CNC PROGRAMMING

Coordinate System Group, G90 and G91

➢ The preparatory function G90 is used for

absolute programming.
➢ In the absolute system, the dimensions are
given with respect to a common datum
chosen by the programmer.
➢ It must be programmed and can be
cancelled by the function G91
 CNC PROGRAMMING
Coordinate System Group, G90 and
G91

CAD/CAM
 CNC PROGRAMMING
Absolute positioning
➢ N007 G90 G01 X5.0 Y10.0 F200
➢ N008 X25.0 Y15.0
➢ N009 X35.0 Y5.0

➢ This is an example of absolute coordinate

system.
➢ Zero is at the left most bottom corner, so all
dimensions are in the first quadrant and are
positive.

CAD/CAM
 CNC PROGRAMMING
Incremental positioning
➢ N007 G91 G01 X5.0 Y10.0 F200
➢ N008 X20.0 Y5.0
➢ N009 X10.0 Y-10.0
➢ The incremental type, denoted in the
program by the word G91.

CAD/CAM
 CNC PROGRAMMING
Units Group G70, G71
➢ G70 stands for programming in inch units
while G71 stands for programming in mm
units.
➢ This code as the very first code in the part
program.
➢ A given program should be written only in
either inch or mm units, but not both.
➢ In Fanuc controls, normally G20 and G21 are
used for the units in place of G70 and G71.
CAD/CAM
 CNC PROGRAMMING
Active Plane-Selection Group, G17, G18,
G19

CAD/CAM
 CNC PROGRAMMING
G17 XY Plane Selection
➢ This is the default turn-on code.
➢ This allows for the working to be carried out
in the horizontal plane in case of vertical-
axis milling machines
➢ In a given block only X and Y coordinates are
to be specified while the Z coordinates are
to be specified in a separate block.

CAD/CAM
 CNC PROGRAMMING
G17 XY Plane Selection
➢ For a horizontal-axis machine, the working
plane is the vertical plane perpendicular to
the spindle axis.

➢ Similarly, XY plane selection for horizontal-

axis machining centres is shown in Figure.

CAD/CAM
 CNC PROGRAMMING
G18 XZ Plane Selection
➢ This allows the working to
be carried out in the XZ
plane.
➢ In a given block only X and
Z coordinates are to be
specified while the Y
coordinates are to be
specified in a separate
block.
CAD/CAM
 CNC PROGRAMMING
G19 YZ Plane Selection
➢ This allows the working to
be carried out in the YZ
plane
➢ In a given block only Y and
Z coordinates are to be
specified while the X
coordinates are to be
specified in a separate
block.
CAD/CAM
 CNC PROGRAMMING
Preset, G92 Change datum position
➢ Each machine tool has a separate machine
reference point.
➢ This point may not be convenient to use as a
coordinate datum for the part.
➢ Thus, most of the NC machine tools allow for
a ‘floating datum’ to be fixed anywhere in
the machining envelope of the machine tool.

CAD/CAM
 CNC PROGRAMMING
Preset, G92
➢ The programmer can choose a convenient
position on the part as datum, which may be
referred to as ‘program zero point’.
➢ The same will have to be communicated to
the NC controller as datum.

CAD/CAM
 CNC PROGRAMMING
Rapid Positioning, G00
➢ This is used for moving the tool at a rapid
rate along the axes involved for achieving the
position programmed.
➢ The path taken by the tool to reach the
programmed point is not important for this
code.

CAD/CAM
 CNC PROGRAMMING
Rapid Positioning, G00
➢ This is a modal (stays active till cancelled by
any other function of its family, i.e., G01, G02,
G03) function

➢ and is also the ‘turn-on mode’ (available as

soon as the system is switched on or when a
new program starts).

CAD/CAM
 CNC PROGRAMMING
Rapid Positioning, G00
➢ This is a modal (stays active till cancelled by
any other function of its family, i.e., G01, G02,
G03) function

➢ and is also the ‘turn-on mode’ (available as

soon as the system is switched on or when a
new program starts).

CAD/CAM
 CNC PROGRAMMING
Linear or Straight line Interpolation, G01
➢ This code is generally used when the material is
to be cut using a feed rate.

➢ When the motion is desired along a straight

line at a given feed rate, this function is used.

