JPH04260105A - Motion controller - Google Patents

Abstract

PURPOSE:To smoothly execute the control operation by executing immediately the next block instruction by setting a command position as a start point position after interpolation of each axis without generating deceleration stop command data, when a skip signal is inputted from a sensor. CONSTITUTION:A machine control part 3A outputs a selecting signal to selection control parts 11A and 11B, based on selection data of an interpolator contained in axis control data. An interpolator 5A executes interpolation control by setting a composite speed of a complement axis as a feeding speed. An interpolator 5B executes interpolation control by setting a speed of one designated axis as a feeding speed, in the case of executing simultaneously the control of plural axes. A selection control part 11A selects one of the interpolator 5A or 5B, based on a selection control signal and supplies an output signal from the machine control part 3A to an input of the selected interpolator. A selection control part 11B supplies an interpolation output signal of each axis outputted from the selected interpolator to serve-controllers 6a and 6b, respectively.

Description

[Detailed description of the invention]

0001

[Field of Industrial Application] This invention relates to a motion controller that performs simultaneous interpolation control of multiple axes, and also relates to a motion controller that uses a skip command to stop a currently executing block command and uses the next block command to perform position control of multiple axes. It is related to.

0002

2. Description of the Related Art FIG. 7 is a block diagram showing a multi-axis interpolation control function of a conventional motion controller. In the figure, 1 is a motion program, and 2 is a program processing section, which reads the motion program 1, decodes the contents, and creates control command data. Reference numeral 3 denotes a machine control unit, which controls the start and stop of the system based on control signals from the machine interface 4, and creates axis control data and machine sequence control data based on control command data created by the program processing unit 2. 4 is a machine interface, which outputs machine sequence control data to the outside and inputs an external control signal to the machine control section 3; Reference numeral 5 denotes an interpolator, which distributes interpolation commands to each of a plurality of axes based on axis control data input from the machine control section 3. 6a,
A servo controller 6b controls the rotation of the servo motors 7a and 7b based on control data for each axis inputted from the interpolator 5. 8a and 8b are servo motors 7a
, 7b, for example rotary encoders. 9 is a controlled machine controlled by the servo motors 7a and 7b, and 10 is an operation panel connected to the machine interface 4 to operate the controlled machine 9.

FIG. 2 is a diagram showing an example of a program for a motion controller, and the portion indicated by P1 in the diagram is an example of a conventional interpolation control program. (The part indicated by P2 in the figure is an example of the interpolation control program according to the first invention, and this part will be explained in the embodiment.) Also, FIG. 8 is a functional explanatory diagram of the interpolator of the conventional device. The operation of FIG. 7 will be described below with reference to the P1 section of FIG. 2 and FIG. 8.

The program processing section 2 in FIG. 7 reads the motion program 1, decodes its contents, creates control command data, and supplies it to the machine control section 3. When the machine control unit 3 is instructed to start the system from the machine interface 4, it creates axis control data and machine sequence control data based on the control command data input from the program processing unit 3, and the axis control data is sent to the interpolator. 5 and machine sequence control data to machine interface 4. A conventional motion controller has a single interpolator 5 built-in, and this interpolator 5 performs interpolation control of a plurality of axes at the same time.

In FIG. 8, as axis control data, an X-axis movement amount x, a Y-axis movement amount y, a combined movement amount L of the X-axis and Y-axis, and a feed rate F are supplied to the interpolator 5. Here, a specific numerical example of the axis control data is G01X100. Y150. F1
000; represents an X-axis movement amount of 100 mm, a Y-axis movement amount of 150 mm, and a feed rate of 1000 mm/min. Further, the feed rate in this case indicates the velocity of the composite vector of the X-axis and the Y-axis (composite velocity).

The interpolator 5 calculates the feed rate ΔF, per unit time Δt (unit: second) based on the input axis control data.
The X-axis interpolation output ΔXt and the Y-axis interpolation output ΔYt are calculated using the following equations (1) to (3). Here * is a multiplication symbol. ΔF=F*1/60*Δt
...(1) ΔXt=ΔF*x/L
...(2) ΔYt=Δ
F*y/L
...(3)

[0007] Interpolated outputs ΔXt and ΔYt of the X-axis and Y-axis calculated by the above equations (2) and (3)
are supplied from the interpolator 5 to the servo controllers 6a and 6b, respectively, every unit time Δt. Therefore, the control data for each axis is distributed so that the feed rate F becomes the composite speed of each axis. When the block instructions of the program example shown in P1 of FIG.
m/min. If the feed speed commands are the same, the combined speed is controlled to be constant even if the feed direction or distance of each axis changes.

