CN109240217B - Tool retracting protection method for numerical control machine tool - Google Patents
Tool retracting protection method for numerical control machine tool Download PDFInfo
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- CN109240217B CN109240217B CN201811104238.3A CN201811104238A CN109240217B CN 109240217 B CN109240217 B CN 109240217B CN 201811104238 A CN201811104238 A CN 201811104238A CN 109240217 B CN109240217 B CN 109240217B
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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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- 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
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Abstract
The invention discloses a numerical control machine tool retracting protection method, which mainly comprises the following steps: if the power supply module detects that the voltage of the direct current bus is too low, a direct current bus voltage low signal is output to the servo driving device; if the power supply module detects that the power supply is powered off, outputting a power supply power-off alarm signal to the servo driving device; if the numerical control system detects that the bus is abnormal, outputting a bus abnormal alarm signal to the servo driving device; the servo driving device receives which tool retracting protection function triggering signal according to the time priority sequence, namely the signal is used as a triggering source to start the subsequent tool retracting protection process; the tool retracting protection mode has three modes, namely a stop mode, a retracting mode and a kinetic energy regeneration mode. By using the method, the servo driving device can automatically complete the tool retracting process after the tool retracting protection function trigger signal is triggered, thereby effectively protecting machine tool equipment.
Description
Technical Field
The invention relates to the technical field of automatic control of numerical control machines, in particular to a tool retracting protection method of a numerical control machine.
Background
With the proposal of 'Chinese manufacturing 2025', the modernization level of intelligent manufacturing equipment industry and basic industry is obviously improved, and a numerical control machine tool is used as a core industry, is guided by market development and is continuously developed towards high precision, high efficiency and high reliability. Meanwhile, the tool is widely applied to the fields of aerospace, military, medical treatment and the like, has special materials and purpose processing parts, and also puts higher requirements on the precision and the reliability of the numerical control machine tool.
However, in the machining process of the numerical control machine, factors such as sudden power failure or machine tool self-failure may occur, so that the machining process is forced to be interrupted, the tool which is not retracted still continues to move along the machining direction due to inertia, and at the moment, the numerical control machine is in an uncontrolled state, so that the tool is easily damaged, even irrecoverable ground is caused to a machined part, and huge economic loss is brought.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a numerical control machine tool retracting protection method to solve the problems mentioned in the background technology.
In order to achieve the aim, the invention discloses a numerical control machine tool retracting protection method, which comprises a numerical control system for controlling a servo driving device through a bus, and a power supply module for supplying power to the servo driving device through a direct current bus; the method is characterized by comprising the following steps:
s1: the power supply module or the numerical control system outputs a tool retracting protection function trigger signal to the servo driving device; the tool retracting protection function trigger signals comprise the following three types:
when the power supply module detects that the voltage of the direct current bus is too low, the power supply module outputs a low direct current bus voltage signal to the servo driving device; in the prior art, the power module has a function of detecting a dc bus voltage and transmitting a detection signal to the servo driving device, and the technology is very mature, for example, the power module is a GDPS066BMC model manufactured by dahlong codex gmbh.
When the power supply module detects that the power supply is powered off, the power supply module outputs a power supply power-off alarm signal to the servo driving device; in the prior art, the power module has a function of detecting power failure and transmitting a detected signal to the servo driving device, and the technology is very mature, for example, the power module is manufactured by the company GDPS066 BMC.
