CN100565398C - Numerical control device - Google Patents
Numerical control device Download PDFInfo
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- CN100565398C CN100565398C CNB2006100731981A CN200610073198A CN100565398C CN 100565398 C CN100565398 C CN 100565398C CN B2006100731981 A CNB2006100731981 A CN B2006100731981A CN 200610073198 A CN200610073198 A CN 200610073198A CN 100565398 C CN100565398 C CN 100565398C
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Abstract
Numerical control device of the present invention upgrades the reference position and carries out the routing table running.When the sense order of read-out path circular list (path cycle table), keep out of the way the reference position and reset each shaft position when the store path recursion instruction begins.Position when beginning each shaft position relative with the reference position of storing the path circular list into and beginning from following one-period is carried out additive operation and is obtained the target location, and carries out the routing table running.One of the path circular list of instruction of storing repeatedly the processing part is just enough.
Description
Technical field
The present invention relates to a kind of numerical control device of controlling lathe.Especially, relate to and having according to come each the numerical control device of function of drive controlling with the data of sheet form storage.
Background technology
Be well known that following numerical control device: not according to the instruction of the piece (block) of NC program, but store amount of movement or the position of each in advance and each is carried out drive controlling according to the data that store this table into sheet form, can make thus be not subject to existing block instruction, cutter action freely becomes possibility, realized the high precision int of shortening and the processing of process time.
For example, by the technology known to everybody be: in advance the movable axis position relative with each time or each anglec of rotation stored as the Numerical Control data, the Looking Out Time or the anglec of rotation, by the time that reaches storage or the anglec of rotation, output is corresponding to the Numerical Control data (spy opens clear 59-177604 communique) of movable axis.
In addition, also be: set in advance the X-axis of storage with respect to the reference position by the technology known to everybody, the tables of data of the Z axle location of instruction, the on duty of counter of counting basic pulse obtained the reference position with multiplying power (override) value, according to this reference position, the X-axis that output is stored in tables of data, the Z axle location of instruction and to X-axis, the Z axle carries out synchro control, thus, also under the situation of carrying out drive controlling by the data that store tables of data into, also multiply by multiplying power, and then, can order and connect carrying out straight line between the location of instruction, 2 times function connects, 3 function connections etc., and can order subsidiary function (opening the 2003-303005 communique) with reference to the spy.
In addition, also be:, export move (opening flat 6-15547 communique) with reference to the spy according to the fixing table of the traveling time of amount of movement of each amount of movement of each set time of storage or each by the invention known to everybody.
In machine tooling, finishing cyclic process or boring cyclic process etc. have and carry out the situation that the model identical action is processed repeatedly.Like this, when carrying out according to existing sheet form data as carrying out the man-hour that adds of identical processing the data volume increase of sheet form data repeatedly.The storage of sheet form data will become time of benchmark or main spindle's etc. and store the position data of each as the reference position and with sheet form, even so in the identical processing of carrying out repeatedly, the reference position must be stored each shaft position at this reference position in advance in that respectively to add man-hour also different as data.For this reason, exist data volume to increase, the capacity of the storage unit of storage data also becomes big problem.
Summary of the invention
The present invention, be installed in the numerical control device that has with sheet form data command and the function that drives each with time or main spindle's as each relative shaft position of the reference position of benchmark, first mode, have storage unit and driver element, this storage unit have storage with respect to the master meter form data of each shaft position of reference position with will with the path circular list of storing as the sheet form data to each relative shaft position of the reference position of processing final position from the processing starting position of carrying out identical processing repeatedly (pathcycle table); This driver element, its instruction of obtaining to each according to above-mentioned master meter form data drives, and when accessing described path circular list according to the said reference position, the data of storing in each shaft position in the reference position when accessing the back according to this and the above-mentioned path circular list output to each motor with each amount of movement and drive.
Making repeatedly the processing starting position of carrying out is to be stored in each reference position of storing in the circular list of above-mentioned path on 0 the absolute position, above-mentioned driver element accesses the path circular list, in commission, making the reference position when accessing the path circular list is 0, and each amount of movement is outputed to each motor drives according to being stored in data in the circular list of path.
Be stored in each reference position of storing in the circular list of described path in turn with a certain increment size, described driver element accesses the path circular list, in commission, making the reference position when accessing the path circular list is 0, and according to the data of storing each amount of movement is outputed to each motor drive in the circular list of path.
Second mode of numerical control device of the present invention, has storage unit, the 1st calculates the unit, the 2nd calculates unit and driver element, this storage unit possesses the master meter form data of storage with respect to each shaft position of reference position, with will with the path circular list of storing as the sheet form data to each relative shaft position of the reference position of processing final position from the processing starting position of the identical processing carried out repeatedly; The 1st to calculate the unit be each amount of movement that calculates based on above-mentioned main sheet form data; The 2nd to calculate the unit be each amount of movement that calculates based on the data of above-mentioned path circular list; This driver element is to carry out additive operation and output to each motor driving to calculating each amount of movement of action separately of calculating the unit by the above-mentioned the 1st and the 2nd.
The reference position of the master meter form data of above-mentioned each shaft position of storage is to be the data of benchmark with time, and the reference position of path circular list is to be the data of benchmark with the main spindle's.
First and second mode of numerical control device of the present invention can obtain following form.
Making repeatedly the processing starting position of carrying out is to be stored in each shaft position of storing in the circular list of above-mentioned path on 0 the absolute position.
Be stored in each shaft position of storing in the circular list of above-mentioned path in turn with a certain increment size.
Above-mentioned processing is cut, and above-mentioned master meter form data are data of feed action, and the data that are stored in the circular list of above-mentioned path are data of fabrication cycles, after the feed action stops, so because the action of fabrication cycles stops cut.
Above-mentioned processing is cut, and above-mentioned master meter form data are data of feed action, and the data of storing in the circular list of above-mentioned path are the data of fabrication cycles, after the feed action stops, so because the fabrication cycles action stops cut.
