WO2022239155A9 - 数値制御装置、およびコンピュータ読み取り可能な記憶媒体 - Google Patents
数値制御装置、およびコンピュータ読み取り可能な記憶媒体 Download PDFInfo
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- WO2022239155A9 WO2022239155A9 PCT/JP2021/018083 JP2021018083W WO2022239155A9 WO 2022239155 A9 WO2022239155 A9 WO 2022239155A9 JP 2021018083 W JP2021018083 W JP 2021018083W WO 2022239155 A9 WO2022239155 A9 WO 2022239155A9
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- 230000006870 function Effects 0.000 description 24
- 238000010586 diagram Methods 0.000 description 14
- 238000003754 machining Methods 0.000 description 9
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- 238000000034 method Methods 0.000 description 4
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- 230000004044 response Effects 0.000 description 2
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- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002173 cutting fluid Substances 0.000 description 1
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Classifications
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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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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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
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
- G05B19/4166—Controlling feed or in-feed
-
- 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
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49077—Control of feed and spindle, cutting speed
Definitions
- the present disclosure relates to a numerical control device and a computer-readable storage medium.
- the numerical control device controls each part of the machine tool based on the machining program.
- control information for controlling the control axes is set based on a code called a G code.
- a G code For example, when positioning command G00 is specified, a position gain, feedforward coefficient, and acceleration/deceleration time constant corresponding to the positioning command are set as control information. Further, when the cutting feed command G01 is specified, a position gain, a feedforward coefficient, and an acceleration/deceleration time constant corresponding to the cutting feed command are set as control information.
- the creator of the machining program may mistakenly write a G code different from the intended G code in the machining program.
- machining is performed with control information set that is different from the control information intended by the creator of the machining program.
- control information set that is different from the control information intended by the creator of the machining program.
- An object of the present disclosure is to provide a numerical control device that can control a control axis in a state where appropriate control information is set.
- the numerical control device has a control information storage unit that stores multiple pieces of control information for controlling the control axes of the machine tool, and a speed command that specifies the feed rate of the control axis or a movement command derived from the speed command.
- a control information determination unit that determines one control information among the plurality of control information stored in the control information storage unit based on the control information determination unit; and a control axis that controls the control axis based on the one control information determined by the control information determination unit.
- An instruction for causing a computer to determine one of the control information and to control the control axis based on the determined one control information is stored.
- FIG. 1 is a diagram showing an example of a hardware configuration diagram of a machine tool. It is a block diagram showing an example of the function of a numerical control device. It is a figure explaining an example of control information stored in a control information storage part.
- FIG. 3 is a diagram showing part of a machining program. 2 is a flowchart illustrating an example of the flow of processing executed by the numerical control device.
- FIG. 3 is a diagram showing part of a machining program. It is a figure explaining an example of control information stored in a control information storage part.
- FIG. 3 is a diagram showing part of a machining program. It is a figure explaining an example of acceleration time of a control axis.
- FIG. 1 is a diagram showing an example of the hardware configuration of a machine tool.
- the machine tool 1 is, for example, a lathe, a machining center, or a multitasking machine.
- the machine tool 1 includes, for example, a numerical control device 2, an input/output device 3, a servo amplifier 4 and a servo motor 5, a spindle amplifier 6 and a spindle motor 7, and an auxiliary device 8.
- the numerical control device 2 is a device that controls the entire machine tool 1.
- the numerical control device 2 includes a CPU (Central Processing Unit) 201, a bus 202, a ROM (Read Only Memory) 203, a RAM (Random Access Memory) 204, and a nonvolatile memory 205. It is equipped with a CPU (Central Processing Unit) 201, a bus 202, a ROM (Read Only Memory) 203, a RAM (Random Access Memory) 204, and a nonvolatile memory 205. It is equipped with a CPU (Central Processing Unit) 201, a bus 202, a ROM (Read Only Memory) 203, a RAM (Random Access Memory) 204, and a nonvolatile memory 205. It is equipped with a CPU (Central Processing Unit) 201, a bus 202, a ROM (Read Only Memory) 203, a RAM (Random Access Memory) 204, and a nonvolatile memory 205. It is equipped with a
- the CPU 201 is a processor that controls the entire numerical control device 2 according to a system program.