When the numerical control system detects that the bus is abnormal, the numerical control system outputs a bus abnormal alarm signal to the servo driving device;
s2: the servo driving device takes a first received tool retracting protection function trigger signal as a trigger source and selects a tool retracting mode to operate by combining a pre-judging condition according to a time priority sequence, wherein the pre-judging condition and the operation process of the corresponding tool retracting mode comprise the following two modes:
the method comprises the following steps: if the servo driving device controls the X-axis motor or the Y-axis motor, a stop mode is adopted; the operation of the stop mode is as follows: after receiving the tool retracting protection function trigger signal, the servo driving device firstly keeps the motor to run at a constant speed at the instant of triggering; when the time runs to reach the time when the tool retracting protection function trigger signal is received, the servo driving device enables the motor to finish the quick stop according to the preset first deceleration parameter;
mode II: if the servo driving device controls the gravity axis motor or the spindle motor, a backspacing mode is adopted; the operation process of the fallback mode is as follows: after receiving the tool retracting protection function trigger signal, the servo driving device enables the motor to operate to a preset rotating speed parameter according to a preset acceleration parameter, and then operates at a constant speed until the time from the time of operating to the time when the tool retracting protection function trigger signal is received reaches a preset second delay time parameter, and the servo driving device starts to finish rapid stop according to a preset second deceleration parameter;
preferably, the tool retracting mode in S2 further includes mode (c): in a plurality of servo driving devices which are connected with the same direct current bus and are about to execute the retracting protection process, if the energy of some servo driving devices in the retracting protection process is judged to be insufficient manually, one or more servo driving devices with the largest rotational inertia in all the servo driving devices which are connected with the direct current bus and are about to execute the retracting protection process are appointed to adopt a kinetic energy regeneration mode; the operation of the kinetic energy regeneration mode is as follows: the servo driving device works in a normal state, when the trigger signal of the tool retracting protection function is received and the voltage of the direct current bus is reduced to a preset direct current bus voltage lower limit value, the direct current bus voltage controller is activated, the servo driving device starts to charge the direct current bus and enables the voltage of the direct current bus to reach an original direct current bus voltage running value; in the process, the direct current bus continuously supplies power to other servo driving devices.
Preferably, when the servo driving device receives a bus abnormity alarm signal transmitted by the numerical control system and prepares to start a retracting protection process, the servo driving device terminates the retracting protection process under the following conditions:
firstly, the time when the servo driving device receives the signal and the bus starting time are still within the bus initialization waiting time; the bus initialization latency is set to be greater than the actual time of bus initialization;
secondly, the time when the servo driving device receives the signal is less than the bus communication monitoring time from the time when the numerical control system detects the bus abnormal alarm signal; the bus communication time is the time required by the numerical control system from the detection of a bus abnormity alarm signal to the output of the tool retracting protection function trigger signal to the servo driving device;
and thirdly, the servo driving device detects that the number of the lost bus synchronous signal pulses is less than a specific threshold when the numerical control system is communicated with the servo driving device.
Preferably, the bus initialization latency is set to 20 ms.
Preferably, the bus communication monitoring time is set to 5 ms.
Preferably, the threshold is set to 5.
The invention has the advantages that the whole retracting process and the mode can be preset in the servo driving device according to specific conditions, so that the retracting process can be automatically completed as long as the servo driving device receives a retracting protection function triggering signal, and the whole process has strong automation, convenience and quickness; three tool retracting protection modes are set, so that the tool retracting protection device can be suitable for use in different situations; compared with the conventional design or other documents in which only a power supply power-off alarm signal is used as a trigger source of the tool retracting protection function, the method increases a direct-current bus voltage low signal and a bus abnormal alarm signal, and also designs a corresponding false triggering prevention scheme for the bus abnormal alarm signal, so that the whole triggering process is more accurate.
Drawings
FIG. 1 is a schematic view of the connection of the apparatus used in the present invention;
FIG. 2 is a schematic view of a stop mode speed control curve for the retracting protection of the present invention;
FIG. 3 is a schematic diagram of a speed control curve of the retracting mode of the retracting protection of the present invention;
fig. 4 is a schematic diagram of the setting of the dc bus voltage in the kinetic energy regeneration mode of the retracting protection of the present invention.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
The numerical control machine tool retracting protection method provided by the invention has the advantages that the retracting protection function is added on the basis of the original functions of speed control, torque control, bus control and the like, and the integrity of a servo driving device and the safety of the whole machine tool system are ensured.
The tool retracting protection function mainly comprises trigger source setting and response mode setting. As shown in fig. 1, when the system is in operation, that is, when the numerical control machine is in normal operation, a power supply 1(380V ac) is input to a power supply module 2, the power supply module 2 is rectified to form a dc bus 3, the dc bus 3 is connected with a servo driving device 6, a numerical control system 4 is connected with the servo driving device 6 through a bus 5, and the servo driving device 6 is connected with a motor 7 and is used for driving the motor 7 to operate.
