CN101526808A - Numerical control software and hardware multi-axis interpolation method of machine tool - Google Patents
Numerical control software and hardware multi-axis interpolation method of machine tool Download PDFInfo
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- CN101526808A CN101526808A CN200910058097A CN200910058097A CN101526808A CN 101526808 A CN101526808 A CN 101526808A CN 200910058097 A CN200910058097 A CN 200910058097A CN 200910058097 A CN200910058097 A CN 200910058097A CN 101526808 A CN101526808 A CN 101526808A
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Abstract
The invention relates to a numerical control software and hardware multi-axis interpolation method of a machine tool. The numerical control software and hardware multi-axis interpolation method comprises a software interpolation calculation part and a hardware interpolation calculation part. The software interpolation calculation is as follows: performing interpolation calculation on a CPU for a trace of a numerical control command by software to figure out trace profile. The hardware interpolation calculation is as follows: matching a result of the software interpolation calculation with a CPU clock by a data bus, and sending the result to an FPGA dual-port RAM; extracting data from the dual-port RAM by each axis interpolation module; and realizing multi-axis synchronous interpolation calculation under trigger of a synchronous clock, and sending out a command pulse to control a driver so as to drive each electric motor, thus realizing multi-axis interpolation motion control. By adopting the software and hardware interpolation calculation, the numerical control software and hardware multi-axis interpolation method can help complete extension of number of axes and realize increased execution speed without improving the CPU property.
Description
Technical field
The present invention relates to a kind of interpolation computing method of numerical control instruction track, specifically the software and hardware multi-axis interpolation method of numerical control of machine tools.
Background technology
At present, in numerical control of machine tools, the interpolation of the track of numerical control instruction calculate all adopt CPU by computed in software each pulsed quantity that sends and speed, directly sending pulse command signal by the software interpolator controls each driving, as shown in Figure 1.Calculate normally to realize in the software counting interrupt service routine, the number of axle of lathe multiprogram row more is many more, common one three interruption interpolation service routine is wanted tens row, consider the instruction cycle of CPU, each interpolation cycle will be longer, so just limited the raising of number of axle expansion and interpolation travelling speed, this also is to perplex the bottleneck problem that numerical control improves the number of axle, travelling speed for a long time.
Summary of the invention
In order to solve the interpolation calculation procedure complexity of numerical control instruction track in the prior art, the problem that interpolation cycle is long the invention provides a kind of numerical control software and hardware multi-axis interpolation method of machine tool that can improve interpolation rate.
The present invention is achieved in that
A kind of numerical control software and hardware multi-axis interpolation method of machine tool comprises software interpolation calculating and hardware interpolation and calculates two parts, it is characterized in that:
The software interpolation is calculated: the track of numerical control instruction calculates through the software interpolation on CPU, and the profile of track is calculated;
Hardware interpolation calculates: by data bus software interpolation result of calculation coupling cpu clock is sent in the FPGA two-port RAM, each interpolation module with data from taking out the port ram again, under the triggering of synchronous clock, realize the synchronous interpolation calculating of multiaxis, and send the command pulse Control Driver, thereby drive each motor, realize the multi-axis interpolation motion control.
Wherein CPU is 32 arm processors, and FPGA is 1,000,000 an extensive programmable integrated circuit.
The present invention calculates by the software and hardware interpolation, can be implemented under the prerequisite that does not improve cpu performance, finishes the expansion of the number of axle, and can realize the lifting of execution speed.
Description of drawings
Fig. 1 is the synoptic diagram of prior art
Fig. 2 is a synoptic diagram of the present invention.
Embodiment
The present invention is described further below in conjunction with accompanying drawing 2.
As shown in Figure 2, CPU only realizes the track general profile calculating of numerical control instruction, computational data is sent in the FPGA two-port RAM by data bus, and clock signal is issued the Clock Managing Unit of FPGA, Clock Managing Unit triggers down by synchronizing clock signals, realizes the synchronous interpolation calculating of multiaxis, and sends the command pulse Control Driver, thereby drive each motor, realize the multi-axis interpolation motion control.
Because CPU only realizes the track general profile calculating of numerical control instruction, and is less demanding to the speed and the real-time of computing, therefore less demanding to CPU for the expansion of multiaxis, thereby the expansion number of axle is easy to realize.
Each functional module in the FPGA is to realize by VHDL language programmed, 1,000,000 logic gates of utilizing FPGA to carry, its final executive mode is as custom integrated circuit, can ignore its time delay, synchronous and the high-speed interpolation that uses each to reach highly calculates, thereby just can realize synchronous, the high-speed interpolation of each as long as guarantee the clock signal of the certain precision of given FPGA, speed.
