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| '''G-code''' is the common name for the most widely used ] (CNC) ], which has many ]s. Used mainly in ], it is part of ]. G-code is sometimes called '''G programming language'''. (The names of the language are explained at "]".) | |||
| In fundamental terms, G-code is a language in which people tell computerized ]s what to make and how to make it. The "what" and "how" are mostly defined by instructions on where to move to, how fast to move, and through what path to move. The most common situation is that a ] is moved according to these instructions, cutting away excess material to leave only the finished workpiece. Non-cutting tools, such as cold-forming tools, burnishing tools, or measuring probes, are also sometimes involved. | In fundamental terms, G-code is a language in which people tell computerized ]s what to make and how to make it. The "what" and "how" are mostly defined by instructions on where to move to, how fast to move, and through what path to move. The most common situation is that a ] is moved according to these instructions, cutting away excess material to leave only the finished workpiece. Non-cutting tools, such as cold-forming tools, burnishing tools, or measuring probes, are also sometimes involved. | ||
Revision as of 21:25, 22 February 2012
"G-code" redirects here. For other uses, see G-code (disambiguation) and G programming language (disambiguation).| Designed by | Massachusetts Institute of Technology |
|---|---|
| First appeared | 1950s (first edition) |
| Filename extensions | .mpt, .mpf .nc and several others |
| Major implementations | |
| many, mainly Siemens Sinumeric, FANUC, Haas, Heidenhain, Mazak. Generally there is one international standard - ISO 6983. | |
G-code is the common name for the most widely used computer numerical control (CNC) programming language, which has many implementations. Used mainly in automation, it is part of computer-aided engineering. G-code is sometimes called G programming language. (The names of the language are explained at "Etymology".)
In fundamental terms, G-code is a language in which people tell computerized machine tools what to make and how to make it. The "what" and "how" are mostly defined by instructions on where to move to, how fast to move, and through what path to move. The most common situation is that a cutting tool is moved according to these instructions, cutting away excess material to leave only the finished workpiece. Non-cutting tools, such as cold-forming tools, burnishing tools, or measuring probes, are also sometimes involved.
Implementations
The first implementation of numerical control was developed at the MIT Servomechanisms Laboratory in the early 1950s. In the decades since, many implementations have been developed by many (commercial and noncommercial) organizations. G-code has often been used in these implementations. The main standardized version used in the United States was settled by the Electronic Industries Alliance in the early 1960s. A final revision was approved in February 1980 as RS274D. In the world, the standard ISO 6983 is often used, although in varied states of Europe sometimes used other standards, example DIN 66025 or PN-73M-55256, PN-93/M-55251 in Poland.
Extensions and variations have been added independently by control manufacturers and machine tool manufacturers, and operators of a specific controller must be aware of differences of each manufacturer's product.
One standardized version of G-code, known as BCL, is used only on very few machines.
During the 1970s through 1990s, many CNC machine tool builders attempted to overcome compatibility difficulties by standardizing on machine tool controllers built by Fanuc. Siemens was another market dominator in CNC controls, especially in Europe. In the 2010s, controller differences and incompatibility are not as troublesome because machining operations are developed with CAD/CAM applications that can output the appropriate G-code for a specific machine tool.
Some CNC machines use "conversational" programming, which is a wizard-like programming mode that either hides G-code or completely bypasses the use of G-code. Some popular examples are Southwestern Industries' ProtoTRAK, Mazak's Mazatrol, Hurco's Ultimax, Haas' Intuitive Programming System (IPS), and Mori Seiki's CAPS conversational software.
G-code began as a limited type of language that lacked constructs such as loops, conditional operators, and programmer-declared variables with natural-word-including names (or the expressions in which to use them). It was thus unable to encode logic; it was essentially just a way to "connect the dots" where many of the dots' locations were figured out longhand by the programmer. The latest implementations of G-code include such constructs, creating a language somewhat closer to a high-level programming language. The more a programmer can tell the machine what end result is desired, and leave the intermediate calculations to the machine, the more (s)he uses the machine's computational power to full advantage.
Specific codes
G-codes are also called preparatory codes, and are any word in a CNC program that begins with the letter "G". Generally it is a code telling the machine tool what type of action to perform, such as:
- Rapid move (transport the tool through space to the place where it is needed for cutting; do this as quickly as possible)
- Controlled feed move in a straight line or arc
- Series of controlled feed moves that would result in a hole being bored, a workpiece cut (routed) to a specific dimension, or a profile (contour) shape added to the edge of a workpiece
- Set tool information such as offset
- Switch coordinate systems
There are other codes; the type codes can be thought of like registers in a computer.
Letter addresses
Some letter addresses are used only in milling or only in turning; most are used in both. Bold below are the letters seen most frequently throughout a program.
