JPS60120404A - Origin returning device - Google Patents

Origin returning device

Info

Publication number
JPS60120404A
JPS60120404A JP22939883A JP22939883A JPS60120404A JP S60120404 A JPS60120404 A JP S60120404A JP 22939883 A JP22939883 A JP 22939883A JP 22939883 A JP22939883 A JP 22939883A JP S60120404 A JPS60120404 A JP S60120404A
Authority
JP
Japan
Prior art keywords
origin
return
home
movable element
allowable range
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP22939883A
Other languages
Japanese (ja)
Other versions
JPH0463401B2 (en
Inventor
Hiroyasu Takegawa
竹川 博康
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyoda Koki KK
Original Assignee
Toyoda Koki KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyoda Koki KK filed Critical Toyoda Koki KK
Priority to JP22939883A priority Critical patent/JPS60120404A/en
Publication of JPS60120404A publication Critical patent/JPS60120404A/en
Publication of JPH0463401B2 publication Critical patent/JPH0463401B2/ja
Granted legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G05B19/4015Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To return a movable element to the origin safely and quickly by discriminating whether the stop position is within an allowable range of origin return or not and stopping the origin returning operation if the stop position is outside the allowable range. CONSTITUTION:The first movable element 13 is freely slidably placed on a bed of a machine tool 10, and the second movable element 14 is slidably placed on this element 13. A tool T is set to a main shaft of the third movable element provided in the front of this element 14 to subject a work W on a work supporting table to required working. Movable elements are controlled by numerical controllers. These movable elements 13 and 14 are detected by absolute position detectors 18 and 19 and are returned to the origin automatically. With respect to this returning to the origin, it is discriminated whether stop positions of movable elements 13 and 14 are within the allowable range of origin return or not by a disriminating means 1, and the returning operation is started if they are within the allowable range, but otherwise, the returning operation is stopped by control of a control means 2.

Description

【発明の詳細な説明】 〈産業上の利用分野〉 本発明は、工作物あるいは工具等を支持する可動要素を
絶対位置検出器にて検出される原点へ自動的に原点復帰
させる原点復帰装置に関する。
[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to an origin return device that automatically returns a movable element supporting a workpiece or a tool to an origin detected by an absolute position detector. .

〈従来技術〉 一般に工作機械では、第4図および第5図に示すように
原点P1に位置する工具Tを矢印に示す線に沿って移動
させることで工作物Wの加工を行い、またその加工途中
に異常が発生した場合には工具Tをその位置に停止させ
、その後の運転を中止している。
<Prior art> In general, machine tools machine a workpiece W by moving a tool T located at the origin P1 along a line shown by an arrow, as shown in FIGS. 4 and 5, and If an abnormality occurs during the process, the tool T is stopped at that position and the subsequent operation is stopped.

しかるにこの異常停止状態では工作機械を点検すること
ができず、工作物Wと工具Tとが干渉しない原点PLへ
原点復帰させる必要がある。
However, in this abnormally stopped state, the machine tool cannot be inspected, and it is necessary to return it to the origin PL where the workpiece W and tool T do not interfere.

かかる原点復帰に際し、前記工具Tの停止位置が斜線で
示す原点復帰許容範囲内、例えばP2の場合、この停止
位置P2と原点P1間に障害物はなく、原点P1に向け
て直線的に移動することで原点復帰できる。
When returning to the origin, if the stop position of the tool T is within the allowable range for returning to the origin indicated by diagonal lines, for example P2, there is no obstacle between the stop position P2 and the origin P1, and the tool T moves linearly toward the origin P1. This allows you to return to the origin.

しかるに工具Tの停止位置が原点復帰許容範囲外、例え
ばP3の場合、この停止位置P3より原点P1に向けて
直線的に移動すると工作物Wと干渉するおそれがある。
However, if the stop position of the tool T is outside the home return permissible range, for example P3, there is a risk of interference with the workpiece W if the tool T moves linearly from the stop position P3 toward the home point P1.

