JPS59229617A - Movement control device - Google Patents

Abstract

PURPOSE:To attain synchronous operation by applying an interpolating operation pulse distribution signal from one of two independent movement control devices to the other. CONSTITUTION:One of two independent servo systems is constituted of a command device 101, a two-axis interpolation operator 102 generating proper time series pulses, a servo system 103, a motor 104, etc. The other is constituted of a command device 108, an interpolation operator 109, a servo system 110, a motor 111, etc. and an alteration switch 114 for switching a pulse distribution signal from the interpolation operator 109 and an external extra-dimensional pulse distribution signal (b) from the two-axis interpolation operator 102 is also connected. The extra-dimensional pulse distribution signal (b) is obtained from an output pulse of the two-axis interpolation operator 102 and a code signal (f) through a logical circuit 16, sent to the servo system 110 and then completely synchronized with output signals e', f' from the self-axis servo system 103.

Description

[Detailed description of the invention] The present invention relates to a motion control device that is numerically controlled.

Conventionally, one motion control device and another motion control device independent of it have been used to synthesize their motions and draw one spatial curve. Here, if one motion control device is a parent device and the other is a child device, the parent device generates a start signal that prompts the child device to move simultaneously, and the child device that receives the start signal is activated in advance. The servo system operates according to the programmed sequence. In addition, the parent device operates the servo system according to a pre-programmed sequence after sending the start signal.
The desired spatial curve was drawn. Since the parent device and the child device are independent of each other, it goes without saying that the initial start timings must be the same. However, it is unavoidable that the timing of this activation signal deviates due to the combination of hardware-based transmission delay elements and software-based data processing delay elements. Furthermore, since there is a difference in the calculation speed inside the motion control devices, there is a drawback that they cannot operate simultaneously in a strict sense.

Furthermore, when drawing complex spatial curves such as quadratic curves, movement commands within each motion control device are divided into fine line segments, and the line segments connected by straight lines can result in a smooth trajectory. There wasn't. In this case, if you try to make the division even finer in order to make it smooth, the command data becomes enormous, and the creation of the command data becomes extremely complicated.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a motion control device that enables synchronous operation even when using independent motion control devices, thereby eliminating the drawbacks of the conventional motion control devices.

In the present invention, in order for one of two independent motion control devices to operate the other as if it were a part of itself, an arbitrary interpolation calculation pulse distribution signal generated from one is outputted to the outside, and this is transmitted to the other. By applying this to the motion control device, a motion control device that solves the above-mentioned problems can be obtained.

First, in order to facilitate understanding of the present invention, an example of a conventional motion control device for machining a workpiece will be explained with reference to FIGS. 1 to 3. FIG. 1 shows a block diagram, FIG. 2 shows a case where a straight line trajectory is drawn on a cylindrical surface, and FIG. 3 shows a case where an arcuate trajectory is drawn on a cylindrical surface. In FIG. 1, 1 is a command device that generates a given command, 2 is a uniaxial interpolation calculator that generates appropriate time-series pulses according to the command, and 3 is a servo system that operates according to the commands of the uniaxial interpolator 2. 4 is motor, 5 is motor 4
6 is a cylindrical workpiece, and 7 is a blade axis for processing the workpiece 6. 8 is a command device of the other motion control device; 9 is an interpolation calculator; 10 is a servo system; 11 is a whirling motor;
．． Reduction mechanism 5. A ball screw is shown that converts the moving table 13 carrying the workpiece 6 into linear motion. Now blocks 1, 2,
3.4 will be called a child device, and blocks 8, 9, and 10.11 will be called a parent device.

In FIG. 1, the workpiece 6 rotates as the motor 4 rotates. The rotation axis of the workpiece 6 driven by the child device is called the 0 axis, and the coordinate axis representing the direction of movement of the movable table driven by the parent device is called X@.

In Figure 2, when drawing a linear machining trajectory from starting point A to ending point B on a cylindrical surface, a movement command corresponding to the X-axis component of the linear trajectory is sent to the parent device, and a movement command corresponding to the linear trajectory is sent to the child device. Input in advance the movement corresponding to 0 components. At the start of operation, the parent device transmits an activation signal a to the child device, and at the same time it also starts moving. The child device side starts moving at the same time it receives the activation signal a. In order to match the start and end points of the trajectory of the composite straight line of both axes, the moving speeds of both axes are instrumented in advance and given to both devices. However, with conventional devices, the movement timings of both axes are different, so the end points do not match, resulting in point AB
There is a drawback that the space between the lines is not straight and bends. Figure 2 shows this situation. Further, in FIG. 3, when drawing an arc movement from the starting point C to the ending point on the cylindrical surface, a movement command corresponding to the X-axis component of the finely divided straight line is input to the parent device. Similar to the above W operation, the parent device and the child device #1 start moving at the same time. The locus shown in FIG. 3 is a circular arc machining locus when machining is performed using the method described above. There is a corner at each joint of each line segment, and a smooth arc is not drawn near each corner, as shown in Figure 2.

FIG. 4 is a diagram showing an embodiment of the present invention, and is an example in which the present invention is applied to a motion control device for machining a workpiece. FIG. 5 shows a machining example in which a linear machining locus is drawn on a cylindrical surface with the configuration shown in FIG. 4, and a circular locus is drawn with the configuration shown in FIG. 4.

