JPS6145248B2 - - Google Patents

Description

[Detailed description of the invention]

FIELD The present invention relates to an interactive input device for a numerical control device that facilitates programming of a numerical control by a driver. BACKGROUND Various types of machine control systems are known, for example for milling machines using various machining tools. Typically, such numerical controls provide signals to servo motors associated with the X, Y, and Z axes of the machine, respectively.
Programmed from perforated paper tape.
When modifications are made to a particular program, a new tape typically must be made away from the milling machine, slowing down the use of the machine. Other large computer control devices have been devised to control various machines, but these are expensive and large in size. A numerical control device of this type is shown, for example, in US Pat. No. 3,746,845. The object of the invention is to provide an interactive input device for a numerical control device which overcomes the above-mentioned drawbacks and allows the machine operator to carry out programming interactively. Summary In order to achieve the above-mentioned object, according to the present invention,
An interactive input device is provided for use in a numerical control device for interactively inputting data used to perform machining operations on a workpiece, which includes: (a) a memory for storing data; (b) Question generation means for generating questions for a plurality of data blocks each including at least one item regarding an operation mode and dimensions for a machining operation; (c) Displaying the questions for observation by a driver. (d) data input means operated by the driver for inputting data into said memory in response to a data question; (f) item progression means that is operated when the driver completes data entry and causes the question generation means to generate questions regarding the next item of the specific data block; block proceeding means that is operated when data input is completed, and causes the question generating means to generate a question regarding the next data block among the plurality of data blocks. According to the present invention, the displayed questions assist the machine operator in completing the programming by simply responding to the questions, so that the operator can properly operate the numerical control device. can be done easily. Next, embodiments and drawings illustrating the present invention will be described. Although the apparatus is described with respect to a milling machine, the apparatus is broadly applicable to other types of equipment whose movements are controlled in a programmable manner. The embodiments and drawings are illustrative to facilitate understanding of the principle of the present invention, and are not intended to limit the invention. DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a control cabinet, a control panel, and a three-axis milling machine suitable for operation therewith. Cabinet 11 contains the electronic hardware of the control system and can be placed anywhere behind or to the side of three-axis milling machine 13 by means of casters 12. An arm 14 extending upwardly and outwardly from the top of the cabinet 11 is connected to a control panel 15.
Install it so that it sticks out so that it can be easily accessed by drivers. The control panel 15 will be explained in detail later. The motion control signal and position information signal are transmitted between the control circuit and the servo motor assembly via cables 22, 2.
3,24. Enclosed X-axis servo assembly 16 and enclosed Y-axis servo assembly 1
7 is shown at the required position on the milling machine. Z
The shaft servo motor assembly 18 is shown without its conventional casing, and a limit switch subassembly 19 containing an encoder and limit switch is also shown. The X, Y, and Z axis servo motors are essentially the same, and each servo has an associated limit switch subassembly, such as 19. The table 20 of the milling machine is moved in the XY plane in this example by a screw drive driven by servos 16,17. Z-axis spindle assembly 2
1 is rotationally driven by a spindle motor and moved in the Z-axis direction by a servo 18. Figures 2a and 2b are block diagrams of the electronic hardware of the control device. Microprocessor 31 receives clock pulses from a two-phase, non-overlapping clock 32. In the illustrated embodiment, the microprocessor is a Motorola 6800 MPU. Microprocessor 31 is coupled to an 8-bit data bus and a 16-bit address bus. The address line from the microprocessor 31 is connected to a line driver 33.
