JP2003018885A - Multi-shaft interpolation controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To attain the interpolation operation of a plurality of motors for multiple shafts without performing calculation. SOLUTION: When the data x, y of a pulse length for operating motors 2, 3 for X-axis and Y-axis respectively at a prescribed speed are read out respectively from a memory part 10, pulse signals Px, Py having the pulse lengths of the read-out data are outputted respectively from pulse signal forming parts 20x, 20y. The pulse signals Px, Py are reset at the same time in response to the reset timing of a unit time counter 30 with pulse signal synchronizing parts 40x, 40y. At the same time, the read-out address of the memory part 10 is changed by a read-out address control part 50.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device used for a machine tool or the like, and relates to a multi-axis interpolation control device for interpolating a plurality of motors for multi-axis.

[0002]

2. Description of the Related Art An NC machine or the like is equipped with a multi-axis motor for freely moving a table or the like. For example, when a stepping motor is used as the X-axis and Y-axis motors for the XY table,
The multi-axis interpolation control device as shown in FIG. 5 performs the interpolation operation of the motor.

The apparatus calculates the operation amounts of the X-axis and the Y-axis based on a control signal (an operation parameter indicating a pattern for moving an XY table or the like) output from a control computer 7 such as an NC machine. And a motor controller 5 having an interpolation calculation function for generating an X-axis and Y-axis pulse signal according to the X-axis and Y-axis operation amounts obtained by the motor controller 5 to generate the X-axis and Y-axis. It is composed of X-axis and Y-axis pulse generators 6x and 6y for outputting to the respective motors 3 and 4.

For example, if the control signal output from the control computer 7 is an operation parameter for moving the XY table or the like in an arc, it is necessary to move the XY table or the like in the arc based on this operation parameter. Na X
The motor controller 5 calculates the operation amounts of the A-axis and the Y-axis, respectively, and the X-axis and Y-axis pulse signals having pulse lengths corresponding to the calculated X-axis and Y-axis operation amounts are output to the X-axis and the Y-axis. The pulse generators 6x and 6y are each configured to generate. Since the X-axis and Y-axis motors 3 and 4 are interpolated by such a multi-axis interpolation control device, an XY not shown
The table moves in an arc according to a command from the control computer 7.

[0005]

However, in the case of the above-mentioned conventional example, in order to move the XY table or the like in a complicated pattern, the calculation in the motor controller 5 becomes complicated, and the calculation time becomes long accordingly. . In some cases, it is necessary to use a high-speed arithmetic processor or the like.
Further, when the number of motors to be interpolated increases, not only the software but also the entire hardware becomes complicated, resulting in a significant cost increase.

The present invention was created under the above-mentioned background, and an object of the present invention is to realize an interpolating operation of a plurality of motors for multi-axis without performing calculation. An object is to provide an interpolation control device.

[0007]

A multi-axis interpolation control device according to the present invention includes a memory unit in which pulse length data for operating a plurality of motors at a predetermined speed per unit time are recorded in advance. A pulse signal generator that sequentially generates a pulse signal having a pulse length corresponding to each data output from the memory unit and outputs each to the motor, and a reference clock that counts unit time. A unit time counter that resets each time and a pulse output signal generator that is provided in the subsequent stage and that resets each pulse signal output from the pulse signal generator in accordance with the reset timing of the unit time counter. The read address of the memory unit is sequentially changed according to the reset timing of the pulse signal synchronization processing unit and the unit time counter. It is characterized by comprising a look out address control unit.

With such a configuration, when the data of the pulse length for operating the plurality of motors at the predetermined speeds is read from the memory section, the pulse signal having the pulse length corresponding to the read data is obtained. Are output from the pulse signal generator. Each pulse signal output from the pulse signal generation unit is reset all at once by the pulse signal synchronization processing unit according to the reset timing of the unit time counter. At the same time, the read address of the memory section is changed by the read address control section. That is, while generating pulse signals for operating the plurality of motors at a predetermined speed for each unit time, each pulse signal is output to the motor in synchronization with the unit time. The motor will perform an interpolation operation.