➢ It is modal.

CAD/CAM
 CNC PROGRAMMING
Linear or Straight line Interpolation, G01
➢ If a cut has to be made
from D to E at a feed rate
of 250 mm per minute,
➢ then the block would be
➢ N115 G01 X110.0 Y30.0
F250
➢ In this case, the controller moves all the axes at
a rate such that the resultant velocity along the
line matches the programmed feed rate.
CAD/CAM
 CNC PROGRAMMING
Circular Interpolation, G02 / G03
➢ When an arc is to be traversed in a plane, the
function G02 or G03 is used if the direction of
the motion is clockwise or anti-clockwise
respectively

CAD/CAM
 CNC PROGRAMMING
Circular Interpolation, G02 / G03
➢ If the motion is from F to
G in the XY plane, the
program block would be,
as per ISO,
➢ N125 G02 X65.0 Y60.0
I35.0 J-10.0 F250
➢ But, if the motion were
from G to F then it would
be
➢ N130 G03 X15.0 Y30.0 I-
15.0 J-40.0CAD/CAM
F250
 CNC PROGRAMMING
Dwell, G04
➢ Dwell, G04 This is to give a delay in the
program. When the G04 code is encountered,
the controller stops at that particular point for a
specified time mentioned in the block.
➢ After that time, the controller continues to
execute the next block in the program.
➢ The delay time is normally mentioned in
seconds
➢ N045 G04 3.0 This calls for a stoppage of the
control for a period of 3 seconds.
CAD/CAM
 CNC PROGRAMMING
MISCELLANEOUS FUNCTIONS M

These functions actually operate some controls

on the machine tool and thus affect the running
of the machine.
Generally, only one-M code is supposed to be
given in a single block. The ISO standard M codes
are:

CAD/CAM
 CNC PROGRAMMING
CODE FUNCTION
M00 Program stop, spindle and coolant off
M01 Optional programmable stop
M02 End of program—often interchangeable
with M30
M03 Spindle on, CW
M04 Spindle on, CCW
M05 Spindle stop
M06 Tool change
M07 Coolant supply No. 1 on
M08 Coolant supply No. 2 on
CAD/CAM
 CNC PROGRAMMING
CODE FUNCTION
M09 Coolant off
M10 Clamp
M11 Unclamp
M12 Unassigned
M13 Spindle on, CW + coolant on
M14 Spindle on, CCW + coolant on
M15 Rapid traverse in + direction
M16 Rapid traverse in - direction
M17–M18 Unassigned
M19 Spindle stop at specified angular position
CAD/CAM
 CNC PROGRAMMING
CODE FUNCTION
M20–M29 Unassigned
M30 Program stop at end tape + tape rewind
M31 Interlock by-pass
M32–M35 Constant cutting velocity
M36–M39 Unassigned
M40–M45 Gear changes; otherwise unassigned
M46–M49 Unassigned
M50 Coolant supply No. 3 on
M51 Coolant supply No. 4 on
CAD/CAM
 CNC PROGRAMMING
CODE FUNCTION
M52–M54 Unassigned
M55 Linear cutter offset No. 1 shift
M56 Linear cutter offset No. 2 shift
M57–M59 Unassigned
M60 Piece part change
M61 Linear piece part shift, location 1
M62 Linear piece part shift, location 2
M63–M67 Unassigned
M68 Clamp piece part
M69 Unclamp piece part
CAD/CAM
 CNC PROGRAMMING
CODE FUNCTION
M70 Unassigned
M71 Angular piece part shift, location 1
M72 Angular piece part shift, location 2
M73–M77 Unassigned
M78 Clamp non-activated machine bed-ways
M79 Unclamp non-activated machine bed-ways
M80-M99 Unassigned

CAD/CAM
 CNC PROGRAMMING

CAD/CAM
 CNC PROGRAMMING
The component to be machined is shown. It is
assumed that the pocket is through and hence only
the outside is to be machined as a finish cut of the
pocket. The tool to be used is a 20 mm diameter
slot drill. If an end mill is to be used, the program
should be modified with a hole to be drilled at B
first before the end mill is used. The setting is done
with point the A as reference (0, 0, 0) and the
reference axes are along X andY directions.