このように工具Tの停止位置によって工具Tと工作物W
との干渉するおそれがあるため、原点P1への復帰動作
は、作業者が監視しながら行わなければならず、原点復
帰動作に時間がかかる欠点があった。
In this way, depending on the stop position of the tool T, the tool T and the workpiece W
Since there is a risk of interference with the original point P1, the return operation to the origin point P1 must be performed while being supervised by an operator, which has the drawback that the return operation to the origin point takes time.

〈発明の目的〉 本発明はかかる従来の欠点を解消するためになされたも
のであり、その目的とするところは工具と工作物とを干
渉させることなく安全かつ迅速に原点復帰を行うことで
ある。
<Object of the Invention> The present invention has been made to eliminate such conventional drawbacks, and its purpose is to safely and quickly return to the origin without causing interference between the tool and the workpiece. .

〈発明の構成〉 本発明は上記目的を達成するため、第1図に示すように
原点復帰指令により可動要素13.14を絶対位置検出
器18.19にて検出される原点へ自動的に原点復帰さ
せるようにした原点復帰装置において、この原点復帰装
置に、可動要素13゜14の停+L位置が原点復帰許容
範囲内であるか否かを判定する判定手段1と、この判定
の結果可動要素13.14の停止位置が原点復帰許容範
囲内にあるとき原点fjf帰動作を開始させ原点復帰許
容範囲外にあるとき原点復帰動作を阻止する原点復帰動
作制御手段2を設L)たことを特徴とするものである。
<Structure of the Invention> In order to achieve the above object, the present invention automatically moves the movable element 13.14 to the origin detected by the absolute position detector 18.19 in response to a return-to-origin command, as shown in FIG. In the origin return device configured to return the movable element to the origin, the origin return device includes a determining means 1 for determining whether the stop+L position of the movable element 13° 14 is within the allowable range for returning to the origin, and as a result of this determination, the movable element 13.L) Features include a home return operation control means 2 that starts the home return operation when the stop position of 14 is within the home return allowable range and prevents the home return operation when it is outside the home return allowable range. That is.

〈実施例〉 以下本発明の実施例を図面に基づいて説明する。<Example> Embodiments of the present invention will be described below based on the drawings.

第2図においで10は工作機械で、この工作機械10の
ヘッド11上にはテーブルからなる第1可動要素13が
X方向に摺動自在に載置されている。
In FIG. 2, 10 is a machine tool, and a first movable element 13 consisting of a table is placed on a head 11 of this machine tool 10 so as to be slidable in the X direction.

この第1可動要素13上にはコラムよりなる第2可動要
素14がY方向に摺動可能に載置され、この第2可動要
素14上の前面に主軸ヘッドよりなる第3可動要素15
が昇降可能に案内支持されている。この第3可動要素1
5には主軸16が回転可能に軸承され、この主軸16に
工!i、Tが装着されている。これら第1.第2.第3
可動要素13゜14.15はそれぞれサーボモータMX
、MY。
A second movable element 14 made of a column is placed on the first movable element 13 so as to be slidable in the Y direction, and a third movable element 15 made of a spindle head is placed on the front surface of the second movable element 14.
is guided and supported so that it can be raised and lowered. This third movable element 1
A main shaft 16 is rotatably supported on the main shaft 16. i and T are attached. These first. Second. Third
Movable elements 13°, 14.15 are each servo motor MX
, M.Y.

MZによって相対移動され、その移動量はアブソリュー
トエンコーダよりなる絶対位置検出器1B。
The absolute position detector 1B is relatively moved by the MZ and the amount of movement is determined by an absolute encoder.

19.20によって検出される。かかる第1.第2、第
3可動要素13,14.15の相対移動によって工具T
は工作物支持台17上に支持された工作物Wに対して所
要の加工を施す。
Detected by 19.20. Such first. Due to the relative movement of the second and third movable elements 13, 14.15, the tool T
performs required processing on the workpiece W supported on the workpiece support stand 17.

