CN104898574A - Shear-line multi-axis numerical control system based on P500 controller - Google Patents
Shear-line multi-axis numerical control system based on P500 controller Download PDFInfo
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- 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
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Abstract
A shear-line multi-axis numerical control system based on a P500 controller has a P500 controller, which serves as a hardware carrier of the shear-line multi-axis numerical control system and communicates respectively with a remote input/output module and at least three servo driving units in a high speed through EtherCAT on-site buses. The servo driving units corresponding drive servo motors. The remote input/output module is in communication connection with a digital quantity/analog quantity device and at least three hydraulic execution units to complete data acquisition and accurately positioning of numerical control shafts of a shear line during a production process. The shear-line multi-axis numerical control system comprises a man-machine interface module, a PLC logic processing module, an embedded high-precision real-time system module, a digital shaft motion control module, a synchronous sub-module and a simulated shaft motion control module. The shear-line multi-axis numerical control system has high performance-price ratio, flexible functions and excellent data interaction performance. Precise positioning and process synchronization of a plurality of numerical control shafts on a shear line are realized, and centralized control is achieved.
Description
Technical field
The present invention relates to mechanical automation control technology field, especially a kind of shear line multi-axis numerical control system based on P500 controller, apply to the higher numerical control of automaticity and control occasion.
Background technology
Current, home market adopts import plate shearing machine digital control system mostly for the electric control system of steel plate shear line, match programmable logic controller (PLC) PLC and man-machine interface terminal operation device HMI again to form and control framework, wherein the import plate shearing machine digital control system DAC350,360 or the plate shearing machine special-purpose numerical control system such as DNC61G CUT of CYBELEC company of Switzerland production that mostly selects Dutch DELEM company to produce.Not only cost is high for above-mentioned control framework, and plate shearing machine digital control system and cannot carry out data bus communication between PLC, HMI, and data interaction is poor, causes shear line control system to control dispersion, and operate very inconvenience; Especially import plate shearing machine digital control system designs production for the control of separate unit plate shearing machine, not only expensive, and function has cured, only for control separate unit plate shearing machine the angle of shear, gap blade, cut the action such as journey and backgauge (X-axis), the action of the auxiliary bodies such as the front feeding of uncontrollable shear line, side feeding, rear discharging; And this plate shearing machine digital control system can only control at most two digital axles, can not meet the requirement of multijoint control on shear line, but also there is several functions drawback, debug very inconvenient.In view of the foregoing, develop that a set of cost performance is high, flexible function, data interaction are good, be convenient to centralized control, high aggregation degree shear line digital control system simple to operation just seems particularly necessary.
Summary of the invention
It is high that object of the present invention will solve current shear line digital control system cost exactly, inconvenient operation, data interaction is poor, at most for controlling two digital axles on separate unit plate shearing machine, can not accomplish that multiaxis controls to realize to go forward to shear line the problem of action of the auxiliary bodies such as feeding, side feeding and rear feeding simultaneously, provides a kind of shear line multi-axis numerical control system based on P500 controller for this reason.
Concrete scheme of the present invention is: a kind of shear line multi-axis numerical control system based on P500 controller, it is characterized in that: include P500 controller, P500 controller is as the hardware carrier of shear line multi-axis numerical control system, adopt Windows CE 6.0 operating system, high speed communication is carried out with remote input/output module and at least three servo drive units respectively by EtherCAT fieldbus, remote input/output module carries out communication with digital quantity/analog quantity device and at least three hydraulic actuating units respectively and is connected, to complete the shear line data acquisition of each numerical control axle and accurate location in process of production, each servo drive unit number consecutively is servo drive unit 1, servo drive unit 2 servo drive unit n, each servo drive unit corresponding with on shear line in order to drive the servomotor of each digital axle (X1 axle, X2 axle Xn axle) to be connected, each hydraulic actuating unit number consecutively is hydraulic actuating unit 1, hydraulic actuating unit 2 hydraulic actuating unit n, each hydraulic actuating unit corresponding with on shear line in order to drive each solenoid valve of simulating axle (M1 axle, M2 axle Mn axle) to be connected,
Described shear line multi-axis numerical control system software architecture includes with lower unit:
