JP3413954B2 - Motion controller - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion controller for controlling a processing machine or the like for cutting a long work piece into a predetermined size.

[0002]

2. Description of the Related Art FIG. 9 is a schematic view showing a conventional constant-dimension cutting system for cutting a long workpiece to a predetermined size.
Reference numeral 101 is a workpiece which is a workpiece to be cut into a predetermined size, 102 is a cutter as a processing tool, 103 is a conveyor, 104 is a synchronous encoder attached to a driving unit of the conveyor 103, 105 is a high-speed counter, 106 is a controller, 107a Is a servo amplifier first axis for controlling the vertical position of the cutter 102, 107b is a second servo amplifier axis for controlling the horizontal position of the cutter 102, 108a
Is the first axis of the servo motor that drives the cutter 102 in the vertical direction, and 108b is the second axis of the servo motor that drives the cutter 102 in the horizontal direction.

FIG. 10 is a block diagram showing processing steps inside a conventional controller. 111 is a sequence control unit, 112 is a motion control unit, 113 is a signal and data of the sequence control unit 111 and the motion control unit 112. It is a memory for input / output.

FIG. 11 shows an example of a conventional constant-size cutting program, FIG. 11a shows an example of a program processed by the sequence control unit 111, and FIG. 11b shows an example of a program processed by the motion control unit 112.

FIG. 12 is a diagram showing a speed pattern in the conventional constant-speed cutting system. The system is started by a start signal 109 output from the high-speed counter 105 to the controller 106. T11 is the time after the start signal 109 is input to accelerate to the same speed as the conveyor 103, and T12 is the time to move at the same speed as the conveyor 103, and the cutting operation is performed during this time T12. T13 is the time to decelerate, and T14 ・ T
15. T16 is the time for acceleration / constant velocity / deceleration to move in the opposite direction, and T17 is the time for waiting until the next start signal is input.

FIG. 13 shows a conventional controller M
13A and 13B show examples of programs for code processing. FIG. 13A shows a program processed by the sequence control unit 111, and FIG. 13B shows a program processed by the motion control unit 112.

Next, the operation will be described. In FIG. 9, the work 101 is sent from the left to the right in the longitudinal direction by the conveyor 103. As the work 101 is fed, a pulse output is generated from the synchronous encoder 104 attached to the drive unit of the conveyor 103. This pulse is counted by the high-speed counter 105, and a start signal 109 is output to the controller 106 for each designated pulse.

In FIGS. 9 and 10, the controller 1
The sequence control unit 111 of 06 starts the activation signal 109 according to its program function shown in FIG.
Is detected, and the motion control unit 1 is detected via the memory 113.
12 is instructed to start the program illustrated in FIG. 11b. The motion control unit 112 executes the linear interpolation program G1 by the program function and outputs a command position signal to the first axis 107a of the servo amplifier. The first axis 107a of the servo amplifier controls the position of the servo motor 108a according to the command position signal. In the motion control unit 112, it is necessary to create a program so that the program M10 is executed in a state where the commanded speed by the linear interpolation program G1 is the same as the speed of the conveyor 103. Cutter 10 for constant slicing by program M10
2 is lowered, the work 101 is cut, and the cutter 102 is further raised. After cutting, the cutter 102 is returned to the start point, and is stopped until the high speed counter 105 outputs the start signal 109 next time. The conventional slicing system repeats the above operation.

Next, the operation of the M code processing in the conventional controller will be described. When the motion program of FIG. 13b is executed, the M code (M10) is executed after moving to the coordinate position of X100. As a result, the motion control unit 112 outputs the M code data to the file register R20 of the memory 113, and turns X1B0 ON during the output of the M code. In the sequence program of FIG. 13A, when X1B0 is ON during M code output, the value of the data stored in the file register R20 is checked and output to the external signal Y0. After confirming the predetermined processing completion by an external device (X10 is ON), the sequence control unit 111 outputs the M function completion signal (Y1A6) to the motion control unit 112. As a result, the motion control unit 112 completes M10 and executes the next program.

[0010]

Since the conventional constant-thickness cutting system is constructed as described above, it is necessary to provide a high-speed counter externally, and the program of the motion control section is programmed from the high-speed counter through the sequence control section. There is a delay in the response before activation, and it is also necessary to calculate the speed pattern. In addition, if a phase shift occurs between the synchronous axes due to an emergency stop or power failure, it is necessary to return to the start point and restart. It is NC when the program created in NC language is stopped and started by M code.
Not only the language but also the sequence program needs to be changed, which is inconvenient in handling.

