WO1994006203A1

WO1994006203A1 - Servo waveform display system

Info

Publication number: WO1994006203A1
Application number: PCT/JP1993/001185
Authority: WO
Inventors: Masashi Yukutomo; Shigeru Isohata; Osamu Yamazaki
Original assignee: Fanuc Ltd
Priority date: 1992-09-01
Filing date: 1993-08-24
Publication date: 1994-03-17
Also published as: JPH0686580A

Abstract

This invention relates to a servo waveform display system which stores servo data before and after the occurrence of a servo alarm and displays the data on a display, so as to easily specify the causes of a trouble. Servo motor instruction means (1) gives an operation instruction to a servo motor (20a), and servo motor control means (2) outputs servo data detected by the servo motor (20a) and outputs a servo error when any abnormality occurs in the operation of the servo motor (20a). Memory control means (3) stores servo data with time data from a timer (24) as waveform data in a waveform data buffer (5) until a predetermined time is reached from the occurrence of the servo data. Then, display control means (6) displays the waveform data stored in the waveform data buffer (5) on a display (16) by a predetermined operation made by an operator.

Description

Description Servo waveform display method Technical field

The present invention relates to a servo waveform display method, and more particularly, to a servo waveform display method for graphically displaying servo data measured from a servo motor.

Background technology

Machine tools equipped with a large number of numerical control devices have been introduced into the production lines of factories, enabling mass production of products. For example, dozens of machine tools equipped with numerical control devices corresponding to each of the manufacturing processes of such products are arranged on one production line. These dozens of numerical control units are generally managed by one operator during the same time period.

For this reason, if a certain alarm occurs in a certain machine tool, for example, a spin alarm due to tool breakage, the operator moves to the corresponding machine tool. Then, after taking measures to cancel the servo alarm, such as replacing the servomotor, the servomotor operation is restarted.

However, even if a servo alarm occurs, the servomotor itself may not always be abnormal. For example, a servo alarm occurs even if an error occurs in the servo amplifier that drives the servomotor. At this time, parts such as normal servo motors may be replaced and discarded. Wasted resources.

Also, even if the detection data for detecting the state of the servomotor is stored as servo data, it takes a considerable time before the operator actually performs the stop operation. As a result, servo data before and after the occurrence of the servo alarm was lost, and the cause of the failure of the servo motor could not be identified at a later date. Disclosure of the invention

The present invention has been made in view of the above circumstances, and stores servo data before and after the occurrence of a servo alarm, displays the servo data on a display device, and can easily identify a cause of the failure in a servo waveform. The purpose is to provide a display method.

In the present invention, in order to solve the above problems,

In a servo waveform display method for graphically displaying servo data measured from a servomotor, a servomotor command means for issuing an operation command such as a speed command and a current command to the servomotor based on a machining program and the like. Controlling the operation of the servo motor based on the operation command, outputting servo data detected from the servo motor, and outputting a servo error when an abnormality occurs in the operation of the servo motor. A servo motor control means, a timer for outputting time data indicating the current date and time, and the servo data together with the time data until a predetermined time is reached after the occurrence of the servo error. A storage control means for storing the waveform data in the waveform data buffer, and It said that has been stored in the file A display control means for displaying waveform data on a display device; and a servo waveform display method comprising:

Servo motor command means issues an operation command to the servo motor, servo motor control means controls the operation of the servo motor, and outputs servo data detected from the servo motor.

-If an error occurs in the operation of the motor, a servo error is output. The storage control means stores the servo data together with the time data from the timer as waveform data in the waveform data buffer until a predetermined time is reached after the occurrence of the servo error. Thereafter, the display control means displays the waveform data stored in the waveform data buffer on the display device by a predetermined operation of the operator. Brief explanation of drawings

FIG. 1 is an overall configuration diagram of the present invention,

Fig. 2 is a block diagram showing the overall configuration of the numerical control device.

Figure 3 is a schematic diagram showing the structure of the ring buffer.

Figure 4 shows an example of the data format of the waveform data stored in the ring buffer.