The above-mentioned screw cutting that is processed as, master meter form data are the data of feed action, and the data of storing in the circular list of path are screw cutting round-robin data.
The present invention can implement to reduce the processing of data volume by sheet form data runnings lathe and comprise the man-hour that adds of carrying out identical processing repeatedly.
Description of drawings
Fig. 1 is the synoptic diagram that the routing table of the 1st embodiment execution of numerical control device of the present invention turns round.
Fig. 2 is the key diagram that ships the finishing cyclic process of changeing execution with the routing table of Fig. 1.
Fig. 3 A and Fig. 3 B are the key diagrams of routing table one example that is used for the finishing cyclic process of Fig. 2.
Fig. 4 A and Fig. 4 B are the key diagrams of path circular list one example that is used for the finishing cyclic process of Fig. 2.
Fig. 5 is the major part block scheme of numerical control device of the present invention.
Fig. 6 is the process flow diagram of algorithm of the routing table running of presentation graphs 1.
Fig. 7 is the turn round key diagram of the boring cyclic process carried out of the routing table with Fig. 1.
Fig. 8 A and Fig. 8 B are the key diagrams of routing table one example that is used for the boring cyclic process of Fig. 7.
Fig. 9 A and Fig. 9 B are the key diagrams of path circular list one example that is used for the boring cyclic process of Fig. 7.
Figure 10 is the synoptic diagram that the routing table of the 2nd embodiment execution of numerical control device of the present invention turns round.
Figure 11 is that the screw cutting of carrying out that turns round of the routing table with Figure 10 is processed the key diagram of an example.
Figure 12 is that X-axis in the screw cutting cyclic process of Figure 11 is with the key diagram of routing table one example of tool changing action usefulness.
Figure 13 is the key diagram of routing table one example used of the screw cutting do action in the screw cutting cyclic process of Figure 11.
Figure 14 is the action synoptic diagram of the routing table running of explanation Figure 10.
Figure 15 is the process flow diagram that is illustrated in the tool changing action Processing Algorithm in the screw cutting cyclic process of Figure 11.
Figure 16 is the process flow diagram that is illustrated in the screw cutting do action Processing Algorithm in the screw cutting cyclic process of Figure 11.
Figure 17 is the continuation of the process flow diagram of Figure 16.
Figure 18 is the key diagram of the routing table example of use in common routing table running.
The action specification figure of the X-axis when Figure 19 is to use the routing table of Figure 10.
Embodiment
Fig. 1 is the turn round synoptic diagrams of (below, be called routing table running) of the sheet form data of the 1st embodiment according to the present invention.
In this embodiment, has X-axis routing table Tx, Z axle routing table Tz.These routing tables are storage each shaft positions corresponding to the reference position, in Figure 18, and the example (example of X-axis routing table) that expression is undertaken by prior art.Position Xa～Xe at reference position La～Le corresponding stored X-axis.Equally, use the position of also storing the Z axle among the routing table Tz at the Z axle at the reference position.
Will be from the main spindle's (or command device) of pulse of the position detector that is installed to main shaft etc. or from time of external pulse generating unit basic pulse as benchmark, be imported in the counter 1 and be counted.Make the calculated value of this counter 1 multiply by the multiplying power of setting in the multiplying power unit with multiplier 2, and in reference position counter 3, store its result.The moment of having ordered the routing table running with this reference position counter 3 reset (reset).The value of reference position counter 3 is input among X, Z axle routing table interpolation handling part 4x, the 4z as the reference position.In X-axis, among Z axle routing table interpolation handling part 4x, the 4z with reference to X-axis routing table Tx, Z axle routing table Tz obtains with respect to reference position X, the location of instruction of Z axle, obtain amount of movement in the processing cycle by this location of instruction of obtaining, this amount of movement is outputed to each Control Shaft motor 5x, 5z as command value, make X, Z axle and reference position run-in synchronism as one man.
Figure 19 is the figure of the expression X-axis position of moving according to this X-axis routing table Tx shown in Figure 180.
Above action is identical with existing routing table running, but in the present invention, the part that to carry out identical processing when this routing table running is repeatedly stored each shaft position that is equivalent to the reference position as the path circular list in advance, on the position of this identical processing of processing, read this path circular list from routing table and process.Thus, no matter carry out identical several times processing, as data storage can be the data of 1 path circular list only, also can be to reduce the data that data volume diminishes the memory capacity of storage unit.
Therefore, as the processing example in this 1st embodiment, the example of as shown in Figure 2 turning finishing cyclic process is carried out following explanation.
Only be to carry out the identical starting position difference that adds man-hour, can carry out identical Move Mode afterwards, the feed position is become A in turn, B, C also can process with the instruction of identical cooked mode.
Therefore, X-axis, Z axle routing table Tx, Tz and X-axis as Fig. 4 A, Fig. 4 B shown in, Z axle path circular list Txs, the Tzs of preparation shown in Fig. 3 A, Fig. 3 B.In addition, comprise X-axis path circular list Txs (Fig. 4 A) in X-axis routing table Tx (Fig. 3 A), Z axle routing table Tz (Fig. 3 B) comprises Z axle path circular list Tzs (Fig. 4 B).
X-axis routing table Tx, X coordinate position X0 at reference position L0 storage finishing round-robin starting position 0, secondly, the X coordinate position X1 and the circulation of storing the 1st feed position A at reference position L1 access Q1000, the X coordinate position X2 and the circulation of storing the 2nd feed position B at reference position L2 access Q1000, the X coordinate position X3 and the circulation of storing the 3rd feed position C at reference position L3 access Q1000, at the X coordinate position X0 of reference position L4 storage finishing round-robin starting position 0.
