JPH11219211A - Numerically controlled machine tool and control method therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify the transplantation of a program for processing an output/ input related task for controlling the output or input of data and to prevent time and labor from being taken in the new addition of hardware or the like. SOLUTION: A controller 1 is provided with a first memory part storing a real time OS 10 and a second memory part storing a second OS 40 independent of the real time OS 10 and the real time OS 10 and the second OS 40 are freely selectively operatable. The real time OS 10 is provided with a working operation related task 20 for computing and outputting a control command based on a working program 21 and the second OS 40 is provided with the output/input related task 51 for controlling the output or input of the data by a communication cable and a display, etc.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention processes a machining operation related task such as a servo control task, a PLC control task, a period monitor task and the like, and also performs input / output related tasks such as a screen display control task and a communication control task. The present invention relates to a numerically controlled machine tool having a main controller for processing tasks and a control method therefor.

[0002]

2. Description of the Related Art FIG. 5 is a conceptual diagram of processing of each task showing an example of a conventional control method in a numerically controlled machine tool. Conventionally, in the main control device of a numerically controlled machine tool,
Operating system (Operat: Operat) of the main controller
Under the management of the ion system, various tasks are processed at a constant OS basic cycle. For example, as shown in FIG. 5, in one OS basic cycle P, a servo control task (related to control of a servo axis), a PLC control task (related to control of an actuator or the like), a cycle monitor task (feed speed or rotation of a spindle). Processing operation-related tasks 60 such as monitoring of numbers, etc., image display control tasks (related to image display such as progress of processing, etc.), communication control tasks (related to communication with other computers, etc.), etc. An input / output related task 61 such as described above is processed. Usually, such a main controller for a machine tool is significantly different from an OS for a personal computer (hereinafter, such an OS is referred to as a “general-purpose OS”) that is widely used regardless of whether it is for business use or for home use. An OS unique to a numerical control machine tool (hereinafter, such an OS is referred to as a “real-time OS”) is used. Real-time OS
In one OS basic period P, the processing time of the processing operation-related task 60 may be long and the input / output-related task 61 may be omitted. However, the processing time of the processing operation-related task 60 is maximized. Even so, a part of the processing operation related task 60 is not omitted. That is, in order to guarantee accurate machining, the machining operation related task 60 for directly controlling the machining includes one OS basic cycle P
Is programmed to always be processed.

[0003]

Conventionally, not only the processing operation related task 60 but also the input / output related task 61 is used.
The input / output-related task 61 is, of course, a program that depends on the real-time OS. However, a program that depends on a real-time OS unique to a machine tool lacks versatility, and it is difficult to port the program, which is inconvenient. In addition, even when new hardware such as an auxiliary storage device or a printer is newly added, the driver must be programmed in a form depending on the real-time OS.
This is troublesome and inconvenient.

In view of the above circumstances, the present invention makes it easy to port a program for processing input / output-related tasks such as a screen display control task and a communication control task, and does not have to add new hardware. It is an object to provide an advantageous numerically controlled machine tool and its control method.

[0005]

That is, a first aspect of the present invention comprises a mechanical drive unit and drive units (71a, 71b) capable of driving the mechanical drive unit.
a, 71b) can be driven and controlled.
72b) and data input / output means (2, 4) for outputting or inputting data, and a main control connected to the drive control devices (72a, 72b) so as to be able to transmit control commands freely. In a numerically controlled machine tool (70) provided with a device (1), the main control device (1) includes a first memory (6a) storing a first operation system (10) and the first operation. System (1
0) has a second memory (6b) storing a second operation system (40) in a form independent of the first operation memory (6a) in the main controller (1). The first operation system (10) and the second operation system (40) stored in the second memory (6b) are selectively operable, and the first operation system (1
0) has a control command calculation output task (20) for calculating and outputting the control command based on a machining program (21), and the second operation system (40) includes the data input / output means (2, It has an input / output control task (51) for controlling the output or input of data according to 4).

According to a second aspect of the present invention, in the numerical control machine tool (70) according to the first aspect, the first operation system (10) operates the second operation system (40). A second processing task (31) to be performed is provided.

A third aspect of the present invention is the numerically controlled machine tool (70) according to the first aspect, wherein the first operation system (10) is a real-time operation system, and the second operation system is (40) is a general-purpose operation system.