CAD/CAM
 CNC PROGRAMMING
N001 G92 X0 Y0 Z0 absolute presetting at A
N002 G90 absolute programming
N003 G00 X25.0 Y25.0 Z2.0 T01 S3000 M03
tool brought rapidly at B, 2 mm above XY plane
N004 G01 Z-12.0 F120 tool goes down to full depth
N005 Y75.0 proceeds to C
N006 X65.0 proceeds towards right to D
N007 G02 Y25.0 I0 J-25.0 cuts curved profile till E
N008 G01 X25.0 proceeds to B
N009 Z2.0 tool moves 2 mm above the XY plane
CAD/CAM
 CNC PROGRAMMING
N010 G00 Z50.0 M05 spindle stops and rapidly
moves up
N011 X0 Y0 rapid move to start position 0,0
N012 M30 end of program

CAD/CAM
 CNC PROGRAMMING
TOOL-LENGTH COMPENSATION

In cases where there is more than one tool,

programming becomes cumbersome, if the
programmer has to take care of the individual
tool lengths for the purpose of programming the
Z depth in each case.

CAD/CAM
 CNC PROGRAMMING
TOOL-LENGTH COMPENSATION
For the tools being used, the difference in
length, with respect to the pre-setting tool, is
recorded and is manually entered and stored
with the associated tool number.

Whenever these tools are called into action by

programmed instruction, the respective
compensation values are activated and
automatically taken into account in the tool
motion.
CAD/CAM
 CNC PROGRAMMING
CANNED CYCLE
➢ Many a times a series of motions are to be
repeated a number of times, many of which
are fairly common to all the positions.

➢ During drilling operation, the tool (twist drill)

has to position a little above the hole in rapid
position, then move to the required depth
with the given feed rate and then the tool has
to return to the top of the hole.

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING

Group Technology (GT) is a manufacturing

philosophy which can be used to group parts
based on similarities in design or
manufacturing process so as to reduce the
overall manufacturing cost.

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING

Examples of part families that can be grouped by geometry or processing methods.

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING

Composite part and its variants possible.

CAD/CAM
GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING
OPITZ CODING

Digit 1 Part class i.e. rotational or non-rotational

Digit 2 External shape(Smooth, shaped, threaded,
Primary Codes

functional grooves etc)

Digit 3 For Rotational M/cing (hole, thread,
functional grooves)
Digit 4 Plane surface M/cing Internal/external
polygons, grooves, slots etc
Digit 5 Auxiliary holes and gear teeth
Digit 6 Dimensions
Secondary

Digit 7 Material
codes

Digit 8 Original shape of raw material

Digit 9 Accuracy

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING
Other Coding systems

➢ VUOSO-PRAHA Coding system

➢ DCLASS Coding System
➢ MICLASS Coding System
➢ KK-3 Coding System
➢ DCLASS Coding System
➢ CODE MDSI System

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING
Advantages of GT

➢ Group technology allows similar designs to be

easily modified from the existing designs from
the database instead of starting from scratch.
➢ Standard process plans can be developed for
the groups. Greater efforts can be applied in
optimising the process plans.
➢ Standard tooling can be developed for a part
family, and then a standard set-up procedure
can be used.

CAD/CAM
 GROUP TECHNOLOGY CELLULAR
MANUFACTURING
Advantages of GT

➢ The use of GT allows faster production,

therefore there is less inventory, and Work in
Process (WIP).
➢ The throughput time gets reduced.
➢ Material handling and movement is reduced.
➢ Improvement in quality and reduction in scrap
results in increase in production.

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING
Advantages of GT

➢ Improved floor space ulilization.

➢ There is increase in output per employee and
hence increase in productivity.
➢ Manufacturing lead time is reduced.
➢ Improved ability to respond to market changes.
➢ Increase in job satisfaction and greater
management–worker harmony results.

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING

Limitations of GT

➢ Costly implementation consultancy.

➢ Not be suitable for a very large variety of
products.
➢ GT will have to coexist with conventional
layouts..

CAD/CAM
 GROUP TECHNOLOGY CELLULAR
MANUFACTURING
Dis-Advantages and Limitations of GT

➢ No single GT code suits all applications.

