NC Programming for PUMA Turning Centers Live … Programming for PUMA Turning Centers Equipped with Live Tools, Sub Spindle, Y- Axis ... Parameter Settings related to Spindle Synchronization

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NC Programming for PUMA Turning CentersEquipped with

Live Tools, Sub Spindle, Y- Axis

For PUMA Turning Centers

200M, 200MS, 230M, 230MS, 240M, 240MS, 300M, 300MS1500Y/SY, 2000Y/SY, 2500Y/SY

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TABLE OF CONTENTS

ROTARY AXIS FUNCTIONS................................................................................6

C - Axis .......................................................................................................................................................... 6

C-axis locking function................................................................................................................................. 6

Normal Rotary Axis Assignment for PUMA 1500, 2000, 2500 YS Models ............................................. 7

A - Axis .......................................................................................................................................................... 8

A-axis locking function................................................................................................................................. 8

Switching the Rotary Axis Names by M-Code........................................................................................... 8

Switching the Rotary Axis Clamp M-Code ................................................................................................ 8

Feed Rate Calculation for Linear Interpolation with Rotary Axis .......................................................... 9

SPINDLE MODE AND ROTARY AXIS MODE COMMANDS ............................11

Main Spindle Mode (C-Axis Disconnected) ............................................................................................. 11

Sub Spindle Mode (C-Axis Disconnected)................................................................................................ 11

Rotary axis mode (C-Axis or A-Axis connected) ..................................................................................... 12

M-Codes for switching the Rotary axis Name.......................................................................................... 13

ANGULAR POSITIONING FUNCTION FOR SPINDLES...................................14

Spindle orientation ..................................................................................................................................... 14

Parameter Settings related to Spindle Orientation ................................................................................. 14

Angular spindle positioning....................................................................................................................... 14

Angular Spindle positioning and spindle locking .................................................................................... 15

DRILLING AND TAPPING WITH LIVE TOOLS ON THE C-AXIS .....................16

Simplified canned cycles for hole machining with C and Z-axis ............................................................ 16

Z-axis peck drilling, C-axis positioning ................................................................................................... 16

Z-axis tapping ............................................................................................................................................. 16

Example: Drilling and Tapping on the Front Face of a part .................................................................. 16

Simplified canned cycles for hole machining with the C and X-axis...................................................... 17

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X-axis peck drilling, C-axis positioning ................................................................................................... 17

X-axis tapping............................................................................................................................................. 17

Example: Drilling and Tapping on the OD of a part............................................................................... 17

DRILLING AND TAPPING WITH LIVE TOOLS ON THE SUB SPINDLE .........18

Z-axis peck drilling on the sub spindle ..................................................................................................... 18

Z-axis tapping ............................................................................................................................................. 18

Example: Drilling and Tapping on the Face of a part using Sub Spindle positioning. ........................ 18

X-axis peck drilling on the sub spindle ..................................................................................................... 19

X-axis tapping on the sub spindle ............................................................................................................. 19

Example: Drilling and Tapping on the OD of a part using Sub Spindle positioning. .......................... 19

POLAR COORDINATE INTERPOLATION FUNCTION G12.1..........................20

Principle of Operation................................................................................................................................ 20

Layout of the X-C coordinate system........................................................................................................ 20

Programming Notes.................................................................................................................................... 20

Polar Coordinate Interpolation Example................................................................................................. 21

Geometry Layout........................................................................................................................................ 21

Cutter Compensation / Tool Offset ........................................................................................................... 21

NC Program for Sample Part.................................................................................................................... 22

CYLINDRICAL INTERPOLATION .....................................................................23

Principle of Operation................................................................................................................................ 23

Layout of the Z-C Coordinate system....................................................................................................... 23

Programming Notes.................................................................................................................................... 23

Formula for converting the length of an arc to degrees of rotation ....................................................... 24

Cylindrical Interpolation Example ........................................................................................................... 25

Y-AXIS PROGRAMMING FOR PUMA TURNING CENTERS............................27

Y - Axis Design............................................................................................................................................ 27

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X-Y Plane Layout ....................................................................................................................................... 28

Y- Z Plane Layout ...................................................................................................................................... 29

Notes for Y-axis operation ......................................................................................................................... 29

WORK PIECE TRANSFER BETWEEN MAIN AND SUB SPINDLE..................31

Parameter Settings related to Spindle Synchronization.......................................................................... 32

Setting the orientation angle for Spindle Synchronization ..................................................................... 32

Oriented spindle synchronization command............................................................................................ 33

Synchronized spindle stop command........................................................................................................ 33

Non- oriented spindle synchronization command ................................................................................... 33

Caution with G96 in Spindle Synchronization Mode .............................................................................. 34

TORQUE CONTROL FUNCTIONS FOR B-AXIS ..............................................35

Live center support with Sub Spindle....................................................................................................... 35

Cutoff Confirmation................................................................................................................................... 36

Sample Program1: Spindle Synchronization, Cutoff and Parts Transfer to Sub Spindle ................... 37

Sample Program 2: Spindle Synchronization, Cutoff and Parts Transfer to Sub Spindle .................. 38

BAR FEED OPERATION ...................................................................................39

M-codes used for the bar feed operation .................................................................................................. 39

Bar feed sub programs............................................................................................................................... 39

Bar Stopper (Tool for stopping the bar)................................................................................................... 39

Top cutting the front face of a new bar .................................................................................................... 39

End of bar-signal ........................................................................................................................................ 40

Timer Setting (M50/M51 time-out)........................................................................................................... 40

Inserting the bar feed command into the machining program............................................................... 40

Bar Feed Sub Program Call ...................................................................................................................... 40

Bar Reload Sub Program Call................................................................................................................... 40

Program Examples for use with bar feeder ............................................................................................. 40

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M-CODE LIST FOR DAEWOO PUMA-TURNING CENTERS............................42

M-Codes for switching the Rotary axis Name.......................................................................................... 46

MISCELLANEOUS PROGRAMMING INFORMATION......................................47

G76 – THREADING CYCLE – TWO LINE FORMAT ........................................................................ 47

Programming Examples, using the G76-Thread Cutting Cycle............................................................. 48

G76 – THREADING CYCLE - SINGLE LINE FORMAT.................................................................... 50

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ROTARY AXIS FUNCTIONSWhen machining with live tools a rotary-axis allows angular positioning of thework piece between zero and 360 degrees. The CNC system converts one of thelathe spindles into a rotary axis.

C - AxisPUMA Turing centers equipped with a turret and driven tools normally employ arotary axis, called the C-axis. The main spindle motor drives the rotary axis. Aposition-encoding device attached to the spindle provides for positioning of therotary axis at 0.001-degree resolution. Linear interpolation with the rotary axis,together with any other axis is possible. For circular interpolation between arotary axis and a linear axis, special control functions such as polar coordinateinterpolation or cylindrical interpolation is applied.

The rotary axis is switched ON or OFF by M-codes, alternating between normalspindle operation and C-axis operation.

Rotary Axis Mode: M-codes M33, M34, M35 switch the C-axis, ONMain Spindle Mode: M-codes M3, M4, M5 switch the C-axis, OFFSub Spindle Mode: M-codes M103, M104, M105 switch the C-axis, OFF

Reference Return Command: G28 H0, (or G30 H0)C-axis positioning Command: G0 C180.000 – Absolute command, degrees

G0 H180.000 - Incremental command, degrees

Work offsets G54 through G59 or the coordinate system setting command G50sets the work coordinates for the rotary axis. System parameter 1240 & 1250sets the reference point (Home position) for the C-axis.

Linear Interpolation command:G98 G1 C___(H___) F___ (F = degrees of rotation per minute)G99 G1 C___(H___) F___ (F = degrees of rotation per tool revolution)

C-axis locking functionDuring machining with live tools, locking of the C-axis can provide improvedstability. There are two different locking functions available:

Low-pressure clamp M88 (Pressure is adjustable. Normal setting is ~125 PSI)X/C axis interpolation is enabled while M88 is active. Rapid positioning isdisabled.High-pressure clamp M89 (fixed at maximum hydraulic system pressure)Both, rapid positioning axis interpolation are disabled while M89 is active.

Unlock command M90Front view of Main and Sub spindle, PUMA 2500SY

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Normal Rotary Axis Assignment for PUMA 1500, 2000, 2500 YS Models

The C-Axis (also referred to as C1-axis) normally assigned to the Main Spindle,on left side.

The A-Axis (also referred to as C2-axis) normally assigned to the Sub Spindle,on right side.

C- AXISA - AXIS

+

+

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A - AxisPUMA Turning centers that are equipped with a sub spindle and Y-axis include arotary axis each on the main and on the sub spindle. The rotary axis on the subspindle is assigned as the A-axis. NC programming for the A-axis is done sameway as on the C-axis, except as noted, below.

