Table Of Content

i PUBU0AT1ON8 NISTIR 597 AlllOS fiS'lSM I Canonical Machining Commands Frederick M. Proctor Control Systems Intelligent Systems Division Thomas R. Kramer Research Associate Department of Mechanical Engineering The Catholic University ofAmerica Washington, DC 20064 and Intelligent Systems Division and John L. Michaloski Control Systems Intelligent Systems Division U.S. DEPARTMENT OF COMMERCE TechnologyAdministration National Institute of Standards and Technology Bldg. 220 Rm. B124 Gaithersburg, MD 20899 QC 100 NIST .U56 NO.5970 1997 NISTIR 5970 Canonical Machining Commands Frederick M. Proctor Control Systems Intelligent Systems Division Thomas R. Kramer Research Associate Department of Mechanical Engineering The Catholic University of America Washington, DC 20064 and Intelligent Systems Division and John L. Michaloski Control Systems Intelligent Systems Division U.S. DEPARTMENT OF COMMERCE Technology Administration National Institute of Standards and Technology Bldg. 220 Rm. B124 Gaithersburg, MD 20899 January 1997 U.S. DEPARTMENT OF COMMERCE Michael Kantor, Secretary TECHNOLOGYADMINISTRATION Mary L. Good, UnderSecretaryforTechnology NATIONAL INSTITUTE OFSTANDARDS ANDTECHNOLOGY Arati Prabhakar, Director Canonical Machining Commands Frederick M. Proctor Thomas R. Kramer John L. Michaloski Intelligent Systems Division National Institute of Standards and Technology Technology Administration U.S. Department ofCommerce Gaithersburg, Maryland 20899 NISTIR 5970 January 30, 1977 Canonical Machining Commands Disclaimer No approval or endorsement of any commercial product by the National Institute of Standards and Technology is intended or implied. Certain commercial equipment, instruments, or materials are identified in this report to facilitate understanding. Such identification does not imply recommendation orendorsementby the National Institute of Standards and Technology, nor does it imply that the materials or equipment identified are necessarily the best available for the purpose. Acknowledgements Partial funding forthe workdescribedin this paperwas providedto Catholic University by the National Institute of Standards and Technology under cooperative agreement Number 70NANB2H1213. Copyright This publication was prepared by United States Government employees as part oftheir official duties and is, therefore, a work of the U.S. Government and not subject to copyright. 11 Canonical MachiningCommands CONTENTS 1.0 Introduction 1 Numerical Control Programming Language RS274 1.1 1 1.2 Work on Canonical Machining Commands and RS274 Interpreters at NIST...1 1.3 Canonical Machining Commands 2 1.3.1 Objectives of Canonical Machining Commands 2 1.3.2 Implementing Canonical Machining Commands 3 2.0 Canonical Machining Command View of a Machining Center 3 2.1 Machine Dynamics 3 2.2 Mechanical Components 3 2.2.1 Coolant 3 2.2.2 Axes 4 2.2.3 Axis Clamps 4 2.2.4 Spindle 4 2.2.5 Pallet Shuttle 4 2.2.6 Tool Carousel 5 2.2.7 Tool Changer 5 2.2.8 Operator Console 5 2.3 Controlled Motions 5 2.3.1 Controlled Point 5 2.3.2 Linear Motion 5 2.3.3 Arc Motion 5 2.3.4 Coordinated Motion ofAxes and Spindle 5 2.3.5 Feed Rate 6 2.3.6 Feed and Speed Overrides 6 2.3.7 Dwell 6 2.3.8 Units 6 2.3.9 Coordinate Systems 6 2.3.10 Current Position 6 2.3.1 1 Selected Plane 6 2.4 Error Conditions 6 iii 1 Canonical Machining Commands 3.0 The Canonical Machining Commands Defined 7 3.1 Preliminaries 7 3.1.1 Syntax 7 3.1.2 Command Call Errors 7 3.1.3 Groups ofCommands 7 3.1.4 Coordinated Motion 7 3.1.5 Rotational Motion Required 8 3.2 Initialization and Termination 8 INIT_CANON 3.2.1 8 END_CANON 3.2.2 8 3.3 Representation 8 SELECT.PLANE 3.3.1 8 SET_ORIGIN_OFFSETS 3.3.2 8 USE_LENGTH_UNITS 3.3.3 8 3.4 Free Space Motion 9 SET_TRAVERSE_RATE 3.4.1 9 STRAIGHT.TRAVERSE 3.4.2 9 3.5 Machining Attributes 9 SET_FEED_RATE 3.5.1 9 SET_FEED_REFERENCE 3.5.2 10 SET_MOTION_CONTROL_MODE 3.5.3 10 START_SPEED_FEED_SYNCH 3.5.4 1 STOP_SPEED_FEED_SYNCH 3.5.5 11 3.6 Machining Functions 11 ARC_FEED 3.6.1 11 DWELL 3.6.2 12 ELLIPSE_FEED 3.6.3 12 STOP 3.6.4 14 STRAIGHT_FEED 3.6.5 14 STRAIGHT_PROBE 3.6.6 15 3.7 Spindle Functions 15 ORIENT_SPINDLE 3.7.1 15 3.7.2 SET_SPINDLE_SPEED 16 SPINDLE_RETRACT 3.7.3 16 SPINDLE_RETRACT_TRAVERSE 3.7.4 16 START_SPINDLE_CLOCKWISE 3.7.5 16 START_SPINDLE_COUNTERCLOCKWISE 3.7.6 16 STOP_SPE4DLE_TURNING 3.7.7 16 USE_NO_SPINDLE_FORCE 3.7.8 16 USE_SPDIDLE_FORCE 3.7.9 16 IV 88 Canonical Machining Commands 3.8 Tool Functions 16 CHANGE_TOOL 3.8.1 16 SELECT_TOOL 3.8.2 17 USE_TOOL_LENGTH_OFFSET 3.8.3 18 3.9 Miscellaneous Functions 18 CLAMP_AXIS 3.9.1 18 COMMENT 3.9.2 18 DISABLE_FEED_OVERRIDE 3.9.3 18 3.9.4 DISABLE_SPEED_OVERRIDE 1 ENABLE_FEED_OVERRIDE 3.9.5 18 ENABLE_SPEED_OVERRIDE 3.9.6 1 FLOOD_OFF 3.9.7 18 FLOOD_ON 3.9.8 19 MESSAGE 3.9.9 19 MIST_OFF 3.9.10 19 MIST_ON 3.9.11 19 PALLET_SHUTTLE 3.9.12 19 THROUGH_TOOL_OFF 3.9.13 19 THROUGH_TOOL_ON 3.9.14 19 TURN_PROBE_OFF 3.9.15 19 TURN_PROBE_ON 3.9.16 19 UNCLAMP_AXIS 3.9.17 19 References 20 Appendix A Issues Regarding Canonical Machining Commands 21 How A. Generic 21 1 A.2 Program Functions 21 A.3 Arc format 21 A.4 Rotational Axis Position 23 A.5 Control Parameters 23 A.6 Allocation ofFunctionality to Hierarchical Levels 24 A.7 NURBS and Parametric Axis Control 24 A.8 Cutter Radius Compensation 24 Appendix B Header File 26 Canonical Machining Commands