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User Manual V2.5, 2013-02-11

1. Max Velocity 72 in min a AXIS splash g code Not intended for actual milling To run this code anyway you might have to Touch Off the Z axis depending on your setup As if you had some material in your mill Hint jog the Z axis down a bit then touch off Also press the Toggle Skip Lines with to see that part If the program is too big or small for your machine change the scale 3 font usr share fonts truetype freefont FreeSerifBoldItalic ttf text EMC2 5 AXIS ESTOP No tool Position Relative Actual Figure 4 1 AXIS Window 4 2 Getting Started If your configuration is not currently set up to use AXIS you can change it by editing the ini file In the section DISPLAY change the DISPLAY line to read DISPLAY axis The sample configuration sim axis ini is already configured to use AXIS as its front end 4 2 1 A Typical Session 1 Start LinuxCNC 2 Reset E STOP F1 and turn the Machine Power F2 on 3 Home all axes User Manual V2 5 2013 02 11 25 195 Load the g code file Use the preview plot to verify that the program is correct Load the material Set the proper offset for each axis by jogging and using the Touch Off button as needed oN A a A Run the program Note To run the same program again depends on your setup and requirements You might need to load more material and set offsets or move over and set an offset then ru
2. Show Live Plot The highlighting of the feedrate paths G1 G2 G3 as the tool moves can be disabled if desired Show Tool The display of the tool cone cylinder can be disabled if desired Show Extents The display of the extents maximum travel in each axis direction of the loaded G code program can be disabled if desired Show Offsets The selected fixture offset G54 G59 3 origin location can be shown as a set of three orthogonal lines one each of red blue and green This offset origin or fixture zero display can be disabled if desired Show Machine Limits The machine s maximum travel limits for each axis as set in the ini file are shown as a rectangular box drawn in red dashed lines This is useful when loading a new G code program or when checking for how much fixture offset would be needed to bring the G code program within the travel limits of your machine It can be shut off if not needed Show Velocity A display of velocity is sometimes useful to see how close your machine is running to its design velocities It can be disabled if desired Show Distance to Go Distance to go is a very handy item to know when running an unknown G code program for the first time In combination with the rapid override and feedrate override controls unwanted tool and machine damage can be avoided Once the G code program has been debugged and is running smoothly the Distance to Go display can be disabled if desired Clear Live Plo
3. 53 54 54 54 54 54 54 54 54 55 55 User Manual V2 5 2013 02 11 8 MINI GUI A o css pos be Re A A Re RN C2 EMILIA a de BESS tame eee ee hb OS 22 Wen Bat sg ico ek oY eee ee eR a EON a ee ee A ew eS Be Couto Bulon Bar oos ke A eR RR AAA a be A ee we bk Bal MANS 6 oe be eee ee O eee 2 ee bbe A Bee AUTO osser Seen oo WR Pe RS ee ee ee we ee wy eR ee ee ES Sepa MDE os bo BR RG eee SRE AREER SE SE Rae PAG Re Wa be BG hee ek 844 FEEDHOLD CONTINUEB o ee eb eee eh ee eee eee eee eee ees s43 ABORT errete BEA MAREE ea baa Ca a ee EG Eee oe a E SA TESTOR ook boo eee Se ee RES SERS Rae EERE GRE See RS Dh ee So Lenton 22656 2254464654 22h 26456 2G ShS4 54 oS oH 2 ewe ESS A 831 Axis Position Displays e s e paot Be ee ea bw CE a EER Ee AE ES Gee E Saa Peed ir oc eke oe RR eR a A RA EG Dh ee Bod Me ici eh eS eae ESAS eS ERE Beeb See oh 56 Riche Coit 6 cnc o 4 ca alba d bee eA baw Ge OOH Bae Ee we AUR ae oe E 66 1 Program Bae os ep eR RE e wR EY ORR A Gwe RE ES S62 Backplot Display 224 255 44 2456 6404428644454 2555S eee das e sh 863 Tool Past a eee ea eae baa eee ee ee ae Gal ee A Wise Pale 52 gee ce POS RE ERE ER ER EY ORR Ga SES Ee RE ESS oS Keyboard Bindings 2 24 ciendo 458 644 te Ri SE SESE a oH ee Rh ESS ES Snl Common Keys oscar ee eA ee Pa a ea ewe Ue a ee 62 2 Wand Node 225 055 po eee Se ey oe aw RE ORR EEE Swe Se EES So MOG va e Sen Ste i So ett ae Be da a ene yar Be gw et eet ea Se Bt ew a eae Swe e
4. G90 set absolute mode GO X1 000 Yi 000 70 100 rapid move Eo starting position GSSa l 2 0 7S0 KO 0S igo tE apra 20 TP threadmor 750 deep M2 end program e See G90 amp GO amp M2 sections for more information 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 linear motion exceeds machine velocity limits due to the spindle speed 14 22 G38 x Straight Probe G38 x axes G38 2 probe toward workpiece stop on contact signal error if failure G38 3 probe toward workpiece stop on contact G38 4 probe away from workpiece stop on loss of contact signal error if failure G38 5 probe away from workpiece stop on loss of contact User Manual V2 5 2013 02 11 129 195 Important You will not be able to use a probe move until your machine has been set up to provide a probe input signal The probe input signal must be connected to motion probe input in a hal file G38 x uses motion probe input to determine when the probe has made or lost contact TRUE for probe contact closed touching FALSE for probe contact open Program G38 x axes to perform a straight probe operation The axis words are optional except that at least one of them must be used The axis words together define the destination point that the probe will move towards starting from the current location If the probe is not tripped before the destination is reached G38 2
5. e M65 P turn off digital output immediately The P word specifies the digital output number The P word ranges from 0 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 Integrator s Manual Configuration Section LinuxCNC and HAL section for more information The M62 amp M63 commands will be queued Subsequent commands referring to the same output number will overwrite the older settings More than one output change can be specified by issuing more than one M62 M63 command User Manual V2 5 2013 02 11 154 195 The actual change of the specified outputs will happen at the beginning of the next motion command 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 synchronized with movement and they will break blending Note M62 65 will not function unless the appropriate motion digital out nn pins are connected in your hal file to outputs 15 15 M66 Wait on Input M66 P E lt L gt e P specifies the digital input number from 0 to 3 e E specifies the analog input number from 0 to 3 e L specifies the wait mode type Mode 0 IMMEDIATE no waiting returns immediately The current value of the input i
6. n default_value comment_text Parameter Examples lt xparm gt 1 0 0 lt yparm gt 2 Ystart lt zparm gt 3 0 0 Z start setting If a default_value is provided it will be entered in the entry box for the parameter on startup If comment_text is included it will be used to identify the input instead of the parameter name Global Named Parameters Notes on global named parameters lt _globalname gt and ngcgul As in many programming languages use of globals is powerful but can often lead to unexpected consequences In LinuxCNC existing global named parameters will be valid at subroutine execution and subroutines can modify or create global named parameters The use of global named parameters as inputs to subroutines is discouraged because such usage requires the establishment and maintenance of a well defined global context that is problematic to maintain Using numbered parameters 1 thru 30 as subroutine inputs should be sufficient to satisfy a wide range of design requirements Declining Feature Ngcgui includes some support for global named input parameters but usage is deprecated and not documented here Use of global named input parameters will not be supported with linuxCNC2 6 While input global named parameters are discouraged emc subroutines must use global named parameters for returning results Since ngcgui compatible subfiles are aimed at gui usage return values are not a common requirement However
7. 188 sub 158 Subroutines 158 T T Select Tool 162 TASK 188 Tk 23 188 tkLinuxCNC 56 TkLinuxCNC GUI 56 Tool Compensation 90 Tool Table Format 91 Touch Off 90 Touchy GUI 53 Trajectory Control 16 133 Traverse Move 188 U units 81 188 Unsigned Integer 188 User Concepts 16 User Defined Commands M100 M199 155 User Foreword 3 V Virtual Control Panel 39 W while 159 Word 98 world coordinates 188
8. Alt M 1 e Zoom In Zoom Out IZ e Top view mei N Rotated Top view e 4 Side view e Front view JI Perspective view a e Toggle between Drag and Rotate Mode D ds Clear live backplot Ctrl K 4 3 3 Graphical Display Area 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 homed gt A limit symbol is shown if the axis is on one of its limit switches Ie 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 oS User Manual V2 5 2013 02 11 30 195 If the position is Commanded 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 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 or one encoder count is 0 00125 then the Comma
9. Description Facing threading and parting off This file shows an example of threading on a lathe using parameters User Manual V2 5 2013 02 11 166 195 Chapter 19 Lathe User Information This chapter attempts to bring together all the lathe specific information and is currently under construction 19 1 Lathe Mode If your CNC machine is a lathe there are some specific changes you will probably want to make to your ini file in order to get the best results from LinuxCNC If you are using the AXIS display have Axis display your lathe tools properly See the INI Configuration section of the Integrator Manual for more details but you will probably want to make an entry like this to set up AXIS for Lathe Mode DISPLAY Tell the Axis Display our machine is a lathe LATHE TRUE Lathe Mode in Axis does not set your default plane to G18 XZ You must program that in the preamble of each gcode file or better add it to your ini file like this RS274NGC g code modal codes modes that the interpreter is initialized with on startup RS274NGC_STARTUP_CODE G18 G20 G90 19 2 Lathe 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 by default 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 L10 L11
10. 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 0 5 006 2 5 21 4 14 Tool Diameter The diameter of the cutting part of the tool 21 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 User Manual V2 5 2013 02 11 182 195 21 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 21 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 Secondary 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 21 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
11. The meanings of the entries and the type of data to be put in each are as follows Tool Number required The 7 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 Pocket Number required The P column contains the number unsigned integer which represents the pocket number slot number of the tool changer slot where the tool can be found The entries in this column must all be different The pocket numbers will typically start at 1 and go up to the highest available pocket on your tool changer But not all tool changers follow this pattern Your pocket numbers will be determined by the numbers that your tool changer uses to refer to the pockets So all this is to say that the pocket numbers you use will be determined by the numbering scheme used in your tool changer and the pocket numbers you use must make sense on your machine Data Offset Numbers optional The Data Offset columns XYZABCUVW contain real numbers which represent tool offsets in each axis This number will be used if tool length offsets are being used and this tool is selected These numbers can be positive zero or negative and are in fact completely optional Although you will probably want to make at least one entry here otherwise there would be little point in making an entry in the tool table to begin with In a typical mill you probably want an entr
12. There are several types of parameter of different purpose and appearance each described in the following sections The only value type supported by parameters is floating point there are no string boolean or integer types in G code like in other programming languages However logic expressions can be formulated with boolean operators AND OR XOR and the comparison operators EQ NE GT GE LT LE and the MOD ROUND FUP and FIX operators support integer arithmetic Parameters differ in syntax scope behavior when not yet initialized mode persistence and intended use Syntax There are three kinds of syntactic appearance e numbered 4711 e named local lt localvalue gt e named global lt _globalvalue gt Scope The scope of a parameter is either global or local within a subroutine Subroutine parameters and local named variables have local scope Global named parameters and numbered parameters starting from number 31 are global in scope RS274 NGC uses lexical scoping in a subroutine only the local variables defined therein and any global variables are visible The local variables of a calling procedure are not visible in a called procedure Behavior of uninitialized parameters 1 unitialized global parameters and unused subroutine parameters return the value zero when used in an expression 2 unitialized named parameters signal an error when used in an expression User Manual V2 5 2013 02 11 100 195 Mode Most pa
13. changes the right hand column so that the popin fills the entire right side of the screen e 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 commanded 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 systems e 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 User Manual V2 5 2013 02 11 65 195 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 programmin
14. font_descriptor Example DISPLAY NGCGUI_FONT Helvetica 12 normal Note Optional font_descriptor is a tcl compatible font specifier with items for fonttype fontsize fontweight Default is Helvetica 10 normal Item DISPLAY NGCGUI_SUBFILE subfile filename Example DISPLAY NGCGUI_SUBFILE simp ngc User Manual V2 5 2013 02 11 Note Item Note Item Note Item Note Example Example Example Example Example 47 195 DISPLAY NGCGUI_SUBFILE xyz ngc DISPLAY NGCGUI_SUBFILE Use one or more items to specify ngcgui compatible subfiles that require an axis tab page on startup A Custom tab will be created when the filename is A user can use a Custom tab to browse the file system and identify preamble subfile and postamble files DISPLAY NGCGUI_PREAMBLE preamble_filenam DISPLAY NGCGUI_PREAMBLE in_std ngc Optional when specified the file is prepended to all subfiles Files created with Custom tab pages use the preamble specified with the page DISPLAY NGCGUI_POSTAMBLE postamble_ filename DISPLAY NGCGUI_POSTAMBLE bye ngc Optional when specified the file is appended to all subfiles Files created with Custom tab pages use the postamble specified with the page DISPLAY NGCGUI_OPTIONS optl opt2 DISPLAY NGCGUI_OPTIONS nonew no
15. in the G 7 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 Rotary axis words are not allowed in canned cycles When the active plane is one of the XYZ family the UVW axis words are not allowed Likewise when the active plane is one of the UVW family the XYZ axis words are not allowed 14 35 1 Common Words All canned cycles use X Y Z or U V W groups depending on the plane selected and R 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 14 35 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 the 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 14 35 3 Repeat Cycle The L number is optional and represents the number of repeats L 0 is not a
16. nf le e NGCGUI a subroutine GUI that provides fill in the blanks programming of G code It also supports concatenation of subroutine files to enable you to build a complete G code file without programming User Manual V2 5 2013 02 11 9 195 File Machine View Help elas JIC Iz 5 IX lx ol amp Manual Control F3 MDI F5 Preview DRO simp xyz Axis z ngcgui 0 move gt O l simp simple subroutine example Ctrl U to edit rs a ope ech ee ely aoe Positional Parameters I 1 6 Radius A 2 04 racius 3100 feedrate Create Feature Feed Override 100 Bini A Jog Speed 16 in min ii A Max Velocity 72 infmin E Ctri k for Key bindings l AXIS splash g code Not intended for actual milling 2 To run this code anyway you might have to Touch Off the Z axis 3 depending on your setup As if you had some material in your mill 4 Hint jog the Z axis down a bit then touch off 5 Also press the Toggle Skip Lines with to see that part If the program is too big or small for your machine change the scale 3 font usr share fonts truetype freefont FreeSerifBoldItalic ttf text EMC2 5 AXIS Fi ESTOP No tool Position Relative Actual Figure 2 4 NGCGUI GUI imbedded into Axis e Mini a Tcl Tk based GUI User Manual V2 5 2013 02 11 10 195 Program View Settings Info l Editor B
17. 0 2 8 zstart 0 9 xctr 5 10 ytop 2 11 rotate o lt db25 gt call 1 2000 2 10 1 02 0 2 0 5 2 90 ngcgui m2 line added m2 g54 activated N on Tool 1 offset 0 511 diameter 0 125 Position Relative Actual This photo shows the use of the new button and the custom tab to create three DB25 cutouts in one program 51 195 Help User Manual V2 5 2013 02 11 52 195 File Machine View Help pu Neuer Tian a roy E OOL g gt 900 4 IZ IN IX L E b Manual Control F3 MDI F5 Preview DRO simp xyz iquad db25 ihex gosper db25 1 ttt db25 2 Axis i is Feed Override 100 Jog Speed 16 in min al Max Velocity 72 in min ngcgui FEATURE 110701 06 36 13 A ngcgui files lt home john emc2 dev nc_files ngcgui_lib utilitysubs in_std ngc nc_files ngcgui_lib db25 n jgc gt ngcgui feature line added lt _feature gt 0 ngcgui preamble file home john emc2 dev nc_files ngcgui_lib utilitysubs in_std ngc gl7 xy plane g20 inches g40 cancel cutter radius compensation g49 cancel tool lengthoffset ESTOP No tool Position Relative Actual User Manual V2 5 2013 02 11 53 195 Chapter 6 Touchy GUI Touchy is a user interface for LinuxCNC meant for use on machine control panels and therefore does not require keyboard or mouse It is meant to be used with a touch screen and works in combination wi
18. 150 152 MO MI Program Pause o bok ea we A ER ee ae A 150 LES Mo M0 Promos 0d Sec ee RAO AS Rk ee ee a Ree ee e 150 154 M60 Pallet Change Pauses oo csi se AA oe A AG RA We be a we e 151 15 3 M3 MA MS Spindle Conteol osasi y e oe be ew ee eh Shee bee ee ee eee bbe eer 151 BO Mb Teel Chone sy cec Bes ea ARO A Pe RS Oe ee Bee le we Ree ee Be 151 130 1 Manual Tool CHANGE ci A a A Roe ARG eee ee 151 Tie e 226 bo GES teh eo BES hee eee 2 ee BE SESS C8 152 LS M7 M8 BI Coolant Control s ooe sa ee ee Bl ae ee al Ge DS Be we GUO ewe oe ae ed 152 15 8 M48 M49 Speed and Feed Override Control p p pe mesaer ea Re e ee ee ee 152 15 9 M50 Peed Override Control cios eee ee SES A e e sa 152 15 10M51 Spindle Speed Override Control ss ee ee Ee RR Ee Re a E 153 TS TIMBZ Avapive Feed Genta scos ee O AA ae RA GRE RG EG Bee a 153 15 2153 Feed Stop Control o a o kb hee hag a ChE Sew ee eee hb Sud ba 153 15 13M61 Set Comment Tool Number a teree ewe Ea ea ewe eae ea E 153 I3 Nie fo Mos Output Control p cc ns peep RE eR wR EY A Ga RE Es 153 DISMO Waren put 56 2b bee eG SER E RRL SL SAS ESS EME BEDE SHES SA 154 15 16M67 Synchronized Analog Output es bn ee ee Ee a ee 155 I3 7MOS Amage CMU lt lt cas pee RRR EY SR wR EY OAS EEG EES ee Ge RE Ee 155 15 18 M106 to M199 User Detned Commands s q cacr da em 454 a Tb ee a 155 16 O Codes 158 16 1 SUDTOUEDES ao Pee RSE he Se ESSER EPEAT ad DRAG as we 158 Tho Lope e sok Pn YX Bees A OR rR ee FO a E Dee
19. 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 Numerical Control The general term used to refer to computer control of machinery 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 User Manual V2 5 2013 02 11 185 195 Comp A tool used to build compile and install LinuxCNC HAL components Configuration n A directory containing a set of configuration files Custom configurations are normally 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 LinuxCNC 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 li
20. Cl 4 5 90 COMICO CoS 90 CoS 90 CoS 90 G90 GO XO YO M2 You can see from the following figure that the output is not what you might expect Because we added 0 5 to the distance each time the distance from the XY zero position increased with each line User Manual V2 5 2013 02 11 105 195 Figure 13 1 Polar Spiral The following code will produce our square pattern T100 GL CoS 90 GIL AYO 90 IO AGO 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 User Manual V2 5 2013 02 11 106 195 Figure 13 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 13 15 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 the following Table Table 13 4 G Code Modal Groups Modal Group Meaning Member Words Non modal codes Group 0 G4 G10 G28 G30 G53 G92 G92 1 G92 2 G92 3 Motion Group 1 GO G1 G
21. Examples 18 1 1 Helical Hole Milling File Name useful subroutines ngc Description Subroutine for milling a hole using parameters 18 1 2 Slotting File Name useful subroutines ngc Description Subroutine for milling a slot using parameters 18 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 18 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 User Manual V2 5 2013 02 11 165 195 18 1 5 Tool Length Probe File Name tool length probe ngc 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 18 1 6 Hole Probe File Name probe hole ngc Description Finding the Center and Diameter of a hole The program demonstrates how to find the center of a hole measure the hole diameter and record the results 18 1 7 Cutter Compensation To be added 18 2 Lathe Examples 18 2 1 Threading File Name lathe g76 ngc
22. Jog second axis Manual Pg Up Pg Dn Jog third axis Manual L Jog fourth axis Manual O Open File Manual Control 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 User Manual V2 5 2013 02 11 35 195 4 5 Show LinuxCNC Status linuxcnctop AXIS includes a program called linuxcnctop which shows some of the details of LinuxCNC s state You can run this program by invoking Machine gt Show LinuxCNC Status acceleration 1e 99 active queue 0 actual position 0 2723 0 0300 1 2163 adaptive feed enabled 0 ooo ooo ooo ooo ooo ooo ooo ooo ooo ooo ooo ooo ooo cop oo oo gt oo oo gt oo cop oo cop oo cop oo cop oo cop oo 2o oo 2o oo oof cop oo cop oo cop oo oo cop ooo cop oo cop oo con oo con oo oo oo cop 200 8000 cop 2oo 8o00 o o ooo ooo ooo ooo ooo ooo ooo ooo ooo ooo ooo ooo ooo ooo axes axis_mask block_delete command current _line current _vel cycle time debug ce 2000o0y E Wooo2r ooo gS Yoo o 00000000000 Copy All Figure 4 6 LinuxCNC Status Window The name of each item is shown in the left column The current value is shown in the right colu
23. K follows the drive line described by X Y Z K is not parallel to the Z axis if X or Y endpoints are used for example when cutting tapered threads Technical Info At the beginning of each G33 pass LinuxCNC uses the spindle speed and the machine acceleration limits to calculate how long it will take Z to accelerate after the index pulse and determines how many degrees the spindle will rotate during that time It then adds that angle to the index position and computes the Z position using the corrected spindle angle That means that Z will reach the correct position just as it finishes accelerating to the proper speed and can immediately begin cutting a good thread HAL Connections The pins motion spindle at speed and the encoder n phase Z for the spindle must be connected in your HAL file before G33 will work See the Integrators Manual for more information on spindle synchronized motion G33 Example G90 absolute distance mode GO X1 Z0 1 rapid to position S100 M3 start spindle turning G33 Z 2 K0 125 move Z axis to 2 at a rate to equal 0 125 per revolution GO X1 25 rapid move tool away from work Z0 1 rapid move to starting Z position M2 end program e See G90 amp GO amp M2 sections for more information 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 linear motion exceeds machine velocity limits due to the spindle speed 14 21 G33 1 R
24. OK This column is for the benefit of human readers only The comment must be preceded by a semicolon 12 2 2 Tool Changers LinuxCNC supports three types of tool changers manual random location and fixed location Information about configuring an LinuxCNC tool changer is in the Integrator 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 User Manual V2 5 2013 02 11 93 195 Fixed Location Tool Changers Fixed location tool changers always return the tools to a fixed position in the tool changer This would also include designs like lathe turrets When LinuxCNC is configured for a fixed location tool changer the P number is ignored but read preserved and rewritten by LinuxCNC so you can use P for any bookkeeping number you want Random Location Tool Changers Random location tool changers swap the tool in the spindle with the one in the changer With this type of tool changer the tool will always be in a different pocket after a tool change When a tool is changed LinuxCNC rewrites the pocket number to keep
25. P1 is optional e M52 PO stop using adaptive feed 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 LinuxCNC the HAL pin motion adaptive feed is used for this purpose Values on motion adaptive feed should range from 0 feed hold to 1 full speed 15 12 M53 Feed Stop Control M53 lt P1 gt enable the feed stop switch The P1 is optional Enabling the feed stop switch will allow motion to be interrupted by means of the feed stop control In LinuxCNC the HAL pin motion feed hold is used for this purpose A true value will cause the motion to stop when M53 is active M53 PO disable the feed stop switch The state of motion feed hold will have no effect on feed when M53 is not active 15 13 M61 Set Current Tool Number e M61 Q change the current tool number while in MDI or Manual mode One use is when you power up LinuxCNC 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 0 or greater 15 14 M62 to M65 Output Control e M62 P turn on digital output synchronized with motion The P word specifies the digital output number e M63 P turn off digital output synchronized with motion The P word specifies the digital output number e M64 P turn on digital output immediately The P word specifies the digital output number
26. Ree eee eS Gl QUIN a Gas ee A ea ACRE GS a eae PAS Re We be RS eee BS Gl Brabline Touchy 2 54 poh be tbe he eb BES he EERE 2 oe ESE SES Grez Prenes cn a Re ee a Ea Ee A eae ee a M s MIOS aee Gob RS ee A A SE Rae eG GOR R SE Go eh A ee we Be 7 TkLinuxCNC GUI wi Toroduehon is ee ae Stee A Ow R SEE Eee Se Sed oe He we ed be SG Ta AOU Sneg oroe Pe A ae ed ed ee PA ae Teal Atypical session with Thlimuxt NG oe ee A ee ee eR od YE Ae ee eS Ha Blements of the TkLan CNE windew lt sace oe tae ee Eee A Eee A ox Peek Mam Dons oora a a ee A eae A ew se beeen ede es Ta Qisetdisplay SAUS BAT os css ee eee A Hore eee E ee 8 eS Las Coordinate Display Area oso ar RGR Rae LEGG REARS DERE G Dee ade Taal Bapwt onc obo be haw dbs Web a a a bbe hs Od ee PEE Chee Tok ANOA COMI A WA ee e A oR e Ae ee Ye FB eee a Poe BOOMS e ol AAA 734 2 TextProgrami Display Area esc to catodo da A Cea ee Tan MamalCommol ciones tee eee ee A Hore eee dE ee eS Posed TEPER ak eR REE ARE RRR ERAS A ee ok foe The spindlesroup ooo os cd SE S58 dew eH bee n A faa Whe CORSO see A eee ee ee A ee e Got A ooo ee SES ERS ERG Bae TRAE GES ha be ORG eee Se ee Pel Me oe oO ra SESE o A a SS Paw Active GLCodes coe ce PM Rw ee ee ee ey YD ee ee eS gat IBESPA oo ek See ES RNS DERG PREM EE ES GEE Ra be REG eee ee Tas Peed verte 2 2 OES NAAA 73 9 Spindlesp ed Overtide ccd a ee ee EE ee ER A ee ae ee 74 Keyboard Contos e a la ae RR ER EE Race eG BA GS ee A Bees ao
27. Speed Override Switches The Interpreter will interpret RS274 NGC commands which enable M46 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 LinuxCNC reacts to the speed and feed override settings when these switches are enabled See the M48 M49 Override section for more information 10 3 2 Block Delete Switch If the block delete switch is on lines of G code which start with a slash the block delete character are not interpreted If the switch is off such lines are interpreted Normally the block delete switch should be set before starting the NGC program 10 3 3 Optional Program Stop Switch If this switch is on and an M1 code is encountered program execution is paused User Manual V2 5 2013 02 11 83 195 10 4 Tool Table A tool table is required to use the Interpreter The file tells which tools are in which tool changer slots and what the size and type of each tool is The name of the tool table is defined in the ini file EMCIO tool table file TOOL_TABLE tooltable tbl The default filename probably looks something like the above but you may prefer to give your machine its own tool table using the same name as your ini file but with a tbl extension TOOL_TABLE acme_300 tbl or TOOL_TABLE EMC AXIS SIM tbl For more information on the specifics of
28. V2 5 2013 02 11 141 195 160 Vi 20 5 170 XS N180 X2 N190 X1 N200 G80 turn off canned cycle 210 GO XO rapid home moves 220 YO 230 20 N240 M2 program end Note Notice the z position change after the first four holes Also this is one of the few places where line numbers have some value being able to point a reader to a specific line of code 3D PLOT Absolute distance mode 681 drilling cycle R value Second E value y 1 conned cycle zh starts here dh ME N E 0 0 0 Preliminary more anne to R value a __ First Z value Figure 14 5 G80 Cycle The use of G80 in line N200 is optional because the GO on the next line will turn off the G81 cycle But using the G80 as shown in Example 1 will provide for easier to read canned cycle Without it it is not so obvious that all of the blocks between N120 and N200 belong to the canned cycle 14 37 G81 Drilling Cycle Geil k X we wie U We We R i The G81 cycle is intended for drilling The cycle functions as follows 1 Preliminary motion to start position User Manual V2 5 2013 02 11 2 Move the Z axis only at the current feed rate to the Z position 142 195 3 Retract the Z axis at traverse rate to clear Z This cycle was used in the description of G80 above but is explained in detail here Example 1 Absolute Position G81 Suppose the current position is X1 Y2 Z3 and the following line of NC code is int