Human-computer interface module: achieve powerful visualization function, by configuration interface, the current state of each for shear line motion parts is showed in the mode of real-time motion graphics and word, and accept user data programming and steering order by the input domain, button, selection change-over switch etc. of configuration on interface, effectively control shear line to run, if when there is warning, fault in equipment running process simultaneously, warning message function is provided by the form of glimmering with word, and by sound and light alarm mode teaching process person, so form good man-machine interaction;
PLC logic processing module: be similar to a built-in PLC and run module, its clock scan period controls the capacity of framework and the demand of each telecontrol equipment according to engineering project, by software editing and setting, the logic function being responsible for process engineering project controls, and carry out data interaction, to complete the various functions on shear line needed for each lathe with Windows CE 6.0 operating system, embedded high-precision real-time system module, human-computer interface module and each digital axle/simulation axle motion-control module;
Embedded high-precision real-time system module: as the software module be embedded in Windows CE 6.0 operating system, for human-computer interface module, PLC logic processing module, digital axle/simulation axle motion-control module and synchronous submodule provide timing services, and modules is made to perform corresponding affairs in the cycle at a fixed time;
Numeral axle motion-control module: the positional information of the digital axle fed back by each position feedback unit, servo drive unit (each servo drive unit is corresponding with each position feedback unit) on the corresponding digital axle of Real Time Drive, to realize the precise positioning of multiple digital axle (maximum 64 axles).Its module edit display interface (Visualization) can free configuration as required, configurable various control module, picture etc., by visualized management device, carry out seeking zero very intuitively, Jogging, suddenly to stop, travelling speed and the isoparametric setting of start and stop acceleration and simulative debugging;
Synchronous submodule: based on digital axle motion-control module, interactive correspondence is carried out with each position feedback unit, be responsible for the course synchronization between each numerical control axle, adopt master-slave mode Synchronization Design scheme, an axle is set as main shaft, axle selected by other is from axle, adopt the synchronous tracking error mode in position simultaneously, by high-precision real-time clock, scan round is carried out to the error between numerical control axle selected by each, and correspondingly adjust the travelling speed from axle according to the situation of error, synchronous to guarantee the position of digital control system multiaxis;
Simulation axle motion-control module: be responsible for the analog signals being gathered each simulation axle by remote input/output module, and by positional information that each position feedback unit feeds back, calculate through internal conversion sum functions, Real Time Drive simulates the hydraulic actuating unit (each hydraulic actuating unit is corresponding with each position feedback unit) on axle accordingly, for completing the automatic location of position display and the multiple simulation axle of control.
Analog input counting module and digital quantity input counting module is integrated with in remote input/output module described in the present invention, wherein analog input counting module on collecting scissors tangent line for the analog signals of straight line/rotational potentiometer of control signal input, the angle of shear of feedback master/side plate shearing machine, gap blade and cut the current location of journey; It is descending along signal that digital quantity input counting module is used for collecting scissors trigger knife rest, to complete shearing automatic counting function.
The controller of P500 described in the present invention is as the core maincenter of digital control system, motion control (MOTION), logic control (PLC) and visualization function (HMI) perfection are blended in an equipment, be mainly used in realizing centralized motion control, and adopt chain of command plank frame, compact, excellent performance, powerful, its hardware configuration data is as follows:
The fieldbus of EtherCAT described in the present invention adopts a closed Ethernet system, owing to using the ring topology based on principal and subordinate, in each bus cycle, only have a message to send to bus, therefore bus cycle time keeps completely the same within each cycle, baud rate is up to 100Mbps, can connect 256 nodes in theory, between two nodes, cable maximum length can reach 100m; Node device can be mapped to for maximum 32 process datas (each total amount reaches 100 bytes) that reach of each Tx/Rx or exchange with it in addition; According to CoE (CAN over EtherCAT) EtherCAT specification and FoE EtherCAT file service (firmware downloads), EtherCAT provides parameter channel.
In the present invention, P500 controller adopts plug-in type SD storage card, this storage card memory capacity is large and change conveniently, can be used for preserving job sequence (maximum 250, maximum 15 steps of each job sequence), the daily of message, alarm logging and device operator that user writes and log in record etc.The product of certain specification corresponding, have a set of such as product material, size, the plate shearing machine angle of shear, gap blade, cut the parameters such as journey, X/Z shaft position, speed and each subsidiary function, once setting is debugged, can these parameters be kept in digital control system with job sequence form, be convenient to directly call next time, substantially increase production efficiency.
The present invention has the following advantages:
(1) cost of the present invention is low, and cost performance is high, has good economy.