- the CPU 201 reads out a system program stored in the ROM 203 via the bus 202, and performs various processes based on the system program. Further, the CPU 201 controls the servo motor 5 and the spindle motor 7 based on the machining program.
- the CPU 201 analyzes a machining program and outputs control commands to the servo motor 5 and spindle motor 7, for example, in each control cycle.
- the bus 202 is a communication path that connects each piece of hardware within the numerical control device 2 to each other. Each piece of hardware within the numerical control device 2 exchanges data via a bus 202.
- the ROM 203 is a storage device that stores system programs and the like for controlling the entire numerical control device 2.
- ROM 203 is a computer readable storage medium.
- the RAM 204 is a storage device that temporarily stores various data.
- the RAM 204 functions as a work area for the CPU 201 to process various data.
- the nonvolatile memory 205 is a storage device that retains data even when the machine tool 1 is powered off and the numerical control device 2 is not supplied with power.
- the nonvolatile memory 205 stores, for example, machining programs and various parameters input from the input/output device 3.
- Non-volatile memory 205 is a computer readable storage medium.
- the nonvolatile memory 205 is configured with, for example, an SSD (Solid State Drive).
- the numerical control device 2 further includes an interface 206, an axis control circuit 207, a spindle control circuit 208, a PLC (Programmable Logic Controller) 209, and an I/O unit 210.
- an interface 206 an interface 206, an axis control circuit 207, a spindle control circuit 208, a PLC (Programmable Logic Controller) 209, and an I/O unit 210.
- PLC Programmable Logic Controller
- the interface 206 connects the bus 202 and the input/output device 3.
- the interface 206 sends various data processed by the CPU 201 to the input/output device 3, for example.
- the input/output device 3 is a device that receives various data via the interface 206 and displays the various data. The input/output device 3 also receives input of various data and sends the various data to the CPU 201 via the interface 206.
- the input/output device 3 includes a display such as an LCD (Liquid Crystal Display), a keyboard, a mouse, and the like.
- the input/output device 3 may be a touch panel.
- the axis control circuit 207 is a circuit that controls the servo motor 5.
- the axis control circuit 207 receives a control command from the CPU 201 and outputs a command for driving the servo motor 5 to the servo amplifier 4.
- the axis control circuit 207 sends a torque command for controlling the torque of the servo motor 5 to the servo amplifier 4, for example.
- the servo amplifier 4 receives a command from the axis control circuit 207 and supplies current to the servo motor 5.
- the servo motor 5 is driven by receiving current from the servo amplifier 4.
- the servo motor 5 is connected to, for example, a ball screw that drives a tool post.
- structures of the machine tool 1, such as a tool rest move in, for example, the X-axis direction, the Y-axis direction, or the Z-axis direction.
- the servo motor 5 may have a built-in speed detector (not shown) that detects the feed speed of each control axis.
- the spindle control circuit 208 is a circuit for controlling the spindle motor 7.
- the spindle control circuit 208 receives a control command from the CPU 201 and outputs a command for driving the spindle motor 7 to the spindle amplifier 6.
- the spindle control circuit 208 sends a torque command for controlling the torque of the spindle motor 7 to the spindle amplifier 6, for example.
- the spindle amplifier 6 receives a command from the spindle control circuit 208 and supplies current to the spindle motor 7.
- the spindle amplifier 6 has a built-in ammeter 61 that measures the current value of the current supplied to the spindle motor 7.
- the ammeter 61 detects the current value of the current supplied to the spindle motor 7.
- the ammeter 61 sends data indicating the detected current value to the CPU 201.
- the spindle motor 7 is driven by receiving current from the spindle amplifier 6.
- the spindle motor 7 is connected to the main shaft and rotates the main shaft.
- the PLC 209 is a device that executes a ladder program to control the auxiliary equipment 8. PLC 209 sends commands to auxiliary equipment 8 via I/O unit 210.
- the I/O unit 210 is an interface that connects the PLC 209 and the auxiliary equipment 8. I/O unit 210 sends the command received from PLC 209 to auxiliary equipment 8.
