The evolution of NC to CNC machines

AUTOMATION (NC, CNC)
AND
ROBOTICS
BY
S K MONDAL
For 2019
Page 1
NC, CNC, DNC, APT What is NC/CNC?
h / ? What is the difference between NC and CNC ?
y NC is an acronym for Numerical Control and CNC is an y The
Th difference
diff between
b NC and
d CNC is
i one off age and
d
capability.
acronym for
f Computer Numericall Control.
l y The earliest NC machines performed limited functions
and movements controlled by punched tape or punch
cards.
y As the
h technology
h l evolved,
l d the
h machines
h were equiped d
with increasingly powerful microprocessors (computers)
with the addition of these computers, NC machines
become CNC machines.
y CNC machines have far more capability than their
By S K Mondal predecessor.
d contd…..
td
1 2 3
What is the difference between NC and CNC ? Where did CNC get started?
h dd d? IAS ‐ 1996
y Some of the enhancements that came along with CNC y 1940 Jhon Parson developed first machine able to drill Assertion
A i (A):
(A) The
Th temperature controll off an
electric iron is an example of servomechanism.
include:
l d Canned
d Cycles,
l Sub
b Programming, Cutter h l at specific
holes f coordinates
d programmed
d on punch
h Reason (R): It is an automatic control system.
Compensation Work coordinates,
Compensation, coordinates Coordinate system cards.
cards (a) Both A and R are individually true and R is the
correct explanation of A
rotation, automatic corner rounding, chamfering, and B
B‐ y 1951 MIT developed servo‐mechanism
(b) Both A and R are individually true but R is not the
spline interpolation. y 1952 MIT developed first NC machines for milling.
milling correct
co ect eexplanation
p a at o o
of A
(c) A is true but R is false
y 1970 First CNC machines came into picture
(d) A is false
f l but
b R is true
Now‐a‐day’s
y modified 1970’s
97 machines are used.
4 5 6
Do all machines speak the same CNC
D ll hi k th CNC What is a “Conversational Control”
h “ l l” Are CNC machines faster than
language y CNC machine tool builders offer an option what is conventional machines?
l h
y No, while there is fairly standard set of G and M codes, k
known as the
h conversationall control.
l This
h controll lets
l
y Yes, No, Sometimes. When it comes to making a single,
th
there i some variation
is i ti ini their
th i application.
li ti F example
For l the operator/programmer use simple descriptive
simple part it is hard to beat a conventional mill or lathe.
a G0 or G00 command is universally regarded as the language to program the part. The control then
CNC machines move faster in rapid travel than
command for rapid
p travel. Some older machines do not displayed a graphical representation of the instructions
conventional
i l machines.
hi
have a G00 command. On these machines, rapid travel is so the operator/programmer can verify the tool path.
commanded by using the F (feed) word address.
For-2019 (IES, GATE & PSUs) 7

Page 1 of 50 8
Rev.0 9
Page 2
Are CNC machines more accurate GATE ‐ 1994 NC/CNC Machines‐Advantages

than conventional machines?
h l h CNC machines
hi are more accurate than
h conventional
machines because they have a high resolution
i l y High Repeatability and Precision e.g. Aircraft parts
y Volume of production is very high
encoder and digital read‐outs for positioning.
y Yes, they
y can be. But like anything
y g else it depends
p on y Complex contours/surfaces need to be machined. E.g.
Turbines
who is running the machine, how well the machines has True or false?
y Flexibility in job change,
change automatic tool settings,
settings less
been maintained, quality of setup and so on. scrap
y More
M safe,
f higher
hi h productivity,
d i i better
b quality
li
y Less ppaper
p work,, faster p
prototype
yp pproduction,, reduction
in lead times
10 11 12
NC/CNC Machines‐Disadvantages IES ‐ 1999

Consider
C id the
h following
f ll i statements regarding
di
y Costly setup, skilled operators numerically controlled machine tools:
y Computers, programming knowledge required 1. They reduce non‐productive time
2 They reduce fixturing
2.
y Maintenance is difficult
3. They reduce maintenance cost
Which of these statements are correct?
( ) 1, 2 and
(a) d 3 (b) 1 and d2
(c) 2 and 3 (d) 1 and 3
13 CNC Machine Tool 14 15
IES ‐ 1995 DNC Di t

Direct numerical control(DNC)
i l t l(DNC)
Consider
C id the
h following
f ll i characteristics
h i i off y Direct Numerical Control is a system that uses a
production jobs: central computer
p to control several machines at the same
1. Processing of parts frequently in small lots time
2 Need to accommodate design changes of products.
2. products y Distributed Numerical Control (DNC): the central
3. Low rate of metal removal computer downloads complete programs to the CNC
machines,
hi which
hi h can be
b workstations
k i or PCs,
PC and d can get
4. Need for holding close tolerances
the information for the machine operations.
Th
The characteristics
h t i ti which
hi h favour
f th choice
the h i off
y The speed of the system is increased, large files can be
numerically controlled machines would include
handled and the number of machine tools used is
(a) 1, 2 and 3 (b) 2, 3 and 4 expanded.
(c) 1,
1 3 and 4 (d) 1, 1 2 and 4
Page 2 of 50 17
Rev.0 18
Page 3
Distributed numerical control (DNC) DNC Configuration‐2
DNC
DNC
y In early 1980s, Distributed numerical control (DNC)
comes into picture. Configuration 1
Configuration‐1
y Now, many CNC machines together with robots,
programmable logic controllers, and other computer‐
based controllers have been integrated into DNC
systems to make automated manufacturing systems
possible.
ibl
19 20 21
Components of DNC
Components of DNC Advantages of DNC
Advantages of DNC Satellite Computers
Satellite Computers
y Central computer y Greater computational capability and flexibility y Satellite computers are minicomputers and they serve
y Bulk memory for storing programs y Central computer and bulk memory, which stores the to take some of the burden of central computer, Each
y Communication network
C i i k NC programs
NC programs. satellite computer control several machine tools
satellite computer control several machine tools.
y NC machines y Shop floor control
y Establishes the framework for evolution of future
automation, CIM
22 23 24
IES ‐ 2009 GATE – 1993, IES‐2017 (Prelim)

( l ) IES ‐ 2007
In
I which
hi h off the
h following
f ll i machining
hi i manuall part With
Wi h reference
f to NC machine, hi which
hi h off the
h What
Wh are the h main i components off an NC machine?hi ?
programming is done? following statement is wrong? 1. Part program
p g
(a) CNC machining (b) NC machining (a) Both closed‐loop and open‐loop control systems are 2. Machine Control Unit
(c) DNC machining (d) FMS machining used 3. Servo
S motor
(b) Paper tapes, floppy tapes and cassettes are used for Select the correct answer using
g the code ggiven below:
data storage
(a) 1, 2 and 3 (b) 1 and 2 only
(c) Digitizers
g t e s may
ay be used as interactive
te act ve input
put dev
devices
ces
( ) 2 and
(c) d 3 only
l (d) 1 and d 3 only
l
(d) Post processor is an item of hardware

Page 3 of 50 26
Rev.0 27
Page 4
JWM 2010 IES ‐ 2009 IES ‐ 1999

Consider the following components regarding numerical What
Wh is
i theh purpose off satellite lli computers ini Consider
C id the h following
f ll i components:
control system : Distributed Numerical Control machines? 1. A dedicated computer
p
1. Programme of instructions (a) To act as stand‐by systems 2. Bulk memory
2 Machine control unit
2. (b) To share the processing of large‐size
large size NC programs 3. Telecommunication
Tl i i lines
li
3. Processing equipment (c) To serve a group of NC machines p
Which of these components are required
q for a DNC
Which of these are correct ? (d) To network with another DNC setup system?
(a) 1,
1 2 and 3 (b) 1 and 2 only ( ) 2 and
(a) d3 (b) 1 andd2
(c) 2 and 3 only (d) 1 and 3 only (c) 1, 2 and 3 (d) 1 and 3
28 29 30
JWM 2010 IES – 2002 S‐1 IES – 2002 Contd….. From S‐1

d
Consider the following advantages of DNC systems : Match
M t h List
Li t I with
ith List
Li t II and d select
l t theth correctt C.
C DNC system
t 3. The
Th controller
t ll consists
i t off
1. Time‐sharing answer: soft‐wired computer and
List I List II h d wired
hard‐ i d logic
l i Graphic
G hi
2. Greater computational capability display of tool path is
((NC machine tool systems)
y ) ((Features))
3 Remote computer location
3. Remote computer location also
l possible
ibl
A. NC system 1. It has an integrated automatic tool
D. Machining centre 4. The instructions on tape is
changing unit and a component
prepared in binary
Which of the above is/are correct ? indexing device
decimal form and operated
p byy
( ) d l
(a) 1 and 2 only (b) d l
(b) 2 and 3 only B CNC system
B. t 2. A numberb off machine hi t l are
tools a series of coded
(c) 2 only
y (d) 1, 2 and 33 controlled by a computer. No tape instructions
reader,
d the
th partt program isi
transmitted directly to the Codes:A B C D A B C D
machine
hi tool
t l from
f th
the (a) 4 2 3 1 (b) 1 3 2 4
31 computer memory 32
(c) 4 3 2 1 (d) 1 2 3 4 33
Machining Centre Machining Centre
IAS‐2011 main
IAS‐2011 main y A machining centre or work centre consists of a single, but y Some machines are equipped with two work‐tables that can be
sometimes, two machine tools with the specific p feature of an moved into or out of the machine. While the work is g
going
g on one
E l i att least
Explain, l t two,
t characteristics
h t i ti each
h off NC,
NC automatic tool changer and capable of performing a number of works table, the next component can be set up on the other work‐
CNC and DNC.
DNC operations (drilling, tapping, milling, boring and turning etc.) on table. When the job is complete on the first work‐table, it is
a workpiece. moved out of the way and the second work‐table is moved into
[10 Marks]
[10‐Marks] y Most machines are numerically y controlled, but other types
yp of position.
controls will work as well. y For storing the preset tools, various magazine systems are used.
y The major
j advantage g is that the jjob needs clampingp g on the work These preset tools are removed from their slots by a hand‐arm
holding surface only once; the machine then performs a variety of mechanism. When a particular machining operation is completed,
machining g operations
p on all the jjob's faces except
p the base. the tool is removed from the spindle and returned to its storage
y Work handling time is thus decreased because there is no
slot, then another tool is picked up and mounted in the tool
movement of the workpiece from one machine to another. spindle.
y A machining centre is mainly used for batch production of main
Page 4 of 50 35 components of a product. Rev.0 36
Page 5
Machining Centre g p
Program Input Device
y The main components of a product are usually small (about 10%)
but are expensive
p (theyy represent
p about 550% of the p
product value) y The p
program
g input
p device is the mechanism used to
because they have considerable material value and usually require
a large amount of machining. For such components, the enter the part program into the NC/CNC control. The
machining centre is generally most economical.
main components of program input devices are:
y Machining g centres have high
g metal removal rate capabilities.
p The
high degree of accuracy and multi‐operation in the same set up, y Punch tape recorder
make the machining centres highly versatile and increase
productivity. Some models are made with manual tool change y Magnetic tape recorder
facility.
y Computer via RS‐232‐C communication
y NIC card for network communication

37 Fig. 5 axes CNC vertical axis machining centre configuration 38 39
Punched Tape
Punched Tape Punched Tape and Parity Check
Punched Tape and Parity Check
In the earlier NC machines, the most commonly used
yW e numerical
When u e ca data aaree tthee input,
put, cchannel
a e numbers
u be s 1,,
program storage
t medium
di was paper tape.
t A paper tape
t is
i
2, 3, 4, and 6 are employed.
one inch wide tape is considered to have eight tracks
(called channels) that run along the length of the tape. y The
Th tape
t reader
d makes
k elementary
l t checks
h k on the
th
The channels are numbered 1 through g 8 from right
g to accuracy with which the tape has been punched. This is
left. Arrays consisting of 1 to 8 holes are punched across called Parity Check.
the width of the tape.
tape (Small holes between the third y There must be an odd number of holes in each row or
and fourth channels are for the tape drive sprocket teeth. the tape reader and machines stops.
y If a command d needs
d an even no off holes
h l tot be
b punched,
h d
an additional one must be punched in channel 5, the
parity check channel.
y The sprocket drive holes are not considered in the parity
40
check. 41 42
Pi
Prime Movers
M Stepper Motor
Stepper Motor y For
F each
h pulse
l it receives,
i th drive
the di unit
it
y The stepper
pp motor is special
p yp of synchronous
type y manipulates the motor voltage g and current,
y Practically every industrial process requires
motor which is designed to rotate through a causing the motor shaft to rotate by a fixed angle
objects to be moved, manipulated, held, or (one step).
subjected to some type of force. specific angle (Called step) for each electrical
pulse received from the control unit.
p y A stepping motor provides open‐loop as
cumulative
l ti error and d maximum
i error is
i one step,
t
y The ferromagnetic multiple pole rotor moves g
digital control of the p
position of a workpiece
p in a
y The three most commonly
y employed
p y methods for
i id a multipole
inside lti l stator.
t t The
Th alternate
lt t teeth
t th on numerical control machine.
producing the required forces/motions are:
rotor and stator are magnetized
g to act as north
¾Electrical
l l – motors, solenoids
l d y In Robotics,
Robotics stepper motors are used for relatively
and south poles. light duty application (Open Loop Only)
¾ Air – Pneumatics y The
Th drive
d i unit i receives
i a direction
di i i
input (
(cw or y In computer peripherals stepper motors mostly
¾ Liquids
q ‐ Hydraulics
y ccw)) and p
pulse inputs.
p used
Page 5 of 50 44
Rev.0 45
Page 6
• The 1.8 degree stepping motor Choice of a stepper motor based on

is the predominant standard for y Load,
L d friction
f i i and
d inertia
i i – Higher
Hi h load
l d can cause
industrial automation. slipping.
• Stepper motors are off
permanent magnet, hybrid or y Torque‐speed curve and quantities such as
variable reluctance type. holding torque, pull‐in and pull‐out curve.
y Torque‐speed
Torque speed characteristic determined by the
drive –Bipolar chopper drives for best
performance.
Fig Open loop control of a step motor
Fig. Open‐loop control of a step motor y Maximum slew‐rate:
slew rate: maximum operating
frequency with no load (related to maximum
46 47
speed). 48
Performance characteristic of stepper motors
pp
1. Pull in IES 2017 (Prelims)
IES‐2017 (Prelims)
torque (inner
curve)) is
torque
i the
th Consider
C id the
th following
f ll i statements
t t t regarding
di IAS‐2009 main
IAS‐2009 main
required
q to pp motor:
a stepper
start and Wh t is
What i the
th function
f ti off stepper
t motor?
t ?
accelerate 1. The rotation angle of the motor is
without losing proportional
i l to the
h input
i pulse.
l [2 marks]
[2 –
steps.
2. Pull ll out
2 The motor has full torque at standstill.
2. standstill
torque (outer 3. Speed and electric control signal of the
curve) is the
maximum motor vary mutually linearly.
torque that
can be
b applied
li d Whi h off the
Which th above
b statements
t t t are correct?
t?
at a given step‐
rate without (a) 1 and 2 only (b) 1 and 3 only
losing steps.
49 (c) 2 and 3 only (d) 1, 2 and 3 50 51
Servomotor Control Systems

Control Systems
y Servomotors are special electromechanical devices that Encoders p p y
•Open Loop Systems
produce precise degrees of rotation. •Closed Loop Systems
y A device used to convert linear or rotational position
y A servo motor is a DC or AC or brushless DC motor
combined with a position sensing device. information into an electrical output signal.
y Servomotors are also called control motors as they are
involved in controlling a mechanical system.
y A reference
f input is sent to theh servo amplifier,
lf which
h h
controls the speed of the servomotor.
y In many servo systems, both velocity and position are
monitored.
y Servomotors provide accurate speed, torque, and have ability
of direction control.
control
Page 6 of 50 53 Fig. Open Loop SystemsRev.0 54
Page 7
Feedback
CNC systems use two different feedback principles. The
indirect feedback, which monitors the output of the IFS 2011
IFS 2011
servomotor. The direct feedback monitors the load
Wh t is
What i indirect
i di t feedback
f db k ? [
[2‐marks]
k ]
condition in the feedback loop and that is the reason
that is more accurate than the indirect feedback.
Indirect Feedback
Fig. Closed Loop Systems
55 Direct Feedback 56 57
IAS‐2010 Main IES‐Conventional GATE ‐ 2007

Which type of motor is NOT used in axis or spindle
Whi h f i NOT d i i i dl
Illustrate with the help of neat sketches the differences y Schematically illustrate closed loop control system for a drives of CNC machine tools?
between open‐loop and closed‐loop control in NC numerical control machine, mentioning the purpose of a (a) Induction motor (b) DC servo motor
system. Why is feedback not possible in open‐loop feedback control. Write the advantages of CNC over (c) Stepper motor (d) Linear servo motor
control system
s stem ? con entional NC systems.
conventional s stems [10 marks]
[22 Marks]
[22‐ y Enlist the advantages of DNC over CNC.
CNC
58 59 60
IES ‐ 1994 IES ‐ 2002 IAS‐2014 main

Feed
F d drives
d i in
i CNC milling
illi machines
hi are provided
id d In
I a CNC machine
hi tool,
l encoder
d isi used
d to sense and
d
by control Differentiate between open
p loop,
p, closed loop
p and
(a) Synchronous motors (a) Table position
adaptive control systems used in NC machine tools.
(b) Induction motors (b) Table velocity
(c) Stepper motors (c) Spindle speed [10 –Marks]
(d) Servo‐motors. (d) Coolant flow

Page 7 of 50 62
Rev.0 63
Page 8
Basic Length Unit (BLU)
h ( ) GATE ‐ 1997
y In
I NC machine,
hi the
h displacement
di l length
l h per one pulse
l In
I a point
i to point
i controll NC machine,
hi the
h slides
lid
output from machine is defined as a Basic Length Unit are positioned by an integrally mounted stepper
(BLU). motor drive. If the specification of the motor is
y In the CNC computer each bit (binary digit) represents 1 1o/p
/pulse,, and the p
pitch of the lead screw is 33.6 mm,,
BLU. what is the expected positioning accuracy?
Bit = BLU ( a ) 1μ m (b) 10 μm
y Example:
a p e: If oonee pu
pulse
se makes
a es a se
servo
vo motor
oto rotate
otate by o
onee (c ) 50 μm (d ) 100 μm
degree and the servo motor moves the table by 0.0001
mm one BLU will be 0.0001
mm, 0 0001 mm.
mm
y The lead of a ball screw is related to the displacement
unit of the machine tool table.
64 65 66
GATE – 2007 (PI)
( ) GATE – 2008 (PI) Example
In
I a CNC machine hi feed
f d drive,
di a stepper
t motor
t A stepper motor has 150 steps. The output shaft of the y A DC servomotor is coupled directly to a leadscrew
with step p angle o
g of 1.8 drives a lead screw with which drives the table of an NC machine tool. A
pitch of 2 mm. The Basic Length Unit (BLU) for motor is directly
d l coupled
l d to a lead
l d screw off pitch
h 4 mm, digital encoder, which emits 500 pulses per
this drive is which drives a table.
table If the frequency of pulse supply to revolution is mounted on the other end of the
revolution,
leadscrew. If the leadscrew pitch is 5 mm and the
((a)) 10 microns ((b)) 20 microns the motor is 200 Hz, the speed of the table (in mm/min) motor rotates at 600 rpm,rpm calculate
(c) 40 microns (d) 100 microns is (a) The linear velocity of the table
(b) The BLU of the NC system
(a) 400 (b) 320 (c) 300 (d) 280
( ) The
(c) Th frequency
f off pulses
l t
transmitted
itt d by
b the
th encoder.
d
67 68 69
IES 2011 Conventional GATE – 2010 (PI)

