JP2868492B2 - Numerical control unit - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerical control device used for a machine tool, an NC device, and the like, and more particularly to a numerical control device capable of observing trajectory data.

[0002]

2. Description of the Related Art An example of a conventional numerical controller will be described with reference to FIG.

[0003] In FIG. 10, a machining program instructs a moving trajectory of a tool or a table of a machine tool. The operation unit 6 starts, stops, resets, and resets machining in response to a user's operation input.
Set various parameters. The display unit 7 displays data of the upper processing unit 5 and an operation screen. The upper processing unit 5
It analyzes the input machining program and the settings from the operation unit 6, generates a movement command block such as a line segment or an arc in a three-dimensional space, and outputs it to the interpolation unit 1a. Interpolator 1a
Generates a combined command speed, which is a movement amount per unit time in a three-dimensional space, from an input movement command block, and further distributes the combined command speed into command speeds for each axis, and sends the combined command speed to servo control units 21a, 22a, and 23a. Output.

The servo control units 21a, 22a and 23a are:
The motors 31, 32, and 33 are determined by the input command speed, the motor command speeds output to the motors 31, 32, and 33, and the motor feedback speeds from the encoders 41, 42, and 43.
Feedback control of the rotational speed of the motor. Motor 31,3
Reference numerals 2 and 33 denote motors for driving the machine tool. The encoders 41, 42, 43 detect the rotation speeds of the motors 31, 32, 33.

The high-order processing section 5, the interpolation section 1a, and the servo control sections 21a, 22a, 23a all perform digital processing using a microcomputer.

Conventionally, in a numerical controller of this type, as disclosed in Japanese Patent Application Laid-Open No. 1-321885 as a first example and Japanese Patent Application Laid-Open No. 62-278609 as a second example, A method of visually observing data of a servo control unit has been used for the purpose of performing adjustments, detecting defects, and the like.

FIG. 8 is a block diagram showing an example of a conventional numerical controller, which summarizes the configuration of the first example. Interpolator 1a and servo controller 21 in FIG.
Since a, 22a and 23a, motors 31, 32 and 33, and encoders 41, 42 and 43 are the same as those of the same reference numerals in FIG.

In FIG. 8, an interpolation section 1a includes an interpolation operation processing section 11, an interpolation section storage section 12, and an interpolation section communication section 1.
And 3. The interpolation calculation processing unit 11 receives a movement command block from the host processing unit 5, performs various calculations of the interpolation unit 1a, and outputs a command speed to the servo control units 21a, 22a, and 23a. The interpolation unit storage unit 12 stores data used in the interpolation operation processing unit 11. The interpolator communication means 13 includes an interpolator 1a and servo controllers 21a, 22a, 2
3a.

The servo control unit 21a includes a servo control unit communication unit 211, a servo control operation processing unit 212, a servo control unit storage unit 213, a servo control unit observation data designating unit 214, and a servo control unit data transfer unit 215. When,
And DA conversion means 216. The configuration of the servo control units 22a and 23a is the same as that of the servo control unit 21a.
Therefore, the description is omitted.

The servo control unit communication means 211 includes an interpolation unit 1a
Interface with Servo control arithmetic processing unit 21
Numeral 2 performs various operations of the servo control unit 21a, outputs a motor command speed to the motor 31, and inputs a motor feedback speed from the encoder 41. The servo control unit storage means 213 stores data used by the servo control arithmetic processing unit 212. When the servo control unit observation data is designated from outside, the servo control unit observation data designating unit 214 outputs the storage area to the servo control unit data transfer unit 215.
The servo control unit observation data is the servo control unit storage means 2
13 is data to be observed among the data stored in the memory 13. Servo control unit data transfer means 215
Reads the data in the storage area input from the servo control unit observation data specifying unit 214 from the servo control unit storage unit 213 and transfers the data to the DA conversion unit 216. The DA converter 216 converts the input data into an analog voltage and outputs the same to the outside.

Next, the operation will be described with reference to FIGS. 8 and 9 by taking as an example the case of observing the speed deviation stored in the servo controller storage means in the servo controller. First, the velocity deviation amount is designated as the servo control unit observation data to the servo control unit observation data designating means 214 (step 11;
S11). The servo control unit observation data designating unit 214 outputs the storage area of the velocity deviation amount in the servo control unit storage unit 213 to the servo control unit data transfer unit 215 (S12). The servo control unit data transfer unit 215 reads out the speed deviation amount from the servo control unit storage unit 213 based on the input storage area, and transfers it to the DA conversion unit 216 (S13). The DA converter 216 converts the input speed deviation amount into an analog voltage and outputs it to the outside (S1).
4). The above-described series of processing from S11 to S14 is repeated at regular intervals, for example, every 2 ms, and it is determined whether or not to continue this processing based on the presence or absence of a flag at a specific address in the memory (S15). Return to The same operation as described above can be performed in the servo control units 22a and 23a.