- the auxiliary equipment 8 is installed in the machine tool 1 and is a device that performs auxiliary operations in the machine tool 1.
- the auxiliary equipment 8 may be equipment installed around the machine tool 1.
- Auxiliary equipment 8 operates based on commands received from I/O unit 210.
- the auxiliary equipment 8 is, for example, a tool changer, a cutting fluid injection device, or an opening/closing door drive device.
- the numerical control device 2 is a device that controls each part of the machine tool 1 based on a machining program.
- FIG. 2 is a block diagram showing an example of the functions of the numerical control device 2.
- the numerical control device 2 includes a program storage section 211, a program analysis section 212, a threshold storage section 213, a control information storage section 214, a control information determination section 215, a control information setting section 216, and a control section 217. Equipped with.
- the program storage unit 211 is realized by storing a machining program input from the input/output device 3 or the like in the RAM 204 or the nonvolatile memory 205.
- the threshold storage unit 213 and the control information storage unit 214 are realized by storing parameters, control information, etc. input from the input/output device 3 or the like in the RAM 204 or the nonvolatile memory 205.
- control information determination section 215 controls the program execution section 212 .
- control information setting section 216 controls the control section 217 . This is achieved by
- the program storage unit 211 stores machining programs.
- the machining program is a program for operating each part of the machine tool 1 to process a workpiece.
- the moving path of the tool, the rotational speed of the spindle, the depth of cut, etc. are specified using G codes, S codes, and the like.
- the feed rate is specified using the F code.
- the F code that specifies the feed rate in the machining program is a speed command.
- the program analysis unit 212 reads the machining program stored in the program storage unit 211 and analyzes the machining program. As the program analysis unit 212 analyzes the machining program, the numerical control device 2 recognizes each command written in the machining program.
- the threshold storage unit 213 stores one or more thresholds.
- the threshold value stored in the threshold storage unit 213 is used by the control information determining unit 215 to determine a piece of control information.
- the functions of the control information determining section 215 will be described in detail below.
- the control information storage unit 214 stores a plurality of pieces of control information for controlling the control axes of the machine tool 1.
- the control information is information set for moving the control axis of the machine tool 1.
- the control axis of the machine tool 1 is an axis for moving or rotating a tool or a main spindle.
- the control axes include, for example, three orthogonal axes including an X-axis, a Y-axis, and a Z-axis.
- control axes may include, for example, an A-axis, a B-axis, and a C-axis whose rotation axes are an axis parallel to the X-axis direction, an axis parallel to the Y-axis direction, and an axis parallel to the Z-axis direction, respectively.
- the threshold storage unit 213 and the control information storage unit 214 may be provided in an external medium (for example, a USB (Universal Serial Bus) memory).
- the control information determining unit 215 determines control information, which will be described later, based on information stored in the external medium.
- the plurality of control information includes, for example, first control information and second control information.
- the plural pieces of control information may include three or more pieces of control information.
- the first control information and the second control information each include, for example, at least one of a position gain, a feedforward coefficient, an acceleration/deceleration time constant, and information indicating on/off of the function.
- the function is a function related to movement of the control axis.
- the function related to movement of the control axis is executed, for example, when machining a workpiece.
- an oscillating cutting function is presented as an example of the function.
- first control information and the second control information include the upper limit speed of the control axis, acceleration, high-precision cutting function on/off, and output on/off of rapid feed signal and cutting feed signal, respectively. , an in-position width, and information indicating an inner rotation tolerance of the tool.
- the position gain is a numerical value multiplied by the position deviation, which is the difference between a position command specifying the position of the control axis and a position feedback value indicating the position of the control axis controlled based on the position command.
- a command value for commanding the speed of the control axis is calculated by multiplying the position deviation by the position gain.
- Position gain is also called position loop gain.
- the feedforward coefficient is a numerical value that is multiplied by the differential value of the position command that specifies the position of the control axis.
- the acceleration/deceleration time constant is a numerical value indicating the time it takes for the control axis to move from the speed specified by the speed command to a stopped state, or from the stopped state to reach the speed specified by the speed command.