IFS‐2015 y The
h table
bl off a CNC machine
h is driven
d by
b a Lead
d screw which
h h For
F a 3 –axes CNC table,
bl the
h slide
lid along
l the
h vertical
i l axis
i
A DC servomotor is coupled directly to a lead is rotated by a DC servomotor. A digital encoder which emits of the table is driven by a DC servo motor via a lead
screw which drives the table of an NC machine screw‐ nut mechanism. The lead screw has a pitch of 5
1000 pulses per second is mounted on the lead screw as a mm. This lead screw is fitted with a relative
tool. A digital encoder which emits 500 pulses per
revolution is mounted on the other end of the feedback device. If the lead screw pitch is 6 mm and motor (incremental) circular encoder. The basic length unit
lead screw.
screw If the lead screw pitch is 5 mm and the rotates
t t att 500 rpm, find
fi d (BLU) of the slide along the vertical axis of the table is
motor rotates at 650 rpm, calculate 0.005 mm. When the table moves along the vertical axis
(i) The
Th linear
li velocity
l it off the
th table
t bl 1
1. Basic length Units of the system b 9 mm, the
by th corresponding
di number b off pulses
l generated
t d
(ii) The BLU of the NC system 2. Linear velocity of the table. by the encoder is
(iii) The frequency of the pulses transmitted by the (a) 1400 (b) 1800 (c) 4200 (d) 9000
3. Frequency of pulses generated by the feedback device.
encoder [8 ‐ Marks]
[5 Marks]
Page 8 of 50 71
Rev.0 72
Page 9 GATE – 2014(PI)
I an open loop,
In l point‐to‐point
i i controlledll d CNC drilling
d illi
GATE‐2018 (PI) GATE‐2016 (PI) machine, a stepper motor, producing 200 angular steps per
The worktable in a CNC machine is driven by a revolution, drives the table of a drilling machine by one
A single axis CNC table is driven by a DC servo motor g
angular steppp
per each ppulse g
generated byy a ppulse g
generator
leadscrew with a pitch of 2 mm. The leadscrew is that is directly coupled to a lead screw of 5 mm pitch. (shown in figure). Each angular step moves the table by
g Unit ((BLU)) along
one Basic Length g X axis with a lead screw
directly coupled to a stepper motor of step angle The circular encoder attached to the lead screw having a pitch of 4 mm. If the frequency of pulse generator
generates 1000 voltage
oltage pulses per revolution
re olution of the lead is doubled,
doubled the BLU will
1.8°. The number of pulses required to move the
screw The table moves at a constant speed of 6 m/min.
screw. m/min
worktable by 50 mm is ______
p g frequency
The corresponding q y (in kHz) of the voltage
g (a) become double of previous value
pulses generated by the circular encoder is_________. (b) become half of previous value
( ) remain
(c) i the
h same
73 74
(d) become zero 75
Statement for Linked Answers questions: S‐1 GATE – 2008 Q‐1 (Statement in S‐2)

( ) GATE – 2008 Q‐2 (Statement in S‐3)
( )
In
I the
h feed
f d drive
d i off a Point‐to‐Point
P i P i open loop
l CNC The
Th Basic
B i Length
L h Unit
U i (BLU),
(BLU) i.e.,
i the
h table
bl A customer insists
i i on a modification
difi i to change
h the
h BLU
drive, a stepper motor rotating at 200 steps/rev drives a movement corresponding to 1 pulse of the pulse of the CNC drive to 10 microns without changing the
table through a gear box and lead screw‐nut mechanism generator, is table speed. The modification can be accomplished by
(pitch = 4 mm,, number of starts = 1).
(p ) (a) 0.5
0 5 microns (b) 5 microns
Output rotational speed
The gear ratio = Input rotational speed is given by U = 14 (c) 50 microns (d) 500 microns
The
h stepper motor (driven
(d b voltage
by l pulses
l f
from a pulse
l
generator) executes 1 step/pulse of the pulse generator.
The frequency of the pulse train from the pulse
generator is f = 10,000 pulses per minute.
76 77 78
GATE – 2009 (PI) IES‐2017 (Prelim)

( l ) GATE‐2014 (PI)
The total angular movement (in degrees) of a lead‐screw A stepper motor is to be used to drive the linear Each axis of NC machine is driven by a stepper motor
drive with a lead screw.
screw The pitch of lead screw is p mm.
mm
with a pitch of 5.0 mm to drive the work‐table by a axis of a certain mechatronics system. The motor The step angle of stepper motor per pulse input is α
di
distance off 200 mm in
i a NC machine
hi isi output shaft is connected to a screw thread with a degrees/pulse The ratio of gear drive in stepper motor
degrees/pulse.
drive is g(number of turns of the motor for each single
( ) 14400
(a) (b) 28800
88 ( ) 57600
(c) 6 (d) 72000 30 mm pitch.
i h Linear
Li resolution
l i off 0.5 mm is
i turn off the
h lead
l d screw). ) The
Th number b off pulses
l required
i d
to achieve a linear movement of x mm is
stipulated.
i l d WhatWh is
i the
h needed
d d step angle?
l ? αg 360 g g 360 g
(a) x (b) x (c ) x (d ) x
360 p p 360 p pα
(a) 9° (b) 8° (c) 7° (d) 6°

Page 9 of 50 80
Rev.0 81
Page 10
IAS 2010 Main
IAS‐2010 Main IAS 2013 Main
IAS‐2013 Main Control Systems possible in CNC Machine
p p NC system
In open‐loop y pp g motor is
the shaft of a stepping
An open loop type NC machine has a stepper motor with y Point
P i to point
i mode:
d
connected directly to the lead screw x‐axis of the
a step of 0.9 degree. The lead screw of the machine is of
machine table. The pitch of the lead screw is 3.0 mm.
4 mm pitch.i h
The number of step angles on the stepping motor is 200.
((i)) If the tool has to be moved byy 2.877 mm,, how manyy
Determine how closely the position of the table can be pulses will have to be fed?
controlled assuming that there are no mechanical errors
controlled, (ii) If the
th motor
t is
i rotating
t ti att 15 rpm, what
h t is
i the
th pulse
l
in the positioning system. frequency and the feed rate of the machining operation?
Also, what is the required frequency of the pulse train [10 –Marks]
and the corresponding rotational speed of the stepping
motor in order to drive the table at a travel rate of 100
mm/min? [8 Marks]
[8‐
82 83 84
GATE ‐ 1992 Point‐to‐point straight line mode IES Conventional

In
I a point‐to‐point
i i type off NC system Discuss point – to – point control,
control and its
((a)) Control of pposition and velocityy of the tool is applications.
essential
(b) Control of only position of the tool is sufficient
(c) Control of only velocity of the tool is sufficient
(d) Neither position nor velocity need be controlled
85 86 87
GATE ‐ 2006
NC contouring i isi an example l off
((a)) Continuous ppath ppositioning
g
(b) Point‐to‐point positioning
( ) Absolute
(c) Ab l positioning
ii i
((d)) Incremental p
positioningg

Page 10 of 50 89
Rev.0 90
Page 11
GATE‐2005 Co‐ordinate system
d
y All the
h machine
hi tooll use Cartesian
C i Co‐ordinate
C di system.
Which among the NC operations given below are
continuous path operations? y The first axis to be identified is the Z – axis,, This is
followed by X and Y axes respectively.
Arc Welding (AW) Milling (M)
Drilling (D) Punching is Sheet Metal (P)
Laser Cutting of Sheet Metal (LC) Spot Welding (SW)
(a) AW, LC and M (b) AW, D, LC and M
( ) D, LC, P and SW
(c) d (d)
(d) D, LC, and SW
d
91
Right‐hand coordinate systems 92 93
IES ‐ 2000
Assertion
A i (A):
(A) The
Th axis i off an NC drilling
d illi machine
hi
spindle is denoted as z‐axis.
Reason (R): In NC machine tool, the axis
perpendicular to both x x‐ and y
y‐axis
axis is designated as
z‐axis
( ) Both
(a) h A and d R are individually
d d ll true and d R is the
h
(b) Both A and R are individually true but R is not the
(c) A is true but R is false
(d) A is false but R is true
94 95 96
IES ‐ 1996
Assertion
A i (A):
(A) Numerically
N i ll controlledll d machines
hi
having more than three axes do not exist.
Reason (R): There are only three Cartesian
coordinates namely x x‐y‐z
y z.
(a) Both A and R are individually true and R is the
correct explanation
l off A
(b) Both
ot A aand d R aaree individually
d v dua y ttrue
ue but R iss not
ot tthee
( ) A is
(c) i true
t b t R is
but i false
f l
(d) A is false but R is true

Page 11 of 50
5 axes CNC vertical axis machining centre configuration
98
Rev.0 99
Page 12
GATE 2015
GATE-2015 IES ‐ 2003 S‐1
Absolute and Incremental Coordinate System
A drill is p
positioned at p
point P and it has to p
proceed to
While
Whil part programming i
point Q. The coordinates of point Q in the in CNC machines, the
input of dimensional
incremental system of defining position of a point in
information for the tool
CNC part program will be path can be given in the
absolute co‐ordinate
a)) (3,12)
( )
system or in incremental
b) (5,7)
(5 7) co‐ordinate
di t system.t Th
The
above figure shows the
c) (7,12)
route to be
b followed
f ll d by
b theh
d) (4,7) tool from O to C, i.e., O ‐ A
‐ B ‐ C.
Absolute Coordinate System Incremental Coordinate System
100 101 102
IES – 2003 Contd.. From S‐1
d M hi C t l U it
Machine Control Unit
If incremental
i l co‐ordinates
di system is
i used,d theh co‐ GATE ‐2012
GATE ‐2012 Same Q in GATE‐2012 (PI)
Same Q in GATE 2012 (PI) y The machine control unit (MCU) is the backbone of
CNC systems. Following six functions are being done by
ordinates of each point A, B and C are A CNC vertical milling machine has to cut a MCU:
(a) A: X 5.0, Y 10.0 (b) A: X 5.0, Y 10.0 straight slot of 10 mm width and 2 mm depth by a y Read coded instructions
B: X 20.0,
20 0 Y5.0
Y5 0 B: X 25
25, Y 15.0
15 0 cutter of 10 mm diameter between points (0, (0 0) y Decode
D d coded d d instructions
i i
C: X 10.0, Y 10.0 C: X 35, Y 5.0 and (100, 100) on the XY plane (dimensions in y Implement
p interpolations
p to g
generate axis motion
mm). ) The
Th feed
f d rate usedd for
f milling
illi is
i 50 mm/min.
/ i commands
(c) A: X 10.0, Y 5.0 (d) A: X 10.0, Y 5.0
Milling time for the slot (in seconds) is y Feed axis motion commands to amplifier circuits to drive
B X 15.0, Y 25.0
B: B X 5.0, Y 20.0
B:
(a) 120 (b) 170 (c) 180 (d) 240 axis mechanisms
C: X 15.0, Y 35.0 C: X 10.0, Y 10.0
y Receive the feed back signals of position and speed for
each drive axis
y Implement
I l t auxiliary
ili control
t l functions
f ti such
h as coolant
l t
103 104 ON/OFF, spindle ON/OFF, and tool change 105
IFS‐2015 IFS 2011

IFS 2011
What is the function of Data Processing Unit (DPU) and
What is the function of MCU in NC machine? Control Loop Unit (CLU) of MCU. [5‐marks]
Answer:
Answer:
Data Processing Unit
For a CNC machine control unit (MCU) decides cutting y Input device [RS‐232 port/ Tape Reader/ Punched Tape
Reader]]
speed,
d feed,
f d depth
d h off cut, tooll selection
l , coolant
l on off
ff
y Data Reading Circuits and Parity Checking Circuits
y For a CNC machine
h controll unit (MCU)
( ) decides
d d cutting and tool paths.
paths The MCU issues commands in form of y Decoders
D d to t distribute
di t ib t data
d t to
t the
th axes controllers.
t ll
speed,
p feed, depth
p of cut, tool selection , coolant on off numeric data to motors that position slides and tool Control Loops Unit
and tool paths. The MCU issues commands in form of y Interpolator to supply machine‐motion commands between
numeric data to motors that position slides and tool accordingly. It is electronic and computerized interface data po
points
ts
accordingly. between operator and m/c. y Position control loop hardware for each axis of motion 108
Page 12 of 50 107
Rev.0
Page 13
The following are the steps to be followed IES Conventional Part Programming

while developing the CNC part programs.
while developing the CNC part programs What is meant by Part Programming ? Discuss point –
to – point control, and its applications. y FANUC CONTROL
y Process planning
p g
y Part programs for simple components can be carried out
y Axes selection manually. However, if the component has complex features y SIEMENS CONTROL
y Tool selection
T l l ti which require too many repetitive and/or tedious
calculations for preparing its program for cutter path
y Cutting process parameters planning
gp p p g description, then it is recommended that computer
computer‐aided
aided
y Job and tool setup planning part programming be resorted to. To be a good CNC
programmer,
p g , one should have a fair knowledge g about the
y Machining path planning
M hi i th l i machine tools, cutting tools and fixtures to be used and the
y Part program writing
p g g manufacturing g pprocess. He also should have a g good
understanding of geometry, algebra and trigonometry. In
y Part program proving
fact, machine shop experience is the pre‐requisite for a good
programmer as only l careful
f l process planning
l can lead
l d to
109 efficient and practical programs. 110 111
Table of Important G codes
p
CNC i
CNC programming
Important things to know:
Programming Key Letters Code Meaning Format
y O ‐ Program number (Used for program identification)
G00 Rapid Transverse N__G00 X___ Y___ Z___
• Coordinate System y N
N ‐ Sequence number (Used for line identification) G01 p
Linear Interpolation N__G01 X___ Y___ Z___ F___
y G ‐ Preparatory function G02 Circular Interpolation, N__G02 X__ Y__ Z___ R___ F___
• Units, incremental or absolute positioning y X ‐ X axis designation
g CW N G X
N__G02 X___ Y__Z__I ___J __K __ F __
Y Z I J K F
y Y ‐ Y axis designation
G03 Circular Interpolation, N__G03 X___ Y___ Z__R__F___
• Coordinates: X,Y,Z, RX,RY,RZ
, , , , , y Z ‐ Z axis designation
g
CCW
y R ‐ Radius designation N__G03 X__ Y__Z__I __J __K __ F __
• Feed rate and spindle speed
p p y F – Feed rate designation G04 Dwell N__G04P___
y S ‐ Spindle speed designation
G17 XY Plane
y H ‐ Tool length offset designation
• Coolant Control: On/Off, Flood, Mist
Coolant Control: On/Off Flood Mist
y D ‐ Tool radius offset designation G8
G18 XZ Plane
XZ Pl
y T ‐ Tool Designation G19 YZ Plane
• Tool Control: Tool and tool parameters y M ‐ Miscellaneous function
112 113 114
Table of Important G codes
p Table of Important G codes
p
Code Meaning Format
Code
G20/G70
Meaning
Inch Unit
Format
G44 Tool length compensation N__G44H__
N G44H p
Rapid traverse: G00
(minus)
7
G21/G71 Metric Unit G49 Tool length compensation y G00:
G28 Automatic Return to Reference cancel y to make the machine move at maximum speed.
Point G8
G80 C
Cancel canned cycles
l d l y It is used for positioning motion.
It is used for positioning motion
G40 Cutter compensation cancel G81 Drilling cycle N__G81 Z__R__F__ G90 G00 X20.0 Y10.0
G
G41 C tt
Cutter compensation left
ti l ft N G D
N__G41D__ G82 Counter Bore Cycle N__G82Z__R__P__F_ End
G90:
G42 Cutter compensation right N__G42D__ G83 Deep Hole Drilling Cycle
eep o e g Cyc e N G83Z__ R
N__G83 R__ Q
Q_F__ absolute
(20,10)
coordinates (10,10)
G90 Absolute positioning
G43 Tool length compensation N__G43H__
(plus) G91
G IIncremental positioning
t l iti i
Start (0,0)
G92 Absolute preset, change the N__G92X__Y__Z__
d
datum position, Reposition
For-2019 (IES, GATE & PSUs) 115 Origin Point Page 13 of 50 116
Rev.0 117
Page 14
p
Linear interpolation: G01 Circular interpolation: G02, G03
Circular interpolation: G02, G03 Circular interpolation: G02, G03
Circular interpolation: G02, G03
y G01: y G02, G03:
y For circular interpolation, the tool destination and the circle
For circular interpolation the tool destination and the circle Y
y linear interpolation at feed speed. center are programmed in one block
G91 G0l X200.0 Y100.0 F200.0 y G02 is clockwise interpolation, G03 is counterclockwise X R=-50mm
i
interpolation
l i End Specify R with
S if R i h
Y
⎧G 02 ⎫ ⎧ R ⎫ sign before it:
G91:
9 End G17 ⎨ ⎬ X __ Y __ ⎨ ⎬ F __;;
incremental 100.0 ⎩G 03 ⎭ ⎩ I __ J __ ⎭ ≤180° +R
coordinates ⎧G 02 ⎫ ⎧ R ⎫ >180° ‐R
G18 ⎨ ⎬ X __ Z __ ⎨ ⎬ F __;; Start R=50mm
⎩G 03 ⎭ ⎩ I __ K __ ⎭
⎧G 02 ⎫ ⎧ R ⎫
G19 ⎨ ⎬Y __ Z __ ⎨ ⎬ F __;;
⎩G 03 ⎭ ⎩ J __ K __ ⎭ G91 G02 X60.0 Y20.0 R50.0 F300.0
Start 200.0 X End Circle center, radius
, G91 G02 X60.0 Y20.0 R‐50.0 F300.0
point
118 119
120
Circular interpolation: G02, G03
Circular interpolation: G02 G03 Circular interpolation: G02, G03
Circular interpolation: G02, G03 Circular interpolation: G02, G03
Circular interpolation: G02 G03
N0010 G92 X200.0 Y40.0 Z0 ; Annotation for Circular Interpolation
p
Y y Specify Center with I, J, K N0020 G90 G03 X140.0 Y100.0 I ‐60.0 F300；
End y I0.0, J0.0, and K0.0 can be omitted.
N0030 G02 X120. 0 Y60.0 I‐ 50.0； G92:
y I, J, K are the incremental
J
Or To define working
T d fi ki y If X,Y,Z are all omitted in the program, that means
If X Y Z are all omitted in the program that means
distance from the start of
N0010 G92 X200.0 Y40.0 Z0； coordinate start and end of arc are same points.
X the arc;
N0020 G90 G03 X140.0 Y100.0 R60.0 F300； N0020 G02 I20 0 (a full circle)
N0020 G02 I20.0 (a full circle)
y Viewing the start of arc as N0030 G02 X120.0 Y60.0 R50.0；
Start the origin, I, J, K have y If I, J, K, and R all appears in circular interpolation
Y
j positive or negative signs.
ii i i G
G90: i t ti R i lid d I J d K i
instruction, R is valid and I, J, and K are invalid
lid
Center absolute 100 R50
i coordinates 60 R60
40
X
O 90 120 140 200
121 122 123
GATE 2014
GATE‐2014 GATE – 2007 (PI)
( ) GATE‐2018
p p g g p
For the CNC part programming, match Group A with
Group B: The
Th interpolator
i t l t in
i a CNC machine
hi controls
t l Interpolator
I l in
i a CNC machine
hi
Group A Group B (a) Spindle Speed (b) Coolant flow (a) controls spindle speed
P: circular interpolation, counter I: G02 (c) Feed rate (d) Tool change (b) coordinates axes movements
clock wise
(c) operates tool changer
Q: dwell II: G03
(d) commands canned cycle
R: circular interpolation, clock wise III: G04
S: point to point countering IV: G00
P Q R S P Q R S
(a) II III I IV (b) I III II IV
(c) I IV II III (d) II I III IV
Page 14 of 50 125
Rev.0 126
Page 15
GATE ‐ 2004 GATE ‐ 2010 IES ‐ 2009