Sources: Smid; Green et al.
| Variable | Description | Corollary info |
|---|---|---|
| A | Absolute or incremental position of A axis (rotational axis around X axis) | |
| B | Absolute or incremental position of B axis (rotational axis around Y axis) | |
| C | Absolute or incremental position of C axis (rotational axis around Z axis) | |
| D | Defines diameter or radial offset used for cutter compensation. D is used for depth of cut on lathes. | |
| E | Precision feedrate for threading on lathes | |
| F | Defines feed rate | |
| G | Address for preparatory commands | G commands often tell the control what kind of motion is wanted (e.g., rapid positioning, linear feed, circular feed, fixed cycle) or what offset value to use. |
| H | Defines tool length offset; Incremental axis corresponding to C axis (e.g., on a turn-mill) |
|
| I | Defines arc size in X axis for G02 or G03 arc commands. Also used as a parameter within some fixed cycles. |
|
| J | Defines arc size in Y axis for G02 or G03 arc commands. Also used as a parameter within some fixed cycles. |
|
| K | Defines arc size in Z axis for G02 or G03 arc commands. Also used as a parameter within some fixed cycles, equal to L address. |
|
| L | Fixed cycle loop count; Specification of what register to edit using G10 |
Fixed cycle loop count: Defines number of repetitions ("loops") of a fixed cycle at each position. Assumed to be 1 unless programmed with another integer. Sometimes the K address is used instead of L. With incremental positioning (G91), a series of equally spaced holes can be programmed as a loop rather than as individual positions. G10 use: Specification of what register to edit (work offsets, tool radius offsets, tool length offsets, etc.). |
| M | Miscellaneous function | Action code, auxiliary command; descriptions vary. Many M-codes call for machine functions, which is why people often say that the "M" stands for "machine", although it was not intended to. |
| N | Line (block) number in program; System parameter number to be changed using G10 |
Line (block) numbers: Optional, so often omitted. Necessary for certain tasks, such as M99 P address (to tell the control which block of the program to return to if not the default one) or GoTo statements (if the control supports those). N numbering need not increment by 1 (for example, it can increment by 10, 20, or 1000) and can be used on every block or only in certain spots throughout a program. System parameter number: G10 allows changing of system parameters under program control. |
| O | Program name | For example, O4501. For many years it was common for CNC control displays to use slashed zero glyphs to ensure effortless distinction of letter "O" from digit "0". Today's GUI controls often have a choice of fonts, like a PC does. |
| P | Serves as parameter address for various G and M codes |
|
| Q | Peck increment in canned cycles | For example, G73, G83 (peck drilling cycles) |
| R | Defines size of arc radius or defines retract height in canned cycles | |
| S | Defines speed, either spindle speed or surface speed depending on mode | Data type = integer. In G97 mode (which is usually the default), an integer after S is interpreted as a number of rev/min (rpm). In G96 mode (CSS), an integer after S is interpreted as surface speed—sfm (G20) or m/min (G21). See also Speeds and feeds. On multifunction (turn-mill or mill-turn) machines, which spindle gets the input (main spindle or subspindles) is determined by other M codes. |
| T | Tool selection | To understand how the T address works and how it interacts (or not) with M06, one must study the various methods, such as lathe turret programming, ATC fixed tool selection, ATC random memory tool selection, the concept of "next tool waiting", and empty tools. Programming on any particular machine tool requires knowing which method that machine uses. Ways of obtaining this training are mentioned in the comments for M06. |
| U | Incremental axis corresponding to X axis (typically only lathe group A controls) Also defines dwell time on some machines (instead of "P" or "X"). |
In these controls, X and U obviate G90 and G91, respectively. On these lathes, G90 is instead a fixed cycle address for roughing. |
| V | Incremental axis corresponding to Y axis | Until the 2000s, the V address was very rarely used, because most lathes that used U and W didn't have a Y-axis, so they didn't use V. (Green et al 1996 did not even list V in their table of addresses.) That is still often the case, although the proliferation of live lathe tooling and turn-mill machining has made V address usage less rare than it used to be (Smid 2008 shows an example). See also G18. |
| W | Incremental axis corresponding to Z axis (typically only lathe group A controls) | In these controls, Z and W obviate G90 and G91, respectively. On these lathes, G90 is instead a fixed cycle address for roughing. |
| X | Absolute or incremental position of X axis. Also defines dwell time on some machines (instead of "P" or "U"). |
|
| Y | Absolute or incremental position of Y axis | |
| Z | Absolute or incremental position of Z axis | The main spindle's axis of rotation often determines which axis of a machine tool is labeled as Z. |
List of G-codes commonly found on Fanuc and similarly designed controls
Sources: Smid; Green et al.
