JPH10214108A - Motion control method for motion controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform an acceleration and deceleration processing so that a command path and an actual moving path can be prevented from being largely different at the time of operation interruption and resumption during a binary operation. SOLUTION: This method is a binary operation for operating each axis with binary data stored as a moving command to each axis in every distribution cycle. When an interrupting command is inputted at the time of outputting a moving command x10 during this binary operation, 3.x10/4 is outputted at first (a). Then, (x10/4)+(x11/4) is outputted in the next cycle, and x11/4 is outputted in the next cycle, and '0' is outputted in the next cycle, and deceleration is operated in set four cycles (b). At the time of resumption, x11/4, (x11/4)+(x12/4), 3.x12/4, and x13... are outputted, and acceleration is operated in four cycles (c). Acceleration and deceleration is operated as the time of interruption and resumption even during the binary operation so that shock can not be generated. Thus, a difference between the command path and the actual path can be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a motion control method for a motion controller such as a numerical controller.

[0002]

2. Description of the Related Art In a motion controller such as a numerical control device (CNC device) for controlling a feed shaft motor of a machine tool, a programmed movement command is distributed to each axis, and a tool or the like follows a programmed movement path. Move the control point of. In this case, usually, the programmed command is pre-processed and converted into binary data which is execution movement command data for each axis, and the movement command is output to the servo motor control circuit of each axis based on the binary data. , And drives and controls a servo motor for driving each axis.

However, when a complicated shape is machined at a high speed, the above-mentioned pre-processing cannot be performed in time, so that the movement command may not be distributed to each axis and the machining may be stopped instantaneously.
In order to avoid such a problem, a binary operation in which a movement command is pre-processed in advance and binary data which is distribution data to each axis is registered, and this binary data is output to each axis as it is, is adopted.

[0004]

In the above-mentioned binary operation, when the operation is interrupted by an emergency stop, a reset input, or a field hold command, the motor driven by the binary data is suddenly stopped, and the machine becomes large. Generates shock. When the operation stopped by the field hold command is restarted, the operation is restarted from the state of the binary operation, so the stored binary data distribution command is output as it is to the motor of each axis, and Is suddenly accelerated and gives a big shock to the machine.

In order to prevent the occurrence of this shock, acceleration / deceleration processing is performed on a movement command at the time of interruption / resumption, and the rotation of the motor is smoothly decelerated and accelerated to smooth the movement of the movable part. There is a need. Therefore,
An object of the present invention is to provide a motion control method of a motion controller that performs acceleration / deceleration processing without imposing a large load on a processor of a control device when the operation of the motion controller is interrupted or restarted during binary operation.

[0006]

According to the present invention, the acceleration / deceleration time in binary operation is set in advance in the motion controller by the number of distribution cycles of the movement command. The movement command for each distribution cycle stored as binary data is divided by the number of distribution cycles set as the acceleration / deceleration time, and divided by the distribution cycle.
The movement command is output as a movement command from the movement command in which the operation stop signal is generated so that the number of movement commands decreases sequentially, and the speed is reduced. Also, when resuming operation after pausing,
From the one divided movement command next to the divided movement command, one by one is added for each divided movement amount in each distribution cycle, and output as a movement command to accelerate.

In particular, by dividing the number of distribution cycles set as the acceleration / deceleration time to a value of a power of 2, the division of the movement command is facilitated. That is, ^assuming that the number of distribution cycles is 2 ⁿ , when the movement command is divided by the number of distribution cycles, the register stored in binary data as the distribution movement command is shifted n times. The command can be divided into 2 ⁿ commands, which simplifies the operation.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a CNC device for controlling a machine tool, which is a kind of motion controller, will be described below as an embodiment of the present invention with reference to the drawings. FIG. 1 is a functional block diagram showing a main part of a CNC device 10 that drives and controls an NC machine tool. The processor 11 of the CNC device 10 is a processor that controls the CNC device 10 as a whole. This processor 11 has a ROM
12 is read out via the bus 19 and the CNC is read in accordance with the system program.
The device 10 is entirely controlled. The RAM 13 stores temporary calculation data, display data, various data input by the operator via the keyboard 71, and the like. CM
The OS memory 14 is backed up by a battery (not shown), and is configured as a non-volatile memory that retains a storage state even when the power of the CNC device 10 is turned off. The processing program and the like input via the keyboard 71 are stored. ROM1
2, various system programs for executing processing in an edit mode and processing for automatic operation required for creating and editing a machining program are written in advance.