During
D i the h execution
i off a CNC part program block
bl k In
I a CNC program block,bl k N002
N G02
G G91
G X40X Z40…,
Z Interpolation in the controller refers to control of
N020 G02 X45.0
45 Y25.05 R5.0
5 the type
yp of tool motion will G02 and G91 refer to
be (a) Circular interpolation in counterclockwise direction which
h h one off the
h following
f ll in a CNC machine?
h
(a) Circular Interpolation – clockwise and incremental dimension ( ) Loading/unloading
(a) L di / l di off jobs
j b on machine
hi
(b) Circular Interpolation ‐ counter clockwise (b) Circular interpolation in counterclockwise direction
andd absolute
b l d
dimension (b) Loading/unloading
L di / l di off tools
t l from
f th tool
the t l changer
h
(c) Linear Interpolation
(d) Rapid
R id feed
f d (c) CCircular
cu a interpolation
te po at o in cclockwise
oc se d
direction
ect o aandd (c) Axes of machine for contouring
incremental dimension
(d) Circular
Ci l interpolation
i t l ti i clockwise
in l k i direction
di ti andd (d) Coolant and miscellaneous functions on machine
absolute dimension
127 128 129
GATE 2015
GATE-2015 GATE ‐ 2001 GATE ‐ 2005
The function of CNC machine controller is to In
I an NC machining
hi i operation,
i the
h tooll has
h to beb The
Th tooll off an NC machine hi has
h to move alongl a
a) Control spindle speed moved from point (5, 4) to point (7, 2) along a circular arc from (5, 5) to (10,10) while performing an
circular path with centre at (5, 2). Before starting the operation. The centre of the arc is at (10, 5). Which
b)Coordinate feed rates of axes operation,
p , the tool is at (5, 4)
4). The correct G and M one of the following g NC tool p path commands
c) Control tool rapid approach speed code for this motion is performs the above mentioned operation?
(a) N010 G03 X7.0
X 0 Y2.0
Y2 0 I5.0
I 0 J2.0
J2 0 (a) N010G02 X10 Y10 X5X Y5
Y R5R
d)Perform miscellaneous(M) functions (tool change,
(b) N010 G02 X7.0 Y2.0 I5.0 J2.0 (b) N010G03 X10 Y10 X5 Y5 R5
coolant control etc.) (c) N010 G01 X7.0 Y2.0 I5.0 J2.0 (c) N010G01 X5 Y5 X10 Y10 R5
(d) N010
N G X7.0
G00 X Y
Y2.0 I
I5.0 J
J2.0 (d) N010G02
N G X5 X Y5
Y X10
X Y10Y R5 R
130 131 132
GATE 2017
GATE‐2017 GATE-2015
GATE 2015
Circular arc on a ppart p
profile is beingg machined
In a CNC milling operation, the tool has to machine GATE‐2014 (PI)
on a vertical CNC milling machine. CNC part the circular arc from point (20, 20) to (10, 10) at a A CNC instruction G91G01X30Y40F100 commands the
program using metric units with absolute sequence number 5 of the CNC part program. If the movement of tool along the path at a feed rate of 100
dimensions is listed below:
center of the arc is at (20,
(20 10) and the machine has mm/min (G91‐ incremental format and G01‐ linear
N60 G01 X30 Y55 Z‐5 F50
incremental mode of defining position coordinates, interpolation) The feed rate of the tool (in mm/min)
interpolation).
N70 G02 X50 Y35 R20
the correct tool p
path command is along the X axis will be _______
N80 G01 Z2
a) N05 G90 G01 X‐10 Y‐10 R10
The coordinates of the centre of the circular arc are: b)N05 G91 G03 X‐10 Y‐10 R10
(a) (30, 55) (b) (50, 55) c) N05 G90 G03 X20 Y20 R10
d)N G90
d)N05 G G02
G X20
X Y20Y R10
R
(c) (50, 35) (d) (30, 35)
Page 15 of 50 134
Rev.0 135
Page 16
p
Tool Compensation p
Tool‐Radius Compensation p
Cancel Tool Compensation: G40
y Tool‐radius compensations make it possible to
y Tool‐Radius Compensation
oo Rad us Co pe sat o program directly from the drawing, and thus eliminate
program directly from the drawing and thus eliminate y Note the difference between two ways
y Left hand G41 the tool‐offset calculation
y Right hand G42 N0060 G01 X2.000 Y1.700
X2 000 Y1 700
G (G ) D
G41 (G42) D×× N0060 G40 G01 X2.000 Y1.700 M02
N0070 G40 M02
y Cancel tool‐radius compensation G40 y D××: the radius of tool to compensate is saved in a memory unit that
is named D××
y Tool‐Height Compensation y G41/G42 is directly related with direction of tool movement and
which side of part is cut.
y Positive G43
os e G43
y Negative G44
y Cancel tool‐height compensation G49
Cancel tool height compensation G49
ramp off block effective to the end point
136 137 138
GATE ‐ 2000 GATE 2014

GATE ‐
In
I finish
fi i h machining
hi i off an island
i l d on a casting i with
ih For machining a rectangular island represented by g p
Tool‐Height Compensation
CNC milling machine, an end mill with 10 mm coordinates P(0, 0), Q(100, 0), R(100, 50) and S(0, 50) on
diameter is employed. The corner points of the a casting
ti using i CNC milling
illi machine,hi an end d mill
ill with
ith a G43 (G44) H××
island are represented
p by
y ((0,, 0),
), ((0,, 330),
), (5
(50,, 330),
), and diameter of 16 mm is used. The trajectory of the cutter
y H××: specified memory unit used to save height
(50, 0). By applying cutter radius right center to machine
h the
h island
l d PQRS is compensation of tool.
compensation the trajectory of the cutter will be
compensation, (a) ((–8,
8, –8),
8), (108, – 8), (108, 58), ((–8,
8, 58), ((–8,
8, –8)
8) y Positive compensation (G43):
(a) (‐5, 0), (‐5, 35), (55, 35), (55, ‐5), (‐5, ‐5) (b) (8, 8), (94, 8), (94, 44), (8, 44), (8, 8) real position = specified position + value saved in H××
(b) (0, ‐5), (55, ‐5), (55, 35), (‐5, 35), (‐5, ‐5) ( ) (–8,
(c) ( 8),
) (94,
( 0),
) (94,
( 44),
) (8,
( 44), ) (–8,
( 8)) y Negative compensation (G44):
(c) (5,
(5 5),
5) (5,
(5 25),
25) (45,
(45 25),
25) (45,
(45 5),
5) (5,
(5 5) (d) (0, 0), (100, 0), (100, 50), (50, 0), (0, 0) real position = specified position ‐
p p p value saved in H××
(d) (5, 5), (45, 5), (45, 25), (5, 25), (5, 5)
139 140 141
Table of Important M codes GATE ‐ 2009

Tool‐Height Compensation
Tool‐Height Compensation y M00 Program stop
y Example: y M01 Optional program stop
y N0010 G91 G00 X12.0 Y80.0 G91: y M03 Spindle on clockwise
y N0020 G44 Z‐32.0 H02；
N G Z H iincremental
t l y M04 Spindle on counterclockwise
M S i dl t l k i
coordinates
y M05 Spindle stop
y If we put 0.5mm into H02, y M06 Tool change
y real position = ‐32.0 ‐
p 3 0.5 = ‐32.5
5 3 5 y M07 Coolant on ‐1
7
y M08 Coolant on‐2
y Cancel tool‐height compensation: G49 y M09 Coolant off
y M10 Clamps on
y M11 Clamps off
M Cl ff
For-2019 (IES, GATE & PSUs) 142 y M02 or M30 Program stop, reset to start
Page 16 of 50 143
Rev.0 144
Page 17
GATE 2016
GATE‐2016 GATE 2017 (PI)
GATE‐2017 (PI)
Match the following part programming codes with their The p p
preparatoryy and miscellaneous codes used in CNC
respective functions. part programming and the functions are given in the
Block Format
Block Format
Part Programming
g g Functions N135 G01 X1.0 Y1.0 Z0.125 F5
Table.
Codes Group I Group II Sample Block
• Restrictions on CNC blocks
P G01
P. G01 I Spindle Stop
I. Spindle Stop P G
P. G01 1. Circular interpolation, counter‐clock wise
Ci l i l i l k i • Each may contain only one tool move
• Each may contain any number of non-tool move G-codes
Q. G033
Q II. Spindle rotation, clockwise
p , Q. G033
Q 2. End of program
p g • Each mayy contain onlyy one feed rate
• Each may contain only one specified tool or spindle speed
R. M03 III. Circular interpolation, R. M06 3. Tool change • The block numbers should be sequential
• Both the program start flag and the program number must be
anticlockwise
i l k i S
S. M02 4. Linear interpolation
i i l i independent of all other commands (on separate lines)
• The data within a block should follow the sequence shown
S. M055 IV. Linear interpolation
p The correct combination of code and the respective in the above sample block
function is
(a)P‐II, Q‐I, R‐IV, S‐III
Q (b) P‐IV, Q‐II, R‐III, S‐I
Q
(c) P‐IV, Q‐III, R‐II, S‐I (d) P‐III, Q‐IV, R‐II, S‐I ( ) P‐4,
(a) P Q‐1,
Q R‐3,
R S‐2S (b) P
P‐4, Q‐1,
Q R‐2,
R S‐3S
145
(c) P‐1, Q‐4, R‐3, S‐2 (d) P‐2, Q‐1, R‐3, S‐4 146 147
Programming Formats P i F t
Programming Formats
y TAB Sequential Format or interchangeable format
Sequence and format of words:
y Word Address Format or variable block format
Here the alphabets
p are replaced
p byy a Tab code,, which is
N3 G2 X+1.4 Y+1.4 Z+1.4 I1.4 J1.4 K1.4 F3.2 S4 T4 M2 This type of format uses alphabets called address, inserted between two words. The MCU reads the first
destination coordinates dist to center of circle tool
identifying the function of numerical data followed. This Tab and stores the data in the first location then the
sequence no
feed rate spindle speed format is used by

b most of the NC machines.
machines second
d word
d is recognized
d by
b reading
d the
h record
d Tab.
b Iff
preparatory function
miscellaneous function
i ll f ti N20 G00 X1.200
X1 200 Y0.100
Y0 100 F325 S1000 T03 M09 <EOB> the word remains same in the succeeding block,
block the
The MCU uses this alphabet for addressing a memory word need not be repeated
p but TAB is required
q to
maintain the sequence of words.
location in it.
148 149
>20 >00 >1.200 >0.100 >325 >1000 >03 >09 150
Programming Formats IES ‐ 1993 IES ‐ 1996

y Fixed
Fi d Block
Bl k Format
F A 'block'
'bl k' off information
i f i in
i N.C.
N C machine
hi program In
I manuall programmingi and d tape preparation
i for
f a
In fixed block format no letter address of Tab code are means NC drilling machine, the spindle speed was coded
used and none of words can be omitted. The main (a) One row on tape as S 684 (using the magic‐three code). The spindle
advantage of this format is that the whole instruction (b) A word comprising several rows on tape speed
p in rpm
p will be
block can be read at the same instant, instead of reading (c) One complete instruction (a) 684
character
h t byb character.
h t All instructions
i t ti mustt be
b given
i i
in (b) 68.4
(d) One complete program for a job
every block, including those instructions which remain (c) 840
unchanged from the preceding blocks. This format can
(d) 6840
onlyy be used for p
positioning
g work only.
y
20 00 1.200 0.100 325 1000 03 09 <EOB>

Page 17 of 50 152
Rev.0 153
Page 18
Example 1
Example‐1 % real position = specified position + value saved in H××
p g g g
Part program for Drilling three holes without using Canned 01001 <EOB> (Program number) N075 G00 X25.00 Y35.0 Z2.0 <EOB>(Rapid travel X25.0,
Cycle. N010 G92 X0 Y0 Z50 <EOB>(Absolute presetting at A) Y35.0, Z27.0 real position = 2 + 25)
N020 G90 <EOB> (Absolute programming) N080 G01 Z-18.0 F125 <EOB> ((X and Y not changing g g no
need so specify, Z = -15 (thickness of plate) - 3
N030 G71 <EOB> (Dimension in metric unit) ((Breakthrough g distance or cone height)
g ) G01-
N040 T01 M06 <EOB> (Tool change, M06-Tool Change) linear interpolation cutting from X25.00 Y35.0
N050 S500 M03 M07 M10 <EOB>
EOB (Speed 500 rpm, Z2.0 to X25.00 Y35.0 Z Z-18.0)
18.0)
M03 – Spindle on, CW N090 G00 Z2.0<EOB>(Rapid return to X25.00 Y35.0 Z2.0)
M04 – Spindle
S i dl on, CCW N100 X55
X55.00 Y50
Y50.0<EOB>(Rapid
0 EOB (R id ttravell tto X55X55.00
00 Y50
Y50.0Z2.0)
0Z2 0)
M05 – Spindle stop) N110 G01 Z-18.0 F125 <EOB> (X and Y not changing no
M07 – Coolant 1 on M10- Clamp on need so specify, Z = -15 (thickness of plate) - 3
N060 G49 <EOB> (Cancel tool
tool-height
height compensation) ((Breakthroughg distance or cone height)
g ) G01-
linear interpolation cutting from X55.00 Y50.0
154 N070 G43 H25.00<EOB> (Positive compensation (G43) 155 Z2.0 to X55.00 Y50.0 Z-18.0) 156
N120 G00 Z2.0<EOB>(Rapid return to X55.00 Y50.0 Z2.0) Example 2

Example‐2 F
Format
t off Canned
C d cycle
l
N130 X75.0
X75 0 Y70.0<EOB>(Rapid
Y70 0<EOB>(Rapid travel to X75.00Y70.0Z2.0)
X75 00Y70 0Z2 0) p g g g y
Part program for Drilling three holes using Canned Cycle. N___G81 X___Y___Z___R___F___
N140 G01 Z-18.0 F125 <EOB>(X and Y not changing no
needd so specify,if Z = -15
15 (thickness
(thi k off plate)
l t )-3 R is Position of the clearance plane (same as the zz- axis
(Breakthrough distance or cone height) G01- position of the clearance plane)
li
linear interpolation
i t l ti cutting
tti ffrom X75
X75.00
00 Y70
Y70.0 0 F is
i the
th feed
f d rate.
t
Z2.0 to X75.00 Y70.0 Z-18.0)
N150 G00 Z2.0<EOB>(Rapid return to X75.00 Y00.0 Z2.0) G80 is cancel Canned cycle
N160 M05 M09 <EOB>(M05 – spindle off off, M09 – Coolant off)
N170 X0 Y0 Z50<EOB> (Rapid travel to X75.00 Y00.0 Z2.0)
N180 M11 <EOB>
EOB (U l
(Unclamp) )
N190 M30 <EOB> ((Program
g Stop) p)
157 158 159
% real position = specified position + value saved in H××

01001<EOB> (Program number) N075 G00 X25.00
X25 00 Y35.0
Y35 0 Z2.0
Z2 0 <EOB> (Rapid travel X25
X25.0,
0 N010 G80 <EOB> Canned
C d Cycle
C l cancell
N010 G92 X0 Y0 Z50<EOB> (Absolute presetting at A) Y35.0, Z27.0 real position = 2 + 25)
N020 G90 <EOB> (Absolute programming) N120 M05 M09 <EOB>(M05 – spindle off
off, M09 – Coolant off)
N080 G81 Z-18.0 R2.0 F125<EOB>(X and Y not changing
N030 G71 <EOB> (Dimension in metric unit)
no need so specify, Z = -15
15 (thickness of plate) - N130 G00 X0 Y0 Z50 <EOB>
EOB (Rapid travel to X75.00 Y00.0
N040 T01M06 <EOB> (Tool change, M06-Tool Change) 3 (Breakthrough distance or cone height) G81-
Z2.0)
N050 S500 M03 M07 M10 <EOB>
EOB (Speed 500 rpm, drill hole on X25
X25.00
00 Y35
Y35.0
0 Z2
Z2.0
0 to X25
X25.00
00 Y35
Y35.00
M03 – Spindle on, CW Z-18.0 and come back) N140 M11 <EOB> (Unclamp)
M04 – Spindle
S i dl on, CCW N090 X55.0 Y50.0<EOB>(Rapid travel to X55.00 Y50.0 N150 M30 <EOB> (Program Stop)
M05 – Spindle stop) Z2.0 and drill second hole and come back))
M07 – Coolant 1 on M10- Clamp on
N100 X75.0 Y70.0 <EOB> (Rapid travel to X75.00 Y70.0
N060 G49 <EOB> (Cancel tool
tool-height
height compensation) Z2.0) and drill third hole and come back)
N070 G43 H25.00 <EOB>
For-2019 (IES,(Positive
GATE & compensation
PSUs) (G43) 160 Page 18 of 50 161
Rev.0 162
Page 19
IFS‐2013 ‐ Conventional Answer:

