Chapter 2

CNC Fundamentals
and Vocabulary

Chapter Objectives

After studying this chapter, the student should have knowledge of the
following:

The Cartesian coordinate system

The motion directions of the CNC mill and lathe
The types of coordinate systems
Dimensioning theory
The CNC vocabulary

19
 20 chapter 2 CNC Fundamentals and Vocabulary

AXIS AND MOTION NOMENCLATURE

All CNC machine tools follow the same standard for motion nomencla-
ture and the same coordinate system. This, as mentioned in Chapter 1, is
defined as the EIA 267-C standard. The standard defines a machine coor-
dinate system and machine movements so that a programmer can de-
scribe machining operations without worrying about whether a tool
approaches a workpiece or a workpiece approaches a tool.
Different machine tools have different machine motions, but they al-
ways use the same coordinate system. When describing a machine oper-
ation, the programmer always calculates tool movements relative to the
coordinate system of the stationary workpiece. For example, you may
have a CNC machine on which the tool is always stationary; however, the
workpiece will move in various directions to achieve a finished part. In
this example, when describing the tool motion or coordinate system, you
describe the tool moving relative to the workpiece.

THE RIGHT-HAND RULE OF COORDINATES

The machine coordinate system is described by the right-hand rectangu-
lar coordinate system, that is, the rectangular Cartesian system. Based on
this system, the right-hand rule governs how the primary axis of a ma-
REMEMBER chine tool should be designated.
As shown in Fig. 2.1, hold your right hand with the thumb, forefinger,
The right-hand rule is viewed
and middle finger perpendicular to each other. The thumb represents the
from the programmer’s per-
X axis, the forefinger the Y axis, and the middle finger the Z axis. The
spective. For a mill the +Z axis
other two fingers are kept closed.
always points into the spindle.
The direction of each finger represents the positive direction of
motion.
The axis of the main spindle is always Z, and the positive direction is
normally into the spindle.

Figure 2.1 +Y
The right-hand rule of machine
tool coordinates.

+Z

+X
 axis and motion nomenclature 21

+X, Y, or Z Figure 2.2

The right-hand rule for determin-
ing the clockwise rotary motion
+A, B, or C about X, Y, and Z.

On a mill the longest travel slide is usually designated as the X axis

and is always perpendicular to the Z axis. On a lathe the longest
travel slide is usually the Z axis.
If you rotate your hand—looking into your middle finger—the
forefinger, which is perpendicular to it, represents the Y axis.
The base of your fingers are the start point, or origin (X0, Y0, Z0).
To determine the positive direction, clockwise, about an axis, close
your hand with the thumb pointing out, as shown in Fig. 2.2, in the pos-
itive direction. The thumb may represent the X, Y, or Z axis direction, and
the curl of the fingers may represent the clockwise, or positive, rotation
about each axis. These are known as A, B, and C and represent the rotary
motions about X, Y, and Z, respectively. These designations are used only
for multiaxis machining centers. See Figs. 2.3–2.8 for examples of axis
designations on various machine tools.

Z
Figure 2.3
A typical three-axis CNC gantry
milling machine.

X
 22 chapter 2 CNC Fundamentals and Vocabulary

Figure 2.4 X
A typical CNC lathe.

Y A

B
Y
X

Z
Z

X
Figure 2.5 Figure 2.6
Axes orientation of a typical CNC A horizontal milling machine
knee mill. with multiaxis rotary table.

Figure 2.7 Y
A horizontal boring machine with
rotating base and spindle head.

X
Z
 cnc milling fundamentals 23

+Z Figure 2.8
The Cartesian graph as it
relates to the CNC
machine tool. It shows the
three axes, their planes,
and the positive and
negative directions the
+Y tool can move in.
–X