Reference Return Command: G28 A0, (or G30 A0)A-axis positioning Command: G0 A180.000 (Absolute position, degrees) No incremental command is available for A

A-axis locking functionLow-pressure clamp M188 (Pressure is adjustable. Normal setting~125 PSI)Axis interpolation is enabled while M88 is active. Rapid positioning is disabled.

High-pressure clamp M189 (fixed at maximum hydraulic system pressure)Both, rapid positioning axis interpolation are disabled while M89 is active.

A-axis unclamp command M190

Switching the Rotary Axis Names by M-CodeFor programmer’s convenience, the following M-Codes are used for re-namingthe rotary axis:

M290 This M-Code restores the normal axis name assignment, setting the C-axis on the main spindle and the A-axis on the sub spindle.

M291 This M-Code inverts the normal axis name assignment, setting the C-axison the sub spindle and the A-axis on the main spindle.

Switching the Rotary Axis Clamp M-CodeM390 sets the condition so that M89 clamps the C-Axis, M189 clamps the A-axisM391 sets the condition so that M189 clamps the C-Axis. M89 clamps the A-axis.

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Feed Rate Calculation for the Rotary Axis

The feed rate for a rotary-axis is specified in units of angular velocity,either in degrees per minute or in degrees per tool revolution.

To convert the tangential feed rate on the circumference of a circle that is definedby the radius R from inches per minute (IPM) into degrees per minute (°PM), thefollowing formula is applied:

To convert a feed rate from inches per revolution (IPR) into degrees per toolrotation (°/ REV) the formula is the same:

The above formulas calculate the feed velocity for moving the rotary axis alone,not together with another axis.

For example: Suppose that machining is done on the OD of a 1.5” diameter part,rotating the C-axis only. The tangential feed rate desired is 5” per minute. What isthe required feed rate in degrees per minute?

Answer: Feed rate required=5 x 57.296 / 0.75=382 degrees per minute

Feed Rate Calculation for Linear Interpolation with Rotary AxisCaution concerning the feed rate must be applied when linear interpolationbetween the rotary axis and the Z-axis is done. The tangential feed rate along thetool path becomes high when the arc length of the rotary axis move is relativelyshort in comparison to the travel distance along the Z-axis. The feed rate must bereduced, accordingly. It can be calculated as shown in the example, below.

Example: Machining is done on the OD of a 1.5” diameter part, rotating the C-axis Angle = 30° while moving the Z-axis minus 1”, at the same time.The desired feed rate along the tool path F = 5”/minute.Calculate the feed rate to be used for the interpolation command: G1G98 H60.W-1.0 F___?

Steps for calculation of the tangential feed rate:

1. Calculate the length of the 30° arc segment on the periphery of a 1.5”diameter circle: Arc length=2Rxπ/360x60=2x0.75x3.14/360x30=0.392”

2. Calculate the length of the tool path: L= Square root of (0.392²+1²)=1.07”

F ° per minute =F (IPM) x 57.296 / R

F ° per revolution =F (IPR) x 57.296 / R

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3. Calculate the time it should take for the 1.07” long cut, applying the feed rateof 5” per minute. Time = 60/5x1.07=12.84 seconds.

4. Calculate the feed rate in degrees per minute that is required for a rotation of30 degrees in12.8 seconds: F=30/12.8*60=141 degrees per minute.

Or apply the following formula, where: F = feed rate in inches per minute,A= C-axis rotation angleL = Length of the tool path

Feed rate in degrees per minute =5 x 30 / 1.07=141 degrees per minute

Command line for above example: G1G98 H60.0 W-1.0 F141.

F ° per minute =F (IPM) x A / L

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SPINDLE MODE AND ROTARY AXIS MODE COMMANDS

For PUMA Lathes, equipped with a C-axis, the program commands as shownbelow apply. Commands are shown for turning mode and for live tool mode,separately.

Main Spindle Mode (C-Axis Disconnected)For turning operations on the main spindle, the commands as shown in the table,below are applicable. These commands may be used at the initial program start-up in Turning-Mode or when switching from Live Tool-Mode to Turning-Mode.

Command ExplanationM5,M3 or M4 These commands are normally used for starting or

stopping the main spindle. In addition, they willautomatically disconnect the C-axis. When the C-axishappens to be clamped, at the time unclamping will be done,automatically by these commands.

G0 G18G40G80

Use these G-codes at the beginning of any program segmentwhere “Canned cycles” G81through G88 or cutter compensationG41, G42 is used. G18 (X-Z Plane select, default on power up)

G99 IPR-feed mode should always be used for turning. (G99-modeis set as default on power-up)

G96 S__ Constant surface speed control command is used for turningonly. Not to be used for drilling, tapping, milling or threadcutting.

G97 S__ Constant (RPM) control command. Use G97 for drilling, tappingmilling or thread cutting. (G97-mode is set as default on power-up).

Sub Spindle Mode (C-Axis Disconnected)For turning operations on the sub spindle, the commands as shown in the table,below are applicable.

Command ExplanationM105,M103 orM104

These commands are normally used for starting orstopping the sub spindle. In addition, they willautomatically disconnect the C-axis. When the C-axishappens to be clamped, at the time unclamping will be done,automatically by these commands.

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Rotary axis mode (C-Axis or A-Axis connected)For Live Tool operations, the commands as shown in the table, below areapplicable. These commands may be used at the initial program start-up in LiveTool-Mode or when switching from Turning-Mode to Live Tool Mode.

Command RemarksM35 Live tool spindle rotation-stop command and C-axis-selection.

This command is used for switching from Turning-Mode toLive- Tooling Mode.The main spindle now serves as the C-axis.

G0 G40 G80 Use these G-codes at the beginning of any program segmentwhere “Canned cycles” G81through G88 or cutter compensationG41, G42 is used.

M90 C-axis unclamp-command. Use at the beginning of any programsegment where C-axis clamp function (M88 or M89) is used.

G28 H0 C-axis Reference-point-return command. This command shouldbe used always after the C-axis has been newly activated.

G50 C__ G50 “C “only! No other axis. This may be used to pre-set the C-axis coordinates, at the reference point, if desired.

G97 S__M33,M34

Constant (RPM) control command must be used always whenC-axis is active. (G97-mode is set as default on power-up).Note: The G96 command must never be used in LiveTooling Mode.

M206 Allows simultaneous spindle rotation of more than one spindleat a time. This command is used just after sub spindlepositioning is done. It will keep the live tool spindle running.

G97 S__M119 Sub spindle positioning (when applicable)

M33 Live tool spindle-forward rotation command. Also activates theC-axis.

M34 Live tool spindle-reverse rotation command. Also activates theC-axis.

M88 C-axis low pressure clamp. Use only when necessary. C-axisclamping may be required for heavy milling, drilling or broachingoperations on relatively large diameters.

M89 C-axis high pressure clamp. Use only when necessary.(See above)

G99 IPR-feed mode may be used for any live tool operation, excepton machines built before 1998. (G99 set default on power-up).

G98 IPM-feed mode may be used for any live tool operation.Preferably, the IPR (G99) feed mode should be used, ifpossible. For machines built before 1998, the IPM-feed modemust be applied for Live-Tooling operations.

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M-Codes for switching the Rotary axis NameThe table below shows special M-codes that apply for PUMA 1500SY, 2000SYand 2500SY models, only. These M-codes simplify programming by re-namingthe rotary axis name assignment and the rotary axis-axis clamp M-codes. TheseM-codes call the sub programs as registered in NC-parameter tables # 6071through # 6079.

M-Code DescriptionM289 Sets the C-axis clamp M-Code as M89 (normal)

The A-axis clamp M-code is M189M289 Calls program O9001

M389 Sets the C-axis clamp M-Code as M189The A-axis clamp M-code is M89(used when the C-axis is switched from the main spindle to thesub spindle)M389 Calls program O9002

M290 Sets the normal rotary axis assignments:The C-axis is located at the main spindle.The A-axis is located at the sub spindle.M290 Calls program O9003

M291 Inverts the rotary axis assignments:The C-axis is located at the main spindle.The A-axis is located at the sub spindle.M291Calls program O9004

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ANGULAR POSITIONING FUNCTION FOR SPINDLESAngular positioning function for spindles can be utilized for machining with livetools. Angular positioning is applied typically on the sub spindle for the PUMAMS-series turning centers.

Spindle orientationWhen the spindle orientation option is provided the command M19 S0 is used forpositioning the main spindle at a preset rotation angle. Spindle orientation is usedfor applications such as bar pulling of polygon shaped stock, in-feeding ofpolygon shaped bar material from a bar feeding device, positioning of the chuckfor loading of work pieces, etc.

Parameter Settings related to Spindle OrientationEntering data at system parameter 4077 does setting of the orientation referenceangle.

