WO1998001796A1 - Procede de commande par superposition utilisant un dispositif de commande numerique - Google Patents
Procede de commande par superposition utilisant un dispositif de commande numerique Download PDFInfo
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- WO1998001796A1 WO1998001796A1 PCT/JP1997/002389 JP9702389W WO9801796A1 WO 1998001796 A1 WO1998001796 A1 WO 1998001796A1 JP 9702389 W JP9702389 W JP 9702389W WO 9801796 A1 WO9801796 A1 WO 9801796A1
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- WIPO (PCT)
- Prior art keywords
- axis
- acceleration
- command
- superimposition
- amount
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/013—Control or regulation of feed movement
-
- 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
-
- 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
- G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34161—Superposition curves, combine xy slides with other xy or polar slides
-
- 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
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35406—Decompose axis movement, group components, interpolate separately, superpose pulses
-
- 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
- G05B2219/45—Nc applications
- G05B2219/45136—Turning, lathe
-
- 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
- G05B2219/50008—Multiple, multi tool head, parallel machining
-
- 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
- G05B2219/50015—Multi cutting, twin tools contact at same time workpiece, balance cutting
Definitions
- the present invention relates to a superposition control method for a machine tool in which a plurality of control systems are controlled by a computer control numerical control device (CNC device).
- CNC device computer control numerical control device
- FIG. 2 is a block diagram showing the principle of superposition control conventionally performed on a lathe having two control systems.
- Two sets of control systems including feed axes for the X-axis and the Z-axis are provided, and each control system is independently controlled.
- interrogation processing is performed for the movement command
- acceleration / deceleration processing is performed for the movement amount distributed to the X-axis and Z-axis.
- the signals are output to the axis servomotors, and the X-axis and Z-axis of each control system are independently driven and controlled.
- one control system is used as a reference system, and the other control system is used as a superposition system, and the movement of one axis is controlled by being superimposed on the movement of the other axis.
- the work W is moved in the Z-axis direction (the horizontal direction in FIG. 3).
- the tool Tl is moved in the X-axis direction (vertical direction in FIG. 3)
- the work is performed on the work W, and the tool T2 is moved in the X and Z directions.
- the work W may be processed.
- the movement of the tool T2 in the Z-axis direction must follow the movement of the workpiece W in the Z-axis direction.
- the control system of tool T1 is used as the reference system and the control system of tool T2 is used as the superposition system, and the Z-axis movement command of the reference system is added to the Z-axis movement command of the superposition system. Then, the Z axis of the superimposed system is drive-controlled.
- the movement of the tool T 2 in the Z-axis is based on the force on which the Z-axis movement of the workpiece W, which is the Z-axis movement of the reference system, is superimposed. Therefore, the workpiece W is moved relative to the work by the Z-axis movement commanded by the tool T2.
- the movement command amount after acceleration processing of the Z-axis movement command amount (distribution amount to the Z-axis) of the reference system is performed. It is added to the movement command amount of the Z-axis of the superimposed system after the acceleration / deceleration processing to drive and control the Z-axis servomotor of the superimposed system.
- the reference system and the superimposed system are both stopped to start superimposition, and both control systems are also stopped when the superimposition is canceled.
- An object of the present invention is to provide a superimposition control that does not require waiting until the reference system and the superimposition system stop, does not cause a path error of the superimposition axis, and can start and cancel superimposition. It is to provide a method.
- the superposition control method is a method for accelerating and decelerating a movement command amount distributed from a numerical controller to a first axis of a first control system, and performing acceleration / deceleration processing on the first axis.
- Step for obtaining the command amount, and acceleration / deceleration processing of the movement command amount distributed from the numerical control device to the second axis of the second control system, and acceleration / deceleration processing for the second axis A step for obtaining the moved movement command amount and, when the superimposition command is input, a numerical control device for the first axis separately from the acceleration and deceleration processing for the first and second axes.
- FIG. 1 is a block diagram showing the principle of the superposition control method of the present invention.
- Fig. 2 is a block diagram showing the principle of the conventional superposition control method.
- Fig. 3 is a conceptual diagram when the method of the present invention is applied to a lathe machine tool.
- FIG. 4 is a block diagram of a main part of a numerical controller for implementing the method of the present invention.
- FIG. 5 is a flowchart of the processing of the reference system in one embodiment of the present invention.
- FIG. 6 is a flowchart of the processing of the superposition system in the embodiment.