29. 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 10 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 time feed or feed per revolution modes are being used see Section G93 G94 G95 1 If any of XYZ are moving F is in units per minute in the XYZ cartesian system and all other axes ABCUVW 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
30. a random toolchanger see the entry for RANDOM_TOOLCHANGER in the EMCIO Section TO does not get any special treatment TO is a valid tool like any other It is customary to use TO on a random toolchanger machine to track an empty pocket so that it behaves like a nonrandom toolchanger machine and unloads the spindle It is an error if e a negative T number is used T number is used that does not appear in the tool table file with the exception that TO on nonrandom toolchangers is accepted as noted above On some machines the carousel will move when a T word is programmed at the same time machining 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 program a G1 without any move after the T lt n gt User Manual V2 5 2013 02 11 164 195 Chapter 18 G Code Examples After you install LinuxCNC several sample files are placed in the nc_files folder Make sure the sample file is appropriate for your machine before running 18 1 Mill
31. also best for looking at X amp Y Side View The Side View or X view displays the G code looking along the X axis from positive to negative This view is best for looking at Y amp Z Front View The Front View or Y view displays the G code looking along the Y axis from negative to positive This view is best for looking at X amp Z Perspective View The Perspective View or P view displays the G code looking at the part from an adjustable point of view defaulting to X Y Z The position is adjustable using the mouse and the drag rotate selector This view is a compromise view and while it does do a good job of trying to show three to nine axes on a two dimensional display there will often be some feature that is hard to see requiring a change in viewpoint This view is best when you would like to see all three to nine axes at once Display Inches Set the AXIS display scaling for inches Display MM Set the AXIS display scaling for millimeters Show Program The preview display of the loaded G code program can be entirely disabled if desired Show Program Rapids The preview display of the loaded G code program will always show the feedrate moves G1 G2 G3 in white But the display of rapid moves GO in cyan can be disabled if desired User Manual V2 5 2013 02 11 28 195 Alpha blend Program This option makes the preview of complex programs easier to see but may cause the preview to display more slowly
32. 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 8 7 Keyboard Bindings A number of the bindings used with tkLinuxCNC 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 LinuxCNC is operating in 8 7 1 Common Keys Pause Toggle feedhold e Escape abort motion e FI toggle estop estop reset state e F2 toggle machine off machine on state e F3 manual mode F4 auto mode User Manual V2 5 2013 02 11 74 195 e F5 MDI mode e F6 reset interpreter The following only work for machines using auxiliary I O e F7 toggle mist on mist off e F8 toggle flood on flood off e F9 toggle spindle forward off e F10 toggle spindle reverse off e FI decrease spindle speed e F12 increase spindle speed 8 7 2 Manual Mode e 1 90 set feed override to 10 90 0 is 100 e set feed override to 0 or feedhold e x select X axis e y select Y axis e z select Z axis e a select A axis e b select B axis e c select C axis e Left Right Arrow jog X axis e Up Down Arrow jog Y axis e Page Up Down jog Z axis e _ jog the active axis in the minus direction e jog the active axis in the plus direction e Home home selected axis e il t
33. and turn the machine on by pressing F1 then F2 3 Home each axis 4 Load the file to be milled 5 Put the stock to be milled on the table 6 Set the proper offsets for each axis by jogging and either homing again or right clicking an axis name and entering an offset value 7 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 LinuxCNC 7 3 Elements of the TkLinuxCNC window The TkLinuxCNC 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 for 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 MDI 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 necessary to change the mode LinuxCNC is currently running in User Manual V2 5 2013 02 11 58 195 7 3 1 Main buttons From left to right the buttons are e Machine enable ESTOP gt ESTOP RESET gt ON e Toggle mist coolant e Decrease spindle speed e Set spindle direction SPIN
34. axis ngc AXIS 2 5 0 pre auf Fraese Klippfeld K12 simuliert Jl Datel Maschine Agsicht Hife CIERRA nme z N xee TES Jo o Vorschau ORO Camera Gladevcr Spindle Modbus VED online C j button Sas online 000 Oc brake GQ _ manual Spindle RPM 0 VFDHz 0 0 0 0 3500 0 0 2000 Gear bek position top middie bottom Vorschub bersteuerung 100 _ ae ScheRtgeschwindigket 1023 mnymin M sill 7 Maximale Geschwindigkeit 720 mm min E y EE AXIS splash g code Not intended for actual milling Joypad max jog mm min To run this code anyway you sight have to Tewch Off the Z axis m 400 depending on your setup As if yeu had sose eaterial in your e111 O Mint jog the Z aris down a bit then touch off Also press the Toggle Skip Lines with to see that part Limit switches If the progras is too big or small for your sachine change the scale 3 0 0 20 20 font usr share fonts truetype t reefont FreeSeri Belditalic ttt text EMCI4AXIS 1 NOTAUS Kein Werkzeug Position relativ aktuel Figure 2 9 GladeVCP with Axis See the Integrators manual for more information on Virtual Control Panels 2 5 Languages LinuxCNC uses translation files to translate LinuxCNC User Interfaces into many languages You just need to log in with the language you intend to use and when you start up LinuxCNC 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 c
35. 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 7 3 8 Feed Override By moving this slider the programmed feed rate can be modified For instance if a 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 allowing for a number to be entered 7 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 7 4 Keyboard Controls Almost all actions in TkLinuxCNC 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 the following table Table 7 1 Most Common Keyboard Shortcuts Keystroke Action Taken Fl Toggle Emergency Stop F2 Turn machine on off 1 9 0 Set feed override from 0 to 100 Xx Activate first axis Y 1 Activate second axis Z 2 Activ
36. 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 Note 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 feature off for the current tool change program a G1 with no move after the T lt n gt a e UL Insert tool 1 and click continue when ready Continue Figure 4 7 The Manual Toolchange Window 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 LinuxCNC command status and error channels e gcode provides access to the rs274ngc interpreter e rs274 provides additional tools for working with rs274ngc files User Manual V2 5 2013 02 11 37 195 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 LinuxCNC this should happen automatically When running in place this can be done b
37. controlled point 80 coolant 32 79 81 coordinate measuring machine 185 Coordinate System 84 D Debug Messages 108 display units 185 do 159 DRO 185 Dwell Feed Out 146 dwell 81 E EDM 185 else 160 elseif 160 else 160 EMC 185 EMCIO 185 EMCMOT 185 encoder 185 endif 160 endsub 158 endwhile 159 ESTOP 28 External Editor 39 F F Set Feed Rate 162 feed 185 Feed Out 145 146 feed override 33 69 80 feed rate 81 185 feedback 185 feedrate override 185 G G Code Best Practices 110 G Code Order of Execution 109 G Code Overview 97 G Code Table 112 G Codes 112 User Manual V2 5 2013 02 11 G Code 186 GO Rapid 113 Gl Linear Motion 114 G10 L1 Tool Table 122 G10 L10 Set Tool Table 124 G10 L11 Set Tool Table 124 G10 L2 Coordinate System 122 G10 L20 Set Coordinate System 125 G17 G18 G19 Plane Selection 125 G2 G3 Arc 114 G20 Inches 125 G21 Millimeters 125 G28 126 G3 Arc 114 G30 126 G33 Spindle Synchronized Motion 127 G33 1 Rigid Tapping 127 G38 x Probe 128 G4 Dwell 119 G40 Cutter Compensation Off 129 G41 G42 Cutter Compensation 130 G41 1 G42 1 Dynamic Compensation 130 G43 Tool Length Offset 131 G43 1 Dynamic Tool Length Offset 131 G49 Cancel Tool Length Offset 132 G5 1 Quadratic B spline 119 G5 2 G5 3 NURBs Block 120 G53 Machine Coordinates 132 G54 G59 3 Select Coordinate System 132 G55 85 G61 G61 1 G64 Path Control 133 G64 Path Blendin
38. definitely be no tool in the spindle after a tool change The tool changer will have to be setup to perform the tool change in hal and possibly classicladder 15 7 M7 M8 M9 Coolant Control e M7 turn mist coolant on MS turn flood coolant on e M9 turn all coolant off It is OK to use any of these commands regardless of the current coolant state 15 8 M48 M49 Speed and Feed Override Control e M48 enable the spindle speed and feed rate override controls e M49 disable both controls It is OK to enable or disable the controls when they are already enabled or disabled See the Feed Rate Section for more details 15 9 M50 Feed Override Control e M50 lt P1 gt enable the feed rate override control The P1 is optional e M50 PO disable the feed rate control 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 User Manual V2 5 2013 02 11 153 195 15 10 M51 Spindle Speed Override Control e M5I lt PI gt enable the spindle speed override control The P1 is optional e M51 PO disable the spindle speed override control program While disabled the spindle speed override will have no influence and the spindle speed will have the exact program specified value of the S word described in Spindle Speed Section 15 11 M52 Adaptive Feed Control e M52 lt P1 gt use an adaptive feed The
39. ever it is have the coordinates X0 YO and ZO you would use G92 X0 YO Z0 G92 does not work from absolute machine coordinates 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 a good practice to clear the G92 offsets at the end of their use with G92 1 or G92 2 When starting up LinuxCNC if any offsets are in the G92 variables they will be applied when an axis is homed 11 4 2 Setting G92 values There are at least two ways to set G92 values e right mouse click on position displays of tkLinuxCNC will popup a window into which you can type a value 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 B C U V W does in fact set values to the G92 variables such that each axis takes on the value associated 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
40. 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 LinuxCNC 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 Gl X1 F10 Gl 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 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 coordin
41. length offset is changed 3 Coordinate system offsets are changed User Manual V2 5 2013 02 11 82 195 10 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 10 2 11 Tool Carousel Zero or one tool is assigned to each slot in the tool carousel 10 2 12 Tool Change A machining center may be commanded to change tools 10 2 13 Pallet Shuttle The two pallets may be exchanged by command 10 2 14 Path Control Mode 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 Sections G61 G61 1 and G64 10 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 10 3 1 Feed and
42. 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 LinuxCNC In our example below we ll use G55 The values for each axis for G55 are stored as variable numbers Variable Value 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 LinuxCNC so that the LinuxCNC 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 Variable Value 5241 2 000000 5242 1 000000 5243 2 000000 5244 0 000000 5245 0 000000 5246 0 000000 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 User Manual V2 5 2013 02 11 86 195 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 th
43. 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 help on machines with non trivial kinematics like robots or stewart platforms you can read more about kinematics in the Integrator Manual 7 3 3 1 Backplot When the machine moves it leaves a trail called the backplot You can start the backplot window by selecting View gt Backplot User Manual V2 5 2013 02 11 59 195 7 3 4 Automatic control 7 3 4 1 Buttons for control The buttons in the lower part of TkLinuxCNC 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 1t 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 Program Mmomefuve femc2 nc_files 3D_Chips ngc Status idle Open Run Pause Resume Step Verify Optional Stop N6871Y56 0612 28 146 N66881Y56 1052 27 694 N6891Y56 112 27 838 N6901Y56 1282 27 634 6911G0Z10 N6931 M9 Figure 7 2 TkLinuxCNC Interpreter program control 7 3 4 2 Text
44. 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 6 COLLECTIONS OF DOCUMENTS You may make a collection consisting of the Document and other documents released under this License and replace the indi vidual 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 User Manual V2 5 2013 02 11 192 195 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 co
45. qwerty keys are bound to feed rate override The 0 sets 100 9 sets 90 and such Other keys work much the same as they do with the tkLinuxCNC graphical interface n100 This is a test plot nc program to be ron on back plot n101 Anthor Ray Henry 10 Feb 2000 nig 50 55 200 pd 20 120 n103 xl yi start xy circha n104 17 202 2 yZ regqril 5 n105 xl Fl 11 1 qrt10 51 n106 g0 2 1 add xy lettering n107 1 75 n108 z Figure 8 4 Auto Mode Auto mode does not normally display the active or modal codes If the operator wishes to check these use menu Info Active_G Codes This will write all modal codes onto the message scratch pad User Manual V2 5 2013 02 11 67 195 If abort or estop is pressed during a run a set of buttons will display to the right of the text that allow the operator to shift the restart line forward or backward 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 From the Sherline CNC Operators Manual 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 LinuxCNC 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 th
46. redundant and need not be supplied but it may be any valid tool number Note G41 G42 DO is a little special Its behavior is different on random toolchanger machines and nonrandom toolchanger machines see the Tool Changers section On nonrandom toolchanger machines G41 G42 DO applies the TLO of the tool currently in the spindle or a TLO of 0 if no tool is in the spindle On random toolchanger machines G41 G42 DO applies the TLO of the tool TO defined in the tool table file or causes an error if TO is not defined in the tool table To start cutter compensation to the left of the part profile use G41 G41 starts cutter compensation to the left of the programmed line as viewed from the positive end of the axis perpendicular to the plane To start cutter compensation to the right of the part profile use G42 G42 starts cutter compensation to the right of the pro grammed 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 The lead in move can be a rapid move Cutter compensation may be performed if the XY plane or XZ plane is active User M100 M199 commands are allowed when Cutter Compensation is on The behavior of the machining center when cutter compensation is on is described in the Cutter Compensation Section along with code examples It is an error if The D number is not a valid tool number or 0 e The YZ plane is active e Cutter c
47. respectively Axis GUD One of the Graphical User Interfaces available to users of LinuxCNC It features the modern use of menus and mouse buttons while automating and hiding some of the more traditional LinuxCNC 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 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
48. retraction move may be added in a future release of LinuxCNC User Manual V2 5 2013 02 11 178 195 G38 3 G38 5 These codes are not defined in RS274 NGC O codes These codes are not defined in RS274 NGC M50 M53 overrides These codes are not defined in RS274 NGC M61 M66 These codes are not defined in RS274 NGC G43 G43 1 Negative Tool Lengths The RS274 NGC 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 LinuxCNC allows specification of a computed tool length through G43 1 I K G41 1 G42 1 LinuxCNC allows specification of a tool diameter and if in lathe mode orientation in the G code The format is G41 1 G42 1 D L where D is diameter and L if specified is the lathe tool orientation G43 without H word In ngc this is not allowed In LinuxCNC 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 LinuxCNC allows machines with up to 9 axes by defining an additional set of 3 linear axes known as U V and W User Manual V2 5 2013 02 1
49. rl radius from the start position to the center e 72 radius from the end position to the center 14 5 2 Center Format 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 position the end position and the arc center In the following figure you can see the start position is X0 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 0 in the Y axis In this case only an I offset is needed G2 Example Line G2 X1 Yl 11 F10 clockwise arc in the XY plane User Manual V2 5 2013 02 11 117 195 End Position x1 Y1 G2 Direction Arc t Pasition Center Start x1 YO Position AU 70 Figure 14 1 G2 Example 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 S for both moves The G2 move the J offset is 0 5 and the G3 move the J offset is 0 5 G2 G3 Example Line G2 XO Y1 11 J0 5 F25 clockwise arc in the XY plane G3 XO
50. set to absolute mode like G90 Feed rate mode is set to units per minute like G94 4 5 6 Feed and speed overrides are set to ON like M48 7 Cutter compensation is turned off like G40 8 The spindle is stopped like M5 9 The current motion mode is set to feed like G 10 Coolant is turned off like M9 Note Lines of code after M2 M30 will not be executed Pressing cycle start will start the program at the beginning of the file 15 4 M60 Pallet Change Pause e M60 exchange pallet shuttles and then pause a running program temporarily regardless of the setting of the optional stop switch Pressing the cycle start button will restart the program at the following line 15 5 M3 M4 M5 Spindle Control e M3 start the spindle clockwise at the S speed e MA start the spindle counterclockwise at the S speed e MS stop the spindle It is OK to use M3 or M4 if the S 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 15 6 M6 Tool Change 15 6 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 based on
51. slider the maximum velocity can be set This caps the maximum velocity for all programmed moves except spindle synchronized moves 4 4 Keyboard Controls 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 the following Table Table 4 1 Most Common Keyboard Shortcuts Keystroke Action Taken Mode F1 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 Manual axis Left Right Jog first axis Manual Up Down
52. than having to take account of the location at which the casting or block will be held during the machining This chapter introduces you to offsets as they are used by the LinuxCNC These include e machine coordinates G53 e nine fixture offsets G54 G59 3 e global offsets G92 11 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 XO YO Z0 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 User Manual V2 5 2013 02 11 85 195 11 3 Fixture Offsets G54 G59 3 G53 G54 G55 XO YO X2 YO C X0 YO X0 YO for for fixture 1 fixture 2 fixture 5 fixture 6 fixture 7 fixture 8 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
53. the default L 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 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 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 v
54. the last 7 number programmed For more information on hal_manualtoolchange see the Manual Tool Change Section User Manual V2 5 2013 02 11 152 195 15 6 2 Tool Changer To change a tool in the spindle from the tool currently in the spindle to the tool most recently selected using a T word see Section Select Tool 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 Integrator s 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 Warning The tool length offset is not changed by M6 use G43 after the M6 to change the tool length offset The tool change may include axis motion It is 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
55. the tool table format see the Tool Table Format Section 10 5 Parameters In the RS274 NGC language view a machining center maintains an array of 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 LinuxCNC 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 All parameters are available for use in G code programs The format of a parameter file is shown in the following table 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 the following table 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 para
56. tracer DISPLAY TTT truetype tracer Optional if not specified attempt to use usr local bin truetype tracer Specify with absolute pathname or as a simple executable name in which case the user PATH environment will used to find the program DISPLAY _PREAMBLE preamble_filenam DISPLAY _PREAMBLE in_std ngc Optional specifies filename for preamble used for ttt created subfiles INI Examples Ngcgui uses the EMC search path to find files The search path begins with the standard directory specified by DISPLAY PROGRAM_PREFIX followed by multiple directories specfied by RS274NGC SUBROUTINE_PATH Directories Directories may be specifed as absolute paths or relative paths Examp Examp Examp e e e DISPLAY PROGRAM_PREFIX home myname emc2 nc_files DISPLAY PROGRAM PREFIX emc2 nc_files DISPLAY PROGRAM PREFIX nc_files User Manual V2 5 2013 02 11 46 195 An absolute path beginning with a specifies a complete filesystem location A path beginning with a specifies a path starting from the user s home directory A path beginning with username specifies a path starting in username s home directory Relative Paths Relative paths are based on the startup directory which is the directory containing the ini file Using relative paths can facilitate relocation of configurations
57. we e 159 169 Conditional ccs gk ok ES ARES SE Rae RES ASS BES A ke a 160 Wee Hepes ha bes he wt eb he eh eee Bh ESAS ee Bee td Shes 8 160 a AN A NN 161 16 6 Calme Til ciar a A A A A Aa A A e 161 17 Other Codes 162 Eo a A NR AA 162 172 S set Somdle Speed cocoa a eee ede ea e Aa 162 Pr a ee hoe cs IE I fo the ely a beach Glan ee a 162 User Manual V2 5 2013 02 11 xi 18 G Code Examples 164 B MI ESMP so ia A rs e RA A OR Ra A ee oe a ee ee ee 164 18 1 1 Helical Hole Milling ocio wee be eh See A E 164 UR IG nd Y A Sete ee RA eo RS et ee Se es oe Oe ee E 164 Pes Ond A se A RN 164 Ted ete Phe o ee EG EE oe A AA ee bbe eS ba 164 Babs Tol bengih Pease iso AE ee ee Ee es YY Ree ee E 165 Bio Hole Pibe ooe oen ee eR RES REE Bee AG Ro be ARG eee a 165 131 7 Cir Compenssugn 6 be eee eo BES A A ERE 2 ee ESE SES 165 182 Lathe EXAMPpleS o eo sc oe A we ee a ee Ee Eee Oe a ee 165 Peo EIA os doe eh Sa A OE Se Reel he Re AG doe Rh See ee 165 19 Lathe User Information 166 TT E MIOS ls e Seen a evan hE eM Gh A ADA A Gig Bee oe ae Ghee re a 166 19 2 Lathe Tool Table soc Get hee eee a do a a EPA ba sd 166 13 Lathe Tool Onentahon as g a AE OR ke ee ee E YB ee ee oe 166 194 Tool Toa OM corra het eS ee ESE RRA See a 4 170 19 21 The X Tool ONSET au et be ee SS wh ee be eed EE PEAS OS dere 170 13 42 Whe 7 ROLET kee os PA ee ES ee A ee Y Bere Se 170 194 3 The Z Machine MIST ociosa REE Rae ER E GEEKS REG Bee ee 171 193 Thkading oo o ee hee eS Ea w
58. will be J beyond the thread peak position e K A positive value specifying the full thread depth The final threading cut will be K beyond the thread peak position Optional settings e 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 unnec essarily high degression values will cause a large number of passes to be used degression a descent by stages or steps User Manual V2 5 2013 02 11 136 195 e Q The compound slide angle is the angle in degrees describing 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 e H The number of spring passes Spring passes are additional passes at full thread depth If no additional passes are desired program HO e 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 e L Specifies which ends of the thread get the taper Program LO for no taper
59. your machine and allow you to enter commands or programs When you compare starting screen with run screen you will see many differences In the second figure e each axis has been homed the display numbers are dark green e the LinuxCNC mode is auto the auto button has a light green background Much of this chapter quotes from a chapter of the Sherline CNC Operators Manual User Manual V2 5 2013 02 11 64 195 e the backplotter has been turned on backplot is visible in the pop in window e the tool path from the program is showing in the display Once you start working with Mini you will quickly discover how easily it shows the conditions of the LinuxCNC and allows you to make changes to it 8 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 accustomed 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 e Program This menu includes both reset and exit functions Reset will return the LinuxCNC 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 e View This menu includes several screen elements that can be added s
60. 1 Programming Entry Moves Any move that is long enough to perform the compensation will work as the entry move The minimum length 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 Resulting Profile Figure 12 3 Entry Move 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 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 User Manual V2 5 2013 02 11 12 3 2 Examples G Code F25 Set Feed Rate gt G40 Cancel Comp G10 L1 P1 RO 25 Z1 Set Tool Table Ti M6 Load Tool gt G42 Start Comp Right 61 X1 Y1 Lead In Move X5 Cut Path 640 Cancel Comp gt GO X0 YO Exit Move M2 End Program Part Outline Exit Move A Lead In Move Tool Figure 12 4 Outside Profile 95 195 Compensated too
61. 1 Chapter 21 Image to G Code X torus png AXIS File Machine View ele a Manual Control F3 MOI FS e a Axis E ole X torus png Image to gcode Units Invert Image Normalize Image Tolerance units Pixel Size Feed Rate units per minute 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 179 195 Help b cd gt a G20 in Yes Yes 0 001 0 006 12 0 Rows then Columns X Down Milling 0 25 15 M 0 0625 0 012 Ball End X Secondary X 45 0 21 1 What is a depth map No tool 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 21 2 Add the following lines to the FILTER section of your ini open a png gif or jpg image PROGRAM_EXTENSION png image to gcod Integrating image to gcode with the AXIS user interface file to make AXIS automatically invoke image to gcode when you png gif jpg Grayscale Depth Image User Manual V2 5 2013 02 11 180 195 gif image to gcod Jpg image to gcod The standard sim axis ini configuration file is already configured this way 21 3 Using image to gcode Start image to gcode either by opening an image fi
62. 195 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 For information about the other items which can be configured in Tk applications see the Tk man pages 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 AxisxoptionLevel 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 One of these pins is TRUE at one time and the rest are FALSE These are meant to control motion s jog enable pins After AXIS has created these HAL pins it executes the HAL file named in HAL POSTGUI_HALFILE Unlike HAL HALFILE only one such file may be used 4 11 4 axisre 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
63. 2 G3 G33 G38 x G73 G76 G80 G81 G82 G83 G84 G85 G86 G87 G88 G89 Plane selection Group 2 G17 G18 G19 G17 1 G18 1 G19 1 Distance Mode Group 3 G90 G91 Arc IJK Distance Mode Group 4 G90 1 G91 1 Feed Rate Mode Group 5 G93 G94 G95 Units Group 6 G20 G21 Cutter Diameter Compensation Group 7 G40 G41 G42 G41 1 G42 1 User Manual V2 5 2013 02 11 107 195 Table 13 4 continued Modal Group Meaning Member Words Tool Length Offset Group 8 G43 G43 1 G49 Canned Cycles Return Mode Group 10 G98 G99 Coordinate System Group 12 G54 G55 G56 G57 G58 G59 G59 1 G59 2 G59 3 Control Mode Group 13 G61 G61 1 G64 Spindle Speed Mode Group 14 G96 G97 Lathe Diameter Mode Group 15 G7 G8 Table 13 5 M Code Modal Groups Modal Group Meaning Member Words Stopping Group 4 MO M1 M2 M30 M60 T O on off Group 5 M6 Tn Tool Change Group 6 M6 Tn Spindle Group 7 M3 M4 M5 Coolant Group 8 M7 M8 can both be on M9 Override Switches Group 9 M48 M49 User Defined Group 10 M100 M199 For several modal groups when a machining center is ready to accept commands one member of the group 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 t
64. 2 11 110 195 e Set path control mode G61 G61 1 G64 e Set distance mode G90 G91 e Set retract mode G98 G99 e Go to reference location G28 G30 or change coordinate system data G10 or set axis offsets G92 G92 1 G92 2 G94 e Perform motion GO to G3 G33 G73 G76 G80 to G89 as modified possibly by G53 e Stop MO M1 M2 M30 M60 13 26 G Code Best Practices 13 26 1 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 13 26 2 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 13 26 3 Use Center format arcs Center format arcs which use J K instead of R behave more consistently than R format arcs particularly for included angles near 180 or 360 degrees 13 26 4 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 m
65. 2013 02 11 31 195 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 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 File Machine View Help 9 00 elb De 1 nx lx El Manual Control F3 mDI F5 Preview DRO x 0 2723 Y 0 0300 Z 0 0100 i Vel 0 0000 Axis an ez Feed Override 100 Jog Speed 16 in min Max Velocity 72 in min Linerto 39 GOl X 98 3 5 Y O 3 6 lineto LUL A 2Z2l 1 3 F3 Y LUFO GOl X 98 3 5 Y 102 3 6 lineto G3 X 29 9645 3 5 Y 114 9024 3 6 R 1100 7342 3 G3 X 36 5000 3 5 Y 134 0000 3 6 R 567 9238 3 G3 X 81 5487 3 5 Y 153 0590 3 6 R 411 1467 3 G3 X 154 8636 3 5 Y 217 2743 3 6 R 176 9183 3 G3 x 179 7500 3 5 Y 260 7500 3 6 R 405 6030 3 j nm seian eames mm ea nl mirenan mnm ON No tool Position Relative Actual Figure 4 3 Current and Selected Lines 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 machine or control its spindle and coolant When the machine is not turned on or when a program is running the manual controls are unavailable Many of the