FIG. 9 is a block diagram showing the skip control function of a conventional motion controller. In the figure, 31 is a motion controller, and the following 32,
34, 36a, 36b, 38a, and 38b. 32 is a program stored in advance in the motion controller 31, 33 is command data for one block of the program 31 (hereinafter referred to as a block command), and 34 is an interpolator that processes the block command 33 and calculates the amount of movement of each axis per unit time. Processing units 35a and 35b respectively represent the amount of movement per unit time of each axis outputted by the interpolation processing unit 34 (hereinafter referred to as post-interpolation command speed data), and processing units 36a and 36b represent processing of the post-interpolation command speed data 35a and 35b, respectively. Acceleration/deceleration processing units 37a and 37b are for outputting steep changes during deceleration to the servo system as smooth speed changes, and 37a and 37b represent the amount of movement per unit time after acceleration/deceleration processed by acceleration/deceleration processing units 36a and 36b, respectively. (hereinafter referred to as post-acceleration/deceleration command speed data), 38a, 38b are post-acceleration/deceleration command position data generation units that integrate post-acceleration/deceleration command speed data 37a, 37b, respectively, to generate command position data for each axis. Reference numerals 39a and 39b are servo processing units for each axis, which control the servo motors according to the post-acceleration/deceleration command position data 40a, 40b supplied from the post-acceleration/deceleration command position data generation units 38a, 38b for each axis, thereby controlling the machine to be controlled. Control. The post-acceleration/deceleration command position data 40a, 40b is also fed back to the interpolation processing unit 34. Reference numeral 41 indicates a sensor provided externally for performing skip control, and reference numeral 42 indicates a sensor signal (skip command signal) output from the sensor 41.

FIG. 10 is a waveform diagram illustrating the skip control operation of FIG. 9. The vertical axis of the figure represents the on or off state of the sensor signal 42, and the command speed data 35a or 35 after interpolation.
b represents the command speed data 37a or 37b after acceleration/deceleration, and all horizontal axes represent time. The solid line of each waveform shows the waveform when the sensor signal 42 changes from off to on at a certain time Tx (approximately the center of the horizontal axis), and the broken line of each waveform shows the waveform when the sensor signal 42 continues to be off after the above time Tx. The waveforms for each case are shown. Further, in the figure, ts represents acceleration/deceleration time in the acceleration/deceleration processing sections 36a, 36b.

The operation of FIG. 9 will be explained with reference to FIG. The interpolation processing unit 34 in FIG. 9 reads the skip control block command from the program 32, performs the arithmetic processing described in FIG. 8, and outputs post-interpolated command speed data 35a, 35b for each axis. Here, the skip control block command means that when the sensor signal 42 changes from an off state to an on state, the skip control block command currently being executed is stopped, the next block command is called from the program 32, and this is executed. It is something to be carried out. The interpolated command speed data 35a, 35b output from the interpolation processing section 34 are processed by the acceleration/deceleration processing section 36a,
As shown in FIG. 10, the acceleration/deceleration process of 36b converts the data into smooth command velocity data 37a, 37b after acceleration/deceleration, and supplies the data to command position data generators 38a, 38b. Post-acceleration/deceleration command position data generation units 38a, 38b
generates post-acceleration/deceleration command position data by integrating the post-acceleration/deceleration command speed data 37a, 37b, respectively, and supplies the data to the servo processing units 39a, 39b. Servo processing section 39a, 3
Reference numeral 9b drives a servo motor (not shown) to control the mechanical system. Here, the acceleration/deceleration time ts processed by the acceleration/deceleration processing units 36a, 36b is determined in advance by parameters.