Main Spindle: #4077 S1Sub Spindle: #4077 S3

Data range for parameter setting: zero ~ 4096, positive or negative value.One full rotation (360 degrees)=4096 units. One unit equals 0.088 degrees.(360/4096=0.088 degrees) One degree equals 11.3636 units.(4096=1000 Hexadecimal value, or 4096=Bit 12 =1 Binary value(1’0000’0000’0000)

Caution: Parameter 4077 S2 must not be changed. This parameter sets thelive tool spindle orientation position that is critical about alignment of the drivecoupling.

Angular spindle positioningOn machines where the spindle positioning option is available, positioning at aspindle rotation angle is possible in angular increments of 0.1 degrees. Thisfunction cannot do interpolation with another axis.

Angular positioning of the main spindleThe command for main spindle positioning is as follows:Zero-degree angle: G97 S0 M19180-degree angle: G97 S1800 M19 (multiply positioning angle by 10)Any angle: G97 S3599 M19 (not to exceed 3600 units)

Once commanded, the spindle is held in position under power by the spindlemotor. The M3, M4 or M5-command cancels spindle positioning.

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System parameter 4077 S-1 sets the reference angle for the main spindle.

Angular positioning of the Sub spindleThe command for sub spindle positioning is as follows:Zero-degree angle: G97 S0 M119180-degree angle: G97 S1800 M119 (multiply positioning angle by 10)Any angle: G97 S3599 M119 (not to exceed 3600 units)

The M103, M104 or M105-command cancels spindle positioning.

System parameter 4077 S-3 sets the reference angle for the sub spindle.

Angular Spindle positioning and spindle lockingWhen the spindle locking option is provided, angular positioning and locking ofthe spindle is possible. Spindle locking is available on the sub spindle for allPUMA MS-type turning centers. Angular positioning of the sub spindle is donethe same way as described, above. However, locking of the spindle is availableat 5° intervals, only. Hence, the angular positioning command is to be done in 5-degree increments from zero (S-command in 50-unit increments).

• Once the spindle has been positioned at the desired angle, it can be firmlylocked by the M-code M189. The teeth of a gear attached to the spindle willbe in alignment with the hydraulically powered locking pin every 5 degrees.

• No M-Code is used for unlocking the spindle. Spindle positioning orspindle rotation command unlocks the spindle, automatically.

• System parameter 4077 S3 is used for adjustment and setting the alignmentbetween the gear teeth and the locking pin.

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DRILLING AND TAPPING WITH LIVE TOOLS ON THE C-AXIS

Simplified canned cycles for hole machining with C and Z-axis

Z-axis peck drilling, C-axis positioning

G83 C___Z___Q___ P___F___

Z-axis tapping

G84 C___Z___F___

Notes: C = C-axis position, X = X-end position, (diameter), Q = peck distance (Nodecimal point allowed with the Q. Repeat Q on each subsequent line), P = Dwell,F = Feed Rate.C-axis clamping command M89 is optional. It can be added to the cycle, asshown in the example, below.

Example: Drilling and Tapping on the Front Face of a partDrill (4) Holes, diameter 0.201 on the front face equally spaced on a 1.5”Diameter circle, 0.45” deep. Peck depth is 0.125”. Clamp the C-axis duringdrilling. Tap the 4 holes, ¼-20-UN, and 0.35 deep.

Peck Drilling Program Tapping Program (Rigid Mode)G0G40G80G99 G0G40G80G99M90 M90M35 M35G28 H0 G28 H0T0707 T0808G97S2500M33 G0C0Z.5G0C0Z.5 X1.5 M8X1.5 M8 Z.1Z.1 G97S1000M29G83C0Z-.45.Q1250F.005M89 G84C0Z-.35F.05M89C90.Q1250M89 C90. M89C180.Q1250M89 C180. M89C270.Q1250M89 C270.M89G0G80Z.5M90 G0G80Z.5M90X8.Z4.M35 X8.Z4.M35M1 M1

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Simplified canned cycles for hole machining with the C and X-axis

X-axis peck drilling, C-axis positioning

G87 C___X___Q___ P___F___

X-axis tapping

G88 C___X___F___

Notes: C = C-axis position, Z = Z-end position, Q = peck distance (No decimalpoint allowed with the Q. Repeat Q on each subsequent line), P = Dwell, F =Feed Rate.C-axis clamping command M89 is optional. It can be added to the cycle, asshown in the example, below.

Example: Drilling and Tapping on the OD of a partDrill (4) Holes, diameter 0.201, located at Z (minus)-0.5”. Holes equally spacedaround a 2” OD. Drill through into the 1.5” diameter bore. Peck depth is 0.125”.Clamp the C-axis during drilling. Tap the (4) holes ¼-20-UN, 0.35 deep from theOD.

Peck Drilling Program Tapping Program (Rigid Mode)G0G40G80G99 G0G40G80G99M90 M90M35 M35G28 H0 G28 H0T0909 T1010G97S2500M33 G0C0Z.5G0C0Z.5 X2.25 M8X2.15 M8 Z-.5Z-.5 G97S1000M29G87X1.3C0Q1250F.005M89 G88X1.3C0F.05M89C90.Q1250M89 C90. M89C180.Q1250M89 C180. M89C270.Q1250M89 C270.M89G0G80X2.15 G0G80X2.2Z.5 Z.5X8.Z4.M35 X8.Z4.M35M1 M1

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DRILLING AND TAPPING WITH LIVE TOOLS ON THE SUBSPINDLEThe canned cycles shown below can be applied for drilling and tappingoperations on the sub spindle on PUMA-MS type machines. Angular spindlepositioning is applied.

Z-axis peck drilling on the sub spindleG83 Z___Q___ P___F___

Z-axis tappingG84 Z___F___

Example: Drilling and Tapping on the Faceof a part using Sub Spindle positioning.

Drill (4) Holes, diameter 0.201 on the face equally spaced on a 1.5” Diametercircle, 0.45” deep. Peck depth is 0.125”. Clamp the C-axis during drilling. Tapholes ¼-20-UN, 0.35 deep.

Peck Drilling Program Tapping Program (Rigid Mode)G0G40G80G98 G0G40G80G98M35 M35T0707 T0808G97S2500M33 G0Z.-5M206 X1.5 M8G0Z-.5 Z.-1X1.5 M8 S0M119Z.-1 M98P1235S0M119 S900M119M98P1234 M98P1235S900M119 S1800M119M98P1234 M98P1235S1800M119 S2700M119M98P1234 M98P1235S2700M119 G0G80 Z-.5G0G80 Z-.5 X8.Z4.M35X8.Z4.M35 M1 TAPPING SUB PROGRAMM1 DRILLING SUB PROGRAM O1235

O1234 M189G98M189G98 G97S1000M29G83Z.45Q1250F12.5 G84Z.45F50.G80Z-.1 G80Z-.1M99 M99

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The canned cycles shown below can be applied for drilling and tappingoperations on the sub spindle on PUMA-MS type machines. Angular spindlepositioning is applied.

X-axis peck drilling on the sub spindleG87 X___Q___ P___F___

X-axis tapping on the sub spindleG88 X___F___

Example: Drilling and Tapping on the OD ofa part using Sub Spindle positioning.

Drill (4) Holes, diameter 0.201, located at Z 0.5”. Holes equally spaced around a2” OD. Drill through into the 1.5” diameter bore. Peck depth is 0.125”. Clamp theC-axis during drilling. Tap the (4) holes ¼-20-UN, 0.35 deep from the OD.

Peck Drilling Program Tapping Program (Rigid Mode)G0G40G80G98 G0G40G80G98M35 M35T0707 T0808G97S2500M33 G0Z-.1M206 X2.25 M8G0Z-.1 Z.5X2.15 M8 S0M119Z.5 M98P1235S0M119 S900M119M98P1234 M98P1235S900M119 S1800M119M98P1234 M98P1235S1800M119 S2700M119M98P1234 M98P1235S2700M119 G0G80 Z-.5G0G80 Z-.5 X8.Z4.M35X8.Z4.M35 M1 TAPPING SUB PROGRAMM1 DRILLING SUB PROGRAM O1235

O1234 M189G90M189G98 G97S1000M29G87x1.3Q1250F12.5 G88x1.3F50.G80Z-.1 G80Z-.1M99 M99

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POLAR COORDINATE INTERPOLATION FUNCTION G12.1

Principle of OperationThe polar coordinate interpolation function “G12.1” simplifies programming oflinear and circular interpolation between the X-axis and a rotary axis.Programming is done using Cartesian coordinates that are converted into polarcoordinates by the control.

Layout of the X-C coordinate system

Programming Notes• G12.1 activates the polar coordinate interpolation function. In this mode, the

rotary axis “C” is programmed the same way as if it were a linear axis. Inputof degree-units is no longer valid for the C-axis at this time.

• G13.1 cancels the polar coordinate interpolation function, restoring the rotaryaxis function back to degree-input.

• In G12.1-mode, a coordinate along the horizontal axis “X” is expressed as adiameter (twice the actual distance from origin). A coordinate along thevertical axis “C” is expressed as the actual, linear distance from origin.

