WO1997002514A1 - Commande de synchronisation d'arbres dans les machines a commande numerique par ordinateur - Google Patents

Commande de synchronisation d'arbres dans les machines a commande numerique par ordinateur Download PDF

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Publication number
WO1997002514A1
WO1997002514A1 PCT/JP1996/001890 JP9601890W WO9702514A1 WO 1997002514 A1 WO1997002514 A1 WO 1997002514A1 JP 9601890 W JP9601890 W JP 9601890W WO 9702514 A1 WO9702514 A1 WO 9702514A1
Authority
WO
WIPO (PCT)
Prior art keywords
speed
axis
cnc
line
axes
Prior art date
Application number
PCT/JP1996/001890
Other languages
English (en)
Japanese (ja)
Inventor
Kentaro Fujibayashi
Yusaku Yamada
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 WO1997002514A1 publication Critical patent/WO1997002514A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical 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
    • G05B19/416—Numerical 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 of velocity, acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42186—Master slave, motion proportional to axis
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50218—Synchronize groups of axis, spindles

Definitions

  • the present invention relates to a CNC axis synchronous control device that performs synchronous control between a plurality of servo axes by a CNC (numerical control device).
  • the spindle is synchronized with the rotation of a spindle motor.
  • the present invention provides a CNC axis synchronization control device that performs synchronous control between a plurality of axes by using a CNC. , At least one of the plurality of axes is selected, and a predetermined speed is set as a reference speed for the selected axis, and the remaining axes are selected from the selected axes.
  • a synchronization priority setting means for setting the speed depending on the speed or the speed of another axis; receiving outputs of various sensors;
  • a timing monitoring means for judging which one of the rotations should be selectively started or stopped, and an output signal from the timing monitoring means of the plurality of axes.
  • Ax is at the speed determined by the synchronization priority setting means. And a period control means.
  • the speed of multiple shafts is appropriately adjusted, so that when performing a series of work by rotating multiple shafts, it is possible to efficiently perform operations according to the work state. it can.
  • the rotational speed of each axis is rotated at the optimal speed in relation to the speed of the other axes, so that Can perform efficient tasks.
  • FIG. 1 is a conceptual diagram illustrating the function of the present invention.
  • FIG. 2 is a schematic diagram showing an example in which the present invention is applied to a belt-co-bearing system.
  • Figure 3 is a block diagram of the CNC hardware, and
  • 4A and 4B are flow charts showing an example of control of the belt conveyor system of FIG.
  • the timing monitoring means 1 transmits signals from a plurality of monitoring sensors (in the example of FIG. 2 described below, monitoring sensors 72 and 73 such as a camera and a quality judgment sensor 82 are included). Receive each at the appropriate time.
  • the synchronization control means 2 starts or ends the operation of each axis Jl, J2, ..., Jn according to the output signal from the timing monitoring means 1. Further, the synchronous control means 2 synchronously controls the axes J 1, J 2, ——J n so as to rotate at the rotation speed according to the setting by the synchronization priority setting means 3.
  • FIG. 2 is a schematic diagram showing an example in which the present invention is applied to a belt-conveyor system.
  • this belt compare system for example, four lines L1 to L4 are provided.
  • Each of the lines L I, L 2, L 3, L 4 is driven by a servo motor 61, 62, 63, 64, respectively.
  • the satellites 61, 62, 63, and 64 are controlled by a CXC (numerical controller) 10.
  • Lines L1 and L2 are provided with first and second monitoring sensors 72 and 73, respectively. These monitoring sensors 72 and 73 are, for example, cameras, and have line L 1 and line L 1. And L2 to detect if the product has been sent. When the product is sent to line L1, the first monitoring sensor 72, and when the product is sent to line L2, the second monitoring sensor 73, respectively. Send a detection signal to CNC 10 (in Figure 1, it becomes timing monitoring means 1).
  • a sorting line L5 is provided at the end of the line L2.
  • the distribution line L5 is provided with a quality judgment sensor 82 for judging the quality of the product passing through the line L2.
  • drive Servomotor 6 3 if the product is non-defective, drive Servomotor 6 3 to transfer the product by line L3. If the product is defective, drive Servomotor 6 to transfer the product by line L4. .
  • Each servo 61 to 64 is synchronously controlled in accordance with a pulse generated inside CNC 10. In the conceptual diagram of FIG. 1, these servos 61 to 64 are axes J 1 and J 1.
  • FIG. 3 is a block diagram of the hardware of a CNC (numerical control unit).
  • the processor 11 is a central processor for controlling the entire CNC 10.
  • the processor 11 reads a system program stored in the ROM 12 via the NOM 21 and reads the system program. Controls the entire CNC 10 according to the system program.
  • the RAM 13 stores temporary calculation data, display data, and the like.
  • 513 ⁇ 4M is used for 11.8 1 ⁇ 1 3.
  • the non-volatile memory 14 is composed of CMOS, and stores operation programs and parameters. As a lame meter, the servo motors 61 to 64 are the same. There are priorities for the period. The priority of this synchronization may be specified in the operation program.
  • the non-volatile memory 14 is backed up by a battery (not shown), and the data is retained even when the power of the CNC 10 is turned off.
  • the interface 15 is an interface for an external device, and is connected to an external device 31 such as a paper tape reader, a paper table puncher, or a paper tape reader / puncher.
  • the operation program is read from the paper tape reader, and the operation program edited in CNC 10 can be output to the paper table punch.