| Code | Description | Milling ( M ) |
Turning ( T ) |
Corollary info |
|---|---|---|---|---|
| G00 | Rapid positioning | M | T | On 2- or 3-axis moves, G00 (unlike G01) traditionally does not necessarily move in a single straight line between start point and end point. It moves each axis at its max speed until its vector is achieved. Shorter vector usually finishes first (given similar axis speeds). This matters because it may yield a dog-leg or hockey-stick motion, which the programmer needs to consider depending on what obstacles are nearby, to avoid a crash. Some machines offer interpolated rapids as a feature for ease of programming (safe to assume a straight line). |
| G01 | Linear interpolation | M | T | The most common workhorse code for feeding during a cut. The program specs the start and end points, and the control automatically calculates (interpolates) the intermediate points to pass through that will yield a straight line (hence "linear"). The control then calculates the angular velocities at which to turn the axis leadscrews via their servomotors or stepper motors. The computer performs thousands of calculations per second, and the motors react quickly to each input. Thus the actual toolpath of the machining takes place with the given feedrate on a path that is accurately linear to within very small limits. |
| G02 | Circular interpolation, clockwise | M | T | Very similar in concept to G01. Again, the control interpolates intermediate points and commands the servo- or stepper motors to rotate the amount needed for the leadscrew to translate the motion to the correct tool tip positioning. This process repeated thousands of times per minute generates the desired toolpath. In the case of G02, the interpolation generates a circle rather than a line. As with G01, the actual toolpath of the machining takes place with the given feedrate on a path that accurately matches the ideal (in G02's case, a circle) to within very small limits. In fact, the interpolation is so precise (when all conditions are correct) that milling an interpolated circle can obviate operations such as drilling, and often even fine boring. On most controls you cannot start G41 or G42 in G02 or G03 modes. You must already have compensated in an earlier G01 block. Often a short linear lead-in movement will be programmed, merely to allow cutter compensation before the main event, the circle-cutting, begins. |
| G03 | Circular interpolation, counterclockwise | M | T | Same corollary info as for G02. |
| G04 | Dwell | M | T | Takes an address for dwell period (may be X, U, or P). The dwell period is specified in milliseconds. |
| G05 P10000 | High-precision contour control (HPCC) | M | Uses a deep look-ahead buffer and simulation processing to provide better axis movement acceleration and deceleration during contour milling | |
| G05.1 Q1. | Ai Nano contour control | M | Uses a deep look-ahead buffer and simulation processing to provide better axis movement acceleration and deceleration during contour milling | |
| G07 | Imaginary axis designation | M | ||
| G09 | Exact stop check | M | T | |
| G10 | Programmable data input | M | T | |
| G11 | Data write cancel | M | T | |
| G12 | Full-circle interpolation, clockwise | M | Fixed cycle for ease of programming 360° circular interpolation with blend-radius lead-in and lead-out. Not standard on Fanuc controls. | |
| G13 | Full-circle interpolation, counterclockwise | M | Fixed cycle for ease of programming 360° circular interpolation with blend-radius lead-in and lead-out. Not standard on Fanuc controls. | |
| G17 | XY plane selection | M | ||
| G18 | ZX plane selection | M | T | On most CNC lathes (built 1960s to 2000s), ZX is the only available plane, so no G17 to G19 codes are used. This is now changing as the era begins in which live tooling, multitask/multifunction, and mill-turn/turn-mill gradually become the "new normal". But the simpler, traditional form factor will probably not disappear—just move over to make room for the newer configurations. See also V address. |
| G19 | YZ plane selection | M | ||
| G20 | Programming in inches | M | T | Somewhat uncommon except in USA and (to lesser extent) Canada and UK. However, in the global marketplace, competence with both G20 and G21 always stands some chance of being necessary at any time. The usual minimum increment in G20 is one ten-thousandth of an inch (0.0001"), which is a larger distance than the usual minimum increment in G21 (one thousandth of a millimeter, .001 mm, that is, one micrometre). This physical difference sometimes favors G21 programming. |
| G21 | Programming in millimeters (mm) | M | T | Prevalent worldwide. However, in the global marketplace, competence with both G20 and G21 always stands some chance of being necessary at any time. |
| G28 | Return to home position (machine zero, aka machine reference point) | M | T | Takes X Y Z addresses which define the intermediate point that the tool tip will pass through on its way home to machine zero. They are in terms of part zero (aka program zero), NOT machine zero. |
| G30 | Return to secondary home position (machine zero, aka machine reference point) | M | T | Takes a P address specifying which machine zero point is desired, if the machine has several secondary points (P1 to P4). Takes X Y Z addresses which define the intermediate point that the tool tip will pass through on its way home to machine zero. They are in terms of part zero (aka program zero), NOT machine zero. |
| G31 | Skip function (used for probes and tool length measurement systems) | M | ||
| G32 | Single-point threading, longhand style (if not using a cycle, e.g., G76) | T | Similar to G01 linear interpolation, except with automatic spindle synchronization for single-point threading. | |
| G33 | Constant-pitch threading | M | ||
| G33 | Single-point threading, longhand style (if not using a cycle, e.g., G76) | T | Some lathe controls assign this mode to G33 rather than G32. | |
| G34 | Variable-pitch threading | M | ||
| G40 | Tool radius compensation off | M | T | Cancels G41 or G42. |
| G41 | Tool radius compensation left | M | T | Milling: Given righthand-helix cutter and M03 spindle direction, G41 corresponds to climb milling (down milling). Takes an address (D or H) that calls an offset register value for radius. Turning: Often needs no D or H address on lathes, because whatever tool is active automatically calls its geometry offsets with it. (Each turret station is bound to its geometry offset register.) G41 and G42 for milling has become less frequently used since CAM programming has become more common. CAM systems allow the user to program as if with a zero-diameter cutter. The fundamental concept of cutter radius compensation is still in play (i.e., that the surface produced will be distance R away from the cutter center), but the programming mindset is different; the human does not choreograph the toolpath with conscious, painstaking attention to G41, G42, and G40, because the CAM software takes care of it. |
| G42 | Tool radius compensation right | M | T | Similar corollary info as for G41. Given righthand-helix cutter and M03 spindle direction, G42 corresponds to conventional milling (up milling).
