Application Note J an-2004

G-Code Processing Example 1

G-Code Program Example
Turbo PMACs capability for accepting and executing RS-274 (G-code) programs gives the user great
power and flexibility in creating and running programs that describe path motion and its associated I/O.
This is important not just for classic CNC machine tool applications, but for any application that uses
CAD/CAM software for the automatic generation of these programs.
Since RS-274 is a loose standard, with hundreds of dialects and thousands of machine-specific
implementation issues, the key to Turbo PMACs strategy for these programs is that it treats the G, M, T,
and D codes within the programs as special subroutine calls. The machine integrator writes these
subroutines so as to implement the features of the specific dialect and machine. How these subroutines
are generated can remain hidden from the person (or software package) that generates the part program,
and from the machine operator, for whom the controller simply appears as a standard G-code machine.
Here we give a few examples of how this feature can be used in Turbo PMAC.
A Basic Example
This first case implements a bare minimum of the most standard G and M-codes. For the G04 dwell, it
uses a P argument, expressed in seconds. For controlling the cutting tool, it simply uses a discrete digital
output. The path is the tool-center path, so no cutter-radius compensation is used.
Setup and Definitions
#def i ne Bi t sPassed Q100 ; Var f or checki ng passed ar gs
#def i ne Par g Q116 ; Var f or P ar gument
#def i ne Pval 32768 ; Val f or checki ng i f P passed
#def i ne Cut t er On M1 ; Di scr et e cut t er out put
Cut t er On- >Y: $078802, 8, 1 ; Machi ne Out put 1
&1 ; Addr ess CS 1
#1- >2000X
#2- >2000Y
#3- >2000Z
Motion Program 1000 Contains the G-code Subroutines
OPEN PROG 1000 CLEAR
RAPI D RETURN ; G00: Rapi d mode ( N0 i s i mpl i ed)
N1000 LI NEAR RETURN ; G01: Li near i nt er pol at i on mode
N2000 CI RCLE1 RETURN ; G02: Cl ockwi se ci r cl e mode
N3000 CI RCLE2 RETURN ; G03: Count er cl ockwi se ci r cl e mode
N4000 READ( P) ; G04: Dwel l f or P seconds
I F ( Bi t sPassed&PVal > 0) ; P par amet er speci f i ed?
DWELL( PAr g*1000) ; Dwel l t i me i n mi l l i seconds
ENDI F
RETURN
N17000 NORMAL K- 1 RETURN ; G17: Speci f y XY pl ane
N18000 NORMAL J - 1 RETURN ; G18: Speci f y ZX pl ane
N19000 NORMAL I - 1 RETURN ; G19: Speci f y YZ pl ane
N90000 ABS RETURN ; G90: Absol ut e mode
N91000 I NC RETURN ; G91: I ncr ement al mode
CLOSE
Motion Program 1001 Contains the M-code Subroutines
OPEN PROG 1001 CLEAR
N3000 Cut t er On=1 RETURN ; St ar t cut t i ng t ool
N5000 Cut t er On=0 RETURN ; St op cut t i ng t ool
N30000 DWELL0 RETURN ; End ( execut e any pendi ng out put s)
CLOSE
J an-2004 Application Note
2 G-Code Processing Example
Sample Part Program that uses these Subroutines
OPEN PROG 5 CLEAR
G17 G90 ; XY pl ane, absol ut e move spec
F500 ; Cut t i ng speed 500 mm/ mi n
G00 X10. 00 Y5. 00 ; Rapi d move t o ( 10, 5)
M03 ; St ar t spi ndl e
G04 P2. 0 ; Wai t 2 seconds
G01 Z0 ; Lower cut t er
X30. 25 Y5. 00 ; Li near XY move
G03 X35. 25 Y10. 00 J 5 ; CCWar c move
G01 X35. 25 Y50. 10 ; Li near move
G03 X30. 25 Y55. 10 I - 5 ; CCWar c move
G01 X10. 00 Y55. 10 ; Li near move
G03 X5. 00 Y50. 10 J - 5 ; CCWar c move
G01 X5. 00 Y10. 00 ; Li near move
G03 X10. 00 Y5. 00 I 5 ; CCWar c move
G01 Z5 ; Cut t er up
M05 ; St op cut t er
G00 X0 Y0 ; Rapi d move back t o home
M30 ; End of pr ogr am( not act ual l y needed)
CLOSE
A More Elaborate Example
This next example provides several elaborations. First, it adds cutter-radius compensation with the G40,
G41, and G42 codes. The radius is determined by the tool-select codes T01, T02, T03, and T04,
implemented in program 1002. These T-codes also select a power level for each tool, to be used as an
analog voltage output.
