JP3386777B2 - Numerical control system - Google Patents

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a rotary press, a packaging machine,
The present invention relates to a numerical control device (CNC device) used in a machine such as a coating machine that requires synchronization of many axes. In particular, the present invention relates to a numerical control system capable of increasing the number of axes to be controlled and synchronizing a plurality of CNC devices by connecting a plurality of CNC devices.

[0002]

2. Description of the Related Art As a method of synchronizing axes controlled by a plurality of CNC devices, data such as a movement command from one CNC device as a master to each axis is used as a slave. A method for performing synchronization control by transmitting to each of the following CNC devices is known (JP-A-9-204215, JP-A-10-13394, JP-A-9-146).
623, etc.).

Position information of a reference axis, which is called an electronic cam, is transmitted to each CNC device, and the position of the axis controlled by each CNC device is determined based on the position of the reference axis. A control method is also known (Japanese Patent Laid-Open No. 7-
No. 302103, etc.).

There are the following two methods for transmitting the position information of the reference axis to each CNC device. External pulse synchronization system In this system, as shown in FIG. 18, a master shaft 80 (for example, a cam shaft) serving as a reference is externally provided, and a pulse indicating the position of the master shaft 80 is generated from a pulse generator 81. Each CNC device # 1 that becomes this pulse as a slave
Enter in ~ # n. Each C that constitutes each slave unit
From the input position of the master shaft 80, the NC devices # 1 to #n should be the positions (axis positions driven by the motors) of the axes (slave shafts) controlled by the respective CNC devices # 1 to #n. Is performed and the positioning control is performed to control each slave axis in synchronization with the master axis 80.

To control the position where the slave axis should be relative to the position of the master axis 80, a coefficient (N / M) is set as a parameter for each slave axis, and the slave axis is set to (N / M) position control is performed by the CNC devices # 1 to #n that control each slave axis so that the position becomes the position (M). This method corresponds to the case where the slave shaft is connected to the master shaft 80 by several gears.

Further, a method of obtaining the position Y of the slave axis by a function f (X) using the position X of the master axis 80 as an argument is also adopted. With respect to the position X of the master axis input to the CNC devices # 1 to #n of the slave unit, the slaves are set from the function f (X) of each slave axis set in the CNC devices # 1 to #n of each slave unit. This is a method of obtaining the position Y = f (X) of the axis and performing positioning control at this position.

Further, other than the method of obtaining the position of the slave axis by the above-mentioned coefficient and function, as a method of obtaining the slave position which cannot be obtained by these methods by patterning, as shown in FIG. A CNC device of each slave unit is created so that a data table for storing the position of each slave with respect to the position is stored and the position of each slave axis is set to the position set and stored in this data table with respect to the position of the master axis. # 1 to #
A method in which n is controlled is also known.

Internal pulse synchronization system In this system, as shown in FIG. 19, one CNC device # 1 is used as a master unit and the other CNC devices # 2 to #n are slave units without providing an external master axis. And From the pulse generation means 82 which controls the virtual master axis by the master unit # 1 and indicates the position of this virtual master axis,
Generate a reference pulse. The master unit outputs a pulse indicating the position of this virtual master axis to the CNC devices # 2 to #n of each slave unit. From the position of the input virtual master axis, each slave unit # 2 to #n
Positioning control is performed by finding out the desired position of the axis (slave axis) that it controls. A slave axis is also provided in the master unit, and this slave axis is also controlled via the axis control means 83 based on the position information of the virtual master axis. Even in the internal pulse synchronization method, the method of obtaining the position of the slave axis with respect to the master axis is the coefficient (N / M) and the function Y = f described in the external pulse synchronization method.
There is no difference in that it is obtained by (X) or the data table as shown in FIG.

[0009]

In the above-mentioned prior art, the external pulse synchronization system requires an externally operable one such as a camshaft. Providing a camshaft or the like that actually operates is disadvantageous in terms of cost and maintenance. On the other hand, the internal pulse synchronization method is advantageous because there is no need to provide a camshaft or the like outside. However, since the position of the virtual master axis must be controlled by the master unit, there is a drawback that the number of control axes of the master unit is reduced by 1 because of the necessity of complicated control. That is, in the master axis position control, not only simple movement, stop, and override, but also complicated control such as acceleration / deceleration control and advance control based on future position information are required. An axis must be used, and the actual control axis is reduced by one.

Further, the position of each slave axis is obtained from the position of the master axis transmitted from the master unit, and is merely a relationship with the master axis. It is not possible to control whether slave axes are synchronized or not synchronized. In addition, it is difficult to control the sections that are synchronized and the sections that are not synchronized. That is, the position of the slave axis cannot be determined in a section where synchronization is not achieved. Further, there is a problem that the slave axis can be stopped but cannot be operated independently of the master axis.