(i) Fixed Block Format
Answer:
(ii) TAB sequential format
Two holes are to be drilled with a 10 mm diameter drill on a
job as shown below. 10 00 0.0 0.0 2.0 200 500 01 06 <EOB> 10 > 00 > 0.0 > 0.0 > 2.0 > 200 > 500 > 01 > 06
The drill rotates at 500 rpm and feed rate is 200 mm/min.
h d ll df d 20 00 15
15.0
0 20
20.0
0 22.0
0 200 500 01 03 <EOB> 20 > > 15
15.0
0 > 20
20.0
0 > > > > > 03
How do you code the information in‐‐‐‐ 30 01 15.0 20.0 -13.0 200 500 01 07 <EOB> 30 > 01 > > >-13.0 > > > > 07
(i) Fixed block format 40 00 15.0 20.0 2.0 200 500 01 07 <EOB> 40 > 00 > > > 2.0 > > > >
(ii) TAB sequential format 50 00 75.0 20.0 2.0 200 500 01 07 <EOB>
EOB 50 > > 75.0 > > > > > >
(iii) Word address format 60 01 75.0 20.0 -13.0 200 500 01 07 <EOB> 60 > 01 > > >-13.0 > > > >
70 00 75
75.0
0 20
20.0
0 22.0
0 200 500 01 05 <EOB>
EOB 70 > 00 > > 0 0.0
0 > 22.0
0 > > > > 05
80 00 0.0 0.0 2.0 200 0 01 09 <EOB> 80 > > 0.0 > > > >0.0 > > 09
163 164 165
Answer: IES ‐ 1995 IAS‐2011 Main

(iii) Word address format Match List I with List II and select the correct answer In an NC drilling operation,
operation the tool tip is at location (‐
(
N010 G00 X0.0 Y0.0 Z2.0 F200 S500 T01 M06 <EOB> using the codes given below the lists: 100, 0, 100). The datum (0, 0, 0) is left hand lower corner
List I List II on top surface
f off the
h workpiece,
k i which
hi h is
i rectangular
l
N020 X15.0 Y20.0 M03 <EOB>
(A function connected (Associated parameter)
N030 G01 X15.0 Y20.0 Z-13.0 M07 <EOB> (300 mm x 300 mm x 1.5 mm thick). A thru' hole of 10
with NC m/c tool)
N040 G00 Z2.0 <EOB> A. Interpolation 1. Tape preparation
mm diameter is to be drilled in the centre of the
N050 G00 X75X75.0
0 Y20
Y20.0
0 <EOB> B Parity check
B. 2 Canned cycle
2. workpiece. Using only rapid positioning and linear
C. Preparatory function 3. Drilling interpolation functions, write the program blocks, in
N060 G01 Z-13.0 <EOB>
D Point
D. P i t to
t point
i t control
t l 4. Contouring
C t i absolute mode.
mode
N070 G00 Z2.0 M05 <EOB>
5. Turning Assume permitted cutting speed = 32 m/min and feed
N080 X0X0.0
0 Y0
Y0.0
0 M09 <EOB> C d A
Code:A B C D A B C D rate = 150 mm/min. [10‐Marks]
(a) 4 1 2 3 (b) 4 1 2 5
( ) 5
(c) 1 3 2 (d) 1 4 3 2
166 167 168
IES 2016
IES‐2016
N060 G49 <EOB> A part programme for any arbitrary object is given as
V = π DN N070 G43 H25.0 <EOB>
N070 G43 H25 0 <EOB> follows:
32 = π × 0.010 × N N080 G00 X150.0 Y150.0 Z2.0 <EOB> N001 G91 G71 M03 S600 EOB
N = 1019 rpm
N090 G01 Z‐2.5 F150 <EOB> N002 G00 X10.00 Y10.00 EOB
N100 Goo Z2 0 <EOB>
N100 Goo Z2.0 <EOB> N003 G00 Z
Z-10
10.00
00 EOB
N110 Mo5 Mo9 <EOB> N004 G83 Z-60.00 F100 EOB
%
N120 X‐100.0 Y0.0 Z100.0 <EOB> N005 G80 EOB
O1001
N130 G49M11 <EOB>
3 49 N006 M02 EOB
N G X
N010 G92 X‐100.0 Y0.0 Z100.0 <EOB>
Y Z EOB
N140 M30 <EOB> The above programming format will be used as Canned
N020 G90 G71 <EOB>
Cycle for
N040 T01 M06 <EOB>
(a) Drilling (b) Tapping
N050 S1019 M03 M07 M10 <EOB>
(c) Boring (d) Grooving
Page 19 of 50 170
Rev.0 171
Page 20
IFS 2011 APT Language
How is Feed Rate Number (FRN) expressed? y APT (Automatically
(A i ll Programmed
P d Tools)
T l )
y The APT language consists of many different types of
Answer: [
[2‐marks]
] statements made up of the following valid letters, numerals
Feed rate ((mm/min)) and p
punctuation marks.
Feed rate number =
Distance of travel y Letters: ABCDEFGHIJKLMNOPQRSTUVWXYZ
Ex For a feed rate of 50 mm/min and a distance travel 6.0
Ex.For 6 0 mm y Numerals: 0 1 2 3 4 5 6 7 8 9
50 mm/min / A slash divides a statement into two sections. eg.,
Feed rate number = = 8.3min -1
6 mm GO/PAST,
If the controlsystem accepts inverse time feed rate coding and a ,, A comma is used as a separator between the elements in
p
four-digit feed rate field, then 50 mm/min will be expressed by F1 0083 a statement generally to the right of the slash.
= An equals is used for assigning an entity to a symbolic
172 173
name, e.g., P1 = POINT/25,50,30. 174
W d
Words IES ‐ 1998 The complete APT part program consists of
Which
Whi h off the h following
f ll i are theh rules
l off the following four types of statements
the following four types of statements
y The words to be used in the statements are built up from
programming NC machine tools in APT language?
one to six letters
l or numerals
l with
h the
h first
f one being
b a y Geometry
1. Only capital letters are used
letter No special character is allowed in the words.
letter. words 2 A period is placed at the end of each statement
2. y Motion
3. Insertion of space does not affect the APT word y Post processor
Select the correct answer using the codes given below:
( ) 1 and
(a) d2 (b) 2 and d3 y Compilation control
(c) 1 and 3 (d) 1 alone
175 176 177
Other Part Programming Languages APT Language
y ADAPT (ADaptation
(AD i APT) was the
h first
fi attempt to adapt
d APT APT Language
APT Language Other capabilities of APT, the macro facility, with use variable argument as in a
Oh bili i f APT h
FORTRAN subroutine, for example:
f ili i h i bl i
programming system for smaller computers P0 = POINT/0.0, 0.3, 0.1
Additional statements:
y AUTOSPOT (AUTOmatic
(AUTO ti Sytem
S t f POsitioning
for PO iti i T l ) was
Tools) FROM/P0
developed by IBM and first introduced in 1962 ¾ MACHIN/DRILL, 2 CALL/DRILL, X=1.0, Y=1.0, Z=0.1, DEPTH=0.7
¾ COOLNT/ / , X=2.0,
CALL/DRILL, , Y=1.0,
, Z=0.1,
, DEPTH=0.7
y EXAPT (EXtended subset of APT) was developed jointly in
German in about 1964 by several universities to adapt APT for For example: COOLNT/MIST COOLNT/FLOOD COOLNT/OFF GOTO/P0
European
p use. It is compatible
p with APT and thus can use the ¾ FEDRAT/
when the definition of the macro DRILL is:
h th d fi iti f th DRILL i
same processor as APT ¾ SPINDL/ DRILL = MACRO/X, Y, Z, DEPTH
y COMPACT was developed p byy Manufacturingg Data Systems,
y Inc. For example: SPINDL/ON SPINDL/1250, CCLW GOTO/X,Y,Z
(
(MDSI)) ¾ TOOLNO/ GODLTA/0,0, -DEPTH
y SPLIT (Sundstrand Processing Language Internally Translated) ¾ TURRET/ GODLTA/0,0, DEPTH
was developed
d l d by
b Sundstrand
S d d Corporation,
C i i
intended
d d for
f its
i own TARMAC
¾ END
machine tools
y MAPT (Micro‐APT)
(Mi APT) isi a subset
b t off APT,
APT to t be
b run on the th
microcomputers
Page 20 of 50 179
Rev.0 180
Page 21
Point (POINT) Point (POINT)
( ) Point (POINT)
( )
A = POINT/ 3,4,5 B = POINT/ INTOF, L1, L2 D = POINT/ YSMALL, INTOF, L3, C1 y

D = POINT/ XSMALL, INTOF, L3, C1
C = POINT/ YLARGE, INTOF, L3, C1
y C = POINT/ XLARGE, INTOF, L3, C1 C
(3, 4, 5)
L2
A
z L3
B C1
L1
D
x
181 182 183
Point (POINT)
( ) Point (POINT) Line (LINE)
E = POINT/ YLARGE, INTOF, C1, C2 P7 = POINT/ CENTER, C6

E = POINT/ XLARGE, INTOF, C1, C2 y L1 = LINE/ P1, P2
F = POINT/ YSMALL, INTOF, C1, C2
F = POINT/ XSMALL, INTOF, C1, C2 C1 y
y
C6
E
P2
P7
P1
F C2
L1
x x
x
184 185 186
Line (LINE) Line (LINE)

( ) Line (LINE)
( )
L12 = LINE/ P4, ATANGL, 20, XAXIS
LIN = LINE/ POINT,
POINT ATANGL,
ATANGL ANGLE (in degrees),
degrees) LINE
L4 = LINE/ PT6, 15, -30, 3 L14 = LINE/ P1, ATANGL, 40
L15 = LINE/ 32, -3, 2, ATANGL, -15, XAXIS
L16 = LINE/ P3, ATANGL, 40, YAXIS
y
y L2
y
PT6 P3 L14
P1
40°
P1 L12
L16 30° L1
P4
L4 (15, ‐30, 3)
L2 = LINE/ P1, ATANGL, 30, L1
3
40° 20°
x
x 15° x
L15
(32, ‐3, 2)
Page 21 of 50 188
Rev.0 189
Page 22
Line (LINE)
( ) Line (LINE)
( ) Line (LINE)
( )
LIN = LINE/ SLOPE,

SLOPE SLOPE VALUE,
VALUE INTERC,
INTERC MODIFIER,
MODIFIER d LIN = LINE/ ATANGL,
ATANGL DEGREES,
DEGREES INTERC,
INTERC MODIFIER,
MODIFIER d The LEFT & RIGHT modifier indicates whether the line
where the slope value is y/x. The modifier options are [XAXIS, The modifier options are [XAXIS, YAXIS], and d is the
YAXIS] and d is the corresponding intercept value on the selected
YAXIS], is at the left or right
g tangent
g point,, depending
p p g on how
corresponding intercept value on the selected axis (i.e., modifier).
axis (i.e., modifier). one looks at the circle from the point.
y y
L1 = LINE/ P5, LEFT, TANTO, C1
L1 L1
L1
C1
L1 = LINE/ SLOPE, 1, INTERC, XAXIS, 6 L1 = LINE/ ATANGL, 30, INTERC, d
θ = 30° P5
x x
(6,0) Point of X Intercept
(6,0) Point of X‐Intercept d
190 191 192
Line (LINE)
( ) Line (LINE)
( ) Line (LINE)
( )
L6 = LINE/ LEFT, TANTO, C3, LEFT, TANTO, C4
L2 = LINE/ P5,
P5 RIGHT,
RIGHT TANTO,
TANTO C1
L6
L3 = LINE/ P4, RIGHT, TANTO, C1 L6 = LINE/ RIGHT, TANTO, C4, RIGHT, TANTO, C3
L4 = LINE/ P4, LEFT, TANTO, C1 C4
Left
L3 Right C3
Right L6
Right
P4 C4
L1
L8 L9
Left C3
L7
Left L4
Left
P5 The descriptive words LEFT and RIGHT are used by L8 L9
Right
looking from the first circle written towards the L7
L2
second
d circle.
i l
193 194 195
Line (LINE)
( ) Line
IAS‐2012 Main
IAS‐2012 Main L3 = LINE/ P6, PARLEL, L5 L5 = LINE/ INTOF, PL1, PL2
L4 = LINE/ P5,
P5 PERPTO,
PERPTO L3
L5
y
P6 P5
L3
L4
L5 PL1
L3
In the above figure define the lines L1, L2, L3 and L4 in PL2
the APT language. [10 Marks]
x

Page 22 of 50 197
Rev.0 198
Page 23
Plane (PLANE)
( ) Plane (PLANE)
( ) Circle (CIRCLE)
PL1 = PLANE/ P6, P12, P15 PL2 = PLANE/ P4, PARLEL, PL1
PL2 = PLANE/ PARLEL,
PARLEL PL1,
PL1 YSMALL,
YSMALL 3.0
30 C1 = CIRCLE/ 3, 6, 5, 4.3
C1 = CIRCLE/ CENTER, P3, RADIUS, 4.3
PL1
PL1
P15 y
P15
P6 P12 C1
y P6 P12
y 3.0
3.0 4.3
P3
P4 P4
4 (3,6,5)
z
z
PL2
PL2
x
x x
199 200 201
Circle (CIRCLE) The Machining Plan The Machining Plan
Contouring:
C3 = CIRCLE/ CENTER, P6, TANTO, L4 z
Check surface
C7 = CIRCLE/ CENTER, P8, P5 y Part surface: the surface on which the end of the Drive surface
y
tool is riding.
riding
y y Direction of
L4
y Drive surface: the surface against
g which the edge
g of cutter cutter motion
P5
the tool rides. x
y Check surface: a surface at which the current tool

P6 P8
C3 C7 motion is to stop. Part surface
x x
202 203 204
The Machining
g Plan GOUP
The Machining Plan
Motion commands:
GOLFT
CS CS CS GOLFT/ : Move left along the drive surface GOFWD
GORGT/ : Move right along the drive surface
Present tool
GOUP/ : Move upp alongg the drive surface GOBACK position
p
DS DS DS GODOWN/ : Move down along the drive surface GORGT
GOFWD/ : Move forward from a tangent position
GODOWN
TO ON PAST
GOBACK/ : Move
M b k d from
backward f a tangent
t t position
iti
Previous
Page 23 of 50 206 tool position Rev.0 207
Page 24
FROM/PTARG
Machining Specifications Machining Specifications
GO/TO, L1, TO, PL2, TO, L3
GORGT/L3, PAST, L4 Postprocessor commands for a particular machine tool are: FEDRAT/ : specifies the feed rate for moving the tool along the
MACHIN/ : usedd to t specify if the
th machine
hi t l andd call
tool ll the
th part surface
f i inches
in i h per minute:
i
postprocessor for that tool: FEDRAT/ 4.5
MACHIN/ DRILL, 3 SPINDL/ : gives the spindle rotation speed in revolutions per
COOLNT/ : allows the coolant fluid to be turned on or off: minute:
i
COOLNT/ MIST SPINDL/ 850
COOLNT/ FLOOD TURRET/ : can be used to call a specific tool from an automatic
COOLNT/ OFF t l changer:
tool h
TURRET/ 11
208 209 210
Machining Specifications Machining Specifications

Machining Specifications
TOLERANCE SETTING: Nonlinear motion is accomplished in PARTNO: identifies the part program and is inserted at the start of FINI: specifies the end of the program.
straight-line
straight line segments,
segments and INTOL/ and OUTTOL/ statements the program.
program
dictate the number of straight-line segments to be generated. CLPRNT: indicates that a cutter location printout is desired.
INTOL/ 0.0015 CUTTER: specifies a cutter diameter for offset (rough versus finish
OUTTOL/ 0.001 g) If a millingg cutter is 0.5 in. in diameter and we have
cutting).
CUTTER/ 0.6
then the tool will be offset from the finish cut by 0.05 in.
211 212 213
30 40
IES‐2008
Name the four types of statements in a complete APT
20
P5
C1
APT Language
APT Language part program. Prepare part program for geometry
L2
135°
L3
R
20
P3
p4
Other Motion statements: description
p of the contour shown in the figure
g below:
¾ GO/{TO}, Drive surface, {TO} Part surface, {TO}, Y
Check surface [15‐Marks] L4
30 40 80 L1
Or
¾ GO/{TO}, Drive surface, {TO} Part surface, {TANTO}, 20 C2
Check surface
L5
…And the same with PAST or ON instead of TO L2
L3
C1 20
20 R P1
¾ GOLFT/ R P2 20
135°
¾ GORGT/ X
¾ GOUP/
¾ GODOWN/ L4
¾ GOFWD/ 80 L1
¾ GOBACK/
C2
For example:
L5
GO/TO, L1, TO, PS, TANTO, C1 20
GO/PAST L1
GO/PAST, L1, TO,
TO PS PS, TANTO
TANTO, C1 R P1
P2 20
X
Page 24 of 50 215
Rev.0 216
Page 25
Answer: Contd…. Contd….
PARTNO CONTOUR CUTTER/25.0 RAPID

MACHIN/MILL,, 1 TOLER/0.1 GOTO/P0
CLPRNT INTOL/0.05 COOLNT/OFF
UNITS/MM OUTTOL/0.05 SPINDL/OFF
P0 = POINT/0
POINT/0.0,
0 0.0,
0 0 0.0
00 FEDRAT/200 END
P1 = POINT/110.0, 20.0, 0.0 SPINDL/500, CLW FINI
P2 = POINT/20.0, 20.0, 0.0 COOLNT/ON
P3 = POINT/90.0, 110.0, 0.0 FROM/P0
P4 = POINT/20.0, 100.0, 0.0
GO/TO, L1, TO, PL1, TO, L5
P5 = POINT/50
POINT/50.0,
0 130.0,
130 0 0.0
00
GOLFT/L1, PAST, L2
L1 = LINE/P2, ATANGL, 90, XAXIS
L2 = LINE/P4, ANTNGL, 45, XAXIS GORGT/L2, PAST, L3
L3 = LINE/P5, ATANGL, 135, L2 GORGT/L3 TANTO,
GORGT/L3, TANTO C1
L4 = LINE/P1, PERPTO, L3 GOFWD/C1, PAST, L4
L5 = LINE/P1,
LINE/P1 PERPTO,
PERPTO L4 GOFWD/L4 PAST,
GOFWD/L4, PAST C2
C1=CIRCLE/CENTER, P3, RADIUS, 20.0 GORGT/C2, PAST, L5
C2=CIRCLE/CENTER, P1, RADIUS, 20.0 GORGT/L5, PAST, L1
PL1=PLANE/P1, P2, P3
217 218 219
Answer:
IES‐2007
Prepare part using APT language for milling the contour
PARTNO CONTOUR
MACHIN/MILL, 2
shown in Fig. in a single pass. [20‐Marks] CLPRNT
110 D UNITS/MM
C
R30 P0 = POINT/
POINT/-50.0,
50.0, -50.0,
50.0, 0.0
B
A = POINT/0.0, 0.0, 0.0
Q
B = POINT/0.0, 120.0, 0.0
C = POINT/30.0,
POINT/30 0 150.0,
150 0 0.0
00
D = POINT/140.0, 150.0, 0.0
110 E = POINT/140.0, 40.0, 0.0
120 F = POINT/100.0, 0.0, 0.0
Q = POINT/30.0, 120.0, 0.0
E
+ P = POINT/140.0, 0.0, 0.0
+
R40 LAB = LINE/A, B

