CNC robotics build your own workshop bot by geoff williams

• Provides step-by-step instructions for building your own CNC mochine • Greot for use os teoching tool in metol/wood shop or on the industriol floor GEOFF ,WILLIAMS www.TechnicalBooksPdf.com (J l CNC Robotics Build Your Own Workshop Bot Geoff Williams McGraw-Hili New York London Chicago Madrid San Francisco Mexico City New Delhi San Juan Singapore Sydney Lisbon Milan Seoul Toronto www.TechnicalBooksPdf.com ./ Cataloging-i n-Publication Data is on file with the Library of Congress Copyright © 2003 by The McGraw-Hili Companies, Inc All rights reserved Printed in the United States of America Except as permitted under the United States Copyright Act of 1976, no part of this publication may be reproduced or distributed in any form or by any means, or stored in a data base or retrieval system, without the prior written permission of the publisher DOC!DOC ISBN 0-07-141828-8 The sponsoring editor for this book was Judy Bass and the production supervisor wa s Pamela Pelton It was set in Tiepolo Book by Patricia Wallenburg Printed and bound by RR Donnelly McGraw-Hili books are available at special quantity discounts to use as premiums and sales promotions, or for use in corporate training programs For more information, please write to the Director of Special Sales, McGraw-Hili Professional, Two Penn Plaza, New York , NY 10121-2298 Or contact your local bookstore II\ \:CI Thi s book is printed on recycled, acid-free paper containing a minimum of 50 percent recycled, de-inked fiber Information contained in this book has been obtained by The McGraw-Hili Companies, Inc ("McGraW-Hili") from sources believed to be reliable However, neither McGraw-Hili nor its authors guarantee the accuracy or completeness of any information published herein, and neither McGraw-Hili nor its authors shall be responsible for any errors, om issions, or damages arising out of use of this information This work is published with the understanding that McGraw-Hili and its authors are supplying information but are not attempting to render engineering or other professional services If such services are required , the assistance of an appropriate professional should be sought www.TechnicalBooksPdf.com For Margaret, whose help and patience made this book possible www.TechnicalBooksPdf.com www.TechnicalBooksPdf.com Contents II" II I I ,, 1 Design Why Build My Own Gantry Style Motors Lineal Motion Motor Drivers Acme Screw Deciding on the Dimensions of the Machine Software 4 9 10 13 Electronics Stepper Motor Driver and Computer In terface Boar ds Stepper Motor Driver Circuit The Interface Board I 2 Making the Printed Circuit Board 13 15 19 77 Tools and Materia l Artwork Board Cutting and Cleaning Toner Transfer Etching 78 82 85 93 Driver Assembly 99 The Interface Board III 77 v www.TechnicalBooksPdf.com GNG Robotics Softwa re Setup and Driver Testing Material Needed Creat ing Test Files Triangle Test Circle Test Putting th e Elect ro nics in a Case The Frame Tools and Ma teria l Bolting Assemb ly Bearing Ra il Support Bolt Ho les Paint the Frame The Gantry and X-axis T he Gantry The X -ax is: Insta ll i ng t he Gantry Bearing Guide Rail Beari ng Holder The Z and Y Axes T he Z-Axis The Y-Axls Motor and Lead Screw Insta llat ion Tools and Ma teria l X-axis Y-axls Z-axis Lim it Switc h Install at ion X -axis Limi ts Y-axis Limi ts Z-axis Limits 10 File Creation and KCam KCam CNC Cont rol ler Software KCam File Require ments How to Create a File to Import CorelDraw ACME Profile r vi www.TechnicalBooksPdf.com 113 113 121 122 123 124 13 133 138 141 144 151 53 153 160 164 175 175 184 189 189 190 199 203 206 208 209 211 215 215 219 222 223 239 Contents 11 Tool Holders and Testing Tool Holders Penholder Tool Router/Dremel Holder Testing the CNC Machin e 12 245 245 246 252 257 263 Examples Plotter Mechanical Engraving Tool Dremel Tool Ma ster Craft Rotar y Tool Router 263 268 271 274 278 293 Sources of M aterial Electronic Components L297 /L298 Integrated Circuits CANADA United States, California Lineal Motion Distributor Manufacturers Stepper Motors Metal 293 293 293 294 296 296 29 300 301 303 Index vii www.TechnicalBooksPdf.com Acknowledgments I must tha nk my brother Karl who inspi red me to write this book and my editor Judy Bass w hose fa ith and a ssistance made th e book a rea lity I'd also like to thank Patricia Wallenburg who assembled my words and images into book form Judy an d Patr icia have made this book project an extre me ly enjoyabl e expe rience Finally my tha nks go ou t to a ll the people who have freely shared with me thei r know ledge a nd assistance wh ile I was resea rchi ng and bui lding my CNC machi ne I must thank th e following co mpan ies for a llowing me to include some of their cop yrighted materia l in this book The NuArc Company, Inc does n' t p romote, e ndo rse or wa rra nty an y modified products NuArc let me reproduce so me of th e imag es from the repair ma nua l of th e copy ca mera I disassembled but they don 't endorse th e use of thei r p roducts for anyt hing ot her tha n the ir origina lly intended fu nction You can co nta ct NuArc at M&R Sa les a nd Service, Inc I N 372 Main Street , Glen Ellyn, IL 60 13 7, USA or on the Web at http:/ / www.nua rc.co m Kellywa re s allo wed me to use sc ree n ca ptures of the progra m KCa m Kellywa re ca n be contacted at PO Box 563 Spirit La ke Iowa 52 36 , USA or on the we b at http:/ / www.kellyware.co m The p roduct data sheets included with Chapter of th is book have been reprinted with the pe rm iss ion of STMicroelectron ics The documents reproduced in this book and many more useful app lication notes ca n be found at th e STMicroe lectronics Web site loca ted at http:/ / www.st.co m Scien ce Speciali st s, Inc s given me permiss ion to include sc ree n captures of th e softwa re ACME Profller, Coyot e Version 6.0 Scien ce Spec ialists, Inc ca n be rea ched at 1800 Shec kler Rd Columbia City, IN 4675 , USA or on th e Web at http t/ zwwwzfwt.co m/ v klmble/ sc ispec/scispec htm www.TechnicalBooksPdf.com Design Why Build My Own I first th ought about adding a CNC ro uter to my too l collectio n after fi nishing a kitchen cab inet renovatio n in my home I refaced the cabinets and bui lt 26 new doors during w hich I d iscovered t hat door buildi ng can becom e mo noto nou s at best As always hap pens w hen yo u tell or sho w yo ur fri ends and fam il y w hat yo u have don e, som eone w i ll have a sim ilar p roject and enlist yo ur help Tha t someone was my frie nd Geoff S He wanted to the same thing to his kitchen-reface and install new cabinet doors I agreed to help him and he decided on a style of doo r that can be ma de from o ne piece of ma terial cut to size and routed to create th e look he wanted Of cou rse t he prospect of bu il ding a w ho le Jot of doo rs and making temp lates to faci litate the routi ng was n't too thrilling That's w hen I t ho ught a sma ll CNC machine wo uld co me in han dy All th e repeti ti ve rou ting cou ld be asslg ned to the CNC mach ine and t he doors w ou ld more closely resemble each other o nce huma n erro r had been removed from t he equation Now the project didn't seem too bad at all! I started to look for an affordable machine to the job, After searching the Intern et , I was shocked to find how mu ch the asking pri ce is fo r a CN C mach ine I did fi nd a cou ple t hat were under www.TechnicalBooksPdf.com CNC Robotics NSK Amer icas Head Office 4200 Goss Road Ann Arbor, MI 48 105 Tel: 734 -913-7500 htt p :/ / w w w nsk co m/ NSK Canada Toronto/Head Office 5585 McAdam Road Mississauga , Ontario Canada L4Z 1N4 Tel: 905 -890-0740 Fax: 905-890-0434 SKF AB SKF, SE-4 15 50 G6tebo rg, Sweden Ho rnsgat an Tel: + 46 -31-337- 10-00 Fax: + 46 -31-337-28-32 http:/ /www.skf.com SKF Canada Limited 40 Exec utive Court Scarboro ugh, Ontario Canada M IS 4N4 Tel: 416-299 - 1220 Fax: 16-292-0399 http:/ /www.skf.ca SKF USA Inc 11 11 Adams Avenue Norristown, PA 19403 -2403 Tel: 610-630-2800 Fax: 610-630-2801 http: / /www.skfusa.co m 298 www.TechnicalBooksPdf.com Sources of Material SKF Motion Technologies 1530 Vall ey Center Pa rkway Suite 180 Beth lehem, PA 18017 Tel: 800-54 1-3 624 Fax: 610- 86 1-4811 http:/ /ww w.linearmotion.skf.com/ THK Canada 130 M at heson East Unit I M ississauga, Onta rio Cana da L4Z 1Y6 Tel: 905 -7 12-2 922 Fax: 905 - 712-2925 http :/ / WWW.lh k.co m/ THK Am er ica, Inc Head Offi ce 200 E Commerce D rive Schaumburg IL 60 173 Tel: 847 -3 10- 1111 Fax : 84 7- 310-1182 http:/ /ww w.thk.com / Thomson Industries, Inc Corporate Headq uarters Cha nnel Drive Port Was hington , NY 11 050 ht :/ / w w w.th om sonin d.com /d efaul t.htm USA Canada, o r M exico Phon e 1-800-554 - 8466 Fax 1-51 6-8 83 - 903 Europe Phone 44 - 127 1-334-5 00 Fax 44- 1271-334 -502 29 www.TechnicalBooksPdf.com CNC Robot ics UK Phone 0800- 975 -1000 Fax 0800-975-1001 Fra nce Pho ne 0800- 90-5 721 Fax 0800-91 - 63 15 Germany Phon e 0800-1- 816- 553 Fax 0800- 1-8 16- 55 Elsewhere Pho ne 1- 516- 883- 8000 Fax 1- 51 6-8 83- 71 09 Stepper Motors Princess Auto P.O Box 1005 W innipeg Manitoba Cana da R3C 2W7 Ph: 20 4-667 -4 630 Fax: 204 -663-7663 In Canada Call Toll Free: 1-800-665-86 85 Fax : 1-800-26 5- 4212 htt p :/ / w w w.p rincessauto.com / Pacific Scientific 4301 Kis hwa ukee Stre et PO Box 106 Rockford IL 61105 - 0106 Phone 815-226-3100 Fax 15- 226-3 148 http: / / w w w pacsci com / 300 www.TechnicalBooksPdf.com Sources of Material Sanyo De nk i A m er ica, Inc 468 Ama pola Avenue, Tor rance, CA 90501 Phon e: 310- 783-5400 Fax : 31 0- 212- 6545 http:/ /www.sanyo -den ki.com / Metal If yo u need a small qua nt it y 01 metal and can't l ind it at a scrap yard , t hen a good pla ce to look is a sto re called Me ta l Supe rmark ets Th ey have shops in Canada , th e United States, Engla nd , Sco t la nd, a nd Aust ria Go to t hei r We b si te at http :/ / w w w.metal super markets.co m/ to l ind a loca l store M etal Supe r ma rk ets (K itchener/Waterl oo) Forwe ll Road, Unit Kitch ener, Ontario Canada N2 B I W Tel: 519- 742-8411 Fax : 519-742 - 9377 Toll Free: 800-742 -8 620 301 www.TechnicalBooksPdf.com Index Note: Boldface numbers indicate illustrations ACM E Profiler, 239 -243 , 240-242 acme screw, Arrow Corporation, 292, 293 AutoCad , 12 AVN ET Cor po ration, 293, 294 bac k EM F, in mot ors, 73-7 bea ring guide rail s bear ing holder in, 164- 173, 165-17 boll ho les in, 144- 150, 144- 150 X axis, 160 - 164, 161 - 16 Z axi s fit an d, 182, 182 beari ngs linea l mot ion bipo ia r mo tors, 48, 59, 64 Bishop- W isecarver Corporation 296 bo lti ng t he fra me tog eth er, 138- 140, 138 - 141 ca bi net ry, 281 -292 Canad ian Beari ngs Ltd " 29 capacitor installation in driver, 109-110, 110 case enclosure for electronics 124-1 32, 125 132 ch anging bi t size , 23 6, 237 chopper co ntro l and ci rc uit, 54- 7, 54 , 55, 56, 65, 66- 67 , 67 ci rcl e test fil e, 123- 124 , 124 cle aning stee l, 137, 137 , 138 cl ean ing the pr inted circ uit board , 82-84 , 83, 84 cl ock pulse ub ler, L297, 59 303 www.TechnicalBooksPdf.com CNC Robotics CNC controls setting, 11 7, 11 7, 120, 120 ,218-219, 218, 219 computer connection driver and interface board, 118-120, 118, 119 interface board between motors and 13-15 13 interface board to limit switches 19- 21 20 conti nuity checking 107 contro ller software, Ke arn, 15-2 19 controllers motor, ST M icroelectronics manual on (Seealso L29 7; L298 ) 22-75 CorelD raw, I I, 12, 223 -239 , 223 exporting fil es to KCam fro m, 226 , 22 , 227, 22 KCam use of, 22 4, 225 , 22 layout options for, page size, shape etc., 224, 225 offset t ing G code to cente r the project, 238, 238, 239 texttes t.plt file in, 233 , 234 , 234 vecto r grap hics V5 ster gra phics in , 23 8- 239 cost of CNC machines 1- cutting depth settings, 258 cutting steel , t 36, 136 cutting the printed circuit board 82 -84 83 84 Data Exchange Fil e ISee also DXF files) , 22 design, 1- 12 acme screw in dimensions in 9- 10 front view, JJ ganl ry sty le in, lineal motion in, 4-8 motor drivers, motors for 2-4 , side view, 10 software selection 10 -1 dimensions of machine, 9- 10 doo rs, 281- 282, 281, 28 vetail jo ints, 283-286, 283 , 284 , 28 5, 286 Oremel tool engraving with, 27 1- 27 4, 271-2 73 holder for , 252 - 257 , 252 -2 dr illing holes in PCB, 100-101 , 100, 101, 10 drills, 100, 100 driver, motor, 15- 19 17 99 - 112 bottom ar tw or k for , 79-80, 79 cables fo r, 128, 129 capacitor install ation in 10 9-110, 110 component placement and installati on in 10 4-108 , 105, 106 continui ty checking in 107 dr ill ing hol es in , 100-1 01, 100, 101 , 102 finis hed product, 112 head er s for, 108- J09, 109 heat sink for , I I I, III 304 www.TechnicalBooksPdf.com Inde x driver, motor (continued) interface board connection to 11 8- 120 , 118, 119 inte rfa ce boar d for, 111 - 112, 112 L298 ins talla tion in, 109, 109 leads in, 108 materials and tools for, 99 100 mo therboa rd mounting of , 126, 126 power supply for, 11 sold er ing in, 101, 103, 103 stat ic electricity protection in, 104, 104 testing, 113- 132 top of driver boa rd, 80 , 80 w iri ng , 110- 111, III DXF file s, 12, 219, 22 2-22 electronics, 13-75 case enclosure for, 124 - 132, 125, 13 in terfa ce bo ard , 19- 21 , 20 interface boa rds, stepper motor dri ver and comp uter 13- 15 , 13 source s, 29 3-296 stepper moto r driver circuit 15-19 17 engravlng Drcm el tool for, 271 -2 74, 271-2 73 engra ving tool fo r, 268 - 271, 268 - 27 Mas ter Craf t ro tary tool for, 274-277 , 274-277 etch in g process in PCB, 93-97, 93, 95, 96 Exell on fil es, 19 fan, 125, 128- 129 file format s, in programming, 12 frame, 133- 151 asse mbly of, 141 -14 4, 141, 142, 143 bearing rail supp ort bolt ho les in , 144-150, t 44-1 50 bolting together, 138- 140, 138- 14 clean ing, 137, 13 7, 138 cutt ing stee l for, 136, 136 dimensions of 133- 134, 13 pa in tin g, 151 squa rin g and levelin g of, 141 -i 44, 141 tools and materia ls for, 122- 125 we ldi ng together, 143- 144 , 143 front view of CNC machine, II Future Electron ics 293, 29 G code , i i, 219 ga nt ry , 2, 153-160, 154 bear ing ho lde r in , 164- 173, t 65 -1 73 bol t ho le loc ations in, 157 - 158, 158, 159 mounting and access hol es on upri gh ts, 156, 156, 157 305 www.TechnicalBooksPdf.com CNC Rob otic s gant ry (continued) spanning bea ms for 155-1 56 155 156 tools and materia ls for, 153 upr ights and feet fo r 155 155 159-1 60 159 160 X ax is in 160 - 164 161-16 Gerber fil es 219 glass etc hing 26 6- 26 266 267 guide rail s 7 half - step sequence , in motor, 52 , heat sink for dr iver 111, III Hew lett Packard Graphics Language (Sec also HPGL files) 222 HPGL fil es 12 21 222- 223 import file creation for Ke arn, 22 2-223 INA Inc.• 296 in ter face board 19- 21 20 artwork for, 80, cables for 128 129 dr iver board connection to 118-120 , 11 , 11 motherboard mounting of 127 12 stepper motor d river and computer 13 - 15 13 joint s cabinetry 283-2 86 283 284 285 286 KCam and programm ing 11- 12 12 13 ACME Profil er and 239-243 24 0-242 AutoCad in, 12 changing bi t siz e and 23 23 CNC t rol selling in 18-2 19 218 19 CNC Controll er soft w are for 215- 219 converting text to curves in 23 7, 237 Corel Dra w and II 12 22 3-2 39 223 cutti ng depth sett ings in , 25 dow nloading cop y of 11 3- 11 file fo rmats in 12.219- 222 G code an d com mands fo r 11 21 9- 221 impo rt file creati on for, 222 - 223 insta ll at ion of II 15 la thecore j plt fil e 28 7- 291 li netest plt file in 228 -230 230 Ii netest2 p lt fil e in 231 - 232 233 M code and commands for, II, 220-222 machine setup file for 258 offsetting G cod e to cente r the project 238 238 239 openi ng 21 port assignm ent in, 216, 217 shapes.plt file fo r 261-262 26 262 softwa re selectio n, 10-1 306 www.TechnicalBooksPdf.com Index Kearn and programming (con tinued) system timing in , 17, 217 Table Setup w indow in, 215, 216 testt exl plt file for, 260 , 260, 26 tex tt est.plt fi le in , 233 , 234, 234 tool size setting in, 234, 235 , 236 user define d M code s for, 22 Kell y Ware (See also KCam) , 113 L297 stepper mo tor tr oller, IS , 18- 19,22- 75,22, 23 ,46 a version of (L297A), 57-58 , 58 advantages of, 46 -47 ap pli cal ion for, 29 bipola r ste ppe r moto r a nd , block diagra m of, 23 circui t op eration in, 2S clock pulse doubler In, 59 DIP packa ge mechanical data for, 30- 31, 30, electrical characteristics of, 27- 28, 28 half step mod e i n, 26 , 26 L293E vs 47 normal drive mode in, 26 26 phase sequence in 26 pin co nnec tions for 23 , 62 pin function chart for 24- 25 pin functions for, sources for, 29 synchroni za tion in 29 un ipo lar motors and , w ave drive mode in 7, L298 H br idge IC, I S, 18-19, 33- 75, 33 a pplication informat ion in 39 bidirectiona l control in 38 40 block diagram of , 33 dimensio n data for 42, electr ica l cha racteristics of, 35 -3 installing in dr iver, 10 109 ma xim um rat ings tor, 34 m uiti watt IS H, 43 , 43 multiwatt 15V, 42, PCB layout for, pin co nnec tions for 34 p in funct ions for, 35 PowerS020 , 44, 44 satu ration voltage in, 36 sink current in, sources for, 29 sw itching times in, 36 , the rm a l data on, 34 307 www.TechnicalBooksPdf.com CNC Robot ics lath e, 286-292 , 287 lathecore3.plt file, 28 7-29 lim it sw itch installa t ion, 206-21 4, 207 , 208 interface board to comp uter 19-2 1, 20 lineal motion 4-8 bea rings in, guide rails in 7 suppliers of mat er ial for, 296 -300 TV gli de tray assembl y i n, Iinetest.plt file , 22 8-230 , 230 linetest2.p lt file in, 231 -2 2, 233 load curre nt regula tion motor, 53-54 losses motors, 68 M co de, I I , 220 -222 machin e setup file Ke arn 258 Mas ter Craft rotary tool engraving, 274- 277 74 - 77 materia ls, sources, 29 3-301 M D F as table board, 25 7, 258 mecha nica l engrav ing tool, engr avings 268 - 71, 268-2 71 Me tal Supe rmarkets, 300 metal , suppliers of , 300 motor mo unts, 190 , 19 , 191 , 19 motors, - , , 14 back EM F and, 73-74 bipola r, 48, 59 , 64 cable conne ction s to, 130 - 131, 130 , 13 c hoppe r co nt ro l fo r, 54 - 57, 54 , 55, 56, 65, 66 -67, 67, 70 - 73, 71 controlle rs for, ST M icroelectronics manua l on (Seea/so L29 7; L29 8) 22-75 dr ive top ology select io n fo r, 64 -6 5, 64 dri ver for, 9, 15- 19, 17 flexi ble shaft co upling for, 198, 198 half step dr ive, 49 , 52, 52 installation of 18 9-2 14 inte rface board to comp ute r and 13- 15 13 L29 step per mo to r co ntro ller Ie for (See also L2971, I S, 18- 19, 22 -7 5, 22, 23 L298 H bri dge IC (See also L298), IS , 18- 19, 33 -75, 33 lead screw centering and mounting 193- 196 193-196 19 limit sw itch insta lla tio n fo r, 206- 21 4, 20 20 load current regulat ion in, 53-54 , 54 losses in, 68 minim um current in 68 , mounts for 190 190 191 19 noise and , 70-73 , 71 72, 73 peak detect current in, 68 69 phase sequence generation in, SO-5 51 53 power dissipat ion in bridge Ie in 68 71 308 www.TechnicalBooksPdf.com Ind ex motors (continued) p ow er supply for 15 problem s and soluti ons for 64-75 ripple current in 68 selection of, unipo lar Y5 bipol a r, 64 sources for used/ second-hand, stepper motors, stuck condition in 74 suppliers for 300- 30 tools and materia ls for installation of 189 two pha se dri ve in 49 52 52 un ipolar 48 50 60 64 66 variabl e reluctanc e, 50, SO wa ve dri ve state sequence in, 53 53 wind ing current in 69 , 70 w iri ng diagram for, S X axi s and 190- 199 193 X axi s limit setti ng for 208-209 208 209 Y axis and 199- 203 199- 203 Y axi s limi t sett ing for 209 -210 210 Z axi s and 203-2 06 20 4- 206 Z axi s li mit setting for 11-2i 211- 14 Mo user Electron ics 294 noise, in motors, 70-73, 1, 2, 73 NSK Inc.• 297 N U Horizons Electronics, 294 NuA rc Mod el SST 1418 hori zontal camera exp loded view , Pacifi c Scient ific , i 15.299 pain ting the fram e 151 peak detect current in motors, 68, 69 pen hol der, 246 -252 24 6- 252 phase sequence gene ration in motors, 50-5 3, 1, 52 Pioneer Standa rd 293 295-296 plotter 263-2 68, 26 , 265 port assignment 11 116, 11 118, 21 6.2 17 power supp lies , 4, 15 11 8, 129 connecting 128 , 12 connector strips for 127, 12 fa n connection to, 128 -129 wi ring diagram for motors, S Princess Auto, 13, 299 pr inted circui t board construction 7- 97 aligning the artwork for, 85 , 8 art w ork for, 78-8 bott om of dri ver board, 79-80 79 cleani ng, 82-84 cut ting , 82- 84 309 www.TechnicalBooksPdf.com CNC Robot ics printed circuit board construction (continued) drilli ng holes in , 100- 101 , 100, 101, 102 etching process in, 93-9 7, 93, 94, 5, 96 interface board, 80 81 ma te r ials and too ls for, 77, 78 photo resist process in 78 print ing th e ar two r k for, 80-82 soldering in, 101, 103, 103 static electricity protection in, 104, 104 tinning in, 96 toner transfer process in , 85-92 , 87 , 88 , 89, 90, 91,92 top of driver board, 80, 80 printe rs, for PCB construction 80-82 pro gramm in g (See KCam and programming) raster graphics, 238 - 239 read y rod, Richardson Electro nics 293 295 ripp le current in motors 68 ro tar y tool eng raving (M aster Craft), 27 4-2 77, 274 - 277 route r holder fo r, 252 -25 7, 252-25 ro uting with , 278 -292, 278-292 Sanyo Den ki, 16, 300 shapes.pit file , 26 1- 262, 261, 262 side view of CNC machine 10 sign makin g 278-28 1, 278 -280 SKF Inc., 298-2 99 software setup and driver testing 10- 12, 113-13 case enclo sure for electronics and , 124 - 132 , 12 , 132 circle test ti le in, 123 - 124, 124 CNC co ntrols sett ing in , 117, 117, 120, 120 Kea rn installat ion for 11 3-11 materials nceded for 113 port assignment in 115 11 , 116 11 Square-gc txt test fi le fo r, 121, 122 steps setti ng