JPH05282020A - Numerical controller - Google Patents

Abstract

PURPOSE:To surely evade the fear of machine breakage and improve the safety by allowing plural systems to start overlap movement at commanded machine positions when the systems start the overlap movement at the same time after waiting at start points. CONSTITUTION:The numerical controller which performs inter-system wait control by a multi-system program decoding a multi-system program is provided, system by system, with a command decision part B113 which judges a wait whose start point is specified with machine position coordinates and start point specified wait control parts B108 and B109 which start the waiting operation of their system when the machine position coordinate start point is specified from the command decision part B113 and ends the waiting operation of their system when the start point of the machine position coordinates specified by other systems is reached.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerical control device having a plurality of control systems, and more particularly, to inter-system wait command issued by designating a start point that operates at the end of a system wait command in block units of a machining program. The present invention relates to a command designation method and a decoding process in overlap operation.

[0002]

2. Description of the Related Art FIG. 6 is a block diagram showing a configuration of a numerical control apparatus including a waiting function capable of designating a start point between a plurality of control systems. In the figure, B601 and B602 are N.
A paper tape / floppy disk in which a C language processing program is stored, B603 is a keyboard for inputting data, B604 is a read storage unit for reading and storing data, B605 is a temporary storage unit configured by a buffer memory, and B606. Is an instruction decoding unit for decoding the data stored in the primary storage unit B605, B607 is a pre-calculation unit, B608 is a control unit, B609 is an axial movement amount calculation unit, and B is a calculation unit.
Reference numeral 610 is a servo (motor) drive unit, B611 is a position detector that detects a servo motor and a machine position, and B612 is a machine to be controlled.

Next, the operation will be described. The processing program is read from the paper tape B601 or the floppy disk B602 by the read storage unit B604, and the read storage unit B6 is read.
04 in the memory section. When the machining program operated by the keyboard B603 is searched, the program for each system is sorted and temporarily stored in the temporary storage unit B605. It is also possible to directly register the machining program in the temporary storage unit B605 from the keyboard B603.

The instruction decoding unit B606 is a temporary storage unit B60.
The instruction of the machining program stored in 5 is deciphered and discriminated, and the instruction of the deciphered machining program is preprocessed by the pre-calculation unit B607. These data are controlled by the control unit B608 according to some conditions, and are pulse-distributed by the axis movement amount calculation unit B609 to the actual movement amount. The data is amplified and output by the servo drive unit B610 to drive the servo motor B611, and the axis of the controlled machine B612 is moved and positioned. Controlled machine B6
The movement amount and speed of the 12 axes are fed back to the pre-calculation unit (program calculation unit) B607 and the axis movement amount calculation unit B609 by the position detector B611.

FIG. 7 shows a part related to inter-system queuing control among some control processes of the control unit B608. In FIG. 7, B 701 and B 702 are inter-system queuing commands for each system, and a block designation queuing command “!” And a start point designation queuing command “G115 / G”.
116 ”.

B703 and B704 are program command system coordinates of each system, B705 is a command determination unit that determines a wait command, B706 and B707 are block designation wait control units of each system, and B708 and B709 are start point designation waits of each system. A control unit, B 710, is an axis movement amount calculation unit that transfers data after completion of intersystem waiting control. For convenience of explanation, FIG. 7 shows a total of two systems, but in the case of a configuration with more than two systems in total, each input command and data, and each control unit are increased by the number of systems.

Next, the operation will be described. Instruction discriminator B70
5 decodes each system waiting command B701, B702. The waiting commands B701 and B702 are a block designation waiting command "!" That waits in block units of the program as described above, and a start point designation waiting command "G115 / that waits until the program execution restarts after the block designation waiting ends. G11
6 ”. The block designation wait command "!" For each system is issued to the block designation wait control units B706 and B7.
07, and the start point designation waiting command “G115 / G116” of each system is transferred to the start point designation waiting control units B708 and B709.

Block designation wait control unit B706
B707 synchronizes the blocks in the block designation waiting command "!" Of both systems during the program operation.
Start point designation waiting control unit B708, B709
Indicates that after the block command waiting is completed, the system on the specified side is moved to the position specified by the program coordinate by the start point specification waiting command "G115 / G116", and the waiting is completed. After the block specification waiting is completed, the waiting is continued. The system that was doing this will restart the program execution.

The operations of the instruction discrimination unit B705 and the block designation waiting control units B706 and B707 shown in FIG. 7 will be described with reference to the flowchart of FIG. The calculated machining program data is identified (F801), and it is determined whether or not there is a block designation waiting command "!" (F8).
02). If it is determined that there is no block designation wait command "!", The machining program data is transferred to the axis movement amount calculation unit B710 (F812), and the block designation wait control is not executed.

On the contrary, when it is determined that the block designation waiting command "!" Is present, it is determined whether the block designation waiting command "!" Is input to the first system (F803). If it is determined that the block designation waiting command "!" Is input to the first system, then it is determined whether the program is the first system program (F804). here,
When it is determined that the program is not the first system program, the machining program data is transferred to the axis movement amount calculation unit B710 (F812). On the contrary, when it is determined that the program is the first system, the waiting operation is started in the first system (F806). After that, it is judged whether or not the block designation waiting command "!" Has arrived at the second system (F
808), if it is determined that it has not arrived, the above F
Returning to 806, the same operation is repeated. On the other hand, if it is determined that it has arrived, the waiting for the block designation waiting command "!" Is terminated (F810).

If it is determined in F803 that the block designation waiting command "!" Is not input to the first system, then it is determined whether the program is the second system program (F805). If it is determined that the program is not the second system program, the machining program data is transferred to the axis movement amount calculation unit B710 (F812). On the contrary, if it is determined that the program is the second system, the waiting operation is started in the second system (F807). After that, it is determined whether or not the block designation waiting instruction “!” Has arrived at the second system (F809). When it is determined that it has not arrived, the process returns to F807 and the same operation is repeated. On the other hand, if it is determined that it has arrived, the waiting for the block designation waiting command "!" Is terminated (F810).

After the operation of F810, the start point designation waiting control units B708 and B709 are activated (F81
1) The machining program data is transferred to the axis movement amount calculation unit B710 (F812), and the block waiting control is not executed.

That is, the block designation waiting command "!"
If there is not, block machining control is not executed and block waiting control is not executed. If there is a block specification waiting command "!", It is first judged to which system the block specification waiting command "!" Is input. The block designation waiting command “!” Is sent to the first system first.
If it is determined that the second program is input, only the second system machining program is input. If it is determined that the block designation waiting command “!” Is input to the second system first, only the first system machining program is input. The program is transferred to the axis movement amount calculation unit B710 to continue the program operation of the system in which the block designation waiting command “!” Is not input.

The system to which the block designation wait command "!" Is input first enters the block designation wait state, and the block of the program having the block designation wait command "!" Is temporarily suspended. After that, it is confirmed that a system which has not waited for block designation reaches the waiting block, the block waiting operation is ended, and the start point designation waiting control unit B710 is operated.

The operation of the start point designation waiting control units B708 and B709 shown in FIG. 7 will be described with reference to the flowchart of FIG. When the end of block waiting is confirmed (F901), it is determined whether there is a start point designation waiting command "G115 / G116" (F9).
02). When it is determined that there is no start point designation waiting command, the machining program data is transferred to the axis movement amount calculation unit B710 (F911), and the start point designation waiting control is not executed.

On the contrary, when there is a start point designation waiting command, it is judged whether or not it is the program of the first system (F
903), if it is determined that the program is the first system, it is determined whether or not the first system is the preceding start (F90
4) If it is determined that the first system has started earlier, the machining program data is transferred to the axis movement amount calculation unit B710 (F911). On the contrary, when it is determined that the first system is not the pre-start, the first system waits for the start point designation waiting command "G" of the program command system coordinates Cp.
Then, the waiting operation is started (F906). After that, it is determined whether or not the second system has reached the start point designation waiting command "G" point (F908), and when it is determined that it has not reached, the process returns to F906 and the same operation is repeated. On the other hand, if it is determined that it has arrived, the waiting of the start point designation waiting command “G” is ended (F910).

