WO2002077730A1 - Multi-spindle finishing machine and control method for its motor - Google Patents

Multi-spindle finishing machine and control method for its motor Download PDF

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Publication number
WO2002077730A1
WO2002077730A1 PCT/JP2001/002494 JP0102494W WO02077730A1 WO 2002077730 A1 WO2002077730 A1 WO 2002077730A1 JP 0102494 W JP0102494 W JP 0102494W WO 02077730 A1 WO02077730 A1 WO 02077730A1
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WO
WIPO (PCT)
Prior art keywords
speed
axis
pattern
time
target
Prior art date
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PCT/JP2001/002494
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French (fr)
Japanese (ja)
Inventor
Tomoaki Hachiya
Hirochika Takahashi
Masashi Nakayama
Yuuichi Komazawa
Original Assignee
Technowave, Inc.
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Publication date
Application filed by Technowave, Inc. filed Critical Technowave, Inc.
Priority to PCT/JP2001/002494 priority Critical patent/WO2002077730A1/en
Publication of WO2002077730A1 publication Critical patent/WO2002077730A1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42175—Velocity, speed points, profile and corresponding acceleration, delta v
    • 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
    • G05B2219/50001—Multislides, multispindles with multitool turret for each

Definitions

  • the present invention relates to a multi-axis machine capable of drawing the same trajectory regardless of whether the speed is low or high, a control method for the motor, and a software for realizing the method.
  • a general control method for a multi-axis processing machine such as a panel molding machine
  • the operation of a plurality of servo motors provided for each axis is independently processed for each step, and each axis is moved from a step start position to a target position.
  • This method creates interpolation data that moves at a constant speed from the beginning to the end until the position.
  • acceleration / deceleration processing is required to operate smoothly.
  • a filter method is generally used as a method of the acceleration / deceleration processing.
  • FIG. 1 shows, as an example, a movement trajectory in the case of moving 100 mm in the X direction from P0 to P1 and then moving 100 mm in the Y direction from P1 to P2.
  • the velocity trajectory of each axis without interpolation processing first moves 100 mm at a constant speed in the X-axis direction, and then moves 100 mm at a constant speed in the Y-axis direction.
  • it is a trajectory that immediately reaches the target speed from the current position and then becomes zero speed at the target position.
  • this kind of speed discontinuous trajectory is actually impossible due to the load on the motor.
  • the X axis accelerates from the current position, becomes constant after reaching the target speed, and then shifts to deceleration stop operation. It reaches the target position at speed 0 Draw a trapezoidal speed trajectory.
  • the deceleration stop operation of the X axis starts, it is superimposed on this and the Y axis is also operated with the trapezoidal speed trajectory similar to the X axis to reach the target position.
  • the speed trajectory shown by the broken line in Fig. 3 (a) shows the case where the speed is reduced to 50% of the constant speed trajectory (speed 100%) shown by the solid line, and acceleration and deceleration stop.
  • the moving distance S1 indicated by the triangular area at the time is 1 / 2S as compared with the case of 100% speed.
  • an inadvertent stop check mode or an in-position check mode is used. This is a function that starts the operation of the next step after confirming whether the axis has completely stopped or whether the servo deviation of the axis has become sufficiently small at each step. In this case, it is not affected by the acceleration and deceleration of the filter system, and the trajectory does not change depending on the speed. However, the tact time becomes unnecessarily long, which is a problem in productivity.
  • the present invention has been made to solve the above problems, and The goal is to create the same trajectory at low and high speeds by creating interpolation data so that the speed is continuous, given the speed and the target position of each axis for each step. It is intended to provide a method for controlling a motor in a multi-axis machine.
  • the invention described in claim 1 is to sequentially drive the motors provided on each axis of the multi-axis processing machine to sequentially reach the target position and attach each axis to each axis.
  • a motor control method characterized by performing trapezoidal speed interpolation.
  • the invention described in claim 2 is a case where a sequence of data including a position, a speed, and an acceleration is input, and at least the position data specified in all steps in the sequence is input and necessary data is missing.
  • the method for controlling a motor according to claim 1, wherein the method is automatically determined.
  • the pattern of each step is stopped at the time when the target position is reached, and the second pattern is not stopped at the time when the target position is reached.
  • the invention described in claim 4 is characterized in that in the first pattern of the first period, the time for accelerating or decelerating from the current speed to the target speed, the time for moving at the target speed, the time for decelerating from the target speed to speed 0, In the second pattern, it is assumed that two times, that is, an initial acceleration / deceleration operation time and a constant speed operation time, are used as data.
  • the input to the function for calculating the target position can be performed instead of the actual elapsed time itself, so that even if the acceleration / deceleration processing is changed to the virtual internal time, reproducibility of the trajectory accuracy can be achieved. I can do it.
  • This means that the advantages of the conventional filter method can be enjoyed by adopting the filter method as the internal time acceleration / deceleration method.
  • the above-mentioned method realized by software is the invention described in claims 5 to 8.
  • the invention described in claim 6 is a case where a sequence of data consisting of a position, a velocity, and an acceleration, at least the position data specified in all steps in the sequence is input and necessary data is missing.
  • the invention according to claim 7 is characterized in that, in the trapezoidal speed interpolation, the pattern of each step is a first pattern that stops when the target position is reached, and a second pattern that does not stop when the target position is reached.
  • the invention described in claim 8 is characterized in that in the first pattern in the first period, a time for accelerating or decelerating from the current speed to the target speed, a time for moving at the target speed, a time for decelerating from the target speed to speed 0, The three times are used as data, and in the second pattern, two times, that is, the time of the initial acceleration / deceleration operation and the time of the constant speed operation, are used as data.
  • the software described. Further, the invention described in claims 9 to 12 is a multi-axis machine capable of realizing the above method or equipped with the software.
  • the invention described in claim 9 is a multi-axis machining in which a motor provided on each axis is sequentially driven so that each axis sequentially reaches a target position and a workpiece is machined by a tool attached to each axis.
  • the machine controls each motor to perform trapezoidal speed interpolation, in which the speed of each axis is sequentially determined as a piecewise linear function so that the speed change to its target position is continuous.
  • This is a multi-axis processing machine.
  • the invention described in Claim 10 is an input of a sequence of data consisting of position, velocity, and acceleration, wherein at least the position data specified in all steps in the sequence is input, and necessary data is missing.
  • the invention according to claim 11 is characterized in that, in the trapezoidal speed interpolation, the first pattern in which the pattern of each step stops when reaching the target position, and the second pattern in which the pattern does not stop when reaching the target position.
  • the multi-axis processing machine according to claim 9 or claim 10 wherein the multi-axis processing machine is processed by being divided into two patterns.
  • the invention described in Claims 1 and 2 is characterized in that in the first pattern of the first period, the time for accelerating or decelerating from the current speed to the target speed, the time for moving at the target speed, and the time for decelerating from the target speed to speed 0
  • the three patterns are used as data
  • in the second pattern two times, that is, the time of the initial acceleration / deceleration operation and the time of the constant speed operation, are used as data.
  • 11 is a multi-axis processing machine.
  • FIG. 1 is a graph showing the movement locus of the XY axis.
  • FIG. 2 is a graph showing the velocity trajectory of the XY axis when the interpolation processing is not performed.
  • FIG. 3 (a) is a graph showing the velocity trajectory of the XY axis adopting the interpolation method by the conventional filter method
  • FIG. 3 (b) is a graph showing the movement trajectory.
  • FIG. 4 (a) is a graph showing the velocity trajectory of the XY axis adopting the interpolation method according to the present invention
  • FIG. 4 (b) is a graph showing the same trajectory.
  • FIG. 5 is a block diagram showing a system configuration of a spring forming machine to which the method of the present invention is applied.
  • FIG. 6 is a block diagram showing the contents of the software.
  • FIG. 7 is an explanatory diagram showing a screen configuration by the software.
  • FIG. 8 is a flowchart showing the entire calculation processing by the software.
  • FIGS. 9 (a), (b) and (c) are graphs showing trapezoidal speed interpolation techniques.
  • FIG. 10 is a flowchart showing details of a calculation processing method for one step by the software.
  • FIG. 11 is a flowchart continued from FIG. 10.
  • FIG. 12 is a flowchart following FIG. 11. o
  • FIGS. 13 (a), (b) and (c) are graphs for explaining the linear interpolation method.
  • FIG. 14 is a time chart showing the operation characteristics of each axis by the above calculation processing.
  • FIG. 5 is a system diagram showing a hardware configuration when the present invention is applied to a spring forming machine.
  • 1 is a spring forming machine
  • 2 is a controller for operating the spring forming machine 1 according to a predetermined program procedure.
  • the controller 2 is connected to the personal computer 4 via the IZO port 3 and sequentially drives the spring forming machine 1 in accordance with a program # 5 generated by software built in the personal computer 4.
  • Reference numeral 5 in the figure is a teaching box for manual input such as axis selection and speed selection, which is connected to the operation panel 2 via the I / O port 3 and is operated by a manual operation such as a manual pulse handle. , And the molding machine 1 is operated.
  • a plurality of tool units 14 for cutting and bending 0 are radially arranged around the supply quill 1 2 for supplying the wire W so as to be able to advance and retreat toward the tile 1 2.
  • This is a multi-axis machine in which a tool holding plate 16 provided with multiple tools for left and right winding and bending can be moved forward and backward toward the tile 12, and the wire W supplied from the quill 12 is programmed. It is added according to the content.
  • molding machines 1 have, for example, 8-axis tools, and each axis has the following axis And the relationship between the action and the action are set.
  • the software built in the personal computer 4 is software that runs on an OS having a GUI environment such as Window 95, 98, 2000, WindowNT, OS2, and Macintosh Kanji Talk, and has various means shown in FIG. It is the content.
  • the image display means 401 for displaying in a table and a graphic format on the display screen of the personal computer 4 and the axis symbol for the operator to input in an input field formed on the image using a mouse, a keyboard, or the like.
  • a conversion means 406 for converting the obtained operation program into command data of each axis by code, and an instruction for execution to the controller 2 by an operator operating an execution key.
  • the instruction means 407 and the like are included in the contents.
  • the operator starts up the software, specifies the machining shape element with the mouse in an interactive manner, and repeats the key input of numerical values sequentially along the display screen, thereby driving each step according to the numerical input.
  • a program is generated.
  • FIG. 7 shows the actual screen configuration of the above software.
  • This screen displays a menu bar, title bar, toolbar, etc. at the top of the display screen, similar to the normal Windows screen, and the first table 20 and the right at the upper left inside.
  • a first graphic display column 22 in which the figure and the description of each part are described is displayed, a second table 24 is displayed in the lower part, and a second graphic display column 26 is also displayed.