The interface 15 is connected to the CNC device 10
This is an interface for an external device connectable to an external device, and an external device 72 such as a floppy cassette adapter is connected to the interface. A processing program or the like is read from the external device 72, and the processing program edited in the CNC device 10 can be stored in a floppy cassette or the like via the external device 72.

A PMC (Programmable Machine Controller) 16 controls an auxiliary device on the machine tool side, for example, an actuator such as a robot hand for tool change, by a sequence program stored in the CNC device 100. That is, the M function, S commanded by the machining program
According to the function and the T function, the sequence program converts the signals into necessary signals on the auxiliary device side, and outputs the signals from the I / O unit 17 to the auxiliary device side. Auxiliary devices such as various actuators are operated by this output signal. Further, it receives signals from various switches and the like of an operation panel provided in the main body of the machine tool, performs necessary processing, and passes the signals to the processor 11.

The axis control circuits 30 to 32 for the feed axes X, Y, and Z axes of the machine tool receive a movement command for each axis output from the processor 11 for each distribution cycle, perform a position / speed loop process, and perform torque processing. The command is output to servo amplifiers 40-42. The servo amplifiers 40 to 42 receive the command and drive the servo motors 50 to 52 of the respective axes of the machine tool. Each of the servo motors 50 to 52 has a built-in position / speed detector, from which position / speed feedback signals are fed back to the axis control circuits 30 to 32. In FIG. 1, the description of the position signal feedback and the speed feedback is omitted.

A spindle control circuit 60 receives a spindle rotation command to a machine tool and outputs a spindle speed signal to a spindle amplifier 61. Upon receiving the spindle speed signal, the spindle amplifier 61 rotates the spindle motor 62 at the commanded rotation speed. A position coder 63 is coupled to the spindle motor 62 by a gear or a belt, and the position coder 63 outputs a feedback pulse in synchronization with rotation of the spindle, and the feedback pulse is read by the processor 11 via the interface 18. .

The configuration of the above-described CNC apparatus has no difference from the conventional CNC apparatus having three feed axes. The present invention is also applicable to a CNC device having more than three feed axes. During the binary operation of the CNC device, an emergency stop signal (command),
When a reset command, a field hold command, or the like is input or generated and the operation is interrupted, the processor 11 performs a process of performing a deceleration process and stopping the operation, and a restart command after stopping the operation by the field hold command. The difference is that when the binary operation is restarted from the paused position, the acceleration process is performed and the operation is restarted.

First, the acceleration / deceleration processing in the binary operation in this embodiment will be described. The acceleration / deceleration time is set to an integral multiple of the distribution cycle, and the number N is set in advance. When deceleration is performed, the movement amount of binary data in each distribution cycle is divided by N to obtain N divided movement amounts, and in the first distribution cycle at the start of deceleration, the first (N In the next distribution cycle, a movement amount obtained by summing up the next (N-2) divided movement amounts is output. 3) Pieces,
(N-4),..., 2 and 1 are output.
During acceleration, one, two,... (N-1) are output in reverse. Thus, the acceleration / deceleration is completed in the N-th distribution cycle.

For example, when N = 4, as shown in FIG. 5 (a), the movement command of the distribution cycle for the start of deceleration is x1, the next cycle is x2, the next cycle is x3, and thereafter x4, x5. Suppose there was. Then, in the distribution cycle at the start of deceleration, FIG.
(3x1 / 4) shown in (b) is output, [(x1 / 4) + (x2 / 4)] is output in the next cycle, and (x2 / 4) is output in the next cycle. Become. In this way, the movement command becomes “0” in the N = 4th cycle, and the speed is reduced in 4 cycles. In addition, when accelerating continuously after the suspension, as shown in FIG. 5C, (x2 / 4), [(x2 / 4) + (x3 / 4)],
(3 × 3/4) is output, and the next movement command x4 is output as it is from the N = 4th cycle.

