JP3049485B2 - Control device for program operation machine and conversion device for control program - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a numerical control (NC).
The present invention relates to a control device applied to a machine that operates based on a program, such as a machine tool such as a lathe or a machining center, an industrial robot, an XY table, an automatic inspection machine, and an automatic assembly machine, and a control program conversion device.

[0002]

2. Description of the Related Art Conventionally, a program operation machine such as an NC machine tool or an industrial robot is configured as shown in FIG. The operation unit 1 is a main body of a machine that performs operations such as machining, transporting and assembling a work.
The operation / display unit 2 performs an input operation of a program and an operation of instructing an operation of the operation unit 1, and displays the input program, a state of the operation unit 1, and the like. Storage unit 3
Stores the input program. The operation control unit 4 controls the operation of the operation unit 1 according to the operation of the operation / display unit 2 and the program stored in the storage unit 3. With this configuration, a program is created in advance and stored in the storage unit 3 so that the operation unit 1 can automatically perform a fixed operation.

[0003]

However, in this type of device, it is necessary to learn a control language dedicated to the device in order to create a program, and it is not always easy to create a program. In addition, in order to complete a program that operates the device correctly, it is often the case that the program is actually executed, the operation of the device is checked, and corrections are often made. Despite this, it is generally difficult.

Even if a program is created in advance, it is often necessary to correct the program when actually performing a machining operation or the like. That is, for example, when the allowance for the work to be actually used is different from that assumed at the time of creating the program, or when the design is changed, it is necessary to modify the program accordingly. In such a case, correction methods such as adjusting settings such as the length and diameter of the tool, shifting the reference coordinates, and allowing a predetermined coordinate value to be set later are also used. It is often difficult to deal only with such a method.

[0005] In order to facilitate the creation and modification of the above-mentioned program, the operation is actually performed by operating the apparatus interactively with a computer, and the operation is stored as a program or the operation position is determined. It is conceivable to insert coordinates into the program.However, in the former case, a program that operates just as it was operated is generated. In order to create a program that combines the above programs, it is still indispensable to acquire knowledge about the control language. In the latter case, the operator must refer to a program that attempts to insert coordinates, etc. Therefore, it is necessary to acquire knowledge about the control language.

Further, the operation of the apparatus is performed by sequentially executing the instruction steps of the program one by one, and a backward operation, that is, an operation which has already been executed, cannot be performed in a reverse manner so as to reverse. ,
Even if there are errors in some of the steps that have already been executed, it is necessary to correct the steps and confirm the execution by repeating the execution from the beginning of the program, so that the program can be easily modified and confirmed. It was difficult.

Further, in this type of apparatus, the same operation or a similar operation may be repeatedly performed or the reverse operation may be performed, for example, when a reciprocating operation is performed. In other words, it is necessary to create a program indicating the operation of the above, that is, the operation at the time of going forward and the operation at the time of returning, and such an operation cannot be easily performed. SUMMARY OF THE INVENTION In view of the above, the present invention can facilitate the creation and modification of a program without having to learn a control language dedicated to an apparatus, and can also create a created program.
Reversing operation, which is the reverse operation to the operation by the ram step ,
In other words, it is possible to perform an operation of returning from the state in which the operation by the program step is executed to the state before the operation is executed, so that the program step can be corrected or executed without repeating the execution from the beginning of the program. It is another object of the present invention to provide a control device of a program operation machine that can easily perform a program step for performing such a retreat operation. Also, even if not necessarily creating or modifying a program step, it is possible to perform the retreat operation as described above, and it is easy to perform an operation such as a reciprocating operation without creating a new program. It is an object of the present invention to provide a control device for a program operation machine which can be executed in a simple manner. It is another object of the present invention to provide a program conversion device for converting a program that cannot perform the backward operation into a program that can perform the backward operation.

[0008]

Means for Solving the Problems Claims 1 to 3
Program operation machine control device operates by program
A control device for a machine having an operation unit that performs
Storage means for storing a program for operating the unit,
An operation unit for instructing the operation of the operation unit;
Operation of the above operation unit by executing the
According to both the operation of the above operation unit based on the operation of the operation means
To generate a new program step,
And the new program step
In response to the new program steps
The reverse operation, which is the reverse of the operation,
Additional information necessary for the program, for example by program steps
Regarding the state of the operating part before and / or after the operation
Information, more specifically, depending on the program steps
The coordinates of at least one of the start point and end point
Generation of program steps for storing in the storage means
Means. The program according to claim 4
The program operating device according to claim 1, wherein
Control device for the machine, and
Program step stored in the storage means by the generation means.
Operation unit based on the
Movement control means for controlling
And

Thus, the program step generating means generates a new program step based on the operation of the operating means, and also generates a new program step based on the program stored in the storage means. Further, a new program step is generated and stored by the program step generation means based on both the program for operating the operation unit stored in advance and the operation for instructing the operation of the operation unit.

Therefore, a program for operating the operation unit is automatically created as long as the operation unit can be operated manually, even if the user does not learn a control language dedicated to the apparatus. Can be created, and a new program step is generated based on the program and manual operation stored in the storage means. Therefore, a new program using an existing program can be created, or a program can be created. It can be easily modified .

[0011]

Also, as described above, the program step
Generating means for newly generated program steps;
Also, it stores the supplementary information necessary for performing the retreat operation.
(Steps 1 to 3) and a reversing operation control means.
By providing the step (claim 4), it is possible to perform a retreat operation for returning from a state in which the operation by the program step is executed to a state before the operation is executed. More specifically, for example, when the operation indicated by the program step is a movement toward the coordinates of the end point,
If the coordinates of the starting point and the program step itself indicating the retreat operation are stored as supplementary information, it is possible to move from the end point to the start point as the retreat operation. Further, if a program step indicating that the robot moves in a predetermined direction by a predetermined distance is stored, for example, a backward operation can be performed by moving the same step in the opposite direction by the same distance. That is, the retreat operation according to a predetermined program step can be performed without particularly creating a program step, and the same operation can be repeatedly performed or the device can be easily returned to the original state. . A control device for a program operation machine according to claim 5 is the control device for a program operation machine according to claim 4 , wherein the program step generating means responds to a retreat operation corresponding to a program step already stored in the storage means. And generating a new program step. Thus, by performing the retreat operation as described above, a new program step for performing such retreat operation can be generated, so that, for example, a program for performing reciprocal motion can be easily created. . Contract
The control device for a program operation machine according to claim 6 is the control device for a program operation machine according to claim 4 , wherein the program step generating means responds to a retreat operation corresponding to a program step already stored in the storage means. The program step is modified so as to cancel at least a part of the operation by the program step. Thus, the original program step can be easily corrected by performing the retreat operation as described above. In particular,
Distance e.g. original program steps, the operation of the predetermined
Only if it indicates that the
Move backward only a distance or a part of it
The original program steps
To the program step to make the move
Can be modified. A control device for a machine having an operation unit operated by the program according to claim 7 is a program control device generated by the program step generation means according to claim 1 .
It is characterized by comprising retreat operation control means for controlling the operation section to perform retreat operation based on the step and the supplementary information . In this case, even if it is not possible to create or modify a new program step, it is possible to cause the retreat operation as described above. Can be easily done. 10. A control device for a machine having an operation unit operated by the program according to claim 8 or 9 , wherein the control unit includes a storage unit for storing a program for operating the operation unit, and a program step included in the program stored in the storage unit. A program step capable of a reversing operation, which is an operation opposite to the operation by, for example, causing the operating unit to perform a retreat operation based on a program step including relative information indicating a change in the state of the operating unit due to its execution. Reversing operation control means for controlling the operation. By providing such retreat operation control means,
Even in the case of an existing program that does not include the supplementary information as described above, the reversing operation can be performed for the program steps that can perform the reversing operation, so that the reciprocating operation can be performed. A control device for a machine having an operation section operated by the program according to claim 10 , wherein the storage section stores a program for operating the operation section, predetermined program steps included in the program stored in the storage section, and Based on a program step executed prior to the program step, the operation unit includes a retreat operation control means for controlling a reversal operation which is an operation reverse to the operation of the predetermined program step. Features. The control device for a program-operated machine according to claim 11 is the control device for a program-operated machine according to claim 10 , wherein the retreating operation control means is configured to execute one of program steps executed prior to the predetermined program step. By searching for a program step of the same type as the predetermined program step and obtaining the state of the operation unit after the execution of the same program step, it is configured to control the operation unit to perform the retreat operation. Features. By providing the retreat operation control means as described above, even if the program step does not include the supplementary information as described above and cannot perform the retreat operation, the program step executed before the program step is not executed. The retreat operation is performed with reference to the reference. That is, since the operation for setting the state after the execution of the preceding program step corresponds to the retreat operation, the retreat operation is performed by performing such an operation. Control device for program operation machine according to claim 12 or claim 13, claim 4, claim 7, claim
11. The control device for a program operation machine according to claim 8, further comprising a predetermined conversion, such as a parallel movement, a rotational movement, a line-symmetric movement, a plane-symmetric movement, an enlarged or reduced movement, for the backward movement of the operation unit. Characterized in that it is provided with a backward movement modifying means for performing a conversion of As a result, an operation (for example, a trajectory Q ′ with respect to the trajectory Q in FIG. 3B) in which the operation of the operation unit according to the original program is a retreat operation and is subjected to conversion such as symmetrical movement. Programs can be easily created. 15. A control program conversion device according to claim 14 , wherein the storage device stores a control program of a machine including an operation unit operated by the program;
The control program stored in the storage means is inverted for each of the program steps included in the control program based on the respective program steps and the program steps executed prior to the respective program steps. And a control program converting means for converting the retreat operation, which is the above operation, into a control program capable of causing the operation section to operate. As a result, even an existing program that does not include the above-described supplementary information or the like can be converted into a program that can perform the retreat operation, and the retreat operation can be performed. A control device for a program operation machine according to claim 15 is the control device for a program operation machine according to claim 1, wherein the program step generation means includes:
According to the operation of the operation unit, a program step including absolute information on the state of the operation unit after the operation and a program step including relative information on a change in the state of the operation unit before and after the operation are generated. It is characterized by being constituted so that. The control device of the machine with an operation portion that operates by a program of claim 16, wherein
Item 15 is configured to selectively execute any one of the program step including the absolute information and the program step including the relative information, which is generated by the program step generation unit of item 15 . It is characterized by: Thus, the program steps including the absolute information, is programmed to create and a program step containing said relative information, since either one of the program steps can be selectively performed, for example, machining An operation based on a program step suitable for the purpose or the like can be performed.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The operating means provided in the control device of a program operating machine of the present invention for instructing the operation of an operating section such as a machining operation is constituted by an operating section having, for example, a key switch.

