WO2014002381A1 - Numerical control device - Google Patents
Numerical control device Download PDFInfo
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- WO2014002381A1 WO2014002381A1 PCT/JP2013/003402 JP2013003402W WO2014002381A1 WO 2014002381 A1 WO2014002381 A1 WO 2014002381A1 JP 2013003402 W JP2013003402 W JP 2013003402W WO 2014002381 A1 WO2014002381 A1 WO 2014002381A1
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- machine axis
- path
- acceleration
- deceleration
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- 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
- G05B19/4155—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 programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
Definitions
- the present invention relates to a numerical control device used for various machine tools.
- Patent Document 1 discloses a numerical control device that performs numerical control of such a transfer device.
- a tool path representing a change in the position coordinate of a tool in a coordinate system fixed on a workpiece as a function of a parameter is obtained from a machining program, and the transfer path of the transfer device is determined from the tool path.
- a drive axis path for each drive axis is obtained, and a command pulse indicating a movement amount for each reference unit time (cycle time) in each drive axis is obtained based on the obtained drive axis path for each drive axis, and obtained.
- Each transfer device is controlled by outputting the command pulse to the motor of the transfer device corresponding to each drive shaft.
- block smooth interpolation and corner smooth interpolation are performed on the drive axis path, and the command pulse is obtained by pulse interpolation from the drive axis path after the smooth interpolation.
- the block smooth interpolation interpolates a drive axis path formed by connecting a large number of command points with straight lines into a smooth curve, and the corner smooth interpolation is positioned before and after a predetermined command point in the drive axis path. This corner portion is interpolated so that a corner portion where the amount of change in coordinates changes greatly is a corner that smoothly turns.
- Patent Document 2 shows a numerical control device capable of solving such a problem.
- post-interpolation acceleration / deceleration processing that can correct abnormal data that causes mechanical shock is performed.
- a movement command to be output to the servo motor for each drive axis is obtained by performing interpolation processing (pulse interpolation) on a path obtained by converting the machining program into an execution format, and the obtained movement command Acceleration / deceleration processing is performed on According to this post-interpolation acceleration / deceleration processing, even if a portion corresponding to abnormal data in the drive axis path is included in the movement command obtained by pulse interpolation, a portion corresponding to the abnormal data in the movement command And the occurrence of mechanical shock can be suppressed.
- interpolation processing pulse interpolation
- the post-interpolation acceleration / deceleration processing shown in Patent Document 2 has an effect of suppressing the occurrence of mechanical shock caused by abnormal data, but on the other hand, it causes an error in the workpiece machining shape. There is a drawback of making it.
- the part to which the acceleration / deceleration process is applied is not limited in the movement command, so the acceleration / deceleration process corresponds to the abnormal data in the movement command. It can also be applied to parts other than parts.
- the acceleration / deceleration processing is performed on a part of the movement command that corresponds to a part that actually instructs acceleration or deceleration of the tool or workpiece in the machining program, the tool or workpiece to be executed based on that part is processed.
- the acceleration or deceleration is alleviated, and as a result, an error occurs with respect to the machining shape indicated by the machining program in the shape of the actually machined workpiece. For this reason, it is required to reduce the machining shape error associated with such post-interpolation acceleration / deceleration processing.
- An object of the present invention is to provide a numerical control device capable of suppressing an error in a machining shape of a workpiece while suppressing occurrence of a mechanical shock due to abnormal data in a machine axis path.
- a numerical control device includes a plurality of transfer devices for transferring a workpiece or a tool for machining the workpiece as a target object to process the workpiece, and each of the transfer devices is configured as described above.
- machine tools each having a support for supporting an object and a transfer unit for transferring the object by transferring the support in a specific machine axis direction, and performing numerical control of each transfer device
- a numerical control device that performs a position in each machine axis direction to which each support is to be transferred as a function of a predetermined set time based on a machining command that represents a movement trajectory of the tool during machining of the workpiece.
- a reference machine axis path deriving unit for deriving a reference machine axis path to represent, and a specific conversion to the reference machine axis path for each of the machine axis directions derived by the reference machine axis path deriving unit
- Path conversion unit for deriving a converted machine axis path for each machine axis direction by performing the processing, and for the converted machine axis path for each machine axis direction derived by the path conversion unit
- An acceleration / deceleration processing unit that performs acceleration / deceleration processing for relaxing a change in transfer speed of each of the supports obtained from the post-conversion mechanical axis path, and a mechanical axis path after acceleration / deceleration processing by the acceleration / deceleration processing unit
- a transfer amount deriving unit for deriving a transfer amount of each of the supports per predetermined set cycle time in each of the machine axis directions from the post-processing machine axis path, and the transfer amount derived by the transfer amount deriving unit
- FIG. 1 is a schematic side view of a machine tool to which a numerical control device according to an embodiment of the present invention is applied. It is a functional block diagram of a numerical control device and a special command input device according to an embodiment of the present invention. It is a functional block diagram of a post-processing machine axis path deriving unit and a memory. It is a figure which shows the locus
- the reference machine axis path is as shown in FIG. 4
- the reference machine axis path, the machine axis path after the same process as the acceleration / deceleration process, and the machine axis after the conversion unit acceleration / deceleration process are performed.
- a machine tool provided with a numerical control device 2 is for cutting a workpiece 100 that is a workpiece, and includes a workpiece transfer device 102, a column 104, a tool 105, , A tool vertical transfer device 106, a tool first horizontal transfer device 108, a tool second horizontal transfer device 110, a spindle head 112, and a control panel 114.
- the workpiece transfer device 102, the tool vertical transfer device 106, the tool first horizontal transfer device 108, and the tool second horizontal transfer device 110 are each included in the concept of the transfer device of the present invention.
- the workpiece transfer device 102 is a device for transferring the workpiece 100 in the X-axis direction, which is a direction perpendicular to the paper surface of FIG.
- the workpiece transfer device 102 includes a base 102a fixed on a predetermined installation location, a workpiece support 102b provided on the base 102a so as to be movable in the X-axis direction, and the workpiece support 102b. And a workpiece transfer section 102c (see FIG. 2) for transferring in the X-axis direction.
- the workpiece support 102b supports the workpiece 100, and the workpiece 100 is installed in a state of standing vertically on the workpiece support 102b.
- the workpiece transfer unit 102c has a servo motor as a drive source, and is operated by power generated by the servo motor to transfer the workpiece support 102b.
- the X-axis direction is included in the concept of the machine axis direction of the present invention
- the workpiece support 102b is included in the concept of the support of the present invention
- the workpiece transfer unit 102c is It is included in the concept of the transfer part of the invention.
- the column 104 is erected at a position separated from the installation location of the base 102a in the horizontal direction and in the direction perpendicular to the X axis, and extends in the vertical direction.
- the tool vertical transfer device 106 is provided on the column 104, and is a device for transferring a tool 105 for cutting the workpiece 100 in the Y-axis direction extending in the vertical direction.
- the tool vertical transfer device 106 is provided on the column 104 so as to be movable in the Y-axis direction, and is provided on the column 104.
- the vertical support 106a is transferred along the column 104 in the Y-axis direction.
- a vertical transfer unit 106b (see FIG. 2).
- the vertical support 106a supports the tool first horizontal transfer device 108.
- the tool first horizontal transfer device 108 receives the tool 105 via the tool second horizontal transfer device 110 and the spindle head 112 as will be described later.
- the vertical support 106a supports the tool 105 indirectly.
- the vertical transfer unit 106b has a servo motor as a drive source, and is actuated by power generated by the servo motor to transfer the vertical support 106a.
- the Y-axis direction is included in the concept of the machine axis direction of the present invention
- the vertical support 106a is included in the concept of the support of the present invention
- the vertical transfer unit 106b is It is included in the concept of the transfer part of the invention.
- the tool first horizontal transfer device 108 is provided on the vertical support 106a, and is a device for transferring the tool 105 in the W-axis direction extending perpendicularly to both the X-axis and the Y-axis.
- the tool first horizontal transfer device 108 includes a first horizontal support 108a provided on the vertical support 106a so as to be movable in the W-axis direction, and a vertical support 106a. And a first horizontal transfer unit 108b (see FIG. 2) that transfers in the W-axis direction.
- the first horizontal support 108a supports the tool second horizontal transfer device 110, and the tool second horizontal transfer device 110 supports the tool 105 via the spindle head 112 as will be described later.
- the horizontal support 108a indirectly supports the tool 105.
- the first horizontal transfer unit 108b has a servo motor as a drive source, and is operated by power generated by the servo motor to transfer the first horizontal support 108a.
- the W-axis direction is included in the concept of the machine axis direction of the present invention, and the first horizontal support 108a is included in the concept of the support of the present invention.
- Reference numeral 108b is included in the concept of the transfer unit of the present invention.
- the tool second horizontal transfer device 110 is provided on the first horizontal support 108a, and is a device for transferring the tool 105 in the Z-axis direction parallel to the W-axis.
- the tool second horizontal transfer device 110 is provided on the first horizontal support member 110a provided on the first horizontal support member 108a so as to be movable in the Z-axis direction, and on the first horizontal support member 108a. It has the 2nd horizontal transfer part 110b (refer FIG. 2) which transfers the support body 110a to a Z-axis direction.
- the second horizontal support 110 a supports the spindle head 112 and supports the tool 105 via the spindle head 112.
- the second horizontal transfer unit 110b has a servo motor as a drive source, and is operated by power generated by the servo motor to transfer the second horizontal support 110a.
- the Z-axis direction is included in the concept of the machine axis direction of the present invention, and the second horizontal support 110a is included in the concept of the support of the present invention, and the second horizontal transfer unit 110b is included in the concept of the transfer unit of the present invention.
- the spindle head 112 is provided on the second horizontal support 110a so that the rotation axis thereof is parallel to the W axis and the Z axis.
- the spindle head 112 holds the tool 105 and rotates the tool 105 about its axis.
- the tool 105 cuts the workpiece 100 by being brought into contact with the workpiece 100 while being rotated by the spindle head 112.
- the control panel 114 has a function for controlling the driving of each of the transfer units 102c, 106b, 108b, 110b, driving of the spindle head 112, and other parts of the machine tool.
- the control panel 114 is electrically connected to the driving sources of the transfer units 102c, 106b, 108b, 110b and the spindle head 112.
- control panel 114 includes a special command input device 122 (see FIG. 2).
- the special command input device 122 is a special command for instructing an operation accompanied by a speed change (acceleration or deceleration) of the workpiece 100 and the tool 105 in addition to the normal transfer of the workpiece 100 and the tool 105 when the workpiece 100 is processed. It is a device for inputting commands from the outside.
- the workpiece 100 or the tool 105 that is the object of transfer by the transfer devices 102, 106, 108, and 110 is referred to as an object.
- Special command input device 122 includes stop command input device 124, restart command input device 126, and override device 128.
- the stop command input device 124 is for inputting an emergency stop command for urgently decelerating and stopping the movement of the object.
- the emergency stop command is included in the concept of the special command of the present invention.
- the stop command input device 124 includes an emergency stop button 124a provided on the control panel 114, and a stop signal for transmitting an emergency stop signal to an acceleration / deceleration request monitoring unit 10 described later in response to the pressing of the emergency stop button 124a.
- a transmitter 124b In the present embodiment, pressing the emergency stop button 124a corresponds to inputting an emergency stop command.
- the restart command input device 126 is for inputting a restart command for restarting and accelerating the movement of the moving object that has stopped moving.
- the restart command is included in the concept of the special command of the present invention.
- This restart command input device 126 transmits a restart signal to a later-described acceleration / deceleration request monitoring unit 10 in response to the restart button 126a provided on the control panel 114 and the restart button 126a being pressed. And a start signal transmitter 126b.
- pressing the restart button 126a corresponds to inputting a restart command.
- the override device 128 includes an instruction to increase the moving speed of the object and an acceleration command including information on an acceleration rate that is an increasing rate of the moving speed or an instruction to decrease the moving speed of the object and a decreasing rate of the moving speed. This is for inputting a deceleration command including information on the deceleration rate.
- the acceleration command and the deceleration command are included in the concept of the special command of the present invention.
- the override device 128 includes an override dial 128a provided on the control panel 114, and a speed change signal transmitter that transmits a speed change signal according to the operation direction and the operation amount of the override dial 128a to the acceleration / deceleration request monitor 10 described later. 128b.
- the override dial 128a is an operation unit that is operated when an acceleration command or a deceleration command is input.
- the override dial 128a is provided on the control panel 114 so as to be rotatable about its axis. It is possible to input an acceleration command or a deceleration command to the override device 128 by rotating the override dial 128a in either direction.
- the operation of rotating the override dial 128a to one side corresponds to the input of an acceleration command
- the operation of rotating the override dial 128a to the other side, which is the opposite side to the one side is a deceleration command.
- the amount of rotation of the override dial 128a toward the one side corresponds to the acceleration rate of the moving object
- the amount of rotation of the override dial 128a toward the other side corresponds to the deceleration rate of the moving object.
- the speed change signal transmission unit 128b includes information on an override coefficient corresponding to the amount of rotation of the override dial 128a toward one side in response to the override dial 128a being rotated toward the one side (acceleration side).
- the override coefficient corresponding to the rotation amount of the override dial 128a toward the one side corresponds to the acceleration rate
- the override coefficient corresponding to the rotation amount of the override dial 128a toward the other side corresponds to the deceleration rate.
- the override coefficient increases from 1 when the override dial 128a is turned to the acceleration side with reference to 1, and decreases from 1 when the override dial 128a is turned to the deceleration side.
- the numerical control device 2 is provided in the machine tool having the above-described configuration, and performs numerical control of each of the transfer devices 102, 106, 108, and 110.
- the configuration of the numerical controller 2 according to the present embodiment will be specifically described with reference to FIGS.
- the numerical controller 2 includes a storage unit 4, a memory 5, and an arithmetic processing unit 6.
- the storage unit 4 stores an NC program as a machining command.
- the NC program indicates a machining path representing the movement locus and transfer speed of the tool 105 when machining the workpiece 100.
- the memory 5 stores an override coefficient immediately before the special command is input to the special command input device 122, an override coefficient included in the speed change signal, a machining path, a command path, and various machine axis paths to be described later. The information is memorized.
- the arithmetic processing unit 6 obtains a machining path from the NC program stored in the storage unit 4 and calculates the transfer amount of each support 102b, 106a, 108a, 110a per predetermined set cycle time based on the machining path. Various processes such as transfer control of each transfer unit 102c, 106b, 108b, 110b and monitoring of the input of a special command to the special command input device 122 are performed.
- the arithmetic processing device 6 includes an acceleration / deceleration request monitoring unit 10, a calculation unit 12, and a transfer control unit 14 as functional blocks.
- the acceleration / deceleration request monitoring unit 10 monitors whether or not the special command is input to the special command input device 122.
- the acceleration / deceleration request monitoring unit 10 transmits a stop signal whether or not a deceleration stop command is input to the stop command input device 124, that is, whether or not the emergency stop button 124a of the stop command input device 124 is pressed. Monitoring is performed by detecting an emergency stop signal transmitted from the unit 124b.
- the acceleration / deceleration request monitoring unit 10 sends an emergency stop request to the calculation unit 12 in response to a deceleration stop command input to the stop command input device 124, that is, an emergency stop signal is transmitted from the stop signal transmission unit 124b. To the transfer amount deriving unit 22.
- the acceleration / deceleration request monitoring unit 10 transmits a restart signal indicating whether or not a restart command has been input to the restart command input device 126, that is, whether or not the restart button 126a of the restart command input device 126 has been pressed. Monitoring is performed by detecting a restart signal transmitted from the unit 126b.
- the acceleration / deceleration request monitoring unit 10 transmits an emergency stop signal from the stop signal transmitting unit 124b, that is, an emergency stop signal is transmitted from the stop signal transmitting unit 124b after an emergency stop command is input to the stop command input device 124.
- a restart request is output to the transfer amount deriving unit 22 described later.
- the acceleration / deceleration request monitoring unit 10 transmits a speed change signal transmitted from the speed change signal transmission unit 128b as to whether an acceleration command or a deceleration command is input to the override device 128, that is, whether the override dial 128a is rotated. Monitoring is done by detecting the signal.
- the acceleration / deceleration request monitoring unit 10 receives the speed change signal transmitted from the speed change signal transmission unit 128b and outputs a speed change request including information on the override coefficient included in the speed change signal to the transfer amount derivation unit 22 described later. To do.
- the calculation unit 12 derives a machining path based on the NC program stored in the storage unit 4, derives a reference machine axis path, conversion processing of the reference machine axis path, acceleration / deceleration processing of the converted machine axis path, and special command input
- the corresponding machine axis direction (X-axis direction, Y-axis direction, W) of each support 102b, 106a, 108a, 110a per set cycle time according to the presence / absence of a special command input to the device 122 and the type of the special command. (Axis direction, Z-axis direction) and the like are calculated.
- the computing unit 12 includes a post-processing mechanical axis path deriving unit 20 and a transfer amount deriving unit 22 as functional blocks.
- the processed machine axis path deriving unit 20 obtains a processed machine axis path by performing various arithmetic processes based on the NC program stored in the storage unit 4. As illustrated in FIG. 3, the post-processing machine axis path deriving unit 20 includes a reference machine axis path deriving unit 24, a path converting unit 26, and an acceleration / deceleration filter 28 as functional blocks.
- the reference machine axis path deriving unit 24 derives a reference machine axis path that represents the position in each machine axis direction to which the supports 102b, 106a, 108a, 110a are to be transferred as a function of the set time t. Is.
- the reference mechanical axis path deriving unit 24 includes a program reading unit 30, a curved surface interpolation unit 32, a command path calculation unit 34, an acceleration / deceleration calculation unit 36, and a time adjustment unit 38 as functional blocks. .
- the program reading unit 30 reads a machining path (tool path) from the NC program stored in the storage unit 4.
- the machining path represents the trajectory that the tool 105 moves when machining the workpiece 100 and the speed of the tool 105.
- the machining path read by the program reading unit 30 is stored in the memory 5.
- the curved surface interpolation unit 32 performs an interpolation operation so that the machining path becomes a smooth path as necessary.
- the machining path after the interpolation calculation is stored in the memory 5.
- the command path calculation unit 34 calculates a command path that is a movement component for each machine axis direction from the machining path stored in the memory 5.
- the calculated command path for each machine axis direction is stored in the memory 5.
- the acceleration / deceleration calculation unit 36 calculates acceleration / deceleration according to acceleration / deceleration conditions for each machine axis direction with respect to the command path for each machine axis direction stored in the memory 5, that is, allowable acceleration or allowable jerk for each machine axis direction. And a machine axis path for each machine axis direction is calculated as a function of the set time t. The calculated machine axis path for each machine axis direction is stored in the memory 5 as a machine axis path before adjustment.
- the time adjustment unit 38 performs an operation for time adjustment on the pre-adjustment machine axis path stored in the memory 5 and calculates a reference machine axis path.
- the calculated reference machine axis path is stored in the memory 5.
- the path conversion unit 26 performs a specific conversion process on the reference machine axis path for each machine axis direction calculated by the acceleration / deceleration calculation unit 36 of the reference machine axis path deriving unit 24, thereby performing post-conversion for each machine axis direction. Deriving the machine axis path.
- the specific conversion process performed by the path conversion unit 26 includes a calculation process for correcting in advance an error caused by an acceleration / deceleration process described later by the acceleration / deceleration filter 28.
- the reference machine point regarding the point where the error with the converted machine axis path is equal to or less than the correction boundary value among the end points of the later-described block of the reference machine axis path for each machine axis direction A correction amount corresponding to an error between the mechanical axis path and the reference mechanical axis path obtained when the conversion unit acceleration / deceleration process, which is the same process as the later-described acceleration / deceleration process by the acceleration / deceleration filter 28, is performed on the mechanical axis path.
- Calculation processing is performed for each machine axis direction, and the reference machine axis path for each machine axis direction is corrected in a direction (cancellation direction) that cancels the error with the calculated correction amount for each machine axis direction.
- the specific conversion process performed by the path conversion unit 26 includes a post-conversion machine axis path among end points of blocks to be described later of a reference machine axis path for each machine axis direction.
- the correction amount for the point is calculated by proportional distribution from the correction amount for the two nearest command points before and after that point, and the calculated correction amount Similar to the above, a calculation process for correcting the reference machine axis path is performed.
- the trajectory of the tool 105 obtained from the reference machine axis path indicates a circle on the XY plane as shown in FIG. 4, the same conversion unit acceleration / deceleration processing as that described later is performed.
- the trajectory of the tool 105 indicated by the processed machine axis path is shifted radially inward of the path indicated by the reference machine axis path as shown in FIG.
- the path conversion unit 26 calculates a correction amount corresponding to an error between the machine axis path after processing that generates such a deviation and the reference machine axis path for each machine axis direction (X axis, Y axis) and The reference machine axis path for each machine axis direction (X axis, Y axis) is corrected in a direction that cancels the error with the calculated correction amount for each machine axis direction.
- the path conversion unit 26 calculates a post-conversion mechanical axis path that provides a trajectory of the tool 105 as shown in FIG. 5, for example. That is, in the form shown in FIG. 5, the trajectory of the tool 105 obtained from the post-conversion mechanical axis path results in a trajectory obtained by correcting the trajectory of the tool 105 obtained from the reference mechanical axis path radially outward.
- the acceleration / deceleration filter 28 transfers the support bodies 102b, 106a, 108a, 110a obtained from the post-conversion machine axis path to the post-conversion machine axis path for each machine axis direction derived by the path conversion unit 26. Acceleration / deceleration processing is performed to mitigate changes in speed. Details of the acceleration / deceleration processing by the acceleration / deceleration filter 28 will be described later.
- the transport amount deriving unit 22 supports each support body per predetermined set cycle time in each machine axis direction from the machine axis path after acceleration / deceleration processing by the acceleration / deceleration filter 28 (hereinafter, referred to as post-process machine axis path in some cases).
- the transfer amounts of 102b, 106a, 108a, and 110a are derived.
- the set cycle time is set as a length of time that the set time advances while the reference time advances by the reference cycle time.
- the reference cycle time is a time length corresponding to the interpolation calculation period when the transfer amount deriving unit 22 derives the transfer amount.
- the transfer amount deriving unit 22 supports each of the supports 102b and 106a per set cycle time according to whether or not a special command is input to the special command input device 122 and the type of the special command. , 108a, 110a are calculated from the machine axis path after processing. Specifically, when there is no special command input to the special command input device 122, the transfer amount deriving unit 22 determines each support 102b, 106a, 108a, per set cycle time from the post-processing machine axis path. While the transfer amount in the corresponding machine axis direction of 110a is calculated, when a special command is input to the special command input device 122, the length of the set cycle time is accordingly sent to the special command input device 122.
- the length of the support 102b, 106a, per set cycle time after the change is changed from the length in the state immediately before the input of the special command to the length corresponding to the speed change of the object indicated by the special command.
- the transfer amounts in the machine axis direction corresponding to 108a and 110a are calculated from the post-process machine axis path.
- the transfer control unit 14 supports the support bodies 102b, 106a, 102b corresponding to the transfer parts 102c, 106b, 108b, 110b according to the transfer amounts of the support bodies 102b, 106a, 108a, 110a derived by the transfer amount deriving part 22. 108a and 110a are moved in the corresponding machine axis direction. Specifically, the transfer control unit 14 creates a servo command pulse for instructing the transfer amount for each machine axis direction derived by the transfer amount deriving unit 22 and creates the servo command pulse for each machine axis direction.
- the processed machine axis path deriving unit 20 of the calculation unit 12 derives a processed machine axis path based on the NC program stored in the storage unit 4 (step S2 in FIG. 6).
- the specific process of this derivation is shown in the flowchart of FIG.
- the program reading unit 30 reads the NC program stored in the storage unit 4, and derives the machining path from the read NC program (step S22 in FIG. 7).
- the derived machining path is stored in the memory 5.
- the curved surface interpolation unit 32 needs to smooth the locus indicated by the machining path stored in the memory 5, the curved surface interpolation of the machining path is performed (step S24).
- the curved surface interpolation unit 32 stores the processing path after the curved surface interpolation in the memory 5.
- the command path calculation unit 34 converts the machining path stored in the memory 5 into a movement component for each machine axis direction using an inverse kinematic relational expression, thereby moving the machine path for each machine axis direction.
- a command path representing the component is calculated (step S26).
- the command path calculation unit 34 stores the calculated command path for each machine axis direction in the memory 5.
- the acceleration / deceleration calculation unit 36 performs acceleration / deceleration calculation according to the allowable acceleration and allowable jerk for each machine axis direction for the command path stored in the memory 5, thereby adjusting each machine axis direction.
- a front mechanical axis path is calculated (step S28).
- the acceleration / deceleration calculation unit 36 causes the memory 5 to store the pre-adjustment machine axis path for each calculated machine axis direction.
- the time adjustment unit 38 adjusts the time of the pre-adjustment machine axis path for each machine axis direction stored in the memory 5 to calculate a reference machine axis path for each machine axis direction (step S29). Specifically, the conversion unit acceleration / deceleration processing described later is directly performed on the part corresponding to the acceleration period immediately after the start of the object transfer and the part corresponding to the deceleration period immediately before the stop of the object transfer in the pre-adjustment machine axis path. When performing the above, there is a difference in the set times in those portions.
- the time adjustment unit 38 performs time adjustment for eliminating the deviation of the set time in advance before the conversion unit acceleration / deceleration processing described later to derive the reference mechanical axis path.
- the time adjustment unit 38 obtains the following equation according to the linear distribution function f (T). Used to adjust the time of the machine axis path before adjustment.
- the following expression represents a general expression of a function used for time adjustment in a form corresponding to a linear distribution form.
- t is the set time before time adjustment
- tj (t) is the time after time adjustment
- Tj is the machine axis direction corresponding to the pre-adjustment machine axis path to be adjusted. Is the time constant of.
- the plurality of linear blocks P A i (t) constitute a reference machine axis path P A (t).
- the time adjustment unit 38 adjusts the time of the pre-adjustment mechanical axis path and obtains a plurality of linear blocks that are subdivided, thereby obtaining a reference mechanical axis path composed of the plurality of linear blocks.
- the time adjustment unit 38 causes the memory 5 to store a reference machine axis path P A (t) composed of a plurality of blocks P A i (t) for each machine axis direction obtained as described above.
- the path conversion unit 26 performs conversion processing on the reference machine axis path for each machine axis direction stored in the memory 5 to derive a converted machine axis path for each machine axis direction (step S30). . Specifically, the path conversion unit 26 performs a calculation process according to the flowchart shown in FIG. 8 as the conversion process. Hereinafter, this calculation process will be described in detail.
- the path conversion unit 26 performs the following conversion unit acceleration / deceleration processing with respect to the reference machine axis path for each machine axis direction derived as described above and stored in the memory 5 (step S42). ).
- the following description will focus on the acceleration / deceleration processing of the conversion part of the reference machine axis path in one machine axis direction, but the reference machine axis paths in all other machine axis directions are also described.
- the same conversion unit acceleration / deceleration processing is performed for each machine axis direction.
- the path conversion unit 26 performs acceleration / deceleration processing for each block P A i (t) of the reference machine axis path. Specifically, the path converting unit 26, a setting time which is in the reference machine axis predetermined block P A i (t) in the path and t, the mechanical axis direction of the reference machine axis path subjected to the conversion unit deceleration processing the half of the constant Tj when set as a, a distribution function which satisfies the following equation (4) and f (T), the converted portion deceleration process corresponding to the predetermined block P a i (t)
- the block of the machine axis path is Q A i (t)
- the speed function of the predetermined block P A i (t) at each set time T in the distribution target section from ta to t + a is represented by P A i ′ ( T), a speed function Q A i ′ (t) that is a first-order differential function at a set time t of
- the distribution function f (T) used by the path conversion unit 26 in the above arithmetic processing is the same as the distribution function used when the acceleration / deceleration filter 28 performs the acceleration / deceleration processing.
- the path conversion unit 26 and the acceleration / deceleration filter 28 both perform distribution in a linear distribution format (a format in which the speed function is evenly distributed over the entire distribution interval), and the distribution function f (T) corresponding to this distribution format is It is a linear partition function expressed by the following equation.
- the speed function Q A i ′ (t) in each case is as follows.
- the calculated speed function Q A i ′ (t) is expressed by the following speed function q A i11 ′ (t) in the section from t [i] ⁇ a to t [i] + a and t [i ] + 'and (t), t [i + 1] t from -a [i + 1] + speed function of the section up to a q a i13' a from t [i + 1] speed function of the section up -a q a i12 and (t) It is subdivided into.
- a speed function q A i11 ′ (t) in a section from t [i] ⁇ a to t [i] + a is expressed by the following equation (7).
- a speed function q A i12 ′ (t) in a section from t [i] + a to t [i + 1] ⁇ a is expressed by the following equation (8).
- the relationship t [i] ⁇ a ⁇ t [i] ⁇ t [i + 1] ⁇ a ⁇ t [i] + a ⁇ t [i + 1] ⁇ t [i + 1] + a holds.
- the calculated speed function Q A i ′ (t) is the following speed function q A i21 ′ (t) in the section from t [i] -a to t [i + 1] -a: , T [i + 1] -a to t [i] + a interval speed function q A i22 ′ (t) and t [i] + a to t [i + 1] + a interval velocity function q A i23 ′ ( t).
- the path conversion unit 26 calculates the overall speed function Q A ′ (t) by accumulating the speed functions Q A i ′ (t) for each block calculated as described above, and the calculated overall The mechanical axis path Q A (t) after the conversion unit acceleration / deceleration processing is calculated by integrating the speed function Q A ′ (t).
- the path conversion unit 26 subtracts the reference machine axis path P A (t) for the corresponding machine axis direction from the calculated machine axis path Q A (t) after the conversion unit acceleration / deceleration processing for each machine axis direction.
- a reference error which is an error between the machine axis path Q A (t) after the conversion unit acceleration / deceleration processing and the reference machine axis path after the time adjustment in each machine axis direction, is calculated (step S44).
- the path conversion unit 26 sets the reference machine after the time adjustment corresponding to the end point value of each block Q A i (t) of the machine axis path Q A (t) after the conversion unit acceleration / deceleration processing.
- the reference error is calculated by subtracting the end point value of the axis path block P A i (t). Specifically, the path conversion unit 26 calculates a reference error e [i] for each end point of each block Q A i (t) by the following equation (13).
- the path conversion unit 26 calculates the reference error e [i] for each end point of each block Q A i (t) as described above, and then uses each end point of each block Q A i (t) as a correction boundary value. Based on this, the first correction target point and the second correction target point are classified (step S46).
- the second correction target point includes a corner portion (for example, the vertex of the polygon when the trajectory indicated by the mechanical axis path indicates a polygonal trajectory), and the specification immediately after the first start point of the mechanical axis path.
- the end point of the block included in the section (constant section immediately after the start of transfer), the end point of the block included in the specific section (predetermined section immediately before the stop of transfer) immediately before the last end point of the machine axis path, and the speed change need to be suddenly relieved
- the first correction target point is an end point other than the second correction target point, and is an end point of a block included in a section instructing smooth transfer in the mechanical axis path.
- the correction boundary value is stored as a set value in the memory 5, and the path conversion unit 26 has a point that the reference error e [i] is less than or equal to the correction boundary value among the end points of each block Q A i (t). Is a first correction target point, and a point where the reference error e [i] exceeds the correction boundary value is a second correction target point.
- the path conversion unit 26 calculates a correction amount for each of the first correction target point and the second correction target point (step S48). Specifically, for the first correction target point, the path conversion unit 26 sets a value equal to the reference error e [i] of the point as the correction amount h1 [i] for the first correction target point.
- the path conversion unit 26 for the second correction target point, and its second correction target point and the distance L b between the most recent first correction target point before the second correction target point, the first The second correction target point is obtained by obtaining a distance La between the two correction target points and the first correction target point immediately after the second correction target point, and proportionally allocating by the following equation (14). A correction amount h2 [i] is obtained.
- e b [i] is a reference error for the first correction target point immediately before the second correction target point
- e a [i] is the second correction target. This is a reference error for the first correction target point immediately after the target point.
- the path conversion unit 26 stores in the memory 5 the correction amounts h1 [i] and h2 [i] for each end point of each block Q A i (t) obtained as described above.
- the path conversion unit 26 corrects the reference machine axis path P A (t) with the correction amounts h1 [i] and h2 [i] for each end point of each block Q A i (t) stored in the memory 5.
- the post-conversion mechanical axis path P B (t) is calculated. Specifically, the path conversion unit 26 corrects the first correction target point among the end points of each block P A i (t) of the reference machine axis path P A (t) with the correction amount h1 [i], Of the end points of each block P A i (t), the second correction target point is corrected with the correction amount h2 [i] (step S50).
- the path conversion unit 26 subtracts the correction amount h1 [i] set for the point from the end point value of the block P A i (t) of the corresponding reference machine axis path. Then, the corrected value of the first correction target point is obtained, and for the second correction target point, the correction amount h2 set for the point from the end point value of the block P A i (t) of the corresponding reference machine axis path. The corrected value of the second correction target point is obtained by subtracting [i].
- the path conversion unit 26 stores the mechanical axis path composed of the blocks obtained by the correction in this way in the memory 5 as a converted mechanical axis path.
- the converted machine axis path P B (t) consisting of n ⁇ 1) is stored in the memory 5.
- the acceleration / deceleration filter 28 derives a processed mechanical axis path by performing acceleration / deceleration processing on the converted mechanical axis path stored in the memory 5 (step S32 in FIG. 7).
- the acceleration / deceleration process by the acceleration / deceleration filter 28 is exactly the same as the acceleration / deceleration process by the path conversion unit 26.
- acceleration and deceleration filter 28 speed function P B in the formula (5) speed function P A i of the 'blocks P B i after the conversion of the (T) mechanical axis path P B (t) (t)
- the velocity function Q B i ′ (t) of each block Q B i (t) of the post-processing mechanical axis path Q B (t) is calculated using the expression replaced with i ′ (t), and each of the calculated blocks
- the speed function Q B i ′ (t) is integrated in the same manner as described above to calculate the overall speed function Q B ′ (t), and the calculated overall speed function Q B ′ (t) is integrated.
- a post-processing machine axis path Q B (t) is obtained.
- the acceleration / deceleration filter 28 uses a distribution function f (T) that satisfies the above equation (4), and calculates the speed function Q B i ′ (t) based on the following equation (15). To do.
- a post-process mechanical axis path that reduces the change in the transfer speed of each of the supports 102b, 106a, 108a, 110a indicated by the post-conversion mechanical axis path is derived.
- the processed machine axis path changes from the converted machine axis path and causes an error with respect to the converted machine axis path. Since the rear machine axis path is corrected in a direction that cancels out the error caused by the acceleration / deceleration process in advance, the post-process machine axis path does not cause an error with respect to the reference machine axis path.
- the processed machine axis path calculated by the acceleration / deceleration filter 28 is stored in the memory 5.
- the acceleration / deceleration processing by the acceleration / deceleration filter 28 is a conventional acceleration / deceleration processing after pulse interpolation (after interpolation) that can correct the portion of abnormal data that causes mechanical shock so that the change in the transfer speed indicated by the portion is reduced.
- a process substantially equivalent to the acceleration / deceleration process) is performed on the converted machine axis path.