Fig. 5 shows an example of the parameter settings displayed on the display device. Fig. 6 shows an example of the servo waveform displayed on the display device. Fig. 7 shows the execution procedure of the servo waveform display method. It is a flowchart. BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

FIG. 2 is a block diagram showing the overall configuration of a numerical control device embodying the present invention. It is a lock diagram. The processor 11 controls the entire numerical controller according to the system program stored in R0M12. EPROM or EEPR〇M is used for R012.

For RAM3, SRAM or the like is used, and various data or input / output signals are stored. Non-volatile memory 14 uses CM〇S backed up by a battery (not shown), and waveform data, machining programs, macro parameters, pitch error correction amount, and tool correction to be retained even after power is turned off. O, etc. are stored.

The graphic control circuit 15 converts the digital signal into a signal for display and supplies the signal to the display device 16. For the display device 16, a CRT or a liquid crystal display device is used. The display device 16 displays the shape, machining conditions, and the like when creating a machining program in an interactive manner. The digital signal sent to the graphic control circuit 15 is used by the processor 11 to execute the screen display processing program stored in the ROM 1 for the machining program stored in the non-volatile memory 14. Is a signal sent by the Timer 24 ticks the time and outputs it as time data.

The keyboard 17 consists of cursor keys, shape element keys, numerical keys, etc., and necessary graphic data and machining data are input using these keys.

The axis control circuit 18 receives the axis movement command from the processor 11 and outputs the axis command to the servo amplifier 19. The servo amplifier 19 receives the movement command and drives the servomotor 20a of the machine tool 20. These components are connected to each other by a bus 21. The PMC (programmable machine controller) 22 receives a T function signal (tool selection command) via the bus 21 when executing the addition program. Then, this signal is processed by the sequence * program, a signal is output as an operation command, and the machine tool 20 is controlled. Further, it receives a status signal from the machine tool 20, performs a sequence process, and transfers a necessary input signal to the processor 11 via the bus 21.

In addition, a soft key 23 whose function is changed by a system program or the like is connected to the node 21. The software key 23 is provided on the CRTZMDI panel 25 together with the display device 16 and the keyboard 17.

The input screen for interactive data displayed on the display device 16 is stored in R 0 M 12. On this interactive data input screen, the overall motion trajectory of the tool is displayed as a background animation when creating a machining program. The display device 16 displays the work or data which can be set on the input screen or data in a menu format. Which item to select from the menu is selected by software keys 23 arranged at the bottom of the screen corresponding to the menu. The meaning of Soft Tuaki 1 2 3 changes for each screen. The waveform data and the various data for conversation are stored in RAM 13 or nonvolatile memory 14.

The input data is processed by the processor 11 to create a machining program. The created program data is sequentially displayed on a display device 16 used in an interactive manner in a background-ready manner. The machining program stored as a machining program in the non-volatile memory 14 is stored in the machine tool 20. This is also executed during the machining simulation, and is displayed as a foreground door. FIG. 1 is an overall configuration diagram of the present invention. The servo waveform display method of the present invention comprises: servo motor command means 1, servo motor control means 2, storage control means 3, waveform data buffer 5, display control means 6, external Output means 7, external storage device 8, display device 16, servo motor 20a, and timer 24.Servo motor command means 1 sends speed command and current to servo motor 20a based on machining program etc. Perform operation commands such as commands. The servo motor control means 2 controls the operation of the servo motor 20a based on the operation command output from the servo motor command means 1, and outputs servo data detected from the servo motor 20a. . Further, the servo motor control means 2 outputs a servo error including information indicating details of the error when an abnormality occurs in the operation of the servo motor 20a.

Timer 24 outputs time data indicating the current date and time. After the occurrence of a servo error, the storage control means 3 outputs the servo data output from the servo motor control means 2 from the timer 24 until the sampling time set for the parameter is reached. Stored in the waveform data buffer 5 together with the time data. At this time, the data stored in the waveform data buffer 5 in a predetermined data format is hereinafter referred to as “waveform data”. The display control means 6 graphically displays the waveform data stored in the waveform data buffer 5 on the display device 16 by a predetermined operation of the operator. Hereinafter, the waveform displayed graphically on the display device 16 is called a “servo waveform”. Here, the waveform data buffer 5 corresponds to the non-volatile memory 14. The display control means 6 corresponds to the graphic control circuit 15, and displays the waveform data stored in the waveform data buffer 5 on the display device 16. The external output means 7 outputs the waveform data stored in the waveform data buffer 5 for storage in the external storage device 8 in response to a command from the operator. Here, the external storage device 8 is, for example, a floppy disk device, a hard disk device, a line-connected personal computer or a numerical control device, or the like.

