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User Manual V2.4 - cnctar.hunbay.com

1. Code Description Section GO Coordinated Straight Motion Rapid 15 3 Gl Coordinated Straight Motion Feed Rate 15 4 G2 G3 Coordinated Helical Motion Feed Rate 15 5 G4 Dwell 15 6 G5 2 G5 3 NURBs Block 15 8 G7 G8 Diameter or Radius Mode 15 9 G10 L1 Set Tool Table Entry 13 11 G10 L10 Set Tool Table Entry Calculated 15 13 G10 L2 Coordinate System Origin Setting 15 12 G10 L20 Coordinate System Origin Setting Calculated 15 14 G17 G19 1 Plane Select 15 15 G20 G21 Units of Measure 15 16 G28 G30 1 Go to Predefined Position 15 17 G33 Spindle Synchronized Motion 15 19 G33 1 Rigid Tapping 15 19 G38 2 G38 5 Probing 15 20 G40 Cancel Cutter Compensation 15 21 G41 G42 Cutter Compensation 15 22 G41 1 G42 1 Cutter Compensation Transient 15 23 G43 G43 1 Use Tool Length Offset from Tool Table 15 24 G49 Cancel Tool Length Offset 15 24 G53 Motion in Machine Coordinate System 15 25 G54 G59 Select Coordinate System 15 26 G59 1 G59 3 Select Coordinate System 15 26 G61 G61 1 Path Control Mode 15 27 G64 Path Control Mode with Optional Tolerance 15 27 G73 Drilling Cycle with Chip Breaking 15 28 G76 Multipass Threading Cycle Lathe 15 29 G80 Cancel Motion Modes 15 30 G81 Canned Drilling Cycle 15 31 G82 G89 Other Canned Cycles 15 33 G90 G91 Distance Mode 15 41 G90 1 G91 1 Arc Distance Mode 15 42 G92 Offset Coordinate Systems amp Set Parameters 15 43 G92 1 G92 2 Cancel Offsets 15 43 G92 3 Apply Parameters to
2. G10 L10 is just like G10 L1 except that instead of setting the offset entry to the given value it is set to a calculated value that makes the current coordinates become the given value It is an error if e Cutter Compensation is on 15 14 G10 L20 Set Coordinate System G10 L20 P coordinate system axes G10 L20 is similar to G10 L2 except that instead of setting the offset entry to the given value it is set to a calculated value that makes the current coordinates become the given value It is an error if e The P number does not evaluate to an integer in the range 1 to 9 e An axis is programmed that is not defined in the configuration 15 15 G17 G18 G19 G17 1 G18 1 G19 1 Plane Selection These codes set the current plane as follows G17 XY default G18 ZX G19 YZ G17 1 UV G18 1 WU G19 1 VW The effects of having a plane selected are discussed in Section 15 5 and Section 15 31 15 16 G20 G21 Length Units Program G20 to use inches for length units Program G21 to use millimeters for lenght units It is usually a good idea to program either G20 or G21 near the beginning of a program before any motion occurs and not to use either one anywhere else in the program 98 EMC V2 4 User Manual Chapter 15 G Code Reference 15 17 G28 G28 1 Go to Predefined Position G28 uses the values in parameters 5161 5166 as the absolute values to make a rapid traverse move to from
3. Because modern desktop environments automatically make some settings in the X Resource Database that adversely affect AXIS by default these settings are ignored To make the X Resource Database items override AXIS defaults include the following line in your X Resources Axis optionLevel widgetDefault this causes the built in options to be created at the option level widgetDefault so that X Resources which are level userDefault can override them 4 11 3 Physical jog wheels To improve the interaction of AXIS with physical jog wheels the axis currently selected in the GUI is also reported on a pin with a name like axisui jog x Except for a short time when the active axis has just been changed exactly one of these pins is TRUE at one time and the rest are FALSE After AXIS has created these HAL pins it executes the halfile named in HAL POSTGUI_HALFILE Unlike HAL HALFILE only one such file may be used 4 11 4 axisrc If it exists the contents of axisrc are executed as Python source code just before the AXIS gui is displayed The details of what may be written in the axisrc are subject to change during the development cycle The following adds Control Q as a keyboard shortcut for Quit and turns on Distance to go by default root_window bind lt Control q gt destroy help2 append Control Q Quit vars show_distance_to_go set 1 4 11 5 External Editor The menu options File gt Edit
4. If a CNC machine has components to provide mist coolant and or flood coolant they can be con trolled by G Codes 9 1 4 Feed and Speed Override A CNC machine can have separate feed and speed override controls which let the operator specify that the actual feed rate or spindle speed used in machining at some percentage of the programmed rate See Section 9 3 1 9 1 5 Block Delete Switch A CNC machine can have a block delete switch See Section 9 3 2 9 1 6 Optional Program Stop Switch A CNC machine can have an optional program stop switch See Section 9 3 3 9 2 Control and Data Components 9 2 1 Linear Axes The X Y and Z axes form a standard right handed coordinate system of orthogonal linear axes Positions of the three linear motion mechanisms are expressed using coordinates on these axes The U V and W axes also form a standard right handed coordinate system X and U are parallel Y and V are parallel and Z and W are parallel 9 2 2 Rotational Axes The rotational axes are measured in degrees as wrapped linear axes in which the direction of positive rotation is counterclockwise when viewed from the positive end of the corresponding X Y or Z axis By wrapped linear axis we mean one on which the angular position increases without limit goes towards plus infinity as the axis turns counterclockwise and deceases without limit goes towards minus infinity as the axis turns clockwise Wrapped linear axes are used rega
5. and File gt Edit Tool Table become available after defining the editor in the ini section DISPLAY Useful values include EDITOR gedit and EDITOR gnome terminal e vim For more information see the DISPLAY section of the INI Configuration Chapter in the Integrators Manual 4 11 6 Virtual Control Panel AXIS can display a custom virtual control panel in the right hand pane You can program buttons indicators data displays and more For more information see the Integrators Manual 4 11 7 Special Comments Special comments can be inserted into the G Code file to control how the preview of AXIS behaves In the case where you want to limit the drawing of the preview use these special comments Anything between the AXIS hide and AXIS show will not be drawn during the preview The AXIS hide and AXIS show must be used in pairs with the AXIS hide being first Anything after a AXIS stop will not be drawn during the preview These comments are useful to unclutter the preview display for instance while debugging a larger g code file one can disable the preview on certain parts that are already working OK 29 EMC V2 4 User Manual Chapter 4 AXIS e AXIS hide Stops the preview must be first e AXIS show Resumes the preview must follow a hide e AXIS stop Stops the preview from here to the end of the file 30 Chapter 5 Touchy Touchy is a GUI for touch screens It needs no mouse or keyboard Figure
6. lathe format lines are only required for lathe type tooling 59 EMC V2 4 User Manual Chapter 9 CNC Machine Overview 9 4 1 Mill Format Tool Files The mill format of a tool file is shown in Table 9 1 Table 9 1 Sample Tool File mill format Pocket FMS TLO Diameter Comment 1 1 2 0 1 0 2 2 1 0 0 2 5 5 1 5 0 25 endmill 10 10 2 4 0 3 for testing Each line has five entries The first four entries are required The last entry a comment is optional It makes reading easier if the entries are arranged in columns as shown in the table but the only format requirement is that there be at least one space or tab after each of the first three entries on a line and a space tab or newline at the end of the fourth entry The meanings of the columns and the type of data to be put in each are as follows The Pocket column contains the number unsigned integer which represents the pocket number slot number of the tool carousel slot in which the tool is placed The entries in this column must all be different The FMS column contains the number unsigned integer which represents a code number for the tool The user may use any code for any tool as long as the codes are unsigned integers This is typically the same as the pocket number The TLO column contains a real number which represents the tool length offset This number will be used if tool length offsets a
7. line arc arc arc and arc line cases as well as line line benefit from the naive cam detector This improves contouring performance by simplifying the path In the following figure the blue line represents the actual machine velocity The red lines are the acceleration capability of the machine The horizontal lines below each plot is the planned move The upper plot shows how the trajectory planner will slow the machine down when short moves are encountered to stay within the limits of the machines acceleration setting to be able to come to an exact stop at the end of the next move The bottom plot shows the effect of the Naive Cam Detector to combine the moves and do a better job of keeping the velocity as planned EMC V2 4 User Manual Chapter 3 User Concepts Figure 3 1 Naive Cam Detector wae ee ee 3 1 4 Planning Moves Make sure moves are long enough to suit your machine material Principally because of the rule that the machine will never move at such a speed that it cannot come to a complete stop at the end of the current movement there is a minimum movement length that will allow the machine to keep up a requested feed rate with a given acceleration setting The acceleration and deceleration phase each use half the ini file MAX_ACCELERATION In a blend that is an exact reversal this causes the total axis acceleration to equal the ini file MAX_ACCELERATION In other cases the actual machine acceleration is somewhat less t
8. 2 program G98 Remember that the R word has different meanings in absolute distance mode and incremental distance mode 113 Chapter 16 M Codes 16 1 MO M1 M2 M30 M60 Program Stopping and Ending To pause a running program temporarily regardless of the setting of the optional stop switch program MO EMC2 remains in the Auto Mode so MDI and other manual actions are not enabled To pause a running program temporarily but only if the optional stop switch is on program M1 EMC2 remains in the Auto Mode so MDI and other manual actions are not enabled It is OK to program MO and M1 in MDI mode but the effect will probably not be noticeable because normal behavior in MDI mode is to stop after each line of input anyway To exchange pallet shuttles and then stop a running program temporarily regardless of the setting of the optional stop switch program M60 If a program is stopped by an MO M1 or M60 pressing the cycle start button will restart the program at the following line To end a program program M2 To exchange pallet shuttles and then end a program program M30 Both of these commands have the following effects E Change from Auto mode to MDI mode Origin offsets are set to the default like G54 Selected plane is set to CANON_PLANE_XY like G17 Distance mode is set to MODE_ABSOLUTE like G90 Feed rate mode is set to UNITS_PER_MINUTE like G94 Feed and speed overrides are set to ON lik
9. Active_G Codes This will write all modal codes onto the message scratch pad If abort or estop is pressed during a run a set of buttons displays to the right of the text that allows the operator to shift the restart line forward or backwards If the restart line is not the last active line it will be highlighted as white letters on a blue background Caution a very slow feed rate and a finger poised over the pause button is advised during any program restart 43 EMC V2 4 User Manual Chapter 7 MINI The real heart of CNC machine tool work is the auto mode Sherline s auto mode displays the typical functions that people have come to expect from the EMC Along the top are a set of buttons which control what is happening in auto mode Below them is the window that shows the part of the program currently being executed As the program runs the active line shows in white letters on a red background The first three buttons Open Run and Pause do about what you d expect Pause will stop the run right where it is The next button Resume will restart motion They are like feedhold if used this way Once Pause is pressed and motion has stopped Step will resume motion and continue it to the end of the current block Press Step again to get the motion of the next block Press Resume and the interpreter goes back to reading ahead and running the program The combination of Pause and Step work a lot like single block mode o
10. Almost all actions in AXIS can be accomplished with the keyboard A full list of keyboard shortcuts can be found in the AXIS Quick Reference which can be displayed by choosing HELP gt QUICK REFERENCE Many of the shortcuts are unavailable when in MDI mode Feed Override Keys The Feed Override keys behave differently when in Manual Mode The keys 12345678 will select an axis if it is programed If you have 3 axis then will select axis O 1 will select axis 1 and 2 will select axis 2 The remainder of the number keys will still set the Feed Override When running a program 1234567890 will set the Feed Override to 0 100 The most frequently used keyboard shortcuts are shown in Table 6 1 23 EMC V2 4 User Manual Chapter 4 AXIS Table 4 1 Most Common Keyboard Shortcuts Keystroke Action Taken Mode Fl Toggle Emergency Stop All F2 Turn machine on off All 1 9 0 Set feed override from 0 to 100 Varies X Activate first axis Manual Y 1 Activate second axis Manual Z 2 Activate third axis Manual A 3 Activate fourth axis Manual I Select jog increment Manual C Continuous jog Manual Control Home Perform homing sequence Manual End Touch off Set G54 offset for active axis Manual Left Right Jog first axis Manual Up Down Jog second axis Manual Pg Up Pg Dn Jog third axis Manual Jog fourth axis Manual O Open File Manual Con
11. F1 also called E Stop 2 Toggle Machine Power F2 3 Open G Code file O Reload current file Ctrl R Begin executing the current file R Execute next line T Pause Execution P Resume Execution S BEE Ye Stop Program Execution ESC 9 Li Toggle Skip lines with Alt M 7 10 HW Toggle Optional Pause Alt M 1 11 E Zoom In o 12 Zoom Out IZ 13 Top view mei 14 N Rotated Top view 15 Front view 16 Side view 17 p Perspective view 17 EMC V2 4 User Manual Chapter 4 AXIS ey 18 Toggle between Drag and Rotate Mode D 19 es Clear live backplot Ctrl K 4 3 3 Graphical Display Area 4 3 3 1 Coordinate Display In the upper left corner of the program display is the coordinate display It shows the position of the machine To the left of the axis name an origin symbol is shown if the axis has been properly homed To the right of the axis name a limit symbol is shown if the axis is on one of its limit switches To properly interpret these numbers refer to the Position indicator in the status bar If the position is Absolute then the displayed number is in the machine coordinate system If it is Relative then the displayed number is in the offset coordinate system When the coordinates displayed are relative and an offset has been set the display will include a cyan machine origin marker If the position is Commande
12. When EMC is configured for a fixed location tool changer the P number is ignored but read preserved and rewritten by EMC so you can use P for any bookkeeping number you want Random Location Tool Changers Random location tool changers swaps the tool in the spindle with the one in the changer This type of tool changer the tool location will always be in a different pocket after a tool change When a tool is changed EMC rewrites the pocket number to keep track of where the tool are T can be any number but P must be a number that makes sense for the machine 81 EMC V2 4 User Manual Chapter 14 Tool Compensation 14 3 Cutter Radius Compensation Cutter Radius Compensation allows the programmer to program the tool path without knowing the exact tool diameter The only caveat is the programmer must program the lead in move to be at least as long as the largest tool radius that might be used There are two possible paths the cutter can take while cutter radius compensation is on to the left or right side of a line when facing the direction of cutter motion from behind the cutter To visualize this imagine you were standing on the part walking behind the tool as it progresses across the part G41 is your left side of the line and G42 is the right side of the line The end point of each move depends on the next move If the next move creates an outside corner the move will be to the end point of the compensated cut line If the next move cr
13. from O feed hold to 1 full speed 16 5 5 M53 Feed Stop Control To enable the feed stop switch program M53 or M53 P1 To disable the switch program M53 PO Enabling the feed stop switch will allow motion to be interrupted by means of the feed stop control In EMC2 the HAL pin motion feed hold is used for this purpose Values of 1 will cause the motion to stop if M53 is active 16 6 M61 Set Current Tool Number To change the current tool number while in MDI or Manual mode program a M61 Qxx in the MDI window One use is when you power up EMC with a tool currently in the spindle you can set that tool number without doing a tool change It is an error if e Q is not O or greater 116 EMC V2 4 User Manual Chapter 16 M Codes 16 7 M62 to M65 Output Control To control a digital output bit program M P where the M word ranges from 62 to 65 and the P word ranges from O to a default value of 3 If needed the the number of I O can be increased by using the num_dio parameter when loading the motion controller See the Integrators Manual Configuration Section EMC and HAL section for more information e The P word specifies the digital output number M62 Turn on digital output synchronized with motion M63 Turn off digital output synchronized with motion M64 Turn on digital output immediately M65 Turn off digital output immediately The M62 amp M63 commands will be queued Subsequent commands referring to the same output nu
14. from start of arc to midpoint and from midpoint to end those lines are then subject to the naive cam algorithm for lines Thus line arc arc arc and arc line cases as well as line line benefit from the naive cam detector This improves contouring performance by simplifying the path It is OK to program for the mode that is already active See also Section 9 2 15 for a discussion of these modes If Q is not specified then it will have the same behavior as before and use the value of P 103 EMC V2 4 User Manual Chapter 15 G Code Reference 15 28 G73 Drilling Cycle with Chip Breaking G73 X Y Z A B C R L Q The G73 cycle is intended for deep drilling or milling with chip breaking The retracts in this cycle cut off any long stringers which are common when drilling in aluminum This cycle takes a Q number which represents a delta increment along the Z axis 1 Preliminary motion as described above 2 Move the Z axis only at the current feed rate downward by delta or to the Z position whichever is less deep 3 Rapid up a bit 4 Repeat steps 2 and 3 until the Z position is reached at step 2 5 Retract the Z axis at traverse rate to clear Z It is an error if e the Q number is negative or zero 15 29 G76 Threading Cycle G76 P Z I J R K Q H E L It is an error if e The active plane is not the ZX plane e Other axis words such as X or Y are specified e The R degression value is l
15. in canned cycles may also be important 72 EMC V2 4 User Manual Chapter 12 G Code Best Practices Don t put too many things on one line Ignore everything in Section 11 and instead write no line of code that is the slightest bit ambiguous Don t set amp use a parameter on the same line Don t use and set a parameter on the same line even though the semantics are well defined Updating a variable to a new value such as 1 1 2 is ok Don t use line numbers Line numbers offer no benefits When line numbers are reported in error messages the numbers refer to the line number in the file not the N word value When moving more than one coordinate system consider inverse time feed mode Because the meaning of an F word in feed per minute mode varies depending on which axes are commanded to move and because the amount of material removed does not depend only on the feed rate it may be easier to use G93 inverse time feed mode to achieve the desired material removal rate 73 Chapter 13 Coordinate System 13 1 Introduction You have seen how handy a tool length offset can be Having this allows the programmer to ignore the actual tool length when writing a part program In the same way it is really nice to be able to find a prominent part of a casting or block of material and work a program from that point rather than having to take account of the location at which the casting or block will be held during the mac
16. next start point Rapid Moves Rapid moves may be programed while compensation is turned on Good Practices e Start a program with G40 to make sure compensation is off 83 EMC V2 4 User Manual Chapter 14 Tool Compensation 14 3 2 Examples 14 3 2 1 Outside Profile Figure 14 4 Outside Profile G Code F25 Set Feed Rate gt G40 Cancel Comp gt 610 L1 P1 RO 25 Z1 Set Tool Table gt Ti M6 Load Tool G42 Start Comp Right Gi X1 Y1 Lead In Move X5 Cut Path 640 Cancel Comp gt GO XO YO Exit Move M2 End Program Part Qutline Exit Move amp Lead In Move Tool Compensated tool path 14 3 2 2 Inside Profile 84 EMC V2 4 User Manual Chapter 14 Tool Compensation Figure 14 5 Inside Profile G20 Inch Mode F30 Set Feed Rate 610 Li P1 R 25 Zi Set Tool Table T1 M6 Load the Tool gt GO ZO Move to safe Z height G41 Start Cutter Comp Left X4 Y3 Rapid ta start point G1 X5 2 1 Move to cut height 3 G3 X6 Y4 J1 Are into cut path G1 Y6 Cut Profile X2 TE xE Y4 G3 X5 Y5 I 1 Are out of cut path GO ZO Move cutter to safe Z height G40 Stop Cutter Comp Compensated GO X1 Y1 Move to safe position Cut Path TO MG Remove Taol gt M2 End Program Part Profile Rapid Mave 85 Chapter 15 G Code Reference Conventions used in this section In the G Code prototypes the hyphen stands
17. 1 0100 endwhile msg test 2 of Z axis configuration S to continue M1 stop here 1000 100 loop 100 times the next loop has no delays after moves tests direction hold times on driver config and also max accel setting 0101 while 1000 GO Z1 000 GO Z0 500 1000 1000 1 0101 endwhile msg Done Z should be exactly 5 above table M2 149 Part V Appendices Appendix A Glossary A listing of terms and what they mean Some terms have a general meaning and several additional meanings for users installers and developers Acme Screw A type of lead screw that uses an acme thread form Acme threads have somewhat lower friction and wear than simple triangular threads but ball screws are lower yet Most manual machine tools use acme lead screws Axis One of the computer control movable parts of the machine For a typical vertical mill the table is the X axis the saddle is the Y axis and the quill or knee is the Z axis Additional linear axes parallel to X Y and Z are called U V and W respectively Angular axes like rotary tables are referred to as A B and C Axis One of the Graphical User Interfaces available to users of EMC2 Features the modern use of menus and mouse buttons while automating and hiding some of the more traditional EMC2 controls It is the only open source interface that displays the entire tool path as soon as a file is opened Backlash The amount of play or lost motion
18. 1 2 3 amp 4 q Tool Orientation 1 w Tool CL 135 deg Tool Orientation 3 Lee Ariantation 4 Tool CL 315 deg Tool CL 225 deg Tool Orientation 2 Tool CL 45 deg 127 EMC V2 4 User Manual Chapter 19 Lathe Specifics Figure 19 3 Tool Orientation 5 Tool CL180 deg Tool Orientation 6 Tool Orientation 7 Tool Orientation 8 Tool CL 90 deg Tool CL O deg Tool CL 270 deg 19 3 Tool Touch Off When running in lathe mode in AXIS you can set the X and Z in the tool table using the Touch Off window The X Axis The X axis offsets for each tool is normally an offset from the center line of the spindle in the tool table One method is to take your normal turning tool and turn down some stock to a known diameter Using the Tool Touch Off window enter the measured diameter or radius if in radius mode for that tool Then using some layout fluid or a marker to coat the part bring each tool up till it just touches the dye and set it s X offset to the diameter of the part used using the tool touch off Make sure any tools in the corner quadrants have the nose radius set properly in the tool table so the control point is correct Tool touch off automatically adds a G43 so the current tool is the current offset A typical session might be 1 Home each axis if not homed 2 Set the current tool with TnM6 where n is the tool number 3 Select the X axis in the Manual Control window 4 Move the X to a known position or take a t
19. 3 to 15 A parameter setting does not take effect until after all parameter values on the same line have been found For example if parameter 3 has been previously set to 15 and the line 3 6 G1 x 3 is interpreted a straight move to a point where x equals 15 will occur and the value of parameter 3 will be 6 The character takes precedence over other operations so that for example 1 2 means the number found by adding 2 to the value of parameter 1 not the value found in parameter 3 Of course 1 2 does mean the value found in parameter 3 The character may be repeated for example 2 means the value of the parameter whose index is the integer value of parameter 2 The interpreter maintains a number of readonly parameters for a loaded tool e 5400 tool number e 5401 tool x offset e 5402 tool y offset e 54083 tool z offset e 5404 tool a offset e 5405 tool b offset e 5406 tool c offset e 5407 tool u offset 65 EMC V2 4 User Manual Chapter 10 G Code Overview e 5408 tool v offset e 5409 tool w offset e 5410 tool diameter e 5411 tool frontangle e 5412 tool backangle e 45413 tool orientation 10 6 Named Parameters Named parameters work like numbered parameters but are easier to read All parameter names are converted to lower case and have spaces and tabs removed Named parameters must be enclosed with lt gt marks lt named parameter here gt is a local named parame
20. 5169 G28 Home 5181 5189 G30 Home 5211 5219 G92 offset 5220 Coordinate System Number 5221 5229 Coordinate System 1 5241 5249 Coordinate System 2 5261 5269 Coordinate System 3 5281 5289 Coordinate System 4 5301 5309 Coordinate System 5 5321 5329 Coordinate System 6 5341 5349 Coordinate System 7 5361 5369 Coordinate System 8 5381 5389 Coordinate System 9 5399 Result of M66 Check or wait for input The format of a parameter file is shown in Table 9 4 The file consists of any number of header lines followed by one blank line followed by any number of lines of data The Interpreter skips over the header lines It is important that there be exactly one blank line with no spaces or tabs even before the data The header line shown in Table 9 4 describes the data columns so it is suggested but not required that that line always be included in the header The Interpreter reads only the first two columns of the table The third column Comment is not read by the Interpreter Each line of the file contains the index number of a parameter in the first column and the value to which that parameter should be set in the second column The value is represented as a double precision floating point number inside the Interpreter but a decimal point is not required in the file All of the parameters shown in Table 9 4 are required parameters and must be included in any parameter file except that any parameter representing
21. 91 G20 G21 Length Units 98 G28 G28 1 99 G30 G30 1 99 G33 G33 1 Spindle Synchronized Motion 99 G38 x Straight Probe 100 G4 Dwell 94 G40 G41 G41 1 G42 G42 1 Cutter Compensa tion 101 G43 G43 1 G49 Tool Length Offsets 102 G5 2 G5 3 NURBs Block 95 G53 Absolute Coordinates 102 G54 76 G54 G59 3 Select Coordinate System 103 G55 75 76 G56 76 G57 76 G58 76 G59 76 G59 1 76 G59 2 76 G59 3 76 G61 G61 1 G64 Path Control 103 G7 Diameter Mode 96 G73 Drilling Cycle Chip Break 104 G76 Threading 104 G8 Radius Mode 96 G80 Cancel Modal Motion 106 G81 Drilling Cycle 108 G82 Drilling Cycle Dwell 110 G83 Peck Drilling 110 G84 Right Hand Tapping 110 159 EMC V2 4 User Manual INDEX G85 Boring No Dwell Feed Out 110 G86 Boring Spindle Stop Rapid Out 111 G87 Back Boring 111 G88 Boring Spindle Stop Manual Out 111 G89 Boring Dwell Feed Out 111 G90 G91 Set Distance Mode 111 G92 77 G92 G92 1 G92 2 G92 3 Offsets 112 G92 1 77 G92 2 77 G92 3 77 G93 G94 G95 Feed Rate Mode 112 G96 G97 Spindle Control Mode 113 G98 G99 Canned Cycle Return 113 General Logging 124 GUI 151 152 HAL 153 home 34 153 Indirection 121 INI 153 Instance 153 jog 153 Jog Speed 14 jog speed 23 34 joint coordinates 153 KEYSTICK 52 kinematics 153 lead screw 153 Line Number 64 Linux 4 loop 154 Looping do while endwhile
22. An example of an expression is 1 acos 0 3 4 0 2 66 EMC V2 4 User Manual Chapter 10 G Code Overview 10 8 Binary Operators Binary operators only appear inside expressions There are four basic mathematical operations addition subtraction multiplication x and division There are three logical operations non exclusive or OR exclusive or XOR and logical and AND The eighth operation is the modulus operation MOD The ninth operation is the power operation of raising the number on the left of the operation to the power on the right The relational operators are equality EQ inequality NE strictly greater than GT greater than or equal to GE strictly less than LT and less than or equal to LE The binary operations are divided into several groups according to their precedence see table 10 2 If operations in different precedence groups are strung together for example in the expression 2 0 3 1 5 5 5 11 0 operations in a higher group are to be performed before operations in a lower group If an expression contains more than one operation from the same group such as the first and x in the example the operation on the left is performed first Thus the example is equivalent to 2 0 3 1 5 5 5 11 0 which is equivalent to to 1 0 0 5 which is 0 5 The logical operations and modulus are to be performed on any real numbers not just on i
23. Comments may not be nested it is an error if a left parenthesis is found after the start of a comment and before the end of the comment Here is an example of a line containing a comment G80 M5 stop motion Comments do not cause a machining center to do anything 18 5 Messages A comment contains a message if MSG appears after the left parenthesis and before any other printing characters Variants of MSG which include white space and lower case characters are allowed The rest of the characters before the right parenthesis are considered to be a message Messages should be displayed on the message display device Comments not containing messages need not be displayed there 18 6 Probe Logging A comment can also be used to specify a file for the results of G38 x probing See section 15 20 Often general logging is more useful than probe logging Using general logging the format of the output data can be controlled General Logging 18 6 1 LOGOPEN filename Opens the named log file If the file already exists it is truncated 18 6 2 LOGCLOSE If the log file is open it is closed 18 6 3 LOG The message is expanded as described below and then written to the log file if it is open 124 EMC V2 4 User Manual Chapter 18 Other Codes 18 7 Debugging Messages Comments that look like debug rest of comment are the same as comments like msg rest of comment with the addition of special han
24. DOME gt nper o Ma a SOR Re ORE A Gy he we a G 144 224 Contact ANGIE e cd es RR A A we ok a aa 144 22 4 1 Roughing offset and depth per pass o e 144 IV Diagnostics 146 23 Steppers 147 29 1Common Problems s e s sg oca acem a eR RO a a aw oe oe a a 147 23 1 1 Stepper Moves One Step 6 ke eee ee 147 2S A ANO Steppers MOVE 2 corsa OS a ea ae ee ae 147 Poe Lo Distance NOE COTE ss We Rae Be ew wa al we ae we 147 EMC V2 4 User Manual CONTENTS 232 Error MESSAESS oo sorea kaar EAEEREN Se te ie wide es a a 147 23 2 OUI DATO ssa Ga a ee a A ae A A Sw we wee 147 2922 RTAPL RIOD 5 66 ke he ee a Vee ee ee e 148 UE o AS oN A EO Bowie AAA wR we Gl Se ew Gg Ree 148 aca a a VINE laa fees eh ee ah cae Ge ar oe ae Ga a a rw a Rw ca Gwe el el Je Ge wt Ghd ew 148 V Appendices 150 A Glossary 151 B Legal Section 155 El Wepre TEENS ca a a ate DE be eh de ew ded be ee ee 155 B2 GNU Pree Documentation License oo od ee we OP he ae ea 155 Chapter 1 Foreword EMC2 is modular and flexible These attributes lead many to see it as a confusing jumble of little things and wonder why it is the way it is This page attempts to answer that question before you get into the thick of things EMC started at the National Institute of Standards and Technology in the USA It grew up using Unix as it s operating system Unix made it different Among early Unix developers there grew a set of code writing ideas that some call the Unix
25. Document and satisfy these conditions can be treated as verbatim copying in other respects If the required texts for either cover are too voluminous to fit legibly you should put the first ones listed as many as fit reasonably on the actual cover and continue the rest onto adjacent pages If you publish or distribute Opaque copies of the Document numbering more than 100 you must either include a machine readable Transparent copy along with each Opaque copy or state in or with each Opaque copy a publicly accessible computer network location containing a complete Transparent copy of the Document free of added material which the general network using public has access to download anonymously at no charge using public standard network protocols If you use the latter option you must take reasonably prudent steps when you begin distribution of Opaque copies in quantity to ensure that this Transparent copy will remain thus accessible at the stated location until at least one year after the last time you distribute an Opaque copy directly or through your agents or retailers of that edition to the public It is requested but not required that you contact the authors of the Document well before redistributing any large number of copies to give them a chance to provide you with an updated version of the Document 156 EMC V2 4 User Manual Chapter B Legal Section 4 MODIFICATIONS You may copy and distribute a Modified Version of the D
26. Examples 138 Chapter 21 G Code Examples After you install EMC2 several sample files are placed in the nc_files folder Make sure the sample file is appropriate for your machine before running 21 1 Mill Examples 21 1 1 Helical Hole Milling File Name useful subroutines ngc Description Subroutine for milling a hole using parameters 21 1 2 Slotting File Name useful subroutines ngc Decription Subroutine for milling a slot using parameters 21 1 3 Grid Probe File Name gridprobe ngc Description Rectangular Probing This program repeatedly probes in a regular XY grid and writes the probed location to the file probe results txt in the same directory as the ini file 21 1 4 Smart Probe File Name smartprobe ngc Description Rectangular Probing This program repeatedly probes in a regular XY grid and writes the probed location to the file probe results txt in the same directory as the ini file This is improved from the grid probe file 139 EMC V2 4 User Manual Chapter 21 G Code Examples 21 1 5 Tool Length Probe File Name tool lenght probe nge Description Tool Length Probing This program shows an example of how to measure tool lengths automatically using a switch hooked to the probe input This is useful for machines without tool holders where the length of a tool is different every time it is inserted 21 1 6 Hole Probe File Name probe hole ngc Description Finding the Center and Diam
27. Gy AR a 96 16 1010 Ll Set Tool Tae sc ee eee a ean dg Pe eae ee dads 96 15 1610 L2 Se Coordinate Syste cose a ee HO A lw a a 97 15 1610 L10 Set Tool Table iaa RA Aa wo ER A owe 98 15 1410 120 Set Coordinate System ss ee ew eee ee ee 98 15 1 17 615 G19 617 1 G18 1 619 1 Plane Selection o o coros a coca m iaa 98 15 1620 G21 Length UMIS o o 005050 ee a ls RM Rs aa e 98 15 128 G28 1 Go to Predefined Position osoa e 99 15 1830 G30 1 Go to Predefined Position e e eee 99 15 1 33 G33 1 Spindle Synchronized Motion 99 15 20389 x Stragi Probe ico oe css e 100 15 2080 Compensation OM o lt lt ia a wa a ed a a ee a 101 15 2 41 G42 Cutter Radius Compensation gt lt s eses 2 2 0 0 000 eee ee eee 101 15 2841 1 G42 1 Dynamic Cutter Radius Compensation 101 15 2443 G43 1 G49 Tool Length Offsets 6 ce 102 15 24 G43 G43 1 Activate Tool length compensation 0 4 102 15 24 1 643 Use current tool loaded oo 1 eee ee 102 15 24 1 0643 Hn Offsets from tool table o 102 15 24 1 G43 1 Dynamic tool compensation 102 15 24 G49 Cancel tool length compensation 102 15 2653 Move in Absolute Coordinates 6 6 ee ee a 102 15 2654 659 9 Select Coordinate System ea ew ee ee ae 103 15 2601 661 1 G64 Set Path Control Mode cs s escaner HR ew eae 103 15 2 amp 73 Drill
