JPH0686580A - Display method for servo wave - Google Patents

Abstract

PURPOSE:To provide a display method for a servo wave that can specify a trouble cause with ease, by storing the servo data before and after a servo alarm, and displaying servo data on a display unit. CONSTITUTION:A servo motor command means 1 gives an operation command to a servo motor 20a. A servo motor control means 2 generates servo data from the servo motor 20a. The servo motor control means 2 generates a servo error when something is wrong with the motor 20a. For a given time after the error occurs, the memory control means 3 stores servo data as a waveform data with time data of a timer 24 in a waveform data buffer 5. With given operation by an operator, the waveform data in the waveform data buffer 5 is shown on a display unit 16 through a display control means 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a servo waveform display system, and more particularly to a servo waveform display system for graphically displaying servo data measured from a servo motor.

[0002]

2. Description of the Related Art A machine tool equipped with a large number of numerical control devices has been introduced into a production line of a factory or the like to enable mass production of products. For example, several tens of machine tools equipped with a numerical control device are arranged in one production line corresponding to each of these product manufacturing processes. These dozens of numerical control devices are generally managed by one operator in the same time zone.

Therefore, when a servo alarm such as a spindle alarm due to tool breakage occurs in a certain machine tool, the operator first moves to the corresponding machine tool. Then, the operation of the servo motor is restarted after taking a measure for canceling the servo alarm such as replacement of the servo motor.

[0004]

However, even if a servo alarm occurs, it may not always be the case that the servo motor itself is abnormal. For example, even if an abnormality occurs in the servo amplifier that drives the servo motor, a servo alarm occurs. In this case, since normal servo motors and other parts may be replaced and discarded, valuable resources are wasted.

Even when the detection data for detecting the state of the servo motor is stored as servo data, it takes a considerable time for the operator to actually perform the stop operation. For this reason, there is a problem that the servo data before and after the occurrence of the servo alarm is lost, and the cause of the failure occurrence related to the servo motor cannot be specified later.

The present invention has been made in view of the above circumstances, and a servo waveform display system in which servo data before and after the occurrence of a servo alarm is stored and displayed on a display device so that the cause of failure can be easily specified. Is intended to be provided.

[0007]

In order to solve the above problems, the present invention provides a servo waveform display system for graphically displaying servo data measured from a servo motor, in which a speed command is issued to the servo motor based on a machining program or the like. And a servo motor command means for issuing an operation command such as a current command, and controlling the operation of the servo motor based on the operation command and outputting servo data detected from the servo motor, thereby causing an abnormality in the operation of the servo motor. When a servo error occurs, a servo motor control unit that outputs a servo error, a timer that outputs time data indicating the current date and time, and the servo data until the predetermined time is reached after the servo error occurs And storage control means for storing the waveform data in the waveform data buffer together with the time data. By a predetermined operation of the operator,
And a display control unit that displays the waveform data stored in the waveform data buffer on a display device.

[0008]

[Function] The servo motor command means issues an operation command to the servo motor, and the servo motor control means controls the operation of the servo motor and outputs the servo data detected from the servo motor, causing an abnormality in the operation of the servo motor. In that case, a servo error is output. The storage control means stores the servo data in the waveform data buffer as waveform data together with the time data from the timer until a predetermined time is reached after the servo error occurs. Then, the display control means displays the waveform data stored in the waveform data buffer on the display device according to a predetermined operation of the operator.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 2 is a block diagram showing the overall configuration of a numerical control device that implements the present invention.

The processor 11 controls the entire numerical controller according to the system program stored in the ROM 12. EPROM or EEPROM is used for the ROM 12. SRAM 13 is used as the RAM 13, and various data or input / output signals are stored therein. The non-volatile memory 14 uses a CMOS backed up by a battery (not shown), and stores waveform data, machining programs, macros, parameters, pitch error correction amount, tool correction amount, etc. to be retained even after the power is turned off. There is.

The graphic control circuit 15 converts the digital signal into a signal for display and gives it to the display device 16. A CRT or a liquid crystal display device is used as the display device 16. The display device 16 displays a shape, processing conditions, etc. when creating a processing program in an interactive form. The digital signal sent to the graphic control circuit 15 is a signal sent by the processor 11 executing the screen display processing program stored in the ROM 12 for the processing program stored in the non-volatile memory 14. The timer 24 keeps time and outputs it as time data.

The keyboard 17 is composed of a cursor key, a shape element key, a numerical key, etc., and is used to input necessary graphic data and processing data. The axis control circuit 18 receives the axis movement command from the processor 11 and outputs the axis command to the servo amplifier 19. Servo amplifier 1
In response to this movement command, 9 drives the servomotor 20a of the machine tool 20. These components are coupled to each other by a bus 21.

A PMC (Programmable Machine Controller) 22 receives a T function signal (tool selection command) and the like via the bus 21 when executing a machining program. Then, this signal is processed by the sequence program, a signal is output as an operation command, and the machine tool 20 is controlled.
Further, it receives a status signal from the machine tool 20, performs a sequence process, and transfers a necessary input signal to the processor 11 via the bus 21.

Further, the bus 21 is connected with a software key 23 whose function is changed by a system program or the like. The software key 23 is provided on the CRT / MDI panel 25 together with the display device 16 and the keyboard 17.

The input screen of the interactive data displayed on the display device 16 is stored in the ROM 12. On this interactive data input screen, the entire motion trajectory of the tool is displayed as a background animation when the machining program is created. Further, the work or data that can be set by the input screen is displayed on the display device 16 in a menu format. The item to be selected from the menu is selected by the software key 23 arranged at the bottom of the screen corresponding to the menu. Software key 2
The meaning of 3 changes for each screen. The waveform data and various data for dialogue are stored in the RAM 13 or the non-volatile memory 14.

The input data is processed by the processor 11 to create a machining program. The created program data is used by the display device 16 used interactively.
, The background animation is displayed sequentially. The machining program stored as a machining program in the non-volatile memory 14 is also executed during the machining simulation of the machine tool 20, and is displayed in the foreground animation.

FIG. 1 is an overall configuration diagram of the present invention. The servo waveform display system of the present invention includes a servo motor command means 1, a servo motor control means 2, a storage control means 3, a waveform data buffer 5, a display control means 6, an external output means 7, an external storage device 8, a display device 16, It is composed of a servo motor 20a and a timer 24.

The servo motor command means 1 issues an operation command such as a speed command and a current command to the servo motor 20a based on a machining program or the like. Servo motor control means 2
Controls the operation of the servo motor 20a based on the operation command output from the servo motor command means 1 and outputs servo data detected from the servo motor 20a. Further, the servo motor control means 2 outputs a servo error including information indicating details of the error when an abnormality occurs in the operation of the servo motor 20a.

The timer 24 outputs time data indicating the current date and time. After the servo error occurs, the storage control means 3 stores the servo data output from the servo motor control means 2 together with the time data output from the timer 24 in the waveform data buffer until the sampling time set in the parameter is reached. Store in 5. At this time, the data stored in the waveform data buffer 5 in a predetermined data format is hereinafter referred to as “waveform data”. The display control means 6 graphically displays the waveform data stored in the waveform data buffer 5 on the display device 16 by a predetermined operation of the operator. Hereinafter, the waveform displayed graphically on the display device 16 is referred to as a “servo waveform”.

Here, the waveform data buffer 5 corresponds to the non-volatile memory 14. The display control means 6 corresponds to the graphic control circuit 15 and displays the waveform data stored in the waveform data buffer 5 on the display device 16. The external output means 7 outputs the waveform data stored in the waveform data buffer 5 for storage in the external storage device 8 in response to a command from the operator. Here, the external storage device 8 is, for example, a floppy disk device, a hard disk device, and a line-connected personal computer or numerical control device.

The servo motor command means 1, the storage control means 3 and the external output means 7 are functions realized by the processor 11 executing the system program stored in the ROM 12 shown in FIG. Further, the servo motor control means 2 corresponds to the axis control circuit 18 and the servo amplifier 19 shown in FIG.

Next, the operation of the servo waveform display system of the present invention will be described. First, the operator calls the parameter setting screen by performing a predetermined operation. In this parameter setting screen, the sampling time, servo data number, data unit, etc. are set. Here, the sampling time is a time for storing the waveform data performed after a servo error occurs, and can be freely set up to the maximum sampling time such as "32 seconds". Also, the servo data number is the waveform data buffer 5
Of the servo data to be stored, the required data type is indicated by, for example, a two-digit number. The data unit is a coefficient that is multiplied according to the type of data indicated by the servo data number. After setting this parameter, sampling is automatically started and the waveform data is stored in the waveform data buffer 5.

After that, when a servo error occurs due to some cause, this servo error is generated by the servo motor control means 2.
Is notified to the storage control means 3. The storage control means 3 that has received the notification of the servo error acquires time data indicating the time at this point from the timer 24. Then, from the time when the notification of the servo error is received, the operation command, the servo data and the like are acquired until the sampling time set on the parameter setting screen is reached, and the waveform is continuously stored as waveform data. For example, the time when the notification of the servo error is received is "9.
If the sampling time set on the parameter setting screen is "10 seconds", then "9:00"
Continue to store waveform data until "10 minutes".

Then, if necessary, the operator can instruct the display control means 6 to display the waveform data stored in the waveform data buffer 5 on the display device 16 by performing a predetermined operation. If necessary, the external output means 7 can be instructed to output the waveform data stored in the waveform data buffer 5 to the external storage device 8.

In this way, when some trouble such as abnormal stop of the servo motor 20a occurs, the cause of the trouble can be identified in a short time. In addition, the external storage device 8
By analyzing the waveform data of each failure accumulated in the above, the failure factor can be comprehensively specified.

FIG. 3 is a schematic diagram showing the structure of the ring buffer. The waveform data output from the storage control means 3 in FIG. 1 is stored in the waveform data buffer 5. Figure 3
It is a figure showing an example of this waveform data buffer 5.

In the figure, the ring buffer 5a has 12
It is composed of individual elements E1 to E12, which are connected in an annular shape. When the waveform data is output from the storage control means 3, the first waveform data is stored in the element E1,
Subsequently, the elements E2, E3, ... Are stored in this order. Then, after the waveform data of the element E12 is saved, it is saved so as to overwrite the element E1 again. in this way,
Every time one waveform data is output from the storage control means 3, it is stored in each element in the clockwise order.

As described above, since the waveform data buffer 5 is composed of the ring buffer, the buffer management is facilitated, and the waveform data having a predetermined number of elements (12 in FIG. 3) can be always stored. Further, as will be described later, the display order of the waveform data can be easily changed by displaying the waveform data stored in the ring buffer 5a clockwise or counterclockwise in the display on the display device. In addition,
The number of elements of the ring buffer 5a is not limited to 12 shown in the figure, and can be configured from a predetermined number of elements according to the capacity of the nonvolatile memory 14 of FIG. 2, for example.

FIG. 4 is a diagram showing an example of the data format of the waveform data stored in the ring buffer. In the figure, waveform data 100 is a header 101, identification data 1
02, command measurement data 103, and time data 104.

The header 101 stores information for identifying the type of the waveform data 100. That is, FIG.
As shown in FIG. 3, three types of data, that is, an operation command, servo data and servo error, are sequentially input to the storage control means 3. The header 101 is data for identifying which of these three types of data.

The identification data 102 stores information for identifying the type of data that is classified more finely among the above three types of data. For example, the operation command corresponds to a command number such as a speed command and a current command. Similarly, in the servo data, it corresponds to a data classification number classified into a predetermined type such as actual speed, effective current, pulse distribution amount, error amount, and thermal simulation data.

The command measurement data 103 stores the above three types of actual data. For example, command data is stored as the operation command, and measurement data such as actual speed is stored as the servo data.

As the time data 104, the time of the input data, that is, the date and time is read from the timer 24 and stored. In this way, the three types of input data are classified, and the data and time data are classified into waveform data 100
Since it is stored in the waveform data buffer 5 as, the waveform can be easily displayed later on the display device 16 via the display control means 6. Therefore, it is possible to identify, from the shape of the waveform, which component has such a failure in a short time together with the cause thereof. The command measurement data 103 or the time data 104 may be omitted if necessary.

These header 101 and identification data 10
2, the four numerical data of the command measurement data 103 and the time data 104 are stored in the waveform data buffer 5 after being converted into the binary format by the storage control means 3, so that the occupancy of the non-volatile memory 14 can be suppressed. .

FIG. 5 is a diagram showing an example of parameter settings displayed on the display device. The display screen 16a is a screen displayed on the display device 16 of FIG. The operator calls the parameter setting screen on the display screen 16a by performing a predetermined operation. In this parameter setting screen, sampling time 51, servo data number 5
2 and the data unit 53 are set.

Here, the sampling time 51 is the time for storing the waveform data after the occurrence of the servo error, and can be freely set up to the maximum sampling time such as "32 seconds". When the time exceeding the maximum sampling time is set, the maximum sampling time is automatically set. Further, the servo data number 52 designates a necessary data type or the like of the servo data to be stored in the waveform data buffer 5 by a number. This number is, for example, a two-digit number, the upper digit designates the type of data, and the lower digit designates the unique number of the servomotor 20a provided for each axis. The data unit 53 is a coefficient that is multiplied according to the type of data indicated by the servo data number 52. That is, some of the measured servo data show minute numerical values, which may be difficult to understand even if the waveform is displayed as it is. It is data that makes the waveform easy to understand by multiplying an appropriate coefficient of such data.

To set these items, the cursor moving key provided on the keyboard 17 of FIG. 2 is used to move the cursor 16b to the screen position to be set, and the numerical keys are used to input numerical values. The figure shows that the sampling time 51 is set to 10000 [milliseconds], that is, 10 [seconds]. Further, the servo data number 52 is "4" which indicates the actual speed of the X-axis servo motor as channel 1.
“1” indicates that “31” indicating the effective current of the X-axis servomotor is set as the channel 2 respectively.
Furthermore, in the data unit 53, “100
The coefficient of “0” indicates that the coefficient of “10” is set for the channel 2.

Although two channels, channel 1 and channel 2, are set in the figure, two or more channels can be set if necessary. At this time, when the channel settings are spread over a plurality of screens, a desired screen can be displayed and set by pressing a screen designating key provided on the keyboard 17.

Thus, by setting the sampling time 51 as a parameter, the optimum time can be set when displaying the waveform according to the model of the servo motor 20a or the model of the machine tool, so that it is easier to perform. The cause of failure can be identified.

FIG. 6 is a diagram showing an example of waveform data displayed on the display device. The display screen 1 is the same as in FIG.
6a is a screen displayed on the display device 16 of FIG. In the figure, in addition to the speed command, the waveform data of the actual speed and the effective current set on the parameter setting screen of FIG. 5 are displayed graphically. It should be noted that a servo error occurs at time t61, and the storage of the waveform data is completed at time t62. The time interval between the time t61 and the time t62 is 10 [seconds] set by the sampling time in FIG.

In this way, the waveform data stored in the waveform data buffer 5 of FIG. 1 is graphically displayed on the display device 16 via the display control means 6, so that the cause of failure can be easily determined from the waveform before and after the occurrence of the servo error. Can be specified. Also, by displaying the waveform of the servo data such as the actual speed together with the waveform of the operation command such as the speed command on the same screen, it is possible to determine how the servo motor 20a operates in response to the operation command. It can be judged from the displayed waveform. The waveform shown in the figure is
This is a case where an excessive current alarm, which is one of the servo errors, occurs due to the high acceleration / deceleration frequency.

FIG. 7 is a flow chart showing the procedure for executing the servo waveform display method. In the figure, the number following S indicates a step number. Note that this flowchart is realized by the processor 11 of FIG. 2 executing the program of the storage control unit 3 included in the system program. [S1] Parameter setting is performed. That is, the parameter setting screen shown in FIG. 5 is displayed, and predetermined data such as sampling time is set. [S2] Sampling of servo data is started. That is, the storage control means 3 in FIG.
Start to get servo data from. [S3] Waveform data is stored. That is, the operation command output from the servo motor command means 1 of FIG. 1 and the servo data output from the servo motor control means 2 are created together with the time data output from the timer 24 into waveform data, and the waveform data buffer 5 is created. Remember. [S4] It is determined whether a servo alarm has occurred.
If a servo alarm is generated (YES), the current time is acquired from the timer 24 and then the process proceeds to step S5. If not (NO), the process returns to step S3. [S5] Similar to step S3, the waveform data is stored. [S6] It is determined whether or not the sampling time has elapsed. Specifically, if the time acquired from the timer 24 in step S4 is “9:00:00” and the sampling time set in step S1 is “10 seconds”,
It is determined whether or not "9:00:10" has elapsed. If the sampling time has elapsed (YES), the process proceeds to step S7, and if not (NO), the step S7.
Return to 5. [S7] Sampling of servo data is completed. That is, the storage control unit 3 ends the acquisition of the servo data from the servo motor control unit 2.

