WO1994006203A1 - Systeme d'affichage a forme d'onde asservie - Google Patents

Systeme d'affichage a forme d'onde asservie Download PDF

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Publication number
WO1994006203A1
WO1994006203A1 PCT/JP1993/001185 JP9301185W WO9406203A1 WO 1994006203 A1 WO1994006203 A1 WO 1994006203A1 JP 9301185 W JP9301185 W JP 9301185W WO 9406203 A1 WO9406203 A1 WO 9406203A1
Authority
WO
WIPO (PCT)
Prior art keywords
servo
data
waveform
waveform data
servo motor
Prior art date
Application number
PCT/JP1993/001185
Other languages
English (en)
Japanese (ja)
Inventor
Masashi Yukutomo
Shigeru Isohata
Osamu Yamazaki
Original Assignee
Fanuc Ltd
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 Fanuc Ltd filed Critical Fanuc Ltd
Publication of WO1994006203A1 publication Critical patent/WO1994006203A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H1/00—Details of emergency protective circuit arrangements
    • H02H1/0038—Details of emergency protective circuit arrangements concerning the connection of the detecting means, e.g. for reducing their number
    • H02H1/0053—Means for storing the measured quantities during a predetermined time
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/16—Controlling the angular speed of one shaft

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • outputs servo data detected from the servo motor
  • 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.
  • 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
  • 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 ⁇ M is used for R012.
  • Non-volatile memory 14 uses CM ⁇ 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.
  • a CRT or a liquid crystal display device is used for the display device 16.
  • 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.
  • 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.
  • 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.
  • the waveform displayed graphically on the display device 16 is called a “servo waveform”.
  • 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.
  • 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.
  • the operator calls up a parameter setting screen by performing a predetermined operation.
  • 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.
  • 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”.
  • 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.
  • the external output means 7 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.
  • 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.
  • the ring buffer 5a is composed of 12 elements £ 1 to £ 12, which are connected in a ring.
  • 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,.
  • the waveform data of the element E12 is saved, the waveform data is saved so as to overwrite the element E1 again.
  • 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.
  • 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.
  • an operation command corresponds to a command number such as a speed command and a current command.
  • 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.
  • the operation command stores command data
  • 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.
  • 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.
  • 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.
  • this parameter setting screen sampling time 51, servo data number 52, and data unit 53 are set.
  • 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.
  • 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.
  • the sampling time 51 is 1 0 0 0 0 [milliseconds] [Second] is set. Also, the servo data number
  • ⁇ 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.
  • 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.
  • two channels, channel 1 and channel 2 are set, but two or more channels can be set as necessary.
  • the desired screen can be displayed and set by pressing the screen designation key provided on the keyboard 17 o
  • 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.
  • 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.
  • 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.
  • 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.
  • [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.
  • [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.
  • 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.
  • 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.
  • 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.
  • the display control means 6 converts the waveform data into a graph.
  • 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.
  • the data 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.
  • waveform data buffer 5 is constructed in the nonvolatile memory 14, but may be constructed in the RAM 3.
  • the waveform data buffer 5 is constituted by the ring buffer 5a, it may be constituted by a normal buffer.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Numerical Control (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

Cette invention se rapporte à un système d'affichage à forme d'onde asservie qui mémorise des données d'asservissement avant et après qu'un signal d'alarme asservi ait été produit, et qui affiche les données sur un dispositif d'affichage de manière à spécifier aisément les causes d'une défaillance. Un moyen d'instruction (1) de servomoteur fournit une instruction de fonctionnement à un servomoteur (20a), et un moyen de commande (2) de servomoteur extrait des données d'asservissement détectées par le servomoteur (20a) et sort un signal d'erreur asservi lorsque quelque anomalie a lieu dans le fonctionnement du servomoteur (20a). Un moyen de commande (3) de moteur mémorise des données d'asservissement avec des données temporelles provenant d'une horloge (24) sous forme de données de forme d'onde dans une mémoire tampon (5) de données de forme d'onde, jusqu'à un moment prédéterminé à partir de l'apparition des données d'asservissement. Puis, un moyen de commande (6) d'affichage affiche, sur un dispositif d'affichage (16), les données de forme d'onde mémorisées dans la mémoire tampon (5), par l'intermédiaire d'une opération prédéterminée effectuée par un opérateur.
PCT/JP1993/001185 1992-09-01 1993-08-24 Systeme d'affichage a forme d'onde asservie WO1994006203A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP4233252A JPH0686580A (ja) 1992-09-01 1992-09-01 サーボ波形表示方式
JP4/233252 1992-09-01