• The origin (zero point) of the X-C coordinate system is fixed at the centerpoint of the rotary axis. The origin cannot be changed.

• Syntax for Linear Interpolation command: G1 X__C__F__• Syntax for Circular Interpolation command:

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G2 (G3) X__C__R__(I__) (J__) F__• Programming of arcs is done the normal way. Letters “I” and or “J”, or letter

“R” is used for arc specification.• Z-axis moves must be commanded in a block separately from X-C moves.• Cutter radius compensation commands (G40, G41 and G42) must be

commanded during G12.1-mode only.• The cutter radius as registered under “R” on the tool-offset tables is applied

for cutter radius compensation automatically.• The letter D for cutter radius compensation is not used.• The tool-vector “T” at the tool-offset tables is set at zero when a milling cutter

is used.• Positioning command “G0” is not allowed in “G12.1-mode• Plane select command G18 is used in G12.1-mode. Parameters #5460 &

#5461 set the interpolation axis names for polar coordinate interpolation.

Polar Coordinate Interpolation Example

The sketch, above shows two flat surfaces to be milled onto a 1.232” outsidediameter. The flat surfaces start at the front-face (Z0), ending at Z-0.625”.A ¾”-diameter end mill is to be used for cutting the flats. Points 1 through 6describe the tool path. The coordinates X1.950, C0.5339 represent the start pointof the tool path.

Geometry Layout• When preparing a layout for the tool path geometry, it is advisable to start the

tool path on the positive side of the X-axis. The negative side of X as a startpoint should be avoided. This is due to the limited travel of the X-axis on thenegative side.

• A NC program for polar coordinate interpolation may include negative X-coordinates. The X-axis will not actually travel to the negative side of X0.Instead, the part is rotated around.

• In the example shown, no cutting is done on the 1.025-arc between points 3and 4. The arc has been added, so that both “flats” can be machined in acontinuous path. Since the arc is not actually machined, a high feed rate isapplied going around the arc.

Cutter Compensation / Tool OffsetThe sketch, above shows the dimensions for the tool-center path. In theory,cutter compensation might not be needed, in this case. However, it isadvantageous to apply the cutter compensation function, regardless. Cuttercompensation allows the operator to control the size of the entities machined bychanging the “R”-value of the tool offset.

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• A ramp-on-move must be programmed, together with the cuttercompensation command G41 or G40. A line perpendicular to the flat is tobe constructed for the ramp-on move.

Ramp-on Distance=0.1” when the tool center path is programmed.Ramp-on Distance=0.1” plus cutter radius, when the part geometry onlyis programmed.

• A ramp-off-move is required for cancellation of the cutter compensation,G40. A line in the same amount as shown, above, perpendicular away fromthe flat is to be programmed.

• In polar coordinate interpolation, size control cannot be achieved byadjusting the X-axis tool offset. Adjusting the R-value for the cuttercompensation does size control.The X-axis offset represents the diametrical distance between the x-axisorigin and the cutter center position. This offset value is usually zero, in caseof a standard axial milling attachment. Once it is set correctly, the value mustnot be changed.

• Faulty tool offset data or faulty coordinate data may result in concave orconvex shapes, instead of straight, linear shapes.

NC Program for Sample Part(Note: The “R”-offset for this tool is set = 0 prior to cutting the part.After checking the part size, adjust “R” plus or minus, as needed for size control)

M35G40G13.1G30 U0 W0G28 H0T0808 (3/4” DIA. CUTTER)G97 S2000 M33G0Z.1 C0 M8X2.1G12.1G1 G98 X1.950 C.5339 F60. (Point 1)G1 Z-0.625 F10.G1 G41 X1.750 F7. (Point 2)G1 C-.5339 (Point 3)G2 X-1.75 R1.025 F60. (Point 4) (No cutting is done on the arc)G1 C.5339 F7. (Point 5)G1 G40 X-1.950 F60. (Point 6)G13.1 G99 G0 X2.5 Z.1 M35G30 U0 W0. M9M1

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CYLINDRICAL INTERPOLATION

Principle of OperationThe cylindrical interpolation function “G7.1” allows circular interpolation betweenthe Z-axis and a rotary axis. Programming is done using Cartesian coordinatesfor the Z-axis and degrees of rotation for the rotary axis. Arc specifications aregiven in units of linear measurement. Typical applications for this function includeengraving operation for lettering or for milling of cam shapes on thecircumference of a cylinder.

Layout of the Z-C Coordinate systemThe sketch below shows the Z-C coordinate system.

Programming Notes• Plane Select Command: G18

• G7.1H < 0 or G7.1 C < 0 activates the cylindrical interpolation function. An H-value or a C-value greater than zero specifies the radius of the cylinder to bemachined.For example: Cylindrical interpolation mode is set by this command:G1 G18 W0 H0 followed by G7.1 H0.75 in separate block.

• G7.1 H0 or G7.1 C0 cancels the cylindrical interpolation function.

• Z-coordinates specify absolute dimensions parallel to the length of thecylinder. The letter “W” can be used for incremental specification along the Z-axis.

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C º = L / D x 114.59156°

C º = L / R x 57.29578°

• C- axis rotation is specified as an absolute angle in degrees. The letter “H”for incremental angle specification can be used, instead.

• X-coordinates specify absolute dimensions on the OD of the cylinder. Theletter “U” can be used for incremental specification along the X-axis.

• Positioning G0 cannot be done when cylindrical interpolation mode is active.

• Linear interpolation G1 is possible with all three axes, simultaneously.

• Circular interpolation (G2, G3) between Z-linear coordinates and C- angularcoordinates is performed automatically by the control using the G7.1-function.Circular interpolation between X and C axis cannot be done.

• Arc radius specification. The letter “R” must be used for arc specifications.Letters I J or K cannot specify an arc radius in cylindrical interpolation.

• Cutter Radius Compensation Functions (G40, G41and G42) can beapplied. The cutter radius as registered under “R” on the tool-offset tables isapplied for cutter radius compensation automatically.

• Tool path: For programming purposes, the surface on the circumference of acylinder is laid out in the shape of a rectangle whose length is equal to thecylinder diameter times pi. The height equals the height of the cylinder. Thetool path is then projected onto this rectangle. Horizontal dimensions are tobe converted from linear to angular C axis coordinates. The Verticaldimensions represent Z-axis coordinates. The zero point of the coordinatesystem can be decided at an arbitrary location.

Formula for converting the length of an arc to degrees of rotationThe use of RADIANS can simplify conversion from linear units to degree-units.To convert the length of an arc for a segment of a circle into degrees of rotation,the following formula is applied:

C = Degrees of rotation, L = linear distanceR = radius of the circle, 57.29578° = oneradian.

When diameter “D” is used to define thecircle, use this formula:114.59156° = two radians.

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Cylindrical Interpolation ExampleThe letters “J and R” to be engraved around the OD of a 2.9”-diameter part,using cylindrical interpolation-function G7.1 A 1/32-radius ball-nose end mill isused for engraving the letters. In order to define the tool path, coordinates X, Cand Z for every point on the entities are required.

Layout of tool pathIn order to simplify programming the cylindrical surface of the part to bemachined is represented in form of a flat sheet that measures the equivalent ofthe part’s circumference vertically and the part’s length in horizontal direction.Orientation of the part is the same as viewed looking down from the operator’sside of the machine when the part is clamped in the chuck.

Converting linear coordinates to degrees of rotation

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For the sample part at hand the factor for converting linear units into degrees iscalculated as follows: 1 / 2.9 x 114.59156 = 39.514331º per 1” of linear distance

The table below shows the start-points and end-points for the lettering

X Z CStart point of letter J 2.9 - 0.7 0.4 * 39.5143 = 15.806ºEnd point of letter J 2.9 -.45 15.806Start point of letter R 2.9 -0.3 -0.1 * 39.5143 = -3.951ºEnd point of letter R 2.9 -.3 -0.4 * 39.5143 = -15.806º

N100 (ENGRAVING LETTERS J & R )G0G80G40G18M35G7.1H0 G28H0T1111G97M33S4000G0Z-.7G0X3.1.C15.806 M8G1G98G18W0H0G7.1H1.45X2.9F5.C3.951 Z-.45G3Z-.45C15.805R.15 G1X3.5F200.Z-.3C-3.951 G1X2.9F5. Z-.7C-10.8664G3Z-.45C-10.866R.125 G1C-3.9514 C-10.866G1Z-.3C-15.8057G1X3.1F200.G7.1H0 G30U0M35G30W0M1

C º = L x 39.5143º

27

Y-AXIS PROGRAMMING FOR PUMA TURNING CENTERS

Instructions shown here apply for PUMA CNC Turning Centers, series 1500Y,2000Y and 2500 Y or SY with FANUC-control models 18i -T.