28. Suite 330 Boston MA 02111 1307 USA Everyone is permitted to copy and distribute verbatim copies of this license document but changing it is not allowed O PREAMBLE The purpose of this License is to make a manual textbook or other written document free in the sense of freedom to assure everyone the effective freedom to copy and redistribute it with or without modifying it either commercially or noncommercially Secondarily this License preserves for the author and publisher a way to get credit for their work while not being considered responsible for modifications made by others This License is a kind of copyleft which means that derivative works of the document must themselves be free in the same sense It complements the GNU General Public License which is a copyleft license designed for free software We have designed this License in order to use it for manuals for free software because free software needs free documentation a free program should come with manuals providing the same freedoms that the software does But this License is not limited to software manuals it can be used for any textual work regardless of subject matter or whether it is published as a printed book We recommend this License principally for works whose purpose is instruction or reference 1 APPLICABILITY AND DEFINITIONS This License applies to any manual or other work that contains a notice placed by the copyright holder saying it can be distrib
29. The machining center may be put into any one of three path control modes 1 exact stop mode 2 exact path mode or 3 continuous mode with optional tolerance In exact stop mode the machine stops briefly at the end of each programmed move In exact path mode the machine follows the programmed path as exactly as possible slowing or stopping if necessary at sharp corners of the path In continuous mode sharp corners of the path may be rounded slightly so that the feed rate may be kept up but by no more than the tolerance if specified See Section 15 27 58 EMC V2 4 User Manual Chapter 9 CNC Machine Overview 9 3 Interpreter Interaction with Switches The Interpreter interacts with several switches This section describes the interactions in more detail In no case does the Interpreter know what the setting of any of these switches is 9 3 1 Feed and Speed Override Switches The Interpreter will interpret RS274 NGC commands which enable M48 or disable M49 the feed and speed override switches For certain moves such as the traverse out of the end of a thread during a threading cycle the switches are disabled automatically EMC2 reacts to the speed and feed override settings when these switches are enabled 9 3 2 Block Delete Switch If the block delete switch is on lines of RS274 NGC code which start with a slash the block delete character are not interpreted If the switch is off such lines are interpreted Normally the
30. a relief groove will be required at the entry unless the beginning of the thread is past the end of the material or an entry taper is used Unless using an exit taper the exit move traverse to original X is not synchronized to the spindle speed With a slow spindle the exit move might take only a small fraction of a revolution If the spindle speed is increased after several passes are complete subsequent exit moves will require a larger portion of a revolution resulting in a very heavy cut during the exit move This can be avoided by providing a relief groove at the exit or by not changing the spindle speed while threading The final position of the tool will be at the end of the drive line A safe Z move will be needed with an internal thread to remove the tool from the hole The sample program g76 ngc shows the use of the G76 canned cycle and can be previewed and executed on any machine using the sim lathe ini configuration The following example shows the result of running this G Code GO Z 5 X 2 G76 P0 05 Z 1 I 075 J0 008 K0 045 Q29 5 L2 E0 045 The tool is in the final position after the G76 cycle is completed You can see the entry path on the right from the Q29 5 and the exit path on the left from the L2 E0 045 The white lines are the cutting moves Figure 15 7 Threading Example 15 30 G80 Cancel Modal Motion Program G80 to ensure no axis motion will occur It is an error if 106 EMC V2 4 User Manual Chap
31. a we A Sw we a wa e e 140 2 LIE PEE e ma we Sag a we WS a Rw GS we Go ei eee ey AD k e 140 21 1 7 Culler Compensation ninia RRR RRO Su wm we eG 140 21 2Lathe Examples lt lt 00 0 esa a RM wee a a a A a ea 140 212 TUCU o e eaa A A EA A A A Ww 140 22 Image to gcode Milling depth maps 141 22 1WhaLis depti MAp lt o o cao A A AA A Ae AE AAA 141 22 2 Integrating image to gcode with the AXIS user interface o 141 22 SUSE imape to se0de 4 0502 ce ee Ree ER HE SR De ER SNe ae ee eS 142 Be AQ pO RECTORCE o a A A ee a ae a a a Aa 142 fe AUDE rr RA RR AA BO A Re ee ae a 142 POM Alaveri MAGE cc eR RR a we 142 224 3 Normalize Image ono rai ea EAR ER a ee 142 22 4 4Expand Image Border i ck ew we ee 142 27 4 5Tolefance units o srs ee ee ose reses aa Be bs 142 22 4 6Pixel SIZE WHINE caceria a aa ES 143 22 4 7 Plunge Feed Rate units per minute ee ee ee 143 22 4 0 Peed Rate units per minute oak ak ee ee card we Re A 143 22S opindle Speed RPM o s a he e REE RYERSS a ee dee bee ees 143 ee DEA PAE cos ce hg de hd wld A ee eS ee ws Gn a we Pe we 143 Po cana DESEO csi GO GS Ge GS AG we Se AA 143 224 J Deputies ae ee a Pe eee ee ee ee ea Ree He A 143 22 VoL Over Pixels foc bi a A A a ESRD ESE w hee Os 143 22 4 OO Diameter se coco e EE a a A enc a ae ga ak da 144 224 MES He kee AAA RA ee e a ee 144 22 4 1000 Type ir SRR ERE GER RR Ga we wee Aw ee ew SE 8 144 2 VAG
32. aggregate 8 TRANSLATION Translation is considered a kind of modification so you may distribute translations of the Document under the terms of section 4 Replacing Invariant Sections with translations requires special permission from their copyright holders but you may include translations of some or all Invariant Sections in addition to the original versions of these Invariant Sections You may include a translation of this License provided that you also include the original English version of this License In case of a disagreement between the translation and the original English version of this License the original English version will prevail 9 TERMINATION You may not copy modify sublicense or distribute the Document except as expressly provided for under this License Any other attempt to copy modify sublicense or distribute the Document is void and will automatically terminate your rights under this License However parties who have received copies or rights from you under this License will not have their licenses terminated so long as such parties remain in full compliance 10 FUTURE REVISIONS OF THIS LICENSE The Free Software Foundation may publish new revised versions of the GNU Free Documentation License from time to time Such new versions will be similar in spirit to the present version but may differ in detail to address new problems or concerns See http www gnu org copyleft Each version of the License is
33. and required Cover Texts given in the Document s license notice H Include an unaltered copy of this License I Preserve the section entitled History and its title and add to it an item stating at least the title year new authors and publisher of the Modified Version as given on the Title Page If there is no section entitled History in the Document create one stating the title year authors and publisher of the Document as given on its Title Page then add an item describing the Modified Version as stated in the previous sentence J Preserve the network location if any given in the Document for public access to a Transparent copy of the Document and likewise the network locations given in the Document for previous versions it was based on These may be placed in the History section You may omit a network location for a work that was published at least four years before the Document itself or if the original publisher of the version it refers to gives permission K In any section entitled Acknowledgements or Dedications preserve the section s title and preserve in the section all the substance and tone of each of the contributor acknowledgements and or dedications given therein L Preserve all the Invariant Sections of the Document unaltered in their text and in their titles Section numbers or the equivalent are not considered part of the section titles M Delete any section entitled Endorsements Such a section may not be
34. are hardly ever programmed If cutter radius compensation is active the motion will differ from what is described here See Section 14 3 Two formats are allowed for specifying an arc Center Format and Radius Format It is an error if e No feed rate has been set 15 5 1 Center format arcs preferred format In the center format the coordinates of the end point of the arc in the selected plane are specified along with the offsets of the center of the arc from the current location In this format it is OK if the end point of the arc is the same as the current point It is an error if e When the arc is projected on the selected plane the distance from the current point to the center differs from the distance from the end point to the center by more than 0 0002 inch if inches are being used or 0 002 millimeter if millimeters are being used When the XY plane is selected program G2 or G3 axes I J The axis words are all optional except that at least one of X and Y must be used to program an arc of less than 360 degrees I and J are the offsets from the current location in the X and Y directions respectively of the center of the circle I and J are optional except that at least one of the two must be used If only one is specified the value of the other is taken as O If you include the Z word it will spiral It is an error if e I and J are both omitted When the XZ plane is selected program G2 or G3 axes I K The
35. as viewed from the Top View Important Concepts e G10 L2 Pn does not change from the current coordinate system to the one specified by P you have to use G54 59 3 to select a coordinate system e When a rotation is in effect jogging an axis will only move that axis in a positive or negative direction and not along the rotated axis It is an error if e The P number does not evaluate to an integer in the range 1 to 9 e An axis is programmed that is not defined in the configuration If a G92 origin offset was in effect before G10 L2 it will continue to be in effect afterwards The coordinate system whose origin is set by a G10 command may be active or inactive at the time the G10 is executed If it is currently active the new coordinates take effect immediately Examples G10 L2 P1 X 3 5 Y 17 2 sets the origin of the first coordinate system the one selected by G54 to be X 3 5 and Y 17 2 Because only X and Y are specified the origin point is only moved in X and Y the other coordinates are not changed G10 L2 P1 XO YO ZO sets the G54 coordinate back to the origin Table 15 1 Set Coordinate System P Value Coordinate System G Code 1 1 54 55 3 3 56 4 4 57 5 5 58 6 6 59 7 7 59 1 8 8 59 2 9 9 59 3 J EMC V2 4 User Manual Chapter 15 G Code Reference 15 13 G10 L10 Set Tool Table G10 L10 P tool number R radius X offset Z offset O orientation
36. axis numbers X Y Z A B C U V W usually represent positions in terms of the currently active coordinate system Any exceptions to that rule are described explicitly in this Section 15 31 To go into incremental distance mode program G91 In incremental distance mode axis numbers usually represent increments from the current coordinate 111 EMC V2 4 User Manual Chapter 15 G Code Reference 15 42 G90 1 G91 1 Arc Distance Mode G90 1 Absolute Distance Mode for I J amp K offsets e I and J both must be specified or it is an error G91 1 Incremental Distance Mode for I J amp K offsets e Returns I J amp K to their normal behavior 15 43 G92 G92 1 G92 2 G92 3 Coordinate System Offsets See Section 13 for an overview of coordinate systems See Section 13 4 for more information on Offsets To make the current point have the coordinates you want without motion program G92 X Y Z A B C U V W where the axis words contain the axis numbers you want All axis words are optional except that at least one must be used If an axis word is not used for a given axis the coordinate on that axis of the current point is not changed It is an error if 1 all axis words are omitted When G92 is executed the origins of all coordinate systems move They move such that the value of the current controlled point in the currently active coordinate system becomes the specified value All coordinate system s origins a
37. cutter compensation is commanded to turn on when it is already on 15 24 G43 G43 1 G49 Tool Length Offsets 15 24 1 G43 G43 1 Activate Tool length compensation G43 and G43 1 change subsequent motions by offsetting the Z and or X coordinates by the length of the tool G43 and G43 1 do not cause any motion The next time a compensated axis is moved that axis s endpoint is the compensated location 15 24 1 1 G43 Use current tool loaded To use the currently loaded tool from the last Tn M6 program a G43 15 24 1 2 G43 Hn Offsets from tool table To use a tool length offset from the tool table program G43 Hn where the n number is the desired index in the tool table The H number will typically be but does not have to be the same as the slot number of the tool currently in the spindle It is OK for the H number to be zero an offset value of zero will be used It is an error if e the H number is not an integer is negative or is larger than the number of carousel slots 15 24 1 3 G43 1 Dynamic tool compensation To use a tool length offset from the program use G43 1 Xn Yn Wn to set any axis tlo at run time It is an error if e motion is commanded on the same line as 643 1 15 24 22 G49 Cancel tool length compensation To use no tool length offset program G49 It is OK to program using the same offset already in use It is also OK to program using no tool length offset if none is currently being used 15 25 G5
38. do not by this License give permission to use their names for publicity for or to assert or imply endorsement of any Modified Version 5 COMBINING DOCUMENTS You may combine the Document with other documents released under this License under the terms defined in section 4 above for modified versions provided that you include in the combination all of the Invariant Sections of all of the original documents unmodified and list them all as Invariant Sections of your combined work in its license notice The combined work need only contain one copy of this License and multiple identical Invariant Sections may be replaced with a single copy If there are multiple Invariant Sections with the same name but different contents make the title of each such section unique by adding at the end of it in parentheses the name of the original author or publisher of that section if known or else a unique number Make the same adjustment to the section titles in the list of Invariant Sections in the license notice of the combined work In the combination you must combine any sections entitled History in the various original documents forming one section entitled History likewise combine any sections entitled Acknowledgements and any sections entitled Dedications You must delete all sections entitled Endorsements 157 EMC V2 4 User Manual Chapter B Legal Section 6 COLLECTIONS OF DOCUMENTS You may make a collection consisting of the D
39. for a real value A real value may be e An explicit number 4 e An expression 2 2 e A parameter value 88 e A unary function value acos 0 In most cases if axis words any or all of X Y Z A B C U V W are given they specify a destination point Axis numbers are in the currently active coordinate system unless explicitly described as being in the absolute coordinate system Where axis words are optional any omitted axes will have their current value Any items in the G Code prototypes not explicitly described as optional are required The values following letters are often given as explicit numbers Unless stated otherwise the explicit numbers can be real values For example G10 12 could equally well be written G 2 5 L 1 1 If the value of parameter 100 were 2 G10 L 100 would also mean the same If L is written in a prototype the will often be referred to as the L number and so on for any other letter 15 1 Polar Coordinates Polar Coordinates can be used to specify the XY coordinate of a move The On is the distance and An is the angle The advantage of this is for things like bolt hole circles which can be done very simply by moving to a point in the center of the circle setting the offset and then moving out to the first hole then run the drill cycle Polar Coordinates always are from the current XY zero position To shift the Polar Coordinates from machine zero use an offset or select a c
40. in the same directory as your configuration and is called tool tbl The tools might be in a tool changer or just changed manually The file can be edited with a text editor or be updated using G10 L1 Table 19 1 Lathe Format Tool Table Tl Pl DO 125000 Z 0 511000 Q7 I 30 J30 Facing Tool T2 P2 D0 062500 Z 0 100000 Q1 1165 J105 Back Cutting Tool T99999 P99999 Te we ir ae tee You have lots of tools In general new tool table line format is e T integer tool number e P integer pocket number e D abs float tool diameter e X W float tool length offset on specified axis e I float front angle lathe tools e J float back angle lathe tools e Q int tool orientation lathe 126 EMC V2 4 User Manual Chapter 19 Lathe Specifics e begin of comment The maximum number of entries in the tool table is 56 The maximum tool and pocket number is 99999 The following figure shows the lathe tool orientations with the center line angle of each orientation and info on FRONTANGLE and BACKANGLE Figure 19 1 Lathe Tool Orientations lt Pasition 270 x o Se E FRONTANGLE 210 FRONTANGLE 330 Position 5 Tool 180 gt lt Pasition 7 0 BACKANGLE 150 BACKANGLE 30 Position 6 90 gt In AXIS the following figures show what Tool Positions look like from the above tool table Figure 19 2 Tool Positions
41. in this group may have an effect 6 3 5 3 The Coolant group The two buttons allow the Mist and Flood coolants to be turned on and off Depending on your machine configuration not all the items in this group may appear 6 3 6 Code Entry Manual Data Input also called MDI allows G code programs to be entered manually one line at a time When the machine is not turned on and not set to MDI mode the code entry controls are unavailable Figure 6 4 The Code Entry tab G1 G17 G40 G21 G90 G94 G54 G49 G99 G64 G51 M2 M5 M9 M46 F225 51600 6 3 6 1 MDI This allows you to enter a g code command to be executed Execute the command by pressing Enter 6 3 6 2 Active G Codes This shows the modal codes that are active in the interpreter For instance G54 indicates that the G54 offset is applied to all coordinates that are entered 37 EMC V2 4 User Manual Chapter 6 TkKEMC 6 3 7 Jog Speed By moving this slider the speed of jogs can be modified The numbers above refer to axis units second The text box with the number is clickable Once clicked a popup window will appear allowing for a number to be entered 6 3 8 Feed Override By moving this slider the programmed feed rate can be modified For instance ifa program requests F60 and the slider is set to 120 then the resulting feed rate will be 72 The text box with the number is clickable Once clicked a popup window will appear all
42. indicates that the G54 offset is applied to all coordinates that are entered When in Auto the Active G Codes represent the codes after any read ahead by the interpreter 4 3 7 Feed Override By moving this slider the programmed feed rate can be modified For instance ifa program requests F60 and the slider is set to 120 then the resulting feed rate will be 72 4 3 8 Spindle Speed Override By moving this slider the programmed spindle feed rate can be modified For instance if a program requests F8000 and the slider is set to 80 then the resulting spindle speed will be 6400 This item only appears when the HAL pin motion spindle speed out is connected 22 EMC V2 4 User Manual Chapter 4 AXIS 4 3 9 Jog Speed By moving this slider the speed of jogs can be modified For instance if the slider is set to 1 in min then a 01 inch jog will complete in about 6 seconds or 1 100 of a minute Near the left side slow jogs the values are spaced closely together while near the right side fast jogs they are spaced much further apart allowing a wide range of jog speeds with fine control when it is most important On machines with a rotary axis a second jog speed slider is shown This slider sets the jog rate for the rotary axes A B and C 4 3 10 Max Velocity By moving this slider the maximum velocity can be set This caps the maximum velocity of axis no matter what is programed in the g code file 4 4 Keyboard Controls
43. is started before a program is started it will try to use some color lines to indicate the kind of motion that was used to make it A green line is a rapid move A black line is a feed rate move Blue and red indicate arcs in counterclockwise and clockwise directions The backplotter with Mini allows you to zoom and rotate views after you have run your program but it is not intended to store a tool path for a long period of time 7 6 3 Tool Page The tool page is pretty much like the others You can set length and diameter values here and they become effective when you press the Enter key You will need to set up your tool information before you begin to run a program You can t change tool offsets while the program is running or when the program is paused 48 EMC V2 4 User Manual Chapter 7 MINI Figure 7 7 Mini Tool Display The Add Tools and Remove Tools buttons work on the bottom of the tool list so you will want to fill in tool information in decending order Once a new tool has been added you can use it in a program with the usual G code commands There is a 32 tool limit in the current EMC configuration files but you will run out of display space in Mini long before you get there Hint You can use menu gt view gt show popin full to see more tools if you need 7 6 4 Offset Page The offset page can be used to display and setup work offsets The coordinate system is selected along the left hand side of the wind
44. may have different meanings in different contexts Letters which refer to axis names are not valid on a machine which does not have the corresponding axis Table 10 1 Words and their meanings Letter Meaning A axis of machine B axis of machine C axis of machine Tool radius compensation number Feed rate General function See table 10 4 Tool length offset index X offset for arcs and G87 canned cycles Y offset for arcs and G87 canned cycles Z offset for arcs and G87 canned cycles Spindle Motion Ratio for G33 synchronized movements Miscellaneous function See table 10 4 Line number Dwell time in canned cycles and with G4 Key used with G10 Feed increment in G73 G83 canned cycles Arc radius or canned cycle plane Spindle speed Tool selection U axis of machine V axis of machine W axis of machine X axis of machine Y axis of machine Z axis of machine Al SG ao o a OO to gt J z z NI KI XI Y lt Ell a m0 64 EMC V2 4 User Manual Chapter 10 G Code Overview 10 4 Number The following rules are used for explicit numbers In these rules a digit is a single character between O and 9 e A number consists of 1 an optional plus or minus sign followed by 2 zero to many digits followed possibly by 3 one decimal point followed by 4 zero to many digits provided that there is at least one digit somewhere in the number
45. method e g quadrature encoder signals by which emc receives information about the position of motors Feed rate Override A manual operator controlled change in the rate at which the tool moves while cutting Often used to allow the operator to adjust for tools that are a little dull or anything else that requires the feed rate to be tweaked Floating Point Number A number that has a decimal point 12 300 In HAL it is known as float G Code The generic term used to refer to the most common part programming language There are several dialects of G code EMC uses RS274 NGC GUI Graphical User Interface 152 EMC V2 4 User Manual Chapter A Glossary General A type of interface that allows communications between a computer and human in most cases via the manipulation of icons and other elements widgets on a computer screen EMC An application that presents a graphical screen to the machine operator allowing manip ulation of machine and the corresponding controlling program HAL Hardware Abstraction Layer At the highest level it is simply a way to allow a number of building blocks to be loaded and interconnected to assemble a complex system Many of the building blocks are drivers for hardware devices However HAL can do more than just configure hardware drivers Home A specific location in the machine s work envelope that is used to make sure the computer and the actual machine both agree on the tool position
46. parport 0 pin 14 out True exit 0 M102 file name 118 EMC V2 4 User Manual Chapter 16 M Codes bin sh file to turn off paraport pin 14 to open the collet closer halcmd setp parport 0 pin 14 out False exit 0 To pass a variable to a M1nn file you use the P and Q option like this M100 P123 456 0321 654 In your M100 file it might look like this bin sh voltage 1 feedrate 2 halcmd setp thc voltage voltage halcmd setp thc feedrate feedrat exit 0 119 Chapter 17 O Codes O codes provide for flow control in NC programs Each block has an associated number which is the number used after O Care must be taken to properly match the O numbers The behavior is undefined if e Other words are used on a line with an O word e Comments are used on a line with an O word 17 1 Subroutines sub endsub return call Subroutines extend from a O sub to an O endsub The lines inside the subroutine the body are not executed in order instead they are executed each time the subroutine is called with O call 0100 sub subroutine to move to machine home GO XO YO ZO 0100 endsub many intervening lines 0100 call Inside a subroutine O return can be executed This immediately returns to the calling code just as though O endsub was encountered O call takes up to 30 optional arguments which are passed to the subroutine as 1 2 N Parameters from N 1 to 30 h
47. program lines by entering one block waiting for that motion to end and then enter the next block Below the entry window there is a listing of all of the current modal codes This listing can be very handy I often forget to enter a 800 before I command a motion If nothing happens I look down there to see if g80 is in effect G80 stops any motion If it s there I remember to issue a block like g00 xO yO z0 In MDI you are entering text from the keyboard so none of the main keys work for commands to the running machine F1 will Estop the control Since many of the keyboard keys are needed for entry most of the bindings that were available in auto mode are not available here 7 4 4 FEEDHOLD CONTINUE Feedhold is a toggle When the EMC is ready to handle or is handling a motion command this button shows the feedhold label on a red backgrouund If feedhold has been pressed then it will show the continue label Using it to pause motion has the advantage of being able to restart the program from where you stopped it Feedhold will toggle between zero speed and whatever feed rate override was active before it was pressed This button and the function that it activates is also bound to the pause button on most keyboards 44 EMC V2 4 User Manual Chapter 7 MINI 7 4 5 ABORT The abort button stops any motion when it is pressed It also removes the motion command from the EMC No further motions are cued up after this button is presse
48. rule allows us to build a predictable control system from the many modules available by making them connectable We achieve connectability by setting up standard interfaces to sets of modules and following those standards The Separation rule requires that we make distinct parts that do little things By separating func tions debugging is much easier and replacement modules can be dropped into the system and comparisons easily made What does the Unix way mean for you as a user of EMC2 It means that you are able to make choices about how you will use the system Many of these choices are a part of machine integration but lFound at http en wikipedia org wiki Unix_philosophy 07 06 2008 EMC V2 4 User Manual Chapter 1 Foreword many also affect the way you will use your machine As you read you will find many places where you will need to make comparisons Eventually you will make choices I ll use this interface rather than that or I ll write part offsets this way rather than that way Throughout these handbooks we describe the range of abilities currently available As you begin your journey into using EMC2 we offer two cautionary notes e Praphrasing the words of Doug Gwyn on UNIX emc2 was not designed to stop its users from doing stupid things as that would also stop them from doing clever things e Likewise the words of Steven King emc2 is user friendly It just isn t promiscuous about which users it s friendly
49. spindle This command might be part of a program to produce a 16TPI thread For rigid tapping spindle synchronized motion with return code G33 1 X Y Z K where K gives the distance moved for each revolution of the spindle A rigid tapping move consists of the following sequence e Amove to the specified coordinate synchronized with the spindle at the given ratio and starting with a spindle index pulse e When reaching the endpoint a command to reverse the spindle e g from 300 RPM clockwise to 300RPM counterclockwise e Continued synchronized motion beyond the specified end coordinate until the spindle actually stops and reverses e Continued synchronized motion back to the original coordinate 99 EMC V2 4 User Manual Chapter 15 G Code Reference e When reaching the original coordinate a command to reverse the spindle a second time e g from 300RPM counterclockwise to 300RPM clockwise e Continued synchronized motion beyond the original coordinate until the spindle actually stops and reverses e An unsynchronized move back to the original coordinate All spindle synchronized motions wait for spindle index so multiple passes line up G33 moves end at the programmed endpoint G33 1 moves end at the original coordinate All the axis words are optional except that at least one must be used It is an error if e All axis words are omitted e The spindle is not turning when this command is executed e The requested
50. straight traverse of the Z axis only to the R position if it is not already at the R position If another plane is active the preliminary and in between motions are analogous 15 32 G81 Drilling Cycle G81 X Y Z A B C R L The G81 cycle is intended for drilling l Preliminary motion as described above 2 Move the Z axis only at the current feed rate to the Z position 3 Retract the Z axis at traverse rate to clear Z 108 EMC V2 4 User Manual Chapter 15 G Code Reference Example 1 Suppose the current position is 1 2 3 and the XY plane has been selected and the following line of NC code is interpreted G90 G81 G98 X4 Y5 Z1 5 R2 8 This calls for absolute distance mode G90 and OLD_Z retract mode G98 and calls for the G81 drilling cycle to be performed once The X number and X position are 4 The Y number and Y position are 5 The Z number and Z position are 1 5 The R number and clear Z are 2 8 Old Zis 3 The following moves take place 1 a traverse parallel to the XY plane to 4 5 3 a traverse parallel to the Z axis to 4 5 2 8 a feed parallel to the Z axis to 4 5 1 5 Ae N a traverse parallel to the Z axis to 4 5 3 Example 2 Suppose the current position is 1 2 3 and the XY plane has been selected and the following line of NC code is interpreted G91 G81 G98 X4 Y5 Z 0 6 R1 8 L3 This calls for incremental distance mode G91 and OLD_Z retract mode G98 and calls for the
51. that occurs when direction is reversed in a lead screw or other mechanical motion driving system It can result from nuts that are loose on leadscrews slippage in belts cable slack wind up in rotary couplings and other places where the mechanical system is not tight Backlash will result in inaccurate motion or in the case of motion caused by external forces think cutting tool pulling on the work piece the result can be broken cutting tools This can happen because of the sudden increase in chip load on the cutter as the work piece is pulled across the backlash distance by the cutting tool Backlash Compensation Any technique that attempts to reduce the effect of backlash without actually removing it from the mechanical system This is typically done in software in the controller This can correct the final resting place of the part in motion but fails to solve problems related to direction changes while in motion think circular interpolation and motion that is caused when external forces think cutting tool pulling on the work piece are the source of the motion Ball Screw A type of lead screw that uses small hardened steel balls between the nut and screw to reduce friction Ball screws have very low friction and backlash but are usually quite expensive Ball Nut A special nut designed for use with a ball screw It contains an internal passage to re circulate the balls from one end of the screw to the other CNC Computer Numerica
52. the coordinate section 13 of this manual 3 5 1 G53 Machine Coordinate When you home EMC you set the G53 Machine Coordinate System to O for each axis homed e No other coordinate systems or tool offsets are changed by homing The only time you move in the G53 machine coordinate system is when you program a G53 on the same line as a move Normally you are in the G54 coordinate system 3 5 2 G54 59 3 User Coordinates Normally you use the G54 Coordinate System When an offset is applied to a current user coordinate system a small blue ball with lines will be at the machine origin when your DRO is displaying Position Relative Actual in Axis If your offsets are temporary use the Zero Coordinate System from the Machine menu or program G10 L2 P1 XO YO ZO at the end of your G Code file Change the P number to suit the coordinate system you wish to clear the offset in e Offsets stored in a user coordinate system are retained when EMC is shut down e Using the Touch Off button in Axis sets an offset for the chosen User Coordinate System 10 EMC V2 4 User Manual Chapter 3 User Concepts 3 5 3 When Your Lost If your having trouble getting 0 0 0 on the DRO when you think you should You have some offsets programmed in and need to remove them Move to the Machine origin with G53 GO X0 YO ZO Clear any G92 offset with G92 1 Use the G54 coordinate system with G54 Set the G54 coordinate system to be the same as the machine coord
53. the locations and all of the work to be done there The following code is offered as an example of making a square using the G55 offsets that we set above G55 GO xO yO zO gl f2 z 0 2000 xl yl x0 yO gO zO g54 x0 yO zO m2 But you say why is there a G54 in there near the end Many programmers leave the G54 coordinate system with all zero values so that there is a modal code for the absolute machine based axis positions This program assumes that we have done that and use the ending command as a command to machine zero It would have been possible to use g53 and arrive at the same place but that command would not have been modal and any commands issued after it would have returned to using the G55 offsets because that coordinate system would still be in effect G54 use preset work coordinate system 1 G55 use preset work coordinate system 2 G56 use preset work coordinate system 3 G57 use preset work coordinate system 4 G58 use preset work coordinate system 5 G59 use preset work coordinate system 6 G59 1 use preset work coordinate system 7 G59 2 use preset work coordinate system 8 G59 3 use preset work coordinate system 9 13 3 1 Default coordinate system One other variable in the VAR file becomes important when we think about offset systems This variable is named 5220 In the default files its value is set to 1 00000 This means that when the EMC starts up it should use the first coordinate system as its default If you set this
