JP3299776B2 - Numerical control unit - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerical controller.

[0002]

[Prerequisite Structure] The numerical control device of the present invention is assumed to have the following prerequisite structure, for example, as shown in FIG. 1 or FIG. That is, a key input unit 3 for setting a control target of the actuator 2 of the processing machine 1, a control target memory 4 for storing the control target set by the key input unit 3, a sensor of the driving unit 5 of the actuator 2 of the processing machine 1 , An input interface 6 for receiving the detection signal Q, a detection signal memory 7 for storing the detection signal Q inputted from the input interface 6, a control target value of the control target memory 4, and a detection value of the detection signal memory 7. And an actuator control calculating means 8 for outputting an actuator control command signal for actuator control based on the input.

[0003]

2. Description of the Related Art In the above-mentioned premise structure, a portion for performing an arithmetic processing on an input signal from an input interface via a memory and an arithmetic section is, for example, shown in FIG. That is, a time delay circuit 15 is provided at each of the signal inputs 6a, 6b,... Of the input interface 6 to eliminate chattering of the input signal. The time delay circuit 15 has a different configuration depending on each numerical controller as follows. (B) The delay time is fixed. (B) For each input terminal of the input interface 6, one for high speed (short time) and one for low speed (long time) are determined. (C) If necessary, hardware components (resistors 15a / 1
5b ...) to change the delay time.

[0004]

In the above prior art,
For example, when low-speed (long time) chattering such as a contact of a foot switch and high-speed (short time) such as a detection switch using a photoelectric element coexist, there is the following problem. (A) If the delay time is fixed, depending on the nature of chattering, it may be impossible to remove any chattering or remove any chattering. (B) If the input interface is set for high-speed (short-time) or low-speed (long-time) for each input terminal, there are limitations on the number of input points such as high-speed and low-speed, and so on. May be. (C) In the case of replacing a hardware component, it is necessary to change for each resistance module (for example, for eight inputs). In this case, parts are required, and replacement of the parts is very troublesome. SUMMARY OF THE INVENTION It is an object of the present invention to provide a numerical controller having an input signal chattering elimination function in which the number of input points is not limited, no replacement parts are required, and the trouble of changing the delay time is simple.

[0005]

According to the present invention, in order to achieve the above-mentioned object, the following improved structure is added to the above-mentioned premise structure, for example, as shown in FIGS. That is, a memory for setting a time to cancel the chattering signal portion of the detection signal Q from the input interface 6 to the detection signal memory 7, a plurality of pre
A cancel parameter memory 9 in which a set value of a plurality of unit time repetitions corresponding to each of the detection signals Q is set by the key input means 3 is provided. Further, based on the cancellation parameter P recorded in the cancellation parameter memory 9, the chattering signal portion of the detection signal Q from the input interface 6 is stored in the detection signal memory 7.
And a chattering signal portion canceling means 10 for preventing the chattering signal from being transmitted to the communication device. The chattering signal portion canceling means 10 includes a canceling unit 11 and a memory unit 12. Further, the cancel unit 11
The detection signal Q is stored in the memory unit 12 a plurality of times from the input interface 6 by the number of unit time repetitions set in the cancellation parameter memory 9, and when the stored values do not match, the detection signal Q is output from the input interface 6. Is configured to prevent the chattering signal portion of the detection signal Q from being transmitted to the detection signal memory 7.

[0006]

The present invention operates as follows. The operation will be described with reference to the operation flowcharts of FIGS. 2 and 4 and the operation timing charts of FIGS. 3 and 5. (1) Operation of Numerical Control Unit Main Routine First, a plurality of cancel parameters P1, P2,... Are stored in the cancel parameter memory 9 by the key input means 3. The cancellation parameters P1, P2,.
For each detection signal Q1, Q2,..., For example, 0 (zero) when chattering cancellation is unnecessary, 1 when high-speed (short-time) chattering cancellation is required, and 2 when low-speed (long-time) chattering cancellation is required. Set to. As shown in the operation flowchart of FIG. 2 (A), in this state, the actuator control arithmetic means 8 detects the detection signals Q1 and Q input from the input interface 6 by a timer interrupt every Tmsec (for example, 15 msec) in step S1.
.. Are fetched in parallel (for example, every 8 bits) in step S2. Then, in step S3, the data is sequentially extracted for each point (one bit), and in step S4, a check is made through the chattering cancel subroutine (FIG. 2B) of the chattering signal portion canceling means 10. Then, individual cancellation parameters P1, P2,.
Are stored in the detection signal memory 7 after the chattering has been removed.
Next, it is determined whether or not all points (8 bits) have been checked in step S5. Actuator control arithmetic means 8
When the check of all the points is completed (step S6), the contents of the detection signal memory 7 are processed by the actuator control calculating means 8 and output to the drive unit 5, output interface 13 and display unit 14 of the actuator 2. I do. Further, the actuator control arithmetic means 8 executes another input or control operation (not shown), and after Tmsec, the timer interrupt is activated again to take in the detection signals Q1, Q2,. Hereinafter, this operation is repeated.

(2) First operation of chattering cancel subroutine When the numerical controller is turned on, the new memory 12a of the memory unit 12 of the chattering signal partial canceling means 10
The OLD memory 12b and the OLD memory 12c are
Cleared and 0 (zero) is stored. As shown in FIG. 2 (B), in the chattering cancel subroutine of the chattering cancel unit 11, the cancel parameter memory 9 stores the detection signals Q1, Q2,. The stored cancel parameters P1, P2,... Are referred to. Example of Detection Signal Q1 Corresponding Cancellation Parameter P1 That is, when execution of the subroutine starts in step S41, first, in step S42, the detection signal Q1 is stored in the NEW memory 12a1. If there is chattering in the detection signal Q1, the level of the detection signal Q1, that is, the NEW memory 1
The storage content of 2a1 changes. As shown in the operation timing chart of FIG. 3A, when the high level of the chattering of the detection signal Q1 is fetched, the NEW memory 12a1
Is stored as H (high). Conversely, when a low level of chattering is captured as shown in FIG.
L (low) is stored in the NEW memory 12a1. Next, in step S43, a cancel parameter P1 corresponding to the detection signal Q1 is extracted. If, for example, a value 1 indicating that high-speed (short-time) chattering cancellation is required is stored in the cancellation parameter P1,
After checking the value 1 in step S44, further in step S45 the NEW memory 12a1 and the OLD memory 1
2b1. Since 0 (zero) is stored in the OLD memory 12b1 at first, when the high level of the chattering of the detection signal Q1 is taken in as shown in FIG. 3A, the process jumps from step S45 to step S47. Then, the storage content H (high) of the NEW memory 12a1 is transferred to the OLD memory 12b1. On the contrary, FIG.
As shown in (B), when a low level of chattering is captured, the process proceeds from step S45 to step S46 to transfer the stored content L (low) of the NEW memory 12a1 to the detection signal memory 7. Then, at step S47, N
The storage content L (low) of the EW memory 12a1 is transferred to the OLD memory 12b1. Then, the execution of the subroutine ends in step S48, and the process proceeds to step S5 of the main routine.
Return to Example of Cancel Parameter P2 Corresponding to Detection Signal Q2 In the main routine, as described above, the next point (one bit) is extracted in step S3, and execution of a subroutine is started in step S4 (step S41) as detection signal Q2. In step S42, the detection signal Q2 is stored in the NEW memory 12a2. As shown in FIG.
If there is no chattering in the detection signal Q2, a high level of the signal is taken into the NEW memory 12a2, and H (high) is stored. If, for example, a value 0 (zero) meaning that chattering cancellation is unnecessary is stored in the cancellation parameter P2 corresponding to the detection signal Q2, the process jumps to step S46 when the value is checked in step S44 and NEW The content H (high) stored in the memory 12a2 is transferred to and stored in the detection signal memory 7. Further, in step S47, the NEW memory 12a2
Is transferred to the OLD memory 12b2, and step S4
At step 8, the execution of the subroutine ends, and the process returns to step S5 of the main routine. Incidentally, for example, the cancellation parameter P3
If the value is 2, which means that low-speed (long-time) chattering cancellation is required, a description will be given later in section (5). As described above, after all the detection signal points (8 bits) have been checked in the main routine, Tmse
After c, the timer interrupt is activated again.

(3) Second operation of the chattering cancel subroutine In the main routine, a timer interrupt is activated again in step S1 after Tmsec from the first interrupt, and the actuator control computing means 8 executes the second operation in step S2. Detection signal Q
1. Q2 ... In this case, if the chattering of the detection signal Q1 converges in a short time and is stabilized at a high level, the NEW memory 12a
1 receives H (high). OLD memory 1
The storage content of 2b is different from the first time. That is, in the check of the detection signal Q1, as shown in FIG. 3A, when a high level of chattering is captured, the storage content H (high) of the NEW memory 12a1 is stored. As shown in B), when a low level of chattering is captured, L (low) is stored. Therefore, step S44 of the subroutine
After checking the value 1 of the cancellation parameter P1 with
When comparing the NEW memory 12a1 and the OLD memory 12b1 in step S45, the OLD memory 12b1
Is H (high), the second NEW memory 1
Since the contents of 2a1 and the OLD memory 12b1 are the same, the process proceeds to step S46 without jumping to step S47. Then, in this step S46, the storage content H (high) of the second-time NEW memory 12a1 is transferred to the detection signal memory 7 and stored therein, and then, in step S47.
Transfer the contents stored in the NEW memory 12a1 to the OLD memory 12b1. Conversely, the OLD memory 12b
1 is L (low), since the contents of the second NEW memory 12a1 and the contents of the OLD memory 12b1 are different, the process jumps from step S45 to step S47 again, and the stored contents H of the NEW memory 12a1 are returned. (High) is transferred to the OLD memory 12b1. Then, in step S48, the execution of the subroutine ends, and the process returns to step S5 of the main routine. ◎ Example of cancellation parameter P2 corresponding to detection signal Q2 In detection signal Q2, the value of cancellation parameter P2 is 0.
(Zero). At the time of the first check, step S4
At step 6, the contents H (high) of the NEW memory 12a2 are transferred to the detection signal memory 7 and stored therein. Therefore, 1
Just the same as the first time is repeated, nothing changes,
The execution of the subroutine ends in step S48, and the process returns to step S5 of the main routine. In this way, after all points (8 bits) of the detection signal have been checked in the main routine, the timer interrupt is activated again Tmsec after the second interrupt.

(4) Third operation of the chattering cancel subroutine In the main routine, a timer interrupt is activated again at step S1 after Tmsec from the second interrupt, and the actuator control computing means 8 is activated at step S2 for the third time. Detection signal Q
1. Q2 ... Example of Cancellation Parameter P1 Corresponding to Detection Signal Q1 As shown in FIG. 3A, if a high level of chattering has been captured, the second NE in step 46 is executed.
The stored content H (high) of the W memory 12a1 is transferred to and stored in the detection signal memory 7. Therefore, nothing is changed except that the same operation is repeated as the second time, and the execution of the subroutine ends in step S48, and the process returns to step S5 of the main routine. Conversely, as shown in FIG. 3B, when a low level of chattering has been captured, when the NEW memory 12a1 and the OLD memory 12b1 are compared in the third step S45, the stored content H (high ) Match, and the process proceeds to step S46 without jumping to step S47. Then, in this step S46, the storage content H of the third NEW memory 12a1 is stored.
After transferring (high) to the detection signal memory 7 and storing it,
In step S47, the contents stored in the NEW memory 12a1 are transferred to the OLD memory 12b1. Then, in step S48, the execution of the subroutine ends, and the process returns to step S5 of the main routine. Example of detection signal Q2-corresponding cancel parameter P2 The same as the second time is repeated, but nothing changes. After all points (8 bits) of the detection signal have been checked in the main routine in this way, the operation is repeated in such a manner that the timer interrupt is activated again Tmsec after the third interrupt.

(5) Cancel parameters P1, P2 ...
When two or more values are stored in the cancel parameters P1, P2,..., The chattering cancel subroutine shown in FIG. 2B is executed as shown in the operation flowchart of FIG. To be configured. Hereinafter, for example, the detection signal Q3 corresponding cancellation parameter P3, a case will be described in which the value 2 which means low speed (long) chattering canceling essential is stored. The first operation of the chattering cancel subroutine The operation timing chart shown in FIG. 5 shows a case where a high level of chattering of the detection signal Q3 is taken. As shown in FIG. 4, when the execution of the subroutine starts in step S41, the detection signal Q3 is stored in the NEW memory 12a3 in step S42. Next, in step S43, a cancel parameter P3 corresponding to the detection signal Q3 is set.
Take out. The cancellation parameter P3, a value 2 which means the low speed <br/> (long) chattering canceling essential is stored. Next step S441 and step S
Step 442 corresponds to the step S44 in FIG. 2B divided into two steps.
The operation of 47 is the same as that in FIG. In steps S441 and S442, since the value of the cancel parameter P3 is 2, the process immediately proceeds to the next step S443, where the step S451 is performed.
Proceed to. In this step S451, the NEW memory 12
a3 and the OLD memory 12b3 are equal and NEW
It is checked that the memory 12a3 is equal to the old memory 12c3. As a result, first the OLD memory 12
Since 0 (zero) is stored in both the b3 and the OLD OLD memory 12c3, in the first operation of the subroutine, the process jumps from step S451 to step S471. Then, the storage content 0 (zero) of the OLD memory 12b3 is transferred to the OLD memory 12c3, and then, in step S472, the storage content H of the NEW memory 12a3
(High) is transferred and stored in the OLD memory 12b3. Then, in step S48, the execution of the subroutine ends, and the process returns to step S5 of the main routine. As described above, after all the detection signal points (8 bits) have been checked in the main routine, the timer interrupt is activated again Tmsec after the first interrupt.

The second operation of the chattering cancel subroutine In the main routine, a timer interrupt is activated again in step S1 after Tmsec from the first interrupt, and further in step S1.
When the subroutine is executed from Step 4, the second detection signal Q3 is loaded into the NEW memory 12a3 in Step S42. Then, in step S451, the NEW memory 12a
3 and OLD memory 12b3 and OLD memory 12
Check c3. At this time, H (high) is stored in the OLD memory 12b3 for the first time, and therefore, as shown in FIG.
This matches the D memory 12b3. However, OLDOLD
Since 0 (zero) is stored in the memory 12c3 for the first time, the NEW memory 12a3 and the OLDOLD memory 1
2c3 does not match, and therefore, the process jumps from step S451 to step S471. Then, the storage content H (high) of the OLD memory 12b3 is transferred to the OLD memory 12c3, and then the storage content H (high) of the NEW memory 12a3 is transferred to the OLD memory 12 at step S472.
The data is transferred and stored in b3. Then, the execution of the subroutine ends in step S48, and the process proceeds to step S5 of the main routine.
Return to In this way, after checking all the detection signal points (8 bits) in the main routine, the timer interrupt is activated again Tmsec after the second interrupt.

The third operation of the chattering cancel subroutine In the main routine, the timer interrupt is activated again in step S1 after Tmsec from the second interrupt, and the subroutine is executed, the third detection is performed in step S42. Signal Q3
Is loaded into the NEW memory 12a3. Then, in step S451, the NEW memory 12a3 and the OLD memory 12
b3 and the OLDOLD memory 12c3 are checked. At this time, H is stored in the OLD memory 12b3 for the first time.
(High) is stored, the second time, as shown in FIG. 5, the NEW memory 12a3 and the OLD memory 12b3
Matches. Also, 2 is stored in the OLD memory 12c3.
Since H (high) is stored the first time, the new memory 12a3 matches the old memory 12c3, and the process proceeds to step S461 without jumping from step S451 to step S471. Then, in step S461, the storage contents H (high) of the NEW memory 12a3 are transferred to the detection signal memory 7 and stored therein. Then, in step S471, the contents of the OLD memory 12b3 are stored in OLDO.
The data is transferred to the LD memory 12c3. Further, step S4
At 72, the contents of the NEW memory 12a3 are stored in the OLD memory 12
Transfer and store to b3. Then, the execution of the subroutine ends in step S48, and the process proceeds to step S5 of the main routine.
Return to After all points (8 bits) of the detection signal have been checked in the main routine in this way, the operation is repeated in such a manner that the timer interrupt is activated again Tmsec after the third interrupt. As described above, depending on the values of the cancellation parameters P1, P2,... Corresponding to the detection signals Q1, Q2,.
In the second or third interrupt, the detection signal Q1
Confirmation detection signals R1 and R from which chattering of Q2.
.. Are stored in the detection signal memory 7.

[0013]

The present invention is constructed and operated as described above, and has the following effects. (A) When low-speed (long-time) and high-speed (short-time) chattering coexist, in order to eliminate chattering, a cancel parameter P1 is used for each of the detection signals Q1, Q2,.
The delay time can be controlled only by changing the value of P2. Thereby, the cancellation parameters P1 and P2
It is only necessary to change the value of ... and there is no restriction on the number of input points. (B) Also, since only the cancellation parameter needs to be changed, there is no need to change parts and parts, which is very simple.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a system diagram of the numerical control device, FIGS. 2 and 4 are operation flowcharts, and FIGS. 3 and 5 are operation timing charts. In the figure, a numerical controller includes a key input unit 3 for setting a control target of an actuator 2 of a processing machine 1, a control target memory 4 for storing a control target set by the key input unit 3, and an actuator 2 of the processing machine 1. , An input interface 6 for receiving detection signals Q1, Q2,.
a, 6b... and a control target value of the control target memory 4 and a detection value of the detection signal memory 7, An actuator control operation means 8 for outputting an actuator control command signal for actuator control is provided. And the input interface 6
.. For setting the time for canceling the chattering signal portion of the detection signals Q1, Q2,... To the detection signal memory 7 from the plurality of detection signals Q1, Q2,.
There is provided a cancel parameter memory 9 in which a set value of a plurality of unit time repetitions corresponding to each of them is set by the key input means 3. Further, the cancel parameter P1 recorded in the cancel parameter memory 9
A chattering signal portion canceling unit 10 for preventing the chattering signal portions of the detection signals Q1, Q2,... From the input interface 6 from being transmitted to the detection signal memory 7 based on P2. The cancellation parameters P1, P2,... Are, for example, 0 (zero) when chattering cancellation is unnecessary, 1 when high-speed (short-time) chattering cancellation is required, and low-speed (long-time) chattering cancellation for each detection signal Q1, Q2. If necessary, set to 2. Then, the chattering signal partial canceling means 10 includes the canceling unit 1.
1 and a memory unit 12. Further, the cancel unit 11 stores the detection signals Q1, Q2,... From the input interface 6 a plurality of times in the memory unit 12 for the unit time repetition times set in the cancel parameter memory 9, and stores the plurality of stored values. Are not coincident with each other, the detection signals Q1 and Q
2 are prevented from being transmitted to the detection signal memory 7. Then, the cancel unit 11 sets the cancel parameter P1
When the setting of P2... Is 1 or less, the operation is configured as shown in the operation flowchart of FIG.
It is configured as shown in FIG. Reference numeral 13 denotes an output interface, and reference numeral 14 denotes a display unit.

[Brief description of the drawings]

FIG. 1 is a system diagram of a numerical control device according to an embodiment of the present invention.

FIG. 2 is an operation flowchart showing the embodiment of the present invention.

FIG. 3 is an operation timing chart showing the embodiment of the present invention.

FIG. 4 is an operation flowchart showing the embodiment of the present invention when the value of the cancel parameter is 2 or more.

FIG. 5 shows an embodiment of the present invention, and is an operation timing chart when the value of the cancel parameter is 2 or more.

FIG. 6 is a diagram showing a conventional example and corresponding to FIG. 1;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Processing machine, 2 ... Actuator, 3 ... Key input means, 4 ... Control target memory, 5 ... Drive unit, 6 ... Input interface, 7 ... Detection signal memory, 8 ... Actuator control arithmetic means, 9 ... Cancel parameter memory , 10
... chattering signal partial canceling means, 11 ... canceling unit, 12 ... memory unit, P1 · P2 ... cancel parameter, Q1 · Q2 ... detection signal.

Claims (1)

(57) [Claims] 1. Key input means (3) for setting a control target of an actuator (2) of a processing machine (1), and the key input means
Control target memory that stores the control target set in (3)
(4) An input interface for receiving a detection signal (Q) of a sensor of a drive unit (5) of an actuator (2) of the processing machine (1).
(6), detection signal (Q) input from this input interface (6)
A detection signal memory (7) that stores the control target value of the control target memory (4) and a detection value of the detection signal memory (7),
A numerical control device comprising an actuator control operation means (8) for outputting an actuator control command signal for actuator control, wherein a chattering signal of a detection signal (Q) from said input interface (6) to a detection signal memory (7) is provided. A memory for setting a time for canceling a portion, wherein a set value of a plurality of unit time repetitions corresponding to each of the plurality of detection signals (Q ) is set by the key input means (3). The chattering signal portion of the detection signal (Q) from the input interface (6) is stored in the detection signal memory (7) based on the parameter memory (9) and the cancellation parameter (P) recorded in the cancellation parameter memory (9). ) For preventing the chattering signal from being transmitted to the chattering signal. The cell means (10) includes a cancel unit (11) and a memory unit (12), and the cancel unit (11) performs the input interface (the same number of times) as the unit time repetition times set in the cancel parameter memory (9). 6) the detection signal (Q) from the memory unit
(12) is stored a plurality of times, and when the stored values do not match, the chattering signal portion of the detection signal (Q) from the input interface (6) is transmitted to the detection signal memory (7). Numerical control device characterized by blocking.