➢ It is often difficult to conceive all the
operations for a group of components being
taken care of in the cell created for it.
➢ The range of product mix in a plant may be
under constant change in which case, the GT
cells may need constant revision, which is
impractical.

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING
Part-Family Formation

In order to develop the part families in group

technology, the most common methods adopted
are
• Visual inspection
• Classification and coding
• Production flow analysis

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING
PRODUCTION FLOW ANALYSIS
• PFA, a procedure developed by Burbidge. The
main requirement for this is that all the parts of
a group should have similar routings. PFA helps
in

• Identify the part families

• Group the machine cells based on the
production requirements
• Bring down the overall machining cost.

CAD/CAM
 GROUP TECHNOLOGY CELLULAR
MANUFACTURING

Layout of machines with process grouping in a conventional job shop, T - Turning, M -

Milling, D - Drilling, CG - Cylindrical grinding and SG - Surface grinding

CAD/CAM
 GROUP TECHNOLOGY CELLULAR
MANUFACTURING

Layout of machines with functional grouping as per product requirements.

CAD/CAM
 GROUP TECHNOLOGY CELLULAR
MANUFACTURING
PRODUCTION FLOW ANALYSIS using DIRECT CLUSTERING
ALGORITHM (DCA)

Step 1. Order the rows and columns. Sum the 1s in each column and in
each row of the machine-part matrix. Order the rows (top to bottom)
in descending order of the number of 1s in the rows and order the
columns (left to right) in ascending order of the number of 1s in each.
Where ties exist, break the ties in descending numerical sequence.

Step 2. Sort the columns. Beginning with the first row of the matrix,
shift to the left of the matrix all columns having a 1 in the first now.
Continue the process row-by-row until no further opportunity exists for
shifting columns.

CAD/CAM
 GROUP TECHNOLOGY CELLULAR
MANUFACTURING
PRODUCTION FLOW ANALYSIS using DIRECT
CLUSTERING ALGORITHM (DCA)

Step 3. Sort the rows. Column-by- column, beginning with the leftmost
column, shift rows upward when opportunities exist to form blocks of
1s. It should be noted that performing the column and row sortation is
facilitated by using spreadsheets, such as Excel.

Step 4. Form cells. Look for opportunities to form cells such that all
processing for each part occurs in a single cell.

CAD/CAM
GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING

CAD/CAM
GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING

CAD/CAM
GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING

CAD/CAM
GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING

CAD/CAM
GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING
CELLULAR MANUFACTURING

Once parts have been grouped into families, and the

machines that are required for complete processing
have been identified, it is necessary to organise these
machines into a cell, so that material and parts
smoothly move through the cell.

Manufacturing with GT cells is called cellular

manufacturing.

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING
Machining Cell Designs
The materials and semi-finished parts flow in only one
direction through the cell in the order in which they are
to be performed as per the process planning.

The basic cell-flow patterns that can be present in any

GT cell are:

• Straight through cell or inline layout

• U-shape cell
• L-shape cell

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING
STRAIGHT THROUGH CELL OR INLINE LAYOUT

The machines are arranged in a line and generally

integrated with an inexpensive, mechanised work-
handling system, such as a conveyor. It has easy access
from both sides, and avoids congestion of the point of
delivery for the finished parts from the cell.

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING
U-shape Cell
In this arrangement, the work-in and work-out points
is the same. Since the machines are in close proximity
to the workers, it is possible to assign multiple
machines to an individual worker, thereby improving
the productivity. It is easy for line balancing.

CAD/CAM
 GROUP TECHNOLOGY AND CELLULAR
MANUFACTURING
L-shape
This type of arrangement, allows for fitting lengthy
series of operations into a limited space. It can be
conveniently located at the points in the shop that are
convenient from the raw material to come to the cell as
well as feed other cells with the finished parts.