- the mechanical axis path is set to p (t)
- the cycle time is set to ⁇ t seconds
- Cycle (0) the cycle from time i ⁇ ⁇ t to time (i + 1)
- ⁇ ⁇ t is cycle (i).
- the transfer pulse ⁇ p (i) indicating the transfer amount in the cycle (i) can be expressed by the following equation (16).
- ⁇ p (i) p ((i + 1) ⁇ ⁇ t) ⁇ p (i ⁇ ⁇ t) (16)
- the transfer pulse ⁇ p (i) of cycle (i) is set to a length equal to the time constant ⁇ between cycle (i) and cycle (i + n ⁇ 1).
- the transfer pulses of all cycles are distributed according to a distribution method in which (p ((i + 1) ⁇ ⁇ t) ⁇ p (i ⁇ ⁇ t)) / n is evenly distributed to each cycle in the distribution interval, and then each cycle
- the transfer pulse after the acceleration / deceleration process after interpolation is calculated by integrating the distribution value of the transfer pulse every time.
- the transfer pulse ⁇ q [j] of the j-th cycle (j) after the post-interpolation acceleration / deceleration processing is the transfer pulse ⁇ p [i] of each cycle from the cycle (j ⁇ n + 1) to the cycle (j).
- the transfer pulse ⁇ q [j] after post-interpolation acceleration / deceleration processing is calculated by the following equation (17).
- the transfer pulse of each cycle is distributed in a distribution section having a section width equal to the time constant after the time corresponding to the end point of the cycle. Accordingly, the corresponding distribution function f (T) satisfies the following expression (24).
- the contents of the acceleration / deceleration processing expressed by these equations (24) and (23) are as follows.
- the distribution range and the integration range of the distribution value of the speed function are compared with the distribution interval and the integration range in the acceleration / deceleration processing by the acceleration / deceleration filter 28.
- the content of the acceleration / deceleration process by the acceleration / deceleration filter 28 is substantially the same, only by shifting by a value a which is half the time constant. Accordingly, the acceleration / deceleration process by the acceleration / deceleration filter 28 has an effect substantially equivalent to the conventional post-interpolation acceleration / deceleration process, that is, an effect of reducing the change in the transfer speed of the abnormal data portion.
- the transfer amount deriving unit 22 initially sets a predetermined set time Ts to 0 and initially sets a predetermined set cycle time ⁇ T to 1 (step S6 in FIG. 6).
- the transfer amount deriving unit 22 further calculates a value g (t) obtained by differentiating the set time function T (t) representing the set time Ts as a function with respect to the reference time t with the reference time t at the reference time t.
- the differentiated value dg is initially set to 0 (step S8).
- the transfer amount deriving unit 22 determines each machine axis direction per set cycle time ⁇ T based on the data of the processed machine axis path Q B (t) for each machine axis direction stored in the memory 5.
- Each transfer amount dP [axis] is calculated by the following equation (25) (step S10).
- the transfer amount deriving unit 22 uses the transfer amount dP [axis] for each machine axis direction calculated as described above to determine the current transfer speed V of the object in the synthesis direction in each machine axis direction (hereinafter referred to as the synthesis rate).
- V is calculated by the following equation (26) (step S11).
- dP [] is a combined transfer amount obtained by synthesizing the transfer amount for each machine axis direction per set cycle time ⁇ T, and the transfer amount deriving unit 22 determines the direction of each machine axis. It is obtained by synthesizing each transfer amount dP [axis].
- the transfer control unit 14 drives each transfer unit 102c, 106b, 108b, 110b according to the transfer amount dP [axis] for each machine axis direction derived by the transfer amount deriving unit 22 (step S12). .
- the transfer control unit 14 instructs a servo command to instruct to transfer each support 102b, 106a, 108a, 110a by the transfer amount dP [axis] per reference cycle time (1 mmsec in the present embodiment).
- a pulse is created for each machine axis direction, and the created servo command pulse for each machine axis direction is output to the corresponding one of the transfer units 102c, 106b, 108b, 110b.
- the servo motors of the respective transfer units 102c, 106b, 108b, 110b according to the servo command pulse from the transfer control unit 14, support members 102b, 106a, 108a, 108b, 106a, 108a, The corresponding one of 110a is transferred in the corresponding machine axis direction.
- the transfer amount deriving unit 22 determines whether or not the processing for the entire period of the processed mechanical axis path Q B (t) stored in the memory 5 has been completed (step S14). Specifically, the data of the post-processing mechanical axis path Q B (t) stored in the memory 5 is subjected to arithmetic processing for obtaining the transfer amount dP [axis] in order for each set cycle time ⁇ T as described above. Therefore, in step S14, it is determined whether or not the calculation process has been completed for the entire period of the processed mechanical axis path Q B (t) stored in the memory 5.
- the numerical control process by the numerical controller 2 is performed. finish.
- the acceleration / deceleration request monitoring unit 10 monitors whether or not a special command is input to the special command input device 122 in a process as shown in FIG.
- the acceleration / deceleration request monitoring unit 10 first determines whether or not the machine tool is in continuous operation (step S122). Here, if the acceleration / deceleration request monitoring unit 10 determines that the machine tool is in continuous operation, it next determines whether or not the emergency stop button 124a has been pressed (step S124).
- step S126 When the acceleration / deceleration request monitoring unit 10 detects an emergency stop signal transmitted from the stop signal transmission unit 124b and determines that the emergency stop button 124a has been pressed, it issues an emergency stop request (step S126). Thereafter, the process of step S122 is performed again. On the other hand, when determining that the emergency stop button 124a has not been pressed, the acceleration / deceleration request monitoring unit 10 next determines whether or not the override dial 128a has been turned (step S128).
- step S130 a speed change request including information on the override coefficient k corresponding to the rotation amount is issued (step S130), and then the process of step S122 is performed again. If the acceleration / deceleration request monitoring unit 10 determines that the override dial 128a is not turned, the acceleration / deceleration request monitoring unit 10 performs the process of step S122 again without issuing a speed change request.
- each support body by each transfer unit 102c, 106b, 108b, 110b according to the emergency stop request. It is determined whether or not the transfer of 102b, 106a, 108a, 110a is stopped (step S132).
- step S134 determines whether the restart button 126a has been pressed.
- the acceleration / deceleration request monitoring unit 10 detects the restart signal transmitted from the restart signal transmitting unit 126b and determines that the restart button 126a has been pressed, it issues a restart request (step S1). After that, the process of step S122 is performed again. If the acceleration / deceleration request monitoring unit 10 determines that the restart button 126a has not been pressed, the acceleration / deceleration request monitoring unit 10 performs the process of step S122 again without issuing a restart request.
- step S14 determines in the determination in step S14 that the processing for the entire period of the processed mechanical axis path Q B (t) stored in the memory 5 has not been completed. Then, it is determined whether or not an emergency stop request is issued from the acceleration / deceleration request monitoring unit 10 (step S16 in FIG. 6).
- the transfer amount deriving unit 22 executes the emergency stop process shown in FIG.
- the transfer amount deriving unit 22 first temporarily stores the current value of the synthesis speed V of the object in the memory 5 (step S52), and then the deceleration stop period time and the stop cycle time.
- a variation function g (t) is calculated (step S54).
- the transfer amount deriving unit 22 determines that the value gs of the stop-time cycle time fluctuation function g (t) at the beginning of the deceleration stop period time is equal to the set cycle time ⁇ T, and the stop-time cycle time fluctuation at the end of the deceleration stop period time.
- the deceleration stop period time and stop cycle time variation function g (t) are calculated such that the value ge of the function g (t) is 0 and the combined speed at the start of the deceleration stop period time is V. To do.
- the calculation process of the deceleration stop period time and the stop cycle time variation function g (t) is shown in FIG.
- FIG. 16 shows the calculation of the restart acceleration period time and restart cycle time fluctuation function g (t) in the restart process described later, and the speed change period time and speed change cycle time fluctuation function g in the speed change process. A process that is commonly applicable to the calculation of (t) is shown.
- the transfer amount deriving unit 22 is a period time required for the operation with the speed change in the common calculation process in the operation with the speed change of the object performed in accordance with the input of the special command to the special command input device 122.
- a cycle time variation function g (t) representing the variation of the cycle time within the period time.
- the stop cycle time variation function g (t) is, for example, when the object is moving at a constant speed at the beginning of the deceleration stop period time (when the transfer amount deriving unit 22 receives an emergency stop request). 17 when the object is accelerating at the beginning of the deceleration stop period time, the object is represented by, for example, a curve as shown in FIG. 18, and the object is at the beginning of the deceleration stop period time. When the vehicle is decelerating, for example, it is represented by a curve as shown in FIG.
- the transfer amount deriving unit 22 first determines the second-order differential value j of the stop-time cycle time fluctuation function g (t) and the stop-time cycle time.
- the slope ⁇ of the first derivative of the variation function g (t) is obtained (step S142 in FIG. 16).
- the secondary differential value j is obtained by the following equation (27), and the slope ⁇ of the primary differentiation is obtained by the following equation (28).
- J is an allowable jerk in the combined movement direction of the object
- A is an allowable acceleration in the combined movement direction of the object.
- the transfer amount deriving unit 22 determines that the value of this dg is 0 or more, the second derivative of the first half of the quadratic curve represented by the stop-time cycle time variation function g (t).
- the value j1 is set to -j (step S146).
- the transfer amount deriving unit 22 sets the secondary differential value j1 to j (step S148).
- the transfer amount deriving unit 22 compares the vertex of the first half of the quadratic curve of the stop cycle time variation function g (t) with respect to the start point of the stop cycle time variation function g (t) in the deceleration stop period time.
- the position (t0, E0) is temporarily calculated by the following equations (29) and (30), and the cycle time at the time of stop in the range from the top of the first half of the quadratic curve to the end of the second half of the quadratic curve
- a change amount E of the value of the variation function g (t) is provisionally calculated by the following equation (31) (step S150).
- the transfer amount deriving unit 22 determines whether or not the change amount E of the value of the stop-time cycle time variation function g (t) is 0 or more (step S152). Here, if the transfer amount deriving unit 22 determines that the change amount E is equal to or greater than 0, the transfer amount deriving unit 22 obtains the second-order differential value j1 of the first half of the quadratic curve of the stop cycle time variation function g (t). j is set, and the second-order differential value j2 of the second half of the quadratic curve of the stop-time cycle time variation function g (t) is set to ⁇ j (step S154).
- the transfer amount deriving unit 22 determines that the change amount E is smaller than 0, the transfer amount deriving unit 22 sets the secondary differential value j1 of the first half of the quadratic curve to ⁇ j and the quadratic curve. Is set to j, and the gradient ⁇ of the primary derivative of g (t) is set to be positive or negative (step S156).
- the transfer amount deriving unit 22 calculates the relative position (t0, E0) of the vertex of the first half of the quadratic curve with respect to the start point of the quadratic curve of the cycle time variation function g (t) at the time of stop. , (30), and the amount of change E of g (t) from the top of the first half to the end of the second half of the quadratic curve is recalculated using the above equation (22) (step S158).
- the transfer amount deriving unit 22 determines the value gu of the apex of the first half of the quadratic curve of the stop cycle time variation function g (t) and the starting point of the quadratic curve to the inflection point.
- a change amount G2 of g (t) in the range from the inflection point to the end point of the curve and a change amount G of g (t) in the range from the start point to the end point of the quadratic curve are calculated (step S160). .
- the transfer amount deriving unit 22 calculates the gu by the following equation (32), calculates the t1 by the following equation (33), and calculates the t2 by the following equation (34). Further, the transfer amount deriving unit 22 calculates G1 by the following equation (35), calculates G2 by the following equation (36), and calculates G by the following equation (37).
- the transfer amount deriving unit 22 determines that the absolute value
- the transfer amount deriving unit 22 has three sections: a first half curve section 0 ⁇ t ⁇ T1, a straight section T1 ⁇ t ⁇ T2, and a second curve section T2 ⁇ t ⁇ time.
- the cycle time fluctuation function g (t) at the time of stopping in each of the above is individually obtained (step S164).
- the transfer amount deriving unit 22 obtains the stop cycle time variation function g (t) in the section of 0 ⁇ t ⁇ T1 by the following equation (38).
- the transfer amount deriving unit 22 obtains a stop cycle time variation function g (t) in a section of T1 ⁇ t ⁇ T2 by the following equation (39).
- g (t) gu + G1 + ⁇ ⁇ (t ⁇ T1) (39) Further, the transfer amount deriving unit 22 obtains a stop-time cycle time variation function g (t) in a section of T2 ⁇ t ⁇ time by the following equation (40).
- the T1 is the time taken from the start point of the quadratic curve to the first inflection point (end point of the first half curve portion), and is obtained by the following equation (41), and the T2 Is the time taken from the start point of the quadratic curve to the second inflection point (end point of the straight line portion), and is obtained by the following equation (42).
- the deceleration stop period time is a time taken from the start point to the end point of the quadratic curve, and is obtained by the following equation (43).
- T1 t0 + t1 (41)
- T2 T1 + (EG) / ⁇ (42)
- time T2 + t2 (43)
- the transfer amount deriving unit 22 changes the cycle time at the time of stop in each of the two sections of the first half curve section 0 ⁇ t ⁇ T1 and the second half curve section T1 ⁇ t ⁇ time.
- the function g (t) is obtained individually (step S165).
- the transfer amount deriving unit 22 obtains the stop cycle time variation function g (t) in the section of 0 ⁇ t ⁇ T1 by the following equation (44).
- the transfer amount deriving unit 22 obtains a stop cycle time variation function g (t) in a section of T1 ⁇ t ⁇ time by the following equation (45).
- the deceleration stop period time is obtained by the following equation (46).
- T1 is the time taken from the start point of the quadratic curve to the inflection point (end point of the first half curve portion), and is obtained by the following equation (47).
- T1 is obtained by the following equation (48), and t2 is obtained by the following equation (49).
- t1 [2 ⁇ E ⁇ j2 / ⁇ j1 ⁇ (j2-j1) ⁇ ] 1/2 (48)
- t2 ⁇ j1 / j2 ⁇ t1 (49)
- the transfer amount deriving unit 22 initially sets the reference time t to 0 (step S56 in FIG. 13).
- the transfer amount deriving unit 22 counts up the reference time t by 1 (step S58), and subsequently, the set cycle time during deceleration that is the cycle time of the set time Ts in this emergency stop process (deceleration stop period time).
- dT2 is calculated based on the stop-time cycle time variation function g (t) obtained as described above (step S60).
- the length of the set cycle time dT2 during deceleration calculated is the state immediately before the emergency stop request is issued from the acceleration / deceleration request monitoring unit 10, that is, immediately before the emergency stop button 124a of the stop command input device 124 is pressed.
- the length is reduced from the length of the set cycle time ⁇ T in the state.
- the transfer amount deriving unit 22 calculates the deceleration set cycle time dT2 by substituting the reference time t counted up in step S58 into the stop cycle time variation function g (t).
- the transfer amount deriving unit 22 transfers the transfer amount dP [axis] for each machine axis direction per set cycle time dT2 during deceleration, that is, the transfer amount dP [axis] for each machine axis direction from the set time Ts to T + dT2. ] Is calculated by the following equation (50) (step S62).
- the transfer amount dP [axis] for each machine axis direction per deceleration set cycle time dT2 thus determined is per set cycle time ⁇ T in a state immediately before an emergency stop request is issued from the acceleration / deceleration request monitoring unit 10. This is smaller than the transfer amount for each machine axis direction.
- the transfer control unit 14 determines each transfer unit according to the transfer amount dP [axis] for each machine axis direction per deceleration set cycle time dT2 calculated by the transfer amount deriving unit 22.
- 102c, 106b, 108b, 110b is driven, and the supports 102b, 106a, 108a, 110a corresponding to the transfer units 102c, 106b, 108b, 110b are transferred by dP [ Axis] is transferred (step S64).
- the transfer amount deriving unit 22 updates the set time Ts by adding the set cycle time dT2 during deceleration calculated in step S60 to the set time Ts (step S66).
- the transfer amount deriving unit 22 determines whether or not the reference time t is equal to or greater than the deceleration stop period time (step S68).
- the transfer amount deriving unit 22 determines that the reference time t is equal to or longer than the deceleration stop period time, the transfer of the object is stopped, and the transfer amount deriving unit 22 Then, the value of the synthesis speed V stored in the memory 5 is read (step S70).
- a restart command is input to the restart command input device 126, a restart process (see FIG. 14) for restarting the transfer of the object is performed.
- the transfer amount deriving unit 22 performs the processing from step S58 onward.
- the transfer amount deriving unit 22 determines whether or not a restart request is output from the acceleration / deceleration request monitoring unit 10 (step S72).
- the transfer amount deriving unit 22 repeatedly performs the determination in step S72.
- the transfer amount deriving unit 22 determines that the restart request is issued from the acceleration / deceleration request monitoring unit 10
- the transfer acceleration period time and the restart cycle time variation function g (t ) Is calculated (step S74).
- the transfer amount deriving unit 22 has the value gs of the restart cycle time variation function g (t) at the start of the restart acceleration period time being 0, and the restart cycle time at the end of the restart acceleration period time.
- the restart acceleration period time and the cycle time at restart satisfying the condition that the value ge of the variation function g (t) is equal to the current override coefficient k and the combined speed at the end of the restart acceleration period time is V.
- a variation function g (t) is calculated.
- the calculation process of the restart acceleration period time and the restart cycle time variation function g (t) is the above-described calculation process of the deceleration stop period time and the stop cycle time variation function g (t) (steps S142 to S142 in FIG. 16). The same as S165). In this calculation process, both t0 and E0 are 0, and dg is 0.
- the restart cycle time variation function g (t) is the absolute value of the change amount of g (t) in the section from the apex of the first-order quadratic curve to the end point of the second-order quadratic curve represented by the function
- the transfer amount deriving unit 22 performs the processes in steps S76 to S88 in FIG. 14 in steps S56 to S68 in FIG. Do the same as the process.
- the transfer amount deriving unit 22 calculates the acceleration set cycle time dT2 in step S80 based on the restart cycle time variation function g (t) calculated in step S74, and in step S82, the calculation is performed.
- a transfer amount dP [axis] for each machine axis direction per acceleration set cycle time dT2 is calculated.
- step S88 When the transfer amount deriving unit 22 determines in step S88 that the reference time t is equal to or greater than the restart acceleration period time, the transfer amount deriving unit 22 performs the processing from step S8 onward in FIG. Try again.
- step S16 determines in step S16 that an emergency stop request has not been issued from the acceleration / deceleration request monitoring unit 10
- a speed change request is issued from the acceleration / deceleration request monitoring unit 10. It is determined whether or not (step S18).
- the transfer amount deriving unit 22 performs the speed change process of the object shown in FIG.
- the transfer amount deriving unit 22 first calculates the speed change period time and the speed change cycle time variation function g (t) (step S90). At this time, the transfer amount deriving unit 22 determines that the value gs of the speed change cycle time variation function g (t) at the beginning of the speed change period time becomes equal to the set cycle time ⁇ T, and the speed change time at the end of the speed change period time. The speed change period time and the speed change cycle satisfying the condition that the value ge of the cycle time variation function g (t) is equal to the override coefficient k after the speed change and the combined speed at the beginning of the speed change period time is V. A time variation function g (t) is calculated.
- the speed change cycle time variation function g (t) when the acceleration operation of the object is performed is the constant speed at the start of the speed change period time (when the transfer amount deriving unit 22 receives the speed change request). When moving, it is represented by a curve as shown in FIG. 23, for example.
- the speed change cycle time variation function g (t) when the acceleration operation of the object is further executed is as shown in FIG.
- the cycle time variation function g (t) at the time of speed change when the object is decelerating when the object is decelerating at the beginning of the speed change period time is shown in FIG. It is represented by a curve as shown.
- the speed change cycle time variation function g (t) when the object is decelerated is constant at the start of the speed change period time (when the transfer amount deriving unit 22 receives the speed change request).
- the speed change cycle time variation function g (t) when the object is decelerating is a curve as shown in FIG. 26, for example.
- the speed change cycle time variation function g (t) when the object is decelerating is a curve as shown in FIG.
- the speed change cycle time variation function g (t) in the case where the object is further decelerating when the object is decelerating at the beginning of the speed change period time is shown in FIG. It is represented by such a curve.
- is smaller than the absolute value
- the variation function g (t) is represented by a curve having a shape in which the first-half curve portion and the second-half curve portion are continuous without passing through the straight-line portion.
- the cycle time at the time of speed change is determined by a curve having a shape in which the first half curve portion and the second half curve portion of each figure are connected via a straight line portion.
- a variation function g (t) is represented.
- the transfer amount deriving unit 22 sets the reference time t to 0 (step S92), and then sets the reference time t to 1. Counts up only (step S94).
- the transfer amount deriving unit 22 calculates the set cycle time ⁇ T based on the speed change cycle time variation function g (t) calculated in Step S90 (Step S96).
- This set cycle time ⁇ T is obtained by substituting the reference time t counted up in step S94 into the speed change cycle time variation function g (t).
- the transfer amount deriving unit 22 calculates the transfer amount dP [axis] for each machine axis direction per the calculated set cycle time ⁇ T in the same manner as in Step S10 (Step S98).
- the transfer amount deriving unit 22 calculates the current synthesis speed V of the object from the transfer amount dP [axis] for each machine axis direction calculated in step S98 (step S100).
- the method for calculating the composite speed V is the same as the method for calculating the composite speed V in step S11.
- the transfer control unit 14 drives each of the transfer units 102c, 106b, 108b, and 110b in the same manner as in Step S12 according to the transfer amount dP [axis] calculated in Step S98 (Step S102). Thereafter, the transfer amount deriving unit 22 adds the set cycle time ⁇ T calculated in step S96 to the set time Ts to update the set time Ts (step S104).
- the transfer amount deriving unit 22 calculates the dg by differentiating the speed change cycle time variation function g (t) obtained in step S90 with respect to the reference time t (step S106).
- the transfer amount deriving unit 22 determines whether or not the reference time t is equal to or greater than the speed change period time (step S108), and if it is determined that the reference time t is equal to or greater than the speed change period time, If the process after step S8 is performed again and it is determined that the reference time t has not passed the speed change period time, then whether or not an emergency stop request has been issued from the acceleration / deceleration request monitoring unit 10 is determined. Is determined in the same manner as in step S16 (step S110).
- step S112 determines whether or not a speed change request has been issued from the acceleration / deceleration request monitoring unit 10 as in step S18. Judgment is made (step S112).
- step S112 determines that a speed change request is issued from the acceleration / deceleration request monitoring unit 10
- the speed change process after step S90 is performed again.
- the processes after step S94 are performed again.
- the transfer amount deriving unit 22 determines that the speed change request is not issued from the acceleration / deceleration request monitoring unit 10 in the determination of step S18, the transfer amount deriving unit 22 next sets the set time Ts.
- the set cycle time ⁇ T is added to update the set time Ts (step S20 in FIG. 6). Thereafter, the processes after step S10 are performed again.
- the numerical control process by the numerical control device 2 of the present embodiment is performed.
- the acceleration / deceleration filter 28 uses the respective support bodies 102b, 106a, and 108a obtained from the post-conversion machine axis path with respect to the post-conversion machine axis path for each machine axis direction calculated by the path conversion unit 26. , 110a, the acceleration / deceleration process is performed to alleviate the change in the transfer speed. Even if the reference machine axis path includes abnormal data that causes a mechanical shock, the abnormal data is converted into a mechanical shock by the acceleration / deceleration process. Can be corrected to show a gradual speed change that does not cause
- the mechanical axis path obtained when the path conversion unit 26 performs the conversion unit acceleration / deceleration process which is the same process as the acceleration / deceleration process by the acceleration / deceleration filter 28, with respect to the reference machine axis path.
- a correction amount corresponding to an error with the machine axis path is calculated for each machine axis direction, and a reference machine axis path for each machine axis direction in a direction to cancel the error with the calculated correction amount for each machine axis direction.
- the post-conversion machine axis path is corrected in such a way that an error in each machine axis direction caused by the acceleration / deceleration processing by the acceleration / deceleration filter 28 is estimated in advance and the error is offset.
- Machine axis path when the acceleration / deceleration filter 28 performs acceleration / deceleration processing on the converted mechanical axis path, errors in all machine axis directions caused by the acceleration / deceleration processing can be suppressed. An error in the work shape of the workpiece caused by the deceleration process can be suppressed.
- the speed function P B ′ (T) at each set time T in the section from t ⁇ a to t + a is expressed as each set time T.
- the speed function at each set time is distributed to the distribution sections after each set time, since the distribution is performed in the distribution sections from Ta to T + a that are spread evenly in the front and rear as the center. There is no set time delay due to the distribution form of the speed function in the section instructing the transfer of the object at high speed.
- the speed function Q B ′ (t) is obtained by integrating the distribution value P B ′ (T) ⁇ f (t ⁇ T) of the speed function P B ′ (T) distributed by the acceleration / deceleration filter 28 in the distribution section. ), And in the post-process mechanical axis path Q B (t) calculated by further integrating the calculated speed function Q B ′ (t), the speed in the section instructing the transfer of the object at a constant speed It is possible to prevent a time delay caused by the function distribution form.
- the path conversion unit 26 calculates a correction amount corresponding to an error between the mechanical axis path after the conversion unit acceleration / deceleration processing and the reference mechanical axis path
- the machine axis after the conversion unit acceleration / deceleration processing is calculated. Reduces the phase error factor caused by the speed function distribution format in the conversion unit acceleration / deceleration process from the correction amount while simplifying the time correspondence between the points to be subtracted between the path and the reference machine axis path. can do.
- the path conversion unit 26 has a distribution section having a section width corresponding to a time constant after the speed at each set time in a section of the reference mechanical axis path in the conversion section acceleration / deceleration processing.
- the path conversion unit 26 centers the speed function P A i ′ (T) at each set time T of the reference machine axis path around each set time T in the conversion unit acceleration / deceleration processing.
- the distribution of the speed function P A i ′ (T) is caused in the section instructing the transfer of the object at a constant speed. It is possible to prevent the set time from being delayed. Therefore, in the machine axis path Q A (t) after the conversion unit acceleration / deceleration processing, the coordinate values at the same time t coincide with the reference machine axis path in the section instructing the transfer of the object at a constant speed. To do.
- the speed function P B i ′ (T) at each time T in the section from t ⁇ a to t + a is centered on each time T.
- the distribution of the speed function in the distribution section from Ta to T + a that spreads evenly forward and backward There is no time delay due to the distribution format. Therefore, in the mechanical axis path Q B (t) after the acceleration / deceleration processing by the acceleration / deceleration filter 28, it is possible to prevent a time delay due to the speed function distribution form.
- the time adjustment unit 38 transfers the part corresponding to the acceleration period (0 ⁇ t ⁇ Tj) immediately after the start of object transfer and the object transfer for the machine axis path before adjustment in each machine axis direction. Since the time adjustment is performed for the portion corresponding to the deceleration period immediately before the stop (te ⁇ Tj ⁇ t ⁇ te), the path conversion unit 26 performs the conversion unit acceleration / deceleration process before the conversion unit acceleration / deceleration process. It is possible to obtain a reference machine axis path that is corrected in a direction that cancels out the set time difference between the portions corresponding to the acceleration period and the deceleration period.
- the length of the set cycle time common to each machine axis direction is increased. Is changed from the length in the state immediately before the input of the special command to the length corresponding to the speed change instructed by the special command, and at the set cycle time after the change calculated from the machine axis path after processing.
- Each support 102b, 106a, 108a, 110a is transferred according to the transfer amount of each support 102b, 106a, 108a, 110a in the corresponding machine axis direction.
- each support body 102b, 106a, 108a, 110a is transferred by each transfer part 102c, 106b, 108b, 110b according to the calculated transfer amount in each machine axis direction per set cycle time
- An operation involving a change in the speed of the object is performed in a state in which the relative positional relationship between the machine axis directions defined by the post-processing machine axis path in each machine axis direction is maintained.
- the object can be prevented from deviating from the trajectory indicated by the post-processing machine axis path in each machine axis direction.
- the trajectory indicated by the original machining path when the object performs an operation accompanied by a speed change according to the special command while obtaining the effect of suppressing the mechanical shock caused by the abnormal data by the acceleration / deceleration processing. Can be prevented from coming off. Specifically, if acceleration / deceleration processing after pulse interpolation is performed in order to suppress mechanical shock caused by abnormal data, the transfer pulse after the post-interpolation acceleration / deceleration processing is indicated. The movement trajectory of the object is deviated from the movement trajectory indicated by the original machining path due to an error caused by the post-interpolation acceleration / deceleration processing.
- the acceleration / deceleration process by the acceleration / deceleration filter 28 as described above obtains the effect of suppressing the mechanical shock caused by the abnormal data, and the acceleration / deceleration is performed in the machine axis path after the acceleration / deceleration process.
- the application of the numerical control device according to the present invention is not limited to the machine tool as shown in FIG.
- the numerical control device according to the present invention can be applied to a machine tool having a so-called portal frame, a machine tool having a parallel mechanism, a lathe, and other various machine tools.
- the linear distribution function is used in the conversion unit acceleration / deceleration process by the path conversion unit 26 and the acceleration / deceleration process by the acceleration / deceleration filter 28.
- the distribution function used for these acceleration / deceleration processes is as described above. It is also possible to use a distribution function of a type other than a straight linear distribution function. For example, a so-called bell-shaped distribution function may be used for these acceleration / deceleration processes.
- a bell-shaped distribution function f (t) is expressed by the following equation, for example.
- step S41 of FIG. 8 when the conversion unit acceleration / deceleration process is performed using a bell-shaped distribution function, in step S41 of FIG. 8, the portion of the acceleration period immediately after the start of transfer in the reference machine axis path and the transfer using the following equation: It is preferable to perform time adjustment for eliminating the time lag after the conversion unit acceleration / deceleration processing in the portion of the deceleration period immediately before the stop.
- the reference machine axis path deriving unit locally smoothes only a portion instructing rapid acceleration / deceleration that may cause a machine shock to the machine tool in the reference machine axis path derived by the acceleration / deceleration calculation unit.
- a local acceleration / deceleration filter for interpolation may be provided.
- the path conversion unit may perform conversion processing on the reference mechanical axis path after being locally interpolated by the local acceleration / deceleration filter.
- the machine tool is provided with a special command input device, and when a special command is input to the special command input device, the length of the set cycle time is changed and the machine corresponding to each support body.
- the transfer amount in the axial direction is calculated, the numerical control device according to the present invention may be applied to a machine tool that does not include such a special command input device. Also, even if the machine tool is equipped with a special command input device, when a special command is input to the special command input device, the transfer corresponding to the set cycle time in which the length is changed according to the content of the special command.
- the amount is derived from the machine axis path in each machine axis direction, and the operation of the object is controlled according to the special command by a method other than the method of changing the transfer speed of each support according to the derived transfer amount.
- the numerical control device according to the present invention may be applied to a simple machine tool. In these cases, in the numerical control process shown by the flowchart of FIG. 6, the processing of steps S16 and S18 is omitted, and the entire period of the processed mechanical axis path in which the transfer amount deriving unit is stored in the memory in step S14. If it is determined that the process has not been completed yet, the process of step S20 may be performed next.
- the reference machine axis path deriving unit does not necessarily include the curved surface interpolation unit and the acceleration / deceleration calculation unit. That is, the program reading unit of the reference machine axis path deriving unit derives a machining path from the NC program, and converts the machining path into a moving component in each machine axis direction without performing interpolation calculation or acceleration / deceleration calculation.
- a reference machine axis path for each machine axis direction may be derived.
- control of the transfer device by the numerical control device of the present invention may not necessarily be applied to all of the deceleration at the time of emergency stop of the object, the acceleration at the restart, and the acceleration / deceleration by the override device.
- control of the transfer device by the numerical control device of the present invention may be applied only to the deceleration at the time of emergency stop of the object, and the transfer device by the numerical control device of the present invention is only applied to the acceleration at the time of restart of the object.
- Control may be applied, and control of the transfer device by the numerical control device of the present invention may be applied only to acceleration / deceleration of the object by the override device.
- control of the transfer device by the numerical control device of the present invention may be applied to any two of the deceleration at the time of emergency stop of the object, the acceleration at the restart, and the acceleration / deceleration by the override device.
- the path conversion unit When calculating the correction amount corresponding to the error of, after associating the times (time adjustment) of the points to be subtracted from each other between the mechanical axis path after the conversion unit acceleration / deceleration processing and the reference mechanical axis path, It is necessary to calculate the error by subtracting points.
- the processing by the acceleration / deceleration filter may be repeatedly performed. In this case, it is possible to obtain a processed machine axis path with less error with respect to the reference machine axis path.
- the time adjustment unit 38 performs time adjustment for the acceleration period immediately after the start of the transfer of the object and the deceleration period immediately after the stop of the transfer of the object.
- time adjustment is not necessarily required. Absent. That is, the reference machine axis path deriving unit does not include a time adjusting unit, and the machine axis path calculated by the acceleration / deceleration calculating unit is set as the reference machine axis path, and the reference converting machine axis whose time is not adjusted by the path converting unit.
- the conversion unit acceleration / deceleration processing may be performed on the path.
- the numerical control device includes a plurality of transfer devices that use a workpiece or a tool that processes the workpiece as an object to transfer the object to process the workpiece, and each of the transfer devices includes the object.
- each of the transfer devices includes the object.
- a numerical control device which represents a position in each machine axis direction to which each support is to be transferred as a function of a predetermined set time based on a machining command representing a movement trajectory of the tool during machining of the workpiece.
- a reference machine axis path deriving unit for deriving a reference machine axis path, and a specific conversion process for the reference machine axis path for each of the machine axis directions derived by the reference machine axis path deriving unit.
- a path conversion unit for deriving a converted machine axis path for each of the machine axis directions by performing, and for the converted machine axis path for each of the machine axis directions derived by the path conversion unit,
- An acceleration / deceleration processing unit that performs acceleration / deceleration processing for relaxing a change in the transfer speed of each support obtained from the converted mechanical axis path, and a mechanical axis path that has been subjected to acceleration / deceleration processing by the acceleration / deceleration processing unit
- a transfer amount deriving unit for deriving a transfer amount of each support per predetermined set cycle time in each of the machine axis directions from a post-processing machine axis path, and the transfer amount derived by the transfer
- a correction amount corresponding to an error between the machine axis path obtained when performing the same process as the speed process and the reference machine axis path is calculated for each of the machine axis directions, and the calculated each axis direction of the machine axis
- a calculation process for calculating the converted machine axis path obtained by correcting the reference machine axis path in the respective machine axis directions in a direction in which the error is canceled by the correction amount is included.
- the acceleration / deceleration processing unit changes the transfer speed of each support obtained from the post-conversion machine axis path with respect to the post-conversion machine axis path for each machine axis direction calculated by the path conversion unit.
- the abnormal data is subjected to a gradual speed change that does not cause mechanical shock by the acceleration / deceleration processing. It can be modified as shown.
- an error between the mechanical axis path and the reference mechanical axis path obtained when the path conversion unit performs the same processing as the acceleration / deceleration processing by the acceleration / deceleration processing unit on the reference mechanical axis path is corrected in a direction that cancels the error with the calculated correction amount for each machine axis direction.