Y - Axis DesignIn theory, the Y-axis on a Turning Center runs perpendicular to the X and the Z-axis. Machining on three planes is possible by use of live tools. On the machinemodels as listed, above, the Y-axis virtually runs on a 30-degree angle to the X-axis. This design allows for compact construction and improved stability. WhenY-axis movement is commanded, both the X-axis and the Y-axis are movingautomatically synchronized so that the resultant tool path of the Y-axis isperpendicular to the X-axis.

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X-Y Plane Layout

Note:

Travel on the negative side of the X-axis is restricted due to limitation of the X-axis stroke. The X-axis will let the cutter center travel approximately 2 inchesmaximum, radially past the spindle center. However, the interference betweenthe turret body and the sub spindle body varies, depending on the position of theZ and B-axis. The safe maximum travel past center is only 0.1 inch, radially.

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Y- Z Plane Layout

Note:

Part Layout for programming purpose is done, looking at the part from the backof the cutter, not from the front of the machine. Positioning of the cutter in axialdirection is done by the X-axis. Dimensions specified on diamter.

Notes for Y-axis operation

• During manual Zero-return mode the Y-axis first then the X-axis must be“homed”, independently in this order.

• The rotary axis must be active in order to command Y-axis operation inautomatic mode or in MDI-mode. M-codes M33, M34, M35 switch therotary axis ON, allowing Y-axis operation in automatic mode or in MDI-mode.

• During machining operations with non-rotating tools, the Y-axis mustremain “parked” at its home position. M-codes M3, M4, M5, M103, M104,M105 switch the rotary-axis OFF, prohibiting commands for Y-axismovement.

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• Reference Return Command for Y-axis: G28 V0, (or G30 V0)

• Y-axis positioning Command: G0 Y___ (+/-) Absolute command G0 V___ (+/-) Incremental command

• The zero point for the Y axis can be shifted by work offsets G54 throughG59 or by coordinate system setting command G50.

• Plane select command G17 allows circular interpolation between the Xand Y-axis. Due to limitation of the X-axis movement at negativecoordinates, please pay attention, avoiding collision that may occurbetween the turret and sub spindle body.

• Plane select command G18 (default on power up) allows circularinterpolation between the X and the Z-axis.

• Plane select command G19 allows circular interpolation between the Yand the Z-axis

• Helical interpolation between Y and Z-axis with the X-axis used for theaxial dimension of the helix is possible when the “3-D HelicalInterpolation Option” is available on the system.

• Diameter programming is used. All X-coordinates are “on diameter”.

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WORK PIECE TRANSFER BETWEEN MAIN AND SUB SPINDLE

Transferring a work piece from one spindle to the other is done with the B-axisthat transports the sub spindle. Moving the sub-spindle onto the main spindleallows “handing-over” the work piece from one spindle to the other. Normally,machining is done on the main spindle at first then the part is transferred to thesub spindle for additional machining to be done on the back-end of the part.

The following aspects need to be considered for work transfer operations:

• Chucking equipment on the sub-spindle.The sub-spindle that normally serves as the “Receiver” of the transferred partuses either a three-jaw chuck or a True-Length type collet chuck. No axialmovement of the collet must occur while closing the chuck, such as is thecase with a standard collet chuck. The use of compactly designed colletchucks is preferred. For example: Type 3-J DL, with reduced collet nosediameter is best. Larger chucks cause interference with turret and cuttingtools during parts transfer.

• Chucking equipment on the main-spindle.The main-spindle can use either a three-jaw chuck or a standard colletchuck, for most applications. The use of compactly designed collet chucks ispreferred. For applications that employ the sub spindle for advancing(“pulling”) of bar stock, either a three-jaw chuck or a True-Length type colletchuck is required.

• Non oriented, synchronized spindle rotation.This feature allows synchronizing the spindle rotation with both spindlesengaged on the work piece at the same time. Synchronization can be donefrom spindle stopped condition. Both spindles operate in unison, at preciselysynchronized rotation. This type of synchronization is applied typically forturning of long shafts that are clamped by the chucks at each end.Alternatively, it can be used for cutting off a part from the bar stock thentransferring it to the sub spindle. Timing or orientation between the twospindles in this case is at random. (See details for parameter settings, below)

• Oriented and synchronized spindle rotation.Synchronization of the spindle rotation angle on each spindle is done beforecommencement of synchronized rotation. This function establishes andmaintains the rotation angle relationship between entities machinedseparately on the main spindle and on the sub spindle. The condition forusing this feature is that only one spindle is connected to the work piece. Thechuck on the other spindle needs to be opened, before synchronization canoccur. (See details for parameter settings, below)

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• B-axis torque control functions.a) B-axis torque skip function. This function allows seating of the sub spindle

chuck in axial direction firmly against the work piece to be transferred,before closing the chuck.

b) Cutoff confirmation. B-axis torque control function is used for checking theactual separation between work piece and bar stock after cutoff.

Parameter Settings related to Spindle Synchronization

a) Setting the data of keep relay K0, bit 0 decides the type of spindlesynchronization that is performed.Non-oriented spindle synchronization: K0.0 = 1Oriented spindle synchronization: K0.0 = 0

b) Phase synchronization angle (orientation) is shifted by following systemparameters:Main Spindle: System parameter #4034-S1Sub Spindle: System parameter #4034-S3

Data range for parameter setting: zero ~ 4096, positive or negative value.One full rotation (360 degrees)=4096 units. One unit equals 0.088 degrees.(360/4096=0.088 degrees) One degree equals 11.3636 units.

Setting the orientation angle for Spindle Synchronization

When a part is to be transferred from the main to the sub spindle, precisealignment with the jaws or collet chuck on the sub spindle may be required. Forexample: when gripping on a polygon shape with the sub-spindle chuck, thefollowing procedure is used for checking and setting the synchronized orientationposition.

1. Set keep relay 0.0=02. In handle mode, move the B-Axis with the sub spindle chuck as close to the

face of the part. Both spindles must be allowed to rotate freely, withouttouching the part.

3. Execute following commands, either in MDI-mode or Auto-mode, single block:

M131 -Sub Spindle Chuck interlock bypass commandM169 -opens the sub spindle chuckG97 S0 M203 -synchronizes orientation on both spindles by rotating

each of the spindles at their respective orientationposition, as set by parameter #4034. Both spindles arenow locked in position by the spindle motor.

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4. At this time, the synchronized orientation position can be checked. Alignmenterror is measured by use of the C-axis position display.

5. Set “Origin” to“H”, on the “Relative” position display for the C-axis.6. Switch to handle mode. The motor releases both spindles at this time. Do not

touch or move the spindles. Activate the C-axis mode by pushing the C-axisbutton on the operation panel.

7. Find the angular mismatch between jaws and the work piece by rotating theC-axis until the sub spindle jaw lines up with the part.

8. Adjust data setting on parameter #4034, accordingly. Repeat steps 2 to 8 untilperfect alignment is established.

Oriented spindle synchronization command• Set Keep Relay 0.0 =zero.• The jaws or collet of one of the two chucks must be opened before the

spindle synchronization command. This will allow each spindle to performorientation, independently, without being connected to each other by the workpiece.

The following series of commands are used in the order as shown whensynchronizing the spindles:

M131 Sub Spindle Chuck interlock bypass commandM169 opens the sub spindle chuckG97 S1000 M203 (M204) Synchronizes spindles at 1000 RPM with

simultaneous acceleration or deceleration.

Synchronized spindle stop command

When both spindles are running in synchronized mode, it is possible to do asynchronized stop. Both spindles come to a stop, synchronously. Thesynchronized spindle stop command is used only when both spindles areengaged with the work piece.

M205 Synchronized stop command

Non- oriented spindle synchronization commandSet Keep Relay 0.0=1Keep relay is set 1for applications where machined entities on each spindle haveno relationship concerning rotation angle to each other. Synchronizationcommand is possible with both chucks engaged with the work piece.

G97 S1000 M203 (M204) Synchronizes spindles at 1000 RPM withsimultaneous acceleration or deceleration.

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Caution with G96 in Spindle Synchronization Mode

The G96-command may cause erratic acceleration or deceleration whenmachining is done on relatively small work diameter. This is typically the caseduring cutoff operation where the cutoff tool is moved to X0. Consequently,slippage between the sub spindle chuck and the work piece may occur, whenboth chucks are engaged with the work piece. Slippage causes error in angularrelationship between entities that are machined on each spindle separately.

It is best to do the cutoff operation as follows:

1. Position the cutoff tool a little above the bar stock diameter with the Z-axis atthe correct position for cutting off.

2. Start-up the main-spindle in G96-mode and move the B-axis close to the part.3. Cut a groove to the smallest possible part diameter, leaving enough material

so that the part will not break away from the bar stock. At the bottom of thegroove, slightly retract the tool. (“U0.01)

4. Synchronize both spindles in G97-mode at the desired RPM. Then grippingthe part with the sub spindle, completing the cutoff operation.