When the power module 2 detects that the voltage of the direct current bus 3 is too low, the power module 2 outputs a direct current bus voltage low signal to the servo driving device 6; when the power module 2 detects that the power supply 1 is powered off, the power module 2 outputs a power supply power-off alarm signal to the servo driving device 6; when the numerical control system 4 detects that the bus 5 is abnormal, the numerical control system 4 outputs a bus abnormality alarm signal to the servo driving device 6.
That is, the trigger source of the retracting protection function includes three in total: firstly, the voltage of a direct current bus is low; a power supply power-off alarm signal; thirdly, alarming signals of bus abnormity; the three trigger sources are in parallel relation, namely the priority is the same, and the retracting protection function can be triggered as long as a user first reaches the servo driving device. The three trigger sources are different from the trigger source which is only provided with a power supply power-off alarm signal as a retracting protection function in the conventional design or other documents, wherein the first two trigger sources are provided by the power supply module 2, and the last trigger source is provided by the numerical control system 4.
The three tool retracting protection function trigger signals are used as enabling signals of tool retracting protection response parameters of the servo driving device 6, when corresponding trigger signals occur, trigger source parameters are set, tool retracting response protection is triggered at the same time, and therefore the servo driving device 6 starts to enter a tool retracting protection function preparation state.
The bus abnormal alarm signal is different from two trigger sources, namely a direct-current bus voltage low signal and a power supply power-off alarm signal, and has a false trigger factor. For example, when the power is turned on for the first time, the bus 5 needs to be initialized, and at this time, the interval of the bus synchronous time base signal is deviated, which triggers a bus abnormal alarm signal. If the bus synchronous pulse signal has frame loss, perhaps 2 frames or 3 frames, the bus abnormal alarm signal can also be triggered. Therefore, in view of the above situation, the servo driving device 6 needs to perform a bus abnormal trigger setting to shield the false trigger signal, so as to determine whether the tool retracting protection function is triggered.
The bus exception triggering and setting related parameters comprises the following steps: bus initialization latency: in order to prevent false triggering of the tool retracting protection function, the bus initialization waiting time needs to be reasonably set, the parameter setting needs to be larger than the initialization time, and the initial setting time is 20 ms. Monitoring time of bus communication: the bus communication monitoring time is the time required by the numerical control system 4 from the detection of the bus communication abnormity to the transmission of a bus abnormity alarm signal to the servo driving device 6, and the parameter is equivalent to filtering; this time is usually set to 5 ms. ③ bus synchronization loss counting tolerance: when the numerical control system 4 communicates with the servo driving device 6, if the synchronous signal pulse is lost, the servo driving device 6 will automatically record the lost number, the setting of the bus synchronous loss counting tolerance parameter is the counting threshold value for judging that the bus is abnormal, when the counting threshold value is larger than the threshold value, the bus is considered to be abnormal to trigger the tool retracting protection function, and usually the threshold value is set to be 5.
When the tool retracting protection function is triggered, the tool retracting protection response mode can be set to a stop mode, a retracting mode and a kinetic energy regeneration mode aiming at different functions of each shaft of the machine tool, so that the motors are controlled to respectively retract the tool of each shaft of the machine tool, and the safety and the reliability of the whole machine tool system are ensured. For the user, how to select the specific mode is generally determined by the functions of each axis of the machine tool, and usually, each directional axis, such as a servo driving device for controlling an X-axis motor or a Y-axis motor, adopts a stop mode; when the gravity shaft or the main shaft has a fault, the cutter is not allowed to be still inserted into the workpiece, otherwise, both the cutter and the workpiece can be damaged, and a servo driving device for controlling the shaft motor needs to adopt a backspacing mode; for the kinetic energy regeneration mode, that is, during the power failure of the power supply, the servo driving device enters the regenerative braking mode to supply electric energy to the dc bus to provide energy for other servo driving devices to complete the tool retracting function, the servo driving device with large rotational inertia is usually selected, but because the braking of the dc motor and the torque motor requires a sufficiently high dc bus voltage, the servo driving devices of these motors are not suitable for the kinetic energy regeneration mode.