According to a fourth aspect of the present invention, in the numerical control machine tool (70) according to the second aspect, the first operation system (10) includes the control command calculation output task (20) or the control command calculation output task (20). A scheduler (10c) for selectively sequentially outputting the processing instructions of the second processing task (31)
And, based on an instruction from the scheduler (10c), the control command calculation output task (20) or the second
It has a processing function (10a) for performing the processing of the processing task (31).

According to a fifth aspect of the present invention, when control is performed in the numerically controlled machine tool (70) of the first aspect, the control command calculation output task is performed by the first operation system (10). A predetermined basic period (P) having a length capable of completing the processing of (20) is set, and the time is measured based on the basic period (P). The first operation system (10) processes the control command calculation output task (20), confirms that the processing of the control command calculation output task (20) is completed, and checks the remaining in the basic cycle (P). The input / output control task (51) is processed by the second operation system (40) at the time of (1).

According to a sixth aspect of the present invention, in the control method of the fifth aspect, the processing of the input / output control task (51) by the second operation system (40) is the first operation. The second operation system (40) is operated by emulation on the system (10).

It should be noted that the numbers in parentheses and the like are for convenience showing the corresponding elements in the drawings, and therefore, the present description is not limited to the description on the drawings.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram conceptually showing a management mode of various tasks by a real-time OS or the like, FIG. 2 is a conceptual diagram of processing of each task, FIG. 3 is a conceptual diagram showing a CNC lathe,
FIG. 4 is a flowchart showing the control contents by the real-time OS.

CNC lathe 70 as a numerically controlled machine tool
As shown in FIG. 3, the control device 1 includes a machine body 71 as a machine portion and a control device 1 as a main control device. The control device 1 includes a CPU 3 and a display 4, a CPU register 5, a memory connected thereto. 6, a computer constituted by a hard disk (not shown), a keyboard (not shown), a communication input / output device (not shown), and the like. It should be noted that the control device 1 has a form in which another computer or the like (not shown) can exchange data with the control device 1 via a communication cable 2 connected via the communication input / output device as shown in FIG. Connected by The machine body 71 includes a plurality of motors 71a (only one is shown in FIG. 3) and a plurality of actuators 71b (only one is shown in FIG. 3) as shown in FIG. (For example, a work spindle, a tool post, an ATC device, etc.).
Each motor 71a has a motor drive controller 72a (only one is shown in FIG. 3) for driving and controlling the motor 71a, and each actuator 71b has an actuator drive controller 72b (FIG. 3) for driving and controlling the actuator 71b. (Only one is shown). Each motor 71a has a sensor 71c (only one is shown in FIG. 3), and each actuator 71b has a sensor 71d (FIG. 3).
In FIG. 1, only one is shown), but is installed in such a manner as to detect the respective drive amounts and the like. Then, the motor drive control device 72
a, actuator drive control device 72b, sensor 71c,
71d and the control device 1 are connected by a cable or the like so that an electric signal (a control command signal, a detection signal, or the like) can be exchanged.

As shown in FIG. 1, a real-time OS 10 is installed in the control device 1 as a boot OS of the control device 1, and the real-time OS 10 includes a processing function 10a, a timer 10b, a scheduler 10c, a task Manager 10d, interrupt processing function 10
e etc. The control device 1 also has an OS emulation program 30 that stores the real-time OS 10
A second OS 40, which is one of the general-purpose OSs, is installed so as to operate on the virtual architecture provided by the OS emulation program 30.
The second OS 40 has, as its functions, a processing function 40a, a task manager 40b, a scheduler 40c, a communication driver 40d, and the like. Further, an input / output related program 50 is installed in the control device 1 so as to operate on the second OS 40.

Since the CNC lathe 70 and its controller 1 are constructed as described above, the control by the controller 1 is performed as follows. First, the control device 1 activates the real-time OS 10. That is, the real-time OS1
0 hard disk or ROM not shown
(Read only memory) and the like, and stored in the first memory unit 6a of the memory 6. Real-time OS10
Is started, the task manager 10d of the real-time OS 10 generates and initializes a task required for processing control. For example, as shown in FIG. 1, a servo control task 11 for issuing a command to each motor drive control device 72a, a PLC control task 12 for giving a command to each actuator drive control device 72b, and each sensor 71c, 71d
Monitor task 1 for detecting the drive amount at each machine drive position in the machine body 71 based on the detection signal from the
3, a plurality of machining operation-related tasks 20 are generated and initialized, and a second OS task 31 for executing the OS emulation program 30 is generated and initialized.
That is, the real-time OS 10 has a plurality of machining operation-related tasks 20 and a second OS task 31.

