CN109240217A - Numerically-controlled machine tool withdrawing guard method - Google Patents
Numerically-controlled machine tool withdrawing guard method Download PDFInfo
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- CN109240217A CN109240217A CN201811104238.3A CN201811104238A CN109240217A CN 109240217 A CN109240217 A CN 109240217A CN 201811104238 A CN201811104238 A CN 201811104238A CN 109240217 A CN109240217 A CN 109240217A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35026—Design of machine tool, of cnc machine
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a kind of numerically-controlled machine tool withdrawing guard methods, if mainly including the following steps:, power module detects the brownout of DC bus, export DC bus-bar voltage low signal to servo drive；If power module detects that power down occurs for power supply, to servo drive out-put supply power down alarm signal；If digital control system detects that bus is abnormal, to servo drive output bus abnormal alarm signal；Which withdrawing defencive function trigger signal servo drive first receives according to Time priority sequence, i.e., opens subsequent withdrawing as trigger source using this signal and protect process；There are three types of withdrawing protected modes, respectively stop mode, fall-back mode and kinetic energy regeneration mode.Using this method, servo drive can be automatically performed withdrawing process after the triggering of withdrawing defencive function trigger signal, effective protection machine tool.
Description
Technical field
The present invention relates to numerically-controlled machine tool automatic control technology fields, protect more specifically to a kind of numerically-controlled machine tool withdrawing
Maintaining method.
Background technique
With the proposition of " made in China 2025 ", intelligent manufacturing equipment industry and basic industries modernization level are significantly mentioned
Height, numerically-controlled machine tool are guiding with market development, also constantly to the direction of high-accuracy, high efficiency, high reliability as core industry
Development.Meanwhile having been widely used in fields such as aerospace, military affairs, medical treatment, there is the processing part of special material and purposes,
Also to the precision of numerically-controlled machine tool, reliability, more stringent requirements are proposed.
But in that proces of numerically controlled machine tool, it is possible that the factors such as unexpected power-off or lathe faults itself, cause
Process is forced to interrupt, and the cutter not retracted continues to move along machine direction due to inertia, at this time numerically-controlled machine tool
It easily causes cutter itself to damage under uncontrolled state, or even the stage that can not be retrieved is caused to processing part, bring huge
Huge economic loss.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of numerically-controlled machine tool withdrawing guard methods, to solve in background technique
The problem of mentioning.
In order to achieve the above object, a kind of numerically-controlled machine tool withdrawing guard method of the present invention, including pass through bus marco servo
The digital control system of driving device, and the power module powered by DC bus for the servo drive；Its feature exists
In withdrawing guard method includes the following steps:
S1: power module or digital control system export withdrawing defencive function trigger signal to servo drive；The withdrawing
Defencive function trigger signal includes following three kinds:
When the power module detects the brownout of DC bus, the power module is filled to the servo-drive
Set output DC bus-bar voltage low signal；Wherein, in the prior art, power module have been provided with detection DC bus-bar voltage and
The function that signal is transferred to servo drive can be will test, and technology is highly developed, such as the Dalian listed
The power module of the model GDPS066BMC of Coudé numerical control limited liability company production.
When the power module detects that power down occurs for power supply, the power module is exported to the servo drive
Power supply power-fail alarm signal；Wherein, in the prior art, power module has been provided with detection power supply power-fail and can will test
Signal be transferred to the function of servo drive, and technology is highly developed, such as the Dalian Coudé numerical control listed
The power module of the model GDPS066BMC of limited liability company's production.
