JPH08263113A - Abnormal processing controller - Google Patents

Abstract

PURPOSE: To take proper tentative measures on the assumption that abnormality is caused before the operation of a numerically controlled device is started by enabling process codes corresponding to respective abnormality contents to be changed. CONSTITUTION: If abnormality is caused, the process code C corresponding to the abnormality contents B is specified by referring to an abnormality code table 46, the abnormality measure process corresponding to the specified process code C is extracted from abnormality measure process modules 20-24 in a control program 45, and the extracted abnormality measure process module performs the specific abnormality measure process. Thus, the operation to be performed by an NC machine tool 61 is previously set in the abnormality code table 46 before the operation is started, namely, a default process code can be changed tentatively into another process code according to the operation to be performed. Consequently, proper tentative counter measures for an abnormality process corresponding to the kind of the NC machine tool 61 and a function to be used can be taken before the operation of the NC machine tool 61.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerically controlled device (hereinafter, also referred to as NC device) controlled by a numerical control device (hereinafter, also referred to as NC control device), for example,
Numerically controlled machine tool (hereinafter also referred to as NC machine tool) or numerically controlled robot (hereinafter also referred to as NC robot)
The present invention relates to an abnormality handling control device capable of efficiently performing the abnormality handling process for the NC control device itself and efficiently performing the abnormality handling process of the NC control device itself.

[0002]

2. Description of the Related Art Recently, NC machine tools such as NC machining centers, which are NC devices, are becoming more versatile with higher functionality and higher performance at the same time. The content of anomalies that occur and the content of the anomaly handling processing are diversified and complicated.

In recent NC machine tools, sensors for abnormality detection corresponding to the above-mentioned respective functions, such as an origin sensor, a temperature sensor, an earth leakage sensor, a pressure sensor, an optical sensor,
A large number of various sensors such as magnetic sensors and pulse encoders are arranged.

As a sensor for detecting an abnormality, a temperature sensor for confirming an operating ambient temperature, a pulse encoder attached to a shaft of a servo motor, etc., in addition to an abnormality detection dedicated sensor for exclusively detecting an abnormality such as a leakage sensor, etc. As described above, there is a sensor that also serves as a measurement for achieving the original performance, function, and operation of a machine tool, such as measuring the moving distance and moving speed of an axis, but in this specification, all sensors are simply It is called a sensor or an abnormality detection sensor.

Then, the NC machine tool is connected to an NC control device, and a predetermined operation is performed under the control of this NC control device. That is, the NC control device performs the original processing of the NC machine tool based on the measurement and sensor, for example,
While performing operations such as cutting processing, the NC based on the abnormality detection signal output from the abnormality detection sensor.
Performs operations such as stopping the operation of machine tools. Note that N
An abnormality detection sensor is also arranged in the C control device itself, and the abnormality control processing of the NC control device itself is also performed based on the abnormality detection signal.

Such abnormality handling processing is executed based on a control program having an abnormality handling processing program (abnormality handling processing module).

The contents of the conventional abnormality processing program have been fixed processing contents corresponding one-to-one to the detection signal output from the sensor.

FIG. 5 is a schematic diagram used for explaining the abnormality handling processing according to the prior art.

As shown in FIG. 5, a control program 1 is stored in a ROM (read-only memory) (not shown) which is a storage means of an NC controller (not shown). This control program 1 has a plurality of abnormality handling processing modules M1, M2, ..., Mn, and each of the abnormality handling processing modules M1, M2, ..., Mn is detected by sensors P1, P2 ,. Detected signal I1,
I2, ..., In store the abnormal process contents corresponding to one-to-one.

That is, the abnormality handling processing module M1,
Mn, ..., Mn are the types of the detection signals I1, I2, ..., In, for example, a binary signal consisting of a high level and a low level from a leak sensor indicating whether or not there is an abnormality, or a temperature signal from the temperature sensor. The abnormality handling processing contents corresponding to the multi-valued signal representing the current ambient temperature are stored.