Claims (2)
1, a kind of numerical control software and hardware multi-axis interpolation method of machine tool comprises software interpolation calculating and hardware interpolation and calculates two parts, it is characterized in that:
The software interpolation is calculated: the track of numerical control instruction calculates through the software interpolation on CPU, and the profile of track is calculated;
Hardware interpolation calculates: by data bus software interpolation result of calculation coupling cpu clock is sent in the FPGA two-port RAM, each interpolation module with data from taking out the port ram again, under the triggering of synchronous clock, realize the synchronous interpolation calculating of multiaxis, and send the command pulse Control Driver, thereby drive each motor, realize the multi-axis interpolation motion control.
2, numerical control software and hardware multi-axis interpolation method of machine tool according to claim 1 is characterized in that: described CPU is 32 arm processors, and FPGA is 1,000,000 an extensive programmable integrated circuit.
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| CN200910058097A CN101526808A (en) | 2009-01-09 | 2009-01-09 | Numerical control software and hardware multi-axis interpolation method of machine tool |
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| CN200910058097A CN101526808A (en) | 2009-01-09 | 2009-01-09 | Numerical control software and hardware multi-axis interpolation method of machine tool |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102081354A (en) * | 2010-12-01 | 2011-06-01 | 深圳市众为兴数控技术有限公司 | Multi-axis motion control interpolation algorithm based on high-speed field bus |
| CN102426436A (en) * | 2011-10-24 | 2012-04-25 | 华中科技大学 | Multi-axis numerical control machining post-processing method considering structural error of machine tool |
| CN102615647A (en) * | 2012-04-09 | 2012-08-01 | 邓世海 | Multi-axis movement control method of industrial robot |
| CN102662887A (en) * | 2012-05-03 | 2012-09-12 | 天津市英贝特航天科技有限公司 | Multi-port random access memory (RAM) |
| CN104570952A (en) * | 2015-01-19 | 2015-04-29 | 深圳市微秒控制技术有限公司 | Multi-axis interpolation control method and device |
| CN104793568A (en) * | 2015-04-10 | 2015-07-22 | 深圳市明速自动化设备有限公司 | Multi-axle interpolation method |
| CN107291048A (en) * | 2016-04-13 | 2017-10-24 | 发那科株式会社 | Numerical control device |
-
2009
- 2009-01-09 CN CN200910058097A patent/CN101526808A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102081354A (en) * | 2010-12-01 | 2011-06-01 | 深圳市众为兴数控技术有限公司 | Multi-axis motion control interpolation algorithm based on high-speed field bus |
| CN102081354B (en) * | 2010-12-01 | 2014-03-26 | 深圳众为兴技术股份有限公司 | Multi-axis motion control interpolation algorithm based on high-speed field bus |
| CN102426436A (en) * | 2011-10-24 | 2012-04-25 | 华中科技大学 | Multi-axis numerical control machining post-processing method considering structural error of machine tool |
| CN102426436B (en) * | 2011-10-24 | 2013-03-27 | 华中科技大学 | Multi-axis numerical control machining post-processing method considering structural error of machine tool |
| CN102615647B (en) * | 2012-04-09 | 2015-04-01 | 邓世海 | Multi-axis movement control method of industrial robot |
| CN102615647A (en) * | 2012-04-09 | 2012-08-01 | 邓世海 | Multi-axis movement control method of industrial robot |
| CN102662887A (en) * | 2012-05-03 | 2012-09-12 | 天津市英贝特航天科技有限公司 | Multi-port random access memory (RAM) |
| CN102662887B (en) * | 2012-05-03 | 2015-05-20 | 天津市英贝特航天科技有限公司 | Multi-port random access memory (RAM) |
| CN104570952A (en) * | 2015-01-19 | 2015-04-29 | 深圳市微秒控制技术有限公司 | Multi-axis interpolation control method and device |
| CN104570952B (en) * | 2015-01-19 | 2017-11-07 | 深圳市微秒控制技术有限公司 | Multi-axis interpolation control method and device |
| CN104793568A (en) * | 2015-04-10 | 2015-07-22 | 深圳市明速自动化设备有限公司 | Multi-axle interpolation method |
| CN107291048A (en) * | 2016-04-13 | 2017-10-24 | 发那科株式会社 | Numerical control device |
| CN107291048B (en) * | 2016-04-13 | 2023-11-28 | 发那科株式会社 | Numerical controller |
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Open date: 20090909 |