工作機械10の各軸組に設けられたサーボモータMX、
MY、MZには数値制御装置20より駆動回路21.2
2.23を介してパルスが分配される。数値制御装置2
0はマイクロコンピュータ25ならびにメモリ26より
構成され、このメモIJ26には工作物Wを加工するた
め加ニブログラムならびに原点復帰プログラムが記憶さ
れている。
Servo motor MX provided in each axis assembly of the machine tool 10,
A drive circuit 21.2 is connected to MY and MZ by the numerical control device 20.
The pulses are distributed via 2.23. Numerical control device 2
0 is composed of a microcomputer 25 and a memory 26, and this memo IJ26 stores a cutting program and a return-to-origin program for machining the workpiece W.

この加ニブログラムにより例えば第4図に示すような工
作物Wを加工するためにマイクロコンピュータ25から
は原点P1を基点として矢印に示す1lilL跡に沿っ
て工具Tが移動するように各サーボモータMX、MY、
MZにパルスが出力され、また異常によって工具Tが停
止した場合、前記原点復帰プログラムによってその停止
位置から原点に向って原点復帰動作が行われる。この原
点復帰プログラムには各加工面ごとに例えば第4図の斜
線部に示す原点復帰許容範囲が各座標データSl、S2
、S3.S4.S5としてプログラムされており、前記
停止位置がその座標データにて指定された原点復帰許容
範囲であるか否かが判定されて原5一 点復帰が行われる。
In order to process a workpiece W as shown in FIG. 4 using this machine program, the microcomputer 25 instructs each servo motor MX, MY,
When a pulse is output to MZ and the tool T is stopped due to an abnormality, the origin return operation is performed from the stopped position toward the origin according to the origin return program. In this origin return program, for each machining surface, for example, the origin return permissible range shown in the shaded area in Fig. 4 is determined by each coordinate data Sl, S2.
, S3. S4. It is programmed as S5, and it is determined whether the stop position is within the allowable range for returning to the origin specified by the coordinate data, and the one-point return to the origin is performed.

次に」二記マイクロコンピュータ25の具体的な処理動
作を第3図のフローチャートならびに第4図の動作説明
図に基づいて説明する。
Next, specific processing operations of the microcomputer 25 will be explained based on the flowchart of FIG. 3 and the operation diagram of FIG. 4.

通常の工作機械10の運転状態でマイクロコンピュータ
25はメモリ26より加ニブログラムを読出し、この加
ニブログラムに基づき各サーボモータMX、MY、MZ
に必要なパルスを送出して第1.第2.第3可動要素1
3,14.15を移動させる。これにより工具Tは第4
図に示す原点P1を基点として相対的に矢印に示す軌跡
を描いて移動し、工作物Wに必要な加工を施す。
In the normal operating state of the machine tool 10, the microcomputer 25 reads the machine tool program from the memory 26, and controls each servo motor MX, MY, MZ based on this machine tool program.
Send out the necessary pulses for the first. Second. Third movable element 1
3.Move 14.15. This causes tool T to move to the fourth position.
The workpiece W is moved relative to the origin P1 shown in the figure while drawing a trajectory shown by an arrow, and the workpiece W is subjected to necessary machining.

この加工中において工具折損等工作機械1oに異常が生
じた場合、数値制御装置2oはこの異常を検知して各サ
ーボモータMX、MY、MZへのパルスの送出を停止し
、工作機械10の運転は停止される。この停止状態では
工作機械1oの点検ができず、従って作業者はこの点検
開始に先だって原点復帰ボタンを押圧する。この指令を
受けてマイクロコンピュータ25は第3図に示す処理を
6− 実行する。
If an abnormality occurs in the machine tool 1o such as a broken tool during this machining, the numerical control device 2o detects this abnormality and stops sending pulses to each servo motor MX, MY, MZ, and stops the operation of the machine tool 10. will be stopped. In this stopped state, the machine tool 1o cannot be inspected, so the operator presses the return-to-origin button before starting this inspection. Upon receiving this command, the microcomputer 25 executes the process shown in FIG.