66. 5 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 circular motion occurs 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 G 7 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 To program a helix include the axis word perpendicular to the arc plane for example if in the G 7 plane include a Z word This will cause the Z axis to move to the programmed value during the circular XY motion To program an arc that gives more than one full turn use a P word specifying the number of full or partial turns of arc If P is unspecified the behavior is as if PZ was given that is only one full or partial turn will result giving an arc less than or equal to one full circle For example if an arc is programmed with P2 the resulting motion will be more than one full circle and up to two full circles depending on the programmed endpoint Multi turn helical arcs are supported and give motion useful for milling holes or threads If a line of code makes an arc and includes rotary axis motion the rotary axes turn at a constant rate so th
67. 5 inch 112 125 053 oneusecs Eh Ww valts by 0 5 Len oe Oh A GSOS G54 GO X 0 1 YO ZO center circle Gi wil 20 25 CONO uO vO GO Z0 Goo GO X 0 1 YO 020 Ebrst of fSeu circle Sil iil 2 025 CON OO wo GO Z0 G56 GO X 0 1 YO ZO second offset circle cul mil 220 425 CONO TOLL FO GO Z0 EST GCO A D VO ZO rminc oriset circle CI ail 20 25 CS AO 10 1 wo GO Z0 User Manual V2 5 2013 02 11 89 195 ESE CO x031 SO 70 rorta ortseet circ le Gal iil O 525 GI X Osl VO 10 wo G54 GO XO 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 ZO 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 LinuxCNC and they will be recalled when you start up again User Manual V2 5 2013 02 11 90 195 Chapter 12 Tool Compensation 12 1 Tool Length Offsets 12 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
68. 5226 5227 5228 5229 5230 G55 2 5241 5242 5243 5244 5245 5246 5247 5248 5249 5250 G56 3 5261 5262 5263 5264 5265 5266 5267 5268 5269 5270 G57 4 5281 5282 5283 5284 5285 5286 5287 5288 5289 5290 G58 5 5301 5302 5303 5304 5305 5306 5307 5308 5309 5310 G59 6 5321 5322 5323 5324 5325 5326 5327 5328 5329 5330 G59 1 7 5341 5342 5343 5344 5345 5346 5347 5348 5349 5350 G59 2 8 5361 5362 5363 5364 5365 5366 5367 5368 5369 5370 G59 3 9 5381 5382 5383 5384 5385 5386 5387 5388 5389 5390 It is an error if e selecting a coordinate system is used while cutter compensation is on See the Coordinate System Section for an overview of coordinate systems 14 31 G61 G61 1 Exact Path Mode e G6 exact path mode G61 visits the programmed point exactly even though that means temporarily coming to a complete stop e G61 exact stop mode Same as G61 14 32 G64 Path Blending G64 lt P lt Q gt gt e P motion blending tolerance e Q naive cam tolerance e G64 best possible speed e G64 P lt Q gt blending with tolerance e G64 without P means to keep the best speed possible no matter how far away from the programmed point you end up e 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 add
69. 69 195 gt Tool Orientation 5 Tool CL 180 deg Figure 19 3 Tool Positions 5 6 7 amp 8 Tool Orientation 6 Tool CL 90 deg lt Tool Orientation 7 Tool CLO deg User Manual V2 5 2013 02 11 170 195 Tool Orientation 8 Tool CL 270 deg 19 4 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 19 4 1 The X Tool Offset The X axis offset for each tool is normally an offset from the center line of the spindle 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 Tn M6 where n is the tool number 3 Select the X axis in the Manual Control window Move the X to a known position or take a test cut and measure the diameter Select Touch Off and pick Tool Table then enter the position or the diameter NH rn A
70. CNC subroutines NGCGUI can run as a standalone application or be embedded in multiple tab pages in the axis gui e Multiple copies of the same subroutine can be created e Subroutines can be concatenated together to form a complete multiple step program e New subroutines can be added on the fly NGCGUL is a powerful tool for building g code programs from subroutines on the fly Subroutines can be concatenated to build a complete program Multiple instances of a subroutine can be used to perform the same task in different locations on the part Any valid g code can be used in the subroutine 5 2 Demo Configs Three demo configurations are are located in the sim directory of the LinuxCNC configuration picker The configuration picker is on the main menu Applications gt CNC gt LinuxCNC e ngcgui a comprehensive example that contains these subroutines simp a simple subroutine example that creates two circles xyz creates a box based on two opposite corners iquad creates an internal quadrilateral db25 creates a DB25 plug cutout ihex creates an interal hexagon gosper a recursion demo Custom load other ngcgui compatible subfiles ttt True Type Tracer creates text for engraving e ngcgui lathe an example with lathe subroutines id bores the inside diameter od turns the outside diameter taper od turns a taper on the outside diameter Custom creates custom tabs e ngcgui sim
71. Canned vole ok ee ee SEE eR SL SAE RRS E EE ee DESH EES 140 37681 Dell Eycl ooo A a Rae Se a ea ewe Ee ae Gal E 141 M 38Ge2 Dilling Cycle Dwell pasne pee rs wR Ee OAR Se Ee ES ee Bae RE OS 144 14396083 Peck Drilling Cycle s ce ae ee ee RE ee BA ee Eee Se Kw oO 145 14 40G84 Right Hand Tapping Cycle s s 6 ee ee ee ew ee ee ee 145 MAIS Borne Cycle Feed Our cs Ge ep ea EY eR wR EY ORR SREY eee e OS 145 14 42G86 Boring Cycle Spindle Stop Rapid Out o o seces ee eee ee 146 ATGE Back BOMME tyele 6 66 4 6 lt e BA ot A Bd he de ware yaad YE ee hed 4 e 146 14 44G88 Boring Cycle Spindle Stop Manual Out 2 2 2 2 2 0 0 002000000000 00000 4 146 14 45G89 Boring Cycle Dwell Feed Out ee ee a a e 146 144090 G91 Distance Mode lt ies ordokia ee Be es SH A AS BS Re Ow Ra ae ea ES S 146 TRATGOU 1 OLA Ave Distance Mode gt s 6c ee cm eR So Se Oe ee eo ee Se oe Ce eb 147 14 48692 Coordinate System Offset o oo i r cpa cbo netepi ea eR ee Re 147 14 49G92 1 G92 2 Reset Coordinate System Offsets lt a He ES Bae Ge E a E 147 750092 3 Restore Axis Offsets e o c o osso eoe roewe a a A A e a 148 14 51093 094 G95 Feed Rate Mode sk eR eae RR DLA a e eA a e e 148 14 532096 G97 spindle Contool Mode a i ea s ae i e A Bade Geos BRA ee SE x 148 14 53698 G99 Canned Cycle Retum Level 4 5 pb sune ee Ae 149 User Manual V2 5 2013 02 11 x 15 M Codes 150 15 1 M Code Quick Reterence Table 2 06 2 a a a a OR E a
72. DLE OFF gt SPINDLE FORWARD SPINDLE REVERSE e Increase spindle speed Abort then on the second line e Operation mode MANUAL gt MDI gt AUTO e Toggle flood coolant e Toggle spindle brake control 7 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 7 3 3 Coordinate Display Area The main part of the display shows the current position of the tool The color of the position readout depends on the state of the axis If the axis is unhomed the axis will be displayed in yellow letters Once homed it will be displayed in green letters If there is an error with the current axis TkLinuxCNC 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 Machine 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 differ for several reasons Following error deadband encoder resolution or step size For instance if you command a movement to X 0 0033
73. E simp ngc creates a tab from the named subroutine e NGCGUI_SUBFILE creates a custom tab e NGCGUI_OPTIONS optl opt2 NGCGUI options nonew disallow making a new custom tab noremove disallow removing any tab page noauto no auto send makeFile then manually send noiframe no internal image image on separate top level e TIT truetype tracer the truetype tracer program TTT_PREAMBLE in_std ngc Optional specifies filename for preamble used for ttt created subfiles This is an example of embedding NGCGUI into Axis The subroutines need to be in a directory specified by the RS274NGC SUBROUT Some example subroutines use other subroutines so check to be sure you have the dependences if any ina SUBROUTINE_PATH directory Some subroutines may use custom Mfiles which must be in a directory specified by the RS274NGC USER_M_PATH Note This is not a complete INI the items show are what is used by ngcgui Many additional items are required by LinuxCNC to have a complete INI file Sample INI RS274NGC SUBROUTINE_PATH S pofeol so me Fis mejeca 1097 lolo meee TS Mica Maley suas USER_M_PATH nc_files ngcgui_lib mfiles DISPLAY TKPKG Ngcgui da TKPKG Ne guie ice sO Ngcgui must precede Ngcguittt GCGUI_FONT Helvetica 12 normal specify filenames only files must be in RS274NGC SUBROUTINE_PATH GCGUI_PREAMBLE in_std ngc GCGUI_SUBFILE sim
74. E RRS Oe ee 82 MZA ToC 62 RES AD eee 45 CESSES SE OHS ERS A a ii ES 82 102 Ve Pallet SNe oe a ee wR we Ea AE ee a ee a E 82 2 H Path Centro Mode Gaos Ge ee ee Soe a Ee eee ea ke ee ee we RE eS 82 10 3 Interpreter Interaction with Switches o i s scosso e yonde er a o ee ee ESS 82 10 3 1 Peed and Speed Override Switches 2 6 co cee ee Ee a ee 82 103 2 Block Delete Sa css srl a Re ee a Se ESE we RE eS 82 10 33 Optional Program Stop Switell oe bee SA ESOS oh eee eee BES ES 82 VA Tool Table on it Bae ae ee eA eae Pa a Read Eh ee Ue ae Gal Oe 83 o kG ee ee ee ee Ree See A Sa ee Se be EE eg 83 11 Coordinate System 84 TUT TOOTO ccs seh ee A garg oe A AR RRO Ra eR RAE ee Pe a Bare BS 84 11 2 The Machine Position Command G53 lt soer seras era eee ea A RES 84 11 3 Prete Otse C3493 roere eh AR a Pe Re Oe ee Oe le wy eRe eee e 85 11 3 1 Default coordinatesystem ca cr EE Re A Re AG eee eo 86 11 3 2 Setting coordinate fixture offsets from Gcode o o 86 NHA OV ORGS cc ek AEREA 86 114 1 The G92 commands cc a DERE a A Kae a e 86 ILAZ Seime CO2 vanes o A A e SES ES 87 TAS GO2CAMIONS lt a A A A A ee ae Ee 87 11S sample Program Usinge OMS occ oe RR Rc eR RA GS ee A Bee a 88 User Manual V2 5 2013 02 11 12 Tool Compensation TEL Wee arse sts x desta ta ERE AAA ES AAA BES A Be ae Ceres E ELAT Tough o sr et be ee a e E E E 121 2 Using GIILLULIQEL cosas BS a Be A es ll aa 122 Tool Table ooo a Ee eS A Se WES RA A Sees a ed h
75. Follow the same sequence to correct the Z axis Note if you are in Radius Mode you must enter the radius not the diameter 19 4 2 The Z Tool Offset The Z axis offsets can be a bit confusing at first because there are two elements to the Z offset There is 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 its Z offset without having to reset all the tools A typical session might be 1 Home each axis if not homed User Manual V2 5 2013 02 11 171 195 2 Make sure no offsets are in effect for the current coordinate system 3 Set the current tool with TnM6 where n is the tool number 4 Select the Z axis in the Manual Control window 5 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 tools for Z offset Some tools might require a bit of cyphering to determine the c
76. MCIO section of the ini file G30 makes a rapid traverse move from the current position to the absolute position of the values in parameters 5181 5186 G30 axes moves in a rapid traverse to the position specified by axes including any offsets then will make a rapid traverse move to the absolute position of the values in parameters 5181 5186 G30 1 stores the current absolute position into parameters 5181 5186 G30 Example Line G30 22 5 rapid to 22 5 then to the location specified in the G30 stored parameters It is an error if e Cutter Compensation is turned on User Manual V2 5 2013 02 11 127 195 14 20 G33 Spindle Synchronized Motion CIS we We w Ke e K distance per revolution For spindle synchronized motion in one direction code G33 X Y Z K where K gives the distance moved in XYZ for each revolution of the spindle For instance if starting at Z 0 G33 Z 1 K 0625 produces a 1 inch motion in Z over 16 revolutions of the spindle This command might be part of a program to produce a 16TPI thread Another example in metric G33 Z 15 K1 5 produces a movement of 15mm while the spindle rotates 10 times for a thread of 1 5mm Spindle synchronized motion waits for the spindle index and spindle at speed pins so multiple passes line up G33 moves end at the programmed endpoint G33 could be used to cut tapered threads or a fusee All the axis words are optional except that at least one must be used Note
77. Piobe LOGGINS oc e a ee be eS ba web be bed ee A eae ISLOTE op ok Yes a RAE SR Oe E E ee ee 5 E MESIS A SE Se he a ea Se ew Ses oe ee eee ox 13 2 Pit Messages coo cosa ee OE ea wee hee eda ea SRAM Ea E E Parameters ee iok a ce ee AA ce Be BO RR wae OA 13 23P1S Bequicniedls a Pa EE OS ED Oe eae ee we SL vii 90 90 90 91 91 91 92 93 94 95 User Manual V2 5 2013 02 11 viii a SIE ke Pa Pe ee FR OE PON a ek ee ee eA eee Ped PE eee eG 109 13 236 Code Order al Bxcennon s cod seip A Se eS RES SG ERR PSG i eH eee ERS wo A 109 13 205 Code Best Practices cn koeee bee ba wee eee ee e ed 110 13 26 1 Use an appropriate decimal precisi n os cs ecse ee ee ee 110 1326 2 Mise consistent white Spore as Gx A ER ware A ES Sede AAA 110 13 26 3 Use Cemer TOMAT ares os ee ne a EE ee ae we ee Se doe eS e 110 13 26 4 Put important modal settings at the top of the file o o 110 13 26 5 Don t put too many things on one line lt 66 6 be ee ee ee we eee a ee 110 13 26 6 Don t set use a parameter onthe same line 5 ee n pe eG ee ee 110 13 26 7 Don t ise line MAADES ba A A EAA ew PER ee eS 111 15 27 Linear and Rol Agi ee eaa e E EA ORE EER Oe RE ee dee de 111 13 Ac mmo EM MSA o 20 cd Hae ae ee ee He A ne he Bae Eee Ro Bed ie 4 111 14 G Codes 112 o AE AN 112 14 2 G Code Quick Relerenos Table ooo arc a aa ada A ROA a dad ee Se ae 112 14 3 GO Rapid Motion 2 5 04 254 44 be Pe EE ee eee ee
78. 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 7 3 5 Manual Control 7 3 5 1 Implicit keys TkLinuxCNC 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 keyboard arrow keys X and Y the PAGE UP and PAGE DOWN keys Z and the and keys A 4th 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 configuration 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 Integrator 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 color User Manual V2 5 2013 02 11 60 195 override limits continu
79. REY a wR wR Re ORR A ee eG E E Advanced COMMEITADOD os e es He ee A ee YS Pe eee ALLI Programi Filter 25 4 ob ee eb eR ee oe ob eee ee we Se a a a a 411 2 The X Resource Database 5 6 a eae ra ee ee ee ek a a eke ew ATL Physical jor Wheels c ios sk QR ge ee a Rar ge ae RG AR A Shae ee e i ALLS IDEN a oe Aw A Se ee ee EO ie OO ee eee ea ee Ge ee OR Le i ATS Eemal Baer gt cae ee Ge A a ee Oe GOR EO eee we oe e AILO Virtual Control Pane coed ea ed ca eS wh we ea ee EL eR LEE ES OS 4 0027 Axis Preview Control cogs was Bed Sa wae See ha ee E ee Pw oe aR Eat Se ws 5 NGCGUI SA DL Sa 5 4 55 5 6 o RA Demo Con ooo le e A e A ah Ee we A NN AN Embedding NGCOULIN ARIS Gk A A AAA oe AA A ei oS SHALL MLS 220 eos a OME EA ADA AAA Se amp a Sele ls AA II NANA Sabo MALE ape es a A eh be be ed E A A Subroutine Reg mements s oco c 4 466 Se ES eet eee eA a DES Example cada i ee hw a baw ee A eal be ea Se ea oo 22 23 23 24 24 25 25 28 29 31 31 33 33 33 34 34 34 35 35 36 36 36 37 37 37 38 39 39 39 39 39 User Manual V2 5 2013 02 11 6 Touchy GUI BL Dincl COSER ON lt io hn oa ee Re a A oe Re eh ek Gi SIRE CODES cs eaae a eo ee hee Db SESE hae eee 2 ee bb SSE OLA Regumd tontos csi eg ead Res eee Oe ea ev Ree ee 4 0 1 1 2 Optional Conigls o copa A A A we be A ear bk OLIJ QGphional panel MPS so twat tae eb BESS o ER Eee bb SS 6 12 Recommended forany Sep s see ee he MR ee ee Ye ee sy
80. Section 10 1 6 Optional Program Stop Switch A CNC machine can have an optional program stop switch See the Optional Program Stop Section 10 2 Control and Data Components 10 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 when A B and C are rotated to zero 10 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 regardless 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 fr
81. See the Parameters Section for more information 14 49 G92 1 G92 2 Reset Coordinate System Offsets e G92 reset axis offsets to zero and set parameters 5211 5219 to zero e G92 2 reset axis offsets to zero User Manual V2 5 2013 02 11 148 195 14 50 G92 3 Restore Axis Offsets e G92 3 set the axis offset to the values saved in parameters 5211 to 5219 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 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 14 51 G93 G94 G95 Feed Rate Mode G93 is Inverse Time Mode 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 G1 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 G94 is Units per Minute Mode In units per minute feed rate mode an F word is interpreted to mean the controlled point sh
82. 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 Rotational Axes axesrotational rotational 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 10 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 10 1 3 Coolant If a CNC machine has components to provide mist coolant and or flood coolant they can be controlled by G codes If 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 User Manual V2 5 2013 02 11 80 195 10 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 10 1 5 Block Delete Switch A CNC machine can have a block delete switch See the Block Delete
83. There is also a built in tool table editor in the Axis display The maximum number of entries in the tool table is 56 The maximum tool and pocket number is 99999 Earlier versions of LinuxCNC had two different tool table formats for mills and lathes but since the 2 4 x release one tool table format is used for all machines Just ignore the parts of the tool table that don t pertain to your machine or which you don t need to use For more information on the specifics of the tool table format see the Tool Table Section 19 3 Lathe Tool Orientation The following figure shows the lathe tool orientations with the center line angle of each orientation and info on FRONTANGLE and BACKANGLE The FRONTANGLE and BACKANGLE are clockwise starting at a line parallel to Z User Manual V2 5 2013 02 11 167 195 lt Position 270 x gt e E FRONTANGLE 210 FRONTANGLE 330 Position 5 Tool 180 gt lt Pasition 7 BACKANGLE 159 BACKANGLE 30 Z Position 6 90 gt Figure 19 1 Lathe Tool Orientations In AXIS the following figures show what the Tool Positions look like as entered in the tool table Tool Orientation 1 Tool CL 135 deg Figure 19 2 Tool Positions 1 2 3 amp 4 User Manual V2 5 2013 02 11 168 195 Tool Orientation 2 Tool CL 45 deg h Tool Orientation 3 Tool CL 315 deg lt Tool Orientation 4 Tool CL 225 deg User Manual V2 5 2013 02 11 1
84. TkLinuxCNC is one of the first graphical front ends for LinuxCNC It is written in Tcl and uses the Tk toolkit for the display Being written in Tcl makes it very portable it runs on a multitude of platforms A separate backplot window can be displayed as shown TkEmc BackPlot File View Settings Units Scripts a x X Z v z 3D SETUP IESE ON MIST OFI SPINDLE OFI ABORT AUTO FLOOD OFI KE ON Tool 1 Offset Work Offsets X0 0000 Y0 0000 Z0 0000 mm override limits relative machine actual commanded joint word continuous home Axis Speed Ee Feed Override 100 Eek 100 re IE MA MS E G1 G17 G40 G21 G90 G94 G54 G49 G99 G64 G51 M2 M3 M9 M48 F225 31600 Program dhomejuve emc2inc_files 3D_Chips nge Status idle Open Run Pause Resume Step Venty Optional Stop N6671 Y56 061 2 26 146 N6661 Y56 1052 27 694 N6691 Y56 112Z 27 636 N6901Y56 128Z 27 634 N6911GO0Z10 N6931 M9 Figure 7 1 TkLinuxCNC Window User Manual V2 5 2013 02 11 57 195 7 2 Getting Started To select TkLinuxCNC as the front end for LinuxCNC edit the ini file In the section DISPLAY change the DISPLAY line to read DISPLAY tklinuxcnc Then start LinuxCNC and select that ini file The sample configuration sim tklinuxcnc tklinuxcnc ini is already configured to use TkLinuxCNC as its front end 7 2 1 A typical session with TkLinuxCNC 1 Start LinuxCNC and select a configuration file 2 Clear the E STOP condition
85. Tool Diameter 21 4 15 Safety Height 21 4 16 Tool Type 21 4 17 Lace bounding 21 4 18 Contact angle 21 4 19 Roughing offset and depth pet pass 3 20 s see sed 22 Glossary 23 Legal Section 23 1 Copyright Terms sso ras 23 2 GNU Free Documentation License 24 Index xii 179 179 179 180 180 180 180 180 180 180 180 180 181 181 181 181 181 181 181 181 182 182 182 182 184 189 189 189 193 User Manual V2 5 2013 02 11 xiii The LinuxCNC Team User Manual V2 5 2013 02 11 1 195 Part I LinuxCNC Introduction User Manual V2 5 2013 02 11 2 195 This handbook 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 O lists sourceforge net Copyright 2000 2012 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 LinuxCNC 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 Documentatio
86. UANTITY If you publish printed copies of the Document numbering more than 100 and the Document s 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 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
87. UV WR 5261 5270 Coordinate System 3 G56 X YZABCUV WR The range of persistent parameters may change as development progresses This range is currently 5161 5390 It is defined in the _required_parameters array in file the src emc rs274ngc interp_array cc User Manual V2 5 2013 02 11 101 195 e 5281 5290 Coordinate System 4 G57 X YZABCUV WR e 5301 5310 Coordinate System 5 G58 X YZABCUV WR e 5321 5330 Coordinate System 6 G59 X YZABCUV WR e 5341 5350 Coordinate System 7 G59 1 X YZABCUVWR e 5361 5370 Coordinate System 8 G59 2 X YZABCUVWR e 5381 5390 Coordinate System 9 G59 3 X YZABCUV WR e 5399 Result of M66 Check or wait for input e 5400 Current Tool Number e 5401 5409 Tool Offset X Y ZA BC UV W e 5410 Current Tool Diameter e 541 Current Tool Front Angle e 5412 Current Tool Back Angle e 5413 Current Tool Orientation e 5420 5428 Current Position including offsets in current program units X Y ZA BCU V W 13 7 2 Subroutine Parameters 1 30 Subroutine local parameters of call arguments These parameters are local to the subroutine Volatile See also the chapter on O Codes 13 7 3 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 parameter By default a named
88. User Manual V2 5 2013 02 11 User Manual V2 5 2013 02 11 User Manual V2 5 2013 02 11 Contents I LinuxCNC Introduction 1 User Foreword 2 LinuxCNC User Introduction ZA 2 2 2 3 2 4 2 5 2 6 a This Manual ci ea 6 4 Ae eee oe ee ee eA Rd ew 3 eS How Linuxe NG WOKS occ sac QS RRS SERGE REESE EGG EERE Se REG wea bo Creapaical User Interidete o OG a eh be A EERE 2 oe bb SHOE Virtual Control Panels oca eo a a PO Re a a e we a Oe a E E PSUS econ ie ae bt aie a Ue i Re a AR A he A Re aes Ae Ge ee a Thinking Lite a Machine Opera o c es bo eee ea SESE he EER eee eee SES Modes Of OpPeranion 0 a ae eS ew Ue EERE EE Bee a Re ae ea See 3 Important User Concepts 3 1 32 3a 3 4 33 3 6 TEC Cono ps ee hoe e RR ee a eee ge A es ee ae E RE E eS Sel TEC Panime gt eieo A a ee E A oe eee ee 64 SA Jat Pouewing ccoo EA EEA ae ed ea ee RA Ode oa 2 02 Programming the Planner ss ek ee OR RR Ee PO ee Ey YR ees oS 314A Plane Moves oc saa os a EG A Rae ARS BRS be RG we eee GCE ch aw bee a ed ew o ba ee ae Ah ede SP A ee ee S21 Metals os Bees oa BR ee E FO eels E Dee ee oe pole Peed Rae 6a Ra Gee PAK A E EO RA A REPRE SE EGA DPE SES 323 Tool Radius O R e ocra ee eb a ae ee dea PEA oa ee PANS e vee Seco e e WR aca eo a Ae a ge Aes ees eae E Beis 4 a o ca Se RSE ee SER RRS ERG PREM E LEGG EE RS be REG wee eo Coordinate Systems o 22 kh e tk BE SE ES em ee e bE S ES 3S1 os Machine AR 332 G34393 User Coordi
89. YO 11 J 0 5 F25 counterclockwise arc in the XY plane User Manual V2 5 2013 02 11 118 195 J offset 0 5 x1 Y0 5 J offset 0 5 Figure 14 2 G2 G3 Example G2 Example Line G17 G2 X10 Y16 13 J4 Z9 helix arc with Z added The above example line will 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 circle to either the current point or the end point of the arc 14 5 3 Radius Format Arcs G2 or G3 axes R e R radius from current position User Manual V2 5 2013 02 11 119 195 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 tolera
90. able 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 0 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 having been activated on an earlier line and a group 0 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 0 are G10 G28 G30 and G92 It is an error to include any unrelated words on a line with O flow control 13 16 Comments Comments can be added to lines of G code to help clear up the intention of the programmer Comments 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 Comments may appear between words but not between words and their corresponding parameter So S100 set speed F 200 feed is OK while S speed 100F feed is not COMES pidi tons car tie yall GO X1 XL Rapid to start but don t forget the coolant MAS nce One pic Gigamen There are several active comments which look like comments but cause some action like debug or print If there are several comments on a line only the last comment will be interpreted according to these rules Hence a normal comment following an
91. ackplot 7 Tools lM Offsets Help MANUAL MDI MA 9 500 x Y X Z Y Z 3D Hide Setup Y 6 050 2 13 51 Feed Override 100 MESSAGES 1 Program file is home john emc2 dev3 nc_files 3D_ Chips ngc Open Run Pause Resume Step Verify running WYLOLT i lt ysta leo 7 73 1 21 lt 28CalU gt 10 9 9 N9171Y lt yscale gt 7 237 Z lt zscale gt 15 482 N9181Y lt yscale gt 6 237 Z lt zscale gt 13 677 N9191Y lt yscale gt 4 737 Z lt zscale gt 11 229 N9201Y lt yscale gt 4 237 Z lt zscale gt 10 475 N9211Y lt yscale gt 3 237 Z lt zscale gt 9 204 N9221Y lt yscale gt 2 737 Z lt zscale gt 8 696 N9231Y lt yscale gt 2 237 Z lt zscale gt 8 264 Figure 2 5 The Mini GUI e TkLinuxCNC a Tcl Tk based GUI User Manual V2 5 2013 02 11 N K X 0 0000 0 0000 0 0000 Optional Stop Figure 2 6 The TkLinuxCNC GUI a Character based screen graphics program suitable for minimal installations without the X server running User Manual V2 5 2013 02 11 Fi Estop On Off F2 Wachine On Off F3 Manual Mode F4 Auto Mode PESTO e Overridet 100 Tool 0 Offset 01 0000 Relative Act Post co al on MDI Mode Reset Interp Mist On Off Flood On Off F3 Spndl Fud DOFF Fi Spndl Few OFF H 5Spndl Decrease Fi Spndl Increase 12 195 ESC Aborte Actions TAB Selects Params END Quits Display 2 Toggles He
92. active comment will in effect disable the active comment For example foo debug 1 will print the value of parameter 1 however debug 1 foo will not User Manual V2 5 2013 02 11 108 195 A comment introduced by a semicolon is by definition the last comment on that line and will always be interpreted for active comment syntax 13 17 Messages e MSG displays 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 of the user interface if provided Message Example MSG This is a message 13 18 Probe Logging e PROBEOPEN filename txt will open filename txt and store the 9 number coordinate consisting of XYZABCUVW of each successful straight probe in it e PROBECLOSE will close the open probelog file For more information on probing see the G38 Section 13 19 Logging e LOGOPEN filename txt opens the named log file If the file already exists it is truncated e LOGAPPEND filename opens the named log file If the file already exists the data is appended e LOGCLOSE closes an open log file e LOG everything past the is written to the log file if it is open Supports expansion of parameters as described below 13 20 Debug Messa
93. aluates to true then the group of statements following the if up to the next conditional line are executed If the if conditional evaluates to false then the elseif conditions are evaluated in order until one evaluates to true If the elseif condition is true then the statements following the elseif up to the next conditional line are executed If none of the if or elseif conditions evaluate to true then the statements following the else are executed When a condition is evaluated to true no more conditions are evaluated in the group If Endif Example o101 if 31 EQ 3 if parameter 31 is equal to 3 set 2000 S2000 0101 endif If ElseIf Else EndIf Example o102 if 2 GT 5 if parameter 2 is greater than 5 set F100 F100 0102 elseif 2 LT 2 else if parameter 2 is less than 2 set F200 F200 0102 else else if parameter 2 is 2 through 5 set F150 F150 0102 endif 16 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 Repeat Example Mill 5 diagonal shapes G91 Incremental mode 0103 repeat 5 insert milling code here GO X1 Y1 diagonal move to next position o103 endrepeat G90 Absolute mode User Manual V2 5 2013 02 11 161 195 16 5 Indirection The O number may be given by a parameter and or calculation Indirection Example olt orme cal Compu
94. alue is less 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 HAL Connections The pins motion spindle at speed and the encoder n phase Z for the spindle must be connected in your HAL file before G76 will work See the Integrators Manual for more information on spindle synchronized motion Technical Info The G76 canned cycle is based on the G33 Spindle Synchronized Motion For more information see the G33 Technical Info 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 G76 Example GORZ OSO a GUS EO OS A1 T075 US O OS C295 162 ROR O45 In the figure 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 User Manual V2 5 2013 02 11 137 195 Figure 14 4 G76 Example 14 35 Canned Cycles The canned cycles G87 through G89 and the canned cycle stop G80 are described in this section 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
95. ample GO X0 YO rapid move F10 set feed rate CS2 XO Yel PI 13 X2 NED PI OORE 60 X60 EA GUS The rapid moves show the same path without the NURBs Block COROT XZ X2 ZO x0 YO M2 User Manual V2 5 2013 02 11 121 195 0 00 kk L a Sample NURBs Output More information on NURBs can be found here 14 9 G7 Lathe Diameter Mode G7 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 would move the cutter to 0 500 from the center of the lathe thus giving a 1 diameter part 14 10 G8 Lathe Radius Mode G8 User Manual V2 5 2013 02 11 122 195 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 14 11 G10 L1 Set Tool Table G10 L1 P axes lt R I J Q gt e P tool number e R radius of tool e J front angle lathe e J back angle lathe e Q orientation lathe G10 L1 sets the tool table for the P tool number to the values of the words A valid G10 L1 rewrites and reloads the tool table G10 L1 Example Line GIO imi Pil Zl 5 ser cool i 4 wise oa das meaciaime oiie ice ilas G10 L1 P2 RO 015 Q3 lathe example setting tool 2 radius to 0 015 and orientation to 3 It is a