At a certain time Tx during the execution of the skip control block command shown in FIG.
2 is turned on, the interpolated command speed data 35a, 35
b immediately becomes zero, but the command speed data 37 after acceleration/deceleration
Since a and 37b are decelerated by a predetermined speed change by the deceleration processing of the acceleration/deceleration processing units 36a and 36b, they become zero after the acceleration/deceleration time ts has elapsed, and the block command of the skip control ends. Then, the post-acceleration/deceleration command position data 40a, 40b of each axis at this time is used as the starting point position data of the next block command, the next block command is read from the program 32, and the operation according to the next program is continued.

0012

[Problem to be Solved by the Invention] However, in the conventional motion controller described above that performs interpolation control of multiple axes at the same time, the feed rate commanded as axis control data is always controlled as the speed in the movement direction that is the composite of multiple axes. Therefore, it is difficult to apply this method to machines where one of the multiple axes must always be moved at a constant speed in simultaneous control of multiple axes. Therefore, when creating a program for performing interpolation calculations, there is a problem in that the feed speed must be determined by back calculating a composite speed that makes the speed of a specific axis constant, and then the program must be created.

The first invention was made to solve this problem, and when performing simultaneous interpolation control of multiple axes, it is possible to perform interpolation such that the feed speed of a specific axis becomes the speed specified by the program. The purpose is to obtain a motion controller that can perform control.

Furthermore, in the conventional motion controller that performs skip control as described above, the skip control block command is decelerated and temporarily stopped by inputting a skip signal from the sensor, and then the next block command is executed. , there are problems in that it takes time to move from the currently executed block instruction to the next block instruction, and at the same time, continuous and smooth control cannot be achieved by skip control.

This second invention was made to solve this problem, and when a skip signal is input from the sensor, the skip control block command currently being executed is stopped, and the next block command is immediately executed. It is an object of the present invention to provide a motion controller that performs skip control that allows continuous and smooth control operations even during the transition period.

[0016]

[Means for Solving the Problems] A motion controller according to the first invention sequentially reads motion control commands, decodes the commands, and generates motion control data necessary for coordinate position control of a plurality of axes. and calculating and outputting interpolated output data for each of the plurality of axes so that the feed speed data value generated from the mosi control data generation means is equal to a composite speed data value obtained by combining the moving speeds of the plurality of axes. A first interpolator and a feed rate data value generated from the motion control data generating means are set as the movement rate data value of one axis specified from the plurality of axes, and the other axes are set to the one specified axis. a second interpolator that calculates and outputs the interpolation output data of each of the plurality of axes so that the movement speed data value is proportional to the ratio of the movement amount between the motion control data generation means; Motion control data that selects either the first interpolator or the second interpolator based on interpolator selection data, and outputs from the motion control data generation means to the input of the selected interpolator. and interpolator selection control means for supplying interpolation output data for each of the plurality of axes output from the selected interpolator to a servo controller for each corresponding axis.

The motion controller according to the second invention sequentially reads motion control block commands, decodes them, generates motion control data required for coordinate position control of a plurality of axes, and controls each of the plurality of axes based on the data. motion control interpolation processing means for performing interpolation calculations and outputting post-interpolated command speed data for each of the plurality of axes; and acceleration/deceleration processing for the interpolated command speed data for each of the plurality of axes output from the motion control interpolation processing means. and a post-acceleration/deceleration command position data generating means for generating post-acceleration/deceleration command position data by integrating the speed data of each axis after the acceleration/deceleration processing, and supplying the data to the corresponding servo controllers of each of the plurality of axes. , generating post-interpolated command position data by integrating the post-interpolated command speed data of each of the plural axes output from the motion control interpolation processing means, and supplying the data to the motion control interpolation processing means; means, and aborting the currently executing block instruction;
a sensor that supplies the motion control interpolation processing means with a skip signal that instructs execution of the next block command; and when the motion control interpolation processing means receives the skip signal from the sensor, is not generated, and the post-interpolation command position data of each of the multiple axes supplied from the post-interpolation command position data generation means at that point is used as the start point position data of the next block command, and the command position data of each of the multiple axes based on the next block command is It includes a skip control means that performs interpolation calculations and continuously outputs interpolated command speed data for each of a plurality of axes.