and an address decoder 34 to an address bus. The address information of address bus 35 is actually 8
divided into 8K decoded segments. for example,
Two segments can be allocated to RAM (Random Access Memory) 36, and the other segment can be assigned to one or more other memory or PIA
(peripheral interface adapter). A PROM (Programmable Read Only Memory) 37 is used to bootstrap the microprocessor 31 under initial startup conditions. For example, the information stored in PROM 37 allows microprocessor 31 to appropriately load programs into RAM 36 from a magnetic tape cassette input. It is the control program that resides in RAM 36 after initial setup that directs the main functions of the microprocessor and associated circuitry. A separate address decoder 38 is used to provide addresses for the RAM in the most economical manner. A similar address decoder is also used for PROM 37. A MUX (multiplexer) 39 multiplexes 64 external instructions into 8 instructions and accommodates an 8-bit data bus line. The particular set of eight addressed switches is selected by the address from the address bus on line 40 and the appropriate data output instruction is generated on line 41. A transceiver or line driver receiver 42 provides amplification and steering for the data bus branches that serve MUX 39 and display PIA 43. A line driver receiver 44 adjacent microprocessor 31 and a transceiver 45 coupled between RAM 36 and the data bus are also of the same type as transceiver 42. The decoder and transceiver coupled to PROM 37 are also of the same type as decoder 38 and transceiver 45 coupled to RAM 36. Figure 7 shows an example of the MUX 39 wiring, where one of the eight binary addresses is applied to lines A0-A2 from the address bus, and the address signal is
Received at the CE input to MUX 39, decoder 34 addresses one of a series of eight switches indicated schematically at number 46. The appropriate data word, depending on the setting of switch 46, is
is placed as an output from the Z terminal of the transceiver 42. These switch settings can be made using mechanical limit switches, push buttons, or the like. Display PIA 43 (FIG. 3) can receive information from the data bus. PIA43, like other PIAs, has two sections:
There is a section and a B section. Address line 48 operates to address one of the A and B sections of PIA 43. When the A section of PIA 43 is addressed, the data bus 47
The data from the PIA43 via the transceiver 42
The 8-bit word is coupled to a lamp display 49 shown in FIG. FIG. 3 shows lamp 50 coupled to lamp display 49. FIG. For the appropriate address via section A of PIA 43, lamp 50 is activated in response to the required level of the addressed data bit.
With respect to the appropriate address on line 48, CRT display 51 is addressed through section B of PIA 43. Over successive intervals, data is sequentially provided to the PIA and displayed as alphanumeric characters by the internal circuitry of display 51.
Displayed on a CRT (cathode ray tube) 52. The X-axis PIA 53 is addressed via line 54 and interfaces with the milling machine's X-axis drive. Y-axis PIA 55 is addressed via line 56 and Z-axis PIA 57 is addressed via line 58. Since the drive control of these three axes operates essentially in the same way, the X-axis PIA53 and related motors
Amplifiers etc. will be explained in detail. As shown in Figure 4,
PIA 53 has an A section and a B section, and is addressable by the address lines 54 described above for each section A and B. When the A section is addressed, an 8-bit word is coupled to PIA by line 59, this word indicating the relative position. The output of an up/down counter forming the lower portion of servo interface 60 provides this position indication. The output of the B section of the PIA 53 is supplied to the servo interface 60. Appropriately addressed commands from microprocessor 31 are coupled to servo interface 60, which generates an analog voltage and supplies it to the input of amplifier 61. Amplifier 61 controls motor 62 at an appropriate speed corresponding to this received data information.
Rotate. The feedback provided by tachometer 63 ensures accurate motor speed control by amplifier 61. An encoder 64 with appropriate encoding detects changes in the position of the milling table in the X direction, and this encoded information is provided to the up/down counter of the servo interface 60. In the case of Z-axis motion control,
This encoder detects tool head position rather than table position. Feed rate override PIA 65 is connected between address bus 35 and transceiver 66 . As shown in FIG. 6, the PIA 65 has an A section and a B section, both of which are coupled from the data bus 47 and are each addressable by a 2-byte address. Multiplexing circuit 69
selects the output of one of potentiometers 67 and 68 at a given time in response to a selection instruction from the microprocessor. The analog voltage indication from the selected potentiometer is coupled to analog-to-digital converter 66 via line 70. The potentiometer 67 is a means for adjusting the spindle feed rate, and the potentiometer 68 is a means for adjusting the feed rate of the milling machine table. The digital output from transducer 66 is utilized by microprocessor 31 to influence the programming speed of the table or spindle. The 100Hz clock starts interrogating the feedrate override circuit. This will be discussed later. Feedrate correction information from potentiometers 67 and 68 is coupled to the machine control relays via relay drivers. A tool change PIA 71 (FIG. 2b) may optionally be provided and is coupled to the data bus via a transceiver 72, addressed in a manner similar to that previously described. As shown in Figure 5, the A section of PIA71 is connected to the limit switch controller 7.