The storage means for storing a program for operating the operation section is constituted, for example, by a storage section mainly comprising a memory element. The storage unit stores, in addition to the above programs, basic programs for controlling execution of the programs and input / output of the operation unit, data necessary for the control, and the like.

The program step generating means for generating a new program step based on the program stored in the storage unit and the operation of the operation unit and storing the program step in the storage unit includes a control unit having a CPU or the like; It is composed of That is, the control unit monitors the operation of the operation unit based on the basic program and the like stored in the storage unit,
The operation of the operation unit is controlled according to the operation performed and the program stored in the storage unit, and a new program step is generated based on the operation and the program, and stored in the storage unit. This makes it possible to automatically create a program for performing the same operation again.

The above-mentioned new program steps may be generated directly based on the operation of the operation unit, the original program, the values of the parameters, etc., that is, by interpreting them. By detecting the operation or state of the operation unit corresponding to the operation of the operation unit by a sensor or the like, the operation may be generated in accordance with the actual operation of the operation unit.

When operating the operation unit based on the program, not only the operation as indicated by the program but also the parallel movement, the rotation movement, the line-symmetric movement, the plane-symmetric movement, the enlargement and the reduction, etc. May be performed. This makes it possible to easily create a program for processing a workpiece into a symmetrical shape or a continuous shape based on, for example, a basic program step.

On the other hand, when a new program step is stored, data necessary for performing a reverse operation reverse to the operation by the program step is also stored, and the reverse operation can be performed based on the data. You may. For example, when the tool is moved from the coordinate A to the coordinate B, the coordinate A is stored together with the program step “Move to the coordinate B”, or when the moving speed is changed, the speed before the change is stored. In addition, it is possible to easily perform the operation of returning from the coordinate B to the coordinate A and the operation of returning the moving speed to the original.

Further, as the data necessary for performing the backward operation, an instruction indicating the backward operation may be stored, or instead of storing such data,
It is also possible to generate and store a program step in a format that allows a reversing operation, for example, a format of an incremental value command indicating a relative value such as a movement amount.

Further, by generating a new program step based on the retreat operation, it is easy to create a program step for performing such retreat operation.

The original program step may be modified by the retreat operation without generating a new program step. That is, for example, when the tool is overrun from the desired position, a retreat operation is performed to return the tool to the desired position, and the original program step is modified accordingly, so that the program operation can be repeated from the beginning. The program can be easily modified without performing the above.

If it is not necessary to perform the retreat operation for all program steps, of the program steps in the conventional control program, a program step capable of retreat operation, for example, a program step in the form of an incremental value instruction May be made to be able to perform the retreat operation only for.

For a program step in which the retreat operation cannot be performed, the retreat operation may be performed by analyzing a program step executed prior to the program step. For example, if the tool has coordinates A
Is moved to the position of the coordinate B when it is at the position of the coordinate “C”, and the program step “Coordinate C” is further moved to the position of the coordinate C.
In the case where "move to" is stored, the retreating operation for the latter, that is, returning the tool from the coordinate C to the coordinate B, obtains the coordinate B of the starting point by referring to the former, that is, the program step relating to the same kind of movement. It is possible because it is possible.

Further, by performing not the retreating operation itself but an operation such as offsetting the retreating operation, a program for processing into a symmetrical shape or a continuous shape based on the retreating operation can be created in the same manner as in the above-described case. It can also be easily created.

Further, according to the control program conversion device having the means for performing the above-described analysis, the control program including the program steps which cannot perform the retreat operation is converted into the control program including the program steps which can perform the retreat operation. Therefore, the retreat operation can be performed for all program steps.

[0026]

An embodiment will be described with reference to the drawings. FIG. 1 is a perspective view showing the appearance of an NC milling machine as an example of a program operation machine and its control device. The following describes a general configuration of the apparatus, a functional configuration of the control panel 15, switches provided on the operation / display unit 16, a schematic operation example, and a detailed operation example. (Overall configuration of the device)

As shown in FIG. 1, an XY table 12 for holding a work (not shown) and moving the work in the X-axis direction and the Y-axis direction is provided on a main body 11 of the NC milling machine. Above the XY table 12, a head 14 for gripping and rotating a tool such as an end mill 13, a face mill, and a drill on a main shaft and moving the tool in the Z-axis direction is provided.

A control panel 15 is provided behind the main body, and an operation / display section 16 is provided so as to protrude forward of the main body. The switches and display devices provided on the operation / display unit 16 will be described later in detail.

(Functional Configuration of Control Panel 15) FIG. 2 is a block diagram showing a functional configuration of the control panel 15. As shown in FIG. The storage unit 21 stores a program for operating the main unit 11, a basic program for controlling the execution of this program and the input / output of the operation unit, and data necessary for the control.

The operation control unit 22 monitors the operation of the operation / display unit 16 and controls the display based on the basic program and the like stored in the storage unit 21 and also controls the operation / display unit 1.
The operation of the main body 11 is controlled by manual operation based on the operation 6 and automatic operation based on a program stored in the storage unit 21. Here, as the above-mentioned program, a program generated and stored by a program step generation unit 23 described later can be used in addition to a program previously input from the operation / display unit 16 or the like. Further, the execution start position of the program is not limited to the head, and an arbitrary position can be designated by setting a read pointer by a known search method or the like. Here, the read pointer indicates an area in which a program step to be read and executed is stored, for example, as indicated by a symbol R and an arrow in a storage content column of FIG. 5 described later.

The program step generator 23 operates
A new program step is generated based on the operation of the display unit 16 and the program stored in the storage unit 21 and stored in the storage unit 21. Also,
In addition to the program steps, the backward operation / reverse correction operation / forward correction operation control unit 25 described later uses supplementary information necessary for causing a reverse operation or the like that is the reverse operation to the operation indicated by the program step, for example, The coordinates before the movement of the work, the rotational speed of the spindle before the change, and the like are stored as comments in the program. That is, for example, by storing the comment as a comment, compatibility with a conventional program operation machine can be easily maintained.

When the retreat operation is performed, the program step generation unit 23 stores a new program step indicating the retreat operation itself in the storage unit 21.

Further, the program step generator 23
When the backward correction operation for performing the same operation as the above-described reverse operation and correcting the program step is performed, the program indicating the operation in which the original program step is partially or entirely canceled is performed. The program step is modified to a step, and a program step corresponding to the canceled portion is stored as an execution suspension program step. Meanwhile, later this execution pending
Based on the program steps , by performing the forward correction operation, that is, the operation of the canceled portion again,
The execution-pending program step can be returned to a normal program step and returned to a program that performs the same operation as the first program step.

The operation modifying unit 24 causes the operation of the main unit 11 indicated by the program to be subjected to operations such as translation, rotation, line symmetry, plane symmetry, enlargement, and reduction. It has become. That is, for example, the program stored in the storage unit 21 is
When the operation of drawing the trajectory P is shown as shown in (a), the operation of drawing the trajectory P ′ offset in the X-axis direction is performed, and the processing of the sawtooth continuous shape and the processing are performed. Programs can be easily created.

By applying the offset as described above, for example, when the program is executed, the operation can be shifted by a predetermined amount according to the length of the tool actually used. In particular, in the case of a machining center or the like, an offset amount may be registered in advance for each tool to be used, so that an offset operation may be automatically performed according to the selection of the tool.

The reverse operation / reverse correction operation / forward correction operation control unit 25 includes program steps input from the operation / display unit 16 and the like, program steps stored in the storage unit 21 by the program step generation unit 23, and supplementary information. Based on the information, the main body unit 11 is caused to perform the retreat operation or the retreat correction operation, and when the retreat correction operation is performed, the original operation is further performed again based on the execution suspension program step stored at that time. Control is performed so as to perform the same forward correction operation. Here, the retreating operation is, as described above, an operation opposite to the operation indicated by the program step, that is, for example, a program step indicating an elevation of the end mill 13,
This is an operation of lowering the end mill 13. Also,
As described above, the retraction correction operation is to perform the same operation as the retraction operation and to correct the program steps, that is, for example, to raise the end mill 13.
End mill 13 for the program step
Lowering (retreating operation)
The action that canceled the action by the original program step
By modifying the original program steps so that
is there.

If the program or the like input from the operation / display unit 16 includes an instruction to move the increment value,
The backward operation may be performed with respect to such an instruction, and even when the instruction includes an absolute instruction, the operation is performed by searching for the same type of preceding move instruction or from the beginning of the program. May be simulated to obtain the information required for the retreat operation to perform the retreat operation.

The backward movement modifying unit 26 is adapted to perform an operation such as a parallel movement on the backward movement in the same manner as the movement modifying unit 24. Specifically, for example, as shown in FIG. 3B, by performing an operation to draw a trajectory Q, and then performing a retreat operation to draw a trajectory Q ′, which is a mirror image of the trajectory Q ′, A heart-shaped processing and a program for performing such processing can be easily created.

FIG. 4 is a front view showing a detailed configuration of the operation / display unit 16. (Display Unit) The display D1 is a CRT display device that displays the state of the main body unit 11 such as X, Y, and Z coordinates, a moving speed, a rotation speed of a main shaft, a program stored in the storage unit 21, and the like.

(Switches Related to Manual Operation) The manual handle H1 is a handle for manually feeding the workpiece or the end mill 13 in the X, Y, or Z axis directions. Handle feed axis changeover switch S
Reference numeral 1 denotes a switch for selecting an axis to be sent by the manual handle H1. Handle feed magnification changeover switch S2
Is a changeover switch for setting the magnification of the manual handle H1. The manual feed start switch S3 is a switch for manually feeding the work or the end mill 13 at a predetermined speed. The manual feed axis changeover switch S4 is a switch for selecting the axis to be manually fed.

(Switches Related to Program Input, Automatic Operation, etc.) The key switch K11 is a group of key switches such as alphabet keys and numeric keys for inputting and editing programs to the storage unit 21. The automatic operation start button B11 is
This is a so-called cycle start, that is, a button switch for starting operation based on a program stored in the storage unit 21. The automatic operation stop button B12 is a so-called feed hold, that is, a button switch for temporarily stopping the operation according to the program.
The single block changeover switch S11 is a switch that switches between a continuous mode in which each program step is sequentially and continuously executed and a single block mode in which each time the automatic operation start button B11 is pressed, one program step is executed.

