JPS59200306A - Graphic processing method for shift of nc device - Google Patents

Abstract

PURPOSE:To observe easily the working state by drawing in real time the moving locus of an NC device on a CRT screen from the information on the present position of the NC device which received an arithmetic interpolation from a CPU. CONSTITUTION:An NC device part 3 receives the program contents of a processing command, etc. at a main CPU11 via a paper tape reader 7, etc., and this command receives successively an interpolation for each segment through an interpolation part. The signal is delivered to a distributing part 27 for every minute time point in response to a commanded processing speed. Thus a servomotor is actuated. A display part 5 is controlled by a CPU33 and applies the signal given from a serial interface 41 of the part 3 to a CRT53 via a graphic display controller 45, etc. A CRT display instruction is given by a control board 23, and the graphic processing is given for every fixed time point to the information on the present position of the NC device 3 obtained from the interpolation of the CPU11. This signal displays a moving locus of the NC device 3 on another CRT screen.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for graphically processing the movement of an NCi device, which allows the status of the movement system of numerically controlled equipment (hereinafter referred to as NC equipment) to be graphically observed in real time. .

The tool position of NC processing equipment, the laser irradiation position of laser processing equipment, the movement of the robot's hands controlled by NC, etc.
There is a need for iF f71 to know the movement status of the device in question.

Conventionally, there has been a method of displaying the movement status of NG controlled equipment using numerical values, and an example of this is shown in Fig. 1. Figure 1 shows N
The tool position of the G machine tool is currently (stop position) 1009 on the X axis
The CRT screen 1 shows that the position is 990, and the position is 3450000 on the Y axis. Although this method of displaying numerical values is promising for manual operation while stopping at each position, for example, in automatic operation, the displayed numerical values change significantly - it is impossible to read the numerical values quickly. or,
Understanding numerical expressions is itself extremely difficult. Furthermore, when observing the cutter location in laser processing equipment, the intensity of the laser beam, work type,
Product accuracy is determined by the relative speed, etc.
For example, there is a need to check the actual time during automatic operation, and a graphical display that matches the actual time is ideal for such a platform.

Conventional numerical display methods have been insufficient to meet the need to observe the operating status of NC equipment in real time.

The purpose of this invention is to improve the above-mentioned problems and display the moving status of N0 equipment graphically instead of numerically.
Another object of the present invention is to obtain a graphic processing method that corresponds to the actual situation of zero equipment and can be displayed at actual speed (actual time).

The features of the present invention for achieving the above object are as follows: First, the CPIJ is moved based on the movement command of the NC program.
The movement signal that has been processed and interpolated is distributed to the amplifier via the distribution section, and the current position information based on the interpolation of the CPU is obtained in the NC equipment that moves each movement axis using the output signal amplified by the amplifier. Graphic processing is performed at fixed time intervals, and the moving trajectory of the NC device is drawn on the 081 screen in actual time using the graphic processing signals. Second, the signals of each movement axis outputted from the distribution section to the amplifier are decomposed and combined, the decomposed and combined current position information is subjected to graphical processing at fixed time intervals, and the graphically processed signals are used to control the N0 equipment. The goal is to draw the movement trajectory of 081 on the 081 screen between .

Examples will be explained below based on the drawings.
Figure 4 shows CRT screen 1 obtained from the embodiment of this invention.
The graphic processing display results are shown. Figure 2 shows the positions of machine tool tools that process products connected by straight lines in the shape of arrows.

As shown by the broken line, the solid line shows the state in which the cutting tool is sent from point A0 to point A1 and positioned, and then proceeds to points A1, A2, . . ., A7 without cutting.

The current position is point A7, and the exact numerical value at this time can also be displayed at the bottom of the CRT screen (as before). FIG. 3 shows an example of drawing not only straight lines but also curves including circular arcs. A straight line is drawn from the 81st point to the 82nd point, an arc is drawn from the 82nd point to the 83rd point, and the situation progresses sequentially to reach the 89th point. These displays can be made during automatic operation in conjunction with the actual time, that is, the operating status of the NCII device. or,
It can also be performed at actual speed in a dry run.