See also the comments for G41. |
| G43 | Tool height offset compensation negative | M | Takes an address, usually H, to call the tool length offset register value. The value is negative because it will be added to the gauge line position. G43 is the commonly used version (vs G44). | |
| G44 | Tool height offset compensation positive | M | Takes an address, usually H, to call the tool length offset register value. The value is positive because it will be subtracted from the gauge line position. G44 is the seldom-used version (vs G43). | |
| G45 | Axis offset single increase | M | ||
| G46 | Axis offset single decrease | M | ||
| G47 | Axis offset double increase | M | ||
| G48 | Axis offset double decrease | M | ||
| G49 | Tool length offset compensation cancel | M | Cancels G43 or G44. | |
| G50 | Define the maximum spindle speed | T | Takes an S address integer which is interpreted as rpm. Without this feature, G96 mode (CSS) would rev the spindle to "wide open throttle" when closely approaching the axis of rotation. | |
| G50 | Scaling function cancel | M | ||
| G50 | Position register (programming of vector from part zero to tool tip) | T | Position register is one of the original methods to relate the part (program) coordinate system to the tool position, which indirectly relates it to the machine coordinate system, the only position the control really "knows". Not commonly programmed anymore because G54 to G59 (WCSs) are a better, newer method. Called via G50 for turning, G92 for milling. Those G addresses also have alternate meanings (which see). Position register can still be useful for datum shift programming. | |
| G52 | Local coordinate system (LCS) | M | Temporarily shifts program zero to a new location. This simplifies programming in some cases. | |
| G53 | Machine coordinate system | M | T | Takes absolute coordinates (X,Y,Z,A,B,C) with reference to machine zero rather than program zero. Can be helpful for tool changes. Nonmodal and absolute only. Subsequent blocks are interpreted as "back to G54" even if it is not explicitly programmed. |
| G54 to G59 | Work coordinate systems (WCSs) | M | T | Have largely replaced position register (G50 and G92). Each tuple of axis offsets relates program zero directly to machine zero. Standard is 6 tuples (G54 to G59), with optional extensibility to 48 more via G54.1 P1 to P48. |
| G54.1 P1 to P48 | Extended work coordinate systems | M | T | Up to 48 more WCSs besides the 6 provided as standard by G54 to G59. Note floating-point extension of G-code data type (formerly all integers). Other examples have also evolved (e.g., G84.2). Modern controls have the hardware to handle it. |
| G70 | Fixed cycle, multiple repetitive cycle, for finishing (including contours) | T | ||
| G71 | Fixed cycle, multiple repetitive cycle, for roughing (Z-axis emphasis) | T | ||
| G72 | Fixed cycle, multiple repetitive cycle, for roughing (X-axis emphasis) | T | ||
| G73 | Fixed cycle, multiple repetitive cycle, for roughing, with pattern repetition | T | ||
| G73 | Peck drilling cycle for milling - high-speed (NO full retraction from pecks) | M | Retracts only as far as a clearance increment (system parameter). For when chipbreaking is the main concern, but chip clogging of flutes is not. | |
| G74 | Peck drilling cycle for turning | T | ||
| G74 | Tapping cycle for milling, lefthand thread, M04 spindle direction | M | ||
| G75 | Peck grooving cycle for turning | T | ||
| G76 | Fine boring cycle for milling | M | ||
| G76 | Threading cycle for turning, multiple repetitive cycle | T | ||
| G80 | Cancel canned cycle | M | T | Milling: Cancels all cycles such as G73, G83, G88, etc. Z-axis returns either to Z-initial level or R-level, as programmed (G98 or G99, respectively). Turning: Usually not needed on lathes, because a new group-1 G address (G00 to G03) cancels whatever cycle was active. |
| G81 | Simple drilling cycle | M | No dwell built in | |
| G82 | Drilling cycle with dwell | M | Dwells at hole bottom (Z-depth) for the number of milliseconds specified by the P address. Good for when hole bottom finish matters. | |
| G83 | Peck drilling cycle (full retraction from pecks) | M | Returns to R-level after each peck. Good for clearing flutes of chips. | |
| G84 | Tapping cycle, righthand thread, M03 spindle direction | M | ||
| G84.2 | Tapping cycle, righthand thread, M03 spindle direction, rigid toolholder | M | ||
| G90 | Absolute programming | M | T (B) | Positioning defined with reference to part zero. Milling: Always as above. Turning: Sometimes as above (Fanuc group type B and similarly designed), but on most lathes (Fanuc group type A and similarly designed), G90/G91 are not used for absolute/incremental modes. Instead, U and W are the incremental addresses and X and Z are the absolute addresses. On these lathes, G90 is instead a fixed cycle address for roughing. |