The processing function 10a of the real-time OS 10 activates the OS emulation program 30 when the task is generated and initialized by the task manager 10d. When the OS emulation program 30 is started, the second OS 40 is started in a form emulated by the program 30 (at this time, the communication driver 40d and the like of the second OS 40 are also initialized). The program of the second OS 40 is stored in the memory 6
Is stored in the second memory unit 6b. When the second OS 40 is started, the task manager 40b of the second OS 40
Is, as shown in FIG.
Are generated and initialized, ie, an image display control task 41 and a communication control task 42. That is, the second OS 40 has a plurality of input / output related tasks 51.

On the other hand, when the real-time OS 10 is started, the timer 10b of the real-time OS 10
The counting of the time is started with the S basic cycle P as a cycle (the time is reset when one OS basic cycle P ends, and the counting of the time of the next OS basic cycle P is started). The task manager 10d of the real-time OS 10 has a task management file TKF, and can freely provide information based on the task management file TKF. The task management file TKF includes the tasks 11, 12, 1 and
For 3 and 31, the priorities for determining these priorities are recorded. For example, in this embodiment, the priority of each machining operation related task 20 is higher than the second OS task 31, and among the plurality of machining operation related tasks 20, the servo control task 11, the PLC control task 1
2, the priority (priority) is higher in the order of the period monitor task 13,.... Further, the task management file TKF includes, for each of the tasks 11, 12, 13, 31 in one OS basic period P,
Individual times at which the states 2, 13, and 31 are changed from the dormant state (pause state) to the ready state (executable state) are recorded. In this embodiment, for example, as shown in FIG.
Time T0 which is the start time in one OS basic cycle P
The servo control task 11 starts PLC control at time T1.
At the subsequent time T2, the control task 12 causes the period monitor task 13 to execute each processing operation-related task 2 in the form of.
0 are sequentially in a ready state, and at a subsequent time T3, the second OS task 31 is in a ready state.

Thereafter, the machining program 21 stored on a hard disk (not shown) of the control device 1 is called, and the machining program 21 is executed. In the machining program 21, instructions relating to, for example, driving of the spindle and feeding of the tool edge are described.
The desired machining can be performed by moving the spindle and the tool in accordance with the contents described in (1). Hereinafter, execution of the machining program 21 will be described. That is, the scheduler 10c of the real-time OS 10
Is the time counted by the timer 10b and the task management file T of the task manager 10d, as shown in FIG.
Based on the KF, unprocessed tasks within the same OS basic cycle P (for example, each task 1
Flags indicating “processed” and “unprocessed” are provided for 1, 12, 13, and 31, respectively. For example, if the value of the flag of each task is unprocessed within the same OS basic period P, “unprocessed” is set. "Processing", and if the processing has been completed, the processing is "processing". In step STP1, it is determined whether or not a ready task has occurred.

For example, when the time T0 which is the start time of one OS basic cycle P is counted by the timer 10b,
As shown in FIG. 2, the scheduler 10c determines, based on the task management file TKF, that an unprocessed servo control task 11 that has become ready at this time T0 has occurred. Then, based on the task management file TKF, the scheduler 10c detects the task with the highest priority among the tasks in the ready state (step STP2). In this case, since only the servo control task 11 is in the ready state, the servo control task 11 is detected. Furthermore, the scheduler 10c
Then, it is determined whether the detected servo control task is the second OS task 31 (step STP).
3). In this case, since it is not the second OS task, the scheduler 10c issues a command to the processing function 10a to process the detected servo control task 11. Processing function 1
0a sequentially interprets the machining program 21 described above, and performs a process related to the servo control in the currently interpreted instruction as the servo control task 11 in accordance with the instruction from the scheduler 10c (step STP4).
That is, by the processing of the servo control task 11, a command relating to the drive of each motor 71a is transmitted to each motor drive control device 7.
2a, and each motor drive control device 72a drives each motor 71a based on these instructions. At this point, the scheduler 10c determines whether the processing of the servo control task 11 has been completed (step STP
5) When the processing of the servo control task 11 is completed,
The scheduler 10c determines that the processing of the servo control task 11 has been completed, and returns to step STP1 again.