- Oscillating cutting refers to making a tool swing or vibrate when cutting a workpiece. By performing swing cutting, chips can be divided into small pieces. In order to prevent vibrations from adversely affecting the machine, the oscillating cutting function is generally turned off when not cutting, such as when executing a positioning command. Further, the swing cutting function is often operated with a swing amplitude proportional to the feed rate of the control shaft in order to shred chips. When the feed speed is particularly high, if the swing amplitude is proportional to the feed speed, the swing amplitude becomes large, and as a result, the vibration becomes excessively large. Therefore, if the feed rate is particularly high, it may be desirable to turn off the oscillating cutting function.
- FIG. 3 is a diagram illustrating an example of control information stored in the control information storage unit 214.
- the control information storage unit 214 stores, for example, first control information and second control information.
- the position gain of the first control information is smaller than the position gain of the second control information.
- the feedforward coefficient of the first control information is smaller than the feedforward coefficient of the second control information.
- the acceleration/deceleration time constant of the first control information is smaller than the acceleration/deceleration time constant of the second control information.
- Information indicating OFF is set in the information indicating ON/OFF of swing cutting in the first control information.
- information indicating ON is set in the information indicating ON/OFF of swing cutting in the second control information.
- the first control information corresponds to, for example, control information that is set when a positioning command is specified in the conventional numerical control device 2.
- the second control information corresponds to, for example, control information that is set when a cutting feed command is specified in the conventional numerical control device 2.
- the control information determining unit 215 determines one piece of control information from among the plurality of pieces of control information stored in the control information storage unit 214, based on a speed command that specifies the feed rate of the control axis.
- the speed command that specifies the feed rate of the control axis is specified by an F code in the machining program, for example.
- the control information determining unit 215 selects a plurality of pieces of control information stored in the control information storage unit 214 based on the feed rate of the control axis designated by the speed command and the threshold value stored in the threshold value storage unit 213. Decide which control information to set.
- the control information determining unit 215 first compares the threshold value stored in the threshold storage unit 213 with the feed rate of the control axis specified by the speed command. The control information determining unit 215 determines the control information to be the first control information when the feed rate is greater than the threshold value. On the other hand, if the feed rate is equal to or less than the threshold, the control information determining unit 215 determines the control information to be the second control information.
- the control information determining unit 215 determines one piece of control information used for controlling a control axis will be described using FIG. 4.
- FIG. 4 is a diagram showing part of the machining program.
- X100F5800 is specified in the line with sequence number N100 of the machining program.
- X80F4800 is specified in the line with sequence number N200.
- the threshold value storage unit 213 stores a threshold value 5000.
- the control information determining unit 215 compares the value 5800 indicated by the speed command specified in the row with the sequence number N100 and the threshold value 5000. In this case, the feed speed indicated by the speed command specified in the row with sequence number N100 is greater than the threshold value. Therefore, the control information determining unit 215 determines the control information to be the first control information when the line with sequence number N100 is executed.
- the control information determination unit 215 compares the value 4800 indicated by the speed command specified in the row with the sequence number N200 and the threshold value 5000. In this case, the feed speed indicated by the speed command specified in the row with sequence number N200 is less than or equal to the threshold value. Therefore, the control information determining unit 215 determines the control information to be the second control information when the line with sequence number N200 is executed.
- the control information determining unit 215 determines one of the plurality of pieces of control information stored in the control information storage unit 214 based on a movement command derived from a speed command specifying the feed rate of the control axis. Good too. That is, when deriving a movement command from a speed command, the control information determining unit 215 compares the threshold value stored in the threshold storage unit 213 with the feed rate specified by the speed command, and uses the comparison result as a A movement command is derived based on the movement command.
- the derived movement command includes, for example, a positioning command and a cutting feed command.
- the control information determining unit 215 determines that the movement command is a positioning command. That is, the control information determining unit 215 derives a positioning command as a movement command from a speed command specified in the machining program. When the derived movement command is a positioning command, the control information determining unit 215 determines the control information as first control information corresponding to the positioning command.
- the control information determining unit 215 determines that the movement command is a cutting feed command. That is, the control information determining unit 215 derives a cutting feed command as a movement command from the speed command specified in the machining program. When the derived movement command is a cutting feed command, the control information determining unit 215 determines the control information to be second control information corresponding to the cutting feed command.