When the speed of the master axis is changed by speeding up or slowing down the change of the position of the master axis due to overriding or the like, the change of the position of the slave axis changes in relation to the speed of the master axis. It will be. Therefore, it is impossible to adopt a control method in which one axis having a slave axis is overridden and the other axis is not overridden. In a real machine, there is a desire that some axes want to be overridden but some axes be immune to override. By overriding the axes that do not need to be overridden,
This is because there is a drawback that the cycle time becomes long.

SUMMARY OF THE INVENTION Therefore, the present invention has an object to improve the above-mentioned problems, and provides a numerical control device capable of synchronous control in which the slave axis can be synchronously or asynchronously with respect to the master axis. To get.

[0013]

[Means for Solving the Problems] Becoming a master unit 1
Numerical control unit and one or more units to be slave units
Equipped with a numerical control device of
Numerical control system for synchronous control of axes to be controlled
In the invention according to claim 1, a master unit is provided.
To the numerical control device, the axis controlled by the master unit
Storage means for storing a program including the movement command of
Count up or down at regular time intervals
Clock information generation means for generating clock information and transmission of clock information
A means to adjust the clock information for the delay due to sending,
Hand that starts the program based on the adjusted clock information
And a clock generated by the clock information generating means.
Transfers information from the master unit to slave units
And a transmission means for doing so. Also, as a slave unit
Numerical control device
A note that stores the program that contains the movement commands for the controlled axes.
Memorization means and transmission of clock information from the master unit
A means to adjust the clock information for the delay, and
Means for activating the program based on clock information
By providing the above, the operation of each axis is started at the same time, and the synchronous control of each axis is performed.

The invention according to claim 2 is the master unit.
Also, a program is started in the slave unit.
Startup time storage means for storing startup time information to be activated,
Program start time stored in the start time storage means
It has a starting means for starting up. Also, the contract
The invention according to claim 3 further includes means for controlling the counting operation of the clock information generating means by a signal from the outside or the inside. In the invention according to claim 4 , as means for controlling the counting operation, at least one function of resetting and starting counting, temporarily stopping and restarting counting, and overriding counting is provided.

The invention according to claim 5 is the master unit.
From or / and from a slave unit to the external or internal
Generate a signal from, reset the count and count
Start, pause and resume counting, and even counting
Added the ability to override.

[0016] invention relating to aspect 6, the slave unit, a means for adjusting the clock data for shift in the reference unit time accompanied Udo operation for the transmission of clock information, axis motion in the master unit and the slave unit By adjusting the deviation of the ITP cycle and the transmission delay, which are the reference time units of, the more accurate synchronous operation was made possible.

The invention according to claim 7 is the master unit.
Further, the slave unit is further provided with means for starting a program including a movement command for each axis regardless of clock information,
In one section, it was possible to synchronize the operation of the axes in different numerical control devices, and in another section, it was possible to operate them without synchronization.

According to an eighth aspect of the present invention, the master unit is provided with means for generating a plurality of clock information, the plurality of clock information is transmitted, and the slave unit can receive a plurality of the clock information. It is made possible to select which of the clock information of (1) is used as the start time information of the program for each axis of the slave unit, and to control each axis operation in synchronization with a plurality of systems.

In the invention according to claim 9, a plurality of master units are provided instead of one master unit. Thereby, each master unit individually generates the clock information and transmits the plurality of clock information, and the slave unit can receive the plurality of clock information, and which of the plurality of clock information is the program information. It is made possible to select whether or not to use the start time information for each axis of the slave unit, and it is possible to control the operation of each axis in synchronization with a plurality of systems.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram of essential parts of an embodiment of the present invention. A large number of axes are divided and controlled by a plurality of CNC devices, and these axes are controlled in synchronization. Of the plurality of CNC devices, one is the master unit 100 and the other CNC devices are the slave units 200, 300, .... Note that FIG. 1 shows only the master unit 100 and the two slave units 200 and 300. A plurality of motors M that drive the shafts are connected to the master unit 100 and each of the slave units 200 and 300 via a servo amplifier A.

The master unit 100 has almost the same structure as a conventional CNC device, but stores a counter 9 for generating clock information, a driver 10 for transmitting the clock information to the slaves 200, 300, ..., Clock information. The difference is that the clock information storage memory 8 is provided.