For reliable operation in spindle synchronization mode, the spindle speed shouldbe kept between 60 and 2500 RPM.

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Torque Control Functions for B-axis

The table below shows special G-codes that apply for PUMA 1500SY, 2000SYand 2500SY models, only. These G-codes command B-axis torque controlfunctions. G-codes call the sub programs as registered in NC-parameter tables #6050 through # 6059.

Live center support with Sub Spindle

G-Code DescriptionG300 Live-Center Support with B-axis “ON”

G300 Calls program O9010

Program Example:Attach a suitable work support device to the sub spindle, such as a live-center. Then insert the following commands into the program:1. G0 B___ ---Position the B-axis within 0.1” to 0.2”, clear of the end of

the work-piece that is to be supported. Synchronize the spindle RPMfor main and sub spindle, if desired.

2. G300 B-200. –G300 calls the sub program. The “B”-command setsthe torque for the B-axis. “B-200.” Means 20% of the available torqueapplied on the B-axis in “minus” direction. The B-axis nowcommences to move in negative direction, pushing the live centeronto the work, applying the specified torque.

3. X__Z__ Start the machining operation with live center in place.4. G301 --G301 Calls the sub program O901, canceling the torque

control mode. This command is required before positioning the B-axis.

G301 Center Support “OFF” (cancel)G301 Calls program O9011, canceling the torque control function.

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Cutoff Confirmation

G-Code DescriptionG350 Cutoff confirmation

G350 Calls program O9011Use the cutoff confirmation command for cutoff operation in combinationwith work piece transfer from main to sub spindle only.

Program Example:Upon separation of the work-piece from the bar stock, retract the cutofftool with the X-axis, so that the tool clears the OD of the bar stock. Now,insert the following commands into the program:

1. G350----Calls the sub program O9012. The B-axis will now attemptto close the gap that exists between the bar stock and the workpiece, automatically. When the movement of the B-axis is less than0.04”, an alarm occurs, signaling that the work piece has not beenseparated from the bar stock. When the movement is greater than0.04, no alarm will occur.

2. G4 U0.5---A dwell time of 0.5 seconds is required.3. G0 B___ Positioning command, clearing the sub spindle out of the

way.

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Sample Program1: Spindle Synchronization, Cutoff and Parts Transfer toSub Spindle

Program includes torque-skip function.

N1400( CUTOFF & TRANSFER)G0G40G80G99G50S3000M31 M31= main spindle interlock bypassG53 B0M131 M131=sub spindle interlock bypassG30U0W0T0303M169 M169=open sub spindle ChuckG97S1000M203 M203= spindle synchronization-commandG0X3.Z-2.250S1500 Positioning the cutoff tool at cutoff positionG0B-15.2 S2000 Step up rpm & bring sub chuck to within 0.1”

to face of partM86 Torque Skip data settingG31G98B-15.8 0 F30. Command the B-axis to move by 0.1” past the

point where the shoulder on the chuckbottoms out on the face of the part.

G99M168 M168= close sub chuckM87 Torque Skip data setting cancelG0X2.1M8 Final approach with cutoff toolG1X0 F.002 Cutoff

Part in sub spindle is now separated from barstock. Sub spindle axial pressure releases,pushing slightly against cutoff tool.

M5 Stop main spindle. This twist-off anyremaining material

G0B-3.5 Retract sub spindleG0X3.M9 Retract cutoff toolG30U0W0M105 Stop sub spindleM1

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Sample Program 2: Spindle Synchronization, Cutoff and Parts Transfer toSub Spindle

Program includes torque-skip function, pickup position check and cutoffconfirmation G350.

N200(CUTOFF & TRANSFER)G0G18G40G99G53B0G30U0G30W0M131 Interlock bypassT0303G0Z-2.895M114 Move Z at cutoff position

Clean sub spindle chuckG97S1275M3X2.1 Start main spindle, move X to partX1.2G0B-14.986(1-INCH CLR.OF FACE) Move B close to partG96S400M8 CSS & coolant onG1G99X.25F.002 Pre-cutoffU.02 Tool releaseG97S1500M169 Fixed spindle rpmM203 Synchronize spindlesG4U1.G0B-17.386(.1CLR) B within 0.1” clear of shoulderM86 Torque skip onG31G98P99B-17.9F5. (B-17.811) B to to skip positionG99M87 Torque skip offWHILE[#5104NE0]DO1 Wait until B quits movingEND1#100=0 Set alarm flag at zero#524=#5024 Store the current machine Coordinates

of the B-axis.#525=#524+17.811 Calculate the difference between actual

and theoretical pickup position.#525=ABS[#525] Make it a positive numberIF[#525GT0.005]GOTO205 Check the tolerance. Skip to N205 if

not in tolerance. If within tolerance, donext line.

M168 Close the sub chuckM8G1G99X-.01F.002 Cutoff all the wayX2.1F.01 Feed the tool back out (B-axis may

exert pressure onto the tool)G0X4. Clear the tool away from stock

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N206G350(CUTOFFCONFIRMATION)

B axis attempts to close the gap left bythe cutoff tool. If it cannot move at least0.05”, alarm occurs.

G4U.5 Must have dwell command hereGOTO206 Skip the alarm flagN205#100=1 Set the alarm flagN206G53B0M105 Retract B axisG30U0M9 Retract XG30W0M5 Retract Z, main spindle offIF[#100NE1]GOTO208 If alarm flag not set, skip to N208#3000=1(PICKUP N0 GOOD) Alarm condition. #525 shows the

deviation from the expected pickupposition

N208M1

Bar Feed Operation

M-codes used for the bar feed operationM5 Stop the spindleM9 Stop the coolantM31 Chuck interlock bypass (allows operation in auto mode with chuck open)M69 Open the chuckM50 (M51) Bar-push command (M50 or M51 depending on wiring connections)M68 Close the chuck

Bar feed sub programsUsing separate sub-programs that contain all the necessary commands for thebar feed operation is recommended. (See sample programs O7000 and O7001shown below)

Bar Stopper (Tool for stopping the bar)When a SERVO-type bar feeder is at hand, ordinarily no bar stopper is required.However, in some cases the user may choose to use a bar-stopper anyway forimproved accuracy and reliability. When a bar stopper is used, the bar-feedprogram needs to be modified, accordingly.

Top cutting the front face of a new barThe front end-face of a new bar in some cases may have to be cutoff ormachined separately from the normal machining operation. In this case, the topcutting can be included in the bar-reload sub program if desired.

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End of bar-signalThe bar feeder sends a signal to the NC at the time when there is not enoughmaterial left for the next bar-advance. The bar-end signal operates the Block-Skip Switch “/ 2” on the NC. This feature allows the NC to distinguish betweennormal bar feed out and bar reload operation. When M50 is commanded at thetime the bar-end signal is “ON” the bar feeder ejects the remnant material first,then automatically loads a new bar. The bar stopper must not block the front ofthe spindle at this time.

Timer Setting (M50/M51 time-out)Timer T32 in the PMC-Parameters sets the time-out for the M50 & M51 function.Standard setting is 20 seconds. When the bar feed out or bar reload, timeexceeds the set time an alarm occurs.

Inserting the bar feed command into the machining programIn a bar-machining program, the bar feeding operation is done typically after allmachining operations have been completed. The bar feed command is normallyinserted into the machining program near the bottom.

Bar Feed Sub Program CallN7000 M98 P7000 (Bar feed sub program call.) Insert this command near thebottom the machining program.

Bar Reload Sub Program Call/2M98 P7001 (Bar reload sub program call.) This command is needed only forapplications where a bar-stopper is used or when top cutting is done. Insert thiscommand into the bar feed sub program O7000.

Program Examples for use with bar feederExample 1: Bar Feed Sub Program, for use without bar stopper or without topcutting.

O7000 (Bar Feed)M5 (Spindle stop)M9 (Coolant off)M31 (Chuck Interlock-bypass command)M69 (Open chuck)M50 (M51) (Bar-push command)M68 (Close chuck)M99 (Return to Main Program)

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Example 2: Bar Feed Sub Programs, for use with bar stopper, without top cutting.

O7000 (Bar Feed with bar stopper) O7001 (Bar Reload)M5 (Spindle stop) M50(M51)M9 (Coolant off) M68T0707 (Bar stopper) M99M31 (Chuck interlock-bypasscommand)M69 (Open chuck)/2 M98 P7001 (If bar-end, go to reload program)G0 *Z1. (Positioning Z)X0 (Positioning X)G1G98 *Z0.02 *F100. (Feed to bar stop position)M50(M51) (Bar-push command)M68 (Close chuck)G0 W1. (Retract Z)*X6. (Retract X)M99 (Return to Main Program)

*Note* Please modify the Z-coordinates and feed rate shown above to suit theapplication.

Example 2: Bar Feed Sub Programs, for use with bar stopper, with top cutting.