Current, article one, common numerical control cutting production line operationally, need configuration two import plate shearing machine digital control systems, programmable logic controller (PLC) PLC, a man-machine interface terminal operation device HMI and number cover servo drive unit, cost is hundreds thousand of unit easily, and plate shearing machine digital control system, PLC and HMI gather in a P500 controller by the present invention, by the numerical control software independently write, achieve use one number of units Ore-controlling Role to the centralized control of whole piece shear line, greatly reduce equipment cost; Simultaneously also by emulation controls such as configuration I/O territory, button, switch, pilot lamp on the operation interface of P500 controller, save a large amount of hardware, installation and maintenance cost.
(2) flexible function of the present invention, data interaction is strong, and the right height of domination set is easy to operate.
Existing import plate shearing machine special-purpose numerical control system function has cured, secondary development cannot be carried out according to embody rule, the shearing of separate unit plate shearing machine can only be controlled, and its angle of shear, gap blade, cut the significant data such as journey and backgauge position can not with programmable logic controller (PLC) PLC, man-machine interface terminal operation device HMI carries out in good time mutual, more cannot be used for controlling feeding before shear line, side feeding, the action of the auxiliary bodies such as rear discharging, and the present invention overcomes these problems of import plate shearing machine digital control system preferably, according to the actual conditions of shear line, all include plate shearing machine and auxiliary body in range of control, EtherCAT data bus is adopted to carry out high speed communication in good time, positioning precision is high, and achieve centralized control, it is very convenient to operate.
(3) friendly interface of the present invention, man-machine interaction is strong, and language and operating habit are more pressed close to compatriots and used.
The mainstream speech of import plate shearing machine digital control system is nearly all English, little use Chinese, even if Chinesizing, some technical terms are also translated nondescript, cause fuzzyly even misreading, and this digital control system is independent development, use Chinese, it is clear to identify, and the configuration of operation interface is more directly perceived succinct simultaneously, be easy to observe and operation, be more suitable for the operating habit of compatriots.
(4) the controlled number of axle of the present invention is many, and the positioning precision of single shaft is high, multi-axial Simultaneous excellent performance.
The present invention can control the axis servomotor (digital axle) of 64 closed-loops in theory, and is equipped with separately a set of motion control parameter for each axle, and this motion control parameter is all open out for user's selection and adjustment.User can adjust separately the motion control parameter of this axle according to the type of the telecontrol equipment of each control axle, thus this axle can be made to reach best motion state and best control accuracy.Also according to on-the-spot needs, required numerical control axle can be selected flexibly and synchronizes them simultaneously.The corresponding operation control of making according to the motion state of each control axle for controlling the synchronous synchronous submodule of numerical control axle, and provide digital command to motion drive in real time, make according to the synchro control parameter arranged and correspond synchro control process, thus reach the course synchronization of each numerical control axle motion.
(5) applicability of the present invention is wide, applying flexible.
Because software programming of the present invention is autonomous, flexibly, adopt a large amount of modularity controls, thus interchangeability is splendid.User can take mutually different motion control parameter and synchro control parameter according to different motion control objects, arrives the object of different motion control object synchronization motions.In the motion of most of production line, as long as the machine tool controlling no more than 64 axles can be applicable to using the multi-axis numerical control system in the present invention to control, particularly larger application space will be had at the control field of large-scale shear, punching press, molding equipment.
(6) the present invention is reliable and stable, maintainable good.
The P500 controller that the present invention adopts, quality of hardware is reliable and stable, it is refuted the Ethernet interface connect and carries out high speed communication in good time by EtherCAT data bus and servo drive unit, remote input/output I/O module, a large amount of abundant field equipment data can be obtained, there is the on-line fault diagnosis of field level equipment, warning, writing function, the parametrization work such as remote parameter setting, amendment of field apparatus can be completed.The simultaneously P500 controller special interface that has been also the fault diagnosis configuration of shear line, use the word of different colours to carry out each motion parts of simulative display digital control system and normally run the required condition met, greatly facilitate the fault diagnosis of equipment, decrease down time.Design due to the hardware and software of system is all based on the modular assembly meeting industrial standard, and the upgrading of software and hardware, replacement and maintenance are all fast very convenient, thus improve the maintainability of digital control system on the whole.
Accompanying drawing explanation
Fig. 1 is structured flowchart of the present invention;
Fig. 2 is the software architecture figure of shear line multi-axis numerical control system in the present invention.