  • PMC Programmable 'Machine' Controller 16 is built in CNC 10 and controls the machine system by a sequence program created in ladder format. In other words, according to the M function, S function, and T function specified by the operation program, these are converted into necessary signals on the machine side by a sequence program and output to the IO unit 17 or the machine side. I do.
  • This output signal drives a magnet on the machine side, and operates a hydraulic valve, a pneumatic valve, and an electric actuator. In addition, it receives signals from the limit switch on the machine side and the switch on the machine operation panel, performs necessary processing, and passes it to the processor 11.
  • Image signals such as the current position of each axis, alarms, parameters, and image data are sent to the display device 26 of the CRT ZM DI unit 25 via the display control circuit 18 for display.
  • Equipment 2 6 Will be displayed.
  • the interface 19 receives the data from the keyboard 27 in the CRT ZM DI Unit 25 and passes it to the processor 11.
  • the interface 20 is connected to the manual pulse generator 32 and receives a pulse from the manual pulse generator 32.
  • Manual pulse generator 3 2 is mounted on the machine control panel is used to precisely position the machinery moving parts manually.
  • the axis control circuits 41 to 44 receive the movement command of each axis from the processor 11 and output the command of each axis to the support points 51 to 54.
  • the servo amplifiers 51 to 54 receive the movement command and drive the servo motors 61 to 64 of each axis.
  • a pulse coder for position detection is incorporated in each of the satellites 61 to 64, and the position signal is fed from the pulse coder as a pulse train. Te is cowpea if, as a position detector, was c or Linear scale is used, Ri by the pulse train on the this to F / V (frequency Z velocity) conversion to generate a velocity signal this Can be. In the figure, the feedback client and the speed feedback of these position signals are omitted.
  • the first and second monitoring sensors 72 and 73 are connected to the interface (INT) 71, and the imaging data and the like from each monitoring sensor 72 and 73 are connected to the interface. 'The symbol is sent to processor 11 via bus 21.
  • a quality judgment sensor 82 is connected to the interface (INT) 81, and sends a quality judgment signal to the processor 11 via the node 21.
  • CNC 10 rotationally drives line L 1 at a predetermined speed VI.
  • the CNC 10 activates the quality judgment sensor 82 to activate the judgment function.
  • the quality of the product is checked by the quality judgment sensor 82. As a result of the quality check, if it is a non-defective product, the CNC 10 starts driving the non-defective product line L3. Line L 3 speed
  • the line L2 rotates at the value obtained by multiplying the actual speed V1 of line L1 by the coefficient ⁇ .
  • product discharge line L3 is the actual speed V2 of line L2 multiplied by a factor of 5
  • line L4 is the actual speed of line L2.
  • the value obtained by multiplying V 2 by the coefficient a is instructed to turn on the amplifiers 6-3 and 6-4 to rotate each time.
  • the speed of line L2 is higher than the speed of line L1
  • Making the speed of the downstream line more dependent on the speed of the upstream line along the product flow, such as the speed of lines L3 and L4 than the speed of line L2 Are synchronized with each other.
  • the sorting line L5 is not driven in the servo mode, and receives the quality check by the quality / quality judgment sensor 82 while the product slides down the line.
  • this line is used.
  • the moving speed of the product at L5 may need to be limited to a certain value or less depending on the capability of the quality judgment sensor 82.
  • the CNC 10 first determines the command speed of the distribution line L5 to V5, and then makes the speed of the other lines dependent on the actual speed of this line L5. This is also possible.
  • the line L 1 is operated to drive the line L 1 at the speed commanded by the CNC 10 (step S 1).
  • the next line L2 is driven at the above-described speed.
  • Step S4 it is determined whether or not a signal has been received from the second monitoring sensor 73 indicating that the product has been detected as being carried on the line: L2. (Step S4) If not received, repeat this step until received. ⁇ When it is detected that a signal is received from the second monitoring sensor 73, the quality judgment sensor is detected. 8 Operate 2 to make the product quality checkable (step S5).
  • step S6 it is determined whether or not a signal notifying the end of the quality determination is output from the quality determination sensor 82.
  • Step S 7 When the signal indicating the end of the quality judgment is output from the quality judgment sensor 82, the first and second timers T Start the timing of l and ⁇ 2 (step: S7). At the same time, if the content of the quality judgment result is a good product (step S 8) The non-defective product discharge line L 3 is driven at the above-described speed (Step S 9), and if it is a defective product, the defective product discharge line L 4 is driven at the above-mentioned speed (Step S 9). Step S 1
  • step S11 it is determined whether the first timer T1 has timed out the set time (step S11), and if not, this step is performed.
  • step S11 the drive of line L2 is stopped if a time-out occurs. That is, the line L2 is stopped after a certain period of time after the first monitoring sensor 72 has found the product on the line L1.
  • step S13 it is determined whether or not the second evening T2 has timed out the set time (step S13), and if the time has not been timed out, this step is performed.
  • step S14 the driving of the lines L3 and L4 is stopped (step S14).
  • the lines L3 and L4 are stopped after a certain period of time from the time when the quality judgment sensor 82 outputs the judgment result of the quality of the product. Note that the time until the first timer T1 is timed is always set to be shorter than the time until the second timer T2 is timed.
  • step S14 the process returns to step S2, and determines whether the first monitoring sensor 72 determines whether the next product has been sent on line L1. I do.

