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CNC Machine 2D Plotter
Supervisor D.R\ Eman Shaban T.A\ Mahmoud Fayez
Hassan Awad Abd El-Aziz Mahmoud Mohamed Hussein Mahmoud Salah Salam Marwan Ezz El-Deen Mohamed Momen Gamal El-Deen
Team Members….
• Introduction
• History
• System Features
• System Architecture Software subsystem Mechanical subsystem Electronic subsystem
• Mode of Operation
• Algorithms
• Testing and Simulations
Agenda….
Introduction,,,,
Introduction
Computer numerical control (CNC) machines are automated milling machines that make industrial components without human assistance. This is possible because CNC machines are fed a series of instructions that are delivered to an internal computer controller. These instructions are in the form of codes that belong to the numerical control programming language.
The code used to program CNC machines is generically called G-code. However, G-code instructions are only part of the programming language. Specifically, G-codes give CNC machines the coordinates .
CNC Machine
• Automation of 3 Motors to control the coordinates (X,Y,Z)of a pen with flexible head can be used as Plotter.
IntroductionProject Idea
History The first commercial NC
machines were built in the 1950's, and ran from punched tape.
CNC, and later CNC, allowed for tremendous increases in productivity for machine tools because the machines could be run automatically without requiring constant attention from their operator.
The first commercial NCwww.cnccookbook.com
System Features…
• Rapid speed positioning using G00• Plot line using G01• Plot Circles using G02,G03 clockwise or
anti-clock wise.• Manual Mode control the position of the
Plotter using Keyboard• Programming Mode write full program
includes moving plotter, Arithmetic operation and decisions instructions
System Features
System Architecture
System Architecture
User Interface Terminal App
Interpreter
GeometryKernel
Timers
Send G-Code Programs, Control Instruction
Configure Timers
Motors
Software Subsystem
Move Motors
invoke
Software Subsystem
There are 6 Main Software Modules
• MotorLib.h : Configure, Monitor and Move Motors.
• TimersLib.h : Configure periodic task.
• Interperter.h : Parse G-line program separate tokens and execute instruction
– [simple Arithmetic instructions ADD MUL].
– [Motor Instructions Operation G00,G01,G02,G03].
– [Decision instruction JEQ,JNE].
System Architecture cont
Software Subsystem cont.
• UART.h
– Serial communication port driver to send the G-code program and control instruction to the machine
• BresenhamLineDrawing.h
• MidPointCircleDrawing.h
System Architecture cont.
3 Motors each one attached to AXIS (X,Y,Z) Stepper Motor with the following Description
Step angle 1.8° Holding Torque: 3.9 Kg.cm (40 N.cm) Current 2 A leads: 6 wires (4 per coils 2 COM)
System ArchitectureMechanical Subsystem
System Architecture contCNC Machine Mechanical Design:
Figure-1 Different views of Our CNC Machine
It consists of 8 bit At mega 328P microcontroller and stepper motor control drivers BAL 35 for controlling all the three stepper motors. Microcontroller generates necessary STEP and DIRECTION signals for each stepper motor controller to achieve desired speed and rotation. A RS 232 is used for communicating data between PC and microcontroller.
System Architecture contElectronic Subsystem
Control Modes
• We have three types of control mode:
-Calibration Mode (CL).
-Load Mode (LD).
-Execution Mode (EXE).
Control Mode instruction
Command Description
CL Manual Mode
LD Program Mode
START Executed the program stored on RAM
EXE Read G_Line from serial and executed it immediately and acknowledge the next instruction
RESET Reset the machine to the initial X_co,Y_co_Z_co coordinates
SETBX Set border of our board on X-axis
SETBY Set border of our board on Y-axis
SETBZ Set border of our board on Z-axis
State Chart
State chart illustrates how to switch between modes
Machine Language Program instruction
Command Description
G00 Rapid speed X,Y,Z Vector.
G01 linear interpolation between 2 points Bresenham line drawing.
G02 Clockwise circular interpolation.
G03 Anti Clockwise circular interpolation.
ADD ADD operand [2] and operand [3] then put result set on Operand [1].