The pulse output signal generating section compares the reference clock counter for counting the reference clock with the data output from the memory section and the count value of the reference clock counter, and outputs the comparison result as a pulse output signal. It is preferable that the reference clock counter is reset at the timing when the count value becomes equal to the data. Further, in the memory unit, pulse length data necessary for operating a plurality of multi-axis motors in a plurality of types of patterns is recorded in advance for each type, and the pulse length data can be read out. It is preferable that the read address control unit can be switched for each type.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of a multi-axis interpolation control device, FIG. 2 is a diagram for explaining the contents of data in a memory section of the device, and is a partial waveform diagram of a pulse signal for operating an X-axis motor, FIG. 3 is a timing chart of a pulse signal for explaining a method of setting a pulse length recorded as data in the memory section of the same device, and FIG. 4 shows pulse lengths recorded as data in the memory section of the same device. 7 is a timing chart of another pulse signal for explaining the setting method.

The multi-axis interpolation control device 1 listed here is an NC
A device provided between the control computer 2 of the machine and the X-axis and Y-axis motors 3 and 4 which are stepping motors, and is an XY table (not shown) of the NC machine.
It has a basic configuration for interpolating the X-axis and Y-axis motors 3 and 4 connected to. Here, since the XY table is moved in a plurality of types of patterns (for example, circular motion, linear movement, etc.), the device 1 operates according to the command from the control computer 2.

The device 1 includes X-axis and Y-axis motors 3, 4
A pulse signal having a pulse length corresponding to the data x and y output from the memory unit 10, and the memory unit 10 in which pulse length data for operating each unit at a predetermined speed is recorded in advance. Each time Px and Py are sequentially generated and pulse signal generators 20x and 20y that respectively output to the X-axis and Y-axis motors 3 and 4 and the reference clock are counted and the counting result indicates the unit time T. Resetting unit time counter 30 and pulse signals output from the pulse signal generating units 20x and 20y according to the reset timing of the unit time counter 30 respectively provided in the subsequent stages of the pulse output signal generating units 20x and 20y. Pulse signal synchronization processing unit 4 for resetting Px and Py respectively
0x and 40y and a read address control unit 50 that sequentially changes the read address of the memory unit 10 according to the reset timing of the unit time counter 30 are provided.

An EPROM is used as the memory unit 10 here.
Is used. FIG. 2 shows the waveform of the pulse signal Px for operating the X-axis motor 3 at a predetermined speed for each unit time T. The pulse signal Px is a signal including a predetermined number of pulses having the same pulse length in the unit time T. Here, the data x (data n in the figure) indicating the time of a half cycle of the pulse is used as the pulse length data in the memory unit 1.
It is recorded at 0. The memory unit 10 has an X-axis motor 3
Pulse length data for recording is recorded every unit time T. The pulse length data of the pulse signal Py is recorded in the memory unit 10 in exactly the same manner. in short,
The data of the pulse length of the pulse signals Px and Py is the unit time T
The respective speeds of the X-axis and Y-axis motors 3 and 4 are shown. The method of setting the pulse length will be described later.

The pulse length data of the pulse signals Px and Py are recorded in the memory section 10 for each type of pattern (arc movement, linear movement, etc.) that can move the XY table. The unit time T on which the pulse length data is based is set according to the type of pattern. Note that the unit time for data for arc motion is T1, and the unit time for data for linear motion is T2.