54. the machine will temporarily be allowed to jog off of a physical limit switch This check box is only available if a limit switch is tripped 4 3 5 5 The Spindle group The buttons on the first row select the direction for the spindle to rotate Counterclockwise Stopped Clockwise The buttons on the next row increase or decrease the rotation speed The checkbox on the third row allows the spindle brake to be engaged or released Depending on your machine configuration not all the items in this group may appear 21 EMC V2 4 User Manual Chapter 4 AXIS 4 3 5 6 The Coolant group The two buttons allow the Mist and Flood coolants to be turned on and off Depending on your machine configuration not all the items in this group may appear 4 3 6 MDI MDI allows G code programs can be entered manually one line at a time When the machine is not turned on or when a program is running the MDI controls are unavailable Figure 4 5 The MDI tab Manual Control F3 MDI F5 History T1 i 7 MDI Command Co Active G Codes G80 G1 G40 G20 G90 G34 G54 G49 699 G64 GO 697 691 1 68 M5 M9 M48 M53 MO FO S History This shows MDI commands that have been typed earlier in this session MDI Command This allows you to enter a g code command to be executed Execute the command by pressing Enter or by clicking Go Active G Codes This shows the modal codes that are active in the interpreter For instance G54
55. time feed or feed per revolution modes are being used see Section 15 44 1 If any of XYZ are moving F is in units per minute in the XYZ cartesian system and all other axes UVWABC move so as to start and stop in coordinated fashion 2 Otherwise if any of UVW are moving F is in units per minute in the UVW cartesian system and all other axes ABC move so as to start and stop in coordinated fashion 3 Otherwise the move is pure rotary motion and the F word is in rotary units in the ABC pseudo cartesian system 9 2 6 Coolant Flood coolant and mist coolant may each be turned on independently The RS274 NGC language turns them off together see Section 16 4 9 2 7 Dwell A machining center may be commanded to dwell i e keep all axes unmoving for a specific amount of time The most common use of dwell is to break and clear chips so the spindle is usually turning during a dwell Regardless of the Path Control Mode see Section 9 2 15 the machine will stop exactly at the end of the previous programmed move as though it was in exact path mode 57 EMC V2 4 User Manual Chapter 9 CNC Machine Overview 9 2 8 Units Units used for distances along the X Y and Z axes may be measured in millimeters or inches Units for all other quantities involved in machine control cannot be changed Different quantities use different specific units Spindle speed is measured in revolutions per minute The positions of rotation
56. to 9 00000 it would use the ninth offset system as its default for start up and reset Any value other than an integer decimal really between 1 and 9 or a missing 5220 variable will cause the EMC to revert to the default value of 1 00000 on start up 13 3 2 Setting coordinate system values within G code In the general programming chapter we listed a G10 command word This command can be used to change the values of the offsets in a coordinate system add here 76 EMC V2 4 User Manual Chapter 13 Coordinate System 13 4 G92 Offsets The way that it works has changed just a bit from the early days to the current releases It should be thought of as a temporary offset that is applied to all other offsets 13 4 1 The G92 commands This set of commands include G92 This command when used with axis names sets values to offset variables G92 1 This command sets zero values to the g92 variables G92 2 This command suspends but does not zero out the g92 variables G92 3 This command applies offset values that have been suspended When the commands are used as described above they will work pretty much as you would expect A user must understand the correct ways that the g92 values work They are set based upon the location of each axis when the g92 command is invoked The NIST document is clear that To make the current point have the coordinates x0 yO and zO you would use g92 x0 yO z0 G92 does not work from absolute machine coor
57. touched by the front and side of the tool intersect 9 2 4 Coordinated Linear Motion To drive a tool along a specified path a machining center must often coordinate the motion of several axes We use the term coordinated linear motion to describe the situation in which nominally each axis moves at constant speed and all axes move from their starting positions to their end positions at the same time If only the X Y and Z axes or any one or two of them move this produces motion in a straight line hence the word linear in the term In actual motions it is often not possible to maintain constant speed because acceleration or deceleration is required at the beginning and or end of the motion It is feasible however to control the axes so that at all times each axis has completed the same fraction of its required motion as the other axes This moves the tool along same path and we also call this kind of motion coordinated linear motion Coordinated linear motion can be performed either at the prevailing feed rate or at traverse rate or it may be synchronized to the spindle rotation If physical limits on axis speed make the desired rate unobtainable all axes are slowed to maintain the desired path 9 2 5 Feed Rate The rate at which the controlled point or the axes move is nominally a steady rate which may be set by the user In the Interpreter the interpretation of the feed rate is as follows unless inverse
58. traverse rate to clear Z 15 34 G83 Peck Drilling G83 X Y Z A B C R L Q The G83 cycle often called peck drilling is intended for deep drilling or milling with chip breaking The retracts in this cycle clear the hole of chips and cut off any long stringers which are common when drilling in aluminum This cycle takes a Q number which represents a delta increment along the Z axis 1 Preliminary motion as described above 2 Move the Z axis only at the current feed rate downward by delta or to the Z position whichever is less deep Rapid back out to the clear_z Rapid back down to the current hole bottom backed off a bit Repeat steps 2 3 and 4 until the Z position is reached at step 2 D no PB O Retract the Z axis at traverse rate to clear Z It is an error if e the Q number is negative or zero 15 35 G84 Right Hand Tapping This code is currently unimplemented in EMC2 It is accepted but the behavior is undefined See section15 19 15 36 G85 Boring No Dwell Feed Out G85 X Y Z A B C R L The G85 cycle is intended for boring or reaming but could be used for drilling or milling l Preliminary motion as described above 2 Move the Z axis only at the current feed rate to the Z position 3 Retract the Z axis at the current feed rate to clear Z 110 EMC V2 4 User Manual Chapter 15 G Code Reference 15 37 G86 Boring Spindle Stop Rapid Out G86 X Y Z A B C
59. units This change was made because otherwise the meaning of a location changed depending on whether G20 or G21 was active when G28 G30 G10 L2 or G92 3 is programmed Tool table lengths diameters are in inifile units In EMC2 the tool lengths offsets and diameters in the tool table are specified in inifile units only This change was made because otherwise the length of a tool and its diameter would change based on whether G20 or G21 was active when initiating G43 G41 G42 modes This made it impossible to run gcode in the machine s non native units even when the gcode was simple and well formed starting with G20 or G21 and didn t change units throughout the program without changing the tool table G84 G87 not implemented G84 and G87 are not currently implemented but may be added to a future release of EMC2 G28 G30 with axis words When G28 or G30 is programmed with only some axis words present EMC2 only moves the named axes This is common on other machine controls To move some axes to an intermediate point and then move all axes to the predefined point write two lines of gcode GO X Y axes to move to intermediate point G28 move all axes to predefined point 135 EMC V2 4 User Manual Chapter 20 RS274NGC Differences that do not change the meaning of RS274NGC pro grams G33 G76 threading codes These codes are not defined in RS274NGC G38 2 The probe tip is not retracted after a G38 2 movement
60. 010 0 0001 See the Configure section of the Integrators Manual for more information on setting the increments 4 3 5 2 Homing If your machine has home switches and a homing sequence defined for all axes the button will read Home All The Home All button or the Ctrl HOME key will home all axes using the homing sequence Pressing the HOME key will home the current axis even if a homing sequence is defined If your machine has home switches and no homing sequence is defined or not all axes have a homing sequence the button will read Home and will home the selected axis only Each axis must be selected and homed separately If your machine does not have home switches defined in the configuration the Home button will set the current selected axis current position to be the absolute position O for that axis and will set the is homed bit for that axis See the Integrators Manual for more information on homing 4 3 5 3 Touch Off By pressing Touch Off or the END key the G54 offset for the current axis is changed so that the current axis value will be the specified value Expressions may be entered using the rules for rs274ngc programs except that variables may not be referred to The resulting value is shown as a number Figure 4 4 Touch Off Enter Z coordinate relative to workpiece isqrt 2 2 0 707107 Coordinate System P1 G54 OK Cancel 4 3 5 4 Override Limits By pressing Override Limits
61. 14 3 Cutter Radius Compensation from Tool Table To turn cutter radius compensation on left i e the cutter stays to the left of the programmed path when the tool radius is positive program G41 D To turn cutter radius compensation on right i e the cutter stays to the right of the programmed path when the tool radius is positive program G42 D The D word is optional if there is no D word the radius of the tool currently in the spindle will be used If used the D number should normally be the slot number of the tool in the spindle although this is not required It is OK for the D number to be zero a radius value of zero will be used It is an error if e the D number is not an integer is negative or is larger than the number of carousel slots e the YZ plane is active e or cutter radius compensation is commanded to turn on when it is already on 15 23 G41 1 G42 1 Dynamic Cutter Radius Compensation G41 1 or G42 1 D diameter lt L orientation gt To turn cutter radius compensation on left program G41 1 D L To turn cutter compensation on right program G42 1 D L The D word specifies the cutter diameter The L word specifies the cutter orientation and defaults to O if unspecified For more information on cutter orientation see Section 9 1 It is an error if 101 EMC V2 4 User Manual Chapter 15 G Code Reference e the YZ plane is active e the L number is not in the range from O to 9 inclusive e or
62. 2 EY MANUAL o rr RA RARA A A A ee a 42 TAD AUTO orar ea A a e i 43 a MOR A E oe Gees ce he ee ees ae oe 44 7 4 4 FEEDHOLD CONTINUE 2 0 00 eee ee 44 a ABORTAR A A ee a ee we ee 45 TA TESTER A ee AR IR wh eo aa bo de a a 45 Poo LEW COIE fk ek ek we A we a we Wa we A ck He ae Bete A 45 7 51 Akis Posion Displays o cia we a a Ee ee a 45 0 2 Feed TALE OVATE lt 0 e bem ee ba ee ee Ga ea hee e 46 Tis MESSITES A ee a awe ee a AG 46 T O RE CODIE RA a AA a oe a Se amp ae 46 YG Program EOI o cic bb ee PE a PE aw Re Se ew ke os 47 76 2 Backeplot Display coocoo area i ORR REAR EOE Rd a as e 48 TOG Tool Pag oo a se a rinan e SES RN ewe Ge ww A we 8 48 TOA SST PERES o estas AAA Ge ee a ee i He e 49 Tel Keyboard Bindings coc asiaa A ea aa a a e e 50 TL Common Keye oo aa o a wee we we a A ee ee a 50 Wee Marmalade E A ee A a a a Ee By ws 50 Tike OOOH ieee oA ee a ea a A ee a a a Ra als 51 ee DREE ra arana a LS we E AA A ocurred one Dare amp a 51 8 KEYSTICK 52 ol TURCOCMCUONA oo Re Ree wae hide nee a dede e de de e hs 52 ice TRASTIENDA ee ORL A eee Ge wo let a S 52 SS TENE coo a Rh GA Bel A e A RA A A SI Se Ew 53 II Using EMC 54 9 CNC Machine Overview 55 9 1 Mechanical Components oo o siora ss eR eA ee ee ee h 55 Dll AE raoi ae a GS Se ee eB a E Ba ew Ee e ee ws ae a 55 9 11 1 Primary Linear ARES oec oco ca a A aN ee aa 55 9 1 1 2 Secondary Linear AKES socos e oo ea Pe ek 55 TALA ROTA ORAL ASES lt a a a ae a w
63. 29 G59 1 7 5341 5342 5343 5344 5345 5346 5347 5348 5349 G59 2 8 5361 5362 5363 5364 5365 5366 5367 5368 5369 G59 3 9 5381 5382 5383 5384 5385 5386 5387 5388 5389 It is an error if e one of these G codes is used while cutter radius compensation is on See Section 13 for an overview of coordinate systems 15 27 G61 G61 1 G64 Set Path Control Mode G61 Exact Path Mode G61 1 Exact Stop Mode G64 Best Possible Speed G64 P motion blending tolerance Q naive cam tolerance G61 visits the programmed point exactly even though that means temporarily coming to a complete stop G64 without P means to keep the best speed possible no matter how far away from the programmed point you end up G64 P Q is a way to fine tune your system for best compromise between speed and accuracy The P tolerance means that the actual path will be no more than P away from the programmed endpoint The velocity will be reduced if needed to maintain the path In addition when you activate G64 P Q it turns on the naive cam detector when there are a series of linear XYZ feed moves at the same feed rate that are less than Q away from being collinear they are collapsed into a single linear move On G2 3 moves in the G17 XY plane when the maximum deviation of an arc from a straight line is less than the G64 P tolerance the arc is broken into two lines
64. 3 Move in Absolute Coordinates To move in absolute coordinates from the machine origin program G53 on the same line as a linear move G53 is not modal and must be programmed on each line GO or G1 does not have to be programmed on the same line if one is currently active For example G53 GO X0 YO Z0 will move the axes to the home position even if the currently selected coordinate system has offsets in effect It is an error if 102 EMC V2 4 User Manual Chapter 15 G Code Reference e G53 is used without GO or G1 being active e or G53 is used while cutter radius compensation is on 15 26 G54 G59 3 Select Coordinate System To select coordinate system 1 program G54 and similarly for other coordinate systems The system number G code pairs are 1 G54 2 G55 3 G56 4 G57 5 G58 6 G59 7 G59 1 8 G59 2 and 9 G59 3 The coordinate systems store the values for each system in the variables shown in the following table Table 15 3 Coordinate Systems Select CS X Y Z A B C U V WwW G54 1 5221 5222 5223 5224 5225 5226 5227 5228 5229 G55 2 5241 5242 5243 5244 5245 5246 5247 5248 5249 G56 3 5261 5262 5263 5264 5265 5266 5267 5268 5269 G57 4 5281 5282 5283 5284 5285 5286 5287 5288 5289 G58 5 5301 5302 5303 5304 5305 5306 5307 5308 5309 G59 6 5321 5322 5323 5324 5325 5326 5327 5328 53
65. 4 1 Mil Format Tool Files lt 4 404 se GBA ee A ER wh Ses A Re wd 60 9 4 2 Lathe Format Tool Files gt sss sa bb ee a e 60 9 5 Parameters da eh AOS hE ee he Ew a beh bb bw bah a 61 10G Code Overview 63 POPOV a OS gt Sa was we ee ea ew we VAs ws a oe Be we de 63 IO SLE WUD nk a HR SRE SEH RRR EERE OES ww eee bee es 64 WE dein te Rare O eS ee He ee AR araa o 64 ADIOS ova AE A A A AR A a tr ian A SS 3 65 10 SMumbered Parmer lt lt ia a 65 LO Blane PAranicterss 2012 e kG AA e a e ee ks pa a e 66 TF Vesa o o ae A A SR O A a ee DA a 66 DOSIS Sper abhor aj e a a a A e A di ot 67 EMC V2 4 User Manual CONTENTS OPPO car we A a A Re ee A a i a 67 10 Repeater Meme oa a ge ae a ee a wd eS e A 68 1O TREO o a a Oe a ee De da eee Ge 68 10 IL ommmands and Machine Modes lt lt lt ee el e 69 TO EGO CODOS yao eee a eae A ee BA TS we E we amp A 69 10 PE CMMmentS ae ee a ie we ace Ea 70 LO Pe te e e e hoe ahah sed Sie as E ee wD Ge ee A ae See a A 70 11 Order of Execution 71 12 G Code Best Practices 72 13 Coordinate System 74 US LINDO UCA ka a A A RA KR SA MARKS RS de de dd 74 13 2The Machine Position Command G53 osaa e e 74 13 3Fixture Offsets G54 G59 3 2 ee 75 183 1 Default coordinate system lt gt so caer ada OR Re ad he 76 13 3 2Setting coordinate system values within G code o 76 e ANA 77 13 4 1The G92 commands co escena 77 TS AR SGT GOZ Wales oo ke ee a a He ww ee Be we 77 BAILAS o a a
66. 5 1 Touchy Relative Absolute DTG Handwheel X 0 0000 Xx 0 0000 X 0 0000 Y 0 0000 Y 0 0000 Y 0 0000 O Z 0 0000 Z 0 0000 Z 0 0000 FO 100 SO 100 Estop Reset mamon Override Limits Estop Machine Off 0001 Z as miaa os ea MV 100 Jogging Homing 31 EMC V2 4 User Manual Chapter 5 Touchy 5 1 Hard Controls Required Controls Abort button momentary contact connected to the hal pin touchy abort Cycle start button momentary contact connected to touchy cycle start Wheel mpg connected to touchy wheel counts Single block toggle switch connected to touchy single block Recommended for any setup Estop button hardwired in the estop chain Optional Controls Continuous Jog needs three center off bidirectional momentary toggles or worse six buttons hooked to touchy jog continuous x negative x positive Y Zo If a quill up button is wanted to jog Z to the top of travel at top speed a momentary button connected to touchy quill up Optional indicator output touchy jog active can be connected to a panel lamp to show when the panel jogging controls are live Touchy has several output pins that are meant to be connected to the motion controller to control wheel jogging They are touchy jog wheel increment gt axis N jog scale for all relevant N touchy jog wheel x gt axis 0 jog enable y gt l Z Also be sure to c
67. Cycle Return Level gt seresa oendaa ee ee 113 16 M Codes 114 16 1MO M1 M2 M30 M60 Program Stopping and Ending 4 114 16 2MS M4 M5 Spindle Control sea sred bsart trena kes pets bbe bees 115 16 3 MG Tool Change ie sa sieaa Ee a A a e E aa he ee A 115 16 31 Mavival Tool Change s me ds e aoi micat saast m koa d a o A A a SE ww 115 16 3 2To0l Changer ociosas RE a a AA a HE SH 115 IG AM MS M9 Coolant Comirel cs os es oea e we a ee 115 e Ci eke ee eae eae ewe Cpe ae eR eG eA Od Oe ee Bee 116 16 5 1M485 M49 Override Control gt ooo tes erka temsa sa 116 16 5 2M50 Peed Override Control ss a cea ee a da 116 16 5 3M51 Spindle Speed Override Control 116 16 5 4M52 Adaptive Feed Control coca ea RR A ae ea Po ad es 116 16 5 5M53 Feed Stop Control se escra Oe ee we aa Taa ee ee a 116 16 6M61 Set Current Tool NUMDEr s errs sensama aa e a wee ewe ee 116 16 7M62 to M65 Output Control s crs cass ee ee ee 117 16 155 Input Control oee easa eS ee eG AR a De a a bee D e 117 Te Shier ADIOS Dupult i o ores ae O A A A oe a e a a Re 118 16 1068 Analog QUIPE is isis eses rd ed a ea RA a bebe 118 16 1M100 to M199 User Defined Commands 0002 eee 118 EMC V2 4 User Manual CONTENTS 17 O Codes 120 17 1 Subroutines sub endsub return call oo 565 4 ee kw ee a e we 120 17 2Looping do while endwhile break continue 121 17 2Conditionalk if el
68. G1 G2 or G3 explicitly or implicitly does not have an F word e A new feed rate is not specified after switching to G94 or G95 15 45 G96 G97 Spindle Control Mode G96 D max spindle speed S units per minute is Constant Surface Speed Mode G97 is RPM Mode Two spindle control modes are recognized revolutions per minute and CSS constant surface speed Program G96 D S to select constant surface speed of S feet per minute if G20 is in effect or meters per minute if G21 is in effect The maximum spindle speed is set by the D number in revolutions per minute When using G96 ensure that XO in the current coordinate system including offsets and tool lengths is the center of rotation or emc will not give the desired spindle speed G96 is not affected by radius or diameter mode Program G97 to select RPM mode It is an error if e S is not specified with G96 e A feed move is specified in G96 mode while the spindle is not turning 15 46 G98 G99 Set Canned Cycle Return Level When the spindle retracts during canned cycles there is a choice of how far it retracts 1 retract perpendicular to the selected plane to the position indicated by the R word or 2 retract perpen dicular to the selected plane to the position that axis was in just before the canned cycle started unless that position is lower than the position indicated by the R word in which case use the R word position To use option 1 program G99 To use option
69. G81 drilling cycle to be repeated three times The X number is 4 the Y number is 5 the Z number is 0 6 and the R number is 1 8 The initial X position is 5 1 4 the initial Y position is 7 2 5 the clear Z position is 4 8 1 8 3 and the Z position is 4 2 4 8 0 6 Old Z is 3 The first move is a traverse along the Z axis to 1 2 4 8 since old Z lt clear Z The first repeat consists of 3 moves l a traverse parallel to the XY plane to 5 7 4 8 2 a feed parallel to the Z axis to 5 7 4 2 3 a traverse parallel to the Z axis to 5 7 4 8 The second repeat consists of 3 moves The X position is reset to 9 5 4 and the Y position to 12 7 5 1 a traverse parallel to the XY plane to 9 12 4 8 2 a feed parallel to the Z axis to 9 12 4 2 3 a traverse parallel to the Z axis to 9 12 4 8 The third repeat consists of 3 moves The X position is reset to 13 9 4 and the Y position to 17 12 5 1 a traverse parallel to the XY plane to 13 17 4 8 2 a feed parallel to the Z axis to 13 17 4 2 3 a traverse parallel to the Z axis to 13 17 4 8 109 EMC V2 4 User Manual Chapter 15 G Code Reference 15 33 G82 Drilling Cycle with Dwell G82 X Y Z A B C R h P The G82 cycle is intended for drilling _ Preliminary motion as described above Move the Z axis only at the current feed rate to the Z position Dwell for the P number of seconds Ae N Retract the Z axis at
70. I Manual Data Input This is a mode of operation where the controller executes single lines of G code as they are typed by the operator NIST National Institute of Standards and Technology An agency of the Department of Commerce in the United States Offsets Part Program A description of a part in a language that the controller can understand For EMC that language is RS 274 NGC commonly known as G code Program Units The linear and angular units used for part programs Python General purpose very high level programming language Used in EMC2 for the Axis GUI the Stepconf configuration tool and several G code programming scripts Rapid Fast possibly less precise motion of the tool commonly used to move between cuts If the tool meets the material during a rapid it is probably a bad thing 153 EMC V2 4 User Manual Chapter A Glossary Real time Software that is intended to meet very strict timing deadlines Under Linux in order to meet these requirements it is necessary to install RTAI or RTLINUX and build the software to run in those special environments For this reason real time software runs in kernel space RTAI Real Time Application Interface see https www rtai org one of two real time exten sions for Linux that EMC can use to achieve real time performance RTLINUX See http www rtlinux org one of two real time extensions for Linux that EMC can use to achieve real time performance RTAPI A portable inter
71. MDI history window Copy from MDI history Copies the MDI history to the clipboard Paste to MDI history Paste from the clipboard to the MDI history window Calibration This is a servo testing pop up widow for each axis After making changes and testing them it can save them to your ini file Show HAL Configuration Opens up the HAL Configuration widow where you can monitor HAL Components Pins Parameters Signals Functions and Threads HAL Meter Opens up a window where you can monitor a single HAL Pin Signal or Parameter HAL Scope Opens up a Scope window where you can set up and monitor Pins and Signals Show EMC Status Opens up a window showing EMC s status Set Debug Level Opens a window where debug levels can be viewed and some can be set Homing Home any or all axis Unhoming Unhome any or all axis Zero Coordinate System Zero work offsets 4 3 1 3 View Top View Rotated Top View Side View Front View Perspective View Display Inches Display MM Show Program Show Live Plot Show Tool Show Extents Show Machine Limits Show Velocity Show Distance to Go Clear Live Plot Show Commanded Position Show Actual Position Show Machine Position Show Relative Position 16 EMC V2 4 User Manual Chapter 4 AXIS 4 3 1 4 Help About Axis Quick Reference Shows the keyboard shortcut keys 4 3 2 Toolbar buttons From left to right the toolbar buttons keyboard shortcuts in 1 Y Toggle Emergency Stop
72. Mode The height of the retract move at the end of each repeat called clear Z in the descriptions below is determined by the setting of the retract mode either to the original Z position if that is above the R position and the retract mode is G98 OLD_Z or otherwise to the R position See Section 15 46 15 31 5 Canned Cycle Errors It is an error if e X Y and Z words are all missing during a canned cycle e a P number is required and a negative P number is used e an L number is used that does not evaluate to a positive integer e rotational axis motion is used during a canned cycle e inverse time feed rate is active during a canned cycle e or cutter radius compensation is active during a canned cycle If the XY plane is active the Z number is sticky and it is an error if e the Z number is missing and the same canned cycle was not already active e or the R number is less than the Z number If other planes are active the error conditions are analogous to the XY conditions above 15 31 6 Preliminary and In Between Motion At the very beginning of the execution of any of the canned cycles if the current Z position is below the R position the Z axis is traversed to the R position This happens only once regardless of the value of L In addition at the beginning of the first cycle and each repeat the following one or two moves are made 1 a straight traverse parallel to the XY plane to the given XY position 2 a
73. Offset Coordinate Systems 15 43 G93 G94 G95 Feed Modes 15 44 G96 Constant Surface Speed 15 45 G97 RPM Mode 15 45 G98 G99 Canned Cycle Z Retract Mode 15 46 89 EMC V2 4 User Manual Chapter 15 G Code Reference Code Description Section MO M1 M2 Program Control 16 1 M3 M4 M5 Spindle Control 16 2 M6 Tool Change 16 3 M7 M8 M9 Coolant Control 16 4 M30 M60 Pallet Shuttle 16 1 M48 M53 Override Controls 16 5 M61 Set Current Tool Number 16 8 M62 65 Output Control 16 7 M66 Input Control 16 8 M67 Analog Output Control 16 9 M68 Analog Output Control 16 10 M100 M199 User Defined M Codes 16 11 O O Codes 17 F Feed 18 1 S Spindle Speed 18 2 T Tool Select 18 3 15 3 GO Rapid Linear Motion GO axes For rapid linear straight line motion program G0 axes where all the axis words are optional The GO is optional if the current motion mode is GO This will produce coordinated linear motion to the destination point at the current traverse rate or slower if the machine will not go that fast It is expected that cutting will not take place when a G0 command is executing If cutter radius compensation is active the motion will differ from the above see Section 14 3 If G53 is programmed on the same line the motion will also differ see Section 15 25 It is an error if e An axis letter is without a real value 15 4 G1 Linear Motion Gl a
74. R L P The G86 cycle is intended for boring This cycle uses a P number for the number of seconds to dwell Preliminary motion as described above Move the Z axis only at the current feed rate to the Z position Dwell for the P number of seconds Stop the spindle turning ao Ae N me Retract the Z axis at traverse rate to clear Z 6 Restart the spindle in the direction it was going The spindle must be turning before this cycle is used It is an error if e the spindle is not turning before this cycle is executed 15 38 G87 Back Boring This code is currently unimplemented in EMC2 It is accepted but the behavior is undefined 15 39 G88 Boring Spindle Stop Manual Out This code is currently unimplemented in EMC2 It is accepted but the behavior is undefined 15 40 G89 Boring Dwell Feed Out G89 X Y Z A B C R L P The G89 cycle is intended for boring This cycle uses a P number where P specifies the number of seconds to dwell 1 Preliminary motion as described above 2 Move the Z axis only at the current feed rate to the Z position 3 Dwell for the P number of seconds 4 Retract the Z axis at the current feed rate to clear Z 15 41 G90 G91 Set Distance Mode G90 is Absolute Distance Mode G91 is Incremental Distance Mode Interpretation of G Code can be in one of two distance modes absolute or incremental To go into absolute distance mode program G90 In absolute distance mode
75. This retraction move may be added in a future release of EMC2 G38 3 G38 5 These codes are not defined in RS274NGC O codes These codes are not defined in RS274NGC M50 M53 overrides These codes are not defined in RS274NGC M61 M66 These codes are not defined in RS274NGC G43 G43 1 Negative Tool Lengths The RS274NGC spec says it is expected that all tool lengths will be positive However G43 works for negative tool lengths Lathe tools G43 tool length compensation can offset the tool in both the X and Z dimensions This feature is primarily useful on lathes Dynamic tool lengths EMC2 allows specification of a computed tool length through G43 1 I K G41 1 G42 1 EMC2 allows specification of a tool diameter and if in lathe mode orientation in the gcode The format is G41 1 G42 1 D L where D is diameter and L if specified is the lathe tool orientation 136 EMC V2 4 User Manual Chapter 20 RS274NGC G43 without H word In ngc this is not allowed In EMC2 it sets length offsets for the currently loaded tool If no tool is currently loaded it is an error This change was made so the user doesn t have to specify the tool number in two places for each tool change and because it s consistent with the way G41 G42 work when the D word is not specified U V and W axes EMC2 allows machines with up to 9 axes by defining an additional set of 3 linear axes known as U V and W 137 Part III
76. Tool Length Offsets 14 1 1 Touch Off Using the Touch Off Screen in the AXIS interface you can update the tool table automatically Typical steps for updating the tool table 1 After homing load a tool with TnM6 where n is the tool number 2 Move tool to an extablished point using a gauge or take a test cut and measure 3 Select Tool Table in the Coordinate System drop down box 4 Enter the gauge or measured dimension and select OK The Tool Table will be changed with the correct Z length to make the DRO display the correct Z position and a G43 command will be issued so the new tool Z length will be in effect Tool table touch off is only available when a tool is loaded with TnM6 Figure 14 1 Touch Off Tool Table Enter 2 coordinate relative to workpiece 020 0 250000 Coordinate System T Tool Table OK Cancel 14 1 2 Using G10 L1 By using G10 L1 Pn Zx where n is the tool number and x is the offset from the MDI window or in your program you can also set the tool table 80 EMC V2 4 User Manual Chapter 14 Tool Compensation 14 2 Tool Table The Tool Table is a text file that contains information about each tool The file is located in the same directory as your configuration and is called tool tbl The tools might be in a tool changer or just changed manually The file can be edited with a text editor or be updated using G10 Ll See the Lathe Specifics Section for lathe tool table examp
77. User Manual V2 4 The EMC Team July 31 2010 EMC V2 4 User Manual This manual is a work in progress If you are able to help with writing editing or graphic preparation please contact any member of the writing team or join and send an email to emc users lists sourceforge net Copyright c 2000 9 LinuxCNC org Permission is granted to copy distribute and or modify this document under the terms of the GNU Free Documentation License Version 1 1 or any later version published by the Free Software Foundation with no Invariant Sections no Front Cover Texts and one Back Cover Text This EMC Handbook is the product of several authors writing for linuxCNC org As you find it to be of value in your work we invite you to contribute to its revision and growth A copy of the license is included in the section entitled GNU Free Documentation License If you do not find the license you may order a copy from Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 Contents Cover I 1 Foreword 1 2 EMC2 3 2 This Mammal A SO a oe A OS BS a we a ta Be a e 3 2 2 How ECS Works s ce A eee ee eae ee A ee a ee he e a 3 2 9 User IMteT aCeS isis mas RA RR DARA Ad whee 4 24 IAMEATES a EAE AO A E AAA we AS we A a Be 5 2 5 Thinking Like a Machine Operator eee ee eee 6 26G Modcs of Operate e I a A ew a a a 6 3 User Concepts 7 ool Trajectory CORO ee oran A a dd oo 7 Sul Trajectory Planning so
78. Y axis value e Alternating Start on the same end of the X or Y axis travel that the last move ended on This reduces the amount of traverse movements e Up Milling Start milling at low points moving towards high points e Down Milling Start milling at high points moving towards low points 22 4 12 Depth units The top of material is always at Z 0 The deepest cut into the material is Z depth 22 4 13 Step Over pixels The distance between adjacent rows or columns To find the number of pixels for a given units distance compute distance pixel size and round to the nearest whole number For example if pixel size 006 and the desired step over distance 015 then use a Step Over of 2 or 3 pixels because 015 006 2 5 143 EMC V2 4 User Manual Chapter 22 Image to gcode Milling depth maps 22 4 14 Tool Diameter The diameter of the cutting part of the tool 22 4 15 Safety Height The height to move to for traverse movements image to gcode always assumes the top of material is at Z 0 22 4 16 Tool Type The shape of the cutting part of the tool Possible tool shapes are e Ball End e Flat End e 45 degree vee e 60 degree vee 22 4 17 Lace bounding This controls whether areas that are relatively flat along a row or column are skipped This option only makes sense when both rows and columns are being milled Possible bounding options are e None Rows and columns are both fully milled e Se
79. a rotational axis value for an unused axis may be omitted An error will be signalled if any required parameter is missing A parameter file may include any other parameter as long as its number is in the range 1 to 5400 The parameter numbers must be arranged in ascending order An error will be signalled if not Any parameter included in the file read by the Interpreter will be included in the file it writes as it exits The original file is saved as a backup file when the new file is written Comments are not preserved when the file is written Table 9 4 Parameter File Format Parameter Number Parameter Value Comment 5161 0 0 G28 Home X 5162 0 0 G28 Home Y 62 Chapter 10 G Code Overview The EMC2 G Code language is based on the RS274 NGC language The G Code language is based on lines of code Each line also called a block may include commands to do several different things Lines of code may be collected in a file to make a program A typical line of code consists of an optional line number at the beginning followed by one or more words A word consists of a letter followed by a number or something that evaluates to a number A word may either give a command or provide an argument to a command For example G1 X3 is a valid line of code with two words Gi is a command meaning move in a straight line at the programmed feed rate to the programmed end point and X3 provides an argument value the v
80. achine origin should be when the reference tool the one with zero offset is at the center of rotation 129 EMC V2 4 User Manual Chapter 19 Lathe Specifics 19 6 Arcs Calculating arcs can be mind challenging enough without considering radius and diameter mode on lathes as well as machine coordinate system orientation The following applies to center format arcs On a lathe you should include G18 in your preamble as the default is G17 even if your in lathe mode in the user interface Axis Arcs in G18 XZ plane use I X axis and K Z axis offsets Lathe Orientation The typical lathe has the spindle on the left of the operator and the tools on the operator side of the spindle center line This is typically set up with the imaginary Y axis pointing at the floor The following will be true on this type of setup e Plus Z goes to the right away from the spindle e Plus X goes toward the operator and when on the operator side of the spindle the X values are positive Some lathes with tools on the back side have the imaginary Y axis pointing up G2 3 Arcs direction is based on the axis it rotates about In the case of lathes it is the imaginary Y axis If the Y points toward the floor you have to look up for the arc to appear to go in the correct direction So looking from above you reverse the G2 3 for the arc to appear to go in the correct direction Radius amp Diameter Mode When calculating arcs in radius mode you only have t