CAD/CAM
 COMPUTER AIDED PROCESS PLANNING
COMPUTER AIDED PROCESS PLANNING (CAPP)

➢ CAPP is a means to automatically develop the

process plan from the geometric image of the
component.
➢ The key to development of such CAPP Systems is to
structure the data concerning part design,
manufacturing facilities and capabilities into
categories and logical relationships.
➢ CAPP thus appears to fully integrate CAD and CAM

CAD/CAM
COMPUTER AIDED PROCESS PLANNING

CAD/CAM
 COMPUTER AIDED PROCESS PLANNING
APPROACHES TO CAPP

There are two basic approaches to CAPP:

➢ Variant
➢ Generative

CAD/CAM
 COMPUTER AIDED PROCESS PLANNING
VARIANT APPROACH

Variant approach, uses a Group Technology (GT) code

to select a generic process plan from the existing
master process plans developed for each part family
and edits to suit the requirement of the part.

CAD/CAM
 COMPUTER AIDED PROCESS PLANNING
VARIANT APPROACH

➢ Here, the parts are segmented into groups based on

similarity and each group has a master plan.

➢ This approach is impractical in situations where

small batches of widely varying parts are produced.

➢ Moreover, this method fails to capture real

knowledge or expertise of process planners, and
there is a danger of repeating mistakes from earlier
plans that were stored in the database.
CAD/CAM
 COMPUTER AIDED PROCESS PLANNING
Essential Elements in a Variant-Type CAPP System

➢ The first step in the development is the

identification of the part families for which the
process plan library is to be developed.
➢ With GT coding scheme, all the components that are
likely to be manufactured in the shop are coded.
➢ Then from the process-plan database, the process
plan is retrieved matching the group code.

CAD/CAM
 COMPUTER AIDED PROCESS PLANNING
Essential Elements in a Variant-Type CAPP System

➢ Existing process plan may be edited to match the

actual part requirements.
➢ If the part falls into a group for which no process
plan exists, a new plan may be manually coded and
entered into the database.

CAD/CAM
COMPUTER AIDED PROCESS PLANNING

CAD/CAM
 COMPUTER AIDED PROCESS PLANNING
GENERATIVE APPROACH

➢ In the generative approach, a process plan is

created from scratch for each component without
human intervention.

CAD/CAM
 COMPUTER AIDED PROCESS PLANNING
GENERATIVE APPROACH

➢ These systems are designed to automatically

synthesise process information to develop the
process plan for a part.

➢ The generative bridges the gap between CAD and

CAM.

CAD/CAM
 COMPUTER AIDED PROCESS PLANNING
Essential Elements in a Generative-Type CAPP System

➢ Most of the generative CAPP systems need to have

some amount of artificial intelligence built into
them.

CAD/CAM
 COMPUTER AIDED PROCESS PLANNING

Essential Elements in a Generative-Type CAPP System

➢ Identify the machinable volumes called pockets by

taking the difference of blank size and the finished
component size.
➢ The blank size if not given directly can be identified
as the largest volume that completely encloses the
finished component.
➢ Do a preliminary sorting of the pockets in order of
levels that clearly indicate the likely sequence in the
final process plan.

CAD/CAM
 COMPUTER AIDED PROCESS PLANNING

Essential Elements in a Generative-Type CAPP System

➢ Examine the pockets for any possibility of combining

so that the machining operations could be reduced.
➢ Select minimum number of machine tools to
machine the identified pockets.
➢ Identify the process sequence required for the
machining of each of the pockets based on the
technological requirements.
➢ For each of the pockets and the operation decided,
select the cutting tool required.

CAD/CAM
 COMPUTER AIDED PROCESS PLANNING

Essential Elements in a Generative-Type CAPP System

➢ Evaluate the machining time and idle time involved

in the production of the component.
➢ Select the final process plan based on the lowest
cost of machining time.
➢ One of the important steps to be considered while
developing the CAPP program package is that the
ultimate decision be left to the process planner
(user).

CAD/CAM
Automated Guided Vehicles & Application of Machine Vision
Systems

What is AGV?