  • Table 20 shows the case where the operator specifies the dimensions by inputting numerical values while actually specifying the processing shape elements.
  • Step numbers 01, 02, 03 Are displayed in a column, and the contents of the command and the associated feed length, forming direction, bending 11, bending angle, OD (s), OD (E), number of turns, forward / reverse LR, core metal LR are displayed at the top of the horizontal axis.
  • the items such as, winding sensor, etc. are displayed in a horizontal row.
  • the inside enclosed by these vertical and horizontal lines is separated by vertical and horizontal ascending lines with the inside as a description column.
  • the first figure display field 22 displays the side view and the front view of the quill 12 and the parameters of the machining shape element. In this figure, the parameters on the same screen are changed and displayed every time the machining shape element is selected. .
  • the second table 24 is automatically converted into the operation program related to the first table 20, and the actual axis drive numbers 001, 002, 00 3.
  • the axes are displayed in columns on the left side, labels, full synchronization, speed, and displays from 1 to 8 axes, and the axis names and home positions HP below them are displayed in rows at the top of the display.
  • the operation is automatically converted into the movement and moving distance of each axis for each step after the conversion operation, and displayed.
  • Each of Tables 20 and 24 displays horizontal and vertical scroll bars along the vertical direction on the right side of the screen, and can be moved by the cursor.
  • the second graphic display field 26 is not normally displayed, but when the shape display button in the task bar is clicked with a mouse, a diagram of the processed shape according to the input content is displayed in a three-dimensional graphic.
  • the molding machine 1 is driven in accordance with the contents of the program to produce a spring having a shape corresponding to the input contents.
  • the program contents include the contents that cannot be executed, a warning is issued and the setting is made so that the program cannot be executed.
  • a warning is issued and the setting is made so that the program cannot be executed.
  • This is the case, for example, in the case where the three-dimensional shape of the spring obtained as a result of instructing the bending of each part protrudes to the back side of the quill 12 and interferes with the face plate, or has a size or position where each tool cannot reach.
  • correction processing such as rewriting the numerical value is performed again, and if the result is correct, execution becomes possible.
  • FIG. 8 shows the overall calculation processing procedure in the above software.
  • the maximum speed of each axis is read from the parameter file (ST)
  • This step is initialized as the first step, the current position is set to the home position, the current speed is set to 0 (ST3 to ST5), and the calculation processing for one step is performed (ST6).
  • trapezoidal speed interpolation means that the current position and the current speed are known, the sequence of the target position and the target speed is given, and the speed is assumed to be continuous assuming that the acceleration of each axis is specified.
  • the speed change up to each target position in the sequence is determined sequentially as a piecewise linear function.
  • Fig. 9 shows the operation for one step of continuous speed data to be output by trapezoidal speed interpolation.
  • (a) shows a time chart for one step before the interpolation processing, in which the vertical axis represents speed and the horizontal axis represents time.
  • the first is, as shown in (b), a pattern in which the speed is 0 when the vehicle reaches the target position, that is, the pattern temporarily stops (hereinafter referred to as the first pattern), and the next target position on that axis is the current target position. It is used when it is not changed or the direction of movement is reversed.
  • the second is a pattern in which the vehicle is moving at the target speed without stopping when it reaches the target position (hereinafter referred to as the second pattern) as shown in (c), and the next target position is also the current pattern. Used when it is in the same direction as the movement direction.
  • three times are prepared as data: time to accelerate or decelerate from the current speed to the target speed, time to move at the target speed, and time to decelerate from the target speed to speed 0.
  • the three are referred to as an initial acceleration / deceleration operation, a constant speed operation, and a deceleration stop operation, respectively.
  • the fact that the time data of the deceleration stop operation is 0 can be used as an expression of the second pattern.
  • the current position and current speed used when moving to the target position of the next step in the series are the target position and speed of the current step as 0. Is determined.
  • the current position and current speed used when moving to the target position of the next step in the sequence are determined as the target position of this step and the target speed of this step.
  • the speed has a positive or negative sign determined by the moving direction of the current step.
  • the moving direction is determined, and accordingly, the target speed is determined with a plus or minus sign.
  • the speed difference is determined with positive and negative signs.
  • the acceleration for accelerating or decelerating is determined. If the time data is 0, it means that acceleration or deceleration is unnecessary, and the acceleration may be indefinite.
  • the acceleration to decelerate is determined. If the time data is 0, it means that deceleration is not required, and the acceleration is not fixed.
  • the instantaneous target position can be calculated by the second-order piecewise polynomial at most.
  • the processing for one step described here is based on the given current position, current speed, target position and speed given the initial acceleration / deceleration operation, constant speed operation, deceleration stop operation time, and target speed used during constant speed operation. It is an algorithm that is automatically determined from the acceleration and acceleration.
  • FIGS. 10 to 12 show the more detailed calculation processing procedure in ST6 in the method described above.
  • the method of the present invention calculates the moving direction from the target value of the current step and the target value of the next step.
  • the acceleration is the maximum acceleration of each axis. (ST102).
  • ST104 select the first pattern (ST104) (set the bit of the first pattern), If NO, the second pattern (ST 105) is selected (pits of the second pattern are formed).
  • the travel time of the deceleration stop operation is calculated from the target speed and the acceleration, then the speed difference is calculated from the target speed and the current speed, and the travel time of the initial acceleration / deceleration operation is calculated from the speed difference and the acceleration. I do.
  • the moving distance of the initial acceleration / deceleration operation is calculated from the initial speed, acceleration, and moving time by the formula of uniform acceleration movement (ST106), and the moving distance of the deceleration / stop operation is also calculated (ST107).
  • the acceleration is adjusted to the maximum acceleration of the motor as described above, it is constant, and the target speed is given, so that the above calculation can be easily executed.
  • the moving distance of the constant speed operation is calculated from the results of STs 106 and 107 (ST 108), and the moving time of the constant speed operation is calculated from the results (ST 109).
  • each procedure in the processing for one step is performed for each axis. Therefore, in the case of the spring forming machine 1, the processing is performed for a total of eight axes.
  • the time required for the deceleration stop operation, the distance required for the deceleration operation, and the moving distance at a constant speed are calculated (ST113).
  • the entire distance is operated at a constant speed (ST114).
  • the moving time of the constant speed operation is calculated from the distance and speed of the constant operation obtained in any of the patterns (ST115).
  • one of the first and second patterns is determined (ST119).
  • the target speed in the first pattern is obtained (ST120).
  • the method of obtaining the target speed in the case of the first pattern is based on a method of obtaining a solution of the following equations (1) to (4).
  • Moving distance (known) Moving distance of initial acceleration / deceleration operation (unknown)
  • Moving distance (known) Moving distance of initial acceleration / deceleration operation (unknown)
  • FIG. 13 shows a process for drawing a trajectory moving from the position A to the position B in, for example, an XY table.
  • both the X axis and the Y axis are simultaneously displayed.
  • the initial acceleration time and deceleration stop time are different on the X-axis and Y-axis, it moves from position A to position B,
  • the trajectory is not a straight line, and the trajectory is not a straight line as shown by the broken line in (a). Therefore, as shown in (c), the initial acceleration / deceleration time This is because the movement trajectory from position A to position B can be made a straight line by synchronizing the motion and the deceleration stop time on the XY axis.
  • the acceleration in the initial acceleration / deceleration operation and the acceleration / deceleration stop operation does not always coincide with the maximum acceleration.
  • step 125 the calculation is automatically re-calculated while reducing the target speed at an appropriate step (ST 125), and the calculation from ST 102 in FIG. 10 is repeated again. If NO in ST122, that is, if not linear interpolation, the process jumps to step 124. This is the case where the trajectory from the point A to the point B described above may or may not be a straight line, that is, it is only necessary that the target positions coincide. Also in this case, it is determined whether or not there is an error as described above, and whether or not recalculation is necessary (ST124). If NO, the calculation for one step is completed, and the next step is performed. Move on to the calculation process.
  • FIG. 14 shows the operating characteristics of each axis by the above calculation process, in which the vertical axis represents speed and the horizontal axis represents time.
  • trapezoidal The operation characteristics of the second pattern in which the acceleration and deceleration are continuous are repeated, and the operation of the first pattern is performed in the final step, and the speed reaches zero.
  • the command data for each axis can be generated by specifying the shape while confirming the shape on the Windows screen and inputting a numerical value.
  • the shape can be generated by specifying the shape while confirming the shape on the Windows screen and inputting a numerical value.
  • the setup time can be greatly reduced.
  • FIGS. 4 (a) and (b) show the velocity trajectory and the movement trajectory of the XY axis when the method of the present invention is used.
  • the present invention is also applicable to other multi-shaft plastic working machines using a lot of camshafts and the like, and further to general multi-shaft processing machines. .

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Abstract

A multi-spindle finishing machine for machining a work by tools respectively attached to respective spindles by sequentially driving motors on respective spindle of the multi-spindle finishing machine to allow respective spindles to sequentially reach target positions, characterized in that respective motors are controlled so that the speeds of respective spindles are subjected to trapezoidal speed interpolation in which speed changes up to target positions are sequentially determined as a sectional linear function so as to be continuous in speeds. Data used in controlling motors are data sequence consisting of position, speed and acceleration, characterized in that at least position data use, as an input, data that are designated in all the steps in the sequence, and are automatically determined when necessary data are lacking.

Description

明 細 書 多軸加工機及びそのモータの制御方法 技術分野  Description Multi-axis machine and motor control method
本発明は、低速であっても高速であっても同じ軌跡を描けるようにした 多軸加工機、並びにそのモータの制御方法及びこれを実現するソフトゥェ ァに関する。 背景技術  The present invention relates to a multi-axis machine capable of drawing the same trajectory regardless of whether the speed is low or high, a control method for the motor, and a software for realizing the method. Background art
パネ成形機のような多軸加工機における一般的な制御方式は、各軸 毎に設けられた複数のサーボモータの動作を各ステップ毎に独立に処理 し、各軸がステップの開始位置から目標位置までの間、最初から最後ま で一定速度で動くような補間データを作成する方式である。  In a general control method for a multi-axis processing machine such as a panel molding machine, the operation of a plurality of servo motors provided for each axis is independently processed for each step, and each axis is moved from a step start position to a target position. This method creates interpolation data that moves at a constant speed from the beginning to the end until the position.
この場合、ステップ間で指令速度が変化したり、同時到達するように補 間していて方向角度が変化したりすると、各軸の速度は不連続的に変化 し、そのままモータに指令として出力すると、大きな衝撃が発生してしまう。 そのため、スムーズに動作するように加減速処理が必要である。この加 減速処理の手法としては、フィルタ方式が一般的である。  In this case, if the commanded speed changes between steps, or if the direction angle changes due to interpolating so as to arrive at the same time, the speed of each axis changes discontinuously, and if it is output as it is to the motor as a command. , A large shock occurs. Therefore, acceleration / deceleration processing is required to operate smoothly. As a method of the acceleration / deceleration processing, a filter method is generally used.
これは、ある長さの FIF Oバッファを用意して、軌跡を補間したデータを 時々刻々受け取りながらバッファ内に記録し、バッファ内のデータを平均 ィ匕したものを、この時点での加減速後のデータとしてモータを制御する方 式である。  This is because a FIFO buffer of a certain length is prepared, the data obtained by interpolating the trajectory is recorded in the buffer while receiving it every moment, and the data in the buffer is averaged. This is a method of controlling the motor as the data of.
第 1図は、一例として、 P0から P 1まで X方向に 1 00mm、次いで P 1から P 2まで Y方向に 100mm移動する場合の移動軌跡を示している。 補間処理をしていない場合の各軸の速度軌跡は、第 2図に示すように 先ず X軸方向に一定速度で 100mm 移動してから、 Y軸方向に一定速度 で 100mm 移動する。つまり、現在位置から直ちに目標速度に到達し、次 いで目標位置で速度 0になる軌跡である。しかし、この種の速度不連続な 軌跡は、前述のごとくモータに対する負荷の関係から実際にはあり得な レ、。 FIG. 1 shows, as an example, a movement trajectory in the case of moving 100 mm in the X direction from P0 to P1 and then moving 100 mm in the Y direction from P1 to P2. As shown in Fig. 2, the velocity trajectory of each axis without interpolation processing first moves 100 mm at a constant speed in the X-axis direction, and then moves 100 mm at a constant speed in the Y-axis direction. In other words, it is a trajectory that immediately reaches the target speed from the current position and then becomes zero speed at the target position. However, as described above, this kind of speed discontinuous trajectory is actually impossible due to the load on the motor.
そこで、通常では第 3図に示す前述のフィルタ補間方式による速度軌 跡が採用される。  Therefore, the velocity trajectory based on the above-described filter interpolation method shown in FIG. 3 is usually employed.
この方式では、 同図（a)に示すように、 先ず X軸が現在位置から加速 し、 目標速度に到達してから一定となり、次いで減速停止動作に移行し. 速度 0で目標位置に到達する台形の速度軌跡を描く。また、 X軸の減速 停止動作が始つた時点でこれと重畳させて Y軸も X軸と同様な台形の速 度軌跡で動作させ、 目標位置に到達させる。  In this method, as shown in Figure (a), first, the X axis accelerates from the current position, becomes constant after reaching the target speed, and then shifts to deceleration stop operation. It reaches the target position at speed 0 Draw a trapezoidal speed trajectory. When the deceleration stop operation of the X axis starts, it is superimposed on this and the Y axis is also operated with the trapezoidal speed trajectory similar to the X axis to reach the target position.
この方式では、速度一定の場合、同図（b)の左側に示すように、 P1 地 点では破線に示す角が丸められる、いわゆるだれが生ずるが、この量は速 度一定の場合、一定であるため、精度良く P1 地点に一致させなければな らない場合を除けば、加工上の支障はない。  In this method, when the speed is constant, as shown on the left side of the figure (b), at the P1 point, the corner shown by the broken line is rounded, that is, when the speed is constant, this amount is constant. Therefore, there is no problem in processing unless it is necessary to precisely match the point P1.
しかし、この方式では、速度を変更すると、軌跡が著しく変化する欠点 が生じてしまう。  However, this method has a disadvantage that when the speed is changed, the trajectory changes significantly.
同第 3図（a)の破線で示す速度軌跡は、実線で示す一定の速度軌跡 (速度 100%)に対し、その速度を 50%に落して駆動した場合を示すもの で、加速および減速停止時の三角形状の面積で示される移動距離 S1 は、速度 100%の場合に比べて 1/2Sとなる。  The speed trajectory shown by the broken line in Fig. 3 (a) shows the case where the speed is reduced to 50% of the constant speed trajectory (speed 100%) shown by the solid line, and acceleration and deceleration stop. The moving distance S1 indicated by the triangular area at the time is 1 / 2S as compared with the case of 100% speed.
これを移動軌跡で見てみると、速度 100%の時には（b)の左側に示す ように、加減速時の移動距離 Sに相当する丸み分移動軌跡がだれるのに 対し、速度 50 %の時には（b )の右側に示すように、加減速時の移動距離 S I ( = 1 / 2 S )に相当する丸み分のだれとなり、移動軌跡が異なってしま o Looking at the movement trajectory, when the speed is 100%, as shown on the left side of (b), a round movement trajectory equivalent to the movement distance S during acceleration / deceleration drops. On the other hand, when the speed is 50%, as shown on the right side of (b), a rounded portion corresponding to the moving distance SI (= 1/2 S) during acceleration / deceleration is obtained, and the moving trajectory is different.
これは、例えば新しく作成した加ェプログラムの動作確認を低速で行 レ、、実稼動時には高速で運転すると、動作に再現性が無くなることにつな がる。  This means that, for example, if the operation of the newly created software program is checked at low speed, and if it is operated at high speed during actual operation, the operation will not be repeatable.
このような不具合に対する調整は、一般には相当な熟練者の勘を頼り にしたものとなり、結果として段取りに無駄な時問を要し、しかも最終製品 形状も低精度となる。  Adjustments for such defects generally rely on the intuition of considerable experts, resulting in unnecessary setup time and inaccurate final product shapes.
速度を変えても軌跡が変化しないようにするためには、イダザタトストップ チェックモードまたはインポジションチヱックモードと称される機能を使う。 これは、 1つ 1つのステップ毎に、軸が完全に止まったカ あるいは軸の サーボ偏差が充分に小さくなつたかの確認を取ってから次ステップの動作 を開始する機能である。これならば、フィルタ方式の加減速の影響を受け ることがなく、速度によって軌跡が変化することも無いが、タクトタイムは不 必要に長くなつてしまい、生産性の面で問題となる。  To prevent the trajectory from changing even if the speed is changed, a function called an inadvertent stop check mode or an in-position check mode is used. This is a function that starts the operation of the next step after confirming whether the axis has completely stopped or whether the servo deviation of the axis has become sufficiently small at each step. In this case, it is not affected by the acceleration and deceleration of the filter system, and the trajectory does not change depending on the speed. However, the tact time becomes unnecessarily long, which is a problem in productivity.
タクトタイムを伸ばしたくなければ、可能な限りインポジションチェック無し に加ェプログラムを作らなければならない。  If you do not want to increase the takt time, you must create a program without in-position checks whenever possible.
しカゝし、それでは前述のごとく軌跡が不正確になるばかりでなく、速度変 化毎に軌跡が変化してしまい、実稼動前の加エブログラムの検証が困難 になる。 発明の開示 本発明は、以上の問題点を解決するためになされたものであって、その 目的は、ステップ毎に速度と各軸の目標位置を与えられたとして、速度連 続になるような補間用データを作成することで、低速においても高速にお いても同じ軌跡を描けるようにした多軸加工機におけるモータの制御方法 を提供するものである。 However, in this case, as described above, not only the trajectory becomes inaccurate, but also the trajectory changes at every speed change, and it becomes difficult to verify the processing program before actual operation. DISCLOSURE OF THE INVENTION The present invention has been made to solve the above problems, and The goal is to create the same trajectory at low and high speeds by creating interpolation data so that the speed is continuous, given the speed and the target position of each axis for each step. It is intended to provide a method for controlling a motor in a multi-axis machine.
この目的を達成するため、請求の範囲 1に記載の発明は、多軸加工機 の各軸に設けたモータを順次駆動することによって、各軸を順次目標位 置に到達させて各軸に取り付けられたツールによりワークの加工を行う多 軸加工機におけるモータの制御方法であって、各軸の速度を、その目標 位置までの速度変化が速度連続になるように区分的一次関数として順 次決定してゆく台形速度補間を行うことを特徴とするモータの制御方法 を提供する。  In order to achieve this object, the invention described in claim 1 is to sequentially drive the motors provided on each axis of the multi-axis processing machine to sequentially reach the target position and attach each axis to each axis. A method of controlling a motor in a multi-axis machine that processes a workpiece with a given tool, and determines the speed of each axis as a piecewise linear function so that the speed change to its target position is continuous. Provided is a motor control method characterized by performing trapezoidal speed interpolation.
請求の範囲 2に記載の発明は、位置と速度と加速度からなるデータの 系列であって少なくとも位置データは系列中の全ステップに指定されてい るものを入力とし、必要なデータが欠けている場合にはそれを自動的に決 定することを特徴とする請求の範囲 1に記載のモータの制御方法である。 請求の範囲 3に記載の発明は、前記台形速度補間において、各ステ ップのパターンを、 目標位置に達した時点で停止する第一パターンと、 目 標位置に達した時点で停止しない第二パターンとに分けて処理すること を特徴とする請求の範囲 1又は請求の範囲 2に記載のモータの制御方 法である。  The invention described in claim 2 is a case where a sequence of data including a position, a speed, and an acceleration is input, and at least the position data specified in all steps in the sequence is input and necessary data is missing. The method for controlling a motor according to claim 1, wherein the method is automatically determined. According to the invention described in claim 3, in the trapezoidal speed interpolation, the pattern of each step is stopped at the time when the target position is reached, and the second pattern is not stopped at the time when the target position is reached. A motor control method according to claim 1 or claim 2, wherein the method is performed separately from a pattern.
請求の範囲 4に記載の発明は、前期第一パターンにおいては、現在 速度から目標速度まで加速又は減速するための時間、 目標速度で移動 する時間、 目標速度から速度 0まで減速するための時間、という 3つの時 間をデータとして用レ、、前記第二パターンにおいては、初期加減速動作 の時間、一定速動作の時間、という 2つの時間をデータとして用いることを 特徴とする請求の範囲 3に記載のモータの制御方法である。 これら各発明においては、 目標位置を算出する関数への入力を、実際 の経過時間そのものでなく行えるため、加減速処理した仮想的内部時間 に変更しても、軌跡精度の再現性を図ることが出来る。これは、内部時間 の加減速方式としてフィルタ方式を採用する事によって従来のフィルタ方 式のメリットも享受できるということを意味する。 また、以上の方法をソフトウェアにより実現したものが、請求の範囲 5乃 至 8に記載の発明である。 The invention described in claim 4 is characterized in that in the first pattern of the first period, the time for accelerating or decelerating from the current speed to the target speed, the time for moving at the target speed, the time for decelerating from the target speed to speed 0, In the second pattern, it is assumed that two times, that is, an initial acceleration / deceleration operation time and a constant speed operation time, are used as data. A motor control method according to claim 3, characterized by: In each of these inventions, the input to the function for calculating the target position can be performed instead of the actual elapsed time itself, so that even if the acceleration / deceleration processing is changed to the virtual internal time, reproducibility of the trajectory accuracy can be achieved. I can do it. This means that the advantages of the conventional filter method can be enjoyed by adopting the filter method as the internal time acceleration / deceleration method. Further, the above-mentioned method realized by software is the invention described in claims 5 to 8.
すなわち、請求の範囲 5に記載の発明は、多軸加工機の各軸に設け たモータを順次駆動することによって、各軸を順次目標位置に到達させ て各軸に取り付けられたツールによりワークの加工を行う多軸加工機にお いてモータの制御を行うためのソフトウェアであって、各軸の速度を、その 目標位置までの速度変化が速度連続になるように区分的一次関数とし て順次決定してゆく台形速度補間を行うことを特徴とするソフトウェアであ る。  That is, according to the invention described in claim 5, by sequentially driving the motors provided on each axis of the multi-axis machining machine, the respective axes reach the target position sequentially, and the workpiece is mounted by the tool attached to each axis. Software for controlling a motor in a multi-axis processing machine that performs machining, and determines the speed of each axis as a piecewise linear function so that the speed change to its target position is continuous. This software is characterized by performing trapezoidal speed interpolation.
請求の範囲 6に記載の発明は、位置と速度と加速度からなるデータの 系列であって少なくとも位置データは系列中の全ステップに指定されてい るものを入力とし、必要なデータが欠けている場合にはそれを自動的に決 定することを特徴とする請求の範囲 5に記載のソフトウェアである。  The invention described in claim 6 is a case where a sequence of data consisting of a position, a velocity, and an acceleration, at least the position data specified in all steps in the sequence is input and necessary data is missing The software according to claim 5, wherein the software is automatically determined.
請求の範囲 7に記載の発明は、前記台形速度補間において、各ステ ップのパターンを、 目標位置に達した時点で停止する第一パターンと、 目 標位置に達した時点で停止しない第二パターンとに分けて処理すること を特徴とする請求の範囲 5又は請求の範囲 6に記載のソフトウェアであ る。 The invention according to claim 7 is characterized in that, in the trapezoidal speed interpolation, the pattern of each step is a first pattern that stops when the target position is reached, and a second pattern that does not stop when the target position is reached. The software according to claim 5 or claim 6, wherein the software is processed separately from the pattern. You.
請求の範囲 8に記載の発明は、前期第一パターンにおいては、現在 速度から目標速度まで加速又は減速するための時間、 目標速度で移動 する時間、 目標速度から速度 0まで減速するための時間、という 3つの時 間をデータとして用レ、、前記第二パターンにおいては、初期加減速動作 の時間、一定速動作の時間、という 2つの時間をデータとして用いることを 特徴とする請求の範囲 7に記載のソフトウェアである。 さらに、請求の範囲 9乃至 1 2に記載の発明は、前記方法が実現可能 な、あるいは前記ソフトウェアを搭載した多軸加工機である。  The invention described in claim 8 is characterized in that in the first pattern in the first period, a time for accelerating or decelerating from the current speed to the target speed, a time for moving at the target speed, a time for decelerating from the target speed to speed 0, The three times are used as data, and in the second pattern, two times, that is, the time of the initial acceleration / deceleration operation and the time of the constant speed operation, are used as data. The software described. Further, the invention described in claims 9 to 12 is a multi-axis machine capable of realizing the above method or equipped with the software.
すなわち、請求の範囲 9に記載の発明は、各軸に設けたモータを順次 駆動することによって各軸を順次目標位置に到達させて各軸に取り付け られたツールによりワークの加工を行う多軸加工機であって、各軸の速度 を、その目標位置までの速度変化が速度連続になるように区分的一次 関数として順次決定してゆく台形速度補間を行うように各モータが制御さ れることを特徴とする多軸加工機である。  In other words, the invention described in claim 9 is a multi-axis machining in which a motor provided on each axis is sequentially driven so that each axis sequentially reaches a target position and a workpiece is machined by a tool attached to each axis. The machine controls each motor to perform trapezoidal speed interpolation, in which the speed of each axis is sequentially determined as a piecewise linear function so that the speed change to its target position is continuous. This is a multi-axis processing machine.
請求の範囲 1 0に記載の発明は、位置と速度と加速度からなるデータ の系列であって少なくとも位置データは系列中の全ステップに指定されて いるものを入力とし、必要なデータが欠けている場合にはそれが自動的に 決定されることを特徴とする請求の範囲 9に記載の多軸加工機である。 請求の範囲 1 1に記載の発明は、前記台形速度補間において、各ステ ップのパターンが、 目標位置に達した時点で停止する第一パターンと、 目 標位置に達した時点で停止しない第二パターンとに分けて処理されること を特徴とする請求の範囲 9又は請求の範囲 1 0に記載の多軸加工機であ る。 請求の範囲 1 2に記載の発明は、前期第一パターンにおいては、現在 速度から目標速度まで加速又は減速するための時間、 目標速度で移動 する時間、 目標速度から速度 0まで減速するための時間、という 3つの時 間がデータとして用いられ、前記第二パターンにおいては、初期加減速 動作の時間、一定速動作の時間、という 2つの時間がデータとして用いら れることを特徴とする請求の範囲 1 1に記載の多軸加工機である。 図面の簡単な説明 The invention described in Claim 10 is an input of a sequence of data consisting of position, velocity, and acceleration, wherein at least the position data specified in all steps in the sequence is input, and necessary data is missing. 10. The multi-axis machine according to claim 9, wherein the case is determined automatically. The invention according to claim 11 is characterized in that, in the trapezoidal speed interpolation, the first pattern in which the pattern of each step stops when reaching the target position, and the second pattern in which the pattern does not stop when reaching the target position. The multi-axis processing machine according to claim 9 or claim 10, wherein the multi-axis processing machine is processed by being divided into two patterns. The invention described in Claims 1 and 2 is characterized in that in the first pattern of the first period, the time for accelerating or decelerating from the current speed to the target speed, the time for moving at the target speed, and the time for decelerating from the target speed to speed 0 The three patterns are used as data, and in the second pattern, two times, that is, the time of the initial acceleration / deceleration operation and the time of the constant speed operation, are used as data. 11 is a multi-axis processing machine. BRIEF DESCRIPTION OF THE FIGURES
第 1図は、 XY軸の移動軌跡を示すグラフである。  FIG. 1 is a graph showing the movement locus of the XY axis.
第 2図は、補間処理をしていない場合の XY軸の速度軌跡を示すダラ フである。  FIG. 2 is a graph showing the velocity trajectory of the XY axis when the interpolation processing is not performed.
第 3図（a )は、従来のフィルタ方式による補間方法を採用した XY軸の 速度軌跡を示すグラフ、 （b )は、同移動軌跡を示すグラフである。  FIG. 3 (a) is a graph showing the velocity trajectory of the XY axis adopting the interpolation method by the conventional filter method, and FIG. 3 (b) is a graph showing the movement trajectory.
第 4図（a )は、本発明方式による補間方法を採用した XY軸の速度軌 跡を示すグラフ、 （b )は、同移動軌跡を示すグラフである。  FIG. 4 (a) is a graph showing the velocity trajectory of the XY axis adopting the interpolation method according to the present invention, and FIG. 4 (b) is a graph showing the same trajectory.
第 5図は、本発明方法を適用したばね成形機のシステム構成を示すブ ロック図である。  FIG. 5 is a block diagram showing a system configuration of a spring forming machine to which the method of the present invention is applied.
第 6図は、ソフトの内容を示すブロック図である。  FIG. 6 is a block diagram showing the contents of the software.
第 7図は、同ソフトによる画面構成を示す説明図である。  FIG. 7 is an explanatory diagram showing a screen configuration by the software.
第 8図は、同ソフトによる計算処理の全体を示すフローチャートである。 第 9図（a )、 （b )、 （c )は、台形速度補間の手法を示すグラフである。 第 1 0図は、 同ソフトによる 1ステップ分の計算処理手法の詳細を示す フローチャートである。  FIG. 8 is a flowchart showing the entire calculation processing by the software. FIGS. 9 (a), (b) and (c) are graphs showing trapezoidal speed interpolation techniques. FIG. 10 is a flowchart showing details of a calculation processing method for one step by the software.
第 1 1図は、第 1 0図に引続くフローチャートである。  FIG. 11 is a flowchart continued from FIG. 10.
第 1 2図は、第 1 1図に引続くフローチャートである。 o FIG. 12 is a flowchart following FIG. 11. o
第 1 3図（a )、 （b )、 （c )は直線補間の手法を説明するためのグラフであ る。 FIGS. 13 (a), (b) and (c) are graphs for explaining the linear interpolation method.
第 14図は、以上の計算処理による各軸の動作特性を示すタイムチヤ —トである。  FIG. 14 is a time chart showing the operation characteristics of each axis by the above calculation processing.
5  Five
発明を実施するための最良の形態 以下、本発明の好ましい実施の形態につき、添付図面を参照して詳 細に説明する。  BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
第 5図は、本発明をばね成形機に適用した場合のハードウェア構成を 示すシステム図である。図において、 1はばね成形機、 2はばね成形機 1を 決められたプログラム手順に従って動作させるためのコントローラである。コ ントロ一ラ 2は、 I Z Oポート 3を介してパーソナルコンピュータ 4に接続し、パ —ソナルコンピュータ 4に内蔵したソフトウェアにより生成したプログラム內5 容に沿つて順次ばね成形機 1を駆動する。  FIG. 5 is a system diagram showing a hardware configuration when the present invention is applied to a spring forming machine. In the figure, 1 is a spring forming machine, and 2 is a controller for operating the spring forming machine 1 according to a predetermined program procedure. The controller 2 is connected to the personal computer 4 via the IZO port 3 and sequentially drives the spring forming machine 1 in accordance with a program # 5 generated by software built in the personal computer 4.
また、図中符号 5は、軸選択、速度選択などの手動入力用のティーチ ングボックスであり、 I / Oポート 3を介して操作パネル 2側に接続され、手 動パルスハンドルなどの手動操作により、成形機 1を動作させる。  Reference numeral 5 in the figure is a teaching box for manual input such as axis selection and speed selection, which is connected to the operation panel 2 via the I / O port 3 and is operated by a manual operation such as a manual pulse handle. , And the molding machine 1 is operated.
ばね成形機 1は、ワイヤ Wの供給用クイル 1 2の周囲に切断折曲げ用0 の複数のツールユニット 14をタイル 1 2に向けて進退可能に放射状配置し. またタイル 1 2の対向位置に左右巻回および折曲げ用の複数のツールを 設けた工具保持板 1 6をタイル 1 2に向けて進退可能に配置した多軸加 ェ機であり、クイル 1 2より供給されたワイヤ Wをプログラム内容に従って加 ェするものである。 In the spring forming machine 1, a plurality of tool units 14 for cutting and bending 0 are radially arranged around the supply quill 1 2 for supplying the wire W so as to be able to advance and retreat toward the tile 1 2. This is a multi-axis machine in which a tool holding plate 16 provided with multiple tools for left and right winding and bending can be moved forward and backward toward the tile 12, and the wire W supplied from the quill 12 is programmed. It is added according to the content.
5 以上の成形機 1は、例えば 8軸のツールを有し、各軸は以下の軸記号 と動作との関係が設定されている。 5 or more molding machines 1 have, for example, 8-axis tools, and each axis has the following axis And the relationship between the action and the action are set.
Z軸 ···ワイヤ送り、 C軸 · · ·カットオフ、 I軸 ·· ·タイル、 W軸 · · ·ユニット 進退、 U軸 · ··ユニット旋回、 K軸 · · ·ツール回転、 Y軸 · · ·サーボスライド. X軸 · '，カーリング。  Z-axis Wire feed, C-axis Cut-off, I-axis Tile, W-axis Unit advance / retreat, U-axis Unit rotation, K-axis Tool rotation, Y-axis · · Servo slide. X axis · ', curling.
前記パーソナルコンピュータ 4に内蔵されるソフトウェアは、 Window9 5, 98， 2000、 WindowNT, OS2、 Macintoshの漢字 Talkなどの GUI 環境を備えた OS上で動作するソフトであり、第 6図に示す各種手段をそ の内容としている。  The software built in the personal computer 4 is software that runs on an OS having a GUI environment such as Window 95, 98, 2000, WindowNT, OS2, and Macintosh Kanji Talk, and has various means shown in FIG. It is the content.
すなわち、パーソナルコンピュータ 4のディスプレイ画面に表およびグラフ イツク形式で表示させるための画像表示手段 401と、オペレータがマウス、 キーボードなどを使って画像に形成された入力欄に入力するための前記 軸記号に応じた形状および数値入力手段 402と、入力内容に応じた動 作プログラムへの変換手段 403および編集手段 404と、作られた動作プ ログラムが実行可能か否かを判定するための実行可否判定手段 405と、 得られた動作プログラムを各軸の指令データにコード変換手段するための 変換手段 406、および実行キ一をオペレータが操作することで、コント口一 ラ 2に対して実行を指示するための指示手段 407などをその内容としてい る。  That is, the image display means 401 for displaying in a table and a graphic format on the display screen of the personal computer 4 and the axis symbol for the operator to input in an input field formed on the image using a mouse, a keyboard, or the like. Means 402 for inputting the shape and numerical value according to the input, means 403 for converting the program into an operation program corresponding to the input content, and means 404 for editing, and means for determining whether the created operation program is executable or not. 405, a conversion means 406 for converting the obtained operation program into command data of each axis by code, and an instruction for execution to the controller 2 by an operator operating an execution key. The instruction means 407 and the like are included in the contents.
そして、オペレータがソフトウェアを立ち上げた上で、対話形式により、 加工形状要素をマウスで指定し、表示画面に沿って数値のキー入力を 順次繰返すことで、その数値入力に応じたステップ毎の駆動プログラムが 生成される。  Then, the operator starts up the software, specifies the machining shape element with the mouse in an interactive manner, and repeats the key input of numerical values sequentially along the display screen, thereby driving each step according to the numerical input. A program is generated.
第 7図は、以上のソフトの実画面構成を示すものである。この画面は、 通常のウィンドウズ画面と同様に、表示画面の上部にメニューバーやタイ トルバ一、ツールバーなどを表示し、その内側上段左に第一の表 20と右 に図形および各部の説明を記した第一の図形表示欄 22が表示され、 下 段に第二の表 24が表示され、さらに、第二の図形表示欄 26も表示され ている。 FIG. 7 shows the actual screen configuration of the above software. This screen displays a menu bar, title bar, toolbar, etc. at the top of the display screen, similar to the normal Windows screen, and the first table 20 and the right at the upper left inside. A first graphic display column 22 in which the figure and the description of each part are described is displayed, a second table 24 is displayed in the lower part, and a second graphic display column 26 is also displayed.
このうち、第一の表 20は、オペレータが実際に加工形状要素を指定し つつ数値入力により寸法を指定するもので、加工手順に沿って縦軸左 側にステップ番号 01、 02、 03· ··を縦列表示し、横軸上部に指令内容 およびこれに関連する送り長さ、成形方向、 曲げ11、 曲げ角度、 OD(s)、 OD(E)、卷数、正逆 LR、芯金 LR、巻センサ一などの項目を横列表示し. これら縦横で囲われた、内側を記載欄として縦横の昇線で仕切っている。 第一の図形表示欄 22には、前記クイル 12の側面図および正面図お よび加工形状要素のパラメータが表示され、この図形には加工形状要素 の選択毎に同一画面におけるパラメータが変更表示される。  Among them, Table 20 shows the case where the operator specifies the dimensions by inputting numerical values while actually specifying the processing shape elements. Step numbers 01, 02, 03 Are displayed in a column, and the contents of the command and the associated feed length, forming direction, bending 11, bending angle, OD (s), OD (E), number of turns, forward / reverse LR, core metal LR are displayed at the top of the horizontal axis. The items such as, winding sensor, etc. are displayed in a horizontal row. The inside enclosed by these vertical and horizontal lines is separated by vertical and horizontal ascending lines with the inside as a description column. The first figure display field 22 displays the side view and the front view of the quill 12 and the parameters of the machining shape element. In this figure, the parameters on the same screen are changed and displayed every time the machining shape element is selected. .
第二の表 24は、第一の表 20に関連する動作プログラムに自動変換す るもので、第一の表 20に関連する実際の軸の駆動番号 001， 002, 00 3···を縦軸として左側に縦列表示し、ラベル、完全同期、速度、および 1 軸から 8軸までの表示とその下に軸名、ホームポジション HPを表示上部 に横列表示し、これら縦横で囲われる内部を縦横の鄴線で仕切つたもの で、上段の第一の表 10に入力がなされると、変換操作後各ステップ毎の 各軸の動作と移動距離に自動変換して表示を行う。  The second table 24 is automatically converted into the operation program related to the first table 20, and the actual axis drive numbers 001, 002, 00 3. The axes are displayed in columns on the left side, labels, full synchronization, speed, and displays from 1 to 8 axes, and the axis names and home positions HP below them are displayed in rows at the top of the display. When an entry is made in the first table 10 in the upper row, the operation is automatically converted into the movement and moving distance of each axis for each step after the conversion operation, and displayed.
各表 20、 24は画面の右側縦方向に沿って水平 垂直のスクロールバ 一を表示し、カーソルによる移動が可能となっている。  Each of Tables 20 and 24 displays horizontal and vertical scroll bars along the vertical direction on the right side of the screen, and can be moved by the cursor.
また、第二の図形表示欄 26は、通常は表示されないが、タスクバー中 にある形状表示ボタンをマウスクリックすることで、入力内容に応じた加工 形状の線図が三次元グラフィック表示される。  The second graphic display field 26 is not normally displayed, but when the shape display button in the task bar is clicked with a mouse, a diagram of the processed shape according to the input content is displayed in a three-dimensional graphic.
従って、以上の画面を見つつオペレータが図示のごとく数値、入力作 業を行った後は、製造個数の指定を行った上で、実行キーを押すことで、 プログラム内容に沿って成形機 1を駆動し、入力内容に応じた形状のば ねを製造する。 Therefore, while looking at the above screen, the operator can enter numerical values and input After performing the work, after specifying the number of products to be manufactured, by pressing the execution key, the molding machine 1 is driven in accordance with the contents of the program to produce a spring having a shape corresponding to the input contents.
なお、プログラム内容が実行不可の内容を含んでいる場合には、警告 が発生するとともに、実行不可能となる設定がなされている。これは例えば, 各部の曲げを指示した結果、得られるばねの三次元形状がクイル 1 2の 裏側に突出して面板に干渉したり、各ツールが届かない寸法や位置にな る場合である。この場合には、再び数値を書換えるなどの修正処理を行 レ、、この結果が正しければ、実行が可能となる。  If the program contents include the contents that cannot be executed, a warning is issued and the setting is made so that the program cannot be executed. This is the case, for example, in the case where the three-dimensional shape of the spring obtained as a result of instructing the bending of each part protrudes to the back side of the quill 12 and interferes with the face plate, or has a size or position where each tool cannot reach. In this case, correction processing such as rewriting the numerical value is performed again, and if the result is correct, execution becomes possible.
第 8図は、以上のソフトウェアにおける全体的な計算処理手順を示す。 先ず、最初にパラメータファイルから各軸の最高速度などを読込む（S T FIG. 8 shows the overall calculation processing procedure in the above software. First, the maximum speed of each axis is read from the parameter file (ST
D o次いで加工プログラムファイルからステップ毎の各軸の目標位置と目 標速度を読込む（ST2 )。 D o Next, the target position and target speed of each axis for each step are read from the machining program file (ST2).
今ステップを最初のステップとして初期化し、現在位置をホームポジショ ンとし、現在速度を 0とした上で（S T 3〜ST 5 )、 1ステップ分の計算処理 を行う（ST6 )。  This step is initialized as the first step, the current position is set to the home position, the current speed is set to 0 (ST3 to ST5), and the calculation processing for one step is performed (ST6).
処理終了後、最終ステップであるか否カ S T 7 )により、 N O、すなわち 最終ステップでないならば、再び次の 1ステップ分の処理を繰返し（ST8 )、 最終ステップに至ったなら、計算処理を終了する。  After the processing is completed, whether or not it is the final step ST7) is NO, that is, if it is not the final step, the processing for the next one step is repeated again (ST8), and if the final step is reached, the calculation processing is terminated I do.
次に、前記第 8図の S T 6における 1ステップ分の計算処理を説明する 前に、台形速度補間における計算手法について説明する。  Next, before describing the calculation processing for one step in ST6 in FIG. 8, a calculation method in trapezoidal speed interpolation will be described.
前述のごとく台形速度補間というのは、現在位置と現在速度が判って いて、 目標位置と目標速度の系列が与えられ、各軸の加速度が指定さ れているものとして速度連続になるように、系列内の各目標位置までの速 度変化を区分的一次関数として順次決定してゆく方式である。 台形速度補間の出力すべき速度連続なデータの 1ステップ分の動作 を第 9図に示す。先ず、 （a )は、補間処理前の 1ステップ分のタイムチヤ一 トを示すものであり、縦軸は速度、横軸は時間を取ってある。 As described above, trapezoidal speed interpolation means that the current position and the current speed are known, the sequence of the target position and the target speed is given, and the speed is assumed to be continuous assuming that the acceleration of each axis is specified. In this method, the speed change up to each target position in the sequence is determined sequentially as a piecewise linear function. Fig. 9 shows the operation for one step of continuous speed data to be output by trapezoidal speed interpolation. First, (a) shows a time chart for one step before the interpolation processing, in which the vertical axis represents speed and the horizontal axis represents time.
この場合には、現在速度如何に係わらず、動き始めてから止まるまで 目標速度一定のまま目標位置で速度 0となるが、この種の速度不連続な 動作は現実としては不可能である。  In this case, irrespective of the current speed, the speed becomes 0 at the target position with the target speed kept constant from the start to the stop until the motion stops, but this kind of speed discontinuous operation is impossible in reality.
これに対し、 台形速度補完処理を行う場合の速度変化には、大別し て 2つのパターンがある。  On the other hand, there are roughly two patterns of speed change when performing trapezoidal speed supplementation processing.
第一は、 （b )に示すように、 目標位置に達した時点で速度 0、すなわち 一旦停止するパターン（以後第一パターンと称する）であり、その軸の次の 目標位置が今の目標位置と不変であるかまたは移動方向が逆転してし まう場合に使われる。  The first is, as shown in (b), a pattern in which the speed is 0 when the vehicle reaches the target position, that is, the pattern temporarily stops (hereinafter referred to as the first pattern), and the next target position on that axis is the current target position. It is used when it is not changed or the direction of movement is reversed.
第二は、 （c )に示すように、 目標位置に到達した時点で停止せずに目 標速度で移動中になるパターン（以後第二パターンと称する）であり、次 の目標位置も今の動作方向と同じ方向にある場合に使われる。  The second is a pattern in which the vehicle is moving at the target speed without stopping when it reaches the target position (hereinafter referred to as the second pattern) as shown in (c), and the next target position is also the current pattern. Used when it is in the same direction as the movement direction.
第一パターンでは、現在速度から目標速度まで加速又は減速するた めの時間、 目標速度で移動する時間、 目標速度から速度 0まで減速する ための時間、という 3つの時間をデータとして用意する。 3つをそれぞれ、初 期加減速動作、一定速動作、及び、減速停止動作と称する。  In the first pattern, three times are prepared as data: time to accelerate or decelerate from the current speed to the target speed, time to move at the target speed, and time to decelerate from the target speed to speed 0. The three are referred to as an initial acceleration / deceleration operation, a constant speed operation, and a deceleration stop operation, respectively.
第二パターンでは、初期加減速動作の時間、一定速動作の時間、と いう 2つの時間をデータとして用意する。  In the second pattern, two times, the time of the initial acceleration / deceleration operation and the time of the constant speed operation, are prepared as data.
減速停止動作の時間データが 0という事実を、第二パターンであること の表現として使える。  The fact that the time data of the deceleration stop operation is 0 can be used as an expression of the second pattern.
第一パターンでは、系列内の次のステップの目標位置までの移動時に 使う現在位置及び現在速度は、今ステップの目標位置及び速度 0として 定まる。 In the first pattern, the current position and current speed used when moving to the target position of the next step in the series are the target position and speed of the current step as 0. Is determined.
第二パターンでは、系列内の次のステップの目標位置までの移動時に 使う現在位置及び現在速度は、今ステップの目標位置及び今ステップの 目標速度として定まる。ただし、速度については今ステップの移動方向に より定まる正負の符号が付く。  In the second pattern, the current position and current speed used when moving to the target position of the next step in the sequence are determined as the target position of this step and the target speed of this step. However, the speed has a positive or negative sign determined by the moving direction of the current step.
現在位置と目標位置が決まれば、移動方向が決まり、それによつて正 負の符号付きで目標速度が決まる。  When the current position and the target position are determined, the moving direction is determined, and accordingly, the target speed is determined with a plus or minus sign.
正負の符号付きで現在速度と目標速度とが決まれば、正負の符号付 きで速度差が決まる。  If the current speed and the target speed are determined with positive and negative signs, the speed difference is determined with positive and negative signs.
速度差と、現在速度から目標速度まで加速又は減速するための時間 とが決まれば、もし時間データが 0でなければ、加速又は減速するための 加速度が決まる。 時間データが 0なら、加速又は減速が不要ということで あり、加速度も不定で構わない。  If the speed difference and the time for accelerating or decelerating from the current speed to the target speed are determined, if the time data is not 0, the acceleration for accelerating or decelerating is determined. If the time data is 0, it means that acceleration or deceleration is unnecessary, and the acceleration may be indefinite.
目標速度と、 目標速度から速度 0まで減速するための時間とが決まれ ば、もし時間データが 0でなければ、減速するための加速度が決まる。 時 間データが 0なら、減速が不要ということであり、加速度も不定で構わな レ、。  If the target speed and the time to decelerate from the target speed to speed 0 are determined, if the time data is not 0, the acceleration to decelerate is determined. If the time data is 0, it means that deceleration is not required, and the acceleration is not fixed.
以上のように、 3つの時間データと、必要な加速度が決まれば、時々 刻々の目標位置は高々 2次の区分的多項式によって計算できる。  As described above, if the three time data and the required acceleration are determined, the instantaneous target position can be calculated by the second-order piecewise polynomial at most.
ここで述べる 1ステップ分の処理は、初期加減速動作、一定速動作、 及び、減速停止動作の時間と、一定速動作時に使う目標速度を、与え られた現在位置と現在速度と目標位置と速度と加速度とから自動的に 決定するアルゴリズムである。  The processing for one step described here is based on the given current position, current speed, target position and speed given the initial acceleration / deceleration operation, constant speed operation, deceleration stop operation time, and target speed used during constant speed operation. It is an algorithm that is automatically determined from the acceleration and acceleration.
第 1 0図〜第 1 2図は以上述べた手法における S T 6でのさらに詳細な 計算処理手順を示すものである。 先ず、第 10図に示すごとく、本発明の手法は、現在ステップの目標値 と次ステップの目標値から移動方向を算出するものであり、初期計算にお いては、加速度は各軸の最高加速度と仮定して計算する（ST102)。 次ステップの移動方向が逆向き、または次ステップについては移動しな いかどうかにより（ST 103) Yesであれば、第一パターン（ ST 104 )を選択 し（第一パターンのビットをたてる）、また NOであれば第二パターン（ST 10 5)を選択する（第二パターンのピットをたてる）。 FIGS. 10 to 12 show the more detailed calculation processing procedure in ST6 in the method described above. First, as shown in Fig. 10, the method of the present invention calculates the moving direction from the target value of the current step and the target value of the next step. In the initial calculation, the acceleration is the maximum acceleration of each axis. (ST102). Depending on whether the moving direction of the next step is reversed or not moving in the next step (ST103), if Yes, select the first pattern (ST104) (set the bit of the first pattern), If NO, the second pattern (ST 105) is selected (pits of the second pattern are formed).
第一パターンの場合は、 目標速度と加速度から減速停止動作の移動 時間を算出し、次いで目標速度と現在速度から速度差を算出し、さらに 速度差と加速度から初期加減速動作の移動時間を算出する。  In the case of the first pattern, the travel time of the deceleration stop operation is calculated from the target speed and the acceleration, then the speed difference is calculated from the target speed and the current speed, and the travel time of the initial acceleration / deceleration operation is calculated from the speed difference and the acceleration. I do.
また、第二パターンの場合には、減速停止動作の移動時間を「0」とし たのち、前記と同様、 目標速度と現在速度から速度差を算出し、さらに 速度差と加速度から初期加減速動作の移動時間を算出する。  In the case of the second pattern, after setting the movement time of the deceleration stop operation to “0”, a speed difference is calculated from the target speed and the current speed as described above, and the initial acceleration / deceleration operation is further calculated from the speed difference and the acceleration. Is calculated.
いずれにおいても、初速、加速度、移動時間から等加速度運動の公 式により初期加減速動作の移動距離を算出し（ST106)、 同じく減速停 止動作の移動距離を算出する（ST107)。  In any case, the moving distance of the initial acceleration / deceleration operation is calculated from the initial speed, acceleration, and moving time by the formula of uniform acceleration movement (ST106), and the moving distance of the deceleration / stop operation is also calculated (ST107).
なお、加速度は前述のごとくモータの最大加速度に合わせてあるので、 一定であり、 目標速度は与えられているので、以上の計算は簡単に実行 できる。  Since the acceleration is adjusted to the maximum acceleration of the motor as described above, it is constant, and the target speed is given, so that the above calculation can be easily executed.
次いで、 ST 106, 107の結果より、一定速動作の移動距離を算出し (ST 108)、次いでこの結果から一定速動作の移動時間を算出する（ST 109)。  Next, the moving distance of the constant speed operation is calculated from the results of STs 106 and 107 (ST 108), and the moving time of the constant speed operation is calculated from the results (ST 109).
ここで、 1ステップ分の処理の中の各手順は、各軸について行うことを注 意する。従って、ばね成形機 1の場合には合計 8軸分の処理となる。  Here, it should be noted that each procedure in the processing for one step is performed for each axis. Therefore, in the case of the spring forming machine 1, the processing is performed for a total of eight axes.
ST109の後、第 11図において、以上の各軸のうち、移動時間最大の 軸に他の軸の移動時間を合わせる。他の軸に移動時間を合わせた軸で は結果として目標速度を変更しなければ辻棲が合わなくなる。よって新し い目標速度を求めなければならない。この場合、現在速度のまま、初期 加減速動作で速度不変として仮の計算を行う（ST110, 111)。 After ST109, in Fig. 11, of the above axes, Match the movement time of another axis to the axis. As a result, if the target speed is not changed on the axis whose travel time is adjusted to the other axis, Tsujizumi will not match. Therefore, a new target speed must be found. In this case, tentative calculation is performed assuming that the speed remains unchanged in the initial acceleration / deceleration operation while keeping the current speed (ST110, 111).
次いで第一パターンか、第二パターンかにより（ST 112)、第一パター ンの場合には、減速停止動作に要する時間、減速動作に要する距離、 および一定速度の移動距離を算出する（ST113)。  Next, according to the first pattern or the second pattern (ST112), in the case of the first pattern, the time required for the deceleration stop operation, the distance required for the deceleration operation, and the moving distance at a constant speed are calculated (ST113). .
また第二パターンの場合には全距離が一定速動作になる（ST114)。 いずれのパターンにおいても得られた一定動作の距離と速度から一定 速動作の移動時間を算出する（ST115)。  In the case of the second pattern, the entire distance is operated at a constant speed (ST114). The moving time of the constant speed operation is calculated from the distance and speed of the constant operation obtained in any of the patterns (ST115).
この結果を決められた最大移動時間の値と比較し（ST116)、大きい 場合には、速度が低すぎる（加速度は移動方向と同一符号）と判定する (ST117)。  This result is compared with the value of the determined maximum travel time (ST116), and if it is larger, it is determined that the speed is too low (acceleration has the same sign as the travel direction) (ST117).
また小さい場合には速度が速すぎる（加速度は移動方向と異符号）と 判定する（ST118)。  If it is smaller, it is determined that the speed is too high (acceleration has a different sign from the moving direction) (ST118).
いずれかの場合においても第一、第二パターンのいずれかを判定し（S T119)、第一パターンの場合には、第一パターンにおける目標速度を求 め（ST120)、第二パターンの場合には第二パターンにおける目標速度 を求める（ST121)。  In either case, one of the first and second patterns is determined (ST119). In the case of the first pattern, the target speed in the first pattern is obtained (ST120). Determines the target speed in the second pattern (ST121).
第一パターンの場合における目標速度の求め方は以下の方程式①〜 ⑦の解を求める手法による。  The method of obtaining the target speed in the case of the first pattern is based on a method of obtaining a solution of the following equations (1) to (4).
①移動距離（既知） =初期加減速動作の移動距離（未知） (1) Moving distance (known) = Moving distance of initial acceleration / deceleration operation (unknown)
+ —定速動作の移動距離（未知）  + —Constant speed travel distance (unknown)
+ 減速停止動作の移動距離（未知） ②移動時間（既知） =初期加減速動作の移動時間（未知） + Travel distance for deceleration stop operation (unknown) (2) Travel time (known) = Initial acceleration / deceleration movement time (unknown)
+ 一定速動作の移動時間（未知）  + Travel time for constant speed operation (unknown)
+ 減速停止動作の移動時間（未知）  + Deceleration stop movement time (unknown)
③初期加減速動作の移動距離  ③ Travel distance of initial acceleration / deceleration operation
= { (現在速度（既知） +目標速度（未知）） χ初期加減速動作の時 間 Z 2  = {(Current speed (known) + target speed (unknown)) χ Initial acceleration / deceleration operation time Z 2
④一定速動作の移動距離 =目標速度 X—定速動作の時間  移動 Movement distance for constant speed operation = Target speed X—Time for constant speed operation
⑤減速停止動作の移動距離  移動 Travel distance of deceleration stop operation
= (目標速度 X減速停止動作の時間）ノ2  = (Target speed X Time of deceleration stop operation) No2
⑥目標速度 =現在速度 + (加速度 X初期加減速動作の時間） ⑥Target speed = Current speed + (Acceleration X Initial acceleration / deceleration operation time)
⑦最終速度 =目標速度 + (加速度 X減速停止動作の時間） 第二パターンの場合における目標速度の求め方は、以下の方程式① 〜⑤の解を求める手法による。 ⑦Final speed = target speed + (acceleration X time of deceleration stop operation) The method of obtaining the target speed in the case of the second pattern is based on a method of obtaining a solution of the following equations ① to ⑤.
①移動距離（既知） =初期加減速動作の移動距離（未知） (1) Moving distance (known) = Moving distance of initial acceleration / deceleration operation (unknown)
+ 一定速動作の移動距離（未知）  + Constant speed movement distance (unknown)
②移動時間（既知） =初期加減速動作の移動時間（未知）  (2) Travel time (known) = Initial acceleration / deceleration movement time (unknown)
+ —定速動作の移動時間（未知）  + —Constant speed travel time (unknown)
③初期加減速動作の移動距離  ③ Travel distance of initial acceleration / deceleration operation
= { (現在速度（既知） +目標速度（未知）） χ初期加減速動作の時  = {(Current speed (known) + target speed (unknown)) 時 During initial acceleration / deceleration operation
④一定速動作の移動距離 =目標速度 X—定速動作の時間 移動 Movement distance for constant speed operation = Target speed X—Time for constant speed operation
⑤目標速度 =現在速度 + (加速度 X初期加減速動作の時間） ここであらためて、 1ステップ分の処理の中の各手順は、各軸について 行うことを注意しておく。従って、 ばね成形機 1の場合には合計 8軸分の 処理となる。 ⑤Target speed = Current speed + (Acceleration X Initial acceleration / deceleration operation time) Here, it should be noted that each procedure in the processing for one step is performed for each axis. Therefore, in the case of the spring forming machine 1, the processing is performed for a total of eight axes.
次いで第 1 2図において、直線補間の場合か否かを判定し（ S T 1 22 )、 Y e sであれば、加減速時間が 8軸の内最大の軸に他の軸を合わせた上 で、停止状態から減速して停止する場合、初期加減速動作と減速停止 動作の時間は同一になることから、全体の距離を求める（ ST 1 23)。 全体距離 = (一定速時間 +減速停止時間） X目標速度 で予め決められたものであるため、 目標速度はその逆数であり、従って目 標速度を表す式は、 目標速度 =全体の距離 （一定速時間 +減速停止時間） となる。全体の距離は既知の目標位置と変わらないから、この式により目 標速度を求める（ST 1 23 )。  Next, in FIG. 12, it is determined whether or not the case is a linear interpolation (ST122). If Yes, the acceleration / deceleration time is adjusted to the maximum axis of the eight axes, and then the other axis is set. When decelerating and stopping from the stop state, the time of the initial acceleration / deceleration operation and the time of deceleration stop operation are the same, so the entire distance is obtained (ST123). Overall distance = (constant speed time + deceleration stop time) X Target speed Since the target speed is determined in advance, the target speed is the reciprocal of it, so the target speed formula is: target speed = total distance (constant (Speed time + deceleration stop time). Since the overall distance is not different from the known target position, the target speed is obtained by this equation (ST123).
なお、何故直線補間が必要であるかというと、次に述べる問題があるか らである。  The reason why linear interpolation is necessary is because there are the following problems.
第 1 3図は例えば、 XYテ一ブルなどにおいて、 A位置から B位置へと移 動する軌跡を描く場合の処理を示すもので、 （a )に示すように、 X軸、 Y軸 とも同時に目標位置に到達しても、 （b )に示すように、初期加减速時間 および減速停止時間が X軸、 Y軸で異なった場合には、 A位置から B位 置には移動するものの、その軌跡は直線でなく、 （a )の破線で示すごとく、 軌跡は直線ではなくなる。それ故、 （c )に示すごとく、初期加減速時間お よび減速停止時間を XY軸で合わせ、動作を同期させることで、 A位置か ら B位置への移動軌跡を直線に出来るからである。 FIG. 13 shows a process for drawing a trajectory moving from the position A to the position B in, for example, an XY table. As shown in (a), both the X axis and the Y axis are simultaneously displayed. Even if the target position is reached, as shown in (b), if the initial acceleration time and deceleration stop time are different on the X-axis and Y-axis, it moves from position A to position B, The trajectory is not a straight line, and the trajectory is not a straight line as shown by the broken line in (a). Therefore, as shown in (c), the initial acceleration / deceleration time This is because the movement trajectory from position A to position B can be made a straight line by synchronizing the motion and the deceleration stop time on the XY axis.
それ故、この直線補間の場合においては、初期加減速動作と減速停 止動作における加速度は最高加速度に必ずしも一致しない。  Therefore, in the case of this linear interpolation, the acceleration in the initial acceleration / deceleration operation and the acceleration / deceleration stop operation does not always coincide with the maximum acceleration.
以上の計算過程において移動時間や移動距離がマイナスになった場 合、物理的にありえないのでエラーとする。  If the travel time or travel distance becomes negative in the above calculation process, it is physically impossible, and an error is generated.
エラーが発生したか否かにより、再計算が必要か否かを判定し（S T 1 2 4 )、 N Oであれば、 1ステップ分の計算を完了し、 次のステップの計算処 理に移行し、同計算処理を最終ステップまで繰返す。  It is determined whether recalculation is necessary based on whether or not an error has occurred (ST124). If NO, the calculation for one step is completed, and the process proceeds to the calculation processing of the next step. , And repeats the calculation until the last step.
なお、 YE Sであるならば、適当な刻み幅で目標速度を下げながら自動 的再計算し（ST 1 25 )、再び第 10図の ST 1 02からの計算を繰返す。 また、 ST 1 2 1で NO、すなわち、直線補間でない場合には、ステップ 1 2 4までジャンプする。これは、前述の A地点から B地点に至る軌跡が直線 であってもなくても良く、要は目標位置が一致していさえすれば良い場合 である。そして、この場合においても、前記と同様エラーの有無を判定し、 再計算が必要か否かを判定し（S T 1 24 )、 N Oであれば、 1ステップ分の 計算を完了し、次のステップの計算処理に移行する。  If YES, the calculation is automatically re-calculated while reducing the target speed at an appropriate step (ST 125), and the calculation from ST 102 in FIG. 10 is repeated again. If NO in ST122, that is, if not linear interpolation, the process jumps to step 124. This is the case where the trajectory from the point A to the point B described above may or may not be a straight line, that is, it is only necessary that the target positions coincide. Also in this case, it is determined whether or not there is an error as described above, and whether or not recalculation is necessary (ST124). If NO, the calculation for one step is completed, and the next step is performed. Move on to the calculation process.
以上のごとく、台形速度補間の実用上の問題として、速度差があまり に大きいとその軸に許された加速度では目標速度まで加速できないとか、 目標位置までに減速停止できないと言うことがあり得る。このようなエラ一 が生じた場合に備えて、適当な刻み幅で目標速度を下げながら、 自動的 に再計算を行う。なお、実用的には 1 %ずつ低下させた状態で再計算を 実行すればよい。  As described above, as a practical problem of trapezoidal speed interpolation, if the speed difference is too large, it may not be possible to accelerate to the target speed with the acceleration allowed for the axis or to decelerate and stop to the target position. In case such an error occurs, recalculation is performed automatically while lowering the target speed with an appropriate step size. In practice, recalculation may be performed with the rate reduced by 1%.
第 14図は以上の計算処理による各軸の動作特性を示すもので、縦軸 に速度、横軸に時間を取ってある。この場合には、各ステップ毎に台形の 加減速が連続した第二パターンの動作特性が繰返され、最終ステップで 第一パターンの動作となり、速度 0に到達するものとなる。 FIG. 14 shows the operating characteristics of each axis by the above calculation process, in which the vertical axis represents speed and the horizontal axis represents time. In this case, trapezoidal The operation characteristics of the second pattern in which the acceleration and deceleration are continuous are repeated, and the operation of the first pattern is performed in the final step, and the speed reaches zero.
なお、以上の実施形態では、ウィンドウズ画面上で、形状確認しながら 形状指定と、数値入力によって各軸に対する指令データを生成できるよ うにしたが、その他例えば Gコードのような命令手段も採用可能であること は勿論である。  In the above-described embodiment, the command data for each axis can be generated by specifying the shape while confirming the shape on the Windows screen and inputting a numerical value. Of course there is.
本発明の多軸加工機におけるモータの制御方法によれば、各軸の速 度変化による軌跡精度の低下がない。従って、例えば低速で確認し、高 速動作させる場合などの段取時間が大幅短縮できる。  According to the motor control method in the multi-axis machine according to the present invention, there is no decrease in the trajectory accuracy due to the speed change of each axis. Therefore, for example, when checking at a low speed and operating at a high speed, the setup time can be greatly reduced.
一例として第 4図は（a )、 （b )は、本発明の方法を用いた場合における XY軸の速度軌跡、および移動軌跡を示すものである。 図において、 X軸， Y軸ともに、速度が 1 00 %であっても、 50 %であっても加速および減速停 止時における移動距離 S ( = S 1および S 2 )は一定であり、従って、 P 1 地 点の破線に示す角の丸め量は高速であれ、低速であれ一定であるため、 軌跡精度を一定に保持できる。 産業上の利用可能性  As an example, FIGS. 4 (a) and (b) show the velocity trajectory and the movement trajectory of the XY axis when the method of the present invention is used. In the figure, the travel distance S (= S 1 and S 2) at the time of acceleration and deceleration stop is constant regardless of whether the speed is 100% or 50% for both the X and Y axes. Since the rounding amount of the corner indicated by the broken line at the point P 1 is constant regardless of whether the speed is high or low, the trajectory accuracy can be kept constant. Industrial applicability
実施形態では、本発明をばね成形機に適用した場合を示したが、その 他のカム軸などを多用した多軸の塑性加工機、さらには一般的多軸加 ェ機にも適用可能である。  In the embodiment, the case where the present invention is applied to a spring forming machine is shown. However, the present invention is also applicable to other multi-shaft plastic working machines using a lot of camshafts and the like, and further to general multi-shaft processing machines. .

Claims

請求の範囲 The scope of the claims
1 . 多軸加工機の各軸に設けたモータを順次駆動することによって、各 軸を順次目標位置に到達させて各軸に取り付けられたツールによりヮ ークの加工を行う多軸加工機におけるモータの制御方法であって、 各軸の速度を、その目標位置までの速度変化が速度連続になるよ うに区分的一次関数として順次決定してゆく台形速度補間を行うこと を特徴とするモータの制御方法。 1. By sequentially driving the motors provided on each axis of the multi-axis machining machine, each axis is sequentially reached to the target position, and machining of the workpiece is performed by a tool attached to each axis. A motor control method, wherein trapezoidal speed interpolation is performed by sequentially determining the speed of each axis as a piecewise linear function so that the speed change to its target position is continuous. Control method.
2. 位置と速度と加速度からなるデータの系列であって少なくとも位置デ —タは系列中の全ステップに指定されているものを入力とし、必要なデ ータが欠けている場合にはそれを自動的に決定することを特徴とする 請求の範囲 1に記載のモータの制御方法。 2. Input a sequence of data consisting of position, velocity and acceleration, at least the position data specified for all steps in the sequence, and if necessary data is missing, The method for controlling a motor according to claim 1, wherein the method is automatically determined.
3 . 前記台形速度補間において、各ステップのパターンを、 目標位置に 達した時点で停止する第一パターンと、 目標位置に達した時点で停止 しない第二パターンとに分けて処理することを特徴とする請求の範囲 1 又は請求の範囲 2に記載のモータの制御方法。 3. In the trapezoidal speed interpolation, the pattern of each step is processed by dividing into a first pattern that stops when the target position is reached and a second pattern that does not stop when the target position is reached. A method for controlling a motor according to claim 1 or claim 2.
4 . 前期第一パターンにおいては、現在速度から目標速度まで加速又 は減速するための時間、 目標速度で移動する時間、 目標速度から速 度 0まで減速するための時間、という 3つの時間をデータとして用い、前 記第二パターンにおいては、初期加減速動作の時間、一定速動作の 時間、という 2つの時間をデータとして用いることを特徴とする請求の範 囲 3に記載のモータの制御方法。 4. In the first pattern of the previous term, three times, the time for accelerating or decelerating from the current speed to the target speed, the time for moving at the target speed, and the time for decelerating from the target speed to speed 0, are data. 4. The motor control method according to claim 3, wherein two times, that is, the time of the initial acceleration / deceleration operation and the time of the constant speed operation, are used as data in the second pattern.
5. 多軸加工機の各軸に設けたモータを順次駆動することによって、各 軸を順次目標位置に到達させて各軸に取り付けられたツールによりヮ —クの加工を行う多軸加工機においてモータの制御を行うためのソフト ウェアであって、 5. In a multi-axis machining machine that sequentially drives the motors provided on each axis of the multi-axis machining machine to cause each axis to sequentially reach the target position and machine the workpiece with the tool attached to each axis. Software for controlling the motor,
各軸の速度を、その目標位置までの速度変化が速度連続になるよ うに区分的一次関数として順次決定してゆく台形速度補間を行うこと を特徴とするソフトウェア。  Software that performs trapezoidal speed interpolation by sequentially determining the speed of each axis as a piecewise linear function so that the speed change to its target position is continuous.
6. 位置と速度と加速度からなるデータの系列であって少なくとも位置デ —タは系列中の全ステップに指定されているものを入力とし、必要なデ ータが欠けている場合にはそれを自動的に決定することを特徴とする 請求の範囲 5に記載のソフトウェア。 6. Input a sequence of data consisting of position, velocity, and acceleration, at least as the position data specified for all steps in the sequence, and if necessary data is missing, 6. The software according to claim 5, wherein the software is automatically determined.
7 . 前記台形速度補間において、各ステップのパターンを、 目標位置に 達した時点で停止する第一パターンと、 目標位置に達した時点で停止 しない第二パターンとに分けて処理することを特徴とする請求の範囲 5 又は請求の範囲 6に記載のソフトウェア。 7. In the trapezoidal speed interpolation, the pattern of each step is processed by dividing into a first pattern that stops when the target position is reached and a second pattern that does not stop when the target position is reached. The software according to claim 5 or claim 6.
8 . 前期第一パターンにおいては、現在速度から目標速度まで加速又 は減速するための時間、 目標速度で移動する時間、 目標速度から速 度 0まで減速するための時間、という 3つの時間をデータとして用レ、、前 記第二パターンにおいては、初期加減速動作の時間、一定速動作の 時間、という 2つの時間をデータとして用いることを特徴とする請求の範 囲 7に記載のソフトウェア。 8. In the first pattern of the previous term, three times, the time for accelerating or decelerating from the current speed to the target speed, the time for moving at the target speed, and the time for decelerating from the target speed to speed 0, are data. 8. The software according to claim 7, wherein in the second pattern, two times, that is, an initial acceleration / deceleration operation time and a constant speed operation time, are used as data.
9. 各軸に設けたモータを順次駆動することによって各軸を順次目標位 置に到達させて各軸に取り付けられたツールによりワークの加工を行う 多軸加工機であって、 9. A multi-axis processing machine that sequentially drives a motor provided on each axis to sequentially reach a target position for each axis and processes a workpiece with a tool attached to each axis.
各軸の速度を、その目標位置までの速度変化が速度連続になるよ うに区分的一次関数として順次決定してゆく台形速度補間を行うよう に各モータが制御されることを特徴とする多軸加工機。  Each axis is controlled so as to perform trapezoidal speed interpolation in which the speed of each axis is sequentially determined as a piecewise linear function so that the speed change to its target position is continuous. Processing machine.
1 0 . 位置と速度と加速度からなるデータの系列であって少なくとも位置 データは系列中の全ステップに指定されているものを入力とし、必要な データが欠けている場合にはそれが自動的に決定されることを特徴とす る請求の範囲 9に記載の多軸加工機。 10. A sequence of data consisting of position, velocity, and acceleration. At least position data specified for all steps in the sequence is input. If necessary data is missing, it is automatically input. The multi-axis processing machine according to claim 9, wherein the multi-axis machining center is determined.
1 1 . 前記台形速度補間において、各ステップのパターンが、 目標位置 に達した時点で停止する第一パターンと、 目標位置に達した時点で停 止しない第二パターンとに分けて処理されることを特徴とする請求の範 囲 9又は請求の範囲 10に記載の多軸加工機。 1 1. In the trapezoidal speed interpolation, the pattern of each step is processed separately into a first pattern that stops when the target position is reached and a second pattern that does not stop when the target position is reached. The multi-axis processing machine according to claim 9 or claim 10, characterized in that:
1 2 . 前期第一パターンにおいては、現在速度から目標速度まで加速又 は減速するための時間、 目標速度で移動する時間、 目標速度から速 度 0まで減速するための時間、という 3つの時間がデータとして用いられ. 前記第二パターンにおいては、初期加減速動作の時間、一定速動作 の時間、という 2つの時間がデータとして用いられることを特徴とする請 求の範囲 1 1に記載の多軸加工機。 1 2. In the first pattern of the previous term, there are three times: time to accelerate or decelerate from the current speed to the target speed, time to move at the target speed, and time to decelerate from the target speed to speed 0. The multi-axis according to claim 11, wherein in the second pattern, two times, that is, an initial acceleration / deceleration operation time and a constant speed operation time, are used as data. Processing machine.
PCT/JP2001/002494 2001-03-27 2001-03-27 Multi-spindle finishing machine and control method for its motor WO2002077730A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59199135A (en) * 1983-04-26 1984-11-12 Morita Tekkosho:Kk Method and device for forming pigtail for coil spring
JPH05324046A (en) * 1992-05-18 1993-12-07 Mitsubishi Electric Corp Method and device for numerically controlling multiple system
JPH10323731A (en) * 1997-05-23 1998-12-08 Asahi Seiki Mfg Co Ltd Spring forming equipment

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59199135A (en) * 1983-04-26 1984-11-12 Morita Tekkosho:Kk Method and device for forming pigtail for coil spring
JPH05324046A (en) * 1992-05-18 1993-12-07 Mitsubishi Electric Corp Method and device for numerically controlling multiple system
JPH10323731A (en) * 1997-05-23 1998-12-08 Asahi Seiki Mfg Co Ltd Spring forming equipment

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