96. an assist in the translation 2 6 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 LinuxCNC 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 LinuxCNC system You will need some information right up front here so that the following pages will make sense to you 2 7 Modes of Operation When LinuxCNC 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 LinuxCNC control behaves There are User Manual V2 5 2013 02 11 15 195 specific things that can be done in one mode that cannot be done in another An operator can home an axis in manual mode but not in auto or MDI modes An operator c
97. an 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 explanatory The AXIS user interface hides some of the distinctions between Auto and the other modes by making 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 commands It does this by automatically changing to the mode that is needed for the action the user has requested User Manual V2 5 2013 02 11 16 195 Chapter 3 Important User Concepts This chapter covers
98. and G38 4 will signal an error The tool in the spindle must be a probe or contact a probe switch In response to this command the machine moves the controlled point which should be at the center of the probe ball 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 whichever occurs first 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 After 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 probing operation failed G38 2 and G38 4 will signal an error by posting an message on screen if the selected GUI supports that And by halting program execution A comment of the form PROBEOPEN filename txt will open filename txt and store the 9 number coordinate consisting of XYZABCUVW of each successful straight probe in it The file must be closed with PROBECLOSE For more information see the Comments Section An example file smartprobe ngc is included in the examples directory to demonstr
99. 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 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 8 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 p
100. are subject to change during the development cycle The following adds Control Q as a keyboard shortcut for Quit root_window bind lt Control q gt destroy help2mappencidG iGontrol Ole Oude 4 11 5 External Editor The menu options File gt Edit and File gt Edit Tool Table become available after defining the editor in the ini section DIS PLAY 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 Integrator 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 Integrator Manual 4 11 7 Axis Preview Control 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 User Manual V2 5 2013 02 11 40 195 e AXIS hide St
101. at the rotary motion starts and finishes when the XYZ motion starts and finishes Lines of this sort are hardly ever programmed If cutter compensation is active the motion will differ from the above see the Cutter Compensation Section The arc center is absolute or relative as set by G90 1 or G91 1 respectively 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 14 5 1 Center Format Arcs Center format arcs are more accurate than radius format arcs and are the preferred format to use The end point of the arc along with the offset to the center of the arc from the current location are used to program arcs that are less than a full circle It is OK if the end point of the arc is the same as the current location The offset to the center of the arc from the current location and optionally the number of turns are used to program full circles When programming arcs an error due to rounding can result from using a precision of less than 4 decimal places 0 0000 for inch and less than 3 decimal places 0 000 for millimeters Incremental Arc Distance Mode Arc center offsets are a relative distance from the start location of the arc Incremental Arc Distance Mode is default One or more axis words and one or more offsets must be programmed for an arc that is less than 360 degrees No axis words and one or more offsets must be programmed for full circles The P word d
102. ate 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 User Manual V2 5 2013 02 11 62 195 Chapter 8 MINI GUI 8 1 Introduction A E et mT a E OX r sl F MANUAL X 0 0000 Y 0 0000 Z 0 0000 Feed Override 100 OQ MESSAGES ot me E IA Sh Co M Figure 8 1 The Mini Graphical Interface upon starting User Manual V2 5 2013 02 11 63 195 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 1 8 2 Screen layout Si BX Sherline Steppermod Minimill F a F a x 0 0000 As rs _ gt Y 0 0000 Z 0 0000 Feed Override 100 mmg Figure 8 2 Mini Display for a Running LinuxCNC The Mini screen is laid out in several sections 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
103. ate using probe moves to log to a file the coordinates of a part The program smartprobe ngc could be used with ngcgui with minimal changes It is an error if e the current point is the same as the programmed point e no axis word is used cutter compensation is enabled e the feed rate is zero e the probe is already in the target state 14 23 G40 Compensation Off e G40 turn cutter compensation off If tool compensation was on the next move must be a linear move and longer than the tool diameter It is OK to turn compensation off when it is already off G40 Example current location is X1 after finishing cutter compensated mov G40 turn compensation off GO X1 6 linear move longer than current cutter diameter M2 end program See GO amp M2 sections for more information It is an error if e A G2 G3 arc move is programmed next after a G40 e The linear move after turning compensation off is less than the tool diameter User Manual V2 5 2013 02 11 130 195 14 24 G41 G42 Cutter Compensation G41 lt D gt left of programmed path G42 lt D gt right of programmed path e D tool number The D word is optional if there is no D word the radius of the currently loaded tool will be used if no tool is loaded and no D word is given a radius of 0 will be used If supplied the D word is the tool number to use This would normally be the number of the tool in the spindle in which case the D word is
104. ates 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 3 1 3 Programming the Planner The trajectory control commands are as follows e 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 programmed point User Manual V2 5 2013 02 11 17 195 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 LinuxCNC G64 is just blending and the naive cam detector is not enabled G64 and G64 PO tell the planner to sacrifice 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 w
105. ations The following diagram shows a typical mill showing direction of travel of the tool and the mill table and limit switches Notice how the mill table moves in the opposite direction of the Cartesian coordinate system arrows shown by the Tool Direction image This makes the tool move in the correct direction in relation to the material User Manual V2 5 2013 02 11 20 195 Tool Direction Y Z A X Rotary Table Rotaion A Z Origin Home Switch amp 12 Home Position X Origin amp Home Switch Y Origin Home Switch amp Home Position Figure 3 2 Mill Configuration The following diagram shows a typical lathe showing direction of travel of the tool and limit switches User Manual V2 5 2013 02 11 21 195 Figure 3 3 Lathe Configuration User Manual V2 5 2013 02 11 22 195 Part II User Interfaces User Manual V2 5 2013 02 11 23 195 Chapter 4 AXIS GUI 4 1 Introduction AXIS is a graphical front end for LinuxCNC which features a live preview and backplot It is written in Python and uses Tk and OpenGL to display its user interface User Manual V2 5 2013 02 11 24 195 faa m DS axi ngc AXIS 2 5 0 on SIM AXIS Ou E File Machine View Help SO Ca IZ N Ix lv ip el Manual Control F3 MDI F5 Preview DRO siii X 0 0000 i y Y 0 0000 Z 1 2063 Vel 0 0000 Feed Override 100 Jog Speed 16 in min f
106. aused User Manual V2 5 2013 02 11 72 195 Figure 8 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 descending 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 LinuxCNC configuration files but you will run out of display space in Mini long before you get there Tip You can use Menu gt View gt Show Popin Full to see more tools if you need 8 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 window Once you have selected a coordinate system you can enter values or move an axis to a teach position User Manual V2 5 2013 02 11 73 195 0 000000 0 000000 0 000000 0 000000 0 000000 Wr me eee Figure 8 8 Mini Offset Display 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 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
107. axis 1 Preliminary motion e If the current Z position is below the R position the Z axis is traversed to the R position e Move to the X Y coordinates 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 R It is an error if e the Q number is negative or zero e the R number is not specified 14 34 G76 Threading Cycle GIG P de I JH R kK O Be i Ih User Manual V2 5 2013 02 11 135 195 K Thread Depth Thread Pitch Initial Position xk F End Position Length af Threads Figure 14 3 G76 Threading e Drive Line A line through the initial X position parallel to the Z e P The thread pitch in distance per revolution e Z The final position of threads At the end of the cycle the tool will be at this Z position Note When G7 Lathe Diameter Mode is in force the values for J and K are diameter measurements When G8 Lathe Radius Mode is in force the values for J and K are radius measurements e I The thread peak offset from the drive line Negative I values are external threads and positive J values are internal threads Generally the material has been turned to this size before the G76 cycle e J A positive value specifying the initial cut depth The first threading cut
108. axis position the value assigned by the G92 command The effects work even though previous offsets are in So if the X axis is currently showing 2 0000 as its position a G92 XO 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 11 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 Variable Value 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 program and not clearing them at the end then issue a G92 1 in the MDI window to clear the User Manual V2 5 2013 02 11 88 195 stored offsets If G92 values exist in the VAR file when LinuxCNC starts up the G92 values in the var file will be applied to the values of the 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 s
109. but requires a good understanding of linux path specifiers d0 is the same as d0 e g a directory named dO in the startup directory al refers to a directory dl in the parent directory seba PAZ refers to a directory d2 in the parent of the parent directory tf dad ee FOS ete Multiple directories can be specified with RS274NGC SUBROUTINE_PATH by separating them with colons The following example illustrates the format for multiple directories and shows the use of relative and absolute paths Example RS274NGC SUBROUTINE_PATH nc_files ngcgui_lib nc_files ngcgu This is one long line do not continue on multiple lines When emc and or ngcgui searches for files the first file found in the search is used EMC and NGCGUI must be able to find all subroutines including helper routines that are called from within NGCGUI subfiles It is convenient to place utility subs in a separate directory as indicated in the example above The distribution includes the ngcgui_lib directory and demo files for preambles subfiles postambles and helper files To modify the behavior of the files you can copy any file and place it in an earlier part of the search path The first directory searched is DISPLAY PROGRAM_PREFIX You can use this directory but it is better practice to create dedicated directory ies and put them at the beginning of the RS274NGC SUBROUTINE_PATH In the following example files in home myname emc2 mysubs
110. ce from the end point of the move is as large as it needs to be to keep up the best contouring feed e Naive Cam Detector Successive G1 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 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
111. considered to be weak slopes 21 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 The following figure 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 User Manual V2 5 2013 02 11 183 195 Figure 21 1 Roughing passes and final pass User Manual V2 5 2013 02 11 184 195 Chapter 22 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 controlled 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 Angular axes like rotary tables are referred to as A B and C Additional linear axes relative to the tool are called U V and W
112. dinate System Offset G92 axes G92 makes the current point have the coordinates you want without motion 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 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 are 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 It is an error if e all axis words are omitted LinuxCNC 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 See the Coordinate System Section for an overview of coordinate systems See the Offsets Section for more information
113. direction motion command based machines It writes a full configuration after the user answers a few questions about the computer and machine that LinuxCNC is to run on Stepper Motor A type of motor that turns in fixed steps By counting steps it is possible to determine 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 program Tel Tk A scripting language and graphical widget toolkit with which several of LinuxCNCs GUIs 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 In HAL it is known as u32 An unsigned 32 bit integer has a usable range of zero to 4 294 967 296 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 User Manual V2 5 2013 02 11 189 195 Chapter 23 Legal Section 23 1 Copyright Terms Copyright c 2000 2012 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 Founda
114. e 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 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
115. e 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 LinuxCNC starts up it should use the first coordinate system as its default If you set this 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 LinuxCNC to revert to the default value of 1 00000 on start up 11 3 2 Setting coordinate fixture offsets from G code The G10 L2x command can be used to set coordinate fixture offsets these are just quick summaries see the G code section for full details e G10 L2 P fixture 1 9 Set offset s to a value Current position irrelevant see G10 L2 for details e G10 L20 P fixture 1 9 Set offset s so current position becomes a value see G10 L20 for details 11 4 G92 Offsets 11 4 1 The G92 commands This set of commands include User Manual V2 5 2013 02 11 87 195 e G92 This command when used with axis names sets values to offset variables e G92 1 This command sets zero values to the G92 variables e G92 2 This command suspends but does not zero out the G92 variables e 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 To make the current point what
116. e e 1221 Tol Table POS lt a p ick a bps A Oe ee ee ae we eee Se doe oS Ge a T22 A A AN 12 3 Cer Compensalom lt ea a Eee a hee wa ee ale Se LL DESPUES ca Se REE SORE A Bach AS GS OEE ESE ASS Dap Se ee S Sage amp Bs 124 2 ESAmpl s cu a a A eee Dee ee a AA eo ee GA eS 13 G Code Overview LEAR sai ena Se a ee e be a oe Ge we eo oe eee ey ee ee ee oe e 13 2 Fomnatof A line ck ck eee EES eS REESE RD EH ead Bae oS Po Ehk DERE co E EA ee Oe Bae eo eS A Pew YB eae 8 EL o ek he a GO eS eR NN 135 Wod cs ea RAE a Oe eee eee awed ebb ae eee DO A EE A oe Be Bae ee eB Be ees oe SL es ee E Eo PUTAS ios ee aie eek Ewe we Rea A ESS ee Hah Pew edhe e U7 Numbered Parameteis so p eam ee Oe we OR ee ee ee a eS x 13 7 2 SUBLEQUANS Parameters oook oce ee ee e a ER AS te Dee ae ROG Se A ee 13 3 2 Named Parameters cca ee A Oe hee ee we ee ee ae Ge IJA System Parmeter aa BG Re aS ot e e TAS E PESO E ee SO Ce eee Pe ee ee eee Ss 3 DY Binay OPTADO oe Ge ee RA A EY AO ee MA ESO SG eee e ES IORIMERGAS 0 ytd Oe ae ed Bb A ee des BAe chet bS wale Glyde RSS he oe Se 13 1 Repeated Kemis ooo ee ee ee A Re ee AA we Ee eA ee eae EPO RE A eae Bek Ae She AS EA 13 1 3C ommiands and Machine Modes o cade ces HH ESS Bae Ae ee ee eS EN cs e oora Ce ae ee a oS ee GA ee ee a se a ee e COs i he Bh eS SERS ERASE SASS SESS EES EE SHES GS I PGE OTITIS 25 ee QU ese a we a a Be AL ate a ea Se a RU ee ae ee a e o PRIS MCE ascii a RG ERR BERS A Rae ae RAG GRA ae ee A ah ee IS
117. e 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 fixture offsets would require only a single coordinate reference for each of 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 GSS CO lt 0 O 40 Gl F2 2 0 2000 x1 wal 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 GS use preset work coordinate system 4 G58 use preset work coordinate system 5 G59 use preset work coordinate system 6 Ho dl use preset work coordinate system 7 CSI 2 use preset work coordinate system 8 Goons use preset work coordinate system 9 11 3 1 Default coordinate system One other variable in th
118. e 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 on 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 feedrate 100 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
119. e values following letters are often given as explicit numbers Unless stated otherwise the explicit numbers can be real values For example G10 L2 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 14 2 G Code Quick Reference Table Code Description GO Coordinated Straight Motion Rapid Gl Coordinated Straight Motion Feed Rate G2 G3 Coordinated Helical Motion Feed Rate G4 Dwell G5 1 Quadratic B Spline G5 2 G5 3 NURBs Block User Manual V2 5 2013 02 11 113 195 Code Description G7 Diameter Mode lathe G8 Radius Mode lathe G10 L1 Set Tool Table Entry G10 L10 Set Tool Table Calculated Workpiece G10 L11 Set Tool Table Calculated Fixture G10 L2 Coordinate System Origin Setting G10 L20 Coordinate System Origin Setting Calculated G17 G19 1 Plane Select G20 G21 Units of Measure G28 G28 1 Go to Predefined Position G30 G30 1 Go to Predefined Position G33 Spindle Synchronized Motion G33 1 Rigid Tapping G38 2 G38 5 Probing G40 Cancel Cutter Compensation G41 G42 Cutter Compensation G41 1 G42 1 Dynamic Cutter Compensation G43 Use Tool Length Offset from Tool Table G43 1 Dynamic Tool Length Offset G49 Cancel Tool Length Offset G53 Motion in Machine Coordinate System G54 G59 Select Coordinate Syste
120. e 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 G 0 L2 P1 X0 YO Z0 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 LinuxCNC is shut down e Using the Touch Off button in Axis sets an offset for the chosen User Coordinate System 3 5 3 When You re Lost If you re having trouble getting 0 0 0 on the DRO when you think you should you may have some offsets programmed in and need to remove them e Move to the Machine origin with G53 GO X0 YO ZO e Clear any G92 offset with G92 1 e Use the G54 coordinate system with G54 e Set the G54 coordinate system to be the same as the machine coordinate system with G10 L2 P1 X0 YO ZO RO e Turn off tool offsets with G49 e 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 3 6 Machine Configur
121. eS BRO aR READE Oe eR a ES 127 14220383 SICA Probe a a EE A De ae a OL 128 User Manual V2 5 2013 02 11 ix io Compensation Ui s se 4 cots AAA ON Be Se eR Ee eH ee eed YM eee Se 129 14624641 G42 C tter Compensation spos ue a Ra EEE ASS BEG Se A wae ee 130 14 25G41 1 G42 1 Dynamic Cutter Compensation 2 2 0 eee ee ee ee 130 14 266 Ecol Lena SEL ce ee we Ew De ee Oe ele wy eR eRe ee E 131 142764317 Dynamic Tool Len Onsen bk ek A AG EA a be a we ee 131 14 28G49 Cancel Tool Length Compensation s ee sos coe eao acra E ka E ee 132 1429633 Moye in Machine Coordinates e p c bee eM RR ORR A ey E ee ee a 132 14 30634 0G35 3 Select Coordinate Systemi o o c rios ee SR AG EA a eS Be ee 132 TS 76 Gel Pract Path Mode ooo eee eed A ee eee e is 133 14326304 Path Blending co ece a OH A eae Ea ee EEE Eee eee E 133 1433673 Deillinp Cycle with Chip Breaking cosido a GRE ee A Be e 134 SM Tired Cycle ios a eg eee ea SESS eee Beene Sued oh 134 4 IMCAMETEICIES e A a RE OA bw ea a ea ERE AE oe ae s 137 PS SUI Words ccs ee A RRS OR ORAS GRE RS RG ee a 137 LIA etek Words oe Ad SESE SS OHS ERS Seo oR Se GA 137 MIS Repa Cyle lt a a ew Re Ea AE EO ee Ue oe ee al fe 137 HASAR Mde lt a ba ae ke Ge ee eR a Se ee ee we es 138 135 Canned Cycle EMOR corae y a a ESE SS PHS EES a SEHS ES 138 14 35 6 Preliminary and In Between Motion 2 0 0 0 eee ee 138 1435 7 Why use A CAMEO eses be Pe A ee a ES ee wR Se 139 14 Jeet ancel
122. ed in your hal file to an input Example HAL Connection net signal name motion digital in 00 lt parport 0 pinl0 in User Manual V2 5 2013 02 11 155 195 15 16 M67 Synchronized Analog Output MOJO e M67 set an analog output synchronized with motion e E output number ranging from 0 to 3 e Q is the value to set set to O to turn off The actual change of the specified outputs will happen at the beginning of the next motion command 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 M67 M67 functions the same as M62 63 The number of I O can be increased by using the num_dio or num_aio parameter when loading the motion controller See the Integrator s Manual Core Components Section Motion subsection for more information Note M67 will not function unless the appropriate motion analog out nn pins are connected in your hal file to outputs 15 17 M68 Analog Output Mest ROS e MOS set an analog output immediately e E output number ranging from 0 to 3 e Q is the value to set set to O to turn off M68 output happen immediately as they are received by the motion controller They are not synchronized with movement and they will break blending M68 functions the same as M64 65 The number of I O can be increased by using the num_dio or num_aio parameter when loading the motion co
123. ee ee be dee ae ee PRAM oa ee 171 12 Constant Surlaca Speed Sir po RE E Oe ee Pe Y Bee ae e e 171 VAR POS o on a e A CRS SE Rae Re AS Bes be BG wee e ie 171 19 7 1 Aves and Lathe Design ca roe 44008 bao bee a beh de eed eae bbe ewe 172 19 7 2 Radus amp Diameter Mode lt lt lt lt br a eS Hook eee Eee YR ee 8 ee 172 POR A bw Re SER ES be SHR Aas DAS be ne eee a 172 PO COMBO i 2k Se edd Bese BESS SOS EES ewe SESS 8 172 19 6 2 Cutting Angles without Cutter Comp econo a e E Ree ee ee 173 1933 CA a Radins ooo a a A OS REE Rae AG Rae ARG eee ee 174 IOSA Sistas Cotler COM 66 22 bi eh ee Ewe AEE A A SE 176 20 RS274 NGC Differences 177 20 1 Chances from RS2PHNGC o ob ee o bee eek ea ee ea ee 177 20 2 Additions to RS2Z74NGE ok ee Re e A eh ee 177 User Manual V2 5 2013 02 11 21 Image to G Code 21 1 Whatisadepthmap 21 2 Integrating image to gcode with the AXIS user interface 2 2 ee ee 21 3 Using image to gcode 21 4 Option Reference 21 UMS cocino ai 21 4 2 Invert Image 21 4 3 Normalize Image 21 4 4 Expand Image Border 21 4 5 Tolerance units 21 4 6 Pixel Size units 214 7 Plunge Feed Rate units per minute sa ee ee ee e ee ee 2148 Feed Rate units per Minte s ee ee ee Re EE Re ew ee ee ee ee 21 4 9 Spindle Speed RPM 21 4 10 Scan Pattern 21 4 11 Scan Direction 21 4 12 Depth units 21 4 13 Step Over pixels 21 4 14
124. ee eee 113 Ha tal Linear Fead ae ee Secs Ee A ee Be Be ee SF Be ees Boe SL ee eee 114 MES E Se OO ls ee AA to eee et tt ew SESE HS oe oe Cede e 114 LAR Center PORTE ATOS o i be ee eo AA a E wR ee ee a ew es 115 145 2 Center Format Examples a acu sk eee RR Re ee eae BO a ee a ee E 116 1453 Radius Formal Arcs be A hee ee we ee eee SOE a 118 RO G4 Dpel odos Gee Gee ew a Be ee Ra Be a god be RO Boe aoe o e 119 H7 GSI ua dratie B spline os ee ee he SRR Cee ewe ee eS ed ewe eee SS 3 119 Mie 3 2049 NURBS BIG ion eo E AO ee RA ESO SG ee E 120 14 0 G7 Lathe Diameter Mode oc aes sra Ge ee BAe edhe Bowie Ge dee A whe ea ew 121 14 10G8 Lathe Radius Mode s co socorrer e ee ee we Ea ee 121 TATTOO LI Set Tool Table occ ce Bae ee e EER Se eee he Oe A ke Ee e a 122 14 12010 L2 Se Coordinate SES o a EES Ged ARS amp 122 TA Ta LIO Set Teel Table son eas eh ek cE YER A eee a Ee 124 TEI LA Set Topl Table ooo eae CERES ERASE SAS RRS EEE ee ESSE 124 1415610 L20 Set Coordinate System o ss se ew ee eee Ea ee ewe ee eee E 125 14166172 619 1 Plane Selecon cepos se EG aa a AA ORS a ee A wae wo 125 TAU G2 UE ee Se be ee ba we ek ae be de et eA oa ee a 125 14 18 123 0G28 1 Gato Predefined Peston 2 ac cw be Be eee oe eee eee ow YB ee ee RES 126 14 196030 630 1 Gota Predefined PosilloR lt e eo a eia d we RRR EEO A Bw ERE ES 126 14 20633 Spindle Synchronized Motion gt lt os resets estres ae A 127 1421461331 Rigid Tapping s c copa ocior ae RB ae
125. ee 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 distributed 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 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 User Manual V2 5 2013 02 11 190 195 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
126. efaults to 1 and is optional For more information on Incremental Arc Distance Mode see the G91 1 section Absolute Arc Distance Mode Arc center offsets are the absolute distance from the current 0 position of the axis One or more axis words and both offsets must be programmed for arcs less than 360 degrees No axis words and both offsets must be programmed for full circles The P word defaults to 1 and is optional For more information on Absolute Arc Distance Mode see the G90 1 section XY plane G17 G2 OR ES X w Me I J P gt e Z helix e X offset e J Y offset User Manual V2 5 2013 02 11 116 195 P number of turns XZ plane G18 G2 Oi G3 lt a P w r ke B gt e Y helix e X offset e K Z offset e P number of turns YZ plane G19 GZ or C3 lt V n X J K P gt e X helix e J Y offset e K Z offset e P number of turns It is an error if e No feed rate is set with the F word e No offsets are programmed 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 05 inch 5 mm OR 0005 inch 005mm AND 1 of radius Deciphering the Error message Radius to end of arc differs from radius to start e start the current position e center the center position as calculated using the i j or k words e end the programmed end point e
127. effect jogging an axis will only move that axis in a positive or negative direction and not along the rotated axis 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 G 0 command may be active or inactive at the time the G 0 is executed If it is currently active the new coordinates take effect immediately It is an error if e The P number does not evaluate to an integer in the range 0 to 9 e An axis is programmed that is not defined in the configuration G10 L2 Example Line CLOZEL DML In the above example the origin of the first coordinate system the one selected by G54 is set 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 Example Line G10L2P1X0Y0Z0 clear offsets for X Y amp Z axes in coordinate system 1 The above example sets the XYZ coordinates of the coordinate system 1 to the machine origin The coordinate system is described in the Coordinate System Section User Manual V2 5 2013 02 11 124 195 14 13 G10 L10 Set Tool Table G10 L10 P axes lt R I J Q gt e P tool number e R radius of tool e J front angle lathe e J back angle lathe e Q orientation lathe G10 L10 changes the tool table entry for tool P so that if the tool offset is reloaded with the machine in its current position and wi
128. 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 A A UUO ALZA U Figure 3 1 Naive Cam Detector 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 than the ini file acceleration User Manual V2 5 2013 02 11 18 195 To keep up the feed rate the move must be longer than the distance it takes to accelerate from 0 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 F t 2 The deceleration time and distance are the same making the critical distance d da da 2 da F7 A For example f
129. er preted CHN Ws Ciel KA YE 21 5 RALE 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 value and X position are 4 The Y value and Y position are 5 The Z value and Z position are 1 5 The R value and clear Z are 2 8 OLD_Z is 3 The following moves take place 1 a traverse parallel to the XY plane to X4 Y5 Z3 2 a traverse parallel to the Z axis to X4 Y5 Z2 8 3 a feed parallel to the Z axis to X4 Y5 Z1 5 4 a traverse parallel to the Z axis to X4 Y5 Z3 Preliminary motion XY linear move to Preliminary motion X and Y volves Rapid from old Initial position Ma Pa THR raue 0 2 3 Tf y ae Drilling cycle Feedrate more from R to Rapid retum to dd Z 0 0 01 Example 2 Relative Position G81 Suppose the current position is X1 Y2 Z3 and the following line of NC codeis interpreted CHL CSS erik xA wo ZO E RIE Ins This calls for incremental distance mode G91 and OLD_Z retract mode G98 It also calls for the G81 drilling cycle to be repeated three times The X value is 4 the Y value is 5 the Z value is 0 6 and the R value 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 preliminary move is a traverse along the Z axis to X1 Y2 Z4 8 since OLD_Z lt clear Z The fir
130. er sumitted subroutines can be found on the Forum in the Subroutines Section 5 6 DB25 Example The following shows the DB25 subroutine In the first photo you see where you fill in the blanks for each variable User Manual V2 5 2013 02 11 50 195 File Machine View Oae g 00 al el Ne al Manual Control F3 MDI F5 1 Preview DRO simp xyz iquad db25 ihex gosper Custom ttt ade OK CY Oz remove new ngcgui3 lt move move gt Contin El uous v db25 connector uses iquad ngc Home All Touch Off DAMA E gt o 0 Restart pm Feed Override 100 E __ Jog Speed 16in min fo Max Velocity 72 in min T j l ngcgui FEATURE 110701 05 34 54 2 ngcgui files lt home john emc2 dev nc_files ngcgui_lib utilitysubs in_std ngc nc_files ngcgu_ i_lib db25 ngc gt 3 ngcgui feature line added lt _feature gt 0 4 ngcqui preamble file home john emc2 dev nc_files ngcgui_lib utilitysubs in_std ngc 5 gl7 xy plane 6 g20 inches d ON ool 1 offset 0 511 diameter 0 125 Position Relative Actual This photo shows the backplot of the DB25 subroutine User Manual V2 5 2013 02 11 File Machine View GO Ged Manual Control F3 MDI F5 Axis X Y 5 5090 _ _ Continuous v 2 4038 _Home All Touch Off 0 2000 0 0000 Feed Override 100 Jog Speed 16 in min Max Velocity 72 in min 7 zsafe
