUMP TO START (FROM MILL) • JUMP TO WAIT • START • LOAD MILL VISE • GO TO POSITION - SAFE POSITION • TURN OUTPUT 1 ON (START MILL PROGRAM) • WAIT 10 - WAIT FOR 1 SECOND • TURN OUTPUT 1 OFF (LIMIT MILL TO 1 CYCLE) • WAIT FOR MILL LOOP - UNLOAD VISE • JUMP TO START

  14. TTL I/O Cable Connection

  15. Gravity Feeder Connection • Connect one wire to Input #2 • Connect second wire to Input Ground

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