| G90 | Fixed cycle, simple cycle, for roughing (Z-axis emphasis) | T (A) | When not serving for absolute programming (above) | |
| G91 | Incremental programming | M | T (B) | Positioning defined with reference to previous position. Milling: Always as above. Turning: Sometimes as above (Fanuc group type B and similarly designed), but on most lathes (Fanuc group type A and similarly designed), G90/G91 are not used for absolute/incremental modes. Instead, U and W are the incremental addresses and X and Z are the absolute addresses. On these lathes, G90 is a fixed cycle address for roughing. |
| G92 | Position register (programming of vector from part zero to tool tip) | M | T (B) | Same corollary info as at G50 position register. Milling: Always as above. Turning: Sometimes as above (Fanuc group type B and similarly designed), but on most lathes (Fanuc group type A and similarly designed), position register is G50. |
| G92 | Threading cycle, simple cycle | T (A) | ||
| G94 | Feedrate per minute | M | T (B) | On group type A lathes, feedrate per minute is G98. |
| G94 | Fixed cycle, simple cycle, for roughing (X-axis emphasis) | T (A) | When not serving for feedrate per minute (above) | |
| G95 | Feedrate per revolution | M | T (B) | On group type A lathes, feedrate per revolution is G99. |
| G96 | Constant surface speed (CSS) | T | Varies spindle speed automatically to achieve a constant surface speed. See speeds and feeds. Takes an S address integer, which is interpreted as sfm in G20 mode or as m/min in G21 mode. | |
| G97 | Constant spindle speed | M | T | Takes an S address integer, which is interpreted as rev/min (rpm). The default speed mode per system parameter if no mode is programmed. |
| G98 | Return to initial Z level in canned cycle | M | ||
| G98 | Feedrate per minute (group type A) | T (A) | Feedrate per minute is G94 on group type B. | |
| G99 | Return to R level in canned cycle | M | ||
| G99 | Feedrate per revolution (group type A) | T (A) | Feedrate per revolution is G95 on group type B. |
List of M-codes commonly found on Fanuc and similarly designed controls
Sources: Smid; Green et al.
| Code | Description | Milling ( M ) |
Turning ( T ) |
Corollary info |
|---|---|---|---|---|
| M00 | Compulsory stop | M | T | Non-optional—machine will always stop upon reaching M00 in the program execution. |
| M01 | Optional stop | M | T | Machine will only stop at M01 if operator has pushed the optional stop button. |
| M02 | End of program | M | T | No return to program top; may or may not reset register values. |
| M03 | Spindle on (clockwise rotation) | M | T | The speed of the spindle is determined by the address S, in either revolutions per minute (G97 mode; default) or surface feet per minute or meters per minute (G96 mode under either G20 or G21). The right-hand rule can be used to determine which direction is clockwise and which direction is counter-clockwise.
Right-hand-helix screws moving in the tightening direction (and right-hand-helix flutes spinning in the cutting direction) are defined as moving in the M03 direction, and are labeled "clockwise" by convention. The M03 direction is always M03 regardless of local vantage point and local CW/CCW distinction. |
| M04 | Spindle on (counterclockwise rotation) | M | T | See comment above at M03. |
| M05 | Spindle stop | M | T | |
| M06 | Automatic tool change (ATC) | M | T (some-times) | Many lathes do not use M06 because the T address itself indexes the turret. Programming on any particular machine tool requires knowing which method that machine uses. To understand how the T address works and how it interacts (or not) with M06, one must study the various methods, such as lathe turret programming, ATC fixed tool selection, ATC random memory tool selection, the concept of "next tool waiting", and empty tools. These concepts are taught in textbooks such as Smid, and online multimedia (videos, simulators, etc); all of these teaching resources are usually paywalled to pay back the costs of their development. They are used in training classes for operators, both on-site and remotely (e.g., Tooling University). |
| M07 | Coolant on (mist) | M | T | |
| M08 | Coolant on (flood) | M | T | |
| M09 | Coolant off | M | T | |
| M10 | Pallet clamp on | M | For machining centers with pallet changers | |
| M11 | Pallet clamp off | M | For machining centers with pallet changers | |
| M13 | Spindle on (clockwise rotation) and coolant on (flood) | M | This one M-code does the work of both M03 and M08. It is not unusual for specific machine models to have such combined commands, which make for shorter, more quickly written programs. | |
| M19 | Spindle orientation | M | T | Spindle orientation is more often called within cycles (automatically) or during setup (manually), but it is also available under program control via M19. The abbreviation OSS (oriented spindle stop) may be seen in reference to an oriented stop within cycles.