40
LCD = LINE/C, D
A F LDE = LINE/D,
LINE/D E
100 + 40 P LAF = LINE/A, F
+
Material : M S. CBC = CIRCLE/CENTRE, PTQ, RADIUS, 30.0

CEF = CIRCLE/CENTRE, PTP, RADIUS, 40.0
8 mm PL1=PLANE/A, B, C
220 221 222
Contd…. Contd….
CUTTER/25.0 RAPID IES‐2006
Prepare part program to machine the contour shown in
TOLER/0.1 GOTO/P0
INTOL/0.05 COOLNT/OFF the figure using APT on CNC milling machine.
OUTTOL/0.05 SPINDL/OFF
R30
[15‐Marks]
5
FEDRAT/200 END •
SPINDL/500, CLW FINI
R20
COOLNT/ON •
FROM/P0
GO/TO, LAB, TO, PL1, TO, LAF
GOLFT/LAB, TANTO, CBC 100 mm
GOFWD/CBC, PAST, LCD 80
GOFWD/LCD PAST,
GOFWD/LCD, PAST LDE
GORGT/LDE, PAST, CEF
GORGT/CEF PAST,
GORGT/CEF, PAST LAF
GORGT/LAF, PAST, LAB
60 50
200 mm

Page 25 of 50 224 Material: MS Thickness:Rev.0
8.0 mm 225
R30
C2
Page 26 R30
C2
Y L2 • Y L2 •
P3 P3 Contd….
C1 C1
R20 R20 CUTTER/25.0
• Answer: •
P2 P2 TOLER/0.1
PARTNO CONTOUR INTOL/0.05
L3 L3
MACHIN/MILL, 3 OUTTOL/0.05
100 mm 100 mm
CLPRNT COOLNT/ON
80 L1 80 L1
UNITS/MM SPINDL/500, CLW
P0 = POINT/-50
POINT/-50.0,
0 -50.0,
-50 0 0.0
00 FEDRAT/200
P1 = POINT/0.0, 0.0, 0.0 FROM/P0
X P2 = POINT/60.0,, 80.0,, 0.0 X GO/TO, L1, TO, PL1, TO, L4
50 P3 = POINT/150.0, 100.0, 0.0 50 GOLFT/L1, TANTO, C1
P1 60 L4 P4 P1 60 L4 P4
200 mm P4 = POINT/200.0, 0.0, 0.0 200 mm GOFWD/C1, PAST, L2
C1 = CIRCLE/ CENTER, P2, RADIUS, 20 GOFWD/L2 TANTO,
GOFWD/L2, TANTO C2
C2 = CIRCLE/CENTER, P3, RADIUS, 30 GOFWD/C2, PAST, L3
L1 = LINE/P1,
LINE/P1 LEFT,
LEFT TANTO,
TANTO C1 GOFWD/L3 PAST,
GOFWD/L3, PAST L4
L2 = LINE/LEFT, TANTO, C1, LEFT, TANTO, C2 GORGT/L4, PAST, L1
L3 = LINE/P4,, RIGHT,, TANTO,, C2
L4 = LINE/P1, P4
226 PL1=PLANE/P1, P2, P3 227 228
Contd….
RAPID
GOTO/P0
Home Work PARTNO CONTOUR
/
MACHIN/MILL, 1,
COOLNT/OFF Write a complete part program in APT for machining
SPINDL/OFF the product which is given in the diagram. Thickness of CLPRNT
END th workpiece
the k i i 6 mm. All dimensions
is di i are in
i mm. UNITS/MM
FINI
[15] P0 = POINT/‐25.0,‐25.0, 25.0
P1 = POINT/0.0, 0.0, 6.0
P2 = POINT/117 0 32 0 6 0
P2 = POINT/117.0, 32.0, 6.0
P3 = POINT/117.0, ‐32.0, 6.0
C1=CIRCLE/CENTER, P1, RADIUS, 10.0
/ , , , 5
229 230 231
REMARK MOTION STATEMENT FOLLOW
FROM/P0
L1 = LINE/RIGHT, TANTO, C1, RIGHT, TANTO, C3
L2 = LINE/LEFT, TANTO, C1, LEFT, TANTO, C2
GO/TO, L1, TO, PL1, TANTO, C1 IES 2011 Conventional
C4=CIRCLE/XLARGE, OUT, C2, OUT, C3, RADIUS, 62 GORGT/L1, TANTO, C3
GORGT/L TANTO C State the method of defining line segment of
PL1 PLANE/P1, P2, P3
PL1=PLANE/P1, P2, P3 GOFWD/C3, TANTO, C4
GOFWD/C4, TANTO, C2
cutter
tt motion
ti using
i APT program format.
f t
REMARK POSTPROCESSOR STATEMENT FOLLOW
CUTTER/50 0
CUTTER/50.0 GOFWD/C2, PAST, L2 [5 Marks]
TOLER/0.01 GOFWD/L2, TANTO, C1
INTOL/0.05 GOFWD/C PAST L
GOFWD/C1, PAST, L1
OUTTOL/0.05 RAPID
FEDRAT/200 GOTO/P0
SPINDL/1000, CLW COOLNT/OFF
COOLNT/ON SPINDL/OFF
END
For-2019 (IES, GATE & PSUs) 232 FINI Page 26 of 50 233
Rev.0 234
Page 27
IES ‐ 1997 IES ‐ 1995 GATE 2008 (PI)

GATE ‐2008 (PI)
Suppose point P1 in APT programming is coded by statement
Which
Whi h off the h following
f ll i are valid
lid statements forf In
I APT language,
l the
h cutter motion
i in
i incremental
i l
point to point motion of the tool in APT language? coordinate mode is addressed as P1 = POINT/XSMALL, INTOF, LN1, CR1
1. GO/TO/............ (a) GO/TO/..... The
h coded
d d geometric situation without
h causing error is
2 GO DLTA/............
2. DLTA/ (b) GO/TO.....
GO/TO
3. GO/TO, ………. (c) GO DLTA/....
Select the correct answer using the codes given below: (d) GO FWD/...
( ) 1 and
(a) d2 (b) 2 and d3
(c) 1 and 3 (d) 1, 2 and 3
235 236 237
For-2019 (IES, GATE & PSUs) Page 27 of 50 Rev.0

Page 28
Robotics
y Robotics
IES Syllabus
IES Syllabus Transformations
y Robot Classification
y Robot Specification, notation
p ,
y Direct and Inverse Kinematics
y Homogeneous Coordinates and Arm Equation of four
Will be discussed in Class
Axis SCARA Robot
1 2 3
Links and Joints

Links and Joints Revolute joint
Revolute joint Prismatic Joint
Prismatic Joint
y The individual bodies that make up
p a robot are called y Also known as turning
g p
pair, y Also known as sliding
gppair
links. hinge or pin joint y It allow two paired links to
y For example an assembly of two gears connected by a y It permits two paired links to slide with respect to each
common shaft is treated as one link. rotate with respect to each other along its own axis.
y Links of a robot are coupled by kinematic pairs and other
th about
b t the
th axis
i off the
th y It
I also
l allows
ll one DOF.
DOF
j
joints. joint.
y A joint couples to links and provide physical constraints y It allows only one degree of
on the relative motions between the links.
links freedom
y They are termed as either lower or higher pair joints.
y Lower pair‐ surface contact (Hinge of the door)
y Higher pair – line or point contact (Ball rolling on plane)
4 5 6
Helical Joint Transformation Transformation

y It allows two paired links to y In
I order
d to develop
d l a scheme
h for
f controlling
lli the
h motion
i y The
Th modeling
d li off robot
b t comprises
i off establishing
t bli hi a
rotate about and translate at of a manipulator it is necessary to develop techniques for special relationship between the manipulator and the
the same time along the axis representing the position of the arm at points in time. manipulated
i l t d object.
bj t
of the joint
j y The position of links in space and their motion are
y We will define the robot manipulator using the two basic described by spatial geometry.
y The translation is not elements, JOINTS and LINKS.
independent and it is y A systematic
y and ggeneralized approach
pp for mathematical
related to the rotation by y Each joint represents 1 degree of freedom. modeling of position and orientation of links in space
the pitch of the screw.
screw with
t respect
espect to a reference
e e e ce frame
a e iss ca
carried
ed out with
t tthee
y The
Th joint
j i t may involve
i l either
ith linear
li motion
ti or rotational
t ti l
help of vector and matrix algebra.
y It allows one DOF. motion between the adjacent links.
y Because the motions of each link can be described with
y The links are rigid structures that connect the joints. respect to a reference co‐ordinate frame, it is convenient
to have a co‐ordinate frame attached to the body of each
link.
Page 28 of 50 8
Rev.0 9
Page 29
GATE‐2013 GATE‐2014 GATE‐2016

The figure below represents a triangle PQR with initial
In a CAD package, mirror image of a 2D point A robot arm PQ with end coordinates P(0, 0) and Q(2, 5) coordinates of the vertices as P(1,3), Q(4,5) and R(5,3.5).
P(5,10)
( ) is to be
b obtained
b d about
b a line
l which
h h passes rotates counter clockwise about P in the XY plane by 90
l k b h l b o. The triangle is rotated in the X‐Y
X Y plane about the vertex
P by angle θ in clockwise direction. If sinθ = 0.6 and cosθ
through the origin and makes an angle of 45o The new coordinate pair of the end point Q is = 0.8,
0 8 the new coordinates of the vertex Q are
counterclockwise with the X
X‐axis.
axis. The coordinates (a) (–2 5)
(a) (–2, 5) (b) (–5 2)
(b) (–5, 2) (a) (4.6, 2.8)
(b) (3.2, 4.6)
of the transformed point will be (c) (–55, –2)
(c) ( 2) (d) (2 –5)
(d) (2, 5) (c) (7.9, 5.5)
(a) (7.5, 5) (b) (10, 5) (c) (7.5, ‐5) (d) (10, ‐5) (d) (5.5, 7.9)
10 11 12
GATE 2016
GATE‐2016 IES 2017(Prelims)
IES‐2017(Prelims)
g
Consider the following statements with Origin of the word ROBOT
Origin of the word ‘ROBOT’
A point
i t P(1,
P( 3, ‐5)) is
i translated
t l t d by
b 2îî + 3ĵĵ ‐ 4k
k and
d then
th
reference to SCARA Robot :
rotated counter clockwise by 90o about the z
z‐axis.
axis. The y Origin of the word ‘robot’
robot can be traced in the Czech
1. It has four degrees of freedom
new position of the point is word ‘robota’, which means ‘forced’ or compulsory
p y
2. It has only one forward kinematic solution.
It h l f d ki ti l ti
(a) (‐6, 3, ‐9) labour.
3. It has two inverse kinematic solutions.
(b) (‐6, ‐3, ‐9)
Which of the above statements are correct?
(c) (6, 3, ‐9) (a) 1 and 2 only (b) 1 and 3 only
(d) (6, 3, 9) ( ) d l (d) 1, 2 and 3
(c) 2 and 3 only (d) d
13 14 15
What is RUR? What is an industrial robot?
Objective Question
Objective Question A robot is a reprogrammable, multifunctional
y RUR was a play.
Robot is derived from a Czech word manipulator
p designed
g to handle material,, pparts,, tools or
specialized devices through variable programmed
(a) Rabota y The first use of the word ‘robot’ appeared in 1921
motions for the performance of a variety of tasks.
tasks
(b) Robota in the play Rossum’s Universal Robots (RUR)
( )
(c ) Rebota
written by the Czech writer Karel Capek.
(d) Ribota
y It was a fictional manufacturer of mechanical
creatures designed a robot to replace human
For-2019 (IES, GATE & PSUs) 16 workers. Page 29 of 50 17

Rev.0 18
Page 30
History of Robots Indian Scenario

Indian Scenario Indian Scenario
y Centre for Artificial Intelligence and Robotics (CAIR) is a
laboratory of the DRDO develops NETRA, an y Defence
f robot
b ‘Daksh’
‘ k h’ by
b DRDO
y 1954‐ Devol & Engleburger – establish Unimation
Unmanned Aerial Vehicle ((UAV).
) It is mainlyy a y It is an electrically
y p
powered and
Incorporation. surveillance robot. remote controlled robot which is
used to locate,
locate handle and destroy
y 1961‐ Robots are used in die casting application.
risky objects safely.
y 1968‐ AGVs (automated
( d guided
d d vehicles)
h l ) implemented.
l d y The main role of this military robot is
to recover improvised
p explosive
p
y 1970‐ Stanford
S f d arm developed.
d l d devices.
y 1979‐ SCARA robot
b t for
f assembly
bl developed
d l d in
i Japan.
J y This
Thi robot
b t can even climb
li b stairs.
t i
Moreover, it can also scan objects
using its portable X‐ray Device. Used
19 20
for Bomb disposal also. 21
Indian Scenario Indian Scenario

Indian Scenario
y Developments
eve op e ts related
e ated to robotics
obot cs from
o tthe
eN S
NISTEP
(National Institute of Science and Technology
MCQ
y DRDO labs to develop military robots for next gen
Policy) 2030 report: Which of the following is a flying robot?
warfare and would be deployed in difficult warfare zones y By 2013‐2014 — Agricultural robots (a) PUMA
y By 2013‐2017 — Robots that care for the elderly (b) KUKA
like the LoC with the abilityy to differentiate between a (c) NETRA
y By 2013 – 2020 ‐ Nano robot
(d) SCARA
y By 2015 — To have one third of its fighting capacity
threat and friend.
friend
provided by robots
y By 2017 ‐Medical
Medical robots performing low
low‐invasive
invasive surgery
y By 2017‐2019 — Household robots
y By 2035 — To have first completely autonomous robot
22
soldiers on the battlefield 23 24
Ad t fR b t
Advantages of Robots Di d t fR b t
Disadvantages of Robots Di d t fR b t
Disadvantages of Robots
y Robotics and automation can, in many situation, increase y Robots a e cost
are y, due to
costly, y Robots a
aree not
ot intelligent
te ge t o or se t e t, They
sentient, ey ca eve
can never
productivity, safety, efficiency, quality, and consistency of
products ¾High initial cost of equipment improve the results of their jobs outside of their
y Robots
b h
have repeatable
bl precision at all
ll times ¾High
h installation
ll costs predefined programming.
programming
y Robots can work in hazardous environments (Painting, welding, y Incorporating industrial robots does not guarantee
¾High maintenance costs
h dli toxic
handling i materials,
i l handling
h dli explosive)
l i ) results. Devising a specific production plan from the
y Remote areas (Deep sea, space and other planets) ¾Need for programming
beginning
g g to the end is absolutelyy crucial.
y Robots work continuously without any humanity needs and ¾Need for training
illnesses, need no environmental comfort. y Robots can store large amounts of data but the storage,
¾Need for peripherals access and retrieval is not as effective as the human
access,
y R b
Robots can be
b much h more accurate than
h humans,
h they
h may have
h
mili‐ or micro inch accuracy due to sensors. brain, can perform the repetitive tasks for long but they
y R b t can process multiple
Robots lti l stimuli
ti li or tasks
t k simultaneously,
i lt l y Robot can take the place of the humans in several d nott gett better
do b tt with
ith experience
i such
h as the
th humans
h d
do.
humans can only one.
situations,, replace
p humans,, lead to unemployment.
p y
y Robots replace human workers who can create economic
problems
Page 30 of 50 26
Rev.0 27
Page 31
What Can Robots Do?
Industrial Robots
MCQ IES‐Conventional
Which of the following places would be LEAST Briefly describe some of the similarities between a
•Material handling
robot and an NC machine.
•Material transfer likely to include operational robots?
y p
•Machine loading and/or unloading
•Spot welding (a) warehouse
•Continuous
C ti arc welding
ldi Material Handling
•Spray coating
Manipulator (b) factory
•Assembly
Assembly
•Inspection
( ) h
(c) chemical research laboratories
l hl b
(d) private homes
Assembly
Manipulator
Spot Welding 28 29 30
Manipulator
Ai
Asimov's three laws of robotics
' h l f b i IES 2017(Prelims)
IES‐2017(Prelims) What are the four D’s of robotics?
Consider the following g statements regarding
g g
First law (Human safety): the laws of Robotics: Four D’s
y A robot may not injure a human being, being or,
or through
1. A Robot
b shall
h ll not injure a human
h b
being or, I the
Is h task k
inaction, allow a human being to come to harm.
through inaction, allow a human being harmed. 1 Dirty
1.
S
Second d law
l (R b
(Robots are slaves):
l )
y A robot must obey y orders ggiven it byy human beings,
g, 2. A Robot must obey orders given by humans 2. Dull
except where such orders would conflict with the First except when such orders conflict with first law. 3. Dangerous
Law.
Law 3 A Robot must always protect its own existence.
3. existence 4. Difficult
Third law (Robot survival): Which of the above statements are correct? If so,
so a human will probably not be able to do the
y A robot must protect its own existence as long as such
(a) 1 and 2 only (b) 1 and 3 only job efficiently for hours. Therefore, the job is
protection does not conflict with the First or Second
Law. (c) 2 and 3 only (d) 1, 2 and 3 appropriate for automation or robotic labour.
31 32 33
Wrist Configurations E d Eff
End Effectors
MCQ y The special tooling for a robot that enables it to
y Wrist assembly is attached to end‐of‐arm
Wrist assembly is attached to end of arm Which of the following terms refers to the perform a specific task
y End effector is attached to wrist assembly rotational motion of a robot arm? y Two types:
yFFunction of wrist assembly is to orient end effector
i f i bl i i d ff (a) swivel y Grippers – to grasp and manipulate objects (e.g.,
to grasp and manipulate objects (e g
(b) retrograde parts) during work cycle
y Body‐and‐arm determines global position of end
effector ( ) roll
(c) ll y Tools –
Tools to perform a process, e.g., spot welding, spray
to perform a process e g spot welding spray
painting
y Two or three degrees of freedom:
g ((d)) yyaw
y Roll
y Pitch
y Yaw

Page 31 of 50 35
Rev.0 36
Page 32
Grippers and Tools
Grippers and Tools IES 2010 Conventional
IES 2010 Conventional Joint Drive Systems
Joint Drive Systems
y Electric
What are a manipulator, wrist and end
y Uses electric motors to actuate individual joints
effectors for a robot ?
y Preferred drive system in today's robots
y y
y Hydraulic
y Uses hydraulic pistons and rotary vane actuators
y Noted for their high power and lift capacity
y Pneumatic
y Typically limited to smaller robots and simple material
yp y p
transfer applications
37 38 39
R b tC t lS t
Robot Control Systems Degrees of Freedom D
Degrees of Freedom (contd.)
fF d ( td )
y Limited sequence control –
q p p
pick‐and‐place y A total of six degrees of freedom is needed to locate a
y The degree of freedom or grip of a robotic system can be
operations using mechanical stops to set positions robot’s hand at any point in its work space.
compared to the way in which the human body moves. y Although
g six degrees
g of freedom are needed for
y Playback with point‐to‐point control –
Playback with point to point control records
y For each degree of freedom a joint is required. maximum flexibility, most robot employee only three to
work cycle as a sequence of points, then plays back
g
five degrees of freedom.
th
the sequence during program execution
d i ti
y The degrees of freedom located in the arm define the y The more the degrees of freedom, the greater is the
y Playback with continuous path control –
y p complexity of motions encountered.
encountered
greater memory capacity and/or interpolation configuration.
fi ti
p y p ( p
capability to execute paths (in addition to points)) y The three degrees of freedom located in the arm of
y Each of the five basic motion configurations utilizes three
a robotic
b i system are:
y Intelligent control – exhibits behavior that makes degrees of freedom in the arm.
it seem intelligent e g responds to sensor inputs
it seem intelligent, e.g., responds to sensor inputs, ¾The e rotational
otat o a reverse:
eve se: iss tthee movement
ove e t o
of tthee aarm
makes decisions, communicates with humans y Three degrees of freedom located in the wrist give the end assembly about a rotary axis, such as left‐and‐right
effector all the flexibility.
swivel of the robot
robot’ss arm about a base.
base
40 41 42
D
Degrees of Freedom (contd.)
fF d ( td ) Use
¾ The radial traverse: is the extension and retraction y 6 (DOF) required for arbitrary task in 3D.
of the arm or the in‐and‐out motion relative to the y Painting and welding can be done by 5 DOF
base.
robot.
b t
¾ The vertical traverse: provides the up‐and‐down
motion
ti off the
th arm off the
th robotic
b ti system.
t y Electronics assembly usually done by 4 DOF,
y The three degrees of freedom located in the wrist, SCARA robot.
which bear the names of aeronautical terms, are y For extra flexibility/working volume, 5 or 6 DOF
¾Pitch or bend: is the upup‐and‐down
and down movement of the robot mounted on 2 or 3 DOF gantry or wheeled
wrist. mobile robot.
¾Yaw:
Y i the
is h right‐and‐left
i h d l f movement off the
h wrist.
i y Redundant robot with more than 6 DOF for
¾Roll or swivel: is the rotation of the hand. avoiding obstacles,
obstacles more flexibility etc.
etc
Page 32 of 50 44
Rev.0 45
Page 33
MCQ
Question: Discuss various ways of classifying a Question: What is the difference between SERIAL
The number of moveable joints in the base, the robot. and PARALLEL Robot?
arm, and the end effectors of the robot determine? Answer:
( ) degrees
(a) d off freedom
f d y Fixed or mobile.
mobile Answer:
(b) payload capacity y Serial or parallel. y Serial robot — A fixed base, links and joints
y According to degree of freedom (DOF). connected sequentially and ending in a end‐
((c)) operational
p limits
y Rigid or flexible.
effector
ff t
(d) flexibility
y Parallel robot — More than one loop, no natural
y Control
C l — Point‐to‐point,
P i i autonomy andd
“intelligence”.
g end‐effector
46 47 48
Types of Robot (Based on Coordinate axis)
y Cartesian
C t i or Gantry
G t
robot(3P):
y It's
I ' a robot
b whose
h arm
has three prismatic
joints whose axes are
joints,
coincident with a
Cartesian coordinator.
coordinator
y Used for pick and place
work
work, application of
sealant, assembly
operations
operations, handling
machine tools and arc
PUMA 560 serial robot Parallel robot — welding.
Gough‐Stewart platform
49 50 51
y Despite the fact that Cartesian arm gives high Types of Robot

y Cylindrical
C li d i l
precision and is easy to program, it is not robot(R2P):
y It's a robot whose axes
preferred for many applications due to limited form a cylindrical
manipulatability. coordinate system.
y Used for assembly y
y Gantry configuration is used when heavy loads operations, handling at
ac e too
machine tools,
s, spot
must be precisely moved. welding, and handling
at die casting
y The Cartesian configuration gives large work machines.
volume but has low dexterity.

Page 33 of 50 53
Rev.0 54
Page 34
y Despite the fact that Cartesian arm gives high

IES 2016
IES‐2016 Types of Robot
A Cylindrical Robot can reach any point in a cylinder of
precision and is easy to program, it is not y Spherical or Polar
a height
g L and radius 2L, except
p for the p
points in an
robot(2RP):
preferred for many applications due to limited inner cylinder of height L and radius L. The volume for
y It's a robot whose
manipulatability. the Cylindrical Robot work envelope will be axes form a polar
(a) 9.42 L3 (b) 6.24 L3 coordinate
di t system.
t
y Gantry configuration is used when heavy loads
9 12 L3
( ) 9.12
(c) 9 86 L3
(d) 9.86
y Used for machining,
must be precisely moved. welding, spray
painting
i ti etc.
t
y The Cartesian configuration gives large work
volume but has low dexterity. 55 56 57
Types of Robot
Types of Robot These five revolute (5R) joints
y Its mechanical stiffness is lower than Cartesian p p
Articulated or Revolute or Anthropomorphic (3 )
Robot(3R): are associated with the basic
manipulator movements of a
and Cylindrical configurations y It's a robot whose arm
vertically articulated robot.
robot
has at least three
rotary joints.
y The wrist positioning accuracy decreases with the
y Used for assembly
increasing radial stroke.
stroke operations die casting,
operations, casting
fettling machines, gas
y The
Th construction
t ti is i more complex.
l welding arc welding
welding,
and spray painting.
y Needs smaller
workspace
y Ex. PUMA560
58 59 60
Types of Robot
Types of Robot
y SCARA robot(2R1P) y This is an example of a
y The anthropomorphic structure is the most
y The SCARA acronym stands basic SCARA robot
dexterous one. for Selective Compliant configuration.
Assembly Robot y Note the three rotary
y Because of all joints are revolute,
revolute and the A
Arm or Selective
S l ti Compliant
C li t joints and the single
Articulated Robot Arm.
positioning accuracy varies with arm endpoint vertical joint used in
y It's a robot which has two
this horizontally
location in the workspace. parallel rotary joints to
provide compliance in a plane
articulated
l d
y The arm endpoint can reach the base point and configuration.
y Used
U d for
f pick
i k andd place
l work,
k
application of sealant, (3R1P)(4 DOF Robot)
below the base.
base
assembly operations and
handling machine tools Page 34 of 50 62
Rev.0 63
Page 35
y SCARA has vertical major axis rotations so that
gravitational load, Coriolis, and centrifugal forces do
IES 2017 (Prelims)
IES‐2017 (Prelims) Types of Robot
Consider the following features relating to
not stress the structure as much as they would if the y Parallel
P ll l robot
b
axes were horizontal. It can move very fast due to this Robot kinematics with reference to SCARA
advantage Robot: One use is a mobile
y Best suited to planner task. 1. Shoulder and elbow rotational axes are vertical. platform handling
y This
Thi configuration
fi ti provides
id high
hi h stiffness
tiff t the
to th arm cockpit flight
2. The Robot could perform insertion tasks along the simulators. It's a robot
in the vertical direction, and high compliance in the
horizontal plane.
plane vertical direction.
direction whose
hose arms ha e
have
y It provides a larger work envelope than the Cartesian, 3. Its general configuration is analogous to that of a concurrent prismatic
cylindrical,
li d i l or spherical
h i l configurations.
fi ti human arm. or rotary joints.
y Disadvantages g to the revolute configuration.
g It Which of the above features are correct?
requires a very sophisticated
h d controller,
ll and
d
programming is more complex than for the other (a) 1 and 2 only (b) 1 and 3 only
three
h configurations.
fi i (c) 2 and 3 only (d) 1, 2 and 3
64 65 66
IES 2016
IES‐2016 PUMA Robot
PUMA Robot
y PUMA is an industrial robot.
Which of the following Robots has application for
mobile platform
p handling
g in cockpit
p flight
g y Programmable Universal Machine for Assembly,
or Programmable Universal Manipulation Arm)
simulators?
y The functioning of this robot is like a human arm.
(a) SCARA Robot (b) Articulated Robot PUMA robot
y A totall off 6 variables

bl are required,
d for
f specifying
f the
h
(c) Parallel Robot (d) Cylindrical Robot
position and orientation of a rigid body in space.
space
y Therefore PUMA has 6 axis of rotation with 1 DOF
(degree of freedom) per axis.
67 68 y Each DOF has an actuator for motion. 69
IES ‐ 2012 IES 2011

IES ‐
IES ‐ Conventional The configuration of a robot using a telescoping arm that
Th fi i f b i l i h Trajectory of a robot mean :
What are the five different types of robot systems? can be raised or lowered on a horizontal pivot mounted (a) Path traced by the end effectors
on a rotating base is called
(b) Kinematics of Robot
(a) Polar
Answer: (c) Robot joints
(b) Cylindrical
1 Cartesian or Gantry robot
1. (d) Robot programming
(c) Cartesian coordinate
2. Cylindrical robot
(d) Jointed arm
3. Spherical or Polar robot
4 Articulated or Revolute Robot
4.
5. SCARA robot

Page 35 of 50 71
Rev.0 72
Page 36
Robot Notation
Robot Notation
Classification Based On Locomotion y The p y
physical g
configuration of the robot
MCQ manipulator can be described by means of a joint
y Walking Robots. Eg. Humanoids
What is the name for the space inside which a notation scheme.
scheme
y Tracked Robots. Eg. NASA’s Urban Robot Urbie
robot unit operates?
p y The notation system can be expanded to include
(a) environment y Flying Robots. Eg. Cruise Missiles, NETRA (By DRDO) wrist motions by designating the two or three (or
(b) spatial base y Snake Robots. Eg. Japanese ACM‐ R5
more)) types
t off wrist
i t joint.
j i t
y Separates body
body‐and‐arm
and arm assembly from wrist
( )d
(c) danger zone y Swimming Robots. Eg. Aqua Penguin Germany. assembly using a colon (:)
(d) work envelop
y Legged Robots – DARPA Eg. Big Dog y Eg. A polar coordinate robot with a three‐axis
wrist might be designated as TRL: TRT
73 74 75
Robot Notation
Robot Notation
ROBOT Configuration (arm and Body)
f ( d d ) Symbol
b l
Robot Notation: Example
Robot Notation: Example
Cartesian LLL
Linear joint ( L ) Orthogonal
joint (U) Cylindrical TLL, LTL, LVL
O P i
Or Prismatic Joint (P)
ti J i t (P)
Polar TRL
R l J i d
Revolute or Jointed arm TRR VVR
TRR,
Rotational joint (R) Twisting joint (T)
gj ( ) Wrist Configuration Symbol
Two –axis wrist :RT
Three‐axis wrist :TRT
76 77 78
Revolving joint ( V‐joint, V from the “v” in revolving)
R b i A W ldi C ll
Robotic Arc‐Welding Cell R b tP i
Robot Programming
IES‐2017 (Prelims)
IES‐2017 (Prelims) yO e p
On line og a g: Here
programming: e e tthee robot
obot aarm itself
tse iss
used during the direct programming operation.
y Robot performs
Th number
The b off degrees
d off freedom
f d i a 3D
in D flux‐cored arc
fl d ¾ Teach by lead through
welding (FCAW) ¾ teach by pendent
Robot of TRL : R type configuration is : operation at one

i y Off line Programming: It involves creating the
workstation p g
program for a robot task,, without the need to be
(a) 4 (b) 3 while fitter
hil fi connected physically to the robot or even to be anywhere
changes parts at
near its physical presence.
presence We may coupled it with
the other
(c) 2 (d) 1 workstation
simulation. Program is prepared at a remote computer
terminal and downloaded to robot controller for
execution.

Page 36 of 50 80
Rev.0 81
Page 37
TTeach by lead through or Lead through
hb l d h h L d h h Lead through Programming Lead through Programming Advantages
programming y Advantages:
Ad t
1. Powered lead through y Easily learned by shop
y Work cycle is taught to robot by moving the y Common for point‐to‐
C f i personnel
manipulator through the required motion cycle and point robots
y Logical way to teach a robot
g y
simultaneously
i lt l entering
t i th program into
the i t controller
t ll y Uses teach pendant
memory for later playback. y No computer programming
2. Manual lead through
g
y Disadvantages:
Disad antages
y Convenient for
continuous path y Downtime during
y This is used for programming continuous path
control robots programming
operations such as are found in spray painting.
y Human programmer y Limited programming logic
p g g g
physical moves capability
manipulator y Not compatible with
82 83
supervisory control 84
Teach by Pendant
Teach by Pendant Teach by Pendant
Teach by Pendant Teach by Pendant
Teach by Pendant
q
y For work that requires p
point to p
point, and p
point to y The robot arm is p g
programmed byy moving
g the end p p
point 2 at a speed of 200 mm/s. At p point 2 it mayy be
point with coordinated path, movements this is the effectors to a desired position using the joystick, and instructed to open its gripper, operate a spot welding
normal method of programming. once the arm is at the required position and gun, or open a valve to allow adhesive to be dispensed.
y It involves the programmer using a hand‐held pendant orientation a key in the keyboard is pressed to record y Thus two files will be constructed, one with the
which
hi h transmits
t it commands d though
th h a cable
bl to
t theth the point in memory.
memory d i d end
desired d effector
ff t l ti
locations, and
d one with ith the
th
robot controller, the robot then responds to these y On a six axis robot this will be recorded as a six instructions connecting the robot operation and
commands. coordinate location x, y, z, α, β, γ. sequence and speed of movements.
y In this way the programmer can lead the robot y In this way all the points to which the robot is desired y We may use a computer for on line programming, this
through a task. to go will be recorded in memory within a ‘point file’. makes more complex programs easier to create.
y Tech
T h pendants
d h
have as many different
diff configurations
fi i y An
A ‘instruction
‘i i file’
fil ’ is
i then
h created d using
i the
h keyboard
k b d
as there robot models. Essentially they all contain command. This file contains the instructions as to
sufficient controls to send the necessary instruction to what the robot should do between each point, e.g. the
the controller. 85
robot may be instructed to move from point 1 to 86 87
IES‐Conventional R b
Robot programming languages
i l Fi G
First Generation Languages
i L
Discuss some important aspects of pendant y Textual programming language to enter commands y Combine teach pendant procedures with the
programming in robotics. into robot controller.
y When
Wh using
i on‐line
li programming i methods,
h d command
d statements.
t t t
instructions can be given to the robot by using control y Mainly control motions ( Motion level language)
switches, knobs and buttons in conjunction with
simple coded commands. This method allows simple y Example:
p VAL (Victor’s Assemblyy Language)‐
g g for
programs to be constructed. PUMA Robot.
y For more complex programs a robot language must be
used and for off‐line working a programming language y Incapable to use complex sensor data, limited
i essential.
is ti l communication ability with other computer.
y Commercial robot languages are all termed ‘explicit’
languages. Each robot manufacturer provides their
own language withPage 37 of 50system.
the control 89
Rev.0 90
Page 38
S
Second Generation Languages
dG i L F
Future Generation Languages
G i L IES 2010
Consider the following statements:
y Structured programming languages y They should be model based or task based language.
Good dynamic performance is usually difficult to achieve
y Capability:
C bilit motion
ti control,
t l can use sensor data,
d t can y If we give
i command
d ‘Tighten
‘Ti ht a nut’
t’ it mustt find
fi d the
th i robots
in b which
hi h contain i a rotary base
b b
because
1. Position, speed and acceleration of the other joints cause
communicate with other computers.
computers nut and the spanner,
spanner pick them up,
up and place them in
variations in the reflected torque and moment of inertia.
p
Example an orderlyy fashion and finally,
y it should tighten
g the 2. The moment of inertia reflected at the base depends
p upon
p the
weight of the object being carried.
y AML: A Manufacturing Language nut with the spanner.
3 The moment of inertia reflected at the base also depends upon
3.
y MCL: Manufacturing control Language y These languages should allow complete offline the distance between the base axis and the manipulated object.
Which of the above statements is/are correct?
y RAIL programming.
(a) 1, 2 and 3 (b) 2 and 3 only
(c) 1 only (d) 1 and 3 only
91 92 93
IES ‐ 2006 IES ‐ 2000

Which
Whi h one off theh following
f ll i is
i the
h third
hi d basic
b i Consider
C id theh following
f ll i characteristics
h i i off a robot:
b Anatomy of Robot
Anatomy of Robot
component of robots besides power supply and 1. The tip of the robot arm moves from one point to
y Anatomy and Sub‐System of robots
Anatomy and Sub System of robots
control (memory) console? another with its in‐between path not being defined.
(a) Software (b) Coaxial cable 2. It can be used for drilling holes at difference points in a y Manipulators
(c) Mechanical unit arm (d) Microcomputer workpiece.
y Robot control
3. It can be used for V butt joint welding between two
points.
4. The memory capacity required for its control unit is low.
Which of these are the characteristics associated with a point
p
to point robot?
(a) 1 and 2 (b) 1,1 3 and 4
94 (c) 1, 2 and 4 (d) 2, 3 and 4 95 96
Question: compare of pneumatic & hydraulic

Subsystems of Industrial Robots Actuators actuators
y Actuators y Actuators are basically prime movers providing both Answer:
force and motion. y Air used in p
pneumatic actuators is clean and safe.
y Transmission systems
T i i t y Pneumatic cylinders, hydraulics, permanent magnet y Oil in hydraulic actuator can be a health and fire
y Power supplies & power storage system motors,, stepper
pp motors,, linear motors are some hazard especially
p y if there is a leakage.
g
conventional actuators. y Pneumatic actuators are typically light‐weight,
y Sensors portable and faster.
faster
y More
M advanced
d d ones are based
b d on hi‐tech
hi t h polymers,
l
y Microprocessors & controllers shape memory alloys, piezo patches, and pneumatic y Air is compressible (oil is incompressible) and hence
muscles. pneumatic actuators are ‘harder’
harder to control.
control
y Algorithms & software (higher level & lower level) y Hydraulic actuators have the largest force/power
y Brushless servo motors also exist for low noise levels, density compared to any actuator.
actuator
and printed armature motors are used for quick
y With compressors, accumulators and other
response.
response components, the h space requirement
i i larger
is l than
h
Page 38 of 50 98 electric actuators. Rev.0 99
Page 39
T
Transmission Systems
i i S P
Power Supplies
S li S
Sensors and Electronics
d El i
y The transmission system used in robot to transmit power y Hydraulic and Pneumatic power packs:
y The sensors for feedback in robots consists of
and motion consists of chains, timing belts, metal belts, These consist of a motor driving a positive displacement
cables
bl and d pulleys
ll andd linkages.
li k pump or compressor to generate the h high
h h pressure fluid
fl d flow.
fl t h
tachometers
t and
d encoders
d and
d potentiometers
t ti t t sense
to
y Gear boxes and harmonic drives serve to p provide speed
p In using hydraulic systems the necessity of having an oil tank
motor motions
motions, simple switches
switches, force sensors
sensors,
reduction. increases the weight of the system, additionally the issue of
ensuring that the oil is free of contaminants is to be handled. p
acceleration sensors, optical systems,
y special
p cameras
y Ball
B ll screws are usedd with
ith suitable
it bl mechanisms
h i t convertt
to In pneumatics power pack dry air is desired.
rotary motion to linear motion and if needed back to and vision systems.
y Electric motors:
oscillatory motion.
It use what are known as PWM (pulse width modulation)
y Drive stiffness is an important consideration in robotics amplifiers These are electronic devices,
amplifiers. devices consisting of
and so also is backlash. transistors used as switches to rapidly switch on and off the
supply
l in
i a controlled
t ll d manner to t control
t l motor
t speeds.d Such
S h
100 drives have higher efficiency. 101 102
Question: What are the desirable features in

sensors? MCQ S
Sensors and Electronics
d El i
y Electronics
Answer:
What is the name for information sent from robot
y High accuracy.
Hi h There are a host of electronic circuits, motor controllers,
sensors to robot controllers?
y High precision.
g p analog to digital converters and digital to analogue
( )
(a) temperature
y Linear response. (b) pressure converters, frame grabbers and so on utilized to handle
y Large operating range.
L i (c) feedback
y Low response time.
p ( ) g
(d) signal sensors and vision systems and convert the inputs from
y Easy to calibrate. them into a form usable by the processor for control of
y Reliable and rugged.
R li bl d d
the entire system in conjunction with the algorithms and
y Low cost
y Ease of operation software developed specifically for the purpose.
103 104 105
Why are ADC and DAC required in
Why are ADC and DAC required in Software Manipulators
y The software used consists of several levels.
robots? y Motor control software consists of algorithms which help
y The mechanical unit,
unit often called the "arm
arm," that
y Analog output, need ADC for digital control. does the actual work of the robot.
the servo to move smoothly utilizing the data from feed
feed‐
y It is composed
d off mechanical
h l linkages
l k and
d joints with
h
back units.
y A digital‐to‐analog converter (DAC) needed so that actuators to drive the mechanism directlyy or
y At the
th nextt level
l l there
th i software
is ft t plan
to l theth trajectory
t j t indirectly through gears, chains, or ball screws.
motor currents can be commanded to the current‐ of the end effector and translate the same into
y Manipulator are built as serial chains or parallel
commands to individual motor controllers.
driver circuits. The current flowing through the chains or occasionally a combination of both.
y The output of sensors is also to be interpreted and
motor is controlled in analog circuitry by adjusting y Links and joints (revolute
( and prismatic)) that are
decisions made.
mostlyy used in manipulators.
p
the voltage across the armature as needed to y At
A theh highest
hi h l l there
level h i software
is f which
hi h accepts
y In spatial manipulators (open chains) adjacent axes
commands from the user of the robot and translates it
maintain the
h desired
d d armature current. are parallel or perpendicular to each other.
other
into appropriate actions at the lower level.
Page 39 of 50 107
Rev.0 108
Page 40
The relationships among the five major systems that make

MCQ p an industrial robot are shown in this diagram.
up g
Robot control
Robot control
Which of the following terms is NOT one of the For control of the robot we have several levels:
five basic parts of a robot?
(a) peripheral tools y Control of individual motors and actuators.
Control of individual motors and actuators
(b) end effectors y Planning trajectory & individual actuators in motion.
g j y
(c) controller
(d) drive and sensor y Planning trajectories of end effector.
y Acting upon sensors input
y Planning tasks
109 110 111
IES Conventional
IES Conventional CAD CAM
Computer Aided Manufacturing (CAM):
d d f ( )
Computer Aided Design (CAD): Used for creating the
y Computer Aided Process Planning (CAPP)
p g( )
Name the basic components of all robots Write in
Name the basic components of all robots. Write in
product database y Computerized material Resource Planning (MRP)
short about welding robot.
g y NC part programming
y Geometric Modeling
[5 Marks] y Robot Programming
y Engineering Analysis
l y Computerized Scheduling
y Computerized process control
y D i Review
Design R i and
d Evaluation
E l i
y Computerized Manufacturing Control by FMS
y A t
Automated
t d Drafting
D fti y Shop floor control
Sh fl t l
y Computer Aided Quality Control (CAQC)
y Computer Aided Inspection
112 113 114
IES ‐ 2006 Automation

y Automation is the process of following a predetermined
Which
Whi h item
i best
b describes
d ib a CAM technology?
h l ? ISRO‐2011 sequence of operations with little or no human intervention,
intervention
using specialized equipment and devices that perform and
((a)) Geometric modeling
g ((b)) Documentation control the manufacturing gp
process.
I CAM,
In CAM " Part
P t programming"
i " refers
f to t Why go for Automation?
(c) Drafting (d) Numerical control
1. Increased productivity
p y
(a) Generation of cutter location data
2. Reduced cost of labour
(b) On‐line
On line Inspection 3. Improved quality
4. Reduced in‐process inventory
(c) Machine Selection 5 Reduce Manufacturing time
5.
6. Increased safety
(d) Tool Selection There are three types of Automation
1. Fixed Automation
2 Flexible Automation
2.
3. Programmable Automation
Page 40 of 50 116
Rev.0 117
Page 41
Fixed Automation or Hard automation
Fixed Automation or Hard automation Flexible Automation
Flexible Automation Programmable Automation
Programmable Automation
y Used to produce a standardized product, High initial y It is also known as FMS,, and uses C
CAD/CAM
/C yC
Can change
g the design
g of the p
product or even change
g the
investment for custom‐engineered equipment
y High investment for a custom‐engineered system product by changing the program.
y Used for very large quantity production (Mass
Production) of one or few marginally different y Produce different products on the same equipment in
anyy order or mix. Continuous p production of variable y Used for the low quantity production of large number of
components Relatively inflexible in accommodating
components.
product variety. mixtures of products different components.
y Highly specialized tools, devices, equipment, special y Medium
M di P d ti Rates
Production R t
y Equipment are designed to be flexible or programmable.
purpose
p p machine tools,, are utilized to p produce a y Flexibility
y to deal with product design
g variations
product. y e.g., CNC milling machine High investment in general purpose equipment
y Very efficient,
efficient high production rate , low unit cost.
cost y Most suitable for batch production
y e.g., single spindle and multi‐spindle lathes, sewing,
y Lower production rates than fixed automation
small parts.
118 119 120
IES ‐ 2012 What is an FMS?

y A flexible manufacturing system (FMS) is a
Programmable automation is suitable for
manufacturing system in which there is some
(a) Low production volume and large varieties of parts amount off flexibility
fl ibili that
h allows
ll the
h system to
react in the case of changes.
g
(b) Low production volume and small varieties of parts
y Two categories of flexibility
( )
(c) High production volume and small varieties of parts y Machine
M hi flexibility,
fl ibilit covers the
th system's
t ' ability
bilit to
t be
b
changed to produce new product types, and ability to
(d) Hi h d i l
(d) High production volume and large varieties of parts
d l i i f change
h the
h order
d off operations
i executed
d on a part.
y Routing g flexibility,
y which consists of the abilityy to
use multiple machines to perform the same operation
on a ppart, as well as the system's
y abilityy to absorb
large‐scale changes, such as in volume, capacity, or
121 122
capability. 123
FMS Components FMS Goals Advantages of FMS

y Reduction in manufacturing cost by lowering direct y Faster,
F t lower‐
l costt changes
h from
f one partt to
t another
th
y Most FMS systems comprise of three main
labor cost and minimizing scrap, re‐work, and material which will improve capital utilization
systems
y
wastage.
t y Lower direct labor cost, due to the reduction in number
y Work machines (typically automated CNC
y Less skilled labor required.
q of workers
machines) that perform a series of operations;
y Reduction in work‐in‐process inventory by eliminating y Reduced inventory, due to the planning and
y An integrated material transport system and a p g
programming gp
precision
the need for batch processing.
processing
computer that controls the flow of materials, y Consistent and better quality, due to the automated
tools,, and information ((e.g.
g machining g data y Reduction in production lead time permitting
control
and machine malfunctions) throughout the manufacturers to respond more quickly to the variability
of market demand. y Lower cost/unit of output, due to the greater
system; productivity
d ti it using
i the
th same number
b off workers
k
y Auxiliary work stations for loading and y Better process control resulting in consistent quality.
y Savings from the indirect labor, from reduced errors,
unloading,
l d cleaning,
l inspection, etc. rework, repairs and rejects
Page 41 of 50 125
Rev.0 126
Page 42
Disadvantages of FMS IES ‐ 1996 IES ‐ 2006

y Limited
Li i d ability
bili to adapt
d to changes
h in
i product
d or product
d Which of the following pairs are correctly matched?
Whi h f h f ll i i l h d? Flexible
Fl ibl manufacturing
f i allows
ll for:
f
mix (e.g., machines are of limited capacity and the 1. CNC machine…… Post processor
p ((a)) Tool designg and pproduction
tooling necessary for products, even of the same family, 2. Machining centre….Tool magazine (b) Automated design
is not always
y feasible in a g
given FMS))
3. DNC…………. FMS
DNC FMS ( ) Quick
(c) Q i k and d inexpensive
i i product
d change
h
y Substantial pre‐planning activity
((a)) 1, 2 and 3
, 3 ((b)) 1 and 2 ((d)) Q
Qualityy control
y Expensive, costing millions
ll off dollars
d ll
(c) 1 and 3 (d) 2 and 3
y Technological
ec o og ca p problems
ob e s o of eexact
act co
component
po e t pos
positioning
to g
and precise timing necessary to process a component
y Sophisticated
S hi ti t d manufacturing
f t i systems t
127 128 129
IES ‐ 2004 IES ‐ 2012 C

Computer Integrated Manufacturing (CIM)
t I t t dM f t i (CIM)
y A number
u be oof act v t es aand
activities d ope at o s vviz.. des
operations g g,
designing,
Consider
C id theh following
f ll i characteristics:
h i i Rank order clustering as applied to manufacturing
R k d l i li d f i
analyzing, testing, manufacturing, packaging, quality
g machine tool
1. Single automation is
control etc.
control, etc are involved in the life cycle of a product or
2. Manual materials handling system (a) A technique of identifying process sequence in a system.
3. Computer
C controll production of a component
y Application of principles of automation to each of these
4. Random sequencing
4 q g of p
parts to machines (b) A just in time (JIT) method activities enhances the p productivityy onlyy at the
Which of the above characteristics are associated with (c) An approach of grouping the machines into cells in individual level. These are termed as ‘ islands of
fl ibl manufacturing
flexible f t i system?t ? a
an FMS system
S syste automation' .
automation
(a) 1, 2 and 3 (b) 1 and 2 (d) A tool to generate bill of materials y Integrating all these islands of automation into a single
system
t enhances
h th overall
the ll productivity.
d ti it
(c) 3 and 4 (d) 2, 3 and 4
y Such a system
y is called as “ Computerp Integrated
g
Manufacturing (CIM)”.
130 131 132
C
t I t t dM f t i (CIM) C
t I t t dM f t i (CIM) C
t I t t dM f t i (CIM)
y The Society of Manufacturing Engineers (SME) defined CIM
y g g ( ) y CIM basically involves the integration of advanced yC M bas
CIM ca y involves
basically vo ves tthee integration
teg at o oof adva ced
advanced
as technologies such as computer aided design (CAD),
technologies such as computer aided design (CAD),
computer aided manufacturing (CAM),(CAM) computer
‘CIM is the integration of the total manufacturing computer aided manufacturing (CAM), computer
numerical control (CNC), robots, automated material
numerical control (CNC),
(CNC) robots,
robots automated material h dli systems,
handling t etc.
t
enterprise through the use of integrated systems
handling systems, etc. y Todayy CIM has moved a step p ahead byy includingg and
and
d data
d communications coupled
l d with
h new y Today CIM has moved a step ahead by including and integrating the business improvement activities such as
integrating the business improvement
impro ement activities
acti ities such as customer satisfaction, total quality and continuous
managerial
i l philosophies
hil hi that
h i
improve improvement. These activities are now managed by
customer satisfaction, total quality and continuous
organizational
i ti l and
d personall efficiency'.
ffi i ' computers.
computers
improvement. These activities are now managed by
computers.
t
Page 42 of 50 134
Rev.0 135
Page 43
C
Computer Aided Manufacturing (CAM)
Aid d M f i (CAM)
CAD Computer Numerically Controlled Machine Tools (CNC) Computer Integrated Manufacturing (CIM)

Distributed Numerically controlled machine Tools (DNC)
Robots
Flexible Manufacturing System (FMS)
Computer aided
Computer Aided Computer Aided Automated material handling System (AMH) Management Planning (CAP) &
D i &
Design & E i
Engineering
i Information system C
Computer aided
id d
Automated storage and retrieval Systems (AS/RS) Process Planning
Drafting (CADD)
g( ) ((CAE)) ((MIS)
)
(CAPP)
136 137 138
CIM: Advantages
g
y Nicely suited for batch due to the high flexibility and
l df b hd h h h fl b l d CIM Ad t
CIM: Advantages CIM Di Ad t
CIM: Dis‐Advantages
automation of CIM systems y Higher quality of finish
g q y y A detailed manufacturing gp q
plan is required.
y Suited for volume and mass due to the fully automated y More choice, Can design in own requirements y It requires an expensive investment.
nature of CIM y cheaper products y The hourly price rate is high.
high
y Monitoring of system at all times y Parts easily manufactured and changed y Compared to conventional machines require more
y Great machine utilisation y Random introduction of parts careful
f l handling
h dli andd maintenance.
i
y Fewer errors and waste y Less lead time y Cutting
g speeds
p must be used and high
g qqualityy cutting.
g
y Improvements in productivity and quality control y Higher quality of finish y Periodic maintenance should be performed regularly by
y Greater consistency y System is constantly monitored soil there is a
S t i t tl it d il th i experts and authorized persons.
y Cheaper products breakdown: the type and location of breakdown is easily y Involve difficulties in adapting working patterns of new
y Parts easily manufactured and changed
P il f d d h d id tifi d ki i t
identified making maintenance easier
i technology
y Less lead time y reduces cost of maintenance y Workers training needed.
y Less labor y After the high initial greater profits will be achieved y Reduction in short term profit.
139 140 141
IES 2017 (Pre)

IES‐2017 (Pre) Lean Production
Lean Production Ten steps to lean production
Ten steps to lean production
g
Consider the following benefits of CIM: y A manufacturing strategy is presented that attacks the y Step
Step‐I:: Design
es g oor Reco gu e tthee Ma
Reconfigure u actu g
Manufacturing
materials cost, indirect costs, and general System‐Design cells and manufacturing system with
1. Less direct labour administration costs in addition to labour costs. The Internal and External Customers in Mind.
Mind Internal
2. Less scrap and rework material costs include the cost of storing and handling customers are employees.
3. Higher machine use
Hi h hi the materials within the plant. The strategy is called lean
y Step‐II: Setup Reduction – Changing Methods and
production.
Which of the above are correct? changing
g g designs
g of toolingg and dies to reduce setup
p
time. Do SMED everywhere. SMED = Single Minute
(a) 1, 2 and 3 (b) 1 and 2 only y In the 1980s
9 a strategy
gy veryy different from CIM has Exchange of Dies.
(c) 1 and 3 only (d) 2 and 3 only emerged. This new strategy requires a systems‐level y Step‐III: Integrate Quality Control into the
change for the factory,
factory a change that will affect every manufacturing
f t i system.
t I
Inspect
t to
t preventt defects.
d f t
segment of the company, from accounting to shipping, Pokayokes. Empower the internal customers. Every
that begins with the manufacturing system.
system worker is an inspector.
Page 43 of 50 143
Rev.0 144
Page 44
Ten steps to lean production Ten steps to lean production
IAS‐2016 Main
IAS‐2016 Main
y Step‐IV: Integrate Preventive Maintenance ‐ Make y Step‐VIII: Integrate the Vendors ‐ making them JIT
machines
hi and
d people
l reliable
li bl and
d dependable.
d d bl f lk Do
folks. D steps
t 1‐7. S
State the
h b i
basic principles
i i l off l
lean
y Step‐V:
p Level & Balance the manufacturing
g system
y ‐ y Step‐IX:
p Autonomation = Automate + Robotize +
Smoothing the material flow. Computerize production.
d ti
y Step‐VI:
Step VI: Integrate Production Control ‐ begin to pull y Step‐X
Step X Restructure the rest of the company
Compare l
lean production
d with
h mass
material to final assembly linking the cells to final
assembly.
bl Integrate
I t t kanban
k b pull. ll Minimize
Mi i i information.
i f ti production.
d i
y Step‐VII:
p Integrate
g Inventoryy Control ‐ Reduce WIP in
the links. [10 marks]
145 146 147
IES-2010 Conv. IES‐2016

Types of Material Handling Devices Automated Guided Vehicles (AGVs) Statement (I) : Automated guided vehicle (AGV) is a
y These are battery‐powered, driverless vehicles for automatic programmable
bl mobilebil vehicle
hi l without
ith t human
h
y Industrial truck transport of parts and tooling on the shop floor. intervention and used for material handling.
y Automated Guided Vehicles (AGVs) y These moves on fixed paths laid underneath the factory Statement (II) : Automated storage and retrieval
p
floor, and transport materials from the workstation to storage
g
locations, load stations, etc. system (AS/RS) is a part of CNC machine and used
y Conveyors
y Thoughg the p path of travel is laid underneath the factoryy for machining operation.
y Cranes and Hoists floor, it is made of segments which allow the AGV to have a (a) Both Statement (I) and Statement (II) are individually true and
flexible p path. These are one of the first choices for ( ) p ()
Statement (II) is the correct explanation of Statement (I).
automating the material movement.
(b) Both Statement (I) and Statement (II) are individually true but
y A class of AGVs called rail‐guided
g vehicles ((RGVs)) have fixed Statement (II) is not the correct explanation of Statement (I).
Statement (II) is not the correct explanation of Statement (I)
rails on which they move. This is far more restricted in terms
of the path the RGV can take and service only a few (c) Statement (I) is true but Statement (II) is false.
workstations. (d) Statement (I) is false but Statement (II) is true
148 149 150
FMC‐Flexible
FMC machining cell
Flexible machining cell
y An arrangement with more than one machining centre
IAS‐2011
with integrated material handling arrangement is
y What is the difference between FMS and FMC?
called as FMC.