FIGS. 2 to 4 are flow charts of the processing executed by the processor 11 for each distribution cycle, and particularly, the flow charts of the processing mainly of the interruption processing and the restart processing during the binary operation.

First, it is assumed that the machining NC program is read from an external device 72 such as a floppy cassette adapter via the interface 15 and stored in the CMOS memory 14. Then, it is assumed that a distribution movement command to each axis is stored as binary data in the machining NC program.

When the operation is started, the processor 11 starts the processing of FIGS.
4 is read from the first block of the machining NC program stored in the processing NC program 4 and it is determined whether it is a binary operation command (step S).
1) If binary operation command, flag BINPREP, BI
NST is set to "1", BINADSR and BINACDC are set to "0" (step S2), and the process proceeds to step S3. Note that the above flags and the flags described later are initially set to “0” by default.
Is set to If it is not a binary operation command, the process proceeds to step S3 without performing the process of step S2.
In step S3, it is determined whether or not the binary operation is being performed based on whether or not the flag BINPREP is "1". If the binary operation is not performed with the flag BINPREP being "0", the normal processing similar to the conventional one is performed (step S19). Find the movement command L for each axis,
Axis control circuits 30 to 32 for each servo motor driving each axis
The movement command L is output (step S18), and the processing of the distribution cycle ends. If the binary command is not read, the processes of steps S1, S3, S19, and S18 described above are repeatedly executed, and the same distribution process as in the related art is performed.

On the other hand, a binary operation command is read in step S1, various flags are set as described above in step S2, and if it is determined in step S3 that the binary operation is being performed when the flag BINPREP is "1", the flag BINST is set to "1". It is determined whether the binary operation is started at "1" (step S4). Since it is initially set to "1" at step S2, the process proceeds to step S5 to set the indexes j and k for binary operation to "0". And the flag BINST is set to "0" (steps S5 and S6).

Then, it is determined whether there is a feed hold signal for temporarily stopping the operation, a reset signal, and an emergency stop signal (steps S7 and S8). If these signals are not generated, the flag BINACDC is set to "3". Is set to "1" or "1" (step S
9). Initially, since the flag BINACDC is set to "0" in step S2, the process proceeds to step S17 to perform binary distribution processing.

This binary distribution processing is the processing shown in FIGS. First, the value of the flag BINACDC is determined (step SB1). In this case, since the flag BINACDC remains set to "0" in step S2, the process proceeds to step SB24 to execute the binary data x of the block.
j (indicator j is set to “0” at the start of the binary operation in step S5 and starts from “0”), stored as a movement command L in a register, and increments index j by “1” (step S5). SB25). Then, it is determined whether or not the binary operation is completed based on whether or not the index j has reached the total number P of the binary data (step SB).
34) If the binary operation has not been completed, the binary distribution process is terminated and the process returns to the main routine. In the main routine, the movement amount L stored in the register is output to the axis control circuits 30 to 32 of the servo motors of the respective axes (Step S).
18), the processing of the distribution cycle ends.

In the next distribution cycle, the flag BINPREP is "1", the flag BINST is "0", and the flag BINADC is "0".
, The process proceeds to steps S1, S3, and S4, and proceeds to step S7 without performing the processes from step S4 to steps S5 and S6. If the feed hold signal, the reset signal, and the emergency stop signal have not been generated, steps S8, S9, SB1, SB24, SB2
5, the processing of SB34 and S18 is performed, and the movement command based on the binary data is sent to the axis control circuit 30 of the servomotor of each axis.
To 32. Hereinafter, steps S1, S3, S4, S7 to S9, SB1,
The processing of SB24, SB25, SB34, and S18 is repeatedly executed, and a movement command based on binary data is output to the axis control circuits 30 to 32 of the servo motors of the respective axes.