- the movement command derived from the speed command may include a first cutting feed command and a second cutting feed command different from the first cutting feed command.
- the control information determining unit 215 determines one piece of control information corresponding to the first cutting feed command, and the derived movement command is the second cutting feed command. If it is a command, the control information determining unit 215 may determine other control information corresponding to the second cutting feed command.
- the movement command derived from the speed command may include a first positioning command and a second positioning command different from the first positioning command.
- the control information determining unit 215 determines one piece of control information corresponding to the first positioning command, and the derived movement command is the second positioning command. In this case, the control information determining unit 215 may determine other control information corresponding to the second positioning command.
- the control information setting unit 216 sets one piece of control information determined by the control information determining unit 215 as control information used for controlling the control axis.
- the control information setting unit 216 sets the position gain, feedforward coefficient, acceleration/deceleration time constant, and information indicating on/off of oscillating cutting, for example, as “ Set to "Small” value, “Small” value, “Small” value, and "Off”.
- the control information setting unit 216 sets the position gain, feedforward coefficient, acceleration/deceleration time constant, and information indicating on/off of swing cutting, for example, as “ Set to "Large” value, “Large” value, “Large” value, and “On”.
- the "small” value and the “large” value respectively refer to a relatively “small” value and a relatively “large” value when comparing the first control information and the second control information. ” means value.
- the control unit 217 controls the control axis based on the one piece of control information determined by the control information determination unit 215.
- the control unit 217 controls the control axis based on the first control information.
- the control section 217 controls the control axis based on the second control information.
- FIG. 5 is a flowchart showing an example of the flow of processing executed by the numerical control device 2.
- the program analysis section 212 first reads a machining program from the program storage section 211 and analyzes the read machining program (step S1).
- control information determining unit 215 selects one of the plurality of pieces of control information stored in the control information storage unit 214 based on a speed command specifying the feed rate of the control axis or a movement command derived from the speed command.
- One piece of control information is determined (step S2).
- control information setting unit 216 sets the one control information determined by the control information determining unit 215 as control information for controlling the control axis (step S3).
- control unit 217 controls the control axis based on the one control information set by the control information determining unit 215 (step S4), and ends the process.
- the numerical control device 2 may perform the processing of steps S1 to S4 repeatedly each time each line of the machining program is executed or at a predetermined period.
- the numerical control device 2 includes the control information storage section 214 that stores a plurality of pieces of control information for controlling the control axes of the machine tool 1, and a speed command that specifies the feed rate of the control axes, or
- the control information determining unit 215 determines one control information among the plurality of control information stored in the control information storage unit 214 based on the movement command derived from the speed command; and a control unit 217 that controls the control axis based on one piece of control information.
- the numerical control device can control the control axes based on appropriate control information.
- machining is performed with control information set that is different from the control information intended by the creator of the machining program. can be prevented. Furthermore, the amount of code specified in the machining program can be reduced.
- the movement command includes a positioning command and a cutting feed command
- the control information determining unit 215 determines one piece of control information corresponding to the positioning command.
- the control information determining unit 215 determines one piece of control information corresponding to the cutting feed command. Therefore, appropriate control information is set in each case when a positioning command is derived and when a cutting feed command is derived.
- each of the plural pieces of control information includes at least one of a position gain, a feedforward coefficient, an acceleration/deceleration time constant, and information indicating on/off of swing cutting. Therefore, each piece of information included in the control information can be set in consideration of machining accuracy, cycle time, and the like.
- the speed command is specified in the machining program.
- the speed command is not limited to what is specified by the machining program, and may be specified by, for example, any one of a parameter, an external signal, and an external medium.
- the parameter is a parameter set in the numerical control device 2.
- the external signal is, for example, a signal input from the PLC 209 or a PC (Personal Computer) connected to the numerical control device 2.
- the external medium is, for example, a USB (Universal Serial Bus) memory.
- the control information determination unit 215 determines control information based on any one of a parameter, an external signal, and a value stored in an external medium instead of the threshold value stored in the threshold storage unit 213. It's okay.
- control information determining unit 215 compares a speed command specified in a machining program with a threshold value, and determines one piece of control information based on the comparison result.
