This paper presents an open architecture control system for multi‐axis wood computer numerical
control (CNC) milling machining centre, based on LinuxCNC. The wood CNC machining system is
supported by an equivalent virtual machine in a CAD/CAM environment, as well as in the control
system. Simulation within virtual environment is essential for multi‐axis machining, and the developed virtual machines are used for program verification and monitoring of the machining
process. The virtual machine in the programming system allows the verification of the program
before it’s sent to the actual machine, while the virtual machine in the control system represents the final verification of the program, as well as the process monitoring system. Configuration of the
control system and implementation of virtual machines will be shown, along with the conducted
machining experiments that ensued after the successful simulation on developed virtual machines.For publisher: Full. Prof. Aleksandar Milašinović, Ph

Dimić, Zoran

Knežević, Mladen

Mitrović, Stefan

Rakić, Aleksandar

Živanović, Saša

machinery

113		DEMI	2021		15th	International	Conference	on	Accomplishments	in	Mechanical	and		Industrial	Engineering		www.demi.mf.unibl.org			 						 	Banja	Luka	28–29	May	2021.			An	open	architecture	control	system	for	multi‐axis	wood	CNC	machining	center		S.	Živanović	a,	Z.	Dimić	b,	A.	Rakić	b,	M.	Knežević	c,	S.	Mitrovićb		a	University	of	Belgrade,	Faculty	of	Mechanical	Engineering,	Serbia	b	LOLA	Institute,	Belgrade,	Serbia	c	Technical	School,	Gradiska,	Serb	Republic			Abstract	 	 This	paper	presents	an	open	architecture	 control	 system	 for	multi‐axis	wood	 computer	numerical	control	 (CNC)	milling	machining	 centre,	based	 on	 LinuxCNC.	The	wood	CNC	machining	 system	 issupported	by	an	equivalent	virtual	machine	 in	a	CAD/CAM	environment,	as	well	as	 in	 the	controlsystem.	 Simulation	 within	 virtual	 environment	 is	 essential	 for	 multi‐axis	 machining,	 and	 the	developed	 virtual	machines	 are	 used	 for	 program	 verification	 and	monitoring	 of	 the	machiningprocess.	 The	 virtual	machine	 in	 the	 programming	 system	 allows	 the	 verification	 of	 the	 program	before	it’s	sent	to	the	actual	machine,	while	the	virtual	machine	in	the	control	system	represents	thefinal	 verification	 of	 the	 program,	 as	well	 as	 the	 process	monitoring	 system.	 Configuration	 of	 thecontrol	 system	 and	 implementation	 of	 virtual	machines	will	 be	 shown,	 along	with	 the	 conducted	machining	experiments	that	ensued	after	the	successful	simulation	on	developed	virtual	machines.		 		 	 		 	 	Keywords	 	 virtual	machine,	programming,	wood	CNC	machine	tool,	CAD/CAM		 		1. INTRODUCTION		Modern	 CNC	 systems	 are	 developed	 with	 the	end‐user	 in	mind,	 where	 implemented	 designs	emphasize	 the	 ease	 of	 use,	 customizability	 and	extensibility.	 However,	 CNC	 machine	 tools’	expensive	hardware	(base	structure,	 linear	and	rotary	 guides,	 servo	 drives,	 servos,	 hydraulics,	etc.)	 frequently	 outlives	 the	 provided	 software	that	 is	 essential	 for	 the	 proper	 machine	utilization.	 The	 end	 result	 leads	 to	 machines	that	are	physically	in	working	condition,	but	are	rendered	 useless	 by	 the	 outdated	 software.	New,	 commercially	 available	 CNC	units	 end	 up	costing	 more	 than	 the	 actual	 machine	 tool’s	worth	 and/or	 do	 not	 facilitate	 the	 necessary	functions	 that	are	 specific	 for	 the	machine	 tool	at	 hand.	 To	 overcome	 these	 issues,	 a	 solution	may	be	 found	in	the	open‐architecture	domain,	where	one	of	 the	most	commonly	applied	ones	is	LinuxCNC	[1].	As	 the	 authors	 have	 plenty	 of	 experience	 in	configuring,	 modifying,	 and	 implementing	LinuxCNC	on	various	machine	 tools	and	robots	[2‐8],	the	development	and	implementation	of	a	control	system	for	a	multi‐axis	wood	machining	centre	was	just	a	sequel.	This	 paper	 presents	 sequences	 in	 the	development	 and	 configuration	 of	 a	 control	system	 for	 a	 multi‐axis	 wood	 machine	 tool,	utilizing	 virtual	 commissioning.	 In	 order	 to	cover	 all	 aspects	 of	 using	 open‐architecture	software	 tools,	 the	 paper	 is	 organised	 into	 six	sections,	 including	 the	 Introduction.	 Section	 2	shows	 the	 details	 of	 the	 multi‐axis	 wood	 CNC	machining	centre,	with	an	emphasis	on	machine	structure	 and	 its	 kinematic	 complexity	 as	 the	main	 drivers	 behind	 our	 open‐architecture	Corresponding	author		Dr	Zoran	Dimic,	zoran.dimic@li.rs		corresponding	author’s	e‐mail		Lola	Institute,	Kneza	Viseslava	70A,	11030	Belgrade,	Serbia	S.	Živanović,	Z.	Dimić,	A.	Rakić,	M.	Knežević,	S.	Mitrović	114	approach.	As	the	most	important	part	of	control	system	 development	 by	 virtual	 commissioning	methodology,	section	3	covers	the	development	of	 the	 virtual	 multi‐axis	 wood	 CNC	 machining	centre.		Configuration	of	virtual	machines	in	the	CAD/CAM	 system	 is	 shown	 together	 with	corresponding	 control	 and	 programming	systems.	 Structure	 of	 LinuxCNC	 as	 a	 software	tool	 for	 control	 system	 development	 is	 briefly	presented	 in	 section	 4.	 Necessary	 steps	 in	development	 and	 configuration	 of	 control	systems	 based	 on	 LinuxCNC	 are	 given	 in	 the	same	 chapter.	 Proof	 of	 machine	 tool	functionalities	 with	 the	 newly	 developed	control	 system	 is	 presented	 in	 section	 5.	Concluding	remarks	are	given	in	section	6.		2. MULTI	AXIS	WOOD	CNC	MACHINING	CENTER		The	 multi‐axis	 wood	 CNC	 machining	 centre	considered	 in	 this	 paper	 is	 a	 vertical	 milling	machine	 tool	 with	 complex	 kinematics	 in	Y’(V’)OXZBA	 spindle‐tilting	 arrangement,	 Fig.	1a.				Fig.	1.	Multi‐axis	wood	CNC	machining	center	Bacci	MX6	The	machine	 is	equipped	with	two	work	tables	which	 enable	 setting	up	 the	workpiece	on	one,	while	 the	 other	 is	 used	 in	 operation.	Alternatively,	 the	 two	 tables	 can	 be	 connected	kinematically	 in	 order	 to	 better	 utilize	 the	available	 workspace.	 Aforementioned	 table	strategies	 are	 implemented	 as	 user‐switchable	through	 the	 open‐architecture	 software	extension.	 The	 existence	 of	 two	work	 tables	 is	“omitted”	 in	 order	 to	 solve	 the	 kinematic	equations	 for	 machine	 tool	 from	 the	 previous	figure	[2].		The	 kinematic	 model	 of	 the	 machine’s	mechanism	 is	 shown	 in	 Fig.	 1b.	 	 Coordinate	reference	 frame	 (M)	 and	 the	 coordinate	 tool	frame	 (T)	 are	 attached	 to	 the	 pivot,	 and	 the	tooltip,	 as	well	 as	 joint	 coordinates	 	 =	 [ 1	 2	2′	 3	 4	 5]	and	the	world	coordinates	 	=	[ 		 	 	 	 ].	 The	 inverse	 kinematic	solutions	for	both	worktables	are: 	        (1)  where	 coordinates	 xT,	 yT,	 zT	 and	 angles	 AT,	 BT	determine	 tool	 position	 and	 orientation	 in	 the	Cartesian	 coordinate	 system.	 Pivot	 length	 and	tool	 length	 are	 designated	 as	 lp	 and	 lt,	respectively.	The	direct	kinematic	solutions	were	derived	as	shown	in	the	next	equations:	       (2) 	where qi, i=1,2,…,5 and q2’ are scalar joint variables controlled by the actuators.  3. VIRTUAL	MACHINE	CONFIGURATION		Programming	 of	 wood	 CNC	 machining	 is	conventional,	 similar	 to	 any	 other	 milling	 or	drilling	 CNC	 operation.	 Originally,	 specialized	CAD/CAM	software	PITAGORA	[1]	was	used	for	programming	 of	 the	 considered	 Bacci	machine	tool.	 This	 approach	 required	 the	 adoption	 of	xT = q1 – (lp + lt)sin q4 cos q5 yT = q2 + (lp + lt)sin q5 yT = q2’ +(lp + lt)sin q5 zT = q3 – (lp + lt)cos q4 cos q5 AT = q5 BT = q4 q1 = xT – (lp + lt)sin BT cos AT q2 = yT + (lp + lt)sin AT q2’ = vT +(lp + lt)sin AT q3 = zT – (lp + lt)cos BT cos AT q4 = BT q5 = AT An	open	architecture	control	system	for	multi‐axis	wood	CNC	machining	center	115	non‐standard	 axes	 directions	 and	 kinematics.	Implementation	 of	 a	 new	 control	 system	enabled	 the	 adoption	 of	 a	 standard	 kinematic	model,	 making	 it	 possible	 to	 utilize	 widely	available	CAD/CAM	systems.	One	 of	 the	 established	 systems	 for	programming	 and	 verification	 of	 NC	 programs	for	 wood	 CNC	 machining	 centre	 is	 shown	 in	section	4.	The	CAD	model	of	a	workpiece	is	the	basis	 for	 tool	 path	 generation,	 stored	 in	 CLF	(Cutter	 Location	 File)	 format.	 The	 CAD/CAM	system	 PTC	 Creo	 is	 used	 as	 a	 programming	system.	Generated	 tool	 path	 can	 be	 checked	 in	 three	ways:	 tool	path	simulation,	 material	removal	simulation	(NC	Check),		 machine	simulation,	according	to	CLF.	After	successful	verification	of	the	tool	path,	the	program	 is	 postprocessed	 and	 the	 resulting	 G	code	is	sent	to	the	machine	for	the	execution.		3.1	Virtual	machine	in	programming	system		The	 configured	 virtual	 wood	 CNC	 machining	centre	 is	 used	 to	 simulate	 the	 tool	 path	generated	in	the	CAD/CAM	system.	Virtual	 machine	 simulation	 is	 crucial	 for	 the	following	 reasons	 [1]:	 (i)	 programming	environment	 configuration,	 including	 virtual	machine;	 (ii)	 NC	 program	 verification	 prior	 to	machining,	and	(iii)	collision	detection,	essential	for	5	axis	machining.	CLF‐based	 machine	 simulation	 is	 enabled	through	 specifying	 kinematics	 that	 are	 utilized	on	 the	virtual	model	of	 the	machine	within	 the	CAD/CAM	 environment.	 This	 allows	 a	 virtual	machine	model	to	function	like	a	system	of	rigid	bodies	[4,5,7,8].	The	 kinematic	 model	 generation	 required	applying	 slider	 type	 links	 for	 all	 translational	axes	 (X,	 Y,	 and	 Z)	 and	 cylinder	 links	 for	 two	rotational	 axes	 (B	 and	 A).	 The	 corresponding	movement	limits	are	defined	for	each	axis	[1].	To	start	the	machine	simulation,	 it	 is	necessary	to	 define	 the	 coordinate	 system	 of	 the	workpiece	 (MACH_ZERO)	 and	 the	 coordinate	system	 of	 the	 tool	 (TOOL_POINT).	 These	coordinate	 systems	 connect	 the	 coordinate	systems	 of	 the	 workpiece	 and	 the	 tool	 with	corresponding	 coordinate	 systems	 on	 the	virtual	machine.		Matching	 these	coordinate	systems	enables	 the	setting	 of	 the	 workpiece	 on	 the	 configured	virtual	machine	and	setting	the	tool	at	the	head	of	 the	 main	 spindle	 on	 the	 virtual	 machine	during	simulation.	A	 single	 chair	 machining	 strategy	 (Fig.	 2a)	 is	given	as	an	example	in	order	to	demonstrate	the	programming	and	simulation	capabilities	of	our	developed	system.			Fig.	2.	Programme	verification	through	virtual	machining		A	 surface	 milling	 strategy	 was	 applied	 for	 the	machining	of	the	chair’s	shape.	After	generating	the	 tool	 path	 for	 five‐axis	 machining,	 material	removal	 simulation	was	 performed	 in	 order	 to	verify	 the	 tool	 path.	 An	 example	 of	 a	 material	removal	simulation	is	shown	in	Fig.2b.	Result	of	S.	Živanović,	Z.	Dimić,	A.	Rakić,	M.	Knežević,	S.	Mitrović	116	the	 simulation	 (the	 virtual	 workpiece)	 helps	determine	 the	accuracy	of	 future	machining	by	comparison	with	the	standard	CAD	model	of	the	workpiece.	 The	 tool	 path	 verification	 was	followed	by	post‐processing	and	obtaining	the	G	code	ready	 for	 transfer	 to	the	control	unit.	The	obtained	 G	 code	 is	 finally	 verified	 on	 a	 virtual	machine	 integrated	 with	 the	 real	 machine	control	system,	shown	in	Chapter	4.2.		4.2	Virtual	machine	in	the	control	system		The	virtual	machine	has	a	significant	role	when	developing	a	control	system	for	a	machine	with	complex	 kinematics.	 Considering	 all	 safety	precautions	 necessary	 for	 testing	 of	 the	kinematic	 functions	 intended	 for	 real	machine,	virtual	 commissioning	 [9,10]	 proves	 priceless	during	 development.	 Our	 approach	 implies	error‐driven	development	without	safety	issues.	Virtual	 machines	 are	 also	 significant	 during	machine	 tool	 exploitation.	 Machining	 program	verification	 by	 virtual	 machining	 is	 a	 crucial	task	on	multi‐axis	machine	tools	which	allows:	 visual	 detection	 of	 collisions	 between	 the	moving	 parts	 of	 the	machine	 and	 between	the	tool,	workpieces	and	fixtures;		 checking	 if	 the	 machine	 can	 execute	 the	specified	 tool	 path	 within	 the	 limited	motions,	ranges,	and	speeds.	Virtual	 machine	 development	 under	 the	LinuxCNC	 software	 environment	 relies	 on	OpenGL	and	several	interface	classes	written	in	Python	programming	language	[6].	Python	is	an	interpreted	 programming	 language,	 with	 a	gentle	 learning	 curve,	 suitable	 for	 scripting	tasks,	such	as	development	and	configuration	of	virtual	 environments.	 The	 basic	 concept	 of	 a	virtual	machine	configuration	is	shown	in	Fig.	3.	Here,	 models	 of	 machine	 components	 were	imported	 in	 ASCII	 STL	 format	 and	 connected	according	 to	 the	 established	 kinematic	 model	via	 rotational	 or	 translational	 joints.	 The	ASCII	STL	 files	 of	 the	 machine	 components	 were	obtained	from	the	CAD	environment	of	the	PTC	Creo.			After	 the	 virtual	 machine	 is	 configured,	 it	 is	integrated	within	the	control	system.	During	the	execution	of	the	machining	program,	the	virtual	machine	 components	 are	 moving	 in	 real‐time,	fully	synchronized	with	the	moving	parts	of	the	real	 machine	 [2],	 which	 was	 confirmed	 by	machining	experiments.				  Fig.	3.	Configuring	virtual	machine	in	control	system		 4. PROGRAMMING	AND	CONTROL	SYSTEM	BASED	ON	LINUXCNC		During	 the	 development	 of	 the	 control	 and	programming	 system	 for	 the	 multi‐axis	machining	 centre,	 the	 main	 objective	 was	 to	enable	the	use	of	standard	CAD/CAM	systems	to	generate	a	machining	program.		Using	 expensive	 postprocessors	 for	 this	machine	 was	 not	 an	 option.	 Thus,	 all	 non‐standard	 and	 complex	 functionalities	 of	 the	machine	 had	 to	 be	 encapsulated	 in	 term	 of	object‐oriented	programming.		An	open	architecture	control	system	for	multi‐axis	wood	CNC	machining	center	117	The	 solution	 lies	 in	 complex	 switchable	kinematic	 functions,	 developed	machine	 cycles	and	intuitive	graphical	interfaces.	After	 all	 development	 effort,	 end‐user	 can	generate	 a	 machining	 program	 using	 standard	CAD/CAM	 system	 such	 as	 PTC	 Creo,	 CATIA	 or	similar,	 choosing	 one	 among	 multiple	 generic	postprocessors,	Fig.	4.				Fig.	4.	Programming	system		The	 CAD	model	 of	 a	workpiece	 is	 the	 base	 for	tool	 path	 generation.	 In	 this	 study,	 CAD/CAM	system	 PTC	 Creo	 is	 used	 to	 generate	 a	 cutter	location	file	(CLF).	Generated	tool	path	is	tested	through	 the	 NC	 Check	 (material	 removal	simulation)	software	module,	followed	by	the	G‐code	generation.	Postprocessing	for	the	vertical	5‐axis	 milling	 machines,	 configured	 for	 AB	spindle‐tilting	 type,	 is	 used	 to	 obtain	 the	machining	program.	The	CAD/CAM	system	PTC	Creo	can	perform	a	verification	of	the	obtained	programs	through	virtual	simulation.	In	 order	 to	 configure	 LinuxCNC	 for	 motion	control	 of	 the	 machining	 centre,	 as	 well	 as	control	 of	 all	 the	 sequential	 processes	 that	enable	axis	initialisation,	tool	change,	etc.,	some	development	 steps	 had	 to	 be	 made.	 The	 key	part	 was	 coding	 and	 testing	 switchable	kinematic	 functions.	 Using	 remappable	 M	functions,	 M200,	 M201	 and	 M202,	 kinematics	switchability	[2]	is	achieved	as	shown	in	Fig.	5.				Fig. 5. Customized M functions 	After	 getting	 a	 virtual	 machine	 environment,	which	 is	 depicted	 in	 the	 next	 section	 in	 detail,	kinematic	 functions	 are	 implemented	 in	 the	control	 system.	 During	 the	 test	 procedure,	control	 signals	 intended	 for	 real	 machine	 tool	are	connected	to	the	virtual	machine.	That	way,	S.	Živanović,	Z.	Dimić,	A.	Rakić,	M.	Knežević,	S.	Mitrović	118	test	 procedures	 are	 carried	 out	 safely	 without	real	machine	involvement	and	the	possibility	of	collisions	and	damages.		5. MACHINING	EXPERIMENTS		Machining	 experiments	 were	 conducted	 on	wood,	 with	 respect	 to	 production	 demands	 of	the	 corresponding	 industry.	 Before	 machining,	the	 programs’	 tool	 paths	 were	 simulated	 in	LinuxCNC	 and	 the	 virtual	 machine	 that’s	integrated	with	the	control	system.	The	 first	 test	 was	 a	 5‐axis	 machining	 of	 a	concave	calotte	(Fig.	6),	for	which	an	example	of	programming	 and	 simulation	 in	 a	 CAD/CAM	environment	is	shown	in	Fig.	4.			 Fig. 6. 5-axis machining of a concave calotte 	The	 second	 test	 was	 a	 5‐axis	 machining	 of	 a	mould	 for	 chair	 production,	 with	 significant	immediate	 finishing‐pass	 surface	 machining,	Fig.7.	In	this	case,	virtual	machine	simulation	is	essential,	 providing	 the	 collision	 avoidance	mechanism,	 which	 detects	 errors	 in	 the	workpiece	 set	 up	 and	 possible	 collisions	 of	machine	 parts	 with	 the	 workpiece	 during	machining.	The	 realized	 examples	 have	 shown	 that	 the	established	kinematic	model	of	the	machine	and	the	 developed	 control	 system,	 including	 an	adequate	 environment	 for	 programming	 and	program	verification,	 are	well‐based	 and	 ready	for	industrial	applications.			 Fig. 7. 5-axis machining a mould for chair production  	6. CONCLUSION		This paper presented a methodology for development and configuration of a control system for a multi-axis wood machine tool through virtual commissioning. During the development of the physical machine tool’s control system, virtual machines were used for algorithms’ testing, an important step for the validation of the new controller's functions. The developed control system is low-cost and easy to setup, which is especially suitable for retrofit and modernization of older machine tools. The open architecture software is suitable for the development of complex kinematics functions for multi-axis machine tools. Due to the modularity, flexibility, openness, and availability, the proposed system is convenient for machine tools with specific reconfigurable kinematic structures and unique functionalities.		An	open	architecture	control	system	for	multi‐axis	wood	CNC	machining	center	119	Directions	 for	 further	 research	 may	 relate	 to	increasing	 the	 functionality	 of	 the	 control	system	 in	 the	 field	 of	 monitoring	 and	diagnostics,	 as	 well	 as	 further	 improving	 the	methods	 of	 programming	 and	 verification	 of	machining	programs.		Acknowledgement		The	 presented	 research	 was	 supported	 by	 the	Ministry	 of	 Education,	 Science	 and	Technological	 Development	 of	 the	 Republic	 of	Serbia	 by	 contract	 no.	 451‐03‐9/2021‐14/200105	 dated	 5	 February	 2021	 and	 by	contract	 451‐03‐9/2021‐14/200066	 dated	 28	January	2021.		REFERENCES		[1] Linux	CNC.	From:	http://linuxcnc.org/,	accessed	on:	February	08,	2021.	[2] Rakic,	 A.,	 Zivanovic,	 S.,	 Dimic,	 Z.,	 Knezevic,	 M.,	(2021).	Digital	twin	control	of	multi‐axis	wood	CNC	 machining	 center	 based	 on	 LinuxCNC.	BioResources,	 vol.	 16,	 no.	 1,	 p.1115‐1130.	DOI:	10.15376/biores.16.1.1115‐1130	[3] Zivanovic,	 S.,	 Glavonjic,	 M.,	 Milutinovic,	 D.	(2015).	 Configuring	 A	 Mini‐Laboratory	 and	Desktop	 3‐Axis	 Parallel	 Kinematic	 Milling	Machine.	 Strojniški	 vestnik	 ‐	 Journal	 of	Mechanical	 Engineering,	 vol.61,	 no.1,	 p.	 33‐42,	DOI:10.5545/sv‐jme.2013.1619.	[4] Zivanovic,	 S.,	 Tabakovic,S.,	 Zeljkovic,	 M.,	Milojevic,	Z.	(2016).	Configuring	a	machine	tool	based	on	hybrid	O‐X	glide	mechanism,	Machine	Design	vol.8,	no.4,	p.141‐148.	[5] Glavonjic,	 M.,	 Milutinovic,	 D.,	 Zivanovic,	 S.,	Dimic,	 Z.,	 Kvrgic,	 V.	 (2010).	 Desktop	 3‐axis	parallel	 kinematic	 milling	 machine,	International	 Journal	 of	 Advanced	Manufacturing	 Technology,	 vol.46,	 p.	 51‐60	DOI:	10.1007/s00170‐009‐2070‐3.	[6] Dimic	Z.,		Milutinovic,	D.,	Zivanovic,	S.,	Kvrgic,	V.	(2016).	 Virtual	 environment	 in	 control	 and	programming	 system	 for	 reconfigurable	machining	robot,	Technical	Gazette,	vol.	23,	no.	6,	 p.	 1821‐1829,	 DOI:	 10.17559/TV‐20150210133556.	[7] Zivanovic,	S.,	Dimic,	Z.,	Vorkapic,	N.,	Mitrovic,	S.	(2019).Configuring	of	3	axis	mini	CNC	machine	tool	 with	 control	 system	 based	 on	 LINUXCNC,	14th	 International	 Conference	 on	Accomplishments	 in	Mechanical	 and	 Industrial	Engineering	 DEMI	 2019	 Conference	Proceedings,	p.	15‐28.	[8] Živanović,	 S.,	 Glavonjić,	 M.,	 Milutinović,	 D.	(2015).	 Configuring	 a	 mini	 laboratory	 and	desktop	 3‐axis	 parallel	 kinematic	 milling	machine.	Strojniški	Vestnik,	vol.61,	no.	1,	p.	33‐42.	DOI:	10.5545/sv‐jme.2013.1619	[9] Hoffmann,	P.,	 Schumann,	R.,	Maksoud,	T.	M.	A.,	and	 Premier,	 G.	 C.	 Virtual	 commissioning	 of	manufacturing	 systems:	 a	 review	 and	 new	approaches	 for	 simplification.	 Proceedings	 of	the	24th	European	Conference	on	Modelling	and	Simulation,	June	2010,	Kuala	Lumpur,	Malaysia,	p.	175‐181.	[10] Lee,	C.	G.,	and	Park,	S.	C.	(2014).	Survey	on	the	virtual	 commissioning	 of	 manufacturing	systems.	 Journal	 of	 Computational	 Design	 and	Engineerin,	 vol.	 1,	 no.	 3,	 p.213‐222.	 DOI:	10.7315/JCED.2014.021																472     

An open architecture control system for multi-axis wood CNC machining center

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An open architecture control system for multi-axis wood CNC machining center

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