[0018]

[Operation] In the first invention, the motion control data generation means sequentially reads motion control commands, decodes them, and generates motion control data required for coordinate position control of a plurality of axes. 1st
The interpolator calculates and outputs the interpolated output data of each of the plurality of axes so that the feed speed data value generated from the motion control data generation means is equal to the composite speed data value obtained by combining the moving speeds of the plurality of axes. do. A second interpolator uses the feed rate data value generated by the motion control data generating means as the movement rate data value of one specified axis among the plurality of axes, and sets the other axes as the moving speed data value of the specified one axis. The interpolated output data of each of the plurality of axes is calculated and output so that the moving speed data value is proportional to the ratio of the moving amount between them. The interpolator selection control means selects either the first interpolator or the second interpolator based on the interpolator selection data generated from the motion control data generation means, and selects the selected interpolator. supplying the motion control data output from the motion control data generation means to the input of the input unit, and supplying the interpolated output data of each of the plurality of axes output from the selected interpolator to the servo controller of each corresponding axis. do.

In this second invention, the motion control interpolation processing means sequentially reads motion control block commands, decodes them, generates motion control data required for coordinate position control of a plurality of axes, and performs motion control data based on the data. Interpolation calculations are performed for each of the plurality of axes, and interpolated command speed data for each of the plurality of axes is output. The post-acceleration/deceleration command position data generation means accelerates/decelerates the post-interpolation command speed data of each of the plural axes output from the motion control interpolation processing means, and generates an acceleration obtained by integrating each axis speed data after the acceleration/deceleration processing. Post-deceleration command position data is generated, and the data is supplied to the servo controllers of the corresponding multiple axes. The post-interpolation command position data generation means generates post-interpolation command position data by integrating the post-interpolation command speed data of each of the plural axes output from the motion control interpolation processing means, and supplies the data to the motion control interpolation processing means. do. The sensor supplies a skip signal to the motion control interpolation processing means to abort the currently executing block command and instruct execution of the next block command. Further, when the skip control means included in the motion control interpolation processing means receives a skip signal from the sensor,
Without generating deceleration and stop command data, the command position data after interpolation for each of the multiple axes supplied from the post-interpolation command position data generation means at that point is used as the start point position data of the next block command, and the command is based on the next block command. Performs interpolation calculations for each of the multiple axes and continuously outputs the interpolated command speed data for each of the multiple axes.

[0020]

[Embodiment] FIG. 1 is a block diagram showing an embodiment of a motion controller according to the first invention.
4, 6a, 6b, 7a, 7b, 8a, 8b, 9 and 10
is the same as the conventional device shown in FIG. 3A is a machine control unit of the present invention, which, in addition to the conventional operation, performs a selection control unit 11 based on the interpolator selection data included in the axis control data.
A selection signal is output to A and 11B. 5A is a #1 interpolator, which is a conventional interpolator that performs interpolation control using the composite speed of a plurality of axes as the feed speed. 5B is a #2 interpolator according to the present invention, and is an interpolator that performs interpolation control in which the speed of one specified axis is used as the feed speed when controlling a plurality of axes at the same time. 11A is based on the selection control signal, #
A selection control section 11B that selects either the #1 interpolator 5A or the #2 interpolator 5B and supplies the output signal from the machine control section 3A to the input of the selected interpolator also receives the selection control signal. Based on #1 interpolator 5A or #2 interpolator 5
This is a selection control unit that selects either one of B and supplies interpolation output signals of each axis output from the selected interpolator to the servo controllers 6a and 6b, respectively.

The part indicated by P2 in FIG. 2 is an example of an interpolation control program for specifying the feed rate of a specific axis according to the first invention. In the part indicated by P2, the G code is expressed as a two-digit number, the upper digit number indicates the interpolation method (for example, 1 is linear interpolation, 2 and 3 are circular interpolation, etc.), and the lower digit number indicates the feed rate. This indicates the designation of a specific axis (for example, 1 is the first axis, 2 is the second axis, etc.).