Publications (1)

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WO1994006203A1 true WO1994006203A1 (fr) 1994-03-17

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PCT/JP1993/001185 WO1994006203A1 (fr) 1992-09-01 1993-08-24 Systeme d'affichage a forme d'onde asservie

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WO (1) WO1994006203A1 (fr)

Cited By (2)

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CN102201780A (zh) * 2010-03-24 2011-09-28 发那科株式会社 易于进行异常时的原因分析的电动机驱动装置
DE102015002717B4 (de) * 2014-03-11 2021-06-10 Fanuc Corporation Numerische Steuerung

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JP2000074063A (ja) * 1998-09-02 2000-03-07 Ntn Corp 磁気軸受の制御装置
JP2006330827A (ja) * 2005-05-23 2006-12-07 Fujitsu Ten Ltd 電子制御装置および電子制御機器のデータ保存方法
JP4506774B2 (ja) * 2007-03-30 2010-07-21 ダイキン工業株式会社 空気調和機
JP4897632B2 (ja) * 2007-09-27 2012-03-14 ファナック株式会社 衝突検出機能を有する工作機械の制御装置
US7827008B2 (en) * 2008-10-21 2010-11-02 General Electric Company System including phase signal saving during anomaly and related method
CN104272205B (zh) 2012-05-09 2016-06-29 三菱电机株式会社 数控装置
US10254743B2 (en) 2013-12-16 2019-04-09 Mitsubishi Electric Corporation Numerical control apparatus and logging method
JP7086312B1 (ja) * 2020-11-25 2022-06-17 三菱電機株式会社 グラフ表示プログラム、グラフ表示装置、グラフ表示方法
CN113960983A (zh) * 2021-10-26 2022-01-21 上海新纪元机器人有限公司 一种伺服驱动装置数据存储方法、系统和伺服驱动装置

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JPH01192000A (ja) * 1988-01-28 1989-08-02 Oki Electric Ind Co Ltd 監視装置の異常記録装置
JPH0251385A (ja) * 1988-08-12 1990-02-21 Nippon Steel Corp サイリスタレオナード装置の故障診断装置
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JPH0367728A (ja) * 1989-08-08 1991-03-22 Jidosha Denki Kogyo Co Ltd 車速自動制御装置
JPH0392564A (ja) * 1989-09-06 1991-04-17 Japan Electron Control Syst Co Ltd 車両の制御記録装置
JPH03230765A (ja) * 1990-02-06 1991-10-14 Matsushita Seiko Co Ltd インバータの保護制御装置

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Publication number Priority date Publication date Assignee Title
JPS57123462A (en) * 1981-01-26 1982-07-31 Nec Corp Working analyzing circuit of data processor
JPH01192000A (ja) * 1988-01-28 1989-08-02 Oki Electric Ind Co Ltd 監視装置の異常記録装置
JPH0251385A (ja) * 1988-08-12 1990-02-21 Nippon Steel Corp サイリスタレオナード装置の故障診断装置
JPH0256032A (ja) * 1988-08-20 1990-02-26 Fujitsu Ltd データ処理装置の自己テスト方式
JPH0367728A (ja) * 1989-08-08 1991-03-22 Jidosha Denki Kogyo Co Ltd 車速自動制御装置
JPH0392564A (ja) * 1989-09-06 1991-04-17 Japan Electron Control Syst Co Ltd 車両の制御記録装置
JPH03230765A (ja) * 1990-02-06 1991-10-14 Matsushita Seiko Co Ltd インバータの保護制御装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102201780A (zh) * 2010-03-24 2011-09-28 发那科株式会社 易于进行异常时的原因分析的电动机驱动装置
DE102015002717B4 (de) * 2014-03-11 2021-06-10 Fanuc Corporation Numerische Steuerung

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