The pulse signal generator 20x includes a reference clock counter 201x that counts a reference clock (t << T).
And a comparison unit 202x that compares the data x output from the memory unit 10 with the count value A1 of the reference clock counter 201x and outputs the comparison result as a pulse signal Px.
The reference clock counter 201x is reset when the count value A1 becomes equal to the data x. Considering the capacity of the memory unit 10,
Since the data indicating the half cycle time of the pulse shown in FIG. 2 is recorded in the memory unit 10, the output of the comparison unit 202x changes from low level to high level at the timing when the count value A1 becomes equal to the data x. It is inverted from high level to low level. The contents described above are exactly the same for the pulse signal generator 20y. The reference clock counters 201x and 201y are the unit time counters 30.
At the same time, it starts counting.

The unit time counter 30 has a structure similar to that of the pulse signal generator 20x. When the count value of the reference clock becomes equal to the preset unit time T, the count value is reset and the reset signal RST is reset. Is output as. The set value of the unit time T in the unit time counter 30 can be arbitrarily rewritten by the control computer 2.

A flip-flop is used here as the pulse signal synchronization processing section 40x. A pulse signal Px output from the pulse signal generation unit 20x and a reset signal RST output from the unit time counter 30 are input to the pulse signal synchronization processing unit 40x. That is, when the reset signal RST is inactive, the pulse signal Px is output as it is, but when the reset signal RST becomes active, the pulse signal Px is forcibly reset. The above contents are exactly the same for the pulse signal synchronization processing unit 40y.

The read address control unit 50 is the memory unit 1.
A register circuit for generating a read address of 0, to which a reset signal RST output from the unit time counter 30 and command data output from the control computer 2 are input. That is, the read address is sequentially incremented each time the reset signal RST becomes active. As a result, the memory unit 1
The pulse length data of the pulse signals Px and Py output from 0 shifts to the next data every time the reset signal RST becomes active.

It has been described above that the memory unit 10 records pulse length data for arc movement, linear movement, etc. for each type. Reading of data of these pulse lengths can be switched for each type through the read address control unit 50 in response to a command from the control computer 2.

A method of setting the pulse length to be recorded as data in the memory section 10 will be described with reference to FIGS. 3 and 4. First, as shown in FIG. 3A, when the pulse signals Px and Py have different numbers of pulses within the unit time T, when the pulse frequencies are the same, the smaller number of pulses, here, the pulse signal Px All pulses will be output first. Therefore, although the pulse signal Px and the pulse signal py are synchronized at the beginning of the unit time T, they are not synchronized at the end, and as a result, the X-axis and Y-axis motors 3, 4,
As a result, the X and Y axes are not interpolated.

Therefore, as shown in FIG. 4B, the pulse length is modified by the unit time T and the number of pulses so that the pulse signals Px and Py are evenly output within the unit time T. Specifically, in the X-axis and Y-axis motors 3 and 4, the maximum number of pulses output per unit time T is X.
And the pulse length at that time is m. If the desired number of pulses is Y, the pulse length n at that desired number of pulses is n = (X / Y) m. If the pulse signals Px and Py are output with the pulse length of n, the pulse signals Px and Py
Py is evenly distributed within the unit time T and output.

When the pulse length of the pulse signal Px is set by such a method, the pulse signal Px and the pulse signal Py can be synchronized not only at the beginning of the unit time T but also at the end thereof. As a result, for the X-axis,
The Y-axis motors 3 and 4, and thus the X-axis and Y-axis are interpolated.

However, when the fraction is obtained by the above calculation, if the fraction is less than 0.5, as shown in FIG. 5A, the last pulse signal Px or Py applied to the boundary of the unit time T is a low portion. May become the boundary of the unit time T and may not be output. In order to prevent this, the pulse signal Px or Py
It is advisable to correct the pulse length so that it will fall at the unit time T and to increment it. If the pulse length is modified so that the fraction of the above calculation becomes 0.5 or more, as shown in FIG. 5B, the unit time is the unit time when the last pulse signal Px or Py applied to the boundary of the unit time T is high. It becomes the boundary of T, and is the same as when it was reset.