+X

–Y

–Z

CNC MILLING FUNDAMENTALS

THE CARTESIAN GRAPH FOR CNC MILLING
Note in Fig. 2.8 that the origin (reference point) is (X0,Y0,Z0). The direc-
tion of travel will dictate the value for the coordinate. Measuring the dis-
tance to a location from a fixed origin is referred to as the absolute
coordinate system, and measuring the distance of a point relative to the
last point is referred to as the incremental coordinate system. These sys-
tems are explained in more detail in the following sections.
Figure 2.9 shows the three planes in the Cartesian coordinate system:
the XY plane, XZ plane, and YZ plane. The XY plane is the conventional
standard.
There are two main reference points on a CNC machine from which to
base all coordinates. The machine reference zero (MRZ) is a point on the
actual machine. The part reference zero (PRZ) is a point on the actual part
or workpiece.
All CNC machine tools require a reference point from which to base all
coordinates. Although every CNC machine will usually have an MRZ, it
is generally easier to use a point on the workpiece itself for reference. The
reason is that the coordinates apply to the part anyway—hence the PRZ.
It makes sense to put reference points on prominent objects, so the lower
left-hand corner on top of the stock of each part is where the PRZ usually
is defined. Figure 2.10 illustrates why the PRZ (or the origin point) is at
the lower left-hand corner on top of the workpiece.
The advantages of having the PRZ at the lower left corner on top of the REMEMBER
workpiece are as follows:
1. Geometry creation is in the positive XY plane for CAD/CAM
systems.
 24 chapter 2 CNC Fundamentals and Vocabulary

Figure 2.9
The three planes in the Cartesian
coordinate system: XY, XZ, and
YZ. The G-code notations are also G17 G18
displayed. Z Z
Y Y

X X

G19
Z
Y

Figure 2.10 PRZ

The PRZ is located at the lower
Part
left-hand corner on top of the
workpiece to allow for easier
coordinate measurement.

MRZ

2. The corner of the workpiece is easy to find.

3. All negative Z depths are below the surface of the workpiece.

IMPORTANT ABSOLUTE COORDINATES FOR MILLING

Absolute coordinates use the origin point as the reference point. This
means that any point on the Cartesian graph can be plotted accurately by
measuring the distance from the origin to the point, first in the X direc-
tion and then in the Y direction—then, (if applicable), in the Z direction.
Points are generally written (X(+)(–)__, Y(+)(–)__, Z(+)(–)__ ), or, for ex-
ample, (X3.25, Y–7.5, Z–0.5). Placing a positive sign before a number or a
zero before a decimal point is usually optional.
 cnc milling fundamentals 25

Y Figure 2.11
5 A A Cartesian graph with points A,
B, and C.
(X1.5, Y4.5)
4
B
3
(X2, Y3)

2
C
1
(X4, Y1)
.5
X
.5 1 2 3 4 5

OBSERVE FROM FIG. 2.11 THE FOLLOWING.

Point A: This point is 1.5 units along the X axis from the origin and
4.5 units along the Y axis from the origin. It is at (X1.5, Y4.5).
Point B: This point is 2 units along the X axis and 3 units along the Y
axis from the origin. It is at (X2.0, Y3.0).
Point C: Point C is 4 units along the X axis and 1 unit from the Y
axis. It is at (X4.0, Y1.0).
With absolute coordinates, keep in mind that all coordinates are mea-
sured from (X0, Y0) to the point in question, first in the X direction, then
in the Y direction, and finally in the Z direction. (Note that, if there is no
Z coordinate, as on a two-dimensional part, it need not be included.)
The following examples, illustrated in Fig. 2.12, describe how the plus
or minus values are derived. Remember, absolute coordinates are mea-
sured from the origin (0, 0) to the point, first in the X direction, then in REMEMBER
the Y direction, and finally (if applicable) in the Z direction.
EXAMPLE A: From the origin, point A is 3 units along the +X axis and
then down 2 units along the –Y axis. Therefore (X3.0, Y–2.0).