Second, there are two feedrate-override sources, one for rapid moves, and one for cutting (linear and
circle) moves. When the program switches between these modes, the time-base source switches. Here it
uses two results from the encoder conversion table. This example does not specify the ultimate source of
these values, which could be potentiometers or switches.
Finally, it permits exact stop, modally and one-shot, disabling blending particularly useful for sharp corners.
Setup and Definitions
#def i ne Bi t sPassed Q100 ; Var f or checki ng passed ar gs
#def i ne Par g Q116 ; Var f or P ar gument
#def i ne Pval 32768 ; Val f or checki ng i f P passed
#def i ne Cut t i ngMode Q130 ; Fl ag f or cut t i ng/ r api d
#def i ne CS1Ti meBaseAdr I 5193 ; Sour ce of over r i de
#def i ne CS1Ti meBaseSl ew I 5194 ; Over r i de sl ew r at e
#def i ne MaxSl ew 8388607 ; Max sl ew r at e
#def i ne Nor mSl ew 1644 ; Nor mal sl ew r at e
#def i ne Cut Over r i de $3504 ; 4t h ent r y i n conver si on t abl e
#def i ne Rapi dOver r i de $3505 ; 5t h ent r y i n conver si on t abl e
#def i ne Cut t er On M1 ; Di scr et e cut t er out put
#def i ne CS1I nPos M5187 ; I n- posi t i on st at us bi t
#def i ne Laser Cont r ol M402 ; Anal og l aser cont r ol
Cut t er On- >Y: $078802, 8, 1 ; Machi ne Out put 1
CS1I nPos- >Y: $00203F, 17, 1 ; CS1 i n- posi t i on st at us
Laser Cont r ol - >Y: $07800A, 8, 16, S ; DAC4 out put ( PMAC1)
Application Note J an-2004
G-Code Processing Example 3
Motion Program 1000 Contains the G-code Subroutines
OPEN PROG 1000 CLEAR
RAPI D ; G00: Rapi d mode ( N0 i s i mpl i ed)
I F ( Cut t i ngMode=1) ; Have been i n G01, G02, G03?
DWELL0 ; Make sur e cut t i ng moves f i ni sh
CS1Ti meBaseSl ew=MaxSl ew ; For i nst ant change
CS1Ti meBaseAdr =Rapi dOver r i de ; Sel ect over r i de sour ce
DWELL0 ; Ensur e change occur s
CS1Ti meBaseSl ew=Nor mSl ew ; Rest or e nor mal sl ew r at e
ENDI F
Cut t i ngMode=0 ; Set f l ag
CS1Ti meBaseAdr =Rapi dOver r i de ; For f i r st t i me cal l ed
RETURN
N1000 LI NEAR ; G01: Li near i nt er pol at i on mode
GOSUB 3500 RETURN ;
N2000 CI RCLE1 ; G02: Cl ockwi se ci r cl e mode
GOSUB 3500 RETURN
N3000 CI RCLE2 ; G03: Count er cl ockwi se ci r cl e mode
GOSUB 3500 RETURN ;
N3500 ; Common subr out i ne f or G01, G02, G03
I F ( Cut t i ngMode=0) ; Have been i n G00?
CS1Ti meBaseSl ew=MaxSl ew ; For i nst ant change
CS1Ti meBaseAdr =Cut Over r i de ; Sel ect over r i de sour ce
DWELL0 ; Ensur e change occur s
CS1Ti meBaseSl ew=Nor mSl ew ; Rest or e nor mal sl ew r at e
ENDI F
Cut t i ngMode=1 ; Set f l ag
CS1Ti meBaseAdr =Cut Over r i de ; For f i r st t i me cal l ed
RETURN
N4000 READ( P) ; G04: Dwel l f or P seconds
I F ( Bi t sPassed&PVal >0) ; P par amet er speci f i ed?