- the post-conversion machine axis path is a machine axis path that has been corrected in a direction that cancels the error by predicting in advance the error in each machine axis direction caused by the acceleration / deceleration processing by the acceleration / deceleration processing unit. It becomes. For this reason, when the acceleration / deceleration processing unit performs acceleration / deceleration processing on the converted machine axis path, errors in all the machine axis directions caused by the acceleration / deceleration processing can be suppressed. An error in the work shape of the workpiece caused by the deceleration process can be suppressed.
- the acceleration / deceleration processing unit when the acceleration / deceleration processing unit is set for the machine axis direction of the converted machine axis path to be subjected to the acceleration / deceleration process with the set time as t as the acceleration / deceleration process.
- a value that is half of the constant is a
- a speed function that is a primary differential function of the post-conversion mechanical axis path at each set time T in a section from ta to t + a is P B (T)
- the distribution function representing the specific distribution format for distributing the speed function P B ′ (T) is f (T)
- the first-order derivative of the post-processing machine axis path A speed function Q B ′ (t) which is a function, is calculated based on the following equation (2), and the calculated speed function Q B ′ (t) is integrated to obtain the post-process mechanical axis path Q B (t ) Is preferably performed.
- the acceleration / deceleration processing unit distributes the speed at each set time in a section of the converted mechanical axis path into a distribution section having a section width corresponding to a time constant after that time,
- the speed function is calculated by integrating the distributed values, and the acceleration / deceleration processing of the converted machine axis path is performed according to a calculation formula that further integrates the calculated speed function, the processed machine axis
- the set time in the path is delayed with respect to the set time in the post-conversion machine axis path due to the speed distribution format.
- the speed function P B ′ (T) at each set time T in the section extending from ta to t + a is expressed by the distribution function satisfying the above equation (1). Since the distribution is performed in the distribution section from Ta to T + a that spreads evenly forward and backward as the center, the distribution value P B ′ (T) ⁇ f () of the velocity function P B ′ (T) distributed in the distribution section t-T) integral to speed function Q B in accordance with the above formula (2) treatment after mechanical axis path calculated by further integrating the 'calculates (t), the calculated velocity function Q B' (t) In Q B (t), it is possible to prevent the set time from being delayed due to the speed distribution format as described above.
- the path conversion unit obtains a speed function that is a first-order differential function of the reference mechanical axis path at each set time T in a section from the ta to the t + a.
- the speed function Q A ′ ( t) is calculated based on the following expression (3), and the calculated speed function Q A ′ (t) is integrated to integrate the calculated speed function Q A ′ (t), and the mechanical axis path Q A (t ) Is preferably performed.
- the path conversion unit distributes the speed at each set time in a section of the reference mechanical axis path having a section width corresponding to the time constant after that time.
- the phase error is included in the correction amount.
- the reference machine axis path deriving unit includes a time adjusting unit that derives the reference machine axis path after adjusting the set time, and the time adjusting unit is configured to adjust the time before time adjustment.
- the set time is set to t
- the set time after the time adjustment is set to tj (t)
- the time constant in the machine axis direction of the target to be adjusted is set to Tj
- the following expression represents a function used for time adjustment in the form of a general expression.
- the part corresponding to the acceleration period immediately after the start of the transfer of the object and the part corresponding to the deceleration period immediately before the stop of the transfer of the object which occurs when the path conversion unit performs the same process as the acceleration / deceleration process.
- the deviation of the set time in can be eliminated.
- the path conversion unit performs the same process as the acceleration / deceleration process on the reference machine axis path derived without the time adjustment based on the machining command path by the reference machine axis path deriving unit.
- the time adjustment unit adjusts the time for each part corresponding to the acceleration period (0 ⁇ t ⁇ Tj) and the deceleration period (te ⁇ Tj ⁇ t ⁇ te).
- a reference machine axis path corrected in a direction to cancel the set time difference of each part corresponding to the acceleration period and the deceleration period caused by the process is obtained in advance. be able to.
- the machine tool has a special command for inputting a special command for instructing an operation accompanied by a speed change of the target object separately from a normal transfer of the target object at the time of machining the workpiece.
- the transfer amount deriving unit determines the length of the set cycle time in a state immediately before the input of the special command in response to the input of the special command to the special command input device. Then, the length is changed according to the speed change of the object indicated by the special command, and the length of the support is changed to the corresponding machine axis direction of each support per set cycle time. It is preferable to derive the transfer amount from the post-processing machine axis path.
- the length of the set cycle time common to each machine axis direction is reduced.
- the length in the state immediately before the input of the special command is changed to the length corresponding to the speed change instructed by the special command, and each set cycle time after the change calculated from the machine axis path after processing is changed.
- Each support is transferred according to the transfer amount of the support in the corresponding machine axis direction. For this reason, when an operation involving irregular speed changes of the object is executed separately from the normal transfer of the object at the time of machining the workpiece, the object deviates from the trajectory indicated by the machine axis path after processing. Can be prevented.
- the amount of transfer of the support in each machine axis direction is calculated in a state in which the relative positional relationship between the machine axis directions defined by the post-processing machine axis path in each machine axis direction is maintained. . For this reason, when the corresponding support is transferred by the transfer unit according to the calculated transfer amount in each machine axis direction per set cycle time, it is defined by the post-process machine axis path in each machine axis direction.
- An operation involving a change in the speed of the object is performed in a state where the relative positional relationship between the machine axis directions is maintained. As a result, even if an irregular operation with a change in the speed of the object as described above is performed, it is possible to prevent the object from deviating from the locus indicated by the machine axis path after processing in each machine axis direction. it can.
- the trajectory indicated by the machine axis path after the acceleration / deceleration process can be prevented from deviating from the trajectory indicated by the machining path.
- a numerical control device capable of suppressing an error in a machining shape of a workpiece while suppressing occurrence of a mechanical shock due to abnormal data in a mechanical axis path. can do.
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Abstract
This numerical control device is provided with: a path conversion unit that derives a post-conversion machine axis path for each machine axis direction by performing a specific conversion process on a baseline machine axis path for each machine axis direction; an acceleration/deceleration processing unit that performs an acceleration/deceleration process on the derived post-conversion machine axis path for each machine axis direction; and a transfer quantity derivation unit that derives the transfer quantity for each support body per predetermined set cycle time in each machine axis direction from a post-processing machine axis path, which is the machine axis path after the acceleration/deceleration process. The specific conversion process includes a computation process that, for each machine axis direction, calculates a correction amount corresponding to the error between the baseline machine axis path and the machine axis path obtained when a process identical to the acceleration/deceleration process was performed on the baseline machine axis path, and calculates the post-conversion machine axis path, which is the result of correcting the baseline machine axis path in each machine axis direction in the direction that cancels the error by means of the calculated correction amount for each machine axis direction.
Description
本発明は、各種工作機械に用いられる数値制御装置に関するものである。
The present invention relates to a numerical control device used for various machine tools.
従来、各種工作機械では、ワークやそのワークを加工するための工具を移送する移送装置を加工指令(NCプログラム)に従って数値制御することによりワークの加工が行われている。下記特許文献1には、そのような移送装置の数値制御を行う数値制御装置が開示されている。
Conventionally, in various machine tools, workpieces are processed by numerically controlling a transfer device for transferring a workpiece and a tool for processing the workpiece according to a processing command (NC program). Patent Document 1 below discloses a numerical control device that performs numerical control of such a transfer device.
特許文献1に示された数値制御装置では、加工プログラムからワーク上に固定された座標系における工具の位置座標の変化を媒介変数の関数として表すツールパスを求めるとともに、そのツールパスから移送装置の各駆動軸毎の駆動軸パスを求め、その求めた各駆動軸毎の駆動軸パスに基づいて当該各駆動軸における基準単位時間(サイクルタイム)毎の移動量を示す指令パルスを求め、その求めた指令パルスを各駆動軸に対応する移送装置のモータへ出力することにより各移送装置の制御を行っている。また、この数値制御装置では、駆動軸パスに対してブロック滑らか補間とコーナー滑らか補間とを行い、それらの滑らか補間後の駆動軸パスからパルス補間により前記指令パルスを求めている。なお、前記ブロック滑らか補間は、多数の指令点を直線で結んだ形状の駆動軸パスを滑らかな曲線に補間し、前記コーナー滑らか補間は、駆動軸パスのうち所定の指令点においてその前後で位置座標の変化量が大きく変化しているようなコーナー部を滑らかに曲がるコーナーとすべく当該コーナー部を補間するものである。
In the numerical control device disclosed in Patent Document 1, a tool path representing a change in the position coordinate of a tool in a coordinate system fixed on a workpiece as a function of a parameter is obtained from a machining program, and the transfer path of the transfer device is determined from the tool path. A drive axis path for each drive axis is obtained, and a command pulse indicating a movement amount for each reference unit time (cycle time) in each drive axis is obtained based on the obtained drive axis path for each drive axis, and obtained. Each transfer device is controlled by outputting the command pulse to the motor of the transfer device corresponding to each drive shaft. In this numerical controller, block smooth interpolation and corner smooth interpolation are performed on the drive axis path, and the command pulse is obtained by pulse interpolation from the drive axis path after the smooth interpolation. The block smooth interpolation interpolates a drive axis path formed by connecting a large number of command points with straight lines into a smooth curve, and the corner smooth interpolation is positioned before and after a predetermined command point in the drive axis path. This corner portion is interpolated so that a corner portion where the amount of change in coordinates changes greatly is a corner that smoothly turns.
しかし、この特許文献1に記載の技術では、位置座標の変化量が微小な間隔で繰り返し急変しているような思わぬ異常データ(ノイズ等)が駆動軸パスに含まれている場合には、その異常データの部分を滑らかに補間することは困難である。そして、駆動軸パスにこのような異常データが含まれており、その駆動軸パスに従って移送装置が制御された場合には、移送装置の動作が当該異常データに対応する部分で急変し、加工機械に機械ショックが発生する。このため、駆動軸パス中の異常データを補正することが重要な課題となる。
However, in the technique described in Patent Document 1, in the case where unexpected abnormality data (noise or the like) in which the change amount of the position coordinates repeatedly changes suddenly at a minute interval is included in the drive axis path, It is difficult to smoothly interpolate the abnormal data portion. When such abnormal data is included in the drive shaft path and the transfer device is controlled according to the drive shaft path, the operation of the transfer device changes suddenly at the portion corresponding to the abnormal data, and the processing machine A mechanical shock occurs. For this reason, it is an important issue to correct the abnormal data in the drive shaft path.
そこで、下記特許文献2には、このような課題を解決することが可能な数値制御装置が示されている。
Therefore, the following Patent Document 2 shows a numerical control device capable of solving such a problem.
この特許文献2の数値制御装置では、機械ショックの要因となる異常データを補正することが可能な補間後加減速処理を行っている。具体的には、この数値制御装置では、加工プログラムを実行形式に変換したパスを補間処理(パルス補間)することによって各駆動軸毎のサーボモータに出力する移動指令を求め、その求めた移動指令に対して加減速処理を行っている。この補間後加減速処理によれば、駆動軸パス中の異常データに対応する部分がパルス補間によって得られた移動指令中に含まれていても、その移動指令中の前記異常データに対応する部分を補正することができ、機械ショックの発生を抑制することが可能である。
In the numerical control device of Patent Document 2, post-interpolation acceleration / deceleration processing that can correct abnormal data that causes mechanical shock is performed. Specifically, in this numerical control device, a movement command to be output to the servo motor for each drive axis is obtained by performing interpolation processing (pulse interpolation) on a path obtained by converting the machining program into an execution format, and the obtained movement command Acceleration / deceleration processing is performed on According to this post-interpolation acceleration / deceleration processing, even if a portion corresponding to abnormal data in the drive axis path is included in the movement command obtained by pulse interpolation, a portion corresponding to the abnormal data in the movement command And the occurrence of mechanical shock can be suppressed.
特許文献2に示されている補間後加減速処理には、上記のように、異常データに起因する機械ショックの発生を抑制できるという効果があるが、その反面、ワークの加工形状の誤差を生じさせるという欠点がある。
As described above, the post-interpolation acceleration / deceleration processing shown in Patent Document 2 has an effect of suppressing the occurrence of mechanical shock caused by abnormal data, but on the other hand, it causes an error in the workpiece machining shape. There is a drawback of making it.
具体的には、特許文献2に示されている補間後加減速では、移動指令のうち加減速処理を適用する部分を限定していないため、加減速処理が移動指令のうち異常データに対応する部分以外の部分にも適用され得る。例えば、移動指令のうち加工プログラムにおいて実際に工具又はワークの加速又は減速を指示する部分と対応している部分に当該加減速処理が行われると、その部分に基づいて実施される工具又はワークの加速又は減速が緩和され、その結果、実際に加工されたワークの形状に加工プログラムが指示する加工形状に対する誤差が発生する。このため、このような補間後加減速処理に伴う加工形状の誤差を低減することが求められている。
Specifically, in the post-interpolation acceleration / deceleration shown in Patent Document 2, the part to which the acceleration / deceleration process is applied is not limited in the movement command, so the acceleration / deceleration process corresponds to the abnormal data in the movement command. It can also be applied to parts other than parts. For example, when the acceleration / deceleration processing is performed on a part of the movement command that corresponds to a part that actually instructs acceleration or deceleration of the tool or workpiece in the machining program, the tool or workpiece to be executed based on that part is processed. The acceleration or deceleration is alleviated, and as a result, an error occurs with respect to the machining shape indicated by the machining program in the shape of the actually machined workpiece. For this reason, it is required to reduce the machining shape error associated with such post-interpolation acceleration / deceleration processing.
本発明の目的は、機械軸パス中の異常データに起因する機械ショックの発生を抑制しつつ、ワークの加工形状の誤差を抑制することが可能な数値制御装置を提供することである。
An object of the present invention is to provide a numerical control device capable of suppressing an error in a machining shape of a workpiece while suppressing occurrence of a mechanical shock due to abnormal data in a machine axis path.
本発明の一局面に従う数値制御装置は、ワーク又はそのワークを加工する工具を対象物としてその対象物を前記ワークを加工するために移送する複数の移送装置を備えていて前記各移送装置が前記対象物を支持するための支持体とその支持体を特定の機械軸方向に移送することにより前記対象物を移送する移送部とをそれぞれ有する工作機械に設けられ、前記各移送装置の数値制御を行う数値制御装置であって、前記ワークの加工時における前記工具の移動軌跡を表す加工指令に基づいて、前記各支持体を移送すべき前記各機械軸方向の位置を所定の設定時刻の関数として表す基準機械軸パスを導出する基準機械軸パス導出部と、前記基準機械軸パス導出部によって導出された前記各機械軸方向についての前記基準機械軸パスに特定の変換処理を行うことによって前記各機械軸方向についての変換後機械軸パスを導出するパス変換部と、前記パス変換部によって導出された前記各機械軸方向についての前記変換後機械軸パスに対して、当該変換後機械軸パスから得られる前記各支持体の移送速度の変化を緩和させるための加減速処理を行う加減速処理部と、前記加減速処理部によって加減速処理された後の機械軸パスである処理後機械軸パスから前記各機械軸方向における所定の設定サイクルタイム当たりの前記各支持体の移送量をそれぞれ導出する移送量導出部と、前記移送量導出部によって導出された前記移送量に応じて前記各移送部に対応する前記支持体を移送させる移送制御部とを備え、前記パス変換部が行う前記特定の変換処理には、前記基準機械軸パスに対して前記加減速処理と同じ処理を行った場合に得られる機械軸パスと前記基準機械軸パスとの誤差に相当する補正量を前記各機械軸方向毎に算出し、その算出した前記各機械軸方向毎の補正量で前記誤差を相殺する方向に前記各機械軸方向についての前記基準機械軸パスを補正した前記変換後機械軸パスを算出する演算処理が含まれる。
A numerical control device according to one aspect of the present invention includes a plurality of transfer devices for transferring a workpiece or a tool for machining the workpiece as a target object to process the workpiece, and each of the transfer devices is configured as described above. Provided in machine tools each having a support for supporting an object and a transfer unit for transferring the object by transferring the support in a specific machine axis direction, and performing numerical control of each transfer device A numerical control device that performs a position in each machine axis direction to which each support is to be transferred as a function of a predetermined set time based on a machining command that represents a movement trajectory of the tool during machining of the workpiece. A reference machine axis path deriving unit for deriving a reference machine axis path to represent, and a specific conversion to the reference machine axis path for each of the machine axis directions derived by the reference machine axis path deriving unit Path conversion unit for deriving a converted machine axis path for each machine axis direction by performing the processing, and for the converted machine axis path for each machine axis direction derived by the path conversion unit, An acceleration / deceleration processing unit that performs acceleration / deceleration processing for relaxing a change in transfer speed of each of the supports obtained from the post-conversion mechanical axis path, and a mechanical axis path after acceleration / deceleration processing by the acceleration / deceleration processing unit A transfer amount deriving unit for deriving a transfer amount of each of the supports per predetermined set cycle time in each of the machine axis directions from the post-processing machine axis path, and the transfer amount derived by the transfer amount deriving unit A transfer control unit that transfers the support corresponding to each of the transfer units, and the specific conversion process performed by the path conversion unit includes A correction amount corresponding to the error between the machine axis path obtained when the same process as the deceleration process is performed and the reference machine axis path is calculated for each machine axis direction, and the calculated each machine axis direction is calculated. A calculation process for calculating the converted machine axis path obtained by correcting the reference machine axis path in the respective machine axis directions in a direction in which the error is canceled by the correction amount is included.
以下、本発明の実施形態を図面を参照して説明する。
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
まず、図1及び図2を参照して、本発明の一実施形態による数値制御装置2が適用される工作機械の構成について説明する。
First, the configuration of a machine tool to which a numerical control device 2 according to an embodiment of the present invention is applied will be described with reference to FIGS.
本実施形態による数値制御装置2(図2参照)が設けられる工作機械は、被加工物であるワーク100を切削加工するためのものであり、ワーク移送装置102と、コラム104と、工具105と、工具鉛直移送装置106と、工具第1水平移送装置108と、工具第2水平移送装置110と、主軸ヘッド112と、制御盤114とを備えている。なお、ワーク移送装置102、工具鉛直移送装置106、工具第1水平移送装置108及び工具第2水平移送装置110は、それぞれ本発明の移送装置の概念に含まれるものである。
A machine tool provided with a numerical control device 2 (see FIG. 2) according to the present embodiment is for cutting a workpiece 100 that is a workpiece, and includes a workpiece transfer device 102, a column 104, a tool 105, , A tool vertical transfer device 106, a tool first horizontal transfer device 108, a tool second horizontal transfer device 110, a spindle head 112, and a control panel 114. The workpiece transfer device 102, the tool vertical transfer device 106, the tool first horizontal transfer device 108, and the tool second horizontal transfer device 110 are each included in the concept of the transfer device of the present invention.
ワーク移送装置102は、ワーク100を図1の紙面に垂直な方向であるX軸方向に移送するための装置である。このワーク移送装置102は、所定の設置場所上に固設されるベース102aと、そのベース102a上にX軸方向に移動可能となるように設けられるワーク支持体102bと、そのワーク支持体102bをX軸方向に移送するワーク移送部102c(図2参照)とを有する。ワーク支持体102bは、ワーク100を支持するものであり、当該ワーク100は、このワーク支持体102b上に垂直に立った状態で設置される。ワーク移送部102cは、駆動源としてのサーボモータを有しており、そのサーボモータが発する動力によって作動し、ワーク支持体102bを移送する。なお、前記X軸方向は、本発明の機械軸方向の概念に含まれるものであり、ワーク支持体102bは、本発明の支持体の概念に含まれるものであり、ワーク移送部102cは、本発明の移送部の概念に含まれるものである。
The workpiece transfer device 102 is a device for transferring the workpiece 100 in the X-axis direction, which is a direction perpendicular to the paper surface of FIG. The workpiece transfer device 102 includes a base 102a fixed on a predetermined installation location, a workpiece support 102b provided on the base 102a so as to be movable in the X-axis direction, and the workpiece support 102b. And a workpiece transfer section 102c (see FIG. 2) for transferring in the X-axis direction. The workpiece support 102b supports the workpiece 100, and the workpiece 100 is installed in a state of standing vertically on the workpiece support 102b. The workpiece transfer unit 102c has a servo motor as a drive source, and is operated by power generated by the servo motor to transfer the workpiece support 102b. The X-axis direction is included in the concept of the machine axis direction of the present invention, the workpiece support 102b is included in the concept of the support of the present invention, and the workpiece transfer unit 102c is It is included in the concept of the transfer part of the invention.
コラム104は、前記ベース102aの設置場所から水平方向でかつ前記X軸と直交する方向に離間した位置に立設されており、鉛直方向に延びている。
The column 104 is erected at a position separated from the installation location of the base 102a in the horizontal direction and in the direction perpendicular to the X axis, and extends in the vertical direction.
工具鉛直移送装置106は、コラム104に設けられており、ワーク100を切削加工するための工具105を鉛直方向に延びるY軸方向に移送するための装置である。この工具鉛直移送装置106は、Y軸方向に移動可能となるようにコラム104に取り付けられる鉛直支持体106aと、コラム104に設けられ、鉛直支持体106aをコラム104に沿ってY軸方向に移送する鉛直移送部106b(図2参照)とを有する。鉛直支持体106aは、工具第1水平移送装置108を支持しており、この工具第1水平移送装置108は、後述するように工具第2水平移送装置110及び主軸ヘッド112を介して工具105を支持するため、鉛直支持体106aは間接的に工具105を支持する。鉛直移送部106bは、駆動源としてのサーボモータを有しており、そのサーボモータが発する動力によって作動し、鉛直支持体106aを移送する。なお、前記Y軸方向は、本発明の機械軸方向の概念に含まれるものであり、鉛直支持体106aは、本発明の支持体の概念に含まれるものであり、鉛直移送部106bは、本発明の移送部の概念に含まれるものである。
The tool vertical transfer device 106 is provided on the column 104, and is a device for transferring a tool 105 for cutting the workpiece 100 in the Y-axis direction extending in the vertical direction. The tool vertical transfer device 106 is provided on the column 104 so as to be movable in the Y-axis direction, and is provided on the column 104. The vertical support 106a is transferred along the column 104 in the Y-axis direction. And a vertical transfer unit 106b (see FIG. 2). The vertical support 106a supports the tool first horizontal transfer device 108. The tool first horizontal transfer device 108 receives the tool 105 via the tool second horizontal transfer device 110 and the spindle head 112 as will be described later. In order to support, the vertical support 106a supports the tool 105 indirectly. The vertical transfer unit 106b has a servo motor as a drive source, and is actuated by power generated by the servo motor to transfer the vertical support 106a. The Y-axis direction is included in the concept of the machine axis direction of the present invention, the vertical support 106a is included in the concept of the support of the present invention, and the vertical transfer unit 106b is It is included in the concept of the transfer part of the invention.
工具第1水平移送装置108は、鉛直支持体106aに設けられており、工具105を前記X軸と前記Y軸の両方に対して垂直に延びるW軸方向に移送するための装置である。この工具第1水平移送装置108は、W軸方向に移動可能となるように鉛直支持体106aに設けられる第1水平支持体108aと、鉛直支持体106aに設けられ、第1水平支持体108aをW軸方向に移送する第1水平移送部108b(図2参照)とを有する。第1水平支持体108aは、工具第2水平移送装置110を支持しており、この工具第2水平移送装置110は、後述するように主軸ヘッド112を介して工具105を支持するため、第1水平支持体108aは間接的に工具105を支持する。第1水平移送部108bは、駆動源としてのサーボモータを有しており、そのサーボモータが発する動力によって作動し、第1水平支持体108aを移送する。なお、前記W軸方向は、本発明の機械軸方向の概念に含まれるものであり、第1水平支持体108aは、本発明の支持体の概念に含まれるものであり、第1水平移送部108bは、本発明の移送部の概念に含まれるものである。
The tool first horizontal transfer device 108 is provided on the vertical support 106a, and is a device for transferring the tool 105 in the W-axis direction extending perpendicularly to both the X-axis and the Y-axis. The tool first horizontal transfer device 108 includes a first horizontal support 108a provided on the vertical support 106a so as to be movable in the W-axis direction, and a vertical support 106a. And a first horizontal transfer unit 108b (see FIG. 2) that transfers in the W-axis direction. The first horizontal support 108a supports the tool second horizontal transfer device 110, and the tool second horizontal transfer device 110 supports the tool 105 via the spindle head 112 as will be described later. The horizontal support 108a indirectly supports the tool 105. The first horizontal transfer unit 108b has a servo motor as a drive source, and is operated by power generated by the servo motor to transfer the first horizontal support 108a. The W-axis direction is included in the concept of the machine axis direction of the present invention, and the first horizontal support 108a is included in the concept of the support of the present invention. Reference numeral 108b is included in the concept of the transfer unit of the present invention.
工具第2水平移送装置110は、第1水平支持体108aに設けられており、工具105を前記W軸と平行なZ軸方向に移送するための装置である。この工具第2水平移送装置110は、Z軸方向に移動可能となるように第1水平支持体108aに設けられる第2水平支持体110aと、第1水平支持体108aに設けられ、第2水平支持体110aをZ軸方向に移送する第2水平移送部110b(図2参照)とを有する。第2水平支持体110aは、主軸ヘッド112を支持しており、その主軸ヘッド112を介して工具105を支持する。第2水平移送部110bは、駆動源としてのサーボモータを有しており、そのサーボモータが発する動力によって作動し、第2水平支持体110aを移送する。なお、前記Z軸方向は、本発明の機械軸方向の概念に含まれるものであり、第2水平支持体110aは、本発明の支持体の概念に含まれるものであり、第2水平移送部110bは、本発明の移送部の概念に含まれるものである。
The tool second horizontal transfer device 110 is provided on the first horizontal support 108a, and is a device for transferring the tool 105 in the Z-axis direction parallel to the W-axis. The tool second horizontal transfer device 110 is provided on the first horizontal support member 110a provided on the first horizontal support member 108a so as to be movable in the Z-axis direction, and on the first horizontal support member 108a. It has the 2nd horizontal transfer part 110b (refer FIG. 2) which transfers the support body 110a to a Z-axis direction. The second horizontal support 110 a supports the spindle head 112 and supports the tool 105 via the spindle head 112. The second horizontal transfer unit 110b has a servo motor as a drive source, and is operated by power generated by the servo motor to transfer the second horizontal support 110a. The Z-axis direction is included in the concept of the machine axis direction of the present invention, and the second horizontal support 110a is included in the concept of the support of the present invention, and the second horizontal transfer unit 110b is included in the concept of the transfer unit of the present invention.
主軸ヘッド112は、その回転軸が前記W軸及び前記Z軸と平行となるように第2水平支持体110aに設けられている。この主軸ヘッド112は、工具105を保持してその軸回りに工具105を回転させる。工具105は、主軸ヘッド112によって回転させられた状態でワーク100に接触させられることによりそのワーク100を切削加工する。
The spindle head 112 is provided on the second horizontal support 110a so that the rotation axis thereof is parallel to the W axis and the Z axis. The spindle head 112 holds the tool 105 and rotates the tool 105 about its axis. The tool 105 cuts the workpiece 100 by being brought into contact with the workpiece 100 while being rotated by the spindle head 112.
制御盤114は、前記各移送部102c,106b,108b,110bの駆動制御や、主軸ヘッド112の駆動制御、その他、工作機械の各部の制御を行うための機能を有する。この制御盤114は、前記各移送部102c,106b,108b,110b及び主軸ヘッド112の駆動源と電気的に接続されている。
The control panel 114 has a function for controlling the driving of each of the transfer units 102c, 106b, 108b, 110b, driving of the spindle head 112, and other parts of the machine tool. The control panel 114 is electrically connected to the driving sources of the transfer units 102c, 106b, 108b, 110b and the spindle head 112.
また、制御盤114は、特別指令入力装置122(図2参照)を備えている。この特別指令入力装置122は、ワーク100の加工時におけるワーク100及び工具105の通常の移送とは別にそれらのワーク100及び工具105の速度変化(加速又は減速)を伴う動作を指示するための特別指令を外部から入力するための装置である。なお、以下、移送装置102,106,108,110による移送の対象であるワーク100又は工具105を対象物という。
Further, the control panel 114 includes a special command input device 122 (see FIG. 2). The special command input device 122 is a special command for instructing an operation accompanied by a speed change (acceleration or deceleration) of the workpiece 100 and the tool 105 in addition to the normal transfer of the workpiece 100 and the tool 105 when the workpiece 100 is processed. It is a device for inputting commands from the outside. Hereinafter, the workpiece 100 or the tool 105 that is the object of transfer by the transfer devices 102, 106, 108, and 110 is referred to as an object.
特別指令入力装置122は、停止指令入力装置124と、再始動指令入力装置126と、オーバーライド装置128とを含む。
Special command input device 122 includes stop command input device 124, restart command input device 126, and override device 128.
停止指令入力装置124は、対象物の移動を緊急に減速させて停止させるための緊急停止指令を入力するためのものである。緊急停止指令は、本発明の特別指令の概念に含まれる。この停止指令入力装置124は、制御盤114に設けられた緊急停止ボタン124aと、その緊急停止ボタン124aが押されることに応じて緊急停止信号を後述の加減速要求監視部10へ発信する停止信号発信部124bとを有する。なお、本実施形態では、緊急停止ボタン124aを押すことが緊急停止指令の入力に相当する。
The stop command input device 124 is for inputting an emergency stop command for urgently decelerating and stopping the movement of the object. The emergency stop command is included in the concept of the special command of the present invention. The stop command input device 124 includes an emergency stop button 124a provided on the control panel 114, and a stop signal for transmitting an emergency stop signal to an acceleration / deceleration request monitoring unit 10 described later in response to the pressing of the emergency stop button 124a. A transmitter 124b. In the present embodiment, pressing the emergency stop button 124a corresponds to inputting an emergency stop command.
再始動指令入力装置126は、移動停止した移動対象物の移動を再開させて加速させるための再始動指令を入力するためのものである。再始動指令は、本発明の特別指令の概念に含まれる。この再始動指令入力装置126は、制御盤114に設けられた再始動ボタン126aと、その再始動ボタン126aが押されることに応じて再始動信号を後述の加減速要求監視部10へ発信する再始動信号発信部126bとを有する。なお、本実施形態では、再始動ボタン126aを押すことが再始動指令の入力に相当する。
The restart command input device 126 is for inputting a restart command for restarting and accelerating the movement of the moving object that has stopped moving. The restart command is included in the concept of the special command of the present invention. This restart command input device 126 transmits a restart signal to a later-described acceleration / deceleration request monitoring unit 10 in response to the restart button 126a provided on the control panel 114 and the restart button 126a being pressed. And a start signal transmitter 126b. In the present embodiment, pressing the restart button 126a corresponds to inputting a restart command.
オーバーライド装置128は、対象物の移動速度を上昇させる指示とその移動速度の上昇率である加速率の情報を含む加速指令又は対象物の移動速度を低下させる指示とその移動速度の低下率である減速率の情報を含む減速指令を入力するためのものである。なお、加速指令及び減速指令は、本発明の特別指令の概念に含まれる。
The override device 128 includes an instruction to increase the moving speed of the object and an acceleration command including information on an acceleration rate that is an increasing rate of the moving speed or an instruction to decrease the moving speed of the object and a decreasing rate of the moving speed. This is for inputting a deceleration command including information on the deceleration rate. The acceleration command and the deceleration command are included in the concept of the special command of the present invention.
オーバーライド装置128は、制御盤114に設けられたオーバーライドダイヤル128aと、そのオーバーライドダイヤル128aの操作方向及び操作量に応じた速度変更信号を後述の加減速要求監視部10へ発信する速度変更信号発信部128bとを有する。
The override device 128 includes an override dial 128a provided on the control panel 114, and a speed change signal transmitter that transmits a speed change signal according to the operation direction and the operation amount of the override dial 128a to the acceleration / deceleration request monitor 10 described later. 128b.
オーバーライドダイヤル128aは、加速指令又は減速指令を入力するときに操作される操作部である。オーバーライドダイヤル128aは、その軸回りに回動可能となるように制御盤114に設けられている。オーバーライドダイヤル128aをいずれかの方向に回動させることによって、オーバーライド装置128に加速指令又は減速指令を入力することが可能である。本実施形態では、オーバーライドダイヤル128aを一方側へ回動させる操作が加速指令の入力に相当し、オーバーライドダイヤル128aを前記一方側に対して反対側である他方側へ回動させる操作が減速指令の入力に相当する。また、オーバーライドダイヤル128aの前記一方側への回動量が移動対象物の加速率と対応しており、オーバーライドダイヤル128aの前記他方側への回動量が移動対象物の減速率に対応している。
The override dial 128a is an operation unit that is operated when an acceleration command or a deceleration command is input. The override dial 128a is provided on the control panel 114 so as to be rotatable about its axis. It is possible to input an acceleration command or a deceleration command to the override device 128 by rotating the override dial 128a in either direction. In the present embodiment, the operation of rotating the override dial 128a to one side corresponds to the input of an acceleration command, and the operation of rotating the override dial 128a to the other side, which is the opposite side to the one side, is a deceleration command. Corresponds to input. The amount of rotation of the override dial 128a toward the one side corresponds to the acceleration rate of the moving object, and the amount of rotation of the override dial 128a toward the other side corresponds to the deceleration rate of the moving object.
速度変更信号発信部128bは、オーバーライドダイヤル128aが前記一方側(加速側)へ回動されたことに応じて、その一方側へのオーバーライドダイヤル128aの回動量に対応するオーバーライド係数の情報を含む速度変更信号を加減速要求監視部10へ発信し、オーバーライドダイヤル128aが前記他方側(減速側)へ回動されたことに応じて、その他方側へのオーバーライドダイヤル128aの回動量に対応するオーバーライド係数の情報を含む速度変更信号を加減速要求監視部10へ発信する。前記一方側へのオーバーライドダイヤル128aの回動量に対応するオーバーライド係数が加速率に相当し、前記他方側へのオーバーライドダイヤル128aの回動量に対応するオーバーライド係数が減速率に相当する。オーバーライド係数は、1を基準としてオーバーライドダイヤル128aが加速側へ回動されることに応じて1から増加し、オーバーライドダイヤル128aが減速側へ回動されることに応じて1から減少する。
The speed change signal transmission unit 128b includes information on an override coefficient corresponding to the amount of rotation of the override dial 128a toward one side in response to the override dial 128a being rotated toward the one side (acceleration side). An override coefficient corresponding to the amount of rotation of the override dial 128a toward the other side in response to the change signal being transmitted to the acceleration / deceleration request monitoring unit 10 and the override dial 128a being rotated toward the other side (deceleration side). Is sent to the acceleration / deceleration request monitoring unit 10. The override coefficient corresponding to the rotation amount of the override dial 128a toward the one side corresponds to the acceleration rate, and the override coefficient corresponding to the rotation amount of the override dial 128a toward the other side corresponds to the deceleration rate. The override coefficient increases from 1 when the override dial 128a is turned to the acceleration side with reference to 1, and decreases from 1 when the override dial 128a is turned to the deceleration side.
本実施形態による数値制御装置2は、以上のような構成を有する工作機械に設けられており、前記各移送装置102,106,108,110の数値制御を行う。次に、図1~図3を参照して本実施形態の数値制御装置2の構成について具体的に説明する。
The numerical control device 2 according to the present embodiment is provided in the machine tool having the above-described configuration, and performs numerical control of each of the transfer devices 102, 106, 108, and 110. Next, the configuration of the numerical controller 2 according to the present embodiment will be specifically described with reference to FIGS.
