WO2007074501A1 - 数値制御装置及び数値制御工作機械 - Google Patents
数値制御装置及び数値制御工作機械 Download PDFInfo
- Publication number
- WO2007074501A1 WO2007074501A1 PCT/JP2005/023742 JP2005023742W WO2007074501A1 WO 2007074501 A1 WO2007074501 A1 WO 2007074501A1 JP 2005023742 W JP2005023742 W JP 2005023742W WO 2007074501 A1 WO2007074501 A1 WO 2007074501A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- axis
- manual operation
- control unit
- manual
- feed
- Prior art date
Links
- 238000011084 recovery Methods 0.000 claims description 6
- 238000003754 machining Methods 0.000 description 21
- 238000000034 method Methods 0.000 description 18
- 238000010586 diagram Methods 0.000 description 16
- 230000002093 peripheral effect Effects 0.000 description 13
- 230000000694 effects Effects 0.000 description 8
- 238000005553 drilling Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 230000029777 axis specification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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
- G05B19/409—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 using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36163—Local as well as remote control panel
-
- 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
- G05B2219/50216—Synchronize speed and position of several axis, spindles
Definitions
- the present invention relates to a numerical control device and a numerically controlled machine tool including the numerical control device, and more particularly to control of a feed shaft in manual operation of a multi-system numerical control device capable of controlling two or more systems. .
- a conventional single-system numerical control apparatus has a plurality of control axes, and these control axes are controlled by one machining program and various control signals, so that one or a plurality of the same product can be covered. It is a control system.
- automatic operation mode such as memory operation mode, MDI (Manual Data Input) operation mode, jog feed mode, handle feed mode, incremental feed Mode, manual arbitrary feed mode, manual operation mode such as reference point return mode, etc.
- a predetermined control signal to operate in each operation mode e.g., axis selection signal for jog feed
- manual feed speed designation signals, etc. can be input to operate each operation mode.
- the automatic operation refers to automatically operating a numerically controlled machine tool in accordance with an NC machining program
- the manual operation refers to a manual handle and various buttons provided on a machine operation panel by an operator. This refers to manually operating a numerically controlled machine tool.
- the memory operation of the automatic operation means that when the start button is pressed, the NC machining program stored in the memory is read in advance, and the numerically controlled machine tool is automatically operated in accordance with the read NC machining program.
- MDI operation refers to automatically operating a numerically controlled machine tool according to the NC machining program input to the CNC from the MDI keyboard.
- the jog feed mode in the manual operation mode is that the operator presses the jog feed button.
- the handle feed mode the operator rotates the manual handle to generate command pulses
- the specified control axis is The feed mode refers to a feed mode
- the incremental feed mode refers to a feed mode in which the control axis is moved by a predetermined amount each time the operator presses a push button.
- Manual manual feed mode refers to a feed mode in which the specified control axis is moved to a predetermined position when the operator presses the start button.
- Reference point return mode is the reference point return mode. Indicates the feed mode in which the specified control axis is moved to the reference point by pressing the return button.
- a multi-system numerical control apparatus has a plurality of control systems as described above, which are realized in one piece of hardware.
- One or a plurality of the same or different products can be processed by a plurality of control systems controlled by the program and each control signal (see, for example, Patent Document 1).
- the PLC control unit 20 the first system control unit 71 that controls system 1
- the second system control unit 72 that controls system 2
- the unit 3 is composed of the shaft control units 4 to 11 and 12 to 19.
- the first system control unit 71 and the second system control unit 72 include an operation mode selection unit 71A and 72A for selecting either the manual operation mode or the automatic operation mode, and the selected manual operation mode. It consists of manual operation control units 71B and 72B for each system that performs manual operation control according to the above, and automatic operation control units 71J and 72J for each system that perform automatic operation control according to the selected automatic operation mode.
- the manual operation control units 71B and 72B include jog feed control units 71C and 72C for each system, handle feed control units 71D and 72D for each system, and incremental feed control units 71E and 72E for each system.
- Each system includes manual arbitrary feed control units 71F and 72F, reference point return control units 71G and 72G for each system, and manual operation interpolation control units 71H and 72H for each system.
- the automatic operation control units 71J and 72J analyze the memory operation control units 71K and 72 ⁇ for each system, the MDI operation control units 71L and 72L for each system, and the machining programs 73 and 74 for each system that have been read.
- the analysis processing units 71M and 72M for each system and the automatic operation interpolation control unit 7 for each system 7 It is composed of 1N and 72N.
- the first system control unit 71 and the second system control unit 72 are operated by the operator from the PLC control unit 20 by operating an operation panel having a display unit.
- each mode selected for each system can perform memory operation independently on each system for a predetermined axis arranged for each system.
- Performs automatic operation such as MDI operation, or manual operation such as jog feed, handle feed, incremental feed, manual manual feed, and reference point return.
- the movement amount of each axis output from the interpolation control units 71H, 71N, 72H and 72N of each system is output to the axis control units 4 to 11 and 12 to 19 of the predetermined axis via the axis control unit 3.
- the first system control unit 71 receives an NC reset signal 75 from the PLC control unit 20, and
- the NC reset signal 76 of the second system control unit 72 is input from the PLC control unit 20 to the two system control unit 72. Note that the NC reset signal 75 of the first system control unit 71 and the NC reset signal of the second system control unit 72 are independent, and even if the NC reset signal 75 of the first system control unit 71 is output. The second system controller 72 is not affected, and even if the NC reset signal of the second system controller 72 is output, the first system controller 71 is not affected.
- a multi-system numerical control device when a multi-system numerical control device is automatically operated simultaneously with a plurality of system machining programs, a conventional multi-system numerical control device can be used between systems so that an arbitrary control axis can be commanded from a machining program with a misaligned system. It is possible to perform machining by combining predetermined axes while exchanging the axes (see, for example, Patent Document 1).
- System 1 normally performs machining with a combination of first turret 51 and first spindle 54, and system 2 performs combination with a second turret 52 and second spindle 55, but the first turret 51 There is a case where it is desired to perform machining with a combination of the second spindle 55 and the second tool post 52 and the first spindle 54.
- C1 axis of system 1 and C2 axis of system 2 are exchanged, XI axis, Z1 axis and C2 axis are configured in system 1, and X2 in system 2
- the axis, Z2 axis, C1 axis and V2 axis are configured for automatic operation.
- replace XI axis and Z1 axis of system 1 with X2 axis and Z2 axis of system 2 and X1 axis, Z2 axis and C1 axis in system 1 and XI axis, Z1 axis and C2 axis in system 2 Configures the V2 axis and performs automatic operation.
- Patent Document 1 JP-A-3-28908 (FIGS. 1 and 4)
- the XI axis is arranged in advance. If the XI axis and X2 axis are exchanged between systems in response to an axis exchange command, the XI axis has been exchanged from system 1 to system 2. , System 1 The XI axis cannot be operated manually by selecting the first axis. As described above, there is a problem that manual operation may not be possible depending on the exchange status of the shaft by the program command.
- the present invention has been made in order to solve the problem of power, and has a degree of freedom in which a desired axis can be manually operated in a predetermined manual operation mode regardless of the axis configuration of each system.
- the purpose is to obtain a high numerical control device.
- Another object of the present invention is to obtain a numerical controller capable of simultaneously selecting a plurality of axes of different systems and simultaneously performing manual operation while interpolating the selected axes.
- Another object of the present invention is to obtain an inexpensive numerical control device that can perform a plurality of manual operations simultaneously with a small number of systems by combining a plurality of axes.
- a numerical control device is a multi-system numerical control device that controls a plurality of systems.
- a plurality of automatic operation control units that automatically operate the control axes of each system and each axis of each system controlled by these automatic operation control units are operated manually regardless of the system.
- a manual operation control unit that controls the control axes of each system and each axis of each system controlled by these automatic operation control units.
- the manual operation control unit is configured to perform interpolation control of each axis across each system.
- each manual operation mode such as a jog feed mode, a handle feed mode, an incremental feed mode, a manual arbitrary feed mode, and a reference point return mode is set based on a manual operation mode selection signal.
- a manual operation mode control unit that performs control based on a predetermined signal, and a manual operation interpolation control unit that performs interpolation control of an axis that is manually operated by the manual operation mode control unit.
- a manual operation axis selection determination unit that determines whether or not manual operation of the axis selected in the manual operation control unit is possible is provided.
- the manual operation axis selection determination unit determines whether or not manual operation is possible based on the automatic operation state of the system to which the selected axis belongs and the movement state of the shaft.
- the numerical control device is a multi-system numerical control device that controls a plurality of systems, and is provided for each PLC control unit and each system, and based on a signal from the PLC control unit. Regardless of the system, a plurality of automatic operation control units that automatically operate the control axes of the system and each axis of each system that is controlled based on the signal from the PLC control unit and controlled by the automatic operation control unit.
- a plurality of manual operation control units that perform manual operation, a manual operation axis selection determination unit that determines whether or not an axis selected by these manual operation control units can be operated, and an operation that can be performed by the manual operation axis selection determination unit.
- An axis control unit that controls the determined axis, and the manual operation control unit is configured to operate each manual operation mode such as a jog feed mode, a handle feed mode, an incremental feed mode, a manual arbitrary feed mode, or a reference point return mode.
- the PLC The manual operation mode selection unit selected based on the manual operation mode selection signal output from the control unit and the manual operation mode selected by the manual operation mode selection unit are connected to the PLC control unit.
- a manual operation mode control unit that performs control based on an arbitrary axis selection signal that is output from the control unit and designates an arbitrary system axis as a manual operation control axis and a predetermined signal that designates an operation condition such as a feed speed;
- the manual operation mode control unit includes a manual operation interpolation control unit that performs interpolation control of an axis that is manually operated.
- the axis selected by each manual operation control unit is not simultaneously commanded by any manual operation control unit, and the commanded axis is Whether or not manual operation is possible is determined based on the automatic operation state of the system to which it belongs and the movement state of the shaft.
- the axis designation signal for setting the axis number assigned to all the axes that can be controlled by each system and the axis set by this axis designation signal are validated. It consists of an axis selection signal that determines whether or not.
- a manual operation reset signal is provided for each manual operation control unit.
- the numerically controlled machine tool of the present invention comprises a spindle, a plurality of tool rests, and the numerical control device.
- a numerical control device having a high degree of freedom in which a desired axis can be manually operated in a predetermined manual operation mode regardless of an exchange state of axes between systems in automatic operation. The purpose is to get.
- a plurality of axes of different systems can be simultaneously selected, and manual operation can be simultaneously performed while complementing the selected axes.
- any of the axes commanded by manual operation will stop at the same time as the error stops.
- the feed of other axes that are interpolating during rotation can also be stopped at the same time, and it is possible to safely perform manual operation.
- an axis belonging to an arbitrary system can be freely selected from any manual operation control unit regardless of the axis configuration of each system and the state of shaft exchange between systems in automatic operation.
- interpolation feeding by manual operation can be performed by combining a plurality of arbitrary system axes.
- the reset command by the program is executed and the NC reset signal is input. It can be continued without stopping during manual operation. Conversely, the operation of the peripheral axes of the machine in the manual operation mode can be stopped without stopping the program during automatic operation.
- FIG. 1 is a block diagram showing the main part of a numerical control apparatus according to an embodiment of the present invention.
- FIG. 2 is a block diagram of the main part of a manual operation control unit of the numerical control device according to one embodiment of the present invention.
- FIG. 3 is a flowchart of a manual operation mode selection unit of the numerical controller according to one embodiment of the present invention.
- FIG. 4 is a diagram for explaining an arbitrary axis selection signal of the numerical controller according to one embodiment of the present invention.
- FIG. 5 is a diagram for explaining an arbitrary axis selection unit of the numerical controller according to one embodiment of the present invention. 6] A flowchart relating to axis selection of the numerical control device according to the embodiment of the present invention.
- FIG. 7 is a flowchart for determining whether or not the selected manual operation control axis is operable in the numerical controller according to one embodiment of the present invention.
- FIG. 9 A diagram illustrating a configuration example of a machine controlled by a numerical control device according to an embodiment of the present invention and an effect of the embodiment of the present invention.
- FIG. 10 A diagram illustrating a configuration example of a machine controlled by a numerical control device according to an embodiment of the present invention and an effect of the embodiment of the present invention.
- FIG. 1 is a block diagram showing a main part of a numerical control apparatus according to an embodiment of the present invention, and shows an example in which the numerical control apparatus is applied to a two-system control system.
- the numerical control device includes a first system control unit 1, a second system control unit 2, an axis control unit 3, and axis control units 4 to 19 for each axis assigned to each system.
- the first manual operation control unit 21 independent of the first and second system control units 1 and 2 and the second manual operation control unit 22 independent of the first and second system control units 1 and 2 And a manual operation axis selection determination unit 3A and a PLC control unit 20.
- system control unit is provided according to the number of systems of the numerical control device. For example, when the numerical control device is 3 systems, 3 are provided, and when the numerical control device is 4 systems, 4 are provided. Provided. Further, manual operation control units are not required for the number of systems of the numerical control device, but are provided for the number of systems for which manual operation is desired independently and simultaneously.
- the first system control unit 1 and the second system control unit 2 are provided for each automatic operation mode such as the automatic operation mode selection units 1A and 2A, the memory operation control units 1C and 2C, and the MDI operation control units 1D and 2D. It consists of control units IB and 2B, analysis processing units 1E and 2E that read and analyze specified machining programs 6 and 7, and automatic operation interpolation control units 1F and 2F.
- first manual operation control unit 21 and the second manual operation control unit 22 are independently controllable, and the manual operation mode selection units 21A and 22A, the jog feed control units 21B and 22B, and the hand Control units 21J and 22J for each manual operation mode such as dollar feed control units 21C and 22C, incremental feed control units 21D and 22D, manual arbitrary feed control units 21E and 22E, reference point return control units 21F and 22F, etc. It consists of manual operation interpolation control units 21H and 22H and arbitrary axis selection units 21G and 22G.
- the first system control unit 1, the second system control unit 2, the first manual operation control unit 21 and the second manual operation control unit 22 are operated by signals input and output from the PLC control unit 20. It is determined. In the case of automatic operation, the first system control unit 1 and the second system control control unit 2 operate to perform automatic operation as in the case of the conventional numerical control device. That is, according to the automatic operation mode selected in each of the automatic operation mode selection units 1A and 2A, the control units 1B and 2B for each automatic operation mode such as the memory operation control units 1C and 2C, the MDI operation control unit ID and 2D are set.
- the first manual operation control unit 21 and the second manual operation control unit 22 operate to perform manual operation. That is, according to the manual operation mode selected by each of the manual operation mode selection units 21A and 22A, the control units 21J and 22J for each manual operation mode such as the jog feed control units 21B and 22B and the handle feed control units 21C and 22C are set. Independent of the automatic operation of each system, the interpolation of the axis selected for manual operation of the control unit for each manual operation mode is performed manually. Manual operation is performed by using the interpolation controller 21H and 22H.
- the manual operation axis selection determination unit 3A is configured such that the axes selected by the first manual operation control unit 21 and the second manual operation control unit 22 do not overlap with each other, and the first manual operation control unit 21, Determine whether the axis selected by the second manual operation control unit 22 overlaps the axis for which the movement command is issued by the first system control unit 1 and the second system control unit 2. If the command axes overlap, an error is returned. Details of the manual operation axis selection determination unit 3A will be described later with reference to FIGS.
- the axis control unit 3 is a command by automatic operation of the first system control unit 1 and the second system control unit 2, or a command by manual operation of the first manual operation control unit 21 and the second manual operation control unit 22. Accordingly, the interpolated movement amount is output to each of the axis control units 4 to 19 of the commanded axis so that the commanded axis is driven correctly.
- 26 is a reset signal of the first system control unit 1
- 27 is a reset signal of the second system control unit 2
- 34 is a reset signal of the first manual operation control unit 21
- 38 is a second manual operation.
- These signals are output from the PLC controller 20 as reset signals from the controller 22.
- these signals are independent of each other. For example, even if the reset signal 26 of the first system control unit 1 is input, the second system control 1 is simply reset.
- the first manual operation control unit 21 and the second manual operation control unit 22 are not reset, and even if the reset signal 34 of the first manual operation control unit 21 is input, the first manual operation control unit 21 is not reset.
- the first system control unit 1, the second system control unit 2, and the second manual operation control unit 22 are not reset only by resetting the control unit 21.
- FIG. 2 is an example showing a detailed block diagram of the periphery of the numerical controller according to one embodiment of the present invention, centering on the first manual operation control unit 21.
- the detailed block diagram around the second manual operation control unit 22 has the same configuration, and the operation of the second manual operation control unit 22 is the same as the operation of the first manual operation control unit 21.
- the first manual operation control unit 21 is operated by an operator operating an operation panel having a display unit, so that the PLC control unit 20 can perform jog feed, handle feed, incremental feed, manual manual feed, reference point.
- Manual operation mode selection signal 31 for selecting one of the manual operation modes such as return, and any system axis is designated as the manual operation control axis
- An arbitrary axis selection signal 32, a manual feed speed setting signal 33 for designating the feed speed for manual operation, and a manual operation reset signal 34 provided for each manual operation control unit are input.
- the feed magnification signal 35 is further input.
- the manual arbitrary feed mode is selected, the axis movement data 36 and the manual optional Input feed modal signal 37.
- the first manual operation control unit 21 is switched to the manual operation mode selected by the manual operation mode selection signal 31 input by the manual operation mode selection unit 21A (jog feed control unit 21B, handle feed control unit 21C, etc.
- the manual operation mode selection unit 21A jog feed control unit 21B, handle feed control unit 21C, etc.
- the control unit 21J for each manual operation mode such as the jog feed control unit 21B and the handle feed control unit 21C
- a manual operation request is issued, and manual operation in the specified mode is performed at the feed rate set by the manual feed rate setting signal 33, etc.
- the manual operation interpolation control unit 21H, manual operation axis selection determination unit 3A, axis control unit Outputs the interpolated travel distance to the axis control unit 4 to 19 of the axis specified by the arbitrary axis selection signal 32 via 3.
- the axis movement data 36 is data to which position the axis is moved
- the manual arbitrary feed modal signal 37 is an incremental value command / absolute value command selection, movement speed selection, This signal is used to select interpolation / non-interpolation and acceleration / deceleration type. That is, in the manual arbitrary feed mode (when the manual arbitrary feed control unit 21E is operating), this axis movement data 36 is used to determine the position to move the selected axis, and this manual arbitrary feed
- the modal signal 37 is used to decide whether to use the incremental value command or absolute value command as the command, and the moving speed is set using the fast feed speed and manual feed speed setting signal 33 set in advance as parameters.
- FIG. 3 is a diagram illustrating the operation of the manual operation control unit 21 of the numerical controller according to the embodiment of the present invention.
- 10 is a flowchart of the manual operation mode selection unit 21A.
- the manual operation mode selection unit 22A in the manual operation control unit 22 operates in the same manner as the manual operation mode selection unit 21A in the manual operation control unit 21.
- manual operation mode selection signal 31 input from PLC controller 20 to manual operation controller 21 ⁇ S01, f or Sl l, f or S21, f or S31, or f or S41 This determines whether jog feed, handle feed, incremental feed, manual manual feed, reference point return error, or manual operation mode of deviation is selected.
- S01 it is determined whether or not the jog feed mode is selected. If the jog feed mode is not selected in S01, the process proceeds to S11, and it is determined whether or not the handle feed mode is selected in S11. If the handle feed mode is selected in S11, the process proceeds to S21, and it is determined whether or not the incremental feed mode is selected in S21. If the incremental feed mode is not selected in S21, the process proceeds to S31, and it is determined whether or not the manual arbitrary feed mode is selected in S31. If manual arbitrary feed mode is not selected in S31, the process proceeds to S41, and it is determined whether or not the reference point return mode is selected in S41. If the reference point return mode is not selected in S41, no mode is selected, and the process ends.
- the arbitrary axis selection signal 32 and the arbitrary axis selection unit 21G acquire the selected axis for jog feed in S02, and in S03 A predetermined manual feed speed is acquired from the manual feed speed setting signal 33, a request for the jog feed operation mode is accepted in S04, and a jog feed operation mode command is output to the jog feed control unit 21B. With this output, the jog feed control unit 21B force jog feed control is executed, and the processing result is output to the manual operation interpolation control unit 21H.
- the arbitrary axis selection signal 32 and the arbitrary axis selection unit 21G obtain the handle feed selection axis in S12.
- the specified manual feed speed is obtained from the manual feed speed setting signal 33
- the feed magnification for the handle pulse 1 pulse is obtained from the feed magnification signal 35
- the handle feed operation mode request is accepted in S14.
- the handle feed operation mode command is output to the handle feed control unit 21C. With this output, the handle feed control unit 21C force handle feed control is executed, and the processing result is output to the manual operation interpolation control unit 21H.
- the arbitrary axis selection signal 32 and the arbitrary axis selection unit 21G obtain the incremental feed selection axis in S22, and S23
- obtain the specified manual feed speed from the manual feed speed setting signal 33 obtain the feed magnification for one incremental feed from the feed magnification signal 35, accept the request for the incremental feed operation mode in S24, and perform incremental feed.
- the operation mode command is output to the incremental feed control unit 21D. With this output, the incremental feed control unit 21D force incremental feed control is executed, and the processing result is output to the manual operation interpolation control unit 21H.
- the arbitrary axis selection signal 32 and the arbitrary axis selection unit 21G acquire the manual arbitrary feed selection axis in S32, In S33, from the axis movement data 36 and manual arbitrary feed modal signal 37, the axis movement data (data to determine to which position the selected axis is moved) and the manual arbitrary feed modal (as described above, Decide whether to use an incremental value command or an absolute value command as a command, and use a rapid feed speed set in advance as parameters, a manual feed speed set by manual feed speed setting signal 33, or a machining speed Decide which of the feed speeds commanded by the program is to be used, decide whether to use interpolated movement or non-interpolated movement as the movement, and also as the acceleration / deceleration type Get the modal) for determining whether to use the normal acceleration and deceleration, it receives a request for manual arbitrary feed operation mode in S34, and outputs
- the arbitrary point selection signal 32 and the arbitrary axis selection unit 21G cause the reference point return in S42.
- the feed speed at the reference point return operation is obtained from the manual feed speed setting signal 33, and the reference point return mode request is received in S44, and the reference point return mode command is sent to the reference point return control.
- Output to part 21F With this output, the reference point return control unit 21F force reference point return control is executed, and the processing result is output to the manual operation interpolation control unit 21H.
- the manual operation mode selection unit 21A in the manual operation control unit 21 operates.
- the manual operation mode selection unit 22A in the manual operation control unit 22 operates in the same manner as the manual operation mode selection unit 21A in the manual operation control unit 21.
- the arbitrary axis selection signal 32 in FIG. 2 can be specified for any axis of an arbitrary system.
- the arbitrary axis selection signal 32 includes an axis selection signal and an axis specification signal.
- FIG. 4 is a diagram showing details of the arbitrary axis selection signal 32.
- the 1st axis designation signal 61, the 2nd axis designation signal 63, and the 3rd axis designation signal 65 of the arbitrary axis selection signal 32 are single for all axes that can be controlled by either system.
- the assigned axis number is set.
- the first axis selection signal 62, second axis selection signal 64, and third axis selection signal 66 of the arbitrary axis selection signal 32 are used to determine whether to enable the axis set by the axis designation numbers 61, 63, 65.
- FIG. 5 is a diagram showing details of the arbitrary axis selection signal 32 and the arbitrary axis selection units 21G and 22G in FIGS. 1 and 2 when an axis for performing a manual arbitrary feed command is designated.
- the example shown in FIG. 5 is an example in which there are three axes that can be commanded by the manual operation control units 21 and 22 simultaneously.
- the axis number assigned to the control axis belonging to the arbitrary system is specified by the axis designation signal for the axis to be actually controlled. Then, by inputting the first to third axis selection signals that specify the axis number, any three axes can be specified from any axis in any system.
- the first manual operation control unit 21 manually assigns the X2 axis and the Z1 axis simultaneously. If the second manual operation control unit 22 wants to perform manual arbitrary feed of the V2 axis, the first manual operation control unit 21 manual manual feed first axis designation signal is 09, manual manual feed Set 02 for the 2nd axis designation signal of and turn on the 1st axis selection signal for manual arbitrary feed and the 2nd axis selection signal for manual arbitrary feed. Also, 12 is set in the first axis designation signal for manual arbitrary feed of the second manual operation control unit 22, and the first axis selection signal for manual arbitrary feed is turned on.
- the ID number (axis designation signal) is calculated as ((N ⁇ 1) X 8) + M for the axis placed on the Mth axis of the Nth system.
- ((N — 1) X 8) + 2 02
- FIG. 6 is a flowchart relating to axis selection in the manual arbitrary feed mode of the manual operation control units 21 and 22 in the numerical controller according to one embodiment of the present invention.
- the arbitrary axis selection signal 32 is the manual arbitrary feed Nth axis designation signal and the manual arbitrary feed Nth axis selection for each manual operation control unit 21, 22 for the number of axes that can be manually interpolated simultaneously.
- variable initialization for the manual arbitrary feed interpolation axis loop is performed.
- N N + 1)
- the manual operation axis selection determination unit 3A determines whether or not the selected manual operation control axis can be operated.
- FIG. 7 shows the manual operation axis selection. 7 is a flowchart showing an operation of the determination unit 3A (operation availability determination operation of a selected manual operation control axis).
- system number If the number of systems (system number) is less than or equal to the number of effective systems, the process returns to S98, and the operations of S98 to S103 described above are repeated.
- system number number of systems calculated in S103 exceeds the effective system number, the process proceeds to S104, and each manual operation control unit performs interpolation processing.
- the manual operation axis selection determination unit 3A performs error processing when a manual operation request is generated for an axis that is interpolated in automatic operation.
- 8 is a flowchart showing the operation (error processing operation) of the manual operation axis selection determination unit 3A.
- S111 it is determined whether the automatic operation control units 1 and 2 of each system are in automatic operation based on the signals output from the automatic operation interpolation control units 1F and 2F. If so, the process is terminated, and if automatic operation is in progress, the process proceeds to S112. In S112, based on the signals output from the manual operation interpolation control units 21H and 22H, it is determined whether there is a manual operation request from any of the manual operation control units. The process is terminated, and if there is a manual operation request, the process proceeds to S113. In S113, it is determined whether or not the axis is currently being interpolated by automatic operation. If it is not an interpolated feed axis, the process ends.
- S114 the operation error of the system that is automatically operating the requested axis is stopped, and in S115, a manual interpolation stop request is output from the manual operation control unit requesting manual operation for the error axis.
- the manual operation interpolation control unit Upon receiving a manual interpolation stop request, the manual operation interpolation control unit immediately stops manual operation interpolation.
- an arbitrary axis selection signal 32 is provided, and an arbitrary axis can be designated as a manual operation control axis for each of the manual operation control units 21 and 22, and manual operation is also possible.
- Axis selection determination unit 3A is provided to confirm that the manual operation mode command axis selected in each manual operation control unit 21 and 22 is not simultaneously commanded by any manual operation control unit 21 or 22.
- the automatic operation status of the system to which the command axis for manual operation belongs and the movement status of the axis are confirmed, whether the manual operation command of the selected axis is possible or not is determined.
- any manual operation control unit force can freely select an axis belonging to an arbitrary system and Interpolation feed by manual operation can be performed by combining multiple types.
- a command axis for manual operation can be selected by combining multiple axes belonging to an arbitrary system, one of the commanded axes is interpolating in the same manual operation at the same time as an error stop. The feed of other axes can be stopped simultaneously, and there is an effect that the manual operation can be performed safely by freely combining the axes of any system that wants to move at the same time.
- an axis belonging to an arbitrary system can be selected as a command axis for manual operation, and operation conditions such as a feed speed can be designated.
- operation conditions such as a feed speed
- different manual operation axes can be arranged in the same system, the number of control systems of the numerical controller can be reduced, and a high-performance CPU is not required and the cost can be reduced.
- manual operation reset signals 34 and 38 are provided for each manual operation control unit, and the manual operation is reset by the NC reset signal of each system. Therefore, if the peripheral axes of the machine are operated supplementarily in the manual operation mode during automatic operation, even if the reset command is executed by the program and the NC reset signal is input, It can be continued without stopping during operation. Manual luck Since a manual operation reset signal is provided for each rotation control unit, it is possible to stop the operation of the peripheral axes of the machine without stopping the program during automatic operation.
- FIG. 9 is an explanatory diagram showing in detail an embodiment of a machine tool that is controlled by the above-described numerical control device and effects of the embodiment.
- the control axis of the numerical controller is the XI axis for the first axis of system 1, the Z1 axis for the second axis, the C1 axis for the third axis, the X2 axis for the first axis of system 2, and the Z2 axis for the second axis. Consists of axes.
- the machine tool to be controlled includes a first tool post 41, a second tool post 42, a first spindle stock 43, a second spindle stock 44, and a product receiver 46.
- System 1 is composed of a first tool post 41 and a first headstock 43
- system 2 is composed of a second tool rest 42 and a second headstock 44.
- the workpiece 45 is held on the first headstock 43 and is turned or positioned on the C1 axis.
- the tool post 41 is driven by the XI axis moving in the radial direction with respect to the workpiece 45, and the workpiece 45 is machined by interpolation of the XI axis, the Z1 axis, and the C1 axis.
- the tool post 42 is driven by the X2 axis that moves in the radial direction with respect to the workpiece 45, and the machining program replaces the XI axis and the X2 axis between the system 1 and system 2, so that the machining program of the system 1 can be changed.
- Slave, X2 axis, Z1 axis, and C1 axis are interpolated, and work 45 is machined.
- the headstock 44 is driven by the Z2 axis that moves parallel to the Z1 axis, and advances when the machining with the tool post 41 or the tool post 42 is completed.After holding the work 45, it moves backward, and at the product receiving position. By releasing the workpiece, the processed product is paid out.
- the drilling start position force is inclined with respect to the workpiece 45 by interpolation between the X2 axis and the Z1 axis.
- the load is high, and the alarm stops in the middle of processing.
- the tool stops in a state of being bitten into the workpiece while drilling in the vector direction (-a, + b) from the drilling start position, so the tool moves in the direction moved by interpolation of the X2 axis and Z1 axis. It is necessary to return to the direction of the vector in the opposite direction (+ a, -b).
- the manual operation control unit 21 (or 22) is input with a signal for selecting the manual arbitrary feed mode as the manual operation mode selection signal 31 and the system 2 X2 axis and system 1 as the arbitrary axis selection signal 32.
- Input a signal to specify the Z1 axis.
- + a and _b commands are given by incremental commands from the alarm stop position, respectively.
- the X2 axis of system 2 and the Z1 axis of system 1 can be manually interpolated, and the axis can be returned from the stop position in the opposite direction to drilling.
- FIG. 10 is a numerical control device according to the embodiment of the present invention described with reference to FIG. 1. Two system control units are added to form a four-system numerical control device, and the manual control unit 1 Added
- FIG. 2 is an explanatory diagram showing in detail a configuration example of a machine tool that is controlled by a numerical control device (which also adds a manual operation reset signal) and effects of the embodiment.
- the control axis of the numerical controller is the XI axis for the first axis of system 1, the Z1 axis for the second axis, the C1 axis for the third axis, the X2 axis for the first axis of system 2, and the Z2 axis for the second axis.
- the third axis consists of A3 axes.
- the machine tool to be controlled includes a first turret 51, a second turret 52, a third turret 53, a first spindle stock 54, and a second spindle stock 55.
- System 1 includes a first turret 51 and a first headstock 54
- system 2 includes a second turret 52 and a second headstock 55
- system 3 includes a third turret. It consists of System 4 is composed of A1, A2, and A3 axes for positioning the first to third turret stations according to the tool selection commands from system 1 to system 3, respectively.
- the workpiece 56 is held on the first headstock 54 and is turned or positioned on the C1 axis.
- the first turret 51 is driven by the XI axis and the Z1 axis, and the workpiece 56 is machined by interpolation of the XI axis, the Z1 axis, and the C1 axis.
- the second turret 52 is driven by the X2 axis and the Z2 axis, and the second headstock 55 moves forward and backward in the direction of the first main spindle by the V2 axis, and turns or positions the held work 57 by the C2 axis.
- the third turret 53 is driven by the X3 axis and Z3 axis, and the C1 axis of system 1 is replaced with system 3 by the machining program, so that it follows the machining program of system 3, X3 axis, Z3 Interpolation is performed on the axis and C1 axis, and workpiece 56 is machined.
- the headstock 55 moves forward when the application on the side of the headhead 54 is completed, holds the work 56, moves backward, and is held by the second turret 52. Machining the back side of the reworked workpiece.
- the A1 axis of the system 4 rotates and is commanded to switch to the predetermined tool in the first turret 51. Position the station where the tool is installed.
- the A2 axis of the system 4 turns to position the station where the commanded tool is installed in order to switch to the predetermined tool in the second turret 52.
- the A3 axis of system 4 turns to locate the station where the commanded tool is installed in order to switch to the specified tool in the third turret 53. I do.
- the tool selection command of each system is independently commanded according to the program of each system. Therefore, the first manual operation control unit uses the first axis (A1 axis) of system 4, the second manual operation control unit uses the second axis of system 4 (A2 axis), and the third manual operation control unit uses system 4. If the 3rd axis (A3 axis) is operated manually and the tool selection command for the 1st system is issued by a signal from the PLC, the A1 axis is positioned at the specified tool position, and the 2nd system When the tool selection command is issued, the A2 axis is positioned at the predetermined tool position. When the third system tool selection command is issued, the A3 axis is positioned at the predetermined tool position. At this time, the A1, A2, and A3 axes are moved by independent manual operation control units, so the feed speed can be commanded independently according to the structure of each machine.
- peripheral control such as positioning the turret with the A1, A2, and A3 axes
- manual positioning is performed at the station where the specified turret is commanded by the command of the program that performs automatic operation. I do.
- the NC reset signal 26 or 27 in Fig. 1
- the operations of A1, A2, and A3 axes during manual operation do not stop.
- A1 axis, A2 axis, and A3 axis stop operation when manual operation reset signal (manual operation reset signal corresponding to 34, 38 and 34 or 38 in Fig. 1) is input.
- the shaft for controlling the periphery of the machine is configured in a predetermined system and can be manually operated independently for each axis. The number can be reduced, and an inexpensive numerical control device can be controlled.
- the A1, A2 and A3 axes must be controlled independently in order to control the turrets from system 1 to system 3. For this reason, in conventional numerical control devices, the main In addition to these three systems, a system in which A1 axis, A2 axis, and A3 axis are arranged one by one is required, and a numerical control device with six systems control is necessary.
- any of the A1, A2, and A3 axes arranged in the same system is overtraveled, it is controlled by an independent manual operation control unit. Therefore, even if any axis in the same system has an error due to a manual operation command, it does not affect the manual operation of the other axes, and the error axis in the same system is manually operated. Only the related axes that have been commanded to the manual operation control unit that has been operated will stop. Therefore, manual operation can be performed safely by freely combining the axes of any system that moves simultaneously.
- the automatically operating system is stopped by the NC reset signal.
- the operation of the peripheral axes such as the A1, A2, and A3 axes is not affected, the operation of the peripheral axes can be prevented from being terminated prematurely due to a program error of the machine operator.
- the shaft belonging to any system can be freely selected from any manual operation control unit, regardless of the shaft configuration of each system and the state of shaft exchange between systems in automatic operation.
- the manual operation control units 21 and 22 are installed in order to enable easy recovery from the stop position by selecting the command axis for manual operation according to the axis configuration combination at the time of alarm stop.
- the manual operation control units 21 and 22 can be configured to control the axes of any system without interpolating each axis across each system one by one. Regardless of the configuration and regardless of the state of shaft exchange between systems in automatic operation, the desired axis can be operated manually in the specified manual operation mode). Can be achieved.
- any axis belonging to an arbitrary system can be freely selected from any manual operation control unit, and multiple axes of any system can be combined and interpolated by manual operation.
- the command axis for manual operation is combined with the axis configuration at the time of alarm stop. By selecting, recovery from the stop position can be performed easily.
- the numerical control device is a numerically controlled machine tool that requires control of two or more systems.
- the numerical control device has an axis for controlling peripheral devices of the machine, and each peripheral axis is from which system. Is also suitable for use with numerically controlled machine tools that perform manual operation.
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Separation Using Semi-Permeable Membranes (AREA)
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112005003086T DE112005003086T5 (de) | 2005-12-26 | 2005-12-26 | Numerische Steuervorrichtung und Werkzeugmaschine mit numerischer Steuerung |
JP2006536500A JP4692488B2 (ja) | 2005-12-26 | 2005-12-26 | 数値制御装置及び数値制御工作機械 |
PCT/JP2005/023742 WO2007074501A1 (ja) | 2005-12-26 | 2005-12-26 | 数値制御装置及び数値制御工作機械 |
CN2005800442701A CN101288032B (zh) | 2005-12-26 | 2005-12-26 | 数控装置及数控工作机械 |
US11/720,587 US7774088B2 (en) | 2005-12-26 | 2005-12-26 | Numeric control apparatus and numeric control machine controlling a number of systems |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2005/023742 WO2007074501A1 (ja) | 2005-12-26 | 2005-12-26 | 数値制御装置及び数値制御工作機械 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007074501A1 true WO2007074501A1 (ja) | 2007-07-05 |
Family
ID=38217740
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/023742 WO2007074501A1 (ja) | 2005-12-26 | 2005-12-26 | 数値制御装置及び数値制御工作機械 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7774088B2 (ja) |
JP (1) | JP4692488B2 (ja) |
CN (1) | CN101288032B (ja) |
DE (1) | DE112005003086T5 (ja) |
WO (1) | WO2007074501A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009282973A (ja) * | 2008-05-21 | 2009-12-03 | Siemens Ag | 工作機械を操作するための操作装置 |
JP2011100266A (ja) * | 2009-11-05 | 2011-05-19 | Mitsubishi Electric Corp | 数値制御装置 |
WO2022249305A1 (ja) * | 2021-05-25 | 2022-12-01 | ファナック株式会社 | 産業機械の制御装置 |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5372320B2 (ja) * | 2006-08-04 | 2013-12-18 | シチズンホールディングス株式会社 | ワーク加工機の制御プログラム及びこの制御プログラムを実行するワーク加工機の制御装置 |
JP4554697B2 (ja) * | 2008-07-03 | 2010-09-29 | ファナック株式会社 | 任意の軸を動作させるテーブル形式データを有する数値制御装置 |
JP4620156B2 (ja) * | 2009-03-11 | 2011-01-26 | ファナック株式会社 | 軸の再構成機能を有する数値制御装置 |
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 |
JP6246915B2 (ja) * | 2015-03-30 | 2017-12-13 | 三菱電機株式会社 | 数値制御装置 |
JP5987081B1 (ja) * | 2015-04-02 | 2016-09-06 | ファナック株式会社 | 基準軸を切り替えて学習制御を行うサーボ制御装置 |
WO2017195259A1 (ja) * | 2016-05-09 | 2017-11-16 | 三菱電機株式会社 | 数値制御装置 |
US10730155B2 (en) * | 2016-09-09 | 2020-08-04 | Makino Milling Machine Co., Ltd. | Machine tool with manual pulse generator |
DE112017005554T5 (de) * | 2017-03-03 | 2019-07-11 | Mitsubishi Electric Corporation | Datenverarbeitungsgerät, Datenverarbeitungsverfahren, Einstellungsverwaltungsgerät und Datenverarbeitungssystem |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6354603A (ja) * | 1986-08-26 | 1988-03-09 | Mitsubishi Electric Corp | 数値制御装置 |
JP2004299049A (ja) * | 2003-03-28 | 2004-10-28 | Kuka Roboter Gmbh | 複数のマニピュレータを制御するための方法および装置 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4998206A (en) * | 1988-07-29 | 1991-03-05 | The Boeing Company | Automated method and apparatus for fabricating sheet metal parts and the like using multiple manufacturing stations |
JP3199319B2 (ja) | 1987-12-08 | 2001-08-20 | シチズン時計株式会社 | 多軸多系統数値制御方法 |
JP2982010B2 (ja) * | 1989-06-23 | 1999-11-22 | 三菱電機株式会社 | 数値制御方法及び装置 |
JPH0328908A (ja) * | 1989-06-26 | 1991-02-07 | Mitsubishi Electric Corp | 数値制御装置 |
JPH0778013A (ja) * | 1993-06-28 | 1995-03-20 | Okuma Mach Works Ltd | 数値制御工作機械における軸制御方法 |
US5453933A (en) * | 1993-09-08 | 1995-09-26 | Hurco Companies, Inc. | CNC control system |
CN2200833Y (zh) * | 1994-11-09 | 1995-06-14 | 北京三爱福数控公司 | 全功能型计算机数控装置 |
EP0879674B1 (en) * | 1996-11-07 | 2003-04-02 | Mitutoyo Corporation | Generation of measurement program in nc machining and machining management based on the measurement program |
IT1304660B1 (it) * | 1998-09-25 | 2001-03-28 | Fidia Spa | Procedimento e sistema per la lavorazione di un pezzo tramite macchineutensili a controllo numerico. |
DE19883028T1 (de) * | 1998-12-24 | 2002-02-14 | Mitsubishi Electric Corp | Numerisches Steuergerät |
DE19900117A1 (de) * | 1999-01-05 | 2000-07-06 | Walter Ag | Virtuelles Teach-In-System |
CN1344388A (zh) * | 1999-03-22 | 2002-04-10 | 尤诺瓦Ip有限公司 | 用于控制中枢机器部件的方法 |
US6819974B1 (en) * | 2000-03-29 | 2004-11-16 | The Boeing Company | Process for qualifying accuracy of a numerically controlled machining system |
WO2002027417A1 (fr) * | 2000-09-20 | 2002-04-04 | Mitsubishi Denki Kabushiki Kaisha | Dispositif de commande numerique et methode correspondante |
DE10152765B4 (de) * | 2001-07-13 | 2015-11-12 | Siemens Aktiengesellschaft | Verfahren zur elektronischen Bereitstellung von Diensten für Maschinen über eine Datenkommunikationsverbindung |
CN100351805C (zh) * | 2002-12-26 | 2007-11-28 | 三菱电机株式会社 | 加工程序编制装置 |
JP3720825B2 (ja) * | 2003-07-28 | 2005-11-30 | ファナック株式会社 | 数値制御装置 |
US8010235B2 (en) * | 2005-05-31 | 2011-08-30 | The Boeing Company | Approaching and compensating for machine kinematic singularities |
US7506423B2 (en) * | 2005-06-15 | 2009-03-24 | Mori Seiki Co., Ltd. | Multi-axis turning center and turning method |
-
2005
- 2005-12-26 US US11/720,587 patent/US7774088B2/en not_active Expired - Fee Related
- 2005-12-26 WO PCT/JP2005/023742 patent/WO2007074501A1/ja active Application Filing
- 2005-12-26 JP JP2006536500A patent/JP4692488B2/ja active Active
- 2005-12-26 DE DE112005003086T patent/DE112005003086T5/de not_active Withdrawn
- 2005-12-26 CN CN2005800442701A patent/CN101288032B/zh not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6354603A (ja) * | 1986-08-26 | 1988-03-09 | Mitsubishi Electric Corp | 数値制御装置 |
JP2004299049A (ja) * | 2003-03-28 | 2004-10-28 | Kuka Roboter Gmbh | 複数のマニピュレータを制御するための方法および装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009282973A (ja) * | 2008-05-21 | 2009-12-03 | Siemens Ag | 工作機械を操作するための操作装置 |
JP2011100266A (ja) * | 2009-11-05 | 2011-05-19 | Mitsubishi Electric Corp | 数値制御装置 |
WO2022249305A1 (ja) * | 2021-05-25 | 2022-12-01 | ファナック株式会社 | 産業機械の制御装置 |
Also Published As
Publication number | Publication date |
---|---|
CN101288032B (zh) | 2010-06-02 |
CN101288032A (zh) | 2008-10-15 |
US20090182438A1 (en) | 2009-07-16 |
DE112005003086T5 (de) | 2007-11-08 |
US7774088B2 (en) | 2010-08-10 |
JP4692488B2 (ja) | 2011-06-01 |
JPWO2007074501A1 (ja) | 2009-06-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2007074501A1 (ja) | 数値制御装置及び数値制御工作機械 | |
JP4838647B2 (ja) | 工作機械の制御装置 | |
KR100707376B1 (ko) | 이송속도 오버라이드 기능을 갖는 터렛 서보 제어장치 및방법 | |
JP5766762B2 (ja) | 動作設定画面を備えた数値制御装置 | |
US8630732B2 (en) | Method for avoiding an unwanted collision between a tool and a workpiece in a machine tool | |
JP2019025562A (ja) | ロボット制御装置及び生産システム | |
US6401005B1 (en) | Programmable synchronous and asynchronous block execution for a computer numerical control | |
JP3199319B2 (ja) | 多軸多系統数値制御方法 | |
US6909939B1 (en) | Numerical control method and numerical control device | |
JP6444923B2 (ja) | 数値制御装置 | |
KR880000271B1 (ko) | 수치제어 방식 및 장치 | |
JPH0857738A (ja) | ローダ装置 | |
US8224478B2 (en) | Numerical controller | |
JP2004114176A (ja) | 数値制御装置 | |
US7136718B2 (en) | Numerical control apparatus | |
JP5049566B2 (ja) | 工作機械 | |
CN111095142A (zh) | 机床 | |
JP2642211B2 (ja) | 重畳制御機能を有する数値制御装置 | |
JPS63311408A (ja) | 数値制御装置 | |
JP2000305612A (ja) | 複数の主軸を制御可能な数値制御装置 | |
EP1770462A2 (en) | Multiplexing numerical controller | |
JP2010214507A (ja) | 工作機械の回転工具制御手段 | |
JP4208600B2 (ja) | Nc工作機械 | |
KR20230130308A (ko) | 다계통 복합공작기계의 에너지 절감 장치 | |
JP3641285B2 (ja) | 対話型生爪成形装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200580044270.1 Country of ref document: CN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2006536500 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 11720587 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1120050030865 Country of ref document: DE |
|
DPE2 | Request for preliminary examination filed before expiration of 19th month from priority date (pct application filed from 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
RET | De translation (de og part 6b) |
Ref document number: 112005003086 Country of ref document: DE Date of ref document: 20071108 Kind code of ref document: P |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 05820375 Country of ref document: EP Kind code of ref document: A1 |