81. ady to be homed e Green indicates that the machine has been homed The position can be changed to display any one of several values by using the menu settings The startup or default settings can be changed in the ini file so these displays wake up just the way that you want them 7 5 2 Feed rate Override Immediately below the axis position displays is the feed rate override slider You can operate feed rate override and feedhold in any mode of operation Override will change the speed of jogs or feed rate in manual or MDI modes You can adjust feed rate override by grabbing the slider with your mouse and dragging it along the groove You can also change feed rate a percent at a time by clicking in the slider s groove In auto mode you can also set feed override in 10 increments by pressing the top row of numbers This slider is a handy visual reference to how much override is being applied to programmed feed rate 7 5 3 Messages The message display located under the axis positions is a sort of scratch pad for the EMC If there are problems it will report them there If you try to home or move an axis when the ESTOP button is pressed you ll get a message that says something about commanding motion when the EMC is not ready If an axis faults out for something like falling behind the message pad will show what happened If you want to remind an operator to change a tool for example you can add a line of code to your program that will di
82. al Chapter 16 M Codes 16 5 Overrides 16 5 1 M48 M49 Override Control To enable the spindle speed and feed rate override switches program M48 To disable both switches program M49 See Section 9 3 1 for more details It is OK to enable or disable the switches when they are already enabled or disabled These switches can also be toggled individually using M50 and M51 as described in the sections 16 5 2 and 16 5 3 16 5 2 M50 Feed Override Control To enable the feed rate override switch program M50 or M50 P1 To disable the switch program M50 PO While disabled the feed override will have no influence and the motion will be executed at programmed feed rate unless there is an adaptive feed rate override active 16 5 3 M51 Spindle Speed Override Control To enable the spindle speed override switch program M51 or M51 P1 To disable the switch program M51 PO While disabled the spindle speed override will have no influence and the spindle speed will have the exact program specified value using the S word as described in 18 2 16 5 4 M52 Adaptive Feed Control To use an adaptive feed program M52 or M52 P1 To stop using adaptive feed program M52 PO When adaptive feed is enabled some external input value is used together with the user interface feed override value and the commanded feed rate to set the actual feed rate In EMC2 the HAL pin motion adaptive feed is used for this purpose Values on motion adaptive feed should range
83. al axes are measured in degrees Feed rates are expressed in current length units per minute or degrees per minute or length units per spindle revolution as described in Section 9 2 5 9 2 9 Current Position The controlled point is always at some location called the current position and the controller always knows where that is The numbers representing the current position must be adjusted in the absence of any axis motion if any of several events take place 1 Length units are changed 2 Tool length offset is changed 3 Coordinate system offsets are changed 9 2 10 Selected Plane There is always a selected plane which must be the XY plane the YZ plane or the XZ plane of the machining center The Z axis is of course perpendicular to the XY plane the X axis to the YZ plane and the Y axis to the XZ plane 9 2 11 Tool Carousel Zero or one tool is assigned to each slot in the tool carousel 9 2 12 Tool Change A machining center may be commanded to change tools 9 2 13 Pallet Shuttle The two pallets may be exchanged by command 9 2 14 Feed and Speed Override Switches The feed and speed override switches may be enabled so they work as expected or disabled so they have no effect on the feed rate or spindle speed The RS274 NGC language has one command that enables both switches and one command that disables both see Section 16 5 1 See Section 9 3 1 for further details 9 2 15 Path Control Mode
84. al examples of program code we recommend releasing these examples in parallel under your choice of free software license such as the GNU General Public License to permit their use in free software 158 Index axisrc 29 ABORT 6 acme screw 151 Arc Distance Mode 112 Auto 6 35 40 43 51 axes 55 axes primary linear 55 axes rotational 55 axes secondary linear 55 AXIS 13 26 axis 151 backlash 151 backlash compensation 151 backplot 40 48 ball nut 151 ball screw 151 block delete 59 Calling Files 122 Canned Cycles 107 CNC 3 14 40 151 comp 152 Compensation Off 101 Conditional if else endif 121 controlled point 57 coolant 22 37 56 57 coordinate measuring machine 152 Coordinate System 74 display units 152 DRO 152 dwell 57 Dynamic Cutter Radius Compensation 101 EDM 152 EMC 152 EMCIO 152 EMCMOT 152 encoder 152 ESTOP 6 17 34 35 45 External Editor 29 F Set Feed Rate 123 feed 152 feed override 6 14 22 34 46 56 152 feed rate 57 152 feedback 152 G Code Best Practices 72 G Code Comments 124 G Code Debugging Messages 125 G Code Messages 124 G Code Order of Execution 71 G Code Table 89 G Codes 86 G Code 152 GO Rapid 90 G1 Linear Motion 90 G10 L1 Tool Table 96 G10 L10 Set Tool Table 98 G10 L2 Coordinate System 97 G10 L20 Set Coordinate System 98 G17 G18 G19 Plane Selection 98 G2 G3 Arc
85. alue of X should be 3 at the end of the move Most EMC2 G Code commands start with either G or M for General and Miscellaneous The words for these commands are called G codes and M codes The EMC2 language has no indicator for the start of a program The Interpreter however deals with files A single program may be in a single file or a program may be spread across several files A file may demarcated with percents in the following way The first non blank line of a file may contain nothing but a percent sign possibly surrounded by white space and later in the file normally at the end of the file there may be a similar line Demarcating a file with percents is optional if the file has an M2 or M30 in it but is required if not An error will be signalled if a file has a percent line at the beginning but not at the end The useful contents of a file demarcated by percents stop after the second percent line Anything after that is ignored The EMC2 G Code language has two commands M2 or M30 either of which ends a program A program may end before the end of a file Lines of a file that occur after the end of a program are not to be executed The interpreter does not even read them 10 1 Format of a line A permissible line of input code consists of the following in order with the restriction that there is a maximum currently 256 to the number of characters allowed on a line 1 an optional block delete character which is a s
86. arg Sine SQRTlarg Square Root TAN arg Tangent 10 10 Repeated Items A line may have any number of G words but two G words from the same modal group see Section 10 13 may not appear on the same line A line may have zero to four M words Two M words from the same modal group may not appear on the same line For all other legal letters a line may have only one word beginning with that letter If a parameter setting of the same parameter is repeated on a line 3 15 3 6 for example only the last setting will take effect It is silly but not illegal to set the same parameter twice on the same line If more than one comment appears on a line only the last one will be used each of the other comments will be read and its format will be checked but it will be ignored thereafter It is expected that putting more than one comment on a line will be very rare 10 11 Item order The three types of item whose order may vary on a line as given at the beginning of this section are word parameter setting and comment Imagine that these three types of item are divided into three groups by type The first group the words may be reordered in any way without changing the meaning of the line If the second group the parameter settings is reordered there will be no change in the meaning of the line unless the same parameter is set more than once In this case only the last setting of the parameter will take effect For exam
87. ave the same value as in the calling context On return from the subroutine the values of parameters 1 through 30 regardless of the number of arguments will be restored to the values they had before the call Because 1 2 3 is parsed as the number 123 the parameters must be enclosed in square brackets The following calls a subroutine with 3 arguments 0200 call 1 2 3 Subroutine bodies may not be nested They may only be called after they are defined They may be called from other functions and may call themselves recursively if it makes sense to do so The maximum subroutine nesting level is 10 Subroutines do not have return values but they may change the value of parameters above 30 and those changes will be visible to the calling code Subroutines may also change the value of global named parameters 120 EMC V2 4 User Manual Chapter 17 O Codes 17 2 Looping do while endwhile break continue The while loop has two structures while endwhile and do while In each case the loop is exited when the while condition evaluates to false draw a sawtooth shape F100 1 0 0101 while 1 1t 10 G1 X0 G O L Y 1 10 X1 L 1 1 101 endwhile Inside a while loop O break immediately exits the loop and O continue immediately skips to the next evaluation of the while condition If it is still true the loop begins again at the top If it is false it exits the loop 17 3 Condit
88. axis words are all optional except that at least one of X and Z must be used to program an arc of less than 360 degrees I and K are the offsets from the current location in the X and Z directions respectively of the center of the circle I and K are optional except that at least one of the two must be used If only one is specified the value of the other is taken as 0 In Diameter Mode G7 I amp K are still radius dimensions It is an error if 91 EMC V2 4 User Manual Chapter 15 G Code Reference e I and K are both omitted When the YZ plane is selected program G2 or G3 axes J K The axis words are all optional except that at least one of Y and Z must be used to program an arc of less than 360 degrees J and K are the offsets from the current location in the Y and Z directions respectively of the center of the circle J and K are optional except that at least one of the two must be used If only one is specified the value of the other is taken as O It is an error if e J and K are both omitted Examples Calculating arcs by hand can be difficult at times One option is to draw the arc with a cad program to get the coordinates and offsets Keep in mind the tolerance mentioned above you may have to change the precision of your cad program to get the desired results Another option is to calculate the coordinates and offset using formulas As you can see in the following figures a triangle can be formed from the current p
89. ays to solve this cutter comp and adjusting your programmed path to compensate for tip radius 131 EMC V2 4 User Manual Chapter 19 Lathe Specifics Figure 19 6 Ramp Path Control Point Programmed Path In the above example it is a simple exercise to adjust the programmed path to give the desired actual path by moving the programmed path for the ramp to the left the radius of the tool tip Cutting a Radius In this example we will examine what happens during a radius cut without cutter comp In the next figure you see the tool turning the OD of the part and the control point of the tool is following the programmed path and the tool is touching the OD of the part Figure 19 7 Turning Cut Control Point Programmed Path In this next figure you can see as the tool approaches the end of the part the control point still follows the path but the tool tip has left the part and is cutting air You can also see that even though a radius has been programmed the part will actually end up with a square corner 132 EMC V2 4 User Manual Chapter 19 Lathe Specifics Figure 19 8 Radius Cut Control Point Actual Profile Cut Programmed Path Now you can see as the control point follows the radius programmed the tool tip has left the part and is now cutting air Figure 19 9 Radius Cut Control Point Programmed Path In the final figure we can see the tool tip will finish cutting the face but leave a square corn
90. block delete switch should be set before starting the NGC program 9 3 3 Optional Program Stop Switch If this switch is on and an M1 code is encountered program execution is paused 9 4 Tool File A tool file is required to use the Interpreter The file tells which tools are in which carousel slots and what the length and diameter of each tool are The file consists of any number of header lines followed by one blank line followed by any number of lines of data The header lines are ignored by the interpreter It is important that there be exactly one blank line with no spaces or tabs even before the data The header line shown in Table 9 1 describes the data columns so it is suggested but not required that such a line always be included in the header Each data line of the file contains the data for one tool The line may contain 4 or 5 elements mill format or 8 or 9 elements lathe format The units used for the length and diameter are in machine units The lines do not have to be in any particular order Switching the order of lines has no effect unless the same slot number is used on two or more lines which should not normally be done in which case the data for only the last such line will be used In emc the location of the tool file is specified in the ini file See the Integrator Manual for more details A tool file may have a mixture of mill format and lathe format lines though usually the
91. break continue 121 MO M1 M2 M30 M60 Program Pause End 114 M100 to M199 User Defined Commands 118 M3 M4 M5 Spindle Control 115 M48 M49 Override Control 116 M50 Feed Override Control 116 M51 Spindle Speed Override 116 M52 Adaptive Feed Control 116 M53 Feed Stop Control 116 M6 Tool Change 115 M61 Set Current Tool Number 116 M62 to M65 Output Control 117 M66 Input Control 117 M67 Analog Motion Output Control 118 M68 Analog Aux Output Control 118 M7 M8 M9 Coolant Control 115 machine on 17 machine units 153 Manual 6 14 20 35 42 50 Manual Tool Change 26 Max Velocity 23 MDI 6 14 22 34 35 44 153 mini 40 MIST 35 Modal Groups 69 NIST 153 O Codes 120 offsets 153 open 36 OpenGL 13 operator precedence 67 optional block delete 56 optional program stop 56 59 optional stop 36 parameters 61 part Program 153 path control mode 58 pause 36 Polar Coordinates 86 position absolute 15 position actual 15 position commanded 15 position relative 15 preview plot 18 Probe Logging 124 program extents 18 program units 153 Python 13 26 rapid 153 real time 154 Repeat 121 resume 36 RS274NGC 154 RTAI 154 RTAPI 154 RTLINUX 154 run 36 S Set Spindle Speed 123 servo motor 154 Sherline 40 Signed Integer 154 Special Comments 29 spindle 21 35 37 56 154 Spindle Override 14 spindle speed override 22 34 56 s
92. by G53 Stop MO M1 M2 M30 M60 71 Chapter 12 G Code Best Practices Use an appropriate decimal precision Use at least 3 digits after the decimal when milling in millimeters and at least 4 digits after the decimal when milling in inches In particular arc tolerance checks are made to 001 and 0001 depending on the active units Use consistent white space G code is most legible when at least one space appears before words While it is permitted to insert white space in the middle of numbers there is no reason to do so Use Center format arcs Center format arcs which use I J K instead of R behave more consistently than R format arcs particularly for included angles near 180 or 360 degrees Put important modal settings at the top of the file When correct execution of your program depends on modal settings be sure to set them at the beginning of the part program Modes can carry over from previous programs and from the MDI commands As a good preventative measure put a line similar to the following at the top of all your programs G17 G20 G40 G49 G54 G80 G90 G94 XY plane inch mode cancel diameter compensation cancel length offset coordinate system 1 cancel motion non incremental motion feed minute mode Perhaps the most critical modal setting is the distance units If you do not include G20 or G21 then different machines will mill the program at different scales Other settings such as the return mode
93. ch as those for preset views are removed Pressing V zooms out to show the entire file if one is loaded When in lathe mode the shape of the loaded tool if any is shown 4 11 Advanced Configuration For more information on ini file settings that can change how AXIS works see the INI File Sections DISPLAY Section of Configuration chapter in the Integrators manual 4 11 1 Program Filters AXIS has the ability to send loaded files through a filter program This filter can do any desired task Something as simple as making sure the file ends with M2 or something as complicated as detecting whether the input is a depth image and generating g code to mill the shape it defines The FILTER section of the ini file controls how filters work First for each type of file write a PROGRAM_EXTENSION line Then specify the program to execute for each type of file This program is given the name of the input file as its first argument and must write rs274ngc code to standard output This output is what will be displayed in the text area previewed in the display area and executed by EMC when Run The following lines add support for the image to gcode converter included with EMC2 27 EMC V2 4 User Manual Chapter 4 AXIS FILTER PROGRAM_EXTENSION png gif Greyscale Depth Image png image to gcode gif image to gcode It is also possible to specify an interpreter PROGRAM_EXTENSION py P
94. circle to either the current point or the end point of the arc 92 EMC V2 4 User Manual Chapter 15 G Code Reference Figure 15 3 End Position x1 Y1 a Direction t Position Start Position xO YO Figure 15 4 J offset 0 5 x1 Y0 5 J offset 0 5 93 EMC V2 4 User Manual Chapter 15 G Code Reference 15 5 2 Full Circles G2 or G3 I J K To do a full 360 circle from the current location only program the I J or K offset from the current location for the G2 3 To program a 360 degree spiral in the XY plane just include the Z word It is an error if e The K offset is used in the XY plane e The J offset is used in the XZ plane e the I offset is used in the YZ plane 15 5 3 Radius format arcs discouraged format In the radius format the coordinates of the end point of the arc in the selected plane are specified along with the radius of the arc Program G2 axes R or use G3 instead of G2 R is the radius The axis words are all optional except that at least one of the two words for the axes in the selected plane must be used The R number is the radius A positive radius indicates that the arc turns through less than 180 degrees while a negative radius indicates a turn of more than 180 degrees If the arc is helical the value of the end point of the arc on the coordinate axis parallel to the axis of the helix is also specified It is an error if e both of the axis words for the axes of
95. condary When milling in the second direction areas that do not strongly slope in that direction are skipped e Full When milling in the first direction areas that strongly slope in the second direction are skipped When milling in the second direction areas that do not strongly slope in that direction are skipped 22 4 18 Contact angle When Lace bounding is not None slopes greater than Contact angle are considered to be strong slopes and slopes less than that angle are considered to be weak slopes 22 4 19 Roughing offset and depth per pass Image to gcode can optionally perform rouging passes The depth of successive roughing passes is given by Roughing depth per pass For instance entering 0 2 will perform the first roughing pass with a depth of 0 2 the second roughing pass with a depth of 0 4 and so on until the full Depth of the image is reached No part of any roughing pass will cut closer than Roughing Offset to the final part Figure 22 1 shows a tall vertical feature being milled In this image Roughing depth per pass is 0 2 inches and roughing offset is 0 1 inches 144 EMC V2 4 User Manual Chapter 22 Image to gcode Milling depth maps Figure 22 1 Roughing passes and final pass 145 Part IV Diagnostics 146 Chapter 23 Steppers If what you get is not what you expect many times you just got some experience Learning from the experience increases your understanding of the whole Diag
96. ct as G64 alone above which is necessary for backward compatibility for old G Code programs See the G Code Chapter for more information on G64 P Q Blending without tolerance The controlled point will touch each specified movement at at least one point The machine will never move at such a speed that it cannot come to an exact stop at the end of the current movement or next movement if you pause when blending has already started The distance from the end point of the move is as large as it needs to be to keep up the best contouring feed Naive Cam Detector Successive Gl moves that involve only the XYZ axes that deviate less than Q from a straight line are merged into a single straight line This merged movement replaces the individual G1 movements for the purposes of blending with tolerance Between successive movements the controlled point will pass no more than P from the actual endpoints of the movements The controlled point will touch at least one point on each movement The machine will never move at such a speed that it cannot come to an exact stop at the end of the current movement or next movement if you pause when blending has already started On G2 3 moves in the G17 XY plane when the maximum deviation of an arc from a straight line is less than the G64 Q tolerance the arc is broken into two lines from start of arc to midpoint and from midpoint to end those lines are then subject to the naive cam algorithm for lines Thus
97. d then it is the ideal position for instance the exact coordinate given in a GO command If it is Actual then it is the position the machine has actually been moved to These values can differ for several reasons Following error dead band encoder resolution or step size For instance if you command a movement to X 0 0033 on your mill but one step of your stepper motor is 0 00125 then the Commanded position will be 0 0033 but the Actual position will be 0 0025 2 steps or 0 00375 3 steps 4 3 3 2 Preview Plot When a file is loaded a preview of it is shown in the display area Fast moves such as those produced by the GO command are shown as green lines Moves at a feed rate such as those produced by the G1 command are shown as solid white lines Dwells such as those produced by the G4 command are shown as small X marks GO Rapid moves prior to a feed move will not show up on the preview plot Rapid moves after a T lt n gt Tool Change will not show on the AXIS preview until after a feed move To turn either of these features off program a G1 without any moves prior to the GO moves 4 3 3 3 Program Extents The extents of the program in each axis are shown At each end the least or greatest coordinate value is indicated In the middle the difference between the coordinates is shown In Figure 4 1 the X extent of the file is from 0 00 to 6 92 inches a total of 6 92 inches When some coordinates exceed the so
98. d If you are in auto mode this button removes the rest of the program from the motion cue It also records the number of the line that was executing when it was pressed You can use this line number to restart the program after you have cleared up the reasons for pressing it 7 4 6 ESTOP The estop button is also a toggle but it works in three possible settings e When Mini starts up it will show a raised button with red background with black letters that say ESTOP PUSH This is the correct state of the machine when you want to run a program or jog an axis Estop is ready to work for you when it looks like this e If you push the estop button while a motion is being executed you will see a recessed gray button that says ESTOPPED You will not be able to move an axis or do any work from the Mini gui when the estop button displays this way Pressing it with your mouse will return Mini to normal ready condition e A third view is possible here A recessed green button means that estop has been take off but the machine has not been turned on Normally this only happens when lt F1 gt estop has been pressed but lt F2 gt has not been pressed Joe Martin says When all else fails press a software ESTOP This does everything that abort does but adds in a reset so that the EMC returns to the standard settings that it wakes up on If you have an external estop circuit that watches the relevant parallel port or DIO pin a software e
99. d point G61 1 Exact Stop Mode tells the planner to come to an exact stop at every segment s end G64 Blend Without Tolerance Mode G64 is the default setting when you start EMC G64 is just blending and the naive cam detector is not enabled G64 and G64PO0 tell the planner to sac rifice path following accuracy in order to keep the feed rate up This is necessary for some types of material or tooling where exact stops are harmful and can work great as long as the programmer is careful to keep in mind that the tool s path will be somewhat more curvy than the program specifies When using GO rapid moves with G64 use caution on clearance moves and allow enough distance to clear obstacles based on the acceleration capabilities of your machine G64 P Q Blend With Tolerance Mode This enables the naive cam detector and enables blending with a tolerance If you program G64 PO 05 you tell the planner that you want continuous feed but at programmed corners you want it to slow down enough so that the tool path can stay within 0 05 user units of the programmed path The exact amount of slowdown depends on the geometry of the programmed corner and the machine constraints but the only thing the programmer needs to worry about is the tolerance This gives the programmer complete control over the path following compromise The blend tolerance can be changed throughout the program as necessary Beware that a specification of G64 PO has the same effe
100. d Image Border If None the input image is used as is and details which are at the very edges of the image may be cut off If White or Black then a border of pixels equal to the tool diameter is added on all sides and details which are at the very edges of the images will not be cut off 22 4 5 Tolerance units When a series of points are within tolerance of being a straight line they are output as a straight line Increasing tolerance can lead to better contouring performance in emc but can also remove or blur small details in the image 142 EMC V2 4 User Manual Chapter 22 Image to gcode Milling depth maps 22 4 6 Pixel Size units One pixel in the input image will be this many units usually this number is much smaller than 1 0 For instance to mill a 2 5x2 5 inch object from a 400x400 image file use a pixel size of 00625 because 2 5 400 00625 22 4 7 Plunge Feed Rate units per minute The feed rate for the initial plunge movement 22 4 8 Feed Rate units per minute The feed rate for other parts of the path 22 4 9 Spindle Speed RPM 22 4 10 Scan Pattern Possible scan patterns are e Rows e Columns e Rows then Columns e Columns then Rows 22 4 11 Scan Direction Possible scan directions are e Positive Start milling at a low X or Y axis value and move towards a high X or Y axis value e Negative Start milling at a high X or Y axis value and move towards a low X or
101. d user interface called halui which allows to control emc2 using knobs and switches e a telnet based user interface called emcrsh which allows commands to be sent to emc2 from remote computers 2 4 Languages EMC2 uses translation files to translate EMC User Interfaces into many languages You just need to log in with the language you intend to use and when you start up EMC it comes up in that language If your language has not been translated contact a developer on the IRC or the mailing list if you can assist in the translation EMC V2 4 User Manual Chapter 2 EMC2 2 5 Thinking Like a Machine Operator This book will not even pretend that it can teach you to run a mill or a lathe Becoming a machinist takes time and hard work An author once said We learn from experience if at all Broken tools gouged vices and scars are the evidence of lessons taught Good part finish close tolerances and careful work are the evidence of lessons learned No machine no computer program can take the place of human experience As you begin to work with the EMC2 program you will need to place yourself in the position of operator You need to think of yourself in the role of the one in charge of a machine It is a machine that is either waiting for your command or executing the command that you have just given it Throughout these pages we will give information that will help you become a good operator of the EMC2 mill You will need some informati
102. dinates It works from current location G92 also works from current location as modified by any other offsets that are in effect when the g92 command is invoked While testing for differences between work offsets and actual offsets it was found that a g54 offset could cancel out a g92 and thus give the appearance that no offsets were in effect However the g92 was still in effect for all coordinates and did produce expected work offsets for the other coordinate systems It is likely that the absence of home switches and proper home procedures will result in very large errors in the application of g92 values if they exist in the var file Many EMC users do not have home switches in place on their machines For them home should be found by moving each axis to a location and issuing the home command When each axis is in a known location the home command will recalculate how the g92 values are applied and will produce consistent results Without a home sequence the values are applied to the position of the machine when the EMC begins to run 13 4 2 Setting G92 values There are at least two ways to set G92 values e right mouse click on position displays of tkemc will popup a window into which you can type a value e the g92 command Both of these work from the current location of the axis to which the offset is to be applied Issuing g92 x y za bc does in fact set values to the g92 variables such that each axis takes on the value associated
103. dling for parameters Comments that look like print rest of comment are output to stderr with special handling for parameters 18 8 Parameters in special comments In the DEBUG PRINT and LOG comments the values of parameters in the message are expanded For example to print a named global variable to stderr the default console window add a line to your gcode like print endmill dia lt _endmill_dia gt Inside the above types of comments sequences like 123 are replaced by the value of the param eter 123 Sequences like lt named parameter gt are replaced by the value of the named parame ter Remember that named parameters will have white space removed from them So lt named parameter gt is the same as lt namedparameter gt 125 Chapter 19 Lathe Specifics This chapter attempts to bring together all the lathe specific information and is currently under construction 19 1 Lathe Mode When you set up a lathe using Lathe Mode you need to use a Lathe Tool Table so AXIS will display your tool properly See the INI File section of the Integrators Manual for info on setting up AXIS for Lathe Mode Use the DIA column for the tool tip diameter Lathe Mode in Axis does not put your default plane to G18 XZ You must program that in the preamble of each file or add to your ini 19 2 Tool Table The Tool Table is a text file that contains information about each tool The file is located
104. e Actual 4 3 5 Manual Control While the machine is turned on but not running a program the items in the Manual Control tab can be used to move the machining center or turn different parts of it on and off When the machine is not turned on or when a program is running the manual controls are un available Many of the items described below are not useful on all machines When AXIS detects that a partic ular pin is not connected in HAL the corresponding item in the Manual Control tab is removed For instance if the HAL pin motion spindle brake is not connected then the Brake button will not appear on the screen If the environment variable AXIS_NO_AUTOCONFIGURE is set this behavior is disabled and all the items will appear 4 3 5 1 The Axis group Axis allows you to manually move the machine This action is known as jogging First select the axis to be moved by clicking it Then click and hold the or button depending on the desired direction of motion The first four axes can also be moved by the arrow keys X and Y PAGE UP and PAGE DOWN keys Z and the and keys A 20 EMC V2 4 User Manual Chapter 4 AXIS If Continuous is selected the motion will continue as long as the button or key is pressed If another value is selected the machine will move exactly the displayed distance each time the button is clicked or the key is pressed By default the available values are 0 1000 0 0100 0 0
105. e M48 Cutter compensation is turned off like G40 The spindle is stopped like M5 O oo N O oA Pp WwW DN The current motion mode is set to G_1 like G1 jo Coolant is turned off like M9 No more lines of code in an RS274 NGC file will be executed after the M2 or M30 command is executed Pressing cycle start will start the program back at the beginning of the file 114 EMC V2 4 User Manual Chapter 16 M Codes 16 2 M3 M4 M5 Spindle Control To start the spindle turning clockwise at the currently programmed speed program M3 To start the spindle turning counterclockwise at the currently programmed speed program M4 To stop the spindle from turning program M5 It is OK to use M3 or M4 if the spindle speed is set to zero If this is done or if the speed override switch is enabled and set to zero the spindle will not start turning If later the spindle speed is set above zero or the override switch is turned up the spindle will start turning It is OK to use M3 or M4 when the spindle is already turning or to use M5 when the spindle is already stopped 16 3 M6 Tool Change 16 3 1 Manual Tool Change If the Hal component hal_manualtoolchange is loaded M6 will stop the spindle and prompt the user to change the tool For more information on hal_manualtoolchange see Section 4 8 16 3 2 Tool Changer To change a tool in the spindle from the tool currently in the spindle to the tool most recently s
106. e There are two kinds of numbers integers and decimals An integer does not have a decimal point in it a decimal does e Numbers may have any number of digits subject to the limitation on line length Only about seventeen significant figures will be retained however enough for all known applications e Anon zero number with no sign as the first character is assumed to be positive Notice that initial before the decimal point and the first non zero digit and trailing after the decimal point and the last non zero digit zeros are allowed but not required A number written with initial or trailing zeros will have the same value when it is read as if the extra zeros were not there Numbers used for specific purposes in RS274 NGC are often restricted to some finite set of values or some to some range of values In many uses decimal numbers must be close to integers this includes the values of indexes for parameters and carousel slot numbers for example M codes and G codes multiplied by ten A decimal number which is supposed be close to an integer is considered close enough if it is within 0 0001 of an integer 10 5 Numbered Parameters A numbered parameter is the pound character followed by an integer between 1 and 5399 The parameter is referred to by this integer and its value is whatever number is stored in the parameter A value is stored in a parameter with the operator for example 3 15 means set parameter
107. e a we eee aeae 55 EMC V2 4 User Manual CONTENTS ALA OMS oss wakes ro A Ae a Hoe tw Be Dod ee ws wach a 0 56 ALF CO a Re A A OE A ee ee ee A 56 9 1 4 Feed and Speed Override s c sesca eae ee AREER wee ERE eke 8 56 9 1 5 Block Delete Swit 644 4 64646 bass we e a e 56 9 1 6 Optional Program Stop SECA ee Ra das a LD wh eee 56 9 2 Control and Data Components lt e es so s csa ee a ee A 56 Dal Lem AS rened tr A AAA OW OE A A A BS a A 56 Q22 ROMS AMOS 6 0 caca a a A ea ee RO 56 9023 Controlled Point 6 4 44 4 0 ahd Ae a Aaa ew a wh a 57 9 2 4 Coordinated Linear Motion ee 57 Dao PRE BIS iii RA oe NA ee GR AA EO aR ee AR RS we A 57 A AO aw Ae He eR A 57 eee DSC A OR A A A ae he bk ee 57 O LIS fae tN A Wee BA we a OR Acc ek aoe ee de RS 58 0 2 0 Current POSTOR asce cae a RR As oe Sw ws bo ed 58 92 VWoSelecied Plane sociedad Ok A Ve ee e 58 ea IAN 58 9 2 I2TO0 Change s ni aii aa aa a we we a a a RA ee ee 58 902 ISPalel Se 6s 8 4 ie A a A RA a ER we RH RES AR a 58 9 2 14Feed and Speed Override Switches o 0 0 00 00008 58 2 2 1 5Path Control Mode oc eae Rw RE Ra Re Rw eh hE Rea wh ees 58 9 3 Interpreter Interaction with Switches aooaa ee ee 59 9 3 1 Feed and Speed Override Switches o 59 9 3 2 Block Delete Switch 24 6446 be bb dedita EO Hw HO apa ke pa 59 9 3 3 Optional Program Stop Switch lt s es eA ee ee 59 do Tl Pe e a aoc we wee NG we AA A A eK A dd 59 9