数値制御装置2は、図2に示すように、記憶部4と、メモリ5と、演算処理装置6とを有する。
As shown in FIG. 2, the numerical controller 2 includes a storage unit 4, a memory 5, and an arithmetic processing unit 6.
記憶部4は、加工指令としてのNCプログラムを記憶している。NCプログラムは、ワーク100の加工時における工具105の移動軌跡及び移送速度を表す加工パスを示すものである。
The storage unit 4 stores an NC program as a machining command. The NC program indicates a machining path representing the movement locus and transfer speed of the tool 105 when machining the workpiece 100.
メモリ5は、特別指令入力装置122に特別指令が入力される直前の時点でのオーバーライド係数や、前記速度変更信号に含まれるオーバーライド係数、また、後述する加工パス、指令パス及び各種機械軸パス等の情報を記憶する。
The memory 5 stores an override coefficient immediately before the special command is input to the special command input device 122, an override coefficient included in the speed change signal, a machining path, a command path, and various machine axis paths to be described later. The information is memorized.
演算処理装置6は、記憶部4に記憶されたNCプログラムから加工パスを求めるとともに、その加工パスに基づく所定の設定サイクルタイム当たりの各支持体102b,106a,108a,110aの移送量の演算や、各移送部102c,106b,108b,110bの移送制御、特別指令入力装置122への特別指令の入力の監視等の各種処理を行う。この演算処理装置6は、機能ブロックとして、加減速要求監視部10と、演算部12と、移送制御部14とを有する。
The arithmetic processing unit 6 obtains a machining path from the NC program stored in the storage unit 4 and calculates the transfer amount of each support 102b, 106a, 108a, 110a per predetermined set cycle time based on the machining path. Various processes such as transfer control of each transfer unit 102c, 106b, 108b, 110b and monitoring of the input of a special command to the special command input device 122 are performed. The arithmetic processing device 6 includes an acceleration / deceleration request monitoring unit 10, a calculation unit 12, and a transfer control unit 14 as functional blocks.
加減速要求監視部10は、特別指令入力装置122に前記特別指令が入力されたか否かを監視する。
The acceleration / deceleration request monitoring unit 10 monitors whether or not the special command is input to the special command input device 122.
具体的には、加減速要求監視部10は、停止指令入力装置124に減速停止指令が入力されたか否か、すなわち停止指令入力装置124の緊急停止ボタン124aが押されたか否かを停止信号発信部124bから発信される緊急停止信号を検出することによって監視している。加減速要求監視部10は、停止指令入力装置124に減速停止指令が入力されたこと、すなわち停止信号発信部124bから緊急停止信号が発信されたことに応じて緊急停止要求を演算部12の後述する移送量導出部22へ出力する。
Specifically, the acceleration / deceleration request monitoring unit 10 transmits a stop signal whether or not a deceleration stop command is input to the stop command input device 124, that is, whether or not the emergency stop button 124a of the stop command input device 124 is pressed. Monitoring is performed by detecting an emergency stop signal transmitted from the unit 124b. The acceleration / deceleration request monitoring unit 10 sends an emergency stop request to the calculation unit 12 in response to a deceleration stop command input to the stop command input device 124, that is, an emergency stop signal is transmitted from the stop signal transmission unit 124b. To the transfer amount deriving unit 22.
また、加減速要求監視部10は、再始動指令入力装置126に再始動指令が入力されたか否か、すなわち再始動指令入力装置126の再始動ボタン126aが押されたか否かを再始動信号発信部126bから発信される再始動信号を検出することによって監視している。加減速要求監視部10は、停止指令入力装置124に緊急停止指令が入力された後に再始動指令入力装置126に再始動指令が入力されたこと、すなわち停止信号発信部124bから緊急停止信号が発信された後に再始動信号発信部126bから再始動信号が発信されたことに応じて再始動要求を後述する移送量導出部22へ出力する。
Further, the acceleration / deceleration request monitoring unit 10 transmits a restart signal indicating whether or not a restart command has been input to the restart command input device 126, that is, whether or not the restart button 126a of the restart command input device 126 has been pressed. Monitoring is performed by detecting a restart signal transmitted from the unit 126b. The acceleration / deceleration request monitoring unit 10 transmits an emergency stop signal from the stop signal transmitting unit 124b, that is, an emergency stop signal is transmitted from the stop signal transmitting unit 124b after an emergency stop command is input to the stop command input device 124. In response to the restart signal transmitted from the restart signal transmission unit 126b, a restart request is output to the transfer amount deriving unit 22 described later.
また、加減速要求監視部10は、オーバーライド装置128に加速指令又は減速指令が入力されたか否か、すなわちオーバーライドダイヤル128aが回動されたか否かを速度変更信号発信部128bから発信される速度変更信号を検出することによって監視している。加減速要求監視部10は、速度変更信号発信部128bから発信される速度変更信号を受けてその速度変更信号に含まれるオーバーライド係数の情報を含む速度変更要求を後述する移送量導出部22へ出力する。
Further, the acceleration / deceleration request monitoring unit 10 transmits a speed change signal transmitted from the speed change signal transmission unit 128b as to whether an acceleration command or a deceleration command is input to the override device 128, that is, whether the override dial 128a is rotated. Monitoring is done by detecting the signal. The acceleration / deceleration request monitoring unit 10 receives the speed change signal transmitted from the speed change signal transmission unit 128b and outputs a speed change request including information on the override coefficient included in the speed change signal to the transfer amount derivation unit 22 described later. To do.
演算部12は、記憶部4に記憶されたNCプログラムに基づく加工パスの導出、基準機械軸パスの導出、基準機械軸パスの変換処理、変換後の機械軸パスの加減速処理、特別指令入力装置122への特別指令の入力の有無及びその特別指令の種類に応じた設定サイクルタイム当たりの各支持体102b,106a,108a,110aの対応する機械軸方向(X軸方向、Y軸方向、W軸方向、Z軸方向)への移送量の算出等を実行する。演算部12は、機能ブロックとして、処理後機械軸パス導出部20と、移送量導出部22とを有する。
The calculation unit 12 derives a machining path based on the NC program stored in the storage unit 4, derives a reference machine axis path, conversion processing of the reference machine axis path, acceleration / deceleration processing of the converted machine axis path, and special command input The corresponding machine axis direction (X-axis direction, Y-axis direction, W) of each support 102b, 106a, 108a, 110a per set cycle time according to the presence / absence of a special command input to the device 122 and the type of the special command. (Axis direction, Z-axis direction) and the like are calculated. The computing unit 12 includes a post-processing mechanical axis path deriving unit 20 and a transfer amount deriving unit 22 as functional blocks.
処理後機械軸パス導出部20は、記憶部4に記憶されたNCプログラムに基づいて各種演算処理を行うことにより処理後機械軸パスを求める。この処理後機械軸パス導出部20は、図3に示すように、機能ブロックとして、基準機械軸パス導出部24と、パス変換部26と、加減速フィルタ28とを有する。
The processed machine axis path deriving unit 20 obtains a processed machine axis path by performing various arithmetic processes based on the NC program stored in the storage unit 4. As illustrated in FIG. 3, the post-processing machine axis path deriving unit 20 includes a reference machine axis path deriving unit 24, a path converting unit 26, and an acceleration / deceleration filter 28 as functional blocks.
基準機械軸パス導出部24は、NCプログラムに基づいて、各支持体102b,106a,108a,110aを移送すべき各機械軸方向の位置を設定時刻tの関数として表す基準機械軸パスを導出するものである。この基準機械軸パス導出部24は、機能ブロックとして、プログラム読取部30と、曲面補間部32と、指令パス演算部34と、加減速演算部36と、時刻調整部38とを有している。
Based on the NC program, the reference machine axis path deriving unit 24 derives a reference machine axis path that represents the position in each machine axis direction to which the supports 102b, 106a, 108a, 110a are to be transferred as a function of the set time t. Is. The reference mechanical axis path deriving unit 24 includes a program reading unit 30, a curved surface interpolation unit 32, a command path calculation unit 34, an acceleration / deceleration calculation unit 36, and a time adjustment unit 38 as functional blocks. .
プログラム読取部30は、記憶部4に記憶されたNCプログラムから加工パス(ツールパス)を読み取る。加工パスは、ワーク100の加工時に工具105が移動する軌跡及びその工具105の速度を表すものである。プログラム読取部30によって読み取られた加工パスは、メモリ5に記憶される。
The program reading unit 30 reads a machining path (tool path) from the NC program stored in the storage unit 4. The machining path represents the trajectory that the tool 105 moves when machining the workpiece 100 and the speed of the tool 105. The machining path read by the program reading unit 30 is stored in the memory 5.
曲面補間部32は、加工パスを必要に応じて滑らかなパスとなるように補間演算を行う。この曲面補間部32によって加工パスの補間演算が行われた場合には、その補間演算後の加工パスがメモリ5に記憶される。
The curved surface interpolation unit 32 performs an interpolation operation so that the machining path becomes a smooth path as necessary. When the interpolation calculation of the machining path is performed by the curved surface interpolation unit 32, the machining path after the interpolation calculation is stored in the memory 5.
指令パス演算部34は、メモリ5に記憶された加工パスから各機械軸方向毎の移動成分である指令パスを算出する。この算出された各機械軸方向毎の指令パスは、メモリ5に記憶される。
The command path calculation unit 34 calculates a command path that is a movement component for each machine axis direction from the machining path stored in the memory 5. The calculated command path for each machine axis direction is stored in the memory 5.
加減速演算部36は、メモリ5に記憶された各機械軸方向毎の指令パスについて各機械軸方向毎の加減速条件、すなわち各機械軸方向毎の許容加速度や許容ジャークに従った加減速計算を行い、前記設定時刻tの関数として各機械軸方向毎の機械軸パスを算出する。この算出された各機械軸方向毎の機械軸パスは、調整前機械軸パスとしてメモリ5に記憶される。
The acceleration / deceleration calculation unit 36 calculates acceleration / deceleration according to acceleration / deceleration conditions for each machine axis direction with respect to the command path for each machine axis direction stored in the memory 5, that is, allowable acceleration or allowable jerk for each machine axis direction. And a machine axis path for each machine axis direction is calculated as a function of the set time t. The calculated machine axis path for each machine axis direction is stored in the memory 5 as a machine axis path before adjustment.
時刻調整部38は、メモリ5に記憶された調整前機械軸パスについて時刻調整のための演算を行い、基準機械軸パスを算出する。この算出された基準機械軸パスは、メモリ5に記憶される。
The time adjustment unit 38 performs an operation for time adjustment on the pre-adjustment machine axis path stored in the memory 5 and calculates a reference machine axis path. The calculated reference machine axis path is stored in the memory 5.
パス変換部26は、基準機械軸パス導出部24の加減速演算部36によって算出された各機械軸方向についての基準機械軸パスに特定の変換処理を行うことによって各機械軸方向についての変換後機械軸パスを導出する。このパス変換部26が行う前記特定の変換処理には、加減速フィルタ28による後述の加減速処理によって生じる誤差を予め補正しておくための演算処理が含まれる。この誤差補正のための演算処理としては、各機械軸方向についての基準機械軸パスの後述するブロックの各終点のうち変換後機械軸パスとの誤差が補正境界値以下である点については、基準機械軸パスに対して加減速フィルタ28による後述の加減速処理と同じ処理である変換部加減速処理を行った場合に得られる機械軸パスと基準機械軸パスとの誤差に相当する補正量を各機械軸方向毎に算出し、その算出した各機械軸方向毎の補正量で前記誤差を相殺する方向(打ち消す方向)に各機械軸方向についての基準機械軸パスを補正する演算処理が行われる。また、前記誤差補正のための演算処理として、パス変換部26が行う前記特定の変換処理には、各機械軸方向についての基準機械軸パスの後述するブロックの各終点のうち変換後機械軸パスとの誤差が補正境界値を超えている点については、その点の前後の直近の2つの指令点についての補正量から比例配分によって当該点についての補正量を算出し、その算出した補正量で上記と同様に基準機械軸パスを補正する演算処理が行われる。
The path conversion unit 26 performs a specific conversion process on the reference machine axis path for each machine axis direction calculated by the acceleration / deceleration calculation unit 36 of the reference machine axis path deriving unit 24, thereby performing post-conversion for each machine axis direction. Deriving the machine axis path. The specific conversion process performed by the path conversion unit 26 includes a calculation process for correcting in advance an error caused by an acceleration / deceleration process described later by the acceleration / deceleration filter 28. As calculation processing for this error correction, the reference machine point regarding the point where the error with the converted machine axis path is equal to or less than the correction boundary value among the end points of the later-described block of the reference machine axis path for each machine axis direction A correction amount corresponding to an error between the mechanical axis path and the reference mechanical axis path obtained when the conversion unit acceleration / deceleration process, which is the same process as the later-described acceleration / deceleration process by the acceleration / deceleration filter 28, is performed on the mechanical axis path. Calculation processing is performed for each machine axis direction, and the reference machine axis path for each machine axis direction is corrected in a direction (cancellation direction) that cancels the error with the calculated correction amount for each machine axis direction. . As the calculation process for error correction, the specific conversion process performed by the path conversion unit 26 includes a post-conversion machine axis path among end points of blocks to be described later of a reference machine axis path for each machine axis direction. For the point where the error exceeds the correction boundary value, the correction amount for the point is calculated by proportional distribution from the correction amount for the two nearest command points before and after that point, and the calculated correction amount Similar to the above, a calculation process for correcting the reference machine axis path is performed.
基準機械軸パスから得られる工具105の軌跡が、例えば、図4に示すようなXY平面上の円を示すものである場合において、仮に、後述の加減速処理と同じ変換部加減速処理をこの基準機械軸パスに対して行った場合には、その処理後の機械軸パスによって示される工具105の軌跡は、図5に示すように基準機械軸パスによって示される軌跡の径方向内側にずれる。パス変換部26は、このようなずれを発生させる処理後の機械軸パスと基準機械軸パスとの誤差に相当する補正量を各機械軸方向(X軸、Y軸)毎に算出してその算出した各機械軸方向毎の補正量で当該誤差を相殺する方向に各機械軸方向(X軸、Y軸)についての基準機械軸パスをそれぞれ補正する。これにより、パス変換部26は、例えば図5に示すような工具105の軌跡が得られる変換後機械軸パスを算出する。すなわち、図5に示す形態では、変換後機械軸パスから得られる工具105の軌跡は、結果的に、基準機械軸パスから得られる工具105の軌跡を径方向外側に補正した軌跡となる。
For example, when the trajectory of the tool 105 obtained from the reference machine axis path indicates a circle on the XY plane as shown in FIG. 4, the same conversion unit acceleration / deceleration processing as that described later is performed. When the process is performed on the reference machine axis path, the trajectory of the tool 105 indicated by the processed machine axis path is shifted radially inward of the path indicated by the reference machine axis path as shown in FIG. The path conversion unit 26 calculates a correction amount corresponding to an error between the machine axis path after processing that generates such a deviation and the reference machine axis path for each machine axis direction (X axis, Y axis) and The reference machine axis path for each machine axis direction (X axis, Y axis) is corrected in a direction that cancels the error with the calculated correction amount for each machine axis direction. As a result, the path conversion unit 26 calculates a post-conversion mechanical axis path that provides a trajectory of the tool 105 as shown in FIG. 5, for example. That is, in the form shown in FIG. 5, the trajectory of the tool 105 obtained from the post-conversion mechanical axis path results in a trajectory obtained by correcting the trajectory of the tool 105 obtained from the reference mechanical axis path radially outward.
加減速フィルタ28は、パス変換部26によって導出された各機械軸方向についての変換後機械軸パスに対して、当該変換後機械軸パスから得られる各支持体102b,106a,108a,110aの移送速度の変化を緩和するための加減速処理を行うものである。当該加減速フィルタ28による具体的な加減速処理の内容は後述する。
The acceleration / deceleration filter 28 transfers the support bodies 102b, 106a, 108a, 110a obtained from the post-conversion machine axis path to the post-conversion machine axis path for each machine axis direction derived by the path conversion unit 26. Acceleration / deceleration processing is performed to mitigate changes in speed. Details of the acceleration / deceleration processing by the acceleration / deceleration filter 28 will be described later.
移送量導出部22は、加減速フィルタ28によって加減速処理された後の機械軸パス(以下、場合によって処理後機械軸パスという)から各機械軸方向における所定の設定サイクルタイム当たりの各支持体102b,106a,108a,110aの移送量を導出する。前記設定サイクルタイムは、基準時刻が基準サイクルタイムだけ進む間に、前記設定時刻が進む時間長さとして設定されるものである。なお、基準サイクルタイムは、移送量導出部22が移送量を導出する際の補間計算周期に相当する時間長さである。そして、移送量導出部22は、前記移送量を算出する際、特別指令入力装置122への特別指令の入力の有無及びその特別指令の種類に応じた設定サイクルタイム当たりの各支持体102b,106a,108a,110aの移送量を処理後機械軸パスから算出する。具体的には、移送量導出部22は、特別指令入力装置122に特別指令の入力がない場合には、処理後機械軸パスからその時の設定サイクルタイム当たりの各支持体102b,106a,108a,110aの対応する機械軸方向への移送量を算出する一方、特別指令入力装置122に特別指令が入力された場合には、それに応じて、設定サイクルタイムの長さをその特別指令入力装置122への特別指令の入力直前の状態における長さからその特別指令が指示する対象物の速度変化に応じた長さに変化させ、その変化させた後の設定サイクルタイム当たりの各支持体102b,106a,108a,110aの対応する機械軸方向への移送量を前記処理後機械軸パスから算出する。
The transport amount deriving unit 22 supports each support body per predetermined set cycle time in each machine axis direction from the machine axis path after acceleration / deceleration processing by the acceleration / deceleration filter 28 (hereinafter, referred to as post-process machine axis path in some cases). The transfer amounts of 102b, 106a, 108a, and 110a are derived. The set cycle time is set as a length of time that the set time advances while the reference time advances by the reference cycle time. The reference cycle time is a time length corresponding to the interpolation calculation period when the transfer amount deriving unit 22 derives the transfer amount. When calculating the transfer amount, the transfer amount deriving unit 22 supports each of the supports 102b and 106a per set cycle time according to whether or not a special command is input to the special command input device 122 and the type of the special command. , 108a, 110a are calculated from the machine axis path after processing. Specifically, when there is no special command input to the special command input device 122, the transfer amount deriving unit 22 determines each support 102b, 106a, 108a, per set cycle time from the post-processing machine axis path. While the transfer amount in the corresponding machine axis direction of 110a is calculated, when a special command is input to the special command input device 122, the length of the set cycle time is accordingly sent to the special command input device 122. The length of the support 102b, 106a, per set cycle time after the change is changed from the length in the state immediately before the input of the special command to the length corresponding to the speed change of the object indicated by the special command. The transfer amounts in the machine axis direction corresponding to 108a and 110a are calculated from the post-process machine axis path.
移送制御部14は、移送量導出部22によって導出された各支持体102b,106a,108a,110aの移送量に応じて各移送部102c,106b,108b,110bに対応する支持体102b,106a,108a,110aを対応する機械軸方向において移送させる。具体的には、移送制御部14は、移送量導出部22によって導出された各機械軸方向毎の移送量を指示するサーボ指令パルスを作成し、その作成した各機械軸方向毎のサーボ指令パルスを対応する移送部102c,106b,108b,110bへ送ることによって、各移送部102c,106b,108b,110bに、送ったサーボ指令パルスが示す設定サイクルタイム当たりの移送量の分、基準サイクルタイム当たりに対応する支持体102b,106a,108a,110aを移送させる制御を行う。
The transfer control unit 14 supports the support bodies 102b, 106a, 102b corresponding to the transfer parts 102c, 106b, 108b, 110b according to the transfer amounts of the support bodies 102b, 106a, 108a, 110a derived by the transfer amount deriving part 22. 108a and 110a are moved in the corresponding machine axis direction. Specifically, the transfer control unit 14 creates a servo command pulse for instructing the transfer amount for each machine axis direction derived by the transfer amount deriving unit 22 and creates the servo command pulse for each machine axis direction. Is transferred to the corresponding transfer units 102c, 106b, 108b, 110b, the amount of transfer per set cycle time indicated by the servo command pulse sent to each transfer unit 102c, 106b, 108b, 110b, per reference cycle time. Control for transferring the supports 102b, 106a, 108a, 110a corresponding to the above is performed.
次に、本実施形態の数値制御装置2による数値制御のプロセスについて説明する。なお、以降の説明を簡単にするために、前記設定時刻及び前記設定サイクルタイムの1単位を、前記基準サイクルタイムの時間長さに等しいものとして説明する。
Next, a numerical control process by the numerical control device 2 of the present embodiment will be described. In order to simplify the following description, it is assumed that one unit of the set time and the set cycle time is equal to the length of the reference cycle time.
まず、演算部12の処理後機械軸パス導出部20が、記憶部4に記憶されているNCプログラムに基づいて、処理後機械軸パスを導出する(図6のステップS2)。この導出の具体的なプロセスは、図7のフローチャートに示されている。
First, the processed machine axis path deriving unit 20 of the calculation unit 12 derives a processed machine axis path based on the NC program stored in the storage unit 4 (step S2 in FIG. 6). The specific process of this derivation is shown in the flowchart of FIG.
この処理後機械軸パスの導出の際、まず、プログラム読取部30が記憶部4に記憶されているNCプログラムを読み取り、その読み取ったNCプログラムから加工パスを導出する(図7のステップS22)。この導出された加工パスは、メモリ5に記憶される。
In deriving the machine axis path after this processing, first, the program reading unit 30 reads the NC program stored in the storage unit 4, and derives the machining path from the read NC program (step S22 in FIG. 7). The derived machining path is stored in the memory 5.
次に、曲面補間部32が、メモリ5に記憶された加工パスが示す軌跡を滑らかにする必要がある場合には、当該加工パスの曲面補間を行う(ステップS24)。曲面補間部32は、曲面補間した後の加工パスをメモリ5に記憶させる。
Next, when the curved surface interpolation unit 32 needs to smooth the locus indicated by the machining path stored in the memory 5, the curved surface interpolation of the machining path is performed (step S24). The curved surface interpolation unit 32 stores the processing path after the curved surface interpolation in the memory 5.
次に、指令パス演算部34が、メモリ5に記憶されている加工パスを逆運動学関係式を用いて各機械軸方向毎の移動成分に変換することにより、その各機械軸方向毎の移動成分を表す指令パスを算出する(ステップS26)。指令パス演算部34は、算出した各機械軸方向毎の指令パスをメモリ5に記憶させる。
Next, the command path calculation unit 34 converts the machining path stored in the memory 5 into a movement component for each machine axis direction using an inverse kinematic relational expression, thereby moving the machine path for each machine axis direction. A command path representing the component is calculated (step S26). The command path calculation unit 34 stores the calculated command path for each machine axis direction in the memory 5.
次に、加減速演算部36が、メモリ5に記憶されている指令パスについて各機械軸方向毎の許容加速度や許容ジャークに従った加減速演算を行い、それによって、各機械軸方向についての調整前機械軸パスを算出する(ステップS28)。加減速演算部36は、算出した各機械軸方向についての調整前機械軸パスをメモリ5に記憶させる。
Next, the acceleration / deceleration calculation unit 36 performs acceleration / deceleration calculation according to the allowable acceleration and allowable jerk for each machine axis direction for the command path stored in the memory 5, thereby adjusting each machine axis direction. A front mechanical axis path is calculated (step S28). The acceleration / deceleration calculation unit 36 causes the memory 5 to store the pre-adjustment machine axis path for each calculated machine axis direction.
この後、時刻調整部38が、メモリ5に記憶されている各機械軸方向についての調整前機械軸パスを時刻調整して各機械軸方向についての基準機械軸パスを算出する(ステップS29)。具体的には、仮に、調整前機械軸パスのうち対象物の移送開始直後の加速期間に対応する部分及び対象物の移送停止直前の減速期間に対応する部分についてそのまま後述の変換部加減速処理を行った場合には、それらの部分における設定時刻にずれが生じる。このため、時刻調整部38は、この設定時刻のずれを解消するための時刻調整を後述の変換部加減速処理の前に予め行って基準機械軸パスを導出する。本実施形態では、変換部加減速処理において後述のように直線型の分配関数f(T)を用いるため、時刻調整部38は、この直線型の分配関数f(T)に応じた次式を用いて調整前機械軸パスの時刻調整を行う。なお、次式は、時刻調整に用いる関数の一般式を直線型の分配形式に対応する形で表したものである。
Thereafter, the time adjustment unit 38 adjusts the time of the pre-adjustment machine axis path for each machine axis direction stored in the memory 5 to calculate a reference machine axis path for each machine axis direction (step S29). Specifically, the conversion unit acceleration / deceleration processing described later is directly performed on the part corresponding to the acceleration period immediately after the start of the object transfer and the part corresponding to the deceleration period immediately before the stop of the object transfer in the pre-adjustment machine axis path. When performing the above, there is a difference in the set times in those portions. For this reason, the time adjustment unit 38 performs time adjustment for eliminating the deviation of the set time in advance before the conversion unit acceleration / deceleration processing described later to derive the reference mechanical axis path. In this embodiment, since the linear distribution function f (T) is used in the conversion unit acceleration / deceleration processing as will be described later, the time adjustment unit 38 obtains the following equation according to the linear distribution function f (T). Used to adjust the time of the machine axis path before adjustment. The following expression represents a general expression of a function used for time adjustment in a form corresponding to a linear distribution form.
この式において、tは、時刻調整前の設定時刻であり、tj(t)は、時刻調整後の時刻であり、Tjは、時刻調整を行う対象の調整前機械軸パスに対応する機械軸方向の時定数である。また、t=0が、対象物が移送開始される始点の時刻であり、t=teが、対象物が移送停止される終点の時刻である。
In this equation, t is the set time before time adjustment, tj (t) is the time after time adjustment, and Tj is the machine axis direction corresponding to the pre-adjustment machine axis path to be adjusted. Is the time constant of. Further, t = 0 is a start time when the object starts to be transferred, and t = te is an end time when the object is stopped.
詳しくは、時刻調整部38は、当該時刻調整の際、設定時刻t=0からt=teに亘る調整前機械軸パスを、所定の1分割ブロック所要時間を越えない時間単位の時刻配列tt[i]≦t≦tt[i+1] (i=0,1,2,・・・,n-1,tt[0]=0,tt[n]=te)に応じて細分割し、各時刻tt[i]における機械軸位置PAiを求め、前記時刻配列を時刻調整関数t[i]=tj(tt[i])に従って調整する。そして、時刻調整部38は、時刻調整後の各時刻t[i]における基準機械軸パスの位置が前記機械軸位置PAiとなる複数の直線のブロックPAi(t) (t[i]≦t≦t[i+1]) (i=0,1,2,・・・,n-1,t[0]=Tj/2,t[n]=te-Tj/2)を求める。この複数の直線のブロックPAi(t)が、基準機械軸パスPA(t)を構成するものである。すなわち、時刻調整部38は、時刻調整処理において、調整前機械軸パスを時刻調整するとともに細分割した複数の直線ブロックを求めることによって、その複数の直線ブロックからなる基準機械軸パスを求める。時刻調整部38は、以上のようにして求めた各機械軸方向についての複数のブロックPAi(t)からなる基準機械軸パスPA(t)をメモリ5に記憶させる。
Specifically, the time adjustment unit 38, when performing the time adjustment, sets the pre-adjustment mechanical axis path from the set time t = 0 to t = te to a time unit tt [ i] ≦ t ≦ tt [i + 1] (i = 0, 1, 2,..., n−1, tt [0] = 0, tt [n] = te), and each time tt The machine axis position P A i at [i] is obtained, and the time array is adjusted according to the time adjustment function t [i] = tj (tt [i]). Then, the time adjustment unit 38 has a plurality of linear blocks P A i (t) (t [i] in which the position of the reference machine axis path at each time t [i] after the time adjustment is the machine axis position P A i. ] ≦ t ≦ t [i + 1]) (i = 0, 1, 2,..., N−1, t [0] = Tj / 2, t [n] = te−Tj / 2). The plurality of linear blocks P A i (t) constitute a reference machine axis path P A (t). That is, in the time adjustment process, the time adjustment unit 38 adjusts the time of the pre-adjustment mechanical axis path and obtains a plurality of linear blocks that are subdivided, thereby obtaining a reference mechanical axis path composed of the plurality of linear blocks. The time adjustment unit 38 causes the memory 5 to store a reference machine axis path P A (t) composed of a plurality of blocks P A i (t) for each machine axis direction obtained as described above.
次に、パス変換部26が、メモリ5に記憶された各機械軸方向についての基準機械軸パスに変換処理を行うことによって各機械軸方向についての変換後機械軸パスを導出する(ステップS30)。具体的には、パス変換部26は、変換処理として、図8に示すフローチャートに沿った演算処理を行う。以下、この演算処理について具体的に説明する。
Next, the path conversion unit 26 performs conversion processing on the reference machine axis path for each machine axis direction stored in the memory 5 to derive a converted machine axis path for each machine axis direction (step S30). . Specifically, the path conversion unit 26 performs a calculation process according to the flowchart shown in FIG. 8 as the conversion process. Hereinafter, this calculation process will be described in detail.
まず、パス変換部26は、以下のような変換部加減速処理を、上記のように導出されてメモリ5に記憶された各機械軸方向についての基準機械軸パスに対してそれぞれ行う(ステップS42)。なお、説明を簡略にするために、以下、1つの機械軸方向の基準機械軸パスの変換部加減速処理に絞って説明するが、他の全ての機械軸方向の基準機械軸パスについてもその各機械軸方向毎に同様の変換部加減速処理が行われる。
First, the path conversion unit 26 performs the following conversion unit acceleration / deceleration processing with respect to the reference machine axis path for each machine axis direction derived as described above and stored in the memory 5 (step S42). ). In order to simplify the explanation, the following description will focus on the acceleration / deceleration processing of the conversion part of the reference machine axis path in one machine axis direction, but the reference machine axis paths in all other machine axis directions are also described. The same conversion unit acceleration / deceleration processing is performed for each machine axis direction.
パス変換部26は、基準機械軸パスのブロックPAi(t)毎に加減速処理を行う。詳しくは、パス変換部26は、基準機械軸パスの所定のブロックPAi(t)内におけるある設定時刻をtとし、変換部加減速処理を行う対象の基準機械軸パスの機械軸方向について設定された時定数Tjの半分の値をaとし、次式(4)を満たす分配関数をf(T)とし、前記所定のブロックPAi(t)に対応する変換部加減速処理後の機械軸パスのブロックをQAi(t)とし、t-aからt+aに亘る分配対象区間内の各設定時刻Tにおける前記所定のブロックPAi(t)の速度関数をPAi’(T)とした場合に、変換部加減速処理後のブロックQAi(t)の設定時刻tによる一次微分関数である速度関数QAi’(t)を次式(5)に基づいて算出する。
The path conversion unit 26 performs acceleration / deceleration processing for each block P A i (t) of the reference machine axis path. Specifically, the path converting unit 26, a setting time which is in the reference machine axis predetermined block P A i (t) in the path and t, the mechanical axis direction of the reference machine axis path subjected to the conversion unit deceleration processing the half of the constant Tj when set as a, a distribution function which satisfies the following equation (4) and f (T), the converted portion deceleration process corresponding to the predetermined block P a i (t) The block of the machine axis path is Q A i (t), and the speed function of the predetermined block P A i (t) at each set time T in the distribution target section from ta to t + a is represented by P A i ′ ( T), a speed function Q A i ′ (t) that is a first-order differential function at a set time t of the block Q A i (t) after the conversion unit acceleration / deceleration processing is calculated based on the following equation (5). To do.
この変換部加減速処理では、上記数式(4),(5)に示されているように、設定時刻tの前後に亘る分配対象区間[t-a,t+a]内の各設定時刻Tにおける速度関数PAi’(T)をT-aからT+aに亘る区間内に分配関数f(T)に従って分配したときの設定時刻tへの分配値PAi’(T)・f(t-T)を、t-aからt+aまでの区間に亘って積分している。
In this conversion unit acceleration / deceleration processing, as shown in the above formulas (4) and (5), the speed at each set time T in the distribution target section [ta, t + a] before and after the set time t. The distribution value P A i ′ (T) · f (t−T at the set time t when the function P A i ′ (T) is distributed according to the distribution function f (T) within the interval from T−a to T + a ) Is integrated over the interval from ta to t + a.
なお、上記の演算処理においてパス変換部26が用いる分配関数f(T)は、加減速フィルタ28が加減速処理を行うときに用いる分配関数と同じものであり、本実施形態では、パス変換部26及び加減速フィルタ28が共に直線型の分配形式(速度関数を分配区間内全体に亘って均等に分配する形式)で分配を行うため、この分配形式に対応する分配関数f(T)は、次式で表される直線型の分配関数である。
The distribution function f (T) used by the path conversion unit 26 in the above arithmetic processing is the same as the distribution function used when the acceleration / deceleration filter 28 performs the acceleration / deceleration processing. In this embodiment, the path conversion unit 26 and the acceleration / deceleration filter 28 both perform distribution in a linear distribution format (a format in which the speed function is evenly distributed over the entire distribution interval), and the distribution function f (T) corresponding to this distribution format is It is a linear partition function expressed by the following equation.
上記式(5)によって求められる速度関数QAi’(t)は、その速度関数に対応するブロックPAi(t)の区間幅t[i+1]-t[i]が時定数Tj=2aよりも大きい場合と小さい場合とで異なった形で表される。その各場合における速度関数QAi’(t)は、以下の通りである。
The speed function Q A i ′ (t) obtained by the above equation (5) has the time constant Tj = 2a as the interval width t [i + 1] −t [i] of the block P A i (t) corresponding to the speed function. Larger and smaller cases are represented differently. The speed function Q A i ′ (t) in each case is as follows.
ブロックPAi(t)の区間幅t[i+1]-t[i]が時定数Tj=2aよりも大きい場合には、t[i]-a<t[i]<t[i]+a<t[i+1]-a<t[i+1]<t[i+1]+aの関係が成り立つ(図9参照)。この場合におけるブロックPAi(t)の速度関数PAi’(T)は、図9中の太線で表される。この場合において、算出される速度関数QAi’(t)は、下記のt[i]-aからt[i]+aまでの区間の速度関数qAi11’(t)と、t[i]+aからt[i+1]-aまでの区間の速度関数qAi12’(t)と、t[i+1]-aからt[i+1]+aまでの区間の速度関数qAi13’(t)とに細分化される。
When the section width t [i + 1] −t [i] of the block P A i (t) is larger than the time constant Tj = 2a, t [i] −a <t [i] <t [i] + a < The relationship t [i + 1] −a <t [i + 1] <t [i + 1] + a holds (see FIG. 9). The speed function P A i ′ (T) of the block P A i (t) in this case is represented by a thick line in FIG. In this case, the calculated speed function Q A i ′ (t) is expressed by the following speed function q A i11 ′ (t) in the section from t [i] −a to t [i] + a and t [i ] + 'and (t), t [i + 1] t from -a [i + 1] + speed function of the section up to a q a i13' a from t [i + 1] speed function of the section up -a q a i12 and (t) It is subdivided into.
t[i]-aからt[i]+aまでの区間の速度関数qAi11’(t)は、次式(7)で表される。
A speed function q A i11 ′ (t) in a section from t [i] −a to t [i] + a is expressed by the following equation (7).
t[i]+aからt[i+1]-aまでの区間の速度関数qAi12’(t)は、次式(8)で表される。
A speed function q A i12 ′ (t) in a section from t [i] + a to t [i + 1] −a is expressed by the following equation (8).
t[i+1]-aからt[i+1]+aまでの区間の関数qAi13’(t)は、次式(9)で表される。
A function q A i13 ′ (t) in a section from t [i + 1] −a to t [i + 1] + a is expressed by the following equation (9).
