computational design + fabrication: cncinst.eecs.berkeley.edu/~cs194-28/fa15/lectures/cnc.pdf ·...
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Computational Design + Fabrication: CNC
Jonathan Bachrach
EECS UC Berkeley
September 4, 2015
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CNC 1
ComputerizedNumericControl
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Benefits 2
AutomationPrecisionRepeatabilityFlexibility
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Examples 3
CuttersMills3D PrintersLathesKnitting
stoll cnc knitting machine
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CNC History 4
John T Parsons + MIT 1949
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Categories 5
AdditiveSubtractive
additive subtractive
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Axes 6
How Many?1D2D2.5D3D5Dlinear
What Kind?rotarylinear
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Workspace 7
how bigshapeconstraints
by xiyang yeh @ stanford
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Feedrate 8
how fast to do cutup to speed of breaking end millmore but slower cuts
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Feedback 9
open loopcrash
closed looplimit switchrotary encodercamera
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Kerf 10
width of saw bladecut radiusmust compensate in code
by parts express
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Undercut 11
extra cut to compensate for mill radius
by wizard191
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Lead-ins + Lead-outs 12
extra cut during start or finish of cutusually need to plan for this
by big blue saw
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Coordinate 13
RectangularPrecision – incrementsOrigin – ZeroingAbsolute and Relative
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Tool Changing 14
different cuttersthicker mill cuts faster but less preciseswitch between them under program control
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GCode 15
word addressed format for programmingsentence like commands: letter followed by numeric argumentcommand is made up of words often one letter with intuitiveinterpretationsstep by step commandsread interpret execute each command
X10
Y20
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Example Commands 16
O Program number (Used for program identification)N Sequence number (Used for line identification)G Preparatory function (See below)X X-axis designationY Y-axis designationZ Z-axis designationR Radius designationF Feedrate designationS Spindle speed designationH Tool length offset designationD Tool radius offset designationT Tool DesignationM Miscellaneous function
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Example GCode Program 17
G1 X5 Y-5 Z6 F3300.0 (Move to postion <x,y,z>=<5,-5,6> at speed 3300.0)
G21 (set units to mm)
G90 (set positioning to absolute)
G92 X0 Y0 Z0 (set current position to <x,y,z>=<0,0,0>)
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Manufacturer Specific Commands 18
G90, G91spindle speedcoolanttool changing
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Programming 19
like turtle graphicsmovepen up/down
no loopsno subroutines
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GCode Processing 20
send gcode to CNC machinemachine interprets one command at a timeusually microcontroller which is interpreting and executing
tinyg microcontroller board
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Path Planning 21
organize cuts efficientlyplan motions according to dynamicschange speedsbang-bang control
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Ordering of Cuts 22
need to plan cuts so parts are cut correctlycut holes out firstmuch more involved for 5 axis machines
by customlasercutters
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Traveling Saleman Problem 23
salesman has to visit n city in minimum time
GLPK solution by xypron
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Simulation 24
show planned out motionsactually interpret gcodevalidate that plan works
by modern machine shop
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Visualization 25
show feedback during executioncommunicate to user for manual interventionWYSIWYG
by othermachine co
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Input Formats 26
DXF,SVG,PDF – polylinesSTL,OBJ – meshesAMF – materials, frep
solid name
facet normal ni nj nk
outer loop
vertex v1x v1y v1z
vertex v2x v2y v2z
vertex v3x v3y v3z
endloop
endfacet
endsolide name
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References 27
AMF – http://www.astm.org/Standards/ISOASTM52915.htm