At the same time, by externally displaying the output analog voltage on a waveform observer such as an oscilloscope, it is possible to visually observe a temporal change in the speed deviation. The servo control unit observation data may be a position deviation amount or a current deviation amount in addition to the speed deviation amount as long as the data is stored in the servo control unit storage unit 213.

A second example is described in Japanese Patent Application Laid-Open No. 62-278609. In this publication, the motor 3 which is data of the servo control unit storage means 213, 223, 233 is
By outputting the motor command speed output to 1, 32, 33, the motor feedback speed input from the encoder, and the error signal to a display unit 7 such as a CRT without DA conversion,
A numerical control device that allows visual observation is shown.

In any case, the servo control unit storage means 21
Servo control unit 21 stored in 3,223,233
a, 22a, and 23a can be visually observed from the outside. As a result, the servo control units 21a,
Adjustment of 22a and 23a, detection of a defect, etc. can be performed easily.

[0015]

A first problem of the above-mentioned conventional numerical controller is that the data of the servo control section can be visually observed, but the data of the interpolation section cannot be visually observed. is there. The reason is that there is no means for visually observing the data of the interpolation unit. An additional problem is that if a DA converter is provided in the interpolator to visually observe the data in the interpolator, the additional hardware will increase the cost of the device.

A second problem is that comparison between data of a plurality of servo control units such as a motor synchronization error which is a difference between motor feedback speeds of respective axes cannot be performed with high accuracy. The reason is that it is difficult to compare the analog voltages output separately by the servo control units with high accuracy.

A first object of the present invention is to provide a numerical control device which makes it possible to visually observe time-varying data in an interpolation unit for performing an interpolation operation.

A second object of the present invention is to provide a numerical controller capable of performing a comparison operation between data that changes with time in a plurality of servo controllers with high accuracy.

[0019]

According to the present invention, there is provided a numerical control apparatus comprising: an interpolation unit for performing an interpolation operation for numerical control; A processing unit, an interpolation unit storage unit for storing data used in the interpolation calculation processing unit, an interpolation unit communication unit for performing a communication interface with a servo control unit for controlling a servo motor, and an external designation. An interpolating unit observation data designating unit for outputting a storage area of the interpolating unit observation data based on the interpolating unit storage unit, and reading data from the interpolating unit storage unit designated by the interpolating unit observation data designating unit from the interpolating unit storage unit. Interpolating section data transfer means for transferring to the section communication means;
A servo control unit communication unit that performs a communication interface with the interpolation unit communication unit; a servo control calculation processing unit that performs various calculations and outputs a motor command speed to a servo motor and inputs a motor feedback speed from an encoder; Servo control unit storage means for storing data used in the control operation processing unit, and servo control unit observation data designation for outputting a storage area of the servo control unit observation data in the servo control unit storage means based on designation from outside Means, servo control unit data transfer means for reading and transferring data in the storage area designated by the servo control unit observation data designating means from the servo control unit storage means, and data input from the servo control unit data transfer means Digital-to-analog conversion means for converting and outputting an analog voltage,
A servo control unit data storage unit that receives the interpolation unit observation data via the servo control unit communication unit and stores the data in the storage area for the interpolation unit observation data in the servo control unit storage unit.

In addition, in addition to the above, the numerical controller according to the present invention may be arranged such that the interpolator receives data from a plurality of servo controllers via the servo controller communication means and the interpolator communication means and calculates the data. It is also possible to adopt a configuration including a servo control unit data calculation unit that transfers the data to the interpolation unit storage means.

According to the present invention, the data of any interpolation unit stored in the interpolation unit storage means is converted into a digital signal and output as an analog voltage. It is possible to visually observe the target change.

[0022]

Next, a first embodiment of the present invention will be described with reference to the drawings.

Referring to FIG. 1, in addition to the functional blocks shown in FIG. 8, the numerical controller according to the present invention includes an interpolation unit observation data designating unit 14 and an interpolation unit data transfer unit 1 in the interpolation unit 1.
5 and the servo control unit 21 includes a servo control unit data storage unit 217. Except for the interpolation unit observation data designating unit 14, the interpolation unit data transfer unit 15, and the servo control unit data storage unit 217, they are the same as those described in FIG. A microcomputer is used for each of the interpolation unit 1 and the servo control units 21 to 23, and digital processing is performed.

The interpolating unit observation data designating unit 14 receives the interpolating unit observation data from the outside, and
2 is stored in the interpolation unit data transfer means 15.
Output to Interpolation section observation data means interpolation section storage means 1
2 is the data to be observed among the data stored in 2. The interpolation unit data transfer unit 15 reads out the data of the storage area designated by the interpolation unit data designation unit 14 from the interpolation unit storage unit 12, and
Transfer to 3. The servo control unit data storage means 217
The interpolation section observation data is stored in the storage area prepared for the interpolation section observation data in the servo control section storage section 213 from the servo control section communication section 211. This storage area is predetermined for each data.