On the other hand, if a feed hold signal is generated or a reset signal or an emergency stop signal is generated during the binary operation, the processor 11 detects the signal, and the processor 11 detects the signal from step S7 or step S8 to step S10.
To determine whether the flag BINACDC is "3". Since the flag BINACDC is still set to "0", the process proceeds to step S11, where the flag BINACDC is set to "2", and it is determined whether or not the flag BINADST is "2". Since this flag BINADST is set to "0" in step S2, the process proceeds to step S13 and the flag BINADST is set to "0".
BINADST is set to "1", and the flow shifts to binary distribution processing (step S17).

In the binary distribution processing, since the flag BINACDC is set to "2" indicating that the vehicle is decelerating, step S
The process proceeds from B1 to step SB2, and further determines whether the flag BINADST indicating the start of acceleration / deceleration during binary operation is "1". In this case, since it is set to "1" in step S13, the process proceeds to step SB3. The index i for counting the cycle of the acceleration / deceleration period during the binary operation is "1".
And the flag BINADST is set to "2" (step SB4), and it is determined whether the flag BINACDC is set to "1" indicating that the vehicle is accelerating or "2" indicating that the vehicle is decelerating (step SB4). SB5). At the present time, the flag BINACDC is set to "2" in step S11 to indicate that deceleration is being performed (deceleration stop is being executed by the signal of the feed hold), so that the deceleration process is started. The processing after step SB5 is the acceleration / deceleration processing. First, the acceleration / deceleration processing will be generally described.

When the flag BINACDC is "2" indicating deceleration, the value of the parameter temp for calculating the amount of acceleration / deceleration is obtained by subtracting the value of the index k from the index i (temp = i- k) (Step SB7). Also the flag BI
If NACDC is "1" and the vehicle is accelerating, the process proceeds to step SB6 where the parameter temp is set to the number of acceleration / deceleration cycles N (the acceleration / deceleration time is set in advance by the number N of distribution cycles).
To obtain the index i, k (temp = N−ik).

When the value of the parameter temp is "positive"
, "0" or "negative" (step SB8), and if positive, step SB9; if "0", step S8
B14, if negative, proceed to Step SB20. When the value of the parameter temp is positive, the movement command xj of the block indicated by the index j is read (step SB9), and the flag
BINACDC is determined (step SB10), and when acceleration is being performed at "1", the following first equation is calculated from the read movement command xj and the value of the index i to obtain a movement command L (step SB11).

L = i · xj / N (1) When the flag BINACDC is “2” and the vehicle is decelerating, the following second formula is calculated to obtain the movement command L (step SB12).

L = (N−i) · xj / N (2) Then, the value of (N−temp) is set to the index k (step SB13) (the process proceeds to step SB26).

When the value of the parameter temp is "0", the movement command xj of the block indicated by the index j is read (step SB14), and the flag BINACDC is judged (step SB15). Sometimes, the calculation of the first equation is performed to obtain the movement command L (step SB)
16) When the flag BINACDC is “2” and the vehicle is decelerating,
The movement command L is obtained by performing the calculation of the second equation (step SB17), the index k is incremented by "0", and the index j is incremented by "1" (steps SB18 and SB19), and the step SB is performed.
Move to 26.

Further, when the value of the parameter temp is "negative", the value of the index j and the next value (j +
The movement commands xj and xj + 1 of the block indicated by 1) are read (step SB20), and the following three expressions are operated to obtain the movement command L (step SB21).

L = [(N−k) · xj / N] −temp · xj + 1 / N (3) Then, the index k is set to “−temp”, and the index j is set to “1”.
The value is incremented (steps SB22 and SB23), and the process proceeds to step SB26.

In step SB26, the index i is incremented by "1", and it is determined whether or not the index i is equal to or greater than the set number N of acceleration / deceleration times (step SB27). If not, the flow proceeds to step SB34 to terminate the binary operation. If not, the process returns to the main routine, outputs the calculated movement command L to the servomotor, and ends the processing in the cycle.

