WO1995029432A1 - Systeme de commande - Google Patents
Systeme de commande Download PDFInfo
- Publication number
- WO1995029432A1 WO1995029432A1 PCT/JP1995/000637 JP9500637W WO9529432A1 WO 1995029432 A1 WO1995029432 A1 WO 1995029432A1 JP 9500637 W JP9500637 W JP 9500637W WO 9529432 A1 WO9529432 A1 WO 9529432A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- data
- memory
- input
- control system
- access
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34196—Memory management, dma direct memory access
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35545—Serial to parallel conversion
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36133—MMI, HMI: man machine interface, communication
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36169—Remote, host controlled, operated manual data input, keyboard
Definitions
- the present invention relates to a control system including an interactive data processing device for interactively inputting and outputting data and a FA control device, and more particularly, to a method for accessing memory in the FA control device from the interactive data processing device. It relates to an improved control system. Background technology
- the numerical control system is provided with a numerical controller (CNC) and a man-machine controller (MMC) that interactively inputs and outputs data and processes the data.
- the man-machine controller is equipped with various devices, such as an input device using a keyboard and a mouse, and a display device using a CRT and a liquid crystal display.
- the numerical controller and the man-machine controller are provided in a single housing, and are connected to each other by a parallel bus.
- the parallel bus cannot be extended, so the man-machine controller is numerically controlled. It cannot be installed away from the equipment.
- the man 'machine' controller can be installed in a place remote from the numerical control device, the man-machine controller can be installed in a place where workers can easily work, and work efficiency can be improved. For this reason, there is a demand to connect a long transmission line between the man-machine controller and the numerical controller.
- each bus has to be
- RS-232C (a standard for data communication defined by the American electronics industry) was used for connection via an interface. If this method is used, it is possible to separate the man-machine controller from the numerical control device by several tens of meters. Then, the processors of each other transfer the data overnight by a software agreement.
- the man-machine controller is an RC-232C interface. And outputs a data transfer request to the numerical controller via the.
- a processor decodes the data transfer request, and the designated data in the memory is transferred to a man-machine.
- the controller can capture the required data. However, if the numerical controller and the man-machine controller are connected via the RS-232C interface, the man-machine controller will be in the numerical controller. In order to read the data in the memory of the computer, the man-machine controller sends a data transfer request to the numerical controller, and the processor in the numerical controller must perform the data transfer processing. . In other words, Man Machine
- the controller cannot directly access the memory in the numerical controller. As a result, when the man 'machine' controller needs the data in the It has to wait for the internal processor to transfer the data, and it takes a lot of time to read the data. In addition, the processor in the numerical control device must also perform data transfer processing to the man-machine controller in addition to normal numerical control, leading to delays in various processing.
- An interactive data processing device is installed at a place remote from an FA control device, and an interactive data processing device is directly connected to a memory in an FA control device.
- the purpose is to provide a control system that can be accessed.
- the present invention provides a control system including an interactive data processing device for inputting and outputting data interactively and an FA control device, wherein the control system is provided in the interactive data processing device, A memory access management unit that outputs a request to access an arbitrary address of memory in a control device to a transmission line and receives data input via the transmission line; and a memory access management unit provided in the FA control device.
- the access request is input via the transmission line, the memory is directly accessed.
- the access is a write request
- the input data is written to the memory
- a control system comprising: memory data input / output means for outputting read data to the transmission line.
- the memory access management means is provided in the interactive data processing device, outputs an access request to an arbitrary address of the memory in the FA control device to the transmission line, and receives data input through the transmission line. .
- the memory data input / output means is provided in the FA control device and directly accesses the memory when an access request is input via a transmission line, and when the access is a write request, stores the input data in a memory. If the access request is a read request, the read data is output to the transmission line.
- the interactive data processing device can access the memory in the FA control device without going through the processing of the processor in the FA control device.
- FIG. 1 is a block diagram showing a schematic configuration of the present invention
- FIG. 2 is an overall schematic diagram of a numerical control system for implementing the present invention
- FIG. 3 is a block diagram showing a configuration of a numerical control system for implementing the present invention
- Figure 4 is a circuit diagram of the input / output interface on the MMC side.
- FIG. 5 is a flowchart until the access request is sent from the MMC.
- Figure 6 is a flowchart from when the CNC receives the access request to when it sends the requested data to the MMC.
- Figure 7 shows that the MMC receives the data and then This is a flowchart until the data is transferred to another processor.
- FIG. 1 is a block diagram showing a schematic configuration of the present invention.
- a man-machine controller (MMC) 20 and a numerical controller (CNC) 30 are connected by a transmission line 40.
- MMC man-machine controller
- CNC numerical controller
- the access request is output to the CNC 30 by the remote access control means 1.
- the access request is a write request (write request)
- write request the address in the memory 3 to be written and the data to be written
- the access request is a read request (read request)
- the address in the memory 3 to be read is specified by the access request.
- the internal data input / output means 2 in the CNC 30 directs to the memory 3 ⁇ Performs a memory access (DMA) to access the requested address. .
- DMA memory access
- the access request is a write request
- the data is written to the memory.
- the access request is a read request
- the specified data is output to MMC 2.0.
- the remote access control means 1 in the MMC 20 receives the input data and transfers the data to the device which has output the access request.
- FIG. 2 is an overall schematic diagram of a numerical control system embodying the present invention.
- the numerical control system is largely composed of a machine tool 10, a numerical controller 30 built in the machine tool 10, and an MMC 20 for remote operation.
- a slide table 11 is provided on the side of the machine tool 1.0.
- the tool 13 held by the chuck 12 rotates by the spindle motor of the machine tool 10. Also, it moves in the vertical direction of the drawing (Z-axis direction) according to the Z-axis servo mode. Further, the table 14 moves in the front-rear direction and the left-right direction (X-axis and Y-axis directions) of the drawing, and a work 15 to be processed is placed on the table 14.
- the machine tool 10 and the table 14 are both mounted on the base 16.
- the operator issues an operation command to the numerical controller 30 from the MMC 20 provided separately from the machine tool 10.
- the keyboard 20 is provided with a keyboard 23, a display device 22, and a floppy disk drive 21, which are controlled by an internal processor.
- the keyboard 23 consists of a cursor key, a shape element key, a numerical key and the like, and necessary graphic data and machining data are inputted by using these keys.
- the software for creating the machining program can be read from the floppy disk drive 21.
- a CRT or a liquid crystal display device is used for the display device 22, and displays a shape, an application condition, and the like when creating a machining program or the like in an interactive manner.
- the machining program created in the MMC 20 is transferred to the numerical controller 30. Further, when the data in the numerical controller 30 becomes necessary in the MMC 20, it is possible to directly access the memory in the numerical controller 30 and take in the data.
- the operator creates a machining program using the MMC 20 and transfers the machining program to the numerical controller 30.
- the numerical controller 30 then operates the slide table of the machine tool 10. By moving the tool 11 and the table 14 to make the tool 13 work 15 hair, the desired machining can be performed.
- FIG. 3 is a block diagram showing a configuration of a numerical control system for implementing the present invention.
- the diagram is broadly divided into MMC20 and CNC30.
- the processor 31 controls various devices via the bus 35
- the processor 24 controls the various devices via the bus 29.
- MM C 20 and C N C 30 are connected by a transmission line 40, and data is transmitted and received via the transmission line 40.
- the bus 35 in the CNC 30 is a multi-master bus, and devices other than the processor 31 can also be bus masters.
- the processor 31 controls the entire CNC 30.
- the RAM 32 stores various data or input / output signals.
- Non-volatile memory 33 A memory using CM ⁇ S is used as a non-volatile memory, backed up by a battery, and parameters to be retained even after power is turned off, pitch error correction amount, tool error correction amount, etc. Is stored.
- the axis control circuit 36 receives the axis movement command from the processor 31 and outputs the axis command to the servo amplifier 37.