The servo motor command means 1, the storage control means 3, and the external output means 7 are functions realized by the processor 11 executing the system program stored in the ROM 12 shown in FIG. It is. The servo motor control means 2 corresponds to the axis control circuit 18 and servo amplifier 19 in FIG.

Next, the operation of the servo waveform display method according to the present invention will be described. ₍ First, the operator calls up a parameter setting screen by performing a predetermined operation. Set the sampling time, servo data number, data unit, etc. Here, the sampling time is the time for storing waveform data after a servo error occurs, for example, “32 seconds”. The servo data number can be freely set up to the maximum sampling time as shown below.The servo data number indicates the type of required data among the servo data to be stored in the waveform data buffer 5, for example, a two-digit number. The data unit is a coefficient that is multiplied according to the type of data indicated by the servo data number above. Start the-ring, waveform data Is stored in waveform data buffer 5.

Thereafter, when a servo error occurs for some reason, this servo error is notified from the servo motor control means 2 to the storage control means 3. The storage control means 3 having received the notification of the servo error acquires the time data indicating the time at this point from the timer 124. Then, from the time when the notification of the servo error is received, the operation command and servo data are acquired until the sampling time set on the parameter setting screen is reached, and the data is continuously stored as waveform data. For example, if the time when the notification of the servo error is received is “9:00:00” and the sampling time set on the parameter setting screen is “10 seconds”, then “9: 00: 0” Keep storing waveform data until “minute 10 seconds”.

Then, if necessary, the operator performs a predetermined operation to instruct the display control means 6 to display the waveform data stored in the waveform data buffer 5 on the display device 16. _{c It} is also possible to instruct the external output means 7 as necessary to output the waveform data stored in the waveform data buffer 5 to the external storage device 8.

In this way, when any trouble such as the abnormal stop of the servomotor 20a occurs, the cause of the trouble can be specified in a short time. Further, by analyzing the waveform data for each fault stored in the external storage device 8, it is possible to comprehensively identify the cause of the fault.

FIG. 3 is a schematic diagram showing the structure of the ring buffer. The waveform data output from the storage control means 3 in FIG. 1 is stored in a waveform data buffer 5. Figure 3 shows one example of this waveform data buffer 5. It is a figure showing an example.

In the figure, the ring buffer 5a is composed of 12 elements £ 1 to £ 12, which are connected in a ring. When the waveform data is output from the storage control means 3, the first waveform data is first stored in the element E1, and then stored in the order of the elements E2, E3,. Then, after the waveform data of the element E12 is saved, the waveform data is saved so as to overwrite the element E1 again. Thus, each time one waveform data is output from the storage control means 3, it is stored in each element in the clockwise order.

Since the waveform data buffer 5 is constituted by a ring buffer in this way, buffer management becomes easy, and waveform data of a predetermined number of elements (12 in FIG. 3) can be always stored. As will be described later, the display order of the waveform data can be easily changed by displaying the waveform data stored in the ring buffer 5a clockwise or counterclockwise in the display on the display device. Can also. Note that the number of elements of the ring buffer 5a is not limited to 12 shown in the figure, but may be composed of a predetermined number of elements according to the capacity of the nonvolatile memory 14 in FIG. 2, for example. Can be.

FIG. 4 is a diagram illustrating an example of a data format of waveform data stored in a ring buffer. In the figure, the waveform data 100 includes a header 101, identification data 102, command measurement data 103, and time data 104.

The header 101 stores information for identifying the type of the waveform data 100. That is, as shown in FIG. 1, three types of data, an operation command, servo data, and servo error, are sequentially input to the storage control means 3. There are three types of header 101 This data is used to identify which of the above data.

The identification data 102 stores information for identifying the type of data that has been further finely classified among the above three types of data. For example, an operation command corresponds to a command number such as a speed command and a current command. Similarly, in the servo data, it corresponds to a data classification number classified into a predetermined type such as an actual speed, an effective current, a pulse distribution amount, an error amount, and a thermal simulation data.