- the control information determination unit 215 determines the control information by comparing the ratio between the speed command before switching and the speed command after switching when the speed command is switched, that is, the speed ratio and a threshold value. It's okay.
- the control information determining unit 215 compares the speed ratio with a threshold value. When the speed ratio is larger than the threshold value, the control information determining unit 215 determines, for example, the first control information shown in FIG. 3 as the control information to be set. When the speed ratio is less than or equal to the threshold, the control information determining unit 215 determines the second control information shown in FIG. 3 as the control information to be set.
- the control information determining unit 215 determines one piece of control information to be used for controlling the control axis by comparing the speed ratio and the threshold value.
- FIG. 6 is a diagram showing part of the machining program.
- X100F100 is specified in the line with sequence number N100 of the machining program.
- X80F1500 is specified in the line with sequence number N200.
- the threshold value storage unit 213 stores a threshold value 1000.
- the first control information and the second control information include information indicating whether the swing cutting function is turned on or off.
- this is not limited to the oscillating cutting function, and may be any function as long as it should be turned on/off in response to a speed command or a movement command derived from the speed command.
- it may be an interpolation function for high-quality processing.
- the interpolation function is a function of interpolating a movement path so as to smoothly connect movement command points in response to a cutting movement command. Enabling the interpolation function requires a large amount of control cost. Therefore, when the feed speed is high, a large load is placed on the CPU. In this case, the interpolation function may not work properly. In such cases, it is better to turn off this feature. In this way, any function may be used as long as it should be turned on/off based on the feed rate.
- the control information determining unit 215 selects a plurality of controls stored in the control information storage unit 214 based on a speed command specifying the feed rate of the control axis or a movement command derived from the speed command. One of the control information is determined. However, the control information determining unit 215 may further change the determined control information based on the acceleration time of the control axis when the speed command is switched. An example in which the control information determining unit 215 changes the determined control information based on the acceleration time of the control axis when the speed command is switched will be described with reference to FIGS. 7 to 9.
- FIG. 7 is a diagram illustrating an example of control information stored in the control information storage unit 214.
- FIG. 8 is a diagram showing a part of the machining program.
- FIG. 9 is a diagram illustrating the acceleration time of the control axis.
- the control information storage unit 214 stores first control information and second control information.
- the first control information includes a position gain, a feedforward coefficient, and an acceleration/deceleration time constant.
- the position gain of the first control information is set to a smaller value than the position gain of the second control information.
- the feedforward coefficient of the first control information is set to a smaller value than the feedforward coefficient of the second control information.
- the second control information includes a position gain, a feedforward coefficient, and an acceleration/deceleration time constant.
- the position gain of the second control information is set to a value larger than the position gain of the first control information.
- the feedforward coefficient of the second control information is set to a larger value than the feedforward coefficient of the first control information.
- the upper limit speed of the control axis is set in advance as a parameter, taking into account the mechanical configuration of the machine tool, the safety of the operation of the control axis, etc.
- the positioning command G00 allows speed specification up to the maximum positioning speed.
- the cutting feed command G01 it is possible to specify a speed up to the maximum cutting feed rate.
- acceleration/deceleration time constants and acceleration are also set in advance as parameters. For example, when the positioning command G00 is designated, the speed is accelerated or decelerated to the designated speed using the acceleration/deceleration time constant or acceleration during the positioning operation. Further, when the cutting feed command G01 is specified, the speed is accelerated or decelerated to the specified speed using the acceleration/deceleration time constant or acceleration during the cutting feed operation.
- the first control information allows the control axis to specify speeds up to F8000
- the second control information allows the control axis to specify speeds up to F3000.
- the first control information specifies ⁇ 1 [s] as the acceleration/deceleration time constant
- the second control information specifies ⁇ 2 [s] as the acceleration/deceleration time constant.
- X100F6000 is specified in the line with sequence number N100 in the machining program.
- X80F2800 is specified in the line with sequence number N200.
- X50F1500 is specified in the line with sequence number N300. It is assumed that the threshold value storage unit 213 stores a threshold value 2500.