3 receives 8-bit words indicating the status of various limit switches. The B section of PIA 71 provides commands from microprocessor 31,
This command affects a solenoid driver 74 and a pneumatic solenoid 75 which is actuated by air from an air source 76. These solenoid drivers and solenoids position the appropriate tools required by the microprocessor into the working position of the milling machine head. Tape cassette PIA 77 (FIG. 2b) is coupled between address bus 35 and data bus 47 via transceiver 78. PIA77 is
Provides an interface with the tape cassette used to load RAM 36. Furthermore, the subsequently inserted cassette is used to record the program stored in the RAM via the PIA 77. As shown in FIG. 8a, cassette control data is coupled to the cassette via line 79 via PIA 77. As shown in FIG. 8b, front panel switch 80 provides inputs via MUX 39 to control cassette operation. The microprocessor can also read data from tape cassette 81 with a read command. A spindle speed PIA 82 (FIG. 2b) can also be optionally provided and is connected via a transceiver 83 between the address bus and the data bus. The PIA 82 interfaces between the microprocessor interface and the motor that drives the spindle of a tool, such as a hole-drilling tool. Z
The amplifier and motor control operations for shaft spindle speed control are essentially the same as the motor control in FIG. FIG. 9 shows the front panel of the control device. The control panel includes a power switch 201 for supplying power to the control device and a key-locked inch-millimeter selector 202. Machine mode positioning control switch 203 has six positions that determine the X, Y, and Z directions (plus and minus) for movement in JOG mode. Additionally, the control switch 203 can be set to an AUTO mode for automatically positioning the X, Y, and Z axes based on programmed information, or to one of two TAPE modes for energizing the tape cassette. , can be placed. In the TAPE/MAN (manual) mode position, the cassette ON switch 226 and the cassette REWIND
Switch 227 can be pressed. When the ON switch 226 is pressed, the tape moves in the forward direction.
If the REWIND switch 227 is pressed, the tape will be rewound. In the TAPE/AUTO mode position, the cassette can be operated under the control of the stored program. In the DIG・R/O mode position,
The position in the X, Y, and Z axis directions is displayed. In this mode, the servos for those three axes are de-energized, the machine is enabled for manual operation, and the controller is used only as a digital readout. The machine mode switch spindle mode switch 204 has four positions. In the OFF position, only movement of the table in the X and Y directions occurs, and no movement of the spindle in the Z direction occurs. In the AUTO position, the spindle moves in the Z direction based on program instructions. In the MAN (manual)/ON position, the spindle is turned on and rotates, and the push button (SPINDLE
The first press of pushbutton 205 moves the spindle downwards, and the second press of pushbutton 205 returns the spindle to the uppermost position. In the MAN/OFF position, the spindle motor is deenergized and the Z-axis feed is The program is followed only after pressing pushbutton 205. However, it moves to the upper Z position and remains there until the push button 205 is pressed again. Pressing pushbutton 205 again returns the spindle to the uppermost position. Push button (MOTION HOLD) 206 is a pause button and stops all servo movements. When button 207 is pressed, tool coolant (COOLANT) is supplied to the vicinity of the workpiece. Button (START) 208 initiates milling operation when the controller is in run mode or single cycle mode. Button (EMER STOP) 2
09 is an emergency stop button, which cuts off the power to the control device, motor, etc. Feed rate override control knob 210, 211
is provided. Knob 210 is for table feed speed override control, and when in the P (program) position, the programmed table feed speed is not changed. When the spindle control knob 211 is likewise in the P position, no change in the Z-direction feed rate of the spindle takes place. The effect on the program feed rate when the knob is moved to the right or left from the P position will be described later. Table knob 210 and spindle 211 are coupled to potentiometers 68 and 67, respectively, in FIG. A CRT (cathode ray tube) screen 212 is provided for displaying data blocks and the like.
A data entry keyboard 213 is provided for placing data into control memory in response to questions on CRT 212. Program keys 214-217
performs various functions related to inputting data into memory for program execution. NEXT・BLK
Key 214 advances the data blocks displayed on the CRT screen. ADV key 215 is
Advances the current question displayed at the bottom of the CRT screen to the next data item (ITEM) in the data block above. When a number from keyboard 213 is entered by ADV key 215, the CRT display advances to the data block of the corresponding number. The ERASE key 216 erases entries made in response to specific items in the questions at the bottom of the CRT 212 (this means that the data block number
Only if it is not at the bottom of the CRT. ). When the data block number is at the bottom of the CRT, all data will be erased from that data block. The INC key 217 indicates, in response to a query, that the dimensions entered in the data block should be measured from the last position of the table or spindle rather than from its first reference position. The sequence of questions on the CRT screen for the data block is as follows: Data block number, machine mode, control mode, X
The sequence is dimension, Y dimension, Z dimension, feed speed, cutting speed, and tool number. Furthermore, the X and Y dimensions and the number of repetitions in this X and Y direction are required for the step repeat block. In the milling block, a question is asked as to whether the milling is inside or outside. Therefore, the machine operator can confirm various parameters within the data block by selecting numerical inputs from the keyboard 213. By selecting the number keys on the keyboard, the driver can select the type of drilling, milling, etc., for example. The driver can control the machine operating mode, control operating mode, and partial program coordinates by entering the desired numbers on the keyboard. Four control keys 218 to 221 are provided. Key 218 places the program in ENTER mode. Key 219 is for inspection (CHECK) mode, key 220 is for single cycle (SINGLE CYC-LE) operation mode, key 221
is for OPERATE mode, and each mode will be explained in detail later. Pushbuttons 222-224 act on various items in the memory of the control device. Table zero (TABLE
ZERO) button 222 instructs the microprocessor in the operating mode to search for the marker switch to obtain the zero position. If the program is at data block zero, table zero can be established for the entire length of table movement by pressing the table zero button 222 when the table is in the desired position. At this time, the program coordinates are measured from this position.
The button (TOOL GAL) 223 similarly calibrates the tool. Pressing the tool calibration button 223 at data block zero establishes an individual tool length calibration for each tool number on the display. Calibration of the tool length can be performed by manually lowering the tool along the Z-axis to a desired zero reference point with the tool mounted on the spindle and pressing pushbutton 223 at this time. These calibration operations are further explained in the program flowchart. A MASTER CLEAR pushbutton 224 clears machine setup information when the controller is in data block zero. If the microprocessor is in another data block operation, pressing pushbutton 224 will cause data block 1 to be activated.
- All data will be cleared from 99 onwards. Tape cassette deck 225 accommodates magnetic tape cassettes. This tape cassette can read and write data to and from the RAM. When mode switch 203 is in the TAPE AUTO mode, the contents of the data block are recorded on the tape cassette. Also, previously recorded data can be read from the cassette and placed in the memory of the control device, thereby copying the program defined for processing the workpiece and providing the desired part. Pressing the pushbutton 226 turns on the tape cassette deck, and the pushbutton 227 performs playback or rewinding after recording. The control key 203 is TAPE for read function, write function, and data search function.
Controlled by the data entry keys when in the AUTO position. If the control key 203 is set to the TAPE MAN position, the tape button 226,
227 can be activated. FIG. 10 shows a simplified diagram of the feed rate override control system of the present device. 0 to 0 from the table feed speed adjustment potentiometer 301 and the spindle feed speed adjustment potentiometer 302
The +5V analog value is switched by analog multiplexer 303. Potentiometers 301 and 302 are each 10KΩ and correspond to potentiometers 68 and 67 in FIG. A ₀ and A ₁ output of PIA304 is multiplexer 3
03, selects one of the voltage values of the table potentiometer and spindle potentiometer, and connects the analog-digital converter 3 to the control pin of the analog-digital converter 3.
06 encodes the voltage value into an 8-bit code. The 8 parallel bits are the 0-7 bit output of converter 306 and the input B ₀ - of PIA 304.