From the clock signal from the clock (crystal oscillator, etc.) 1, the ITP generating means 2 generates a pulse of a basic unit time of operation (hereinafter referred to as ITP). Further, the counter 9 counts the clock signal from the clock 1 to create clock information, and the driver 10 transmits this clock information to the slave units 200, 300 ,.
0 is transmitted. Further, this clock information is read by the CNC processor 3 and stored in the clock information storage memory 8. As described above, the counter 9 and the clock 1 constitute the clock information generating means. A part program executed by the CNC processor 3 is stored and stored in the program storage memory 4, and a PMC processor 7 is stored in the ladder program storage memory 6.
Stores the ladder program executed by the and the axis control program for the programmable controller. The program stored in each of these memories may be input and set from an operation panel with a display device (not shown) or transferred and input from a host computer through a communication interface, and may be further recorded on a paper tape or a floppy (registered trademark). ) It is read from a disk, an IC card or the like and stored in the memories 4 and 6.

The PMC processor 7 uses the clock information stored in the clock information storage memory 8 and the ladder program stored in the ladder program storage memory 6 to determine the part program or the ladder program stored in the program storage memory 4. The axis control program for the programmable controller stored in the storage memory 6 is started. The CNC processor 3 receives the ITP of the pulse output from the ITP generating means 2 according to the activated program.
The operation amount of each axis (axis controlled by the master unit) in units is calculated and obtained, and is output to the axis control processor 5. The axis control processor 5 drives and controls the motor M of each axis via the servo amplifier A.

Slave units 200, 300, ...
Is the same as the master unit 100, clock 1, IT
It is the same as the master unit in that it includes a P generation means 2, a CNC processor 3, a program storage memory 4, an axis control processor 5, a ladder program storage memory 6, a PMC processor 7, and a clock information storage memory 8. The difference is that the counter 9 and the driver 1 which constitute the clock information generating means provided in the master unit 100.
0 is not provided, instead master unit 1
The receiver 11 connected to the cable 50 for receiving the clock information transmitted by the transmission means such as the 00 driver 10 and the cable 50 is provided.

The clock information received by the receiver 11 via the cable 50 is read by the CNC processor 3 and stored in the clock information storage memory 8, and the stored clock information and the ladder program storage memory 6 are stored. The program is started from the ladder program, and each slave unit 200, 300, ... Is driven and controlled by the same operation processing as the operation of the master unit 100 described above. Each slave unit 200, 300, ...
The program storage memory 4 stores in advance a part program executed by the CNC processor of each slave unit. Also, each slave unit 20
The memory 6 for storing ladder programs 0, 300, ... Stores a ladder program for each slave unit and an axis control program for a programmable controller.

As described above, the master unit 100 and each slave unit 200, 300, ... Can start and control each program based on the clock information. Therefore, each axis controlled by the master unit 100 and each slave unit 200, 300, ... Can be synchronously controlled based on this clock information, and asynchronous control is also possible. For example, as a ladder program,
As shown in FIG. 8, a start condition is set when another axis reaches a set position, and when the start condition is satisfied, the start signal ACT is set to “1” and the start signal ACT is set.
When "1" is set, the operation which does not depend on the clock information can be executed by setting and storing the ladder program such that the axis operation by the sequence by the programmable controller or the motion program by the part program is activated.

Further, if a ladder program as shown in FIG. 9 is set, when the clock information reaches the set value n, the start signal ACT is set to "1", and the axis operation or motion by the sequence by the programmable controller is performed. The program can be started, and based on the clock information,
The operation can be started. On the basis of this clock information, a ladder program for starting the operation is set to the master unit 100 and / or each slave unit 200, 3
If the setting is made in the ladder program storing memory 6 of 00, ..., Each axis which is driven and controlled by the master unit 100 and / or each slave unit 200, 300 ,. .

FIG. 2 is a block diagram of a main part of a CNC device which constitutes a master unit 100 according to a second embodiment of the present invention. The difference from the configuration of the master unit 100 shown in FIG. 1 is that the reset signal SR, the reset release signal SRR, and the hold signal S from the PMC processor 7 to the counter 9 are different.
H, the hold release signal SHR signal is output, the counter 9 constituting the clock information generating means can be reset, held, and released, and the output interval of the clock information is adjusted to override the clock information. This is the point that can be applied. The master unit 100 is also not shown, but like the master unit shown in FIG. 1, the ITP generating means 2, the program storage memory 4, the axis control processor 5, the clock information storage memory 8,
The driver 10 is provided and also performs the same operation as the operation described for the master unit 100 in FIG. Only the elements related to the configuration in that the second embodiment performs an operation other than the operation executed by the first embodiment in FIG. 1 are described. A register 12 and an input circuit 13 are added to the master unit shown in FIG.

The counter 9 for generating clock information counts up or down the counter as clock information and outputs the clock information every time a predetermined number of clock signals from the clock 1 are counted. If the counter 9 is reset, the clock information can be initialized (cleared to 0). Further, since counting up or counting down can be stopped by holding the count of the counter 9, it is possible to form a state in which the clock is stopped, and
If you release the hold, you can advance the clock. Further, if the counter 9 counts up or counts down and the count value for outputting the clock information is changed, the output interval of the clock information is changed and the clock information override can be formed.

Therefore, in the second embodiment, a signal input from an operation panel (not shown) or the like via the input circuit Di, or an internal signal stored in the ladder program storage memory 6 and executed by the ladder program being executed. The PMC processor 7 outputs the reset signal SR, the hold signal SH and the release signals SRR and SHR described above to the counter 9 by these signals, and resets and holds the counter 9 and outputs them. Try to cancel. Further, a register 12 is provided, and each time the value set in the register 12 is counted, the counter 9 counts up or counts down as clock information and outputs the clock information. Then, based on an external or internal signal, the PMC processor 7
Changes the value set in the register 12 via the CNC processor 3. As a result, the interval of the clock information output from the counter 9 is changed, and the speed of the shaft driven based on this clock information changes. That is,
By overriding the clock information,
The operating speed of each axis can be overridden.

FIG. 3 is a modification of the master unit 100 of the second embodiment, and in the case where the counter is the counter 14 which does not have a hold function or a release function thereof,
The signal from the clock 1 input to the counter 14 is input via the gate 15, and the gate is closed by the hold signal SH from the PMC processor 7 to stop the input of the clock signal to the counter 14. ,
The counter 14 is made to hold the count value at that time, the gate 15 is opened by the hold release signal SHR, the clock signal is input to the counter 14 again, and the counting is restarted.

FIG. 4 is a modification of the second embodiment, and the functions of resetting, holding, canceling the counter 9 and overriding the clock information can be performed from the slave units 200, 300, ... FIG. 3 is a block diagram of a main part of the master unit 100 when doing so.
The slave units 200, 300, ... Are connected in a daisy chain system, and the counter 9 is reset and held by a digital signal output from each slave unit.
The receiver or the input circuit 16 receives signals such as the cancellation of these signals and the override value of the clock information, and the PMC processor 7 receives the reset signal SR, the hold signal SH, and the cancellation signals SRR and SHR of these signals based on the received signals. Any of the above can be set in the counter 9, and a value for overriding the clock information can be set in the register 12. If the cable 50 for transmitting the clock information is bidirectional, the cable 50 is provided with the reset signal SR, the hold signal SH, and the release signal S thereof.
You may make it carry the signal for RR, SHR, and an override.

FIG. 5 is a block diagram of a main part of a CNC device which constitutes a master unit 100 according to a third embodiment of the present invention. According to this third embodiment, the master unit 1
The transmission delay of the clock information from 00 to each slave unit 200, 300, ... Is corrected, and more accurate synchronization control is realized.

In the third embodiment shown in FIG. 5, the master unit 100 is provided with the parameter storing memory 17, and each slave unit (in FIG. 5, only the slave unit 200 is shown). Since the parameter storage memory 17 and the counter 18 are provided, the configuration differs from that of the first embodiment shown in FIG.

The transmission delay time is the sum of the delay time in the driver 10 of the master unit, the delay time in the cable determined by the length of the cable 50, and the delay time in the receiver 11 in the slave unit.

Of these, the delay time by the driver 10 is common to each slave unit. Further, the delay time due to the receiver 11 is small even if there is a machine difference. However, the length of the cable 50 differs depending on each slave unit. Therefore, the transmission delay for each slave unit is determined solely by the length of the cable 50. That is, the slave unit connected to the master unit 100 by the longest cable 50 has the largest transmission delay.

Therefore, assuming that n slave units are connected to one master unit 100, the connection cables from the shortest to the longest master unit 100 are connected to these n slave units. It is assumed that the numbers from 1 to n are given in sequence (the nth slave unit is connected to the master unit 100 by the longest cable 50).

Here, the transmission delay due to the length of the cable 50 of the i-th (1.ltoreq.i.ltoreq.n) slave unit is Di.
It is represented by. Further, the total of the delay time by the driver 10 and the delay time by the receiver 11 (it is considered that there is no difference between the slave units in any delay time) is represented by D0.

Then, the transmission delay when the information is transmitted from the master unit 100 to the i-th slave unit can be expressed by D0 + Di. The transmission delay is the nth (i = n)
Is the largest in the transmission to the slave unit. That is, the maximum transmission delay is D0 + Dn. Therefore, the master unit 100 and the i-th slave unit each store a parameter storage memory 17 with a value obtained by subtracting its own i-th transmission delay from the n-th transmission delay (maximum transmission delay). To do. That is, D0 + Dn− (D0 + Di) = Dn−Di is stored. Of course, when i = n (last), it becomes zero, and "0" is stored in the parameter storage memory 17 of the nth slave unit. Further, the parameter storage memory 17 of the master unit 100 stores (D0 + Dn) because there is no delay of its own.