O7000 (Bar Feed with bar stopper) O7001 (Reload & top cut)M5 (Spindle stop) M50(M51)M9 (Coolant off) M68M31 (Chuck interlock-bypasscommand)

M68

M69 (Open chuck) T0505 (Cutoff tool)/2 M98 P7001 (If bar-end, go to reload program) G96 S500 M3T0707 (Bar stopper) G0 Z-.5 M8G0 *Z1. (Positioning Z) X1.1X0 (Positioning X) G1 G99 X-.02 F.002G1G98 *Z0.02 *F100. (Feed to bar stop position) G0 X6. M9M50(M51) (Bar-push command) Z1. M5M68 (Close chuck) M99G0 G99 W1. (Retract Z)X6. (Retract X)M99 (Return to Main Program)

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M-Code List for DAEWOO PUMA-Turning CentersThe table below shows M-codes that apply for most PUMA modelsmanufactured from year 1998 and up. Gantry-loader models are notincluded in this list. Actual availability of the M-codes as shown may vary,depending on machine type and optional equipment furnished.In order to verify the existence of an M-code within the PMC; please use thesearch-function in the PMC-Ladder. Press “Search” then key-in the M-codethen press “Search”, again. When the function is not present, the message:“Symbol not found” is displayed. Please note that some of the M-codesthat exist in the PMC will not work unless the necessary peripheral devicesor Control Option for a specific M-function has been installed.

Note for programming of M-Codes: In a NC program, one M-code only is allowedper block. An M-code can be specified on the same block, together with other NC-commands.

Feature Code: S= Standard M-code for all machinesB= Standard M-code for Machines with B-axis & Sub SpindleC= Standard M-code for Machines with C-axisY= Standard M-code for Machines with Y-axis

Option = Peripheral device and or Control Option is required

** M-Codes with same number but different function, or for different machine type

M-Code Description FeatureM00 Program Stop SM1 Optional Stop SM2 Program Reset or Rewind and Reset SM3 Main Spindle Forward SM4 Main Spindle Reverse SM5 Main Spindle Stop SM7 High Pressure Coolant OptionM8 Flood Coolant On SM9 Coolant Off SM10 Parts Catcher Advance OptionM11 Parts Catcher Retract OptionM13 Turret Air Blow OptionM14 Main Spindle Air Blow ON BM15 Main Spindle Air Blow OFF BM17 Machine Lock ON SM18 Machine Lock OFF S

**M19 Main Spindle Orientation S**M19 360° Spindle Positioning, Spindle Indexing using S-

command, 0.1° increment. G97S1800M119=180°Option

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M-Code Description FeatureIndexing command (FANUC Control Option Required

M20 Loader-Call, Robot Call OptionM21 Optional Block Skip ON YM22 Optional Block Skip Cancel YM24 Chip Conveyor Run OptionM25 Chip Conveyor Stop OptionM26 Hydraulic Tool Advance OptionM27 Hydraulic Tool Retract OptionM28 Polygon Mode ON (FANUC Control Option Required) C

**M29 Rigid Tapping, Main Spindle rotation (Option)**M29 Rigid Tapping, Live Tool Spindle rotation C**M29 Rigid Tapping, Sub Spindle rotation BM30 Program End With Rewind and reset SM31 Interlock by-pass (Cycle operation with main chuck in

open condition or Tailstock advance / retract withspindle running)

S

M33 Live Tool-Spindle Forward Rotation CM34 Live Tool-Spindle Reverse Rotation CM35 Live Tool-Spindle Stop CM36 Steady Rest Base Clamp OptionM37 Steady Rest Base Unclamp OptionM38 Steady Rest Right (1) Clamp OptionM39 Steady Rest Right (1) Unclamp OptionM40 Gear Change NeutralM41 Gear Change LowM42 Gear Change MiddleM43 Gear Change Middle or HighM44 Gear Change High

Machineswith

SpindleDrive Gear

BoxM46 Tailstock Body Unclamp & Traction-Bar engage. OptionM47 Tailstock Body Clamp. & Tract-Bar Retract. OptionM48 Override Invalid SM49 Override Valid SM50 Bar Feeder Command 1 SM51 Bar Feeder Command 2 SM52 Splash Guard Door Open OptionM53 Splash Guard Door Close OptionM54 Parts Count SM55 Cycle Repeat after M30

Available on machines made after 06/2003 onlyS

M56 Tapping Cycle ON (Locks out single block operation,feed hold. Speed and feed override during tapping )

S

M57 Tapping Cycle Cancel SM58 Steady Rest Left (2) Clamp Option

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M-Code Description FeatureM59 Steady Rest Left (2) Unclamp OptionM60 Indexing while axis is moving SM61 Switching Low Speed (Integral Spindle Motor) YM62 Switching High Speed (Integral Spindle Motor) YM63 Main-Spindle CW & Coolant On SM64 Main-Spindle CCW & Coolant On SM65 Main-Spindle & Coolant Off S

**M66 Steady Rest Unclamp / Clamp during spindlerotation.

Option

**M66 Chuck low pressure clamp in case of dual chuckingsystem

Option

M67 Chuck high pressure clamp for dual chucking OptionM68 Main-Chuck Clamp SM69 Main-Chuck Unclamp SM70 Dual-Pressure Tailstock, Quill Advance with Low

PressureOption

M72 Spindle Inverse Rotation (Used for left hand tappingwith G84 or G88 command)

S

M73 Spindle Inverse Rotation Cancel SM74 Error Detect On SM75 Error Detect Off SM76 Chamfering On SM77 Chamfering Off SM78 Tailstock Quill Advance SM79 Tailstock Quill Retract SM80 Q-Setter Swing Arm Down OptionM81 Q-Setter Swing Arm Up OptionM82 Mirror Image ON YM83 Mirror Image OFF YM84 Turret CW Rotation SM85 Turret CCW Rotation SM86 Torque Skip Active (M86 P99) BM87 Torque Skip Cancel BM88 Main Spindle Low Pressure Clamp, (C-axis) C

**M89 Main Spindle High Pressure Clamp, (C-axis) C**M89 Main Spindle Locking, in 5-degree intervals

(Standard on PUMA 160G only)Option

M90 Main Spindle Unclamp (160G and C-axis, standard) OptionM91 User M-code, finish signal by external switch OptionM92 User M-code, finish signal by external switch OptionM93 User M-code, finish signal by timer on PMC OptionM94 User M-code, finish signal by timer on PMC OptionM98 Sub-Program Call S

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M-Code Description FeatureM99 End of Sub-Program / Return to main program S

M103 Sub-Spindle Forward Rotation BM104 Sub-Spindle Reverse Rotation BM105 Sub-Spindle Stop BM108 Sub Spindle TSC-Coolant ON BM109 Sub Spindle TSC-Coolant OFF BM110 Interference Check Invalid (MSY machines, Barrier) OptionM111 Interference Check Valid (MSY-machines, Barrier) OptionM114 Sub-Spindle Air Blow ON BM116 Part Eject (Work piece eject) BM117 Mist Collector ON OptionM118 Mist Collector OFF Option

**M119 Sub-Spindle Orientation B**M119 Sub-Spindle Positioning using S-command, 0.1°

incrementB&C

M120 Part-Cutoff Confirm OptionM125 Long Shaft Work BM131 Interlock By-pass (Cycle operation with Sub-Spindle

chuck in open condition)B

M135 Rotary axis-disconnect command. M135 is valid onlyafter the M35-command. It disconnects the rotaryaxis on the main spindle letting it “free-wheel”. Whenthe M35-command follows the M135, it disconnectsthe rotary axis on the sub-spindle, letting it “freewheel”, while the rotary axis on the main spindle isactive.

Y&B

M163 Sub-Spindle CW & Coolant On BM164 Sub-Spindle CCW & Coolant On BM165 Sub-Spindle & Coolant Stop BM166 Sub Chuck Low Pressure Clamp OptionM167 Sub Chuck High Pressure Clamp OptionM168 Sub-Chuck Clamp BM169 Sub-Chuck Unclamp BM188 Sub Spindle (A-Axis) Low Pressure Clamp Y & B

**M189 Sub Spindle Locking, in 5-degree intervals(M103, M104, M119 –commands unlocks it )

B & C

**M189 Sub Spindle (A –axis) High pressure Clamp Y & B**M190 Sub Spindle Unclamp (A-axis) Y & B**M190 B-axis Control Waiting Mode B**M191 B-axis Control Waiting Mode Y & BM200 Tool Load Monitor ON OptionM201 Tool Load Monitor OFF OptionM203 Spindle Forward, Main & Sub Phase Synchronization BM204 Spindle Reverse, Main & Sub Phase Synchronization B

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M-Code Description FeatureM205 Spindle Synchronous Stop BM206 Spindle Rotation Release, Two Spindle Control

Main, Sub or Live Tool Spindle independent speedcommand during simultaneous spindle operation.