When the digital control system detects that bus is abnormal, the digital control system is exported to the servo drive
Bus abnormal alarm signal；
S2: the servo drive is touched according to Time priority sequence with first withdrawing defencive function received
It signals as trigger source and anticipation condition selection withdrawing mode is combined to be operated, wherein the anticipation condition and corresponding
The operating process of withdrawing mode includes following two mode:
Mode is 1.: such as servo drive control X-axis motor or y-axis motor, then using stop mode；The stopping
The operating process of mode is as follows: after receiving the withdrawing defencive function trigger signal, the servo drive is first kept
Motor is traveled at the uniform speed with the revolving speed for triggering moment；The withdrawing defencive function trigger signal is received when the time runs to distance
After moment reaches preset first delay time parameter, the servo drive will make motor by preset first
Deceleration parameter is completed quickly to stop；
Mode is 2.: such as servo drive control gravity spindle motor or spindle motor, then using fall-back mode；It is described
The operating process of fall-back mode is as follows: after receiving the withdrawing defencive function trigger signal, the servo drive is pressed
Preset acceleration parameter makes motor operation to preset rotary speed parameter, travels at the uniform speed after this, until the time
It runs to and reaches preset second delay time parameter at the time of distance receives the withdrawing defencive function trigger signal
When, the servo drive starts to complete quickly to stop by preset second deceleration parameter；
Under preferable case, withdrawing mode described in S2 further include mode 3.: in multiple same DC bus and i.e. of being connected to
It is protected withdrawing is executed in the servo drive of process, if artificial judgment goes out some of them servo drive and protects in withdrawing
Energy in the process is insufficient, then above-mentioned all servos for being connected to the DC bus and will executing withdrawing protection process is specified to drive
The maximum one or more servo drives of rotary inertia take kinetic energy regeneration mode in dynamic device；The kinetic energy regeneration mode
Operating process it is as follows: the servo drive works in normal state, when receiving withdrawing defencive function triggering
After signal, and when the voltage of the DC bus drops to preset DC bus-bar voltage lower limit value, DC bus-bar voltage
Controller is activated, and the servo drive starts to charge for the DC bus, and makes the voltage of the DC bus
Reach original DC bus-bar voltage operating value；In the process, the DC bus is continuously the confession of other servo drives
Electricity.
Under preferable case, when the servo drive receives the bus abnormal alarm letter that the digital control system transmission comes
Number and when preparing to start to carry out withdrawing protection process, there is in following several situations the servo drive terminate withdrawing and protected
Journey:
1. apart from bus start-up time also in bus initialization etc. at the time of the servo drive receives signal
To in the time；The bus initialization waiting time is set greater than the real time of bus initialization；
2. detecting bus abnormal alarm apart from the digital control system at the time of servo drive receives signal
It is less than bus communication at the time of signal and monitors the time；The bus communication time be the digital control system from detect bus extremely report
Alert signal is to exporting the withdrawing defencive function trigger signal to the time required for the servo drive；
3. the servo drive detect occur when the digital control system is communicated with the servo drive it is total
Line locking signal pulse loses number and is less than specific threshold.
Under preferable case, the bus initialization waiting time is set as 20ms.
Under preferable case, the bus communication monitoring time is set as 5ms.
Under preferable case, the threshold value is set as 5.
It is being watched it is an advantage of the current invention that entire withdrawing process and mode all can be previously set as the case may be
It takes in driving device, as long as withdrawing can be automatically performed so servo drive receives withdrawing defencive function trigger signal
Process, whole process automation are strong, convenient and efficient；And three kinds of withdrawing protected modes are set, it is adapted under different situations
It uses；For trigger source signal, compared to described in usual design or other documents only by power supply power-fail alarm signal
As the trigger source of withdrawing defencive function, DC bus-bar voltage low signal and bus abnormal alarm signal are increased, and is directed to
Bus abnormal alarm signal has also been devised the scheme of corresponding anti-error triggering, keeps the process entirely triggered more accurate.
Detailed description of the invention
Fig. 1 is the connection schematic diagram of device used herein；
Fig. 2 is the stop mode speed control curve schematic diagram of withdrawing protection of the present invention；
Fig. 3 is the fall-back mode speed control curve schematic diagram of withdrawing protection of the present invention；
Fig. 4 is the kinetic energy regeneration mode DC bus-bar voltage setting schematic diagram of withdrawing protection of the present invention.
Specific embodiment
A specific embodiment of the invention is described with reference to the accompanying drawing.
A kind of numerically-controlled machine tool withdrawing guard method of the present invention, in function such as its original speed control, direct torque, bus marcos
On the basis of energy, increases withdrawing defencive function, ensure that the integrality of servo drive and the safety of entire machine tool system.
Withdrawing defencive function mainly includes trigger source setting and response modes setting.As described in Figure 1, when system is run, i.e.,
Numerically-controlled machine tool is in normal work, and power supply 1 (380V alternating current) input power module 2, power module 2 is formed directly through over commutation
Bus 3 is flowed, DC bus 3 is connect with servo drive 6, and digital control system 4 is connect by bus 5 with servo drive 6, is watched
Driving device 6 is taken to connect with motor 7 and operate for driving motor 7.
When power module 2 detects the brownout of DC bus 3, power module 2 will be exported to servo drive 6
DC bus-bar voltage low signal；When power module 2 detects that power down occurs for power supply 1, power module 2 will be to servo drive
6 out-put supply power down alarm signals；When digital control system 4 detects that bus 5 is abnormal, digital control system 4 will be to servo-drive
6 output bus abnormal alarm signal of device.
That is, the trigger source of withdrawing defencive function includes three altogether: 1. DC bus-bar voltage low signal；2. power supply falls
Electric alarm signal；3. bus abnormal alarm signal；They are collectively referred to as withdrawing defencive function trigger signal, and these three trigger sources
For concurrency relation, i.e. priority is identical, as long as who first reaches servo drive, will trigger withdrawing defencive function.Three touchings
In rising, the first two trigger source is provided by power module 2, the last one trigger source is provided by digital control system 4, is different from usual
The only trigger source by power supply power-fail alarm signal as withdrawing defencive function described in rule design or other documents.
Enabled letter of the three of the above withdrawing defencive function trigger signal as 6 withdrawing of servo drive protection response parameter
Number, when there is corresponding trigger signal, trigger source parameter is set, while triggering withdrawing response protection, thus servo drive 6
It initially enters withdrawing defencive function and prepares state.
It is different from DC bus-bar voltage low signal and power supply power-fail alarm signal the two trigger sources, bus abnormal alarm letter
Number there are false triggering factors.Such as when first powering on booting, bus 5 needs to initialize, at this time between bus synchronous time-base signal
It is separated out existing deviation, it can Trigger Bus abnormal alarm signal.For another example there is frame losing in bus synchronous pulse signal, perhaps for 2 frames or
It, equally can also be with Trigger Bus abnormal alarm signal for 3 frames.Therefore it is directed to above situation, servo drive 6 needs to carry out total
The setting of line exception-triggered, masks false triggering signal with this, to judge whether withdrawing defencive function triggers.
Bus exception-triggered setting relevant parameter includes: 1. bus initialization waiting time: to prevent false triggering withdrawing from protecting
Protective function needs that the bus initialization waiting time rationally is arranged, which must satisfy greater than initialization time, initially set
It is 20ms when setting.2. bus communication monitor the time: bus communication monitoring the time be digital control system 4 from detect bus communication exception
To the time required for transfer bus abnormal alarm signal to servo drive 6, which is equivalent to filtering；Usually set
This time is 5ms.3. bus synchronous, which is lost, counts tolerance: when digital control system 4 and servo drive 6 communicate, if synchronizing
Signal pulse is lost, and servo drive 6 can automatically record loss number, and bus synchronous loses the setting for counting Tolerance Parameters,
As judge the abnormal count threshold of bus thinks bus exception-triggered withdrawing defencive function when being greater than the threshold value,
The usual threshold value is set as 5.
Different for each s function of lathe when withdrawing defencive function has triggered, withdrawing protection response modes can be set
For stop mode, fall-back mode, kinetic energy regeneration mode, the withdrawing that motor is respectively completed each axis of lathe is controlled with this, ensure that
Entirely machine tool system is safe and reliable.For the user, specific mode how is selected, is generally come with the function of each axis of lathe
Fixed, usual all directions axis, the servo drive for such as controlling X-axis or y-axis motor uses stop mode；And gravity axis or main shaft exist
When failure, cutter does not allow to be still inserted in workpiece, is otherwise both likely to be broken, and controls the servo of the spindle motor at this time
Driving device is needed using fall-back mode；For kinetic energy regeneration mode, i.e., during power supply power-fail, which enters
Braking mode conveys electric energy to DC bus, completes withdrawing function for other servo drives and provides energy, usually selects
The biggish servo drive of rotary inertia is selected, still, since the braking needs of direct current generator and torque motor are sufficiently high straight
Busbar voltage is flowed, the servo drive of these motors is not suitable for using kinetic energy regeneration mode.
As the core control part of numerically-controlled machine tool, servo drive 6 not only real-time reception and feedback digital control system 4
Command signal, and realize to the high-precision of synchronous servo motor, asynchronous machine, torque motor and linear motor, high performance
Control, therefore, is integrated in servo drive 6 for withdrawing defencive function, for completing the real-time and increasing of withdrawing defencive function
The safety of numerically-controlled machine tool is added to have larger benefit.
Each different withdrawing protected mode introduced below:
1) target of stop mode is that motor 7 controlled stopping, speed control curve under withdrawing defencive function is made to see attached
Fig. 2.In Fig. 2, a sections of curves show that servo drive revolving speed after power down occurs declines, until moment t0, servo drive
6 receive withdrawing defencive function trigger signal, start control motor 7 and travel at the uniform speed by the revolving speed n0 of triggering moment, i.e. curve b
Section.After have passed through preset first delay time parameter t1 compared to t0, servo drive 6 will be by by driving motor 7
Preset first deceleration parameter setting is completed quickly to stop, i.e., and curve c sections.
2) target of fall-back mode is that motor 7 is made to run to retracted position under withdrawing defencive function, and speed control is bent
Line is shown in attached drawing 3.In Fig. 3, a sections of curves indicate that the revolving speed after power down occurs of servo drive 6 declines, until moment t0, servo
Driving device 6 receives withdrawing defencive function trigger signal and runs by preset acceleration parameter to preset speed
Spend parameter n1, i.e., curve b sections；After distance t0 reaches the second delay time parameter t2, servo drive 6 will be by the second deceleration
Parameter is completed quickly to stop, i.e., and curve c sections；The setting of acceleration and deceleration parameter can control the movement of the cutter on motor 7 well
Track, without the state of sharply acceleration or deceleration.By the control of the second delay time parameter t2, each servo-drive dress
The withdrawing defencive function that can be completed at the same time numerically-controlled machine tool is set, to guarantee the higher safety and reliability of numerically-controlled machine tool.
3) target of kinetic energy regeneration mode is the situation inadequate in 3 capacity of DC bus, slow needed for providing for DC bus 3
Power supply is rushed, stopping or rollback until all servo drives connected on DC bus 3 are delayed in an orderly manner complete withdrawing protection
Function.Vdc controller (DC bus-bar voltage controller), DC bus-bar voltage must be arranged in the operation of kinetic energy regeneration mode simultaneously
Setting curve is shown in attached drawing 4.After power cut-off, power module 2 cannot be further continued for keeping DC bus-bar voltage operating value U1, especially
It is after the motor module in DC bus component therefrom absorbs active power, DC bus-bar voltage will be reduced persistently；Work as direct current
When busbar voltage drops to preset DC bus-bar voltage lower limit value U2, Vdc controller (DC bus controller) is swashed
Living, servo drive 6 enters kinetic energy regeneration mode and runs, and servo drive 6 starts to charge for DC bus 3 at this time, fills
Electrical efficiency is got higher by low, therefore initial stage is since other servo drives are for the energy consumption of DC bus 3, DC bus electricity
Pressure can continue to decline, and see a sections of curve；Until DC bus-bar voltage is opened after the charge efficiency of servo drive 6 reaches sufficiently high
Beginning keeps constant, and sees b sections of curve.After this, DC bus-bar voltage gradually gos up to original DC bus-bar voltage operating value
U1 is shown in c sections of curve；At this point, DC bus 3 provides normal DC bus-bar voltage for other servo drives.It is more for this
A servo drive on the same DC bus, it is proposed that only one or more servo-drive dresses maximum to rotary inertia
Response kinetic energy regeneration mode is set, if allowing too many servo drive using kinetic energy regeneration mode, may be generated each other
It influences.In the response of kinetic energy regeneration mode, motor 7 may obtain Accelerating running, such as load has driving capability, Huo Zheyou
Other drivings connected on same DC master row cause.