- acceleration / deceleration processing for superposition is performed on the Z-axis of the reference system. Since the acceleration and deceleration processing is performed by the unit and the result is added to the Z-axis movement command amount of the superimposed system, the speed of the z-axis of the reference system is not immediately added to the Z-axis of the superimposed system at the start of superimposition, but gradually.
- the Z-axis speed of the reference system is added for the first time.
- the moving command amount remaining in the acceleration / deceleration processing section is gradually output, the superimposition amount decreases gradually, and the superimposition speed becomes “0”.
- the acceleration / deceleration time constant of the superimposition acceleration / deceleration processing unit can be adjusted to the acceleration / deceleration time constant of the Z-axis of the reference system independently of the superimposition system. It does not occur.
- FIG. 4 is a block diagram of the numerical controller 100 according to one embodiment for implementing the method of the present invention.
- the numerical controller 100 controls a lathe machine tool having two sets of control systems composed of two axes, X-axis and Z-axis, as shown in FIG.
- the processor 11 of the numerical controller 100 reads out the system program stored in the ROM 12 via the bus 21 and, in accordance with the system program, It controls the numerical control device 100 as a whole.
- the RAMI 3 stores temporary calculation data, display data, and various data input by the operator via the CRT / MDI unit 70.
- CMOS memory 14 is a battery (not shown). It is configured as a non-volatile memory that is backed up and retains its memory state even when the power of the numerical controller 100 is turned off.
- a program read via a computer, a machining program input via the CRTZMDI unit 70, and the like are recorded.
- the ROM 12 includes various system programs for executing an edit mode process and an automatic operation process required for creating and editing a processing program. Is pre-written.
- the interface 15 is an interface for an external device that can be connected to the numerical controller 100, such as a floppy set adapter.
- the external device 72 is connected to the external device 72.
- a processing program is read from the external device 72, and the processing program edited in the numerical controller 100 is sent to the external device 72. It can be stored in a floppy cassette or the like via the device 72.
- the PC (Programmable Controller) 16 is a sequence program built into the numerical control device 100 and is an auxiliary device for machine tools, for example, for tool change. Controls actuators such as robot hands. That is, according to the M function, S function and T function commanded by the machining program, these sequence programs convert the necessary signals on the auxiliary device side, and the I / O unit 17 converts the signals to the auxiliary device. Output to the side. Auxiliary devices such as various actuators are operated by this output signal. In addition, the operations provided on the machine tool body It receives signals from various switches on the panel, performs necessary processing, and passes them to the processor 11.
- the CRT / MDI unit 70 is a manual data input device equipped with a display, keyboard, etc., and the interface 18 is a CRTZMDI unit 70. It receives commands and data from the keyboard and passes them to the processor 11.
- the interface 19 is connected to the manual pulse generator 71 and is used for manual operation.
- Loose generator 7 Receives pulses from power source.
- the manual pulse generator 71 is mounted on the operation panel, and is used to precisely position a tool in each axis control by the distribution pulse based on the manual operation.
- the two sets of X-axis and Z-axis axis control circuits 30 to 33 for moving the tool or the workpiece receive the movement command amount of each axis from the processor 11. Then, the command of each axis is output to servo amplifiers 40 to 43.
- the servo amplifiers 40 to 43 receive this command and drive the servo motors 50 to 53 of each axis.
- the servomotors 50 to 53 of each axis have built-in position and speed detectors, and feed back position and speed feedback signals from the position and speed detectors to the axis control circuit. Feeding is performed at 30 to 33, and feedback control of the position and speed is performed. In FIG. 4, the feedback of these position signals and the feedback of the velocity are omitted.
- the axis control circuit 30, the servo amplifier 40 and the servo motor 50 constitute the X-axis drive control system of the first control system, and the axis control circuit 31, the servo amplifier 41 and the servo motor 51 are connected to each other. More than 1 A drive control system for the z-axis of the control system is configured.
- the axis control circuit 32, the servo amplifier 42, and the servomotor 52 form a drive control system for the X-axis of the second control system
- the axis control circuit 33, the servo valve 4 The spindle control circuit 60, in which the Z-axis drive control system of the second control system is composed of the spindle motor 3 and the servo motor 53, receives the spindle rotation command and sends the signal to the spindle amplifier 61. Outputs the spindle speed signal.
- the spindle amplifier 61 receives the spindle speed signal and rotates the spindle motor 62 at the specified rotation speed.
- the spindle motor 62 has a gear having gears and a position coder 63 coupled with a belt or the like, and the position coder 63 outputs a feedback pulse in synchronization with the rotation of the spindle.
- the feedback pulse is fed back to a spindle control circuit 60, which performs speed control.
- the first and second two types are controlled by a numerical controller 100. A case where the present invention is implemented using a lathe machine having the tool rests A l and A 2 will be described.
- a workpiece W i.e., a workpiece W, is attached to a chuck 1 attached to the spindle 2.
- second tool rest A 1 the tool was attach to A 2 T l, Ri der also processing the word over click W by the T 2, the main shaft 2 to the spindle motor 6 2
- the workpiece W is driven to rotate the workpiece W.
- the main shaft 2 is driven by a Z-axis servomotor 51 of the first control system, moves in the Z-axis direction along the rotation center axis of the main shaft 2, and moves the work W in the Z-axis direction.
- the first turret A1 is driven by the X-axis servomotor 50 of the first control system and is driven in the Z-axis direction.
- a control system of a reference system is configured by the first control system.
- the second turret A 2 is driven by the servo motors 52 and 53 of the second control system in the X-axis direction and the Z-axis direction, and is superimposed by the second control system.
- the reference system and the superimposition system can independently process the workpiece W, and the movement of the reference system is superimposed on the superimposition system, and the work W is performed by the tools T1 and T2. Can be processed simultaneously.
- the position of the superposition system tool T2 on the reference axis at which the superposition starts to be overlapped must be determined and moved to the position. This positioning method will be described below.
- the origin O w of the machine coordinate system of the reference system is set as the axis center point of the tip 1 of the check 1.
- the origin O w of the work coordinate system of the reference system is set to a position that is vertically lowered from the tip of the tool T 1 to the Z axis.
- the Z-axis coordinate value in the work coordinate system which is the position of the end face of the work W, is defined as W m.
- M s be the Z-axis position of the current tip position of the tool T 2 in the superimposed system coordinate system (origin O i).
- the position on the work coordinate system in the reference system where the superimposition is started is separated by C on the Z axis from the current position W m of the work system on the work coordinate system in the work coordinate system.
- Position Further, let D be the distance between the origin O i of the mechanical coordinate system of the superposition system and the origin O w of the work coordinate system of the reference system. In doing so, the second ⁇ ⁇
- the moving amount U of the tool post A 2 of No. 2 is obtained by the following formula (1).
- the following commands are prepared as a command format for specifying a superposition start command, a superposition cancellation command, and a superposition position.
- P is the name of the axis (X, Z, Z), a and b represent the control system numbers, and the superposition start command “G1 26 P a ⁇
- P b J means that P b is superimposed on P a.
- the superimposition release command "G1 27 Pb” specifies the superimposition axis to release the superimposition together with the code G127.
- the superimposed position command “G128Pc” in the mark coordinate system is quickly moved to a position c away from the current position of the axis specified by P in the work coordinate system of the reference system. This means positioning by feeding.
- FIG. 5 is a flowchart showing a process for the reference system executed by the processor 11 of the numerical controller 100.
- Fig. 6 is a flowchart showing the processing for the superimposed system.
- Step S1 One block is read from the machining program force for the reference system (Step S1). If the command of the block is not a program end (Step S1). 1 S2), based on the movement command issued by the block, distributes the movement command amount to the X1 axis and Z1 axis, and performs the distribution movement amount X1 and Z1 to the X1 axis. The distribution movement amount z 1 to the axis is obtained, and the acceleration / deceleration processing is performed based on the distribution movement amount X 1 and z 1 to obtain the acceleration / deceleration-processed movement command amounts X 1 ′ and z 1 ′ (Step S3, S4).
- This acceleration / deceleration processing is the same as the conventional method.
- a set number of registers determined by the acceleration / deceleration time constant is prepared, and the distributed movement amount is reduced.
- the value stored in the register is shifted to the next register, and the distribution command amount obtained is stored in the first register.
- the value stored in the master is added, and the sum is divided by the number of registers to output.
- the flag F1 and F2 are set to "1" by the superposition command (this point will be described later). It is determined whether the force is "0" (steps S5 and S5). 6) If not superimposed, these flags F1 and F2 are "0J, and in this case, proceed to step S12 and add the values obtained in step S4.
- the movement command amounts xl 'and zl' for each axis (XI, Z1) subjected to the deceleration processing are output to the respective axis control circuits 30 and 31 and the servo amplifiers 40 and 4 are output.
- the servo motors 50 and 51 are driven via 1 to move the turret A 1 and the work W to perform the machining on the work W with the tool T 1.
- step S3 If 14 has not been reached, the flow returns to step S3, and the above-described processing is repeated. Although the processing in steps S3 to S13 is performed for each distribution cycle, this processing is simply described in this flowchart.
- step S13 When it is determined in step S13 that the end point has been reached, the process returns to step S1, reads the next block, and repeats the above-described processing. Then, the tip W is machined with the tool T1, and when the program end is read (step S13).
- one block is read out from the machining program for the superimposition system (second control system) (step T1), and the process is performed. It judges whether it is a program end (step S2), and if it is not a program end, the code G1226 of the superimposition command and the code G1227 of the superposition cancel command It is determined whether code G128 of the movement command to the superposition position is commanded (steps T3 to T5), and if it is not such a command, the corresponding command is determined.
- the movement command amount is distributed to the X2 axis and the ⁇ 2 axis based on the movement amount commanded by the block, and the distribution movement amounts X2 and ⁇ 2 to each axis are obtained (step).
- Step 9) the same acceleration / deceleration processing as described above is performed based on the distributed movement amounts X 2 and ⁇ 2 to obtain movement command amounts X 2 ′ and ⁇ 2 ′ for each axis (step 9).
- Step Tl 1 The superimposed movement command amount z 2 ′ is output to the axis control circuit 33 of the Z 2 axis, and the step control is performed to the axis control circuit 32 of the X 2 axis.
- the movement command amount x 2 ′ obtained at T 10 is output (step S 12), and servo motors 53 and 52 are driven via servo amplifiers 42 and 43, respectively.
- the second turret A 2 is moved in the X-axis and Z-axis directions to process the work W.
- Steps T9 to T13 are repeated until the end point specified by the block is reached, and the end point is reached in Step ⁇ 13
- the process returns to step # 1 to read the next block, and repeats the above-described processing to execute.
- step S3 If the read block command is the superimposition start command code “G1 26 Z2Zl” (step S3), the movement amount of axis Z1 of the reference system is set. F1 and F2 are each set to “1” assuming that they are superimposed on the Z2 axis (step S6), and the process returns to step T1.
- the next block is read out, but following the superimposition start command, this command is read from the force at which the superimposition start position command “G1 228 Zc” is commanded. Then, the process moves from step T5 to step T8, where the current position register that accumulates the movement command distribution amount is stored.
- step T8 From the stored values, the Z1 axis value Wm in the work coordinate system of the reference system, the current value Ms of the Z2 axis in the mechanical coordinate system of the superimposed system, and the command value c.
- the amount of movement U is obtained by the equation (1) (step T8), and the process proceeds to step T9 to execute the distribution processing of the amount of movement U at a rapid feed speed.
- the movement command amount for the Z2 axis is distributed, and the above-described acceleration / deceleration processing is performed to obtain the movement command amount Z2 '.
- step # 2 When the robot moves by the commanded movement amount U and reaches the end point, the process returns to step # 1, reads the next block, and executes the above-described processing from step # 2.
- the axis # 2 of the superimposition system moves by the commanded movement amount U to reach the end point and the superimposition amount ⁇ 1 ⁇ stored in the register R becomes constant (the acceleration / deceleration process for the superimposition)
- the position of ⁇ 2 axis is positioned at the commanded position.
- the actual position of the axis ⁇ 1 of the reference system can be calculated based on the acceleration processing of the acceleration processing rather than the integrated value of the distributed movement command amount. There is a positional deviation from the integrated value of the distributed movement command amount.
- acceleration / deceleration processing is performed on the movement command amount distributed to Even in the case of folding, the amount of superposition added to the Z2 axis of the superimposition system is delayed by this acceleration / deceleration processing, rather than the integrated value of the distributed movement command amount input to the acceleration / deceleration processing. .
- step S5 it is detected that flag F1 is set to the force S ⁇ 1", and the superposition is performed based on the distribution command amount z1 obtained in step S3.
- Acceleration processing this acceleration / deceleration processing is also the same as the acceleration / deceleration processing in step S4 and is performed with the same time constant
- the superimposition amount z1 ⁇ is obtained (step S8).
- the superimposition amount z1 “force S ⁇ 0” is determined (step S9), and if not “0”, the superimposition amount z1 ⁇ is stored in the register R (step S9).
- the superimposition amount z 1 stored in the register R is added to the acceleration / deceleration-processed movement command amount z 2 ′ for the Z 2 axis of the superimposition system in the superimposition system processing step T 11. This is output to the servo circuit 33 of the axis.
- step S12 drive the servo motors 50 and 51 via the servo amplifiers 40 and 41, and The workpiece W is moved and the workpiece W is machined by the tool T1.
- steps S3 to S5, SS8S9, S11 to S1 are performed until the end point of the block is reached.
- the processing of step 3 is executed, and when the end point of the block is reached, the process returns to step S1, and if it is not a program end, the step ends again at the end point of the block.
- the processing of steps S3 to S5, S8, S9, and S11 to S13 is executed.
- the superposition amount ⁇ 1 is added to the movement command amount of the Z2 axis in step T11, and the servomotor 53 of the axis is driven.
- the tool ⁇ 2 moves to the mark W from the force that moves together with the mark W and causes the movement specified by the program of the superimposed system.
- the movement relatively commanded by the program of the superimposed system is performed, whereby the peaks W and T1 and T According to (2), machining is performed at the same time.
- the superimposed amount z1 is reduced, and the set time constant (the acceleration / deceleration processing time) is reduced.
- this overlap amount z 1 ⁇ becomes “0”.
- the amount of superposition added in step T11 of the superimposition system gradually decreases, and eventually becomes “0 J.
- the superposition amount z 1” The power S ⁇ 0 J Is detected in step S9, the flag F2 is set to ⁇ 0J, and the flow proceeds to step S11.
- step 6 the acceleration / deceleration processing for superimposition is not performed from the force in which both flags F1 and F2 are set to ⁇ 0 ”, and steps S5 and S5 are executed.
- step 6 the movement command amounts X1 'and z1' to the X1 and Z1 axes obtained by performing acceleration / deceleration processing on the distributed movement amount are controlled by the respective axes.
- the Z2 axis since the movement amount of the Z1 axis is accelerated / decelerated and superimposed on the superimposed Z2 axis, the Z2 axis does not have a rapid speed change at the start of superimposition and at the time of superimposition release. However, there is no shock, vibration, or the like due to sudden acceleration or sudden deceleration due to the force that is gradually accelerated and decelerated.
- the first control system is the reference system
- the second control system is the superimposition system
- the Z1 axis of the reference system is superimposed
- the Z2 axis of the superimposition system is the superimposed axis.
- the superimposition start command “G 1 26 P a P bj is the axis to be superimposed.
- step S11 the amount of superimposition is stored in the register corresponding to the axis to be superimposed, which is stored in step S11. Then, in step T 11, for all axes, the superimposition amount stored in the register corresponding to the acceleration command-processed movement command amount is added and output. (For an axis that is not specified as the axis to be superimposed, the value stored in the corresponding register is “0”.)
- the superimposition control is controlled by the machining program.
- the superposition start no release command is an input signal via the PC
- the axis control command is the PC control. In some cases, it is an independent command system for axis control and the like.
- the control system for both the axis to be superimposed and the axis to be superimposed is stopped for waiting at the time of superimposition start and superimposition, superimposition can be started and superimposed, so that the processing cycle is shortened. can do . Also, since the speed of the axis to be superimposed does not suddenly change at the time of superimposition start and at the time of superimposition release, no shock or torsion occurs, and stable machining can be performed. .
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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EP97930744A EP0851328B1 (en) | 1996-07-10 | 1997-07-10 | Superposition control method using numerical controller |
DE69727461T DE69727461T2 (de) | 1996-07-10 | 1997-07-10 | Überlagerungssteuerverfahren mit numerischer steuerung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19855196A JP3459516B2 (ja) | 1996-07-10 | 1996-07-10 | 数値制御装置による重畳制御方法 |
JP8/198551 | 1996-07-10 |
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WO1998001796A1 true WO1998001796A1 (fr) | 1998-01-15 |
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PCT/JP1997/002389 WO1998001796A1 (fr) | 1996-07-10 | 1997-07-10 | Procede de commande par superposition utilisant un dispositif de commande numerique |
Country Status (5)
Country | Link |
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US (1) | US5977736A (ja) |
EP (1) | EP0851328B1 (ja) |
JP (1) | JP3459516B2 (ja) |
DE (1) | DE69727461T2 (ja) |
WO (1) | WO1998001796A1 (ja) |
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WO2002025388A1 (fr) * | 2000-09-22 | 2002-03-28 | Citizen Watch Co., Ltd. | Tour a commande numerique et son procede de commande |
DE10156781C1 (de) * | 2001-11-19 | 2003-02-27 | Siemens Ag | Aktive Kompensation von mechanischen Schwingungen und Verformungen in industriellen Bearbeitungsmaschinen |
JP3680064B2 (ja) * | 2003-04-21 | 2005-08-10 | ファナック株式会社 | 数値制御装置 |
JP2005322076A (ja) * | 2004-05-10 | 2005-11-17 | Fanuc Ltd | 数値制御装置 |
JP2006159345A (ja) * | 2004-12-07 | 2006-06-22 | Fanuc Ltd | 制御装置 |
JP5129064B2 (ja) * | 2008-08-26 | 2013-01-23 | 新日本工機株式会社 | 工作機械の数値制御装置 |
CN101887250B (zh) * | 2009-05-12 | 2012-05-30 | 鸿富锦精密工业(深圳)有限公司 | Cnc工具机控制装置 |
WO2014038002A1 (ja) * | 2012-09-04 | 2014-03-13 | 三菱電機株式会社 | 数値制御装置 |
JP2015097045A (ja) * | 2013-11-15 | 2015-05-21 | ファナック株式会社 | 非常停止時に工具及び被加工物を保護するモータ制御装置 |
JP6151667B2 (ja) * | 2014-06-06 | 2017-06-21 | ファナック株式会社 | 重畳制御の速度制御機能を有する数値制御装置 |
JP6267161B2 (ja) | 2015-08-10 | 2018-01-24 | ファナック株式会社 | 平行する2軸の軸制御を行う数値制御装置 |
DE112021000922T5 (de) * | 2020-02-07 | 2022-11-17 | Fanuc Corporation | Betriebssteuervorrichtung und Programm |
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JPH02181203A (ja) * | 1988-12-31 | 1990-07-16 | Citizen Watch Co Ltd | 数値制御工作機械の制御方法及びそのための制御装置 |
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JPS60198606A (ja) * | 1984-03-21 | 1985-10-08 | Fanuc Ltd | 数値制御装置の加減速方式 |
JPS63206804A (ja) * | 1987-02-24 | 1988-08-26 | Fanuc Ltd | 数値制御方式 |
US5233276A (en) * | 1987-06-30 | 1993-08-03 | Deutsche Thomson-Brandt Gmbh | Motor control circuit |
EP0309824B1 (de) * | 1987-09-28 | 1991-11-13 | Siemens Aktiengesellschaft | Verfahren zur numerisch gesteuerten Lageregelung elektromotorisch angetriebener Achsen |
JPH01217604A (ja) * | 1988-02-26 | 1989-08-31 | Fanuc Ltd | 同期制御方式 |
JP2559279B2 (ja) * | 1989-11-30 | 1996-12-04 | 三菱電機株式会社 | サーボモータの重畳・同期運転誤差補正装置 |
JP2642211B2 (ja) * | 1990-01-31 | 1997-08-20 | オ−クマ株式会社 | 重畳制御機能を有する数値制御装置 |
DE4123323C2 (de) * | 1991-07-13 | 1994-02-10 | Andreas Ehlerding | Werkzeugträger |
-
1996
- 1996-07-10 JP JP19855196A patent/JP3459516B2/ja not_active Expired - Fee Related
-
1997
- 1997-07-10 DE DE69727461T patent/DE69727461T2/de not_active Expired - Lifetime
- 1997-07-10 WO PCT/JP1997/002389 patent/WO1998001796A1/ja active IP Right Grant
- 1997-07-10 EP EP97930744A patent/EP0851328B1/en not_active Expired - Lifetime
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1998
- 1998-03-06 US US09/029,289 patent/US5977736A/en not_active Expired - Fee Related
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02181203A (ja) * | 1988-12-31 | 1990-07-16 | Citizen Watch Co Ltd | 数値制御工作機械の制御方法及びそのための制御装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11484947B2 (en) | 2017-09-12 | 2022-11-01 | Citizen Watch Co., Ltd. | Machine tool |
Also Published As
Publication number | Publication date |
---|---|
US5977736A (en) | 1999-11-02 |
EP0851328A1 (en) | 1998-07-01 |
JP3459516B2 (ja) | 2003-10-20 |
DE69727461D1 (de) | 2004-03-11 |
EP0851328B1 (en) | 2004-02-04 |
JPH1027013A (ja) | 1998-01-27 |
EP0851328A4 (en) | 2001-07-25 |
DE69727461T2 (de) | 2004-07-01 |
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