131. er writable directories For instance a user might create a ngcgui compatible subfile named home myusername mysubs example ngc The ini file must be edited to include new subfiles and to augment the path s For this example RS274NGC SUBROUTINE_PATH home myusername mysubs nc_files ngcgui_lib nc_files ngcgui_lib utilitysubs USER_M_ PATH home myusername mymfiles nc_files ngcgui_lib mfiles DISPLAY NGCGUI_SUBFILE example ngc LinuxCNC and ngcgui use the first file found when searching directories in a search path With this behavior you can supersede an ngcgui_lib subfile by placing a subfile with an identical name in a directory that is found earlier in the path search More information can be found in the INI chapter of the Integrators Manual 5 4 Embedding NGCGUI in Axis Several NGCGUI examples are included with LinuxCNC and are located in the sim ngcgui directory User Manual V2 5 2013 02 11 44 195 5 4 1 INI File The following INI file items for NGCGUI go in the DISPLAY section e TKPKG Ngcgui 1 0 the main NGCGUI package must precede Ngcguittt e TKPKG Ngcguittt 1 0 the True Type Tracer package for generating text for engraving e NGCGUI_FONT Helvetica 12 normal specifices the font e NGCGUI_PREAMBLE in_std ngc the preamble file to be added in front of the subroutines When concatenating several subroutines this is only added once e NGCGUI_SUBFIL
132. es not exist e The file is not an executable file The file name has an extension e The file name does not follow this format M1nn where nn 00 through 99 e The file name used a lower case M For example to open and close a collet closer that is controlled by a parallel port pin using a bash script file using M101 and M102 Create two files named M101 and M102 Set them as executable files typically right click properties permissions before running LinuxCNC Make sure the parallel port pin is not connected to anything in a HAL file M101 Example File bin bash file to turn on parport pin 14 to open the collet closer halcmd setp parport 0 pin 14 out True exit 0 M102 Example File bin bash file to turn off parport 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 Q321 654 M100 Example file bin bash voltage 1 feedrate 2 halcmd setp thc voltage voltage halcmd setp thc feedrate S feedrat exit 0 To display a graphic message and stop until the message window is closed use a graphic display program like Eye of Gnome to display the graphic file When you close it the program will resume M110 Example file User Manual V2 5 2013 02 11 157 195 bin bash eog home john linuxcnc nc_files message png exit 0 To display a graphic message and continue processing the G code fi
133. essor like Open Office Word Processor 13 24 File Size The interpreter and task are carefully written so that the only limit on part program size is disk capacity The TkLinuxCNC and Axis 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 preview control comments 13 25 G Code 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 Comment including message Set feed rate mode G93 G94 Set feed rate F Set spindle speed S Select tool T HAL pin I O M62 M68 Change tool M6 and Set Tool Number M61 Spindle on or off M3 M4 M5 Save State M70 M73 Restore State M72 Invalidate State M71 Coolant on or off M7 M8 M9 Enable or disable overrides M48 M49 M50 M51 M52 M53 User defined Commands M100 M199 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 User Manual V2 5 2013 0
134. ever be less than the actual run time 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 Integrator Manual on setting up Classic Ladder Quit Terminates the current LinuxCNC session MACHINE MENU Toggle Emergency Stop F1 Change the state of the Emergency Stop Toggle Machine Power F2 Change the state of the Machine Power if the Emergency Stop is not on Run Program Run the currently loaded program from the beginning 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 Warning Do not use Run From Selected Line if your g code program contains subroutines Step Single step through a program Pause Pause a program Resume Resume running from a pause Stop Stop a running program When run is selected after a stop the program will start from the beginning Stop at M1 If an M1 is reached and this is checked program execution will stop on the M1 line Press Resume to continue Skip lines with 7 If a line begins with and this is checked the line will be skipped Clear MDI history Clears the MDI history window Copy from MDI history Copies the MDI histo
135. g 133 G7 Lathe Diameter Mode 121 G73 Drilling Cycle Chip Break 134 G76 Threading 134 G8 Lathe Radius Mode 121 G80 Cancel Modal Motion 140 G80 G89 Canned Cycles 137 G81 Drilling Cycle 141 G82 Drilling Cycle Dwell 144 G83 Peck Drilling 145 G84 Right Hand Tapping 145 G85 Boring Feed Out 145 G86 Boring Spindle Stop Rapid Out 146 G87 Back Boring 146 G88 Boring Cycle Spindle Stop Manual Out 146 G89 Boring Dwell Feed Out 146 G90 G91 Distance Mode 146 194 195 G91 Distance Mode 146 G92 Coordinate System Offset 147 G93 G94 G95 Feed Rate Mode 148 G94 G95 Feed Rate Mode 148 G95 Feed Rate Mode 148 G96 G97 Spindle Control Mode 148 G97 Spindle Control Mode 148 G98 G99 Canned Cycle Return 149 G99 Canned Cycle Return 149 GUI 184 186 H HAL 186 home 186 I if 160 Image to G Code 179 Indirection 161 INI 186 Instance 186 J jog 186 jog speed 34 joint coordinates 186 K keyboard shortcuts 34 KEYSTICK 76 kinematics 186 L Lathe User Information 166 lead screw 186 Line Number 98 Linear Motion 114 Linux 6 LinuxCNC User Introduction 5 Logging 108 loop 187 Looping 159 M M Codes 150 MO Program Pause 150 M1 Program Optional Pause 150 M100 to M199 User Defined Commands 155 M2 Program End 150 M3 Spindle CW 151 M30 Program End 150 M4 Spindle CCW 151 M48 User Manual V2 5 2013 02 11 M49 Override Control 152 M49 Override C
136. g chapter e 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 8 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 to 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 8 4 1 MANUAL This button or pressing lt F3 gt sets the LinuxCNC to Manual mode and displays an abbreviated 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 8 3 Manual Mode But
137. g simple HTML designed for human modi fication 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 most 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 Q
138. g with a left bracket and ending with a balancing right bracket J 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 An example of an expression is 1 acos 0 3 4 0 2 13 9 Binary Operators Binary operators only appear inside expressions There are four basic mathematical operations addition subtraction multiplication 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 VE 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 cap Operator Precedence 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 in the example the
139. gent EXISTS arg Check named Parameter The F X function 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 The EXISTS function checks for the existence of a single named parameter It takes only one named parameter and returns if it exists and 0 if it does not exist It is an error if you use a numbered parameter or an expression 13 11 Repeated Items A line may have any number of G words but two G words from the same modal group may not appear on the same line See the Modal Groups Section for more information 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 13 12 Item order The three types of item whose
140. ges e DEBUG displays a message like MSG with the addition of special handling for comment parameters as described below 13 21 Print Messages e PRINT messages are output to stderr with special handling for comment parameters as described below 13 22 Comment Parameters 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 G code like Parameters Example print endmill dia lt _endmill_dia gt print value of variable 123 is 123 Inside the above types of comments sequences like 23 are replaced by the value of the parameter 123 Sequences like lt named parameter gt are replaced by the value of the named parameter Named parameters will have white space removed from them So lt named parameter gt will be converted to lt namedparameter gt User Manual V2 5 2013 02 11 109 195 13 23 File Requirements A G code file must contain one or more lines of G code and be terminated with a Program End Any G code past the program end is not evaluated If a program end code is not used a pair of percent signs with the first percent sign on the first line of the file followed by one or more lines of G code and a second percent sign Any code past the second percent sign is not evaluated Note The file must be created with a text editor like Gedit and not a word proc
141. h G59 3 coordinate system set such that the tip of a zero length tool is at the fixture s origin when the Relative coordinates are 0 See G10 L11 in the G code chapter It s all in your point of view The AXIS display pick menu View refers to Top Front and Side views These terms are correct if the CNC machine has its Z axis vertical with positive Z up This is true for vertical mills which is probably the most popular application and also true for almost all EDM machines and even vertical turret lathes where the part is turning below the tool The terms Top Front and Side might be confusing however in other CNC machines such as a standard lathe where the Z axis is horizontal or a horizontal mill again where the Z axis is horizontal or even an inverted vertical turret lathe where the part is turning above the tool and the Z axis positive direction is down Just remember that positive Z axis is almost always away from the part So be familiar with your machine s design and interpret the display as needed Top View The Top View or Z view displays the G code looking along the Z axis from positive to negative This view is best for looking at X amp Y Rotated Top View The Rotated Top View or rotated Z view also displays the G code looking along the Z axis from positive to negative But sometimes it s convenient to display the X amp Y axes rotated 90 degrees to fit the display better This view is
142. h the operator for example 3 15 set parameter 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 G 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 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 read only parameters for a loaded tool 1 30 Subroutine local parameters of call arguments These parameters are local to the subroutine See the O Codes Section 1 5000 G Code user parameters These parameters are global in the G Code file 5061 5070 Result of G38 2 Probe X Y ZA BCU VW 5161 5169 G28 Home for X Y ZABCUV W 5181 5189 G30 Home for X Y ZABCUV W 5210 1 if G92 offsets are active 0 if not 5211 5219 G92 offset X Y ZA BCU VW 5220 Current Coordinate System number 1 9 for G54 G59 3 5221 5230 Coordinate System 1 G54 X Y Z A BCU V WR R denotes the XY rotation angle around the Z axis 5241 5250 Coordinate System 2 G55 X YZABC
143. he ini file setting to DISPLAY keystick 9 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 User Manual V2 5 2013 02 11 78 195 Part III Using LinuxCNC User Manual V2 5 2013 02 11 79 195 Chapter 10 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 10 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 10 1 1 Axes Any CNC machine has one or more Axes Different types of CNC machines have different combinations 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 XYUV axes In LinuxCNC 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 Primary Linear Axes axesprimary linear primary linear The X Y and Z axes produce linear motion in three mutually orthogonal directions Secondary Linear Axes axessecondary linear secondary linear
144. he spindle On random toolchanger machines G43 HO applies the TLO of the tool TO defined in the tool table file or causes an error if TO is not defined in the tool table G43 H Example Line G43 H1 set tool offsets using the values from tool 1 in the tool table It is an error if e the H number is not an integer or e the H number is negative or e the H number is not a valid tool number though note that 0 is a valid tool number on nonrandom toolchanger machines it means the tool currently in the spindle 14 27 G43 1 Dynamic Tool Length Offset G43 1 axes e G43 1 axes change subsequent motions by offsetting the Z and or X offsets stored in the tool table G43 1 does not cause any motion The next time a compensated axis is moved that axis s endpoint is the compensated location G43 1 Example G90 set absolute mode Tl M6 G43 load tool 1 and tool length offsets Z is at machine 0 and DRO shows 21 500 G43 1 20 250 offset current tool offset by 0 250 DRO now shows 21 250 M2 end program e See G90 amp T amp M6 sections for more information It is an error if motion is commanded on the same line as G43 User Manual V2 5 2013 02 11 132 195 14 28 G49 Cancel Tool Length Compensation e G49 cancels tool length compensation 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 14 29 G53 Move in Machi
145. ibed above 2 Move the Z axis only at the current feed rate to the Z position User Manual V2 5 2013 02 11 145 195 3 Dwell for the P number of seconds 4 Retract the Z axis at traverse rate to clear Z The motion of a G82 canned cycle looks just like G81 with the addition of a dwell at the bottom of the Z move The length of the dwell is specified by a P word in the G82 block 14 39 G83 Peck Drilling Cycle Gis CH Y w of U Ve he R b 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 The retract before final depth will always be to the retract plane even if G98 is in effect The final retract will honor the G98 99 in effect G83 functions the same as G81 with the addition of retracts during the drilling operation 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 back out to the retract plane specified by the R word 4 Rapid back down to the current hole bottom backed off a bit 5 Repeat steps 2 3 and 4 until the Z position is reached at step 2 6 Retract the Z axis at traverse rate to clear Z It is an error if e the Q number is
146. igid Tapping GIs K We m K e K distance per revolution User Manual V2 5 2013 02 11 128 195 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 Warning D If the X Y coordinates specified are not the current coordinates when calling G33 1 for tapping the move will not be along the Z axis but will traverse from the current location to the X Y specified 1 A move to the specified coordinate synchronized with the spindle at the given ratio and starting with a spindle index pulse 2 When reaching the endpoint a command to reverse the spindle e g from clockwise to counterclockwise 3 Continued synchronized motion beyond the specified end coordinate until the spindle actually stops and reverses 4 Continued synchronized motion back to the original coordinate 5 When reaching the original coordinate a command to reverse the spindle a second time e g from counterclockwise to clockwise 6 Continued synchronized motion beyond the original coordinate until the spindle actually stops and reverses 7 An unsynchronized move back to the original coordinate Spindle synchronized motions wait for spindle index so multiple passes line up G33 moves end at the original coordinate All the axis words are optional except that at least one must be used G33 1 Example
147. igura tion 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 See the Lathe Tool Table Section for an example of the lathe tool table format The maximum number of entries in the tool table is 56 The maximum tool and pocket number is 99999 The Tool Editor or a text editor can be used to edit the tool table If you use a text editor make sure you reload the tool table in the GUI 12 2 1 Tool Table Format Table 12 1 Tool Table Format TA PH X Y Z A B C U Vv W Dia FA BA Ori Rem no data after opening semicolon T1 P17 X0 YO ZO AO BO CO UO vo WO DO 10 JO Q0 rem T2 PS X0 YO ZO AO BO CO UO Vo wo DO 10 JO Q0 rem T3 P12 X0 YO ZO AO BO CO UO vo WO DO 10 JO Q0 rem In general the new tool table line format is e Opening semicolon no data e T tool number 0 99999 tool numbers must be unique e P pocket number 1 99999 pocket numbers must be unique e X W tool offset on specified axis floating point e D tool diameter floating point absolute value e I front angle lathe only floating point e J back angle lathe only floating point e Q tool orientation lathe only integer 0 9 e beginning of comment or remark text The file consists of one opening semicolon on the first line followed by up to a maximum of 56 t
148. ile loop has two structures while endwhile and do while In each case the loop is exited when the while condition evaluates to false The difference is when the test condition is done The do while loop runs the code in the loop then checks the test condition The while endwhile loop does the test first While Endwhile Example draw a sawtooth shape GO X1 YO move to start position 1 1 assign parameter 1 the value of 0 F25 set a feed rate o101 while 1 LT 10 G1 X0 G1 Y 1 10 X1 1 1 1 increment the test counter 0101 endwhile M2 end program Do While Example 1 0 assign parameter 1 the value of 0 SL Rao debug parameter 1 1 GLL E OZ 1 3 assign the value of 3 to parameter 1 msg 1 has been assigned the value of 3 0100 continue skip to start of loop User Manual V2 5 2013 02 11 160 195 0110 endif some code here 1 1 1 increment the test counter 0100 while 1 LT 3 msg Loop Done M2 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 16 3 Conditional The if conditional consists of a group of statements with the same o number that start with if and end with endif Optional elseif and else conditions may be between the starting if and the ending endif If the if conditional ev
149. iles It is sometimes useful for subfiles to determine their order at runtime so ngcgui inserts a special global parameter that can be tested within subroutines The parameter is named lt _feature gt Its value begins with a value of O and is incremented for each added feature Additional Features A special info comment can be included anywhere in an ngcgui compatible subfile The format is tin Los Into texte The info_text is displayed near the top of the ngcgui tab page in axis Files not intended for use as subfiles can include a special comment so that ngcgui will reject them automatically with a relevant message not_a_subfile An optional image file png gif jpg pgm can accompany a subfile The image file can help clarify the parameters used by the subfile The image file should be in the same directory as the subfile and have the same name with an appropriate image suffix e g the subfile examp ngc could be accompanied by an image file examp png Ngcgui attempts to resize large images by subsampling to a size with maximum width of 320 and maximum height of 240 pixels None of the conventions required for making an ngcgui compatible subfile preclude its use as general purpose subroutine file for LinuxCNC The LinuxCNC distribution includes a library ngcgui_lib directory that includes both example ngcgui compatible subfiles and utility files to illustrate the features of LinuxCNC subroutines and ngcgui usage Additional us
150. 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 8 5 3 Messages The message display located under the axis positions is a sort of scratch pad for LinuxCNC 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 LinuxCNC 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 display 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 8 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 too
151. ine operator allowing manipulation of the 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 ini file A text file that contains most of the information that configures EMC for a particular machine 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 In manual mode jog speed can be set from the graphical interface kernel space See real time Kinematics The position relationship between world coordinates and joint coordinates of a machine There are two types of kinematics Forward kinematics is used to calculate world coordinates from joint coordinates Inverse kinematics
152. inuxCNC is ready to handle or is handling a motion command this button shows the feedhold label on a red background 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 8 4 5 ABORT The abort button stops any motion when it is pressed It also removes the motion command from the LinuxCNC No further motions are cued up after this button is pressed If you are in auto mode this button removes the rest of the program from the User Manual V2 5 2013 02 11 68 195 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 8 4 6 ESTOP The estop button is also a toggle but it works in three possible settings 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 If you push the estop button while a motion is being executed you will see a recessed gray button that says ESTOPPED You will n
153. ion 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 nontrivial 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 User Manual V2 5 2013 02 11 Chapter 24 Index axisrc 39 A acme screw 184 Arc Distance Mode 147 Arc Motion 114 Auto 66 75 AXIS 23 36 axis 184 Axis GUI 23 AXIS in lathe mode 37 Axis Preview Control 39 AxisUI coolant 32 feed override 33 jog speed 34 keyboard shortcuts 34 Max Velocity 34 MDI 33 spindle 32 spindle speed override 33 B backlash 184 backlash compensation 184 backplot 71 ball nut 184 ball screw 184 Block Delete 98 block delete 82 break 159 C call 158 Calling Files 161 CNC 25 184 CNC Machine Overview 79 comp 185 Conditional if elseif else 160 continue 159 193 195
154. is used for exactly the 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 triangular 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 specified and used in the ini file HAL pins and parameters are also generally in machine units MDI 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 User Manual V2 5 2013 02 11 187 195 NML Neutral Message Language provides a mechanism for handling multiple types of messages in the same buffer as well as simplifying the interface for encoding and decoding buffers in neutral format and the configuration mechanism Offsets An arbitrary amount added to the value of something to make it equal to some desired value For example gcode programs are often written around some convenient point such as XO YO Fixture offsets can be used to shift the actual execution point of that gcode program to properly fit the true location of
155. items described below are not useful on all machines When AXIS detects that a particular 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 User Manual V2 5 2013 02 11 32 195 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 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 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 0010 0 0001 See the Configure section of the Integrator Manual for more information on setting the increments 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 ho
156. ition 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 G3 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 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 the Path Control Mode Section and Trajectory Control Section for more information on these modes If Q is not specified then it will have the same behavior as before and use the value of P User Manual V2 5 2013 02 11 134 195 G64 P Example Line G64 P0 015 set path following to be within 0 015 of the actual path It is a good idea to include a path control specification in the preamble of each G code file 14 33 G73 Drilling Cycle with Chip Breaking 13 e e B R O Sis e R retract position along the Z axis e Q delta increment along the Z axis e L repeat The G73 cycle is drilling or milling with chip breaking This cycle takes a Q number which represents a delta increment along the Z
157. justing your programmed path to compensate for tip radius User Manual V2 5 2013 02 11 174 195 Control Point Programmed Path Actual Cut Figure 19 6 Ramp 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 19 8 3 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 The control point of the tool is following the programmed path and the tool is touching the OD of the part User Manual V2 5 2013 02 11 175 195 Lontrol Point Programmed Path Figure 19 7 Turning Cut 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 Control Point Actual Profile Cut Programmed Path Figure 19 8 Radius Cut Now you can see as the control point follows the radius programmed the tool tip has left the part and is now cutting air User Manual V2 5 2013 02 11 176 195 Control Point Programmed Path Figure 19 9 Radius Cut In the final figure we can see the tool tip will finish cutting the face but leave a square corner instead
158. l other font sizes can be changed on the Preferences tab 6 2 3 Macros Touchy can invoke O word macros using the MDI interface To configure this in the TOUCHY section of the ini file add one or more MACRO lines Each should be of the format MACRO increment xinc yinc In this example increment is the name of the macro and it accepts two parameters named xinc and yinc Now place the macro in a file named increment ngc in the PROGRAM_PREFIX directory or any directory in the SUBROU TINE_PATH It should look like O lt increment gt sub G91 GO X 1 Y 2 G90 O lt increment gt endsub Notice the name of the sub matches the file name and macro name exactly including case When you invoke the macro by pressing the Macro button on the MDI tab in Touchy you can enter values for xinc and yinc These are passed to the macro as and 2 respectively Parameters you leave empty are passed as value 0 If there are several different macros press the Macro button repeatedly to cycle through them In this simple example if you enter 1 for xinc and press cycle start a rapid GO move will be invoked moving one unit to the left This macro capability is useful for edge hole probing and other setup tasks as well as perhaps hole milling or other simple operations that can be done from the panel without requiring specially written gcode programs User Manual V2 5 2013 02 11 56 195 Chapter 7 TkLinuxCNC GUI 7 1 Introduction
159. l path User Manual V2 5 2013 02 11 96 195 G20 Inch Mode 3 F30 Set Feed Rote 610 L1 P1 R 25 Z1 Set Tool Table T1 M6 Load the Tool 3 GO ZO Move to safe Z height G41 Start Cutter Comp Left X4 Y3 Rapid ta start point 61 X5 Z 1 Move to cut height gt G3 X6 Y4 Ji Are into cut path G1 Y6 Cut Profile x2 Y2 xE Y4 G3 X5 Y5 l 1 Are out of cut path GO ZO Move cutter to safe Z height 640 Stop Cutter Comp Compensated GO X1 Y1 Move to safe position Cut Path TO M Remove Tacl gt M2 End Program Part Profile 4 Rapid Mave Toal Figure 12 5 Inside Profile User Manual V2 5 2013 02 11 97 195 Chapter 13 G Code Overview 13 1 Overview The LinuxCNC 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 G X3 is a valid line of code with two words G 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 val
160. l 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 User Manual V2 5 2013 02 11 70 195 8 6 1 Program Editor Figure 8 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 interpreter 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 LinuxCNC interpreter with the same menu click You can work on a file in here for a while and then save and load if the LinuxCNC 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 User Manual V2 5 2013 02 11 71 195 8 6 2 Backplot Display Figure 8 6 Minis Backplotter Backplot Backplot will show the tool path that can be viewed from a chosen direction 3 D is the default Other choices and controls
161. l time extensions 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 interface 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 Generally any motor that is used with error sensing feedback to correct the position of an actuator Also a motor which is specially designed to provide improved performance in such applications 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 negative sign In HAL it is known as s32 A signed 32 bit integer has a usable range of 2 147 483 647 to 2 147 483 647 Spindle The part of a machine tool that spins to do the cutting On a mill or drill the spindle holds the cutting tool On a lathe the spindle holds the workpiece User Manual V2 5 2013 02 11 188 195 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 assumes that the LinuxCNC software has been configured to control spindle speed Stepconf An LinuxCNC configuration wizard It is able to handle many step and
162. larity is better than cleverness e Rule of Composition Design programs to be connected to other programs e 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 LinuxCNC 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 LinuxCNC 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 rule allows us to build a predictable control system from the many modules available by making them con nectable 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 functions 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 LinuxCNC It means that you are able
163. le 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 21 4 Option Reference 21 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 21 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 21 4 3 Normalize Image If yes the darkest pixel is remapped to black the lightest pixel is remapped to white 21 4 4 Expand 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 21 45 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
164. le suffix an ampersand to the command M110 Example display and keep going bin bash eog home john linuxcnc nc_files message png exit 0 User Manual V2 5 2013 02 11 158 195 Chapter 16 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 O codes use the letter O not the number zero as the first character in the number like O100 Numbering Example 0100 sub notice that the if endif block uses a different number Gill ase 572 Ew S some code here 0110 endif some more code here 0100 endsub The behavior is undefined if The same number is used for more than one block e Other words are used on a line with an O word Comments are used on a line with an O word Note Using the lower case o makes it easier to distinguish from a 0 that might have been mistyped For example 0100 is easier to see than O100 that it is not a 0 16 1 Subroutines Subroutines extend from a O sub to an O endsub The lines between O sub and O endsub are not executed until the subroutine is called with O call Subroutine Example 0100 sub G53 GO XO YO Z0 rapid move to machine home 0100 endsub o100 call call the subroutine here M2 User Manual V2 5 2013 02 11 159 195 See G53 amp GO amp M2 sections for more information O Return Inside a subroutine O return can be e