The relevance of spindle orientation has increased as technology has advanced. Although 4- and 5-axis contour milling and CNC single-pointing have depended on spindle position encoders for decades, before the advent of widespread live tooling and mill-turn/turn-mill systems, it was seldom relevant in "regular" (non-"special") machining for the operator (as opposed to the machine) to know the angular orientation of a spindle except for within a few restricted contexts (such as tool change, or G76 fine boring cycles with choreographed tool retraction). Most milling of features indexed around a turned workpiece was accomplished with separate operations on indexing head setups; in a sense, indexing heads were invented as separate pieces of equipment, to be used in separate operations, which could provide precise spindle orientation in a world where it otherwise mostly didn't exist (and didn't need to). But as CAD/CAM and multiaxis CNC machining with multiple rotary-cutter axes becomes the norm, even for "regular" (non-"special") applications, machinists now frequently care about stepping just about any spindle through its 360° with precision. |
| M21 | Mirror, X-axis | M | ||
| M21 | Tailstock forward | T | ||
| M22 | Mirror, Y-axis | M | ||
| M22 | Tailstock backward | T | ||
| M23 | Mirror OFF | M | ||
| M23 | Thread gradual pullout ON | T | ||
| M24 | Thread gradual pullout OFF | T | ||
| M30 | End of program with return to program top | M | T | |
| M41 | Gear select - gear 1 | T | ||
| M42 | Gear select - gear 2 | T | ||
| M43 | Gear select - gear 3 | T | ||
| M44 | Gear select - gear 4 | T | ||
| M48 | Feedrate override allowed | M | T | |
| M49 | Feedrate override NOT allowed | M | T | This rule is also called (automatically) within tapping cycles or single-point threading cycles, where feed is precisely correlated to speed. Same with spindle speed override and feed hold button. |
| M52 | Unload Last tool from spindle | M | T | Also empty spindle. |
| M60 | Automatic pallet change (APC) | M | For machining centers with pallet changers | |
| M98 | Subprogram call | M | T | Takes an address P to specify which subprogram to call, for example, "M98 P8979" calls subprogram O8979. |
| M99 | Subprogram end | M | T | Usually placed at end of subprogram, where it returns execution control to the main program. The default is that control returns to the block following the M98 call in the main program. Return to a different block number can be specified by a P address. M99 can also be used in main program with block skip for endless loop of main program on bar work on lathes (until operator toggles block skip). |
Example program
This is a generic program that demonstrates the use of G-Code to turn a 1" diameter X 1" long part. Assume that a bar of material is in the machine and that the bar is slightly oversized in length and diameter and that the bar protrudes by more than 1" from the face of the chuck. (Caution: This is generic, it might not work on any real machine! Pay particular attention to point 5 below.)
| Line | Code | Description |
|---|---|---|
| % | ||
| O4968 | (Sample face and turn program) | |
| N01 | M216 | (Turn on load monitor) |
| N02 | G20 G90 G54 D200 G40 | (Inch units. Absolute mode. Call work offset values. Moving coordinate system to the location specified in the register D200. Cancel any existing tool radius offset.) |
| N03 | G50 S2000 | (Set maximum spindle speed rev/min - preparing for G96 CSS coming soon) |
| N04 | M01 | (Optional stop) |
| N05 | T0300 | (Index turret to tool 3. Clear wear offset (00).) |
| N06 | G96 S854 M42 M03 M08 | (Constant surface speed , 854 sfm, select spindle gear, start spindle CW rotation, turn on the coolant flood) |
| N07 | G41 G00 X1.1 Z1.1 T0303 | (Call tool radius offset. Call tool wear offset. Rapid feed to a point about 0.100" from the end of the bar and 0.050" from the side) |
| N08 | G01 Z1.0 F.05 | (Feed in horizontally until the tool is standing 1" from the datum i.e. program Z-zero) |
| N09 | X-0.002 | (Feed down until the tool is slightly past center, thus facing the end of the bar) |
| N10 | G00 Z1.1 | (Rapid feed 0.1" away from the end of the bar - clear the part) |
| N11 | X1.0 | (Rapid feed up until the tool is standing at the finished OD) |
| N12 | G01 Z0.0 F.05 | (Feed in horizontally cutting the bar to 1" diameter all the way to the datum, feeding at 0.050" per revolution) |
| N13 | G00 X1.1 M05 M09 | (Clear the part, stop the spindle, turn off the coolant) |
| N14 | G91 G28 X0 | (Home X axis - return to machine X-zero passing through no intermediate X point ) |
| N15 | G91 G28 Z0 | (Home Z axis - return to machine Z-zero passing through no intermediate Z point ) |
| N16 | G90 M215 | (Return to absolute mode. Turn off load monitor) |
| N17 | M30 | (Program stop, rewind to beginning of program) |
| % |
Several points to note:
- There is room for some programming style, even in this short program. The grouping of codes in line N06 could have been put on multiple lines. Doing so may have made it easier to follow program execution.
- Many codes are "modal", meaning that they stay in effect until they are cancelled or replaced by a contradictory code. For example, once variable speed cutting (CSS) had been selected (G96), it stayed in effect until the end of the program. In operation, the spindle speed would increase as the tool neared the center of the work in order to maintain a constant surface speed. Similarly, once rapid feed was selected (G00), all tool movements would be rapid until a feed rate code (G01, G02, G03) was selected.
- It is common practice to use a load monitor with CNC machinery. The load monitor will stop the machine if the spindle or feed loads exceed a preset value that is set during the set-up operation. The jobs of the load monitor are various:
- Prevent machine damage in the event of tool breakage or a programming mistake.
- This is especially important because it allows safe "lights-out machining", in which the operators set up the job and start it running during the day, then go home for the night, leaving the machines running and cutting parts during the night. Because no human is around to hear, see, or smell a problem such as a broken tool, the load monitor serves an important sentry duty. When it senses overload condition, which semantically suggests a dull or broken tool, it commands a stop to the machining. Technology is available nowadays to send an alert to someone remotely (e.g., the sleeping owner, operator, or owner-operator) if desired, which can allow them to come intercede and get production going again, then leave once more. This can be the difference between profitability or loss on some jobs, because lights-out machining reduces labor hours per part.
- Warn of a tool that is becoming dull and needs to be replaced or sharpened. Thus an operator who is busy tending multiple machines will be told by a machine, essentially, "Hey, pause what you're doing over there, and come attend to a need over here."
- Prevent machine damage in the event of tool breakage or a programming mistake.
- It is common practice to bring the tool in rapidly to a "safe" point that is close to the part - in this case 0.1" away - and then start feeding the tool. How close that "safe" distance is, depends on the skill of the programmer and maximum material condition for the raw stock.
- If the program is wrong, there is a high probability that the machine will crash, or ram the tool into the part under high power. This can be costly, especially in newer machining centers. It is possible to intersperse the program with optional stops (M01 code) which allow the program to be run piecemeal for testing purposes. The optional stops remain in the program but they are skipped during the normal running of the machine. Fortunately, most CAD/CAM software ships with CNC simulators that will display the movement of the tool as the program executes. Many modern CNC machines also allow programmers to execute the program in a simulation mode and observe the operating parameters of the machine at a particular execution point. This enables programmers to discover semantic errors (as opposed to syntax errors) before losing material or tools to an incorrect program. Depending on the size of the part, wax blocks may be used for testing purposes as well.
- For pedagogical purposes, line numbers have been included in the program above. They are usually not necessary for operation of a machine, so they are seldom used in industry. However, if branching or looping statements are used in the code, then line numbers may well be included as the target of those statements (e.g. GOTO N99).
- Some machines do not allow multiple M codes in the same line.
Programming environments
G-code's programming environments have evolved in parallel with those of general programming—from the earliest environments (e.g., writing a program with a pencil, typing it into a tape puncher) to the latest environments that stack CAD (computer-aided design), CAM (computer-aided manufacturing), and richly featured G-code editors. (G-code editors are analogous to XML editors, using colors and indents semantically to aid the user in ways that basic text editors can't. CAM packages are analogous to IDEs in general programming.)
Two high-level paradigm shifts have been (1) abandoning "manual programming" (with nothing but a pencil or text editor and a human mind) for CAM software systems that generate G-code automatically via postprocessors (analogous to the development of visual techniques in general programming), and (2) abandoning hardcoded constructs for parametric ones (analogous to the difference in general programming between hardcoding a constant into an equation versus declaring it a variable and assigning new values to it at will; and to the object-oriented approach in general). Macro (parametric) CNC programming uses human-friendly variable names, relational operators, and loop structures much as general programming does, to capture information and logic with machine-readable semantics. Whereas older manual CNC programming could only describe particular instances of parts in numeric form, parametric CAM programming describes abstractions which can be flowed with ease into a wide variety of instances. The difference has many analogues, both from before the computing era and from after its advent, such as (1) creating text as bitmaps versus using character encoding with glyphs; (2) the abstraction level of tabulated engineering drawings, with many part dash numbers parametrically defined by the one same drawing and a parameter table; or (3) the way that HTML passed through a phase of using content markup for presentation purposes, then matured toward the CSS model. In all of these cases, a higher layer of abstraction was introduced in order to pursue what was missing semantically.
STEP-NC reflects the same theme, which can be viewed as yet another step along a path that started with the development of machine tools, jigs and fixtures, and numerical control, which all sought to "build the skill into the tool". Recent developments of G-code and STEP-NC aim to build the information and semantics into the tool. The idea itself is not new; from the beginning of numerical control, the concept of an end-to-end CAD/CAM environment was the goal of such early technologies as DAC-1 and APT. Those efforts were fine for huge corporations like GM and Boeing. However, for small and medium enterprises, there had to be an era in which the simpler implementations of NC, with relatively primitive "connect-the-dots" G-code and manual programming, ruled the day until CAD/CAM could improve and disseminate throughout the economy.
Any machine tool with a great number of axes, spindles, and tool stations is difficult to program well manually. It has been done over the years, but not easily. This challenge has existed for decades in CNC screw machine and rotary transfer programming, and it now also arises with today's newer machining centers called "turn-mills", "mill-turns", "multitasking machines", and "multifunction machines". Now that CAD/CAM systems are widely used, CNC programming (such as with G-code) requires CAD/CAM (as opposed to manual programming) to be practical and competitive in the market segments served by these classes of machines. As Smid says, "Combine all these axes with some additional features, and the amount of knowledge required to succeed is quite overwhelming, to say the least." At the same time, however, programmers still must thoroughly understand the principles of manual programming and must think critically and second-guess some aspects of the software's decisions.
Since about the mid-2000s, the era has finally arrived when "the death of manual programming" (that is, of writing lines of G-code without CAM assistance) sometimes seems to be approaching. However, it is currently only in some contexts that manual programming is obsolete. Although it is true that plenty of CAM programming can and does take place nowadays among people who are rusty on, or incapable of, manual programming, it is not true that all CNC programming can be done, or done as well or as efficiently, without being able to speak the language of G-code. Tailoring and refining the CNC program at the machine is an area of practice where it can be easier or more efficient to edit the G-code directly rather than editing the CAM toolpaths and re-post-processing the program.
Etymology
Students and hobbyists have pointed out over the years that the term "G-code" referring to the language overall (using the mass sense of "code") is imprecise. It comes metonymically from the literal sense of the term, referring to one letter address among many in the language (G address, for preparatory commands) and to the specific codes (count sense) that can be formed with it (for example, G00, G01, G28). But every letter of the English alphabet is used somewhere in the language (although some letters' use is less common), so the name seems unfitting to people searching for strictly logical etymology. Nevertheless, the general sense of the term is indelibly established as the common name of the language.
The resistance among some users to the name "G programming language" may come from the fact that historically G-code was not a "language" in the same sense that C++ or Java are—that is, high-level programming languages. However, G-code has by now been extended to the point that it can function as a high-level language, so the objection, to the extent that it still exists, rests now only on what people grew used to hearing in decades past.
See also
Extended developments
Similar concepts
Concerns during application
- Cutter location, cutter compensation, offset parameters
- Coordinate systems
References
- ^ Smid 2008.
- ^ Green 1996, pp. 1162–1226 harvnb error: no target: CITEREFGreen1996 (help).
- MMS editorial staff (2010-12-20), "CAM system simplifies Swiss-type lathe programming", Modern Machine Shop, 83 (8 ): 100–105. Online ahead of print.
{{citation}}: CS1 maint: postscript (link) - Smid 2008, p. 457.
- Lynch, Mike (2010-01-18), "When programmers should know G code", Modern Machine Shop (online ed.).
{{citation}}: Invalid|ref=harv(help) - Lynch, Mike (2011-10-19), "Five CNC myths and misconceptions [CNC Tech Talk column, Editor's Commentary]", Modern Machine Shop (online ed.).
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Bibliography
- Oberg, Erik; Jones, Franklin D.; Horton, Holbrook L.; Ryffel, Henry H. (1996), Green, Robert E.; McCauley, Christopher J. (eds.), Machinery's Handbook (25th ed.), New York: Industrial Press, ISBN 978-0-8311-2575-2, OCLC 473691581.
- Smid, Peter (2008), CNC Programming Handbook (3rd ed.), New York: Industrial Press, ISBN 9780831133474, LCCN 2007045901.
External links
- Code descriptions with graphics and example code files (examples can be downloaded).
- CNC G-Code and M-Code Programming
- Tutorial for G-code
- The NIST RS274NGC Standard - Version 3 Aug 2000 also available as a PDF
- http://museum.mit.edu/150/86 Has several links (including history of MIT Servo Lab)