(Switch for Generating a New Program Step, etc.) The storage start button B 21 is
Reference numeral 3 denotes a button switch for starting generation and storage of a new program step based on automatic operation or manual operation. That is, when this button is pressed, the program step generation unit 23 first sets the write pointer of the storage unit 21 to the beginning of the program writing area,
In accordance with the operation performed thereafter, new program steps that perform the same operation are sequentially stored in the storage unit 21. Here, the write pointer indicates an area in which the generated program step is stored, for example, as indicated by a symbol W and an arrow in a storage content column of FIG. 5 described later.

The storage state display lamp L21 is a lamp (such as an LED) that lights up or flashes to indicate that the program step has been generated and stored. The storage suspend button B22 is a button switch for stopping the generation and the storage operation of the program step while holding the value of the write pointer.

When manual operation or the like is performed after pressing the memory suspend button B22, the state check button B23 is used to display the state of the main body 11 at the time when the memory suspend button B22 is pressed, the current state, and the state of these states. This is a button switch for displaying the difference on the display D1. As the state of the main body 11, for example, X, Y, Z
If a rotation table is provided, coordinates, a rotation angle A, various parameters, correction values, values of variable values, spindle rotation speed, and the like are displayed. That is, by pressing the state check button B23, the state of the coordinate values and the like after the execution of the program stored in the storage unit 21 up to that time,
The difference from the current state can be easily grasped. Here, the display of the state immediately after the storage interrupt button B22 is pressed is such that the information indicating the state is manually or automatically stored in the work area for reference, or the display before the area indicated by the write pointer in the storage unit 21 is performed. This is performed by referring to the program steps and supplementary information stored in the area, and simulating the operation from the beginning of the program.

When the state check button B23 is pressed after the program step is corrected by performing the backward correction operation or the forward correction operation, the memory interruption button B2
Instead of the state immediately after pressing 2, the state immediately after performing the retreat correction operation or the like is displayed. In addition, when the light pointer can be set at an arbitrary position for additional correction of a program or the like, a state obtained when a program step up to the insertion position is executed may be displayed. Good.

The return start button B24 is for X, Y, Z, A
The state of the main body 11 such as the coordinates, various parameters, correction values, variable values, and spindle rotation speeds is selectively or collectively pressed when the memory suspend button B22 is pressed, or a backward correction operation is performed. This is a button switch for returning to the same state immediately after the start and enabling the restart of generation and storage of a new program step.

The memory resumable display lamp L22 is capable of resuming the storage following the program step stored before the storage interrupt button B22 is pressed or the program step stored by the backward correction operation or the forward correction operation. This lamp indicates that the storage is stopped by the storage interrupt button B22, and that the state is the same as when the storage interrupt button B22 is pressed or immediately after the backward correction operation or the like is performed.

The storage restart button B25 is a button switch for restarting generation and storage of program steps. The storage end button B26 is a button switch for ending the generation and storage of the program step.

The wait time storage switch S21 specifies whether to generate a program step that waits for the same amount of time when there is a time during which no operation is performed when generating a program step based on manual operation. Switch. Even if you specify not to generate,
The program step waiting for time may be stored as a normal instruction or comment, and it may be possible to select whether to validate the program step at the time of execution.

(Switches Related to Operation Mode, etc.) The automatic operation mode button B31, the steering wheel operation mode button B32, the manual feed mode button B33, and the like are used to set the mode for performing the automatic operation, the steering wheel operation, and the manual feed based on the above-described program. Button switch for selecting.

The forward / reverse operation selection switch S31 is a switch for selecting whether to perform a forward operation (operation according to a program step) or a reverse operation when performing automatic operation based on a program in the automatic operation mode. is there.

Backward correction operable state display lamp L41
Is a state in which the backward revising operation is possible, that is, a state in which the memory is stopped by the memory suspending button B22, and the same state as when the memory suspending button B22 is pressed or immediately after the previous backward revising operation or the like is performed. Is displayed.

The reverse correction operation mode button B41 is a button switch for performing a reverse correction operation when the automatic operation start button B11 is pressed to switch to a mode for correcting a program step.

The backward correction operation mode lamp L42 is a lamp that lights or flashes to indicate that the vehicle is in the backward correction operation mode.

The forward correction operable state display lamp L51,
The forward correction operation mode button B51 and the forward correction operation mode lamp L52 have the same functions as the above-described backward correction operation enabled state display lamp L41 for the forward correction operation, respectively.

(Other switches, etc.) The rapid feed mode setting button B65 and the cutting feed mode setting button B66 are commands for setting the moving speed to the rapid feed speed or the cutting feed speed during the generated program (for example, "G0" described later). Or "G1"). In addition to inserting such a command, a program step for invalidating the subsequent change of the moving speed is generated, that is, for example, the cutting feed mode is set after the rapid feed mode setting button B65 is pressed. Until the setting button B66 is pressed, a program step may be generated so that the movement is fast-forwarded.

The pause setting button B67 is a button switch for inserting a program step indicating a pause into a newly generated program. In other words, if another program is executed while referring to another program during the storage operation, even if the program includes a paused program step, the operation of the main unit 11 is automatically re-executed at that time. The operation is stopped until the operation start button B11 is pressed. Until then, or until a manual operation or the like is performed, the program step waiting for time is only stored. A program step indicating a pause can be inserted therein. The same applies to the case where the execution of the program is stopped by pressing the automatic operation stop button B12 while referring to another program for execution. In such a case, the program step of the pause may be automatically stored, or the write pointer may be set at a desired position of the program even when the storage operation is not being performed. By pressing a button, a paused program step may be stored.

The length correction command button B61, the diameter correction (up cut) command button B62, the diameter correction (down cut) command button B63, and the diameter correction non-command button B64 are each newly provided in the same manner as the pause setting button B67. Is a button switch for inserting a command indicating that the length or diameter of the end mill 13 is to be corrected, for example, in a program being generated.

In addition to the above, the operation / display unit 16 includes a power on / off button as in the case of the conventional device, an SM mode button for temporarily holding an inputted program for operation, and
A button that operates based on a program stored on a magnetic or punched tape, a button that manually starts or stops the rotation of the spindle, an emergency stop button, and is forced to check the program regardless of the program designation Buttons for performing a dry run and the like are provided. The specific operation of the NC milling machine having the above configuration and its control device will be described.

(Schematic Operation Example) Hereinafter, as a typical operation example, a forward / backward operation in the automatic operation mode, and a backward / forward correction operation in the backward / forward correction operation mode will be described. (Forward / backward operation in the automatic operation mode) First, the operation of the operation / display unit 16 in the forward / backward operation in the automatic operation mode, the contents stored in the storage unit 21, and the actual operation of the main unit 11 will be described. In this example,
An existing tool for moving the end mill 13 in the positive direction of the X-axis
Reciprocating using program step (moving to X = 20)
The operation is repeated, and the operation is shown in the operation column of FIG.
A series of programs showing all the above reciprocating operations
A step is generated. In addition, for convenience of explanation, one axis direction
Only the movement will be described.
For example, processing of a shape as shown in FIGS.
Is often used in the field of machining
Things. That is, when the end mill 13 is previously moved to the coordinate position of X = 10 to 20 (actually, the workpiece moves in the opposite direction relative to the end mill 13;
Will be described as moving. ) Includes the program step “X =” stored in the storage unit 21 as shown in FIG.
Example of repeatedly executing forward movement and backward movement while repeatedly referring to “move to 20” and supplementary information “X before movement = 10”, and generating and storing new program steps for all the series of operations. Will be described. Here, the forward operation is to perform an operation as indicated by a program step stored in advance, and the backward operation is to perform an operation opposite to that indicated by the program step as described above. It is. When these operations are performed, new program steps corresponding to the operations are generated, but the original program steps are not changed.

(1) As shown in FIG. 5 (a), it is assumed that the storage unit 21 stores program steps for referring to the area of the index 0050, and the end mill 13 is located at the position of X = 5. And Note that as in this example, the supplementary information of the program step to be referred to (“X before movement”).
= 10 ") and the current state (X = 5) do not match, a warning to that effect may be displayed,
The execution may be performed only when they match.

The automatic operation mode button B31 is pressed to set the automatic operation mode, and the single block changeover switch S
11 is set to "ON (single block: each time the automatic operation start button B11 is pressed, one program step is executed . More specifically, for example, the index shown in FIG.
Step 0050: Program step "Move to X = 20"
After execution, the program index of the next index 0060
Operation stops without performing step (not shown)
You. ) ", Switch the forward / backward operation selection switch S31 to" forward ", set the read pointer to 0050, and press the storage start button B21. At this time, it is assumed that the write pointer is set to 0100. here,
As described above, the read pointer and the write pointer indicate an area in which program steps to be read and executed are stored or an area in which generated program steps are stored. More specifically
For example, as described above, the read pointer is set to 0050.
The automatic operation start button B11 is pressed.
When this is done, the index 0 as shown in FIG.
Program steps stored corresponding to 050
“Move to X = 20” is read and executed. Also,
By setting the write pointer to 0100,
As shown in FIG.
To the generated program step "X = 20".
"Movement" is stored. Note that these read pointers and
And light pointers are generally
Each time data is read or stored, a predetermined number is automatically
The next program
It will be possible to read and memorize steps.
However, for example, a read pointer is fixed as described later.
Always read the same program steps
And so on.

(2) As shown in FIG. 5B, when the automatic operation start button B11 is pressed, the operation control unit 22 moves the end mill 13 to X = 20, and the program step generation unit 23 stores Index 0 of part 21
Program step "move to X = 20" in the area of 100
And the supplementary information "X = 5 before movement" are written, and the write pointer is set to 0200. The operation control unit 22
Sets the read pointer to the next 0060 upon completion of the one-step operation.

In the case where the same program step is repeatedly referred to as in this example, the read pointer may be fixed, or whether to fix or increment the read pointer may be selected. When incrementing, the operation may be incremented if the operation is started even if the operation of one step is not completed. Further, without referring to the original program step each time, the program step “move to X = 20” is once performed.
And the supplementary information "X = 10 before movement", or the two program steps "Move to X = 20" and "Move to X = 10" for forward and backward movement to the work area and refer to them. You may make it.

(3) As shown in FIG. 5C, the forward / backward operation selecting switch S31 is switched to "backward". When the read pointer is set to 0050 again and the automatic operation start button B11 is pressed, the reverse movement / reverse correction operation / forward correction operation control unit 25 sets the referenced program step "Move to X = 20" to "X = 20". = 10 ”, and the operation control unit 22 moves the end mill 13 toward X = 10.

If the automatic operation stop button B12 is pressed when the end mill 13 reaches the position of X = 14, the program step generation unit 23
The program step “move to X = 14” and the supplementary information “X = 20 before movement” are written in the area of the index 0200, and the write pointer is set to 0300. Also, in this case, since the one-step operation has not been completed, the read pointer is held at 0050. the above
By pressing the automatic operation stop button B12 as shown in
The previously stored program step “X = 1
The retreat operation of “move to 0” (X = 10 before movement) is “X = 10
Move to X = 14 but move only up to X = 14
Ram steps can be created. This allows
Even if no existing program works the way you want,
An existing program that behaves similar to the desired behavior of
If there is, use it effectively to perform the above desired operation
You can easily create programs.

(4) As shown in FIG. 5D, when the forward / reverse operation selection switch S31 is switched to "forward" and the automatic operation start button B11 is pressed, the operation control unit 22
The end mill 13 is moved toward X = 20. Here, an example when the end mill 13 has reached the position of X = 17
For example, if the automatic operation stop button B12 is pressed, the program step generation unit 23 writes the program step “move to X = 17” and the supplementary information “X before movement = 14” in the area of the storage unit 21 at the index 0300. , The write pointer is set to 0400.

(5) Similarly to (3), as shown in FIG. 5 (e), the forward / reverse operation selecting switch S31 is set to "reverse".
And the automatic operation start button B11 is pressed, the reverse operation / reverse correction operation / forward correction operation control unit 25 sets the referenced program step “move to X = 20” to “X = 20”.
The operation control unit 22 moves the end mill 13 to X = 10, and the single-block changeover switch S11 is set to “ON” as described above. Stop. The program step generation unit 23 stores the index 040 in the storage unit 21
The program step “move to X = 10” and the supplementary information “X = 17 before movement” are written in the area of 0, and the write pointer is set to 0500.

In the above operation, an example in which the movement is performed only in the X-axis direction has been described. However, if the program step to be referred to indicates that the movement is performed in the Y-axis direction or the like, the movement is similarly performed. Alternatively, the movement in the Y-axis direction or the like may be ignored by selection.

The above-described operation is not limited to the case where a new program step is generated and stored. If the storage start button B21 is not pressed, only the one-time operation on the spot can be performed. . That is, irrespective of whether a new program is created or not, based on one or a plurality of program steps, the up-cut and the down-cut (the circumferential direction of the end mill 13 at the contact position between the end mill 13 and the work, or the circumferential direction). The cutting can be easily performed while the end mill 13 is relatively moved in the direction opposite to the speed direction.

(Reverse / Forward Correction Operation in Backward / Forward Correction Operation Mode) Next, the operation of the operation / display unit 16 in the backward / forward correction operation mode, the contents stored in the storage unit 21, and the main unit 11
A description will be given of an example of the actual operation, that is, an example in which the program steps stored in the storage unit 21 are corrected by the backward / forward correction operation. In this example,
Then, the end mill 13 was moved from X = 5 to X = 20.
Finally, the program steps shown in FIG.
To move from X = 5 to X = 10
Corrected to Tep. (Note that this example is a schematic operation example
However, as shown in this example,
Program steps can be easily obtained. ) Here, the above-mentioned backward corrective action, as described above, is to correct the program step with to perform the backward operation similar. The forward correction operation is, as described above, after performing the backward correction operation, performing the forward operation again, and returning the correction of the program step to the original state. In the example of the forward / backward operation, the write pointer acts only for writing, whereas in the case of the backward / forward correcting operation, it also acts for reading, and reads and writes program steps. It has become. Therefore, in the following description, it will be referred to as “read / write pointer” instead of “write pointer”.

(1) In the storage unit 21, as shown in FIG. 6A, when the end mill 13 is at the position of X = 5 and the read / write pointer is set to 0100, the storage start button Press B21 to move the end mill 13 to X = in automatic operation mode or manual feed mode.
Move to the coordinate position from 5 to 20 and press the memory suspend button B
When the user presses 22, the program step generation unit 23 writes the program step “move to X = 20” and the supplementary information “X = 5 before movement” to the area of the index 0100 of the storage unit 21 and sets the read / write pointer to 0200. set.

(2) As shown in FIG. 6 (b), the reverse correction operation mode button B41 is pressed to enter the reverse correction operation mode, and when the automatic operation start button B11 is pressed, the reverse operation / reverse correction operation / forward correction operation control is performed. The program step 25 referred to by the program step “move to X = 20” is “move to X = 5”.
The operation control unit 22 sets the end mill 13 to X = 5
Move toward.

Here, assuming that the automatic operation stop button B12 is pressed when the end mill 13 reaches the position of X = 14, the program step generation unit 23 executes the "move to X = 20" of the original program step. In addition to the correction to “Move to X = 14”, the program step “Move to X = 20” indicating the remaining movement and the supplementary information “X = 1 before movement”
4 "is generated and stored, and the execution pending flag is set. Also, the index of each program step is “0100-10” to indicate that the program step of the original index 0100 is divided.
And “0100-20”. Where
The execution pending flag is set as shown in FIG.
Thereby indicating the remaining movements of the program steps
"Move to X = 20" (that is, the part where the operation was canceled)
The program step equivalent to
Program steps are now indicated
ing. Such execution pending program steps
By being saved, the forward correction operation described later
It is easy to recover the operation of this canceled part
Can be. Therefore, cancel the action that was moved too much
Or reinstate actions that have been undone too much.
It can be easily programmed and programmed to perform the desired operation.
Can be easily modified.

(3) As shown in FIG. 6C, when the forward correction operation mode button B51 is pressed to enter the forward correction operation mode, and when the automatic operation start button B11 is pressed, the operation control unit 2
2 refers to the program step “move to X = 20” in which the execution suspension flag is set, and sets the end mill 13 to X =
Move toward 20.

Here, assuming that the automatic operation stop button B12 is pressed when the end mill 13 reaches the position of X = 17, the program step generator 23 moves to the program step "Move to X = 17" indicating this movement. And the supplementary information “before movement X = 14” is generated and stored, and the original supplementary information “before movement X = 14” is corrected to “before movement X = 17”. The index of each program step is “010” in order to indicate that the program step of the original index 0100-20 has been divided.
0-20-10 "and" 0100-20-20 ".

In such a case, two effective program steps “move to X = 14” and “move to X = 17” are stored. It may be stored as one effective program step.

(4) As shown in FIG. 6 (d), the reverse correction operation mode button B41 is again pressed to enter the reverse correction operation mode.
11 is set to "OFF (continuous)" and the automatic operation start button B11 is pressed, the reverse operation / reverse correction operation / forward correction operation control unit 25 moves to the program step "X = 17" of the index 0100-20-10. Is converted to “move to X = 14”, and the operation control unit 22 moves the end mill 13 toward X = 14.

[0079] When the end mill 13 reaches a position of X = 14, i.e., when the backward movement of the referenced program steps are completed, the program step generating unit 23, it executes pending program stearyl <br/>-up the program steps , The execution pending flag is set.

In such a case, two execution pending program steps “move to X = 17” and “X = 20”
Is stored, but these may be combined and stored as one execution pending program step as in the above case.

(5) Since the single-block changeover switch S11 is set to "OFF" as described above, the driving operation continues even after the end mill 13 reaches the position of X = 14, and the reversing operation / retreat correction is performed. The operation / forward correction operation control unit 25 converts the program step “move to X = 14” of the index 0100-10 into “move to X = 5”, and the operation control unit 22 performs the operation as shown in FIG. Then, the end mill 13 is moved toward X = 5.

Here, assuming that the automatic operation stop button B12 is pressed when the end mill 13 reaches the position of X = 10, the program step generating section 23 executes the "move to X = 14" of the referenced program step. In addition to the correction to “move to X = 10”, the program step “Move to X = 14” indicating the remaining movement and the supplementary information “X = before movement =
10 "is generated and stored, and the execution pending flag is set. The index of each program step is “0100-1” to indicate that the program step of the original index 0100-10 has been divided.
0-10 "and" 0100-10-20 ".

In this case, similarly to the above case,
The execution suspension program steps after “move to X = 14” may be combined and stored as one execution suspension program step.

(Detailed Operation Example) (Operations when Various Operations are Performed) Next, when various operations are performed and the operations shown in FIG. 7 including the above-mentioned forward / backward correction operations are performed. Memory contents of
The actual operation will be described in detail. Where
The figure shows the trajectory of the end mill 13, and for convenience of explanation, various
This is just an example that combines the actions of
Shape obtained by cutting the end mill 13
The shape itself is not limited to a specific shape. What
In the figure, (numerals) indicate the following “(body 11
Operation and generated program steps)
Corresponding to the explanation of each operation
2 shows the position of the console 13. Numbers without parentheses are en
The coordinates of the Domil 13 are shown, and [number] is the distance between the coordinates.
Is shown. In this example, as the supplementary information necessary for the retreat operation and the retreat correction operation (hereinafter, when both are included, simply “retreat”), the retreat is performed, not simply in the form of information indicating the coordinates of the starting point. An example is shown that is stored in the form of a get instruction. In this example, an example will be described in which an instruction similar to an instruction often used in a conventional NC machine tool or the like is used as an instruction constituting a program step.

Further, commands indicating movement include forward (reproduction),
For the backward and backward movements, both an instruction indicating an operation based on an increment value, that is, a relative value and an instruction indicating an operation based on an absolute value are both stored, and a forward operation or a backward movement is performed by any of the instructions by performing a selection operation in advance. You can do it. Here, the command indicating the operation by the increment value is a command indicating the operation by a change from the state before the operation, for example, moving by a predetermined distance in a predetermined direction regardless of the position of the start point or the end point of the movement. Is an instruction that indicates The instruction indicating the operation based on the absolute value is an instruction indicating the operation according to the state after the operation, for example, an instruction indicating movement to the end point regardless of the position or the movement distance of the start point of the movement. Hereinafter, a description will be given of the configuration of the instructions constituting the program steps, the operation of the main unit 11, and the generated program steps. (Structure of instructions that make up a program step)

The stored instructions form one instruction block with one or a plurality of related instructions, and further form one or more instruction blocks as a group of instruction blocks to form a program step. ”+ Number +“; ”
Is stored in pairs with the index represented by.

The index is such that the type of instruction can be easily distinguished by the number at the end thereof as follows. 0: Indicates a command for setting or switching of the moving speed or the rotation speed of the spindle. 1: Indicates a command relating to movement, and includes a command to be executed when retreat by an absolute value is instructed. 2: Indicates a command related to movement, and includes a command to be executed when forward or backward is instructed by an increment value. 3: When a program stored in advance is executed, the instruction is referred to. That is,
Apart from the instructions stored for moving forward and backward, the referenced instruction itself is stored for reference. 4: Indicates a command relating to movement, and includes a command to be executed when advance by an absolute value is instructed. 8: Indicates an instruction waiting for time. 9: Indicates information indicating the state of the main body unit 11 at the time of starting or ending storage.

Regarding the above 1, 2 and 4, regarding the distinction as to whether the operation instruction is an absolute value or an increment value or an instruction to be executed in the case of forward or backward movement, the following description will be given of “( ) "And the like, and the distinction between the movement command and the time waiting command can also be determined by analysis using a correspondence table, for example, by storing them as one command block group. Is also good. Further, the instruction block group whose index is 2 at the end may be divided into a group related to the advance by the incremental value and a group related to the backward by the incremental value.

Next, the main instructions contained in the referenced program and the stored program and the storage format thereof will be described. “()” Indicates, as a comment, that it is to be ignored during execution in advance by the increment value. “<>” In “()” indicates that the process is executed when the retreat by the increment value is instructed. "(
")" In ")" indicates that the command is to be executed when a retreat by an absolute value is instructed. In addition, it indicates that the command indicating the movement is also executed when the forward movement by the absolute value is instructed. "<[" In "()"
]>"Indicates that the execution is performed regardless of the instruction of the retreat by the increment value or the retreat by the absolute value.

Note that an instruction not enclosed in “()” indicates that a command relating to movement is to be executed when an advance by an increment value is instructed, while other commands indicate an increment value or an absolute value. Regardless of the value, it indicates that the command is to be executed when forward is instructed. "O"
Indicates that the command is not executed irrespective of whether it is moved forward or backward if it is described at the beginning of each instruction block in each line or comment. “O #”, when described at the beginning of each line, indicates execution suspension information. “;” Indicates a break of each instruction block. “!” Indicates a delimiter between instruction blocks in “()”. “G90” is a command for instructing an operation by an absolute value in a predetermined coordinate system. "G9
"1" is an instruction for instructing an operation by an increment value. "G5
"3" is an instruction to use the absolute coordinate system of G53. "G54" is an instruction for defining a work coordinate system and instructing its use. “F” + numeral, for example, “F60” is a command for instructing to set the moving speed during cutting to 60 mm / min. “G0” is a command for instructing that the end mill 13 be moved at a rapid traverse speed by linear interpolation. Here, the linear interpolation means that the main body 1 is moved so that the end mill 13 moves linearly.
1 is controlled. That is, when the end mill 13 moves, the signal actually output to the main body 11 is a signal indicating the movement of the end mill 13 for each minimum movement unit (for example, 1 μm). For example, if a program step indicating movement to the end point is created without creating a program step indicating the end point, the coordinates that complement the distance from the start point to the end point in the minimum movement unit are automatically calculated at the time of execution. A signal indicating movement for each coordinate is output to the main body 11. “G1” is a command to instruct that the end mill 13 be moved at a cutting speed by linear interpolation. “S100” is 10 when rotating the main shaft.
This is an instruction to rotate at 0 rpm. "M3"
Is a command for instructing to start rotation of the spindle. “M5” is a command for instructing to stop the rotation of the main shaft. “G91G28Z0” is a command for instructing movement to the origin of the Z axis. "H5" is the end mill 13
The instruction instructs to set the length correction value and to use H5 as the correction value. “G4X” is an instruction to wait for time. Instructions other than the above will be described below as necessary.

(Operation of Main Unit 11 and Generated Program Steps) The contents of the storage unit 21 when the operation / display unit 16 is operated to operate the main unit 11 will be specifically described below. Here, it is assumed that the storage unit 21 stores a program for reference including the following program steps created in advance. "G0G91G28Z0;" (referred to in the following (11)) "X-2.2Y-3.3;" (referred to in the following (12) to (15)) "G90G43Z0H5;" (referred to in the following (16) ") (Referred to in the following (17))"G91X-333.3Y-3.3;"(referred to in the following (18))

(1) First, when the storage start button B21 is pressed, an instruction block group (N09 to N69) necessary to reproduce the state of the main body 11 at that time is generated and stored as follows. You. At this time, the end mill 13
X = −500 and Y = − as shown in the following table and FIG.
Suppose that it is at the position of 500, Z = −200. Here, the index is not a sequential number like N00, N01, N02, etc., but is N09, N19, N29 as shown above and in the table below, because the number at the end of the index is This is because the types can be easily distinguished. As described above, all the instructions for moving forward and backward with the increment value and the absolute value are stored as described above, and can be operated by any type of instruction. In each of the tables, the description is described by dividing the column for each type of instruction.

[0093]

[Table 1]

In addition to the above, if necessary, X, Y,
The movement in the Z-axis direction is stopped, values of various parameters, correction values of tool diameter and tool length, values of variables in the program, movement distance of the manual handle H1 per pulse, movement thereof (For example, F100), the moving speed at the time of rapid traverse, modal information indicating various modes, the definition of the work coordinate system, and in the case of a machining center, the selected tool and the like are also stored.

(2) Press the manual feed mode button B33 to switch to the manual feed mode, set the moving speed to the fast feed speed, and operate the manual feed axis changeover switch S4 and the manual feed start switch S3 to move the X axis in the minus direction. When the end mill 13 starts moving, the instruction blocks necessary for reproducing and retreating these operations, that is, the instruction for switching or returning the moving speed (N70), and the absolute value of the end mill 13 are used. The instruction (N71) indicating the backward movement is stored as follows.

Here, the instruction at index N71 (moving to the position of X = −500 in the absolute coordinate system G53) is “[
]], It is also executed when the advance by the absolute value is instructed as described above, but does not affect the actual operation of the main body unit 11. This is because, at the time of executing this instruction, since it has already been moved to the same position by the instruction of the previous index N29, no operation is actually performed. Since the end of the index is "1", it is determined that the instruction is executed when the backward movement is instructed by the absolute value, and the instruction is not executed when the forward movement by the absolute value is instructed. It may be.

Since this instruction is enclosed in “[]”, it is executed as an instruction with an absolute value. However, the instruction “G91” of the preceding index N59 (the following coordinate value is designated by an increment value) ) May be interpreted as an instruction with an incremental value and executed before and after that.
"And" G91 "may be added. Further, if the designation of the work coordinate system G54 by the instruction at the index N69 may be changed to the absolute coordinate system G53 due to the "G53" included in the index N71, "G54" is added after the instruction. You may make it.

On the other hand, since the command indicating the backward movement with this absolute value can be determined by the coordinates of the starting point in the forward movement, it can be stored at the time when the movement is started as described above. Alternatively, when the movement is stopped or another operation is performed, a command indicating the movement of the forward movement and the backward movement with the incremental value and the movement of the forward movement with the absolute value may be stored.

[0099]

[Table 2]

(3) Distance between end mill 13 in X-axis direction
When the rotation of the spindle is started at the time of moving by 100 (X = -600), the movement amount up to that point and the coordinates at that point are determined. After the instructions (N72, N74) indicating the backward movement and the forward movement in the absolute value are stored, an instruction (N80) for starting or stopping the rotation of the spindle is stored. Further, since the movement of the end mill 13 is further continued, a command (N81) indicating the backward movement in absolute value is stored in the same manner as in (Table 2).

Here, the instruction at the index N74 and the instruction at the index N81 are the same instruction, but operate effectively in the case of forward or backward movement in absolute value, respectively. It does not affect actual operation for the same reasons as described for the N71 instructions. Thus, an instruction indicating another operation (for example, N80)
By storing the same command before and after, for example, it is possible to easily generate a program that can perform each operation even when the forward or backward movement is instructed by an absolute value.

[0102]

[Table 3]

(4) Distance between end mill 13 in X-axis direction
When the movement of the end mill 13 by manual feed is stopped when the end mill 13 is moved by 200 (X = −800), similarly to the above (Table 3), the movement of the forward and backward movements at the incremental value and the forward movement at the absolute value Are stored (N82, N84).

When the movement by the manual feed is stopped, the commands "G0" and "G1" (N70) for switching or returning the movement speed stored at the start of the movement are
This may be restored or an instruction for switching may be stored.

[0105]

[Table 4]

(5) The steering wheel operation mode button B32 is pressed to set the steering wheel operation mode. After 1.23 seconds from the stop of the movement of the end mill 13, the manual steering wheel H1
For one pulse in the negative direction of the Z axis (distance -0.1)
(Z = -200.1), a command to indicate time waiting (N88), the end mill 1 in the steering wheel operation mode
3 is set to move at the cutting speed F100, so that the moving speed is temporarily changed or returned (N90), and the command to move in the Z-axis direction (N91 to N94).
) Is stored.

In this case, since the movement in the Z-axis direction is started and stopped, an instruction (N91) indicating a backward movement (returning to the position before the operation) in an absolute value is stored at the start. Instructions (N92, N94) indicating, when stopped, forward and backward movements by incremental values (moving or returning by the distance before and after the operation) and forward movements by absolute values (moving to the position after the operation). Is stored.

[0108]

[Table 5]

(6) Further, after 1.2 seconds, the handwheel H1 is moved by one pulse (distance -0.1) in the minus direction of the Y axis (Y = -500.1).
Similarly, a command indicating time waiting (N98) and a command to move in the Y-axis direction (N101 to N104) are stored.

[0110]

[Table 6]

(7) When the manual feed mode button B33 is pressed to enter the manual feed mode, a command (N110) for returning or changing the temporarily changed moving speed is stored.

[0112]

[Table 7]

(8) The cutting speed is set to F60, the moving speed is set to the cutting speed, and two seconds after the manual feed mode is set,
When the manual feed start switch S3 is operated to start the movement of the end mill 13 in the minus direction of the X axis, waiting time (N118), changing or returning the cutting speed (N120), switching or returning the moving speed (N130) , And an instruction (N131) indicating the backward movement in absolute value are stored.

[0114]

[Table 8]

(9) Distance between end mill 13 in X-axis direction
When moving by 60 (X = -860), the cutting speed
Change to F80 to move forward and backward in incremental values,
In addition, an instruction (N140) indicating movement forward in absolute values (N132, N134), change or return of the cutting speed is stored. Further, since the movement of the end mill 13 is further continued, an instruction (N141) indicating the backward movement in the absolute value is stored.

[0116]

[Table 9]

(10) When the end mill 13 is moved by the distance -80 in the X-axis direction (X = -940), the manual feed start switch S3 is returned to stop the movement of the end mill 13. And instructions (N142, N144) indicating the backward movement and the forward movement in absolute value are stored.

[0118]

[Table 10]

(11) Set the single-block changeover switch S11 to "ON" and set the automatic operation mode button B3
After pressing 1 to stop the movement of the end mill 13, 5.3 seconds later, the automatic operation start button B11 is pressed to execute the program step "G0G91G28Z0;" stored in the storage unit 21 in advance.

This program step indicates movement to the origin of the Z axis at a rapid traverse speed. However, unlike simply moving to the position of Z = 0, the program step causes the operation control unit 22 to recognize that it has returned to the origin. For example, in the case of a machining center or the like, the end mill 13 cannot be automatically replaced unless it is returned to the origin by this command.

Therefore, as a forward command, as a precautionary measure, once moved to the position of Z = 0 (N152, N15
4) Instruction to execute home return “G91G28Z0;” (N16
0).

On the other hand, the command for retreating is to return to the origin when the Z-axis is later moved from the origin, so here, simply as in the case of normal movement, Z = 0. Command (N151, N1) to move from the position to the position of Z = −200.1 (distance in the Z-axis direction is −200.1)
52) is generated.

Here, at the time of retreating, movement in the Z-axis direction results in departure from the origin. However, an operation of forcibly deviating from the origin may be performed in accordance with the origin return command at the time of forward movement. . For example, the index N1
The instruction enclosed in "<[]>" stored after "G91G28Z0;" in 60 is not executed even when retreating because "O" is described at the beginning of the instruction block, but it is executed If it is made to move, once it moves by -0.001 in the Z-axis direction, it can be removed from the origin.

The index N153 is stored so that the program step “G0G91G28Z0;” executed with reference to the index can be easily confirmed later, and has no relation to the operation of the main body unit 11 when moving forward and when moving backward.

The commands "G0" and "G1" for changing the moving speed from the cutting speed to the rapid feed speed or returning to the original speed are generated separately from other commands. May be combined with another instruction (specifically, N152 or the like). However, in any case, the command "G0" for switching to the rapid traverse speed when moving forward is executed before the movement command of the indexes N152 and N154 is executed, while the command "G1" for returning to the cutting speed when moving backward. Needs to be executed after the movement command of the indexes N151 and N152 is executed. Therefore, here, the separated “G0; (<[G1!]>);” Is stored as an index younger than any of the movement instructions.

The generation of the command as described above is performed by referring to the command (here, the command to return to the origin) or the information indicating the operation of the main body 11 (here, the movement to Z = 0 and the recognition of the command to return to the origin). This can be realized by using a table in which the above-mentioned instructions to be generated are associated with each other. Further, the generated instruction is not limited to the above-described instruction, and may be an instruction that performs substantially the same operation. For example, for the forward instruction, the referenced instruction itself or the increment value may be used. Alternatively, a value obtained by performing only a conversion operation between a value and an absolute value may be stored.

[0127]

[Table 11]

(12) The single block changeover switch S11 is set to "OFF", and after 5 seconds from the execution of the Z-axis origin return command, the automatic operation start button B11 is pressed, and the linear interpolation stored in the storage unit 21 in advance is performed. When the program step “X-2.2Y-3.3;” is executed, an instruction (N 171) indicating waiting for time (N 168) and moving backward in absolute value is stored.

Note that the above program steps correspond to the previously executed instruction, that is, “G0G91G28Z” in the above (11).
"0;" is an incremental value instruction, and is subsequently executed as an incremental value instruction.

[0130]

[Table 12]

(13) When the end mill 13 moves by a distance of -1.1 in the X-axis direction and a distance of -1.65 in the Y-axis direction (X = -941.1, Y = -501.75), When the operation of the manual handle H1 during operation is enabled, so-called handle interrupt is enabled, and the handwheel H1 is moved in the minus direction of the Y-axis by one pulse (distance -0.1) (Y = -501.85). Commands indicating forward and backward movements in increments and forward movements in absolute values (N172, N1)
74) is stored. In addition, the index N1
As in 53, the referenced program step `` X-2.2Y-3.
3; "(N173) is stored. Here, "O" at the beginning of the program step is described to indicate that the execution of the original program step has not been completed, but is not always necessary.

Next, similarly to the above (5), in the steering operation, since the end mill 13 moves at the cutting speed F100, a command (N180) for temporarily changing or returning the moving speed is generated, and Command (N181) indicating an absolute value of backward movement (return to the position before operation) according to the movement of the pulse (N181), forward and backward movement (move or return by the distance before and after the operation) with the increment value ), And an instruction indicating forward movement in absolute value (moving to a position after the operation) (N18
2, N184) is generated and stored.

Further, when the movement by the handle interrupt is completed, the remaining movement of the program step "X-2.2Y-3.3;" is continued. (N190), and an instruction (N191) indicating a backward movement in absolute value are stored.

In the linear interpolation movement as described above, a handle interrupt is normally accepted because the division is possible. However, when the interpolation movement is difficult to divide, for example, the operation of the interpolation movement is performed. If there is no instruction indicating the operation before and after the interruption, such as when there is no instruction indicating the same operation, it is difficult to reproduce the same operation. )
For example, a handle interrupt may not be accepted during the interpolation movement or the like, and the program step may not be stored. In the case of such an interpolation movement that is difficult to divide, for example, not only the handle interruption but also the start and stop of the rotation of the spindle as described in (3) above require the division such as the interpolation movement. So, it may not be accepted. Similarly, other movements or operations other than continuing interpolation movements, such as forward or backward correction operations, may not be accepted. In this case, the automatic operation stop button B
12, the program step is not generated at that time, only the continuation of the operation such as the interpolation movement is received, and after the completion of the operation, the program step indicating the operation such as the interpolation movement is performed. What is necessary is just to generate.

Furthermore, not only when a new program step is generated as described above, but also when a forward or backward correction operation is performed, the forward or backward movement such as the interpolation movement is performed. In such a case, an interrupt or another operation may not be accepted.

On the other hand, when accepting an interrupt or the like only when the interpolation movement or the like can be divided and stored in the program step including the ordinary movement instruction as described above, many conventional devices are used. It is easy to maintain compatibility with a program that can be executed by the above. However, the present invention is not limited to this. Information such as the ratio of the distance or the elapsed time after the start of the movement, and information indicating the content of the interruption may be stored.

[0137]

[Table 13]

(14) The program step "X-2.2Y-3.
3; ", the end mill 13 further moves the distance in the X-axis direction -0.55 and the distance in the Y-axis direction -0.
825 (X = −941.65, Y = −
(502.675), the handle is again moved by one pulse (distance 0.1) in the plus direction of the Y-axis (distance 0.1) by the handle interruption (Y = −502.575).
11) is generated and stored.

[0139]

[Table 14]

(15) The program step "X-2.
2Y-3.3; ", the operation is completed, and when the operation is completed, a command indicating forward and backward movements in increments and forward movements in absolute values (N212) according to the remaining operations. , N214) are generated and stored.

[0141]

[Table 15]

(16) Since the single block changeover switch S11 is set to "OFF" in the above (12), when the execution of the program step "X-2.2Y-3.3;" is completed, the next program is automatically automatically executed. Step, "G9
0G43Z0H5; "is executed.

In this program step, “G90”
This indicates that the subsequent command is changed to be executed as an instruction using an absolute value, that is, since the work coordinate system G54 is specified by the index N69, the instruction is executed as an instruction using the absolute value in the work coordinate system G54. G43Z0H
“5;” indicates that the end mill 13 is moved to the position of Z = 0 in the work coordinate system G54 after a preset length correction of H5 is applied. Here, assuming that H5 = −100.0 and G54 = X−300.0Y−300.0Z−300.0, the Z coordinate before the execution of this instruction has returned to the origin in the above (11). Since Z = 0, Z = 0 − (− 100) − (− 300) = 400 in the work coordinate system G54. Therefore, set G = 0 at G54 "G43Z0H5;"
Indicates that the object is moved by a distance of −400 in the Z-axis direction.

In the absolute coordinate system G53, the above-described movement is an operation of "removing from the origin" when moving forward, and is an operation of returning to the origin when moving backward. Therefore, a normal movement command is generated as the forward command, while the origin return command “G9” described in the above (11) is generated as the backward command.
1G28Z0; "is generated.

Specifically, first, as shown below,
After the set values of H5 and the work coordinate system G54 are stored as comments for confirmation (N219, N229), a command (N23) indicating a change to the coordinate absolute value instruction or a return to the increment value instruction (N23)
0) and a return-to-origin command (N240) are stored. Further, a command (N241) indicating a backward movement with an absolute value, a forward and backward movement with an incremental value, and a forward movement with an absolute value is stored. To N244), the referenced program step (N243) is stored.

Here, a return-to-origin return command (N240),
And a command indicating forward or backward movement in increments (N2
With regard to 42), after the execution of the command block such as “G90”, a command to change the coordinate value to “G90” to indicate the absolute value of the coordinates in N230 when moving forward or N270 when moving backward is still valid. Is added.
In addition, for the return-to-origin command (N240) and the instruction indicating the backward movement by the increment value (the latter half of N242),
By adding "G90" also before the instruction block for movement, etc., the effectiveness of "G90" is ensured even in a device where the execution of each instruction block in the instruction block group is performed in the reverse order. It has become.

That is, when the absolute value designation of the coordinates is set by the referenced program step or the like, even if a movement command with an incremental value is actually executed when the generated program is executed, After executing the instruction,
The setting returns to the setting according to the above instruction.