Here, it is assumed that the counter 9 of the master unit 100 outputs the clock information "t". Then, the CNC processor 3 of the master unit 100 stores t- (D0 + Dn), which is obtained by subtracting (D0 + Dn) stored as the correction parameter in the parameter storage memory 17 from this clock information “t”, into its own clock information. Memory 8
The corrected clock information is stored in.

This is (D0 + Dn) from the time when the counter 9 of the master unit 100 outputs the clock information "t".
It means that the clock information of the master unit 100 becomes “t” after the elapse.

On the other hand, the CN of the i-th slave unit
The C processor 3 reads the clock information “t” output from the counter 9 of the master unit with a delay of the transmission delay time (D0 + Di). Then, the CNC processor 3 of the i-th slave unit subtracts (Dn-Di) stored in its own parameter storage memory 17 from the read clock information "t", t- (Dn- Di) is stored as the corrected clock information in the clock information storage memory 8 of the i-th slave unit.

This means that the clock information of the i-th slave unit becomes "t" in the clock information storage memory 8
Since t- (Dn-Di) is stored in (Dn-D
i) After the elapse. In other words, the clock information of the i-th slave unit becomes “t” because (D0 + Di) + (Dn−Di) = D0 + Dn from the time when the clock 1 of the master unit 100 outputs the clock information “t”. (1) It means that it is after the elapse. Where (D0
+ Di) is, as described above, the master unit 10
The clock 1 of 0 is the time (transmission delay time) required for the CNC processor 3 of the i-th slave unit to receive the clock information “t” after it is output.

The right side of the above equation (1) does not depend on the slave unit number i. This means that the master unit 10
When a certain time (D0 + Dn) elapses from the time when the clock 1 of 0 outputs the clock information “t”, all “t” are stored in the clock information storage memory 8 of each slave unit and all the clock information is “t”. Means to become.

Further, as described above, when (D0 + Dn) has elapsed from the time when the clock 1 of the master unit 100 outputs the clock information "t", "t" is stored in the clock information storage memory 8 of the master unit. Therefore, the same clock information is always stored at the same time in the clock information storage memories 8 of the master unit 100 and all slave units.

As described above, the master unit 10
0 and all slave units share the same clock information in their own clock information storage memory 8, so that a slave unit can be replaced by another slave unit based on the corrected clock information stored in this clock information storage memory 8. It is possible to execute a program that is started in synchronization with the slave unit of.

The data D0 (driver 10) stored in the parameter storage memory 17 of the master unit 100 is used.
The sum of the delay time due to (1) and the delay time due to the receiver 11) becomes a value that is naturally determined if the driver 10 and the receiver 11 used for the CNC device are determined. Further, the transmission delay Di (including Dn) due to the length of the cable 50 stored in the parameter storage memory 17 of the master unit 100 and each slave unit is the cable length at a delay time (constant value) per unit length of the cable. Obtained by multiplying. Therefore, when the system is determined, the transmission delay Di due to the length of the cable 50 is i-th.
It suffices to input the length of the cable up to the th slave unit into the parameter storage memory 17 using a manual input means (not shown). FIG. 10 shows the master unit 10
7 is a flowchart of a clock information correction process executed by the 0-numbered CNC processor 3 in each ITP cycle.

As described above, the clock information t is read from the counter 9, and the correction data (D0 + D) stored in the parameter storage memory is read from the read clock information t.
n) is subtracted, and the clock information t '(=
It is stored in the clock information storage memory 8 as t- (D0 + Dn)). FIG. 11 shows C of the i-th slave unit.
7 is a flowchart of clock information correction processing executed by the NC processor 3 for each ITP cycle.

As described above, the clock information t is read from the receiver 11, the transmission delay total value (Dn-Di) is subtracted from the read clock information t, and the corrected clock information t '( = T- (Dn-Di)) is stored in the clock information storage memory 8. However, as described above, the clock information t is read from the receiver 11 of the slave unit only when the counter 9 of the master unit 100 is read.
It should be noted that is after (D0 + Di) has generated the clock information t.

In the slave unit shown in FIG. 5, the above-mentioned correction method of the clock information is a correction method in which the output of the receiver 11 is directly read by the CNC processor 3. In addition to this method, the following correction method can be adopted in this embodiment.

This correction method is a method of adjusting to a unique clock (clock) of each slave unit. The clock 1 held by the master unit 100 and the clock 1 held by each slave unit are physically different. Normally, a CNC device has I as a basic unit time of operation.
It has a TP cycle, and the operation is executed in units of this ITP cycle. Since the clock of each unit is different, the start time of this ITP cycle is different for each unit. Also, the width of the ITP cycle is very small but not the same in each unit. This is because there is an error in the clock itself. Even if the start times of the clocks of all the units can be adjusted, the error of this slight width is accumulated after a long time, and the time is deviated. This gap is
It is the biggest obstacle for perfect synchronization among multiple units.

Therefore, the clock information shared by all slave units is output from the master unit 100 to each slave unit at very short constant intervals. In this embodiment, this fixed interval is the ITP cycle. When the clock information arrives at a certain slave unit, by determining where it arrives in the slave unit's ITP (different from the master unit's ITP cycle), the clock information at the start of the ITP cycle in the slave unit The value can be calculated. Therefore, in this embodiment, a counter 18 is provided in the slave unit as shown in FIG. 5, and the counter 18 is reset by the ITP signal output from the ITP generating means and counts up the clock signal of the clock 1. When the receiver 11 receives the clock information, the counting is stopped, the position in the ITP cycle where the clock information is received is determined, and the error between the clock information of the slave unit and the master unit is obtained.

For example, if arrival of clock information is monitored with a clock that is 100 times faster than the ITP cycle width, the ITP cycle will be 10
You can see at which of the 0 divisions the clock information arrived. Although synchronization is lost due to this quantization error, the accuracy of synchronization can be improved by increasing the speed of the clock for arrival monitoring of clock information (increasing the resolution).

FIG. 13 shows the ITP of the master unit 100.
An example of clock information in which the clock signal is incremented by 100 in each cycle is shown. Master unit 100
From the ITP cycle T1, T2, T3, ...
Clock information t of "00", "200", "300" ... Is output. The slave unit is provided with a counter 18 that is reset by its own ITP signal and counts up the clock signal. When the receiver 11 receives the clock information, the counting of the counter 18 is stopped. Also, the CNC processor 3 of the slave unit
Reads the value of the counter 18 at each ITP cycle, corrects the read value, the ITP cycle, the delay time of the driver and the receiver, the clock information t received by the transmission delay due to the cable, and stores it in the clock information storage memory 8. To do. In the example of FIG. 13, the clock information t = 100 is set to the ITP cycle T11 and T
It is assumed that the signal is received when the value of the counter 18 is between 12 and 12 (for example, 40) (40/100 of ITP). It is also assumed that the total of the delay time of the driver 10 of the master unit 100 and the delay time of the receiver of the slave unit D0 and the transmission delay Di of the cable 50 is "5", for example. Then, when the slave unit receives the clock information t = 100, the count value of the counter 9 of the master unit is "105". In the slave unit,
Since the clock information is received when the count value of the counter 18 is "40", the ITP cycle is "1".
Since the interval is "00", the clock information t is received and "60" is received.
The next ITP signal T12 should be generated when the clocks of the above are counted. Therefore, the ITP signal T12 is 10
The corrected clock information of 0 + 5 + 60 = 165 is stored in the clock information storage memory 8.

That is, the total delay time of the receiver of the slave unit is "D0", the transmission delay by the cable from the master to the slave is "Di", the number of clocks between ITP cycle widths is "Q", and the clock information is "t". If the value of the counter 18 when the slave unit receives the clock information is “P”, the CNC processor 3 of the slave unit performs the following two equations to obtain the corrected clock information t ′. Is stored in the memory 8 for storing clock information. Also when executing this correction method, similarly to the previous method, the driver delay time of the master unit, the receiver delay time, the delay time per unit length of the cable is stored in the parameter storage memory 17, When the system is decided, each slave unit should set its own cable length as a parameter. As a result, each slave unit multiplies its own cable length by the delay time per unit length to obtain a transmission delay "Di" by its own cable, and this delay "Di" is added to the number of clocks Q between ITP cycles. Also, the value "Q + D0 + Di" obtained by adding the total value "Di" of the delay times of the driver and the receiver is stored as the correction data of the clock time.

When the operation is executed, the CNC processor of each slave unit executes the processing shown in the flowchart of FIG. 12 for each ITP cycle, and stores the corrected clock information t'in the clock information storage memory 8. .

First, the clock information t sent from the master unit is read, and the count value P of the counter 18 is read. Next, the corrected clock information t'is obtained by performing the calculation of the above formula 1, the corrected clock information is stored in the clock information storage memory 8, and this processing is ended.

On the master unit 100 side, the clock information t output from the counter 9 is stored in the clock information storage memory 8 as it is, and therefore the processing in the master unit is omitted.

The PMC processor 7 of each of the master unit 100 and the slave units 200, 300, ... From the clock information stored in the clock information storage memory 8 and the ladder program stored in the ladder program storage memory 6 in this way, By activating the part program stored in the program storage memory 4 or the axis control program for the programmable controller stored in the ladder program storage memory 6, each axis is synchronously controlled.

FIG. 6 is a block diagram of the essential parts of the fourth embodiment of the present invention. The difference between the fourth embodiment and the embodiment shown in FIG. 1 is that two master units 100 and 10 are used.
0'is provided so that two types of clock information t1 and t2 are generated, and two receivers 11 and 11 'are provided in each slave unit (or selected slave unit) to receive clock information t1 and t2, respectively. That's what I was able to do.

In the slave unit, these clock information t
1, the clock information t2 is received, and the certain axis shows the clock information t1.
Based on the clock information t2, the other axis controls the operation based on the clock information t2. Further, other axes are controlled based on other conditions such as the positions of the other axes without being based on the clock information. As described above, if a plurality of master units that output clock information are provided to provide two or more types of clock information, and slave units are provided with as many receivers as the types of clock information required by the slave units. , Each axis can be synchronously controlled for each type of clock information. That is, a certain plurality of axis groups operate synchronously based on the clock information t1, and another plurality of axis groups operate on the clock information t.
It is possible to perform synchronous operation by selecting the axis to be synchronized for each type of clock information, such as performing synchronous operation based on 2 and performing synchronous operation on the basis of the clock information t3 for other plural axis groups. Further, other plural axes also perform operation control such as driving under other conditions, not depending on the clock information.

FIG. 7 is a block diagram of the main part of the master unit of the fifth embodiment. This master unit is provided with two counters 9 and 9'to generate two types of clock information. The intervals of the clock information generated by the counters 9 and 9'are set by the registers 12 and 12 'so that the clock information at different time intervals can be generated and output. Further, each of the counters 9 and 9'is reset and held by the reset signals SR1 and SR2 output from the PMC processor 7, the hold signals SH1 and SH2, and their release signals SRR1, SRR2, SHR1 and SHR2, respectively. And, they can be canceled. Further, by changing the change intervals of the clock information t1 and t2 according to the values set in the registers 12 and 12 ', the clock information t1 and t2 can be overridden. Furthermore, the types of clock information may be increased by further increasing the set of counters and registers.

FIG. 14 shows an example of the operation state when all axes are synchronously operated by the clock information. At time 0, the 1st and 5th axes start synchronous operation, and at time 2, the 2nd axis, 3rd axis and 6th axis start synchronous operation. Further, at time 4, the 1-axis and 7-axis are started synchronously, and at time 6, the 4-axis, 6-axis, and 8-axis are synchronously started.

FIG. 15 shows an operating state when an override is applied in the second cycle in the operation example shown in FIG. 14. When the clock information is overridden, all axes are overridden. The cycle time of the second cycle is different from the cycle time of the first cycle (2 in the example shown in FIG. 15).
The cycle time of the cycle is getting longer).

FIG. 16 shows an example in which a part of the operation is carried out in the synchronous operation and a part is operated under other conditions. At time 0, 1-axis and 5-axis are started synchronously, and at time 2, 2-axis, 3-axis, and 6-axis synchronous operation is started. However, the 7th axis does not depend on the clock information, and the 6th axis starts its operation when the operation is completed.
In addition, the 1st axis starts the operation again at time 4 based on this time information. The 8th axis starts operation when the 7th axis ends, regardless of the clock information. Then, the 4th axis and the 6th axis start synchronous operation again from time 6.

FIG. 17 is a diagram showing a state of operation operation when the second cycle clock information is overridden with respect to the operation operation example shown in FIG. As shown in FIG. 17, since the 7th axis and the 8th axis are activated independently of the clock information, even if the clock information is overridden,
Not affected by that. Therefore, the axes other than the 7th and 8th axes change their operating time due to the override.
There is no change in the operating time for axes 7 and 8. From this, for example, 7-axis and 8-axis are for operating the peripheral part of the machine,
If the next cycle cannot be started until a certain time (absolute time) has elapsed after the completion of the operation of the 8th axis, the clock information is overridden, and even if the entire machine is overridden, the peripheral part No override is applied to the 7th and 8th axes, and the operation can be completed quickly. As a result, the cycle time can be shortened. As shown in FIG. 15 for the 7th axis and the 8th axis, the completion of the operation of the 8th axis is delayed when the operation is overridden and the next cycle cannot be advanced until a predetermined time elapses. The start time of the next cycle is delayed by the delay of the completion of the operation of, and the overall operation time is lengthened.

[0067]

According to the present invention, it is not necessary to reduce the number of control axes of the CNC device as the master unit. Further, it is easy to change the combination of axes to be synchronized, and to provide a section that is synchronized and a section that is not synchronized. Furthermore, by overriding the clock information, all synchronized axes can be overridden, while unsynchronized axes are not overridden.
This has the advantage that the cycle time can be saved without increasing.

[Brief description of drawings]

FIG. 1 is a block diagram of an essential part of a first embodiment of the present invention.

FIG. 2 is a block diagram of a main part of a master unit according to a second embodiment of the present invention.

FIG. 3 is a principal block diagram of a master unit showing a modification of the second embodiment.

FIG. 4 is a principal block diagram of a master unit showing another modification of the second embodiment.

FIG. 5 is a block diagram of essential parts of a third embodiment of the present invention.

FIG. 6 is a block diagram of essential parts of a fourth embodiment of the present invention.

FIG. 7 is a block diagram of main parts of a fifth embodiment of the present invention.

FIG. 8 is an example of a ladder program when the operation is started under another start condition regardless of the clock information.

FIG. 9 is an example of a ladder program when starting operation based on clock information.

FIG. 10 is a processing flowchart of a master unit when correcting a transmission delay.

FIG. 11 is a processing flowchart of a slave unit when correcting a transmission delay.

FIG. 12 is a processing flowchart of a slave unit according to another transmission delay correction method.

13 is an explanatory diagram of the principle of another transmission delay method shown in FIG.

FIG. 14 is a timing chart of an example of synchronous operation according to the embodiment of the present invention.

15 is a timing chart when an override is applied in the second cycle in the operation example of FIG.

FIG. 16 is a timing chart of another operation example according to the embodiment of the present invention.

17 is a timing chart when an override is applied in the second cycle in the operation example of FIG.

FIG. 18 is a block diagram of a main part of a conventional example of an external pulse synchronization system in which a master axis is provided outside.

FIG. 19 is a block diagram of a main part of a conventional example of an internal pulse synchronization system in which a virtual master axis is provided inside a master unit.

FIG. 20 is an example of a data table for synchronizing the position of a slave axis with the position of a slave axis that has been conventionally adopted.

[Explanation of symbols]

100 master unit 200,300 slave units 1 clock 2 ITP generation means 3 CNC processor 4 Program storage memory 5-axis control processor 6 Ladder program storage memory 7 PMC processor 8 Clock information storage memory 9 counter 10 drivers 11 receiver 50 cables

─────────────────────────────────────────────────── ─── Continuation of front page (56) Reference JP-A-8-123520 (JP, A) JP-A-3-273303 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G05B 19/18-19/46

Claims (9)

(57) [Claims] 1. A numerical control system comprising one numerical control device serving as a master unit and one or more numerical control devices serving as slave units, and performing synchronous control of axes controlled by these different numerical control devices. In the numerical control device serving as the master unit, the numerical control device counts up or down at a predetermined time interval with a storage unit that stores a program including a movement command of an axis controlled by the master unit.
Information generating means for generating clock information by means of a clock, and adjustment of the clock information with respect to a delay accompanying the transmission of the clock information
And the program is started based on the adjusted clock information.
Means for transmitting the clock information generated by the clock information generating means from the master unit to the slave unit, and the numerical control device serving as the slave unit includes each slave. Storage means for storing a program including a movement command of an axis controlled by the unit, and a delay associated with transmission of the clock information from the master unit.
A numerical control system comprising: means for adjusting clock information for this; and means for activating the program based on the adjusted clock information. 2. The master unit and the slave unit, further, start time storage means for storing start time information for starting the program, and start the program at the start time stored in the start time storage means. The numerical control system according to claim 1, further comprising a starting unit. 3. The numerical control system according to claim 1, further comprising means for controlling the counting operation of the clock information generating means by a signal from the outside or the inside. 4. The numerical control according to claim 3, wherein the means for controlling the count operation has at least one of a function of resetting and starting the count, a pause and restart of the count, and a function of overriding the count. system. 5. The numerical control system according to claim 3, wherein the external or internal signal is generated from the master unit and / or the slave unit. Wherein said slave unit, numerical control system of one of claims 1 to 5 comprising means for adjusting the clock data for shift in the reference unit time accompanied Udo operation for the transmission of clock information. 7. A master unit and a slave unit
Includes means for activating the program including motion commands of each axis without relying on said clock data, in a certain section, it synchronizes operation of axes in different numerical controller, in a different section,
Numerical control system of one of claims 1 to 6 to operate without synchronization. 8. The master unit is provided with a plurality of means for generating clock information, transmits the plurality of clock information, and the slave unit is capable of receiving a plurality of the clock information, and the plurality of clock information. either whether to start the program on the basis of the ability to select each axis of the slave unit, the numerical control system of one of claims 1 to 7 can be controlled by synchronizing the respective axes operate in a plurality of systems of . 9. A plurality of master units are provided instead of one master unit, each master unit individually generates the clock information, and transmits the plurality of clock information.
The slave unit can receive a plurality of pieces of the clock information, and can select which of the plurality of pieces of clock information to start the program for each axis of the slave unit. numerical control system of one of claims 1 to 7 can be controlled to synchronize the operation.