It is an object of the first invention to accurately create and change a program for determining a movement pattern of a processing tool by an easy and quick operation process.

A second object of the present invention is to accurately create and change a program for determining a movement pattern of a processing tool by inputting it to a motion control section with easy and quick operation processing.

A third object of the present invention is to accurately create and change a program for determining the operation pattern of the electronic cam function by an easy and quick operation process.

According to a fourth aspect of the present invention, a program for changing the movement pattern of the processing tool is input by inputting the ratio of the acceleration / deceleration operation range to the movement range of the processing tool and the ratio of the processing operation range to the movement range. The purpose is to accurately and easily perform the operation process.

According to a fifth aspect of the present invention, a program for determining a movement pattern of the processing tool is changed by inputting the ratio of the acceleration / deceleration operation range to the movement range of the processing tool and the ratio of the return operation range to the movement range. The purpose is to accurately and easily perform the operation process.

According to a sixth aspect of the present invention, a program for determining the movement pattern of the processing tool can be easily and quickly changed by inputting the ratio of the acceleration / deceleration operation range to the movement range of the processing tool and the return movement feed rate. The purpose is to accurately perform the operation processing.

In a seventh aspect of the present invention, a program for determining the movement pattern of the processing tool by inputting the ratio of the processing operation range to the movement range of the processing tool and the return operation feed rate can be changed easily and quickly. The purpose is to accurately perform processing.

According to the eighth aspect of the invention, when a phase shift occurs between the master position signal and the slave position signal synchronized with the master position signal during the synchronous operation by the electronic cam function, the restart by the electronic cam function can be easily and quickly performed. The purpose is to accurately perform the operation processing.

In a ninth aspect of the present invention, when a phase shift occurs between a master position signal and a slave position signal synchronized with the master position signal during the synchronous operation by the electronic cam function, a virtual master corresponding to the present value of the slave position signal. An object of the present invention is to move a slave position to a position synchronized with an actual master position by moving the position to the actual master position, and to accurately perform restarting by an electronic cam function with easy and quick operation processing.

A tenth aspect of the present invention is, when a phase shift occurs between a master position signal and a slave position signal synchronized with the master position signal during a synchronous operation by an electronic cam function, a virtual master position corresponding to a current value of the slave position. The purpose is to accurately restart the operation by the electronic cam function in an easy and quick operation process by moving the real master position to restart the control operation of the slave position when it coincides with the virtual master position.

The eleventh aspect of the invention is to move to the end of the nearest stroke when the slave position exceeds a predetermined stroke during the synchronous operation by the electronic cam function of controlling by the slave position signal synchronized with the master position signal. The purpose is to accurately and accurately perform the re-operation by the electronic cam function with easy and quick operation processing.

According to a twelfth aspect of the invention, in which the machining tool is moved in accordance with the movement of the workpiece according to the program information created in NC language to perform the machining operation, the condition of the signal designated in the program information satisfies the condition. The purpose is to stop until and to perform an accurate operation.

[0023]

A motion controller according to a first aspect of the present invention comprises means for determining a movement pattern of the processing tool by inputting a ratio of an acceleration / deceleration operation range to a movement range of the processing tool. Is.

In the motion controller according to the second aspect of the invention, the movement pattern of the processing tool is input by inputting the ratio of the acceleration / deceleration operation range to the movement range of the processing tool to the motion control section which operates according to the output of the sequence control section. It is equipped with a means for determining.

The motion controller according to the third invention is provided with means for automatically calculating the operation pattern in the electronic cam function by inputting the ratio of the acceleration / deceleration operation range to the movement range of the processing tool.

The motion controller according to the fourth aspect of the present invention comprises means for determining the movement pattern of the processing tool by inputting the ratio of the acceleration / deceleration operation range to the movement range of the processing tool and the ratio of the processing operation range to the movement range. Be prepared.

The motion controller according to the fifth aspect of the present invention comprises means for determining the movement pattern of the processing tool by inputting the ratio of the acceleration / deceleration operation range to the movement range and the ratio of the return movement range to the movement range. Is.

A motion controller according to a sixth aspect of the present invention comprises means for determining the movement pattern of the processing tool by inputting the ratio of the acceleration / deceleration operation range to the movement range of the processing tool and the return operation feed rate. is there.

The motion controller according to the seventh aspect of the present invention comprises means for determining the movement pattern of the working tool by inputting the ratio of the working operation range to the moving range of the working tool and the return operation feed rate. .

The motion controller according to the eighth aspect of the invention corresponds to the actual master position signal when a phase shift occurs between the master position signal and the slave position signal synchronized with the master position signal during the synchronous operation by the electronic cam function. It is provided with means for calculating an error signal between the synchronous position of the slave position signal and the current position, and means for moving the slave position to the synchronous position.

In the motion controller according to the ninth invention, when a phase shift occurs between the master position signal and the slave position signal synchronized with the master position signal during the synchronous operation by the electronic cam function, the present value of the slave position signal is set. It is provided with means for calculating a corresponding virtual master position signal, and means for moving the virtual master position to the real master position to move the slave position to a position synchronized with the real master position.

The motion controller according to the tenth aspect of the invention is arranged such that the master position signal and the slave position signal synchronized with the master position signal are synchronized during the synchronous operation by the electronic cam function of performing the control operation by the slave position signal synchronized with the master position signal. When a phase shift occurs, it is equipped with means for calculating the virtual master position signal corresponding to the current value of the slave position, and means for moving the actual master position and restarting the control operation of the slave position when it matches the virtual master position. is there.

In the motion controller according to the eleventh invention, when the slave position exceeds a predetermined stroke during the synchronous operation by the electronic cam function of performing the control operation by the slave position signal synchronized with the master position signal,
A means for moving to the end of the nearest stroke and a means for obtaining a virtual master position corresponding to the end of the stroke are provided.

A motion controller according to the twelfth aspect of the invention is a motion controller which moves a working tool in accordance with the movement of a workpiece according to program information created in NC language to perform a working operation. Means for stopping the operation until the condition is satisfied.

[0035]

In the motion controller according to the first to seventh aspects of the present invention, by inputting various dimensionless parameters, it is possible to automatically generate the operation pattern in the dimensionless electronic cam function.

The position data of the machine can be created by multiplying this operation pattern by the length for constant slicing.

Also, the required stroke of the slave axis is automatically calculated.

In the motion controller according to the eighth to eleventh aspects of the present invention, the virtual master position of each slave axis is calculated from the cam table in order to correct the phase shift of each synchronous axis caused by an emergency stop or power interruption, and the virtual master position is calculated. The master axis and the actual master axis are in phase.

In the NC language of the twelfth invention, an instruction to wait until the device designated by the program is turned on or off is added.

[0040]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic view showing a constant-size cutting system for cutting a long work piece into a predetermined size. Reference numeral 101 is a work piece which is a work piece to be cut into a predetermined size, and 102 is a processing tool. Cutter, 103 is a conveyor, 104 is a synchronous encoder attached to the drive unit of the conveyor 103, 10
5 is a high speed counter, 106 is a controller, 107a is the first servo amplifier axis control for controlling the vertical position of the cutter 102, 107b is the second servo amplifier axis control for the horizontal position control of the cutter 102, and 108a is the cutter 102. The first servomotor axis 108 drives vertically, and the second servomotor axis 108b drives the cutter 102 horizontally. Reference numeral 1 is a pulse output generated from the synchronous encoder 104 attached to the drive rotating shaft of the conveyor 103.

FIG. 2 is a block diagram showing the processing steps inside the controller, where 111 is a sequence controller, and 1 is a sequence controller.
12 is a motion control unit, 113 is a sequence control unit 1
11 is a memory for inputting / outputting signals and data between 11 and the motion control unit 112. Reference numeral 2 is an encoder counter for counting up the pulse 1 generated from the synchronous encoder 104.

In FIGS. 1 and 2, the controller 1
The sequence control unit 111 of 06 instructs the motion control unit 112 to perform program processing by its program function. The motion control unit 112 generates a command signal for moving the cutter 102, which is a processing tool, in synchronization with the work 101, which is a member to be processed, according to the program information, and performing a processing operation. These programs are shown in Figure 11.
This is the same as the program example of the conventional system shown in FIG. An example program of the sequence control unit 111 is similar to the example program shown in FIG. 11a, and an example program of the motion control unit 112 is similar to the example program shown in FIG. 11b. However, in the conventional system, the pulse output from the synchronous encoder 104 is input to the sequence control unit 111, whereas in the present invention, it is input to the motion control unit 112 via the encoder counter 2.