Next, the operation of the first embodiment of the present invention will be described with reference to the synthesized command speed stored in the interpolation unit storage means 12 when the operation of one circle on the XY plane shown in FIG. 3 is executed. Observation is taken as an example and will be described with reference to FIG.

First, the synthesis command speed is designated as interpolation unit observation data to the interpolation unit observation data designation means 14 (S
1). The interpolation unit observation data designating unit 14 outputs the storage area of the combined command speed in the interpolation unit storage unit 12 to the interpolation unit data transfer unit 15 (S2). The interpolation unit data transfer unit 15 is configured to store the interpolation unit storage unit 1 based on the designated storage area.
Then, the combined command speed is read out from 2 and transferred to the interpolator communication means 13 (S3). The interpolation unit 1 and the servo control unit 21 perform data communication by the interpolation unit communication unit 13 and the servo control unit communication unit 211, and transfer the synthesized command speed to the servo control unit communication unit 211 (S4).

Next, the servo controller data storage means 217
Transfers the combined command speed from the servo control unit communication means 211 to the storage area for the interpolator observation data in the servo control unit storage means 213 (S5). The servo control unit observation data specifying means 214 specifies the interpolation unit observation data as the servo control unit observation data (S6). The servo control unit observation data designating unit 214 outputs the storage area for the interpolation unit observation data in the servo control unit storage unit 213 to the servo control unit data transfer unit 215 (S7).

The servo control unit data transfer unit 215 reads out the combined command speed from the servo control unit storage unit 213 based on the designated storage area and transfers it to the DA conversion unit 216 (S8). The DA converter 216 converts the input combined command speed into an analog voltage and outputs it to the outside (S9).

The series of processing from S1 to S9 is repeated at regular intervals, for example, every 2 ms, and the necessity of continuous execution of this processing is determined by the presence or absence of a flag at a specific address in the memory (S10). At the time of continuous execution, S1
Return to At the same time, the output analog voltage is externally displayed on a waveform observation device such as an oscilloscope, so that, for example, as shown in FIG. Visual observation of changes becomes possible.

In FIG. 4, the synthesized command speed is a value from which the interpolation unit calculates the X-axis command speed Vx and the Y-axis command speed Vy, and is expressed by (Vx ² + Vy ² ) ^1/2. In this example, a waveform obtained by applying a linear acceleration / deceleration process for reducing a mechanical shock applied to a motor to an original rectangular waveform of the synthesized command speed is taken as an example.

In FIG. 4, the X-axis command speed and the Y-axis command speed are obtained when the command speed in the servo control unit storage means corresponding to the X-axis and Y-axis control is output as an analog voltage using a conventional technique. In this example, since linear acceleration / deceleration processing is performed on the combined command speed, the X-axis command speed,
A waveform obtained by performing a linear acceleration / deceleration process on the original sine function waveform of the Y-axis command speed is drawn.

Therefore, conventionally, not only cannot the synthesized command speed be observed, but also it is difficult to estimate the synthesized command speed from the display screen of the command speed of each of the X-axis and the Y-axis. Thus, since the synthesized command speed can be observed, it is possible to easily detect a defect in the calculation of the synthesized command speed and measure acceleration / deceleration parameters used in the acceleration / deceleration processing.

Next, a second embodiment of the present invention will be described with reference to the drawings.

Referring to FIG. 3, the numerical controller according to the present invention further performs an operation on data of a plurality of servo controllers in addition to the functional blocks shown in FIG. Servo control unit data arithmetic unit 16 for transferring to
Is provided. The components other than the servo control unit data calculation unit 16 are the same as those described with reference to FIG.

Next, in the operation of the second embodiment, the motor synchronization which is the difference between the X-axis motor return speed and the Y-axis motor return speed when the linear operation on the XY plane shown in FIG. 6 is executed. The case where an error is observed will be described as an example. It is assumed that the servo controller 21 controls the X axis and the servo controller 22 controls the Y axis.

The servo control arithmetic processing unit 212 outputs the X-axis motor feedback speed V from the encoder 41 attached to the X-axis motor 31.
x, which is input to the servo control unit data calculation unit 1 via the servo control unit communication unit 211 and the interpolation unit communication unit 13.
Transfer to 6. Similarly, the servo control arithmetic processing unit 222
The Y-axis motor feedback speed Vy is calculated by the servo control unit data calculation unit 1.
Transfer to 6.

The servo control unit data calculation unit 16 calculates the difference (Vx−2Vy) between the X-axis motor return speed Vx and the Y-axis motor return speed Vy × 2, and stores the data obtained by further multiplying the magnification by the interpolation unit. Transfer to means 12. By designating this data in the interpolating unit observation data designating means 14, it is output to the outside as an analog voltage as in the first embodiment.