- the servo amplifier 37 receives the movement command and drives the servo motor of the machine tool 10 I do.
- PMC (programmable machine controller) 38 receives T function signal (tool selection command) etc. when executing NC program. Then, these signals are processed by a sequence program, and signals are output as operation commands to control the machine tool 10. Further, it receives a status signal from the machine tool 10, performs sequence processing, and transfers a necessary input signal to the processor 31.
- the input / output interface 34 connected to the bus 35 transmits and receives data to and from the MMC 20.
- the input / output interface 34 performs DMA (direct 'memory' access), and the RAM 32 is accessed. Access data. If the access request is a read request (read request), transfer the data to MMC20. If the access request is a write request (write request), write the transferred data to RAM32.
- the input / output interface 34 converts the parallel signal used for the data transfer on the bus 35 into a serial signal, outputs the signal to the MMC 20, and outputs the input serial signal. Is converted to a parallel signal and received.
- the processor 24 displays a settable operation or data in the form of a menu on the interactive input screen displayed by executing the interactive processing program in the form of a graphic control circuit 22 a. Is displayed on the display device 22 via. In addition, a machining program is created from the input data, and the start locus of the entire tool is displayed as a knock-ground animation.
- RAM25 has various data for conversation Are stored.
- the non-volatile memory 26 uses a memory using the CM ⁇ S, which is backed up by a note and stores application programs and processing programs to be retained even after the power is turned off.
- VR AM (video RAM) 27 is a RAM that can be accessed at high speed, and is a cutting simulation of machine tool 10 based on a machining program stored in nonvolatile memory 26 as NC statements. Stores graphic data for animation display when performing the animation.
- the graphic control circuit 22 a converts the graphic data stored in the VRAM 27 into a signal for display and outputs the signal to the display device 22.
- a floppy disk is inserted into the FDD 21 connected via the FDD interface 21a, and the floppy disk is used.
- the graphic control circuit 22a converts the digital signal output from the processor 24 or the like into a signal for display and converts the digital signal into a display signal.
- keyboard interface 23a controls data transfer between the keyboard 23 and the processor 24.
- Keyboard 23 consists of symbolic keys, numerical keys, etc., and inputs necessary graphic data and NC data using these keys.
- the input / output interface 28 converts an access request input with a parallel signal into a serial signal when a device in the MMC 20 accesses the RAM 32 in the CNC 30.
- the transmission line 40 between the input / output interface 28 of the MMC 20 and the input / output interface 34 of the CNC 30 has a length of 20 m to 50 m. Can be And high-speed data transfer (about 25 Mbps) is possible.
- FIG. 4 is a circuit diagram of the input / output interface 28 on the MM.C side.
- the access request signal input from the bus 29 to the input / output interface 28 is received by the normal bus interface 281. If the access request is a read request, the signal is input to the switching circuit 283. If the access request was a write request, the data is written to write'buffer282.
- Writer's buffer 282 can store a plurality of data, and outputs the previously written data first. The output of the write buffer 282 is input to the switching circuit 283.
- the switching circuit 283 outputs an access request when a read request or a write request is input, and outputs a read request when a read request and a write request are input simultaneously. Is output with priority.
- the parallel-to-serial conversion circuit (PZS) 284 converts a serial signal to a serial signal and outputs it. This output signal is driven by driver 285 and transmitted to CNC 30.
- PZS parallel-to-serial conversion circuit
- the signal transferred from the CNC 30 is input to the serial / parallel conversion circuit (SZP) 287 via the receiver 288.
- Serial 'no The parallel conversion circuit (S / P) 287 converts the serial signal to a parallel signal and outputs it.
- the signal is input to the parallel bus interface 281, after confirming the presence / absence of an error in the error checking circuit 286.
- PARALLEL BUS ⁇ The interface 281 outputs the input signal to the bus 29.
- FIG. 5 is a flowchart until the MMC sends an access request. Each process in this flowchart is a process executed by the remote access control means 1 in FIG.
- Step 6 It is determined whether or not it is a read request, and if it is a read request, the process proceeds to Step 6, and if not, the process proceeds to Step 3. In other words, if it is not a read request, it is determined that the request is a write request, and write processing is performed.
- step 4 It is determined whether or not a read request has been output. If a read request has been output, step 4 is repeated. If no read request has been output, the process proceeds to step 5. The reason that the read request takes precedence over the write request is that in the case of a read request, the processor in the MMC must wait until the data to be accessed is fetched. This is because it is necessary to take in as soon as possible. [S5] The data in the buffer is output together with the access request (in this case, a write request).
- the output access request signal is converted from a parallel signal to a serial signal.
- the access request includes data to be written.
- the access request output by the processor in the MMC is transmitted to the CNC.
- FIG. 6 is a flowchart from when the CNC receives the access request until it sends the requested data to the MMC. Each process of this flowchart is a process executed by the internal data input / output means 2 in FIG.
- the access request transferred from the MMC is input.
- the access request signal is converted from a serial signal to a parallel signal.
- [S12] Fetch the data in the RAM specified in the access request. This access is also performed by DMA.
- the internal data input / output means 2 performs direct writing. If the access request is a read request, the internal data input / output means 2 directly fetches the data and transfers the data to the MMC.
- FIG. 7 is a flowchart from when the MMC receives data until it transfers the data to the MMC processor. Each process in this flowchart is a process executed by the remote access control means 1 in FIG.
- CS17 Perform an error check to determine whether data has been corrupted during transfer. If an error is found, proceed to step 18; otherwise, proceed to step 19.
- the access request sent from the MMC to the CNC is processed by the internal data input / output means, and the memory is accessed without going through the processing of the processor in the CNC.
- To access the memory inside the MMC Similarly, it is possible to directly access the memory in CNC. Therefore, the access from the MMC to the CNC can be performed at high speed, and the processing speed of the entire numerical control system can be increased because unnecessary processing is not performed on the CNC processor.
- the transmission method between the MMC and the CNC is high-speed and the transmission line can be lengthened, so that the MMC can be installed at a location remote from the CNC. Therefore, the operator can check the display screen and perform the keyboard operation in a place where the work is easy.
- various devices such as a printer can be connected to the MMC. Then, the devices that need to be handled by such a worker can be installed at a position where the work is easy.
- the FA control device is a numerical control device.
- a control device having a multi-mass bus can be similarly implemented. Therefore, the FA control device can be a robot control device.
- the worker can work at a location away from the working part of the robot, so that the safety of the worker can be ensured.
- the interactive data processing device is assumed to be an MMC, it can be implemented in the same manner as long as the device has a processor. Therefore, the interactive data processing device can use a general personal computer. Then, various devices that can be connected to the personal computer (for example, a hard disk drive, a printer, etc.) are installed at a distance from the FA control device. It can be used with the device.
- a hard disk drive for example, a hard disk drive, a printer, etc.
- the interactive data processing device may be a robot teach-bend device.
- This teach pendant device is a device that creates a robot operation program while operating the robot. As a result, operation from the teach pendant device can be performed at a position away from the robot.
- the FA control device can control the memory in the interactive data processing device. Can also be accessed directly.
- a request for access to the memory in the FA control device from the interactive data processing device is transferred to a remote location by the remote access control means, and the FA control device Since the internal data input / output means directly accesses the memory, even if the interactive data processing device is installed at a location away from the FA control device, the interactive data processing device directly accesses the memory in the FA control device. High-speed access is possible even from a remote location.
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/564,218 US6219583B1 (en) | 1994-04-25 | 1995-03-31 | Control system |
EP95913407A EP0707251B1 (en) | 1994-04-25 | 1995-03-31 | Control system |
DE69521262T DE69521262T2 (de) | 1994-04-25 | 1995-03-31 | Steuersystem |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP08633194A JP3308386B2 (ja) | 1994-04-25 | 1994-04-25 | 制御システム |
JP6/86331 | 1994-04-25 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1995029432A1 true WO1995029432A1 (fr) | 1995-11-02 |
Family
ID=13883863
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1995/000637 WO1995029432A1 (fr) | 1994-04-25 | 1995-03-31 | Systeme de commande |
Country Status (6)
Country | Link |
---|---|
US (1) | US6219583B1 (ja) |
EP (1) | EP0707251B1 (ja) |
JP (1) | JP3308386B2 (ja) |
KR (1) | KR0156304B1 (ja) |
DE (1) | DE69521262T2 (ja) |
WO (1) | WO1995029432A1 (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10124131A (ja) * | 1996-10-22 | 1998-05-15 | Fanuc Ltd | 制御装置に接続される機器の管理方法 |
JPH11259114A (ja) * | 1998-03-11 | 1999-09-24 | Fanuc Ltd | 数値制御装置 |
US7281030B1 (en) * | 1999-09-17 | 2007-10-09 | Intel Corporation | Method of reading a remote memory |
DE10007126B4 (de) * | 2000-02-17 | 2006-06-22 | Paul Müller GmbH & Co. KG Unternehmensbeteiligungen | Spindel mit einem Datenspeicherelement |
US6874039B2 (en) * | 2000-09-08 | 2005-03-29 | Intel Corporation | Method and apparatus for distributed direct memory access for systems on chip |
JP2005221731A (ja) * | 2004-02-05 | 2005-08-18 | Konica Minolta Photo Imaging Inc | 撮像装置 |
JP4505295B2 (ja) * | 2004-09-16 | 2010-07-21 | ヤマザキマザック株式会社 | Nc加工シミュレーション方法及びnc加工シミュレーション装置 |
JP4955451B2 (ja) | 2007-05-16 | 2012-06-20 | ヤマザキマザック株式会社 | 複合旋盤装置の制御方法、複合旋盤装置、刃先位置登録装置、及び刃先位置検出装置 |
US9141105B2 (en) * | 2008-07-23 | 2015-09-22 | Hurco Companies, Inc. | Method and apparatus for monitoring or controlling a machine tool system |
JP5446883B2 (ja) * | 2010-01-06 | 2014-03-19 | セイコーエプソン株式会社 | ロボットコントロール装置 |
JP5804042B2 (ja) * | 2013-12-26 | 2015-11-04 | セイコーエプソン株式会社 | ロボット制御システム、ロボット制御方法 |
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JPH04288603A (ja) * | 1991-03-18 | 1992-10-13 | Toshiba Mach Co Ltd | 数値制御装置 |
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-
1995
- 1995-03-31 DE DE69521262T patent/DE69521262T2/de not_active Expired - Fee Related
- 1995-03-31 EP EP95913407A patent/EP0707251B1/en not_active Expired - Lifetime
- 1995-03-31 US US08/564,218 patent/US6219583B1/en not_active Expired - Lifetime
- 1995-03-31 WO PCT/JP1995/000637 patent/WO1995029432A1/ja active IP Right Grant
- 1995-04-24 KR KR1019950009582A patent/KR0156304B1/ko not_active IP Right Cessation
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JPH0218105U (ja) * | 1988-07-14 | 1990-02-06 | ||
JPH03144707A (ja) * | 1989-10-31 | 1991-06-20 | Amada Co Ltd | Nc装置のマンマシンインタフェイス |
JPH04288603A (ja) * | 1991-03-18 | 1992-10-13 | Toshiba Mach Co Ltd | 数値制御装置 |
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Also Published As
Publication number | Publication date |
---|---|
EP0707251A1 (en) | 1996-04-17 |
DE69521262T2 (de) | 2001-10-11 |
US6219583B1 (en) | 2001-04-17 |
JPH07295622A (ja) | 1995-11-10 |
KR950029886A (ko) | 1995-11-24 |
JP3308386B2 (ja) | 2002-07-29 |
KR0156304B1 (ko) | 1998-12-15 |
DE69521262D1 (de) | 2001-07-19 |
EP0707251B1 (en) | 2001-06-13 |
EP0707251A4 (en) | 1997-07-02 |
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