108. e the RT pulsing to not be able to keep up the requested step rate This can happen if you didn t run the latency test long enough to get a good number to plug into the Stepconf Wizard or if you set the Maximum Velocity or Maximum Acceleration too high If you added backlash you need to increase the STEPGEN_MAXACCEL up to double the MAX_ACCELERATION in the AXIS section of the INI file for each axis you added backlash to EMC uses extra acceleration at a reversal to take up the backlash Without backlash correction step generator acceleration can be just a few percent above the motion planner acceleration 23 2 2 RTAPI Error When you get this error RTAPI ERROR Unexpected realtime delay on task n This error is generated by rtapi based on an indication from rtai that a deadline was missed It is usually an indication that the BASE_PERIOD in the EMCMOT section of the ini file is set too low You should run the Latency Test for an extended period of time to see if you have any delays that would cause this problem If you used the Stepconf Wizard run it again and test the Base Period Jitter again and adjust the Base Period Maximum Jitter on the Basic Machine Information page You might have to leave the test running for an extended period of time to find out if some hardware causes intermittent problems EMC2 tracks the number of CPU cycles between invocations of the real time thread If some element of your hardware is causing delays or your real
109. easily it shows the conditions of the EMC and allows you to make changes to it 7 3 Menu Bar The first row is the menu bar across the top Here you can configure the screen to display additional information Some of the items in this menu are very different from what you may be acustomed to with other programs You should take a few minutes and look under each menu item in order to familiarize yourself with the features that are there The menu includes each of the following sections and subsections Program This menu includes both reset and exit functions Reset will return the EMC to the condition that it was in when it started Some startup configuration items like the normal program units can be specified in the ini file View This menu includes several screen elements that can be added so that you can see additional information during a run These include Position_Type This menu item adds a line above the main position displays that shows whether the displays are in inches or metric and whether they are Machine or Relative location and if they are Actual positions or Commanded positions These can be changed using the Settings menu described below Tool_Info This adds a line immediately below the main position displays that shows which tool has been selected and the length of offset applied Offset_Info adds a line immediately below the tool info that shows what offsets have been applied This is a total distance for each axis from mac
110. eates in an inside corner the move will stop short so to not gouge the part The following figure shows how the compensated move will stop at different points depending on the next move Figure 14 2 Compensation End Point Outside Corner End of first move G41 Path Programmed Path Inside Corner End of first move G42 Path 14 3 1 Overview Tool Table Cutter radius compensation uses the data from the tool table to determine the offset needed The data can be set at run time with G10 L1 82 EMC V2 4 User Manual Chapter 14 Tool Compensation Programming Entry Moves Any move that is long enough to perform the compensation will work as the entry move The minimum lenght is the cutter radius This can be a rapid move above the work piece If several rapid moves are issued after a G41 42 only the last one will move the tool to the compensated position In the following figure you can see that the entry move is compensated to the right of the line This puts the center of the tool to the right of XO in this case If you were to program a profile and the end is at XO the resulting profile would leave a bump due to the offset of the entry move Figure 14 3 Entry Move Resulting Profile eo oo Roo ooo Z Motion Z axis motion may take place while the contour is being followed in the XY plane Portions of the contour may be skipped by retracting the Z axis above the part and by extending the Z axis at the
111. ecting View gt Backplot 35 EMC V2 4 User Manual Chapter 6 TkKEMC Figure 6 2 TkEMC Interpreter program control Program fhome juvefemc2inc_files 3D_Chips ngc Status idle Open Run Pause Resume Step Verify Optional Stop N6871Y56 0612 28 146 N6881 Y56 1052 27 694 N6891Y56 112 27 638 N6901Y56 1282 27 634 N6911G0210 H6931 M9 6 3 4 Automatic control 6 3 4 1 Buttons for control The buttons in the lower part of TKEMC seen in Figure 6 2 are used to control the execution of a program Open to load a program Verify to check it for errors Run to start the actual cutting Pause to stop it while running Resume to resume an already paused program Step to advance one line in the program and Optional Stop to toggle the optional stop switch if the button is green the program execution will be stopped on any M1 encountered 6 3 4 2 Text Program Display Area When the program is running the line currently being executed is highlighted in white The text display will automatically scroll to show the current line 6 3 5 Manual Control 6 3 5 1 Implicit keys TkEMC allows you to manually move the machine This action is known as jogging First select the axis to be moved by clicking it Then click and hold the or button depending on the desired direction of motion The first four axes can also be moved by the arrow keys X and Y PAGE UP and PAGE DOWN k
112. ee ee S 78 13 5Sample Program Using Offsets ee 78 14 Tool Compensation 80 14 1 Tool Length Oise cisnes casas OR OMAR RE RA de ad a ew a 80 A e AE 80 PERLAS STO EL coria See SE we aa as ee ee e e a AR 80 IAD POG Tape cio A A A AAEM A ha E de GE 81 14 21 TOG CHANGES lt lt a e eS ee a FS a we BN Wit we Be we 81 14 Cutter Radius Compensation se oc occiso EMERGE ELE ERD 82 VA UVEITIS a ee A BAR EE Ew Aa ore be oe Bee ae bo kw 82 PBZ a hg ee eS a eR ee Fe a we ww We Ee we 84 143 2 l0utside Prone chee cae daw ba ee eae Ee ER eS 84 14 5 2 2nsicle Prole accesoria 84 EMC V2 4 User Manual CONTENTS 15 G Code Reference 86 15I Folar Coordinalts s s s ara ik oe ae Rae A a ee we AI e we A we 86 US 2 Gisiels Reference Table ac ce as ee ara de a kaia Ga ae we tee oe 89 15 00 Rapid Lincar Motion sas ais dop e Re ae ene ee oe wt Re e 90 1S 461 Linear MOUGN e osos eo ee GA ae BAP TS a el Ba ee 90 US BOZO ok a a ee eS ee a Be Ga ew ae Bs 91 15 5 1Center format arcs preferred format 002 0000 eae 91 TARDA Ces maria GE A RO A A eS Se we ee 94 15 5 3Radius format arcs discouraged format o 94 REY oh a tosh Gia ea GPO wee See TN ee ee hs eh Se a i ee 94 15 601 Quadrati B splie cs cs eas Ree ee AR Re Oe ew oe a ee 95 15 3605 2 455 5 NURBS Block Sos ca cso daa ee PE a a e i a 95 ES DAMET MOJO ASS i Bow Sle BRN a ee he sae a eh i eSa 96 VS MS Radius Mode e rero 6 A ae ea Ra RM AAR we ER
113. ei eae de A 7 li POU AAA 7 1 0 Programming the Planet oscar A Ae OED ew ees 8 Sila Planing Moves 5 0 ca a a A a e a 9 ie ee ia hw oe eee we SY oe ee Rae Ba a ee Ok we ee 9 22 1 Delandls 4524 64 0 eae ER ASE RAE RR RASA GMS Re OAD RS EE REG OS 9 ie E Be ws 9 5 2 5 Tool Radius Obel s o oir Raw ba ee EERE REED Rw 10 A oo RH AERA ERDAS PRES RAD ARE ORS RS ee ow bo ew A 10 ek ON CMAN BCS 5 68 a A ee Se ey a a ea SS we AE Gee ee ew ae tw Ae ee e 10 3 59 Coordinate Systems ss a eee wee ea ee Ea Ee we we 10 2 5 1 G53 Machine Coordinate escocia ads Rae RE eee he ed 10 3 5 2 54 59 5 User Coordinates o so o so eses ss e 10 299 When Your LOSE oo so 50 0 a e a we e de a 11 II EMC V2 4 User Manual CONTENTS I Interfaces 4 AXIS 4 1 4 2 4 4 4 5 4 6 4 7 4 8 4 9 TTOUCUON a A A ee a Getting Started nk s ro RAO RAR EER OS SES Rw 4 2 1 A Typical Session o gt soco o 4 3 AXIS Display 4 3 1 Menu items o es da amade da daa daia 4 3 1 1 Fle Menmu eers haha AL ee AA amp 8 4 3 1 2 Machine gt soos i we we we Alar VER ge PR a RE SR A SG AS LA WEG e eea oaa aaa eS OS He SS 4 3 2 Toolbar buttons 04 4 3 3 Graphical Display Area 4 3 3 1 Coordinate Display 4 3 3 2 Preview PIOL 4 65544504 6 MWe wee 4 3 3 3 Program Extents 6 6 6 66st ee ees 4 3 34 Tool Cone s i ee we atts we es dana Backpl t es e kaos ea eee ee ee oa ws ADD METANS fi
114. elected using a T word see Section 18 3 program M6 When the tool change is complete The spindle will be stopped The tool that was selected by a T word on the same line or on any line after the previous tool change will be in the spindle The T number is an integer giving the changer slot of the tool not its id If the selected tool was not in the spindle before the tool change the tool that was in the spindle if there was one will be in its changer slot If configured in the ini file some axis positions may move when a M6 is issued See the EMCIO section of the Integrators Manual for more information on tool change options No other changes will be made For example coolant will continue to flow during the tool change unless it has been turned off by an M9 The tool length offset is not changed use G43 to change the tool length offset The tool change may include axis motion Itis OK but not useful to program a change to the tool already in the spindle It is OK if there is no tool in the selected slot in that case the spindle will be empty after the tool change If slot zero was last selected there will definitely be no tool in the spindle after a tool change 16 4 M7 M8 M9 Coolant Control To turn mist coolant on program M7 To turn flood coolant on program M8 To turn all coolant off program M9 It is always OK to use any of these commands regardless of what coolant is on or off 115 EMC V2 4 User Manu
115. ely program M68 E Q where the E word ranges from O to the default maximum of 3 and Q is the value to set The number of I O can be increased by using the num_aio parameter when loading the motion controller See the EMC2 and HAL chapter in the Configuration Section of the Integrators Manual for more information on the Motion Controller M68 functions the same as M64 65 See the M62 65 section for information about immediate output commands 16 11 M100 to M199 User Defined Commands To invoke a user defined command program Mlnn P Q where P and Q are both optional and must be a number The external program M1nn must be in the directory named in DIS PLAY PROGRAM_PREFIX in the ini file and is executed with the P and Q values as its two arguments Execution of the RS274NGC file pauses until the invoked program exits Any valid executable file can be used The error Unknown M code used denotes one of the following e The specified User Defined Command does not exist e The file is not an executable file For example to open and close a collet closer that is controlled by a paraport pin using a bash script file using M101 and M102 Create two files called M101 and M102 Set them as executable files typically right click properties permissions before running EMC2 Make sure the paraport pin is not connected to anything in a hal file M101 file name bin sh file to turn on paraport pin 14 to open the collet closer halcmd setp
116. epresented in a format whose specifi cation is available to the general public whose contents can be viewed and edited directly and straightforwardly with generic text editors or for images composed of pixels generic paint programs or for drawings some widely available drawing editor and that is suitable for input to text formatters or for automatic translation to a vari ety of formats suitable for input to text formatters A copy made in an otherwise Transparent file format whose markup has been designed to thwart or discourage subsequent modification by readers is not Transparent A copy that is not Transparent is called Opaque Examples of suitable formats for Transparent copies include plain ASCII without markup Texinfo input format BIFX input format SGML or XML using a publicly available DTD and standard conforming simple HTML designed for human modification Opaque formats include PostScript PDF proprietary formats that can be read and edited only by proprietary word processors SGML or XML for which the DTD and or processing tools are not generally available and the machine generated HTML produced by some word processors for output purposes only The Title Page means for a printed book the title page itself plus such following pages as are needed to hold legibly the material this License requires to appear in the title page For works in formats which do not have any title page as such Title Page means the text near the m
117. er by clicking in the slider s open slot on the side you want it to move toward or by clicking on the Default or Rapid buttons This setting only affects the jog move while in manual mode Once a jog move is initiated jog speed has no effect on the jog As an example of this say you set jog mode to incremental and the increment to 1 inch Once you press the Jog button it will travel that inch at the rate at which it started 7 4 2 AUTO When the Auto button is pressed or lt F4 gt on the keyboard the EMC is changed into that mode a set of the traditional auto operation buttons is displayed and a small text window opens to showa part program During run the active line will be displayed as white lettering on a red background In the auto mode many of the keyboard keys are bound to controls For example the numbers above the querty keys are bound to feed rate override The O sets 100 9 sets 90 and such Other keys work much the same as they do with the tkemc graphical interface 7 4 Auto Mode Open l Panse Resuma Verify ite This is a test plot nc program to bs ran on backplot n101 Author Ray Henry 10 Fels 2000 n102 9 53 x0 y0 20 130 n103 xl yl start xy circha n104 17 02 2 y2 regrt 0 5 n105 xl y1 11 1 sqrt 0 50 n106 g9 z 1 add xy lettering n107 y1 75 n108 29 Auto mode does not normally display the active or modal codes If the operator wishes to check these use menu Info gt
118. er instead of a nice radius Notice also that if you program the cut to end at the center of the part a small amount of material will be left from the radius of the tool To finish a face cut to the center of a part you have to program the tool to go past center at least the nose radius of the tool 133 EMC V2 4 User Manual Chapter 19 Lathe Specifics Figure 19 10 Face Cut Pragrammed Path Control Point Using Cutter Comp When using cutter comp on a lathe think of the tool tip radius as the radius of a round cutter When using cutter comp the path must be large enough for a round tool that will not gouge into the next line When cutting straight lines on the lathe you might not want to use cutter comp For example boring a hole with a tight fitting boring bar you may not have enough room to do the exit move The entry move into a cutter comp arc is important to get the correct results 134 Chapter 20 RS274NGC Differences that change the meaning of RS274NGC programs Location after a tool change In EMC2 the machine does not return to its original position after a tool change This change was made because the new tool might be longer than the old tool and the move to the original machine position could therefore leave the tool tip too low Offset parameters are inifile units In EMC2 the values stored in parameters for the G28 and G30 home locations the P1 P9 coor dinate systems and the G92 offset are in inifile
119. erators manual 39 EMC V2 4 User Manual Chapter 7 MINI Mini was designed to be a full screen graphical interface It was first written for the Sherline CNC but is available for anyone to use copy and distribute under the terms of the GPL copyright Rather than popup new windows for each thing that an operator might want to do Mini allows you to display these within the regular screen Parts of this chapter are copied from the instructions that were written for that mill by Joe Martin and Ray Henry 7 2 Screen layout Figure 7 2 Mini Display for a Running EMC i Bu Steppermod Minimill X 0 0000 Y 0 0000 Z 0 0000 Faed Overrida 100 m154 0 x0 yO 20 The Mini screen is laid out in several sections See Figure8 1 These include a menu across the top a set of main control buttons just below the menu and two rather large columns of information that show the state of your machine and allow you to enter commands or programs When you compare figure8 1 with figure 7 2 you will see many differences In the second figure e each axis has been homed the display numbers are dark green e the EMC mode is auto the auto button has a light green background e the backplotter has been turned on backplot is visible in the pop in window 40 EMC V2 4 User Manual Chapter 7 MINI e the tool path from the program is showing in the display Once you start working with Mini you will quickly discover how
120. ess than 1 0 e All the required words are not specified e P J K or H is negative e E is greater than half the drive line length 104 EMC V2 4 User Manual Chapter 15 G Code Reference Figure 15 6 G76 Threading K Thread Depth Cycle ou End Position Initial Position X amp Z Z Length of Threads Drive Line A line through the initial X position parallel to the Z P The thread pitch in distance per revolution Z The final position of threads At the end of the cycle the tool will be at this Z position I The thread peak offset from the drive line Negative I values are external threads and positive I values are internal threads Generally the material has been turned to this size before the G76 cycle J A positive value specifying the initial cut depth The first threading cut will be J beyond the thread peak position K A positive value specifying the full thread depth The final threading cut will be k beyond the thread peak position Optional settings R The depth degression R1 0 selects constant depth on successive threading passes R2 0 selects constant area Values between 1 0 and 2 0 select decreasing depth but increasing area Values above 2 0 select decreasing area Beware that unnecessarily high degression values will cause a large number of passes to be used degression a descent by stages or steps Q The compound slide angle is the angle in degrees de
121. est cut and measure the diameter 5 Select Touch Off and pick Tool Table then enter the position or the diameter Note if your in Radius Mode you will enter the radius not the diameter The Z Tool Offset The Z axis offsets can be a bit confusing at first because there are two elements to the Z offset The tool table offset and the machine coordinate offset First we will look at the tool table offsets One method is to use a fixed point on your lathe and set the Z offset for all tools from this point Some use the spindle nose or chuck face This gives you the ability to change to a new tool and set it s Z offset without having to reset all the tools A typical session might be 1 Home each axis if not homed 128 EMC V2 4 User Manual Chapter 19 Lathe Specifics Make sure no offsets are in effect for the current coordinate system Set the current tool with TnM6 where n is the tool number Select the Z axis in the Manual Control window a YN Bring the tool close to the control surface Using a cylinder move the Z away from the control surface until the cylinder just passes between the tool and the control surface 6 Select Touch Off and pick Tool Table and set the position to 0 0 7 Repeat for each tool using the same cylinder Now all the tools are offset the same distance from a standard position If you change a tool like a drill bit you repeat the above and it is now in sync with the rest of the
122. eter of a hole The program demonstrates how to find the center of a hole measure the hole diameter and record the results 21 1 7 Cutter Compensation To be added 21 2 Lathe Examples 21 2 1 Threading File Name lathe g76 ngc Description Facing threading and parting off This file shows an example of threading on a lathe using parameters 140 Chapter 22 Image to gcode Milling depth maps X torus png AXIS File Machine View Som ddI Manual Control F3 MDI F5 Axis E G ire Fas XX torus png Image to gcode Units Invert Image Normalize Image Tolerance units Pixel Size Scan pattern Scan direction Depth units Y step pixels Tool Diameter units Safety Height units Tool Type Lace bounding Image size 400 x 400 pixels Minimum pixel value 0 Maximum pixel value 198 Contact angle 22 1 What is a depth map Feed Rate units per minute 12 0 G20 in v ves Yes 0 001 0 006 Rows then Columns v Down Milling vj 0 25 15 aj 0 0625 0 012 Ball End Secondary 45 0 OK Cancel Position Relative Actual Filtering A depth map is a greyscale image where the brightness of each pixel corresponds to the depth or height of the object at each point 22 2 Integrating image to gcode with the AXIS user interface Add the following lines to the FILTER section of your ini file to make AXIS automatical
123. eys Z and the and keys A If Continuous is selected the motion will continue as long as the button or key is pressed If another value is selected the machine will move exactly the displayed distance each time the button is clicked or the key is pressed The available values are 1 0000 0 1000 0 0100 0 0010 0 0001 By pressing Home or the HOME key the selected axis will be homed Depending on your configu ration this may just set the axis value to be the absolute position 0 0 or it may make the machine move to a specific home location through use of home switches See the Integrators Manual for more information on homing By pressing Override Limits the machine will temporarily be permitted to jog outside the limits defined in the ini file Note if Override Limits is active the button will be displayed using a red colour 36 EMC V2 4 User Manual Chapter 6 TkKEMC Figure 6 3 TKEMC Override Limits amp Jogging increments example override limits continuous continuous 0 0001 0 0010 ana 0 0100 1 0000 6 3 5 2 The Spindle group The button on the first row select the direction for the spindle to rotate Counterclockwise Stopped Clockwise The buttons next to it allow the user to increase or decrease the rotation speed The button on the second row allows the spindle brake to be engaged or released Depending on your machine configuration not all the items
124. face to real time operating systems including RTAI and RTLINUX RS 274 NGC The formal name for the language used by EMC part programs Servo Motor A special kind of motor that uses error sensing feedback to correct the position of an actuator Servo Loop A control loop used to control position or velocity of an motor equipped with a feedback device Signed Integer A whole number that can have a positive or negitive sign 12 In HAL it is known as s32 Spindle On a mill or drill the spindle holds the cutting tool On a lathe the spindle holds the workpiece Spindle Speed Override A manual operator controlled change in the rate at which the tool rotates while cutting Often used to allow the operator to adjust for chatter caused by the cutter s teeth Spindle Speed Override assume that the EMC2 software has been configured to control spindle speed Stepconf An EMC2 configuration wizard It is able to handle many step and direction motion command based machines Writes a full configuration after the user answers a few questions about the computer and machine to be run with Stepper Motor A type of motor that turns in fixed steps By counting steps it is possible to deter mine how far the motor has turned If the load exceeds the torque capability of the motor it will skip one or more steps causing position errors TASK The module within EMC that coordinates the overall execution and interprets the part pro gram Tcl Tk A scripti
125. ft limits in the ini file the relevant dimension is shown in a different color and enclosed by a box In Figure 4 2 the maximum soft limit is exceeded on the X axis as indicated by the box surrounding the coordinate value 18 EMC V2 4 User Manual Chapter 4 AXIS Figure 4 2 Soft Limit 4 3 3 4 Tool Cone The location of the tip of the tool is indicated by the tool cone The cone does not indicate anything about the shape length or radius of the tool When a tool is loaded for instance with the MDI command T1M6 the cone changes to a cylinder which shows the diameter of the tool given in the tool table file 4 3 3 5 Backplot When the machine moves it leaves a trail called the backplot The color of the line indicates the type of motion Yellow for jogs faint green for rapid movements red for straight moves at a feed rate and magenta for circular moves at a feed rate 4 3 3 6 Interacting By left clicking on a portion of the preview plot the line will be highlighted in both the graphical and text displays By left clicking on an empty area the highlighting will be removed By dragging with the left mouse button pressed the preview plot will be shifted panned By dragging with shift and the left mouse button pressed or by dragging with the mouse wheel pressed the preview plot will be rotated When a line is highlighted the center of rotation is the center of the line Otherwise the center of rotation is the cen
126. given a distinguishing version number If the Document specifies that a particular numbered version of this License or any later version applies to it you have the option of following the terms and conditions either of that specified version or of any later version that has been published not as a draft by the Free Software Foundation If the Document does not specify a version number of this License you may choose any version ever published not as a draft by the Free Software Foundation ADDENDUM How to use this License for your documents To use this License in a document you have written include a copy of the License in the document and put the following copyright and license notices just after the title page Copyright c YEAR YOUR NAME Permission is granted to copy distribute and or modify this document under the terms of the GNU Free Documentation License Version 1 1 or any later version published by the Free Software Foundation with the Invariant Sections being LIST THEIR TITLES with the Front Cover Texts being LIST and with the Back Cover Texts being LIST A copy of the license is included in the section entitled GNU Free Documentation License If you have no Invariant Sections write with no Invariant Sections instead of saying which ones are invariant If you have no Front Cover Texts write no Front Cover Texts instead of Front Cover Texts being LIST likewise for Back Cover Texts If your document contains nontrivi
127. gt When a blank line is entered the machine s current position is shown When a command is entered it is sent to EMC to be executed This is a sample session of mdi mdi emc2 configs sim emc nml MDI gt 0 0 0 0 0 0 0 0 0 0 0 0 MDI gt G1 F5 X1 MDI gt 0 5928500000000374 0 0 0 0 0 0 0 0 0 0 MDI gt 1 0000000000000639 0 0 0 0 0 0 0 0 0 0 25 EMC V2 4 User Manual Chapter 4 AXIS 4 7 axis remote AXIS includes a program called axis remote which can send certain commands to a running AXIS The available commands are shown by running axis remote help and include check ing whether AXIS is running ping loading a file by name reloading the currently loaded file reload and making AXIS exit quit 4 8 Manual Tool Change EMC2 includes a userspace hal component called hal_manualtoolchange which shows a window Figure 4 7 when a M6 command is issued After the OK button is pressed execution of the program will continue The HAL configuration file configs sim axis_manualtoolchange hal shows the HAL commands necessary to use this component hal_manualtoolchange can be used even when AXIS is not used as the GUI This component is most useful if you have presettable tools and you use the tool table Important Note Rapids will not show on the preview after a T lt n gt is issued until the next feed move after the M6 This can be very confusing to most users To turn this featu
128. han the ini file acceleration To keep up feed rate the move must be longer than the distance it takes to accelerate from O to the desired feed rate and then stop again Using A as 1 2 the ini file MAX_ACCELERATION and F as the feed rate in units per second the acceleration time is ta F A and the acceleration distance is da 1 2 x F x ta the deceleration time and distance are the same making the critical distance d da dd 2 da F 2 A For example for a feed rate of 1 inch per second and an acceleration of 10 inch sec 2 the critical distance is 142 10 1 inch For a feed rate of 5 inch per second the critical distance is 5 2 10 025 inch 3 2 G Code 3 2 1 Defaults When EMC first starts up many G and M codes are loaded by default The current active G and M codes can be viewed on the MDI tab in the Active G Codes window in the AXIS interface These G and M codes define the behavior of EMC and it is important that you understand what each one does before running EMC The defaults can be changed when running a G Code file and left in a different state than when you started your EMC session The best practice is to set the defaults needed for the job in the preamble of your G Code file and not assume that the defaults have not changed Printing out the G Code Quick Reference 15 2 page can help you remember what each one is 3 2 2 Feed Rate How the feed rate is applied depends on if an axis involved with the move
129. he lines Sticky numbers keep their value on the rest of the lines if they are not explicitly programmed to be different The R number is always sticky In incremental distance mode X Y and R numbers are treated as increments from the current position and Z as an increment from the Z axis position before the move involving Z takes place In absolute distance mode the X Y R and Z numbers are absolute positions in the current coordinate system The L number is optional and represents the number of repeats L 0 is not allowed If the repeat feature is used it is normally used in incremental distance mode so that the same sequence of motions is repeated in several equally spaced places along a straight line In absolute distance mode L gt 1 means do the same cycle in the same place several times Omitting the L word is equivalent to specifying L 1 The L number is not sticky 15 31 3 Repeat Cycle When L is greater than 1 in incremental mode with the XY plane selected the X and Y positions are determined by adding the given X and Y numbers either to the current X and Y positions on the first go around or to the X and Y positions at the end of the previous go around on the repetitions Thus if you program 110 you will get 10 cycles The first cycle will be distance X Y from the original location The R and Z positions do not change during the repeats 107 EMC V2 4 User Manual Chapter 15 G Code Reference 15 31 4 Retract
130. he selected input to go to the HIGH state 4 WAIT_MODE_LOW waits for the selected input to go to the LOW state e The Q word specifies the timeout for the waiting If the timeout is exceeded the wait is inter rupt and the variable 5399 will be holding the value 1 The Q value is ignored if the L word is zero IMMEDIATE A Q value of zero is an error if the L word is non zero e Mode O is the only one permitted for an analog input 117 EMC V2 4 User Manual Chapter 16 M Codes M66 wait on an input stops further execution of the program until the selected event or the pro grammed timeout occurs It is an error to program M66 with both a P word and an E word thus selecting both an analog and a digital input In EMC2 these inputs are not monitored in real time and thus should not be used for timing critical applications 16 9 M67 Analog Output To control an analog output synchronized with motion program M67 E Q where the E word ranges from O to the default maximum of 3 and Q is the value to set The number of I O can be increased by using the num_aio parameter when loading the motion controller See the EMC2 and HAL chapter in the Configuration Section of the Integrators Manual for more information on the Motion Controller M67 functions the same as M62 63 See the M62 65 section for information about queuing output commands synchronized with motion 16 10 M68 Analog Output To control an analog output immediat
131. hine zero Show_Restart adds a block of buttons to the right of the program display in auto mode These allow the operator to restart a program after an abort or estop These will pop in whenever estop or abort is pressed but can be shows by the operator anytime auto mode is active by selecting this menu item Hide_Restart removes the block of buttons that control the restart of a program that has been aborted or estopped Show_Split_Right changes the nature of the right hand column so that it shows both mode and pop in information Show_Mode_Full changes the right hand column so that the mode buttons or displays fill the entire right side of the screen In manual mode running with mode full you will see spindle and lube control buttons as well as the motion buttons Show_Popin_Full changes the right hand column so that the popin fills the entire right side of the screen Settings These menu items allow the operator to control certain parameters during a run Actual_Position sets the main position displays to actual machine based values Commanded Position sets the main position displays to the values that they were com manded to Machine Position sets the main position displays to the absolute distance from where the machine was homed Relative_Position sets the main position displays to show the current position including any offsets like part zeros that are active For more information on offsets see the chapter on coordinate sy
132. hining This chapter introduces you to offsets as they are used by the EMC These include e machine coordinates G53 e nine fixture offsets G54 G59 3 e global offsets G92 13 2 The Machine Position Command G53 Regardless of any offsets that may be in effect putting a G53 in a block of code tells the interpreter to go to the real or absolute axis positions commanded in the block For example g53 gO x0 yO zO will get you to the actual position where these three axes are zero You might use a command like this if you have a favorite position for tool changes or if your machine has an auto tool changer You might also use this command to get the tool out of the way so that you can rotate or change a part in a vice G53 is not a modal command It must be used on each line where motion based upon absolute machine position is desired 74 EMC V2 4 User Manual Chapter 13 Coordinate System 13 3 Fixture Offsets G54 G59 3 fixture 5 fixture 6 fixture 7 fixture 8 Figure 13 1 Fixture Offsets Work or fixture offset are used to make a part home that is different from the absolute machine coordinate system This allows the part programmer to set up home positions for multiple parts A typical operation that uses fixture offsets would be to mill multiple copies of parts on multiple part holders or vises The values for offsets are stored in the VAR file that is requested by the INI file during the startup of an EMC In
133. hown 4 2 l 0 NOD a A OU D 1 A Typical Session Start EMC Clear the E STOP F1 and turn the Machine Power F2 on Home all axes Load the g code file Use the preview plot to verify that the program is correct Set the proper offsets for each axis by jogging and using the Touch Off button Run the program To run the same file again return to step 6 To run a different file return to step 4 When you re done exit AXIS 4 3 AXIS Display The AXIS window contains the following elements A display area that shows a preview of the loaded file in this case axis ngc as well as the current location of the CNC machine s controlled point Later this area will display the path the CNC machine has moved through called the backplot A menu bar and toolbar that allow you to perform various actions Manual Control Tab which allows you to make the machine move turn the spindle on or off and turn the coolant on or off if included in the ini file MDI Tab where G code programs can be entered manually one line at a time This also shows the Active G Codes which shows which modal G Codes are in effect Feed Override which allows you to increase or decrease the speed at which EMC executes Feed Moves the selected program The default maximum is 120 and can be set to a different value in the ini file See the Integrators Manual for more information on this setting Spindle Override which allo