As a core control component of the numerical control machine tool, the servo driving device 6 not only receives and feeds back an instruction signal of the numerical control system 4 in real time, but also realizes high-precision and high-performance control on a synchronous servo motor, an asynchronous motor, a torque motor and a linear motor, so that the tool retracting protection function is integrated in the servo driving device 6, and great benefits are provided for finishing the real-time performance of the tool retracting protection function and increasing the safety of the numerical control machine tool.
Various retracting protection modes are described below:
1) the objective of the stop mode is to provide a controlled stop of the motor 7 in the retracting guard function, the speed control curve of which is shown in fig. 2. In fig. 2, the curve of the section a indicates that the rotation speed of the servo drive device decreases after the power failure occurs, until the time t0, the servo drive device 6 receives the trigger signal of the retracting protection function, and starts to control the motor 7 to operate at a constant speed according to the rotation speed n0 at the moment of trigger, that is, the curve of the section b. When the preset first delay time parameter t1 has elapsed from t0, the servo drive 6 will complete the rapid stop of the drive motor 7 according to the preset first deceleration parameter setting, i.e. curve c.
2) The goal of the retract mode is to operate the motor 7 to the retract position with the retract protection function, the speed control curve of which is shown in fig. 3. In fig. 3, a curve of a segment a shows that the rotation speed of the servo drive device 6 decreases after power failure occurs until time t0, and the servo drive device 6 receives a trigger signal of the tool retracting protection function and operates to a preset speed parameter n1 according to a preset acceleration parameter, that is, a curve segment b; after the distance t0 reaches the second delay time parameter t2, the servo driving device 6 will complete the fast stop according to the second deceleration parameter, i.e. the curve c section; the setting of the acceleration and deceleration parameters can well control the motion track of the cutter on the motor 7 without the state of sharp acceleration or deceleration. Through the control of the second delay time parameter t2, each servo driving device can simultaneously complete the tool retracting protection function of the numerical control machine tool, so that the higher safety and reliability of the numerical control machine tool are ensured.
3) The aim of the kinetic energy regeneration mode is to provide a required buffer power supply for the direct current bus 3 under the condition that the capacity of the direct current bus 3 is insufficient until all servo driving devices connected to the direct current bus 3 are orderly delayed to stop or retreat, and the tool withdrawal protection function is completed. When the kinetic energy regeneration mode is operated, a Vdc controller (direct current bus voltage controller) is required to be arranged at the same time, and a direct current bus voltage setting curve is shown in an attached figure 4. When the power supply is powered off, the power module 2 can not keep keeping the running value U1 of the DC bus voltage any more, and particularly, the DC bus voltage is continuously reduced after the motor module in the DC bus assembly absorbs active power from the running value U1; when the voltage of the direct current bus is reduced to a preset direct current bus voltage reduction limit value U2, a Vdc controller (direct current bus controller) is activated, the servo driving device 6 enters a kinetic energy regeneration mode to operate, the servo driving device 6 starts to charge the direct current bus 3 at the moment, the charging efficiency is changed from low to high, and therefore the voltage of the direct current bus is continuously reduced due to energy consumption of other servo driving devices on the direct current bus 3 at the initial stage, and a curve a is shown; until the charging efficiency of the servo driving device 6 is high enough, the dc bus voltage starts to be constant, see section b of the curve. After that, the dc bus voltage gradually rises back to the original dc bus voltage operation value U1, see section c of the curve; at this time, the dc bus 3 provides a normal dc bus voltage for other servo driving devices. For these multiple servodrives on the same dc bus, it is proposed to respond to the kinetic energy regeneration mode only for the one or more servodrives with the largest moment of inertia, which may affect each other if too many servodrives are allowed to use. In response to the kinetic energy regeneration mode, the motor 7 may be accelerated, for example, by the load having driving capability or by other driving means connected to the same dc bus.