FIG. 3 is a functional explanatory diagram of an interpolator for specifying the feed rate of a specific axis according to the first invention. In FIG. 3, the axis control data created by the machine control unit 3A includes, in addition to the conventional X-axis movement amount x, Y-axis movement amount y, combined movement amount L of the X-axis and Y-axis, and feed rate F. A specific axis flag An is included. Here, the specific axis flag An is obtained by decoding the number of lower digits of the two-digit G code to obtain 1-bit flag information corresponding to each axis. In Figure 3, a 4-bit specific axis flag can be set from the first axis to the fourth axis.
When the flag data is 0001, the first axis (for example, the X axis) is specified, and when the flag data is 0010, the second axis (for example, the Y axis) is specified. Further, if the flag data is 0000, no axis is specified, so the conventional interpolation control is performed. In this example, assuming that the X-axis feed rate is specified, #2
The operation of interpolator 5B will be explained.

#2 interpolator 5B calculates the feed rate ΔF, X-axis interpolation output ΔXt, and Y-axis interpolation output ΔYt per unit time Δt according to the following (1) and (4) based on the axis control data.
) and (5). Here * is a multiplication symbol. ΔF=F*1/60*Δt
...(1) Since the designated axis for the feed rate is the X-axis, ΔXt=ΔF
...(4) ΔYt=ΔF*y/
x...(
5) Also, if the specific axis flag specifies the Y axis, the following (6)
), (7) is obtained. ΔYt=ΔF
...(6) ΔXt=ΔF*x/y
…(7
) X-axis and Y-axis interpolation outputs ΔXt and ΔY calculated using equations (4) and (5) or equations (6) and (7) above
t is output from #2 interpolator 5B every unit time Δt,
The signal is supplied to the servo controllers 6a and 6b via the selection control section 11B. As a result, the servo motor 7a of the specific axis
Or 7b is determined by the feed rate specified in the program.
For the other axes, interpolation control is performed using a feed rate proportional to the ratio of the amount of movement to the specific axis.

FIG. 4 is a flowchart showing the interpolation control procedure according to the first invention. The operation of FIG. 1 will be explained with reference to FIG. Note that in the configuration of FIG. 1, the machine control section 3A, #1
Interpolator 5A, #2 interpolator 5B, selection control units 11A and 1
Only component 1B is different from the component equipment in FIG. 7, and the other equipment is the same as in FIG. 7, so a description of the operation of the same equipment will be omitted since it would be redundant.

In step S1 of FIG. 4, the machine control unit 3A creates axis control data based on the control command data from the program processing unit 2, and specifies whether the speed of a specific axis is specified by the specific axis flag An in this axis control data. determine whether If the result of this determination is NO, the conventional interpolation control is performed, so the machine control section 3A controls the selection control sections 11A and 11B to select the #1 interpolator 5A in step S2. Further, if the determination result is YES, in step S3, the selection control units 11A and 11B select #2.
The interpolator 5B is controlled to be selected.

When the #1 interpolator 5A is selected, the axis control data is read in step S4, and the feed rate ΔF per unit time is calculated in step S5 using the equations (1), (2), and (3). , X-axis interpolation output ΔXt and Y
The interpolation output ΔYt of the axis is calculated, and the ΔXt and ΔYt are output in step S6.

When #2 interpolator 5B is selected, it reads the axis control data in step S7, and determines the number of the specific axis in step S8. If the determination result is the X-axis, the #2 interpolator 5B performs the above (1),
(4) and (5), feed rate ΔF per unit time, X-axis interpolation output ΔXt, and Y-axis interpolation output ΔY
t is calculated, and in step S11, the ΔXt and Δ
Output Yt. Further, if the determination result in step S8 is the Y-axis, the #2 interpolator 5B calculates the feed rate ΔF per unit time, the X-axis An interpolation output ΔXt and a Y-axis interpolation output ΔYt are calculated, and the ΔXt and ΔYt are output in step S11.

[0028] The interpolation outputs ΔXt and Δ of the X-axis and Y-axis
Yt is set to X every unit time Δt via the selection control unit 11B.
It is supplied to the axis and Y-axis servo controllers 6a and 6b, and the corresponding servo motors of each axis are controlled.