The command measurement data 103 stores the above three types of actual data. For example, the operation command stores command data, and the sensor data stores measurement data such as actual speed.

The time data 104 reads the time of the input data, that is, the date and time, from the timer 24 and stores them.

In this way, the three types of input data are classified and the data and time data are stored as waveform data 100 in the waveform data buffer 5. 6 can be displayed as a waveform. For this reason, it is possible to identify in which time the component causing such a fault from the shape of the waveform together with its cause in a short time. The command measurement data 103 or the time data 104 may be omitted as necessary.

These four numerical data, header 101, identification data 102, command measurement data 103, and time data 104, are converted into a binary format by the storage control means 3 and then converted into a waveform data buffer. 5, the occupancy of the non-volatile memory 14 can be reduced. FIG. 5 is a diagram illustrating an example of parameter settings displayed on the display device. The display screen 16a is a screen displayed on the display device 16 in FIG.

The operator calls a parameter setting screen on the display screen 16a by performing a predetermined operation. In this parameter setting screen, sampling time 51, servo data number 52, and data unit 53 are set.

Here, the sampling time 51 is a time for storing waveform data performed after a servo error occurs, and can be set freely up to the maximum sampling time, for example, “32 seconds”. If a time that exceeds the maximum sampling time is set, the maximum sampling time is automatically set. For the servo data number 52, the type of necessary data among the servo data to be stored in the waveform data buffer 5 is specified by the board. In this examination, for example, a two-digit number is specified, with the upper digit specifying the type of data and the lower digit specifying the unique number of the servomotor 20a provided for each axis. The data unit 53 is a coefficient that is multiplied according to the type of data indicated by the servo data number 52 above. In other words, some of the measured servo data show minute numerical values, and it is sometimes difficult to understand even if the waveform is displayed as it is. By multiplying such data by an appropriate coefficient, it is data that makes the waveform easier to understand.

To set these items, move the cursor 16b to the screen position to be set using the cursor movement keys provided on the keyboard 17 in Fig. 2, and enter the numerical values using the numerical keys. I do. In the figure, the sampling time 51 is 1 0 0 0 0 [milliseconds] [Second] is set. Also, the servo data number

In 52, `` 41 '' indicating the actual speed of the X-axis servo motor is set as channel 1 and `` 31 '' indicating the effective current of the X-axis servo motor is set as channel 2 respectively. To indicate that Furthermore, the data unit 53 indicates that a coefficient of “100” is set as channel 1 and a coefficient of “10” is set as channel 2.

In the figure, two channels, channel 1 and channel 2, are set, but two or more channels can be set as necessary. At this time, if the channel settings span multiple screens, the desired screen can be displayed and set by pressing the screen designation key provided on the keyboard 17 o

In this way, by setting the sampling time 51 as a parameter, it is possible to set the optimum time for displaying a waveform according to the type of the servomotor 20a or the type of machine tool. Because it is possible, the cause of the failure can be specified more easily.

FIG. 6 is a diagram illustrating an example of waveform data displayed on the display device. Note that the display screen 16a is a screen displayed on the display device 16 in FIG. 2 similarly to FIG.

In the figure, in addition to the speed command, the waveform data of the actual speed and the effective current set on the parameter setting screen in Fig. 5 are displayed in graphical form. A servo error occurs at time t 61 and time t

62 indicates that the storage of the waveform data has been completed. The time interval between time t61 and time t62 is 10 [seconds] set at sampling time ίΙΠ in FIG. In this way, the waveform data stored in the waveform data buffer 5 of FIG. 1 is graphically displayed on the display device 16 via the display control means 6, so that the waveforms before and after the occurrence of the sensor voiler are displayed. From this, the cause of the failure can be easily identified. In addition, the waveform of servo data such as actual speed is displayed on the same screen together with the waveform of operation commands such as speed commands, so that the servo motor 20a responds to the operation commands and Can be determined from the displayed waveform. The waveform shown in the figure shows a case where an excessive current alarm, which is one of the servo errors, occurs due to high acceleration / deceleration frequency.

FIG. 7 is a flowchart showing an execution procedure of the servo waveform display method. In the figure, the number following S indicates the step number. This flowchart is realized by the processor 11 of FIG. 2 executing the program of the storage control means 3 included in the system program.