This is a driverless vehicle with electric motors that are

generally battery operated, having programming
capability for destination, path-selection, positioning,
collision avoidance.
 Automated Guided Vehicles & Application of Machine Vision
Systems
History

• First AGV was developed by A.M. Barret Jr. in the year 1954. He built this
using an overhead wire to guide a modified towing truck pulling a trailer
in a grocery shop.
• Subsequently, commercial AGV were introduced by Barret.
• In 1973, Volvo developed automated guided vehicles to serve assembly
platforms for moving car bodies through its final assembly plants.
• LaterVolvo marketed their unit load AGVs to other car companies.
 Automated Guided Vehicles & Application of Machine Vision
Systems
Modern AGVs

• Modern AGVs are computer controlled vehicles with in board

microprocessors.
• They have position feedback system to correct path and
communication between vehicles via system controller like RF
signals and electric signals.
• This also contain system management computer which
optimizes the AGV utilization and track the material in Transfer
and direct the AGV traffic.
 Automated Guided Vehicles & Application of Machine Vision
Systems
Components of AGVs

A)The vehicle—no operator

B)The guide path –The path for the AGV.
C)The control unit—Monitors and directs system operation
including feedback on moves, inventory and vehicle status.
D)The computer interface, interfaces with other mainframe host
computer, the automated storage and retrieval system (ASRS)
and flexible manufacturing system.
 Automated Guided Vehicles & Application of Machine Vision
Systems
Types of AGVs

1. AGVs towing vehicles

2. AGVs unit load carriers
3. AGVs pallet trucks
4. AGVs light load transporters
5. AGVs assembly line vehicles
 Automated Guided Vehicles & Application of Machine Vision
Systems
AGVs Towing vehicles

1. These are the First type of AGVs introduced.

2.Towing vehicle is called an automated guided tractor.
3.Flatbed trailers, pallet trucks can be used in this category.
Generally used for large volumes and long moving distances.
 Automated Guided Vehicles & Application of Machine Vision
Systems
AGV Pallet Trucks
1. No special device is needed for loading except the loads
should be pallets.
2. Limited to floor level loading and unloading with palletized
load.
3. Widely used in distribution function, the machine capacity
is around 5000 10000 kg. The speed of operation is 200
feet/min. the pallet truck can be loaded manually or
automatically.
 Automated Guided Vehicles & Application of Machine Vision
Systems
AGV Forklift trucks

1. Ability to pick up and drop palletized load both at the floor

level and on stands.
2. Pic up and drop heights can be different.
3. Very expensive
4. Selected where complete automation in necessary required.
 Automated Guided Vehicles & Application of Machine Vision
Systems
AGVs Assembly-line vehicles

1. Variation of a light load transporter

2. For serial assembly processes
3. As the vehicle moves form one station to other, successive
assembly operations are performed.
4. This kind provides flexibility in manufacturing process.
5. Lower expensed and ease of installation.
Automated Guided Vehicles & Application of Machine Vision
Systems

Important issues for AGVs

1. Guidance system
2. Routing
3. AGVs control system
4. Load transfer
5. Interfacing with other systems.
Automated Guided Vehicles & Application of Machine Vision
Systems

Guidance system
1. The goal of the guidance system is to keep the AGV
track/predefined path.
2. Low cost of changing path compared to the conveyors.
3. Intersection of path is possible
Automated Guided Vehicles & Application of Machine Vision
Systems

Guidance system

4.The guidance path can be

a.Wire guided: Electrical overhead wires

b.Optical: Colorless fluorescent particles are painted on the
concrete/tiled floor; Photo sensors are used to track these
particles.
Automated Guided Vehicles & Application of Machine Vision
Systems

Guidance system

4.The guidance path can be

c. Inertial: The guide path is programmed on a microprocessor
which is fixed on the AGV. SONAR system is incorporated for
finding obstacles.
d. Laser.
e. Teaching type AGV learns the guided path.
Automated Guided Vehicles & Application of Machine Vision
Systems

Routing System

A routing system is used to select the vehicle which is positioned

with optimum path. A network controller gives the destination,
while the onboard controller navigates the vehicles. Commonly
used methods are
a) Frequency select method and
b) path switch
Automated Guided Vehicles & Application of Machine Vision
Systems

Interfacing with other subsystems: AGVs can be interfaced

with

1. Automated storage and retrieval system

2. Flexible manufacturing system
3. CNC
4. Process control equipment
5. Shop floor control system
Automated Guided Vehicles & Application of Machine Vision
Systems

AGVs Design Features

1. Stopping accuracy
2. Facilities
3. Safety features
4. Maintenances
Automated Guided Vehicles & Application of Machine Vision
Systems

Advantages of AGVs

1. Unstructured Movement
2. Flexibility
3. Greater reliability
4. Lower investment
5. Saving in operations in the long run
6. Easy to interface with other system