This page intends to explain the machine preparation process in DELMIA, covering kinematics Links, mechanism behavior, simulation workflow, and validation steps. It provides detailed guidance to ensure accurate virtual representation and effective simulation of the NC machine.
Introduction To Machine Types, Configurations, Coordinate Systems & Rule
An NC (Numerical Control) machine is a machine tool whose movements and operations are controlled by a set of numerical instructions instead of manual operation.
These instructions tell the machine where to move, how fast to move, and what operation to perform to manufacture a part with high precision and repeatability.
Main components of an NC machine
Program of Instructions – G-code/M-code defining tool movements
Machine Control Unit (MCU) – Brain of the machine that reads the program
Drive System – Motors and ball screws that move axes
Machine Tool – Lathe, Mill, VMC, etc. where machining happens
Feedback System – Encoders/feedback devices for accuracy
Types Of NC Machines
NC Lathe – Turning operations
NC Milling Machine – Milling, drilling, slotting
VMC (Vertical Machining Center) – 3-axis/4-axis/5-axis machining
CNC Grinding Machine
CNC EDM Machine
NC Coordinate Systems
For flat and Prismatic Joint (block like ) Parts:
Milling and drilling operations
Convectional Cartesian Coordinate System
Rotational axes about each linear axis
For Rotational Parts:
Turning Operations
Only X and Z-axes
Machine Configuration
Head-Head Machine
Table-Table Machine
Head-Table Machine
Head- Head Machine
Definition:
A Head-Head Machine is a type of NC Machine Configuration in which Both the Cutting Tool Head are Capable of independent Movement relative to the Workpiece and each other.
Table - Table Machine
Definition:
A Table-Table Machine is a type of NC Machine Configuration in which Both the Worktables are Capable of independent Movement often along different axes.
In Table - Table Machine, Table can usually move in different directions(X,Y,Z axes) to position the workpiece precisely.
In Table - Table Machines Part Moves towards the Tool and in this Left hand rule is Used.
Head - Table Machine
Definition:
A Head-Table Machine is a type of NC Machine Configuration where the Tool Head and the worktable both Move, but along different axes to achieve the desired machining operation.
In Other Terms
It is a combination of both(Head/Table machine), the movement is based on both, depending on the axis Movement
Head-Table Machine Configuration [4]
Right Hand & Left Hand Rule
Right Hand Rule
Definition:
The Right hand Rule is a widely used Convection to determine the direction of rotation and the positive axis in coordinate systems, especially for rotational axes(e.g. A,B,C axes in NC machine)
When the Tool Moves towards the Part, then RH Rule is Applied
How it works
•Point the Thumb of your right hand in the positive direction of an axis (X,Y,Z)
•Curl your fingers around the axis.
•The direction your fingers curl represents the positive rotation direction
around that axis.
•Unlike the X, Y, Z axes, the A, B, C, are axes of rotation, so another thing we may want to know is the positive direction of rotation. This can also be found by using your right hand and aligning your thumb to any of the positive axis directions and looking at the way your fingers would be wrapped around that axis.
Left Hand Rule
Definition:
The Left hand Rule is used as a mirror or inverse convention to the Right hand Rule, applied when the relative movement direction is reversed.
When the parts moves towards the tool the movement sense is reversed.
How it works
•Point the Thumb of your left hand in the positive direction of an axis (X,Y,Z)
•Curl your fingers around the axis.
•The direction your fingers curl represents the positive rotation direction around that axis.
•Unlike the X, Y, Z axes, the A, B, C, are axes of rotation, so another thing we may want to know is the positive direction of rotation. This can also be found by using your Left hand and aligning your thumb to any of the positive axis directions and looking at the way your fingers would be wrapped around that axis.
Structuring & Renaming
Reorganized the NC structure and implemented standardized naming conventions for improved clarity, consistency, and traceability.
Tree Navigation
The machine model follows a structured tree hierarchy (Machine → Kinematics → Axes → Sub-Assemblies → Components).
The front and back sides of the machine should be maintained as separate entities to allow independent hide/show control for improved understanding and visualization and for easy navigation.
How To Define +/- Direction For NC Machine
For Head - Table Machine we use following rule for building NC Machine.
Step 1 – Understand the machine setup
Head- table machine typically consists of
•Table : Where the workpiece is fixed.
•Spindle Head : holds the Cutting Tool
•The table usually moves in X and Y directions.
•The spindle head usually moves in the Z direction(Vertically)
•
Step 2 – Define the origin and Viewing Position-
•Stand facing the front of the machine, where the control panel and spindle head are located.
•The front is considered the operator side.
•The machine coordinate system’s origin (0,0,0) is usually set at some reference point on the table or at the corner of the work envelope.
•
Step 3 - Assign the Axes Directions (X-Axis)
•Imagine the Head side of machine moving left and right.
•Facing the machine from the front:
•Moving the table to your right is +X direction.
•Moving the table to your left is -X direction.
Y-Axis(Front –Back)
The table moves front to back.
Facing the machine from the front:
Moving the table toward you (front) is +Y direction.
Moving the table away from you (toward the back of the machine) is -Y direction.
Z-Axis (Up-Down)
The spindle head (or sometimes the table) moves vertically.
Facing the machine from the front:
Moving the tool up (away from the workpiece) is +Z direction.
Moving the tool down (toward the workpiece) is -Z direction.
Rotatory Axes on a Head –Table machine
A-Axis (Rotation about X-Axis):
-Imagine the table or workpiece rotating forward/backward tilt around the X-axis.
-If you hold your right hand’s thumb along +X, the rotation direction following your curled fingers is positive rotation.
C-Axis (Rotation about Z-Axis):
•Rotation around the Z-axis, like spinning the table/workpiece clockwise or counterclockwise.
•Thumb points in +Z direction (up), positive rotation follows curled fingers (right-hand rule).
Conceptual Diagram To Identify the +/- Direction
The diagram defines the positive and negative axis directions to support accurate kinematic setup and NC validation.
Machine Preparation Steps - Workflow
Machine Technical Specification
Search machine website/machine spec document for technical information
Travel limits along all axes
Tool change position of machine
Home position of machine
Speed and federate of tool and spindle
Technical Machine Specification Of Huron K3x8Five [8]
Orientation (Equipment Design App)
Keep the machine on floor by correcting its orientation
NC Machine On Ground/Floor (MAKINO Machine) [6]
Define Zero Position
Before Apply Kinematic on Machine first we need to define machine at zero position.
Note: The Axis of X and must be opposite to Each other as shown in Image
The Axis System for Workpiece and Tool Mount should be Right Handed to avoid clash/Error as mention in the Image
Define Kinematics and Links
Switch to Equipment Design App to Define the Kinematics Behavior on each part to Define X,Y,Z,A,B,C.
Kinematics - kinematics is used to simulate and analyze the motion of machines, robots, and humans in a digital factory environment.
Types of Kinematics
Fix Joint
Prismatic Joint
Rigid Joint
Revolute
Fix Joint Joint - A Fix Joint means that a part or component is fully constrained in space — it cannot move or rotate in any direction. It is considered immobile.
Prismatic Joint Joint - Define a Prismatic Joint joint between two parts to allow one to slide along a direction, simulating linear motion (e.g., a conveyor pusher).
Rigid Joint Joint - A Rigid Joint connection means no relative motion is allowed between the connected parts. The parts move as a single solid unit.
Used to lock components together — e.g., robot arm links that should act as one. No joint motion is allowed.
Revolute Joint - A revolute joint allows rotation around a single axis. No translation is allowed. define a revolute joint when one part (e.g., a robotic link or arm) rotates relative to another.
To Define the Kinematics on Product or NC Machine, Goto Kinematics tap and Click on Define Kinematics.
Before Proceeding with defining the kinematics we have to consider some points very carefully:-
First we have to fix a part, the part does not move and fix in space.
Second we applied a prismatic Joint for movement of X, Y and Z axis, for this we must select first the child part and then the Parent part.
Then we have to define the rotatory movement according to Machine Axis – 5 axis, 4 axis. For this we applied the Revolute Joint Kinematic.
For Rotation of Movement we generally follow-
If the Part Moves along X-axis we consider A axis, Along Y-axis consider B axis and along Z-axis consider C Axis.
For Revolute joint Also, we must select the child part first and then Parent Part.
Now, we apply the Kinematics (Behavior) to NC machine.
First we Fix the Part .
Second we give kinematics for X-Movement. In Image 1 first we select the child part (AXE X KX 8 FIVESYL20262.1) and in Image 2 we Select the Parent Part (BATI KX 8 FIVESYL20264.1) and Give the Direction, in which direction the part will move.
Click on Command Joint to confirm the kinematics.
Third we give kinematics for Y-Movement. In Image 1 first we select the child part (Plateau Y KX 8 FiveSYL20265.1) and in Image 2 we Select the Parent Part(BATI KX 8 FIVESYL20264.1)and Give the Direction, in which direction the part will move.
Click on Command Joint to confirm the kinematics.
Forth we give kinematics for Z-Movement. In Image 1 first we select the child part (AXE Z KX 8 FiveSYL20263.1) and in Image 2 we Select the Parent Part(AXE X KX 8 FIVESYL20262.1)and Give the Direction, in which direction the part will move.
Click on Command Joint to confirm the kinematics.
Fifth we give kinematics for A- Rotatory Movement. In Image 1 first we select the child part (PLATEAU A KX 8 FiveSYL20261.1) and in Image 2 we Select the Parent Part(Plateau Y KX 8 FiveSYL20265.1)and Give the Direction, in which direction the part will Rotate.
Click on Command Joint to confirm the kinematics.
Sixth we give kinematics for C Rotatory-Movement. In Image 1 first we select the child part (PLATEAU C KX 8 FiveSYL20260.1) and in Image 2 we Select the Parent Part(PLATEAU A KX 8 FiveSYL20261.1)and Give the Direction, in which direction the part will Rotate.
Click on Command Joint to confirm the kinematics.
Generate NC Resource
Convert Product node to NC Machine resource.
To Jog the Machine or to assign the Machining parameter, for that we need to change product from Machine Resource.
For that we need to follow the steps.
Switch to Equipment design App.
In Resource creation tab, click on New Machine as shown in Image.
After click on New Machine, Select the Product node, a new UI will Open, Fill the Information in the new window as per your Specification or requirement.
Resource Type – Machining Milling Machine
Manufacture – Huron, Haas, Makino (Name of the Company Manufacturer)
Category – 3-Axis,4-Axis and 5-Axis Category.
Click on Ok, You will Notice that Product node Changes to Machine Node.
Jog Mechanism
Jog Mechanism is used to check and verify the movement of X,Y,Z,A,B and C.
To jog the machine we need to follow the steps.
In Equipment design app, Click on Motion Controller tab, select Jog Mechanism and Click on Machine Node or 3d model.
A Jog Window will Open, where we can see the movement of Axis.
Define Axis Name.
Axis Name is used to Identify the XYZABC axis in the Machine, which we have given Kinematics to the Machine.
When we give the Kinematic to Model, Mechanism Representation node is created in the Tree.
In this we can see the relation of Joints and Commands as shown-
From this Command. We cant identify which is X,Y,Z,A,B OR C.
For better understanding and do further steps properly we need to give Names to this Commands.
In Equipment design app, Click on Motion Controller Tab, Click on Axis Name and select the machine
Node or 3d model, A Axis Name Editor Window will open and will give names to these Command
As we have assigned the Kinematics Sequence.
We can verify the Names in the tree also in Commands section of
Mechanism.
Define Travel Limits.
Travel limits are the maximum range of motion allowed along each axis (X, Y, Z, etc.) of a machine.
They are essential to:
•Prevent collisions or mechanical damage.
•Ensure precise operation.
•Define the machine’s work envelope (the space in which it can operate).
To define Travel Limit for NC M/c We need to perform Certain Steps.
From Motion Controller tab, Click on Travel Limit option and Select the NC machine node from the tree or 3D Model.
A new Travel limit Window will open which is having the default Upper limit and Lower limit of each Axis and we have to assign upper limit and lower limit according to Machine technical specification to avoid collision or damage.
For that we need to refer Technical specification details of NC machine from the Company Website.
As per Document we have the Total Travel Limit of (+ -) X,Y,Z and A and B or C
Which is highlighted in the image.
Technical Machine Specification Of Huron K3x8Five [8]
Define Home Positions.
Home position is the location to which a NC machine moves to establish a reference point for all subsequent movements. It's often where the machine goes during startup or reset to ensure all axes are in known positions.
Click on Home Position icon and select the machine, a home Position Window will Open.
Click on + Icon from Home Position Window as shown. After Click on +, a New Home Will Visible in the Home Position List.
Click on New Home1 and Check the Box Edit Home using Jog, A jog Window will open specify the home position of that machine.
Click OK
Define Workpiece Mount Port.
The workpiece mount port is the area, mechanism, or interface where the material or part (workpiece) is secured during machining. It allows the machine to process the part accurately without movement or vibration.
From Resource creation Tab, Click on Workpiece Mount Port Icon and select the machine.
A new window will open and define the port where stock part will mount for the operation in port creation Window as shown in Image.
Click Ok.
The workpiece Port is visible on the Table with Blue Color axis System.
Define Tool Mount Port.
The Tool Mount Port is the connection point between the machine and the cutting tool. It allows the machine to securely hold, change, and use tools during operation.
From Resource creation Tab, Click on Tool Mount Port Icon and select the machine.
A new window will open and define the port where tool Holder will mount for the operation which is created in port creation Window as shown in Image
Click OK.
Tool Mount Port
Define Tool Change Position.
The Tool Change Position is a coordinate (usually in machine coordinates) where the machine moves its axes to perform a tool change operation safely and consistently.
From Resource creation Tab, Click on Tool Change Position Icon and select the machine.
A new window will open and define the Coordinates of (XYZ) where the Tool Will go and change the tool in Change Position Editor.
In Editor We need to Give TO and FROM Positioning of axis according to Priority as shown in below image.
Click Ok
Define NC Resources.
After Setting up the Nc machine, Last set we need to set some Parameter to NC Machine Before doing the Simulation and generate the Nc Code.
Right Click on Nc Machine Node and Click of NC Resource –Modify NC Resource.
Edit the NC resources to complete the definition.
Change the default value for the “engineering connection”
(Y=350mm, Z=500mm) to save (and load) the machine with this position (default in the shop floor)
Save
Milling Machine With Multiple Tool Change Positions
Create TWO (or more… one for each position!) tool mount port (even if it is the same position)
Create ONE tool change position for each tool mount point and the associated to/from change position
Tool Change 1
Tool Change Special
Multiple Workpiece & Tool Mount Port
In Nc machine we can create multiple workpiece port and Tool port as per user specific requirement for special operations.
Head Mount Point
In special cases, certain NC machines need additional head accessories to perform specific or advanced operations that the standard machine configuration cannot handle on its own.
To support this requirement, the machine must be designed with a dedicated mounting port or interface. This port allows head accessories to be attached and aligned correctly with the machine’s kinematics and coordinate system.
Having this provision ensures that the accessory can be mounted, recognized, and function properly during simulation and operation without requiring major modifications to the machine structure.
In Simulation we can define which Head is Used for Special Operation.
Speed & Acceleration
These values are used to compute the motion time in the machine instruction
Verify The NC Machine On Simulation
Insert Nc Machine in Manufacturing Cell.
To run/verify the Nc machine, first we need to open/search the created manufacturing Program in the database.
Open that Manufacturing program in Shop floor Machining App.
Now we have to insert the NC machine to existing Program cell, for that click on Set Tab, select import and Mount Resources.
Click on Replace machine or Configured cell
Select the Machine which is opened in another tab through session window.
Double Click on Space to exist from the command.
Connect Manufacturing Part/Stock Part To The NC Machine Table/Bed.
Again Click on import and mount Resources Icon from Setup Tab. And select the Manufactured product from the Tree.
Select the Workpiece Axis and Workpiece Mount Port axis, you can see that stock part is attached or place on the table for further activity. Adjust align the Stock part to table as per the orientation or specific requirement.
Double click on space to exist the command
Run The Simulation
From Activities Process View we can see the Manufacturing Program under part operation.
To Run that Program, click on Program and select the compute and check the toll path
Click on Play Button from the player and check the Machine Position Values, If the Values are showing in red color then we need to change the travel limits, or if the values are showing in Green color the travel limits are Correct no need to change any Limits.
We can check the collision of tool with the part from fault list option which is in analysis and output tab.