In FIG. 4, 101 is a command device that generates a given command, 102 is a two-axis interpolation calculator that generates appropriate time series pulses according to the command, 103 is a servo system, 104 is a motor, and 105 is a motor 104. connected reduction mechanism, 10
Reference numeral 6 indicates a cylindrical workpiece, and 107 indicates a blade axis for processing the workpiece 106. 108 is a command device of the other motion control device, 109 is an interpolation calculator, 110 is a servo system,
111 is a motor, 112 is a motor 104. Reduction mechanism 1o5. A ball screw 11 converts the moving table 113 carrying the workpiece 106 into linear motion.
Reference numeral 4 denotes a pulse changeover switch for switching between the pulse distribution output signal from the interpolation calculator 109 and the external all-dimensional pulse distribution output signal from the biaxial interpolation calculator 102. Now blocks 101, 102, 103゜104 are child devices, block 1
08, 109, 110, 111, and 114 will be referred to as parent devices. In FIG. 4, it is assumed that the workpiece 106 rotates as the motor rotates.

The respective coordinate axes are called the O-axis and the X-axis as in FIG. 1.

In Fig. 5, when drawing a straight line machining trajectory from starting point A to ending point B on a cylindrical surface, the main device has a pulse changeover switch 11.
A command to switch 4 and a command to generate a start signal to prompt the start of the child device are input.

A linear interpolation two-axis command that causes a linear machining trajectory to be drawn on a cylindrical surface is input to the child device. At the start of operation, the pulse selector switch 114 is turned upward, and immediately after entering a state of waiting for the input of a signal, an activation signal a' is transmitted to the child device. The child device that received the activation signal a' is the biaxial interpolation calculator 10.
2 to output the distribution pulse for the 0 component to the servo system 103, and at the same time output the distribution pulse b for the X-axis component to the switch 1.
14 to the servo system 110. By combining both axes, the @ line machining locus shown in Fig. 5 is drawn. In this method, since the 0-axis and the X-axis move in complete synchronization, it is possible to draw a desired straight line without any bends or blemishes.

In addition, in Fig. 6, when drawing a circular arc trajectory from the starting point C to the ending point on the cylindrical surface, the same command as in the case of the linear trajectory described above is given to the parent device side, and the same command is given to the child device side. , a circular two-axis interpolation command is input to draw a circular arc locus on a cylindrical surface. At the start of operation, pulse selection switch 114
is moved upward, and the start signal a' is transmitted to the child device immediately after entering the state of waiting for the input of the signal. The child device that has received the activation signal a' operates the interpolator 102 and outputs the distribution pulse for the 0 component to the servo system 103, and at the same time outputs the distribution pulse for the X-axis component to the servo system 110 through the switch 114. By combining both axes, the arc machining locus shown in Fig. 6 is drawn. In the case of this method, a circular arc interpolation operation different from line segment approximation is performed, so it is possible to draw a smooth trajectory that cannot be obtained with conventional methods.

Next, the method b of outputting the all-dimensional pulse distribution signal to the outside will be explained. In FIG. 7, there is a logic circuit 16 that receives the output pulse e and code signal f from the biaxial interpolator 102 and sends a signal to the servo system 110. The other output signals e' and f' from the biaxial interpolator 102 are sent to the servo system 10 that operates its own axis.
It is divided into 3. The logic circuit 16 obtains two-phase pulse outputs c and d shown in FIGS. 8 and 9. The difference between FIG. 8 and FIG. 9 is that the phase difference between the pulses c and d is output with a 90 degree shift, and this phase difference represents the sign of the output pulse. By using such a two-phase pulse output format, it can be easily connected to other general motion control systems.

As described above, according to the present invention, independent motion control devices can be connected with several cables, and synchronous machining trajectories can be easily drawn.

[Brief explanation of the drawings] Figure 1 is a block diagram showing conventional synchronous operation using two motion control devices, and Figure 2 is a straight line machining process using the method shown in Figure 1. Fig. 3 shows the machining trajectory when circular arc machining is performed using the method shown in Fig. 1, and Fig. 4 shows an embodiment of the present invention, in which synchronous operation is performed using two motion control devices. Figure 5 shows the machining trajectory when straight line machining is performed using the method shown in Figure 4, and Figures 6 and 6 show the machining trajectory when circular arc machining is performed using the method shown in Figure 4. , FIG. 7 is a block diagram showing the generation mechanism of the external all-dimensional pulse distribution output signal, and FIGS. 8 and 9 are diagrams showing the output waveforms of the output pulses generated in FIG. 7. In the figure, 1... command device, 2...
-Axis interpolation calculator, 3... Servo system, 4...
・・Motor, ・・・Reducer, 6・・Workpiece, 7・・Cutter, 8・・・Command device,
9...-Axis interpolation calculator, 10...Servo system, 11...Motor, 12...Ball screw, 13...Moving table , 16... logic circuit, 1o1... command device, 102...
...Two-axis interpolation calculator, 103... Servo system, 1
04... Motor, 1o5... Speed reducer,
106... Workpiece, 107... Cutler, 108... Command device, 109...-
Axis-sleeve computing unit, 110... Servo system, 111.
・River・Motor, 112...Ball screw, 113
...Moving table, 114...Pulse changeover switch. Agent Patent Attorney Shindai Uchihara, Weighing the Figures /6 Shin 7 Figure 8 Old Figure 9 103-

Claims (1)

[Claims] Including a plurality of mutually independent servo systems, when a predetermined movement is made by combining the movements of these plurality of servo systems, an interpolation calculator corresponding to one servo system synchronizes with the remaining servo systems. A motion control device characterized in that it supplies a full-dimensional pulse distribution signal for performing Norculus distribution.