- the control information determining unit 215 compares the value 6000 specified by the F code with the threshold value 2500 when the command specified in the line with sequence number N100 is executed. The feedrate specified by the F code in this line is greater than the threshold. Therefore, the control information determining unit 215 determines the first control information as the control information when line N100 is executed. Furthermore, the acceleration time when row N100 is executed is ⁇ 1 [s] (see FIG. 9).
- the control information determining unit 215 compares the value 2800 specified by the F code with the threshold value 2500 when the command specified in the line with the sequence number N200 is executed.
- the feedrate specified by the F code in this line is greater than the threshold. Therefore, the control information determining unit 215 determines the first control information as the control information when line N200 is executed.
- the control information determining unit 215 determines the first control information as the control information.
- the second control information is included within the upper limit speed 3000 of the control axis, there is no problem in selecting the second control information in terms of the machine configuration and the operation of the control axis. Therefore, the control information determining unit 215 determines the acceleration time of the control axis when the control axis is controlled based on the first control information and the acceleration time of the control axis when the control axis is controlled based on the second control information. Compare with time. When the first control information is set, the acceleration time until the feed speed reaches F2800 is ⁇ 1. On the other hand, assuming that the second control information is set, the time required for the feed rate of the control axis to reach F2800 is ⁇ 2 [s], which is shorter than ⁇ 1 [s].
- the control information determining unit 215 changes the once determined first control information to the second control information.
- the machining cycle time can be shortened by ( ⁇ 1- ⁇ 2) [s].
- the control information determining unit 215 compares the value 1500 specified by the F code with the threshold value 2500 when the command specified in the line with sequence number N300 is executed.
- the feed rate specified by the F code in this line is less than or equal to the threshold value. Therefore, the control information determining unit 215 determines the second control information as the control information when line N300 is executed.
- the acceleration time of the control axis when the control axis is controlled based on the first control information and the acceleration time of the control axis when the control axis is controlled based on the second control information are calculated. Compare the acceleration time of the control axis in the case of control. However, this comparison may also be performed when N100 rows are executed and when N300 rows are executed.
- the first control information and the second control information include acceleration/deceleration time constants.
- the control information in such a case may include acceleration in the first control information or the second control information, and the acceleration ⁇ may be used for comparison of acceleration times.
- the first control information includes an acceleration/deceleration time constant and does not include acceleration
- the second control information does not include an acceleration/deceleration time constant but includes acceleration.
- the first control information does not include acceleration/deceleration time constants and includes acceleration
- the second control information includes acceleration/deceleration time constants and each control information is modified so that acceleration is not included. May be set.
- control information determining unit 215 compares the speed command specified in the machining program with the threshold value, determines the control information based on the comparison result, and then determines the acceleration time of the control axis. Based on this, the determined control information is changed.
- the control information determining unit 215 determines the control information by comparing the ratio of the speed command before switching and the speed command after switching when the speed command is switched, that is, the speed ratio and a threshold value, and then , the determined control information may be changed based on the acceleration time of the control axis.
- one of the control information items stored in the control information storage unit 214 is based on the speed command specifying the feed speed of the control axis or the movement command derived from the speed command. Determine.
- the control information determination unit 215 determines the first control information as the control information when the positioning command G00 is designated, and controls the control information when the cutting feed command G01 is designated, as before.
- the information may include a mode for determining the second control information. That is, the numerical control device 2 includes a plurality of control modes, and in the first mode, the control information determining unit 215 uses a speed command that specifies the feed speed of the control axis or a movement command derived from the speed command.
- one of the plurality of pieces of control information stored in the control information storage unit 214 may be determined. Further, in the second mode, the numerical control device 2 executes one control command corresponding to the positioning command or one control command corresponding to the cutting feed command based on the positioning command G00 or the cutting feed command G01 specified in the machining program. One control command may be determined.