The above series of processing is performed at a constant cycle, for example, 2
Repeat every ms. At the same time, by externally displaying the output analog voltage on a waveform observation device such as an oscilloscope, it becomes possible to visually observe a temporal change of the motor synchronization error as shown in FIG. 7, for example.

In FIG. 7, the motor synchronization error is obtained by multiplying the above (Vx−2Vy) by a magnification.
The axis motor feedback speed and the Y axis motor feedback speed are display screens when the motor feedback speed in the servo control unit storage means corresponding to the X axis and Y axis control is output as an analog voltage using a conventional technique. Usually, a first-order lag waveform as shown in FIG. 7 is drawn.

Therefore, it is possible to observe the motor synchronization error with high accuracy in the present invention, which was conventionally difficult by comparing the display of the X-axis motor feedback speed and the Y-axis motor feedback speed. And servo parameters can be easily selected.

[0041]

As described above, according to the present invention, the first effect is that the temporal change of the synthesized command speed calculated by the interpolation unit can be observed by a waveform observer or the like. That is, detection and acceleration / deceleration parameter selection can be easily performed. A second effect is that a time change of a motor synchronization error between a plurality of axes can be observed by a waveform observer or the like, so that servo adjustment and servo parameter selection can be easily performed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a first exemplary embodiment of the present invention.

FIG. 2 is a flowchart for explaining the operation of FIG. 1;

FIG. 3 is a diagram for explaining details of an operation according to the first exemplary embodiment of the present invention.

FIG. 4 is a diagram for explaining details of an operation according to the first exemplary embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration of a second exemplary embodiment of the present invention.

FIG. 6 is a diagram for explaining details of an operation according to the second exemplary embodiment of the present invention.

FIG. 7 is a diagram illustrating details of an operation according to the first exemplary embodiment of the present invention.

FIG. 8 is a block diagram showing a configuration of an example of a conventional numerical control device.

FIG. 9 is a flowchart for explaining the operation of FIG. 8;

FIG. 10 is a block diagram illustrating an example of a conventional numerical control device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Interpolation part 11 Interpolation calculation processing part 12 Interpolation part storage means 13 Interpolation part communication means 14 Interpolation part observation data designating means 15 Interpolation part data transfer means 16 Servo control part data calculation part 21-23 Servo control part 31-33 Motor 41- 43 Encoder 211, 221, 231 Servo control unit communication means 212, 222, 232 Servo control operation processing unit 213, 223, 233 Servo control unit storage means 214, 224, 234 Servo control unit observation data specifying means 215, 225, 235 Servo Control unit data transfer unit 216, 226, 236 DA conversion unit 217 Servo control unit data storage unit

────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Yoshifumi Sakaguchi 5-7-1 Shiba, Minato-ku, Tokyo NEC Corporation (56) References JP-A-5-11830 (JP, A) JP-A-7 -78014 (JP, A) (58) Field surveyed (Int. Cl. ⁶ , DB name) G05B 19/4063

Claims (2)

(57) [Claims] 1. An interpolation section for performing an interpolation operation for numerical control, receiving a movement command from a higher-order processing device, calculating the movement command, and outputting a command speed, and using the interpolation calculation section. An interpolating unit storing means for storing data, an interpolating unit communicating means for performing a communication interface with a servo control unit for controlling a servomotor, and an interpolating unit storing means for interpolating unit observation data based on an external designation. An interpolating unit observation data designating unit that outputs a storage area; an interpolating unit data transfer unit that reads out data from the interpolating unit storage unit designated by the interpolating unit observation data designating unit and transfers the data to the interpolating unit communication unit. A servo control unit communication means for providing a communication interface with the interpolation unit communication means; and various arithmetic operations and a motor to a servo motor. A servo control arithmetic processing unit for outputting a command speed and inputting a motor feedback speed from an encoder, a servo control unit storing means for storing data used in the servo control arithmetic processing unit, and A servo control unit observation data designating unit that outputs a storage region of the servo control unit observation data in the servo control unit storage unit; and a servo control unit storage unit that stores data of the storage region designated by the servo control unit observation data designation unit. A servo control unit data transfer unit that reads and transfers data from the servo control unit; a digital-to-analog conversion unit that converts data input from the servo control unit data transfer to an analog voltage and outputs the analog voltage; And stored in the storage area for the interpolator observation data in the servo controller storage means. Numerical control device, characterized in that it comprises a turbo controller data storage means. 2. The servo control unit data received from the plurality of servo control units via the servo control unit communication unit and the interpolation unit communication unit, calculated, and transferred to the interpolation unit storage unit. 2. The numerical control device according to claim 1, further comprising an arithmetic unit.