DWELL( PAr g*1000) ; Dwel l t i me i n mi l l i seconds
ENDI F
RETURN
N9000 Exact St opOneShot =1 ; G09: Exact st op ( si ngl e shot )
Post pone=1 ; Don' t do bef or e next move
PRELUDE1 G61. 2
RETURN
N17000 NORMAL K- 1 RETURN ; G17: Speci f y XY pl ane
N18000 NORMAL J - 1 RETURN ; G18: Speci f y ZX pl ane
N19000 NORMAL I - 1 RETURN ; G19: Speci f y YZ pl ane
N40000 CC0 RETURN ; G40: Cut t er comp of f
N41000 CC1 RETURN ; G41: Cut t er comp l ef t
N42000 CC2 RETURN ; G42: Cut t er comp r i ght
N61000 Exact St opOneShot =0 ; G61: Exact - st op modal
PRELUDE1 G61. 1 ; Set up f or each move
RETURN ;
N61100 ; Exact - st op subr out i ne
I F ( Post pone=1) ; Need t o wai t f or next move?
Post pone=0 ; So wi l l do next move
ELSE
DWELL 0 ; Di sabl e bl endi ng
WHI LE ( CS1I nPos=0) WAI T ; Loop unt i l i n posi t i on
I F ( Exact St opOneShot =1) ; Si ngl e shot
PRELUDE0 ; So wi l l not do any mor e
ENDI F
ENDI F
J an-2004 Application Note
4 G-Code Processing Example
RETURN
N64000 Exact St opOneShot =1 ; G64: Cancel exact st op
RETURN ; Not e del ayed unt i l af t er move
N90000 ABS RETURN ; G90: Absol ut e mode
N91000 I NC RETURN ; G91: I ncr ement al mode
RETURN
CLOSE
Motion Program 1001 contains the M-code Subroutines
OPEN PROG 1001 CLEAR
Motion Program 1000 contains the G-code Subroutines
N3000 ; St ar t l aser
Laser Cont r ol =Laser Power ; Set power l evel
Cut t er On=1 ; Enabl e l aser
RETURN
N5000 ; St op l aser
Cut t er On=0 ; Di sabl e l aser
Laser Cont r ol =0 ; Cl ear power l evel
RETURN
N30000 DWELL0 RETURN ; End ( execut e any pendi ng out put s)
CLOSE
Motion Program 1002 contains the T-code (Tool-Select) Routines
OPEN PROG 1002 CLEAR
N1000 Tool Num=1 ; T1
Laser Power =5000 ; Set power l evel t o be used
CCR0. 2 ; Set r adi us f or cut t er comp
RETURN
N2000 Tool Num=2 ; T2
Laser Power =10000 ; Set power l evel t o be used
CCR0. 4 ; Set r adi us f or cut t er comp
RETURN
N3000 Tool Num=3 ; T3
Laser Power =15000 ; Set power l evel t o be used
CCR0. 6 ; Set r adi us f or cut t er comp
RETURN
N4000 Tool Num=4 ; T4
Laser Power =20000 ; Set power l evel t o be used
CCR0. 8 ; Set r adi us f or cut t er comp
RETURN
Sample Part Program that uses these Subroutines
OPEN PROG 6 CLEAR
G17 G90 ; XY pl ane, absol ut e move spec
T03 ; Sel ect t ool 3
G00 Z5. 00 ; Rai se t ool axi s t o r api d hei ght
X10. 00 Y2. 00 ; Rapi d move t o ( 10, 2)
M03 ; St ar t spi ndl e
G04 P2. 0 ; Wai t 2 seconds
F500 ; Cut t i ng speed 500 mm/ mi n
G01 Z0. 00 ; Lower cut t er
G42 X10. 00 Y5. 00 ; Tur n on comp, l ead- i n move
G61 X35. 25 Y5. 00 ; Li near XY move, exact - st op mode
X35. 25 Y55. 10 ; Li near move
G64 X10. 00 Y55. 10 ; Li near move, bl ended mode
G03 X5. 00 Y50. 10 J - 5 ; CCWar c move
Application Note J an-2004
G-Code Processing Example 5
G01 X5. 00 Y10. 00 ; Li near move
G03 X10. 00 Y5. 00 I 5 ; CCWar c move
G40 X10. 00 Y2. 00 ; Tur n of f comp, l ead- out move
G01 Z5. 00 ; Cut t er up
M05 ; St op cut t er
G00 X0. 00 Y0. 00 ; Rapi d move back t o home
M30 ; End of pr ogr am( not act ual l y needed)
CLOSE