In this step STP1, in the same manner as described above, the scheduler 10c determines, based on the task management file TKF, whether or not an unprocessed task that has become ready at this time has occurred. For example, if only the servo control task 11 has been processed, the time T1
When there is no unprocessed task in the ready state at a time less than the time T1, and at a time less than the time T2 after the time T1, P
The LC control task 12 is in an unprocessed and ready state. At a point in time after the time T2 and less than the time T3, the PLC control task 12 and the cycle monitor task 13 are in an unprocessed and ready state. For example, when the servo control task 11 and the PLC control task 12 have been processed, there is no unprocessed task in the ready state at a time less than time T2, and a periodic monitor task at a time after time T2 and less than time T3. 13 is unprocessed and becomes ready. Thus, the scheduler 10c determines that at least one unprocessed and ready task has occurred (step ST10).
If there is no unprocessed and ready task at the time of P1, this step STP1 is repeated), and the process proceeds to step STP2. In step STP2, the scheduler 10c detects the task having the highest priority among the tasks in the ready state based on the task management file TKF. For example, when only the servo control task 11 has been processed, the PLC control task 12 is detected as the task having the highest priority, and when the servo control task 11 and the PLC control task 12 have been processed, the cycle monitor task 13 is detected. .

Proceeding to step STP3, the scheduler 1
0c, the detected task is the second OS task 31
Is determined. The detected task is P
If the task is a machining operation-related task 20 such as the LC control task 12 or the cycle monitor task 13, the scheduler 10c issues an instruction to the processing function 10a to process the detected task because the task is not the second OS task. Step S
Proceeding to TP4, for example, when the detected task is the PLC control task 12, the processing function 10a sets the process related to the PLC control in the currently interpreted instruction as the PLC control task 12 in accordance with the instruction from the scheduler 10c. If the detected task is the periodic monitor task 13, the processing function 10a
Performs, as the cycle monitor task 13, a process related to the cycle monitor in the currently interpreted instruction according to the instruction from the scheduler 10c. That is, by the processing of the PLC control task 12, a command related to driving of each actuator 71b is transmitted to each actuator drive control device 72b, and each actuator drive control device 72b drives each actuator 71b based on these instructions. In addition, by the processing of the cycle monitor task 13, each sensor 71c, 7c
Analysis is performed based on the detection signal transmitted from 1d, and the drive amount at each machine drive location in the machine main body 71 is detected. In addition to performing the processing of the task as described above, the scheduler 10c determines whether or not the processing of the task has been completed (step STP5). It is determined that the processing of step STP1 has been completed, and step STP1 is performed again.
Return to

By the way, at the time of this step STP1, all the processing operation-related tasks 20 have been processed, and if the time has passed the time T3, the scheduler 10c performs task management as shown in FIG. File TK
Based on F, it is determined that an unprocessed second OS task 31 that has become ready at this time has occurred. Then, the process proceeds to step STP2, where the scheduler 10c detects the task having the highest priority among the tasks in the ready state based on the task management file TKF. In this case, the second OS task 31 is detected as the task having the highest priority, and the process proceeds to step STP3, where the scheduler 10c checks the detected second OS task.
It is determined that the task 31 is the second OS task 31. Based on the determination result in step STP3, the real-time O
The interrupt processing function 10e of S10 is performed by the CPU register information memory unit 25 formed in the memory 6 of the control device 1.
(See FIG. 3) CPU register information RI stored
N is taken out and transmitted to the CPU register 5 (step STP104). After step STP104, the processing function 10a processes the second OS task 31 (step ST
P105). That is, the OS emulation program 3
On the second OS 40 via 0, the image display control task 41 and the communication control task 42, which are input / output related tasks 51, are alternately processed by the processing function 40a of the second OS 40. For example, by the process of the image display control task 41, data relating to the movement drive status at each machine drive location in the machine main body 71 obtained by the above-described cycle monitor task 13 and the like is created as an image and output to the monitor.
Further, for example, by the processing of the communication control task 42, data relating to the movement drive status at each machine drive location in the machine main body 71 is output to another computer or the like via the communication cable 2 by the communication driver 40 d of the second OS 40.

By the way, at the same time that the step STP105 is performed, the scheduler 10c of the real-time OS 10 determines whether or not an unprocessed task in the ready state has occurred based on the task management file TKF (step STP106). If the time counted by the timer 10b passes the time T3 and is less than the end time of the OS basic period P, there is no unprocessed task in the ready state, and the step STP105 is continued. In the case of the end time of P, that is, the time T0 which is the start time of the next OS basic cycle P, the servo control task 11 is not processed and is in the ready state. Therefore, the next O
At time T0 of the S basic cycle P, step STP10
In 6, the scheduler 10c determines, based on the task management file TKF, that an unprocessed task 11 in the ready state has occurred. Step STP107
The interrupt processing function 10e is currently in the processing function 1
0a (the current state of the CPU 3)
The PU function is transmitted as the PU register information RIN to the CPU register information memory unit 25 via the CPU register 5 and stored therein, so that the processing of the second OS task 31 by the processing function 10a is interrupted, and the scheduler 40c of the second OS 40 51 (this interruption may be interrupted during the processing of one task), and the above-described step S
Return to TP2.

Thereafter, steps STP1 to STP5 are sequentially and repeatedly performed in the same manner as described above, so that the servo control task 11 and the PLC control task 12 can be performed even in the OS basic cycle P subsequent to the previous OS basic cycle P. ,
The processing operation-related task 20 such as the periodic monitor disk 13 is processed, and thereafter, the process proceeds from step STP1 to step STP10.
4 and processes the second OS task 31 by performing steps STP104 and STP105.
Above, the image display control task 41 and the communication control task 42 are alternately processed, and then steps STP106 and STP10
7, the process proceeds to step STP2, and further enters the next OS basic period P. As described above, the machining program 21 is executed in such a manner that the processes of the tasks 20 and 31 are performed for each OS basic cycle P. In step STP104, the interrupt processing function 10e of the real-time OS 10
The CPU register information RIN stored in the CPU register 5 is extracted and transmitted to the CPU register 5, and
Receiving the CPU register information RIN from C
PU3 enters the state having the CPU register information RIN, and accordingly, the processing function 10a
Is interrupted, so that step S
In the TP 105, input / output related tasks 51 such as the image display control task 41 and the communication control task 42 are continuously performed from the state immediately before the interruption. As a result, the task interrupted on the way is not performed again from the beginning, and the processing time can be saved. In the real-time OS 10, one OS
In the basic cycle P, the processing time of the processing operation-related task 20 can be increased and the second OS task 31 can be omitted. Since the processing time distribution of each task is set in advance so that a part of the related tasks 20 is not omitted, each machining operation related task 20 for directly controlling the machining is performed by one OS basic. Period P
, And as a result, an accurate machining operation is guaranteed.

As described above, in the control device 1, the processing operation-related task 20 is processed on the real-time OS 10, but the input / output-related task 51 is processed on the second OS 40. Program 50
May be a program that depends on the second OS 40 that is a general-purpose OS. Therefore, the input / output related programs 50 used in the control device 1 have high versatility, and the porting of the input / output related programs 50 and the like is simplified. Also, the second
Various drivers such as a communication driver of the OS 40 are also provided in the second O.
Since it depends on S40, various versatile drivers can be easily ported even when new hardware is added or the like, which is convenient and convenient. Also, the second OS
The operation related to the program or the like to be operated on the OS 40 may be performed by learning the operation related to the second OS 40 which is a general-purpose OS, and it is convenient because there is no need for specialty like learning the operation of the real-time OS 10. Especially the screen operation function (HMI:
General-purpose OS that realizes HumanMachine Interface)
The operation is very easy and convenient.

In this embodiment, the CNC lathe 70 is given as an example of the numerically controlled machine tool. However, as another example, a machining center or a laser processing machine may be used.
In the above-described embodiment, the image display control task 41 and the communication control task 42 are given as examples of the input / output-related task 51. However, other tasks such as controlling a print output are also possible.