134. i display The XOFFSET field gives an offset for the X coordinate when tool length offsets are in effect 60 EMC V2 4 User Manual Chapter 9 CNC Machine Overview The ORIENTATION field gives the orientation of the lathe tool as illustrated in 9 1 The red cross is the controlled point See 9 2 3 The FRONTANGLE and BACKANGLE fields are used by some user interfaces to display a fancy representation of the lathe tool Figure 9 1 Tool Orientations turning OS 6 ray T o C e U 0 O 4 0 x lt U O a j AVES boring 9 5 Parameters In the RS274 NGC language view a machining center maintains an array of over 5400 numerical parameters defined by a system definition RS274NGC_MAX_PARAMETERS Many of them have specific uses especially in defining coordinate systems The number of numerical parameters can increase as development adds support for new parameters The parameter array persists over time even if the machining center is powered down EMC2 uses a parameter file to ensure persistence and gives the Interpreter the responsibility for maintaining the file The Interpreter reads the file when it starts up and writes the file when it exits 61 EMC V2 4 User Manual Chapter 9 CNC Machine Overview Table 9 3 Parameters Used by the RS274NGC Interpreter Parameter Number s Meaning 5061 5070 Result of G38 2 Probe 5161
135. inate system with G10 L2 P1 XO YO ZO Turn off tool offsets with G49 Turn on the Relative Coordinate Display from the menu Now you should be at the machine origin XO YO ZO and the relative coordinate system should be the same as the machine coordinate system 11 Part I Interfaces Chapter 4 AXIS 4 1 Introduction AXIS is a graphical front end for EMC2 which features a live preview and backplot It is written in Python and uses Tk and OpenGL to display its user interface Figure 4 1 AXIS Window File Machine View Help 90m 1 gt nmn e z Nix lx Ped Manual Control F3 MDI F5 Preview DRO Axis al a E af Bis Spindle Stop Y El El Feed Override 100 AA Spindle Override 100 f Jog Speed 58inmin I Max Velocity 60 inmin 7 AXIS splash g code Not intended for actual milling isa 1 1 SH 2 01 CUT 3 0003 SCALE 4 60 FEED G20 G92 Y 25 2 25 Character E ESTOP No tool Position Relative Actual 13 EMC V2 4 User Manual Chapter 4 AXIS 4 2 Getting Started To select AXIS as the front end for EMC2 edit the ini file In the section DISPLAY change the DISPLAY line to read DISPLAY axis Then start EMC2 and select that ini file The sample configuration sim axis ini is already con figured to use AXIS as its front end When you start AXIS a window like the one in Figure 4 1 is s
136. included in the Modified Version N Do not retitle any existing section as Endorsements or to conflict in title with any Invariant Section If the Modified Version includes new front matter sections or appendices that qualify as Secondary Sections and contain no material copied from the Document you may at your option designate some or all of these sections as invariant To do this add their titles to the list of Invariant Sections in the Modified Version s license notice These titles must be distinct from any other section titles You may add a section entitled Endorsements provided it contains nothing but endorsements of your Mod ified Version by various parties for example statements of peer review or that the text has been approved by an organization as the authoritative definition of a standard You may add a passage of up to five words as a Front Cover Text and a passage of up to 25 words as a Back Cover Text to the end of the list of Cover Texts in the Modified Version Only one passage of Front Cover Text and one of Back Cover Text may be added by or through arrangements made by any one entity If the Document already includes a cover text for the same cover previously added by you or by arrangement made by the same entity you are acting on behalf of you may not add another but you may replace the old one on explicit permission from the previous publisher that added the old one The author s and publisher s of the Document
137. ing Cycle with Chip Breaking 0 0 2 2 000 0000 00000 8 104 Poa Tene CV osa aaa RAR AA a ew a 104 EMC V2 4 User Manual CONTENTS 15 3080 Cancel Modal Motion cocer cs as 106 iaa e 2 EE 107 1531 DOOR Word s ce caa so cs a a 107 Ad A SI 107 TR OU BERGA Cycle es iron aw oe a A Ace ack we ee Hl A 107 1531 React MOTE lt lt ms ee a ee WO ae 108 Ue ol Batic Cycle EITOFS e v e toes we ee oe A de ah Da ae 108 15 31 Breliminary and In Between Motion 0000000000004 108 15 3061 Drilling Cycle i265 Se ar ER EERE SG eee eee eS 108 15 36 82 Drilling Cycle with Dwell c ee a ee ee 110 15 2063 Peck Dring ogee ch Se A Re a RR Re eR we Be a wy ee ae Sa 110 15 38 84 Right Hand Tapping sasssa aaa ee ee ee 110 15 3685 Boring No Dwell Feed Out o aoc esa c ea ea es 110 15 3686 Boring Spindle Stop Rapid Out lt s s ss 0 2 0 0 2 0 0 00000000048 111 15 38 87 Back Boring 6 456 e mn o EE Ee ee ee ee 111 15 3 88 Boring Spindle Stop Manual Out e 111 15 4089 Boring Dwell Feed OU os o inc cr es eM eae eee 111 15 4000 G91 Set Distance Mod oa Ee e e be ewes 111 15 42790 1 691 1 Are Distance Mode gt so soe 6 rans A ee Be a 112 15 4892 G92 1 G92 2 G92 3 Coordinate System Offsets o 112 15 4693 G94 G95 Set Feed Rate Mode occ cocer kaate ee eee 112 15 4696 G97 Spindle Control Mode e 113 15 4698 G99 Set Canned
138. ini file A text file that contains most of the information that configures EMC for a particular ma chine Instance One can have an instance of a class or a particular object The instance is the actual object created at runtime In programmer jargon the Lassie object is an instance of the Dog class Joint Coordinates These specify the angles between the individual joints of the machine See also Kinematics Jog Manually moving an axis of a machine Jogging either moves the axis a fixed amount for each key press or moves the axis at a constant speed as long as you hold down the key kernel space See real time Kinematics The position relationship between world coordinates and joint coordinates of a ma chine There are two types of kinematics Forward kinematics is used to calculate world co ordinates from joint coordinates Inverse kinematics is used for exactly opposite purpose Note that kinematics does not take into account the forces moments etc on the machine It is for positioning only Lead screw An screw that is rotated by a motor to move a table or other part of a machine Lead screws are usually either ball screws or acme screws although conventional triangu lar threaded screws may be used where accuracy and long life are not as important as low cost Machine units The linear and angular units used for machine configuration These units are used in the inifile HAL pins and parameters are also generally in machine units MD
139. ional if else endif The if conditional executes one group of statements if a condition is true and another if it is false Set feed rate depending on a variable 0102 if 2 GT 5 F100 0102 else F200 0102 endif 17 4 Repeat The repeat will execute the statements inside of the repeat endrepeat the specified number of times The example shows how you might mill a diagonal series of shapes starting at the present position Mill 5 diagonal shapes G91 Incremental mode 0103 repeat 5 insert milling code here GO X1 Y1 diagonal move to next position 0103 endrepeat G90 Absolute mode 17 5 Indirection The O number may be given by a parameter or calculation O 101 2 call 121 EMC V2 4 User Manual Chapter 17 O Codes 17 6 Computing values in O words In O words Parameters section 10 5 Expressions section 10 7 Binary Operators section 10 8 and Functions table 10 3 are particularly useful 17 7 Calling Files To call a separate file with a subroutine name the file the same as your call and include a sub and endsub in the file The file must be in the directory pointed to by PROGRAM_PREFIX The file name can include lowercase letters numbers dash and underscore only o lt myfile gt call a named file or 0123 call a number file In the called file you must include the oxxx sub and endsub and the file must be a valid file myfile ngc o lt myfile gt sub
140. is a rotary axis Read and understand the Feed Rate section 9 2 5 if you have a rotary axis or a lathe EMC V2 4 User Manual Chapter 3 User Concepts 3 2 3 Tool Radius Offset Tool Radius Offset G41 42 requires that the tool be able to touch somewhere along each pro grammed move without gouging the two adjacent moves If that is not possible with the current tool diameter you will get an error A smaller diameter tool may run without an error on the same path This means you can program a cutter to pass down a path that is narrower than the cutter without any errors See the Tool Compensation Section 14 3 for more information 3 3 Homing After starting EMC2 each axis must be homed prior to running a program or running a MDI com mand If you want to deviate from the default behavior or want to use the Mini interface you will need to set the option NO_FORCE_HOMING 1 in the TRAJ section of your ini file More information on homing can be found in the Integrators Manual 3 4 Tool Changes There are several options when doing manual tool changes See the EMCIO section of the Integra tors Manual for information on configuration of these options Also see the G28 and G30 section of the User Manual 3 5 Coordinate Systems The Coordinate Systems can be confusing at first Before running a CNC machine you must un derstand the basics of the coordinate systems used by EMC In depth information on the EMC Coordinate Systems is in
141. is interface both load the program text to display it to the user though so RAM becomes a limiting factor In Axis because the preview plot is drawn by default the redraw time also becomes a practical limit on program size The preview can be turned off in Axis to speed up loading large part programs In Axis sections of the preview can be turned off using special comments 70 Chapter 11 Order of Execution The order of execution of items on a line is defined not by the position of each item on the line but by the following list 1 2 3 O 0 N Q oO amp 11 12 13 14 15 16 17 18 19 20 21 Comment including message Set feed rate mode G93 G94 Set feed rate F Set spindle speed S Select tool T Change tool M6 Spindle on or off M3 M4 M5 Coolant on or off M7 M8 M9 Enable or disable overrides M48 M49 Dwell G4 Set active plane G17 G18 G19 Set length units G20 G21 Cutter radius compensation on or off G40 G41 G42 Cutter length compensation on or off G43 G49 Coordinate system selection G54 G55 G56 G57 G58 G59 G59 1 G59 2 G59 3 Set path control mode G61 G61 1 G64 Set distance mode G90 G91 Set retract mode G98 G99 Go to reference location G28 G30 or change coordinate system data G10 or set axis offsets G92 G92 1 G92 2 G94 Perform motion GO to G3 G33 G73 G76 G80 to G89 as modified possibly
142. is not complex and there is no compromise to be made In the INI file the specified machine constraints such as maximum axis velocity and axis acceleration must be obeyed by the trajectory planner 3 1 2 Path Following A less straightforward problem is that of path following When you program a corner in G Code the trajectory planner can do several things all of which are right in some cases it can decelerate to a stop exactly at the coordinates of the corner and then accelerate in the new direction It can also do what is called blending which is to keep the feed rate up while going through the corner making it necessary to round the corner off in order to obey machine constraints You can see that there is a trade off here you can slow down to get better path following or keep the speed up and have worse path following Depending on the particular cut the material the tooling etc the programmer may want to compromise differently Rapid moves also obey the current trajectory control With moves long enough to reach maximum velocity on a machine with low acceleration and no path tolerance specified you can get a fairly round corner EMC V2 4 User Manual Chapter 3 User Concepts 3 1 3 Programming the Planner The trajectory control commands are as follows G61 Exact Path Mode visits the programmed point exactly even though that means it might temporarily come to a complete stop in order to change direction to the next programme
143. kee ae ee 4 3 4 Text Display Area o ooo ooo o 4 3 5 Manual Control s osos e e ee Be we 45 0 1 The ASIS group 6 oe eaa a a a Ada Homing o cererea ae ae a ER a Lona TOCNO 154545844 4546 2h te aes 4 3 5 4 Override Limits 4 3 5 5 The Spindle group 4 3 5 6 The Coolant group sss 0 0 080845 Soda MDU skemas ee Raa ee ee hale hee i 43 7 Feed AVIV I sii gies oar a ae doe wee E 4 3 8 Spindle Speed Override 2 2 ce o 0 do JOE OPEC ee cia ge ee te Gok we WS ae a aS ass 4 5 10Max VEIOCI coria eRe rs a Keyboard Controls ee ee ee ee Show EMC Status lt oe soea wa eee e eG EE as ME Dr is a a ee AAA as TOMOE eo foe SSE Ga AAA EEG Manual Tool Change 0 6 6 ke ee ee ee Python Modules osmosis Ga we a wee AS 12 EMC V2 4 User Manual CONTENTS a OLAS MOUS osa a ee ea dk ae ee ee ea Se bw ew 27 4 1 LAdvanced Configuration ess 2c Ge A atada ee a ee t 27 1 11 Progra Pier lt lt eooo ee a a ee Ga we eae 27 4 11 oThe X Resource Database sacris ee ee ee ee A N 28 4 11 3 Physical j g Wheels o ooo nda a we ee da ew A 29 ALLAGESTE 2 RE a a ae ee we 29 a mai EAr AAN 29 4 11 Wrtual Control Panel 3 022524 6 2 eae ee RR a a eG 29 4 11 Special Comments os cr ee eee 29 5 Touchy 31 mi Hard e EI 32 a CON PUTAO AAA RA AN 32 6 TkEMC 33 Gd DOTOCMEG N carcasas sa ERAGE a a e i 33 0 2 Cetine SATIE os isos daa a ee a A A ek 33 6 2 1 A typical session wi
144. l Control The general term used to refer to computer control of machin ery Instead of a human operator turning cranks to move a cutting tool CNC uses a computer and motors to move the tool based on a part program 151 EMC V2 4 User Manual Chapter A Glossary Comp A tool used to build compile and install EMC2 HAL components Configuration n A directory containing a set of configuration files Custom configurations are nor mally saved in the users home emc2 configs directory These files include EMC s traditional INI file and HAL files A configuration may also contain several general files that describe tools parameters and NML connections Configuration v The task of setting up EMC2 so that it matches the hardware on a machine tool Coordinate Measuring Machine A Coordinate Measuring Machine is used to make many accurate measurements on parts These machines can be used to create CAD data for parts where no drawings can be found when a hand made prototype needs to be digitized for moldmaking or to check the accuracy of machined or molded parts Display units The linear and angular units used for onscreen display DRO A Digital Read Out is a device attached to the slides of a machine tool or other device which has parts that move in a precise manner to indicate the current location of the tool with respect to some reference position Nearly all DRO s use linear quadrature encoders to pick up position information from the
145. lash 2 an optional line number 3 any number of words parameter settings and comments 4 an end of line marker carriage return or line feed or both Any input not explicitly allowed is illegal and will cause the Interpreter to signal an error 63 EMC V2 4 User Manual Chapter 10 G Code Overview Spaces and tabs are allowed anywhere on a line of code and do not change the meaning of the line except inside comments This makes some strange looking input legal The line GOX 0 12 34Y 7 is equivalent to GO x 0 1234 Y7 for example Blank lines are allowed in the input They are to be ignored Input is case insensitive except in comments i e any letter outside a comment may be in upper or lower case without changing the meaning of a line 10 2 Line Number A line number is the letter N followed by an integer with no sign between O and 99999 written with no more than five digits 000009 is not OK for example Line numbers may be repeated or used out of order although normal practice is to avoid such usage Line numbers may also be skipped and that is normal practice A line number is not required to be used but must be in the proper place if used 10 3 Word A word is a letter other than N followed by a real value Words may begin with any of the letters shown in Table 10 1 The table includes N for completeness even though as defined above line numbers are not words Several letters I J K L P R
146. le The maximum number of entries in the tool table is 56 The maximum tool and pocket number is 99999 Table 14 1 Mill Format Tool File Tl Pl DO 125000 Z 0 511000 31 8 End Mill T2 P2 DO 062500 Z 0 100000 31 16 End Mill T99999 P99999 D23 75000 Z 0 3000000 You have a lot of tools In general new tool table line format is e T integer tool number e P integer pocket number e D float tool diameter e X W float tool length offset on specified axis e I float front angle lathe tools e J float back angle lathe tools e Q int tool orientation lathe e begin of comment 14 2 1 Tool Changers EMC supports three types of tool changers manual random location and fixed location Infor mation about configuring an EMC tool changer is in the Integrators Manual Manual Tool Changer Manual tool changer you change the tool by hand is treated like a fixed location tool changer and the P number is ignored Using the manual tool changer only makes sense if you have tool holders that remain with the tool Cat NMTB Kwik Switch etc when changed thus preserving the location of the tool to the spindle Machines with R 8 or router collet type tool holders do not preserve the location of the tool and the manual tool changer should not be used Fixed Location Tool Changers Fixed location tool changers like lathe turrets the tools are in a fixed position in the tool changer
147. le is that it will apply the values to current location of each axis If this is home position and home position is set as machine zero everything will be correct Once home has been established using real machine switches or moving each axis to a known home position and issuing an axis home command any G92 offsets will be applied If you have a G92 X1 in effect when you home the X axis the DRO will read X 1 000 instead of the expected X 0 000 because the G92 was applied to the machine origin If you issue a G92 1 and the DRO now reads all zeros then you had a G92 offset in effect when you last ran EMC Unless your intention is to use the same G92 offsets in the next program best practice is to issue a G92 1 at the end of any G Code files where you use G92 offsets 13 5 Sample Program Using Offsets This sample engraving project mills a set of four 1 radius circles in roughly a star shape around a center circle We can setup the individual circle pattern like this G10 L2 P1 x0 yO ZO ensure that g54 is set to machine zero gO x 1 yO zO gl fl z 25 g3 x 1 yOi 1 jo gO zO m2 We can issue a set of commands to create offsets for the four other circles like this G10 L2 P2 x0 5 offsets g55 x value by 0 5 inch G10 L2 P3 x 0 5 offsets g56 x value by 0 5 inch G10 L2 P4 y0 5 offsets g57 y value by 0 5 inch G10 L2 P5 y 0 5 offsets g58 y value by 0 5 inch 78 EMC V2 4 User Manual Chapter 13 Coordinate System We put the
148. linear motion exceeds machine velocity limits due to the spindle speed 15 20 G38 x Straight Probe Program G38 2 axes G38 3 axes G38 4 axes or G38 5 axes to perform a straight probe operation The axis words are optional except that at least one of them must be used The tool in the spindle must be a probe It is an error if e the current point is the same as the programmed point e no axis word is used e cutter radius compensation is enabled e the feed rate is zero e the probe is already in the target state In response to this command the machine moves the controlled point which should be at the end of the probe tip in a straight line at the current feed rate toward the programmed point In inverse time feed mode the feed rate is such that the whole motion from the current point to the programmed point would take the specified time The move stops within machine acceleration limits when the programmed point is reached or when the requested change in the probe input takes place Table 15 2 Probing codes Code Target state Direction Signal Error G38 2 Contact Toward workpiece Yes G38 3 Contact Toward workpiece No G38 4 No Contact Away from workpiece Yes G38 5 No Contact Away from workpiece No After successful probing parameters 5061 to 5069 will be set to the coordinates of X Y Z A B C U V W of the location of the controlled point at the time the probe changed state Afte
149. ly invoke image to gcode when you open a png gif or jpg image 141 EMC V2 4 User Manual Chapter 22 Image to gcode Milling depth maps PROGRAM_EXTENSION png gif jpg Grayscale Depth Image png image to gcode gif image to gcode jpg image to gcode The standard sim axis ini configuration file is already configured this way 22 3 Using image to gcode Start image to gcode either by opening an image file in AXIS or by invoking image to gcode from the terminal as follows image to gcode torus png gt torus ngc Verify all the settings in the right hand column then press OK to create the gcode Depending on the image size and options chosen this may take from a few seconds to a few minutes If you are loading the image in AXIS the gcode will automatically be loaded and previewed once image to gcode completes In AXIS hitting reload will show the image to gcode option screen again allowing you to tweak them 22 4 Option Reference 22 4 1 Units Specifies whether to use G20 inches or G21 mm in the generated g code and as the units for each option labeled units 22 4 2 Invert Image If no the black pixel is the lowest point and the white pixel is the highest point If yes the black pixel is the highest point and the white pixel is the lowest point 22 4 3 Normalize Image If yes the darkest pixel is remapped to black the lightest pixel is remapped to white 22 4 4 Expan
150. machine EDM EDM is a method of removing metal in hard or difficult to machine or tough metals or where rotating tools would not be able to produce the desired shape in a cost effective manner An excellent example is rectangular punch dies where sharp internal corners are desired Milling operations can not give sharp internal corners with finite diameter tools A wire EDM machine can make internal corners with a radius only slightly larger than the wire s radius A sinker EDM cam make corners with a radius only slightly larger than the radius on the corner of the convex EDM electrode EMC The Enhanced Machine Controller Initially a NIST project EMC is able to run a wide range of motion devices EMCIO The module within EMC that handles general purpose I O unrelated to the actual motion of the axes EMCMOT The module within EMC that handles the actual motion of the cutting tool It runs asa real time program and directly controls the motors Encoder A device to measure position Usually a mechanical optical device which outputs a quadrature signal The signal can be counted by special hardware or directly by the par port with emc2 Feed Relatively slow controlled motion of the tool used when making a cut Feed rate The speed at which a motion occurs In manual mode jog speed can be set from the graphical interface In auto or mdi mode feed rate is commanded using a f word F10 would mean ten units per minute Feedback A
151. mber will overwrite the older settings More than one output change can be specified by issuing more than one M62 M63 command The actual change of the specified outputs will happen at the beginning of the next motion com mand If there is no subsequent motion command the queued output changes won t happen It s best to always program a motion g code GO G1 etc right after the M62 63 M64 amp M65 happen immediately as they are received by the motion controller They are not syn chronized with movement and they will break blending 16 8 M66 Input Control To read the value of an analog or digital input pin program M66 P E L Q where the P word and the E word ranges from O to 3 If needed the the number of I O can be increased by using the num_dio or num_aio parameter when loading the motion controller See the Integrators Manual Configuration Section EMC and HAL section for more information Only one of the P or E words must be present It is an error if they are both missing M66 Wait on an input e The P word specifies the digital input number e The E word specifies the analog input number e The L word specifies the wait type O WAIT_MODE_IMMEDIATE no waiting returns immediately The current value of the input is stored in parameter 5399 1 WAIT_MODE_RISE waits for the selected input to perform a rise event 2 WAIT_MODE_FALL waits for the selected input to perform a fall event 3 WAIT_MODE_HIGH waits for t
152. moves made with the plus and minus jog buttons You can change axis focus by clicking on any other axis display You can also change axis focus in manual mode if you press its name key on your keyboard Case is not important here Y or y will shift the focus to the Y axis A or a will shift the focus to the A axis To help you remember which axis will jog when you press the jog buttons the active axis name is displayed on them The EMC can jog move a particular axis as long as you hold the button down when it is set for continuous or it can jog for a preset distance when it is set for incremental You can also jog the active axis by pressing the plus or minus keys on the keyboard Again case is not important for keyboard jogs The two small buttons between the large jog buttons let you set which kind of jog you want When you are in incremental mode the distance buttons come alive You can set a distance by pressing it with the mouse You can toggle between distances by pressing i or I on the keyboard Incremental jog has an interesting and often unexpected effect If you press the jog button while a jog is in progress it will add the distance to the position it was at when the second jog command was issued Two one inch jog presses in close succession will not get you two inches of movement You have to wait until the first one is complete before jogging again Jog speed is displayed above the slider It can be set using the slid
153. n many controllers The difference is that Pause does not let motion continue to the end of the current block Feed rate Override can be very handy as you approach a first cut Move in quickly at 100 percent throttle back to 10 and toggle between Feedhold and 10 using the pause button When you are satisfied that you ve got it right hit the zero to the right of nine and go The Verify button runs the interpreter through the code without initiating any motion If Verify finds a problem it will stop the read near the problem block and put up some sort of message Most of the time you will be able to figure out the problem with your program by reading the message and looking in the program window at the highlighted line Some of the messages are not very helpful Sometimes you will need to read a line or two ahead of the highlight to see the problem Occasionally the message will refer to something well ahead of the highlight line This often happens if you forget to end your program with an acceptable code like m2 m30 or m60 7 4 3 MDI The MDI button or lt F5 gt sets the Manual Data Input mode This mode displays a single line of text for block entry and shows the currently active modal codes for the interpreter MDI mode allows you to enter single blocks and have the interpreter execute them as if they were part of a program kind of like a one line program You can execute circles arcs lines and such You can even test sets of
154. ng language and graphical widget toolkit with which several of the EMC s GUI s and selection wizards were written Traverse Move A move in a straight line from the start point to the end point Units See Machine Units Display Units or Program Units Unsigned Integer A whole number that has no sign 123 In HAL it is known as u32 World Coordinates This is the absolute frame of reference It gives coordinates in terms of a fixed reference frame that is attached to some point generally the base of the machine tool 154 Appendix B Legal Section B 1 Copyright Terms Copyright c 2000 LinuxCNC org Permission is granted to copy distribute and or modify this document under the terms of the GNU Free Documentation License Version 1 1 or any later version published by the Free Software Foundation with no Invariant Sections no Front Cover Texts and one Back Cover Text This EMC Handbook is the product of several authors writing for linuxCNC org As you find it to be of value in your work we invite you to contribute to its revision and growth A copy of the license is included in the section entitled GNU Free Documentation License If you do not find the license you may order a copy from Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 B 2 GNU Free Documentation License GNU Free Documentation License Version 1 1 March 2000 Copyright C 2000 Free Software Foundation Inc 59 Temple Place
155. ng signals through the printer port These signals pulses make the stepper drives move the stepper motors The EMC2 can also run servo motors via servo interface cards or by using an extended parallel port to connect with external control boards As we examine each of the components that make up an EMC2 system we will remind the reader of this typical machine 2 3 User Interfaces A user interface is the part of the EMC2 that the machine tool operator interacts with The EMC2 comes with several types of user interfaces e AXIS an OpenGL based GUI Graphical User Interface with an interactive G Code previewer This interface is one of the few that are still under active development and improvement EMC V2 4 User Manual Chapter 2 EMC2 File Machine View QU reg iZ IN Ix ly JPG Manual Control F3 MDI F5 Preview DRO Axis oe E to A z Spindle 2107 amp Y jl Feed Override 100 n Spindle Override 100 f Jog Speed 5 8 in min Max Velocity 60 in min AXIS splash g code Not intended for actual milling 1 1 SH 2 01 CUT 3 0003 SCALE 4 60 FEED 620 G92 Y 25 2 25 Character E ESTOP No tool Position Relative Actual e Keystick a character based screen graphics program suitable for minimal installations with out the X server running e Xemc an X Windows program e two Tcl Tk based GUIs named TkEMC and Mini e a HAL base
156. ngc Status idle Open Run Pause Resume Step Verify Optional Stop N6871Y56 0612 28 146 N6881Y56 1052 27 894 N6891Y56 112 27 838 N6901 Y56 1262 27 634 N6911 G0Z10 N6931M3 _ 6 2 Getting Started To select TKEMC as the front end for EMC2 edit the ini file In the section DISPLAY change the DISPLAY line to read 33 EMC V2 4 User Manual Chapter 6 TkKEMC DISPLAY tkemc Then start EMC2 and select that ini file The sample configuration sim tkemc ini is already configured to use TkEMC as its front end When you start EMC2 with TKEMC a window like the one in Figure 6 1 is shown 6 2 1 A typical session with TkKEMC 1 Start EMC2 and select a configuration file Clear the E STOP condition and turn the machine on by pressing F1 then F2 Home each axis Load the file to be milled Put the stock to be milled on the table Oa p ON Set the proper offsets for each axis by jogging and either homing again or right clicking an axis name and entering an offset value N Run the program 8 To mill the same file again return to step 6 To mill a different file return to step 4 When you re done exit EMC2 6 3 Elements of the TKEMC window The TKEMC window contains the following elements e A menubar that allows you to perform various actions e A set of buttons that allow you to change the current working mode start stop spindle and other relevant I O e Status bar f
157. nosing problems is best done by divide and conquer By this I mean if you can remove 1 2 of the variables from the equation each time you will find the problem the fastest In the real world this is not always the case but a good place to start usually 23 1 Common Problems 23 1 1 Stepper Moves One Step The most common reason in a new installation for the stepper not to move is the step and direction signals are backwards If you press the jog foward and backward key and the stepper moves one step each time in the same direction there is your sign 23 1 2 No Steppers Move Many drives have an enable pin or need a charge pump to enable the output 23 1 3 Distance Not Correct If you command the axis to move a specific distance and it does not move that distance then your scale is wrong 23 2 Error Messages 23 2 1 Following Error The concept of a following error is funny when talking about stepper motors Since they are an open loop system there is no position feedback to let you know if you actually are out of range EMC calculates if it can keep up with the motion called for and if not then it gives a following error Following errors usually are the result of one of the following on stepper systems e FERROR to small 147 EMC V2 4 User Manual Chapter 23 Steppers e MIN_FERROR to small e MAX VELOCITY to fast e MAX ACCELERATION to fast e BASE_PERIOD set to long e Backlash added to an axis Any of the above can caus
158. ntegers The number zero is equivalent to logical false and any non zero number is equivalent to logical true Table 10 2 Operator Precedence Operators Precedence bi highest MOD Fe EQ NE GT GE LT LE AND OR XOR lowest 10 9 Functions A function is either ATAN followed by one expression divided by another expression for example ATAN 2 1 3 or any other function name followed by an expression for example SIN 90 The available functions are shown in table 10 3 Arguments to unary operations which take angle measures COS SIN and TAN are in degrees Values returned by unary operations which return angle measures ACOS ASIN and ATAN are also in degrees The FIX operation rounds towards the left less positive or more negative on a number line so that FIX 2 8 2 and FIX 2 8 3 for example The FUP operation rounds towards the right more positive or less negative on a number line FUP 2 8 3 and FUP 2 8 2 for example 67 EMC V2 4 User Manual Chapter 10 G Code Overview Table 10 3 Functions Function Name Function result ATANT Y X Four quadrant inverse tangent ABS arg Absolute value ACOS arg Inverse cosine ASIN arg Inverse sine COS arg Cosine EXPlarg e raised to the given power FIX arg Round down to integer FUP arg Round up to integer ROUND arg Round to nearest integer LN arg Base e logarithm SIN
159. o AUTO to MDI Manual Data Input These buttons show a light green background whenever that mode is active You can also use the FEEDHOLD ABORT and ESTOP buttons to control a programmed move 7 4 1 MANUAL This button or pressing lt F3 gt sets the EMC to Manual mode and displays an abreviated set of buttons the operator can use to issue manual motion commands The labels of the jog buttons change to match the active axis Whenever Show_Mode_Full is active in in manual mode you will see spindle and lube control buttons as well as the motion buttons A keyboard lt i gt or lt I gt will switch from continuous jog to incremental jog Pressing that key again will toggle the increment size through the available sizes Figure 7 3 Manual Mode Buttons DEFAULT Speed 24 RAPID meje E 1 0000 O 0 1000 increment w 9 0100 JOG Z JOG Zt 0 0010 continuous w 0 0001 A button has been added to designate the present position as the home position We felt that a machine of this type Sherline 5400 would be simpler to operate if it didn t use a machine home position This button will zero out any offsets and will home all axes right where they are 42 EMC V2 4 User Manual Chapter 7 MINI Axis focus is important here Notice in figure 8 1 that in manual mode you see a line or groove around the X axis to highlight its position display This groove says that X is the active axis It will be the target for jog
160. o lt myfile gt endsub M2 122 Chapter 18 Other Codes 18 1 F Set Feed Rate To set the feed rate program F lt n gt where n is a number The application of the feed rate is as described in Section 9 2 5 unless inverse time feed rate mode is in effect in which case the feed rate is as described in Section 15 44 18 2 S Set Spindle Speed To set the speed in revolutions per minute rpm of the spindle program s The spindle will turn at that speed when it has been programmed to start turning It is OK to program an S word whether the spindle is turning or not If the speed override switch is enabled and not set at 100 the speed will be different from what is programmed It is OK to program SO the spindle will not turn if that is done It is an error if e the S number is negative As described in Section 15 35 if a G84 tapping canned cycle is active and the feed and speed override switches are enabled the one set at the lower setting will take effect The speed and feed rates will still be synchronized In this case the speed may differ from what is programmed even if the speed override switch is set at 100 18 3 T Select Tool To select a tool program T lt n gt where the lt n gt number is the carousel slot for the tool The tool is not changed until an M6 is programmed see Section 16 3 The T word may appear on the same line as the M6 or on a previous line It is OK but not normally useful if T words appea
