JPH0337702A - Numerical controller - Google Patents

Abstract

PURPOSE:To prevent contacting between first and second mobile parts due to misinput by providing an area data changing part which adds or subtracts the movable range of the second mobile part by movement command data of the first mobile part outputted from an interpolating part and adds or subtracts that of the first mobile part by movement command data of the second mobile part. CONSTITUTION:An area data changing part 4 uses common operation area data and relative position data of first and second mobile parts 11 and 12 and machine position data after movement of the second mobile part 12 for the first mobile part 11 to obtain and output the movable range of the first mobile part 11 to an area check part 5, and machine position data after movement of the first mobile part 12 for the second mobile part 11 is used to obtain and output the movable range of the second mobile part 11 to an area check part 6. When machine position data after movement are on the outside of movable ranges of first and second mobile parts 11 and 12, area check parts 5 and 6 do not output movement command data of first and second mobile parts 11 and 12 to motor control parts 7 and 8 and perform a prescribed alarm operation. Thus, contacting between first and second mobile parts 11 and 12 due to misinput is prevented.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention relates to a numerical control device, particularly a numerical control device having a common operating area.
The present invention relates to a numerical control device that performs operating range control to prevent two mutually independent movable parts from coming into contact with each other.

[Conventional technology]

A conventional numerical control device will be described in detail with reference to the drawings.

FIG. 5 is a block diagram showing an example of a conventional numerical control device.

The numerical control device shown in FIG. 5 has a first movable part 11. The movable range of the second movable part 12 is input to the data input part 1, and is stored in the area check part 5 for the first movable part and the area check part 6 for the second movable part.

Here, since the movement range of one movable part is more limited than the movement of the other movable part, the operator inputs the movable range of the other movable part into the machine program.

Further, based on the positioning data and feed rate input by the data input section 1, the data processing section 2 creates a positioning movement amount and outputs it to the interpolation section 203.

The interpolation unit 203 inputs the positioning input amount and outputs the positioning input amount to the first movable unit 11.
．． Movement command data for the second movable part 12 is created.

The area check unit 5.6 adds the respective movement command data and the current machine position data, obtains the machine position data after the movement of each movable part, and compares it with the previously stored movable range, If it is within the movable range, it outputs each movement command to the motor control unit 7.8, and if it is outside the movable range, it outputs a predetermined alarm without outputting each movement command to the motor control unit 7.8. control.

[Problem to be solved by the invention]

In the conventional numerical control device described above, the movement range of one movable part is limited by the operation of the other movable part, and the range of motion of the other movable part is changed by the operator inputting it into the control program. There was a drawback that there was a risk that the movable part and the second movable part would come into contact.

Also, if one of the movable parts is stopped or a feed rate change command is given during operation, the movable range by the Kani program will no longer be normal, so if one of the movable parts is stopped during operation,
The drawback was that the feed speed could not be changed.

[Means to solve the problem]

The numerical control device of the present invention has mutually independent orthogonal first
A movable part and a second movable part control a machine having a common operating area, and the first movable part, first and second area checking parts for the second movable part, a motor control part, a motor part, and the first movable part and the second movable part, a data input section common to the first movable section and the second movable section; a data processing section;
In a numerical control device having an interpolation section, the first movable section is moved by movement command data of the first movable section outputted from the interpolation section in order to perform operation control to prevent contact between the first movable section and the second movable section. and an area data changing unit that changes the movable area data of the second movable part and changes the movable area data of the first movable part based on the movement command data of the second movable part output from the interpolation part. .

〔Example〕

Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing one embodiment of the present invention.

The numerical control device shown in FIG. 1 includes mutually independent orthogonal first movable parts 11. The second movable part 12 controls a machine having a common operating area, and the first and second area checking parts 5, 6 . motor control section 7,
8. A motor section 9.10 and a first movable section 11. Data input section 1 common to the second movable section 12. Data processing unit 2. In a numerical control device having an interpolation section 3, the first movable section 11 is moved according to movement command data of the first movable section 11 output from the interpolation section 3 in order to perform operation control to prevent contact between the first movable section 11 and the second movable section 12. 2 change the movable area data of the movable section 12 and interpolate the interpolation section 3.
The area data changing unit 4 changes the movable area data of the first movable part 11 based on the movement command data of the second movable part 12 outputted from the moving part 12.

The data input section 1 includes positioning data, feed speed data,
Common area data of the first movable part 11 and second movable part 12, relative position data of the first movable part 11 and second movable part 12, movable range parameters for selecting a movable area changing method, etc. are input.