[0027]

As described above, the first aspect of the present invention has a mechanical drive unit and a drive device such as a motor 71a and an actuator 71b capable of driving the mechanical drive unit, and drives the drive device. Controllable motor drive controller 72
a, a drive control device such as an actuator drive control device 72b, and a communication cable 2 for outputting or inputting data;
A numerical control machine tool provided with data input / output means such as a display 4 and a main control device such as a control device 1 connected to the drive control device so as to be capable of transmitting control commands; The device is a real-time OS
The first storing the first operating system such as 10
A second memory unit 6 storing a first memory such as a memory unit 6a and a second operating system such as a second OS 40 independent of the first operating system.
b, etc., and in the main controller, the first operation system stored in the first memory and the second operation system stored in the second memory The first operation system is selectively operable, and the first operation system includes a machining operation-related task 20 for calculating and outputting the control command based on a machining program such as a machining program 21 (for example, a servo control task 11, a PLC control task). The second operation system has an input / output related task 51 (for example, an image display control task 41) for controlling data output or input by the data input / output means. , A communication control task 42, etc.). As described above, the first operation system includes the servo control task 11 and the PL
Since this is an operation system for processing a control command calculation output task such as the C control task 12 and therefore a task that affects the machining operation, a predetermined feature (a so-called “real-time OS”) is used in the processing time management of the control command calculation output task and the like. Etc.), but the second operation system is an operation system for processing a task which does not directly affect the machining operation, that is, an input / output control task. Other operation systems that are not provided (such as a so-called “general-purpose OS”) can be used. Further, since the input / output control task is processed by the second operating system, the program related to the input / output control task is a program dependent on the second operating system (ie, a program that depends on the second operating system).
Since the program is not dependent on the first operation system), the program related to the input / output control task has high versatility, and the porting of the program related to the input / output control task is simplified. Furthermore, the second
Since various drivers such as a communication driver used in the operating system of the above also depend on the second operating system (ie, do not depend on the first operating system), when new hardware is added, etc. However, it is convenient because various versatile drivers can be easily ported.

According to a second aspect of the present invention, in the numerically controlled machine tool according to the first aspect, the first operation system includes a second OS task 31 such as a second OS task 31 for operating the second operation system. Has a processing task. That is, in addition to the effect of the first invention, the second operating system operates in one task processed by the first operating system. If the processing time management of the output task and the second processing task is properly set (that is, if the control command calculation output task is set to have a higher priority than the second processing task), An input / output control task processed by the second operating system;
The processing time between the control command calculation output task and the control command calculation output task can be appropriately managed (that is, the control command calculation output task can be prioritized over the input / output control task). Thus, even if, for example, the number of tasks of the input / output control task is increased or decreased, the processing priority relationship between the input / output control task and the control command calculation output task is always appropriately maintained, which is advantageous.

According to a third aspect of the present invention, in the numerical control machine tool according to the first aspect, the first operation system has a direct effect on a real time operation system (ie, a real time operation system). The second operation system is a general-purpose operation system (whether for business use or for home use), which is a numerical control machine tool original operation system that is set so that processing of a given task is always performed in one basic cycle. A widely used PC operation system, such as Microsoft's "Windows95" (registered trademark) or Apple's "Mac OS8"
(Registered trademark) is an example thereof). In addition to the effects of the first aspect, the program related to the input / output control task depends on the general-purpose operation system. The program becomes highly versatile, and porting of the program related to the input / output control task becomes easy. In addition, since various drivers such as communication drivers used in the second operation system also depend on the general-purpose operation system, various general-purpose drivers can be easily ported even when new hardware is added. It is convenient because it does not require much work. Further, operations related to a program or the like operated on the second operation system include:
It is only necessary to learn the operation of the general-purpose operation system, which is convenient because there is no need for specialty like the operation of the real-time operation system.

According to a fourth aspect of the present invention, in the numerical control machine tool according to the second aspect, the first operation system selects the control command calculation output task or the processing instruction of the second processing task. And a processing function such as a processing function 10a for processing the control command calculation output task or the second processing task based on an instruction from the scheduler. In addition to the effects of the second invention, in the first operation system, the processing time of the control command calculation output task and the second processing task can be appropriately managed through the scheduler, which is advantageous.

According to a fifth aspect of the present invention, when control is performed on the numerically controlled machine tool of the first aspect, the first operation system is capable of completing the control command calculation output task. A basic cycle such as a predetermined OS basic cycle P is set, and while the time is measured based on the basic cycle, the control command calculation output task is first performed by the first operation system within one basic cycle. And confirm that the processing of the control command calculation output task is completed, and process the input / output control task by the second operation system in the remaining time within the basic cycle. Therefore, the control command calculation output task that directly affects the machining operation is reliably processed for each basic cycle, thereby increasing the reliability in machining. Further, since the input / output control task is processed by the second operating system, the program related to the input / output control task is a program that depends on the second operating system (that is, a program that does not depend on the first operating system). Therefore, the program related to the input / output control task has high versatility, and the porting of the program related to the input / output control task is simplified. Further, various drivers such as a communication driver used in the second operation system are also provided in the second operation system.
That depend on the operating system of the
This does not depend on the operation system of the present invention), so that even when newly adding hardware, various versatile drivers can be easily ported, which is convenient and convenient.

According to a sixth aspect of the present invention, in the control method of the fifth aspect, the processing of the input / output control task by the second operating system is performed by the first operation method.
The second operation system is operated by emulating on the operation system of the first embodiment. Therefore, in addition to the effect of the fifth invention, the first and second operation systems can be implemented by using one CPU. This is convenient because two OS environments can be realized.

[Brief description of the drawings]

FIG. 1 is a diagram conceptually showing a management mode of various tasks by a real-time OS or the like.

FIG. 2 is a conceptual diagram of processing of each task.

FIG. 3 is a conceptual diagram showing a CNC lathe.

FIG. 4 is a flowchart showing control contents by a real-time OS.

FIG. 5 is a conceptual processing diagram of each task showing an example of a conventional control method in a numerically controlled machine tool.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Main control device (control device) 2 ... Data input / output means (communication cable) 4 ... Data input / output means (display) 6a ... 1st memory (1st memory part) 6b ... 2nd Memory (second memory unit) 10 First operation system (real-time OS) 10a Processing function 10c Scheduler 20 Control command calculation output task (processing operation-related task) 21 Processing program 31 Second processing task (second OS task) 40 second operating system (second OS) 51 input / output control task (input / output related task) 70 numerical control machine tool 71a driving device (motor) 71b ... Drive device (actuator) 72a Drive control device (motor drive control device) 72b Drive control device (actuator drive control device) ) P ...... fundamental period (OS basic cycle)

Claims (6)

[Claims] 1. A device comprising: a mechanical drive unit; a drive unit capable of driving the machine drive unit; a drive control unit capable of controlling the drive unit; and data input / output means for outputting or inputting data. And the drive control device includes:
In a numerical control machine tool provided with a main control device connected to transmit control commands freely, the main control device is independent of a first memory storing a first operation system and the first operation system. And a second memory storing a second operation system in the form described above, wherein the main control device stores the first operation system stored in the first memory and the second memory stored in the second memory. The second operation system is selectively operable; the first operation system has a control command calculation output task for calculating and outputting the control command based on a machining program; Has an input / output control task for controlling output or input of data by the data input / output means. Numerically controlled machine tool configured. 2. The numerically controlled machine tool according to claim 1, wherein said first operating system has a second processing task for operating said second operating system. 3. The numerically controlled machine tool according to claim 1, wherein said first operation system is a real-time operation system, and said second operation system is a general-purpose operation system. 4. The scheduler according to claim 1, wherein said first operation system selectively outputs processing instructions of said control command calculation output task or said second processing task sequentially, and said control command is issued based on an instruction from said scheduler. The numerically controlled machine tool according to claim 2, further comprising a processing function of performing a calculation output task or the second processing task. 5. When performing control in the numerically controlled machine tool according to claim 1, the first operation system sets a predetermined basic cycle long enough to complete the processing of the control command calculation output task. In the meantime, while the time is measured based on the basic cycle, the control command calculation output task is first processed by the first operation system within one basic cycle, and the processing of the control command calculation output task is completed. And controlling the input / output control task by the second operating system in the remaining time within the basic cycle. 6. The processing of the input / output control task by the second operating system is performed by operating the second operating system in a form emulated on the first operating system. The control method for a numerically controlled machine tool according to claim 5, wherein