165. lead to better contouring performance in LinuxCNC but can also remove or blur small details in the image 21 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 21 4 7 Plunge Feed Rate units per minute The feed rate for the initial plunge movement User Manual V2 5 2013 02 11 181 195 21 4 8 Feed Rate units per minute The feed rate for other parts of the path 21 4 9 Spindle Speed RPM The spindle speed S code that should be put into the gcode file 21 4 10 Scan Pattern Possible scan patterns are e Rows e Columns e Rows then Columns e Columns then Rows 21 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 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 21 4 12 Depth units The top of material is always at Z 0 The deepest cut into the material is Z depth 21 4 13 Step Over pixels
166. less than the value specified in R there will be an initial Z move during the preliminary moves User Manual V2 5 2013 02 11 144 195 Preliminary motion YT linear more to X and Y values Drilling cycle a Feedrate more from RA to Rapid retum to R Preliminary motion Pa Zonk moreto R valve Y 0 0 0 Example 4 Absolute G81 R gt Z This is a plot of the path of motion for the second g81 block of code CIL CSE Ceil KA XI ASE RI LI Since this plot starts with XO YO ZO the interpreter adds the initial ZO and R1 8 and rapids to that location After that initial Z move the repeat feature works the same as it did in example 3 with the final Z depth being 0 6 below the R value Preliminary motions More to second to first incremental dnll and retract location MA rt First drill More to third and retract drill and retract Wo 0 0 0 Example 5 Relative position R gt Z G90 CLS Goil xA Yo AOG RIE Since this plot starts with X0 YO ZO the interpreter adds the initial ZO and R1 8 and rapids to that location as in Example 4 After that initial Z move the rapid traverse move to X4 Y5 is done Then the final Z depth being 0 6 below the R value The repeat function would make the Z move in the same location again 14 38 G82 Drilling Cycle Dwell cua Y Y or Ye he R i E The G82 cycle is intended for drilling with a dwell at the bottom of the hole 1 Preliminary motion as descr
167. llowed 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 User Manual V2 5 2013 02 11 138 195 straight line When L is greater than 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 L10 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 The L number is not sticky 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 14 35 4 Retract 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 the G98 G99 Section 14 35 5 Canned Cycle Errors It is an error if axis words are all missing during a canned cycle axis words from different groups XYZ UVW are used together a P number is required and a negative P number is used an L number is used that does not e
168. locity of all programmed motions except spindle synchronized motion A text display area that shows the loaded G Code A status 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 showing all offsets and Actual showing feedback 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 configura tion see the Integrator Manual FILE MENU e Open Opens a standard dialog box to open a g code file to load in AXIS If you have configured LinuxCNC to use a filter program you can also open it up See the Integrator manual for more information on filter programs User Manual V2 5 2013 02 11 26 195 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 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 The sum of the rapid and feed moves Does not factor in acceleration blending or path mode so time reported will n
169. lp MANUAL SPINDLE STOPPED HOMED LUBE OFF BRAKE ON A SELECTED LUBE Ok MIST OFF Speed BO 0 FLOOD OFF Incr continuous P OY OOOO 0 0000 E E A 0000 Se EMC HAL SIM KEYSTICK EMC Version Figure 2 7 The Keystick GUI e Xemc an X Windows program A simulator configuration of Xemc can be ran from the configuration picker e halui a HAL based user interface which allows to control LinuxCNC using knobs and switches See the Integrators manual for more information on halui e linuxcncrsh a telnet based user interface which allows commands to be sent to LinuxCNC from remote computers 2 4 Virtual Control Panels e PyVCP a python based virtual control panel that can be added to the Axis GUI or be stand alone User Manual V2 5 2013 02 11 13 195 File Machine View Help SO ola Lal e z NKI E b Mnri Manual Control F3 MDI F5 Preview DRO Vel Tolerance 0 20 Axis ex i z Volts Setting 1 x Volts Tolerance 2 0 Arc Volts Status Under OK Over alh ilal lale Spindle stop Status Velocity Arc Offset E EE ooo Actual Volts Feed Override 100 Jog Speed 60 in min Max Velocity 420 in min MDI Commands Rapid to Home ESTOP No tool Position Relative Actual Figure 2 8 PyVCP with Axis e GladeVCP a glade based virtual control panel that can be added to the Axis GUI or be stand alone User Manual V2 5 2013 02 11 14 195 E
170. m 1 6 G59 1 G59 3 Select Coordinate System 7 9 G61 G61 1 Path Control Mode G64 Path Control Mode with Optional Tolerance G73 Drilling Cycle with Chip Breaking G76 Multi pass Threading Cycle Lathe G80 Cancel Motion Modes G81 Drilling Cycle G82 Drilling Cycle with Dwell G83 Drilling Cycle with Peck G85 Boring Cycle No Dwell Feed Out G86 Boring Cycle Stop Rapid Out G89 Boring Cycle Dwell Feed Out G90 G91 Distance Mode G90 1 G91 1 Arc Distance Mode G92 Coordinate System Offset G92 1 G92 2 Cancel Coordinate System Offsets G92 3 Restore Axis Offsets G93 G94 G95 Feed Modes G96 Constant Surface Speed G97 RPM Mode G98 G99 Canned Cycle Z Retract Mode 14 3 GO Rapid Motion GO axes For rapid linear straight line motion program GO 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 maximum traverse rate or slower if the machine will not go that fast It is expected that cutting will not take place when a GO command is executing G0 Example G90 set absolute distance mode User Manual V2 5 2013 02 11 114 195 GO XT Y 273 Rapid linear move from current location to Xl 2 3 M2 end program e See G90 amp M2 sections for more information If cutter compensation is active the motion will differ from the above see the Cutter Compensation Section If G53 is programmed on
171. meter 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 the following table are required parameters and must be included in any parameter file except that any parameter representing a rotational axis value for an unused axis may be omitted An error will be signaled 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 signaled 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 10 1 Parameter File Format Parameter Number Parameter Value Comment 5161 0 0 G28 Home X 5162 0 0 G28 Home Y See the Parameters section for more information User Manual V2 5 2013 02 11 84 195 Chapter 11 Coordinate System 11 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
172. ming 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 0 for that axis and will set the is homed bit for that axis See the Integrator Manual for more information on homing 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 Enter 7 coordinate relative to workpiece sqrt 21 2 0 707107 in Coordinate System P1 G54 OK Cancel Figure 4 4 Touch Off See also the Tool touch off to workpiece and Tool touch off to fixture options in the Machine menu Override Limits By pressing Override Limits the machine will temporarily be allowed to jog off of a physical limit switch This check box is only available when a limit switch is tripped The override is reset after one jog If the axis is configured with separate positive and negative limit switches LinuxCNC will allow the jog only in the correct direction Override Limits will
173. mn If the value has recently changed it is shown on a red background 4 6 MIDI interface AXIS includes a program called MDI which allows text mode entry of MDI commands to a running LinuxCNC 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 gt When a blank line is entered the machine s current position is shown When a command is entered it is sent to LinuxCNC to be executed This is a sample session of mdi User Manual V2 5 2013 02 11 36 195 MDI emc2 configs sim emc nml MDI O 0 0 07 0 0 0 0 0 07 0 0 MDM ak tees X MDI gt 075929 500 00 C0008 14 aOR Olas 00 0 0 0 0 00 MDI lt ARVO OO TOU OO OOO OES 10 VU 0 0 0 0 00 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 checking 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 LinuxCNC includes a userspace HAL component called hal_manualtoolchange which shows a window prompt telling you what tool is expected 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
174. n 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 LINUX is the registered trademark of Linus Torvalds in the U S and other countries The registered trademark Linux is used pursuant to a sublicense from LMI the exclusive licensee of Linus Torvalds owner of the mark on a world wide basis User Manual V2 5 2013 02 11 3 195 Chapter 1 User Foreword LinuxCNC 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 itis This page attempts to answer that question before you get into the thick of things LinuxCNC started at the National Institute of Standards and Technology in the USA It grew up using Unix as its operating system Unix made it different Among early Unix developers there grew a set of code writing ideas that some call the Unix way These early LinuxCNC authors followed those ways Eric S Raymond in his book The Art of Unix Programming summarizes the Unix philosophy 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 e Rule of Modularity Write simple parts connected by clean interfaces e Rule of Clarity C
175. n error if e Cutter Compensation is on e The P number is unspecified e The P number is not a valid tool number from the tool table The P number is 0 For more information on cutter orientation used by the Q word see the Lathe Tool Orientation diagram 14 12 G10 L2 Set Coordinate System GALO 12 PS lt axcse R e P coordinate system 0 9 e R rotation about the Z axis G10 L2 offsets the origin of the axes in the coordinate system specified to the value of the axis word The offset is from the machine origin established during homing The offset value will replace any current offsets in effect for the coordinate system specified Axis words not used will not be changed Program PO to P9 to specify which coordinate system to change User Manual V2 5 2013 02 11 123 195 Table 14 1 Coordinate System P Value Coordinate System G code 0 Active n a 1 1 G54 2 2 G55 3 3 G56 4 4 G57 5 5 G58 6 6 G59 7 7 G59 1 8 8 G59 2 9 9 G59 3 Optionally program R to indicate the rotation of the XY axis around the Z axis The direction of rotation is CCW as viewed from the positive end of the Z axis All axis words are optional Being in incremental distance mode G91 has no effect on G10 L2 Important Concepts 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 When a rotation is in
176. n the program again If your material is fixtured then you might need to only run the program again See the Machine Menu for more information on the run command 4 3 AXIS Display The AXIS window contains the following elements e A display area that shows one of the following 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 large readout showing the current position and all offsets e 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 scale the speed of programmed motions The default maximum is 120 and can be set to a different value in the ini file See the Integrator Manual for more information on this setting Spindle Override which allows you to scale the spindle speed up or down Jog Speed which allows you to set the jog speed within the limits set in the ini file See the Integrator Manual for more information on the ini file Max Velocity which allows you to restrict the maximum ve
177. nates uo a Re AS RA Ra ee a Bae bk Sons Wien vow te Lost i 5 2 256 bee higetwhe A Machine CONSULADOS o o ee a e E Ee Ue a RE Ree Re eae ea ee 12 14 14 14 User Manual V2 5 2013 02 11 II User Interfaces 4 AXIS GUI 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 Modicon ee a Oe eee Eel eee Be we aL ee OE a OS Genine Shae ee eR eee eee a eA dee Pd ee Pe eS E ALI A TIPA Session eo Serea A A A be aba We a ke ARS Display oscars AA AA se SES EK OEY ook Men ENS lr A ee Ae eo ae Ae ei ea SE WS eee ee eS oz WOMIMOI PURGE s ss 6 od ee a be a ee oe a a RO ee ee we Se ce de be a 233 Graphical DEPAY Ares oes EA ae ae Ree Oe SOR ee amp eS 4a Text Display Aa no cc e a RAE RES ER ee E R E a Pee E Ao AVIA COMO a ae e UR ee eee bad Lae eb be DR Ee OS LE MID e Soe aces eg es Bs GU i A eS Bos we ag Re a ee Ae a eS Ae Weed yeride 2 3 6 coach Wi whee k amp RG EE Re aea E bees AAN hoe Spmdle speed rere us 54 2 5 Syd b Ae wee He we ER ST EE YB RED HE GS Hoe A oc 2 kk seek Re bE Ee OSA dws Bee hE ASP EA Ee eee EES y Te WII ees Bee es ghd Ge bie Wee Orbe fe Bina A Be ene Bae ad BS GS Revo OWS kb SU eee A hee eee ewe ee ee Pea SO Show LinuxCNC Status linuxcnctop ee MDI meiate e o o EA Oe A eee ee eS A ew ee eee eS GS THIS see BU ee Se Se LS ee GO a ee a Be aS A BO ee Se eee Se Ew a o a Manual Tool Change odo bee ae Sb ee ee Ee Ped eee eA ee Phom MOTE ose S ce ene eae NN Using AXIS tu Lathe Mode coc ge eek kee
178. nce 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 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 the selected plane are omitted e the end point of the arc is the same as the current point G2 Example Line GL Ge 310 YES R20 25 radius format with arc The above example makes 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 14 6 G4 Dwell G4 P e P seconds to dwell floa
179. nded position might be 0 0033 but the Actual position will be 0 0025 2 steps or 0 00375 3 steps 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 cyan lines Moves at a feed rate such as those produced by the GZ command are shown as solid white lines Dwells such as those produced by the G4 command are shown as small pink X marks GO Rapid moves prior to a feed move will not show on the preview plot Rapid moves after a T lt n gt Tool Change will not show on the preview until after the first feed move To turn either of these features off program a G1 without any moves prior to the GO moves Program Extents The extents of the program in each axis are shown At the ends the least and greatest coordinate values are indicated In the middle the difference between the coordinates is shown When some coordinates exceed the soft limits in the ini file the relevant dimension is shown in a different color and enclosed by a box In figure below the maximum soft limit is exceeded on the X axis as indicated by the box surrounding the coordinate value The minimum X travel of the program is 1 95 the maximum X travel is 1 88 and the program requires 3 83 inches of X travel To move the program so it s within the machine s travel in this case jog to the left and Touch Off X again Figure 4 2 Soft Limit Tool Cone When no tool is l
180. ndle Speed Sx set the speed of the spindle to x revolutions per minute RPM The spindle will turn at that speed when a M3 or M4 is in effect 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 the G84 Section 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 17 3 T Select Tool Tx prepare to change to tool x The tool is not changed until an M6 is programmed see Section M6 The T word may appear on the same line as the M6 or on a previous line It is OK if T words appear on two or more lines with no tool change Only the the most recent T word will take effect at the next tool change Note When LinuxCNC is configured for a nonrandom toolchanger see the entry for RANDOM_TOOLCHANGER in the EMCIO Section TO gets special handling no tool will be selected This is useful if you want the spindle to be empty after a tool change User Manual V2 5 2013 02 11 163 195 Note TO When LinuxCNC is configured for
181. ne Coordinates G53 axes To move in the machine coordinate system program G53 on the same line as a linear move G53 is not modal and must be programmed on each line GO or G does not have to be programmed on the same line if one is currently active For example G53 GO X0 YO ZO will move the axes to the home position even if the currently selected coordinate system has offsets in effect G53 Example Line G53 GO X0 YO ZO rapid linear move to the machine origin G53 X2 rapid linear move to absolute coordinate X2 e See GO section for more information It is an error if e G53 is used without GO or G1 being active e or G53 is used while cutter compensation is on 14 30 G54 G59 3 Select Coordinate System G54 select coordinate system 1 G55 select coordinate system 2 G56 select coordinate system 3 G57 select coordinate system 4 G58 select coordinate system 5 G59 select coordinate system 6 G59 1 select coordinate system 7 G59 2 select coordinate system 8 G59 3 select coordinate system 9 The coordinate systems store the axis values and the XY rotation angle around the Z axis in the parameters shown in the following table User Manual V2 5 2013 02 11 133 195 Table 14 2 continued Select CS X Y Z A B C U Vv W R Table 14 2 Coordinate System Parameters Select CS X Y Z A B C U Vv W R G54 1 5221 5222 5223 5224 5225
182. near and angular units used for onscreen display DRO A Digital Read Out is a system of position measuring devices attached to the slides of a machine tool which are connected to a numeric display showing the current location of the tool with respect to some reference position DROs are very popular on hand operated machine tools because they measure the true tool position without backlash even if the machine has very loose Acme screws Some DROs use linear quadrature encoders to pick up position information from the machine and some use methods similar to a resolver which keeps rolling over 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 can make internal corners with a radius only slightly larger than the radius on the corner of the sinking 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 m
183. negative or zero 14 40 G84 Right Hand Tapping Cycle This code is currently unimplemented in LinuxCNC It is accepted but the behavior is undefined See section G33 1 14 41 G85 Boring Cycle Feed Out Ges EN w wie O We R Ib The G85 cycle is intended for boring or reaming but could be used for drilling or milling 1 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 User Manual V2 5 2013 02 11 14 42 G86 Boring Cycle Spindle Stop Rapid Out G86 The G86 cycle is intended for boring This cycle uses a P number for the number of seconds to dwell 4 5 6 Ge Y ue or U Ye WE Re le Y 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 Retract the Z axis at traverse rate to clear Z Restart the spindle in the direction it was going It is an error if e the spindle is not turning before this cycle is executed 14 43 G87 Back Boring Cycle This code is currently unimplemented in LinuxCNC It is accepted but the behavior is undefined 14 44 G88 Boring Cycle Spindle Stop Manual Out This code is currently unimplemented in LinuxCNC It is accepted but the behavior is undefined 14 45 G89 Boring Cycle Dwell Feed Out G89 The G89 cycle is intended fo
184. ngcgui is useful User Manual V2 5 2013 02 11 49 195 as a testing tool for subroutines which do return global named parameters and it is common for ngcgui compatible subfiles to call utility subroutine files that return results with global named parameters To support these usages ngcgui ignores global named parameters that include a colon character in their name Use of the colon in the name prevents ngcgui from making entryboxes for these parameters Global Named Parameters o lt examp gt sub lt _examp result gt 5410 return the current tool diameter o lt helper gt call lt x1 gt lt x2 gt call a subroutine lt xresult gt lt _helper answer gt localize immediately the helper result lt _helper answer gt 0 0 nullify global named parameter used by subroutine o lt examp gt endsub In the above example the utility subroutine will be found in a separate file named helper ngc The helper routine returns a result in a global named parameter named lt _helper answer For good practice the calling subfile immediately localizes the result for use elsewhere in the subfile and the global named parameter used for returning the result is nullified in an attempt to mitigate its inadvertent use elsewhere in the global context A nullification value of 0 0 may not always be a good choice Ngcgui supports the creation and concatenation of multiple features for a subfile and for multiple subf
185. not allow a jog past a soft limit The only way to disable a soft limit on an axis is to Unhome it The Spindle group The buttons on the first row select the direction for the spindle to rotate Counterclockwise Stopped Clockwise Counterclock wise will only show up if the pin motion spindle reverse is in the HAL file it can be net trick axis motion spindle reverse 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 Pressing the spindle start button sets the S speed to 1 The Coolant group User Manual V2 5 2013 02 11 33 195 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 commands to be entered manually When the machine is not turned on or when a program is running the MDI controls are unavailable Manual Control F3 MDI F5 History m3 A g88 1 x1 M63 PO GO X0 YO 70 M63 PO GO XO YO ZO y 7 MDI Command Po Active G Codes Gl G17 G40 G20 G90 G94 G54 G49 G99 G64 G97 G91 1 GB M2 MS M9 M48 M53 MO Figure 4 5 The MDI tab e History This shows MDI commands that have been typed earlier in this session e MDI Command This allows you to enter a g code command to be exec
186. ntroller See the Integrator s Manual Core Components Section Motion subsection for more information Note M68 will not function unless the appropriate motion analog out nn pins are connected in your hal file to outputs 15 18 M100 to M199 User Defined Commands Mi lt P Q gt e MI an integer in the range of 100 199 e P a number passed to the file as the first parameter e Q a number passed to the file as the second parameter User Manual V2 5 2013 02 11 156 195 After creating a new M nn file you must restart the GUI so it is aware of the new file otherwise you will get an Unkown m code error The external program named M100 through M199 no extension and a capitol M is executed with the optional P and Q values as its two arguments Execution of the G code file pauses until the external program exits Any valid executable file can be used The file must be located in the search path specificed in the ini file configuration See the ini config section of the Integrators Manual for more information on search paths Warning Do not use a word processor to create or edit the files A word processor will leave unseen codes that will cause problems and may prevent a bash or python file from working Use a text editor like Gedit in Ubuntu or Notepad in other operating systems to create or edit the files The error Unknown M code used denotes one of the following e The specified User Defined Command do
187. o 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 machine 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
188. oaded the location of the tip of the tool is indicated by the tool cone The tool cone does not provide guidance on the form length or radius of the tool When a tool is loaded for instance with the MDI command T7 M6 the cone changes to a cylinder which shows the diameter of the tool given in the tool table file 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 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 center of the entire program 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 User Manual V2 5
189. ode within the canned cycle mode The program below will produce the same set of 8 holes using five lines for the canned cycle It does not follow exactly the same path nor does it drill in the same order as the earlier example But the program writing economy of a good canned cycle should be obvious Eight Holes G90 GO X0 YO ZO move coordinate home G1 F10 X0 G4 P0 1 G91 G81 X1 YO Z 1 R1 L4 canned drill cycle GIORGCOMX ON al Z0 G91 G81 X1 YO Z 0 5 R1 L4 canned drill cycle G80 turn off canned cycle M2 program end The G98 to the second line above means that the return move will be to the value of Z in the first line since it is higher that the R value specified H120 block does these 4 AE 0 0 01 Twelve Holes in a Square This example demonstrates the use of the L word to repeat a set of incremental drill cycles for successive blocks of code within the same G81 motion mode Here we produce 12 holes using five lines of code in the canned motion mode G90 GO X0 YO ZO move coordinate home G1 F50 X0 G4 P0 1 G91 G81 X1 YO Z 0 5 R1 L4 canned drill cycle XO Y1 RO L3 repeat X 1 YO L3 repeat XO Y 1 L2 repeat G80 turn off canned cycle G90 GO X0 rapid home YO Z0 M2 program end User Manual V2 5 2013 02 11 140 195 H1030 block uN ese y 41040 block does o H1050 block doesthese 7 H1020 block Wit Wa does these 4 0 0 0 The second reason to use a canned cycle is
190. 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 Pragrammed Path Control Point Figure 19 10 Face Cut 19 8 4 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 User Manual V2 5 2013 02 11 177 195 Chapter 20 RS274 NGC Differences 20 1 Changes from RS274 NGC DIFFERENCES THAT CHANGE THE MEANING OF RS274 NGC PROGRAMS Location after a tool change In LinuxCNC 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 ini file units In LinuxCNC the values stored in parameters for the G28 and G30 home locations the P1 P9 coordinate systems and the G92 offse
191. 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 8 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 From the Sherline CNC Operators Manual 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 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 g00 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 x0 y0 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 8 4 4 FEEDHOLD CONTINUE Feedhold is a toggle When the L
192. oggle through jog increments The following only work with a machine using auxiliary I O e b take spindle brake off e Alt b put spindle brake on User Manual V2 5 2013 02 11 75 195 8 7 3 Auto Mode e 1 9 0 set feed override to 10 90 O is 100 e set feed override to 0 or feedhold e 0 0 open a program e r R run an opened program e p P pause an executing program e s S resume a paused program e a A step one line in a paused program 8 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 User Manual V2 5 2013 02 11 Chapter 9 KEYSTICK GUI 9 1 Introduction Estop On Off Machine On OFF Manual Mode Auto Mode Override 100 Tool Offset 0 OC Relative Act Post keystick MDI Mode Reset Interp Hist A Flood n OFF MANUAL LUBE OFF LUBE Ok F9 Spndl Fud OFF F10 Spndl Rev OFF H Spndl Decrease Fi Spndl Increase SPIMDLE STOPPED BRAKE ON MIST OFF FLOOD OFF Figure 9 1 The Mini Graphical Interface Keystick is a minimal text based interface 76 195 ESC Aborte Actions TAB Selects Params END Quits Display 7 Toggles Help gt gt HOHED A SELECTED Speed Tere 560 0 continuous User Manual V2 5 2013 02 11 77 195 9 2 Installing To use keystick change the DISPLAY setting in t
193. om the point of view of someone standing next to the machine 10 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 touched by the front and side of the tool intersect 2 If the parallelism requirement is violated the system builder will have to say how to distinguish clockwise from counterclockwise User Manual V2 5 2013 02 11 81 195 10 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
194. ompensation is commanded to turn on when it is already on 14 25 G41 1 G42 1 Dynamic Cutter Compensation CALL De lt i G42 MD lt I left of programmed path right of programmed path LS LS D cutter diameter e L tool orientation see lathe tool orientation G41 1 amp G42 1 function the same as G41 amp G42 with the added scope of being able to program the tool diameter The L word defaults to 0 if unspecified It is an error if e The YZ plane is active e The L number is not in the range from 0 to 9 inclusive e The L number is used when the XZ plane is not active e Cutter compensation is commanded to turn on when it is already on User Manual V2 5 2013 02 11 131 195 14 26 G43 Tool Length Offset G43 lt H gt H tool number optional G43 enables tool length compensation G43 changes subsequent motions by offsetting the Z and or X coordinates by the length of the tool G43 does not cause any motion The next time a compensated axis is moved that axis s endpoint is the compensated location G43 without an H word uses the currently loaded tool from the last Tn M6 G43 Hn uses the offset for tool n Note G43 HO is a little special Its behavior is different on random toolchanger machines and nonrandom toolchanger machines see the Tool Changers section On nonrandom toolchanger machines G43 HO applies the TLO of the tool currently in the spindle or a TLO of 0 if no tool is in t
195. on as it applies to your lathe When calculating arcs in diameter mode X is diameter and the X offset I is radius even if you re in G7 diameter mode 19 8 Tool Path 19 8 1 Control Point 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 figures you can see how the control point does not follow the tool edge as you might assume Lontrol Foint Tool Tip Radius Figure 19 4 Control Point User Manual V2 5 2013 02 11 173 195 19 8 2 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 Contral Point Programmed Path Tool Tip Radius Figure 19 5 Ramp Entry 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 ways to solve this cutter comp and ad
196. ontains a single subroutine definition The name of the subroutine must be the same as the filename not including the ngc suffix LinuxCNC supports named or numbered subroutines but only named subroutines are compatible with NGCGUI For more information see the O Codes Chapter The first non comment line should be a sub statement The last non comment line should be a endsub statement examp ngc o lt examp gt sub BODY_OF_SUBROUTINE o lt examp gt endsub The body of the subroutine should begin with a set of statements that define local named parameters for each positional parameter expected for the subroutine call These definitions must be consecutive beginning with 1 and ending with the last used parameter number Definitions must be provided for each of these parameters no omissions Parameter Numbering lt xparm gt 1 lt yparm gt 2 lt zparm gt 3 LinuxCNC considers all numbered parameters in the range 1 thru 30 to be calling parameters so ngcgui provides entry boxes for any occurence of parameters in this range It is good practice to avoid use of numbered parameters 1 through 30 anywhere else in the subroutine Using local named parameters is recommended for all internal variables Each defining statement may optionally include a special comment and a default value for the parameter Statement Prototype lt vname gt n default_value Ore lt vname gt n comment_text or lt vname gt
197. ontrol 152 MS Spindle Stop 151 M50 Feed Override Control 152 M51 Spindle Speed Override 153 M52 Adaptive Feed Control 153 M53 Feed Stop Control 153 M6 Tool Change 151 M60 Pallet Change Pause 151 M61 Set Current Tool Number 153 M62 to M65 Output Control 153 M66 Input Control 154 M67 Analog Motion Output Control 155 M68 Analog Aux Output Control 155 M7 Mist Coolant 152 M8 Flood Coolant 152 M9 Coolant Off 152 machine on 28 machine units 186 Manual 31 65 74 Manual Out 146 Manual Tool Change 36 Max Velocity 34 MDI 33 186 Messages 108 Mini GUI 62 Modal Groups 106 N NGCGUL 41 NIST 186 NML 187 O O Codes 158 offsets 187 OpenGL 23 operator precedence 102 optional block delete 80 optional program stop 80 82 Other Codes 162 P Parameters 99 parameters 83 part Program 187 Path Control 133 path control mode 82 Plane Selection 125 Polar Coordinates 104 preview plot 30 Print Messages 108 Probe Logging 108 program extents 30 program units 187 Programming the Planner 16 Python 23 36 195 195 R rapid 187 Rapid Motion 113 Rapid Out 146 rapid rate 187 real time 187 Repeat 160 return 158 RS274 NGC Programs 177 RS274NGC 187 RTAL 187 RTAPL 187 RTLINUX 187 S S Set Spindle Speed 162 servo motor 187 Sherline 63 Signed Integer 187 spindle 32 79 187 spindle speed override 33 80 Spindle Stop Manual Out 146 Rapid Out 146 stepper motor
198. ontrol 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 19 4 3 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 the machine coordinate system A typical session might be 1 Home each axis if not homed 2 Set the current tool with Tn M6 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 5 Threading Threading with a lathe requires feedback from the spindle to LinuxCNC Typically an encoder is used to provide the feedback See the Integrator Manual for more information on spindle feedback The G76 threading cycle is used for both internal and external threads For more information see the G76 Section 19 6 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 machine origin should be when the reference tool the one with zero offset is at
199. ool entries l Although tool numbers up to 99999 are allowed the number of entries in the tool table at the moment is still limited to a maximum of 56 tools for technical reasons The LinuxCNC developers plan to remove that limitation eventually If you have a very large tool changer please be patient User Manual V2 5 2013 02 11 92 195 Earlier versions of LinuxCNC had two different tool table formats for mills and lathes but since the 2 4 x release one tool table format is used for all machines Just ignore the parts of the tool table that don t pertain to your machine or which you don t need to use Each line of the tool table file after the opening semicolon contains the data for one tool One line may contain as many as 16 entries but will likely contain much fewer The units used for the length diameter etc are in machine units You will probably want to keep the tool entries in ascending order especially if you are going to be using a randomizing tool changer Although the tool table does allow for tool numbers in any order Each line may have up to 16 entries The first two entries are required The last entry a remark or comment preceded by a semicolon 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 entries on a line and a newline character at the end of each entry
200. operation on the left is performed first Thus the example is equivalent to 2 0 3 1 5 5 5 7 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 integers The number zero is equivalent to logical false and any non zero number is equivalent to logical true Table 13 2 Operator Precedence Operators Precedence TR highest MOD a EQ NE GT GELT LE AND OR XOR lowest 13 10 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 cap Functions 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 User Manual V2 5 2013 02 11 103 195 Table 13 3 Functions Function Name Function result ATAN Y X Four quadrant inverse tangent ABS arg Absolute value ACOS arg Inverse cosine ASIN arg Inverse sine COS arg Cosine EXP arg 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 arg Sine SQRT arg Square Root TAN arg Tan
201. ops 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 e AXIS notify the_text Displays the_text as an info display This display can be useful in the Axis preview when debug message comments are not displayed User Manual V2 5 2013 02 11 Chapter 5 NGCGUI File Machine View Help p OB Ulea lz 5 lx lie al Manual Control F3 MDI F5 Preview DRO simp xyz e ngcgui 0 move gt z El simp simple subroutine example Ctrl U to edit Positional Parameters 1 6 Radius A a 0 4 radius_b l 3 100 teedrate Feed Override 100 mja Jog Speed 16 in min _ f Max Velocity 72 in min 0 tri for Key bindings __ Create Feature l AXIS splash g code Not intended for actual milling 2 To run this code anyway you might have to Touch Off the Z axis depending on your setup As if you had some material in your mill Hint jog the Z axis down a bit then touch off Also press the Toggle Skip Lines with to see that part If the program is too big or small for your machine change the scale 3 font usr share fonts truetype freefont FreeSerifBoldItalic ttf text EMC2 5 AXIS f ESTOP No tool Position Relative Actual User Manual V2 5 2013 02 11 42 195 5 1 Overview NGCGUT is a utility for using Linux
202. or a feed rate of 1 inch per second and an acceleration of 10 inches sec the critical distance is 17 10 1 10 0 1 inches For a feed rate of 0 5 inch per second the critical distance is 52 100 25 10 0 025 inches 3 2 GCode 3 2 1 Defaults When LinuxCNC 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 LinuxCNC and it is important that you understand what each one does before running LinuxCNC The defaults can be changed when running a G Code file and left in a different state than when you started your LinuxCNC 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 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 is a rotary axis Read and understand the Feed Rate section if you have a rotary axis or a lathe 3 2 3 Tool Radius Offset Tool Radius Offset G41 42 requires that the tool be able to touch somewhere along each programmed 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 cu
203. or 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 canceling motion Non modal codes have effect only on the lines on which they occur For example G4 dwell is non modal 13 14 Polar Coordinates Polar Coordinates can be used to specify the XY coordinate of a move The On is the distance and n 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 coordinate system In Absolute Mode the distance and angle is from the XY zero position and the angle starts with 0 on the X Positive axis and increases in a CCW direction about the Z axis The code G1 1790 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 TLOO
204. 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 example 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 g1 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 g1 3 15 g40 foo for the five items User Manual V2 5 2013 02 11 104 195 13 13 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 F
205. ork 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 P0 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 effect 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 distan
206. ot 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 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 LinuxCNC 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 estop can turn off power to the motors From the Sherline CNC Operators Manual 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 LinuxCNC 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 LinuxCNC will start up again By thinking through what is happening at the time of the restart you can place
207. ot part of the LinuxCNC G code language i j k word with no Gx to use it i j and k words must be used on the same line as the G code Cannot use axis values without a g code that uses them Axis values can not be used on a line without either a modal G code in effect or a G code on the same line File ended with no percent sign or program end Every G code file must end in a M2 or M30 or be wrapped with the percent sign User Manual V2 5 2013 02 11 112 195 Chapter 14 G Codes 14 1 Conventions Conventions used in this section In the G code prototypes the hyphen stands for a real value and lt gt denotes an optional item If L is written in a prototype the will often be referred to as the L number and so on for any other letter In the G code prototypes the word axes stands for any axis as defined in your configuration An optional value will be written like this lt L gt 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 are given any or all of X Y Z A B C U V W 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 retain their original value Any items in the G code prototypes not explicitly described as optional are required Th
208. otion 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 in canned cycles may also be important 13 26 5 Don t put too many things on one line Ignore everything in Section Section 13 25 and instead write no line of code that is the slightest bit ambiguous 13 26 6 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 User Manual V2 5 2013 02 11 111 195 13 26 7 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 13 27 Linear and Rotary Axis 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 13 28 Common Error Messages e G code out of range A G code greater than G99 was used the scope of G codes in LinuxCNC is 0 99 Not every number between 0 and 99 is a valid G code Unknown g code used A G code was used that is n
209. otion of the cutting tool It runs as a 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 parport with LinuxCNC Feed Relatively slow controlled motion of the tool used when making a cut Feed rate The speed at which a cutting motion occurs In auto or mdi mode feed rate is commanded using an F word F10 would mean ten machine units per minute Feedback A method e g quadrature encoder signals by which LinuxCNC receives information about the position of motors Feedrate 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 User Manual V2 5 2013 02 11 186 195 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 General A type of interface that allows communications between a computer and a 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 mach
210. ould 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 G95 is Units per Revolution Mode 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 It is an error if e Inverse time feed rate mode is active and a line with 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 14 52 G96 G97 Spindle Control Mode G96 lt D gt S Constant Surface Speed G97 RPM Mode e D maximum spindle RPM e S surface speed G96 D S selects constant surface speed of S feet per minute if G20 is in effect or meters per minute if G21 is in effect D is optional When using G96 ensure that XO in the current coordinate system including offsets and tool lengths is the center of rotation or LinuxCNC will not give the desired spindle speed G96 is not affected by radius or diameter mode G97 selects RPM mode G96 Example Line G96 D2500 S250 set CSS with a max rpm of 2500 and a surface speed of 250 It is an error if e Sis not specified with G96 e A feed move is specified in G96 mode while the
211. ous continuous 0 0001 d Figure 7 3 TkLinuxCNC Override Limits amp Jogging increments example 7 3 5 2 The Spindle group The button on the first row selects 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 in this group may have an effect 7 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 7 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 G1 G17 G40 G21 G90 G94 G54 G49 G99 G64 G51 M2 M5 M9 M48 F225 51600 Figure 7 4 The Code Entry tab 7 3 6 1 MDI This allows you to enter a g code command to be executed Execute the command by pressing Enter 7 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 User Manual V2 5 2013 02 11 61 195 7 3 7 Jog Speed By moving this slider the speed of jogs can be modified The numbers above refer to
212. p Spindle Overrides Enable Disable M50 Feed Override Control M51 Spindle Override Control M52 Adaptive Feed Control M53 Feed Stop Control M61 Set Current Tool Number M62 M65 Output Control M66 Input Control M67 Analog Output Control M68 Analog Output Control M100 M199 User Defined M codes 15 2 MO M1 Program Pause MO pause a running program temporarily LinuxCNC remains in the Auto Mode so MDI and other manual actions are not enabled Pressing the cycle start button will restart the program at the following line M1 pause a running program temporarily if the optional stop switch is on LinuxCNC remains in the Auto Mode so MDI and other manual actions are not enabled Pressing the cycle start button will restart the program at the following line Note 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 15 3 M2 M30 Program End e M2 end the program Pressing cycle start will start the program at the beginning of the file User Manual V2 5 2013 02 11 151 195 e M30 exchange pallet shuttles and end the program Pressing cycle start will start the program at the beginning of the file Both of these commands have the following effects 1 Change from Auto mode to MDI mode 2 Origin offsets are set to the default like G54 3 Selected plane is set to XY plane like G 7 Distance mode is
213. p ngc GCGUI_SUBFILE Xyz ngc GCGUI_SUBFILE iquad ngc GCGUI_SUBFILE db25 ngc GCGUI_SUBFILE ihex ngc GCGUI_SUBF ILE gosper ngc specify for a custom tab page GCGUI_SUBFILE User Manual V2 5 2013 02 11 45 195 NGCGUI_SUBFILE use when image frame is specified if opening other files is required images will be put in a top level window NGCGUI_OPTIONS NGCGUI_OPTIONS opt items palo pz nonew disallow making a new custom tab noremove disallow removing any tab page noauto no auto send makeFile then manually send noiframe no internal image image on separate top level LEeaerype tracer PREAMBLE Sine STe nee PROGRAM_PREFIX S sofo ae si les 5 4 2 Truetype Tracer Ngcgui_ttt provides support for truetype tracer v4 It creates an axis tab page which allows a user to create a new ngcgui tab page after entering text and selecting a font and other parameters Truetype tracer must be installed independently To embed ngcgui_ttt in axis specify the following items in addition to ngcgui items Item Note Item Note Item Note 5 4 3 Example Example Example DISPLAY TKPKG Ngcgui_ttt version_number DISPLAY TKPKG Ngcgui_ttt 1 0 Mandatory specifies loading of ngcgui_ttt in an axis tab page named ttt Must follow the TKPKG Ngcgui item DISPLAY path_to_truetype
214. 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 A word B word C word etc User Manual V2 5 2013 02 11 102 195 13 7 4 System Parameters Two global read only named parameters are available to check which version is running from G Code e lt _vmajor gt Major package version If current version was 2 5 2 would return 2 5 e lt _vminor gt Minor package version If current version was 2 5 2 would return 0 2 13 8 Expressions An expression is a set of characters startin
215. pensation is on e The P number is unspecified The P number is not a valid tool number from the tool table The P number is 0 14 15 G10 L20 Set Coordinate System G10 L20 P axes e P coordinate system 0 9 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 G10 L20 Example Line G10 120 P1 X1 5 set the X axis current location in coordinate system 1 to 1 5 It is an error if e The P number does not evaluate to an integer in the range 0 to 9 e An axis is programmed that is not defined in the configuration 14 16 G17 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 UV WU and VW planes do not support arcs It is a good idea to include a plane selection in the preamble of each G code file The effects of having a plane selected are discussed in Section G2 G3 and Section G81 G89 14 17 G20 G21 Units e G20 to use inches for length units e G2 to use millimeters for length units It is a good idea to include units in the preamble of each G code file User Manual V2 5 2013 02 11 126 195 14 18 G28 G28 1 Go to Predefined Position l Warning Only use G28 when your machine is homed to a repeatable position and the desired G28 position has been stored wi
216. ple a simple example simp a simple subroutine example that creates two circles xyz creates a box based on two opposite corners To view the demonstration subroutines press the E Stop Y then Machine Power then Home All Pick a ngcgui tab and press Create Feature then Finalize Now press the Run p button to watch it run Note The demonstration subroutines should run on the simualated machine configurations included in the distribution A user should always understand the behavior and purpose of a program before running on a real machine User Manual V2 5 2013 02 11 43 195 5 3 Libraries The simulation configs for ngcgui use links to non user writable LinuxCNC libraries for e ngcgui compatible subfiles ngcgui_lib e Helper subroutines ngcgui_lib utilitysubs e User M files ngcgui_lib mfiles These libraries are defined by the ini file items RS274NGC SUBROUMDNE MP AI A ees Ce s n ge gi awe tees Cuneo sae ou Sus USER_M_PATH IR A A Cale S n ge quo les Note These are long lines not continued on multiple lines that specify the directories used in a search patch The directory names are separated by colons A user can create new directories for their own subroutines and M files and add them to the search path s For example a user could create directories from the terminal mkdir home myusername mysubs mkdir home myusername mymfiles And then create or copy files to these us
217. pyright 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 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 i
218. r boring This cycle uses a P number where P specifies the number of seconds to dwell i en 3 4 i Ye Ze or 0 Ye Me Be L E 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 Retract the Z axis at the current feed rate to clear Z 14 46 G90 G91 Distance Mode 146 195 e G90 absolute distance mode In absolute distance mode 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 the G80 G89 Section e G91 incremental distance mode In incremental distance mode axis numbers usually represent increments from the current coordinate User Manual V2 5 2013 02 11 147 195 G90 Example G90 set absolute distance mode GO X2 5 rapid linear move to coordinate X2 5 including any offsets in effect G91 Example G91 set incremental distance mode GO X2 5 rapid linear move 2 5 from current position along the X axis e See GO section for more information 14 47 G90 1 G91 1 Arc Distance Mode e G90 1 absolute distance mode for I J amp K offsets When G90 1 is in effect I and J both must be specified with G2 3 for the XY plane or J and K for the XZ plane or it is an error e G91 1 incremental distance mode for I J amp K offsets G91 1 Returns I J amp K to their default behavior 14 48 G92 Coor
219. rameters are read write and may be assigned to within an assignment statement However for many predefined parameters this does not make sense so they are are read only they may appear in expressions but not on the left hand side of an assignment statement Persistence When LinuxCNC is shut down volatile parameters lose their values All parameters except numbered parameters in the current persistent range are volatile Persistent parameters are saved in the var file and restored to their previous values when LinuxCNC is started again Volatile numbered parameters are reset to zero Intended Use 1 user parameters numbered parameters in the range 31 5000 and named global and local parameters except prede fined parameters These are available for general purpose storage of floating point values like intermediate results flags etc throughout program execution They are read write can be assigned a value 2 subroutine parameters these are used to hold the actual parameters passed to a subroutine 3 numbered parameters most of these are used to access offsets of coordinate systems 4 system parameters used to determine the current running version They are read only 13 7 1 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 wit
220. 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 represented in a format whose specification 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 variety 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 LaTeX input format SGML or XML using a publicly available DTD and standard conformin
221. remental 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 slider 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 8 4 2 AUTO When the Auto button is pressed or lt F4 gt on the keyboard and LinuxCNC is set to that mode a set of the traditional auto operation buttons is displayed and a small text window opens to show a 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
222. remov Multiple options are separated by blanks By default ngcgui configures tab pages so that 1 a user can make new tabs 2 a user can remove tabs except for the last remaining one 3 finalized files are automatically sent to axis 4 an image frame iframe is made available to display an image for the subfile The options nonew noremove noauto noiframe respectively disable these default behaviors By default if an image png gif jpg pgm file is found in the same directory as the subfile the image is displayed in the iframe Specifying the noiframe option makes available additional buttons for selecting a preamble subfile and postamble and additional checkboxes Selections of the checkboxes are always available with special keys Ctrl R Toggle Retain values on Subfile read Ctrl E Toggle Expand subroutine Ctrl a Toggle Autosend Ctrl k lists all keys and functions If noiframe is specified and an image file is found the image is displayed in a separate window and all functions are available on the tab page The NGCGUI_OPTIONS apply to all ngcgui tabs except that the nonew noremove and noiframe options are not applicable for Custom tabs Do not use Custom tabs if you want to limit the user s ability to select subfiles or create additional tab pages User Manual V2 5 2013 02 11 48 195 5 5 Subroutine Requirements An NGCGUI compatible subfile c
223. rface is the part of the LinuxCNC that the machine tool operator interacts with The LinuxCNC comes with several types of user interfaces e Axis the standard GUI interface User Manual V2 5 2013 02 11 7 195 File Machine View Help 4 D Filas a lp A Some Um esznel Manual Control F3 MDI F5 Preview DRO Axis Feed Override 100 ca Jog Speed 16 in min Max Velocity 72 in min j AXIS splash g code Not intended for actual milling Y To run this code anyway you might have to Touch Off the Z axis depending on your setup As if you had some material in your mill Hint jog the Z axis down a bit then touch off Also press the Toggle Skip Lines with to see that part If the program is too big or small for your machine change the scale 3 font usr share fonts truetype freefont FreeSerifBoldItalic ttf text EMC2 5 AXIS ESTOP No tool Position Relative Actual Figure 2 2 Axis GUI e Touchy a touch screen GUI User Manual V2 5 2013 02 11 Relative Absolute DTG X 0 0000 X 0 0000 X 0 0000 E 0 0000 Zs 0 0000 0 0000 Z 1 2063 Es 0 0000 Z 0 0000 Power Estop Reset Machine On Override Limits Estop Machine Off Homing Home All Home Selected Unhome All Unhome Selected Startup MDI Manual Auto Status Preferences Figure 2 3 Touchy GUI 8 195 Handwheel FO 100 SO 100 MV 100 Jogging X
224. rotary motion and the F word is in rotary units in the ABC pseudo cartesian system 10 2 6 Coolant Flood coolant and mist coolant may each be turned on independently The RS274 NGC language turns them off together see Section M7 M8 M9 10 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 Path Control the machine will stop exactly at the end of the previous programmed move as though it was in exact path mode 10 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 rotational 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 G93 G94 G95 10 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
225. ry to the clipboard Paste to MDI history Paste from the clipboard to the MDI history window Calibration Starts a PID tuning assistant which is mainly for servo systems Some things can be changed on a stepper system Show HAL Configuration Opens the HAL Configuration window where you can monitor HAL Components Pins Parameters Signals Functions and Threads HAL Meter Opens a window where you can monitor a single HAL Pin Signal or Parameter User Manual V2 5 2013 02 11 27 195 e HAL Scope Opens a virtual oscilloscope that allows plotting HAL values vs time e Show LinuxCNC Status Opens a window showing LinuxCNC s status e Set Debug Level Opens a window where debug levels can be viewed and some can be set e Homing Home one or all axes e Unhoming Unhome one or all axes e Zero Coordinate System Clear set to zero a chosen offset e Tool touch off to workpiece When performing Touch Off the value entered is relative to the current workpiece G5x coordi nate system as modified by the axis offset G92 When the Touch Off is complete the Relative coordinate for the chosen axis will become the value entered See G10 L10 in the G code chapter e Tool touch off to fixture When performing Touch Off the value entered is relative to the ninth G59 3 coordinate system with the axis offset G92 ignored This is useful when there is a tool touch off fixture at a fixed location on the machine with the nint
226. s He KEYSTICK GUI Si JIOIODUICHOA 2 cc ee e we ee ee we A See el YR eee ds 2 MERINE aaa o ACRE GS Rae Pe AG eS he be RA whee eS HI Using LinuxCNC 10 CNC Machine Overview 10 1 Mechanical Components sce c 244 2444 2 ode bebe Ea we Ae ee PA ee ae IOLI Axes fo A HE Re egos Ge O E ee es SR e e WO aN y ch ek es chee es de Ale Ge ee Ge o BBA Ghee E ILL COMME ope ee hae ee tae eA baw e ee eee ed baa ee Pe ee hee eS IOLA Peed aed Speed NENE sg a als Se eee CE Pe es BR ee Re eS 62 62 63 64 65 65 66 67 67 67 68 68 68 69 69 69 70 71 71 72 73 73 74 75 75 76 76 77 77 78 User Manual V2 5 2013 02 11 vi 10 15 Block Delete Switch gt ace ys Hoe ee A E ee ed VA eee oS 80 10 1 6 Optional Program Stop SWEET coi RE RR EGG RE KE RES Bee bo 80 ME2 Control and Data Compomenta opos ew ee eh See SA bee ee ee eee bbe eed 80 2I LUET Axess 6c ce hake A E eee ee Ee A ee eS 80 M22 Rotational Aves 0 core A a AG Re A Geel ak 80 Wis Controlled Pant or o kk Ea eo A eee 2 ee bbe A 80 10 24 Coordinated Linear NIOBOA o e s corsa e ee ee ee ee ey Ree eee eS 81 1029 Peed Rae ei a ea SER RES ERE Rae AGS Ro be ORG eee oo 81 DES Coolant adoos DE 25 BES hee eee 2 ee E 81 W022 DWE os nre ee eA A A eae Eee ewe ee ae ee 81 POS US co RS Be ER AS BERS EPR EES BRE RS ERE ee eo 81 1029 Curren Poste oboe A S OHS EAS Beeb ci ts 81 1042 10 Selected Plan ee Re ee ee E Ee U eae Ge ae Re 82 MA IU Woah ATOM os eh eR AES ERS Ree EEG GRE R
227. s may begin with any of the letters shown in the following Table The table includes N for completeness even though as defined above line numbers are not words Several letters I J K L P R 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 13 1 Words and their meanings Letter Meaning A A axis of machine B axis of machine C axis of machine Tool radius compensation number Feed rate General function See table Modal Groups 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 Modal Groups 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 Mazz Alaa al a mm a a w N K gt lt E lt C Hl al al oO User Manual V2 5 2013 02 11 99 195 13 6 Number The following rules are used for explicit numbers In these rules a digit is a single character between 0 and 9 e A number consists of 1 an optional plus or minus
228. s stored in parameter 5399 Mode 1 RISE waits for the selected input to perform a rise event Mode 2 FALL waits for the selected input to perform a fall event Mode 3 HIGH waits for the selected input to go to the HIGH state Mode 4 LOW waits for the selected input to go to the LOW state e Q specifies the timeout in seconds for waiting If the timeout is exceeded the wait is interrupt 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 0 is the only one permitted for an analog input M66 Example Lines MSG 120 155 wakit Cor Cbtepalice ll imore 0 cre sua ojal M66 El L1 wait for analog input 1 to rise M66 wait on an input stops further execution of the program until the selected event or the programmed 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 LinuxCNC these inputs are not monitored in real time and thus should not be used for timing critical applications The number of I O can be increased by using the num_dio or num_aio parameter when loading the motion controller See the Integrator s Manual Core Components Section Motion subsection for more information Note M66 will not function unless the appropriate motion digital in nn pins or motion analog in nn pins are connect
229. s 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 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 Documentat
230. 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 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 A non 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 13 7 Parameters Variables The RS274 NGC language supports parameters what in other programming languages would be called variables
231. slash 2 an optional line number 3 any number of words parameter settings and comments 4 anend 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 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 User Manual V2 5 2013 02 11 98 195 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 13 3 Block Delete The optional block delete character the slash when placed first on a line can be used by some user interfaces to skip lines of code when needed In Axis the key combination Alt m toggles block delete on and off When block delete is on any lines starting with the slash are skipped 13 4 Line Number A line number is the letter N followed by an unsigned integer 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 13 5 Word A word is a letter other than N followed by a real value Word