FIG. 3 is a block diagram of an electronic cam system processed by the motion control unit 112. Reference numeral 31 is a real master position output unit, 32 is a movement amount output of the real master position output unit 31, and 33a and 33b are slave axes. Corresponding to the virtual master positions 34a and 34b are virtual master positions 33a and 33
A virtual master command unit that outputs the forward / reverse movement amount to b to adjust the phase with the actual master position 31, and 35a and 35b are electronic cams that generate the position of the slave axis synchronized with the virtual master positions 33a and 33b. Processing units, 36a and 36b are slave position signal units for outputting to the servo amplifiers 107a and 107b, and 37a and 37b are slave position signal units 36a and 3b.
It is a slave command unit for outputting the forward / reverse rotation movement amount to 6b and moving to the synchronous position corresponding to the position of the master axis.

In FIG. 4a, the horizontal axis represents a dimensionless master position, that is, the master position when the working tool 102 is moved following the workpiece 101 and the working cycle is repeated, and the master position has no dimension unit. The maximum value in one cycle is 1.0. The vertical axis represents the dimensionless slave movement amount,
F1 is a feed rate for the cutting operation when the workpiece is cut by moving in the same direction as the conveyor, and the rate for the movement of the master axis is a constant of 1.0. F2 is a return operation feed magnification when returning to the start point, and the magnification for the master axis is determined by other set values. T1 represents the cutting machining operation ratio, that is, the ratio of the machining operation range to the entire movement range of the master position in the operation cycle, and T2 represents the acceleration / deceleration operation ratio, that is, the acceleration of the master position in the entire movement range in the operation cycle. It shows the ratio of the deceleration operation range, and T3 shows the return operation ratio, that is, the ratio of the acceleration / deceleration operation range to the entire movement range of the master position in the operation cycle. Here, the machining operation ratio, the acceleration / deceleration operation ratio, and the return operation ratio are shown by the moving range of the master position. This corresponds to the slave position, that is, the movement range of the position of the processing tool 102 in a predetermined relationship.

In FIG. 4b, the horizontal axis represents the dimensionless master position as in FIG. 4a, and the vertical axis represents
It shows a dimensionless slave position.

FIGS. 5a and 5b are diagrams showing an application example of FIG. 3, which is an example when an arbitrary parameter is set. FIG. 5c is a data example of the cam table corresponding to FIGS. 5a and 5b.

FIG. 6a is an example in which the phase shift of each synchronous axis occurs due to an emergency stop or power failure during operation. P1 is the position of the actual master axis where the emergency stop or power failure occurred, P2.
Is a position where the real master axis is stopped, P3 is a virtual master position corresponding to the slave axis, Ps0 is a position where the slave axis is stopped, and Ps1 is a position of the slave axis corresponding to the real master axis.

FIG. 6b shows an example in which the slave axis exceeds the normal stroke due to an emergency stop or power failure during operation. P1 is the actual master axis position where the emergency stop or power failure occurred, and P2 is the actual position. The position where the master axis stopped, P3 is the virtual master position corresponding to the stroke end, Ps0 is the position where the slave axis stopped due to overrun, Ps1 is the position of the slave axis corresponding to the position P2 of the actual master axis, and Ps2 is the nearest slave. It shows the stroke end of the shaft.

FIG. 7a is a program example of the WAIT instruction, FIG. 7b is an outline of processing of the WAITON instruction, and FIG. 7c is WAIT.
The processing outline of the OOF instruction is shown.

Next, the operation will be described. In FIG. 1, as in the conventional example, a conveyor 103 feeds a workpiece 101 that is a long workpiece. As the work 101 is fed, a pulse output is generated from the synchronous encoder 104 attached to the drive rotary shaft of the conveyor 103. This pulse is counted by the encoder counter 2 in the controller 106, a position signal of the actual master axis is generated from the value of this counter 2, and the cam control is performed in synchronization with the position of this master axis.

In the electronic cam for constant-dimension cutting, one cycle of the master shaft is made dimensionless by 1.0 as shown on the horizontal axis of FIG.
Which is equal to the length of the work piece 101 to be cut into pieces. The shaded area in FIG. 4 also corresponds to the length of the work piece to be cut into fixed dimensions. The area in the positive direction (or the negative direction) corresponds to the stroke of the slave shaft, and in the slicing system, the area in the positive direction is equal to the area in the negative direction. Therefore, the following relational expression can be derived from FIG.

Moving distance L1 in the same direction as conveyor 103
Is as follows: L1 = F1 × [T1 + T2 × F1 / (F1 + F2)] (Equation 1) The moving distance L2 in the direction opposite to the conveyor is as follows. L2 = F2 × [T3 + T2 × F2 / (F1 + F2)] (Equation 2) In the slicing system, the following relational expression is obtained from L1 = L2. F1 × [T1 + T2 × F1 / (F1 + F2)] = F2 × [T3 + T2 × F2 / (F1 + F2)] T3 = 1−T1-2 × T2 ……………………………………………… ( Formula 3)

The return operation feed rate F2 can be obtained from the following calculation formula by giving the acceleration / deceleration operation ratio T2 and the cut operation ratio T1 as parameters from (Equation 3). F2 = F1 × [(T1 + T2) / (1-T1-T2)] (Equation 4) Here, if the cut operation ratio T1 and the acceleration / deceleration operation ratio T2 are set to arbitrary values, the return operation feed rate F2 is set. The slave shaft stroke L1 is as follows. When T1 = 0.3, T2 = 0.2, and F1 = 1.0, F2 = 1.0, L1 = 0.4 (see FIG. 5) T1 = 0.5, T2 = 0.2, F1 = 1 .0, F2 = 1.5, L1 = 0.58, T1 = 0.1, T2 = 0.1, F1 = 1.0, F2 = 2.5, L1 = 0.18

The cut motion ratio T1 can be obtained from the following formula by giving the acceleration / deceleration motion ratio T2 and the return motion feed ratio F2 as parameters from (Equation 3). T1 = [F2 / (F1 + F2)]-T2 ………………………… (Equation 5) Here, if arbitrary values are set for the acceleration / deceleration operation ratio T2 and the return operation feed ratio F2, the cut operation ratio T1 and the slave shaft stroke L1 are as follows. When T2 = 0.2, F1 = 1.0 and F2 = 1.0, T1 = 0.3, L1 = 0.4 (see FIG. 5) T2 = 0.2, F1 = 1.0, F2 = 1 .5, T1 = 0.5, L1 = 0.58 T2 = 0.1, F1 = 1.0, F2 = 0.25, T1 = 0.1, L1 = 0.18

In the seventh invention, if the cutting motion ratio T1 and the return motion feed ratio F2 are given as parameters from (Equation 3), the acceleration / deceleration motion ratio T2 can be obtained from the following formula.

T2 = [F2 / (F1 + F2)] − T1 …………………… (Equation 6) Here, if arbitrary values are set for the cut operation ratio T1 and the return operation feed rate F2, it is added. The deceleration operation ratio T2 and the slave shaft stroke L1 are as follows. When T1 = 0.3, F1 = 1.0 and F2 = 1.0, T2 = 0.2, L1 = 0.4 (see FIG. 5) T1 = 0.5, F1 = 1.0, F2 = 1 .5, T2 = 0.2, L1 = 0.58 T1 = 0.1, F1 = 1.0, F2 = 0.25, T2 = 0.1, L1 = 0.18

By the above calculation, the operation pattern of constant slicing, that is, the data table of the electronic cam as shown in FIGS. 5 and 6 is created. The dimensionless position of the slave axis corresponding to the position of the master axis input from the synchronous encoder 104 is calculated from the data table. Further, the position of the slave axis can be calculated by multiplying the length of the slicing. In this way, the operation pattern in the electronic cam function can be automatically calculated, and the program regarding the operation pattern of the constant-size cutting system is automatically generated.

Next, a description will be given of a method of performing the phase matching and performing the synchronous operation again when the electronic cam causes an emergency stop or power failure during the synchronous operation to cause a phase shift of each synchronous axis.

In the example in which the phase shift of FIG. 7a occurs, when an emergency stop or power failure occurs at the position of the real master axis P1, the real master axis coasts and stops at the position P2, and the slave axis coasts. Has stopped at the position of Ps0.

In the eighth embodiment of the invention, the slave axis position Ps0 corresponding to the actual master axis position P2 is calculated from the electronic cam table as shown in FIG. 6c, and the slave axis error =
Calculate Ps0-Ps0. Further, the slave command unit 37 outputs the movement amount by the amount of this error to update the slave position 36 and position the slave axis at a position corresponding to the actual master position P2. Thereby, the synchronous operation can be performed again.

In the ninth embodiment of the invention, the position of the virtual master axis corresponding to the stop position Ps0 of the slave axis is calculated from the electronic cam table as shown in FIG. 6, and the stop position P2 of the real master axis and the virtual master axis are calculated. Axis stop position error P3 = P2-P
Calculate 3. Further, the virtual master command unit 34 of FIG. 3 outputs the amount of forward or reverse rotation movement by the amount of this error, and the virtual master position 33 is updated to match the position of the actual master position 31. By updating the virtual master position 33, the slave position 36 is updated through the electronic cam command unit 35, and the slave axis moves to the position corresponding to the actual master position P2.
After completing the phase alignment between the slave axis and the actual master axis, perform synchronous operation again.

In the tenth embodiment of the invention, the position of the virtual master axis corresponding to the stop position Ps0 of the slave axis is calculated from the electronic cam table as shown in FIG. 6, and the stop position P2 of the real master axis and the virtual master axis are calculated. Axis stop position P3 error = P2-
Calculate P3. Further, the actual master position 31 of FIG. 3 is moved by the amount of this error, and the synchronous operation is performed again from the axis coincident with the virtual master position 33.

As shown in the example in which the stroke of FIG. 7b is exceeded, when an emergency stop or power failure occurs at the position of the real master axis at P1, the real master axis coasts and stops at the position of P2, and the slave axis coasts. Then, it is stopped at the position of Ps0.

In the eleventh embodiment of the invention, the nearest stroke end Ps2 and the position P3 of the virtual master axis are calculated from the electronic cam table as shown in FIG. 5c, and the error to the stroke end = Ps2-Ps0 is calculated. . The slave command unit 37 updates the slave position 36 by the amount of this error to move the slave axis. After that, the position P of the virtual master axis
3 and the position P2 of the actual master axis are calculated. The phase alignment between the real master axis and the virtual master axis is the same as in the embodiments of the ninth invention and the tenth invention.

The twelfth embodiment of the present invention is an instruction and an outline of processing for confirming ON / OFF of an external signal only by the program (NC language) of the motion control unit 112 and executing the next block. When WAITON [signal name] is programmed in the NC language, the WAITON command is completed and the next block is executed when the device specified by [signal name] is turned on as shown in the WAITON process of FIG. 7b. Similarly, if WAITOFF [signal name] is programmed in the NC language, the device specified by [signal name] is turned off as shown in the WAITOFF process in FIG.
Then, the WAITOFF command is completed and the next block is executed.

The embodiments of the present invention have been described above. The present invention is also applicable to a numerical control device that controls a machine tool.

[0067]

According to the first aspect of the invention, the movement pattern of the processing tool can be determined by inputting the ratio of the acceleration / deceleration operation range to the movement range of the processing tool, and the program for determining the movement pattern of the processing tool. It is possible to accurately and easily create and change the data with easy and quick operation processing.

According to the second aspect of the invention, the movement pattern of the processing tool can be determined by inputting the ratio of the acceleration / deceleration operation range to the movement range of the processing tool in the motion control section, and the movement pattern of the processing tool is determined. It is possible to accurately and easily create and change the program of the above with easy and quick operation processing.

According to the third invention, the operation pattern in the electronic cam function can be determined by inputting the ratio of the acceleration / deceleration operation range to the movement range of the processing tool, and the program for determining the operation pattern in the electronic cam function can be provided. Creation and modification can be accurately performed with easy and quick operation processing.

According to the fourth invention, the movement pattern of the processing tool can be determined by inputting the ratio of the acceleration / deceleration operation range to the movement range of the processing tool and the ratio of the processing operation range to the movement range of the processing tool. It is possible to accurately and easily create and change a program for determining the movement pattern of the tool with easy and quick operation processing.

According to the fifth invention, the movement pattern of the processing tool can be determined by inputting the ratio of the acceleration / deceleration operation range to the movement range of the processing tool and the ratio of the return operation range to the movement range of the processing tool. It is possible to accurately and easily create and change a program for determining the movement pattern of the tool with easy and quick operation processing.

According to the sixth aspect of the invention, the movement pattern of the processing tool can be determined by inputting the ratio of the acceleration / deceleration operation range to the processing tool movement range and the ratio of the return operation feed magnification range to the processing tool movement range. It is possible to accurately and easily create and change a program for determining the movement pattern of the processing tool with easy and quick operation processing.

According to the seventh aspect of the invention, the movement pattern of the processing tool can be determined by inputting the ratio of the processing operation range to the processing tool movement range and the ratio of the return operation feed magnification range to the processing tool movement range. A program for determining the movement pattern of the processing tool can be created and changed easily and quickly with accurate operation processing.

According to the eighth invention, when a phase shift occurs between the master position signal and the slave position signal synchronized with the master position signal due to an emergency stop or the like during the synchronous operation by the electronic cam function, it corresponds to the actual master position. The slave position can be moved to the synchronized position in a short time, and the re-operation by the electronic cam function can be accurately performed with easy and quick operation processing.

According to the ninth invention, when a phase shift occurs between the master position signal and the slave position signal synchronized with the master position signal due to an emergency stop during the synchronous operation by the electronic cam function, the present value of the slave position is obtained. By moving the virtual master position corresponding to to the real master position to move the slave position to a position that synchronizes with the real master position, and move the slave position to the synchronized position while maintaining the positional relationship during synchronization. Re-operation by function can be performed accurately by easy and quick operation processing.

According to the tenth invention, when a phase shift occurs between the master position signal and the slave position signal synchronized with the master position signal due to an emergency stop or the like during the synchronous operation by the electronic cam function, the present value of the slave position is obtained. The actual master position is moved to the virtual master position corresponding to, the slave position control is restarted when it matches the virtual master position, and the synchronization of the slave position control that matches the virtual master position can be sequentially restarted. Re-operation by function can be performed accurately by easy and quick operation processing.

According to the eleventh aspect, even when the slave position exceeds a predetermined stroke due to an emergency stop or the like during the synchronous operation by the electronic cam function, the electronic cam is restarted by moving it to the nearest stroke end. Re-operation by function can be performed accurately by easy and quick operation processing.

According to the twelfth aspect, the execution of the program can be controlled while confirming various signal states by changing only the NC language without changing the program of the sequence controller.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a constant-size cutting system according to an embodiment of the present invention.

FIG. 2 is an internal processing block diagram of a controller according to an embodiment of the present invention.

FIG. 3 is a block diagram of an electronic cam system in a motion control unit according to an embodiment of the present invention.

FIG. 4 is a diagram showing an electronic cam operation pattern for a constant-size cutting system according to an embodiment of the present invention.

FIG. 5 is a diagram showing an example in which an arbitrary value is set in an electronic cam operation pattern for the constant-size cutting system according to the present invention.

FIG. 6 is a diagram showing an application example of an electronic cam table when an arbitrary value is set in an electronic cam operation pattern for a constant-size cutting system according to the present invention.

FIG. 7 is a diagram showing a relationship between a master position and a slave position when a phase shift occurs due to an emergency stop or power failure in the electronic cam system according to the embodiment of the present invention.

FIG. 8 is a diagram showing a program example capable of executing a program while confirming a signal state only in the NC language according to an embodiment of the present invention, and a schematic flow thereof.

FIG. 9 is a conceptual diagram showing a conventional slicing system.

FIG. 10 is an internal processing block diagram of a controller corresponding to a conventional constant-size cutting system.

FIG. 11 is a diagram showing an example of a program executed in a conventional constant-size cutting system.

FIG. 12 is a diagram showing an operation pattern of a conventional constant-size cutting system.

FIG. 13 is a diagram showing a program example for confirming various signal states by a conventional NC language.

[Explanation of symbols]

31 Actual master position output section 32 Master movement amount 33a / 33b Virtual master position signal section 34a / 34b Virtual master command unit 35a / 35b Electronic cam processing unit 36a / 36b Slave position signal section 37a / 37b Slave command unit

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI G05B 19/19 G05B 19/19 M G05D 3/00 G05D 3/00 Q 5/00 5/00 A 5/03 5/03 ( 56) References JP-A-5-134721 (JP, A) JP-A-4-60809 (JP, A) JP-A-5-113808 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05B 19/18-19/46 B26D 5/00-5/42 B23Q 15/00-15/28 G05D 3/00-3/20 G05D 5/00-5/06 G05B 19/00-19 / 02

Claims (12)

(57) [Claims] 1. In an apparatus for performing a machining operation by moving a working tool following a movement of a workpiece according to program information, an acceleration / deceleration operation for causing the working tool to follow the workpiece and machining by the working tool. When repeatedly performing a series of operations including the machining operation of No. 1, a means for determining a movement pattern of the processing tool by inputting a ratio of an acceleration / deceleration operation range to a movement range of the processing tool in the series operation is provided. Motion controller characterized by 2. A sequence for controlling a sequence relating to the machining operation information including position information having a dimensional unit in a case where a machining tool is moved within a predetermined position range according to program information to perform a machining operation on a workpiece. The motion control unit includes a control unit and a motion control unit that operates according to the output of the sequence control unit and outputs a signal for performing the machining operation. A motion controller comprising means for determining a movement pattern of the processing tool by inputting a ratio. 3. A constant-slicing system for cutting a workpiece into a predetermined size in synchronization with the feeding of the workpiece,
An operation cycle of a processing tool including an acceleration / deceleration operation for synchronizing with the feeding of a workpiece and a cutting operation for cutting is controlled by an electronic cam function of outputting a slave position signal by inputting a master position signal. A motion controller comprising an electronic cam processing unit, and means for automatically calculating an operation pattern in the electronic cam function by inputting a ratio of an acceleration / deceleration operation range to a movement range of the processing tool. 4. A means for determining a movement pattern of the processing tool by inputting a ratio of an acceleration / deceleration operation range to a movement position range of the processing tool and a ratio of a processing operation range to a movement position range. The motion controller according to claim 1, claim 2, or claim 3. 5. A means for determining a position movement pattern of the processing tool by inputting a ratio of an acceleration / deceleration operation range to a movement range and a ratio of a return movement range to a movement range. The motion controller according to claim 2 or claim 3. 6. A means for determining a movement pattern of the processing tool by inputting a ratio of an acceleration / deceleration operation range to a movement range of the processing tool and a return movement feed rate. The motion controller according to claim 2 or claim 3. 7. The device according to claim 1, further comprising means for determining a movement pattern of the processing tool by inputting a ratio of a processing operation range to a movement range of the processing tool and a return operation feed rate. The motion controller according to claim 2 or claim 3. 8. When a phase shift occurs between the master position signal and the slave position signal synchronized with the master position signal during the synchronous operation by the electronic cam function which performs the control operation by the slave position signal synchronized with the master position signal, 4. A re-operation by an electronic cam function is made possible, comprising means for calculating an error signal between a synchronous position of a slave position signal corresponding to a master position signal and a current position, and means for moving the slave position to the synchronous position. Motion controller. 9. If a phase shift occurs between the master position signal and the slave position signal synchronized with the master position signal during the synchronous operation by the electronic cam function that controls by the slave position signal synchronized with the master position signal, the slave Equipped with means for calculating the virtual master position signal corresponding to the current value of the position signal, means for moving the virtual master position to the actual master position, and moving the slave position to a position synchronized with the actual master position. The motion controller according to claim 3, which is operable. 10. If a phase shift occurs between the master position signal and the slave position signal synchronized with the master position signal during the synchronous operation by the electronic cam function that controls by the slave position signal synchronized with the master position signal, the slave Means for calculating a virtual master position signal corresponding to the current position value,
4. The motion controller according to claim 3, further comprising means for resuming control operation of the slave position when the actual master position is moved and coincides with the virtual master position to enable re-operation by the electronic cam function. 11. A means for moving to the end of the nearest stroke when the slave position exceeds a predetermined stroke during a synchronous operation by an electronic cam function of performing a control operation by a slave position signal synchronized with the master position signal,
4. The motion controller according to claim 3, further comprising means for determining a virtual master position corresponding to a stroke end, and enabling re-operation by an electronic cam function. 12. In a machining operation in which a machining tool is moved following the movement of a workpiece in accordance with program information created in NC language, the operation is stopped until the condition of a signal designated in the program information satisfies a condition. The motion controller according to claim 1, 2 or 3, further comprising: