JPH07210232A - Numerical controller - Google Patents

Abstract

PURPOSE:To provide a numerical controller containing a programmable machine controller which can set the control specifications of the machine controller equal to the axial control specifications of the numerical controller. CONSTITUTION:A programmable machine controller 20 possesses an NC program calling function instruction 21 to retrieve an NC program 11 of a number designated by a parameter out of the registered NC programs and to set the coincident program 11 in an executable state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerical controller, and more particularly to a numerical controller incorporating a programmable machine controller for executing a ladder sequence program.

[0002]

2. Description of the Related Art In a numerical controller incorporating a programmable machine controller (hereinafter referred to as PMC), two types of PMC management software and numerical control (hereinafter referred to as NC) software exist independently. PM
The C management software is mainly for executing a sequence program for controlling a machine tool built in a language such as ladder, pascal or C, and the NC program is mainly for controlling an axis by a G code NC program. And other jobs. In these software, the NC program is executed by the processor of the numerical controller, and the PMC sequence program is executed by the PMC.
If the PMC does not have a processor, it is executed by the processor of the numerical controller, and if the PMC has a processor, the processor of the PMC is executed independently and asynchronously.

By the way, depending on the application, there are cases where the number of control axes of the numerical control device is insufficient, or there is a case where it is desired to add another axis later. In such a case, if the numerical control device itself has a specification that a control axis can be added as an option, the additional axis can be controlled by the numerical control device, but if not, control the additional axis by PMC. There is.

When performing axis control by this PMC,
The PMC side bears the control processing involving the handshake processing of complicated signals with the numerical control device. In addition, when controlling the ladder program with the numerical controller,
The interface between the PMC and the numerical controller is used to create a ladder program linked to the control of the numerical controller.

[0005]

However, if the axis control is to be performed on the PMC side as well, it is necessary to separately prepare the original software for controlling the axis of the NC and the software for processing to move the axis on the side of the PMC. is there. Thus, P
When independent processing is added on the MC side, there is a problem in that it is difficult to unify the specifications because the specifications are the same as the equivalent functions on the numerical control device side.

Further, in the conventional PMC control method, the PMC side also bears the processing of the infrequently used functions having the equivalent functions on the numerical controller side. Area or a storage area for storing necessary parameters is required, which puts pressure on the use efficiency of the PMC memory and the processing time (scan time) of the entire ladder program.
There was a problem that was wasted.

The present invention has been made in view of the above circumstances, and makes the control specifications of the PMC the same as the axis control specifications of the numerical control device, and also enables the programs of the numerical control device and the PMC to operate. An object is to provide a numerical control device with efficient control.

[0008]

According to the present invention, in order to solve the above problems, in a numerical controller having a built-in programmable machine controller, the programmable machine controller is an NC program having a number designated by a parameter. From the registered NC programs to make the matching NC program executable
There is provided a numerical control device having a program call function instruction means.

[0009]

According to the above means, when the NC program calling function command means is executed in the ladder program of the PMC, according to the NC program number parameter set in the NC program calling function command means, The NC program with the same program number is searched from the registered NC programs, and the matching N program is searched.
If there is a C program, it is transferred to the main memory and made executable. When the transfer of the NC program is completed and the executable state is set, the ladder program receives the transfer completion and activates the NC program transferred to the main memory.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. First, the control of the NC program by the ladder program will be described.

FIG. 1 is a diagram showing a control structure of an NC program by a ladder program. In this figure, 10
Is a numerical control device and has an NC program 11 and a main memory 12 which is an area for executing the NC program 11. Reference numeral 20 is a PMC built in the numerical controller 10, and an example of a ladder program is shown therein.

The PMC instruction includes a basic instruction and a functional instruction. The basic instruction is an instruction for performing operations such as logical product and logical sum. On the other hand, the functional instruction is a work that is difficult to program with only the basic instruction. These instructions are instructions that allow the operation of the machine to be easily programmed, and include, for example, timer processing, decoding processing, and data transfer after logical product.

An NC program calling function instruction 21 is used as a ladder program function instruction, and this NC program calling function instruction 21 is "SUB".
It is composed of a command part indicated by "xx" and a parameter part indicated by "0001". In this parameter, an O number to be called in the NC program 11, that is, a program number is set. Therefore, in this example, N of the program number "0001"
It means that the C program is specified.

When the execution instruction ACT is turned on,
The NC program calling function instruction 21 is passed to the numerical controller 10 together with the parameters. In the numerical control device 10, the "00" specified by the parameter is selected from the NC programs 11 registered in advance.
The "01" NC program is retrieved by a function called O number retrieval, and this is loaded into the main memory 12 to make the designated NC program executable.

When the transfer of the NC program to the main memory 12 is completed, the PMC 20 is notified and W1 is turned on.
To be Then, W1 in the next net is turned on, the cycle start signal ST is turned on, and the NC program loaded in the main memory 12 of the numerical controller 10 is executed.

At this time, the mode of the numerical controller 10 is A
It is assumed that the mode has been set to any one of UTO, MEM, and JOG. Regarding the change to these modes, it is also possible to incorporate the mode into the NC program call function instruction 21 as the second parameter so that even the mode can be forcibly changed from the PMC 20 side. is there.

Next, the control of the ladder program by the NC program will be described. Here, the control of the subprogram (basic instruction) of the ladder program and the control of the functional instruction of the PMC by the NC program will be described. Regarding the control of the functional instruction of the PMC, the numerical controller and the P
Description will be made separately for the case where the processor is shared with the MC and the case where each has its own processor.

FIG. 2 is a diagram showing a method of acquiring the start address of the subprogram designated by the NC program.
The illustrated example is particularly an embodiment in the case of controlling a subprogram of a ladder program from an NC program, in which 11a indicates an NC program executed by NC software of a numerical controller, and 30 indicates a subprogram address table. ing.

In the NC program 11a, "Gxx P
1; ”is included in the line. This constitutes an execution requesting unit that requests the PMC to execute the subprogram of the ladder program from the numerical controller. In this example, “Gxx” indicates a G code requesting execution of a subprogram, and “P1” indicates a program number of a subprogram to be executed.

The sub-program address table 30 shows the location of the sub-program of the ladder program. The program number Pn of the sub-program and the head address (xxxx) in which the sub-program is written.
xNNH). This subprogram address table 30 is created in a random access memory at a fixed address that can be accessed from both the numerical controller and the PMC when the power of the numerical controller is turned on, or is created when the ladder program is compiled. When the power of the numerical control device is turned on, the data is transferred to the random access memory at the fixed address of the numerical control device.

The NC software is the NC program 11a.
When the block of "Gxx P1;" is executed, the numerical control device causes the numerical controller to specify the subprogram number specified in the subprogram address table 30 formed in the random access memory of the fixed address, here "P1". Is acquired to obtain the start address of the subprogram, and the PMC side is notified of the execution request of the subprogram along with the address of the subprogram.

FIG. 3 is a schematic diagram of an execution state when a subprogram execution request is made. In the figure, the left side is N of the numerical control device.
NC program executed by C software 11
a, the right side shows the ladder program 22 executed by the PMC management software of PMC.

In the numerical controller, the NC software is executing the NC program 11a, and the "Gxx P
When the block "1;" is reached, the PMC is notified of the execution request of the subprogram P1 and the address of the subprogram P1 stored in the subprogram address table 30. P that received a request to execute subprogram P1
The PMC management software of the MC temporarily suspends the execution state of the ladder program 22 that is being executed when the execution request is received. Then, confirm the address of the subprogram P1 notified from the numerical control device,
The subprogram P1 is executed only once, and when the execution of the subprogram P1 is completed, the completion of subprogram execution is notified to the numerical controller. After that, the PMC side resumes the execution of the ladder program 22 from the stored execution state, and the numerical control device side returns to the execution of the next NC program.

As described above, a function for calling and executing a subprogram of a ladder program is added to the G code system of the conventional NC program. Specifically, the NC program is called "Gxx Pn (Pn is a subprogram number). By programming in the format "," it is possible to execute the ladder program corresponding to each block by the NC programming method similar to the conventional one.

Next, among the control of the ladder program by the NC program, the control of the functional instruction of the PMC will be described. First, the numerical controller and the PMC are controlled collectively by one processor. The case will be described.

FIG. 4 is a diagram showing the processing of the numerical controller and PMC by one processor. When the numerical controller and PMC are controlled by one processor, the processor is controlled by NC software and PM within a certain cycle.
It is executed by allocating time to the C management software. For example, in the illustrated example, within the cycle of 8 milliseconds, the first 6 milliseconds are allocated to the processing of the NC software, and the remaining 2 milliseconds are allocated to the processing of the PMC management software of the PMC. The PMC is typically processing everything within this 2 millisecond time period.

FIG. 5 shows an NC for controlling the functional instructions of the PMC.
It is a figure which shows an example of a program. In the illustrated NC program 11b, there is a block described as "GMOVE". This constitutes a function command executing means for executing the function command of the ladder program of the PMC in the numerical controller.

In this example, "GMOVE" is the PMC
It is a G code requesting execution of the functional instruction of. In addition, "MOVE" which is a functional instruction of PMC equivalent to this is
It has a function of a logical product of logical product data and input data and outputs the result to a designated address, and has a function of transfer after logical product, and four parameters are designated. That is, upper 4-bit logical product data is designated as the first parameter, lower 4-bit logical product data is designated as the second parameter, input data address is designated as the third parameter, and output address is designated as the fourth parameter. Therefore, four parameters "011, 01, X0, D0" are also specified in the G code "GMOVE" corresponding to this function.

FIG. 6 is a diagram showing an example of a functional instruction table showing the functional instructions of the PMC and their addresses. This function command table 31 is used when the power of the numerical controller is turned on.
Created in random access memory accessible from NC software and PMC management software. The functional instruction table 31 shows the functional instruction and the address at which the functional instruction exists.

FIG. 7 is a diagram showing the processing of a functional instruction by the NC program. According to this figure, NC program 1
When the block of functional instructions is executed in 1b, NC
NC out of 6 ms allocated for software execution
It indicates that the execution time A millisecond of the program 11b is allocated to the execution of the function instruction.

When the NC software sequentially executes the NC program 11b of the example of FIG. 5, blocks 111 and 112 are processed normally within the first allocated time within a cycle, as shown in FIG. It And
When executing "GMOVE" of block 113, first,
The function instruction table 31 starting with “SUB 1 END 00001H” is referred to. In the function command table 31, "GMOVE" is "SUB 8 MOVE 0".
"0100H" and search for the corresponding function command "MOVE"
Is executed by the PMC management software using A millisecond which is the execution time of the NC program 11b. According to this example, the logical product data of "011,01" and the address "X
The logical product of the input data of "0" is performed, and the result is output to the designated address "D0". Block 11
When the execution of 3 is completed, NC software and PMC
The execution time of the software is returned to the time allocation shown in FIG. 4, and the next block 114 of the NC program 11b is returned.
Is returned to execution.

Finally, among the control of the ladder program by the NC program, the control of the functional instruction of the PMC will be described. Here, the numerical controller and the PMC have a hardware configuration in which each has a dedicated processor. The case will be described.

Regarding the control of the PMC function commands by the NC program, when the above numerical controller and the PMC processor are common, the NC software and the PMC are used.
Although the management software does not operate at the same time, when the numerical control device and the PMC have their own processors, the NC software and the PMC management software run independently of each other, so that they may interfere with each other. For example, while the PMC management software is executing the function command “MOVE” in the ladder program, the NC software is executing the G function command “GMOV” of the NC program 11b.
In some cases, the processing by the PMC management software will be duplicated.

Therefore, the NC software and the PMC management software are exclusively controlled during the execution of equivalent functional instructions. Further, when the PMC management software is executing an equivalent function command when trying to execute a certain G function command, the NC software waits for the processing of the function command until the execution by the PMC is completed. , PMC management software is the same as NC software when executing a certain function command.
When a functional instruction is being executed, the processing of the functional instruction is skipped and the next processing is performed.

FIG. 8 is a flow chart showing the processing of the NC software. When the NC software executes the block 113 including "GMOVE" of the NC program 11b, it is determined whether or not the PMC management software is executing the equivalent function instruction "SUB 8" (step S1). Here, PMC is "S
Assuming it was running UB 8 ", the NC software is waiting on-the-fly for execution to end.

After that, the NC software acquires the exclusive right of "SUB 8" with respect to the PMC management software (step S2), executes "SUB 8" (step S3), and when the execution is completed, the "SUB 8" The exclusive right is abandoned (step S4), and the process proceeds to the next block (step S5).

FIG. 9 is a flow chart showing the processing of the PMC management software. When the PMC management software executes the function command "MOVE" of "SUB 8", the NC software is the equivalent function command "SU".
It is determined whether the command "B 8" is being executed (step S6). Here, NC software is "SU
If "B 8" is executed, the PMC management software skips the process and performs the next process.

If the NC software is not running "SUB 8", the PMC management software will run "SUB 8".
8 ”is acquired (step S7), and“ SUB ”is acquired.
8 "(step S8), and when the execution is completed," S "
The exclusive right of UB 8 ”is abandoned (step S9), and the process proceeds to the next net (step S10).

As described above, by adding a format consisting of "G + function instruction" and necessary parameters to the G code system of the conventional NC program, the operation equivalent to the function instruction of PMC is executed from the NC program. Will be able to.

Some PMCs include a processor for controlling the PMC and a dedicated PMC high-speed arithmetic processor for executing only the objects of the ladder program. This PMC high-speed processor can perform processing at high speed, but since it is hardware,
For new functional instructions that are not in the instruction set of the PMC high-speed arithmetic processor, for example, instructions such as "GMOVE" in the above example, the operation of the PMC high-speed arithmetic processor is stopped and the processing of the PMC processor is entrusted. . Therefore, if there is such a new function instruction in the ladder program, the operation of the PMC high-speed arithmetic processor is interrupted, and the high speed performance is impaired. In the present invention, N including the new function instruction is also included.
Since it can be controlled from the C program, it is possible to efficiently perform without interrupting execution by not including new function instructions that are not in the instruction set of the PMC high-speed arithmetic processor in the ladder program. It is possible to program by taking advantage of the high speed of the processor.

FIG. 10 is a block diagram showing the hardware configuration of the entire numerical control device for implementing the present invention. This example is, in particular, a configuration example of a type having a dedicated processor for each of the numerical controller and PMC.

The numerical control device 10 includes a processor 101 for controlling the entire device and a read-only memory (ROM) 1 for storing NC software for system control.
02, a random access memory (RAM) 103 as a main memory for executing the program, a non-volatile memory 104 for storing an NC program, various parameters, a tool correction amount, a pitch error correction amount, and the like, and a PMC 20.
And a shared memory 105 configured by a random access memory that is used in common with the CRT / MDI.
(Cathode Ray Tube / Manual Data Input) Unit 4
0 display device 41 and keyboard 42, a graphic control circuit (CRTC) 106 and an interface circuit (INT) 107, and an interface circuit (I) for connecting an external device 50 such as a paper tape reader.
NT) 108, which are coupled to each other by a bus 109. In the figure, an axis control circuit for controlling a servo motor, a servo amplifier, a spindle control circuit, a spindle amplifier, a manual pulse generator interface, etc. are omitted.

The PMC 20 built in the numerical controller 10 is
A processor 201 for PMC, a read-only memory (ROM) 202 in which PMC management software for controlling the PMC 20 and a ladder program are stored,
It has a random access memory (RAM) 203 whose contents are rewritten according to the execution of the ladder program, and a non-volatile memory 204 in which data such as condition data of functional instructions is stored. These are interconnected by a bus 205. ing. An input / output control circuit (IOC) 206 is coupled to the bus 205, and an input / output unit 207 is connected.
It is connected to hydraulic equipment, pneumatic equipment, electromagnetic equipment, etc. on the machine side via. Further, the bus 205 is the numerical controller 1.
It is connected to the shared memory 105 on the 0 side.

To explain the operation, the numerical controller 1
The processor 101 of 0 reads the NC software stored in the read-only memory 102 via the bus 109, and executes the control of the entire numerical controller 10 according to the NC software.

The NC program stored in the non-volatile memory 104 is read out to the random access memory 103 via the bus 109 and executed by the NC software.

The shared memory 105 is connected to the numerical controller 10 and P
A memory for exchanging data with the MC 20,
Data is exchanged with each other via the shared memory 105. At the same time, it stores the data required for access from both sides. For example, the subprogram address table 30 or the function instruction table 31 created when the numerical control device 10 is powered on is stored.

The graphic control circuit 106 converts digital data such as the current position of each axis, alarms, parameters and image data into an image signal and outputs it. This image signal is sent to the display device 41 of the CRT / MDI unit 40 and displayed on the display device 41. The display device 41 has a P
Parameters on the MC 20 side, ladder diagrams, etc. can also be displayed. The data at this time is sent from the PMC 20 via the shared memory 105.

The interface circuit 107 is a CRT / MD
The data from the keyboard 42 in the I unit 40 is received and passed to the processor 101. Also, data to the PMC 20 side can be input from the keyboard 42, and the data is sent to the PMC 20 side via the shared memory 105.

Interface circuit 10 for external device 50
8 is, for example, a paper tape reader, a paper tape puncher,
A paper tape reader / puncher, a printer, etc. are connected, the NC program can be read from the paper tape reader, and the NC program edited in the numerical controller 10 can be output to the paper tape puncher.

The PMC 20 is a kind of programmable controller, and the processor 201 reads the PMC management software stored in the read-only memory 202, and the PMC management software reads the PMC management software.
20 is controlled. Further, the PMC management software can read the ladder program stored in the read-only memory 202 into the random access memory 203 and execute it.

The input / output control circuit 206 is connected to the bus 205, converts the output signal stored in the random access memory 203 into a serial signal and sends it to the input / output unit 207. Also, a serial input signal from the input / output unit 207 is converted into a parallel signal and sent to the bus 205. The signal is stored in the random access memory 203 by the processor 201. Random access memory 2
The input / output signal stored in 03 and the data stored in the nonvolatile memory 204 can be displayed on the display device 41 of the CRT / MDI unit 40.

The processor 201 receives a command signal such as an M function command or a T function command from the numerical controller 10 via the shared memory 105, temporarily stores it in the random access memory 203, and stores the command in the read only memory 202. It is processed according to the ladder program stored in, and output to the input / output unit 207 via the input / output control circuit 206. The output signal controls hydraulic equipment, pneumatic equipment, and electromagnetic equipment on the machine side.

Further, the processor 201 receives an input signal such as a machine side limit switch signal from the input / output unit 207 and a signal of an operation switch of the machine operation panel, and temporarily stores this input signal in the random access memory 203. . Input signals that do not need to be processed by the PMC 20 are sent to the processor 101 via the shared memory 105.
Other signals are processed by the ladder program, some signals are output to the numerical controller side, and other signals are output signals to the machine side from the input / output unit 207 via the input / output control circuit 206. .

The above example is a configuration example of a type in which the numerical control device and the PMC each have a dedicated processor. However, in the configuration in which the processor of the numerical control device also controls the PMC, the processor of the PMC 20 of the configuration of FIG. Two
01, the read-only memory 202, the random access memory 203, and the non-volatile memory 204 are also used as those of the numerical controller 10. Further, the shared memory 105 of the numerical control device 10 is secured in the random access memory 103, and the input / output control circuit 206 is coupled to the bus 109 of the numerical control device 10.

[0055]

As described above, according to the present invention, the execution of the programs of the numerical control device and the PMC can be mutually controlled, so that the specifications of each function can be unified. In addition, if you want to add something to the sequence in an already operating system, you can add or change the NC program without adding or changing the ladder program. It is possible to build.

[Brief description of drawings]

FIG. 1 is a diagram showing a control structure of an NC program by a ladder program.

FIG. 2 is a diagram showing a method of acquiring a start address of a subprogram designated by an NC program.

FIG. 3 is a schematic diagram of an execution state when a subprogram execution request is made.

FIG. 4 Numerical controller and P with one processor
It is a figure which shows the process of MC.

FIG. 5 is a diagram showing an example of an NC program for controlling a functional instruction of PMC.

FIG. 6 is a diagram showing an example of a functional instruction table showing a functional instruction of the PMC and its address.

FIG. 7 is a diagram showing processing of a functional instruction by an NC program.

FIG. 8 is a flowchart showing processing of NC software.

FIG. 9 is a flowchart showing a process of PMC management software.

FIG. 10 is a block diagram showing a hardware configuration of an entire numerical control device that implements the present invention.

[Explanation of symbols]

10 Numerical Control Unit 11 NC Program 11a NC Program 11b NC Program 12 Main Memory 20 PMC (Programmable Machine Controller) 21 NC Program Calling Function Command 22 Ladder Program 30 Sub Program Address Table 31 Function Command Table

Claims (8)

[Claims] 1. A numerical controller including a programmable machine controller, wherein the programmable machine controller has a registered NC program of an NC program having a number designated by a parameter.
A numerical controller characterized by having NC program calling function command means for retrieving from a program and putting a matched NC program into an executable state. 2. The numerical controller according to claim 1, wherein said NC program calling function command means has a parameter for setting a mode of the numerical controller. 3. A numerical control device having a programmable machine controller built-in, and a subprogram address table showing a location of a subprogram in a ladder program executed by the programmable machine controller, and a numerical control device. And an execution requesting means for requesting execution of the subprogram of the ladder program from the NC program to the programmable machine controller together with the address of the subprogram, which is used in the NC program of FIG. During execution of the subprogram designated by the NC program in response to a request to execute the subprogram from the execution requesting means, a subprogram execution unit that stores the execution state of the ladder program and suspends its execution A numerical control device comprising: a step. 4. The numerical control according to claim 3, wherein the subprogram address table is created in a memory shared by the numerical control device and the programmable machine controller when the numerical control device is powered on. apparatus. 5. The subprogram address table is created when the ladder program is compiled,
4. The numerical controller according to claim 3, wherein the numerical controller is transferred to a memory of the numerical controller when the power of the numerical controller is turned on. 6. A numerical control device having a programmable machine controller built-in, and a functional instruction table showing a location of a functional instruction of a ladder program executed by the programmable machine controller, and an NC program of the numerical control device. And a function command executing means for executing the function command of the corresponding ladder program from the NC program by referring to the function command table. 7. The numerical controller according to claim 6, wherein the functional instruction table is created in a memory shared by the numerical controller and the programmable machine controller when the numerical controller is powered on. . 8. The numerical controller and the programmable machine controller, when the numerical controller and the programmable machine controller each have a dedicated processor, the numerical controller and the programmable machine controller perform exclusive control when the functional instruction is executed. When the programmable machine controller is executing a certain functional instruction and the numerical control device tries to execute an equivalent functional instruction, the processing of the functional instruction is executed until the end of the execution of the programmable machine controller. And a means for passing the processing of the functional instruction when the programmable machine controller tries to execute an equivalent functional instruction while the numerical controller is executing a certain functional instruction. 7. The numerical control device according to claim 6, wherein