すなわち原点復帰指令を入力すると同時にマイクロコン
ピュータ25は絶対位置検出器18.29の出力からそ
の停止位置のY軸ならびにY軸方向の絶対座標値を読取
り、続いてその値から停止位置が第4図斜線に示す原点
復帰許容範囲内であるかどうかが判定される(ステップ
100〜102)。
That is, at the same time as the origin return command is input, the microcomputer 25 reads the Y-axis of the stop position and the absolute coordinate value in the Y-axis direction from the output of the absolute position detector 18.29, and then determines the stop position from those values as shown in FIG. It is determined whether the return to origin is within the permissible range indicated by diagonal lines (steps 100 to 102).

その停止位置が例えばP2で示す原点復帰許容範囲内で
ある場合、続いてその停止位置がY軸。
If the stop position is within the return-to-origin tolerance range indicated by P2, for example, then the stop position is the Y-axis.

Y軸のそれぞれにおいて原点P1の+側であるかどうか
が判定され、+側であれば一方向に、−側であれば子方
向にそれぞれサーボモータMX、MYにパルスが送出さ
れ、そして絶対位置検出器18.19にて原点P1が検
出されると同時にこのパルスの送出が停止され、原点復
帰動作が終了する(ステップ103〜106)。
It is determined whether the origin P1 is on the + side of each Y axis, and if it is on the + side, pulses are sent in one direction, and if on the - side, pulses are sent to the servo motors MX and MY in the child direction, respectively, and the absolute position is determined. As soon as the origin P1 is detected by the detectors 18 and 19, the sending of this pulse is stopped, and the origin return operation is completed (steps 103 to 106).

しかるに停止F位置がP3で示す原点復帰許容範囲外の
場合には、原点復帰動作を行うと、工作物Wと工具Tが
干渉するおそれがあるため、原点復帰不可指令を出力す
る(ステップ117)。この信号により作業者は各個運
転によって工具Tを原点復帰許容範囲内へ移動し、しか
る後前記と同様に原点復帰指令を出力することで、迅速
に原点復帰動作を行うことができる。
However, if the stop F position is outside the home return allowable range indicated by P3, there is a risk that the workpiece W and tool T will interfere if the home return operation is performed, so a home return impossible command is output (step 117). . Using this signal, the operator can individually move the tool T to within the allowable home return range, and then output the home return command in the same manner as described above, thereby quickly performing the home return operation.

〈発明の効果〉 上記詳述したように本発明は、原点復帰装置に、可動要
素の停止位置が原点復帰許容範囲内であるか否かを判定
する判定手段と、この判定の結果可動要素の停止位置が
原点復帰許容範囲内にあるとき原点復帰動作を開始させ
原点復帰許容範囲外にあるとは原点復帰動作を阻止する
原点復帰動作制御手段を設けた構成であるため、工具と
工作物とを干渉させることなく安全かつ迅速に原点復帰
を行うことができる利点を有する。
<Effects of the Invention> As detailed above, the present invention provides a home return device with a determining means for determining whether or not the stop position of the movable element is within the home return allowable range, and as a result of this determination, a The configuration includes a home return operation control means that starts the home return operation when the stop position is within the home return allowable range and prevents the home return operation when the stop position is outside the home return allowable range. It has the advantage of being able to safely and quickly return to the origin without interfering with the

【図面の簡単な説明】[Brief explanation of the drawing]