When it is determined in F903 that the program is not the program of the first system, it is determined whether the second system is the preceding start (F905), and when it is determined that the second system is the preceding start. , Axis movement amount calculation unit B710
The machining program data is transferred to (F911). On the contrary, when it is determined that the second system is not the pre-start, the second system starts the waiting operation by the start point designating waiting command “G” of the program command system coordinates Cp (F907). After that, it is judged whether or not the first system has reached the start point designation waiting command "G" point (F
909), if it is determined that it has not arrived, the above F
Returning to 907, the same operation is repeated. On the other hand, if it is determined that it has arrived, the waiting of the start point designation waiting command “G” is ended (F910).

That is, it is determined which system the machining program data is, and the program of the first system is F904.
The second system program is transferred to F905. F9
Systems that do not meet in 04, F905 are F9
In the system where the program data is transferred to 11, the arrival flag is passed to another system when the start point is reached, and waiting is performed, the start point designation waiting operation is started in F906 and F907. When it is confirmed in F908 and F909 that the partner system has reached the start point, the waiting operation ends in F910, and the program data of both systems is F91.
1 and the program operation in both systems will be continued.

In addition, as reference technical documents related to the present invention, "numerical control device" disclosed in Japanese Patent Laid-Open No. 2-39302 and "Numerical control device" disclosed in Japanese Patent Laid-Open No. 1-195505. Japanese Patent Laid-Open No. 1-30350
There is a "numerical control device" disclosed in Japanese Patent Publication No.

[0020]

In the conventional start point designation waiting function between plural control systems of the numerical control device, the start point is designated by the coordinate of the program command system. Normally, the axis servo motor of a numerical control device is driven and controlled by a position loop configuration, so while the axis is moving, the position feedback position (mechanical coordinate) with respect to the movement command position (program command coordinate) Is following behind. That is, during axis movement, the machine is moving at a position that is behind the program command position.

As a result, in the prior art in which the start point is specified by the program command system coordinates as described above, the first system and the second system start simultaneous overlap movement at the same time when the start point waiting is completed. If the machine position comes before the command position and there is an obstacle near the axis movement locus, it may collide, which may lead to machine damage, and there was a problem with respect to safety.

The present invention has been made in order to solve the above problems, and when the first system and the second system simultaneously start overlapping movement after completion of waiting for the start point, the machine positions are in accordance with the command. By doing so, it is an object of the present invention to surely avoid the risk of machine damage and obtain a numerical control device with improved safety.

[0023]

The numerical control device according to the present invention enables the start coordinate position designation of a program start point designation waiting command not by the program command coordinate but by the machine position coordinate (actual machine position), It is provided with a control unit capable of collating the program designated position with the machine position coordinate.

[0024]

With the inter-control-system start point specification waiting function according to the present invention, by designating the start point in machine position coordinates, it is possible to create a program without being aware of the environment near the moving parts of the machine. It is possible to make the inter-start point designation waiting function safely.

[0025]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram showing the configuration of the control unit B 608 shown in FIG. 6, showing an embodiment of the present invention.
It corresponds to FIG. 7 of the prior art. In FIG. 1, B101 and B102 are inter-system queuing commands of each system, and include a block designation queuing command “!” And a start point designation queuing command “G115 / G116”. B103 and B1
Reference numeral 04 is a program command system coordinate of each system, B105 is a command discrimination unit for discriminating a waiting command, and B106 and B107.
Is a block designation waiting control unit of each system, B108 and B109 are start point designation waiting control units of each system,
B110 is an axis movement amount calculation unit that transfers data after completion of intersystem waiting control, B111 and B112 are machine position coordinates of each system, and B113 is a command determination unit for a start point designation waiting command "G115 / G116". It is determined whether is specified by the program command coordinate or the machine position coordinate.

According to the present invention, FIG. 1 is different from the block diagram of the prior art shown in FIG.
1, B112 and the command discrimination unit B113 are added to the start point designation waiting control units B108 and B109 to add a check and collate function of the machine position coordinates B111 and B112 of each system.

Next, the operation will be described. The block configurations shown in FIGS. 1 and 7 (prior art) have the following correlations. That is, B101 and B701 (first system waiting command), B102 and B702 (second system waiting command), B103 and B703 (first system program command system coordinates), B104 and B704 (second system program command system coordinates), B105, B705 (command discrimination unit), B10
6 and B706 (first system block designation waiting control unit), B107 and B707 (second system block designation waiting control unit), B110 and B710 (axis movement amount calculation unit), respectively, are the same, and the same processing as the conventional technique. I do.

Therefore, in the block designation waiting, which is the first step of the waiting operation, based on the flowchart shown in FIG. 8 as in the case of the above-mentioned "prior art", the input of the waiting commands B101 and B102 and the command discrimination unit B10.
The determination of the wait instruction in 5 and the execution control of the block wait instruction in the block designation wait control units B106 and B107 are performed. When the block designation wait is completed, the start point designation wait, which is the second step of the wait operation, is performed.

The command discriminating unit B113 designates the start point as the program command coordinate (designated by the address of the axis name such as X, Y) and the machine position coordinate (the remaining distance for the command is the address R).
It is determined by either). The start point designation queuing control units B108, B109 follow the command to program-command system coordinates B103, B1.
04 or the machine position coordinates B111, B112, the start point position is confirmed and the waiting control is ended.

Here, the first system machine position coordinates B111, the second system machine position coordinates B112, which are added in the present invention,
The processing of the start point designation wait command performed by the command determination unit B113, the first system start point designation wait control unit B108, and the second system start point designation wait control unit B109 will be described based on the flowchart shown in FIG.

When the end of the block designation waiting is confirmed (F201), the start point designation waiting command "G1"
The presence or absence of "15 / G116" is confirmed (F202). If there is no command, the machining program data is transferred to the axis movement amount calculation unit B110 (F211) and the start point waiting control is not executed. On the contrary, if there is a command, the first
It is judged whether it is a processing program of the system (F203),
If it is determined that the program is the first system, then
It is determined whether or not the first system is a preceding start (F20).
4). If it is determined that the first system has started earlier, the machining program data is transferred to the axis movement amount calculation unit B110 (F211). On the contrary, if it is determined that the first system is not the pre-start, then it is determined whether the start point designation is the program command system coordinates (F212).

As a result, when it is determined that the start point designation is the program command system coordinates, the first system is the start point waiting command of the program command system coordinates, and the waiting operation is started (F206). After that, it is judged whether or not the second system has reached the start point waiting command position of the program command system coordinates (F208), and when it is judged that it has not reached, the process returns to F206 and the same operation is repeated. On the other hand, if it is determined that the arrival has arrived, the waiting for the start point waiting command is completed (F210).

When it is determined in F212 that the start point designation is not the program command system coordinates, the first system is a start point waiting command for machine position coordinates, and the waiting operation is started (F214). Then, it is determined whether or not the second system has reached the start point waiting command position of the machine position coordinate (F216), and if it is determined that it has not reached, the process returns to F214 and the same operation is repeated. On the other hand, if it is determined that the arrival has arrived, the waiting for the start point waiting command is completed (F210).

If it is determined in F203 that the program is not the first system, then it is determined whether or not the second system is the preceding start (F205). When it is determined that the second system has started earlier, the machining program data is transferred to the axis movement amount calculation unit B110 (F2
11). On the contrary, if it is determined that the first system is not the preceding start, then it is determined whether the start point designation is the program command system coordinates (F213).

As a result, when it is determined that the start point designation is the program command system coordinates, the second system is the start point waiting command of the program command system coordinates, and the waiting operation is started (F207). Thereafter, it is determined whether or not the first system has reached the start point waiting command position of the program command system coordinates (F209), and when it is judged that it has not reached, the process returns to F207 and the same operation is repeated. On the other hand, if it is determined that the arrival has arrived, the waiting for the start point waiting command is completed (F210).

When it is determined in F213 that the start point is not designated in the program command system coordinates, the second system is a start point waiting command for machine position coordinates, and the waiting operation is started (F215). After that, it is determined whether or not the second system has reached the start point waiting command position of the machine position coordinate (F217), and when it is determined that it has not reached, the process returns to F215 and the same operation is repeated. On the other hand, if it is determined that the arrival has arrived, the waiting for the start point waiting command is completed (F210).

That is, after confirming the end of the block designation waiting, the start point designation waiting command "G115 /
Confirm the presence of "G116". When there is no command, the machining program data is transferred to the axis movement amount calculation unit B110 and the start point waiting control is not executed. On the contrary, when there is a command, it is determined which system of the machining program data, and the program of the first system goes to F204.
The program of the second system is transferred to F205.

The system which does not wait at F204 and F205 transfers the program data to F211,
In the system where the arrival flag is passed to another system when the start point is reached and waiting is performed, the F21 added in this embodiment is added.
At 2, F213, it is confirmed whether the start point position is designated by the program command system coordinate or the machine position coordinate.

When the start point position is designated by the coordinates of the program command system, the start point waiting operation is started in F206 and F207, and the system is suspended in program execution. When it is confirmed in F208 and F209 that the system that has not been waiting reaches the start point of the program command system coordinates, the waiting operation ends in F210, and the waiting system transfers the data to F211 and executes the program. Execution resumes.

When the start point position is designated by the machine position coordinate, the start point waiting operation is started in F214 and F215, and the program execution is suspended. F2
16, F217 confirms that the system not waiting has reached the start point of the machine position coordinates.
The queuing operation ends at 0, and the system that has been queuing transfers data to F211 and resumes program execution.

FIG. 3 shows an example of machining programs of the first and second systems utilizing the present invention. In FIG. 3, the processing program is analyzed by the instruction decoding unit B606 shown in FIG. 6 as follows.

In the first system machining program, P311 is an absolute value command, P312 is a block designation waiting command "!", P313 is an X-axis rapid feed movement command, and P314 is a start and completion confirmation of the machine assist function. P315 is a block specification waiting command "!" And a start point specification waiting command, and the command "R50" according to the present invention specifies machine position coordinates, and the command "Y" according to the prior art in parentheses.
“50” designates the program command system coordinates. Also,
P316 is an X-axis fast-forward movement command, and P317 is a program end command.

In the second system machining program, P321 is an absolute value command and P322 is a block designation waiting command "!".
In the start point designation waiting command, the command “R50” according to the present invention specifies the machine position coordinates, and the command “X50” according to the prior art in parentheses specifies the program command system coordinates. Also, P323 is a Y-axis fast-forward movement command,
P324 is the activation and completion of the machine auxiliary function, P325 is the block designation waiting command "!", P326 is the Y-axis fast-forward movement command, and P327 is the program end command.

The operation of these machining programs will be described with reference to the timing chart shown in FIG.
5, P322 is performed by the "R50" command according to the present invention, and there is no command in parentheses.

When the machining programs of the first system and the second system are started, the absolute value designation command "G9" of P311 and P321
"0" is executed to become an absolute value designation modal, and the process moves to the execution of the next block. In P312, although there is a block designation wait command "!", The wait immediately ends with the command "!" In P322, and the process moves to the execution of the next block. P
322 waits until "G115" indicates that the own system is "R50" and the remaining distance of the partner system is 50.
For P313, fast forward "G00" to X0 to "X100"
Move up to. If the remaining distance reaches 50 on the way, P32
Waiting for No. 2 ends (T321), and the process moves to the execution of the next block.

In P323, fast-forwarding "G00" moves from Y0 to "Y100", and shifts to execution of the next block. In P314, the hydraulic pressure of the machine is activated in response to the auxiliary function command, and when the operation of the machine is completed, execution of the next block is performed. P
Also in 324, the hydraulic pressure of the machine is activated by the auxiliary function command, and when the operation of the machine is completed, execution of the next block starts. P315
First, in the block designation waiting command "!"
Wait until the same command "!"
16 "indicates the other party's system and" R50 "indicates the remaining distance of the own system is 5
Have them wait until it reaches zero.

P325 ends the block designation waiting of P315 and waits until the remaining distance of P316 reaches 50. P316 is fast forward "G00" and X
Move from 100 to "X0". Waiting for P325 ends when the remaining distance reaches 50 on the way (T322)
Then, the process proceeds to the execution of the next block. In P326, fast-forwarding “G00” moves from Y100 to “Y0”, and shifts to execution of the next block. P317 and P327 are
The program is stopped at "M00".

The actual program operation of the above program operation will be described based on the machine movement locus shown in FIG. The machine movement locus is displayed in machine position coordinates, which is the actual machine position. In program P313, the X axis is (X
The movement starts from 0, Y0) to (X100, Y0) along the locus of C301. When the remaining X-axis movement distance reaches 50, the Y-axis changes from (X50, Y0) to (X
100, Y100) and start moving to C302, C3
It becomes the movement locus of 03. At (X100, Y100), the machine auxiliary functions of programs P314 and P324 are operated to complete the confirmation.

In the program P316, the X axis is (X10
The movement starts from 0, Y100) to (X0, Y100) along the locus of C304. When the remaining X-axis movement distance reaches 50, the Y-axis starts to move from (X50, Y100) to (X0, Y0) in program P326, and C305, C30
It becomes the movement locus of 6. In the program according to the present invention,
The machine movable section and the C320 of the machine fixed section near the moving locus of the machine move without collision.

Here, the machine movement locus will be described by replacing the "R50" command of the programs P315 and P322 with the "X50" and "Y50" commands of the prior art. In the program P313, the X axis changes from (X0, Y0) to (X100, Y
The movement starts on the locus of C301 until 0). In the prior art, since the start point is designated by the program command system coordinates, the delay (α) of the servo position loop with respect to the movement command is related to the start point position. Therefore, when the X-axis movement command is output up to 50, the Y-axis is changed from (X50-α, Y0) to (X100, Y10) in the program P323.
The movement starts to 0), and becomes a movement locus of C310 and C303. Program P31 at (X100, Y100)
4, the operation of the mechanical assist function of P324 is performed to complete the confirmation.

In the program P316, the X axis is (X10
The movement starts from 0, Y100) to (X0, Y100) along the locus of C304. When the X-axis movement command is output up to 50, the Y-axis is changed to (X50 +
When the movement starts from (α, Y100) to (X0, Y0), the movement loci of C311 and C306 are obtained. In the machining program according to the related art, the machine movable part and the C320 of the machine immovable fixed part near the movement locus of the machine collide with each other to cause machine damage.

[0052]

As described above, in the numerical controller according to the present invention, it is possible to specify the start coordinate position of the start point waiting command of the program not by the program command coordinate but by the machine position coordinate (actual machine position). Since a control unit that can collate the designated position with the machine position coordinate is provided, when multiple systems start overlapping movement at the same time after waiting for the start point designation, it is possible to do so at the machine position as instructed Can be reliably avoided and safety can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an inter-system waiting control unit of a numerical control device according to the present invention.

FIG. 2 is a flowchart showing the operation of a start point designated system waiting system function of a machining program in the numerical controller according to the present invention.

FIG. 3 is an explanatory diagram showing a machining program of the numerical control device according to the present invention.

FIG. 4 is a timing chart showing the operation timing of the numerical control device according to the present invention.

FIG. 5 is a graph showing a machine movement locus of the numerical controller according to the present invention.

FIG. 6 is a block diagram showing a configuration of a control system in a general numerical controller.

FIG. 7 is a block diagram showing a configuration of a system waiting control unit of a conventional numerical control device.

FIG. 8 is a flow chart showing an operation of a waiting function between block designated systems by a machining program of a conventional numerical control device.

FIG. 9 is a flowchart showing an operation of a waiting function between start points designated systems by a machining program of a conventional numerical control device.

[Explanation of symbols]

B101 Intersystem waiting command for first system machining program B102 Intersystem waiting command for second system machining program B103 Position data of command system coordinates of first system machining program B104 Position data of command system coordinates of second system machining program B105 Command Judgment unit B106 First system block designation waiting control unit B107 Second system block designation waiting control unit B108 First system start point designation waiting control unit B109 Second system start point designation waiting control unit B110 Axis movement amount calculation unit B111 First system Machine position coordinate B112 Second system machine position coordinate B113 Command discrimination unit

Claims (1)

[Claims] 1. A numerical control device having a control means for performing intersystem waiting control from a multisystem program for decoding a multisystem program, and a judging means for judging waiting for designating a start point by machine position coordinates to the control means. When the machine position coordinate start point is designated by the judging means, the self-system waiting operation is started, and when the machine position coordinate start point designated by another system is reached, the self-system waiting operation is ended Start / End A numerical controller characterized in that means is provided for each system.