[S1] Parameter setting is performed. That is, the parameter setting screen shown in FIG. 5 is displayed, and predetermined data such as sampling time is set.

[S2] Start sampling of servo data. That is, the storage control means 3 in FIG. 1 starts obtaining servo data from the servo motor control means 2.

[S3] Store waveform data. That is, the operation command output from the servo motor command means 1 in FIG. 1 and the servo data output from the servo motor control means 2 are combined with the time data output from the timer 24 to generate waveform data, Stored in waveform data buffer 5. [S4] Determine whether or not a servo alarm has occurred. If a critical alarm has occurred (YES), the current time is obtained from timer 24 and then the procedure goes to step S5, and no alarm occurs.

If (NO), return to step S3.

[S5] The waveform data is stored in the same manner as in step S3. [S6] It is determined whether or not the sampling time has elapsed. Specifically, the time obtained from timer 24 in step S4 is "9:00:00", and the sampling time set in step S1 is "10 seconds". , It is determined whether or not “9:00:00” has elapsed. If the sampling time has elapsed (Y E S), the process proceeds to step S 7, and if not (N O), the process returns to step S 5.

[S7] Terminate sampling of the servo data. That is, the storage control means 3 ends the acquisition of servo data from the servo motor control means 2. ;

Therefore, the operation command output from the servo motor command means 1 and the servo data output from the servo motor control means 2 are combined with the time data output from the timer 24 as waveform data into the waveform data buffer 5. Stored. Thereafter, the display control means graphically displays the waveform data stored in the waveform data buffer 5 by a predetermined operation of the operator, so that the cause of the failure can be specified in a short time. In addition, since the waveform data buffer 5 is built in the nonvolatile memory 14 that is knocked up by a battery, even if an accident such as power shutdown occurs, the waveform data is lost. I will not be told.

In the above description, the display control means 6 converts the waveform data into a graph. Although the display device 16 is configured to display the waveform data on the display device 16 in a graphic form, the waveform data may be configured to be displayed on the display device 16 only with numerical data or in combination with the graphic display.

Further, when data is stored in the waveform data buffer 5, the data is converted into a binary format and stored, but may be stored in another data format such as a character format.

Further, the waveform data buffer 5 is constructed in the nonvolatile memory 14, but may be constructed in the RAM 3.

Although the waveform data buffer 5 is constituted by the ring buffer 5a, it may be constituted by a normal buffer.

As described above, in the present invention, the operation command of the servo motor and the servo data measured from the servo motor are stored in the waveform data buffer together with the time data, and are displayed on the display device as necessary. With such a configuration, it is possible to identify the cause of the failure due to the occurrence of the servo alarm in a short time.

Claims

The scope of the claims

1. In the servo waveform display method of graphically displaying servo data measured from a servomotor,

A servo motor command means for issuing an operation command such as a speed command and a current command to the servo motor based on a machining program,

A servo that controls the operation of the servo motor based on the operation command, outputs servo data detected from the servo motor, and outputs a servo error when an abnormality occurs in the operation of the servo motor. Motor control means;

A timer for outputting time data indicating the current date and time. After the servo error occurs, the servo data is waveform data together with the time data to the waveform data buffer until a predetermined time is reached. Storage control means for storing;

Display control means for displaying the waveform data stored in the waveform data buffer on a display device by a predetermined operation of an operator;

A servo waveform display method comprising:

2. The servo waveform display method according to claim 1, wherein the servo data is configured to include at least one of data for commanding the servo motor such as a speed command and a current command. .

3. The servo data is configured to include at least one of the servo motor detection data such as actual speed, effective current, pulse distribution amount, error amount, and thermal simulation data. 2. The servo waveform display method according to claim 1, wherein:

4. The servo waveform display method according to claim 1, further comprising external output means for outputting the waveform data stored in the waveform data buffer to an external storage device.

5. The servo waveform display method according to claim 1, wherein the waveform data buffer is a non-volatile memory.

6. The servo waveform display method according to claim 1, wherein the waveform data buffer is a ring buffer.

7. The servo waveform display method according to claim 1, wherein the waveform data stored in the waveform data buffer is converted into a binary format and stored.

8. The servo waveform display method according to claim 1, wherein the predetermined time is set to a parameter.