It is to be noted that not only an instruction indicating movement with an increment value or an absolute value is generated as described above, but after an increase value instruction or an absolute value instruction is issued, a movement instruction corresponding to the instruction is generated. You may do so. Similarly, instead of fixing the absolute value coordinate system to the absolute coordinate system G53, an instruction using the coordinate system G54 or the like corresponding to the instruction is generated,
Instead of the coordinate value according to the result of the length correction, an original coordinate value and an instruction to perform the length correction may be generated. In this case, the program steps for setting the work coordinate system G54 and the correction H5 may be saved at the start of storage as described above, and may be stored as comments for confirmation in the indexes N219 and N229, or these settings may be made. May be stored as an effective program step at the time when the necessary operation is first performed.

Even if the generated program includes only a command indicating movement by an increment value or an absolute value, a change command to a coordinate absolute value instruction (“G90” in N230)
Also, since "G90" added after the movement instruction block is stored, it can be easily converted to a program including a movement instruction in accordance with an instruction given at the time of generating the program.

On the other hand, the correction H5 and the work coordinate system G54
Are stored as confirmation comments in the indexes N219 and N229 since the settings are saved at the start of storage. May be stored.

[0151]

[Table 16]

(17) Program step "G90G43Z0H
When the execution of "5;" is completed, the program step "G1Y-32.1F30;" is executed next because the single-block changeover switch S11 has been turned off as described above.

First, the cutting speed was changed from F80 to F30,
After changing the moving speed from the rapid feed speed to the cutting speed, the end mill 13 is moved in the Y-axis direction. The coordinates of the movement destination are Y = -32.1 in the work coordinate system G54 as described above, so that Y = -332.1. In the absolute coordinate system G53.

Therefore, the cutting speed is changed or returned (N25).
0), an instruction (N264) for switching or returning the moving speed (N260), moving backward in absolute value (N261), moving forward and backward in incremental value (N262), and moving forward in absolute value (N264) ) Together with the referenced program step (N26
3) is stored.

[0155]

[Table 17]

(18) The execution of the next program step “G91X-333.3Y-3.3;” is started, and the end mill 1
3 is the distance in the X-axis direction-222.2, the distance in the Y-axis direction-
When moved by 2.2 (X = -1164.4, Y =-
In 334.3), when the automatic operation stop button B12 is pressed to forcibly stop the movement of the end mill 13, first, the coordinate is changed to the incremental value instruction or returned to the absolute value instruction (N2).
70), with reference to the program step (N273), together with an instruction (N274) indicating the backward movement in absolute value (N271), the forward and backward movement in incremental values (N272), and the forward movement in absolute value (N274). Is stored.

Note that the instruction at index N274 is an instruction effective when the advance by the absolute value is instructed, as described for the index N74 in (3) above.
A corresponding instruction that is valid when the retreat by the absolute value is instructed is generated as an index N281 in the X-axis direction when the object is further moved in the X-axis direction. Later, without further movement in the Y-axis direction, the instruction itself at index N274 is set as an execution pending instruction in the backward correction operation, and is not eventually generated. That is, the instruction at the index N274 is set as the execution pending instruction, so that the end mill 13 becomes Y = −33.
Since it does not move to the position of 4.3, an instruction that returns to this position by retreating is not generated (unless the execution suspension of the index N274 is released).

[0158]

[Table 18]

(19) After the end mill 13 is stopped, the single block changeover switch S11 is set to "ON" to execute a program step temporarily stored in the storage section 21, such as an SM mode. After 5 seconds, by pressing the automatic operation start button B11, for example, when the program step “G91X-55.5F90;” is executed, in the same manner as described above, time waiting, change or return of the cutting speed, and movement of the end mill 13 are performed. Instructions shown (N278
To N284) are stored.

The instruction at the index N284 will be described later.
Since the instruction is set to the execution pending instruction in the backward correction operation without further movement, no corresponding move instruction for backward movement with an absolute value is generated.

When the suspend button B22 is pressed two seconds after the completion of the movement, the wait operation (N288) is stored, and then the storing operation is suspended.

[0162]

[Table 19]

(20) Next, when the reverse correction operation mode button B41 and the automatic operation start button B11 are pressed to start the reverse correction operation, firstly, the time waiting instruction of the index N288 stored last is executed, and "O #" is added to the head of the instruction block to make execution pending information. In the following, forward and backward instructions (N284 to N278) while sequentially executing instructions to reverse with an increment or absolute value
Is the execution pending information.

In this case, the read / write pointer indicating the read / write position of the program step is:
Going back sequentially, after executing the instruction of the index N278 to make it a pending instruction, the index N274 (Table 18)
And this index N278. That is, in the normal storage operation up to this point, this pointer acts only for writing, and sequentially proceeds while writing a new program step, whereas in the case of the backward correction operation, it also acts for reading, Reading and writing of program steps are performed while going back sequentially. In the case of a forward correction operation to be described later, the read / write pointer also performs reading and writing while advancing sequentially.

[0165]

[Table 20]

(21) The index N272 or
When an instruction for retracting N271 is being executed, X = −99
When the automatic operation stop button B12 is stopped at the position of 7.75, Y = −332.65, the original movement instruction (N271) is issued.
NN274) is divided into movement instructions to and after the position, and for the latter, “O #” is added to make it an execution pending instruction.

More specifically, each instruction of the indexes N271 to N274 (movement from the position of X = -942.2, Y = -332. 1 to the position of X = -1164.4, Y = -334.3) X = −997.75, Y = −
Movement to position 332.65 (movement distance in X-axis direction-
55.55, the movement distance in the Y-axis direction−0.55), and X =
-1164.4, and movement to the position of Y = -334.3 (movement distance in the X-axis direction -166.65, movement distance in the Y-axis -1.65) are divided into movement instructions. The index is set to N271 + 1 to N271 + 4, while the latter index is set to N274 + 1 to N274 + 4. However, since the original index N273 is a referenced program step for reference, the indexes are N271 + 3 and N274 + 3 with the same contents.

[0168] Further, "O #" is added to the head of each of the instruction blocks of the indexes N274 + 1 to N274 + 4 to make the execution pending information, and the read / write pointer is sequentially traced back to the index N271 + 4, Set between N274 + 1.

That is, "N27" at the head of the index
Indicates that the original index “N271 to N274” has been split, and the subsequent “1” and “4” indicate that the instruction has been completed or suspended, and the last Is an instruction to be executed when an instruction of backward movement by an absolute value, forward or backward movement by an incremental value, or forward movement by an absolute value is given, as in the original index, by "+1 to +4". Is to be shown.

The index is not limited to the above. For example, the index can be used to confirm what kind of division has been performed later, or to perform division when a forward correction operation is performed. It becomes easy to automatically combine the instructions.

[0171]

[Table 21]

(22) Further, when the forward correction operation mode button B51 and the automatic operation start button B11 are pressed,
Index N274 + 2 or N274 + 4 as execution pending instruction
The forward correction operation is performed based on the instruction. At this time, if the automatic operation stop button B12 is pressed to stop at the position of X = −1081.075 and Y = −333.475, the execution suspension instruction is further divided, and the portion where the forward movement is completed is “O It is a normal instruction without adding "#". Further, the read / write pointer advances sequentially and is set between the indexes N274 + 1 + 4 and N274 + 4 + 1.

In this case, the indexes N271 + 1 to N2
Since 71 + 4 and N274 + 1 + 1 to N274 + 1 + 4 are both divided from the original indexes N271 to N274, they may be combined into one set of program steps.

[0174]

[Table 22]

(23) Next, the SM mode (mode for temporarily executing the program steps temporarily stored in the storage unit 21) is set again, and the automatic operation is started one second after the storage is restarted by pressing the storage restart button B25. By pressing the start button B11, the program step "X-3
When “3.3F80” is executed, the time at the position of the read / write pointer in (Table 22) is waited,
A command indicating a change in the cutting speed, movement of the end mill 13 or the like (N274 + 1 + 8 to N274 + 1 + 14) is inserted.

Here, when the manual operation or the like is performed in a mode other than the backward correction operation mode and the forward correction operation mode before the storage restart button B25 is pressed, the state check button B23 is pressed as necessary. It is necessary to confirm that the state is the same as when the correction operation is completed.
This is because the same operation cannot be reproduced if storage is performed based on an operation from a state different from that at the end of the correction operation.

[0177]

[Table 23]

(24) When the storage end button B26 is pressed,
Information indicating the state of the main body unit 11 at the time when the storage operation is completed, that is, an instruction block group (N274) necessary to reproduce the same state as an initial state when performing a retreat operation or the like.
+ 1 + 19 to N274 + 1 + 99) are stored. It should be noted that information indicating the end of the effective program step may be further stored.

[0179]

[Table 24]

In addition to the above, if necessary, the movement in the X, Y, and Z axis directions is stopped, the values of various parameters, the correction values of the tool diameter and the tool length, and the variables in the program. , The moving distance of the manual handle H1 per pulse, the maximum speed of the movement (for example, F100), the moving speed at the time of rapid traverse, modal information indicating various modes, the definition of the work coordinate system, and the like.

Further, the following information may be stored as a comment or the like for reference when analyzing the generated program or editing it manually.

1. Of the information stored as the initial settings at the start of the storage in (1) above and indicating the state of the main unit 11, the values of the parameters, and the like, the information is used for reproduction or retreat by the generated program, but is not changed. (For example, the rotation speed S100 when the main shaft is rotated, the movement speed at the time of rapid traverse, the definition of the basic machine coordinate system G53, etc.). If such information is not set as the initial setting, the proper execution of the program is not guaranteed, but even if a modification such as addition of a program step is added, unless an instruction to change the program is added, the information is not guaranteed. It is guaranteed that the program step operates based on the above initial settings.

2. Among the information indicating the state of the main body unit 11 and the values of the parameters, etc., which are stored as initial settings at the start of the storage in the above (1), those which are used for playback or retreat by the generated program and which are also changed (For example, cutting speed, moving speed is cutting speed or rapid feed speed, X, Y, Z
The position in the axial direction, the presence or absence of rotation of the spindle, whether the coordinate is specified as an incremental value or an absolute value, whether the Z axis has returned to the origin,
For example, whether the movement in the Y and Z axis directions is stopped). Such information may cause the program not to be properly executed if an instruction to change the information is added, and may cause the program step to perform an operation based on the initial setting when the program step is corrected. Not necessarily.

[0184] 3. Among the information indicating the state of the main body 11 and the values of the parameters, etc., which are stored as the initial settings at the start of the storage in the above (1), those which are not used for reproduction or retreat by the generated program (for example, for the manual handle H1) Travel distance per pulse, maximum speed F100 of the travel,
Definition of work coordinate system G54). Such information does not affect the execution of the original program portion even if an instruction to change the information is added.