Therefore, the operation command output from the servo motor command means 1 and the servo data output from the servo motor control means 2 are stored in the waveform data buffer 5 as waveform data together with the time data output from the timer 24. After that, the display control means graphically displays the waveform data stored in the waveform data buffer 5 by a predetermined operation of the operator, so that the cause of the failure can be identified in a short time. Further, since the waveform data buffer 5 is built in the non-volatile memory 14 backed up by the battery, the waveform data will not be lost even if an unexpected accident such as power interruption occurs.

In the above description, the display control means 6 is configured to display the waveform data graphically on the display device 16, but the waveform data is displayed on the display device 16 only as numerical data or together with the graphic display. It can also be configured to do so.

Further, when the data is stored in the waveform data buffer 5, it is converted into a binary format and stored, but it may be stored in another data format such as a character format.

Further, although the waveform data buffer 5 is constructed in the non-volatile memory 14, it may be constructed in the RAM 13. The waveform data buffer 5 is the ring buffer 5
Although it is composed of a, it may be composed of an ordinary buffer.

[0047]

As described above, according to the present invention, the operation command of the servo motor and the servo data measured from the servo motor are stored in the waveform data buffer together with the time data, and displayed on the display device as needed. Since the configuration is made, it is possible to identify the cause of the failure due to the occurrence of the servo alarm in a short time.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of the present invention.

FIG. 2 is a block diagram showing an overall configuration of a numerical control device.

FIG. 3 is a schematic diagram showing a structure of a ring buffer.

FIG. 4 is a diagram showing an example of a data format of waveform data stored in a ring buffer.

FIG. 5 is a diagram showing an example of parameter settings displayed on a display device.

FIG. 6 is a diagram showing an example of servo waveforms displayed on a display device.

FIG. 7 is a flowchart showing an execution procedure of a servo waveform display method.

[Explanation of symbols]

11 Processor 12 ROM 13 RAM 14 Nonvolatile Memory 15 Graphic Control Circuit 16 Display Device 17 Keyboard 18 Axis Control Circuit 19 Servo Amplifier 20 Machine Tool 20a Servo Motor 22 PMC (Programmable Machine Controller) 24 Timer

Claims (8)

[Claims] 1. A servo waveform display method for graphically displaying servo data measured from a servo motor, and servo motor command means for issuing an operation command such as a speed command and a current command to the servo motor based on a machining program or the like, Servo motor control means for controlling the operation of the servo motor based on the operation command, outputting servo data detected from the servo motor, and outputting a servo error when an abnormality occurs in the operation of the servo motor. And a timer for outputting time data indicating the current date and time, and a memory for storing the servo data as waveform data in the waveform data buffer together with the time data until a predetermined time is reached after the servo error occurs. By the control means and a predetermined operation of the operator, the waveform data Servo waveform display method characterized in that it comprises a display control means for displaying the waveform data stored in the file on the display device. 2. The servo waveform display system according to claim 1, wherein the servo data includes at least one of data for instructing the servo motor, such as a speed command and a current command. 3. The servo data is configured to include at least one of detection data of the servo motor such as actual speed, effective current, pulse distribution amount, error amount, and thermal simulation data. Claim 1
Described servo waveform display method. 4. The servo waveform display system according to claim 1, further comprising external output means for outputting the waveform data stored in the waveform data buffer to an external storage device. 5. The servo waveform display system according to claim 1, wherein the waveform data buffer is a non-volatile memory. 6. The servo waveform display system according to claim 1, wherein the waveform data buffer is a ring buffer. 7. The servo waveform display system according to claim 1, wherein the waveform data stored in the waveform data buffer is converted into a binary format and stored. 8. The servo waveform display system according to claim 1, wherein the predetermined time is set as a parameter.