Embodiment
See Fig. 1-2, the present invention includes P500 controller, at least three servo drive units and remote input/output module, P500 controller is as the hardware carrier of shear line multi-axis numerical control system, adopt Windows CE 6.0 operating system, and carry out high speed communication with servo drive unit and remote input/output module respectively by EtherCAT fieldbus, remote input/output module connects at least three hydraulic actuating units and button again, switch, pilot lamp, digital quantity/analog quantity the devices such as straight line/rotational potentiometer, to complete the whole piece shear line data acquisition of each numerical control axle and accurate location in process of production, wherein, each servo drive unit number consecutively is servo drive unit 1, servo drive unit 2 servo drive unit n, each servo drive unit corresponding with shear line in order to drive each digital axle (X1 axle, X2 axle Xn axle) servomotor be connected, each hydraulic actuating unit number consecutively is hydraulic actuating unit 1, hydraulic actuating unit 2 hydraulic actuating unit n, each hydraulic actuating unit corresponding with on shear line in order to drive each solenoid valve of simulating axle (M1 axle, M2 axle Mn axle) to be connected.
The software architecture of described shear line multi-axis numerical control system includes with lower unit:
Human-computer interface module: achieve powerful visualization function, by configuration interface, the current state of each for shear line motion parts is showed in the mode of real-time motion graphics and word, and accept user data programming and steering order by the input domain, button, selection change-over switch etc. of configuration on interface, effectively control shear line to run, if when there is warning, fault in equipment running process simultaneously, warning message function is provided by the form of glimmering with word, and by sound and light alarm mode teaching process person, so form good man-machine interaction;
PLC logic processing module: be similar to a built-in PLC and run module, its clock scan period controls the capacity of framework and the demand of each telecontrol equipment according to engineering project, by software editing and setting, the logic function being responsible for process engineering project controls, and carry out data interaction, to complete the various functions on shear line needed for each lathe with Windows CE 6.0 operating system, embedded high-precision real-time system module, human-computer interface module and each digital axle/simulation axle motion-control module;
Embedded high-precision real-time system module: as the software module be embedded in Windows CE 6.0 operating system, for human-computer interface module, PLC logic processing module, digital axle/simulation axle motion-control module and synchronous submodule provide timing services, and modules is made to perform corresponding affairs in the cycle at a fixed time;
Numeral axle motion-control module: the positional information of the digital axle fed back by each position feedback unit, (each servo drive unit is corresponding with each position feedback unit for servo drive unit on the corresponding digital axle of Real Time Drive, and each position feedback unit number consecutively is position feedback unit 1, position feedback unit 2 position feedback unit n), to realize the precise positioning of multiple digital axle (maximum 64 axles).And, the display interfaces (Visualization) of numeral axle motion-control module editor can free configuration as required, configurable various control module, picture etc., by visualized management device, carry out seeking zero very intuitively, Jogging, suddenly to stop, travelling speed and the isoparametric setting of start and stop acceleration and simulative debugging;
Synchronous submodule: based on digital axle motion-control module, interactive correspondence is carried out with each position feedback unit, be responsible for the course synchronization between each numerical control axle, adopt master-slave mode Synchronization Design scheme, an axle is set as main shaft, axle selected by other is from axle, adopt the synchronous tracking error mode in position simultaneously, by high-precision real-time clock, scan round is carried out to the error between numerical control axle selected by each, and correspondingly adjust the travelling speed from axle according to the situation of error, synchronous to guarantee the position of digital control system multiaxis;
Simulation axle motion-control module: be responsible for the analog signals being gathered each simulation axle by remote input/output module, and by positional information that each position feedback unit feeds back, calculate through internal conversion sum functions, Real Time Drive simulates the hydraulic actuating unit (each hydraulic actuating unit is corresponding with each position feedback unit) on axle accordingly, for completing the automatic location of position display and the multiple simulation axle of control.
Analog input counting module and digital quantity input counting module is integrated with in remote input/output module described in the present embodiment, wherein analog input counting module on collecting scissors tangent line for the analog signals of straight line/rotational potentiometer of control signal input, the angle of shear of feedback master/side plate shearing machine, gap blade and cut the current location of journey, calculate through internal conversion sum functions, display and control the angle of shear, gap blade and cut the automatic location of journey; It is descending along signal that digital quantity input counting module is used for collecting scissors trigger knife rest, to complete shearing automatic counting function.
The present invention is application that the steel plate shearing production line of HGSK73/13 succeeds a model, is elaborated below for this shear line.
This shear line is made up of main plate shearing machine, side plate shearing machine, front feeder, side feeder and rear discharging machine, each several part mechanism action requires mutual cooperation, automatically locates, automaticity and positioning accuracy request are very high, control complicated, and the motion action of whole piece shear line each several part need centralized control.Be configured with three front feedings numeral axle (X1 axle, X2 axle, X3 axle) according to manufacturing technique requirent at the diverse location of main plate shearing machine total length, during each feeding, two-axis synchronization runs; Side plate shearing machine completes feeding by the digital axle (Z1 axle) of side feeder and locates.Except can completing general shearing function, also need the specifications parameter according to plate, automatically select corresponding numerical control axle to carry out accurate feeding location.Also need the angle of shear of two plate shearing machines in master/side, gap blade simultaneously and cut the position display of simulations axle (M axle) such as journey and automatically locate.
Thus, the present invention adopts P500 controller, by hanging 4 servo drive units and 1 cover remote input/output module under EtherCAT bus, remote input/output module connects the digital quantity/analog quantity components and parts such as several hydraulic actuating units and button, switch, pilot lamp, straight line/rotational potentiometer again, wherein each servo drive unit is connected with corresponding servomotor, each hydraulic actuating unit is connected with corresponding solenoid valve, and in P500 controller, be integrated with above-mentioned shear line multi-axis numerical control system.
In the present invention multi-axis numerical control system software use the different programming language such as IL, ST, FBD, LD, CFC, SFC to write a lot of conversion respectively, compare, filtering, diagnosis, subroutine and the functional module such as tick interrupt and Automatic Positioning Control; Adopt multitask running pattern, pass through task manager, each subroutine and functional module are distributed and calls, achieve the unrestricted choice of multiple digital axle, enable, seek zero, run the functions such as location, course synchronization and monolateral location, and the angle of shear, gap blade and cut the simulation axles such as journey Automatic Positioning Control, shear and make a concession, shear the functions such as counting.
Wherein digital axle motion-control module is for the precise positioning of control X1 axle, X2 axle, X3 axle and Z1 axle, and synchronous submodule is responsible for the course synchronization in X1 axle, X2 axle, X3 axle between selected two digital axles (numerical control axle); By visualized management device, zero sought to each numerical control axle, Jogging, suddenly to stop, travelling speed and the isoparametric setting of start and stop acceleration and simulative debugging; Its repetitive positioning accuracy can reach 0.05mm, and synchronous control accuracy can reach 0.15mm.
Simulation axle motion-control module is for controlling the angle of shear, the gap blade of master/side plate shearing machine and cutting the position display of each simulation axles such as journey and automatically locate.By the analog input counting module in remote input/output module, gather the analog input signal of the potentiometer that each simulation axle is connected, through internal mode number conversion, simulating signal is converted to digital signal and flows to each position feedback unit, and position signalling is fed back to P500 controller, calculated by function and amplify process, Real Time Drive simulates the hydraulic actuating unit on axle accordingly, makes hydraulic electromagnetic valve events.The positioning precision of the angle of shear can reach 0.05 degree, and the positioning precision of gap blade can reach 0.01mm.
Meanwhile, P500 controller can also by the logical program independently write, the action of the auxiliary bodies such as rear retainer, rear discharging, upset is also included in shear line multi-axis numerical control system, by PLC logic processing module, logical process is carried out to the logic association in program, interlocking, and carry out interactive correspondence with other module in control system, control the synchronous operation between the precise positioning of corresponding axle on shear line and each numerical control axle successively, achieve the object of use one number of units Ore-controlling Role centralized control whole piece shear line.
As mentioned above, the present invention not only covers all basic functions of current plate shearing machine special-purpose numerical control system, and according to the monopolizing characteristic of shear line, plate shearing machine and auxiliary body is considered as one, centralized control in addition in a digital control system, facilitates the operation of shear line greatly.Simultaneously, according to the difference of shear plate gauge lattice, by modes such as the automatic multilevel iudge of system or artificial selection, complete the flexible selection between different numerical control axle and freely switch, economical and reliablely and stablely solve the difficult problem that current plate shearing machine digital control system can only control two numerical control axles, achieve the control to multiple numerical control axle, not only control accuracy and synchronization accuracy high, and control cost and significantly reduce, there is good practicality and economy.
Claims (2)
1. the shear line multi-axis numerical control system based on P500 controller, it is characterized in that: include P500 controller, P500 controller is as the hardware carrier of shear line multi-axis numerical control system, adopt Windows CE 6.0 operating system, high speed communication is carried out with remote input/output module and at least three servo drive units respectively by EtherCAT fieldbus, remote input/output module carries out communication with digital quantity/analog quantity device and at least three hydraulic actuating units respectively and is connected, to complete the shear line data acquisition of each numerical control axle and accurate location in process of production, wherein, each servo drive unit corresponding with on shear line in order to drive the servomotor of each digital axle to be connected, each hydraulic actuating unit corresponding with on shear line in order to drive each solenoid valve of simulating axle to be connected, the software architecture of described shear line multi-axis numerical control system includes with lower unit:
Human-computer interface module: the current state of each motion parts on shear line is showed in the mode of real-time motion graphics and word by configuration interface, and accept user data programming and steering order by the input domain of configuration on interface, button and selection change-over switch, effectively control shear line to run, there is provided sound and light of alarm, to form good man-machine interaction simultaneously;
PLC logic processing module: be similar to a built-in PLC and run module, its clock scan period controls the capacity of framework and the demand of each telecontrol equipment according to engineering project, by software editing and setting, the logic function being responsible for process engineering project controls, and carry out data interaction, to complete the various functions on shear line needed for each lathe with Windows CE 6.0 operating system, embedded high-precision real-time system module, human-computer interface module and each digital axle/simulation axle motion-control module;
Embedded high-precision real-time system module: as the software module be embedded in Windows CE 6.0 operating system, for human-computer interface module, PLC logic processing module, digital axle/simulation axle motion-control module and synchronous submodule provide timing services, and modules is made to perform corresponding affairs in the cycle at a fixed time;
Numeral axle motion-control module: the positional information of the digital axle fed back by each position feedback unit, the servo drive unit on the corresponding digital axle of Real Time Drive, to realize the precise positioning of multiple digital axle;
Synchronous submodule: based on digital axle motion-control module, interactive correspondence is carried out with each position feedback unit, be responsible for the course synchronization between each digital axle, adopt master-slave mode Synchronization Design scheme, a digital axle is set as main shaft, digital axle selected by other is from axle, adopt the synchronous tracking error mode in position simultaneously, by high-precision real-time clock, scan round is carried out to the error between numerical control axle selected by each, and correspondingly adjust the travelling speed from axle according to the situation of error, synchronous to guarantee the position of digital control system multiaxis;
Simulation axle motion-control module: be responsible for the analog signals being gathered each simulation axle by remote input/output module, and by positional information that each position feedback unit feeds back, calculate through internal conversion sum functions, Real Time Drive simulates the hydraulic actuating unit on axle accordingly, for completing the automatic location of position display and the multiple simulation axle of control.
2. a kind of shear line multi-axis numerical control system based on P500 controller according to claim 1, it is characterized in that: in described remote input/output module, be integrated with analog input counting module and digital quantity input counting module, wherein analog input counting module on collecting scissors tangent line for the analog signals of straight line/rotational potentiometer of control signal input, the angle of shear of feedback master/side plate shearing machine, gap blade and cut the current location of journey; It is descending along signal that digital quantity input counting module is used for collecting scissors trigger knife rest, to complete shearing automatic counting function.
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| CN110703677A (en) * | 2019-09-29 | 2020-01-17 | 四川中曼电气工程技术有限公司 | PLC control system integrated on industrial personal computer |
| CN116430800A (en) * | 2023-06-15 | 2023-07-14 | 中科航迈数控软件(深圳)有限公司 | Configuration method, device, equipment and storage medium based on numerical control system |
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| CN116430800A (en) * | 2023-06-15 | 2023-07-14 | 中科航迈数控软件(深圳)有限公司 | Configuration method, device, equipment and storage medium based on numerical control system |
| CN116430800B (en) * | 2023-06-15 | 2023-09-01 | 中科航迈数控软件(深圳)有限公司 | Configuration method, device, equipment and storage medium based on numerical control system |
| CN117032088A (en) * | 2023-09-01 | 2023-11-10 | 广东思豪内高压科技有限公司 | Intelligent servo control method based on high-precision internal high-pressure forming system |
| CN117032088B (en) * | 2023-09-01 | 2024-04-09 | 广东思豪内高压科技有限公司 | Intelligent servo control method based on high-precision internal high-pressure forming system |
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Denomination of invention: A multi axis CNC system for shear line based on P500 controller Effective date of registration: 20201104 Granted publication date: 20170412 Pledgee: Huangshi City Development Investment Group Co., Ltd Pledgor: HUBEI TRI-RING METALFORMING EQUIPMENT Co.,Ltd. Registration number: Y2020980007568 |