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

Abstract

Un moyen de sélection (3) de la synchronisation prioritaire choisit au moins un arbre (J1) parmi une pluralité d'arbres (J1, J2, ..., Jn) et ajuste la vitesse de l'arbre (J1) à une valeur prescrite de référence, puis il ajuste les vitesses des autres arbres (J2, ..., Jn) sur la base de la vitesse de référence ou des vitesses des autres arbres. Un moyen de commande de la synchronisation (2) entraîne les arbres (J1, J2, ..., Jn) a des vitesses choisies par le moyen de sélection (3) sur la base d'un signal de démarrage de l'entraînement d'un moyen de surveillance de la synchronisation (1).
PCT/JP1996/001890 1995-07-06 1996-07-08 Commande de synchronisation d'arbres dans les machines a commande numerique par ordinateur WO1997002514A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP7/170998 1995-07-06
JP17099895A JPH0922309A (ja) 1995-07-06 1995-07-06 Ｃｎｃの軸同期制御方式

Publications (1)

Publication Number Publication Date
WO1997002514A1 true WO1997002514A1 (fr) 1997-01-23

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ID=15915224

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1996/001890 WO1997002514A1 (fr) 1995-07-06 1996-07-08 Commande de synchronisation d'arbres dans les machines a commande numerique par ordinateur

Country Status (2)

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JP (1) JPH0922309A (fr)
WO (1) WO1997002514A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55166710A (en) * 1979-06-12 1980-12-26 Japan Ii M Kk Numerical control system
JPS6045809A (ja) * 1983-08-22 1985-03-12 Nippon Sheet Glass Co Ltd 数値制御装置
JPS6045808A (ja) * 1983-08-22 1985-03-12 Nippon Sheet Glass Co Ltd 数値制御装置
JPS60231207A (ja) * 1984-04-28 1985-11-16 Yaskawa Electric Mfg Co Ltd 多軸サ−ボ系の指令発生方式

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55166710A (en) * 1979-06-12 1980-12-26 Japan Ii M Kk Numerical control system
JPS6045809A (ja) * 1983-08-22 1985-03-12 Nippon Sheet Glass Co Ltd 数値制御装置
JPS6045808A (ja) * 1983-08-22 1985-03-12 Nippon Sheet Glass Co Ltd 数値制御装置
JPS60231207A (ja) * 1984-04-28 1985-11-16 Yaskawa Electric Mfg Co Ltd 多軸サ−ボ系の指令発生方式

Also Published As

Publication number Publication date
JPH0922309A (ja) 1997-01-21

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