For specifically implementing, it can be used the model GDPS066BMC's of Dalian Coudé numerical control limited liability company production
Power module, and the digital control system of the model GNC61 using the production of Dalian Coudé numerical control limited liability company.Implement this method
When, entire withdrawing process and mode all can be previously set in servo drive 6 as the case may be, as long as so
Servo drive 6 receives withdrawing defencive function trigger signal, i.e., can be automatically performed withdrawing process, whole process automation
By force, convenient and efficient.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art within the technical scope of the present disclosure, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. a kind of numerically-controlled machine tool withdrawing guard method, the digital control system including passing through bus marco servo drive, Yi Jitong
Cross the power module that DC bus is servo drive power supply；It is characterized in that, withdrawing guard method includes following step
It is rapid:
S1: power module or digital control system export withdrawing defencive function trigger signal to servo drive；The withdrawing protection
Function trigger signal includes following three kinds:
When the power module detects the brownout of DC bus, the power module is defeated to the servo drive
DC bus-bar voltage low signal out；
When the power module detects that power down occurs for power supply, the power module is to the servo drive out-put supply
Power down alarm signal；
When the digital control system detects that bus is abnormal, the digital control system is to the servo drive output bus
Abnormal alarm signal；
S2: the servo drive is according to Time priority sequence, with the first withdrawing defencive function received triggering letter
Number as trigger source and combine anticipation condition selection withdrawing mode operated, wherein the anticipation condition and corresponding withdrawing
The operating process of mode includes following two mode:
Mode is 1.: such as servo drive control X-axis motor or y-axis motor, then using stop mode；The stop mode
Operating process it is as follows: after receiving the withdrawing defencive function trigger signal, the servo drive first keeps motor
It is traveled at the uniform speed with the revolving speed for triggering moment；At the time of the time, which runs to distance, receives the withdrawing defencive function trigger signal
After reaching preset first delay time parameter, the servo drive will make motor slow down by preset first
Parameter is spent to complete quickly to stop；
Mode is 2.: such as servo drive control gravity spindle motor or spindle motor, then using fall-back mode；The rollback
The operating process of mode is as follows: after receiving the withdrawing defencive function trigger signal, the servo drive is by preparatory
The acceleration parameter of setting makes motor operation to preset rotary speed parameter, travels at the uniform speed after this, until the time runs
When reaching preset second delay time parameter at the time of receiving the withdrawing defencive function trigger signal to distance, institute
Servo drive is stated to start to complete quickly to stop by preset second deceleration parameter.
2. numerically-controlled machine tool withdrawing guard method according to claim 1, which is characterized in that withdrawing mode described in S2 further includes
Mode is 3.: in multiple servo drives for being connected to same DC bus and will executing withdrawing protection process, if judgement
Energy of some of them servo drive during withdrawing is protected is insufficient out, then specifies and above-mentioned all be connected to direct current mother
Line and the maximum one or more servo drives of rotary inertia in the servo drive of withdrawing protection process will be executed
Take kinetic energy regeneration mode；The operating process of the kinetic energy regeneration mode is as follows: the servo drive is in normal state
Work, after receiving the withdrawing defencive function trigger signal, and the voltage of the DC bus drop to it is preset
When DC bus-bar voltage lower limit value, DC bus-bar voltage controller is activated, and the servo drive starts as the direct current
Busbar charging, and the voltage of the DC bus is made to reach original DC bus-bar voltage operating value；In the process, described
DC bus is continuously the power supply of other servo drives.
3. numerically-controlled machine tool withdrawing guard method according to claim 1, which is characterized in that when the servo drive receives
When the bus abnormal alarm signal and preparation come to digital control system transmission starts to carry out withdrawing protection process, have following several
In the case of the servo drive terminate withdrawing and protect process:
1. waited apart from bus start-up time also in bus initialization at the time of the servo drive receives signal
In；The bus initialization waiting time is set greater than the real time of bus initialization；
2. detecting bus abnormal alarm signal apart from the digital control system at the time of servo drive receives signal
At the time of be less than bus communication monitor the time；The bus communication time be the digital control system from detect bus abnormal alarm believe
Number to exporting the withdrawing defencive function trigger signal to the time required for the servo drive；
3. the servo drive detects that the bus occurred when the digital control system is communicated with the servo drive is same
It walks signal pulse and loses number less than specific threshold.
4. numerically-controlled machine tool withdrawing guard method according to claim 3, which is characterized in that the bus initialization waiting time
It is set as 20ms.
5. numerically-controlled machine tool withdrawing guard method according to claim 3, which is characterized in that the bus communication monitoring time sets
It is set to 5ms.
6. numerically-controlled machine tool withdrawing guard method according to claim 3, which is characterized in that the threshold value is set as 5.
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| CN201811104238.3A CN109240217B (en) | 2018-09-21 | 2018-09-21 | Tool retracting protection method for numerical control machine tool |
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| CN201811104238.3A CN109240217B (en) | 2018-09-21 | 2018-09-21 | Tool retracting protection method for numerical control machine tool |
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| CN113927359B (en) * | 2021-10-13 | 2022-12-30 | 南通国盛智能科技集团股份有限公司 | Protection for preventing spindle motor overload caused by overlarge spindle cutting amount by FANUC system |
| CN117270456A (en) * | 2023-09-25 | 2023-12-22 | 通用技术集团机床工程研究院有限公司上海分公司 | Rollback working method and device, numerical control system and storage medium |
| CN117270456B (en) * | 2023-09-25 | 2024-04-16 | 通用技术集团机床工程研究院有限公司上海分公司 | Rollback working method and device, numerical control system and storage medium |
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