DE29710026U1 - Numerical control for machine tools or robots - Google Patents
Numerical control for machine tools or robotsInfo
- Publication number
- DE29710026U1 DE29710026U1 DE29710026U DE29710026U DE29710026U1 DE 29710026 U1 DE29710026 U1 DE 29710026U1 DE 29710026 U DE29710026 U DE 29710026U DE 29710026 U DE29710026 U DE 29710026U DE 29710026 U1 DE29710026 U1 DE 29710026U1
- Authority
- DE
- Germany
- Prior art keywords
- control
- handwheel
- robots
- fed
- machine tools
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000001960 triggered effect Effects 0.000 claims description 2
- 239000010730 cutting oil Substances 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- G05B2219/33—Director till display
- G05B2219/33192—Radio link, wireless
-
- 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
- G05B2219/35414—Remote instruction to operate machine tool
-
- 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
- G05B2219/35459—Knob, handle, handwheel delivers pulses, electronic handwheel, digipot
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42265—Sampling rate for sending reference values equals interpolation rate
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)
Description
GR 97 G 3368GR 97 G 3368
BeschreibungDescription
Numerische Steuerung für Werkzeugmaschinen oder RoboterNumerical control for machine tools or robots
Die Erfindung bezieht sich auf eine numerische Steuerung für Werkzeugmaschinen oder Roboter, wobei über ein in einem von der Steuerung räumlich getrennten Bediengerät vorgesehenes Handrad Stellbefehle für die Steuerung auslösbar sind.The invention relates to a numerical control for machine tools or robots, wherein control commands for the control can be triggered via a handwheel provided in an operating device spatially separated from the control.
Einzelne Achsen einer Werkzeugmaschine oder eines Roboters können üblicherweise manuell mit Hilfe eines in der Regel optoelektronischen Handrades als Stelleinrichtung verfahren werden. Die Bedienung dieses Handrades muß dabei nicht notwendigerweise von einem festen Bedienpult aus erfolgen, sondem sie sollte möglichst von jedem beliebigen Punkt im Umfeld der Maschine möglich sein. Bisher wurde dazu eine Verbindung zwischen dem Handrad in einem mobilen Bediengerät und der zentralen Steuereinheit durch ein spezielles für industrielle Einsatzbedingungen geeignetes Kabel hergestellt.Individual axes of a machine tool or a robot can usually be moved manually using a handwheel, usually optoelectronic, as a control device. This handwheel does not necessarily have to be operated from a fixed control panel, but should be possible from any point in the vicinity of the machine. Up to now, a connection has been established between the handwheel in a mobile control device and the central control unit using a special cable suitable for industrial use.
Dieses umfaßt dann die Signalleitungen zur Übertragung von Handradzählimpulsen sowie die Versorgungsspannungsleitungen für die im Handrad befindliche Elektronik. Zur Erreichung der erforderlichen Störfestigkeit sind die Leitungen des Kabels mit einem metallischen Schirm ummantelt. Der Schutz gegen mechanische Belastungen (Knicken, Quetschen) und chemische Einflüsse (Schneidöle etc.) wird dabei durch ein geeignetes Kabelmaterial sichergestellt. Der Schutz gegen Spritzwasser in dem Bereich des Kabelanschlusses muß durch entsprechende Anschlußkonstruktion (Dichtungen, Hülsen etc.) gewährleistet 0 werden.This then includes the signal lines for transmitting handwheel counting pulses as well as the supply voltage lines for the electronics in the handwheel. To achieve the required interference immunity, the cable lines are covered with a metal shield. Protection against mechanical stress (kinking, crushing) and chemical influences (cutting oils, etc.) is ensured by a suitable cable material. Protection against splash water in the area of the cable connection must be ensured by an appropriate connection structure (seals, sleeves, etc.).
Bei einer derartigen Übertragung der Stellbefehle des Handrades hat sich das aufwendie Anschlußkabel wegen hoher Kosten, Störanfälligkeit und schlechter Ergonomie als nachteilig erwiesen. When transmitting the handwheel's positioning commands in this way, the complex connecting cable has proven to be disadvantageous due to high costs, susceptibility to failure and poor ergonomics.
GR 97 G 3368GR 97 G 3368
Aufgabe der Erfindung ist es, eine Steuerung der eingangs genannten
Art so auszubilden, daß auf eine Kabelverbindung zwischen dem mobilen Bediengerät und dem Handrad und dem stationären
Steuerungsteil verzichtet werden kann. Dabei soll der
technische Aufwand für eine sich dazu anbietende drahtlose
Signalübertragung möglichst gering gehalten werden.The object of the invention is to design a control of the type mentioned above in such a way that a cable connection between the mobile control device and the handwheel and the stationary control part can be dispensed with.
technical effort for a suitable wireless
Signal transmission should be kept as low as possible.
Gemäß der Erfindung wird diese Aufgabe für eine Steuerung der eingangs genannten Art dadurch gelöst, daß die die Stellbe-According to the invention, this object is achieved for a control of the type mentioned at the outset in that the setting
fehle darstellenden Ausgangsimpulse des Handrads an eine saldierende
Zähleinrichtung leitbar sind, deren Zählerstand in
einem festen Zeitraster über eine drahtlose Sendeeinrichtung
an eine der Steuerung zugeordnete Empfangseinrichtung leitbar ist, wo über einen Umsetzer aus den übertragenen Zählerstän-The output pulses of the handwheel representing the missing values can be transmitted to a balancing counter, the counter reading of which is
a fixed time grid via a wireless transmitter
to a receiving device assigned to the control system, where a converter is used to convert the transmitted meter readings
den die Stellbefehle, insbesondere als rekonstruierte Ausgangsimpulse
der Steuerung zuleitbar sind. Wesentlich für die Erfindung ist dabei, daß somit nicht jeder Ausgangsimpuls für
das Handrad drahtlos übertragen werden muß.the control commands, especially as reconstructed output pulses
can be fed to the control system. The key feature of the invention is that not every output pulse for the handwheel has to be transmitted wirelessly.
Eine erste vorteilhafte Ausbildung der Erfindung ist dadurch
gekennzeichnet, daß das Zeitraster mindestens annähernd dem
Interpolationstakt der Steuerung entspricht. Damit wird sichergestellt,
daß der Interpolator nicht "leerläuft", sondern ständig mit neuen aktuellen Handradinformationen versorgtA first advantageous embodiment of the invention is thereby
characterized in that the time grid corresponds at least approximately to the
Interpolation clock of the control. This ensures that
that the interpolator does not "run idle", but is constantly supplied with new current handwheel information
wird.becomes.
Dadurch, daß in der Sende- und Empfangseinrichtung handelsübliche DECT(Digital European Cordless Telefon)-Module vorgesehen sind und die Digitalinformation in Form analoger Zwei-Because the transmitting and receiving devices contain commercially available DECT (Digital European Cordless Telephone) modules and the digital information is transmitted in the form of analogue two-
Ton-Signale übertragbar ist, kann auf handelsübliche Bausteine zurückgegriffen werden. Sobald verfügbar, könnten auch
DECT-DÜ-Module eingesetzt werden, die bereits eine digitale
Datenschnittstelle enthalten, so daß der Umweg über ein Modem entfallen kann.As soon as it is available, commercially available components can be used.
DECT-DÜ modules can be used, which already have a digital
Data interface included, so that the detour via a modem can be eliminated.
GR 97 G 3368 .'*..**. ·". ." .".GR 97 G 3368 .'*..**. ·". ." .".
Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt und wird im folgenden näher erläutert.An embodiment of the invention is shown in the drawing and is explained in more detail below.
In der Darstellung ist ein Bediengerät BG gezeigt, das beispielsweise über einen Akku A seine Energie erhält. Im Bedingerät BG ist unter anderem ein Handrad H vorgesehen, dessen Ausgangsimpulse an einen Umsetzer Ul gelange. Ein solches Standard-Handrad H erzeugt pro mechnischer Umdrehung eine feste Zahl von Zählimpulsen (ca. 30 bis 2000) . Vom Umsetzer Ul wird in einem festen Zeitraster das saldierte Zählergebnis an ein Modem Ml geleitet, das aus dem Zählergebnis ein Zwei-Ton-Signal generiert, das über ein DECT-Modul Dl und eine Sendeantenne SA vom Bediengerät BG drahtlos ausgesandt wird und am Ort einer numerischen Steuerung NC über eine Empfangsantenne EA empfangen wird. Das empfangene Signal gelangt zunächst ebenfalls an ein handelsübliches DECT-Modul D2, das Zwei-Ton-Signal wird in einem Modem M2 demoduliert und die Zählerstandinformation gelangt an einen Umsetzer U2, der aus dem übertragenen Zählerstand die Ausgangssignale des Handrades H rekonstruiert und der Steuerung NC zuleitet.The illustration shows an operating device BG that receives its energy, for example, from a battery A. The operating device BG includes a handwheel H, whose output pulses are sent to a converter Ul. Such a standard handwheel H generates a fixed number of counting pulses (approx. 30 to 2000) per mechanical revolution. The converter Ul sends the balanced counting result to a modem Ml at a fixed time interval, which generates a two-tone signal from the counting result, which is transmitted wirelessly by the operating device BG via a DECT module Dl and a transmitting antenna SA and is received at the location of a numerical control NC via a receiving antenna EA. The received signal initially also reaches a commercially available DECT module D2, the two-tone signal is demodulated in a modem M2 and the counter reading information reaches a converter U2, which reconstructs the output signals of the handwheel H from the transmitted counter reading and sends them to the NC control.
Dadurch, daß die Zählerstandübertragung mindestens im Interpolationstakt
der numerischen Steuerung NC erfolgt, wird ein geglätteter Signalfluß gewährleistet.
25The fact that the counter reading is transmitted at least in the interpolation cycle of the numerical control NC ensures a smooth signal flow.
25
Die Umsetzer Ul und U2 können Teile von jeweils einem Microcontroller sein.The converters Ul and U2 can each be parts of a microcontroller.
Selbstverständlich ist auch möglich, daß der Umsetzer U2 auch 0 direkt Digitalwerte für die numerische Steuerung NC erzeugt und nicht die ursprünglich vom Handrad H erzeugten Impulsen rekonstruiert.Of course, it is also possible that the converter U2 also generates 0 digital values directly for the numerical control NC and does not reconstruct the pulses originally generated by the handwheel H.
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE29710026U DE29710026U1 (en) | 1997-06-09 | 1997-06-09 | Numerical control for machine tools or robots |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE29710026U DE29710026U1 (en) | 1997-06-09 | 1997-06-09 | Numerical control for machine tools or robots |
Publications (1)
Publication Number | Publication Date |
---|---|
DE29710026U1 true DE29710026U1 (en) | 1997-08-07 |
Family
ID=8041371
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE29710026U Expired - Lifetime DE29710026U1 (en) | 1997-06-09 | 1997-06-09 | Numerical control for machine tools or robots |
Country Status (1)
Country | Link |
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DE (1) | DE29710026U1 (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19826875A1 (en) * | 1998-06-17 | 1999-12-23 | Heidenhain Gmbh Dr Johannes | Numerical control with a spatially separate input device |
WO2001024135A1 (en) * | 1999-09-28 | 2001-04-05 | Siemens Aktiengesellschaft | Remote control of a machine with channels which are independent of each other |
US6487695B1 (en) | 1998-08-01 | 2002-11-26 | Dr. Johannes Heidenhain Gmbh | Method for providing fail-safe secure data transmission between a numerical control system and a spatially separate unit |
DE10228250A1 (en) * | 2002-06-25 | 2004-01-29 | Demag Ergotech Gmbh | Injection molding machine with wirelessly networked electrical components |
US7228202B2 (en) | 2001-04-02 | 2007-06-05 | Abb Ab | Industrial robot |
EP2790863B1 (en) | 2011-11-07 | 2016-04-20 | Lincoln Global, Inc. | Welding or cutting system, power supply and method of controlling such system by use of mobile communication device as user interface |
-
1997
- 1997-06-09 DE DE29710026U patent/DE29710026U1/en not_active Expired - Lifetime
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19826875A1 (en) * | 1998-06-17 | 1999-12-23 | Heidenhain Gmbh Dr Johannes | Numerical control with a spatially separate input device |
US6507760B1 (en) | 1998-06-17 | 2003-01-14 | Johannes Heidenhain Gmbh | Numerical control unit with a spatially separated input device |
US6487695B1 (en) | 1998-08-01 | 2002-11-26 | Dr. Johannes Heidenhain Gmbh | Method for providing fail-safe secure data transmission between a numerical control system and a spatially separate unit |
WO2001024135A1 (en) * | 1999-09-28 | 2001-04-05 | Siemens Aktiengesellschaft | Remote control of a machine with channels which are independent of each other |
US7228202B2 (en) | 2001-04-02 | 2007-06-05 | Abb Ab | Industrial robot |
DE10228250A1 (en) * | 2002-06-25 | 2004-01-29 | Demag Ergotech Gmbh | Injection molding machine with wirelessly networked electrical components |
DE10228250B4 (en) * | 2002-06-25 | 2004-05-19 | Demag Ergotech Gmbh | Injection molding machine with wirelessly networked electrical components |
EP2790863B1 (en) | 2011-11-07 | 2016-04-20 | Lincoln Global, Inc. | Welding or cutting system, power supply and method of controlling such system by use of mobile communication device as user interface |
EP2790863B2 (en) † | 2011-11-07 | 2020-03-11 | Lincoln Global, Inc. | Welding or cutting system, power supply and method of controlling such system by use of mobile communication device as user interface |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
R207 | Utility model specification |
Effective date: 19970918 |
|
R150 | Utility model maintained after payment of first maintenance fee after three years |
Effective date: 20001103 |
|
R151 | Utility model maintained after payment of second maintenance fee after six years |
Effective date: 20030918 |
|
R152 | Utility model maintained after payment of third maintenance fee after eight years |
Effective date: 20050902 |
|
R071 | Expiry of right |