B or C

M250 Service ModeAllows restricted machine operation for service orsetup purposes while the safety door is open.

Option(2004

modelsonly)

M-Codes for switching the Rotary axis Name

The table below shows special M-codes that apply for PUMA 1500SY, 2000SYand 2500SY models, only. These M-codes simplify programming by re-namingthe rotary axis name assignment and the rotary axis-axis clamp M-codes. TheseM-codes call the sub programs as registered in NC-parameter tables # 6071through # 6079.

M-Code DescriptionM289 Sets the C-axis clamp M-Code as M89 (normal)

The A-axis clamp M-code is M189M289 Calls program O9001

M389 Sets the C-axis clamp M-Code as M189The A-axis clamp M-code is M89(used when the C-axis is switched from the main spindle to thesub spindle)M389 Calls program O9002

M290 Sets the normal rotary axis assignments:The C-axis is located at the main spindle.The A-axis is located at the sub spindle.M290 Calls program O9003

M291 Inverts the rotary axis assignments:The C-axis is located at the main spindle.The A-axis is located at the sub spindle.M291Calls program O9004

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Miscellaneous programming information

G76 – THREADING CYCLE – TWO LINE FORMAT(Applicable with Fanuc Controls, T series, systems 0, 16, 18, 21. Also: Mitsubishi 500L,50, 64)

FIRST COMMAND LINE: G76 P021060 Q05 R10 (see details, below)

P 02 10 60 Specify “P”, followed by a six digit number.

02 =Number of finishing passes at the bottom of the thread (02 means 2finishing passes) (Sets PAR 5142– see note 1)

10 =Chamfer-width or pullout-width at the “Z” end position of the thread.Chamfer size is expressed in1/10th fractions of the lead. 10: means thechamfer-width equals one lead. 05: means the chamfer width equals ½ oflead. 00: means no chamfer. See note 3, below. (Sets PAR 5130)

60 =The included angle between the thread flanks. This decides the in-feedangle for the tool. In-feed angle = ½ of the input angle. Normally, 60 isused for standard threads. Other angles, such as: 80 , 60 , 55 , 30 , 29or 0 can be specified (Sets PAR 5143)

Q05 =Minimum cutting depth. The system automatically calculates thedepth of cut, which becomes progressively smaller with each pass.It rounds off the depth for the last pass to the Q-value. (Sets PAR5140)

R10 =Material allowance for finishing passes at bottom of thread (SetsPAR 5141)

SECOND COMMAND LINE: G76 X__ Z__ P__ Q__ R__ F__ (see details,below)

X =Diameter of the thread. For an external Thread – specify the minor diameter.For an internal Thread - specify the major diameter. In case of taper threads,specify the diameter at the opposite end from the start point.

Z =End position of the thread.

P =Height of the thread. Calculation: Major diameter minus minor diameter,divided by 2 (Radius value, without decimal point) See note 2 below.

Q =Depth of the first cut. If “P” and “Q” are the same, the thread is cut in a singlepass. (Radius value without decimal point) See note 2, below

R =Taper: Radial height difference of taper slope. Calculate the heightdifference for the taper as follows: I =TAN [taper angle per side] times thread

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length + Z-clearance at start of thread]. Specify a negative value for OD taperthread. Specify a positive value for ID taper thread.

F =Lead. Distance between two threads. (1 divided by the pitch), six digitsallowed after the decimal point.

NOTES:1.) Upon execution of the G76-cycle all data contained on the first G76-command

line is automatically stored in the parameter tables.2.) Specify values for “P” and “Q” without a decimal point. For example: 0.0001”=1,

0.001”=10 0.01”=100 0.1”=1000 1.0”=100003.) Specifying a chamfer (pullout distance) reduces possible damage to the last

thread lead near the Z-end position.4.) Both, the direction of spindle rotation (M3 or M4) and the cutting direction (Z-

minus or Z-plus) distinguish between right-hand and left-hand thread cutting. Ona lathe where the spindle is located to the left of the turret, thread cutting isnormally done from right to left (Z-minus direction). With the spindle rotating incounter clockwise direction (M3) as viewed when looking at the front of thechuck, cutting from right to left produces a right-hand thread.

Programming Examples, using the G76-Thread Cutting Cycle

Example 1: Cutting a 1”-10 UNS -external thread:

Action Program1. Enter modal commands G0 G18G40 G97 G992. Enter the tool and tool offset command T01013. Enter the Spindle command

(Always use G97, NEVER G96)G97 S100 M3 (M4)

4. Turn ON the coolant M85. Move the tool to the start position of thethread

For “Z”, allow 125 % of the Lead forstart-up clearance away from the threadMove “Z” fist, then “X”.

G0Z0.125

For “X”, allow 0.05” ~ 0.1” diametricalclearance above the major diameter(OD)

X1.075

6. Enter the thread cutting cycle G76 P020560 Q05 R0G76 X0.875 Z-1.0 P625 Q250 F0.1

7. Return the tool to the tool exchange pointMove the “X”-axis first, then “Z”Optional stop

G0 X___G0 Z___M1

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Example 2: Cutting a 1”-10 UNS -internal thread:

Action Program1. Enter modal commands G0 G18G40 G97 G992. Enter the tool and tool offset command T01013. Enter the Spindle command

(Always use G97, NEVER G96)G97 S100 M3 (M4)

4. Turn ON the coolant M85. Move the tool to the start position of the thread

For “Z”, allow 125 % of the Lead for start-upclearance away from the threadMove “Z” fist, then “X”.

G0Z0.125

For “X”, allow 0.05” ~ 0.1” diametricalclearance below the minor diameter (I.D.)

X0.800

6. Enter the thread cutting cycle G76 P020560 Q05 R0G76 X1.0 Z-1.0 P500 Q150 F0.1

7. Move the tool out of the bore, clearing the face G0 Z___8. Return the tool to the tool exchange point

Move the “X”-axis first, then “Z”Optional stop

G0 X___G0 Z___M1

Notes: Source for thread dimensions used in the thread cutting cycles shownabove: “Machinery’s Handbook” (Twentieth edition).

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G76 – THREADING CYCLE - SINGLE LINE FORMAT(Applicable with Fanuc Controls, T series, systems 10, 11, 12 AND 15T)

Fanuc Controls, system 0, 16, 18 and 21 T-series can use this format when thetape format setting option is available. I this case, please display the “SETTINGPAGE”, then check the “TAPE-F” -setting. When “TAPE-F” is set = 0, the two-line format is valid (see previous page). When it is set = 1, the single-line formatis valid. This setting will affect all G70-series canned cycles, not just thethreading.

Cycle Format: G76 X__ Z__ I__ K__ D__ F__ A__ P__ Q__

X =Diameter of the thread. For an external Thread – specify the minordiameter.For an internal Thread - specify the major diameter.In case of taper threads, specify the diameter at the opposite end from thecutting start point.

Z =End position of the thread.

I =Taper: Radial height difference of taper slope. Calculate the heightdifference for the taper as follows: I =TAN [taper angle per side] timesthread length + Z-clearance at start of thread]. Specify a negative value forOD taper thread. Specify a positive value for ID taper thread.

K =Height of the thread, radius value. Calculation: Major diameter minusminor diameter, divided by 2.

D =Depth of the first cut (Radius value). When “K” and “D” are the same, thetread is `cut in a single pass.

F =Lead: distance between two threads. (1 divided by the pitch), six digitsallowed after the decimal point.

A =Tool nose angle or angle between thread flanks. This decides the in-feedangle for the tool, feeding in at ½ of the input angle. Normally, 60 is usedfor standard threads. (Range: 0 to 120 degrees, in 1-degree increments).When “A” is omitted it is regarded as 0, straight in-feed is applied.

P =Cutting method:P1=constant chip load, single edge cuttingP2=constant chip load, zigzag in-feed, alternating cutting edgesP3=constant cut depth, single edge cuttingP4=constant cut depth, zigzag in-feed

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Q =Spindle rotation shift angle. Data range is from 0 to plus or minus 360000(360 degrees = 360000, without decimal point) This function is used forcutting of multiple-Lead threads. For example: in case of a 3-start threadthe shift angle is 120 degrees between each thread. Hence, the firstthread lead is cut, using Q=0, the second at Q=120000 and the third atQ=240000, where the Z-axis start position remains the same for eachthread.

Example:

Program for cutting a 1”-10 UNS -external thread:

G0 G18G40 G97 G99T0101G97 S100 M3 (M4)M8G0Z0.125X0.800G76 X0.875 Z-1.0 K0.0625 D0.025 F0.1 A60 P1 Q0G0 X___G0 Z___M1

It is possible to obtain a certain number of cutting passes by using the followingformula to calculate the depth of the first cut:

Where D = the depth of the first pass. P = Is the radial height of a single thread. N = Number of passes wanted minus spring passes.

NPD /=