次に、ブロックPAi(t)の区間幅t[i+1]-t[i]が時定数Tj=2aよりも小さい場合には、その区間幅t[i+1]-t[i]が時定数Tj=2aよりも小さく且つ時定数Tjの半分の値aよりも大きい場合と、区間幅t[i+1]-t[i]が時定数Tjの半分の値aよりも小さい場合とに分類される。図10は、ブロックPAi(t)の区間幅t[i+1]-t[i]が時定数Tj=2aよりも小さく且つ時定数Tjの半分の値aよりも大きい場合を示しており、この場合には、t[i]-a<t[i]<t[i+1]-a<t[i]+a<t[i+1]<t[i+1]+aの関係が成り立つ。また、図11は、ブロックPAi(t)の区間幅t[i+1]-t[i]が時定数Tj=2aの半分の値aよりも小さい場合を示しており、この場合には、t[i]-a<t[i+1]-a<t[i]<t[i+1]<t[i]+a<t[i+1]+aの関係が成り立つ。これらの場合におけるブロックPAi(t)の速度関数PAi’(T)は、図10及び図11中の太線で表される。そして、これらの場合において、算出される速度関数QAi’(t)は、下記のt[i]-aからt[i+1]-aまでの区間の速度関数qAi21’(t)と、t[i+1]-aからt[i]+aまでの区間の速度関数qAi22’(t)と、t[i]+aからt[i+1]+aまでの区間の速度関数qAi23’(t)とに細分化される。
Next, when the section width t [i + 1] −t [i] of the block P A i (t) is smaller than the time constant Tj = 2a, the section width t [i + 1] −t [i] is the time constant. It is classified into a case where it is smaller than Tj = 2a and larger than a value a half of the time constant Tj, and a case where the section width t [i + 1] -t [i] is smaller than a value a half of the time constant Tj. . FIG. 10 shows a case where the section width t [i + 1] −t [i] of the block P A i (t) is smaller than the time constant Tj = 2a and larger than the half value a of the time constant Tj. In this case, the relationship t [i] −a <t [i] <t [i + 1] −a <t [i] + a <t [i + 1] <t [i + 1] + a holds. FIG. 11 shows a case where the section width t [i + 1] −t [i] of the block P A i (t) is smaller than the half value a of the time constant Tj = 2a. The relationship t [i] −a <t [i + 1] −a <t [i] <t [i + 1] <t [i] + a <t [i + 1] + a holds. The speed function P A i ′ (T) of the block P A i (t) in these cases is represented by a thick line in FIGS. In these cases, the calculated speed function Q A i ′ (t) is the following speed function q A i21 ′ (t) in the section from t [i] -a to t [i + 1] -a: , T [i + 1] -a to t [i] + a interval speed function q A i22 ′ (t) and t [i] + a to t [i + 1] + a interval velocity function q A i23 ′ ( t).
t[i]-aからt[i+1]-aまでの区間の関数qAi21’(t)は、次式(10)で表される。
A function q A i21 ′ (t) in a section from t [i] -a to t [i + 1] -a is expressed by the following equation (10).
t[i+1]-aからt[i]+aまでの区間の関数qAi22’(t)は、次式(11)で表される。
A function q A i22 ′ (t) in a section from t [i + 1] −a to t [i] + a is expressed by the following equation (11).
t[i]+aからt[i+1]+aまでの区間の関数qAi23’(t)は、次式(12)で表される。
A function q A i23 ′ (t) in a section from t [i] + a to t [i + 1] + a is expressed by the following equation (12).
そして、パス変換部26は、以上のように算出した各ブロック毎の速度関数QAi’(t)を積算することによって全体の速度関数QA’(t)を算出し、その算出した全体の速度関数QA’(t)を積分することによって変換部加減速処理後の機械軸パスQA(t)を算出する。
Then, the path conversion unit 26 calculates the overall speed function Q A ′ (t) by accumulating the speed functions Q A i ′ (t) for each block calculated as described above, and the calculated overall The mechanical axis path Q A (t) after the conversion unit acceleration / deceleration processing is calculated by integrating the speed function Q A ′ (t).
その後、パス変換部26は、算出した各機械軸方向についての変換部加減速処理後の機械軸パスQA(t)から対応する機械軸方向についての基準機械軸パスPA(t)を減じることによって、各機械軸方向についての変換部加減速処理後の機械軸パスQA(t)と時刻調整後の基準機械軸パスとの誤差である基準誤差を算出する(ステップS44)。このとき、パス変換部26は、変換部加減速処理後の機械軸パスQA(t)の各ブロックQAi(t)の終点毎にその終点の値から対応する時刻調整後の基準機械軸パスのブロックPAi(t)の終点の値を減算することによって基準誤差を算出する。具体的には、パス変換部26は、各ブロックQAi(t)の終点毎の基準誤差e[i]を次式(13)によって算出する。
Thereafter, the path conversion unit 26 subtracts the reference machine axis path P A (t) for the corresponding machine axis direction from the calculated machine axis path Q A (t) after the conversion unit acceleration / deceleration processing for each machine axis direction. Thus, a reference error, which is an error between the machine axis path Q A (t) after the conversion unit acceleration / deceleration processing and the reference machine axis path after the time adjustment in each machine axis direction, is calculated (step S44). At this time, the path conversion unit 26 sets the reference machine after the time adjustment corresponding to the end point value of each block Q A i (t) of the machine axis path Q A (t) after the conversion unit acceleration / deceleration processing. The reference error is calculated by subtracting the end point value of the axis path block P A i (t). Specifically, the path conversion unit 26 calculates a reference error e [i] for each end point of each block Q A i (t) by the following equation (13).
e[i]=QA(tt[i])-PA(t[i])・・・(13)
e [i] = Q A (tt [i]) − P A (t [i]) (13)
パス変換部26は、以上のように前記各ブロックQAi(t)の終点毎の基準誤差e[i]を算出した後、各ブロックQAi(t)の各終点を補正境界値に基づいて第1補正対象点と第2補正対象点とに分類する(ステップS46)。第2補正対象点としては、コーナー部(例えば、機械軸パスが示す軌跡が多角形状の軌跡を示すものである場合には、その多角形の頂点)、機械軸パスの最初の始点直後の特定区間(移送開始直後の一定区間)に含まれるブロックの終点、機械軸パスの最後の終点の直前の特定区間(移送停止直前の一定区間)に含まれるブロックの終点、速度変化が急激で和らげる必要のある特定区間に含まれるブロックの終点などがある。また、第1補正対象点は、第2補正対象点以外の終点であり、機械軸パスのうち滑らかな移送を指示する区間に含まれるブロックの終点である。補正境界値は、メモリ5に設定値として記憶されており、パス変換部26は、各ブロックQAi(t)の終点のうち、基準誤差e[i]が当該補正境界値以下である点を第1補正対象点とし、基準誤差e[i]が当該補正境界値を超えている点を第2補正対象点とする。
The path conversion unit 26 calculates the reference error e [i] for each end point of each block Q A i (t) as described above, and then uses each end point of each block Q A i (t) as a correction boundary value. Based on this, the first correction target point and the second correction target point are classified (step S46). The second correction target point includes a corner portion (for example, the vertex of the polygon when the trajectory indicated by the mechanical axis path indicates a polygonal trajectory), and the specification immediately after the first start point of the mechanical axis path. The end point of the block included in the section (constant section immediately after the start of transfer), the end point of the block included in the specific section (predetermined section immediately before the stop of transfer) immediately before the last end point of the machine axis path, and the speed change need to be suddenly relieved There is an end point of a block included in a specific section. The first correction target point is an end point other than the second correction target point, and is an end point of a block included in a section instructing smooth transfer in the mechanical axis path. The correction boundary value is stored as a set value in the memory 5, and the path conversion unit 26 has a point that the reference error e [i] is less than or equal to the correction boundary value among the end points of each block Q A i (t). Is a first correction target point, and a point where the reference error e [i] exceeds the correction boundary value is a second correction target point.
そして、パス変換部26は、第1補正対象点と第2補正対象点とについてそれぞれ補正量を算出する(ステップS48)。具体的には、パス変換部26は、第1補正対象点については、その点の基準誤差e[i]に等しい値を当該第1補正対象点についての補正量h1[i]とする。また、パス変換部26は、第2補正対象点については、その第2補正対象点とその第2補正対象点の前の直近の第1補正対象点との間の距離Lbと、その第2補正対象点とその第2補正対象点の後の直近の第1補正対象点との間の距離Laとを求め、次式(14)により比例配分することによって当該第2補正対象点についての補正量h2[i]を求める。なお、次式(14)において、eb[i]は、前記第2補正対象点の前の直近の第1補正対象点についての基準誤差であり、ea[i]は、前記第2補正対象点の後の直近の第1補正対象点についての基準誤差である。
Then, the path conversion unit 26 calculates a correction amount for each of the first correction target point and the second correction target point (step S48). Specifically, for the first correction target point, the path conversion unit 26 sets a value equal to the reference error e [i] of the point as the correction amount h1 [i] for the first correction target point. The path conversion unit 26 for the second correction target point, and its second correction target point and the distance L b between the most recent first correction target point before the second correction target point, the first The second correction target point is obtained by obtaining a distance La between the two correction target points and the first correction target point immediately after the second correction target point, and proportionally allocating by the following equation (14). A correction amount h2 [i] is obtained. In the following equation (14), e b [i] is a reference error for the first correction target point immediately before the second correction target point, and e a [i] is the second correction target. This is a reference error for the first correction target point immediately after the target point.
h2[i]=(eb[i]×La+ea[i]×Lb)/(Lb+La)・・・(14)
h2 [i] = (e b [i] × L a + e a [i] × L b ) / (L b + L a ) (14)
そして、パス変換部26は、上記のように求めた各ブロックQAi(t)の終点毎の補正量h1[i],h2[i]をメモリ5に記憶させる。
Then, the path conversion unit 26 stores in the memory 5 the correction amounts h1 [i] and h2 [i] for each end point of each block Q A i (t) obtained as described above.
この後、パス変換部26は、メモリ5に記憶させた各ブロックQAi(t)の終点毎の補正量h1[i],h2[i]で基準機械軸パスPA(t)を補正して変換後機械軸パスPB(t)を算出する。具体的には、パス変換部26は、基準機械軸パスPA(t)の各ブロックPAi(t)の終点のうち第1補正対象点については補正量h1[i]で補正し、各ブロックPAi(t)の終点のうち第2補正対象点については補正量h2[i]で補正する(ステップS50)。詳しくは、パス変換部26は、第1補正対象点については対応する基準機械軸パスのブロックPAi(t)の終点の値からその点について設定された補正量h1[i]を減じることによって当該第1補正対象点の補正後の値を求め、第2補正対象点については対応する基準機械軸パスのブロックPAi(t)の終点の値からその点について設定された補正量h2[i]を減じることによって当該第2補正対象点の補正後の値を求める。パス変換部26は、このように補正して得た各ブロックからなる機械軸パスを変換後機械軸パスとしてメモリ5に記憶させる。具体的には、パス変換部26は、補正して得た各ブロックPBi(t) (t[i]≦t≦t[i+1]) (i=0,1,2,・・・,n-1)からなる変換後機械軸パスPB(t)をメモリ5に記憶させる。
Thereafter, the path conversion unit 26 corrects the reference machine axis path P A (t) with the correction amounts h1 [i] and h2 [i] for each end point of each block Q A i (t) stored in the memory 5. The post-conversion mechanical axis path P B (t) is calculated. Specifically, the path conversion unit 26 corrects the first correction target point among the end points of each block P A i (t) of the reference machine axis path P A (t) with the correction amount h1 [i], Of the end points of each block P A i (t), the second correction target point is corrected with the correction amount h2 [i] (step S50). Specifically, for the first correction target point, the path conversion unit 26 subtracts the correction amount h1 [i] set for the point from the end point value of the block P A i (t) of the corresponding reference machine axis path. Then, the corrected value of the first correction target point is obtained, and for the second correction target point, the correction amount h2 set for the point from the end point value of the block P A i (t) of the corresponding reference machine axis path The corrected value of the second correction target point is obtained by subtracting [i]. The path conversion unit 26 stores the mechanical axis path composed of the blocks obtained by the correction in this way in the memory 5 as a converted mechanical axis path. Specifically, the path conversion unit 26 corrects each block P B i (t) (t [i] ≦ t ≦ t [i + 1]) (i = 0, 1, 2,... The converted machine axis path P B (t) consisting of n−1) is stored in the memory 5.
次に、加減速フィルタ28が、メモリ5に記憶された変換後機械軸パスを加減速処理することによって処理後機械軸パスを導出する(図7のステップS32)。この加減速フィルタ28による加減速処理は、パス変換部26による加減速処理と全く同じである。すなわち、加減速フィルタ28は、上記式(5)のうちの速度関数PAi’(T)を変換後機械軸パスPB(t)の各ブロックPBi(t)の速度関数PBi’(t)に置き換えた式を用いて処理後機械軸パスQB(t)の各ブロックQBi(t)の速度関数QBi’(t)を算出し、その算出した各ブロックの速度関数QBi’(t)を上記と同様に積算して全体の速度関数QB’(t)を算出し、その算出した全体の速度関数QB’(t)を積分することによって処理後機械軸パスQB(t)を求める。具体的には、加減速フィルタ28は、分配関数f(T)としては、上記式(4)を満たすものを用い、速度関数QBi’(t)を次式(15)に基づいて算出する。
Next, the acceleration / deceleration filter 28 derives a processed mechanical axis path by performing acceleration / deceleration processing on the converted mechanical axis path stored in the memory 5 (step S32 in FIG. 7). The acceleration / deceleration process by the acceleration / deceleration filter 28 is exactly the same as the acceleration / deceleration process by the path conversion unit 26. Namely, acceleration and deceleration filter 28, speed function P B in the formula (5) speed function P A i of the 'blocks P B i after the conversion of the (T) mechanical axis path P B (t) (t) The velocity function Q B i ′ (t) of each block Q B i (t) of the post-processing mechanical axis path Q B (t) is calculated using the expression replaced with i ′ (t), and each of the calculated blocks The speed function Q B i ′ (t) is integrated in the same manner as described above to calculate the overall speed function Q B ′ (t), and the calculated overall speed function Q B ′ (t) is integrated. A post-processing machine axis path Q B (t) is obtained. Specifically, the acceleration / deceleration filter 28 uses a distribution function f (T) that satisfies the above equation (4), and calculates the speed function Q B i ′ (t) based on the following equation (15). To do.
この加減速フィルタ28による加減速処理が行われることによって、変換後機械軸パスが示す各支持体102b,106a,108a,110aの移送速度の変化を緩和するような処理後機械軸パスが導出される。ところで、この加減速処理により、処理後機械軸パスは、変換後機械軸パスから変化してその変換後機械軸パスに対して誤差を生じるが、上記のパス変換部26による変換処理によって、変換後機械軸パスは、当該加減速処理によって生じる誤差を予め相殺する方向に補正されているため、当該処理後機械軸パスは、基準機械軸パスに対して誤差を生じない。加減速フィルタ28によって算出された処理後機械軸パスはメモリ5に記憶される。
By performing the acceleration / deceleration process by the acceleration / deceleration filter 28, a post-process mechanical axis path that reduces the change in the transfer speed of each of the supports 102b, 106a, 108a, 110a indicated by the post-conversion mechanical axis path is derived. The By the way, with this acceleration / deceleration processing, the processed machine axis path changes from the converted machine axis path and causes an error with respect to the converted machine axis path. Since the rear machine axis path is corrected in a direction that cancels out the error caused by the acceleration / deceleration process in advance, the post-process machine axis path does not cause an error with respect to the reference machine axis path. The processed machine axis path calculated by the acceleration / deceleration filter 28 is stored in the memory 5.
この加減速フィルタ28による加減速処理は、機械ショックの要因となる異常データの部分をその部分が示す移送速度の変化が緩和するように補正し得る従来のパルス補間後の加減速処理(補間後加減速処理)と実質的に同等の処理を変換後機械軸パスに対して行うものである。
The acceleration / deceleration processing by the acceleration / deceleration filter 28 is a conventional acceleration / deceleration processing after pulse interpolation (after interpolation) that can correct the portion of abnormal data that causes mechanical shock so that the change in the transfer speed indicated by the portion is reduced. A process substantially equivalent to the acceleration / deceleration process) is performed on the converted machine axis path.
具体的には、従来のパルス補間後の加減速処理では、機械軸パスをp(t)とし、サイクルタイムをΔt秒とし、時定数をτ=n・Δt(秒)とし、起動後の最初の0番目のサイクル、すなわち時刻0から時刻Δtまでの間のサイクルをサイクル(0)とし、第i番目のサイクル、すなわち時刻i・Δtから時刻(i+1)・Δtまでのサイクルをサイクル(i)とすると、サイクル(i)における移送量を示す移送パルスΔp(i)は、次式(16)で表せる。
Specifically, in the conventional acceleration / deceleration processing after pulse interpolation, the mechanical axis path is set to p (t), the cycle time is set to Δt seconds, the time constant is set to τ = n · Δt (seconds), Cycle (0), and the cycle from time i · Δt to time (i + 1) · Δt is cycle (i). Then, the transfer pulse Δp (i) indicating the transfer amount in the cycle (i) can be expressed by the following equation (16).
Δp(i)=p((i+1)・Δt)-p(i・Δt)・・・(16)
Δp (i) = p ((i + 1) · Δt) −p (i · Δt) (16)
直線型の分配関数を用いた補間後加減速処理では、サイクル(i)の移送パルスΔp(i)をサイクル(i)からサイクル(i+n-1)までの間の時定数τに等しい長さを有する分配区間内の各サイクルに(p((i+1)・Δt)-p(i・Δt))/nずつ均等に分配するという分配方法に従って全てのサイクルの移送パルスを分配し、その後、各サイクル毎に移送パルスの分配値を積算することによって、補間後加減速処理後の移送パルスを算出する。このことから、補間後加減速処理後の第j番目のサイクル(j)の移送パルスΔq[j]は、サイクル(j-n+1)からサイクル(j)までの各サイクルの移送パルスΔp[i](i=j-n+1,j-n+2,・・・・,j-2,j-1,j)を1/n倍した各分配値を積算することによって求められる。具体的には、次式(17)によって補間後加減速処理後の移送パルスΔq[j]を算出する。
In post-interpolation acceleration / deceleration processing using a linear distribution function, the transfer pulse Δp (i) of cycle (i) is set to a length equal to the time constant τ between cycle (i) and cycle (i + n−1). The transfer pulses of all cycles are distributed according to a distribution method in which (p ((i + 1) · Δt) −p (i · Δt)) / n is evenly distributed to each cycle in the distribution interval, and then each cycle The transfer pulse after the acceleration / deceleration process after interpolation is calculated by integrating the distribution value of the transfer pulse every time. From this, the transfer pulse Δq [j] of the j-th cycle (j) after the post-interpolation acceleration / deceleration processing is the transfer pulse Δp [i] of each cycle from the cycle (j−n + 1) to the cycle (j). (I = j−n + 1, j−n + 2,..., J−2, j−1, j) is obtained by accumulating each distribution value multiplied by 1 / n. Specifically, the transfer pulse Δq [j] after post-interpolation acceleration / deceleration processing is calculated by the following equation (17).
ところで、この補間後加減速処理後の移送パルスΔq[j]は、サイクル(j)におけるサイクルタイムΔt秒の間の移送量に相当するため、上記式(17)の両辺をΔtで除することによって、サイクル(j)における平均速度が求められる。すなわち、次式(18)によってサイクル(j)における平均速度が求められる。
By the way, since the transfer pulse Δq [j] after the post-interpolation acceleration / deceleration process corresponds to the transfer amount during the cycle time Δt seconds in the cycle (j), both sides of the above equation (17) are divided by Δt. To obtain the average speed in cycle (j). That is, the average speed in the cycle (j) is obtained by the following equation (18).
ここで、時定数τ=n・Δtであることから1/n=1/(τ・Δt)と表すことができ、j・Δtを時刻t、i・Δtを時刻Tとすると、上記式(18)を式変形して次式(19)のように表せる。
Here, since the time constant τ = n · Δt, it can be expressed as 1 / n = 1 / (τ · Δt), where j · Δt is time t and i · Δt is time T, 18) can be transformed into the following equation (19).
この数式(19)は、サイクル(i)における平均速度(p(T+Δt)-p(T))/Δtをτ・Δtの区間幅を有する分配区間内に均等に分配したときの分配値を、i=j-n+1のサイクルからi=jのサイクルまでの各サイクルの分、積算することを意味している。そして、サイクル(j)における平均速度は、時刻tにおける平均速度Δq(t)/Δtに等しいので、次式(20)が成り立つ。
This mathematical formula (19) is a distribution value when the average speed (p (T + Δt) −p (T)) / Δt in the cycle (i) is evenly distributed in the distribution section having the section width of τ · Δt. This means that integration is performed for each cycle from the cycle of i = j−n + 1 to the cycle of i = j. Since the average speed in the cycle (j) is equal to the average speed Δq (t) / Δt at time t, the following equation (20) is established.
ここで、nを無限大にすると、Δtはdtと表すことができ、Δq(t)/Δtはq’(t)と表すことができ、(p(T+Δt)-p(T))/Δtはp’(T)と表すことができる。また、上記したようにj・Δt=tであり、(j-n+1)・Δt=j・Δt-n・Δt+Δt=t-τ+Δtとなる。nを無限大にするときには、Δtは0に近似されるので、t-τ+Δtは、t-τとなる。これらのことから、上記式(20)に基づいて次式(21)を導くことができる。
Here, when n is infinite, Δt can be expressed as dt, Δq (t) / Δt can be expressed as q ′ (t), and (p (T + Δt) −p (T)) / Δt Can be expressed as p ′ (T). Furthermore, as described above, j · Δt = t, and (j−n + 1) · Δt = j · Δt−n · Δt + Δt = t−τ + Δt. When n is infinite, Δt is approximated to 0, so t−τ + Δt becomes t−τ. From these, the following equation (21) can be derived based on the above equation (20).
上記実施形態では、時定数の半分の値をaと規定しているため、上記式(20)における時定数τを2aに置き換えるとともに、直線型の分配関数f(T)=1/2aであることから、上記式(21)は、以下の式(22)のように表される。
In the above embodiment, since the half value of the time constant is defined as a, the time constant τ in the above equation (20) is replaced with 2a and the linear distribution function f (T) = 1 / 2a. Therefore, the above equation (21) is expressed as the following equation (22).
この式(22)から、変換後機械軸パスを従来の補間後加減速処理に直接的に対応するように加減速処理しようとすれば、加減速処理後の所定のブロックQAi(t)の速度関数QAi’(t)を次式(23)に従って求めることが考えられる。
From this equation (22), if an acceleration / deceleration process is to be performed so that the converted machine axis path directly corresponds to the conventional post-interpolation acceleration / deceleration process, a predetermined block Q A i (t) after the acceleration / deceleration process is obtained. It is conceivable that the velocity function Q A i ′ (t) is determined according to the following equation (23).
また、従来の補間後加減速処理では、各サイクルの移送パルスをそのサイクルの終点に対応する時刻以降で時定数に等しい区間幅を有する分配区間内に分配するため、そのような分配方式に直接的に対応する分配関数f(T)は、以下の式(24)を満たすものとなる。
Further, in the conventional post-interpolation acceleration / deceleration processing, the transfer pulse of each cycle is distributed in a distribution section having a section width equal to the time constant after the time corresponding to the end point of the cycle. Accordingly, the corresponding distribution function f (T) satisfies the following expression (24).
これらの式(24),(23)によって表される加減速処理の内容は、分配区間及び速度関数の分配値の積分範囲が上記加減速フィルタ28による加減速処理における分配区間及び積分範囲に対して時定数の半分の値aだけずれているだけで、上記加減速フィルタ28による加減速処理の内容と実質的に同じである。従って、上記加減速フィルタ28による加減速処理は、従来の補間後加減速処理と実質的に同等の効果、すなわち、異常データ部分の移送速度の変化を緩和するという効果をもたらす。
The contents of the acceleration / deceleration processing expressed by these equations (24) and (23) are as follows. The distribution range and the integration range of the distribution value of the speed function are compared with the distribution interval and the integration range in the acceleration / deceleration processing by the acceleration / deceleration filter 28. The content of the acceleration / deceleration process by the acceleration / deceleration filter 28 is substantially the same, only by shifting by a value a which is half the time constant. Accordingly, the acceleration / deceleration process by the acceleration / deceleration filter 28 has an effect substantially equivalent to the conventional post-interpolation acceleration / deceleration process, that is, an effect of reducing the change in the transfer speed of the abnormal data portion.
次に、移送量導出部22が、所定の設定時刻Tsを0に初期セットするとともに、所定の設定サイクルタイムΔTを1に初期セットする(図6のステップS6)。
Next, the transfer amount deriving unit 22 initially sets a predetermined set time Ts to 0 and initially sets a predetermined set cycle time ΔT to 1 (step S6 in FIG. 6).
次に、移送量導出部22は、設定時刻Tsを基準時刻tに対する関数として表した設定時刻関数T(t)を基準時刻tで微分して得られる値g(t)をさらに基準時刻tで微分した値dgを0に初期セットする(ステップS8)。
Next, the transfer amount deriving unit 22 further calculates a value g (t) obtained by differentiating the set time function T (t) representing the set time Ts as a function with respect to the reference time t with the reference time t at the reference time t. The differentiated value dg is initially set to 0 (step S8).
次に、移送量導出部22は、メモリ5に記憶されている各機械軸方向毎の前記処理後機械軸パスQB(t)のデータに基づいて、設定サイクルタイムΔT当たりの各機械軸方向毎の移送量dP[axis]を次式(25)によってそれぞれ算出する(ステップS10)。
Next, the transfer amount deriving unit 22 determines each machine axis direction per set cycle time ΔT based on the data of the processed machine axis path Q B (t) for each machine axis direction stored in the memory 5. Each transfer amount dP [axis] is calculated by the following equation (25) (step S10).
dP[axis]=QB(T+ΔT)[axis]-QB(T)[axis]・・・(25)
dP [axis] = Q B (T + ΔT) [axis] −Q B (T) [axis] (25)
次に、移送量導出部22は、上記のように算出した各機械軸方向毎の移送量dP[axis]から各機械軸方向の合成方向における対象物の現在の移送速度V(以下、合成速度Vという)を次式(26)によって算出する(ステップS11)。
Next, the transfer amount deriving unit 22 uses the transfer amount dP [axis] for each machine axis direction calculated as described above to determine the current transfer speed V of the object in the synthesis direction in each machine axis direction (hereinafter referred to as the synthesis rate). V) is calculated by the following equation (26) (step S11).
V=|dP[ ]|・・・(26)
V = | dP [] | ... (26)
なお、この式(26)において、|dP[ ]|は、設定サイクルタイムΔT当たりの各機械軸方向毎の移送量を合成した合成移送量であり、移送量導出部22が前記各機械軸方向毎の移送量dP[axis]を合成することによって求める。
In this equation (26), | dP [] | is a combined transfer amount obtained by synthesizing the transfer amount for each machine axis direction per set cycle time ΔT, and the transfer amount deriving unit 22 determines the direction of each machine axis. It is obtained by synthesizing each transfer amount dP [axis].
次に、移送制御部14が、移送量導出部22によって導出された各機械軸方向毎の移送量dP[axis]に応じて各移送部102c,106b,108b,110bを駆動する(ステップS12)。この際、移送制御部14は、基準サイクルタイム(本実施形態では1mmsec)当たりに各支持体102b,106a,108a,110aを前記移送量dP[axis]だけ移送することを指示するためのサーボ指令パルスを各機械軸方向毎に作成し、その作成した各機械軸方向毎のサーボ指令パルスを各移送部102c,106b,108b,110bの対応するものへ出力する。これにより、各移送部102c,106b,108b,110bのサーボモータは、移送制御部14からのサーボ指令パルスに従って、基準サイクルタイム当たりに前記移送量dP[axis]だけ支持体102b,106a,108a,110aの対応するものを対応する機械軸方向に移送する。
Next, the transfer control unit 14 drives each transfer unit 102c, 106b, 108b, 110b according to the transfer amount dP [axis] for each machine axis direction derived by the transfer amount deriving unit 22 (step S12). . At this time, the transfer control unit 14 instructs a servo command to instruct to transfer each support 102b, 106a, 108a, 110a by the transfer amount dP [axis] per reference cycle time (1 mmsec in the present embodiment). A pulse is created for each machine axis direction, and the created servo command pulse for each machine axis direction is output to the corresponding one of the transfer units 102c, 106b, 108b, 110b. As a result, the servo motors of the respective transfer units 102c, 106b, 108b, 110b, according to the servo command pulse from the transfer control unit 14, support members 102b, 106a, 108a, 108b, 106a, 108a, The corresponding one of 110a is transferred in the corresponding machine axis direction.
次に、移送量導出部22は、メモリ5に記憶された処理後機械軸パスQB(t)の全期間の処理が終了したか否かを判断する(ステップS14)。具体的には、メモリ5に記憶された処理後機械軸パスQB(t)のデータは、上記のように設定サイクルタイムΔT毎に順番に移送量dP[axis]を求めるための演算処理が行われるため、当該ステップS14では、その演算処理がメモリ5に記憶された処理後機械軸パスQB(t)の全期間について終了したかが判断される。ここで、移送量導出部22がメモリ5に記憶された処理後機械軸パスQB(t)の全期間の処理を終了したと判断した場合には、数値制御装置2による数値制御のプロセスが終了する。
Next, the transfer amount deriving unit 22 determines whether or not the processing for the entire period of the processed mechanical axis path Q B (t) stored in the memory 5 has been completed (step S14). Specifically, the data of the post-processing mechanical axis path Q B (t) stored in the memory 5 is subjected to arithmetic processing for obtaining the transfer amount dP [axis] in order for each set cycle time ΔT as described above. Therefore, in step S14, it is determined whether or not the calculation process has been completed for the entire period of the processed mechanical axis path Q B (t) stored in the memory 5. Here, when the transfer amount deriving unit 22 determines that the processing for the entire period of the processed mechanical axis path Q B (t) stored in the memory 5 has been completed, the numerical control process by the numerical controller 2 is performed. finish.
なお、上記のような演算処理と並行して、加減速要求監視部10は、図12に示すようなプロセスで特別指令入力装置122に特別指令が入力されたか否かの監視を行っている。
In parallel with the arithmetic processing as described above, the acceleration / deceleration request monitoring unit 10 monitors whether or not a special command is input to the special command input device 122 in a process as shown in FIG.
具体的には、加減速要求監視部10は、まず、工作機械が連続運転中であるか否かを判断する(ステップS122)。ここで、加減速要求監視部10は、工作機械が連続運転中であると判断した場合には、次に、緊急停止ボタン124aが押されたか否かを判断する(ステップS124)。
Specifically, the acceleration / deceleration request monitoring unit 10 first determines whether or not the machine tool is in continuous operation (step S122). Here, if the acceleration / deceleration request monitoring unit 10 determines that the machine tool is in continuous operation, it next determines whether or not the emergency stop button 124a has been pressed (step S124).
そして、加減速要求監視部10は、停止信号発信部124bから発信される緊急停止信号を検知して緊急停止ボタン124aが押されたと判断した場合には、緊急停止要求を発行し(ステップS126)、その後、前記ステップS122の処理を再度行う。一方、加減速要求監視部10は、緊急停止ボタン124aが押されていないと判断した場合には、次に、オーバーライドダイヤル128aが回動されたか否かを判断する(ステップS128)。
When the acceleration / deceleration request monitoring unit 10 detects an emergency stop signal transmitted from the stop signal transmission unit 124b and determines that the emergency stop button 124a has been pressed, it issues an emergency stop request (step S126). Thereafter, the process of step S122 is performed again. On the other hand, when determining that the emergency stop button 124a has not been pressed, the acceleration / deceleration request monitoring unit 10 next determines whether or not the override dial 128a has been turned (step S128).
ここで、加減速要求監視部10は、速度変更信号発信部128bから発信される速度変更信号を検知してオーバーライドダイヤル128aが回動されたと判断した場合には、そのオーバーライドダイヤル128aの回動方向及び回動量に応じたオーバーライド係数kの情報を含む速度変更要求を発行し(ステップS130)、その後、前記ステップS122の処理を再度行う。また、加減速要求監視部10は、オーバーライドダイヤル128aが回動されていないと判断した場合には、速度変更要求を発行することなく、前記ステップS122の処理を再度行う。
Here, when the acceleration / deceleration request monitoring unit 10 detects the speed change signal transmitted from the speed change signal transmission unit 128b and determines that the override dial 128a is rotated, the rotation direction of the override dial 128a is determined. Then, a speed change request including information on the override coefficient k corresponding to the rotation amount is issued (step S130), and then the process of step S122 is performed again. If the acceleration / deceleration request monitoring unit 10 determines that the override dial 128a is not turned, the acceleration / deceleration request monitoring unit 10 performs the process of step S122 again without issuing a speed change request.
また、加減速要求監視部10は、前記ステップS122の判断において工作機械が連続運転中ではないと判断した場合には、前記緊急停止要求により各移送部102c,106b,108b,110bによる各支持体102b,106a,108a,110aの移送が停止中であるか否かを判断する(ステップS132)。
Further, when the acceleration / deceleration request monitoring unit 10 determines that the machine tool is not in continuous operation in the determination in step S122, each support body by each transfer unit 102c, 106b, 108b, 110b according to the emergency stop request. It is determined whether or not the transfer of 102b, 106a, 108a, 110a is stopped (step S132).
加減速要求監視部10は、各支持体102b,106a,108a,110aの移送が停止中であると判断した場合には、次に、再始動ボタン126aが押されたか否かを判断する(ステップS134)。この際、加減速要求監視部10は、再始動信号発信部126bから発信される再始動信号を検知して再始動ボタン126aが押されたと判断した場合には、再始動要求を発行し(ステップS136)、その後、前記ステップS122の処理を再度行う。また、加減速要求監視部10は、再始動ボタン126aが押されていないと判断した場合には、再始動要求を発行することなく、前記ステップS122の処理を再度行う。
If the acceleration / deceleration request monitoring unit 10 determines that the transfer of each of the supports 102b, 106a, 108a, 110a is stopped, it next determines whether the restart button 126a has been pressed (step). S134). At this time, if the acceleration / deceleration request monitoring unit 10 detects the restart signal transmitted from the restart signal transmitting unit 126b and determines that the restart button 126a has been pressed, it issues a restart request (step S1). After that, the process of step S122 is performed again. If the acceleration / deceleration request monitoring unit 10 determines that the restart button 126a has not been pressed, the acceleration / deceleration request monitoring unit 10 performs the process of step S122 again without issuing a restart request.
一方、移送量導出部22は、前記ステップS14の判断において、メモリ5に記憶された処理後機械軸パスQB(t)の全期間の処理が終了していないと判断した場合には、次に、緊急停止要求が加減速要求監視部10から出されているか否かを判断する(図6のステップS16)。ここで、移送量導出部22は、緊急停止要求が出されていると判断した場合には、図13に示す緊急停止プロセスを実行する。
On the other hand, when the transfer amount deriving unit 22 determines in the determination in step S14 that the processing for the entire period of the processed mechanical axis path Q B (t) stored in the memory 5 has not been completed, Then, it is determined whether or not an emergency stop request is issued from the acceleration / deceleration request monitoring unit 10 (step S16 in FIG. 6). Here, when it is determined that the emergency stop request has been issued, the transfer amount deriving unit 22 executes the emergency stop process shown in FIG.
具体的には、移送量導出部22は、まず、現時点での対象物の合成速度Vの値を一時的にメモリ5に記憶させ(ステップS52)、その後、減速停止期間timeと停止時サイクルタイム変動関数g(t)を算出する(ステップS54)。ここで、移送量導出部22は、減速停止期間timeの始期における停止時サイクルタイム変動関数g(t)の値gsが設定サイクルタイムΔTに等しく、減速停止期間timeの終期における停止時サイクルタイム変動関数g(t)の値geが0であり、減速停止期間timeの始期における合成速度が前記Vであるという条件を満たすような減速停止期間time及び停止時サイクルタイム変動関数g(t)を算出する。この減速停止期間time及び停止時サイクルタイム変動関数g(t)の算出プロセスは、図16に示されている。なお、この図16は、後述する再始動プロセスにおける再始動加速期間time及び再始動時サイクルタイム変動関数g(t)の算出と速度変更プロセスにおける速度変更期間time及び速度変更時サイクルタイム変動関数g(t)の算出にも共通して適用可能なプロセスを示している。すなわち、移送量導出部22は、特別指令入力装置122への特別指令の入力に伴って実施される対象物の速度変化を伴う動作において共通の算出プロセスでその速度変化を伴う動作に要する期間timeとその期間time内でのサイクルタイムの変動を表すサイクルタイム変動関数g(t)を算出する。
Specifically, the transfer amount deriving unit 22 first temporarily stores the current value of the synthesis speed V of the object in the memory 5 (step S52), and then the deceleration stop period time and the stop cycle time. A variation function g (t) is calculated (step S54). Here, the transfer amount deriving unit 22 determines that the value gs of the stop-time cycle time fluctuation function g (t) at the beginning of the deceleration stop period time is equal to the set cycle time ΔT, and the stop-time cycle time fluctuation at the end of the deceleration stop period time. The deceleration stop period time and stop cycle time variation function g (t) are calculated such that the value ge of the function g (t) is 0 and the combined speed at the start of the deceleration stop period time is V. To do. The calculation process of the deceleration stop period time and the stop cycle time variation function g (t) is shown in FIG. FIG. 16 shows the calculation of the restart acceleration period time and restart cycle time fluctuation function g (t) in the restart process described later, and the speed change period time and speed change cycle time fluctuation function g in the speed change process. A process that is commonly applicable to the calculation of (t) is shown. That is, the transfer amount deriving unit 22 is a period time required for the operation with the speed change in the common calculation process in the operation with the speed change of the object performed in accordance with the input of the special command to the special command input device 122. And a cycle time variation function g (t) representing the variation of the cycle time within the period time.
停止時サイクルタイム変動関数g(t)は、減速停止期間timeの始期(移送量導出部22が緊急停止要求を受けた時点)において対象物が一定速度で移動している場合には、例えば図17に示すような曲線で表され、減速停止期間timeの始期において対象物が加速中である場合には、例えば図18に示すような曲線で表され、減速停止期間timeの始期において対象物が減速中である場合には、例えば図19に示すような曲線で表される。
The stop cycle time variation function g (t) is, for example, when the object is moving at a constant speed at the beginning of the deceleration stop period time (when the transfer amount deriving unit 22 receives an emergency stop request). 17, when the object is accelerating at the beginning of the deceleration stop period time, the object is represented by, for example, a curve as shown in FIG. 18, and the object is at the beginning of the deceleration stop period time. When the vehicle is decelerating, for example, it is represented by a curve as shown in FIG.
移送量導出部22は、減速停止期間time及び停止時サイクルタイム変動関数g(t)の算出にあたって、まず、停止時サイクルタイム変動関数g(t)の二次微分値jと、停止時サイクルタイム変動関数g(t)の一次微分の傾きαを求める(図16のステップS142)。この際、前記二次微分値jは、次式(27)で求められ、前記一次微分の傾きαは、次式(28)で求められる。
In calculating the deceleration stop period time and the stop-time cycle time fluctuation function g (t), the transfer amount deriving unit 22 first determines the second-order differential value j of the stop-time cycle time fluctuation function g (t) and the stop-time cycle time. The slope α of the first derivative of the variation function g (t) is obtained (step S142 in FIG. 16). At this time, the secondary differential value j is obtained by the following equation (27), and the slope α of the primary differentiation is obtained by the following equation (28).
j=J/V・・・(27)
α=A/V・・・(28) j = J / V (27)
α = A / V (28)
α=A/V・・・(28) j = J / V (27)
α = A / V (28)
なお、Jは対象物の合成移動方向における許容ジャークであり、Aは対象物の合成移動方向における許容加速度である。これらJ及びAの値は、本実施形態のtime及びg(t)の算出プロセスのために設定されるパラメータであり、工作機械の機械特性に基づいて規定される加減速条件としての許容ジャーク及び許容加速度の半分程度の値に設定される。
Note that J is an allowable jerk in the combined movement direction of the object, and A is an allowable acceleration in the combined movement direction of the object. These values of J and A are parameters set for the calculation process of time and g (t) of the present embodiment, and the allowable jerk as an acceleration / deceleration condition defined based on the machine characteristics of the machine tool and The value is set to about half of the allowable acceleration.
次に、移送量導出部22は、停止時サイクルタイム変動関数g(t)の基準時刻tによる一次微分値dgのt=0の点での値が0以上であるか否かを判断する(ステップS144)。ここで、移送量導出部22は、このdgの値が0以上であると判断した場合には、停止時サイクルタイム変動関数g(t)で表される二次曲線の前半部の二次微分値j1を-jに設定する(ステップS146)。一方、移送量導出部22は、このdgの値が0よりも小さいと判断した場合には、前記二次微分値j1をjに設定する(ステップS148)。
Next, the transfer amount deriving unit 22 determines whether or not the value at the point of t = 0 of the first-order differential value dg at the reference time t of the stop cycle time variation function g (t) is 0 or more ( Step S144). Here, when the transfer amount deriving unit 22 determines that the value of this dg is 0 or more, the second derivative of the first half of the quadratic curve represented by the stop-time cycle time variation function g (t). The value j1 is set to -j (step S146). On the other hand, when determining that the value of dg is smaller than 0, the transfer amount deriving unit 22 sets the secondary differential value j1 to j (step S148).
次に、移送量導出部22は、減速停止期間timeにおける停止時サイクルタイム変動関数g(t)の始点に対する当該停止時サイクルタイム変動関数g(t)の二次曲線の前半部の頂点の相対位置(t0,E0)を以下の式(29)及び(30)によって仮算出するとともに、その二次曲線の前半部の頂点から当該二次曲線の後半部の終点までの範囲における停止時サイクルタイム変動関数g(t)の値の変化量Eを以下の式(31)によって仮算出する(ステップS150)。
Next, the transfer amount deriving unit 22 compares the vertex of the first half of the quadratic curve of the stop cycle time variation function g (t) with respect to the start point of the stop cycle time variation function g (t) in the deceleration stop period time. The position (t0, E0) is temporarily calculated by the following equations (29) and (30), and the cycle time at the time of stop in the range from the top of the first half of the quadratic curve to the end of the second half of the quadratic curve A change amount E of the value of the variation function g (t) is provisionally calculated by the following equation (31) (step S150).
t0=-dg/j1・・・(29)
E0=(dg/2)×t0・・・(30)
E=ge-gs-E0・・・(31) t0 = −dg / j1 (29)
E0 = (dg / 2) × t0 (30)
E = ge-gs-E0 (31)
E0=(dg/2)×t0・・・(30)
E=ge-gs-E0・・・(31) t0 = −dg / j1 (29)
E0 = (dg / 2) × t0 (30)
E = ge-gs-E0 (31)
次に、移送量導出部22は、前記停止時サイクルタイム変動関数g(t)の値の変化量Eが0以上であるか否かを判断する(ステップS152)。ここで、移送量導出部22は、前記変化量Eが0以上であると判断した場合には、停止時サイクルタイム変動関数g(t)の二次曲線の前半部の二次微分値j1をjに設定するとともに、停止時サイクルタイム変動関数g(t)の二次曲線の後半部の二次微分値j2を-jに設定する(ステップS154)。一方、移送量導出部22は、前記変化量Eが0よりも小さいと判断した場合には、前記二次曲線の前半部の二次微分値j1を-jに設定するとともに、前記二次曲線の後半部の二次微分値j2をjに設定し、さらに、前記g(t)の一次微分の傾きαを正負逆に設定する(ステップS156)。
Next, the transfer amount deriving unit 22 determines whether or not the change amount E of the value of the stop-time cycle time variation function g (t) is 0 or more (step S152). Here, if the transfer amount deriving unit 22 determines that the change amount E is equal to or greater than 0, the transfer amount deriving unit 22 obtains the second-order differential value j1 of the first half of the quadratic curve of the stop cycle time variation function g (t). j is set, and the second-order differential value j2 of the second half of the quadratic curve of the stop-time cycle time variation function g (t) is set to −j (step S154). On the other hand, when the transfer amount deriving unit 22 determines that the change amount E is smaller than 0, the transfer amount deriving unit 22 sets the secondary differential value j1 of the first half of the quadratic curve to −j and the quadratic curve. Is set to j, and the gradient α of the primary derivative of g (t) is set to be positive or negative (step S156).
次に、移送量導出部22は、停止時サイクルタイム変動関数g(t)の二次曲線の始点に対する当該二次曲線の前半部の頂点の相対位置(t0,E0)を上記式(29),(30)によって再算出するとともに、その二次曲線の前半部の頂点から後半部の終点までのg(t)の変化量Eを上記式(22)によって再算出する(ステップS158)。
Next, the transfer amount deriving unit 22 calculates the relative position (t0, E0) of the vertex of the first half of the quadratic curve with respect to the start point of the quadratic curve of the cycle time variation function g (t) at the time of stop. , (30), and the amount of change E of g (t) from the top of the first half to the end of the second half of the quadratic curve is recalculated using the above equation (22) (step S158).
次に、移送量導出部22は、停止時サイクルタイム変動関数g(t)の二次曲線の前半部の頂点のg(t)の値guと、当該二次曲線の始点から変曲点までにかかる時間t1と、当該二次曲線の変曲点から終点までにかかる時間t2と、当該二次曲線の始点から変曲点までの範囲におけるg(t)の変化量G1と、当該二次曲線の変曲点から終点までの範囲におけるg(t)の変化量G2と、当該二次曲線の始点から終点までの範囲におけるg(t)の変化量Gとをそれぞれ算出する(ステップS160)。この際、移送量導出部22は、前記guを以下の式(32)によって算出し、前記t1を以下の式(33)によって算出し、前記t2を以下の式(34)によって算出する。また、移送量導出部22は、前記G1を以下の式(35)によって算出し、前記G2を以下の式(36)によって算出し、前記Gを以下の式(37)によって算出する。
Next, the transfer amount deriving unit 22 determines the value gu of the apex of the first half of the quadratic curve of the stop cycle time variation function g (t) and the starting point of the quadratic curve to the inflection point. , Time t1 from the inflection point of the quadratic curve to the end point, change amount G1 of g (t) in the range from the start point to the inflection point of the quadratic curve, and the quadratic curve A change amount G2 of g (t) in the range from the inflection point to the end point of the curve and a change amount G of g (t) in the range from the start point to the end point of the quadratic curve are calculated (step S160). . At this time, the transfer amount deriving unit 22 calculates the gu by the following equation (32), calculates the t1 by the following equation (33), and calculates the t2 by the following equation (34). Further, the transfer amount deriving unit 22 calculates G1 by the following equation (35), calculates G2 by the following equation (36), and calculates G by the following equation (37).
gu=gs+E0・・・(32)
t1=α/j1・・・(33)
t2=-α/j2・・・(34)
G1=(α/2)×t1・・・(35)
G2=(α/2)×t2・・・(36)
G=G1+G2・・・(37) gu = gs + E0 (32)
t1 = α / j1 (33)
t2 = −α / j2 (34)
G1 = (α / 2) × t1 (35)
G2 = (α / 2) × t2 (36)
G = G1 + G2 (37)
t1=α/j1・・・(33)
t2=-α/j2・・・(34)
G1=(α/2)×t1・・・(35)
G2=(α/2)×t2・・・(36)
G=G1+G2・・・(37) gu = gs + E0 (32)
t1 = α / j1 (33)
t2 = −α / j2 (34)
G1 = (α / 2) × t1 (35)
G2 = (α / 2) × t2 (36)
G = G1 + G2 (37)
次に、移送量導出部22は、前記二次曲線の前半部の頂点から後半部の終点までの範囲におけるg(t)の変化量の絶対値|E|が前記二次曲線の始点から終点までの範囲におけるg(t)の変化量の絶対値|G|以上であるか否かを判断する(ステップS162)。ここで、前記|E|が前記|G|以上である場合は、図20に示すように前記二次曲線の前半の曲線部と後半の曲線部との間に直線部が介在している場合に相当するため、移送量導出部22は、その前半の曲線部の区間0≦t≦T1、直線部の区間T1<t<T2及び後半の曲線部の区間T2≦t≦timeの3つの区間のそれぞれにおける停止時サイクルタイム変動関数g(t)を個別に求める(ステップS164)。
Next, the transfer amount deriving unit 22 determines that the absolute value | E | of the change amount of g (t) in the range from the first half of the quadratic curve to the end of the second half is from the start point to the end point of the quadratic curve. It is determined whether or not the absolute value | G | Here, when | E | is greater than or equal to | G |, a straight line portion is interposed between the first and second curve portions of the quadratic curve as shown in FIG. Therefore, the transfer amount deriving unit 22 has three sections: a first half curve section 0 ≦ t ≦ T1, a straight section T1 <t <T2, and a second curve section T2 ≦ t ≦ time. The cycle time fluctuation function g (t) at the time of stopping in each of the above is individually obtained (step S164).
具体的には、移送量導出部22は、0≦t≦T1の区間の停止時サイクルタイム変動関数g(t)を次式(38)で求める。
Specifically, the transfer amount deriving unit 22 obtains the stop cycle time variation function g (t) in the section of 0 ≦ t ≦ T1 by the following equation (38).
g(t)=gu+(j1/2)×(t-t0)2・・・(38)
g (t) = gu + (j1 / 2) × (t−t0) 2 (38)
また、移送量導出部22は、T1<t<T2の区間の停止時サイクルタイム変動関数g(t)を次式(39)で求める。
Also, the transfer amount deriving unit 22 obtains a stop cycle time variation function g (t) in a section of T1 <t <T2 by the following equation (39).
g(t)=gu+G1+α×(t-T1)・・・(39)
また、移送量導出部22は、T2≦t≦timeの区間の停止時サイクルタイム変動関数g(t)を次式(40)で求める。 g (t) = gu + G1 + α × (t−T1) (39)
Further, the transferamount deriving unit 22 obtains a stop-time cycle time variation function g (t) in a section of T2 ≦ t ≦ time by the following equation (40).
また、移送量導出部22は、T2≦t≦timeの区間の停止時サイクルタイム変動関数g(t)を次式(40)で求める。 g (t) = gu + G1 + α × (t−T1) (39)
Further, the transfer
g(t)=ge+(j2/2)×(t-time)2・・・(40)
g (t) = ge + (j2 / 2) × (t-time) 2 (40)
なお、この場合において、前記T1は、前記二次曲線の始点から第1の変曲点(前半の曲線部の終点)までにかかる時間であり、以下の式(41)によって求められ、前記T2は、前記二次曲線の始点から第2の変曲点(直線部の終点)までにかかる時間であり、以下の式(42)によって求められる。また、減速停止期間timeは、前記二次曲線の始点から終点までにかかる時間であるため、以下の式(43)によって求められる。
In this case, the T1 is the time taken from the start point of the quadratic curve to the first inflection point (end point of the first half curve portion), and is obtained by the following equation (41), and the T2 Is the time taken from the start point of the quadratic curve to the second inflection point (end point of the straight line portion), and is obtained by the following equation (42). Further, the deceleration stop period time is a time taken from the start point to the end point of the quadratic curve, and is obtained by the following equation (43).
T1=t0+t1・・・(41)
T2=T1+(E-G)/α・・・(42)
time=T2+t2・・・(43) T1 = t0 + t1 (41)
T2 = T1 + (EG) / α (42)
time = T2 + t2 (43)
T2=T1+(E-G)/α・・・(42)
time=T2+t2・・・(43) T1 = t0 + t1 (41)
T2 = T1 + (EG) / α (42)
time = T2 + t2 (43)
一方、前記|E|が前記|G|よりも小さい場合は、前記二次曲線の前半の曲線部と後半の曲線部との間に直線部が介在せず、それら両曲線部が連続している場合に相当するため、移送量導出部22は、その前半の曲線部の区間0≦t≦T1及び後半の曲線部の区間T1<t≦timeの2つの区間のそれぞれにおける停止時サイクルタイム変動関数g(t)を個別に求める(ステップS165)。
On the other hand, when the | E | is smaller than the | G |, there is no straight line portion between the first half curve portion and the second half curve portion of the quadratic curve, and these two curve portions are continuous. Therefore, the transfer amount deriving unit 22 changes the cycle time at the time of stop in each of the two sections of the first half curve section 0 ≦ t ≦ T1 and the second half curve section T1 <t ≦ time. The function g (t) is obtained individually (step S165).
具体的には、移送量導出部22は、0≦t≦T1の区間の停止時サイクルタイム変動関数g(t)を次式(44)で求める。
Specifically, the transfer amount deriving unit 22 obtains the stop cycle time variation function g (t) in the section of 0 ≦ t ≦ T1 by the following equation (44).
g(t)=gu+(j1/2)×(t-t0)2・・・(44)
g (t) = gu + (j1 / 2) × (t−t0) 2 (44)
また、移送量導出部22は、T1<t≦timeの区間の停止時サイクルタイム変動関数g(t)を次式(45)で求める。
Also, the transfer amount deriving unit 22 obtains a stop cycle time variation function g (t) in a section of T1 <t ≦ time by the following equation (45).
g(t)=ge+(j2/2)×(t-time)2・・・(45)
g (t) = ge + (j2 / 2) × (t-time) 2 (45)
なお、この場合において、減速停止期間timeは、次式(46)によって求められる。
In this case, the deceleration stop period time is obtained by the following equation (46).
time=T1+t2・・・(46)
Time = T1 + t2 (46)
ここで、T1は、前記二次曲線の始点から変曲点(前半の曲線部の終点)までにかかる時間であり、次式(47)によって求められる。
Here, T1 is the time taken from the start point of the quadratic curve to the inflection point (end point of the first half curve portion), and is obtained by the following equation (47).
T1=t0+t1・・・(47)
T1 = t0 + t1 (47)
また、t1は、以下の式(48)によって求められ、t2は、以下の式(49)によって求められる。
T1 is obtained by the following equation (48), and t2 is obtained by the following equation (49).
t1=[2×E×j2/{j1×(j2-j1)}]1/2・・・(48)
t2=-j1/j2×t1・・・(49) t1 = [2 × E × j2 / {j1 × (j2-j1)}] 1/2 (48)
t2 = −j1 / j2 × t1 (49)
t2=-j1/j2×t1・・・(49) t1 = [2 × E × j2 / {j1 × (j2-j1)}] 1/2 (48)
t2 = −j1 / j2 × t1 (49)
以上のようにして、停止時サイクルタイム変動関数g(t)と減速停止期間timeが求められる。
As described above, the stop cycle time variation function g (t) and the deceleration stop period time are obtained.
次に、移送量導出部22は、基準時刻tを0に初期セットする(図13のステップS56)。
Next, the transfer amount deriving unit 22 initially sets the reference time t to 0 (step S56 in FIG. 13).
その後、移送量導出部22は、基準時刻tを1だけカウントアップし(ステップS58)、続いて、この緊急停止プロセス(減速停止期間time)における設定時刻Tsのサイクルタイムである減速時設定サイクルタイムdT2を上記のように求めた停止時サイクルタイム変動関数g(t)に基づいて算出する(ステップS60)。この際、算出される減速時設定サイクルタイムdT2の長さは、緊急停止要求が加減速要求監視部10から出される直前の状態、すなわち停止指令入力装置124の緊急停止ボタン124aが押される直前の状態における設定サイクルタイムΔTの長さから減少した長さとなる。移送量導出部22は、前記ステップS58でカウントアップした基準時刻tを停止時サイクルタイム変動関数g(t)に代入することによって減速時設定サイクルタイムdT2を算出する。
Thereafter, the transfer amount deriving unit 22 counts up the reference time t by 1 (step S58), and subsequently, the set cycle time during deceleration that is the cycle time of the set time Ts in this emergency stop process (deceleration stop period time). dT2 is calculated based on the stop-time cycle time variation function g (t) obtained as described above (step S60). At this time, the length of the set cycle time dT2 during deceleration calculated is the state immediately before the emergency stop request is issued from the acceleration / deceleration request monitoring unit 10, that is, immediately before the emergency stop button 124a of the stop command input device 124 is pressed. The length is reduced from the length of the set cycle time ΔT in the state. The transfer amount deriving unit 22 calculates the deceleration set cycle time dT2 by substituting the reference time t counted up in step S58 into the stop cycle time variation function g (t).
次に、移送量導出部22は、減速時設定サイクルタイムdT2当たりの各機械軸方向毎の移送量dP[axis]、すなわち設定時刻TsからT+dT2までの各機械軸方向毎の移送量dP[axis]を次式(50)によって算出する(ステップS62)。
Next, the transfer amount deriving unit 22 transfers the transfer amount dP [axis] for each machine axis direction per set cycle time dT2 during deceleration, that is, the transfer amount dP [axis] for each machine axis direction from the set time Ts to T + dT2. ] Is calculated by the following equation (50) (step S62).
dP[axis]=QB(T+dT2)[axis]-QB(T)[axis]・・・(50)
dP [axis] = Q B (T + dT2) [axis] −Q B (T) [axis] (50)
このように求められた減速時設定サイクルタイムdT2当たりの各機械軸方向毎の移送量dP[axis]は、緊急停止要求が加減速要求監視部10から出される直前の状態における設定サイクルタイムΔT当たりの各機械軸方向毎の移送量よりも小さくなる。
The transfer amount dP [axis] for each machine axis direction per deceleration set cycle time dT2 thus determined is per set cycle time ΔT in a state immediately before an emergency stop request is issued from the acceleration / deceleration request monitoring unit 10. This is smaller than the transfer amount for each machine axis direction.
その後、前記ステップS12と同様に、移送制御部14が、移送量導出部22によって算出された減速時設定サイクルタイムdT2当たりの各機械軸方向毎の移送量dP[axis]に応じて各移送部102c,106b,108b,110bを駆動してそれら移送部102c,106b,108b,110bに対応する支持体102b,106a,108a,110aを基準サイクルタイム当たりに対応する各機械軸方向の移送量dP[axis]だけ移送させる(ステップS64)。
Thereafter, similarly to step S12, the transfer control unit 14 determines each transfer unit according to the transfer amount dP [axis] for each machine axis direction per deceleration set cycle time dT2 calculated by the transfer amount deriving unit 22. 102c, 106b, 108b, 110b is driven, and the supports 102b, 106a, 108a, 110a corresponding to the transfer units 102c, 106b, 108b, 110b are transferred by dP [ Axis] is transferred (step S64).
次に、移送量導出部22は、設定時刻Tsに前記ステップS60で算出した減速時設定サイクルタイムdT2を加算して設定時刻Tsを更新する(ステップS66)。
Next, the transfer amount deriving unit 22 updates the set time Ts by adding the set cycle time dT2 during deceleration calculated in step S60 to the set time Ts (step S66).
その後、移送量導出部22は、基準時刻tが減速停止期間time以上になったか否かを判断する(ステップS68)。ここで、移送量導出部22が基準時刻tは減速停止期間time以上になっていると判断した場合には、対象物の移送が停止していることになり、移送量導出部22は、次に、メモリ5に記憶されている合成速度Vの値を読み込む(ステップS70)。この後、再始動指令入力装置126に再始動指令が入力された場合には、対象物の移送を再開させる再始動プロセス(図14参照)が行われる。一方、移送量導出部22は、前記ステップS68において、基準時刻tが減速停止期間timeを経過していないと判断した場合には、前記ステップS58以降の処理を再度行う。
Thereafter, the transfer amount deriving unit 22 determines whether or not the reference time t is equal to or greater than the deceleration stop period time (step S68). Here, when the transfer amount deriving unit 22 determines that the reference time t is equal to or longer than the deceleration stop period time, the transfer of the object is stopped, and the transfer amount deriving unit 22 Then, the value of the synthesis speed V stored in the memory 5 is read (step S70). Thereafter, when a restart command is input to the restart command input device 126, a restart process (see FIG. 14) for restarting the transfer of the object is performed. On the other hand, when it is determined in step S68 that the reference time t has not passed the deceleration stop period time, the transfer amount deriving unit 22 performs the processing from step S58 onward.
次に、対象物の再始動プロセスについて説明する。この再始動プロセスでは、移送量導出部22が加減速要求監視部10から再始動要求が出力されているか否かを判断する(ステップS72)。ここで、移送量導出部22は、加減速要求監視部10から再始動要求が出されていないと判断した場合には、当該ステップS72の判断を繰り返し行う。一方、移送量導出部22は、加減速要求監視部10から再始動要求が出されていると判断した場合には、次に、再始動加速期間timeと再始動時サイクルタイム変動関数g(t)を算出する(ステップS74)。この際、移送量導出部22は、再始動加速期間timeの始期における再始動時サイクルタイム変動関数g(t)の値gsが0であり、再始動加速期間timeの終期における再始動時サイクルタイム変動関数g(t)の値geが現時点でのオーバーライド係数kに等しくなり、再始動加速期間timeの終期における合成速度が前記Vになるという条件を満たす再始動加速期間time及び再始動時サイクルタイム変動関数g(t)を算出する。この再始動加速期間time及び再始動時サイクルタイム変動関数g(t)の算出プロセスは、上記した減速停止期間time及び停止時サイクルタイム変動関数g(t)の算出プロセス(図16のステップS142~S165)と同様である。また、この算出プロセスでは、前記t0及び前記E0は共に0となり、前記dgは0である。
Next, the process for restarting the object will be described. In this restart process, the transfer amount deriving unit 22 determines whether or not a restart request is output from the acceleration / deceleration request monitoring unit 10 (step S72). Here, when it is determined that the restart request is not issued from the acceleration / deceleration request monitoring unit 10, the transfer amount deriving unit 22 repeatedly performs the determination in step S72. On the other hand, when the transfer amount deriving unit 22 determines that the restart request is issued from the acceleration / deceleration request monitoring unit 10, the transfer acceleration period time and the restart cycle time variation function g (t ) Is calculated (step S74). At this time, the transfer amount deriving unit 22 has the value gs of the restart cycle time variation function g (t) at the start of the restart acceleration period time being 0, and the restart cycle time at the end of the restart acceleration period time. The restart acceleration period time and the cycle time at restart satisfying the condition that the value ge of the variation function g (t) is equal to the current override coefficient k and the combined speed at the end of the restart acceleration period time is V. A variation function g (t) is calculated. The calculation process of the restart acceleration period time and the restart cycle time variation function g (t) is the above-described calculation process of the deceleration stop period time and the stop cycle time variation function g (t) (steps S142 to S142 in FIG. 16). The same as S165). In this calculation process, both t0 and E0 are 0, and dg is 0.
再始動時サイクルタイム変動関数g(t)は、その関数によって表される前半の二次曲線の頂点から後半の二次曲線の終点までの区間におけるg(t)の変化量の絶対値|E|が再始動加速期間timeにおけるg(t)の変化量の絶対値|G|以上である場合には、図21に示すような前半の曲線部と後半の曲線部との間に直線部が介在するような曲線で表され、前記|E|が前記|G|よりも小さい場合には、図22に示すような前半の曲線部と後半の曲線部とが直線部を介することなく連続している曲線で表される。
The restart cycle time variation function g (t) is the absolute value of the change amount of g (t) in the section from the apex of the first-order quadratic curve to the end point of the second-order quadratic curve represented by the function | E Is equal to or greater than the absolute value | G | of the amount of change in g (t) during the restart acceleration period time, a straight line portion is present between the first half curve portion and the second half curve portion as shown in FIG. If the | E | is smaller than the | G |, the first-half curve portion and the second-half curve portion shown in FIG. 22 are continuous without a straight line portion. It is represented by a curved line.
そして、移送量導出部22は、再始動加速期間time及び再始動時サイクルタイム変動関数g(t)を算出した後、図14のステップS76~S88のプロセスを上記図13のステップS56~S68のプロセスと同様に行う。この際、移送量導出部22は、ステップS80において、ステップS74で算出した再始動時サイクルタイム変動関数g(t)に基づいて加速時設定サイクルタイムdT2を算出し、ステップS82において、その算出した加速時設定サイクルタイムdT2当たりの各機械軸方向毎の移送量dP[axis]を算出する。以上のような再始動プロセスが行われることによって、停止していた対象物は、移動を再開し、現時点でのオーバーライド係数kに応じた速度まで加速する。
Then, after calculating the restart acceleration period time and the restart cycle time variation function g (t), the transfer amount deriving unit 22 performs the processes in steps S76 to S88 in FIG. 14 in steps S56 to S68 in FIG. Do the same as the process. At this time, the transfer amount deriving unit 22 calculates the acceleration set cycle time dT2 in step S80 based on the restart cycle time variation function g (t) calculated in step S74, and in step S82, the calculation is performed. A transfer amount dP [axis] for each machine axis direction per acceleration set cycle time dT2 is calculated. By performing the restart process as described above, the stopped object resumes moving and accelerates to a speed according to the current override coefficient k.
そして、移送量導出部22がステップS88の判断において基準時刻tが再始動加速期間time以上になっていると判断した場合には、移送量導出部22は、図6のステップS8以降の処理を再度行う。
When the transfer amount deriving unit 22 determines in step S88 that the reference time t is equal to or greater than the restart acceleration period time, the transfer amount deriving unit 22 performs the processing from step S8 onward in FIG. Try again.
ところで、移送量導出部22が前記ステップS16において加減速要求監視部10から緊急停止要求が出されていないと判断した場合には、その後、加減速要求監視部10から速度変更要求が出されているか否かを判断する(ステップS18)。
By the way, if the transfer amount deriving unit 22 determines in step S16 that an emergency stop request has not been issued from the acceleration / deceleration request monitoring unit 10, then a speed change request is issued from the acceleration / deceleration request monitoring unit 10. It is determined whether or not (step S18).
ここで、移送量導出部22は、加減速要求監視部10から速度変更要求が出されていると判断した場合には、図15に示す対象物の速度変更プロセスを実施する。
Here, when it is determined that the speed change request is issued from the acceleration / deceleration request monitoring unit 10, the transfer amount deriving unit 22 performs the speed change process of the object shown in FIG.
具体的には、移送量導出部22は、まず、速度変更期間timeと速度変更時サイクルタイム変動関数g(t)を算出する(ステップS90)。この際、移送量導出部22は、速度変更期間timeの始期における速度変更時サイクルタイム変動関数g(t)の値gsが設定サイクルタイムΔTに等しくなり、速度変更期間timeの終期における速度変更時サイクルタイム変動関数g(t)の値geが速度変更後のオーバーライド係数kに等しくなり、速度変更期間timeの始期における合成速度が前記Vになるという条件を満たす速度変更期間time及び速度変更時サイクルタイム変動関数g(t)を算出する。
Specifically, the transfer amount deriving unit 22 first calculates the speed change period time and the speed change cycle time variation function g (t) (step S90). At this time, the transfer amount deriving unit 22 determines that the value gs of the speed change cycle time variation function g (t) at the beginning of the speed change period time becomes equal to the set cycle time ΔT, and the speed change time at the end of the speed change period time. The speed change period time and the speed change cycle satisfying the condition that the value ge of the cycle time variation function g (t) is equal to the override coefficient k after the speed change and the combined speed at the beginning of the speed change period time is V. A time variation function g (t) is calculated.
対象物の加速動作を行う場合の速度変更時サイクルタイム変動関数g(t)は、速度変更期間timeの始期(移送量導出部22が速度変更要求を受けた時点)において対象物が一定速度で移動している場合には、例えば図23に示すような曲線で表される。一方、速度変更期間timeの始期において対象物が加速中である場合に、さらにその対象物の加速動作が実行される場合の速度変更時サイクルタイム変動関数g(t)は、図24に示すような曲線で表され、速度変更期間timeの始期において対象物が減速中である場合にその対象物の減速動作が実行される場合の速度変更時サイクルタイム変動関数g(t)は、図25に示すような曲線で表される。
The speed change cycle time variation function g (t) when the acceleration operation of the object is performed is the constant speed at the start of the speed change period time (when the transfer amount deriving unit 22 receives the speed change request). When moving, it is represented by a curve as shown in FIG. 23, for example. On the other hand, when the object is accelerating at the beginning of the speed change period time, the speed change cycle time variation function g (t) when the acceleration operation of the object is further executed is as shown in FIG. The cycle time variation function g (t) at the time of speed change when the object is decelerating when the object is decelerating at the beginning of the speed change period time is shown in FIG. It is represented by a curve as shown.
また、対象物の減速動作を行う場合の速度変更時サイクルタイム変動関数g(t)は、速度変更期間timeの始期(移送量導出部22が速度変更要求を受けた時点)において対象物が一定速度で移動している場合には、例えば図26に示すような曲線で表される。一方、速度変更期間timeの始期において対象物が加速中である場合にその対象物の減速動作が実行される場合の速度変更時サイクルタイム変動関数g(t)は、図27に示すような曲線で表され、速度変更期間timeの始期において対象物が減速中である場合にさらにその対象物の減速動作が実行される場合の速度変更時サイクルタイム変動関数g(t)は、図28に示すような曲線で表される。
In addition, the speed change cycle time variation function g (t) when the object is decelerated is constant at the start of the speed change period time (when the transfer amount deriving unit 22 receives the speed change request). When moving at a speed, it is represented by a curve as shown in FIG. 26, for example. On the other hand, when the object is accelerating at the beginning of the speed change period time, the speed change cycle time variation function g (t) when the object is decelerating is a curve as shown in FIG. The speed change cycle time variation function g (t) in the case where the object is further decelerating when the object is decelerating at the beginning of the speed change period time is shown in FIG. It is represented by such a curve.
なお、前記図23~図28は、いずれも、速度変更時サイクルタイム変動関数g(t)によって表される前半の二次曲線の頂点から後半の二次曲線の終点までの区間におけるg(t)の変化量の絶対値|E|が速度変更期間timeにおけるg(t)の変化量の絶対値|G|よりも小さい場合に対応しており、これらの場合には、速度変更時サイクルタイム変動関数g(t)は、前半の曲線部と後半の曲線部とが直線部を介することなく連続した形状の曲線によって表される。一方、前記|E|が前記|G|以上である場合には、これら各図の前半の曲線部と後半の曲線部とが直線部を介して繋げられた形状の曲線によって速度変更時サイクルタイム変動関数g(t)が表される。
In each of FIGS. 23 to 28, g (t) in the section from the vertex of the first-order quadratic curve to the end point of the second-order quadratic curve represented by the cycle time variation function g (t) at the time of speed change. ) Change absolute value | E | is smaller than the absolute value | G | of the change amount of g (t) in the speed change period time. The variation function g (t) is represented by a curve having a shape in which the first-half curve portion and the second-half curve portion are continuous without passing through the straight-line portion. On the other hand, when | E | is greater than or equal to the above | G |, the cycle time at the time of speed change is determined by a curve having a shape in which the first half curve portion and the second half curve portion of each figure are connected via a straight line portion. A variation function g (t) is represented.
そして、移送量導出部22は、速度変更期間time及び速度変更時サイクルタイム変動関数g(t)を算出した後、基準時刻tを0にセットし(ステップS92)、その後、基準時刻tを1だけカウントアップする(ステップS94)。
Then, after calculating the speed change period time and the speed change cycle time variation function g (t), the transfer amount deriving unit 22 sets the reference time t to 0 (step S92), and then sets the reference time t to 1. Counts up only (step S94).
次に、移送量導出部22は、ステップS90で算出した速度変更時サイクルタイム変動関数g(t)に基づいて設定サイクルタイムΔTを算出する(ステップS96)。この設定サイクルタイムΔTは、前記ステップS94でカウントアップした基準時刻tを速度変更時サイクルタイム変動関数g(t)に代入することによって求められる。
Next, the transfer amount deriving unit 22 calculates the set cycle time ΔT based on the speed change cycle time variation function g (t) calculated in Step S90 (Step S96). This set cycle time ΔT is obtained by substituting the reference time t counted up in step S94 into the speed change cycle time variation function g (t).
次に、移送量導出部22は、この算出した設定サイクルタイムΔT当たりの各機械軸方向毎の移送量dP[axis]を前記ステップS10と同様にして算出する(ステップS98)。
Next, the transfer amount deriving unit 22 calculates the transfer amount dP [axis] for each machine axis direction per the calculated set cycle time ΔT in the same manner as in Step S10 (Step S98).
次に、移送量導出部22は、前記ステップS98で算出した各機械軸方向毎の移送量dP[axis]から現時点での対象物の合成速度Vを算出する(ステップS100)。この合成速度Vの算出方法は、前記ステップS11における合成速度Vの算出方法と同様である。
Next, the transfer amount deriving unit 22 calculates the current synthesis speed V of the object from the transfer amount dP [axis] for each machine axis direction calculated in step S98 (step S100). The method for calculating the composite speed V is the same as the method for calculating the composite speed V in step S11.
その後、移送制御部14が、前記ステップS98で算出した移送量dP[axis]に応じて前記ステップS12と同様に各移送部102c,106b,108b,110bを駆動する(ステップS102)。その後、移送量導出部22は、設定時刻Tsに前記ステップS96で算出した設定サイクルタイムΔTを加算してその設定時刻Tsを更新する(ステップS104)。
Thereafter, the transfer control unit 14 drives each of the transfer units 102c, 106b, 108b, and 110b in the same manner as in Step S12 according to the transfer amount dP [axis] calculated in Step S98 (Step S102). Thereafter, the transfer amount deriving unit 22 adds the set cycle time ΔT calculated in step S96 to the set time Ts to update the set time Ts (step S104).
次に、移送量導出部22は、前記ステップS90で求めた速度変更時サイクルタイム変動関数g(t)を基準時刻tで微分することにより前記dgを算出する(ステップS106)。
Next, the transfer amount deriving unit 22 calculates the dg by differentiating the speed change cycle time variation function g (t) obtained in step S90 with respect to the reference time t (step S106).
その後、移送量導出部22は、基準時刻tが速度変更期間time以上であるか否かを判断し(ステップS108)、基準時刻tが速度変更期間time以上であると判断した場合には、前記ステップS8以降の処理を再度行う一方、基準時刻tが速度変更期間timeを経過していないと判断した場合には、次に、加減速要求監視部10から緊急停止要求が出されているか否かを前記ステップS16と同様に判断する(ステップS110)。
Thereafter, the transfer amount deriving unit 22 determines whether or not the reference time t is equal to or greater than the speed change period time (step S108), and if it is determined that the reference time t is equal to or greater than the speed change period time, If the process after step S8 is performed again and it is determined that the reference time t has not passed the speed change period time, then whether or not an emergency stop request has been issued from the acceleration / deceleration request monitoring unit 10 is determined. Is determined in the same manner as in step S16 (step S110).
ここで、移送量導出部22が加減速要求監視部10から緊急停止要求が出されていると判断した場合には、前記ステップS52~S68の緊急停止プロセスが実施され、加減速要求監視部10から緊急停止要求が出されていないと判断した場合には、移送量導出部22は、次に、加減速要求監視部10から速度変更要求が出されているか否かを前記ステップS18と同様に判断する(ステップS112)。移送量導出部22が加減速要求監視部10から速度変更要求が出されていると判断した場合には、前記ステップS90以降の速度変更プロセスが再度実施される。一方、移送量導出部22が加減速要求監視部10から速度変更要求が出されていないと判断した場合には、前記ステップS94以降のプロセスが再度行われる。
If the transfer amount deriving unit 22 determines that an emergency stop request has been issued from the acceleration / deceleration request monitoring unit 10, the emergency stop process of steps S52 to S68 is performed, and the acceleration / deceleration request monitoring unit 10 is performed. If it is determined that an emergency stop request has not been issued, the transfer amount deriving unit 22 next determines whether or not a speed change request has been issued from the acceleration / deceleration request monitoring unit 10 as in step S18. Judgment is made (step S112). When the transfer amount deriving unit 22 determines that a speed change request is issued from the acceleration / deceleration request monitoring unit 10, the speed change process after step S90 is performed again. On the other hand, when the transfer amount deriving unit 22 determines that the speed change request is not issued from the acceleration / deceleration request monitoring unit 10, the processes after step S94 are performed again.
ところで、移送量導出部22が上記ステップS18の判断において加減速要求監視部10から速度変更要求が出されていないと判断した場合には、次に、移送量導出部22は、設定時刻Tsに設定サイクルタイムΔTを加算して設定時刻Tsを更新する(図6のステップS20)。その後、前記ステップS10以降のプロセスが再度行われる。
By the way, when the transfer amount deriving unit 22 determines that the speed change request is not issued from the acceleration / deceleration request monitoring unit 10 in the determination of step S18, the transfer amount deriving unit 22 next sets the set time Ts. The set cycle time ΔT is added to update the set time Ts (step S20 in FIG. 6). Thereafter, the processes after step S10 are performed again.
以上のようにして、本実施形態の数値制御装置2による数値制御プロセスが実施される。
As described above, the numerical control process by the numerical control device 2 of the present embodiment is performed.
本実施形態では、加減速フィルタ28が、パス変換部26によって算出された各機械軸方向についての変換後機械軸パスに対して当該変換後機械軸パスから得られる各支持体102b,106a,108a,110aの移送速度の変化を緩和するための加減速処理を行うため、基準機械軸パスに機械ショックの要因となる異常データが含まれていても、その異常データを当該加減速処理により機械ショックを引き起こさない緩やかな速度変化を示すように修正することができる。
In the present embodiment, the acceleration / deceleration filter 28 uses the respective support bodies 102b, 106a, and 108a obtained from the post-conversion machine axis path with respect to the post-conversion machine axis path for each machine axis direction calculated by the path conversion unit 26. , 110a, the acceleration / deceleration process is performed to alleviate the change in the transfer speed. Even if the reference machine axis path includes abnormal data that causes a mechanical shock, the abnormal data is converted into a mechanical shock by the acceleration / deceleration process. Can be corrected to show a gradual speed change that does not cause
さらに、本実施形態では、パス変換部26が、基準機械軸パスに対して加減速フィルタ28による加減速処理と同じ処理である変換部加減速処理を行った場合に得られる機械軸パスと基準機械軸パスとの誤差に相当する補正量を各機械軸方向毎に算出し、その算出した各機械軸方向毎の補正量で前記誤差を相殺する方向に各機械軸方向についての基準機械軸パスを補正して変換後機械軸パスを算出するため、変換後機械軸パスは、加減速フィルタ28による加減速処理によって生じる各機械軸方向毎の誤差を予め見込んでその誤差を相殺する方向に補正した機械軸パスとなる。このため、加減速フィルタ28が変換後機械軸パスに対して加減速処理を行ったときには、その加減速処理によって生じる全ての機械軸方向についての誤差を抑制することができ、その結果、当該加減速処理によって生じるワークの加工形状の誤差を抑制することができる。
Further, in the present embodiment, the mechanical axis path obtained when the path conversion unit 26 performs the conversion unit acceleration / deceleration process, which is the same process as the acceleration / deceleration process by the acceleration / deceleration filter 28, with respect to the reference machine axis path. A correction amount corresponding to an error with the machine axis path is calculated for each machine axis direction, and a reference machine axis path for each machine axis direction in a direction to cancel the error with the calculated correction amount for each machine axis direction. Therefore, the post-conversion machine axis path is corrected in such a way that an error in each machine axis direction caused by the acceleration / deceleration processing by the acceleration / deceleration filter 28 is estimated in advance and the error is offset. Machine axis path. For this reason, when the acceleration / deceleration filter 28 performs acceleration / deceleration processing on the converted mechanical axis path, errors in all machine axis directions caused by the acceleration / deceleration processing can be suppressed. An error in the work shape of the workpiece caused by the deceleration process can be suppressed.
また、本実施形態では、加減速フィルタ28が加減速処理を行うときに、t-aからt+aに亘る区間内の各設定時刻Tにおける速度関数PB’(T)をその各設定時刻Tを中心として前後に均等に広がるT-aからT+aまでの分配区間内にそれぞれ分配するため、各設定時刻における速度関数をその各設定時刻以降の分配区間内にそれぞれ分配するような場合と異なり、等速での対象物の移送を指示する区間において速度関数の分配形式に起因する設定時刻の遅れが生じない。このため、加減速フィルタ28が前記分配区間内に分配した速度関数PB’(T)の分配値PB’(T)・f(t-T)を積分して速度関数QB’(t)を算出し、その算出した速度関数QB’(t)をさらに積分することによって算出した処理後機械軸パスQB(t)では、等速での対象物の移送を指示する区間において速度関数の分配形式に起因した時刻の遅れが生じるのを防ぐことができる。
In the present embodiment, when the acceleration / deceleration filter 28 performs acceleration / deceleration processing, the speed function P B ′ (T) at each set time T in the section from t−a to t + a is expressed as each set time T. Unlike the case where the speed function at each set time is distributed to the distribution sections after each set time, since the distribution is performed in the distribution sections from Ta to T + a that are spread evenly in the front and rear as the center. There is no set time delay due to the distribution form of the speed function in the section instructing the transfer of the object at high speed. Therefore, the speed function Q B ′ (t) is obtained by integrating the distribution value P B ′ (T) · f (t−T) of the speed function P B ′ (T) distributed by the acceleration / deceleration filter 28 in the distribution section. ), And in the post-process mechanical axis path Q B (t) calculated by further integrating the calculated speed function Q B ′ (t), the speed in the section instructing the transfer of the object at a constant speed It is possible to prevent a time delay caused by the function distribution form.
また、本実施形態では、パス変換部26が変換部加減速処理後の機械軸パスと基準機械軸パスとの誤差に相当する補正量を算出するときに、変換部加減速処理後の機械軸パスと基準機械軸パスとの間で互いに減算する点同士の時刻の対応付けを簡略化しつつ、変換部加減速処理における速度関数の分配形式に起因して生じる位相誤差の要素を補正量から低減することができる。具体的には、仮に、パス変換部26が、変換部加減速処理において、基準機械軸パスのある区間中の各設定時刻における速度をその時刻以降の時定数に相当する区間幅を有する分配区間内にそれぞれ分配し、その分配した各分配値を積分して速度関数を算出し、その算出した速度関数をさらに積分するような算出式に従って、当該処理後の機械軸パスを算出する場合には、当該処理後の機械軸パスにおける設定時刻は基準機械軸パスにおける設定時刻に対して遅れるため、この設定時刻の遅れを考慮せずに処理後の機械軸パスから基準機械軸パスを減算してそれら両機械軸パス間の誤差に相当する補正量を求めると、その補正量の中に位相誤差が含まれることになる。このような場合に、補正量から位相誤差の要素を排除しようとすると、上記の速度関数の分配形式に起因して生じる前記処理後の機械軸パスと基準機械軸パスとの間の設定時刻の遅れを解消するための対応付け(時刻調整)を行った上で、前記処理後の機械軸パスと基準機械軸パスとの誤差を求める必要があり、その対応付けの処理が煩雑である。これに対して、本実施形態では、パス変換部26は、変換部加減速処理において、基準機械軸パスの各設定時刻Tにおける速度関数PAi’(T)をその各設定時刻Tを中心として前後に均等に広がるT-aからT+aまでの分配区間内にそれぞれ分配するため、等速での対象物の移送を指示する区間において速度関数PAi’(T)の分配形式に起因した設定時刻の遅れが生じるのを防ぐことができる。このため、変換部加減速処理後の機械軸パスQA(t)では、等速での対象物の移送を指示する区間において基準機械軸パスとの間で同一時刻tでの座標値が一致する。このため、変換部加減速処理後の機械軸パスQA(t)と基準機械軸パスとの誤差に相当する補正量を算出するときに、それら両機械軸パス間で互いに減算する点同士の設定時刻の対応付けを簡略化しつつ、補正量から基準機械軸パスの速度関数の分配形式に起因する位相誤差の要素を低減することができる。
In this embodiment, when the path conversion unit 26 calculates a correction amount corresponding to an error between the mechanical axis path after the conversion unit acceleration / deceleration processing and the reference mechanical axis path, the machine axis after the conversion unit acceleration / deceleration processing is calculated. Reduces the phase error factor caused by the speed function distribution format in the conversion unit acceleration / deceleration process from the correction amount while simplifying the time correspondence between the points to be subtracted between the path and the reference machine axis path. can do. Specifically, suppose that the path conversion unit 26 has a distribution section having a section width corresponding to a time constant after the speed at each set time in a section of the reference mechanical axis path in the conversion section acceleration / deceleration processing. When calculating the machine axis path after the processing according to a calculation formula that integrates each distributed value, calculates the speed function, and further integrates the calculated speed function. Since the set time in the machine axis path after the processing is delayed with respect to the set time in the reference machine axis path, the reference machine axis path is subtracted from the processed machine axis path without considering the delay in the set time. When a correction amount corresponding to an error between the two machine axis paths is obtained, a phase error is included in the correction amount. In such a case, if the phase error element is to be excluded from the correction amount, the set time between the machine axis path after the processing and the reference machine axis path generated due to the distribution form of the speed function described above It is necessary to obtain an error between the machine axis path after the process and the reference machine axis path after performing association (time adjustment) for eliminating the delay, and the process of the association is complicated. On the other hand, in the present embodiment, the path conversion unit 26 centers the speed function P A i ′ (T) at each set time T of the reference machine axis path around each set time T in the conversion unit acceleration / deceleration processing. As a result of the distribution in the distribution section from Ta to T + a that spreads evenly in the forward and backward directions, the distribution of the speed function P A i ′ (T) is caused in the section instructing the transfer of the object at a constant speed. It is possible to prevent the set time from being delayed. Therefore, in the machine axis path Q A (t) after the conversion unit acceleration / deceleration processing, the coordinate values at the same time t coincide with the reference machine axis path in the section instructing the transfer of the object at a constant speed. To do. For this reason, when calculating the correction amount corresponding to the error between the machine axis path Q A (t) after the conversion unit acceleration / deceleration processing and the reference machine axis path, While simplifying the association of the set times, it is possible to reduce the phase error element resulting from the distribution format of the speed function of the reference mechanical axis path from the correction amount.
また、本実施形態では、加減速フィルタ28が加減速処理を行うときに、t-aからt+aに亘る区間内の各時刻Tにおける速度関数PBi’(T)をその各時刻Tを中心として前後に均等に広がるT-aからT+aまでの分配区間内にそれぞれ分配するため、各時刻における速度関数をその各時刻以降の分配区間内にそれぞれ分配するような場合と異なり、当該速度関数の分配形式に起因する時刻の遅れが生じない。このため、加減速フィルタ28による加減速処理後の機械軸パスQB(t)において、速度関数の分配形式に起因した時刻の遅れが生じるのを防ぐことができる。
In the present embodiment, when the acceleration / deceleration filter 28 performs acceleration / deceleration processing, the speed function P B i ′ (T) at each time T in the section from t−a to t + a is centered on each time T. Unlike the case where the speed function at each time is distributed in the distribution section after each time, the distribution of the speed function in the distribution section from Ta to T + a that spreads evenly forward and backward There is no time delay due to the distribution format. Therefore, in the mechanical axis path Q B (t) after the acceleration / deceleration processing by the acceleration / deceleration filter 28, it is possible to prevent a time delay due to the speed function distribution form.
また、本実施形態では、時刻調整部38が、各機械軸方向についての調整前機械軸パスについて対象物の移送開始直後の加速期間(0≦t<Tj)に対応する部分及び対象物の移送停止直前の減速期間(te-Tj<t≦te)に対応する部分について時刻調整を行うため、パス変換部26が変換部加減速処理を行う前に、予めその変換部加減速処理によって生じる前記加速期間及び前記減速期間に対応する各部分の設定時刻のずれを相殺する方向に補正した基準機械軸パスを求めることができる。このため、パス変換部26が変換部加減速処理を行った後の機械軸パスの前記加速期間及び前記減速期間に対応する各部分において、設定時刻のずれが生じるのを防ぐことができ、それらの各部分について適切な補正量を算出することができる。
Further, in the present embodiment, the time adjustment unit 38 transfers the part corresponding to the acceleration period (0 ≦ t <Tj) immediately after the start of object transfer and the object transfer for the machine axis path before adjustment in each machine axis direction. Since the time adjustment is performed for the portion corresponding to the deceleration period immediately before the stop (te−Tj <t ≦ te), the path conversion unit 26 performs the conversion unit acceleration / deceleration process before the conversion unit acceleration / deceleration process. It is possible to obtain a reference machine axis path that is corrected in a direction that cancels out the set time difference between the portions corresponding to the acceleration period and the deceleration period. For this reason, it is possible to prevent a set time shift from occurring in each part corresponding to the acceleration period and the deceleration period of the mechanical axis path after the path conversion unit 26 performs the conversion unit acceleration / deceleration processing. It is possible to calculate an appropriate correction amount for each part.
また、本実施形態では、特別指令入力装置122に特別指令を入力して工作機械に対象物の速度変化を伴うイレギュラーな動作を実施させる際、各機械軸方向に共通の設定サイクルタイムの長さが特別指令の入力直前の状態における長さからその特別指令が指示する速度変化に応じた長さに変化させられるとともに、処理後機械軸パスから算出されたその変化後の設定サイクルタイム当たりの各支持体102b,106a,108a,110aの対応する機械軸方向への移送量に応じて各支持体102b,106a,108a,110aが移送される。このため、ワークの加工時における対象物の通常の移送とは別にその対象物のイレギュラーな速度変化を伴う動作を実行させる場合に、対象物が処理後機械軸パスによって示される軌跡からずれるのを防ぐことができる。具体的には、本実施形態のように特別指令に応じて各機械軸方向に共通の設定サイクルタイムの長さを変化させる場合には、処理後機械軸パスからその設定サイクルタイム当たりに算出される各機械軸方向への支持体102b,106a,108a,110aの移送量が各機械軸方向についての処理後機械軸パスによって規定される各機械軸方向同士の間の相対的な位置関係が維持された状態で算出される。このため、その算出された設定サイクルタイム当たりの各機械軸方向への移送量に応じて各支持体102b,106a,108a,110aが各移送部102c,106b,108b,110bによって移送されると、各機械軸方向についての処理後機械軸パスによって規定される各機械軸方向同士の間の相対的な位置関係が維持された状態で対象物の速度変化を伴う動作が実施される。その結果、対象物の速度変化を伴うイレギュラーな動作が実施されたとしても、対象物が各機械軸方向についての処理後機械軸パスによって示される軌跡からずれるのを防ぐことができる。
Further, in the present embodiment, when a special command is input to the special command input device 122 to cause the machine tool to perform an irregular operation accompanied by a change in the speed of the object, the length of the set cycle time common to each machine axis direction is increased. Is changed from the length in the state immediately before the input of the special command to the length corresponding to the speed change instructed by the special command, and at the set cycle time after the change calculated from the machine axis path after processing. Each support 102b, 106a, 108a, 110a is transferred according to the transfer amount of each support 102b, 106a, 108a, 110a in the corresponding machine axis direction. For this reason, when an operation involving irregular speed changes of the object is executed separately from the normal transfer of the object at the time of machining the workpiece, the object deviates from the trajectory indicated by the machine axis path after processing. Can be prevented. Specifically, when the length of the set cycle time common to each machine axis direction is changed according to a special command as in this embodiment, it is calculated per set cycle time from the processed machine axis path. The relative positional relationship between the machine axis directions defined by the post-processing machine axis path for each machine axis direction is maintained for the transfer amount of the supports 102b, 106a, 108a, 110a in each machine axis direction. It is calculated in the state. For this reason, if each support body 102b, 106a, 108a, 110a is transferred by each transfer part 102c, 106b, 108b, 110b according to the calculated transfer amount in each machine axis direction per set cycle time, An operation involving a change in the speed of the object is performed in a state in which the relative positional relationship between the machine axis directions defined by the post-processing machine axis path in each machine axis direction is maintained. As a result, even if an irregular operation accompanied by a change in the speed of the object is performed, the object can be prevented from deviating from the trajectory indicated by the post-processing machine axis path in each machine axis direction.
さらに、本実施形態では、加減速処理による異常データに起因する機械ショックの抑制効果を得つつ、特別指令に応じて対象物が速度変化を伴う動作を行うときに元の加工パスによって示される軌跡から外れるのを防ぐことができる。具体的には、仮に、異常データに起因する機械ショックを抑制するために従来のパルス補間後の加減速処理を行う場合には、その補間後加減速処理が行われた後の移送パルスが示す対象物の移動軌跡は、補間後加減速処理によって生じる誤差により元の加工パスによって示される移動軌跡からずれることになる。この場合に、特別指令に応じた対象物の速度変化を伴う動作が補間後加減速処理後の移送パルスに従って行われると、当該対象物は、元の加工パスによって示される軌跡から外れて移動することになる。これに対して、本実施形態では、上記のように加減速フィルタ28による加減速処理によって異常データに起因する機械ショックの抑制効果を得つつ、その加減速処理後の機械軸パスでは、加減速処理前のパス変換部26の変換処理による誤差補正の効果により、当該加減速処理後の機械軸パスが示す軌跡が加工パスが示す軌跡からずれるのを抑制することができ、その結果、特別指令に応じて対象物が速度変化を伴う動作を加減速処理後の機械軸パスに従って行うときに元の加工パスが示す軌跡から外れるのを防ぐことができる。
Further, in the present embodiment, the trajectory indicated by the original machining path when the object performs an operation accompanied by a speed change according to the special command while obtaining the effect of suppressing the mechanical shock caused by the abnormal data by the acceleration / deceleration processing. Can be prevented from coming off. Specifically, if acceleration / deceleration processing after pulse interpolation is performed in order to suppress mechanical shock caused by abnormal data, the transfer pulse after the post-interpolation acceleration / deceleration processing is indicated. The movement trajectory of the object is deviated from the movement trajectory indicated by the original machining path due to an error caused by the post-interpolation acceleration / deceleration processing. In this case, when an operation involving a change in the speed of the object according to the special command is performed according to the transfer pulse after the acceleration / deceleration processing after interpolation, the object moves out of the locus indicated by the original machining path. It will be. In contrast, in the present embodiment, the acceleration / deceleration process by the acceleration / deceleration filter 28 as described above obtains the effect of suppressing the mechanical shock caused by the abnormal data, and the acceleration / deceleration is performed in the machine axis path after the acceleration / deceleration process. Due to the effect of error correction by the conversion processing of the path conversion unit 26 before processing, it is possible to suppress the locus indicated by the machine axis path after the acceleration / deceleration processing from deviating from the locus indicated by the machining path. Accordingly, it is possible to prevent the object from deviating from the trajectory indicated by the original machining path when performing an operation accompanied by a speed change according to the mechanical axis path after the acceleration / deceleration processing.
なお、今回開示された実施形態は、すべての点で例示であって制限的なものではないと考えられるべきである。本発明の範囲は、上記した実施形態の説明ではなく特許請求の範囲によって示され、さらに特許請求の範囲と均等の意味及び範囲内でのすべての変更が含まれる。
In addition, it should be thought that embodiment disclosed this time is an illustration and restrictive at no points. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes meanings equivalent to the scope of claims for patent and all modifications within the scope.
本発明による数値制御装置は、図1に示したような工作機械に適用が限定されるものではない。例えば、いわゆる門型フレームを備えた工作機械や、パラレルメカニズムを有する工作機械、旋盤、その他の各種工作機械にも、本発明による数値制御装置を適用することが可能である。
The application of the numerical control device according to the present invention is not limited to the machine tool as shown in FIG. For example, the numerical control device according to the present invention can be applied to a machine tool having a so-called portal frame, a machine tool having a parallel mechanism, a lathe, and other various machine tools.
また、上記実施形態では、パス変換部26による変換部加減速処理及び加減速フィルタ28による加減速処理において直線型の分配関数を用いたが、これらの加減速処理に用いる分配関数は、このような直線型の分配関数以外の種類の分配関数であってもよい。例えば、いわゆるベル型の分配関数をこれらの加減速処理に用いてもよい。このようなベル型の分配関数f(t)は、例えば、次式で表される。
In the above embodiment, the linear distribution function is used in the conversion unit acceleration / deceleration process by the path conversion unit 26 and the acceleration / deceleration process by the acceleration / deceleration filter 28. However, the distribution function used for these acceleration / deceleration processes is as described above. It is also possible to use a distribution function of a type other than a straight linear distribution function. For example, a so-called bell-shaped distribution function may be used for these acceleration / deceleration processes. Such a bell-shaped distribution function f (t) is expressed by the following equation, for example.
なお、分配区間-a≦t≦aの外側では、f(t)=0である。
Note that f (t) = 0 outside the distribution interval −a ≦ t ≦ a.
また、ベル型の分配関数を用いて変換部加減速処理を行う場合には、図8のステップS41において、次式を用いて、基準機械軸パスのうち移送開始直後の加速期間の部分及び移送停止直前の減速期間の部分における変換部加減速処理後の時刻のずれを解消するための時刻調整を行うことが好ましい。
Further, when the conversion unit acceleration / deceleration process is performed using a bell-shaped distribution function, in step S41 of FIG. 8, the portion of the acceleration period immediately after the start of transfer in the reference machine axis path and the transfer using the following equation: It is preferable to perform time adjustment for eliminating the time lag after the conversion unit acceleration / deceleration processing in the portion of the deceleration period immediately before the stop.
また、基準機械軸パス導出部は、加減速演算部によって導出された基準機械軸パスのうち工作機械に機械ショックが発生し得る急激な加減速を指示する部分のみを局部的に滑らかになるように補間する局部加減速フィルタを備えていてもよい。この場合には、局部加減速フィルタによって局部的に補間された後の基準機械軸パスについて、パス変換部が変換処理を行えばよい。
In addition, the reference machine axis path deriving unit locally smoothes only a portion instructing rapid acceleration / deceleration that may cause a machine shock to the machine tool in the reference machine axis path derived by the acceleration / deceleration calculation unit. A local acceleration / deceleration filter for interpolation may be provided. In this case, the path conversion unit may perform conversion processing on the reference mechanical axis path after being locally interpolated by the local acceleration / deceleration filter.
また、上記実施形態では、工作機械が特別指令入力装置を備えており、その特別指令入力装置に特別指令が入力された場合に設定サイクルタイムの長さを変化させて各支持体の対応する機械軸方向への移送量を算出したが、本発明による数値制御装置は、このような特別指令入力装置を備えていない工作機械に適用してもよい。また、工作機械が特別指令入力装置を備えていても、その特別指令入力装置に特別指令が入力された場合に、特別指令の内容に応じて長さを変化させた設定サイクルタイムに対応する移送量を各機械軸方向についての機械軸パスから導出し、その導出した移送量に従って各支持体の移送速度を変化させるような方法以外の方法で対象物の動作を特別指令に応じて制御するような工作機械に本発明による数値制御装置を適用してもよい。これらの場合には、図6のフローチャートによって示される数値制御のプロセスにおいて、ステップS16及びS18の処理を省略し、ステップS14において移送量導出部がメモリに記憶された処理後機械軸パスの全期間の処理をまだ終了していないと判断した場合には、次に、ステップS20の処理を行うようにすればよい。
In the above embodiment, the machine tool is provided with a special command input device, and when a special command is input to the special command input device, the length of the set cycle time is changed and the machine corresponding to each support body. Although the transfer amount in the axial direction is calculated, the numerical control device according to the present invention may be applied to a machine tool that does not include such a special command input device. Also, even if the machine tool is equipped with a special command input device, when a special command is input to the special command input device, the transfer corresponding to the set cycle time in which the length is changed according to the content of the special command. The amount is derived from the machine axis path in each machine axis direction, and the operation of the object is controlled according to the special command by a method other than the method of changing the transfer speed of each support according to the derived transfer amount. The numerical control device according to the present invention may be applied to a simple machine tool. In these cases, in the numerical control process shown by the flowchart of FIG. 6, the processing of steps S16 and S18 is omitted, and the entire period of the processed mechanical axis path in which the transfer amount deriving unit is stored in the memory in step S14. If it is determined that the process has not been completed yet, the process of step S20 may be performed next.
また、基準機械軸パス導出部は、必ずしも、曲面補間部や加減速演算部を備えてなくてもよい。すなわち、基準機械軸パス導出部のプログラム読取部がNCプログラムから加工パスを導出し、補間演算や加減速演算を行うことなく、その加工パスを各機械軸方向についての移動成分に変換することによって各機械軸方向毎の基準機械軸パスを導出してもよい。
Further, the reference machine axis path deriving unit does not necessarily include the curved surface interpolation unit and the acceleration / deceleration calculation unit. That is, the program reading unit of the reference machine axis path deriving unit derives a machining path from the NC program, and converts the machining path into a moving component in each machine axis direction without performing interpolation calculation or acceleration / deceleration calculation. A reference machine axis path for each machine axis direction may be derived.
また、本発明の数値制御装置による移送装置の制御は、必ずしも、対象物の緊急停止時の減速、再始動時の加速及びオーバーライド装置による加減速の全てに適用されなくてもよい。例えば、対象物の緊急停止時の減速にのみ本発明の数値制御装置による移送装置の制御が適用されてもよく、対象物の再始動時の加速にのみ本発明の数値制御装置による移送装置の制御が適用されてもよく、オーバーライド装置による対象物の加減速にのみ本発明の数値制御装置による移送装置の制御が適用されてもよい。また、対象物の緊急停止時の減速、再始動時の加速及びオーバーライド装置による加減速のうちいずれか2つに対して本発明の数値制御装置による移送装置の制御が適用されてもよい。
Further, the control of the transfer device by the numerical control device of the present invention may not necessarily be applied to all of the deceleration at the time of emergency stop of the object, the acceleration at the restart, and the acceleration / deceleration by the override device. For example, the control of the transfer device by the numerical control device of the present invention may be applied only to the deceleration at the time of emergency stop of the object, and the transfer device by the numerical control device of the present invention is only applied to the acceleration at the time of restart of the object. Control may be applied, and control of the transfer device by the numerical control device of the present invention may be applied only to acceleration / deceleration of the object by the override device. Further, the control of the transfer device by the numerical control device of the present invention may be applied to any two of the deceleration at the time of emergency stop of the object, the acceleration at the restart, and the acceleration / deceleration by the override device.
また、パス変換部による変換部加減速処理において、以下の式(51),(52)に従って、変換部加減速処理後の所定のブロックQAi(t)の速度関数QAi’(t)を求めればよい。
Further, in the conversion unit acceleration / deceleration process by the path conversion unit, the speed function Q A i ′ (t) of the predetermined block Q A i (t) after the conversion unit acceleration / deceleration process according to the following equations (51) and (52): ).
ただし、この場合には、変換部加減速処理後の機械軸パスにおける時刻が基準機械軸パスにおける時刻から遅れるため、パス変換部が変換部加減速処理後の機械軸パスと基準機械軸パスとの誤差に相当する補正量を算出するに際して、変換部加減速処理後の機械軸パスと基準機械軸パスとの互いに減算する点同士の時刻の対応付け(時刻調整)を行った上でそれらの点同士の減算を行って誤差を算出する必要がある。
However, in this case, since the time in the machine axis path after the conversion unit acceleration / deceleration processing is delayed from the time in the reference machine axis path, the path conversion unit When calculating the correction amount corresponding to the error of, after associating the times (time adjustment) of the points to be subtracted from each other between the mechanical axis path after the conversion unit acceleration / deceleration processing and the reference mechanical axis path, It is necessary to calculate the error by subtracting points.
また、上記加減速フィルタによる処理を繰り返し行うようにしてもよい。この場合には、基準機械軸パスに対してより誤差の少ない処理後機械軸パスを求めることができる。
Further, the processing by the acceleration / deceleration filter may be repeatedly performed. In this case, it is possible to obtain a processed machine axis path with less error with respect to the reference machine axis path.
また、上記実施形態では、時刻調整部38が、対象物の移送開始直後の加速期間及び対象物の移送停止直後の減速期間について時刻調整を行ったが、必ずしもこのような時刻調整を行う必要はない。すなわち、基準機械軸パス導出部が時刻調整部を備えておらず、加減速演算部が算出した機械軸パスを基準機械軸パスとして、パス変換部が、その時刻調整を行っていない基準機械軸パスに対して変換部加減速処理を行ってもよい。
In the above embodiment, the time adjustment unit 38 performs time adjustment for the acceleration period immediately after the start of the transfer of the object and the deceleration period immediately after the stop of the transfer of the object. However, such time adjustment is not necessarily required. Absent. That is, the reference machine axis path deriving unit does not include a time adjusting unit, and the machine axis path calculated by the acceleration / deceleration calculating unit is set as the reference machine axis path, and the reference converting machine axis whose time is not adjusted by the path converting unit. The conversion unit acceleration / deceleration processing may be performed on the path.
[実施の形態の概要]
前記実施形態をまとめると、以下の通りである。 [Outline of the embodiment]
The embodiment is summarized as follows.
前記実施形態をまとめると、以下の通りである。 [Outline of the embodiment]
The embodiment is summarized as follows.
前記実施形態に係る数値制御装置は、ワーク又はそのワークを加工する工具を対象物としてその対象物を前記ワークを加工するために移送する複数の移送装置を備えていて前記各移送装置が前記対象物を支持するための支持体とその支持体を特定の機械軸方向に移送することにより前記対象物を移送する移送部とをそれぞれ有する工作機械に設けられ、前記各移送装置の数値制御を行う数値制御装置であって、前記ワークの加工時における前記工具の移動軌跡を表す加工指令に基づいて、前記各支持体を移送すべき前記各機械軸方向の位置を所定の設定時刻の関数として表す基準機械軸パスを導出する基準機械軸パス導出部と、前記基準機械軸パス導出部によって導出された前記各機械軸方向についての前記基準機械軸パスに特定の変換処理を行うことによって前記各機械軸方向についての変換後機械軸パスを導出するパス変換部と、前記パス変換部によって導出された前記各機械軸方向についての前記変換後機械軸パスに対して、当該変換後機械軸パスから得られる前記各支持体の移送速度の変化を緩和させるための加減速処理を行う加減速処理部と、前記加減速処理部によって加減速処理された後の機械軸パスである処理後機械軸パスから前記各機械軸方向における所定の設定サイクルタイム当たりの前記各支持体の移送量をそれぞれ導出する移送量導出部と、前記移送量導出部によって導出された前記移送量に応じて前記各移送部に対応する前記支持体を移送させる移送制御部とを備え、前記パス変換部が行う前記特定の変換処理には、前記基準機械軸パスに対して前記加減速処理と同じ処理を行った場合に得られる機械軸パスと前記基準機械軸パスとの誤差に相当する補正量を前記各機械軸方向毎に算出し、その算出した前記各機械軸方向毎の補正量で前記誤差を相殺する方向に前記各機械軸方向についての前記基準機械軸パスを補正した前記変換後機械軸パスを算出する演算処理が含まれる。
The numerical control device according to the embodiment includes a plurality of transfer devices that use a workpiece or a tool that processes the workpiece as an object to transfer the object to process the workpiece, and each of the transfer devices includes the object. Provided in machine tools each having a support for supporting an object and a transfer unit for transferring the object by transferring the support in a specific machine axis direction, and performing numerical control of each of the transfer devices A numerical control device, which represents a position in each machine axis direction to which each support is to be transferred as a function of a predetermined set time based on a machining command representing a movement trajectory of the tool during machining of the workpiece. A reference machine axis path deriving unit for deriving a reference machine axis path, and a specific conversion process for the reference machine axis path for each of the machine axis directions derived by the reference machine axis path deriving unit. A path conversion unit for deriving a converted machine axis path for each of the machine axis directions by performing, and for the converted machine axis path for each of the machine axis directions derived by the path conversion unit, An acceleration / deceleration processing unit that performs acceleration / deceleration processing for relaxing a change in the transfer speed of each support obtained from the converted mechanical axis path, and a mechanical axis path that has been subjected to acceleration / deceleration processing by the acceleration / deceleration processing unit A transfer amount deriving unit for deriving a transfer amount of each support per predetermined set cycle time in each of the machine axis directions from a post-processing machine axis path, and the transfer amount derived by the transfer amount deriving unit And a transfer control unit that transfers the support corresponding to each of the transfer units, and the specific conversion process performed by the path conversion unit includes the addition to the reference machine axis path. A correction amount corresponding to an error between the machine axis path obtained when performing the same process as the speed process and the reference machine axis path is calculated for each of the machine axis directions, and the calculated each axis direction of the machine axis A calculation process for calculating the converted machine axis path obtained by correcting the reference machine axis path in the respective machine axis directions in a direction in which the error is canceled by the correction amount is included.
この数値制御装置では、加減速処理部が、パス変換部によって算出された各機械軸方向についての変換後機械軸パスに対して当該変換後機械軸パスから得られる各支持体の移送速度の変化を緩和するための加減速処理を行うため、機械軸パスに機械ショックの要因となる異常データが含まれていても、その異常データを前記加減速処理により機械ショックを引き起こさない緩やかな速度変化を示すように修正することができる。さらに、この数値制御装置では、パス変換部が、基準機械軸パスに対して加減速処理部による加減速処理と同じ処理を行った場合に得られる機械軸パスと基準機械軸パスとの誤差に相当する補正量を各機械軸方向毎に算出し、その算出した各機械軸方向毎の補正量で前記誤差を相殺する方向に各機械軸方向についての基準機械軸パスを補正した変換後機械軸パスを算出する演算処理を行うため、変換後機械軸パスは、加減速処理部による加減速処理によって生じる各機械軸方向毎の誤差を予め見込んでその誤差を相殺する方向に補正した機械軸パスとなる。このため、加減速処理部が変換後機械軸パスに対して加減速処理を行ったときには、その加減速処理によって生じる全ての機械軸方向についての誤差を抑制することができ、その結果、当該加減速処理によって生じるワークの加工形状の誤差を抑制することができる。
In this numerical control device, the acceleration / deceleration processing unit changes the transfer speed of each support obtained from the post-conversion machine axis path with respect to the post-conversion machine axis path for each machine axis direction calculated by the path conversion unit. In order to perform acceleration / deceleration processing to alleviate this, even if abnormal data that causes mechanical shock is included in the machine axis path, the abnormal data is subjected to a gradual speed change that does not cause mechanical shock by the acceleration / deceleration processing. It can be modified as shown. Further, in this numerical control apparatus, an error between the mechanical axis path and the reference mechanical axis path obtained when the path conversion unit performs the same processing as the acceleration / deceleration processing by the acceleration / deceleration processing unit on the reference mechanical axis path. A converted mechanical axis in which a corresponding correction amount is calculated for each machine axis direction, and the reference machine axis path in each machine axis direction is corrected in a direction that cancels the error with the calculated correction amount for each machine axis direction. In order to perform calculation processing to calculate the path, the post-conversion machine axis path is a machine axis path that has been corrected in a direction that cancels the error by predicting in advance the error in each machine axis direction caused by the acceleration / deceleration processing by the acceleration / deceleration processing unit. It becomes. For this reason, when the acceleration / deceleration processing unit performs acceleration / deceleration processing on the converted machine axis path, errors in all the machine axis directions caused by the acceleration / deceleration processing can be suppressed. An error in the work shape of the workpiece caused by the deceleration process can be suppressed.
上記数値制御装置において、前記加減速処理部は、前記加減速処理として、前記設定時刻をtとし、当該加減速処理を行う対象の前記変換後機械軸パスの前記機械軸方向について設定された時定数の半分の値をaとし、t-aからt+aに亘る区間内の各設定時刻Tにおける前記変換後機械軸パスの一次微分関数である速度関数をPB(T)とし、次式(1)を満たす分配関数であって、前記速度関数PB’(T)を分配するための特定の分配形式を表す分配関数をf(T)とした場合に、前記処理後機械軸パスの一次微分関数である速度関数QB’(t)を次式(2)に基づいて算出し、その算出した速度関数QB’(t)を積分することによって、前記処理後機械軸パスQB(t)を算出する演算処理を行うことが好ましい。
In the numerical control apparatus, when the acceleration / deceleration processing unit is set for the machine axis direction of the converted machine axis path to be subjected to the acceleration / deceleration process with the set time as t as the acceleration / deceleration process. A value that is half of the constant is a, a speed function that is a primary differential function of the post-conversion mechanical axis path at each set time T in a section from ta to t + a is P B (T), and the following formula (1 ), And when the distribution function representing the specific distribution format for distributing the speed function P B ′ (T) is f (T), the first-order derivative of the post-processing machine axis path A speed function Q B ′ (t), which is a function, is calculated based on the following equation (2), and the calculated speed function Q B ′ (t) is integrated to obtain the post-process mechanical axis path Q B (t ) Is preferably performed.
この構成によれば、処理後機械軸パスQB(t)において、加減速処理前の変換後機械軸パスから設定時刻の遅れが生じるのを防ぐことができる。具体的には、仮に、加減速処理部が、変換後機械軸パスのある区間中の各設定時刻における速度をその時刻以降の時定数に相当する区間幅を有する分配区間内にそれぞれ分配し、その分配した各分配値を積分して速度関数を算出し、その算出した速度関数をさらに積分するような算出式に従って、変換後機械軸パスの加減速処理を行う場合には、処理後機械軸パスにおける設定時刻が上記速度の分配形式に起因して変換後機械軸パスにおける設定時刻に対して遅れる。これに対して、本構成では、上記式(1)を満たす分配関数により、t-aからt+aに亘る区間内の各設定時刻Tにおける速度関数PB’(T)をその各設定時刻Tを中心として前後に均等に広がるT-aからT+aまでの分配区間内にそれぞれ分配するため、その分配区間内に分配した速度関数PB’(T)の分配値PB’(T)・f(t-T)を上記式(2)に従って積分して速度関数QB’(t)を算出し、その算出した速度関数QB’(t)をさらに積分することによって算出した処理後機械軸パスQB(t)では、上記のような速度の分配形式に起因した設定時刻の遅れが生じるのを防ぐことができる。
According to this configuration, it is possible to prevent the set time from being delayed from the post-conversion mechanical axis path before the acceleration / deceleration process in the post-processing mechanical axis path Q B (t). Specifically, suppose that the acceleration / deceleration processing unit distributes the speed at each set time in a section of the converted mechanical axis path into a distribution section having a section width corresponding to a time constant after that time, When the speed function is calculated by integrating the distributed values, and the acceleration / deceleration processing of the converted machine axis path is performed according to a calculation formula that further integrates the calculated speed function, the processed machine axis The set time in the path is delayed with respect to the set time in the post-conversion machine axis path due to the speed distribution format. On the other hand, in the present configuration, the speed function P B ′ (T) at each set time T in the section extending from ta to t + a is expressed by the distribution function satisfying the above equation (1). Since the distribution is performed in the distribution section from Ta to T + a that spreads evenly forward and backward as the center, the distribution value P B ′ (T) · f () of the velocity function P B ′ (T) distributed in the distribution section t-T) integral to speed function Q B in accordance with the above formula (2) treatment after mechanical axis path calculated by further integrating the 'calculates (t), the calculated velocity function Q B' (t) In Q B (t), it is possible to prevent the set time from being delayed due to the speed distribution format as described above.
この場合において、前記パス変換部は、前記加減速処理と同じ処理として、前記t-aから前記t+aに亘る区間内の各設定時刻Tにおける前記基準機械軸パスの一次微分関数である速度関数をPA’(T)とし、前記加減速処理と同じ処理を行った後の機械軸パスの一次微分関数である速度関数をQA’(t)とした場合に、前記速度関数QA’(t)を次式(3)に基づいて算出して、その算出した速度関数QA’(t)を積分することによって前記加減速処理と同じ処理を行った後の機械軸パスQA(t)を算出する演算処理を行うことが好ましい。
In this case, as the same processing as the acceleration / deceleration processing, the path conversion unit obtains a speed function that is a first-order differential function of the reference mechanical axis path at each set time T in a section from the ta to the t + a. When P A ′ (T) is set and Q A ′ (t) is a speed function that is a linear differential function of the mechanical axis path after performing the same processing as the acceleration / deceleration processing, the speed function Q A ′ ( t) is calculated based on the following expression (3), and the calculated speed function Q A ′ (t) is integrated to integrate the calculated speed function Q A ′ (t), and the mechanical axis path Q A (t ) Is preferably performed.
この構成によれば、パス変換部が加減速処理部による加減速処理と同じ処理を行った場合に得られる機械軸パスと基準機械軸パスとの誤差に相当する補正量を算出するときに、前記加減速処理と同じ処理後の機械軸パスと基準機械軸パスとの間で互いに減算する点同士の設定時刻の対応付けを簡略化しつつ、前記加減速処理と同じ処理における速度の分配形式に起因して生じる位相誤差の要素を前記補正量から排除することができる。具体的には、仮に、パス変換部が、前記加減速処理と同じ処理において、基準機械軸パスのある区間中の各設定時刻における速度をその時刻以降の時定数に相当する区間幅を有する分配区間内にそれぞれ分配し、その分配した各分配値を積分して速度関数を算出し、その算出した速度関数をさらに積分するような算出式に従って、当該処理後の機械軸パスを算出する場合には、当該処理後の機械軸パスにおける設定時刻は基準機械軸パスにおける設定時刻に対して遅れるため、この設定時刻の遅れを考慮せずに処理後の機械軸パスから基準機械軸パスを減算してそれら両機械軸パス間の誤差に相当する補正量を求めると、その補正量の中に位相誤差が含まれることになる。このような場合に、補正量から位相誤差の要素を排除しようとすると、上記の速度の分配形式に起因して生じる前記処理後の機械軸パスと基準機械軸パスとの間の設定時刻の遅れを解消するための対応付け(時刻調整)を行った上で、前記処理後の機械軸パスと基準機械軸パスとの誤差を求める必要があり、その対応付けの処理が煩雑である。これに対して、本構成では、上記式(3)に基づいて前記処理後の機械軸パスの速度関数QA’(t)を算出し、その算出した速度関数QA’(t)を積分することによって処理後の機械軸パスQA(t)を算出するため、上記式(3)中の分配関数によれば、等速での移送を指示する区間において基準機械軸パスの速度関数PA’(T)の分配形式に起因した設定時刻の遅れが生じるのを防ぐことができ、その結果、前記処理後の機械軸パスQA(t)では、等速での移送を指示する区間において基準機械軸パスとの間で同一時刻tでの座標値が一致する。このため、処理後の機械軸パスQA(t)と基準機械軸パスとの誤差に相当する補正量を算出するときに、それら両機械軸パス間で互いに減算する点同士の設定時刻の対応付けを簡略化しつつ、補正量から基準機械軸パスの速度の分配形式に起因する位相誤差の要素を排除することができる。
According to this configuration, when calculating the correction amount corresponding to the error between the mechanical axis path and the reference mechanical axis path obtained when the path conversion unit performs the same processing as the acceleration / deceleration processing by the acceleration / deceleration processing unit, The speed distribution format in the same process as the acceleration / deceleration process is simplified while simplifying the association of the set times of the points to be subtracted between the machine axis path and the reference machine axis path after the same process as the acceleration / deceleration process. The element of the phase error caused due to this can be excluded from the correction amount. Specifically, in the same process as the acceleration / deceleration process, the path conversion unit distributes the speed at each set time in a section of the reference mechanical axis path having a section width corresponding to the time constant after that time. When calculating the machine axis path after the processing according to the calculation formula that integrates each distributed value in the section, calculates the speed function by integrating the distributed values, and further integrates the calculated speed function Since the set time in the machine axis path after the processing is delayed with respect to the set time in the reference machine axis path, the reference machine axis path is subtracted from the processed machine axis path without considering the delay in the set time. When the correction amount corresponding to the error between the two machine axis paths is obtained, the phase error is included in the correction amount. In such a case, if the phase error element is excluded from the correction amount, a delay in the set time between the machine axis path after the processing and the reference machine axis path caused by the speed distribution format described above. It is necessary to obtain an error between the machine axis path after the process and the reference machine axis path after performing the association (time adjustment) for eliminating the above, and the process of the association is complicated. On the other hand, in this configuration, the speed function Q A ′ (t) of the machine axis path after the processing is calculated based on the above formula (3), and the calculated speed function Q A ′ (t) is integrated. In order to calculate the machine axis path Q A (t) after the processing, according to the distribution function in the above equation (3), the speed function P of the reference machine axis path in the section instructing the transfer at a constant speed It is possible to prevent the set time from being delayed due to the distribution form of A ′ (T). As a result, in the machine axis path Q A (t) after the processing, the section instructing the transfer at a constant speed The coordinate values at the same time t coincide with the reference machine axis path. For this reason, when calculating the correction amount corresponding to the error between the processed machine axis path Q A (t) and the reference machine axis path, the correspondence of the set times of the points to be subtracted between the two machine axis paths While simplifying the attachment, it is possible to eliminate the element of the phase error caused by the distribution form of the speed of the reference machine axis path from the correction amount.
上記数値制御装置において、前記基準機械軸パス導出部は、前記設定時刻の調整を行った上で前記基準機械軸パスを導出する時刻調整部を有し、当該時刻調整部は、時刻調整前の設定時刻をtとし、時刻調整後の設定時刻をtj(t)とし、時刻調整を行う対象の機械軸方向の時定数をTjとし、前記対象物の移送が開始される始点の時刻をt=0とし、前記対象物の移送が停止される終点の時刻をt=teとした場合に、次式に基づいて時刻調整を行うことが好ましい。なお、次式は、時刻調整に用いる関数を一般式の形で表したものである。
In the numerical control apparatus, the reference machine axis path deriving unit includes a time adjusting unit that derives the reference machine axis path after adjusting the set time, and the time adjusting unit is configured to adjust the time before time adjustment. The set time is set to t, the set time after the time adjustment is set to tj (t), the time constant in the machine axis direction of the target to be adjusted is set to Tj, and the time of the starting point at which the transfer of the target is started is t = It is preferable that the time adjustment is performed based on the following equation, where 0 is 0 and the time of the end point at which the transfer of the object is stopped is t = te. The following expression represents a function used for time adjustment in the form of a general expression.
この構成によれば、パス変換部が加減速処理と同じ処理を行った場合に生じる、対象物の移送開始直後の加速期間に対応する部分及び対象物の移送停止直前の減速期間に対応する部分での設定時刻のずれを解消することができる。具体的には、仮に、基準機械軸パス導出部が加工指令パスに基づいてこのような時刻調整を行うことなく導出した基準機械軸パスに対して、パス変換部が加減速処理と同じ処理を行った場合には、その処理後の機械軸パスのうち対象物の移送開始直後の加速期間に対応する部分及び対象物の移送停止直前の減速期間に対応する部分において基準機械軸パスから設定時刻のずれが生じ、この処理後の機械軸パスと基準機械軸パスとの誤差に相当する補正量を算出するときに前記加速期間及び前記減速期間に対応する各部分について適切な補正量を算出できなくなる。これに対して、本構成によれば、時刻調整部が、これらの加速期間(0≦t<Tj)及び減速期間(te-Tj<t≦te)に対応する各部分について時刻調整を行うことで、パス変換部が加減速処理と同じ処理を行う前に、予めその処理によって生じる加速期間及び減速期間に対応する各部分の設定時刻のずれを相殺する方向に補正した基準機械軸パスを求めることができる。その結果、パス変換部が加減速処理と同じ処理を行った後の機械軸パスの前記加速期間及び前記減速期間に対応する各部分において、設定時刻のずれが生じるのを防ぐことができ、それらの各部分について適切な補正量を算出することができる。
According to this configuration, the part corresponding to the acceleration period immediately after the start of the transfer of the object and the part corresponding to the deceleration period immediately before the stop of the transfer of the object, which occurs when the path conversion unit performs the same process as the acceleration / deceleration process. The deviation of the set time in can be eliminated. Specifically, the path conversion unit performs the same process as the acceleration / deceleration process on the reference machine axis path derived without the time adjustment based on the machining command path by the reference machine axis path deriving unit. If so, the set time from the reference machine axis path in the part corresponding to the acceleration period immediately after the start of the object transfer and the part corresponding to the deceleration period immediately before the object transfer stops in the machine axis path after the processing. When calculating the correction amount corresponding to the error between the machine axis path after this processing and the reference machine axis path, an appropriate correction amount can be calculated for each part corresponding to the acceleration period and the deceleration period. Disappear. On the other hand, according to this configuration, the time adjustment unit adjusts the time for each part corresponding to the acceleration period (0 ≦ t <Tj) and the deceleration period (te−Tj <t ≦ te). Thus, before the path conversion unit performs the same process as the acceleration / deceleration process, a reference machine axis path corrected in a direction to cancel the set time difference of each part corresponding to the acceleration period and the deceleration period caused by the process is obtained in advance. be able to. As a result, it is possible to prevent the set time from being shifted in each part corresponding to the acceleration period and the deceleration period of the mechanical axis path after the path conversion unit performs the same process as the acceleration / deceleration process. It is possible to calculate an appropriate correction amount for each part.
上記構成において、前記工作機械は、前記ワークの加工時における前記対象物の通常の移送とは別に当該対象物の速度変化を伴う動作を指示するための特別指令を外部から入力するための特別指令入力装置を備えており、前記移送量導出部は、前記特別指令入力装置に前記特別指令が入力されたことに応じて、前記設定サイクルタイムの長さをその特別指令の入力直前の状態における長さからその特別指令が指示する前記対象物の速度変化に応じた長さに変化させ、その長さを変化させた後の設定サイクルタイム当たりの前記各支持体の対応する前記機械軸方向への移送量を前記処理後機械軸パスから導出することが好ましい。
In the configuration described above, the machine tool has a special command for inputting a special command for instructing an operation accompanied by a speed change of the target object separately from a normal transfer of the target object at the time of machining the workpiece. The transfer amount deriving unit determines the length of the set cycle time in a state immediately before the input of the special command in response to the input of the special command to the special command input device. Then, the length is changed according to the speed change of the object indicated by the special command, and the length of the support is changed to the corresponding machine axis direction of each support per set cycle time. It is preferable to derive the transfer amount from the post-processing machine axis path.
この構成によれば、特別指令入力装置に特別指令を入力して工作機械に対象物の速度変化を伴うイレギュラーな動作を実施させる際、各機械軸方向に共通の設定サイクルタイムの長さが前記特別指令の入力直前の状態における長さからその特別指令が指示する速度変化に応じた長さに変化させられるとともに、処理後機械軸パスから算出されたその変化後の設定サイクルタイム当たりの各支持体の対応する機械軸方向への移送量に応じて各支持体が移送される。このため、ワークの加工時における対象物の通常の移送とは別にその対象物のイレギュラーな速度変化を伴う動作を実行させる場合に、対象物が処理後機械軸パスによって示される軌跡からずれるのを防ぐことができる。具体的には、本構成のように前記特別指令に応じて各機械軸方向に共通の設定サイクルタイムの長さを変化させる場合には、処理後機械軸パスからその設定サイクルタイム当たりに算出される各機械軸方向への支持体の移送量が各機械軸方向についての処理後機械軸パスによって規定される各機械軸方向同士の間の相対的な位置関係が維持された状態で算出される。このため、その算出された設定サイクルタイム当たりの各機械軸方向への移送量に応じて対応する支持体が移送部によって移送されると、各機械軸方向についての処理後機械軸パスによって規定される各機械軸方向同士の間の相対的な位置関係が維持された状態で対象物の速度変化を伴う動作が実施される。その結果、上記のような対象物の速度変化を伴うイレギュラーな動作が実施されたとしても、対象物が各機械軸方向についての処理後機械軸パスによって示される軌跡から外れるのを防ぐことができる。
According to this configuration, when a special command is input to the special command input device to cause the machine tool to perform an irregular operation with a change in the speed of the object, the length of the set cycle time common to each machine axis direction is reduced. The length in the state immediately before the input of the special command is changed to the length corresponding to the speed change instructed by the special command, and each set cycle time after the change calculated from the machine axis path after processing is changed. Each support is transferred according to the transfer amount of the support in the corresponding machine axis direction. For this reason, when an operation involving irregular speed changes of the object is executed separately from the normal transfer of the object at the time of machining the workpiece, the object deviates from the trajectory indicated by the machine axis path after processing. Can be prevented. Specifically, when changing the length of the common set cycle time in each machine axis direction according to the special command as in this configuration, it is calculated per set cycle time from the processed machine axis path. The amount of transfer of the support in each machine axis direction is calculated in a state in which the relative positional relationship between the machine axis directions defined by the post-processing machine axis path in each machine axis direction is maintained. . For this reason, when the corresponding support is transferred by the transfer unit according to the calculated transfer amount in each machine axis direction per set cycle time, it is defined by the post-process machine axis path in each machine axis direction. An operation involving a change in the speed of the object is performed in a state where the relative positional relationship between the machine axis directions is maintained. As a result, even if an irregular operation with a change in the speed of the object as described above is performed, it is possible to prevent the object from deviating from the locus indicated by the machine axis path after processing in each machine axis direction. it can.
しかも、本構成では、加減速処理による異常データに起因する機械ショックの抑制効果を得つつ、特別指令に応じて対象物が速度変化を伴う動作を行うときに元の加工パスによって示される軌跡から外れるのを防ぐことができる。具体的には、仮に、異常データに起因する機械ショックを抑制するために従来のパルス補間後の加減速処理を行う場合には、その補間後加減速処理が行われた後の移送パルスが示す対象物の移動軌跡は、補間後加減速処理によって生じる誤差により元の加工パスによって示される移動軌跡からずれることになる。この場合に、特別指令に応じた対象物の速度変化を伴う動作が補間後加減速処理後の移送パルスに従って行われると、当該対象物は、元の加工パスによって示される軌跡から外れて移動することになる。これに対して、本構成では、上記のように加減速処理部による加減速処理によって異常データに起因する機械ショックの抑制効果を得つつ、その加減速処理後の機械軸パスでは、加減速処理前のパス変換部の変換処理による誤差補正の効果により、当該加減速処理後の機械軸パスが示す軌跡が加工パスが示す軌跡からずれるのを抑制することができ、その結果、特別指令に応じて対象物が速度変化を伴う動作を加減速処理後の機械軸パスに従って行うときに元の加工パスが示す軌跡から外れるのを防ぐことができる。
Moreover, in this configuration, from the trajectory indicated by the original machining path when the object performs an operation with a speed change according to the special command while obtaining the effect of suppressing the mechanical shock caused by the abnormal data by the acceleration / deceleration processing. It can be prevented from coming off. Specifically, if acceleration / deceleration processing after pulse interpolation is performed in order to suppress mechanical shock caused by abnormal data, the transfer pulse after the post-interpolation acceleration / deceleration processing is indicated. The movement trajectory of the object is deviated from the movement trajectory indicated by the original machining path due to an error caused by the post-interpolation acceleration / deceleration processing. In this case, when an operation involving a change in the speed of the object according to the special command is performed according to the transfer pulse after the acceleration / deceleration processing after interpolation, the object moves out of the locus indicated by the original machining path. It will be. On the other hand, in this configuration, while the acceleration / deceleration processing by the acceleration / deceleration processing unit as described above obtains the effect of suppressing the mechanical shock caused by abnormal data, the acceleration / deceleration processing is performed in the machine axis path after the acceleration / deceleration processing. Due to the effect of error correction by the conversion process of the previous path conversion unit, the trajectory indicated by the machine axis path after the acceleration / deceleration process can be prevented from deviating from the trajectory indicated by the machining path. Thus, it is possible to prevent the object from deviating from the trajectory indicated by the original machining path when performing an operation accompanied by a speed change according to the mechanical axis path after the acceleration / deceleration processing.
以上説明したように、前記実施形態によれば、機械軸パス中の異常データに起因する機械ショックの発生を抑制しつつ、ワークの加工形状の誤差を抑制することが可能な数値制御装置を提供することができる。
As described above, according to the embodiment, a numerical control device capable of suppressing an error in a machining shape of a workpiece while suppressing occurrence of a mechanical shock due to abnormal data in a mechanical axis path is provided. can do.
Claims (5)
- ワーク又はそのワークを加工する工具を対象物としてその対象物を前記ワークを加工するために移送する複数の移送装置を備えていて前記各移送装置が前記対象物を支持するための支持体とその支持体を特定の機械軸方向に移送することにより前記対象物を移送する移送部とをそれぞれ有する工作機械に設けられ、前記各移送装置の数値制御を行う数値制御装置であって、
前記ワークの加工時における前記工具の移動軌跡を表す加工指令に基づいて、前記各支持体を移送すべき前記各機械軸方向の位置を所定の設定時刻の関数として表す基準機械軸パスを導出する基準機械軸パス導出部と、
前記基準機械軸パス導出部によって導出された前記各機械軸方向についての前記基準機械軸パスに特定の変換処理を行うことによって前記各機械軸方向についての変換後機械軸パスを導出するパス変換部と、
前記パス変換部によって導出された前記各機械軸方向についての前記変換後機械軸パスに対して、当該変換後機械軸パスから得られる前記各支持体の移送速度の変化を緩和させるための加減速処理を行う加減速処理部と、
前記加減速処理部によって加減速処理された後の機械軸パスである処理後機械軸パスから前記各機械軸方向における所定の設定サイクルタイム当たりの前記各支持体の移送量をそれぞれ導出する移送量導出部と、
前記移送量導出部によって導出された前記移送量に応じて前記各移送部に対応する前記支持体を移送させる移送制御部とを備え、
前記パス変換部が行う前記特定の変換処理には、前記基準機械軸パスに対して前記加減速処理と同じ処理を行った場合に得られる機械軸パスと前記基準機械軸パスとの誤差に相当する補正量を前記各機械軸方向毎に算出し、その算出した前記各機械軸方向毎の補正量で前記誤差を相殺する方向に前記各機械軸方向についての前記基準機械軸パスを補正した前記変換後機械軸パスを算出する演算処理が含まれる、数値制御装置。 A plurality of transfer devices for transferring a workpiece or a tool for processing the workpiece as a target object to process the workpiece, and a support body for each of the transfer devices to support the target object; A numerical control device that is provided in a machine tool having a transfer unit that transfers the object by transferring a support in a specific machine axis direction, and performs numerical control of each of the transfer devices,
Based on a machining command that represents a movement trajectory of the tool during machining of the workpiece, a reference machine axis path that represents a position in the machine axis direction to which the support is to be transferred as a function of a predetermined set time is derived. A reference machine axis path deriving unit;
A path conversion unit that derives a converted machine axis path for each machine axis direction by performing a specific conversion process on the reference machine axis path for each machine axis direction derived by the reference machine axis path deriving unit. When,
Acceleration / deceleration for reducing the change in the transfer speed of each support body obtained from the post-conversion machine axis path with respect to the post-conversion machine axis path in the respective machine axis directions derived by the path conversion unit An acceleration / deceleration processing unit for processing,
A transfer amount for deriving a transfer amount of each of the supports per predetermined set cycle time in each of the machine axis directions from a processed machine axis path that is a machine axis path that has been subjected to acceleration / deceleration processing by the acceleration / deceleration processing unit. A derivation unit;
A transfer control unit that transfers the support corresponding to each transfer unit according to the transfer amount derived by the transfer amount deriving unit;
The specific conversion process performed by the path conversion unit corresponds to an error between the mechanical axis path obtained when the same process as the acceleration / deceleration process is performed on the reference machine axis path and the reference machine axis path. The correction amount to be calculated is calculated for each of the machine axis directions, and the reference machine axis path for each of the machine axis directions is corrected in a direction that cancels the error with the calculated correction amount for each of the machine axis directions A numerical control device including a calculation process for calculating a converted machine axis path. - 請求項1に記載の数値制御装置において、
前記加減速処理部は、前記加減速処理として、前記設定時刻をtとし、当該加減速処理を行う対象の前記変換後機械軸パスの前記機械軸方向について設定された時定数の半分の値をaとし、t-aからt+aに亘る区間内の各設定時刻Tにおける前記変換後機械軸パスの一次微分関数である速度関数をPB(T)とし、次式(1)を満たす分配関数であって、前記速度関数PB’(T)を分配するための特定の分配形式を表す分配関数をf(T)とした場合に、前記処理後機械軸パスの一次微分関数である速度関数QB’(t)を次式(2)に基づいて算出し、その算出した速度関数QB’(t)を積分することによって、前記処理後機械軸パスQB(t)を算出する演算処理を行う、数値制御装置。
The acceleration / deceleration processing unit sets the set time as t as the acceleration / deceleration process, and sets a half value of a time constant set in the machine axis direction of the converted machine axis path to be subjected to the acceleration / deceleration process. A is a distribution function satisfying the following formula (1), where P B (T) is a velocity function that is a primary differential function of the converted mechanical axis path at each set time T in a section from t−a to t + a. When a distribution function representing a specific distribution format for distributing the speed function P B ′ (T) is f (T), a speed function Q that is a first-order differential function of the post-processing machine axis path. B ′ (t) is calculated based on the following equation (2), and the calculated speed function Q B ′ (t) is integrated to calculate the post-processing mechanical axis path Q B (t). A numerical control device.
- 請求項2に記載の数値制御装置において、
前記パス変換部は、前記加減速処理と同じ処理として、前記t-aから前記t+aに亘る区間内の各設定時刻Tにおける前記基準機械軸パスの一次微分関数である速度関数をPA’(T)とし、前記加減速処理と同じ処理を行った後の機械軸パスの一次微分関数である速度関数をQA’(t)とした場合に、前記速度関数QA’(t)を次式(3)に基づいて算出して、その算出した速度関数QA’(t)を積分することによって前記加減速処理と同じ処理を行った後の機械軸パスQA(t)を算出する演算処理を行う、数値制御装置。
As the same process as the acceleration / deceleration process, the path conversion unit calculates a speed function, which is a first-order differential function of the reference mechanical axis path at each set time T in the section from the ta to the t + a, as P A ′ ( T), and Q A ′ (t) is a speed function that is a linear differential function of the mechanical axis path after performing the same process as the acceleration / deceleration process, the speed function Q A ′ (t) is The mechanical axis path Q A (t) after performing the same processing as the acceleration / deceleration processing is calculated by calculating based on the equation (3) and integrating the calculated speed function Q A ′ (t). A numerical control device that performs arithmetic processing.
- 請求項1~3のいずれか1項に記載の数値制御装置において、
前記基準機械軸パス導出部は、前記設定時刻の調整を行った上で前記基準機械軸パスを導出する時刻調整部を有し、当該時刻調整部は、時刻調整前の設定時刻をtとし、時刻調整後の設定時刻をtj(t)とし、時刻調整を行う対象の機械軸方向の時定数をTjとし、前記対象物の移送が開始される始点の時刻をt=0とし、前記対象物の移送が停止される終点の時刻をt=teとした場合に、次式に基づいて時刻調整を行う、数値制御装置。
The reference machine axis path deriving unit includes a time adjusting unit that derives the reference machine axis path after adjusting the set time, and the time adjusting unit sets the set time before time adjustment to t, The set time after the time adjustment is set to tj (t), the time constant in the machine axis direction of the target for time adjustment is set to Tj, the time of the starting point at which the transfer of the target starts is set to t = 0, and the target A numerical control device that adjusts the time based on the following expression when the time of the end point at which the transfer is stopped is t = te.
- 請求項1~4のいずれか1項に記載の数値制御装置において、
前記工作機械は、前記ワークの加工時における前記対象物の通常の移送とは別に当該対象物の速度変化を伴う動作を指示するための特別指令を外部から入力するための特別指令入力装置を備えており、
前記移送量導出部は、前記特別指令入力装置に前記特別指令が入力されたことに応じて、前記設定サイクルタイムの長さをその特別指令の入力直前の状態における長さからその特別指令が指示する前記対象物の速度変化に応じた長さに変化させ、その長さを変化させた後の設定サイクルタイム当たりの前記各支持体の対応する前記機械軸方向への移送量を前記処理後機械軸パスから導出する、数値制御装置。 The numerical control apparatus according to any one of claims 1 to 4,
The machine tool includes a special command input device for inputting a special command for instructing an operation accompanied by a speed change of the target object separately from a normal transfer of the target object at the time of machining the workpiece. And
In response to the special command being input to the special command input device, the transfer amount deriving unit instructs the length of the set cycle time from the length immediately before the input of the special command. The length of the object is changed according to the change in speed of the object, and the amount of transfer in the machine axis direction corresponding to each of the supports per set cycle time after the length is changed is the post-processing machine. A numerical control device derived from the axis path.
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CN112548172A (en) * | 2020-11-30 | 2021-03-26 | 北京工业大学 | Post-processing method applied to special seven-axis five-linkage type machine tool |
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CN112548172B (en) * | 2020-11-30 | 2024-03-15 | 北京工业大学 | Post-processing method applied to special seven-axis five-linkage type machine tool |
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