The acceleration / deceleration process will be described with the number N of the set distribution cycles for determining the acceleration / deceleration time set to "4". Further, the movement command of each block of the binary operation is, for example, as shown in FIG.
(A), for example, if the index j is "10" and xj
It is assumed that a feed hold signal is generated or a reset signal or an emergency stop signal is generated (Steps S7 and S8) when a movement command of = x10 is to be output.

At that time, as described above, the flag BINACDC
Is set to "2", the flag BINADST is set to "1" (steps S10 to S13), the process proceeds to step SB1, the index i is set to "1" by steps SB2 to SB4, and BINADST is set to "2". The points set are as described above. If it is determined in step SB5 that the flag BINACDC is "2" and the vehicle is decelerating, ik = 1-0 = 1 is set in the parameter temp (step SB7). The index i is set to "1" at step SB3 at the start of binary operation acceleration / deceleration, and the index k is set to "0" at step SB5 at the start of binary operation.
Since temp = 1 and “correct”, the process proceeds to step SB9 to read the block movement command xj = x10. The index j
Is set to “0” in step S5 at the start of the binary operation, and is incremented by “1” each time the movement command xj of the block indicated by the index j is output (see steps SB24 and SB25), as described above. J = 1
Since it is determined that a feed hold signal has been generated at the time of 0 or a reset signal or an emergency stop signal has been generated, the movement command xj = x10 is read.

Then, since the flag BINACDC is "2", the flow shifts from step SB10 to step SB12, where N = 4, i = 1, xj = x10 are substituted into the above-mentioned second equation to obtain the movement command L.

L = (N−i) · xj / N = (4-1) ·
x10 / 4 = (3/4) × 10 Next, the index k is set to k = 3 (N-temp = 4-1 = 3) (step SB13), and the index i is incremented by “1” to “2” (step SB13). SB26), and the value of the index i is N
= 4 or more, and if not, step SB34
It is determined whether the binary operation has been completed or not. Since the binary operation has not been completed, the process returns to the main routine, and in step S18, the movement command L obtained in step SB12 =
(3/4) × 10 is output.

In the next cycle, steps S1, S3, S4
The process proceeds from step S7 or step S8 to step S10, and the flag BINACDC remains set to "2" and the flag BINADST is set to "2" in step SB4, so that steps S10, S11,
After performing the process of S12, the process proceeds to the binary distribution process (step S17), and the process proceeds to steps SB1, SB2, and SB.
5, the process proceeds to SB7. In step SB7, the index i =
2 and the index k = 3, the parameter temp = 2-3
= -1. Since temp = −1 and negative, step S
The process proceeds from B8 to step SB20, and the movement command xj = x
10 and the next movement command xj + 1 are read (the index j is not incremented and remains at the previous “10”),
The calculation of the third equation is performed to obtain the movement command L (step S
B21).

L = [(N−k) · xj / N] −temp · xj + 1 / N = [(4-3) · x10 / 4] + 1 · x11 / 4 = (1/4) · x10 + ( １ ／) × 11 Next, the index k is set to −temp = 1, the index j is incremented by “1”, and j is set to 11 (steps SB22 and SB2).
3) The index i is incremented by "1" to set i = 3 (step SB26). Since the index i is not equal to 3 and N is not equal to or more than 4, the process proceeds to step SB34. If the binary operation is not completed, the process returns to the main routine and outputs the movement command L obtained in step SB21 (step S18). .

In the next cycle, steps S1, S
3, S4, S7 or S8, S10, S11, S1
2, SB1, SB2, SB5, SB7, and the index i
= 3 and index k = 1, so that temp = 3-1 = 2, which is positive, the process proceeds from step SB8 to SB9 to read the movement command xj = x11, and to calculate the movement command L from the above equation (2). (Steps SB10 and SB12).

L = (N−i) · xj / N = (4-3) ·
x11 / 4 = (1/4) x11 Then, the index k is set to k = N-temp = 4-2 = 2 (step SB13), the index i is incremented by "1" (step SB26), and i = 4 I do. As a result, the index i is N
= 4 or more, the flow shifts to step SB28 to determine whether or not the flag BINACDC is "2". In this case, since the flag BINACDC is "2", the flow shifts to step SB29 to determine whether there is an emergency stop or reset signal. to decide. If there is an emergency stop or reset signal, the flag BINPREP is set to "0", and the flags BINACDC and BINADST are set to "0", thereby terminating the acceleration / deceleration processing of the binary operation (step SB3).
0, SB31), and proceeds to step SB34 to determine whether or not the binary operation is completed based on whether or not the index j is equal to or greater than the total number P of binary data. If not, the process returns to the main routine and returns to the main routine, where the movement command L = (1 /
4) Output x11 (step S18).

In the next cycle, the process proceeds from step S1 to step S3, and since the flag BINPREP is set to "0", the process proceeds to step S19 to perform normal processing. In this case, since the reset or emergency stop is being performed, the movement command L is not obtained and L = 0, and the output of the servo motor to the axis control circuits 30 to 32 is "0" (step S).
18). Thereafter, steps S1, S3, S19,
The processing of S18 is repeated, and the axis control circuit 3 of the servo motor
The outputs to 0 to 32 are not driven at "0".

On the other hand, in step SB29, when the emergency stop or the reset signal is not detected (when the feed hold signal is generated), the flag BINACDC is set to "3",
BINADST is set to "0" (steps SB32 and SB
33), and determine whether the binary operation is completed or not (step SB3)
4) If not ended, the process returns to the main routine and outputs the above-mentioned movement command L = (1/4) .x11 obtained in step SB13 (step S18). Then, from the next cycle, steps S1, S3, S4, S7, S10, S17
In the binary distribution process of step S17, the process proceeds from step SB1 to step SB36 to set the movement command L to "0" and returns to the main routine. The movement command L of "0" is transferred to the axis control circuit 30 of the servo motor. (Step S18). As a result, the motor is not driven and the machine is at a standstill.

As described above, the emergency stop during the binary operation,
When a reset or a hood hold signal is generated, if the number of cycles N for determining the acceleration / deceleration time is 4, the moving command to be output is x10, and the next moving command is x11, the moving command L is 1 at the start of deceleration. Movement command L in the cycle: L = (3/4) × 10 Move command L in the second cycle from the start of deceleration L = (１ ／) × 10
+ (1/4) .x11 Movement command L in the third cycle from the start of deceleration = (1/4) .x11 Movement command L = 0 after the 4th cycle from the start of deceleration. In the example shown in FIG. 6A, x10 / 4 = a, x11
Assuming that / 4 = b and x12 / 4 = c, as shown in FIG. 6B, "3a" is output in the first cycle of deceleration start, "a + b" is output in the second cycle, and "B" will be output. As a result, half (2b) of the movement command x11
Will be stopped in the state where is output.

Since the vehicle is decelerated and stopped as described above, as shown in FIG. 7, the movement command of x10 is AB and x11
When the movement command is BC and the movement command of x12 is CD, the actual movement is ab, bc, and cd, and the movement path error is small.

When the hood hold signal is generated, the vehicle decelerates and stops as described above, and steps S1, S3, S4, S
7, S10, SB1, SB36, and S18 are repeatedly executed, and when the machine is stopped and the feed hold signal is stopped and the feed hold state is set, the process proceeds from step S7 to steps S8 and S9. In step S9, it is determined whether the flag BINACDC is "1" or "3". When the flag is decelerated and stopped by the hood hold signal, the flag is set to "3" in step SB32. BINACD
C is set to "1", and it is determined whether or not the flag BINADST is "2" (step S15). Since this flag BINADST has been set to "0" in step SB33, the process proceeds to step S16, where the flag BINADST is set. Is set to “1”.

Then, the process proceeds to the binary distribution process. Since the flag BINACDC is "1" and the flag BINADST is "1", the process proceeds from step SB1, SB2 to step SB3 to set the index i to "1". The flag BINADST is set to "2" (step SB4). Next, the flow proceeds to step SB5 to determine whether the vehicle is accelerating or decelerating based on the value of the flag BINACDC. In this case, in step S14, the flag BINACDC is set to “1” to indicate that the vehicle is accelerating.
The process proceeds to Step SB6 to obtain the parameter temp. In the example described above, when N = 4 and deceleration to stop by feed hold, the index k ends with “2” and the index j ends with “11”. Therefore, since temp = Nik = 4-1-2 = 1 and temp = 1 is “positive”, the process proceeds from step SB8 to step SB9 to read the movement command xj = x11 and read the flag BI
Since NACDC is “1” and accelerating, step SB
The process proceeds from step 10 to step SB11 to calculate the movement command L by performing the calculation of the first equation.

L = i · xj / N = 1 · x11 / 4 = (・) · x11 Then, the index k is set to k = N−temp = 4-1 = 3 (step SB13), and the index i is set. Is incremented by "1" to "2" (step SB26), and the processing of steps SB27, SB34, and S18 described above is performed, and the obtained movement command L is output to the servomotor.

In the next cycle, steps S1, S3, S
Proceed to 4, S7, S8, S9, and the flag BINACDC is "1"
Therefore, the process proceeds to steps S14 and S15, and the flag BI
Since NADST is set to "2" in step SB4, the process shifts to binary distribution processing, and steps SB1, SB
The process proceeds to 2, SB5 and SB6. In step SB6, i =
2. Since k = 3, the parameter temp = N−i−k =
Since 4-2-3 = −1, which is negative, step SB
8 to step SB20, where the movement command xj = x11,
xj + 1 = x12 is read out of the memory, and the operation of the third equation is performed to obtain the movement command L (step SB21).

L = [(N−k) · xj / N] −temp · xj + 1 / N = [(4-3) · x11 / 4] + 1 · x12 / 4 = (1/4) · x11 + ( １ ／) × 12 Then, the index k is set to k = −temp = 1, and the index j is incremented to “12” (steps SB22 and SB2).
3) Further, the index i is incremented to “3” (Step SB26), and the above-described Step SB2
7, SB34 and S18, and outputs the movement command L to the axis control circuits 30 to 32 of the servomotor.

In the next cycle, steps S1, S3, S
4, S7, S8, S9, S14, S15, SB1, SB
2, SB5 and SB6 are performed, and in step SB6, temp = Nik = 4-3-1 = 0 is obtained, and temp = Nik = 4-3-1 = 0.
Since it is 0, the process proceeds to step SB14, where xj = x12 is read from the memory. Since the flag BINACDC is "1", the operation of the first expression is performed to obtain the movement command L (steps SB15 and SB16). L = i · xj / N = 3 · x12 / 4 = (3/4) · x12 Then, the index k is set to “0”, the index j is incremented by “1” to j = 13, and (step SB18, SB1
9) Further, the index i is incremented by “1” to “4”
(Step SB26). As a result, step SB2
7, it is determined that the index i is N = 4 or more.
Proceed to step SB28 to set the flag BINACDC to "1".
Is not "2", the process proceeds to step S31, and the flag BI
NACDC and BINADST are both set to “0”, and the processing of steps SB34 and S18 described above is performed to execute the movement command L obtained above.
Is output to the axis control circuits 30 to 32 of the servomotor.

From the next cycle, steps S1, S3, S
Advance to 4, S7, S8, S9, flag BINACDC is "0"
Since neither "1" nor "3", the process proceeds to the binary distribution process of step S17. In the binary distribution process, since the flag BINACDC is "0", the process proceeds from step SB1 to step SB24, and the index j (= 13) ) Is read out from the memory and the movement command xj (= x13) is read out.
And the index j is incremented by "1" (step SB25), and it is determined whether or not the value of the index j is equal to or more than the number P of binary data (step SB34). xj is output to the servo motor axis control circuits 30 to 32 (step S18). Hereinafter, this processing is repeated for each cycle. As a result, a normal binary operation process in which a movement command is output to the servo motor in the order of x13, x15,.

As a result, as shown in FIG. 6C, "b" is output in the first cycle of the acceleration start, "b + c" in the second cycle, and "3c" in the third cycle. Half (2b) of the movement command x11 that was used and the movement command x in the next cycle
Acceleration processing is performed by 12 (= 4c), and when the acceleration is completed, the next movement command x13 and thereafter are sequentially output.

Then, when j ≧ P in step SB34 and the binary operation ends, the flag BINPREP is set to “0”. As a result, from the next cycle, step S
The processing is performed in the order of 1, S3, S19, and S18, and the operation of the normal processing is performed.

When the index j is "10" and a movement command x11 is to be output, a feed hold signal is generated, and after deceleration and stop, the feed hold signal is released and accelerated to resume binary operation. Table 1 shows the change state of the index, the movement command, and the like when N, which defines the acceleration / deceleration time, is "4", and Table 2 when N = 5. In the case of an emergency stop or a stop due to a reset signal, the index of only the above-described deceleration stop, a movement command, and the like are changed.

If the number N of the distribution cycles set as the acceleration / deceleration time is set as a power of 2 ²ⁿ , the calculations of the first to third equations for dividing the movement command xj for each distribution cycle by this number N are performed. Steps SB11, SB12, SB16, SB
17, SB21 processing is simplified. That is, since the movement command xj is stored as binary data, if the movement command xj is stored in the register and shifted n times in the lower direction, the movement command xj is divided by N.
The division can be performed simply by shifting the register.

[0056]

[Table 1]

[0057]

[Table 2]

[0058]

According to the present invention, even if the operation is stopped during the binary operation, the machine is decelerated and stopped, so that no large shock is generated in the machine. Also,
Even when restarting the operation interrupted during the operation, the machine is driven by acceleration processing, so that a large shock is not generated in the machine even when the operation is restarted. Further, a path error associated with the acceleration / deceleration processing can be reduced.

[Brief description of the drawings]

FIG. 1 is a block diagram of a CNC control device according to an embodiment to which the present invention is applied.

FIG. 2 is a flowchart of a process for each distribution cycle executed by a processor in the embodiment.

FIG. 3 is a flowchart of a binary distribution process in the flowchart in FIG. 2;

FIG. 4 is a flowchart continued from FIG. 2;

FIG. 5 is a diagram illustrating an example of an acceleration / deceleration process according to the present invention.

FIG. 6 is a diagram illustrating an example of an acceleration / deceleration process according to an embodiment of the present invention.

FIG. 7 is an explanatory diagram of a command path and an actual path when the acceleration / deceleration processing of the present invention is performed for binary operation.

[Explanation of symbols]

 10 Numerical control unit (CNC device) 11 Processor

Claims (3)

[Claims] 1. A motion controller for controlling a plurality of control axes, wherein a movement command to each axis for each distribution cycle is registered in advance as binary data capable of directly instructing each axis, and a machine is driven by the binary data. In the motion control method of the motion controller in the binary operation to be controlled, the acceleration / deceleration time is set in advance by the number of distribution cycles of the movement command, and when the operation stop signal is generated during the binary operation, the distribution set as the acceleration / deceleration time is set. The movement command for each distribution cycle stored as binary data is divided according to the number of cycles, and movement is performed from the movement command at which the operation stop signal is generated so that the number of movement commands divided by each distribution cycle is sequentially reduced by one. Motion control method of a motion controller that outputs as a command and decelerates. 2. When the operation is resumed after the suspension, the moving is performed by adding one by one in units of divided movement amount in each distribution cycle from one divided movement command following the divided movement command. 2. The motion control method for a motion controller according to claim 1, wherein the motion is output as a command and accelerated. 3. The motion control method according to claim 1, wherein the number of distribution cycles set as the acceleration / deceleration time is a power of two.