For specific implementation, a power module of GDPS066BMC, manufactured by johnson kodc, and a numerical control system of GNC61, manufactured by johnson kodc, may be used. When the method is implemented, the whole tool retracting process and the mode can be preset in the servo driving device 6 according to specific conditions, so that the tool retracting process can be automatically completed as long as the servo driving device 6 receives a tool retracting protection function triggering signal, and the whole process is strong in automation, convenient and fast.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (5)
1. A numerical control machine tool retracting protection method comprises a numerical control system for controlling a servo driving device through a bus, and a power supply module for supplying power to the servo driving device through a direct current bus; the method is characterized by comprising the following steps:
s1: the power supply module or the numerical control system outputs a tool retracting protection function trigger signal to the servo driving device; the tool retracting protection function trigger signals comprise the following three types:
when the power supply module detects that the voltage of the direct current bus is too low, the power supply module outputs a low direct current bus voltage signal to the servo driving device;
when the power supply module detects that the power supply is powered off, the power supply module outputs a power supply power-off alarm signal to the servo driving device;
when the numerical control system detects that the bus is abnormal, the numerical control system outputs a bus abnormal alarm signal to the servo driving device;
s2: the servo driving device takes a first received tool retracting protection function trigger signal as a trigger source and selects a tool retracting mode to operate by combining a pre-judging condition according to a time priority sequence, wherein the pre-judging condition and the operation process of the corresponding tool retracting mode comprise the following two modes:
the method comprises the following steps: if the servo driving device controls the X-axis motor or the Y-axis motor, a stop mode is adopted; the operation of the stop mode is as follows: after receiving the tool retracting protection function trigger signal, the servo driving device firstly keeps the motor to run at a constant speed at the instant of triggering; when the time runs to reach the time when the tool retracting protection function trigger signal is received, the servo driving device enables the motor to finish the quick stop according to the preset first deceleration parameter;
mode II: if the servo driving device controls the gravity axis motor or the spindle motor, a backspacing mode is adopted; the operation process of the fallback mode is as follows: after receiving the tool retracting protection function trigger signal, the servo driving device enables the motor to operate to a preset rotating speed parameter according to a preset acceleration parameter, and then operates at a constant speed until the time from the time of operating to the time when the tool retracting protection function trigger signal is received reaches a preset second delay time parameter, and the servo driving device starts to finish rapid stop according to a preset second deceleration parameter;
when the servo driving device receives a bus abnormity alarm signal transmitted by the numerical control system and prepares to start a tool retracting protection process, the servo driving device terminates the tool retracting protection process under the following conditions:
firstly, the time when the servo driving device receives the signal and the bus starting time are still within the bus initialization waiting time; the bus initialization latency is set to be greater than the actual time of bus initialization;
secondly, the time when the servo driving device receives the signal is less than the bus communication monitoring time from the time when the numerical control system detects the bus abnormal alarm signal; the bus communication time is the time required by the numerical control system from the detection of a bus abnormity alarm signal to the output of the tool retracting protection function trigger signal to the servo driving device;
and thirdly, the servo driving device detects that the number of the lost bus synchronous signal pulses is less than a specific threshold when the numerical control system is communicated with the servo driving device.
2. The method for protecting the retracting of the numerically controlled machine tool according to claim 1, wherein the retracting mode in S2 further includes a mode of (c): if judging that the energy of some servo driving devices is insufficient in the cutter retracting protection process, designating one or more servo driving devices with the largest moment of inertia in the servo driving devices which are connected with the direct-current bus and are about to execute the cutter retracting protection process to adopt a kinetic energy regeneration mode; the operation of the kinetic energy regeneration mode is as follows: the servo driving device works in a normal state, when the trigger signal of the tool retracting protection function is received and the voltage of the direct current bus is reduced to a preset direct current bus voltage lower limit value, the direct current bus voltage controller is activated, the servo driving device starts to charge the direct current bus and enables the voltage of the direct current bus to reach an original direct current bus voltage running value; in the process, the direct current bus continuously supplies power to other servo driving devices.
3. The retracting protection method of a numerically controlled machine tool according to claim 1, wherein the bus initialization waiting time is set to 20 ms.
4. The numerical control machine tool retracting protection method according to claim 1, wherein the bus communication monitoring time is set to 5 ms.
5. The numerical control machine tool retracting protection method according to claim 1, wherein the threshold value is set to 5.
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| CN113732816A (en) * | 2021-09-23 | 2021-12-03 | 新代科技(苏州)有限公司 | Method for controlling tapping backspacing |
| 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 |
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