In the above-mentioned operation, an example in which a new program is generated including a manual operation has been described. However, a program used in a conventional apparatus which cannot be retreated is used as a program to be referred to, and only the execution of the program is performed. And generating a new program, it is possible to obtain a program that performs the same operation and can be moved backward. Also, without actually operating the main body 11,
If the simulation is performed, that is, the same program interpretation processing as in the case of operation is performed, a device that converts a program that cannot be retreated into a program that can be retreated can be realized. In this case, the main body 11
Instead of operating, the trajectory and state of the movement may be displayed on a display so that the operation can be confirmed.

The number of programs to be referred to is not limited to one. By referring to a plurality of programs and setting and reading a read pointer at an arbitrary position of each program, various programs and their elements can be referred to. It is also possible to easily generate a program combining the above. Here, as the program to be referred to, it is possible to select the program itself stored at that time, and in that case, the position of the read pointer can be set separately from the read / write pointer, and further,
Set the read pointer to the position of the execution pending step,
The program step may be interpreted as a valid program step and referred to.

In the above example, the storage start button B2
The operation of pressing 1 to start storing a new program has been described.
By setting a read / write pointer at an arbitrary position in the program input from step 6 and pressing the storage restart button B25, the original program itself may be subjected to additional correction of program steps.

At this time, the state of the main unit 11 at that time and the state of the main unit 11 after the program step is added are obtained by executing the original program up to the position just before the read / write pointer. If the state does not match the state, the same operation is not reproduced for the added program step or for the program step behind the added program step in the original program. Only a warning that the state of the unit 11 does not match may be provided so that such a program step can be intentionally added. On the other hand, before the additional storage of the program step is started, by pressing the storage stop button B22 to stop the storage operation and then pressing the storage restart button B25 to restart the storage, the return start button B24 is pressed. The state of the main body 11 can be changed to the same state as obtained when the original program is executed up to the position before the read / write pointer, or the state of the main body 11 is changed to the original state after the additional storage of the program step. A program step for making the same state as when the part before the added program step in the program is executed may be automatically added. Further, in order to prevent an unexpected operation, such a program may not be stored, or a program step subsequent to the added program step may be forcibly set as an execution suspension step.

Further, all of the storage contents shown in the above example are not necessarily required. When the processing capability (speed) of the program step generation unit 23 is low or when it is desired to reduce the amount of stored information, it is merely for reference. May be excluded from the information, or one of instructions indicating an operation based on an incremental value for forward and backward movements and an absolute value may be selected and stored as a command indicating movement.
In addition, during the operation of the main unit 11, necessary data is stored in an intermediate language or the like without generating a final program in real time, and based on this data, the operation of the main unit 11 is asynchronous. Alternatively, a program of a desired format may be generated to improve processing efficiency.

[0190]

According to the present invention, a program for operating an operating section is automatically created as long as the operating section can be operated manually, even if a control language dedicated to the apparatus has not been acquired. Therefore, the program can be easily created, and a new program step is generated based on the program and the manual operation stored in the storage means. It can be easily created or modified. In addition, by performing a predetermined conversion on the operation of the operation unit according to the program, it is possible to easily create a program that performs an operation similar to the operation indicated by the program step, for example, an operation in which the operation is translated or rotated. can do. Further, a retreat operation according to a predetermined program step can be performed without creating a program step, and the same operation can be repeatedly performed or the apparatus can be easily returned to an original state. At the same time, it is possible to easily correct a program step, confirm execution, and create a program step for performing such a retreat operation. Further, the control program conversion device converts the control program into a control program capable of a retreat operation based on each program step included in the program and a program step executed prior to each program step, so that an existing program or the like can be used. However, there is an effect that the program can be converted into a program capable of performing the retreat operation and the retreat operation can be performed.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an NC milling machine as an example of a program operating machine according to an embodiment of the present invention, and an appearance of a control device thereof.

FIG. 2 is a block diagram showing a functional configuration of a control panel 15.

FIG. 3 is an explanatory diagram showing an example in which an operation obtained by converting an operation of a main body unit 11 indicated by a program is performed.

FIG. 4 is a front view showing the detailed configuration of the operation / display unit 16;

FIG. 5 is an explanatory diagram showing the operation of the operation / display unit 16, the contents stored in the storage unit 21, and the actual operation of the main body unit 11 in the forward / backward operation in the automatic driving mode.

FIG. 6 shows the operation in the backward / forward correction operation mode.
FIG. 4 is an explanatory diagram showing operations of the display unit 16, contents stored in a storage unit 21, and actual operations of the main unit 11.

FIG. 7 is an explanatory diagram showing main operations of the end mill 13 when various operations are performed and operations including a forward / backward correction operation and the like are performed.

FIG. 8 is a block diagram showing a configuration of a conventional program operation machine such as an NC machine tool or an industrial robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Main body part 12 XY table 13 End mill 14 Head 15 Control panel 16 Operation / display part 21 Storage part 22 Operation control part 23 Program step generation part 24 Operation modification part 25 Retreat operation / retreat correction operation / advance correction operation control part 26 Retreat operation Modification part B11 Automatic operation start button B12 Automatic operation stop button B21 Memory start button B22 Memory suspend button B25 Memory restart button B26 Memory end button L21 Memory state display lamp S31 Forward / reverse operation selection switch B31 Automatic operation mode button B41 Reverse correction operation mode Button B51 Forward correction operation mode button

Continuation of the front page (56) References JP-A-7-20925 (JP, A) JP-A-6-324732 (JP, A) JP-A-2-39207 (JP, A) JP-A-5-134738 (JP) JP-A-3-175504 (JP, A) JP-A-2-236603 (JP, A) JP-A-64-164016 (JP, A) JP-A-5-88711 (JP, A) (58) Field surveyed (Int.Cl. ⁷ , DB name) G05B 19/4093

Claims (16)

(57) [Claims] 1. A machine provided with an operation unit operated by a program.
In the control device, storing means for storing a program for operating the operation portion
When an operation means for instructing an operation of the operation unit, the operation unit based on the program stored in the storage means
Operation and operation of the operation unit based on operation of the operation means
Generate a new program step according to both
The new program is stored in the storage means.
The new program steps described above correspond to the ram steps.
The reverse operation, which is the reverse operation of the
Supplementary information necessary for the storage unit is stored in the storage unit.
Program step generating means for causing
Control device of program operation machine. 2. The program according to claim 1, wherein the supplementary information is a program
The above-mentioned movements before and / or after the
2. The program according to claim 1, including information on the state of the working part.
Control device for machine tools. 3. The information relating to the state of the operation section is a corresponding
The starting or ending point of the operation by the program step
3. The program according to claim 2, including at least one coordinate.
Control device for moving machine. 4. A control device for a program operation machine according to claim 1.
And the program step generating means further comprises:
The program generated by this and stored in the storage means
Based on the steps and supplementary information,
A reverse movement control means for controlling the reverse movement is provided.
Control device for the program operation machine. 5. The program step generating means according to claim 1 , wherein
Program steps and supplementary information stored in storage means
Response to the reverse operation by the reverse operation control means based on the
To generate new program steps
5. The control device for a program operation machine according to claim 4, wherein
Place. 6. The program step generating means according to claim 1 , wherein
Program steps and supplementary information stored in storage means
Response to the reverse operation by the reverse operation control means based on the
Of the operation by the program step
Modified its program steps to counteract some
5. The program operation machine of claim 4, wherein
Control device. 7. A machine provided with an operation section operated by a program.
In the control device, storing means for storing a program for operating the operation portion
When, of generating the program step generating means according to claim 1
And the program steps stored in the storage means.
And the above program steps, based on
Let the above-mentioned operation part perform the backward operation, which is the reverse operation to the operation
Operation control means for controlling the reverse movement
Control device for moving machine. 8. A machine provided with an operation section operated by a program.
In the control device, storing means for storing a program for operating the operation portion
And a program included in the program stored in the storage means.
Ram step, depending on the program step
A program that can perform a reverse operation, which is the reverse of the operation
Based on the step, the operation section performs the retreat operation.
Operation control means for controlling the reverse movement
Control device for moving machine. 9. A program step capable of performing said retreat operation.
Is a relative value that indicates a change in the state of
9. The program according to claim 8, which is a program step including essential information.
Log ram operating machinery of the control device. 10. An apparatus provided with an operation unit operated by a program.
Storage means for storing a program for operating the operation unit in the control device of the machine
A predetermined program included in the program stored in the storage means.
Program steps and their program steps
Based on the program steps executed prior to
The operation unit includes an operation based on the predetermined program step and
Is the reverse operation, which is the reverse operation.
Control device for a program operation machine having operation control means
Place. 11. The reversing operation control means includes:
Program steps executed prior to program steps
Of the same type as the above-mentioned predetermined program step
Search for program steps
To determine the state of the above operating unit after the
Controlling the operation section to perform the retreat operation.
11. The control of a program operation machine according to claim 10, wherein
Control device. 12. The method of claim 4, claim 7, claim 8, or
The control device of a program operation machine according to claim 10, wherein
Further, a predetermined conversion is performed on the retreat operation of the operation unit.
A control device for a program operation machine having a reversing operation modifying means.
Place. 13. A predetermined conversion applied by said backward movement modifying means.
Are parallel movement, rotational movement, and line pair
Movement, symmetric movement, expansion or contraction
13. The conversion is at least one of the following conversions.
Control device of the program operation machine. 14. An apparatus provided with an operation section operated by a program.
For storing a program for operating the above-described operation unit of the machine
Means and the program stored in the storage means.
For each program step included in the program
Each program step and each program
Program steps that are executed prior to
Based on the above program steps.
A control program that allows
Control program conversion means for converting the
And a control program conversion device. 15. A control device for a program operation machine according to claim 1.
Wherein the program step generating means comprises:
According to the operation of the operation unit, the state of the operation unit after the above operation
Program steps that contain absolute information about
Relative to the change in the state of the above operation unit before and after the above operation
Program steps that contain sensitive information
Control of a program operation machine characterized by
Control device. 16. An apparatus provided with an operation section operated by a program.
In the control device of the machine, generated by the program step generating means according to claim 15
Performed program steps including the absolute information,
Or a program step containing the relative information
Is configured to selectively execute either one of
A control device for a program operation machine, comprising: