JP3332061B2 - Control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to a simultaneous operation command method for simultaneously operating a plurality of actuators by a C program.

[0002]

2. Description of the Related Art In a conventional NC program, general-purpose M codes are sequentially arranged, one operation is instructed by a general-purpose M code for instructing a certain operation, and after confirming the operation, the next operation is instructed. Read the general-purpose M code
Each general-purpose M code, such as instructing the next operation,
Actuators are sequentially executed while taking action commands and confirming them, so that the actuators receiving the commands can only operate sequentially, and a series of operating time by the NC program is a plurality of general-purpose M code operation commands and an operation command for the operation confirmation. There was a problem that the total time was long. In order to solve such a problem, in a control device that combines an NC device and a sequencer, one composite M code used in the NC device includes:
The ladder on the sequencer side has, for example, three operation functions to allow multiple actuators to perform simultaneous operations.
One that shortens the operation time or one that divides the function of the M code into an operation command and its confirmation and makes a plurality of actuators perform simultaneous operations to shorten the operation time
No. 270035) is known.

[0003]

In the former prior art,
One compound M by combining multiple ladders on the sequencer side
Code. Since the combination of the ladder programs is usually set in advance by the manufacturer, it is generally difficult for the user to change the combination of the ladders. Therefore, the combination of the operations is fixed and the user is forced to change the combination. There is a problem that the created NC program cannot be changed. The latter has the advantage of shortening the operation time, but since the M code is divided into an operation command and an operation check, the number of M codes becomes extremely large in creating a program ( (Twice that when writing with general-purpose M code) and conventional general-purpose M code (M
(The codes used are generally determined by JIS according to JIS.) M codes having different meanings must be frequently used, and there is a problem that the program becomes very difficult to understand. An object of the present invention is to provide a simultaneous operation command using an NC program that can use a conventional general-purpose M code except for a very small part, and can simultaneously perform operations, and easily change the combination of the operations. It is to provide a method.

[0004]

In order to solve the above-mentioned problems,
In this application, the NC program is read and N
An NC unit that transmits C program instructions one by one,
Determines the command and operates the actuator to be controlled
In a control device with a sequencer that issues commands,
A special M code for starting and canceling the operation, respectively
Set multiple NC programs to run simultaneously
Special M means simultaneous operation start immediately before M code arrangement
A special M code that means simultaneous operation release immediately after the code
An NC program described by arranging codes is
The M code which is transmitted from the NC unit is assigned to the
M code reading discriminating means for discriminating whether a code
Stores during simultaneous instruction in case of M code meaning start
Simultaneous instruction storage means and M code meaning simultaneous operation cancellation
Simultaneous command canceling means for clearing the simultaneous command in the case of
Determines whether simultaneous instructions are being executed for general-purpose M code
The simultaneous command determination means and the simultaneous command determination means
General-purpose M code that stores a general-purpose M code when an instruction is being executed
Directly stored in the code storage means and the general-purpose M code storage means.
Immediately outputs an operation instruction based on the general-purpose M code
If the instruction means and the simultaneous instruction determination means are not
Instruction to output operation command based on general-purpose M code
Means and simultaneous command release means clear
After confirming, the simultaneous operation batch confirmation
Input to set sequencer as control program in sequencer
A special M code is provided to indicate the start of simultaneous operation.
When a command is issued using a general-purpose M code after the
The general-purpose M code storage means stores only the general-purpose M code
The next general-purpose M code can be
As soon as the code is read and the general-purpose M code is stored,
Operate finger to target actuator by immediate command means
Command, and a special M code command that indicates a simultaneous operation release command
The simultaneous command is released by the simultaneous command release means.
After clearing, the simultaneous operation
It is characterized in that completion is confirmed.

[0005]

In the created NC program, a plurality of general-purpose M
The command to start simultaneous operation by code and the command to cancel simultaneous operation are only set as special M codes, and the others are described by general-purpose M codes. In, the combination can be easily changed. When the program is executed, one of the general-purpose M codes in the simultaneous operation block surrounded by the two special M codes is a sequencer.
While the operation command is issued immediately after being stored by the general-purpose M code storage means , the next general-purpose M code is stored without confirming the operation of the actuator based on the operation command.
Since the actuator is read and stored from the NC device and immediately operated following the operation command of the preceding general-purpose M code, the actuators are operated almost simultaneously, and the simultaneous operation is canceled by the special M code command for canceling the simultaneous operation. Since the confirmation is performed collectively, compared with the case where conventionally one general-purpose M code is executed and the operation confirmation is performed and the next M code is read, only the longest operation time among the operations performed simultaneously is compared. The operation time of the simultaneous operation block is determined by the operation time, and the time is greatly reduced.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a machining center 1 will be described. As shown in FIG. 3, the machining center 1
Is a clamp cylinder (fluid pressure operated actuator) 2 for operating a clamper for fixing a work on a work table, and a tool changing device (not shown) for exchanging a tool at a tip end of a rotating spindle with a tool of a tool magazine. AT
C machine) 3 and when machining with the tool at the spindle tip
A cylinder (fluid pressure driven actuator) 4 for opening and closing a door for preventing cutting chips and cutting oil from leaking to the outside is provided. Processing is done with a tool. A
The TC device 3 includes, for example, a motor (electrically driven actuator) for rotating a magazine and a motor (electrically driven actuator) for rotating a tool change arm and reciprocating in a direction along a main shaft axis. I have. The machining center 1 is controlled by a control device 7 including an NC device 5 and a sequencer 6.

The NC device 5 reads the NC program P and transmits its contents to the sequencer 6, and transmits each instruction (M code) of the NC program P in response to a request from the sequencer 6. The sequencer 6 determines what the command sent from the NC device 5 is,
Ladder program 9 previously programmed in memory unit 8
And a processing unit 10 for issuing an operation command to each actuator of the machining center 1.

The ladder program 9 includes a general-purpose M code used for describing the NC program P (general-purpose meaning is:
A ladder program corresponding to JIS (which is generally defined as M code) is described. That is, in this embodiment, as shown in FIG.
The door closing command program corresponding to M18 is set to M06.
Tool exchange (ATC) command program corresponding to M
Work clamp command program corresponding to M10
The work unclamping command program corresponding to
17, a door opening instruction program is programmed. In addition, M code numbers (M96 and M97 in this case) that are not generally used are set in advance as special M codes that mean simultaneous operation start and simultaneous operation release, respectively. These special M codes M96 and M97 are included. The control program shown in the flowchart of FIG. 1 is also stored as a ladder program in order to process the NC program P transmitted to the sequencer 6. Each processing step of this control program is a function realizing means. These ladder programs are set by the input unit 11.

The NC program P is described using the above-mentioned general-purpose M code and two special M codes. For example, in FIG. 2, the ATC operation and the work clamping operation are performed simultaneously, the work unclamping and the door opening operation are performed simultaneously after the machining is completed, and the door closing operation is performed independently. A special M code M96 indicating simultaneous operation start (setting) is set immediately before the head of the general-purpose M code sequence (M06, M10) and (M11, M17) to be simultaneously operated, and the simultaneous operation is canceled immediately after the sequence. Special M shown
The arrangement in which the codes M97 are arranged so as to operate independently is described in the conventional manner. In this embodiment, the case where two operations are performed simultaneously is described. However, the same applies to the case where three or more operations are performed simultaneously.

Next, the operation will be described with reference to FIG. The NC program P created as shown in FIG.
Is input to the NC device 5. The NC device 5 transmits the M code to the sequencer 6 in order from the top of the NC program P. In the present embodiment, M18 is transmitted first, and the sequencer 6 determines which M code is used in step S1 (M code reading / determination means). Means) to determine whether a simultaneous instruction is being performed. Since it is not right now, the ladder program corresponding to M18 is executed in step S7 (operation command means), a door closing command is output to the door opening / closing cylinder 4, and the door opening / closing cylinder is operated in step S8 (actuator operation confirmation means). Check that you have done
The next M code is read from the NC device 5.

The sequencer 6 responds to the command of the next M code (M96) transmitted from the NC unit 5 in step S2.
(Simultaneous command storage means) stores that "simultaneous command is being executed". Then, the next M code is read from the NC device 5. When the next M code (general-purpose M code M06) is read into the sequencer 6, it is determined in step S4 that a simultaneous instruction is being performed, and the process proceeds to step S6 (general-purpose M code storage means). And A
Without waiting for the operation confirmation of the TC device, the next general-purpose M code is read from the NC device, and as soon as the general-purpose M code M06 is stored, an operation instruction is issued to the ATC device 3 in step S9 (immediate instruction means). As a result, the ATC device 3 starts operating. The next M code (general-purpose M code M10) that stores M06 and is immediately read is also stored in the sequencer 6 in the same manner as M06 (step S
6) An operation command is immediately issued to the clamp cylinder 2 (step S10), while the next M code is read from the NC device 5 without waiting for confirmation of the operation of the clamp cylinder 2. This time, the special code M97 is read into the sequencer 6, thereby clearing "simultaneous command execution" in step S3 (simultaneous command canceling means).

As described above, the special M codes M96 and M97
In the simultaneous operation block B1, which is sandwiched between, the general-purpose M code is read without checking the operation of the actuator, and the operation instructions are output in the order in which they are read. Are output one after another from the sequencer 6 after a very short processing time until the next general-purpose M code is stored, so that the ATC operation and the clamp operation are performed simultaneously. And A
Since the operation of the TC device 3 and the clamp cylinder 2 is completed earlier when the operation time is shorter, the operation confirmation is stored in the sequencer 6, and after the operation of the longer operation is completed, the process proceeds to step S5 (simultaneous operation). ATC device 3
Then, the operation completion of the clamp cylinder 2 is confirmed, and the next M code is read. After that, when the machining program is executed and machining is completed, simultaneous control by the simultaneous operation block B2 is performed. In this case, the processing is performed in exactly the same manner as in the case of the simultaneous operation block B1.

N including simultaneous operation blocks B1 and B2, etc.
When checking C program P, special M code M
If 96 and M97 are removed from the NC program P and input to the NC device 5, in FIG.
By repeating steps S1, S4, S7 and S8, a plurality of actuators can be sequentially operated while confirming the operation, so that the program check is easy. And, by using only two special M codes, most of the NC program P is described by general-purpose M codes, so that the program becomes easy to understand. In addition, a plurality of operations are made into one M code by a ladder program. Not something,
Since the part of the general-purpose M code that is to be operated simultaneously can be simply sandwiched by the special M code, the user can easily change the combination of simultaneous operations.

[0014]

As described above, in the present application, a special M code indicating simultaneous operation immediately before the sequence of general-purpose M codes indicating commands to the actuators to be simultaneously operated, and a special M code indicating cancellation of the simultaneous operation immediately after the sequence are displayed. Since the NC program is created by arranging the codes, most of the described NC program is described in general-purpose M code, the program is easy to understand, and the user can easily change the combination of simultaneous operations. When the program created in this way is executed, the general-purpose M code in the simultaneous operation block surrounded by the above two special M codes is given an operation command as soon as one of them is stored. Then, the next general-purpose M code is read and stored without confirming the operation of the actuator based on the operation instruction, and the operation instruction based on the next general-purpose M code is output immediately after the operation instruction of the preceding general-purpose M code. Therefore, the actuators are operated almost at the same time, and the simultaneous operation is checked together by the special M code command to cancel the simultaneous operation.
Compared to the case where one general-purpose M code is executed to check the operation and the next M code is read, the operation of the simultaneous operation block is performed only in the longest operation time among the operations performed simultaneously. The time is determined and the time is greatly reduced. Moreover, even in a program created using such a special M code, if only the special M code is removed from the NC program, all the control operations can be performed in the same sequential manner as in the conventional program check. It is extremely easy to check the operation at the time.

[Brief description of the drawings]

FIG. 1 is a control flowchart showing a method of the present invention.

FIG. 2 is an explanatory diagram of an NC program.

FIG. 3 is a hardware configuration diagram that implements the present application.

[Explanation of symbols]

1 machining center, 2 clamp cylinder, 3
ATC device, 4 door open / close cylinder, 5 NC device, 6 sequencer, PNC program, M9
6, M97 special M code

Claims (1)

(57) [Claims] An NC program is read and a sequencer is read.
An NC device for transmitting the instructions of the NC program one by one to
Judge the command and send it to the actuator to be controlled.
In a control device equipped with a sequencer that issues operation commands,
Special M code that means simultaneous operation start and its release
Multiple NC programs are set and run simultaneously.
Immediately before the general-purpose M code,
A special M code is used immediately after
An NC program described by arranging special M codes,
The M code transmitted from the NC unit is included in the sequencer.
M code reading determining means for determining whether the
Stores during simultaneous instruction in case of M code which means operation start
Command storage means to execute
Simultaneous command release means that clears the simultaneous command in case of mode
And whether or not it is during simultaneous instruction in case of general-purpose M code
The simultaneous command determination means and the simultaneous command determination means
General-purpose memory for storing general-purpose M code when a simultaneous instruction is being executed
Store in M code storage means and general-purpose M code storage means
And immediately output an operation instruction based on the general-purpose M code
Immediate instruction means and simultaneous instruction determination means
Operation to output operation command based on general-purpose M code
The simultaneous instruction is cleared by the instruction means and the simultaneous instruction release means.
After the operation is completed, the simultaneous operation
Set the recognition means in the sequencer as a control program
Input means is provided and a special M code is used to indicate the start of simultaneous operation.
When a general-purpose M-code command is issued after a command is issued,
The general-purpose M code storage means stores only the general-purpose M code.
Remember the next general-purpose M from the NC device without checking the operation.
As soon as you read the code and store the generic M code,
Act on the target actuator by the above immediate command means
Special M code that outputs operation command and indicates simultaneous operation release command
When a command is issued, a simultaneous command is issued by the simultaneous command release means.
After clearing the inside, simultaneous operation is performed by the simultaneous operation
The control device is characterized by confirming the completion of the operation
Place.