161. o remember the direction of rotation as it applies to your lathe When calculating arcs in diameter mode X is diameter and the X offset I is radius even if your in G7 diameter mode 19 7 Tool Path Control Point The the control point for the tool follows the programmed path The control point is the intersection of a line parallel to the X and Z axis and tangent to the tool tip diameter as defined when you touch off the X and Z axes for that tool When turning or facing straight sided parts the cutting path and the tool edge follow the same path When turning radius and angles the edge of the tool tip will not follow the programmed path unless cutter comp is in effect In the following figure you can see how the control point does not follow the tool edge as you might assume 130 EMC V2 4 User Manual Chapter 19 Lathe Specifics Figure 19 4 Control Point Lontrol Point Tool Tip Radius Cutting Angles without Cutter Comp Now imagine we program a ramp without cutter comp The programmed path is shown in the following figure As you can see in the figure the programmed path and the desired cut path are one and the same as long as we are moving in an X or Z direction only Figure 19 5 Ramp Entry Control Paint Programmed Path Tool Tip Radius Now as the control point progresses along the programmed path the actual cutter edge does not follow the programmed path as shown in the following figure There are two w
162. ocument and other documents released under this License and replace the individual copies of this License in the various documents with a single copy that is included in the collection provided that you follow the rules of this License for verbatim copying of each of the documents in all other respects You may extract a single document from such a collection and distribute it individually under this License provided you insert a copy of this License into the extracted document and follow this License in all other respects regarding verbatim copying of that document 7 AGGREGATION WITH INDEPENDENT WORKS A compilation of the Document or its derivatives with other separate and independent documents or works in or on a volume of a storage or distribution medium does not as a whole count as a Modified Version of the Document provided no compilation copyright is claimed for the compilation Such a compilation is called an aggregate and this License does not apply to the other self contained works thus compiled with the Document on account of their being thus compiled if they are not themselves derivative works of the Document If the Cover Text requirement of section 3 is applicable to these copies of the Document then if the Document is less than one quarter of the entire aggregate the Document s Cover Texts may be placed on covers that surround only the Document within the aggregate Otherwise they must appear on covers around the whole
163. ocument under the conditions of sections 2 and 3 above provided that you release the Modified Version under precisely this License with the Modified Version filling the role of the Document thus licensing distribution and modification of the Modified Version to whoever possesses a copy of it In addition you must do these things in the Modified Version A Use in the Title Page and on the covers if any a title distinct from that of the Document and from those of previous versions which should if there were any be listed in the History section of the Document You may use the same title as a previous version if the original publisher of that version gives permission B List on the Title Page as authors one or more persons or entities responsible for authorship of the modifications in the Modified Version together with at least five of the principal authors of the Document all of its principal authors if it has less than five C State on the Title page the name of the publisher of the Modified Version as the publisher D Preserve all the copyright notices of the Document E Add an appropriate copyright notice for your modifications adjacent to the other copyright notices F Include immediately after the copyright notices a license notice giving the public permission to use the Modified Version under the terms of this License in the form shown in the Addendum below G Preserve in that license notice the full lists of Invariant Sections
164. ode F7 Hist On Off F11 Spndl Decrease END Quits Display F4 Auto Mode F8 Flood On Off F12 Spndl Increase Toggles Help MANUAL SPINDLE STOPPED HOMED Override 1002 LUBE OFF BRAKE ON XA SELECTED Tool 0 LUBE OK MIST OFF Speed 60 0 Offset 0 0000 FLOOD OFF Incr continuous K 7 Relative Act Pos 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 Figure 8 1 The Mini Graphical Interface Keystick is a minimal text based interface 8 2 Installing To use keystick change the DISPLAY ini file setting to DISPLAY DISPLAY keystick 52 EMC V2 4 User Manual Chapter 8 KEYSTICK 8 3 Using Keystick is very simple to use In the MDI Mode you simply start typing the g code and it shows up in the bottom text area The key toggles help 53 Part II Using EMC Chapter 9 CNC Machine Overview This section gives a brief description of how a CNC machine is viewed from the input and output ends of the Interpreter 9 1 Mechanical Components A CNC machine has many mechanical components that may be controlled or may affect the way in which control is exercised This section describes the subset of those components that interact with the Interpreter Mechanical components that do not interact directly with the Interpreter such as the jog buttons are not described here even if they affect control 9 1 1 Axes Any CNC machine has one or more Axes Different types of CNC machines have different combi nati
165. oggle mist on mist off F8 toggle flood on flood off F9 toggle spindle forward off F10 toggle spindle reverse off F11 decrease spindle speed F12 increase spindle speed 7 7 2 Manual Mode 1 9 O set feed override to 10 90 O is 100 set feed override to O or feedhold x select X axis y select Y axis z select Z axis 50 EMC V2 4 User Manual Chapter 7 MINI a select A axis b select B axis c select C axis Left Right Arrow jog X axis Up Down Arrow jog Y axis Page Up Down jog Z axis _ jog the active axis in the minus direction jog the active axis in the plus direction Home home selected axis il toggle through jog increments The following only work with a machine using auxiliary I O b take spindle brake off Alt b put spindle brake on 7 7 3 Auto Mode 1 9 0 set feed override to 10 90 O is 100 set feed override to O or feedhold o O open a program r R run an opened program p P pause an executing program s S resume a paused program a A step one line in a paused program 7 8 Misc One of the features of Mini is that it displays any axis above number 2 as a rotary and will display degree units for it It also converts to degree units for incremental jogs when a rotary axis has the focus 51 Chapter 8 KEYSTICK 8 1 Introduction Fi Estop On Off F5 HDI Mode F9 Spndl Fwd OFfF ESC Aborts Actions F2 Machine On Off F6 Reset Interp F10 Spndl Rev OffF TAB Selects Params F3 Manual M
166. on right up front here so that the following pages will make sense to you 2 6 Modes of Operation When an EMC2 is running there are three different major modes used for inputting commands These are Manual Auto and MDI Changing from one mode to another makes a big difference in the way that the EMC2 behaves There are specific things that can be done in one mode that can not be done in another An operator can home an axis in manual mode but not in auto or MDI modes An operator can cause the machine to execute a whole file full of G codes in the auto mode but not in manual or MDI In manual mode each command is entered separately In human terms a manual command might be turn on coolant or jog X at 25 inches per minute These are roughly equivalent to flipping a switch or turning the hand wheel for an axis These commands are normally handled on one of the graphical interfaces by pressing a button with the mouse or holding down a key on the keyboard In auto mode a similar button or key press might be used to load or start the running of a whole program of G code that is stored in a file In the MDI mode the operator might type in a block of code and tell the machine to execute it by pressing the lt return gt or lt enter gt key on the keyboard Some motion control commands are available and will cause the same changes in motion in all modes These include ABORT ESTOP and FEED RATE OVERRIDE Commands like these should be self explanat
167. onnect the wheel mpg to axis N jog counts as well as to touchy wheel counts If you use ilowpass to smooth wheel jogging be sure to smooth only axis N jog counts and not touchy wheel counts 5 2 Configuration Touchy requires you to create a file named touchy hal in the same folder as your ini file to make these connections Touchy executes the hal commands in this file after it has made its pins available for connection To use Touchy in the DISPLAY section of your ini file change the DISPLAY touchy Font Configuration is done on the Preferences Tab Changes will be saved to the current computer in a hidden file 32 Chapter 6 TKEMC 6 1 Introduction TkEMC is one of the most traditional graphical front ends for EMC It is written in Tcl and uses the Tk toolkit for the display Being written in TCL makes it very portable runs on a multitude of platforms A separate backplot window can be displayed as shown in Figure 6 1 Figure 6 1 TKEMC Window TkEmc BackPlot File View Settings Units Scripts x x z Z 3D SETUP tESE ON MIST OFF SPINDLE OFF a ABORT AUTO FLOOD OFF BRAKE ON Tool 1 Offset 0 0000 NASA UR UR 0 mm override limits relative machine actual commanded joint world y continuous home Axis Speed Feed Override 100 Spindle speed Overnde 100 G1 G17 G40 G21 G90 G94 G54 G49 G99 G64 G51 M2 M5 M9 M48 F225 51600 Program fhomefjuve emc2inc_files 3D_Chips
168. ons For instance a 4 axis milling machine may have XYZA or XYZB axes A lathe typically has XZ axes A foam cutting machine may have XYUZ axes In EMC the case of a XYYZ gantry machine with two motors for one axis is better handled by kinematics rather than by a second linear axis 1 9 1 1 1 Primary Linear Axes The X Y and Z axes produce linear motion in three mutually orthogonal directions 9 1 1 2 Secondary Linear Axes The U V and W axes produce linear motion in three mutually orthogonal directions Typically X and U are parallel Y and V are parallel and Z and W are parallel 9 1 1 3 Rotational Axes The A B and C axes produce angular motion rotation Typically A rotates around a line parallel to X B rotates around a line parallel to Y and C rotates around a line parallel to Z Uf the motion of mechanical components is not independent as with hexapod machines the RS274 NGC language and the canonical machining functions will still be usable as long as the lower levels of control know how to control the actual mechanisms to produce the same relative motion of tool and workpiece as would be produced by independent axes This is called kinematics 55 EMC V2 4 User Manual Chapter 9 CNC Machine Overview 9 1 2 Spindle A CNC machine typically has a spindle which holds one cutting tool probe or the material in the case of a lathe The spindle may or may not be controlled by the CNC software 9 1 3 Coolant
169. oordinate system In Absolute Mode the distance and angle is from the XY zero position and the angle starts with O on the X Positive axis and rotates in a CCW direction about the Z axis The code G1 0190 is the same as G1 Y1 In Relative Mode the distance and angle is also from the XY zero position but it is cumulative This can be confusing at first how this works in incremental mode For example if you have the following program you might expect it to be a square pattern 86 EMC V2 4 User Manual Chapter 15 G Code Reference F100 G1 5 90 G91 5 90 5 90 5 90 5 90 G90 GO X0 YO M2 You can see from the following figure that the output is not what you might expect Because we added 5 to the distance each time the distance from the XY zero position increased with each line Figure 15 1 Polar Spiral The following code will produce our square pattern F100 G1 5 90 G91 90 290 290 90 G90 GO XO YO M2 As you can see by only adding to the angle by 90 degrees each time the end point distance is the same for each line 87 EMC V2 4 User Manual Chapter 15 G Code Reference Figure 15 2 Polar Square It is an error if e An incremental move is started at the origin e A mix of Polar and and X or Y words are used 88 EMC V2 4 User Manual Chapter 15 G Code Reference 15 2 Quick Reference Table
170. or various offset related displays e Coordinate display area e A set of sliders which control Jogging speed Feed Override and Spindle speed Override which allow you to increase or decrease those settings e Manual data input text box e Status bar display with active G codes M codes F and S words e Interpreter related buttons e A text display area that shows the G code source of the loaded file lfor some of these actions it might be needed to change the mode emc2 currently is in 34 EMC V2 4 User Manual Chapter 6 TkKEMC 6 3 1 Main buttons From left to right the buttons are 1 Machine enable ESTOP ESTOP RESET ON Toggle mist Decrease spindle speed Set spindle direction SPINDLE OFF SPINDLE FORWARD SPINDLE REVERSE Increase spindle speed D a A WOW N Abort then on the second line 1 Operation mode MANUAL MDI AUTO 2 Toggle flood 3 Toggle spindle brake control 6 3 2 Offset display status bar The Offset display status bar displays the currently selected tool selected with Txx M6 the tool length offset if active and the work offsets set by right clicking the coordinates 6 3 3 Coordinate Display Area The main part of the display shows the current position of the tool The colour of the position readout depends on the state of the axis If the axis is unhomed the axis will be displayed in yello
171. ory The AXIS user interface hides some of the distinctions between Auto and the other modes by mak ing Auto commands available at most times It also blurs the distinction between Manual and MDI because some Manual commands like Touch Off are actually implemented by sending MDI com mands It does this by automatically changing to the mode that is needed for the action the user has requested Chapter 3 User Concepts This chapter covers important user concepts that should be understood before attempting to run a CNC machine with g code 3 1 Trajectory Control 3 1 1 Trajectory Planning Trajectory planning in general is the means by which EMC follows the path specified by your G Code program while still operating within the limits of your machinery A G Code program can never be fully obeyed For example imagine you specify as a single line program the following move G1 X1 F10 G1 is linear move X1 is the destination F10 is the speed In reality the whole move can t be made at F10 since the machine must accelerate from a stop move toward X 1 and then decelerate to stop again Sometimes part of the move is done at F10 but for many moves especially short ones the specified feed rate is never reached at all Having short moves in your G Code can cause your machine to slow down and speed up for the longer moves if the naive cam detector is not employed with G64 Pn The basic acceleration and deceleration described above
172. osition the end position and the arc center In the following figure you can see the start position is XO YO the end position is X1 Y1 The arc center position is at X1 YO This gives us an offset from the start position of 1 in the X axis and O in the Y axis In this case only an I offset is needed The code for the example G2 X1 Y1 I1 F10 In the next example we see the difference between the offsets for Y if we are doing a G2 or a G3 move For the G2 move the start position is XO YO for the G3 move it is XO Y1 The arc center is at X1 YO 5 for both moves The G2 move the J offset is 0 5 and the G3 move the J offset is 0 5 The g code for the following example G2 X0 Y1 11 J0 5 E25 G3 X0 YO 11 J 0 5 F25 Here is an example of a center format command to mill a spiral arc G17 G2 X10 Y16 13 J4 29 That means to make a clockwise as viewed from the positive z axis circular or helical arc whose axis is parallel to the Z axis ending where X 10 Y 16 and Z 9 with its center offset in the X direction by 3 units from the current X location and offset in the Y direction by 4 units from the current Y location If the current location has X 7 Y 7 at the outset the center will be at X 10 Y 11 If the starting value of Z is 9 this is a circular arc otherwise it is a helical arc The radius of this arc would be 5 In the center format the radius of the arc is not specified but it may be found easily as the distance from the center of the
173. ost prominent appearance of the work s title preceding the beginning of the body of the text 2 VERBATIM COPYING You may copy and distribute the Document in any medium either commercially or noncommercially provided that this License the copyright notices and the license notice saying this License applies to the Document are reproduced in all copies and that you add no other conditions whatsoever to those of this License You may not use technical measures to obstruct or control the reading or further copying of the copies you make or distribute However you may accept compensation in exchange for copies If you distribute a large enough number of copies you must also follow the conditions in section 3 You may also lend copies under the same conditions stated above and you may publicly display copies 3 COPYING IN QUANTITY If you publish printed copies of the Document numbering more than 100 and the Documents license notice requires Cover Texts you must enclose the copies in covers that carry clearly and legibly all these Cover Texts Front Cover Texts on the front cover and Back Cover Texts on the back cover Both covers must also clearly and legibly identify you as the publisher of these copies The front cover must present the full title with all words of the title equally prominent and visible You may add other material on the covers in addition Copying with changes limited to the covers as long as they preserve the title of the
174. our example below we ll use G55 The values for each axis for G55 are stored as variable numbers 5241 0 000000 5242 0 000000 5243 0 000000 5244 0 000000 5245 0 000000 5246 0 000000 In the VAR file scheme the first variable number stores the X offset the second the Y offset and so on for all six axes There are numbered sets like this for each of the fixture offsets Each of the graphical interfaces has a way to set values for these offsets You can also set these values by editing the VAR file itself and then restarting EMC so that the EMC reads the new values however this is not the recommended way G10 G92 G28 1 etc are better ways to affect variables For our example let s directly edit the file so that G55 takes on the following values 5241 2 000000 5242 1 000000 5243 2 000000 5244 0 000000 5245 0 000000 5246 0 000000 75 EMC V2 4 User Manual Chapter 13 Coordinate System You should read this as moving the zero positions of G55 to X 2 units Y 1 unit and Z 2 units away from the absolute zero position Once there are values assigned a call to G55 in a program block would shift the zero reference by the values stored The following line would then move each axis to the new zero position Unlike G53 G54 through G59 3 are modal commands They will act on all blocks of code after one of them has been set The program that might be run using figure 13 1 would require only a single coordinate reference for each of
175. ow Once you have selected a coordinate system you can enter values or move an axis to a teach position Figure 7 8 Mini Offset Display cooo rea omo al orcos rea 0 000000 0 000000 You can also teach using an edgefinder by adding the radius and length to the offset_by widgets When you do this you may need to add or subtract the radius depending upon which surface 49 EMC V2 4 User Manual Chapter 7 MINI you choose to touch from This is selected with the add or subtract radiobuttons below the offset windows The zero all for the active coordinate system button will remove any offsets that you have showing but they are not set to zero in the variable file until you press the write and load file button as well This write and load file button is the one to use when you have set all of the axis values that you want for a coordinate system 7 7 Keyboard Bindings A number of the bindings used with tkemc have been preserved with mini A few of the bindings have been changed to extend that set or to ease the operation of a machine using this interface Some keys operate the same regradless of the mode Others change with the mode that EMC is operating in 7 7 1 Common Keys Pause Toggle feedhold Escape abort motion F1 toggle estop estop reset state F2 toggle machine off machine on state F3 manual mode F4 auto mode F5 MDI mode F6 reset interpreter The following only work for machines using auxiliary I O F7 t
176. owing for a number to be entered 6 3 9 Spindle speed Override The spindle speed override slider works exactly like the feed override slider but it controls to the spindle speed If a program requested S500 spindle speed 500 RPM and the slider is set to 80 then the resulting spindle speed will be 400 RPM This slider has a minimum and maximum value defined in the ini file If those are missing the slider is stuck at 100 The text box with the number is clickable Once clicked a popup window will appear allowing for a number to be entered 6 4 Keyboard Controls Almost all actions in TKEMC can be accomplished with the keyboard Many of the shortcuts are unavailable when in MDI mode The most frequently used keyboard shortcuts are shown in Table 6 1 Table 6 1 Most Common Keyboard Shortcuts Keystroke Action Taken Fl Toggle Emergency Stop F2 Turn machine on off 11 9 0 Set feed override from 0 to 100 X Activate first axis Y 1 Activate second axis Z 2 Activate third axis A 3 Activate fourth axis Home Send active axis Home Left Right Jog first axis Up Down Jog second axis Pg Up Pg Dn Jog third axis Jog fourth axis ESC Stop execution 38 Chapter 7 MINI 7 1 Introduction Figure 7 1 The Mini Graphical Interface A Ed man EX E F F E FEEDHOLD ESTOP PUSH Much of this chapter quotes from a chapater of the Sherline CNC op
177. p must be in effect There are default settings for these modal groups When the machining center is turned on or otherwise re initialized the default values are automatically in effect Group 1 the first group on the table is a group of G codes for motion One of these is always in effect That one is called the current motion mode It is an error to put a G code from group 1 and a G code from group O on the same line if both of them use axis words If an axis word using G code from group 1 is implicitly in effect on a line by 69 EMC V2 4 User Manual Chapter 10 G Code Overview having been activated on an earlier line and a group O G code that uses axis words appears on the line the activity of the group 1 G code is suspended for that line The axis word using G codes from group O are G10 G28 G30 and G92 It is an error to include any unrelated words on a line with 0 flow control 10 14 Comments Comments can be added to lines of G code to help clear up the intention of the programmer Com ments can be embedded in a line using parentheses or for the remainder of a line using a semi colon The semi colon is not treated as the start of a comment when enclosed in parentheses GO Rapid to start X1 Y1 GO X1 Y1 Rapid to start but don t forget the coolant M2 End of program 10 15 File Size The interpreter and task are carefully written so that the only limit on part program size is disk capacity The TKEMC and Ax
178. ple after the line 3 15 3 6 has been interpreted the value of parameter 3 will be 6 If the order is reversed to 3 6 3 15 and the line is interpreted the value of parameter 3 will be 15 If the third group the comments contains more than one comment and is reordered only the last comment will be used If each group is kept in order or reordered without changing the meaning of the line then the three groups may be interleaved in any way without changing the meaning of the line For example the line g40 gl 3 15 foo 4 7 0 has five items and means exactly the same thing in any of the 120 possible orders such as 4 7 0 gl 3 15 g40 foo for the five items 68 EMC V2 4 User Manual Chapter 10 G Code Overview 10 12 Commands and Machine Modes Many commands cause the controller to change from one mode to another and the mode stays active until some other command changes it implicitly or explicitly Such commands are called modal For example if coolant is turned on it stays on until it is explicitly turned off The G codes for motion are also modal If a G1 straight move command is given on one line for example it will be executed again on the next line if one or more axis words is available on the line unless an explicit command is given on that next line using the axis words or cancelling motion Non modal codes have effect only on the lines on which they occur For example G4 d
179. quadratic B spline in the XY plane with the X and Y axis only It is an error if e I and J offset is not specified e An axis other than X or Y is specified e The active plane is not G17 15 8 G5 2 G5 3 NURBs Block Warning G5 2 G5 3 is experimental and not fully tested G5 2 is for opening the data block defining a NURBs and G5 3 for closing the data block In the lines between these two codes the curve control points are defined with both their related weights P and their parameter L which determines the order of the curve k and subsequently its degree k 1 Using this curve definition the knots of the NURBs curve are not defined by the user they are calculated by the inside algorithm in the same way as it happens in a great number of graphic applications where the curve shape can be modified only acting on either control points or weights Sample NURBs Code GO X0 YO F10 G5 2 X0 Y1 Pl L3 x2 Y2 Pl X2 YO Pl x0 YO P2 G5 3 The rapid moves show the same path without the NURBs Block GO X0 Y1 X2 Y2 X2 YO x0 YO M2 95 EMC V2 4 User Manual Chapter 15 G Code Reference Figure 15 5 Sample NURBs Output More information on NURBs can be found here http wiki linuxcne org cgi bin emcinfo p1l NURBS 15 9 G7 Diameter Mode Program G7 to enter the diameter mode for axis X on a lathe When in the Diameter mode the X axis moves on a lathe will be 1 2 the distance to the center of the lathe For example X1 wo
180. r on two or more lines with no tool change The carousel may move a lot but only the most recent T word will take effect at the next tool change It is OK to program TO no tool will be selected This is useful if you want the spindle to be empty after a tool change It is an error if e a negative T number is used e or a T number larger than the number of slots in the carousel is used 123 EMC V2 4 User Manual Chapter 18 Other Codes On some machines the carousel will move when a T word is programmed at the same time ma chining is occurring On such machines programming the T word several lines before a tool change will save time A common programming practice for such machines is to put the T word for the next tool to be used on the line after a tool change This maximizes the time available for the carousel to move Rapid moves after a T lt n gt will not show on the AXIS preview until after a feed move This is for machines that travel long distances to change the tool like a lathe This can be very confusing at first To turn this feature off for the current tool change program a G1 without any move after the T lt n gt 18 4 Comments Printable characters and white space inside parentheses is a comment A left parenthesis always starts a comment The comment ends at the first right parenthesis found thereafter Once a left parenthesis is placed on a line a matching right parenthesis must appear before the end of the line
181. r unsuccessful probing they are set to the coordinates of the programmed point Parameter 5070 is set to 1 if the probe succeeded and 0 if the probe failed If the probe failed G38 2 and G38 4 will signal an error A comment of the form PROBEOPEN filename txt will open filename txt and store the 9 number coordinate consisting of X Y Z A B C U V W of each successful straight probe in it The file must be closed with PROBECLOSE 100 EMC V2 4 User Manual Chapter 15 G Code Reference 15 21 G40 Compensation Off Program G40 to turn cutter radius compensation off The next move must be a straight move It is OK to turn compensation off when it is already off It is an error if e A G2 3 arc move is programmed next after a G40 15 22 G41 G42 Cutter Radius Compensation G41 or G42 D tool G41 start cutter radius compensation to the left of the programmed line as viewed from the positive end of the axis perpendicular to the plane G42 start cutter radius compensation to the right of the programmed line as viewed from the positive end of the axis perpendicular to the plane The lead in move must be at least as long as the tool radius and can be a rapid move Cutter radius compensation may be performed if the XY plane or XZ plane is active User M100 commands are allowed when Cutter Compensation is on The behavior of the machining center when cutter radius compensation is on is described in Section
182. rdless of whether or not there is a mechanical limit on rotation Clockwise or counterclockwise is from the point of view of the workpiece If the workpiece is fastened to a turntable which turns on a rotational axis a counterclockwise turn from the point of view of the workpiece is accomplished by turning the turntable in a direction that for most common machine configurations looks clockwise from the point of view of someone standing next to the machine 21f the parallelism requirement is violated the system builder will have to say how to distinguish clockwise from counter clockwise 56 EMC V2 4 User Manual Chapter 9 CNC Machine Overview 9 2 3 Controlled Point The controlled point is the point whose position and rate of motion are controlled When the tool length offset is zero the default value this is a point on the spindle axis often called the gauge point that is some fixed distance beyond the end of the spindle usually near the end of a tool holder that fits into the spindle The location of the controlled point can be moved out along the spindle axis by specifying some positive amount for the tool length offset This amount is normally the length of the cutting tool in use so that the controlled point is at the end of the cutting tool On a lathe tool length offsets can be specified for X and Z axes and the controlled point is either at the tool tip or slightly outside it where the perpendicular axis aligned lines
183. re being used and this pocket is selected This is normally a positive real number but it may be zero or any other number if it is never to be used The Diameter column contains a real number This number is used only if tool radius compensa tion is turned on using this pocket If the programmed path during compensation is the edge of the material being cut this should be a positive real number representing the measured diameter of the tool If the programmed path during compensation is the path of a tool whose diameter is nominal this should be a small number positive negative or zero representing the difference between the measured diameter of the tool and the nominal diameter If cutter radius compensation is not used with a tool it does not matter what number is in this column The Comment column may optionally be used to describe the tool Any type of description is OK This column is for the benefit of human readers only 9 4 2 Lathe Format Tool Files The lathe format of a tool file is shown in Table 9 2 Table 9 2 Sample Tool File lathe format Pocket FMS ZOFFSET XOFFSET DIA FRONTANGLE BACKANGLE ORIENTATION Comment 1 1 0 0 0 0 0 1 95 0 155 0 1 2 0 5 0 5 0 1 120 60 The Pocket FMS DIA and Comment fields are as for mill format tool files The ZOFFSET field is the same as the TLO field of mill format tool files The DIA is also used by the AXIS gu
184. re off for the current tool change program a G1 with no move after the T lt n gt Figure 4 7 The Manual Toolchange Window Tool change YD Insert tool 1 and click continue when ready Continue 4 9 Python modules AXIS includes several Python modules which may be useful to others For more information on one of these modules use pydoc lt module name gt or read the source code These modules include e emc provides access to the emc command status and error channels e gcode provides access to the rs274ngc interpreter e rs274 provides additional tools for working with rs274ngc files e hal allows the creation of userspace HAL components written in Python e _togl provides an OpenGL widget that can be used in Tkinter applications e minigl provides access to the subset of OpenGL used by AXIS To use these modules in your own scripts you must ensure that the directory where they reside is on Python s module path When running an installed version of EMC2 this should happen automatically When running in place this can be done by using scripts emc environment 26 EMC V2 4 User Manual Chapter 4 AXIS 4 10 Lathe Mode By including the line LATHE 1 in the DISPLAY section of the ini file AXIS selects lathe mode The Y axis is not shown in coordinate readouts the view is changed to show the Z axis extending to the right and the X axis extending towards the bottom of the screen and several controls su
185. re offset this same distance For example suppose the current point is at X 4 and there is currently no G92 offset active Then G92 x7 is programmed This moves all origins 3 in X which causes the current point to become X 7 This 3 is saved in parameter 5211 Being in incremental distance mode has no effect on the action of G92 G92 offsets may be already be in effect when the G92 is called If this is the case the offset is replaced with a new offset that makes the current point become the specified value To reset axis offsets to zero program G92 1 or G92 2 G92 1 sets parameters 5211 to 5219 to zero whereas G92 2 leaves their current values alone To set the axis offset to the values saved in parameters 5211 to 5219 program G92 3 You can set axis offsets in one program and use the same offsets in another program Program G92 in the first program This will set parameters 5211 to 5219 Do not use G92 1 in the remainder of the first program The parameter values will be saved when the first program exits and restored when the second one starts up Use G92 3 near the beginning of the second program That will restore the offsets saved in the first program EMC2 stores the G92 offsets and reuses them on the next run of a program To prevent this one can program a G92 1 to erase them or program a G92 2 to remove them they are still stored 15 44 G93 G94 G95 Set Feed Rate Mode G93 is Inverse Time Mode G94 is Units per Min
186. rpreter expects of a file It will also allow you to cut and paste from one part of a file to another In addition it will allow you to save your changes and submit them to the EMC interpreter with the same menu click You can work on a file in here for a while and then save and load if the EMC is in Auto mode If you have been running a file and find that you need to edit it that file will be placed in the editor when you click on the editor button on the top menu 47 EMC V2 4 User Manual Chapter 7 MINI 7 6 2 Backplot Display Figure 7 6 Mini s Backplotter x Y X Z Y Z 3D Hida Setup Backplot Backplot will show the tool path that can be viewed from a chosen direction 3 D is the default Other choices and controls are displayed along the top and right side of the pop in If you are in the middle of a cut when you press one of these control buttons the machine will pause long enough to re compute the view Along the right side of the pop in there is a small pyramid shaped graphic that tries to show the angle you are viewing the tool path from Below it are a series of sliders that allow you to change the angle of view and the size of the plot You can rotate the little position angle display with these They take effect when you press the Refresh button The Reset button removes all of the paths from the display and readies it for a new run of the program but retains your settings for that session If backplot
187. s Manual for more information on specifying an editor to use Reload reload the current g code file If you edited it you must reload it for the changes to take affect If you stop a file and want to start from the beginning then reload the file The toolbar reload is the same as the menu Save gcode as Save the current file with a new name Properties Properties of the current loaded g code file Edit tool table Same as Edit if you have defined an editor you can open the tool table and edit it Reload tool table After editing the tool table you must reload it Ladder editor If you have loaded Classic Ladder you can edit it from here See the Integrators Manual on setting up Classic Ladder Quit Terminates the current EMC session 4 3 1 2 Machine Toggle Emergency Stop F1 Toggle Machine Power F2 Run Program Run From Selected Line Select the line you want to start from first Use with caution as this will move the tool to the expected position before the line first then it will execute the rest of the code Step Single step through a program Pause Pause a program Resume Resume running from a pause 15 EMC V2 4 User Manual Chapter 4 AXIS Stop Stop a running program Stop at M1 If you have a M1 in your g code and this is checked program execution will stop on the M1 line Press Resume to continue Skip lines with If a line begins with and this is checked it will skip that line Clear MDI history Clears the
188. scribing to what extent successive passes should be offset along the drive line This is used to cause one side of the tool to remove more material than the other A positive Q value causes the leading edge of the tool to cut more heavily Typical values are 29 29 5 or 30 H The number of spring passes Spring passes are additional passes at full thread depth If no additional passes are desired program HO Tapered entry and exit moves can be programmed using E and L 105 EMC V2 4 User Manual Chapter 15 G Code Reference E Specifies the distance along the drive line used for the taper The angle of the taper will be so the last pass tapers to the thread crest over the distance specified with E E0 2 will give a taper for the first last 0 2 length units along the thread For a 45 degree taper program E the same as K L Specifies which ends of the thread get the taper Program LO for no taper the default 11 for entry taper L2 for exit taper or L3 for both entry and exit tapers Entry tapers will pause at the drive line to synchronize with the index pulse then feed in to the beginning of the taper No entry taper and the tool will rapid to the cut depth then synchronize and begin the cut The tool is moved to the initial X and Z positions prior to issuing the G76 The X position is the drive line and the Z position is the start of the threads The tool will pause briefly for synchronization before each threading pass so
189. se endif oe aa ce bee a a eee aS 121 IRD W ee co ere eh we a ge we Ble ee he ee ee we le ee er ss ode oe Gee we S 121 rt ai 0 E 121 17 Computing values in D words s ccoo amea a a ee 122 Ir EIA PUES cisne A e A ls Fwd ww be e e je 122 18 Other Codes 123 e o a AAA 123 18 25 Set Spindle Speed comas a A A a e e ad de de e ES 123 le 3T o AI a ee ee Re ws ee a Dew i 123 LS ALOMIMMEDLS es SS e ee A Se ee ee ee a 124 LONC S 0 sie a eee eed ae naan a e deed 4 SEES a BEES 124 TB BProb Logain coord ew ewe a eee ae 124 156 MLOGOPEN filename gt e ssor s scade a doy A A ae ae 124 IH62LOCGEOLOSE scared a a ww a el wae e 124 e eS ae a GOR w teow A 124 18 7 Debugeing Messages coon se rs A RE ROE At a A 125 18 8Parameters in special comments as oos ss e 125 19 Lathe Specifics 126 TRIADE MUG o mes o hee a a a A be ROE ES SHO a bee op 126 A o eio E IR 126 EN TOOL TOUGH OTE 5 4 4 4 AAA eR AA a A ARA ee ey i ee ae 128 LIA TUIFERUIE co a ee ee EE ek a aN ee ee 129 12 Constant Surface Speed scared eS ds 129 VIDADES a A A ea ee ee ae 130 VIA TOOL Path a A AA A A A a A A e A a a amp oe 130 20 RS274NGC 135 Il Examples 138 21 G Code Examples 139 A Peeples RIE 139 21 1 ieee Hole MIDHE lt c coce rd e A a GS e ed e e e 139 SITO e a e Meow A ape AE ton 139 2 Mo oa eiaa Be Be ee ae HG Woh ow A wl BA we Ae e 139 EMC V2 4 User Manual CONTENTS 2 LESOTO 3 sa ode ace Ss Bae te A eA Se es we a 139 PAV TOCL Lengi PROD sos a Pa EN
190. se together in the following program a program for milling five small circles in a diamond shape G10 L2 P1 x0 yO ZO ensure that g54 is machine zero G10 L2 P2 x0 5 offsets g55 x value by 0 5 inch G10 L2 P3 x 0 5 offsets g56 x value by 0 5 inch G10 L2 P4 y0 5 offsets g57 y value by 0 5 inch G10 L2 P5 y 0 5 offsets g58 y value by 0 5 inch g54 gO x 1 yO z0 center circle gl fl z 25 g3 x 1 yOi 1 jo gO zO g55 gO x 1 yO ZO first offset circle gl fl z 25 g3 x 1 yOi 1 jo gO zO g56 gO x 1 yO zO second offset circle gl fl z 25 g3 x 1 yOi 1 jo gO zO g57 gO x 1 yO zO third offset circle gl fl z 25 g3 x 1 yOi 1 jo gO zO g58 gO x 1 yO zO fourth offset circle gl fl z 25 g3 x 1 yOi 1 jo g54 gO x0 yO zO m2 Now comes the time when we might apply a set of G92 offsets to this program You ll see that it is running in each case at z0 If the mill were at the zero position a g92 z1 0000 issued at the head of the program would shift everything down an inch You might also shift the whole pattern around in the XY plane by adding some x and y offsets with g92 If you do this you should add a G92 1 command just before the m2 that ends the program If you do not other programs that you might run after this one will also use that g92 offset Furthermore it would save the g92 values when you shut down the EMC and they will be recalled when you start up again 79 Chapter 14 Tool Compensation 14 1
191. splay in the message box An example might be msg change to tool 3 and press resume This line of code included in a program will display change to tool 3 and press resume in the message box The word msg with comma included is the command to make this happen without msg the message wouldn t be displayed It will still show in the auto modes display of the program file To erase messages simply click the message button at the top of the pad or on the keyboard hold down the Alt key and press the m key 7 6 Right Column The right column is a general purpose place to display and work Here you can see the modal buttons and text entry or displays Here you can view a plot of the tool path that will be commanded by your program You can also write programs and control tools and offsets here The modal screens have been described above Each of the popin displays are described in detail below 46 EMC V2 4 User Manual Chapter 7 MINI 7 6 1 Program Editor Figure 7 5 Mini Text Editor The editor is rather limited compared to many modern text editors It does not have undo nor paste between windows with the clipboard These were eliminated because of interaction with a running program Future releases will replace these functions so that it will work the way you ve come to expect from a text editor It is included because it has the rather nice feature of being able to number and renumber lines in the way that the inte
192. stems 41 EMC V2 4 User Manual Chapter 7 MINI Info lets you see a number of active things by writing their values into the MESSAGE pad Program File will write the currently active program file name Editor_File will write the currently active file if the editor pop in is active and a file has been selected for editing Parameter_File will write the name of the file being used for program parameters You can find more on this in the chapters on offsets and using variables for programming Tool File will write the name of the tool file that is being used during this run Active_G Codes will write a list of all of the modal program codes that are active whenever this item is selected For more information about modal codes see the introductory part programming chapter Help opens a text window pop in that displays the contents of the help file You will notice between the info menu and the help menu there are a set of four buttons These are called check buttons because they have a small box that shows red if they have been selected These four buttons Editor Backplot Tools and Offsets pop in each of these screens If more than one pop in is active button shown as red you can toggle between these pop ins by right clicking your mouse 7 4 Control Button Bar Below the menu line is a horizontal line of control buttons These are the primary control buttons for the interface Using these buttons you can change mode from MANUAL t
193. stop can turn off power to the motors Most of the time when we abort or E Stop it s because something went wrong Perhaps we broke a tool and want to change it We switch to manual mode and raise the spindle change tools and assuming that we got the length the same get ready to go on If we return the tool to the same place where the abort was issued the EMC will work perfectly It is possible to move the restart line back or ahead of where the abort happened If you press the Back or Ahead buttons you will see a blue highlight that shows the relationship between the abort line and the one on which the EMC will start up again By thinking through what is happening at the time of the restart you can place the tool tip where it will resume work in an acceptable manner You will need to think through things like tool offsets barriers to motion along a diagonal line and such before you press the Restart button 7 5 Left Column There are two columns below the control line The left side of the screen displays information of interest to the operator There are very few buttons to press here 7 5 1 Axis Position Displays The axis position displays work exactly like they do with tkemc The color of the letters is important e Red indicates that the machine is sitting on a limit switch or the polarity of a min or max limit is set wrong in the ini file 45 EMC V2 4 User Manual Chapter 7 MINI e Yellow indicates that the machine is re
194. tep 36 stepper motor 154 Subroutines sub endsub return call 120 T Select Tool 123 TASK 154 Tel 33 160 EMC V2 4 User Manual INDEX Tk 13 33 154 tkemc 33 Touch Off 80 Traverse Move 154 units 58 154 Unsigned Integer 154 verify 36 Virtual Control Panel 29 Word 64 world coordinates 154 161
195. ter By default a named parameter is local to the scope in which it is assigned You can t access a local parameter outside of its subroutine this is so that two subroutines can use the same parameter names without fear of one subroutine overwriting the values in another lt _global named parameter here gt is a global named parameter They are accessible from within called subroutines and may set values within subroutines that are accessible to the caller As far as scope is concerned they act just like regular numeric parameters They are not stored in files Examples e Declaration of named global variable lt _endmill_dia gt 0 049 e Reference to previously declared global variable lt _endmill_rad gt lt _endmill_dia gt 2 0 e Mixed literal and named parameters 0100 call 0 0 0 0 lt _inside_cutout gt lt _endmill_dia gt lt _Zcut gt lt _feedrate gt Notes The global parameters _a _b _c _z have been reserved for special use In the future they may provide access to the last Aword Bword Cword etc 10 7 Expressions An expression is a set of characters starting with a left bracket and ending with a balancing right bracket In between the brackets are numbers parameter values mathematical operations and other expressions An expression is evaluated to produce a number The expressions on a line are evaluated when the line is read before anything on the line is executed
196. ter 15 G Code Reference e Axis words are programmed when G80 is active unless a modal group O G code is programmed which uses axis words 15 31 Canned Cycles The canned cycles G81 through G89 are described in this section Two examples are given with the description of G81 below All canned cycles are performed with respect to the currently selected plane Any of the six planes may be selected Throughout this section most of the descriptions assume the XY plane has been selected The behavior is analogous if another plane is selected and the correct words must be used For instance in the G17 1 plane the action of the canned cycle is along W and the locations or increments are given with U and V In this case substitute U V W for X Y Z in the instructions below Rotational axis words are allowed in canned cycles but it is better to omit them If rotational axis words are used the numbers must be the same as the current position numbers so that the rotational axes do not move 15 31 1 Common Words All canned cycles use X Y R and Z words The R usually meaning retract position is along the axis perpendicular to the currently selected plane Z axis for XY plane etc Some canned cycles use additional arguments 15 31 2 Sticky Words For canned cycles we will call a number sticky if when the same cycle is used on several lines of code in a row the number must be used the first time but is optional on the rest of t
197. ter of the file as a whole By rotating the mouse wheel or by dragging with the right mouse button pressed or by dragging with control and the left mouse button pressed the preview plot will be zoomed in or out By clicking one of the Preset View icons or by pressing V several preset views may be selected 4 3 4 Text Display Area By left clicking a line of the program the line will be highlighted in both the graphical and text displays in blue When the program is running the line currently being executed is highlighted in red If no line has been selected by the user the text display will automatically scroll to show the current line 19 EMC V2 4 User Manual Chapter 4 AXIS Figure 4 3 Current and Selected Lines oai e e Manual Control F3 MDI F5 Axis G C G BE aa IZ nx IX B al Preview DRO Lf Spindle Stop Y BE Feed Override 100 i i Spindle Override 100 2222 7 Jog Speed 58 infmin f Max Velocity 60 infmin Pp 4 GOL X 5 12261 12 83 Y 5 381 19 43 47 GOL X 5 12360 00 3 Y 5 485 00 43 248 GO1 Xx 5 14294 00 3 Y 5 2816 00 43 249 GOL X 5 14336 00 43 Y 5 2816 00 43 50 GOL x 5 14335 00 83 Y 5 552 00 3 5 14336 00 83 Y 5 360 00 83 252 GOL X 5 14367 00 3 Y 5 176 00 3 53 GOL X 5 14526 00 43 Y 5 118 00 83 54 GOL X 5 14506 00 83 Y 5 0 00 R3 No tool Position Relativ
198. th TKEMC ss s c nae ea aE Re Ee ee wa eS 34 6 3 Elements of the TKEMC window 2 0 pee ee ee 34 6 3 Maim BUGS 0000 a Gow ais a PR wee A aA A eee 35 602 Ofset display status ber 6c 36 ke AA RE ee ee a 35 6 3 0 Coordinate Display ATEA cocos a ee ee ee 35 033 1 BAERB OL o ce eo ee a we a AAA a ek 35 GJA o ic oa e s Oe a a a a ea ed ee By eS aa 36 6 3 4 1 B tt ns for control ss se vea eh eRe ee ee bee eed 36 6 3 4 2 Text Program Display Area eee 36 Pde o Control A Ae a ee aoe Boe a Ge Rie yy db a 36 A MPR REVS oe be bee HE TER aE Ee ee ee ede seed 36 035 2 The Spindle group so se cs ee sa a ek 37 6 5 8 5 The Coolant group lt lt occiso we eae ee a 37 DSO COJE EI ereo Soe a Be Sats HE WE Ha ee Sie a tw eae 37 GG MDE oa soca aa we we A ee a a A ee ee 37 53 0 Aive CCAS os osas ie e eS we mee gee Bye eh be a de By wes a a 37 fe JOE DES 6 anh sak duns Gch Gas E toed ae eo Pw Se a Deis Pa sw 38 Epcos Feed CTE sess ek tee Se aR cee ae Ni wae Bia BG e wae ow wee al ew 38 Go Spinde spiced Override o os is Oia ae A a Se a a ee a a 38 BL Keyboard Controls oore aos ook e Ra A ed ae a wa Dota wae ek eg 38 EMC V2 4 User Manual CONTENTS 7 MINI 39 Tel INOOUCUOS ia a oe as Rie ae Re cat Beet a Gre el E we Ee wk 39 A IAW fc wk Ae a Sa we Ra SE SOA Sw Sw She Bee de de ee HR 40 tes Monu Bar oo ok oe eh A he wa RR He a Qt al a A Geek iw 41 Ta OURO Pan DAT ias we oo A A E A AAA ARA 4
199. the current position The parameter values are in terms of the absolute coordinate system and the machine s native coordinate system G28 axes will make a rapid traverse move to the position specified by axes then will make a rapid traverse move to the predefined position in parameters 5161 5166 G28 1 stores the current absolute position into parameters 5161 5166 It is an error if e Radius compensation is turned on 15 18 G30 G30 1 Go to Predefined Position G30 uses the values in parameters 5181 5186 as the absolute values to make a rapid traverse move to from the current position The parameter values are in terms of the absolute coordinate system and the machine s native coordinate system G30 axes will make a rapid traverse move to the position specified by axes then will make a rapid traverse move to the predefined position in parameters 5181 5186 G30 1 stores the current absolute position into parameters 5181 5186 G30 parameters will be used to move the tool when a M6 is programmed if TOOL_CHANGE_AT_G30 1 is in the EMCIO section of the ini file It is an error if e Radius compensation is turned on 15 19 G33 G33 1 Spindle Synchronized Motion G33 X Y Z K For spindle synchronized motion in one direction code G33 X Y Z K where K gives the dis tance moved in XYZ for each revolution of the spindle For instance if starting at 2 0 G33 Z 1 K 0625 produces a 1 inch motion in Z over 16 revolutions of the
200. the selected plane are omitted e the end point of the arc is the same as the current point It is not good practice to program radius format arcs that are nearly full circles or nearly semicircles because a small change in the location of the end point will produce a much larger change in the location of the center of the circle and hence the middle of the arc The magnification effect is large enough that rounding error in a number can produce out of tolerance cuts For instance a 1 displacement of the endpoint of a 180 degree arc produced a 7 displacement of the point 90 degrees along the arc Nearly full circles are even worse Other size arcs in the range tiny to 165 degrees or 195 to 345 degrees are OK Here is an example of a radius format command to mill an arc G17 G2 x 10 y 15 r 20 z 5 That means to make a clockwise as viewed from the positive Z axis circular or helical arc whose axis is parallel to the Z axis ending where X 10 Y 15 and Z 5 with a radius of 20 If the starting value of Z is 5 this is an arc of a circle parallel to the XY plane otherwise it is a helical arc 15 6 G4 Dwell G4 P seconds For a dwell program G4 P This will keep the axes unmoving for the period of time in seconds specified by the P number It is an error if e the P number is negative 94 EMC V2 4 User Manual Chapter 15 G Code Reference 15 7 G5 1 Quadratic B spline G5 1 Xn Yn I X offset J Y offset G5 1 creates a
201. time threads are set too fast you will get this error NOTE This error is only displayed once per session If you had your BASE_PERIOD too low you could get hundreds of thousands of error messages per second if more than one was displayed 23 3 Testing 23 3 1 Step Timing If you are seeing an axis ending up in the wrong location over multiple moves it is likely that you do not have the correct direction hold times or step timing for your stepper drivers Each direction change may be losing a step or more If the motors are stalling it is also possible you have either the MAX_ACCELERATION or MAX_VELOCITY set too high for that axis The following program will test the Z axis configuration for proper setup Copy the program to your emc2 nc_files directory and name it TestZ ngc or similar Zero your machine with Z 0 000 at the table top Load and run the program It will make 200 moves back and forth from 0 5 to 1 If you have a configuration issue you will find that the final position will not end up 0 500 that the axis window is showing To test another axis just replace the Z with your axis in the GO lines 148 EMC V2 4 User Manual Chapter 23 Steppers test program to see if Z axis loses position msg test 1 of Z axis configuration G20 1000 100 loop 100 times this loop has delays after moves tests acc and velocity settings 0100 while 1000 GO Z1 000 G4 P0 250 GO Z0 500 G4 P0 250 1000 1000
202. tools for Z offset Some tools might require a bit of cyphering to determine the control point from the touch off point For example if you have a 0 125 wide parting tool and you touch the left side off but want the right to be ZO then enter 0 125 in the touch off window The Z Machine Offset Once all the tools have the Z offset entered into the tool table you can use any tool to set the machine offset using a machine coordinate system A typical session might be 1 Home each axis if not homed 2 Set the current tool with TnM6 where n is the tool number 3 Issue a G43 so the current tool offset is in effect 4 Bring the tool to the work piece and set the machine Z offset If you forget to set the G43 for the current tool when you set the machine coordinate system offset you will not get what you expect as the tool offset will be added to the current offset when the tool is used in your program 19 4 Threading Threading with a lathe requires feedback from the spindle to EMC Typically an encoder is used to provide the feedback See the Integrators Manual for more information on spindle feedback The G76 threading cycle is used for both internal and external threads for more information see G7615 29 in the G Code section 19 5 Constant Surface Speed CSS or Constant Surface Speed G96 uses the machine X origin modified by the tool X offset to compute the spindle speed in RPM CSS will track changes in tool offsets The X m
203. trol R Reload File Manual R Run file Manual P Pause execution Auto S Resume Execution Auto ESC Stop execution Auto Control K Clear backplot Auto Manual V Cycle among preset views Auto Manual Shift Left Right Rapid X Axis Manual Shift Up Down Rapid Y Axis Manual Shift PgUp PgDn Rapid Z Axis Manual 4 5 Show EMC Status AXIS includes a program called emctop which shows some of the details of EMC s state You can run this program by invoking MACHINE gt SHOW EMC STATUS 24 EMC V2 4 User Manual Chapter 4 AXIS acceleration actual position angular_units aKes command current_line cycle_time debug echo_serial_number enabled estop exec _state feedrate file flood gcodes homed id inpos interp_state interpreter_errcode kinematics type Figure 4 6 EMC Status Window 0 0 3 91499996185 2 65483800289 0 0 0 0 0 0 1 0 3 n3510 He OL i 0 11 1 q 9 0 homer jeplerfsrcremc2rnc_filescd ngc 61 617 G40 Geo G90 94 G54 G49 99 GE4 000000 0 Waiting 0 1 j The name of each item is shown in the left column The current value is shown in the right column If the value has recently changed it is shown on a red background 4 6 MDI interface AXIS includes a program called MDI which allows text mode entry of MDI commands to a running EMC session You can run this program by opening a terminal and typing mdi path to emc nml Once it is running it displays the prompt MDI
204. uld move the cutter to 0 500 from the center of the lathe thus giving a 1 diameter part 15 10 G8 Radius Mode Program G8 to enter the radius mode for axis X on a lathe When in Radius mode the X axis moves on a lathe will be the distance from the center Thus a cut at X1 would result in a part that is 2 in diameter G8 is default at power up 15 11 G10 L1 Set Tool Table G10 L1 P tool number R radius X offset Y offset Z offset A offset Bloffset Cl of Program a G10 L1 to set a tool table entry from a program or the MDI window G10 Ll reloads the tool table It is an error if 96 EMC V2 4 User Manual Chapter 15 G Code Reference e Cutter Compensation is on For more information on tool orientation see figure 9 1 15 12 G10 L2 Set Coordinate System G10 L2 P coordinate system R rotation about Z axes The coordinate system is described in Section13 To set the origin of a coordinate system program G10 L2 P R axes where the P number is in the range 1 to 9 corresponding to G54 to G59 3 and optionally R to indicate the rotation of the XY axis around the Z and all axis words are optional The origin of the coordinate system specified by the P number is set to the given values in terms of the not offset machine coordinate system Only those coordinates for which an axis word is included on the line will be set Being in incremental distance mode G91 has no effect on G10 L2 The direction of rotation is CCW
205. ute Mode G95 is Units per Revolution Mode 112 EMC V2 4 User Manual Chapter 15 G Code Reference Three feed rate modes are recognized units per minute inverse time and units per revolution Program G94 to start the units per minute mode Program G93 to start the inverse time mode Program G95 to start the units per revolution mode In units per minute feed rate mode an F word is interpreted to mean the controlled point should move at a certain number of inches per minute millimeters per minute or degrees per minute depending upon what length units are being used and which axis or axes are moving In units per revolution mode an F word is interpreted to mean the controlled point should move a certain number of inches per revolution of the spindle depending on what length units are being used and which axis or axes are moving G95 is not suitable for threading for threading use G33 or G76 In inverse time feed rate mode an F word means the move should be completed in one divided by the F number minutes For example if the F number is 2 0 the move should be completed in half a minute When the inverse time feed rate mode is active an F word must appear on every line which has a Gl G2 or G3 motion and an F word on a line that does not have G1 G2 or G3 is ignored Being in inverse time feed rate mode does not affect GO rapid traverse motions It is an error if e inverse time feed rate mode is active and a line with
206. uted under the terms of this License The Document below refers to any such manual or work Any member of the public is a licensee and is addressed as you A Modified Version of the Document means any work containing the Document or a portion of it either copied verbatim or with modifications and or translated into another language 155 EMC V2 4 User Manual Chapter B Legal Section A Secondary Section is a named appendix or a front matter section of the Document that deals exclusively with the relationship of the publishers or authors of the Document to the Document s overall subject or to related matters and contains nothing that could fall directly within that overall subject For example if the Document is in part a textbook of mathematics a Secondary Section may not explain any mathematics The relationship could be a matter of historical connection with the subject or with related matters or of legal commercial philosophical ethical or political position regarding them The Invariant Sections are certain Secondary Sections whose titles are designated as being those of Invariant Sections in the notice that says that the Document is released under this License The Cover Texts are certain short passages of text that are listed as Front Cover Texts or Back Cover Texts in the notice that says that the Document is released under this License A Transparent copy of the Document means a machine readable copy r
207. w letters Once homed it will be displayed in green letters If there is an error with the current axis TkEMC will use red letter to show that for example if an hardware limit switch is tripped To properly interpret these numbers refer to the radio boxes on the right If the position is Ma chine then the displayed number is in the machine coordinate system If it is Relative then the displayed number is in the offset coordinate system Further down the choices can be actual or commanded Actual refers to the feedback coming from encoders if you have a servo machine and the commanded refers to the position command send out to the motors These values can dif fer for several reasons Following error deadband encoder resolution or step size For instance if you command a movement to X 0 0033 on your mill but one step of your stepper motor is 0 00125 then the Commanded position will be 0 0033 but the Actual position will be 0 0025 2 steps or 0 00375 3 steps Another set of radio buttons allows you to choose between joint and world view These make little sense on a normal type of machine e g trivial kinematics but helps on machines with non trivial kinematics like robots or stewart platforms you can read more about kinematics in the Integrators Handbook 6 3 3 1 Backplot When the machine moves it leaves a trail called the backplot You can start the backplot window by sel
208. way These early EMC authors followed those ways Eric S Raymond in his book The Art of Unix Programming summarizes the Unix philos ophy as the widely used engineering philosophy Keep it Simple Stupid KISS Principle He then describes how he believes this overall philosophy is applied as a cultural Unix norm although unsurprisingly it is not difficult to find severe violations of most of the following in actual Unix practice Rule of Modularity Write simple parts connected by clean interfaces Rule of Clarity Clarity is better than cleverness Rule of Composition Design programs to be connected to other programs Rule of Separation Separate policy from mechanism separate interfaces from engines Mr Raymond offered several more rules but these four describe essential characteristics of the EMC2 motion control system The Modularity rule is critical Throughout these handbooks you will find talk of the interpreter or task planner or motion or HAL Each of these is a module or collection of modules It s modularity that allows you to connect together just the parts you need to run your machine The Clarity rule is essential EMC2 is a work in progress it is not finished nor will it ever be It is complete enough to run most of the machines we want it to run Much of that progress is achieved because many users and code developers are able to look at the work of others and build on what they have done The Composition
209. well is non modal 10 13 Modal Groups Modal commands are arranged in sets called modal groups and only one member of a modal group may be in force at any given time In general a modal group contains commands for which it is logically impossible for two members to be in effect at the same time like measure in inches vs measure in millimeters A machining center may be in many modes at the same time with one mode from each modal group being in effect The modal groups are shown in Table 10 4 Table 10 4 Modal Groups Modal Group Meaning Member Words Motion Group 1 GO G1 G2 G3 G33 G38 x G73 G76 G80 G81 G82 G83 G84 G85 G86 G87 G88 G89 Plane selection G17 G18 G19 Diameter Radius for lathes G7 G8 Distance Mode G90 G91 Feed Rate Mode G93 G94 Units G20 G21 Cutter Radius Compensation G40 G41 G42 G41 1 G42 1 Tool Length Offset G43 G43 1 G49 Return Mode in Canned Cycles G98 G99 Coordinate System Selection G54 G55 G56 G57 G58 G59 G59 1 G59 2 G59 3 Stopping MO M1 M2 M30 M60 Tool Change M6 Tn Spindle Turning M3 M4 M5 Coolant M7 M8 M9 Special case M7 and M8 may be active at the same time Override Switches M48 M49 Flow Control O Non modal codes Group 0 G4 G10 G28 G30 G53 G92 G92 1 G92 2 G92 3 M100 to M199 For several modal groups when a machining center is ready to accept commands one member of the grou
210. with 2Found at http en wikipedia org wiki Unix_ philosophy 07 06 2008 2 Chapter 2 EMC2 The Enhanced Machine Control 2 1 This Manual The focus of this manual is on using EMC It is intended to be used once EMC is installed and configured For standard installations see the Getting Started Guide for step by step instructions to get you up and going For detailed information on installation and configuration of EMC see the Integrator Manual 2 2 How EMC2 Works The Enhanced Machine Controller EMC2 is a lot more than just another CNC mill program It can control machine tools robots or other automated devices It can control servo motors stepper motors relays and other devices related to machine tools There are four main components to the EMC2 software a motion controller a discrete I O con troller a task executor which coordinates them and graphical user interfaces In addition there is a layer called HAL Hardware Abstraction Layer which allows configuration of EMC2 without the need of recompiling EMC V2 4 User Manual Chapter 2 EMC2 Figure 2 1 Simple EMC2 Controlled Machine Power supply Linux PC emc2 installed Stepper Stepper drives motors Figure 2 1 shows a simple block diagram showing what a typical 3 axis EMC2 system might look like This diagram shows a stepper motor system The PC running Linux as its operating system is actually controlling the stepper motor drives by sendi
211. with its name These values are assigned to the current position of the machine axis These results satisfy paragraphs one and two of the NIST document G92 commands work from current axis location and add and subtract correctly to give the current axis position the value assigned by the g92 command The effects work even though previous offsets are in 77 EMC V2 4 User Manual Chapter 13 Coordinate System So if the X axis is currently showing 2 0000 as its position a G92 x0 will set an offset of 2 0000 so that the current location of X becomes zero A G92 X2 will set an offset of 0 0000 and the displayed position will not change A G92 X5 0000 will set an offset of 3 0000 so that the current displayed position becomes 5 0000 13 4 3 G92 Cautions Sometimes the values of a G92 offset will remain in the VAR file This can happen when a file is aborted during processing that has G92 offsets in effect When this happens reset or a startup will cause them to become active again The variables are named 5211 0 000000 5212 0 000000 5213 0 000000 5214 0 000000 5215 0 000000 5216 0 000000 where 5211 is the X axis offset and so on If you are seeing unexpected positions as the result of a commanded move as a result of storing an offset in a previous progam and not clearing them at the end then issue a G92 1 in the MDI widow to clear the stored offsets If G92 values exist in the VAR file when the EMC starts up the g92 values in the var fi
212. ws you to increase or decrease the speed at which EMC com mands the spindle to run if spindle control is configured Jog Speed which allows you to set the jog speed within the limits set in the ini file See the Integrators Manual for more information on the ini file 14 EMC V2 4 User Manual Chapter 4 AXIS e Max Velocity which allows you to set the maximum velocity for rapids and cap feed rates except spindle synchronized motion for dry runs Currently only AXIS and Halui allow you to set it e A text display area that shows the G code source of the loaded file e Astatus bar which shows the state of the machine In this screen shot the machine is turned on does not have a tool inserted and the displayed position is Relative to the machine offset as opposed to Absolute and the Actual as opposed to Commanded position 4 3 1 Menu Items Some menu items might be grayed out depending on how you have your ini file configured For more information on configuration see the Integrators Manual 4 3 1 1 File Menu Open Opens a standard dialog box to open a g code file to load in AXIS If you have configured EMC to use a filter program you can also open it up See the Integrators manual for more information on filter programs Recent Files Displays a list of recently opened files Edit Open the current g code file for editing if you have an editor configured in your ini file See the Integrator
213. xes For linear straight line motion at programed feed rate for cutting or not program G1 axes where all the axis words are optional The G1 is optional if the current motion mode is G1 This will produce coordinated linear motion to the destination point at the current feed rate or slower if the machine will not go that fast If cutter radius compensation is active the motion will differ from the above see Section 14 3 If G53 is programmed on the same line the motion will also differ see Section 15 25 It is an error if e No feed rate has been set 90 EMC V2 4 User Manual Chapter 15 G Code Reference 15 5 G2 G3 Arc A circular or helical arc is specified using either G2 clockwise arc or G3 counterclockwise arc The direction CW CCW is as viewed from the positive end of the axis about which the rotation occours The axis of the circle or helix must be parallel to the X Y or Z axis of the machine coordinate system The axis or equivalently the plane perpendicular to the axis is selected with G17 Z axis XY plane G18 Y axis XZ plane or G19 X axis YZ plane Planes 17 1 18 1 and 19 1 are not currently supported If the arc is circular it lies in a plane parallel to the selected plane If a line of code makes an arc and includes rotational axis motion the rotational axes turn ata constant rate so that the rotational motion starts and finishes when the XYZ motion starts and finishes Lines of this sort
214. ython Script py python In this way any Python script can be opened and its output is treated as g code One such example script is available at nc_files holecircle py This script creates g code for drilling a series of holes along the circumference of a circle Figure 4 9 Circular Holes Circular Holes mE Units G20 in ww e b Center X 1 0 m Center Y 0 0 Increment Angle 117 0 Radius 1 0 Hole Count 5 Feed Rate 8 0 Hole Depth 0 1 Dwell O no dwell 1 0 Retract Height 0 1 OK Cancel If the environment variable AXIS PROGRESS_BAR is set then lines written to stderr of the form FILTER_PROGRESS d will set the AXIS progress bar to the given percentage This feature should be used by any filter that runs for a long time 4 11 2 The X Resource Database The colors of most elements of the AXIS user interface can be customized through the X Resource Database The sample file axis_light_background changes the colors of the backplot window to a dark lines on white background scheme and also serves as a reference for the configurable items in the display area The sample file axis_big_dro changes the position readout to a larger size font To use these files xrdb merge usr share doc emc2 axis_light_background xrdb merge usr share doc emc2 axis_big_dro 28 EMC V2 4 User Manual Chapter 4 AXIS For information about the other items which can be configured in Tk applications see the Tk man pages

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