FIG. 4 is an example showing an arc-shaped operating situation, and this example will be described later.

FIG. 5 is a block diagram showing an embodiment of the invention. N
The CI unit 3 and the display unit 5 will be explained separately. The NC device section 3 receives program contents such as movement and processing commands from the paper tape reader 7 via the interface 9 to the main CPU 11. The main CPU 11 has a control ROM 13. It communicates with the memory RAM 15 via the main bus 17. The control ROM 13 internally has a main storage section, an arithmetic section, and an interpolation section. A current position storage section is appropriately provided inside the RAM 15.

The main bus 17 is provided with a digital input 19 and digital controllers 1-21 for communicating with other devices. Communication between the operation panel 23 and the like is performed via the serial interface 41. The N0 device is equipped with a servo motor Mi for each axis of movement.The program movement commands input to the main CPU 11 are classified into straight lines, circles, and curves of their digits, and are processed by the interpolation section for each line segment. Interpolated sequentially.

The interpolated signal is outputted to the distribution section 27 at every minute time determined according to the command machining speed, and the distribution section 27 distributes it to each moving axis via the amplifier 29 to operate the servo motor Mi. The servo motor Ivl i is equipped with a position detector E such as an encoder, a resolver, and a tachogenerator, and is subjected to feedback control.

The display unit 5 is controlled by a CPU 33 having an external clock 31, and a data buffer shifter 35 and a CRT control ROM 37 are incorporated into the system bus 39, and signals from the serial interface 41 on the main control unit side are transferred to the CR.
It is received by the T serial interface 43. Further, a graphic display controller 45 (GDC) and a video RAM 47 communicate with a CRT 53 via a parallel-to-serial converter 49 and a display interface 51, and provide signal contents to the CRT.

The movement of tools by multiple servo motors 1vli, the irradiation position of laser beams, the movement of robot hands, etc. are generally three-dimensional, but in many cases it is sufficient to observe the two-dimensional movement, so we will explain the horizontal plane XY coordinates. The explanation will be given by adding the Z coordinate in the vertical direction as appropriate.

A movement command to the servo motor M i of the NC device is input to the main CPU 11 from the paper tape reader 7 via the interface chair 9 . This movement command is used for blocks such as surface lines and arcs (
The data are classified into sections of each code (marked in FIGS. 2 and 3), sequentially interpolated by an interpolation section, and distributed to a distribution section 27 in minute time units.

The first display method is to graphically process the current position information interpolated by the main CPU at regular time intervals, and draw the movement locus of the NC1 on the CRT screen using the graphically processed signal.

FIG. 6 shows an example of the control flowchart (.-1), and FIG. 8 shows an example of the timer flowchart (.--1).

The CR7 display command is shown in Figure 5) TJ operation N'fr 23
This is done using the IC manual button provided in the This command signal is the main C
The information is transmitted to the control unit of the PU 11. The following processing is started by the display command input to the main CPU (step 10).
1). The control section of the main CPU interpolates the movement command program in each section 1r5 in time order. In Figure 2 (,
S) Kyoto point AO +, L semi-doji, start point A1 of one section
The end point A2 is determined from this point, and this section is interpolated.

The next interpolation 1.1 starts at A2 and ends at A3, and enters the second section. Here, the sections A1 to A2 will be explained.

Step 102 means confirmation of one point above.

There are two types of data related to the data input in step 1C)3. One is the differential movement distance by interpolation, and the other is the current position information obtained by integrating this movement distance tlliδ into the Ao point coordinates. By integrating the amount of travel distance to point A0, the current position information can of course be obtained, so the information is collectively referred to as the current position information here. This information is stored in the current position storage section in the memory RAM 15 shown in FIG. In step 103, this current position information is read from the NCI device's memory at fixed time intervals (described later in step 107).

In step 104, the input data is edited into graphic data. Since the figure targets the XY plane (or YZ, XZ), the movement of the NCI device is expressed as a numerical value in a plane projection diagram.

The scaling process in step 105 is to multiply the CRT screen by an arithmetic magnification to obtain a figure of an appropriate size. In addition, this A8 rate can also be operated on the operation panel.

The graphic data output terminal in step 106 is for outputting the scaled data to the display unit CPU.

This is carried out once during a certain period of time, for example, 200 m S eG.

Step 107 indicates waiting for this time. Processing is performed at regular intervals to display the data with the same accuracy in accordance with the actual speed.

Repeat steps 103 to 107 for one section in units of 200m5ec, and set the end point (point A2) at step 108.
Confirm with and end the section. The next section will be run starting from He2sei.

The time chart in FIG. 8 shows an example in which most of the above controls are performed by the main CPU. Since the CPU moves between many surfaces during interpolation or distribution, 1li at each step
ll I! An example is shown in which the ff command is executed during the idle period 11i.

The operation of the display section at this time will be explained.

As shown in Figure 5, CRT serial interface 4
The graphic data inputted through 3 enters the data buffer 35. The bidet d-RAM/17 stores the relationship with the display point in the form of a code.

The controller ROM 37 stores a control program, commands for converting the size of display points, and configurations of various characters when displaying characters.

The display unit CPU 33 constantly assigns the address of the video RAM 47 from the upper left corner to the lower left corner of the screen, and repeats address designation. When the position code to be displayed based on the graphic data is input into a predetermined address of the video RAM 47, the signal from the video RAM 4.7 is transmitted via the parallel-to-serial converter 49 and the display interface 51 to set a display point at a predetermined position on the CRT 53. indicate. It is also possible to display characters at the relevant position at the same time, as in the case of the CRT screen shown in FIG.

It is also possible to display the display in color, for example, to make the trajectory of the tool feeding process and the trajectory of the cutting process different colors.

It is.

These series of display operations are performed within the fixed time 200 m S 80 explained in the above flowchart.

By displaying the origin Ao starting point A1 and ending point A2 explained in Fig. 6, and inputting the current position information of the NCi device based on the A0 point at regular intervals, the starting point A1 shown in Fig. 2 can be reached. The movement trajectory of point A2 is obtained. Ao before interpolation and distribution
, A+... Since the end point is clear at the time the program is coded, each point can be set to Pron 1 in advance to display the trajectory.

The above display operation will be explained using the example of the circular arc in FIG.

In Figure 4, (Xo Yo ) is the center of the arc, and the point PO (X
to Yto), point P+ (Xj+ YU+)
The arc that passes through and reaches the point P n+ (X Un+Y jnl) is shown.

The time from time to to 11 is the above-mentioned constant time 20Qm
It shows S e C and progresses from Pl to 12 points during this time. Therefore, there is a difference of 200 m5 ec from the actual time (although this is a value that does not pose any problem in practical use).

For example, 200m5ec is 5Qmse if paternal η-
It is also possible to change the size as shown in c.

Next, a second display method will be explained. Control noroach 1/-
An example of the time tip is shown in FIG. 7, and an example of the time tip is shown in FIG. 9. In this example, the data input is obtained as coordinate values from the interpolation section of the NCR device, whereas the signal to the moving axis output from the distribution section to the amplifier is obtained and displayed graphically. The output signal from the interpolation section is output as a set of coordinate values ΔX1ΔY1ΔZ. However, the signal passing through the distribution section 37 is decomposed into motion components of each operating axis. Therefore, the coordinate components must be obtained by decomposing and synthesizing the signals for each movement axis.

In steps 201 and 202, when the input for each movement axis from the distribution section is started, the movement signal for each movement axis is decomposed and synthesized into X component, Y component, and Z component.Step 20
3). The movement axis is simply X.

If it is only Y, disassembling and reassembling is extremely easy.