MUL MUL operand [2] and operand [3] then put result on Operand [1].
JEQ Jump if flag is set.
JNE Jump if flag is reset.
CMP Compare operand [1] and operand [2] and set Equal flag.
EOP End of program.
Syntax Language Program
• G00
<Operation> {X [R|I] #} {Y [R|I] #} {Z [R|I] #}
EX: G00 XI1000 YI1000 ZI1000
• G01
<Operation> {X [R|I] #} {Y [R|I] #}
EX: G01 XI1000 YI500
Syntax Language Program cont.
• G02 and G03
<Operation> {R [R|I] #} {Q [R|I] #} {C [R|I] #}
EX: G02 RI4000 QI0
• ADD and MUL
<Operation> {R [R|I] n}, operand1, operand2
EX: ADD RR1,RR2,II100 ; RR1=RR2+100
Example of G-Code programs
Hello CNC
CNC>Controll$
LD ;the following program describe of “CNC” text with G-code
G02 RI5000 QI2 CI2 ;draw "C"
G00 ZI1500 ;Lift Plotter
G00 XI1500 YI-10000 ;space between char
G00 ZI-1500 ;down Plotter
G00 YI10000 ;draw "|"
G01 XI5000 YI-10000 ;draw "\"
G00 YI10000 ;draw "|"
G00 ZI1500 ;Lift Plotter
G00 XI6500 YI-10000 ;space between char
G00 ZI-1500 ;down Plotter
G02 RI5000 QI2 CI2 ; draw "C”
EOP
START
Algorithms…
Bresenham Line DrawingG01 Implementation
• Algorithm which determines which points in an n-dimensional raster should be plotted in order to form a close approximation to a straight line between two given points. It is commonly used to draw lines on a computer screen, as it uses only integer addition, subtraction and bit shifting, all of which are very cheap operations in standard computer architectures.
Similarities between computer screen and Our board
Figure-2 Sub-pixel display http://en.wikipedia.org/wiki/Pixel
• Computer screen is divided into very small units called pixels and out board is divided into small movements called steps and we replaced the function of put pixel(X,Y); with step(Motor);
Example
Code written for screen Code written for Out machine
Put _pixel(X+1,Y+1) Set_Direction(MotorX,Positive);Set_Direction(MotroY,Positive);parallerStep(MotorX,MotorY);
put_pixel(X+1,Y) Set_Direction(MotorX,Positive);Step(&MotorX);
put_pixel(X,Y+1) Set_Direction(MotorY,Positive);Step(&MotorY);
Put_pixel(X-1,Y) Set_Direction(MotorX,Negative);Step(&MotorX);
Example of Bresenham Line Drawing
Bresenham for drawing Line
60° 45°30°7°
Figure 3 our Implementation of Bresenham line drawing on Console Screen Different slope
Midpoint AlgorithmG02,G03 Implementation
• the Midpoint circle algorithm is an algorithm used to determine the points needed for drawing a circle actually drawing one octant but we draw the other using mirroring. The algorithm is a variant of Bresenham's line algorithm, and is thus sometimes known as Bresenham's circle algorithm.
Midpoint Algorithm Example Bresenham's Circle algorithm
Figure-3 Rasterisation of a circle by the Bresenham algorithmhttp://en.wikipedia.org/wiki/Midpoint_circle_algorithm
G00 Implementation
• Implementation phases– Enable Interrupt handler of Each Timer[0,1,2]– Configure Timer to trigger event
(On_TimerOverFlow)(void**); when Timer overflow
• The foreground program is free to do useful work as it is occasionally interrupted output operations.
Context switching between Motors on G00 command
Step MotoY
Foreground processForeground process
Step MotoZ
Step MotoXTime
Figure-4 Context switching between Step(&MotorX),Step(&MotorY) and Step(&MotorZ)
Testing and Simulations…
• We simulate the behavior of motors [#of performed step, frequency of the pulses] using PROTEUS simulator. It enables us to test and debug faster than the physical level.
• DEMO OF PROTEUS
Testing and Simulations… (PROTEUS)
Testing and Simulations… (Final Demo)
Start
THANKS