In short, the pulse signal Px and the pulse signal P
It is necessary to set the pulse lengths of both signals so that y is synchronized with the beginning and end of the unit time T. The data of the pulse lengths of both signals set in this way is recorded in advance in the memory unit 10 every unit time T. The pulse length data recorded in advance in the memory unit 10 for operating the X-axis and Y-axis motors 3 and 4 at a predetermined speed for each unit time T refers to the data set in this way. There is.

The operation of the multi-axis interpolation control device 1 configured as above will be described. When the device 1 is energized,
Unit time counter 30 and reference clock counter 201
x and 201y start counting at the same time.

When the command output from the control computer 2 causes the XY table to perform an arc operation, the read address control unit 50 outputs pattern data x and y from the memory unit 10 in accordance with the command. It
In this case, the control computer 2 rewrites the set value of the unit time T in the unit time counter 30 to T1.

Count value A of the reference clock counter 201x
When 1 becomes equal to the data x, the logic of the output of the comparison unit 202x is inverted, and at the same time, the reference clock counter 201
x is reset and then the reference clock counter 20
When the count value A1 of 1x becomes equal to the data x, the comparison unit 2
The logic of the 02x output is further inverted. As a result, the pulse signal Px whose half cycle of the pulse is the data x is generated. This is repeated thereafter, and the unit time counter 30
The pulse signal Px is continuously generated until the reset signal RST becomes active, and the pulse signal synchronization processing unit 40
It is output to the X-axis motor 3 via x.

On the other hand, when the count value of the unit time counter 30 becomes equal to the unit time T1, the reset signal RST becomes active and the pulse signal synchronization processing section 40x resets the pulse signal Px. When the reset signal RST becomes active, the read address of the memory unit 10 is counted up, and the next data x ′ is output from the memory unit 10. The subsequent steps are exactly the same as above.

The above-mentioned content is the pulse signal Px,
The same applies to the pulse signal Py. as a result,
The relationship with the pulse signals Px and Py is as shown in FIG. In this way, the pulse signals Px and Py synchronized for each unit time T1 are output to the X-axis and Y-axis motors 3 and 4, respectively, so that the X-axis and Y-axis motors 3 and 4, and thus the X-axis, The Y axis is interpolated, and as a result, the desired circular arc movement is realized.

When the command output from the control computer 2 linearly moves the XY table, the read address control unit 50 outputs the pattern data x and y from the memory unit 10 according to the command. It In this case, the control computer 2 rewrites the set value of the unit time T in the unit time counter 30 to T2. After that, the same operation as above is performed, and the unit time T
Since the pulse signals Px and Py synchronized for each 2 are output to the X-axis and Y-axis motors 3 and 4, respectively, the X-axis and Y-axis motors 3 and 4, and eventually the X-axis and Y-axis, perform interpolation operations. As a result, a desired linear movement is realized. The same applies when the command output from the control computer 2 is other than the above.

Therefore, unlike the case of the conventional example, it is possible to realize the interpolation operation of the X-axis and Y-axis motors 3 and 4 without performing calculations. In addition, the memory unit 10
By doubling the data x and y recorded in the same ratio, it is possible to easily realize the enlargement / reduction operation of the XY table. Further, even when the XY table is moved in a complicated pattern, it is sufficient to prepare the data for that purpose in the memory unit 10, and it is possible to realize it extremely easily.

In the above-mentioned embodiment, the description has been made on two axes, but the present invention can be similarly applied to the case of more axes. In this case, the reference clock counter is required for each axis, but only one unit time counter is required for each group to be interpolated. Like this 3
Even if the number of axes is larger than the number of axes, there is no need to perform a special calculation for the interpolation operation, so the hardware itself does not become significantly complicated, and it is possible to achieve high performance and low cost of the device. Become. Further, it is not applicable only to the NC machine, but can be similarly applied to a printer or the like. Further, the multi-axis interpolation control device may perform the interpolation operation of the multi-axis motor by itself instead of operating under the control computer.

The multi-axis interpolation control device according to the present invention is not limited to the above embodiment, and any type or structure may be used as long as it has the same function for the memory section and the like. The type of motor is not limited as long as it can operate with pulses, and a DC motor or the like may be used instead of the stepping motor.

[0034]

As described above, in the case of the multi-axis interpolation control device according to the present invention, the pulse signals for operating the plurality of motors are generated by making good use of the memory, while each pulse signal is synchronized with the unit time. Since the circuit is configured to be output to each of the motors, it is possible to realize the interpolating operation of a plurality of motors for multiple axes without performing calculation. Unlike the case of the conventional example, since it is not necessary to perform the calculation, even if there are a large number of motors to be interpolated, the entire hardware becomes very simple, and a significant cost reduction is achieved. It will be possible. Moreover, even when the XY table or the like is moved in a complicated pattern, it is only necessary to prepare the data for that purpose in the memory section, which can be realized very easily. Therefore, there is great significance in reducing the cost and improving the performance of the device.

[Brief description of drawings]

FIG. 1 is a diagram for explaining an embodiment of the present invention and is a block diagram of a multi-axis interpolation control device.

FIG. 2 is a diagram for explaining the content of data in a memory unit of the same apparatus and is a partial waveform diagram of a pulse signal for operating an X-axis motor.

FIG. 3 is a timing chart of a pulse signal for explaining a method of setting a pulse length recorded as data in a memory unit of the same device.

FIG. 4 is a timing chart of another pulse signal for explaining a method of setting a pulse length recorded as data in a memory unit of the same device.

FIG. 5 is a diagram for explaining a conventional example and is a block diagram of a multi-axis interpolation control device.

[Explanation of symbols]

1 Multi-axis interpolation controller 10 memory section 20x, 20y pulse signal generator 30 unit time counter 40x, 40y pulse signal synchronization processing unit 50 Read address control unit 2, 3 X-axis and Y-axis motors

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Akiho Inada             No. 12 Minamishitamachi, Sagahirozawa, Ukyo-ku, Kyoto Prefecture, Kyoto Prefecture             Local MyCom Co., Ltd. F-term (reference) 5H269 AB01 BB01 BB03 BB05 BB09                       CC01 CC18 JJ02 RB11 RC09                 5H572 AA14 BB07 DD08 EE03 JJ02                       JJ03 JJ13 JJ17 KK04 KK05                 5H580 AA03 BB09 CA11 FA13 FA14                       FA26 FB05 GG03 GG04

Claims (3)

[Claims] 1. A multi-axis interpolation control device for interpolating a plurality of motors for a multi-axis, a memory prerecorded with pulse length data for operating a plurality of motors at a predetermined speed per unit time. Section, a pulse signal generation section that sequentially generates a pulse signal having a pulse length corresponding to each data output from the memory section and outputs each to the motor, and a reference clock, and the counting result A unit time counter for resetting each time indicating a unit time, and each pulse signal output from the pulse signal generator provided at the subsequent stage of the pulse output signal generator and corresponding to the reset timing of the unit time counter. The pulse signal synchronization processing unit that resets each of the above, and the read address of the memory unit according to the reset timing of the unit time counter. A multi-axis interpolation control device, comprising: a read address control unit that sequentially changes the address. 2. The multi-axis interpolation control device according to claim 1, wherein the pulse output signal generation unit counts a reference clock, a data output from the memory unit, and a count value of the reference clock counter. And a comparison unit that outputs the comparison result as a pulse output signal, and the reference clock counter is reset at a timing when the count value becomes equal to the data. Multi-axis interpolation controller. 3. The multi-axis interpolation control device according to claim 1, wherein the memory section stores data of pulse lengths required to operate a plurality of motors for a multi-axis in a plurality of types of patterns. A multi-axis interpolation control device, which is recorded in advance for each type and is capable of switching reading of data of the pulse length for each type through the read address control unit.