- Machine tool 2 Numerical control device 201 CPU 202 Bus 203 ROM 204 RAM 205 Non-volatile memory 206 Interface 207 Axis control circuit 208 Spindle control circuit 209 PLC 210 I/O unit 211 Program storage unit 212 Program analysis unit 213 Threshold storage unit 214 Control information storage unit 215 Control information determination unit 216 Control information setting unit 217 Control unit 3 Input/output device 4 Servo amplifier 5 Servo motor 6 Spindle amplifier 61 Ammeter 7 Spindle motor 8 Auxiliary equipment
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Abstract
Description
例えば、加工プログラム中の一の行における速度指令値とそれに続く次の行における速度指令値とが異なる場合、制御情報決定部215は速度比としきい値とを比較する。速度比がしきい値よりも大きい場合、制御情報決定部215は、設定される制御情報として、例えば、図3に示す第1の制御情報を決定する。速度比がしきい値以下である場合、制御情報決定部215は、設定される制御情報として、図3に示す第2の制御情報を決定する。次に、図6を用いて、制御情報決定部215が、速度比としきい値とを比較して制御軸の制御に用いる一の制御情報を決定する具体例について説明する。
2 数値制御装置
201 CPU
202 バス
203 ROM
204 RAM
205 不揮発性メモリ
206 インタフェース
207 軸制御回路
208 スピンドル制御回路
209 PLC
210 I/Oユニット
211 プログラム記憶部
212 プログラム解析部
213 しきい値記憶部
214 制御情報記憶部
215 制御情報決定部
216 制御情報設定部
217 制御部
3 入出力装置
4 サーボアンプ
5 サーボモータ
6 スピンドルアンプ
61 電流計
7 スピンドルモータ
8 補助機器
Claims (8)
- 工作機械の制御軸を制御するための複数の制御情報を記憶する制御情報記憶部と、
前記制御軸の送り速度を指定する速度指令、または、前記速度指令から導出される移動指令に基づいて、前記制御情報記憶部に記憶された前記複数の制御情報のうち一の制御情報を決定する制御情報決定部と、
前記制御情報決定部によって決定された前記一の制御情報に基づいて前記制御軸を制御する制御部と、
を備える数値制御装置。 - 導出される前記移動指令は、位置決め指令、および切削送り指令を含み、
導出される前記移動指令が前記位置決め指令である場合、前記制御情報決定部は前記位置決め指令に対応する前記一の制御情報を決定し、
導出される前記移動指令が前記切削送り指令である場合、前記制御情報決定部は前記切削送り指令に対応する前記一の制御情報を決定する請求項1に記載の数値制御装置。 - 導出される前記移動指令は、第1の切削送り指令、および第1の切削送り指令とは異なる第2の切削送り指令を含み、
導出される前記移動指令が前記第1の切削送り指令である場合、前記制御情報決定部は前記第1の切削送り指令に対応する前記一の制御情報を決定し、
導出される前記移動指令が前記第2の切削送り指令である場合、前記制御情報決定部は前記第2の切削送り指令に対応する前記一の制御情報を決定する請求項1に記載の数値制御装置。 - 導出される前記移動指令は、第1の位置決め指令、および第1の位置決め指令とは異なる第2の位置決め指令を含み、
導出される前記移動指令が前記第1の位置決め指令である場合、前記制御情報決定部は前記第1の位置決め指令に対応する前記一の制御情報を決定し、
導出される前記移動指令が前記第2の位置決め指令である場合、前記制御情報決定部は前記第2の位置決め指令に対応する前記一の制御情報を決定する請求項1に記載の数値制御装置。 - 前記複数の制御情報は、それぞれ、ポジションゲイン、フィードフォワード係数、加減速時定数、および、機能のオン/オフを示す情報の少なくともいずれかを含む請求項1~4のいずれか1項に記載の数値制御装置。
- 前記速度指令は、加工プログラム、パラメータ、外部信号、および外部媒体のいずれかによって指定される請求項1~5のいずれか1項に記載の数値制御装置。
- 前記制御情報決定部は、前記速度指令から導出される前記制御軸の加速時間に基づいて、決定した前記一の制御情報を他の制御情報に変更する請求項1~6のいずれか1項に記載の数値制御装置。
- 工作機械の制御軸の送り速度を指定する速度指令、または、前記速度指令から導出される移動指令に基づいて、工作機械の制御軸を制御するための複数の制御情報のうち一の制御情報を決定することと、
決定された前記一の制御情報に基づいて前記制御軸を制御することと、
をコンピュータに実行させる命令を記憶するコンピュータ読み取り可能な記憶媒体。
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