The data processing unit 2 creates a positioning movement amount and outputs it to the interpolation unit 3, and generates the common movement area data, relative position data, movement range parameters of the first movable part 11 and the second movable part 12, and the first
The movable area data of the movable part 11 and the second movable part 12 is output to the area data changing part 4.

The interpolation unit 3 converts the positioning movement amount into movement command data corresponding to the movement amount of the machine, and outputs it to the area data change unit 4.

The area data changing section 4 includes the first movable section 11. Second movable part 1
2. Output each movement command data to the area check parts 5 and 6, add the current machine position data, calculate the machine position data after movement based on the movement position command data, and output the area check part 5.6. do.

The area data changing unit 4 also changes the common movement area data and relative position data of the first movable part 11 and the second movable part 12 to the first movable part 11 according to the movable area calculation method determined by the movable area parameters. calculates the movable range of the first movable part 11 using the machine position data after the movement of the second movable part 12 and outputs it to the area checking part 5. Similarly, for the second movable part 11, the first movable part 12 Using the machine position data after movement, the movable range of the second movable part 11 is determined and outputted to the area checking part 6.

The area check section 5.6 determines whether the machine position data after movement is within or outside the movable range of the first movable section 11 and the second movable section 12.

If it is within the movable range, movement command data for the first movable section 11 and the second movable section 12 is output to the motor control sections 7 and 8.

If it is within the movable range, the movement command data for the first movable section 11 and the second movable section 12 is not output to the motor control sections 7 and 8, and a predetermined alarm operation is performed.

FIGS. 2(a) and 2(b) are a perspective view and a top view showing details of the first movable part 11 and the second movable part 12 shown in FIG. 1.

The first movable part 11 and the second movable part 12 operate asynchronously, and when one of the movable parts is located in the common operation area of the first movable part 1t and the second movable part 12, the other movable part It is necessary to restrict the movement of the parts so that they do not come into contact with each other.

The operation restriction method is based on the first movable part 11 and the second movable part 12.
It can be divided into two types depending on the mechanical structure.

The first method is to use the horizontal arm section 30 of the first movable section 11.
2 and the horizontal arm part 305 of the second movable part 12 move under the vertical arm 303 of the first movable part 11 and the vertical arm 306 of the second movable part 12, respectively, or the arm part 303.306 is the arm part 302
, 305, and is called a parallel type.

The second method is when arm section 302 moves below arm section 3.3 and arm section 306 moves above arm section 305, or when arm section 303 moves above arm section 3.2 and arm section 305.
moves under the arm portion 306, and this is called a counter-moving type.

Figure 3 shows the fourth part on the top surface to explain the movable range of the parallel displacement type.
The figure is a top view illustrating the movable range of the counter-moving type.

The origin of the first movable part 11 and the second movable part 12 is 01 and 02 + the horizontal axis is Xl and X2 + the vertical axis is Y
l and Y2, X: The movable range in the direction is X1m and X2. , the movable range in the Y direction is Yl, and Y 2 ++
i+The relative positions of the first movable part 11 and the second movable part 12 are assumed to be X and Y.

When the area data changing unit 4 is supplied with movement command data for the first movable part 11 and movement command data for the second movable part 12 from the interpolation part 3, the area data changing part 4 changes the first movable part 11 and the second movable part 12.
The machine position data after the movement of the first movable part 11 is added. ”, Yl, - and machine position data X2 after the movement of the second movable part 12 is completed
．． ”, Y2.- is calculated.

The area data changing unit 4 further determines whether the machine position data after the movement of the first movable part 11 and the second movable part 12 is inside or outside the common operation area 309.

The condition that the first movable part 11 is inside the common operation area 309 is as follows: X-X2. ≦1xtn-+≦X+-(1)Y-Y2 a
≦ IY 1. -l≦Yl-(2>The conditions that the second movable part 12 is inside the common operation area 309 are: x-x1wa≦l X211-1≦X2.
3)Y-Y,,,≦1Y2n-1≦Y2- (4
) The second movable part 1 when the mechanical position data of the first movable part 11 is outside the common operation area 309 as a result of the judgment process.
If the width of the arm is ignored, the movable range of 2 is O≦Moveable range in the X direction of the second movable part≦X2− (5) O
≦Movable range in the Y direction of the second movable portion≦Y2-(6) When the mechanical position data of the second movable portion 12 is outside the common operation area 309, the movable range of the first movable portion 11 is the width of the arm. If ignored, O≦movement range in the X direction of the first movable part≦X1
- (7) 0≦Moving range in the Y direction of the first movable part≦Yl-
(8).

If the machine position data after the movement of the first movable part 11 and the second movable part 12 is inside the common movement area 309, the calculation method of the movable range is different between the parallel movement type and the counter movement type, and the method of calculating the movement range is different in the present invention. The movable range calculation method can be selected using the movable range parameter.

In the case of the parallel movement type, the movable range 401 of the second movable part 12 when the machine position data after the movement of the first movable part 11 is located at a point P inside the common motion area 309 is the width of the arm. If ignored, 0≦movement range in the X direction of the second movable part≦X
2- (9) O≦Moving range in the Y direction of the second movable part≦Y
YIP(10) However, Y and P are Yl on-wheel axis position data when the second movable portion 12 is at point P.

Similarly, the machine position data after the movement of the second movable part 12 is
Ignoring the width of the arm, the movable range 402 of the first movable part 12 when located at the point P inside the common motion area 309 is as follows: 0≦Movable range in the X direction of the first movable part≦X1ffi (11> O ≦Movable range in the Y direction of the first movable portion≦Y−Y2p (12>) However, Y2P is position data on the Y2 axis when the second movable portion 12 is at the point P.

In the case of the counter-moving type, when the machine position data after the movement of the first movable part 11 is located at a point P inside the common motion area 309, the movable range 501 of the second movable part 12 is the width of the arm. If ignored, 0≦movement range in the X direction of the second movable portion≦x
−x 1 m (13> 0 ≦ movable range in the Y direction of the second movable part ≦ Y2° (14), and similarly, the machine position data after the movement of the second movable part 11 is within the common operation area 309. The movable range 502 of the first movable part 11 when located at point P is, if the width of the arm is ignored, O≦Moveable range in the X direction of the first movable part≦X-X2° (15) 0≦Second movable The movable range in the Y direction ≦Y.

(16) The region data changing section 4 outputs the respective movable ranges of the first movable section 11 and the second movable section 12 obtained from equations (1) to (16) to the region checking sections 5 and 6, and changes them. .

The area checking unit 5.6 performs area checking processing on the movable range changed by the area data changing unit 4.

As described above, the operation can be restricted so that the movable parts do not come into contact with each other.

In addition, in equations (5> to (16)), the first movable part 11
When considering the arm width of the second movable part 12, the relative position data X of the first movable part 11 and the second movable part 12
, Y by subtracting the correction amount for the arm width in advance as the relative position data X, Y.

〔Effect of the invention〕

The numerical control device of the present invention adds or subtracts the movable range of the second movable part based on the movement command data of the first movable part output from the interpolation part, and also calculates the movement range of the second movable part based on the movement command data of the second movable part.
By providing an area data changing unit that adds or subtracts the movable range of the first movable part, the operator does not have to intervene to change the movable range, thereby reducing the risk of the first movable part and the second movable part coming into contact due to operator error. It has the effect of disappearing.

In addition, since the area data changing unit always changes the movable range of the first movable part and the second movable part to the normal range, the effect is that one movable part can be stopped and the feed speed can be changed during operation. There is.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing one embodiment of the present invention, and FIG. 2 (
a) and (b) are the first movable part 11 and the second movable part shown in FIG.
A perspective view and a top view showing the details of the movable part 12, FIG. 3 is a top view explaining the movable range of the parallel movement type, FIG. 4 is a top view explaining the movable range of the counter-movement type, and FIG. It is a block diagram showing an example. 1... Data input section, 2... Data processing section, 3... Interpolation section, 4... Area data changing section, 5.6... ...Area check section, 7, 8
...Motor control section, 9.10...Motor section, 11...First movable section, 12...
Second movable part.

Claims (1)

[Claims] A first movable part and a second movable part that are orthogonal to each other independently of each other control a machine having a common operating area, and the first movable part and the second movable part
Numerical control comprising first and second area check sections for a movable section, a motor control section, a motor section, and a data input section, a data processing section, and an interpolation section common to the first movable section and the second movable section. In the apparatus, movable area data of the second movable part is determined by movement command data of the first movable part output from the interpolation part in order to perform operation control to prevent contact between the first movable part and the second movable part. and a region data changing section that changes movable region data of the first movable section based on movement command data of the second movable section that is output from the interpolation section.