In the example of tool movement in an NC machine tool, in many cases the tool is moved only by orthogonal components, so in such cases it is sufficient to extract only the desired component. Note that in relation to the tool diameter of the NC machine tool, it is possible to selectively display an actual locus centered on one tool or a programmed locus. In addition, if a rotation axis or the like is included, a certain formula is created according to the structure of the NCIXM device, and the above-mentioned decomposition and synthesis are performed using the formula to overlap with the travel distance information. Further, by integrating the movement distance, the current position information can be obtained.

In step 204, the integrated value of the xYZ components, that is, information equivalent to the current position information shown in the first method is input. Therefore, steps 204 to 210 are the sixth step except step 209.
Since the explanation is substantially the same as that of ``FIG.

FIG. 9 shows an example of a time chart 17 in which much of the above work is processed by the CP tJ on the display section side. Figures 6 and 7
In the explanation of the flowchart shown in the figure, the function of each CPU was explained using timer-1~ (=J) in Figures 8 and 9, respectively. This is done reciprocally and is not limited to what is shown in this example.

A position detector E is provided in the feedback-controlled movement 11. Since the signal from the position detector is of the same quality as the power signal for the distributor, the signal from the position detector can be used in place of the output signal from the distributor. Furthermore, it is of course possible to provide a separate position detector and perform graphic processing based on the signal from the detector.

Therefore, it is necessary to move the NCtll device, which extracts the current position information of the NC equipment and the current position information obtained by decomposing and synthesizing the signals from the distribution section into each coordinate component at regular time intervals, processes the graphics, and displays the graphics on the CRT screen. This method of graphically processing in actual time can display the moving status of the N0 equipment graphically instead of numerically, and can also display the movement status of the N0 equipment in actual speed (actual time) in correspondence with the actual status of the NC equipment. I can do it. It is especially suitable for checking the suitability of programs during dry runs, observing the processing equipment of the Sea 11, etc., and allows graphically observing the movement status of various NCI instruments.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of a CRT screen explaining a conventional display method; Figs. 2, 3, and 4 are explanatory diagrams of a CRT screen showing a display method according to the present invention; and Fig. 5 is an explanatory diagram of the present invention. Configuration block diagram, FIG. 6 is a control flowchart, FIG. 7 is a control flowchart showing another example, FIG. 8 is a control time chart, and FIG. 9 is a time chart showing another example. CRT screen 3... Equipment section 5... CRT
Section 11 Main CPU 27...Distribution section 33...Display section CPU 53...CRTE...
Position detector patent applicant AMADA Co., Ltd. Agent Yasuo Miyoshi Patent attorney Attorney Hidekazu Niyoshi Figure 1 Figure 2 Figure 5 Figure 6 Figure 7 Figure 8.

Claims (1)

[Claims] (+> Based on the movement command of the NC program, a movement signal that has been arithmetic processed and interpolated by the CPU is distributed to an amplifier via a distribution section, and each movement axis is moved by the output signal amplified by the amplifier. In the NC device, the current position information based on the interpolation of the CPU is subjected to graphic processing at fixed time intervals, and the moving trajectory of the NC device is drawn on a CRT screen in actual time using the graphic processing signal. A method of graphically processing the movement of the device. (2) Based on the movement command of the NC program, the CPU calculates and interpolates the movement signal, distributes it to the amplifier via the distribution section, and uses the output horn signal amplified by the amplifier to calculate each movement. In an NC device that moves axes, the signals output from the distribution unit to the amplifier for each of the moving axes are decomposed and combined, and the decomposed and combined current position information is subjected to graphical processing at regular time intervals,
A method for graphically processing the movement of an NC device, characterized in that the movement trajectory of the NC equipment is drawn on a CRT screen in actual time using the graphically processed signal. (3) A method for graphically processing movement of an NC device according to claim 2, wherein the output from the distribution unit (Ei) is from a position detector provided on the movement axis.