In addition, before finishing circulation starting position, and the finishing cyclic process is when showing to turn round after stopping, set the storage shaft position relative with reference position as shown in figure 18, but owing to do not have direct relation, so the table of expression and the processing relevant portion that carries out identical processing repeatedly only with the present invention.
On the other hand, by the X-axis path circular list Txs that Q1000 accesses, shown in Fig. 4 A, the reference position is as the relative datum position of the reference position of coming comfortable identical processing starting position, in addition, will store each shaft position at the reference position from the relative position of identical processing starting position.Promptly the reference position on identical processing starting position is " 0 ", at the reference position of moving from this " 0 ", set storage with feed position A, the position X11～X14 of B, the C finishing circulation position A1～A4 correspondence during as initial point " 0 ".In the example shown in Fig. 4 A, set the storage position X11 corresponding at reference position L11 with finishing circulation position A1, set the storage position X12 corresponding at reference position L12 with finishing circulation position A2, set the storage position X13 corresponding at reference position L13 with finishing circulation position A3, set the storage position X14 corresponding at reference position L14, and set the storage position X15 corresponding with finishing circulation starting position A at reference position L15 with finishing circulation position A4.
Shown in Fig. 3 B, Fig. 4 B, with respect to the Z axle routing table Tz of Z axle, Z axle path circular list Tzs also is and has carried out each epiphase of above-mentioned X-axis together, but the instruction of reading circular list is Q1010, when reading this instruction Q1010, carry out and read the Z axle path circular list Tzs shown in Fig. 4 B.
Fig. 5 is the major part block scheme of the numerical control device 10 of the embodiment that lathe driven by the routing table function of motion of the present invention.CPU11 is the processor that logarithm value control device 10 carries out whole control.CPU11 reads the system program that stores ROM12 into by bus 20, controls according to this system program logarithm value control device integral body.In RAM13, store interim computational data or video data and operator various data by display/MDI unit 70 inputs.CMOS memory 14 usefulness battery not shown in the figures backs up, even and also be can be used as the nonvolatile memory that keeps store status and constituted by the power supply that turn-offs numerical control device 10.Job sequence that storage is read in by interface 15 in CMOS memory 14 or the job sequence by display/MDI unit 70 inputs etc.And storage in advance comprises above-mentioned path circular list Txs, the X-axis of Tzs, the routing table Tx of Z axle, Tz.
Display/MDI unit 70 is to possess manual data input medias such as the display that constitutes with CRT or liquid crystal etc. or keyboard, and interface 18 receives from instruction, the data of the keyboard of display/MDI unit 70 and hands over to CPU11.Interface 19 is connected to operation board 71, and receives the various instructions from operation board 71.
The axle control circuit 30,31 of each receives the move amount from each of CPU11, and each instruction is outputed to servoamplifier 40,41.Servoamplifier 40,41 receives this and instructs servomotor 5x, the 5z that drives each.Holding position/speed detector in servomotor 5x, the 5z of each, and will feed back to the FEEDBACK CONTROL that a control circuit 30,31 carries out position and speed from the position of this location/velocity detecting device and the feedback signal of speed.In addition, in Fig. 5, the feedback of position and speed is omitted.
In addition, main shaft control circuit 60 receives the main axis rotation instruction, and to main shaft amplifier 61 output spindle speed signals.Main shaft amplifier 61 receives the spindle speed signal, and with the rotational speed of order the spindle drive motor 62 of drive shaft is rotated.Position detector 63 is synchronized with main axis rotation, feedback pulse (basic pulse) and 1 rotating signal is fed back to main shaft control circuit 60 carry out speed control.Read this feedback pulse and 1 rotating signal by main shaft control circuit 60 by CPU11, be used in counter (counter 1 in Fig. 1) the counting feedback pulse (basic pulse) that is provided with among the RAM13.In addition, can be with the main shaft command pulse as basic pulse.
Fig. 6 is the process flow diagram that is illustrated in the Processing Algorithm that the numerical control device CPU11 in routing table when running of the 1st embodiment implements.
The CPU11 of numerical control device, the cycle is carried out processing shown in Figure 6 in accordance with regulations.
At first, upgrade reference position L (processing of the reference position counter 3 of Fig. 1).Promptly, in the register of Memory Reference position L the count value of counter 1 be multiply by the value of setting multiplier value and carry out additive operation and upgrade the reference position, this counter 1 is used for feedback pulse (the perhaps location of instruction of main shaft) or time reference pulse from the position detector 63 of expression main spindle's are counted (step S1).In addition, using as the reference position under the situation of main spindle's, is the pulse that takes place in the state that multiply by multiplier value from the feedback pulse or the command value of the position detector 63 of expression main spindle's, so this multiplier value is 1.
In the circular treatment of path, judge whether in the circular treatment of path (step S2) according to connecting path circulation sign, if sign is disconnected, judge then whether current reference position L has arrived at routing table Tx, the instruction reference position (step S3) of ordering among the Tz is not if having to arrive then carry out common routing table running (step S5).When current reference position L arrives the instruction reference position, judge whether that setting circulation at this instruction reference position accesses instruction (Q1000, Q1010) (step S4).When setting storage circulation does not access instruction, carry out the common routing table running of step S5, but, in this case, will be than big next reference position, the current reference position of storing routing table into as the instruction reference position, and will be at the X of this reference position storage, the position of Z axle is as the location of instruction.
On the other hand, arrive the position L1 that in routing table, sets storage as reference position L, read circulation with step S4 and access instruction (Q1000, Q1010) time, CPU11 shift current reference position L (=L1) (store in the register) and reset reference position (the reference position counter 3 of Fig. 1 is resetted) into and be " 0 " (step S6), store the position (=X1, Z1) of current X-axis, Z axle in the register (step S7) as circulation starting position (this starting position is called Xs, Zs).
In addition, switch to circulation and access instruction (Q1000, routing table Q1010) (step S8).Its result, owing to access Q1000 at X-axis, so be transformed into the Txs of path circular list shown in Fig. 4 A.Owing to access Q1010 at the Z axle, so be transformed into the Tzs of path circular list shown in Fig. 4 B.And, connect path circulation sign (step S9), and stop the processing in this cycle.
In following one-period, carry out step S1, the processing of step S2, because detecting the path recursion instruction in this step S2 connects, so transfer to step S10, and path circular list Txs, Tzs from changing, the big and instruction immediate reference position (step S10) of reference position L that read-around ratio is current with it.In addition, in the present embodiment, be augment direction as the time or the main spindle's of benchmark.When not having the data of reading in this moment (step S11), the running of carrying out according to path circular list Txs, Tzs stops, and transfer to step S13, but initial sense order reference position L11, and sensing pin is to position X11, the Z11 of this instruction reference position setting, this position and the circulation starting position of storing register by step S7 into (Xs, Zs are Xs=X1, Zs=Z1 when being transformed into reference position L1) are carried out additive operation, and obtain the final position in cycle operation path.
In path circular list Txs, Tzs, to access circulation starting position, the path point of path circular list as initial point, owing to set the position X11～X15, the Z11～Z15 that store each, if so respectively this position X11～X15, Z11～Z15 and the X, position Xs, the Zs of Z axle that store are carried out additive operation, the position on the coordinate system that just can obtain using in this machining control when the path circulation begins.
After obtaining like this, carry out handling according to position (target location), and the move in this cycle is outputed to each control circuit 30,31 (step S12) with existing identical routing table running.
Below, by each cycle execution in step S1, S2, S10～S12, and each command device that will be equivalent to the instruction reference position big and nearer than current reference position L carries out the routing table running as the target location and handles, and obtains the move in this cycle and drives each motor 5x, 5z.
L11 is passed through in the reference position, L12, L13, L14, L15, X-axis moves and is (Xs+X11), (Xs+X12), (Xs+X13), (Xs+X14), (Xs+X15), the Z axle moves and is (Zs+Z11), (Zs+Z12), (Zs+Z13), (Zs+Z14), (Zs+Z15), reference position L arrives instruction reference position L15, when reading the next instruction reference position, when being judged as the instruction reference position of not reading (step S11), meaning path cycle operation stops, transfer to step S13, (reference position that reference position counter 3 shown in Figure 1 is transferred in adjustment) restored in the reference position (being L1 at first) of shifting in step S6, and turn back to the routing table (step S14) that accesses at first, path circulation sign is become shutoff (step S15).
Then, turn back to routing table shown in Fig. 3 A, Fig. 3 B, and circulate the processing of implementation step S1～S3, step S5 in accordance with regulations.And, when reference position L arrives the next instruction reference position L2 that stores in routing table Tx, Tz, accessing circulation accesses instruction Q1000, Q1010 and carries out above-mentioned step S6～S9, become the processing of above-mentioned step S1, S2, S10～S12 from following one-period, the do action that becomes the 2nd time based on path circular list Txs, the Tzs shown in Fig. 4 A, Fig. 4 B is handled.
Below, carry out do action equally 3 times, this finishing cyclic process stops when reference position L arrives the instruction reference position L4 that stores in path circulation Tx, Tz.
Fig. 7 is the key diagram that is suitable for the boring cyclic process of this 1st embodiment one example.
At hole in a plurality of positions cave processing of workpiece 7, carries out with identical fabrication cycles by the processing of boring cave by boring 8a for the boring cyclic process.In example shown in Figure 7, the 8a position of will holing is determined after boring circulation starting position A, moves to the 1st time cave processing starting position B, and begins the boring cave processing of identical processing from this position.When turning back to starting position B and stop the boring cave, boring 8a adds man-hour, pass through 2 intermediate point B1, B2 of next boring cave Working position, starting position C to the 2nd boring cave processing moves, and the cave processing of holing, equally, through the intermediate point that is instructed, the starting position D that advances to next boring cave Working position also has E, processes a plurality of borings cave.
The manufacturing procedure that begins to process and to turn back to this starting position from the starting position (B, C, D, E) of boring cave processing all is identical with each boring cave, can come this part of order with the path circular list.
Fig. 8 A, Fig. 8 B are the examples of routing table Tx, the Tz of X when carrying out this path cyclic process, Z axle.In addition, add man-hour moving, to use the Y-axis routing table identical with the routing table of X-axis to Y direction (with X, Z axle vertical direction).
In X-axis routing table Tx, set storage at the X coordinate position X0 of the boring circulation starting position A of reference position L0 as the location of instruction, then, set storage at the 1st the starting position B of reference position L1, at the X-axis coordinate position of the 2nd the starting position C of reference position L4 as location of instruction X1, X4, and the circulation that order is used to access the path circular list Txs that X-axis uses accesses instruction Q1020.Equally,, specify reference position and the coordinate position corresponding, and designated cycle accesses instruction Q1020 with it at the 3rd time, starting position D, the E of the 4th.
In Z axle routing table Tz, set the Z coordinate position Z0 of storage as the location of instruction at the boring circulation starting position A of reference position L0, in the L1 of reference position, set the Z coordinate positions Z1 of the 1st starting position B of storage, and the circulation that order is used to access the path circular list Tzs of Z axle usefulness accesses instruction Q1030.Then, set storage Z coordinate positions Z2, the Z3 relative, then, set the Z coordinate positions Z4 that stores the 2nd starting position C, and the order circulation accesses instruction Q1030 at reference position L4 with centre position B1, B2 at reference position L2, L3.Though omit in the accompanying drawings, with following storage each starting position D, E and centre position set repeatedly.
Fig. 9 A, Fig. 9 B are the examples of the path circular list in this boring cyclic process.Fig. 9 A is the path circular list Txs that X-axis is used, and Fig. 9 B is the path circular list Tzs of Z axle usefulness.
At this path circular list Txs, among the Tzs, identical with the example of finishing cyclic process shown in Figure 2 before, when having arrived starting position B, C, D, the E of cyclic process when accessing instruction (reading circulation), the reference position is reset to " 0 ", and the location of instruction of storing X, Z axle is set at this path circular list Txs in the position when being initial point " 0 " as this starting position B, C, D, E among the Tzs.
At first, the path circular list Tzs from Z axle usefulness begins explanation.
0 begin the to hole cave processing from the reference position, and set Z shaft position Z11, Z12, Z13, Z14, the Z15 of storage boring do action respectively at reference position L11, L12, L13, L14, L15.In addition, the last position Z15 of this boring do action is owing to be starting position (B, C, D, E), so be " 0 ".
As mentioned above, in the circulation of boring cave processing, when the reference position had arrived L15, the Z axle turned back to starting position (B, C, D, E), and therebetween, X-axis is the state that stops to move.For this reason, in the path circular list Txs that X-axis is used, set storage " 0 " at reference position L15.
According to comprising as above path circular list Txs, routing table Tx, the Tz of Tzs, turn round by numerical control device 10 execution route tables, but should the time the processing motion flow that carries out of CPU11 identical with above-mentioned finishing cyclic process example of carrying out, only routing table Tx, Tz difference.Action for the boring cyclic process is handled, and carries out simple declaration jointly with Fig. 6.
As mentioned above, cycle is upgraded reference position L in accordance with regulations, and judge whether this reference position arrives the position of ordering in routing table Tx, Tz, and judge that whether setting the storage circulation when arriving accesses instruction, even if arrive the location of instruction and arrive when also setting the storage circulation and accessing instruction, carry out common routing table running (step S1～S5).
And, when the reference position arrives L1, to should the position from X, Z axle routing table Tx, Tz, reading circulation when accessing Q1020, Q1030, shift current reference position (L1), reset the reference position, and store the current location of instruction (X-axis of starting position B, C, D, E, Z shaft position (Xs, Zs)), switch to path circular list Txs, Tzs, connect path circulation sign.
From following one-period, transfer to step S10 from step S2, read the location of instruction of setting at the next instruction reference position bigger than current reference position L.The initial location of instruction 0 of from the circular list Txs of X-axis path, reading in respect to L15, from the circular list Tzs of Z axle path, read in location of instruction Z11 with respect to L11, circulation starting position (Xs with storage, Zs) read in the position with this and carry out additive operation, obtain the target location, and with (the step S10～S12) of execution route table running similarly at present.In addition, because the X-axis location of instruction is 0, so do not move.
Below, upgrade reference position L, by arriving the instruction reference position (L12, L13, L14, L15) of on the circular list Tzs of Z axle path, setting this reference position L, with this moment the location of instruction as target location (Z12, Z13, Z14, Z15) carry out the routing table running, when should be when lose the reference position that path circular list Txs, Tzs read, the processing of this path circular list stops, return the reference position after the transfer, turn back to initial routing table, and path circulation sign is become shutoff (step S13～S15).Thus, implement the routing table running of routing table Tx shown in Figure 8, Tz from following one-period.
The reference position of storing in path circular list Txs, Tzs and each shaft position are the reference position during from the circulation beginning of the path of same processing, relative datum position and each relative position of each shaft position, so can use the method for the relative position of reference position in the time of can specifying from path circulation beginning, each shaft position.
For this reason, in the above-described embodiment, in step S6, make the reference position keep out of the way and reset beginning is made as " 0 " according to the reference position that path circular list Txs, Tzs produce running, but replace this to handle in step S6, the reference position of this moment is stored in advance as circulation beginning reference position, path, in step S10, can relatively deduct the instruction reference position that this path circulation begins the value of reference position and set storage among path circular list Txs, Tzs from the reference position.
In addition, in the above-described embodiment, in circular list Txs, Tzs (Fig. 4, Fig. 9), the instruction reference position is set at the position that the circulation starting position is an initial point 0 (absolute position), but also can be with this point as increment size (increment).That is, can be used as amount of movement sets.In the case, can prepare register, in this register, the instruction reference position be carried out multiplying in turn and obtain the absolute position, and compare with the reference position.
In addition, at path circular list Txs, Tzs (Fig. 4, the location of instruction Fig. 9), in above-mentioned embodiment example, on the coordinate position during as initial point 0, set each location of instruction of storage, but this location of instruction also can be come order with increment with the circulation starting position.In the case, can in step S7, in advance the present instruction position be stored in the register as the circulation starting position, and in this register, the increment of each location of instruction be carried out multiplying in turn and obtain the absolute position.In addition, according to this path circular list Txs, when Tzs produces running, come the running of running path table according to increment.
Figure 10 be the present invention's the 2nd embodiment carry out the synoptic diagram of the function of motion according to the sheet form data.The point different with the 1st embodiment shown in Figure 1 is that the driving control system of sheet form data is set to 2 systems.This embodiment is represented the example screw cutting processed by the sheet form data.
The X-axis routing table Txc and the Z axle routing table Tzc of feed action usefulness are set in storer, and X-axis routing table Txs and the Z axle routing table Tzs that the screw cutting do action is used is set in storer.In addition, the X-axis of feed action usefulness, routing table interpolation handling part 4xc, the 4zc of Z axle are set, routing table interpolation handling part 4xs, the 4zs of the X-axis that the screw cutting do action is used, Z axle.
And, in the 2nd embodiment, feed action with the time as benchmark, the screw cutting do action with main spindle's as benchmark.For this reason, in the counter 1c that is set to feed action side, input makes the count value of this counter 1c multiply by the time multiplying power that is produced by the multiplying power unit with multiplier 2c the pulse of time as benchmark, and its result is input among the time reference counter 3c of output time benchmark.
As the reference time of the value of time reference counter 3c, cycle is input to routing table running interpolation handling part 4xc, the 4zc of X, Z axle in accordance with regulations, and obtain each Control Shaft location of instruction with routing table Txc, Tzc with respect to reference time with reference to each feed action of in storer, storing, the difference of this location of instruction obtained and the location of instruction in last one-period is outputed to totalizer 6x, 6z as move.
On the other hand, the routing table that the screw cutting do action stops with the integral multiple at 360 degree instructs and moves, and the starting position of screw cutting is for identical at every turn thus.Do not need thus to obtain and the main axis rotation position synchronous.The input expression is from the signal of the main spindle's of the pulse of the position detector that is installed to main shaft or the command pulse of main shaft etc. in counter 1s, with multiplier 2s in accordance with regulations the cycle make the multiplier value with main spindle's multiplying power unit on duty of this counter, its result is input to main spindle's reference counter 3s as the benchmark main spindle's.
And, at the benchmark main spindle's shown in the main spindle's reference counter 3s, the cycle screw cutting do action that is input to X, Z axle is with routing table running interpolation handling part 4xs, 4zs in accordance with regulations, with reference to each the screw cutting do action routing table Txs that in storer, stores, Tzs obtains the location of instruction with respect to each Control Shaft of benchmark main spindle's, and the difference of this location of instruction obtained and the location of instruction in last one-period is outputed to totalizer 6x, 6z as move.
In totalizer 6x, the feed used from X-axis action is carried out additive operation with the move of, each routing table running interpolation handling part 4xc that the screw cutting do action is used, 4xs output come X-axis servomotor 5x is driven.Equally, in totalizer 6z, additive operation is carried out in each routing table running interpolation handling part 4zc that the feed action from Z axle usefulness is used, the screw cutting do action is used, the move of 4zs output, Z axle servomotor 5z is driven according to the additive operation value.
In addition, time reference counter 3c was reset according to the moment of the order path table function of motion, and main spindle's reference counter 3s also is reset according to the moment of the order path table function of motion.This time reference counter 3c and main spindle's reference counter 3s change according to the multiplying power of multiplying power unit, if but the multiplier value of main spindle's is made as 1, then represent the position of rotation of main shaft at the benchmark main spindle's shown in the main spindle's reference counter 3s.
Figure 11 is that the screw cutting of implementing is in this embodiment processed the key diagram of an example.Workpiece 7 is installed in the main shaft and the rotation of lathe.In addition, screw cutting cutter 8b, can on X-axis (with respect to the vertical direction of axis (central axis of workpiece) of main shaft), Z axle (axis of main shaft (central axis of workpiece) direction), relatively move at workpiece 7, the screw cutting circulation Cyl that carries out the feed of ormal weight and repeatedly implement to stipulate, machining screw shape on workpiece 7.
The relative position that the workpiece 7 of the routing table setting of as shown in figure 12 feed action usefulness and the screw cutting cutter 8b in the feed of this screw cutting processing is moved is relative.Figure 12 represents the example of the feed action usefulness routing table Txc that X-axis is used, and the feed action of Z axle usefulness is provided with too with routing table Tzc.
In Figure 12, time representation is represented the feed position from the reference time of time reference counter 3c output corresponding to the position of each reference time.In this Figure 12, expression is carried out 4 feeds and is come the example of machining screw.After carrying out 4 feeds, reference time corresponding to the position of L4 on storage screw cutting processing command for stopping.After this, L5 carries out the feed of the feed position X3 identical with last feed position X3 in reference time, and carries out finishing.
Figure 13 is the key diagram of the example of screw cutting do action routing table.Corresponding to each path movement amount of benchmark main spindle's storage screw cutting circulation Cyl (with respect to the rate of travel of the workpiece 7 of screw cutting cutter 8b).That is, the corresponding benchmark main spindle's of exporting from main spindle's reference counter 3s is as increment U store path amount of movement.In addition, in Figure 13, expression constitutes the routing table Txs of the screw cutting do action of X, Z axle usefulness, the example of Tzs as 1 table.In this Figure 13, constitute the screw cutting circulation with 5 paths, this 1 screw cutting loop termination when the benchmark main spindle's arrives S5, and the instruction of storage screw cutting loop termination.
Figure 14 is the key diagram of explanation present embodiment action summary.After becoming the preceding preceding processing of this screw cutting processing, add man-hour when ordering screw cutting circulation sign on and beginning screw cutting, carrying out feed according to feed action with routing table Txc, the Tzc of X, Z axle moves, and implement repeatedly the screw cutting circulation back termination screw cutting processing of (being 4 times in this embodiment) with routing table Txs, the Tzs of X, Z axle according to the screw cutting do action, after this carry out 1 accurately machined screw cutting circulation, and transfer to next processing.
When Figure 15, Figure 16, Figure 17 were the screw cutting circulation sign on of expression command list form data, the cycle was implemented the process flow diagram of Processing Algorithm of the CPU11 of numerical control device 10 shown in Figure 5 in accordance with regulations.Figure 15 represents the processing of feed action, and Figure 16, Figure 17 represent the processing of screw cutting round-robin.
When order screw cutting circulation sign on, counter 3c reference time (steps A 1) that CPU11 resets and obtained by basic pulse and multiplier value.Then with pointer j reset (steps A 2), read L reference time (steps A 3) of count value as counter 3c reference time.Judge whether L arrived and be stored in the pointer j time corresponding Lj (steps A 4) of routing table Txc, the Tzc of feed action usefulness, the processing of execution in step A3, steps A 4 repeatedly before arriving this reference time.Time of arrival is during Lj, sensing pin is set this time Lj from routing table Txc, the Tzc of feed action usefulness position Xj, Zj (steps A 5).
Then, judge whether sense data is processing command for stopping (steps A 6), be that position data is not when processing command for stopping, judge whether termination flag F3 is " 1 " (steps A 7), (do not contain this sign F3 and carry out the initial setting that indicates when F1, F2 are the power supply input described later if this sign F3 is not " 1 ", and by reset), then with feed opening flag F1 set (steps A 8), read L reference time (steps A 9).Judge this reference time, whether L arrived the time Lj+1 (steps A 10) that stores in feed is moved with routing table Txc, Tzc, if there is not Lj+1 time of arrival, then according to reference time Li, Lj+1 and position Xj, Zj the depth of cut carry out interpolation and handle, to output to the axle control circuit 30,31 (steps A 17) of X, Z axle at the amount of movement in this cycle, and turn back to steps A 9.Below, before reference time L Lj time of arrival, carry out the processing in steps A 9, A10, A17, the interpolation that proceeds to position Xj, Zj is handled and the output amount of movement.
When reference time during L Lj+1 time of arrival, pointer j is increased " 1 " (steps A 11), before screw cutting circulation complement mark F2 set, wait for (steps A 12).And, when screw cutting circulation complement mark F2 set,, and turn back to steps A 3 with the screw cutting complement mark F2 reset (steps A 13) that circulates, carry out the processing of above-mentioned steps A of carrying out below 3.
On the other hand, in screw cutting circular treatment shown in Figure 16, when order screw cutting circulation sign on, CPU11 is with pointer k reset (step B1), judge whether feed opening flag F1 is " 1 ", whether processing termination flag F3 is " 1 " (step B2, B11), when feed opening flag F1 set in the steps A 8 of feed processing, it is detected, and the main spindle's reference counter 3s (step B3) that resets and obtain by from the feedback pulse of position detecting device 63 or main shaft command pulse and multiplier value.
Then, read out in the benchmark main spindle's S (step B4) shown in the main spindle's reference counter 3s, judge whether this benchmark main spindle's S arrives the main spindle's Sk (step B5) corresponding with the pointer k that stores in routing table Txs, the Tzs of screw cutting circulation usefulness, before arriving, carry out the processing of this step B4, B5 repeatedly.When arriving main spindle's Sk, the amount of movement Uk (Xk, Zk) (step B6) that sensing pin is set this main spindle's Sk from routing table Txc, the Tzc of screw cutting circulation usefulness.Judge whether the data read are loop termination instructions (step B7),, read out in the benchmark main spindle's S (step B8) that represents among the main spindle's reference counter 3s being shifting momentum data when not being the loop termination instruction.Judge whether this benchmark main spindle's S arrives the main spindle's Sk+1 (step B9) that next time stores in routing table Txs, the Tzs of screw cutting circulation usefulness, if do not arrive main spindle's Sk+1, then carry out the interpolation processing with this amount of movement Uk that reads (Xk, Zk), and output to the axle control circuit 30,31 (step B13) of X, Z axle according to main spindle's Sk and Sk+1.Below, arrive at benchmark main spindle's S before the main spindle's Sk+1 of storage next time, by cycle execution in step B8,9,13 processing.
In addition, the axle control circuit 30,31 of X, Z axle carries out additive operation by each cycle to the amount of movement of output in feed is handled and the amount of movement exported and comes each servomotor 5x, 5z are driven in the screw cutting circular treatment.
When benchmark main spindle's S arrives the main spindle's Sk+1 of storage next time, pointer k is increased " 1 " (step B10), and return step B6, carry out the following processing of the above-mentioned step B6 that carries out.So, along with main axis rotation, according to table data shown in Figure 13, carry out relatively move path U0, U1, U2, U3, U4 with respect to the workpiece 7 of screw cutting cutter 8b, the screw cutting cyclic process stops, in step B6, being judged as the data of reading is loop termination when instruction, with feed opening flag F1 reset, with the screw cutting complement mark F2 set that circulates, and, and return step B2 with pointer k reset (step B12).
Screw cutting circulation complement mark F2 set in feed is handled, in steps A 12, detects this sign F2 set, and should indicate F2 reset (steps A 13) thus, and the feed of next time is carried out in the processing that execution in step A3 is following.
Carry out as above, in this embodiment, carry out feed 4 times, it is indicated on the table Txc shown in Figure 12, carry out screw cutting circulation shown in Figure 13 4 times.After this, in feed is handled, the processing that is used in the steps A 4 detects the time L4 that L arrival reference time is stored in table Txc, the Tzc of feed action with X, Z axle, and reads screw cutting processing command for stopping from this table Txc, Tzc, transfers to steps A 14 from steps A 6 thus.And, with termination flag F3 set, pointer j is increased " 1 " (steps A 15), and returns steps A 3, the processing that execution in step A3 is following.Promptly read L and monitor this reference time of L reference time, this reference time L arrive with pointer j (=5) the time corresponding Lj that in routing table Txc, the Tzc of feed action usefulness, stores (=L5) wait for before (steps A 3, A4).When time of arrival during Lj, from routing table Txc, the Tzc of feed action usefulness sensing pin to this time Lj (=position the Xj that L5) sets (=X5), Zj (=Z5) (steps A 5).But in the case, set the feed position identical with last time.
Judge whether the data of reading are processing command for stopping (steps A 6), when not being the processing command for stopping, judge whether termination flag F3 is " 1 " (steps A 7).In the case, because set in steps A 14, transfer to steps A 16 so handle, and by each cycle proceed to position Xj (=X5), Zj (handle by=Z5) interpolation, and output to the axle control circuit 30,31 (steps A 16) of X, Z axle, to position Xj (=X5), Zj (stops this processing after having assigned of=Z5) move.
In the screw cutting circular treatment, behind the screw cutting loop termination, the processing of execution in step B2, B11 repeatedly.In step B11,, read out in the benchmark main spindle's S (step B14) that represents among the main spindle's reference counter 3s when detecting termination flag F3 when putting 1.Judge that whether this benchmark main spindle's S arrives the main spindle's Sk (step B15) corresponding with the pointer k that stores in routing table Txs, the Tzs of screw cutting circulation usefulness, before the Sk of in-position, carry out the processing of this step B14, B15 repeatedly.During the Sk of in-position,, judge whether the data of reading are loop termination instructions (step B17) from the amount of movement (Xk, Zk) (step B16) that the screw cutting circulation is set this main spindle's Sk with sensing pin routing table Txc, the Tzc.When the data that are amount of movement are not the loop termination instruction, read out in the benchmark main spindle's S (step B18) that represents among the main spindle's reference counter 3s, judge whether this benchmark main spindle's S arrives the main spindle's Sk+1 (step B19) that next time stores in routing table Txs, the Tzs of screw cutting circulation usefulness.If there is not in-position Sk+1, this amount of movement Uk that reads (Xk, Zk) of interpolation then, and output to the axle control circuit 30,31 (step B22) of X, Z axle.Below, arrive at benchmark main spindle's S before the main spindle's Sk+1 of storage next time, by the processing of cycle execution in step B18, B19, B22.
In addition, the axle control circuit 30,31 of X, Z axle carries out additive operation to the amount of movement of output in feed is handled and the amount of movement exported and comes each servomotor 5x, 5z are driven in the screw cutting circular treatment.
When benchmark main spindle's S arrives the main spindle's Sk+1 of storage next time, pointer k is increased " 1 " (step B20), and turn back to step B16, from routing table Txc, the Tzc of screw cutting circulation usefulness, read next move, and the following processing of execution in step B16 in turn.And when reading the command for stopping of screw cutting cyclic process, B17 advances to B21 from step, will indicate F1～F3 reset, and stops this screw cutting processing processing.In addition, carry out 1 time identical screw cutting circulation of the last depth of cut as finishing in this embodiment, can repeatedly carry out this finishing.
In above-mentioned the 2nd embodiment that carries out, feed action is the benchmark data that tabulate with time, and is that benchmark moves with time.This is in processing that this screw cutting first being processed is carried out etc., and is a lot of to each situation of carrying out drive controlling with the sheet form data as time reference, so adopted time reference.Even in this feed action, also can be with main spindle's as the benchmark data that tabulate, and move with the main spindle's benchmark.In addition, because initial and screw cutting loop termination carries out feed by screw cutting processing, move so can carry out feed by the initial and screw cutting round-robin termination signal of processing beginning.
In addition, the screw cutting do action moves as benchmark with main spindle's.This is because screw cutting circulation is relevant with the position of rotation of the workpiece 7 that is installed to main shaft, thus with main spindle's as benchmark.But, main spindle's and time correctly at once, can be without this main spindle's but with the time as benchmark.
Claims (1)
1. numerical control device, thus it has by come order to drive each function with respect to each shaft position of reference position with the sheet form data, this reference position is a benchmark with time or main spindle's, this numerical control device comprises:
Storage unit, it has master meter form data and path circular list, this master meter form data storage is with respect to each shaft position of reference position, the identical processing that this path circular list will be carried out repeatedly from the processing starting position to the processing final position, with respect to each shaft position of second reference position, store as the sheet form data, this second reference position is different with the reference position in being stored in described master meter form data;
The 1st calculates the unit, and it calculates each amount of movement based on described master meter form data;
The 2nd calculates the unit, and it calculates each amount of movement based on the data of described path circular list; With
Driver element, it carries out additive operation and outputs to each motor driving to calculating each amount of movement of action separately of calculating the unit by the described the 1st and the 2nd,
Wherein,
The reference position of storing the master meter form data of each shaft position is with the data of time as benchmark, and the reference position of path circular list is with the data of main spindle's as benchmark.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2005116214A JP4233540B2 (en) | 2005-04-13 | 2005-04-13 | Numerical control device that drives each axis motor using table format data |
| JP2005116214 | 2005-04-13 | ||
| JP2005126813 | 2005-04-25 |
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| CN1848011A CN1848011A (en) | 2006-10-18 |
| CN100565398C true CN100565398C (en) | 2009-12-02 |
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| JP5172990B2 (en) * | 2011-05-06 | 2013-03-27 | ファナック株式会社 | Numerical control device with operation function based on table format data |
| CN102354162B (en) * | 2011-07-22 | 2013-06-12 | 江俊逢 | Motion control interface and interface controller |
| JP5752213B2 (en) | 2013-11-20 | 2015-07-22 | ファナック株式会社 | Numerical control device with a function to execute multiple commands simultaneously in table format data |
| JP5800886B2 (en) * | 2013-12-16 | 2015-10-28 | ファナック株式会社 | A numerical controller that gives commands to multiple axes with a single command |
| JP5890472B2 (en) | 2014-06-13 | 2016-03-22 | ファナック株式会社 | Numerical control device having a function of superimposing a superposition cycle synchronized with a periodic operation cycle |
| JP5908552B1 (en) | 2014-09-24 | 2016-04-26 | ファナック株式会社 | Machine tool controller |
| JP6088478B2 (en) * | 2014-10-27 | 2017-03-01 | ファナック株式会社 | Numerical control device that operates with tabular data |
| JP6235457B2 (en) * | 2014-12-25 | 2017-11-22 | ファナック株式会社 | Numerical control device that operates with tabular data |
| JP6203780B2 (en) | 2015-04-21 | 2017-09-27 | ファナック株式会社 | Numerical control device that operates with tabular data |
| CN105022350B (en) * | 2015-07-14 | 2018-01-23 | 江苏新瑞重工科技有限公司 | A kind of Digit Control Machine Tool recovers the system and method for the reference point of each axle |
| JP6747916B2 (en) * | 2016-08-31 | 2020-08-26 | ファナック株式会社 | Numerical control device with tool retract function to avoid interference |
| JP6943268B2 (en) * | 2019-03-29 | 2021-09-29 | オムロン株式会社 | Control device |
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| JP4233540B2 (en) | 2009-03-04 |
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