232. spindle is not turning User Manual V2 5 2013 02 11 149 195 14 53 G98 G99 Canned Cycle Return Level e G9S retract to the position that axis was in just before this series of one or more contiguous canned cycles was started e G99 retract to the position specified by the R word of the canned cycle Program a G98 and the canned cycle will use the Z position prior to the canned cycle as the Z return position if it is higher than the R value specified in the cycle If it is lower then the R value will be used The R word has different meanings in absolute distance mode and incremental distance mode G98 Retract to Origin COM xa Z AS CHO CHE CL KA wa A 006 RI e RLO The G98 to the second line above means that the return move will be to the value of Z in the first line since it is higher that the R value specified The initial G98 plane is reset any time cycle motion mode is abandoned whether explicitly G80 or implicitly any motion code that is not a cycle Switching among cycle modes say G81 to G83 does NOT reset the initial plane It is possible to switch between G98 and G99 during a series of cycles User Manual V2 5 2013 02 11 150 195 Chapter 15 M Codes 15 1 M Code Quick Reference Table Code Description MO M1 Program Pause M2 M30 Program End M60 Pallet Change Pause M3 M4 M5 Spindle Control M6 Tool Change M7 M8 M9 Coolant Control M48 M49 Feed am
233. st repeat consists of 3 moves 1 a traverse parallel to the XY plane to X5 Y7 Z4 8 2 a feed parallel to the Z axis to X5 Y7 Z4 2 User Manual V2 5 2013 02 11 143 195 3 a traverse parallel to the Z axis to X5 Y7 Z4 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 X9 Y12 Z4 8 2 a feed parallel to the Z axis to X9 Y12 Z4 2 3 a traverse parallel to the Z axis to X9 Y 12 Z4 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 X13 Y17 74 8 2 a feed parallel to the Z axis to X13 Y 17 Z4 2 3 a traverse parallel to the Z axis to X13 Y17 Z4 8 First Second Third repeat repeat repeat Preliminary more _ to intial Z R a ot E A Final position is initial R Initial Position 0 0 05 Y 148 0 5 4 2 0 0 0 x 13 0000 0 0 953 x0 yO 20 absolut home Fl A E solute Move Nome Y 17 0000 na Al IO 990 x1 y2 23 94 pl m3 s3000 4 91 981 998 x4 y5 2 0 611 813 z 4 8000 lfs m gt gt Example 3 Relative Position G81 Now suppose that you execute the first G81 block of code but from X0 YO Z0 rather than from X1 Y2 Z3 CIO Gs Ciel KA KI ALI RZ ts Since OLD_Z is below the R value it adds nothing for the motion but since the initial value of Z is
234. t As the tool travels in the Axis display the G code path is highlighted To repeat the program or to better see an area of interest the previously highlighted paths can be cleared Show Commanded Position This is the position that LinuxCNC will try to go to Once motion has stopped this is the position LinuxCNC will try to hold Show Actual Position Actual Position is the measured position as read back from the system s encoders or simulated by step generators This may differ slightly from the Commanded Position for many reasons including PID tuning physical constraints or position quantization Show Machine Position This is the position in unoffset coordinates as established by Homing Show Relative Position This is the Machine Position modified by G5x G92 and G43 offsets HELP MENU e About Axis We all know what this is e Quick Reference Shows the keyboard shortcut keys 4 3 2 Toolbar buttons From left to right in the Axis display the toolbar buttons keyboard shortcuts shown in brackets are Y Toggle Emergency Stop F1 also called E Stop Toggle Machine Power F2 e Open G Code file O y Ea Reload current file Ctrl R User Manual V2 5 2013 02 11 29 195 p Begin executing the current file R gt Execute next line T Pause Execution P Resume Execution S Stop Program Execution ESC L Toggle Skip lines with Alt M 7 HW Toggle Optional Pause
235. t are in ini file 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 ini file units In LinuxCNC the tool lengths offsets and diameters in the tool table are specified in ini file 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 G code in the machine s non native units even when the G code 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 LinuxCNC G28 G30 with axis words When G28 or G30 is programmed with only some axis words present LinuxCNC 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 G code GO X Y axes to move to intermediate point G28 move all axes to predefined point 20 2 Additions to RS274 NGC DIFFERENCES THAT DO NOT CHANGE THE MEANING OF RS274 NGC PROGRAMS G33 G76 threading codes These codes are not defined in RS274 NGC G38 2 The probe tip is not retracted after a G38 2 movement This
236. table e After homing load a tool with Tn M6 where n is the tool number e Move tool to an established point using a gauge or take a test cut and measure e Click the Touch Off button in the Manual Control tab or hit the End button on your keyboard e Select Tool Table in the Coordinate System drop down box e 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 Tn M6 Touch Off Enter lt coordinate relative to 10 250 Workplece 0 250000 Coordinate system T Tool Table Ok Cancel Figure 12 1 Touch Off Tool Table User Manual V2 5 2013 02 11 91 195 12 1 2 Using G10 L1 L10 L11 The G10 L1 L10 L11 commands can be used to set tool table offsets these are just quick summaries see the G code section for full details e G10 LI Pn Set offset s to a value Current position irrelevant see G10 L1 for details e G10 L10 Pn Set offset s so current position w fixture 1 8 becomes a value see G10 L10 for details e G10 L11 Pn Set offset s so current position w fixture 9 becomes a value see G10 L11 for details 12 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 conf
237. th G28 1 G28 uses the values stored in parameters 5161 5166 as the X Y ZA BCU V W final point to move to The parameter values are absolute machine coordinates in the native machine units as specifed in the ini file All axes defined in the ini file will be moved when a G28 is issued e G28 makes a rapid traverse move from the current position to the absolute position of the values in parameters 5161 5166 e G28 axes will make a rapid traverse move to the position specified by axes including any offsets then will make a rapid traverse move to the absolute position of the values in parameters 5161 5166 e G28 1 stores the current absolute position into parameters 5161 5166 G28 Example Line G28 22 5 rapid to 22 5 then to location specified in the G28 stored parameters It is an error if e Cutter Compensation is turned on 14 19 G30 G30 1 Go to Predefined Position Warning Only use G30 when your machine is homed to a repeatable position and the desired G30 position has been stored with G30 1 G30 functions the same as G28 but uses the values stored in parameters 5181 5186 as the X Y ZA B C U V W final point to move to The parameter values are absolute machine coordinates in the native machine units as specifed in the ini file All axes defined in the ini file will be moved when a G30 is issued Note G30 parameters will be used to move the tool when a M6 is programmed if TOOL_CHANGE_AT_G30 1 is in the E
238. th a wheel MPG and a few buttons and switches Relative Absolute DTG Handwheel x 0 0000 X 0 0000 gt e 0 0000 Nee 0 0000 xg 0 0000 as 0 0000 FO 100 Z 1 2063 Z 0 0000 Z 0 0000 Power SO 100 Estop Reset Machine On Override Limits MV 100 Estop Machine Off Jogging Homing m X Home All Home Selected Y Unhome All Unhome Selected vA Startup MDI Manual Auto Status Preferences al Figure 6 1 Touchy User Manual V2 5 2013 02 11 54 195 6 1 Panel Configuration 6 1 1 HAL connections Touchy requires that you create a file named touchy hal in your configuration directory the directory your ini file is in to connect 1ts controls Touchy executes the HAL commands in this file after 1t has made its own pins available for connection Touchy has several output pins that are meant to be connected to the motion controller to control wheel jogging e touchy jog wheel increment which is to be connected to the axis N jog scale pin of each axis N e touchy jog wheel N which is to be connected to axis N jog enable for each axis N e In addition to being connected to touchy wheel counts the wheel counts should also be connected to axis N jog counts for each axis N If you use HAL component ilowpass to smooth wheel jogging be sure to smooth only axis N jog counts and not touchy wheel counts 6 1 1 1 Required controls e Abort button momentary contact connected to the HAL pin touchy abort e Cycle start b
239. th the current G5x and G92 offsets active the current coordinates for the given axes will become the given values The axes that are not specified in the G10 L10 command will not be changed This could be useful with a probe move as described in the G38 section G10 L10 Example Tl M6 G43 load tool 1 and tool length offsets cl MELO PAS Zo Bs ua currents Joselo for 4 10 ls lS G43 reload the tool length offsets from the changed tool table M2 end program e See T amp M6 and G43 G43 1 sections for more information It is an error if e Cutter Compensation is on e The P number is unspecified e The P number is not a valid tool number from the tool table The P number is 0 14 14 G10 L11 Set Tool Table GLO Lill P axes lt R I J Q gt e P tool number e R radius of tool e I front angle lathe e J back angle lathe e Q orientation lathe G10 L11 is just like G10 L10 except that instead of setting the entry according to the current offsets it is set so that the current coordinates would become the given value if the new tool offset is reloaded and the machine is placed in the G59 3 coordinate system without any G92 offset active This allows the user to set the G59 3 coordinate system according to a fixed point on the machine and then use that fixture to measure tools without regard to other currently active offsets It is an error if User Manual V2 5 2013 02 11 125 195 e Cutter Com
240. 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 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 Modified 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
241. that they all produce preliminary moves and returns that you can anticipate and control regardless of the start point of the canned cycle 14 36 G80 Cancel Canned Cycle e G80 cancel canned cycle modal motion G80 is part of modal group 0 so programming any other G code from modal group 0 will also cancel the canned cycle It is an error if e Axis words are programmed when G80 is active G80 Example G90 G81 X1 Yl Z1 5 R2 8 absolute distance canned cycle G80 turn off canned cycle motion GO X0 YO ZO turn on rapid traverse and move to coordinate home The following code produces the same final position and machine state as the previous code G0 Example G90 G81 X1 Y1 21 5 R2 8 absolute distance canned cycle GO X0 YO ZO turn on rapid traverse and move to coordinate home The advantage of the first set is that the G80 line clearly turns off the G81 canned cycle With the first set of blocks the programmer must turn motion back on with GO as is done in the next line or any other motion mode G word If a canned cycle is not turned off with G80 or another motion word the canned cycle will attempt to repeat itself using the next block of code that contains an X Y or Z word The following file drills G81 a set of eight holes as shown in the following caption G80 Example 1 N100 G90 GO X0 YO ZO coordinate home N110 Gl X0 G4 PO 1 N120 G81 X1 YO ZO R1 canned drill cycle N130 X2 N140 X3 N150 X4 User Manual
242. the center of rotation 19 7 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 you re in lathe mode in the user interface Axis Arcs in G18 XZ plane use I X axis and K Z axis offsets User Manual V2 5 2013 02 11 172 195 19 7 1 Arcs and Lathe Design 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 The Z axis points to the right away from the spindle e The X axis points 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 G3 Arc directions are based on the axis they rotate around In the case of lathes it is the imaginary Y axis If the Y axis 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 G3 for the arc to appear to go in the correct direction 19 7 2 Radius amp Diameter Mode When calculating arcs in radius mode you only have to remember the direction of rotati
243. the same line the motion will also differ see the G53 Section for more information It is an error if e An axis letter is without a real value e An axis letter is used that is not configured 14 4 G1 Linear Feed Gl axes For linear straight line motion at programed feed rate for cutting or not program GJ axes where all the axis words are optional The G is optional if the current motion mode is G 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 G1 Example G90 set absolute distance mode Gl X1 2 Y 3 F10 linear move at a feed rate of 10 from current position to X1 2 Y 3 Z 2 3 linear move at same feed rate from current position to Z 2 3 Z1 F25 linear move at a feed rate of 25 from current position to 21 M2 end program e See G90 amp F amp M2 sections for more information If cutter compensation is active the motion will differ from the above see the Cutter Compensation Section If G53 is programmed on the same line the motion will also differ see the G53 Section for more information It is an error if e No feed rate has been set e An axis letter is without a real value e An axis letter is used that is not configured 14 5 G2 G3 Arc Feed G2 or G3 axes offsets center format G2 or G3 axes R radius format G2 or G3 offsets lt P gt full circles User Manual V2 5 2013 02 11 115 19
244. 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 8 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 8 5 1 Axis Position Displays The axis position displays work exactly like they do with tkLinuxCNC 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 e Yellow indicates that the machine is ready 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 User Manual V2 5 2013 02 11 69 195 8 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
245. the vise and jaws Tool offsets can be used to shift the uncorrected length of a tool to equal that tool s actual length 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 in a part program The linear program units do not have to be the same as the linear machine units See G20 and G21 for more information The angular program units are always measured in degrees Python General purpose very high level programming language Used in LinuxCNC 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 workpiece or the fixturing during a rapid it is probably a bad thing Rapid rate The speed at which a rapid motion occurs In auto or mdi mode rapid rate is usually the maximum speed of the machine It is often desirable to limit the rapid rate when testing a g code program for the first time 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 rea
246. ting point The P number is the time in seconds that all axes will remain unmoving The P number is a floating point number so fractions of a second may be used G4 does not affect spindle coolant and any I O G4 Example Line G4 P0 5 wait for 0 5 seconds before proceeding It is an error if e the P number is negative or not specificed 14 7 G5 1 Quadratic B spline CAL k MA IS e I X axis offset e J Y axis offset G5 1 creates a quadratic B spline in the XY plane with the X and Y axis only The offsets are I for X axis and J for Y axis 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 User Manual V2 5 2013 02 11 120 195 14 8 G5 2 G5 3 NURBs Block i 2 gt P lt b gt O A A Core 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 G5 2 Ex
247. ting values in O words For more information on computing values see the following sections e Parameters e Expressions e Binary Operators Functions 16 6 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 or SUBROUTINE_PATH in the ini file The file name can include lowercase letters numbers dash and underscore only A named subroutine file can contain only a single subroutine definition Named File Example o lt myfile gt call Numbered File Example elz caki In the called file you must include the oxxx sub and endsub and the file must be a valid file Called File Example filename myfile ngc o lt myfile gt sub code here o lt myfile gt endsub M2 Note The file names are lowercase letters only so o lt MyFile gt is converted to o lt myfile gt by the interpreter More information about the search path and options for the search path are in the INI Configuration Section User Manual V2 5 2013 02 11 162 195 Chapter 17 Other Codes 17 1 F Set Feed Rate Fx set the feed rate to x x is usually in machine units inches or millimeters per minute The application of the feed rate is as described in the Feed Rate Section unless inverse time feed rate mode is in effect in which case the feed rate is as described in the G93 G94 G95 Section 17 2 S Set Spi
248. tion with no Invariant Sections no Front Cover Texts and one Back Cover Text This LinuxCNC 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 23 2 GNU Free Documentation License GNU Free Documentation License Version 1 1 March 2000 Copyright 2000 Free Software Foundation Inc 59 Temple Place 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 0 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 fr
249. 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 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
250. to make choices about how you will use the system Many of these choices are a part of machine integration but 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 P1H 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 LinuxCNC we offer two cautionary notes Found at http en wikipedia org wiki Unix_philosophy 07 06 2008 Found at http en wikipedia org wiki Unix_philosophy 07 06 2008 User Manual V2 5 2013 02 11 4 195 e Paraphrasing the words of Doug Gwyn on UNIX LinuxCNC 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 LinuxCNC is user friendly It just isn t promiscuous about which users it s friendly with User Manual V2 5 2013 02 11 5 195 Chapter 2 LinuxCNC User Introduction 2 1 This Manual The focus of this manual is on using LinuxCNC It is intended to be used once LinuxCNC 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 LinuxCNC see the Integrator Manual 2 2 How Lin
251. tons User Manual V2 5 2013 02 11 66 195 From the Sherline CNC Operators Manual 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 Axis focus is important here Notice in startup figure 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 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 LinuxCNC 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 inc
252. track of where the tools are T can be any number but P must be a number that makes sense for the machine 12 3 Cutter Compensation Cutter 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 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 creates 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 Outside Corner End of first move G41 Path Programmed Path Inside Corner End of first move G42 Path Figure 12 2 Compensation End Point User Manual V2 5 2013 02 11 94 195 12 3 1 Overview Tool Table Cutter compensation uses the data from the tool table to determine the offset needed The data can be set at run time with G10 L
253. tter to pass down a path that is narrower than the cutter without any errors See the Cutter Compensation Section for more information 3 3 Homing After starting LinuxCNC each axis must be homed prior to running a program or running a MDI command If your machine does not have home switches a match mark on each axis can aid in homing the machine coordinates to the same place each time Once homed your soft limits that are set in the ini file will be used 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 Integrator Manual 3 4 Tool Changes There are several options when doing manual tool changes See the EMCIO section of the Integrator Manual for information on configuration of these options Also see the G28 and G30 section of the User Manual User Manual V2 5 2013 02 11 19 195 3 5 Coordinate Systems The Coordinate Systems can be confusing at first Before running a CNC machine you must understand the basics of the coordinate systems used by LinuxCNC In depth information on the LinuxCNC Coordinate Systems is in the Coordinate System Section of this manual 3 5 1 G53 Machine Coordinate When you home LinuxCNC you set the G53 Machine Coordinate System to 0 for each axis homed e No other coordinate systems or tool offsets are changed by homing The only tim
254. ue of X should be 3 at the end of the move Most LinuxCNC 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 LinuxCNC 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 signaled 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 LinuxCNC 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 13 2 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
255. uted Execute the command by pressing Enter or by clicking Go e 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 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 if a 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 speed can be modified For instance if a program requests S8000 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 User Manual V2 5 2013 02 11 34 195 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
256. utton momentary contact connected to touchy cycle start e Wheel MPG connected to touchy wheel counts and motion pins as described above e Single block toggle switch connected to touchy single block 6 1 1 2 Optional controls e For continuous jog one center off bidirectional momentary toggle or two momentary buttons for each axis hooked to touchy jog continuous x negative touchy jog continuous x positive etc e 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 6 1 1 3 Optional panel lamps e touchy jog active shows when the panel jogging controls are live e touchy status indicator is on when the machine is executing G code and flashes when the machine is executing but is in pause feedhold 6 1 2 Recommended for any setup e Estop button hardwired in the estop chain 6 2 Setup 6 2 1 Enabling Touchy To use Touchy in the DISPLAY section of your ini file change the display selector line to DISPLAY touchy User Manual V2 5 2013 02 11 55 195 6 2 2 Preferences When you start Touchy the first time check the Preferences tab If using a touchscreen choose the option to hide the pointer for best results The Status Window is a fixed height set by the size of a fixed font This can be affected by the Gnome DPI configured in System Preferences Appearance Fonts Details If the bottom of the screen is cut off reduce the DPI setting Al
257. uxCNC Works The Enhanced Machine Controller LinuxCNC 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 LinuxCNC software e a motion controller EMCMOT e a discrete I O controller EMCIO e a task executor which coordinates them EMCTASK e and one of several graphical user interfaces In addition there is a layer called HAL Hardware Abstraction Layer which allows configuration of LinuxCNC without the need of recompiling User Manual V2 5 2013 02 11 6 195 Power supply Linux PC Stepper Stepper drives motors Figure 2 1 Simple LinuxCNC Controlled Machine The above figure shows a simple block diagram showing what a typical 3 axis LinuxCNC 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 sending signals through the printer port These signals pulses make the stepper drives move the stepper motors The LinuxCNC system 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 LinuxCNC system we will remind the reader of this typical machine 2 3 Graphical User Interfaces A user inte
258. valuate to a positive integer rotary axis motion is used during a canned cycle inverse time feed rate is active during a canned cycle or cutter 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 14 35 6 Preliminary and In Between Motion Preliminary motion is a set of motions that is common to all of the milling 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 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 User Manual V2 5 2013 02 11 139 195 14 35 7 Why use a canned cycle There are at least two reasons for using canned cycles The first is the economy of code A single bore would take several lines of code to execute The G81 Example 1 demonstrates how a canned cycle could be used to produce 8 holes with ten lines of G c
259. will be found before files in nc_files ngcegui_lib Example RS274NGC SUBROUTINE_PATH home myname emc2 mysubs nc_files ngcgui_li New users may inadvertently try to use files that are not structured to be compatible with ngcgui requirements Ngcgui will likely report numerous errors if the files are not coded per its conventions Good practice suggests that ngcgui compatible subfiles should be placed in a directory dedicated to that purpose and that preamble postamble and helper files should be in separate directory ies to discourage attempts to use them as subfiles Files not intended for use as subfiles can include a special comment not_a_subfile so that ngcgui will reject them automatically with a relevant message To embed ngcgui in axis specify the following items in the inifile Item DISPLAY PROGRAM_PREFIX dirname Example DISPLAY PROGRAM_PREFIX nc_files Note Mandatory and needed for numerous emc functions It is the first directory used in the search for files Item RS274NGC SUBROUTINE_PATH dirnamel dirname2 dirname3 Example RS274NGC SUBROUTINE_PATH nc_files ngcgui_lib nc_files ngcgui Note Optional but very useful to organize subfiles and utility files otem DISPLAY TKPKG Ngcgui version_number Example DISPLAY TKPKG Ngcgui 1 0 Note Mandatory specifies loading of ngcgui axis tab pages Item DISPLAY NGCGUI_FONT
260. witches or by 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 LinuxCNC Unless your intention is to use the same G92 offsets in the next program the best practice is to issue a G92 1 at the end of any G Code files where you use G92 offsets 11 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 EO x O wO ZO Gil wil 220 23 CI Xx O i1 wO nO vO GO Z0 M2 We can issue a set of commands to create offsets for the four other circles like this G10 12 P2 X0 5 offsets G55 X value by 0 5 inch CLO yA 125 2 05 Os Sis C96 X valus y 0 5 NCh G10 12 P4 Y0 5 offsets G57 Y value by 0 5 inch CiO mA 225 0 5 Olas SiS CSG Y valus y 0 5 TTEN We put these together in the following program a program for milling five small circles in a diamond shape L2 P1 X0 YO ZO ensure that G54 is machine zero Ze 2 XO SO ES SES CIS Oy AECA WA 2S OS Ora ENS X value doy 05 kmi L2 P4 YO 5 offsets G57 Y value by 0
261. xecuted This immediately returns to the calling code just as though O endsub was encountered O Return Example 0100 sub 0110 if 2 GT 5 test if parameter 2 is greater than 5 0100 return return to top of subroutine if test is true 0110 endif some code here that only gets executed if parameter 2 is less than 5 0100 endsub See the Binary Operators amp Parameters sections for more information O Call O Call takes up to 30 optional arguments which are passed to the subroutine as 1 2 N Parameters from N 1 to 30 have 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 Parameters 1 30 are local to the subroutine Because 2 3 is parsed as the number 123 the parameters must be enclosed in square brackets The following calls a subroutine with 3 arguments O Call Example G200 call P 121 TS 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 16 2 Looping The wh
262. xt area previewed in the display area and executed by LinuxCNC when Run The following lines add support for the image to gcode converter included with LinuxCNC FILTER PROGRAM_EXTENSION png gif Greyscale Depth Image png image to gcod GJL image to gcod It is also possible to specify an interpreter PROGRAM_EXTENSION py Python 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 Circular Holes mE Units 1620 dm a Center 11 0 o Center 0 0 Increment Angle 17 0 Radius 1 0 Hole Count E Feed Rate 8 0 Hole Depth 0 1 Dwell O no dwell 1 0 Retract Height 0 1 ORK Cancel Figure 4 8 Circular Holes 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 User Manual V2 5 2013 02 11 39
263. y using scripts rip environment 4 10 Using AXIS in 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 such as those for preset views are removed The coordinate readouts for X are replaced with diameter and radius 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 Lathe Tool Shape 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 Integrator 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 generating G Code from an image User Manual V2 5 2013 02 11 38 195 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 te
264. y for Z tool length offset In a typical lathe you probably want an entry for X X tool offset and Z Z tool offset In a typical mill using cutter diameter compensation cutter comp you probably also want to add an entry for D cutter diameter In a typical lathe using tool nose diameter compensation tool comp you probably also want to add an entry for D tool nose diameter A lathe also requires some additional information to describe the shape and orientation of the tool So you probably want to have entries for I tool front angle and J tool back angle You probably also want an entry for Q tool orientation A complete description of the lathe entries can be found in the lathe section of the user manual here The Diameter column contains a real number This number is used only if cutter compensation is turned on using this tool 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 or negative but near zero representing only the difference between the measured diameter of the tool and the nominal diameter If cutter 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
265. 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 4 MODIFICATIONS You may copy and distribute a Modified Version of the Document 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 User Manual V2 5 2013 02 11 191 195 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 fiv

User Manual V2.5, 2013-02-11

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