Y Figure 2.12
5 Examples of absolute coordinates.
Note how the coordinates for each
4
C point are measured first in the X
3 direction, then the Y direction to
(1, 3) that point.
(–1, 2)
2

(–3.75, .5) 1
–X X
–5 –4 –3 –2 –1 1 2 3 4 5
–1
(–3, –1) A
–2
B (3, –2)
–3
(–4, –3)
–4 (.75, –3.5)

–5
–Y
 26 chapter 2 CNC Fundamentals and Vocabulary

Figure 2.13 Y
5
In this graph, point 1 is 1 unit in
the +X direction from the origin 4
and up 3 units in the +Y direc-
tion. Thus the incremental coordi- 3
1 (1, 3)
nates for point 1 are (X+1, Y+3). 2 (–2, –1)
2
Point 2 is 2 units in the –X direc-
tion and down 1 unit in the –Y 3 (–2.75, –1.5) 1
direction. Thus the incremental .50
coordinates for point 2 are –X X
(X–2, Y–1). –5 –4 –3 –2 –1 1 2 3 4 5
4 (0.75, _1.5) –1

–2
5 (–1, –1) 7 (2, 0.5)
–3 6 (5, –0.5)

–4

–5
–Y

EXAMPLE B: From the origin, point B is 4 units along the –X axis

and then down 3 units along the –Y axis. Therefore (X–4.0, Y–3.0).
EXAMPLE C: From the origin, point C is 1 unit along the +X axis
and then up 3 units along the +Y axis. Therefore (X1.0, Y3.0).

INCREMENTAL COORDINATES FOR MILLING

IMPORTANT Incremental coordinates use the present position as the reference point
for the next movement. This means that any point in the Cartesian graph
can be plotted accurately by measuring the distance between points, gen-
erally starting at the origin. It is important to remember that incremental
coordinates are measured from point to point, always starting from a
known reference point such as (0, 0).
EXAMPLE: From Fig. 2.13, the incremental coordinates for points 3, 4,
5, 6, and 7 are as follows:
Point 3 is (X–2.75, Y–1.5) units from the previous point (point 2).
Point 4 is (X+.75, Y–1.5) units from the previous point (point 3).
Point 5 is (X–1.0, Y–1.0) units from the previous point (point 4).
Point 6 is (X+5, Y–.5) units from the previous point (point 5).
Point 7 is (X+2.0, Y+.5) units from the previous point (point 6).
You generally use incremental coordinates when plotting a large series
of points that are clustered around a reference point. In this way, you can
use absolute coordinates to pinpoint the reference point (for example, a
corner in a milled pocket or center of a bolt hole) and then use incre-
mental coordinates to plot the points around it.

EXERCISES
To demonstrate an understanding of the characteristics and format of ab-
solute and incremental coordinates, refer to Fig. 2.14 and complete the
following exercises.
 cnc turning fundamentals 27

Y Figure 2.14
5
CNC milling coordinates.
4

3
B A 2 H

1
C .50
–X X
–5 –4 –3 –2 –1 1 2 3 4 5
–1

–2 G
D
–3
F
–4
E
–5
–Y

EXERCISE 1: Absolute Coordinates

Fill in the X and Y blanks with the appropriate absolute coordinates
for points A through H.
A: X_____, Y_____ B: X_____, Y_____
C: X_____, Y_____ D: X_____, Y_____
E: X_____, Y_____ F: X_____, Y_____
G: X_____, Y_____ H: X_____, Y_____
EXERCISE 2: Incremental Coordinates
Fill in the X and Y blanks with the appropriate incremental
coordinates for points A through H.
A: X_____, Y_____ B: X_____, Y_____
C: X_____, Y_____ D: X_____, Y_____
E: X_____, Y_____ F: X_____, Y_____
G: X_____, Y_____ H: X_____, Y_____

CNC TURNING FUNDAMENTALS

All CNC lathes share the same two-axis coordinate system. This allows
for the transfer of CNC programs among different machines, as all mea-
surements are derived from the same reference points.
Basically, in CNC turning there is a primary (horizontal) axis and a
secondary (vertical) axis. Figures 2.15–2.18 show that the primary axis
is labeled Z and the secondary axis X.
It is also important to remember that on most CNC lathes, the tool
post or turret is on the top, or back side, of the machine, unlike on a
conventional lathe. This is why the tool is shown above the part.
 28 chapter 2 CNC Fundamentals and Vocabulary

Figure 2.15 +X axis

The XZ Cartesian coordinate sys- 5
tem. Note how the Z axis is hori- 4
zontal and the X axis is vertical.
The origin is at (X0 ,Z0), the inter- 3
section of the X and Z axes. Also
2
note how each axis has a + and a
– side. By taking the distance 1
from (X0, Z0) and the direction (+
or –), you can accurately locate –Z axis +Z axis
any point on this graph. Note that –5 –4 –3 –2 –1 1 2 3 4 5
–1
the origin is located on the right-
hand side of the part to simplify –2
programming moves.
–3

–4

–5
–X axis

Figure 2.16 +X
Relating the Cartesian graph to a
CNC lathe. The major axis always –X
runs through the spindle, so the Z
axis is the longer one. The X axis
is perpendicular to the Z axis.
–Z

+Z

Figure 2.17
Merging the Cartesian graph with
a lathe part. Note how the Z axis
runs through the center of the part
and the X axis is perpendicular to
+
it. The origin is at the intersection ˚
of the X and Z axes at the center
of the right-hand end of the work-
piece. X axis

Origin
–

– +
Z axis
 cnc turning fundamentals 29

+X axis Figure 2.18

5 Note how the part sits on the
4 graph: The origin is at the center
of the right-hand end of the part.
3 The Z axis mirrors the part, so
only the top half of the part is re-
2
quired when programming. (We
1 use the top half of the profile, be-
cause that is where the tool is.)
–Z axis +Z axis
–10 –9 –8 –7 –6 –5 –4 –3 –2 –1 1 2 3
–1

–2

–3

–4

–5
–X axis

When locating points on a profile, you need not use the entire four-
quadrant system. Any turned part is symmetric about the Z axis, so only
its top half is required in a drawing. Compare Figs. 2.18 and 2.19 to see
how the Cartesian graph is modified to suit the lathe application better.
When measuring X and Z coordinates, use a central reference point. REMEMBER
Start all measurements at this reference point, the origin (X0, Z0). For our
purposes, the origin is located at the center right-hand endpoint of the
workpiece. Keep in mind that at times the center left-hand endpoint of
the workpiece or even the chuck face may be used.

DIAMETER VERSUS RADIUS PROGRAMMING

Diameter programming relates the X axis to the diameter of the
workpiece. Therefore, if the workpiece has a 5-in. diameter and you
want to command an absolute move to the outside, you would
program X5.0.

+X axis Figure 2.19

5 A typical lathe part drawing.
A Note how the whole profile fits in
4
one quadrant and how all X val-
B
3 ues are positive and all Z values
are negative.
2
1

–Z axis +Z axis
–10 –9 –8 –7 –6 –5 –4 –3 –2 –1 0 1 2 3
 30 chapter 2 CNC Fundamentals and Vocabulary

Radius programming relates the X axis to the radius of the workpiece.

Therefore, with the same size workpiece of 5 in., you would program
X2.5 to move the tool to the outside.
Although many controllers can work in either mode, diameter program-
ming is the most common and is the default with CNCez. To change to ra-
dius programming, select the Diameter Programming option of the
Machine Configuration dialog from the Preferences… option of the File
menu. Keep in mind that all samples and step-by-step examples are
based on diameter programming.

ABSOLUTE COORDINATES FOR TURNING

IMPORTANT When measuring points on a profile, you will usually find it easier to relate
each point to the origin. Coordinates found in this way are called absolute
coordinates because all values are absolute distances from the origin. The
following section explains how to find points using absolute coordinates
for both the radius and the diameter of the workpiece (see Fig. 2.20).

FINDING ABSOLUTE COORDINATES

When plotting points using absolute coordinates, always start at the ori-
gin (X0, Z0). Then travel along the Z axis until you reach a point directly
below the point that you are trying to plot. Write down the Z value, then
go up until you reach your point. Write down the X value. You now have
the XZ coordinate for that point. Remember, travel left or right first along
the Z axis and then up or down the X axis.
EXAMPLE A: Find point A.
1. Start at (X0, Z0).
2. Travel right until you are below point A.
3. Move up to point A.
The radial XZ coordinates for point A are (X4.0, Z2.0).
The diametrical XZ coordinates for point A are (X8.0, Z2.0).
EXAMPLE B: Find point B.
1. Start at (X0, Z0).
2. Travel along the Z axis to a point below point B.
3. Move up to point B.

