JPH0561651B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a numerical control system using a direct teaching operation system.

When simultaneous control of two or more axes is performed on a numerically controlled multi-axis simultaneous control machine tool,
Since the direction and amount of movement change simultaneously with respect to a plurality of axes, the detection part becomes complicated and the capacity of the storage device becomes large, making it practically impossible to accurately follow the movement trajectory and reproduce it with high precision.
Therefore, when controlling two or more axes simultaneously, the movement locus is generally extracted as coordinate value information by sampling.

However, even in the case of single-axis control, if sampling is performed uniformly, the amount of numerical information increases and the storage capacity increases.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to read the numerical information of the movement locus in different formats depending on the number of axes to be simultaneously controlled, and to rationally store the numerical information at the time of direct teaching operation. That is, the present invention determines the number of axes to be controlled simultaneously during direct teaching operation, and when controlling one axis, when the direction of the movement trajectory due to the teaching operation changes, numerical information of the amount of movement between the same directions is determined. Also, when controlling two or more axes simultaneously, the numerical information of the movement trajectory at each predetermined time is stored by sampling and extraction, and this is read out at the time of playback.
Machining operations on one axis or two or more axes are made to continue.

Hereinafter, the present invention will be specifically explained based on an embodiment shown in the drawings.

First, the operator operates the manual movement command device 10 and inputs the numerical value of the feed amount and the movement direction for each drive axis such as the X-axis, Y-axis, and Z-axis. This input content is sent to the main controller 11, decoded there, distributed in correspondence with the designated drive axes such as the X-axis, Y-axis, and Z-axis, and sent to the drive control circuit 12. Here, the drive control circuit 12 drives the movable body 13 corresponding to each axis. On the other hand, the position detector 14
returns the movement of these movable bodies 13 as the amount of movement. In this way, desired positioning is performed by direct teaching operation.

During this positioning operation, the main controller 11
determines the number of axes to be controlled simultaneously. In the case of one-axis control, when the movement locus changes due to the teaching operation, the numerical information of the movement direction and the distance between the same movement directions, that is, the movement amount, is converted into a code and passed through the storage control circuit 16 to the storage circuit 17. is stored at a predetermined address. This change in direction of movement and calculation of the amount of movement are performed by the main controller. In addition, in the case of simultaneous control of two or more axes, the sampling time generating circuit 15 operates in response to a command from the main controller 11 and generates a sampling signal. The numerical information on the movement direction and movement amount at the time of sampling is code-converted and sequentially and orderly sent to the storage circuit 17 via the storage control circuit 16. Of course, the sampling time is set in consideration of the required accuracy. In this way, in the case of single-axis control, the amount of movement and direction of movement for a certain drive axis are stored for each specific axis,
Furthermore, when controlling two or more axes simultaneously, points on the movement locus are stored in a continuous state by sampling. On the other hand, the operator previously operates the manual movement command device 10 and separately inputs changes in the feed rate to the storage circuit 17 via the main controller 11 and the storage control circuit 16.

Now, FIG. 2 shows the internal configuration of the manual movement command device 10. The numerical value of the feed amount, the moving direction, and the feed speed can be sent directly to the main controller 11 by the manual pulse generator 20, but the feed direction can also be determined by the teaching lever 21. The moving direction set by the teaching lever 21 is sent to the main controller 11 along with information on the feed speed by the feed speed generating circuit 22. This teaching lever 21
During the operation, the numerical value of the feed amount is given by the feed pulse counting circuit 24 that counts the feed pulses from the feed speed generating circuit 22 only when the teaching lever 21 is being operated. Further, the external feed speed setter 23 causes the storage circuit 17 to store the designated speed during playback via the main controller 11 and the storage control circuit 16 separately. Therefore, the speed of the movable body 13 during the teaching operation does not correspond to the speed during playback. Therefore, even if there is wasted time for final positioning during the teaching operation, that wasted time is eliminated during the reproducing operation.

In the playback operation, the contents of the memory circuit 17 are sequentially recalled block by block, the contents are decoded by the decoding circuit 18, and the movable body 13 is driven by the decoded contents via the main controller 11 and the drive control circuit 12. It is done by doing. The playback operation at this time, of course, matches the stored content taught by manual operation. In playback where two or more axes are controlled simultaneously, if the teaching operation is performed at a slow speed,
Since the amount of sampling signals (pulses) generated relative to the amount of movement within a unit time increases, the required accuracy can be sufficiently ensured. This means that in the feeding part where high precision is required, if the feed speed during teaching operation is set to a small value, highly accurate numerical control can be performed during playback, which corresponds to the situation of actual teaching operation. . Furthermore, since the feed rate during playback is specified separately from the teaching operation, even if sampling is performed during simultaneous control of two or more axes, high-speed cutting and high-speed positioning can be performed with high accuracy.

In the present invention, when controlling one axis, the amount of movement between trajectories in the same direction is stored every time the direction of the movement trajectory changes, so the stored content can be kept to the minimum necessary. During simultaneous control, the numerical value of the movement trajectory is given by sampling, so the detection part is not complicated, the storage capacity can be made as small as possible, and the movement speed during playback is the same as the teaching operation. Since this is input separately from the movement speed of This makes it possible to speed up machining operations.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a control device for implementing the numerical control method of the present invention, and FIG. 2 is a block diagram of a manual movement command device. 10...Manual movement command device, 11...Main control device,
15... Sampling time generation circuit, 16... Memory control circuit, 17... Memory circuit, 23... External feed speed setter.

Claims (1)

[Claims] 1 Determine the number of axes to be controlled simultaneously during direct teaching operation,
In the case of single-axis control, when the movement direction of the movement trajectory changes due to the teaching operation, it is stored as numerical information of the movement amount between the same movement directions, and in the case of simultaneous control of two or more axes, the movement trajectory is stored at predetermined time intervals. is stored as numerical information on the moving direction and amount of movement, and further separately stores the moving speed information corresponding to the numerical information for single-axis control and the moving speed information corresponding to the numerical information for simultaneous control of two or more axes. Set the value of the movement speed according to the required machining accuracy, reproduce the above numerical information and the movement speed information for each numerical control, and perform the machining operation along the movement trajectory by the teaching operation. Features a direct teaching operation numerical control system.