Page 44 of 50 152
Rev.0
Page 45
Page No-8, Slide No-66, GATE – 1997 Ans. (b)
Automation: NC, CNC, DNC & APT

1
rotation
1Pulse 1 360
⎯⎯⎯⎯⎯ → rotation ⎯⎯⎯⎯⎯⎯⎯ →
360
Page No-1, Slide No-6, IAS – 1996 Ans.(d) P 3.6
B LU = mm = mm = 0.01mm = 10 μm
Page No-2, Slide No-11, GATE – 1994 Ans. True. Conventional mechanical systems have their own
360 360
limitation due to backlash of screws marking and reading inaccuracies etc. High resolution encoders and
digital read-outs can be used for positioning of the order of micrometer, millimeter also.
Page No-8, Slide No-67, GATE – 2007(PI) Ans.(a)
Page No-2, Slide No-15, IES –1999 Ans. (b) Maintenance cost is very high in NC CNC machines
1
rotation
Page No-2, Slide No-16, IES –1995 Ans. (d) MRR is high in NC CNC machines. 1Pulse 1.8 200
⎯⎯⎯⎯⎯ → rotation ⎯⎯⎯⎯⎯⎯⎯→
360
Page No-3, Slide No-25, IES – 2009 Ans. (b) 1
= rotation
Page No-3, Slide No-26, GATE – 1993, IES-2017 (Prelim). Ans. (d) The software that converts CL-file 200
CAD/CAM data to specific machine tool commands is called a Post Processor. Post Processor software is P 2 1
B LU = mm = mm = mm = 10 μm
an essential component of any CAD/CAM system used to produce machined parts. 200 200 100
Page No-3, Slide No-27, IES – 2007 Ans. (c) In NC Machine Punched tape is used so no Part program.
Page No-8, Slide No-68, GATE – 2008(PI) Ans. (b)
Page No-4, Slide No-28, JWM– 2010 Ans. (a) Components regarding numerical control system (Now a
days we will consider CNC) 1
rotation
1Pulse 1 150 P 4
1. Part program I.e. Program of instruction. ⎯⎯⎯⎯⎯ → rotation ⎯⎯⎯⎯⎯⎯⎯ → B LU = mm = mm
150 150 150
2. Mechanical Control Unit (MCU)
3. Processing Equipment
4
Page No-4, Slide No-29, IES – 2009 Ans. (c) In DNC system, several NC machines can be controlled by Table speed = × 200 mm / s ( 200 pulse / s )
a large central computer. Here, direct link may be established between the programming computer and 150
the large central control computer. 4
= × 200 × 60 mm / min = 320 mm / min
150
Page No-4, Slide No-30, IES – 1999 Ans. (c)
Page No-8, Slide No-69, Example
Page No-4, Slide No-31, JWM– 2010 And. (d)
1
Page No-4, Slide No-32 &33, IES – 2002 Ans. (c) rotation
1Pulse 1 500
⎯⎯⎯⎯⎯ → rotation ⎯⎯⎯⎯⎯⎯⎯ →
Page No-6, Slide No-50, IES – 2017 (Prelim) Ans. (d) 500
(a) In one rotation,table will move 5mm
Page No-7, Slide No-60, GATE – 2007 Ans. (a)
In 600 rotation,table will move600 × 5mm i.e.600 × 5mm / min
Page No-7, Slide No-61, IES – 1994 Ans. (d) Feed drive in CNC is by servo motor = 3000 mm / min = 3m / min
P 5
Page No-7, Slide No-62, IES – 2002 Ans. (a) (b) B LU = mm = mm = 0.01mm = 10 μm
500 500
(c) For one rotation weneed 500 pulse
For 600 rotation weneed 500 × 600 pulse,in onemin
500 × 600
∴ In one second we need pulse / s = 5000 Hz
60

Page 46
Page No-8, Slide No-70, IFS-2015 Page No-9, Slide No-73, GATE – 2018(PI) Ans. 5000
1 1
rotation rotation
1Pulse 1 500 1Pulse 1.8 200 ⎯⎯⎯⎯→
⎯⎯⎯⎯⎯ → rotation ⎯⎯⎯⎯⎯⎯⎯ → ⎯⎯⎯⎯⎯ → rotation ⎯⎯⎯
500 360
(i) In one rotation,table will move 5mm 1
= rotation
In 650 rotation,table will move650 × 5mm i.e.650 × 5mm / min 200
= 3250 mm / min = 3.25m / min P 2
B LU = mm = mm = 0.01 mm
P 5 20 0 200
(ii) B LU = mm = mm = 0.01mm = 10 μm For 0.01mm movement weneed one pulse
500 500
(iii) For one rotation weneed 500 pulse 1
∴ For1mm movement weneed pulse
For 650 rotation weneed 500 × 650 pulse,in onemin 0.01
50
500 × 650 ∴ For 50 mm movement weneed pulse = 5000 pulse
∴ In one second we need pulse / s = 5416.67 Hz 0.01
60
Page No-9, Slide No-74, GATE – 2016(PI) Ans. 20
Page No-8, Slide No-71, IES – 2011 Conventional
In one second1000 pulse isgiven. 1

rotation
1 Pulse 1 1000
∴ In one min1000 × 60 pulse isgiven. ⎯⎯⎯⎯⎯ → rotation ⎯⎯⎯⎯⎯⎯⎯⎯ →
1000
And using this1000 × 60 pulse 500 rotation takes place in onemin.
P 5
500 1 B LU = mm = mm = 0.005 mm
∴ In1 pulse = rotation takes place.i.e.120stepmotor is used. 1000 1000
1000 × 60 120 For 0.005mm movement weneed one pulse
1 1
rotation ∴ For1mm movement weneed pulse
1Pulse 1 120
⎯⎯ ⎯⎯⎯ → rotation ⎯⎯⎯⎯⎯⎯⎯ → 0.005
120
6000
P 6 ∴ For 6 m i.e.6000 mm movement weneed pulse / min
(1.) B LU = mm = mm = 0.05mm = 50 μm 0.005
120 120 6000
(2.) In one rotation,table will move 6mm = pulse / s = 20000 Hz = 20 kHz
0.005 × 60
In 500 rotation,table will move500 × 6 mm i.e.500 × 6 mm / min
= 3000 mm / min = 3m / min Page No-9, Slide No-75, GATE – 2014(PI) Ans. (c) BLU means , movement of table corresponding to
the one pulse supplied to the motor. If we double the frequency velocity of table will be double but for
(3.) In one second we need 1000 pulse / s = 1000 Hz
BLU we have to supply only one pulse. And one pulse move table same amount.
Page No-9, Slide No-76 & & 77, GATE – 2008 Q-1 Ans. (b)
For 0.005mm movement weneed one pulse
1
1 rotation
∴ For1mm movement weneed pulse 1Pulse 1 1 800
⎯⎯⎯⎯⎯ → rotation ⎯⎯
→U= ⎯⎯⎯⎯⎯⎯⎯→
0.005 200 4
9 P 4
∴ For 9mm movement weneed pulse = 1800 pulse B LU = mm = mm = 0.005 mm = 5 μm
0.005 800 800

Page 47
Page No-9, Slide No-76 & & 78, GATE – 2008 Q-2 Ans. (a) Page No-10, Slide No-82, IAS – 2010 Main
1 1
rotation rotation
1Pulse 1 1 400 1Pulse 1 200
⎯⎯⎯⎯⎯ → rotation ⎯⎯
→U= ⎯⎯⎯⎯⎯⎯⎯ → ⎯⎯⎯⎯⎯ → rotation ⎯⎯⎯⎯⎯⎯⎯ →
200 2 200
P 4 P 3
B LU = mm = mm = 0.01 mm = 10 μm B LU = mm = mm = 0.015 mm
400 400 200 200
Pulse μm For 0.015mm movement weneed one pulse
Initially the velocity of the table was10000 ×5 = 50000 μm / min
min Pulse 1
∴ For1mm movement weneed pulse
Now if we give5000 pulse / min. 0.015
Pulse μm 100
Velocity of the table will be same = 5000 × 10 = 50000 μm / min ∴ For100mm movement we need pulse / min
min Pulse 0.015
100
= pulse / s = 111.11Hz
0.015 × 60
Page No-9, Slide No-79, GATE – 2009(PI) Ans. (a)
100
we are sending pulse / min
For 5mm movement 360degree rotation needed 0.015
360 1
∴ For1mm movement degree rotation needed If we send one pulse rotation will occur
5 200
360 100 100
∴ For 200mm movement × 200 = 14400degree rotation needed ∴If we send pulse / min then rotation / min will occur = 33.33 rpm
5 0.015 0.015 × 200
Page No-9, Slide No-80, IES – 2007 (Prelim) Ans. (d) Page No-10, Slide No-83, IAS – 2013 Main
For 30mm movement 360degree rotation needed 1

rotation
1Pulse 0.9 400
360 ⎯⎯⎯⎯⎯ → rotation ⎯⎯⎯⎯⎯⎯⎯→
∴ For1mm movement degree rotation needed 360
30
360 1
∴ For 0.5mm movement × 0.5 = 6degree rotation needed = rotation
30 400
P 4
B LU = mm = mm = 0.01 mm
Page No-9, Slide No-81, GATE – 2014(PI) Ans. (d) 400 400
For 0.01mm movement weneed one pulse
α
rotation 1
1Pulse α 360 × g ∴ For1mm movement weneed pulse
⎯⎯⎯⎯⎯ → → g ⎯⎯ ⎯⎯⎯⎯⎯⎯⎯
rotation ⎯⎯ → 0.01
360
2.87
α αp ∴ For 2.87mm movement weneed pulse = 287 pulse
B LU = ×p = mm 0.01
360 × g 360g
αp In one rotation 4 mm movement of the table takes place.
For mm movement one pulseneeded
360g In15rotation / min rotation 4 × 15mm / min
360g = 60 mm / min movement of the table takes place.
∴ For1mm movement pulseneeded
αp
For one rotation weneed 400 pulse
⎛ 360g ⎞
∴ For x mm movement ⎜ × x ⎟ pulseneeded ∴ For15rotation / min weneed 400 × 15 pulse / min
⎝ αp ⎠
400 × 15
= pulse / s = 100 Hz
60

Page 48
Page No-10, Slide No-85, GATE – 1992 Ans. (b) Page No-15, Slide No-130, GATE – 2015 Ans.(b)
Page No-10, Slide No-90, GATE – 2006 Ans. (a) The functions of a CNC Controller are:
Page No-11, Slide No-91, GATE – 2005 Ans. (a) 1. To read and store program information.
2. To interpret the information in a logical command sequence
Page No-11, Slide No-95, IES – 2000 Ans. (a) 3. To control the motion of the machines mechanical members.
Page No-11, Slide No-99, IES – 1996 Ans. (d) It is not Cartesian coordinate. It is motion of tool. 4. To monitor the status of the machine.
Page No-12, Slide No-101, GATE – 2015 Ans. (c) Page No-15, Slide No-131, GATE – 2001 Ans. (b)
In the incremental system of defining a point we look for how much increase in the coordinate GO2: Circular interpolation clockwise
value is there. GO3: Circular interpolation counter-clockwise
Coordinates of point P are (3, 5) Page No-15, Slide No-132, GATE – 2005 Ans. (d)
Coordinates of point Q are (7, 12) GO2----Circular interpolation clockwise
So, increase in coordinates is (4, 7) GO3---- circular interpolation anti-clockwise
Page No-12, Slide No-102 & 103, IES – 2003 Ans. (a) But it should be For point P1(5, 5) to P2(10, 10)
(a) A: X 5.0, Y 10.0
Page No-15, Slide No-133, GATE –2017 Ans. (d)
B: X 20.0, Y5.0
C: X 10.0, Y -10.0
Page No-15, Slide No-135, GATE – 2014(PI) Ans. 60 mm/min
Page No-14, Slide No-125, GATE – 2007(PI) Ans. (c)
Page No-16, Slide No-144, GATE – 2009 Ans. (c)
As interpolator provides two functions:
Page No-17, Slide No-146, GATE – 2017(PI) Ans. (a)
1. It computes individual axis velocities to drive the tool along the programmed path at given feed
rate. Page No-17, Slide No-152, IES – 1993 Ans. (c) A 'block' of information generally transmits one complete
instruction for a designated machine movement.
2. It generates intermediate coordinate positions along the programmed path.
Page No-17, Slide No-153, IES – 1996 Ans. (c) Magic three-code: The first digit of the code is obtained
Page No-15, Slide No-127, GATE – 2004 Ans. (a) Here N020 is sequence number by adding 3 to the number of digits before the decimal point of rpm. Last two digit in magic three code is
first two digits of rpm.
And G02---- circular interpolation clockwise
325 rpm will be
Three digits are in rpm so first digit will be 3 + 3 = 6
Last two digit will be 32
Magic three code of 325 rpm = S632
10 rpm = (2 + 3) 10 = S510

Page 49
Robotics
100 rpm = (3 +3) 10 = S610
3257rpm = (4 +3) 32 = S732
840 rpm = (3 + 3)84 = S684
Page No-19, Slide No-167, IES – 1995 Ans. (a) Page No-29, Slide No-10, GATE – 2013 Ans. (b)
Page No-19, Slide No-171, IES – 2016 Ans. (a) Page No-29, Slide No-11, GATE – 2014 Ans. (b)
G81 - Drilling cycle Page No-29, Slide No-12, GATE – 2016 Ans. (a) x coordinate will increase and y coordinate will
decrease.
G82 - Counter bore cycle
G83 - Deep hole drilling cycle
Page No-29, Slide No-14, IES – 2017 (Prelims) Ans. (d)
Page No-20, Slide No-176, IES – 1998 Ans. (d)
Page No-29, Slide No-16, Objective Question Ans. (b)
Page No-30, Slide No-24, MCQ Ans. (c)
Page No-31, Slide No-29, MCQ Ans. (d)
Page No-31, Slide No-32, IES-2017 (Prelims) Ans. (a) Third law (Robot survival): A robot must protect
its own existence as long as such protection does not conflict with the First or Second Law.
Page No-33, Slide No-46, MCQ Ans. (a)
Page No-34, Slide No-56, IES – 2016 Ans. (a)
Page No-35, Slide No-65, IES-2017 (Prelims) Ans. (d)
Page No-35, Slide No-71, IES – 2012 Ans. (b)
Page No-36, Slide No-73, MCQ Ans.(d)
Page No-36, Slide No-79, IES-2017 (Prelims) Ans. (a)
Page No-40, Slide No-109, MCQ Ans. (a)
Page No-40, Slide No-115, IES – 2006 Ans. (d)
Page No-40, Slide No-116, ISRO - 2011 Ans. (a)

Page 50
Page No-42, Slide No-131, IES – 2012 Ans. (c) It is problem of dynamic routing in industrial
Engineering.
Page No-43, Slide No-142, IES – 2017(Prelims) Ans. (a)
AGV : These are battery powered, driverless vehicles for automatic transport of parts and tooling
on the shop floor.
These moves on fixed paths laid underneath the factory floor, and transport materials from the
workstation to storage locations, load stations, etc.
Automated storage and retrieval system (AS/RS) is needed for CNC machine tooling.
In the tool magazine a particular tool to be use and after use that should be placed in that location
again.

The evolution of NC to CNC machines

Încărcat de

Informații document

Descriere originală:

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

The evolution of NC to CNC machines

Încărcat de

Drepturi de autor:

Formate disponibile

AUTOMATION (NC, CNC)

For-2019 (IES, GATE & PSUs) 7

Are CNC machines more accurate GATE ‐ 1994 NC/CNC Machines‐Advantages

NC/CNC Machines‐Disadvantages IES ‐ 1999

IES ‐ 1995 DNC Di t

IES ‐ 2009 GATE – 1993, IES‐2017 (Prelim)

For-2019 (IES, GATE & PSUs) 25

JWM 2010 IES ‐ 2009 IES ‐ 1999

JWM 2010 IES – 2002 S‐1 IES – 2002 Contd….. From S‐1

y NIC card for network communication

• The 1.8 degree stepping motor Choice of a stepper motor based on

Servomotor Control Systems

IAS‐2010 Main IES‐Conventional GATE ‐ 2007

IES ‐ 1994 IES ‐ 2002 IAS‐2014 main

For-2019 (IES, GATE & PSUs) 61

IES 2011 Conventional GATE – 2010 (PI)

Statement for Linked Answers questions: S‐1 GATE – 2008 Q‐1 (Statement in S‐2)

GATE – 2009 (PI) IES‐2017 (Prelim)

For-2019 (IES, GATE & PSUs) 79

GATE ‐ 1992 Point‐to‐point straight line mode IES Conventional

For-2019 (IES, GATE & PSUs) 88

For-2019 (IES, GATE & PSUs) 97

IFS‐2015 IFS 2011

The following are the steps to be followed IES Conventional Part Programming

121 122 123

GATE ‐ 2004 GATE ‐ 2010 IES ‐ 2009

127 128 129

130 131 132

136 137 138

GATE ‐ 2000 GATE 2014

139 140 141

Table of Important M codes GATE ‐ 2009

feed rate spindle speed format is used by

Programming Formats IES ‐ 1993 IES ‐ 1996

For-2019 (IES, GATE & PSUs) 151

N120 G00 Z2.0<EOB>(Rapid return to X55.00 Y50.0 Z2.0) Example 2

% real position = specified position + value saved in H××

IFS‐2013 ‐ Conventional Answer:

163 164 165

Answer: IES ‐ 1995 IAS‐2011 Main

175 176 177

A = POINT/ 3,4,5 B = POINT/ INTOF, L1, L2 D = POINT/ YSMALL, INTOF, L3, C1 y

181 182 183

E = POINT/ YLARGE, INTOF, C1, C2 P7 = POINT/ CENTER, C6

Line (LINE) Line (LINE)

LIN = LINE/ SLOPE,

190 191 192

For-2019 (IES, GATE & PSUs) 196

Circle (CIRCLE) The Machining Plan The Machining Plan

y Check surface: a surface at which the current tool

208 209 210

Machining Specifications Machining Specifications

211 212 213

PARTNO CONTOUR CUTTER/25.0 RAPID

R40 LAB = LINE/A, B

Material : M S. CBC = CIRCLE/CENTRE, PTQ, RADIUS, 30.0

For-2019 (IES, GATE & PSUs) 223

229 230 231

IES ‐ 1997 IES ‐ 1995 GATE 2008 (PI)

235 236 237

For-2019 (IES, GATE & PSUs) Page 27 of 50 Rev.0

Links and Joints