Figure 2.20 +X axis

Absolute coordinate example. The 5
A
start point is (X0, Z0). 4
B 3
C
2
1
–Z axis +Z axis
–10 –9 –8 –7 –6 –5 –4 –3 –2 –1 0 1 2 3
 cnc turning fundamentals 31

The diametrical XZ coordinates for point B are (X6.0, Z–7.0).

The radial XZ coordinates for point B are (X3.0, Z–7.0)
EXAMPLE C: Find point C.
1. Start at (X0, Z0).
2. Travel along the Z axis until you are below point C.
3. Move up the X axis until you are at point C.
The diametrical XZ coordinates for point C are (X4.0, Z–9.0).
The radial XZ coordinates for point C are (X2.0, Z–9.0).

INCREMENTAL COORDINATES FOR TURNING

The second method for finding points in a Cartesian coordinate system is
by using incremental coordinates. Though this method is rarely used for
main program coding, it is used with both canned cycles and subroutines.
Incremental coordinates use each successive point to measure the
next coordinate. Instead of constant references back to the origin, the in- REMEMBER
cremental method refers to the previous point, like stepping stones
across a lake. The following section explains how to find incremental co-
ordinates, again for both the radius and the diameter of the workpiece.
(see Fig. 2.21).

FINDING INCREMENTAL COORDINATES

Starting with the origin, each point in turn is the reference point for the
next coordinate. This method is easier to use when you are plotting many
closely placed points.
Keep in mind that some controllers use G90 and G91 to change the con-
troller mode between absolute and incremental, whereas other, older con-
trollers do not have G90 and G91. Instead they use X and Z for absolute
programming and more commonly U and W for incremental program-
ming. To accommodate both standards, this controller will accept both
methods of programming (G90 absolute is the default).
EXAMPLE A: Find point A.
1. Starting at the origin, travel along the Z axis until you are below
point A.
2. Move up the X axis until you reach point A.

+X axis Figure 2.21

5 Incremental coordinate example.
A
4 The start point is (X0, Y0).
B 3
C
2
1
–Z axis +Z axis
–10 –9 –8 –7 –6 –5 –4 –3 –2 –1 0 1 2 3
32 chapter 2 CNC Fundamentals and Vocabulary

The diametrical XZ coordinates for point A are (X8.0, Z2.0).

The radial XZ coordinates for point A are (X4.0, Z2.0).
EXAMPLE B: Find point B.
1. Starting at point A, travel along the X axis until you are below (or
above) point B.
2. Move up (or down) the X axis until you are at point B.
The diametrical XZ coordinates for point B are (X–2.0, Z–9.0).
The radial XZ coordinates for point B are (X–1.0, Z–9.0).
EXAMPLE C: Find Point C.
1. Starting at point B, travel along the Z axis until you are below (or
above) point C.
2. Move up (or down) the X axis to find the X coordinate.
The diametrical XZ coordinates for point C are (X–2, Z–2)
The radial XZ coordinates for point C are (X–1, Z–2)

EXERCISES
Refer to Fig. 2.22 to complete the following exercises.
EXERCISE 1: Using Incremental Coordinates
Find the diametrical X and Z coordinates for points A through E.
A: X_____, Z_____ B: X_____, Z_____
C: X_____, Z_____ D: X_____, Z_____
E: X_____, Z_____
EXERCISE 2: Using Absolute Coordinates
Find the X and Z coordinates for points A through E.
A: X_____, Z_____ B: X_____, Z_____
C: X_____, Z_____ D: X_____, Z_____
E: X_____, Z_____

Figure 2.22 +X axis

5
A
B 4
E
3
D C
2
1
–Z axis +Z axis
–10 –9 –8 –7 –6 –5 –4 –3 –2 –1 0 1 2 3
 lab exercises 33

LAB EXERCISES
1. What is the standard coordinate system called?

2. What are the three axes used on the CNC mill?

3. What are the two axes used on the CNC lathe?

4. What are the two types of coordinate systems? Explain the

differences between them.

5. On a vertical CNC milling machine, does the X axis run vertically

or horizontally?

6. What are the three planes in the Cartesian coordinate system?

7. What is the PRZ?

8. Where do you find the PRZ on a

milling workpiece?

turning workpiece?