For example, if the first invention is applied to a motion controller for a machine that is equipped with a plurality of rotating axes and requires only a specific rotating axis to rotate continuously at a constant speed, it is possible to perform multiple rotations simply by commands from a program. The axes can be simultaneously controlled according to the desired rotational speed. In addition, in a control device that includes a conveyor drive, when one axis controls the drive of the conveyor and the other axis simultaneously controls the processing of articles on the conveyor, the speed of the conveyor is constant (therefore, the speed of the workpiece is also controlled). constant). Therefore, if the first invention is applied to a motion controller in such a case, the control device will have a simple configuration.

FIG. 5 is a block diagram showing an embodiment of the motion controller according to the second invention.
42 is the same as the conventional device shown in FIG. 31A is a motion controller according to the second invention, in which, in addition to the conventional motion controller 31, post-interpolation command position data generation sections 43a and 43b are additionally provided. The post-interpolation command position data generation units 43a and 43b integrate the post-interpolation command speed data 35a and 35b, respectively, to generate post-interpolation command position data 44a and 44b, and supply the data to the interpolation processing unit 34. .

FIG. 6 is a waveform diagram illustrating the skip control operation of FIG. 5. In the figure, the vertical axis shows the ON or OFF state of the sensor signal 42, the command speed data after interpolation 35a or 35b, and the command speed data after acceleration/deceleration 37a or 37b, with respect to the passage of time on the horizontal axis. ts in FIG. 6 is acceleration/deceleration time, and the waveform in FIG. 6 corresponds to the case in FIG. 10 in the conventional device.

The operation of FIG. 5 will be explained with reference to FIG. The interpolation processing unit 34 in FIG. 5 reads the skip control block command from the program 32, and after the arithmetic processing described in FIG.
The interpolated command speed data 35a, 35b for each axis is output. The outputted interpolated command speed data 35a, 35b
are supplied to the acceleration/deceleration processing units 36a and 36b, and
It is also supplied to post-interpolation command position data generation units 43a and 43b. The acceleration/deceleration processing units 36a, 36b perform acceleration/deceleration processing on the interpolated command speed data 35a, 35b, and output the post-acceleration/deceleration command position data 40a, 40b to the servo processing unit via the post-acceleration/deceleration command position data generation units 38a, 38b, respectively. 39a,
39b.

On the other hand, the post-interpolation command position data generation section 43a
, 43b integrates the post-interpolation command speed data 35a, 35b to generate post-interpolation command position data, and supplies the data to the interpolation processing section 34.

When the sensor signal (skip command signal) 42 from the sensor 41 is turned on at a certain time Tx during the execution of the skip control block command shown in FIG. The block command is canceled, and at this time, the post-interpolation command position data generation unit 43a
, 43b for each axis after interpolation command position data 4
4a and 44b as the starting point position data of the next block instruction, read the next block instruction from the program 32, perform interpolation calculations for each axis based on this block instruction, and continuously execute interpolation control of the next block instruction. . In FIG. 6, when the sensor signal 42 is turned on from off, the interpolated command speed data 35a, 35b immediately becomes the command speed data value of the next block command, and the post-acceleration/deceleration command speed data 37a, 37b corresponds to the acceleration/deceleration time. A state in which the command speed data value after acceleration/deceleration of the next block command is reached after ts has elapsed is shown. Therefore, in the process of skipping from the previously executed block command to the next block command, the conventional process of once decelerating and stopping is eliminated, resulting in smooth control operation.

[0035]

As described above, according to the present invention, in a motion controller that performs simultaneous interpolation control of multiple axes, a first interpolator that performs interpolation control using a conventional feed rate as a composite speed of multiple axes; The motion controller is equipped with a second interpolator that performs interpolation control based on the speed of one specific axis, and the desired interpolator can be selected and used simply by commands from the program, expanding the scope of application of the motion controller. This has the effect of Furthermore, if the second interpolator according to the present invention is used, it is possible to control the rotational speed of a specific axis among a plurality of rotational axes to be constant, or to control the moving speed of the conveyor to be constant while simultaneously conveying the conveyor. This has the effect of making it easier to control the processing of the workpiece above.

Further, according to the present invention, in a motion controller that sequentially reads motion control block commands and performs simultaneous interpolation control of a plurality of axes, the motion control interpolation processing means is constantly supplied with post-interpolation command position data of each axis. When a skip signal is input from the sensor, the command immediately executes the next block command using the interpolated command position of each axis at that time as the starting point position of the next block command without generating deceleration and stop command data. As a result, smooth control operation is possible even in the skip process, and the time required for conventional deceleration and stop can be shortened.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of a motion controller according to the first invention.

FIG. 2 is a diagram showing an example of a program of a motion controller.

FIG. 3 is a functional explanatory diagram of an interpolator that specifies the feed rate of a specific axis according to the first invention.

FIG. 4 is a flowchart showing an interpolation control procedure according to the first invention.

FIG. 5 is a block diagram showing an embodiment of a motion controller according to the second invention.

FIG. 6 is a waveform diagram illustrating the skip control operation of FIG. 5;

FIG. 7 is a block diagram showing a multi-axis interpolation control function of a conventional motion controller.

FIG. 8 is a functional explanatory diagram of an interpolator of a conventional device.

FIG. 9 is a block diagram showing a skip control function of a conventional motion controller.

FIG. 10 is a waveform diagram illustrating the skip control operation of FIG. 9;

[Explanation of symbols]

1 Motion program 2 Program processing section 3, 3A Machine control section 4 Machine interface 5 Interpolator 5A #1 interpolator 5B #2 interpolator 6a, 6b Servo controller 7a, 7b Servo motor 8a, 8b Detector 9 Machine to be controlled 10 Operation Panels 31, 31A Motion controller 32 Program 33 Block command 34 Interpolation processing unit 35a, 35b Post-interpolation command speed data 36a, 36
b Acceleration/deceleration processing unit 37a, 37b Post-acceleration/deceleration command speed data 38a, 3
8b Post-acceleration/deceleration command position data generation unit 39a, 39b
Servo processing units 40a, 40b Command position data after acceleration/deceleration 41 Sensor 42 Sensor signal

Claims (2)

[Claims] 1. Motion control data generation means for sequentially reading motion control commands and decoding them to generate motion control data required for coordinate position control of a plurality of axes, and a feed rate generated from the motion control data generation means. a first interpolator that calculates and outputs interpolated output data of each of the plurality of axes so that the data value is equal to a composite speed data value obtained by combining the moving speeds of the plurality of axes, and a motion control data generation means the feed speed data value that is specified as the movement speed data value of one axis specified from the plurality of axes,
a second interpolator that calculates and outputs interpolated output data of each of the plurality of axes so that the other axes have a movement speed data value proportional to the ratio of the movement amount with the specified one axis; Based on the interpolator selection data generated from the motion control data generation means, either the first interpolator or the second interpolator is selected, and the motion control is applied to the input of the selected interpolator. Interpolator selection control means for supplying motion control data output from the data generation means and interpolation output data for each of the plurality of axes output from the selected interpolator to the servo controller for each corresponding axis. A motion controller characterized by comprising: 2. Sequentially reading motion control block commands, decoding them to generate motion control data required for coordinate position control of a plurality of axes, and performing interpolation calculations for each of the plurality of axes based on the data. A motion control interpolation processing means that outputs the interpolated command speed data of the axes, and a motion control interpolation processing means that performs acceleration/deceleration processing on the interpolated command speed data of each of the multiple axes output from the motion control interpolation processing means, and A post-acceleration/deceleration command position data generation means for generating post-acceleration/deceleration command position data by integrating each axis speed data and supplying the data to the corresponding servo controllers of each of the plurality of axes, and output from the motion control interpolation processing means. post-interpolation command position data generation means for generating post-interpolation command position data by integrating the post-interpolation command speed data of each of the plural axes, and supplying the data to the motion control interpolation processing means; and the block currently being executed. and a sensor that supplies the motion control interpolation processing means with a skip signal that instructs the motion control interpolation processing means to stop the command and execute the next block command, and when the motion control interpolation processing means receives the skip signal from the sensor, the motion control interpolation processing means: Without generating deceleration and stop command data, the command position data after interpolation for each of the multiple axes supplied from the post-interpolation command position data generation means at that point is used as the start point position data of the next block command, and the command is based on the next block command. A motion controller comprising a skip control means that performs interpolation calculations for each of a plurality of axes and continuously outputs post-interpolated command speed data for each of a plurality of axes.