第1図は本発明の全体を示す図、第2図は本考案に係る
数値制御装置とこれに制御される工作機械の実施例を示
すブロック図、第3図はマイクロコンピュータの動作を
示すフローチャート、第4図は本発明の動作説明図、第
5図は第4図の■−V線矢視断面図である。 1・・・判定手段、2・・・原点復帰動作制御手段、1
3,14.15・・・第1.第2.第3可動要素、1B
、19.20・・・絶対位置検出器、T・・・工具、W
・・・工作物、MX、MY。 MZ・・・サーボモータ。 特許出願人 豊田工機株式会社 9−
Fig. 1 is a diagram showing the entirety of the present invention, Fig. 2 is a block diagram showing an embodiment of a numerical control device according to the invention and a machine tool controlled by the same, and Fig. 3 is a flow chart showing the operation of a microcomputer. , FIG. 4 is an explanatory diagram of the operation of the present invention, and FIG. 5 is a cross-sectional view taken along the line -V in FIG. 4. DESCRIPTION OF SYMBOLS 1... Determination means, 2... Home return operation control means, 1
3,14.15...1st. Second. Third movable element, 1B
, 19.20... Absolute position detector, T... Tool, W
...Workpiece, MX, MY. MZ...Servo motor. Patent applicant Toyota Machinery Co., Ltd. 9-

Claims (1)

【特許請求の範囲】[Claims] (1)原点復帰指令により可動要素を絶対位置検出器に
て検出される原点へ自動的に原点復帰させるようにした
原点復帰装置において、この原点復帰装置に、前記可動
要素の停止位置が原点復帰許容範囲内であるか否かを判
定する判定手段と、この判定の結果可動要素の停止位置
が原点復帰許容範囲内にあるとき原点復帰動作を開始さ
せ原点復帰許容範囲外にあるとき原点復帰動作を阻止す
る原点復帰動作制御手段を設けたことを特徴とする原点
復帰装置。
(1) In a home return device that automatically returns a movable element to the home position detected by an absolute position detector in response to a home return command, the home return device automatically returns the movable element to the home position. a determining means for determining whether or not the position is within the permissible range; and as a result of this determination, when the stop position of the movable element is within the permissible range for home return, the home return operation is started, and when the stop position of the movable element is outside the permissible home return range, the home position return operation is performed. What is claimed is: 1. A home-point return device characterized by comprising a home-point return operation control means for preventing the home-point return operation.
JP22939883A 1983-12-05 1983-12-05 Origin returning device Granted JPS60120404A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP22939883A JPS60120404A (en) 1983-12-05 1983-12-05 Origin returning device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP22939883A JPS60120404A (en) 1983-12-05 1983-12-05 Origin returning device

Publications (2)

Publication Number Publication Date
JPS60120404A true JPS60120404A (en) 1985-06-27
JPH0463401B2 JPH0463401B2 (en) 1992-10-09

Family

ID=16891577

Family Applications (1)

Application Number Title Priority Date Filing Date
JP22939883A Granted JPS60120404A (en) 1983-12-05 1983-12-05 Origin returning device

Country Status (1)

Country Link
JP (1) JPS60120404A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62190502A (en) * 1986-02-17 1987-08-20 Aichi Mach Ind Co Ltd Origin calculating method of industrial robot
KR100481032B1 (en) * 2002-11-01 2005-04-07 두산메카텍 주식회사 Setting system of the origin co-ordinates and setting method of the origin machine co-ordinates using the system

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5629283A (en) * 1979-08-15 1981-03-24 Matsushita Electric Works Ltd Station indicator for vehicles
JPS5731003A (en) * 1980-08-01 1982-02-19 Fanuc Ltd Numerical control system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5629283A (en) * 1979-08-15 1981-03-24 Matsushita Electric Works Ltd Station indicator for vehicles
JPS5731003A (en) * 1980-08-01 1982-02-19 Fanuc Ltd Numerical control system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62190502A (en) * 1986-02-17 1987-08-20 Aichi Mach Ind Co Ltd Origin calculating method of industrial robot
KR100481032B1 (en) * 2002-11-01 2005-04-07 두산메카텍 주식회사 Setting system of the origin co-ordinates and setting method of the origin machine co-ordinates using the system

Also Published As

Publication number Publication date
JPH0463401B2 (en) 1992-10-09

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