For example, when it is detected that the detection signal of the earth leakage sensor changes from a low level (non-leakage) to a high level (leakage), the primary AC power source of the NC machine tool is immediately cut off, or the temperature sensor is used. Continuously processing multi-valued signals from the machine and sounding a warning and displaying a warning on the display on the control panel when the current ambient temperature in the NC machine tool exceeds the set threshold temperature close to the allowable ambient temperature, etc. The abnormality handling processing content of is stored.

By the way, the detection signals I1 and I as described above are used.
2, ..., In, in the NC control device storing the abnormal processing control program in which the fixed abnormal processing content corresponding to one-to-one is stored, the operation currently being performed or the operation which is about to be performed Even if the sensor itself has a failure that is not directly related to, for example, the temperature sensor itself has a failure, it is also detected as abnormal.

Particularly in the recent NC machine tools having a large number of arranged sensors, depending on the viewpoint, the frequency of detecting a slight abnormality becomes high and the NC machine tool stops its operation. The probability is increasing. Such a slight abnormality does not cause any problem in operation or safety when the operator monitors the NC machine tool or the NC robot and operates the operator instead of the unmanned operation.

However, in the abnormality control processing according to the prior art, when an abnormality occurs, depending on the content of the abnormality,
It was configured to cease operation after or immediately after its work cycle.

In fact, when such a slight abnormality is detected, for example, in order to smoothly proceed to the subsequent process tomorrow or the next process in the production line, for example, the operation is continued during normal working hours. Therefore, it is preferable to adopt a work mode in which the abnormal portion is repaired during overtime work.

Therefore, conventionally, when a slight abnormality such as a failure of the sensor itself, which is irrelevant to the operation currently performed, occurs, an output IC that constitutes the sensor.
Abnormality response processing modules M1 and M related to emergency measures such as forcibly / physically opening terminals such as those, or making them into a short-circuited state, or detection of such minor abnormalities
Emergency measures such as changing the program contents of 2, ..., Mn were taken.

[0017]

However, these first-aid measures require specialized knowledge and skill, and even if the first-aid measures are completed, change work for the first-aid measures and its modification work are required. The confirmation work may take several hours or more, and there is a problem in that the problem that the subsequent process or the next process is significantly delayed cannot be solved.

The present invention has been made in consideration of such a problem. For example, appropriate temporary measures are taken when it is assumed that an abnormality has occurred in relation to the operation to be performed by the NC device. An object is to provide an abnormality processing control device that can be performed before the operation of the NC device.

Further, the present invention provides an abnormality processing control device capable of promptly taking appropriate provisional countermeasures in consideration of the operation currently required when an abnormality occurs in the NC device. With the goal.

[0020]

SUMMARY OF THE INVENTION The present invention controls the operation of a numerical controlled device by a numerical control device, and further comprises a plurality of detection means arranged in the numerical controlled device and / or the numerical control device. In an abnormality processing control device that detects an abnormality content of the numerical controlled device and / or the numerical control device based on each output detection signal and performs an abnormality handling process, a processing code corresponding to each abnormality content Has a preset abnormality code table and a control program having an abnormality handling processing control module in which predetermined abnormality handling processing content corresponding to the processing code is stored, and the processing code corresponding to each abnormality content is It is characterized by being changeable.

Further, according to the present invention, the operation of the numerically controlled apparatus is controlled by the numerically controlled apparatus, and the numerically controlled apparatus and / or a plurality of detection means arranged in the numerically controlled apparatus respectively output. In the abnormality processing control device that detects the abnormality content of the numerically controlled device and / or the numerical control device based on each detection signal and performs an abnormality handling process, a processing code corresponding to each abnormality content is preset. An abnormality code table and a control program having an abnormality handling processing control module in which predetermined abnormality handling processing content corresponding to the processing code is stored, and when an abnormality is detected, according to the abnormality content, The processing code preset in the abnormal code table is provisionally changed to another processing code.

Further, the present invention is characterized in that the predetermined abnormality handling processing corresponding to the processing code includes at least a provisional handling processing for ignoring the abnormality.

[0023]

According to the present invention, before the operation of the numerically controlled apparatus is started, so-called, in advance, a processing code preset in the abnormality code table is provisionally provided according to the operation to be performed. The processing code is changed to another processing code (for example, a processing code representing the provisional correspondence processing content in which the abnormality is ignored).

Further, according to the present invention, when an abnormality is detected during the operation of the numerical controlled apparatus, the processing code preset in the abnormality code table is temporarily changed to another processing code according to the content of the abnormality. (For example, the processing code indicating the provisional response processing content in which the abnormality is ignored) is changed.

[0025]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 2 shows the overall structure of an apparatus to which an embodiment of the present invention is applied.

In FIG. 2, reference numeral 51 is an NC control device as a numerical control device.
Controls the operation of the NC machine tool 61, which is a numerically controlled device, and is also provided on the NC control device 51 itself, as well as sensors (details will be described later) which are a plurality of detecting means arranged on the NC machine tool 61. It is configured to detect the abnormality content of the NC machine tool 61 and the NC control device 51 itself on the basis of each detection signal output from a sensor (details will be described later) as a detection means, and perform an abnormality handling process.

The NC control device 51 basically comprises an operation panel 52 having a display 54 which is an output means and a display means, a keyboard 55 which is an input means, and a computer which is a control means (not shown). It is composed of a control panel 53 arranged.

The control panel 53 is provided with a temperature sensor 14 for monitoring the temperature inside the control panel 53 and a fan 15 for cooling the inside of the control panel 53.

The NC control device 51 and the NC machine tool 61 are electrically connected by a cable 56 including a control line, a power supply line and the like.

The NC machine tool 61 is a machine having a structure similar to the machine tool for drilling disclosed in Japanese Patent Publication No. 3-66088 filed by the present applicant.

Next, the mechanical structure and operation of the NC machine tool 61 will be briefly described.

In the NC machine tool body 60, a jig unit 63 is provided on a base 62. On the base 62,
Movable frame 6 movable in three axis directions of the XYZ orthogonal three-axis coordinate system
4 are provided. The direction in which the movable frame 64 moves back and forth toward the jig unit 63 is the X axis, and the direction orthogonal to the paper surface is Y.
The axis is the Z axis in the vertical direction. A turret type processing head 68 having a plurality of spindles 67 around it is attached to the movable frame 64 via a head holder 65.

A table 71 is slidably arranged along the guide rail 72 in the Y-axis direction. Column 73
It is arranged slidably in the X-axis direction along a guide rail 74 on the table 71. The movable frame 64 is slidably arranged in the Z-axis direction along the guide rails 75 on the columns 73.

A Z-axis motor 84, a Y-axis motor 85, and an X-axis motor 86, which are servo motors (driving sources), are connected to the movable frame 64, the table 71, and the column 73 via guide screws (not shown). .

In this way, the movable frame 64 is moved in the Z-axis direction by the Z-axis motor 84, in the Y-axis direction by the Y-axis motor 85 via the table 71, and in the X-axis by the X-axis motor 86 via the column 73. Each movement in the direction will be given.

The processing head 68 is attached to an index shaft 87 in the head holder 65 which is parallel to the Y axis. The index shaft 87 is connected to an index motor 90 which is a servo motor (driving source) via a worm gear mechanism (not shown). The rotation of the index motor 90 causes the spindle 67 to rotate in the direction of the arrow and set to an arbitrary angle.

Each spindle 67 is connected to a spindle motor 91, which is a servo motor (driving source), via a bevel gear (not shown), and the rotation of the spindle motor 91 causes the spindle 67 to rotate and be positioned and fixed on the jig unit 63. A drilling operation for the workpiece W is performed.

In this case, the motors 84-86, 90, 91
A pulse encoder, which is a position detecting means and also functions as an abnormality detecting sensor (abnormality detecting means), is connected to each of the axes, and the output of each pulse encoder is the cable 56
It is taken into the control panel 53 via. Since the speed data is obtained by time-differentiating the output of each pulse encoder, the pulse encoder also functions as speed detecting means from that meaning. Further, as the abnormality detected through each pulse encoder, there are an abnormality that the rotation speed does not correspond to the speed command from the NC control device 51, an abnormality that the number of pulses according to the position command does not occur, or the like. is there.

Although not shown, the NC machine tool 6
As the abnormality detection sensor in 1 above, in addition to the above-mentioned pulse encoder, a stroke sensor having two limit switches each indicating a limit both-end position of X-axis, Y-axis, and Z-axis movement is provided. Further, as the abnormality detection sensor in the NC control device 51, a sensor for detecting the current of the temperature sensor 14 and the fan 15, and a leak sensor (not shown) are provided.

Other abnormality detection sensors include an open / close detection sensor for photoelectrically or magnetically detecting the opening / closing of a safety fence (not shown), and a counter for counting the number of times of machining by the spindle 67.

All these sensors are monitored by a computer (described later) in a control panel 53 which constitutes the NC control device 51.

FIG. 1 shows a detailed configuration of the NC control device 51 and a connection configuration between the NC control device 51 and the NC machine tool 61. In FIG. 1, only the sensors 11 to 13 and the temperature sensor 14 are illustrated as the sensors for easy understanding of the present invention.

The NC control device 51 includes a central processing unit (CPU) 41 as a control means, interfaces 42 and 43 such as an A / D conversion circuit, a D / A conversion circuit and a level shift circuit connected to the central processing unit (CPU) 41, and pulse generation. A read-only memory (ROM) as a storage means for storing an interface 44 including a device, a system program, a control program 45, and the like, temporarily storing processing data, and storing an error code table 46 and the like. Random access memory (RAM,
(Writing / reading memory), a timer circuit and an interrupt processing circuit, which are not shown, and the like.

The CPU 41 is also connected to the display 54 and the keyboard 55 which form the operation panel 52 via interfaces 47 and 48, respectively.

In the abnormal code table 46, the processing code C applied to the abnormal processing contents, in this embodiment,
Five processing codes of processing code 0 to processing code 4 are stored.

For example, to the abnormality content of the temperature sensor 14, processing codes 2 to 4 for the three abnormality contents B14-2 to B14-4 are respectively assigned. Further, with respect to the abnormality content of the sensor 11, processing codes 0 and 1 are assigned to the abnormality content B11-1 and B11-2, respectively. The processing code C assigned to the abnormality content B is the display 5
It is possible for the user to set / change using the keyboard 4 and the keyboard 55. Display 5 in this sense
The keyboard 4, the keyboard 55 and the CPU 41 can be said to be means for setting / changing the processing code C.

Each processing code C is included in the control program 45.
A plurality of abnormality handling processing modules 20 to 24 in which the contents of predetermined abnormality handling processing (simply referred to as abnormality handling) corresponding to are stored. Each processing module 20-
The contents of the abnormality handling processing of 24 are as described below.

The abnormality handling processing content of the abnormality handling processing module 20 corresponding to the processing code 0 is "ignore abnormality". The processing code 0 is set, for example, when the sensor itself, which has no safety problem in relation to the work (operation) to be performed, is abnormal.

The abnormality handling processing content of the abnormality handling processing module 21 corresponding to the processing code 1 is that a predetermined "abnormality message" is displayed on the display 54. This processing code 1 is an abnormality such as a decrease in the rotation speed of the fan 13 that does not immediately affect the operation or safety of the NC control device 51, and it is necessary to warn the user. Is set to. A warning sound or an actual voice message may be output according to the display message.

The abnormality handling processing content of the abnormality handling processing module 22 corresponding to the processing code 2 indicates “cycle stop”, and the NC machine tool is used when the number of times the tool such as the spindle 67 is used is close to the number of lives. Even if the abnormality is dealt with after the completion of the one-cycle work by the main body 60, the abnormality is set to have no other adverse effect. By stopping the operation of the NC machine tool 61 after the completion of the one-cycle work, it is possible to manage the machining history of the work W and the like well.

The abnormality response processing content of the abnormality response processing module 23 corresponding to the processing code 3 indicates "stop on the spot", and during operation, the safety fence provided around the NC machine tool 61 is It is set for an abnormality that does not directly affect the operation of the machine, such as being opened, but that requires immediate stop of the machine for safety reasons.

The abnormality handling processing contents of the abnormality handling processing module 24 corresponding to the processing code 4 indicate "operating power supply disconnection" and include disconnection of the control line in the cable 56,
It is set to prevent runaway or the like in advance for an abnormality that may directly affect the operation or control of the machine, such as an abnormality in the power supply voltage.

As described above, with respect to the abnormality content of the temperature sensor 14, the abnormality contents B14-2 to B14-4 are included.
The process codes 2 to 4 are assigned to the respective ones of the abnormal contents. For example, the process code 2 is processed when the temperature exceeds the optimum operating temperature range, and the process code 2 is processed when the temperature exceeds the allowable operating range. This is because the code 3 is set to the processing code 4 corresponding to the case where the temperature rise gradient exceeds the allowable gradient, for example, so that efficient and appropriate processing according to the degree (stage) of the abnormality is performed.

Next, the operation of the above embodiment will be described with reference to the flowchart of FIG.

First, the abnormality code table 46 is set and
Change (change of assignment of processing code C assigned to abnormality content B) work is performed as necessary (step S1).

That is, when a new work W is to be machined by the NC machine tool 61, or an NC (not shown) is used.
A normal line, such as when a robot is newly placed on a production line to perform a predetermined assembly / processing, or when a new work is to be flown in a production line incorporating an NC robot. The setting / changing work of the abnormality code table 46 is performed in the setup stage before starting the work.

For example, in the setup stage before starting this line work, if it is known that the workpiece W is machined by biaxial scanning of only the Z axis with the X axis fixed and the Y axis, , Whether the X-axis sensor group is actually defective or not, the setting / changing work such as setting the process code 0 to ignore all the abnormality content B that occurred in the X-axis sensor group is performed. To do. More specifically, regardless of whether the fixed limit switch or the like relating to the X-axis is broken or not, for example, the process code 3 indicating “stop in place” is changed to the process indicating “ignore abnormality”. Work to change the setting to code 0.

In this setting / changing work, the abnormality code table 46 is displayed on the display 54 and the keyboard 5 is used.
Since it is possible to use the function buttons (not shown) such as insert and delete on 5, it is possible to set and
By making changes in advance, it can be done in a very short time.

According to the prior art, there is no abnormality handling processing corresponding to the processing code 0 "ignore abnormality", the processing code 1 "abnormality message" and the processing code 2 "stop after its cycle processing". When an abnormality occurs, there is only “stop in place” corresponding to the processing code 3 or “disconnect operation power” corresponding to the processing code 4. Also, the "abnormal message" of the processing code 1 according to the present invention
The anomaly handling process relating to (1) means a process of performing only an anomaly message display independently, and is different from the existing process of displaying an anomaly message and performing a "stop-the-place" operation. .

After the completion of the preparatory work in step S1, the NC controller 51 starts the operation of the NC machine tool 61.

In this case, the control program 45 runs and sequentially acquires the output detection signals of the sensors 11 to 14 and monitors whether or not an abnormality has occurred (step S).
2).

If an abnormality has occurred, the abnormality content B is specified (step S3), and then the abnormality code table 46 is referred to (step S4).

The flowchart of FIG. 4 shows a detailed processing flow of step S4 for referring to the abnormality code table 46 and performing abnormality response processing.

That is, first, the processing code C corresponding to the abnormality content B is identified by referring to the abnormality code table 46 (steps S4-1 to S4-5), and the abnormality handling processing corresponding to the identified processing code C is performed. It is extracted from the abnormality handling processing modules 20 to 24 in the control program 45, and a predetermined abnormality handling processing is performed by the extracted abnormality handling processing module (steps S4-6 to S4-10).

As described above, according to the above-described embodiment, before the operation which the NC machine tool 61 is about to perform is started, the processing code preset in the abnormality code table 46, that is, the default processing code is set. , It is possible to temporarily change to another processing code according to the operation to be performed.

Therefore, before the operation of the NC machine tool 61 is started, it is possible to take an appropriate provisional countermeasure against abnormal processing corresponding to the model of the NC machine tool 61 and the function to be used.

When an abnormality is detected during operation of the NC machine tool 61, the content of the abnormality is specified and displayed on the display 54, and the operation is temporarily stopped so that the content of the abnormality is in terms of operation and safety. When it is determined that there is no problem, the process code C in the error code table 46 is temporarily changed to the process code 0, the process code 1, etc., and then restarted. It is possible to obtain an effect such that the stop of can be suppressed to a minimum time.

The present invention is not limited to the above embodiment,
It goes without saying that various configurations can be adopted without departing from the gist of the present invention.

[0070]

As described above, according to the present invention, the processing code preset in the abnormal code table is to be executed before the operation of the NC device is started, that is, in advance. According to the operation to be performed, the processing code is temporarily changed to another processing code (for example, a processing code indicating a provisional correspondence processing content in which the abnormality is ignored).

Therefore, the effect that it is possible to take appropriate provisional countermeasures for abnormality processing corresponding to the model and function of the NC device before the operation of the NC device is started is achieved.

The change process may be performed by an expert before the production line is put into actual operation, for example. By performing such a change process, the probability of occurrence of an abnormality leading to an unnecessary stop during actual operation is extremely high. Can be reduced. Also,
As for the modification process, only the process code needs to be modified, so
It can be performed easily and in a short time. After all, according to the present invention, the adaptability to the countermeasure against the abnormality occurrence at the production site where the NC control device and the NC device (for example, NC machine tool or NC robot) is used is enhanced, and the operation rate of the device is improved. The effect of improving is achieved.

The present invention is particularly effective when applied to an NC device having multiple functions and provided with a large number of abnormality detection sensors, or an NC control device for controlling the NC device.

Further, according to the present invention, when an abnormality is detected during the operation of the NC device, the processing code preset in the abnormality code table is temporarily changed to another processing code (according to the content of the abnormality). For example, it is changed to a process code indicating the provisional response process content that ignores the abnormality. Since this change process is only a process code change process, the change work and its confirmation work can normally be performed quickly within a few minutes.

Therefore, even if the production line is in operation, the derivative effect that the delay of the processing of the subsequent process or the next process can be minimized is achieved.

Incidentally, Japanese Patent Laid-Open No. 2-253 as a prior art.
No. 311 discloses a numerical control device that displays a message indicating a coping method or the like that is suitable for the operator level with respect to the content of the abnormality. Nothing is described about the technique according to the present invention for setting / changing the time processing.

[Brief description of drawings]

FIG. 1 is a block diagram showing an electrical configuration of an apparatus to which an embodiment of the present invention is applied.

FIG. 2 is a diagram showing a mechanical configuration of an apparatus to which an embodiment of the present invention is applied.

FIG. 3 is a flowchart provided for explaining the operation of the examples of FIGS. 1 and 2.

4 is a detailed flowchart of an abnormal code table reference process and the like in the flowchart of FIG.

FIG. 5 is a diagram provided for explaining a conventional technique.

[Explanation of symbols]

11, 12, 13 ... Sensor 14 ... Temperature sensor 41 ... CPU 45 ... Control program 46 ... Abnormality code table 51 ... NC control device 52 ... Operation panel 53 ... Control panel 54 ... Display 55 ... Keyboard 61 ... NC machine tool

Claims (3)

[Claims] 1. A numerical controller controls the operation of a numerical controller, and the numerical controller and / or
Abnormality processing for detecting abnormality content of the numerically controlled apparatus and / or the numerical control apparatus based on respective detection signals respectively output from a plurality of detecting means arranged in the numerical control apparatus and performing abnormality handling processing In the control device, an abnormality code table in which processing codes corresponding to the respective abnormality contents are preset, and a control program having an abnormality handling processing control module in which predetermined abnormality handling processing contents corresponding to the processing codes are stored. An abnormality processing control device, wherein the processing code corresponding to each abnormality content is changeable. 2. The numerical control device controls the operation of the numerical control device, and the numerical control device and / or
Abnormality processing for detecting abnormality content of the numerically controlled apparatus and / or the numerical control apparatus based on respective detection signals respectively output from a plurality of detecting means arranged in the numerical control apparatus and performing abnormality handling processing In the control device, an abnormality code table in which processing codes corresponding to the respective abnormality contents are preset, and a control program having an abnormality handling processing control module in which predetermined abnormality handling processing contents corresponding to the processing codes are stored. An abnormality processing control device having, when an abnormality is detected, temporarily changing the processing code preset in the abnormality code table to another processing code according to the content of the abnormality. 3. The abnormality processing control device according to claim 1, wherein the predetermined abnormality handling processing corresponding to the processing code includes at least provisional handling processing that ignores the abnormality.