Connected to B ₇ . The device program scans the data output of PIA 304 to determine if a data valid condition exists such that inputs B ₀ -B ₇ are coupled to data outputs D ₀ -D ₇ . The valid data output from converter 306 is connected to the A ₇ input of PIA 304. Potentiometer 307 sets converter 306 to a full scale 8-bit output for a particular input voltage. Therefore, when the output from multiplexer 303 is the maximum +5V, potentiometer 3
The outputs from 07 to the inputs of analog-to-digital converter 306 are set so that bit outputs 0-7 of converter 306 all produce high outputs. Potentiometer 309 sets a 0 value for 0V input. Both ends of potentiometer 309 are +5V and -5V. potentiometer 3
The output of 09 is coupled to the nulling input of converter 306 by line 311 through a 100KΩ resistor. Line 311 is a 1KΩ voltage divider circuit for zero adjustment.
Grounded through a resistor. Analog-to-digital converter 306 is optionally supplied with various other inputs, such as voltage sources and current references. As the converter 306, for example, a Teledyne Model 8700CN can be used. 100Hz clock 312 converts pulses to converter 30
6, the converter starts outputting on output lines 0-7. The output of clock 312 is also
Coupled to the CB ₁ input of PIA 304 as a device interrupt. This interrupt is sent to the program element with X, Y,
Service the Z servo routine. This interrupt operation will be described with respect to the flowchart of the device program. During servicing the X, Y, Z servo routine, changes in the table feed rate and spindle feed rate settings on potentiometers 301 and 302 are recognized by the machine program and the rates are recalculated. As shown in FIG. 10, this data output is
and various timing and address outputs of PIA 304 are coupled via line 314 to address decoding and timing section 316 of the microprocessor. As shown in FIG. 11a, the output of data lines 7-0 (from most significant bit to least significant bit) causes various changes in feed rate. When only the most significant bit is high (indicating a 2.5V mid-range potentiometer output), the programmed feedrate value is used. If the potentiometer is set from 0 to 2.5V, all bit weights of lines 7 to 0 will be
If less than 1/2 occurs, the programmed value of the feed rate is multiplied by the fractional value of that bit rate divided by 128 or ²⁷ . The number 128 is ²⁷ and represents 1/2 of the bit weights of lines 0-7, that is, the entire bit weights of lines 0-6. If the potentiometer is set between 2.5 and 5V, it will be more than 1/2 the bit weight. 2 shown
In two example conditions, the potentiometer is
At 5V, all bits are high and the feed rate is the programmed value plus 6in/min (approximately 150mm/min). When the value corresponds to 3/4 of the bit rate, bits 6 and 7 are high, and the feed rate becomes the programmed value plus 3 in/min (approximately 75 mm/min). As shown in Figure 11b, when the control is in JOG mode and the weight is 2.5V or 1/2, the feed rate is e.g.
It is set to 50in/min (approximately 127mm/min). When the voltage is between 0 and 2.5V, the 50 in/min is multiplied by the fractional value of the bit weight divided by ²⁷ . voltage is 2.5
~5V, the feed rate is 140in/min (approximately 3500in/min)
mm/min) multiplied by the fractional value obtained by dividing the bit rate by ²⁸ , or 256. Operation Next, a flowchart of the basic operation of the software related to the control device of the present invention will be shown as a table.
These software operations are broken down into subroutines, and each underlined step within a block of the table is described with respect to its various substeps after the table. Generally, software in the memory of a microprocessor controls all basic functions of the machine.
The software monitors the control panel's keyboard and control switches. The software is also
Generates a message displayed on the CRT screen,
Activate the magnetic tape cassette unit. The operation of the cassette unit allows partial programs to be loaded onto or from tape. The software also controls the three axes X, Y, Z servos and controls the sequence and motion of the machine during partial program execution.

[Table] In Table 1, if power is supplied to the device from the control panel, the program starts running at BEGIN. This places each PIA in a predetermined state, clears variable memory to start from zero condition, and primes device interrupts.

[Table] Table 2 shows the interrupt program (INTERRUPT).
PGM) and is the main part of the servo positioning device, which is controlled by the command of an external clock.
times/second. Regardless of what the main program is executing, the interrupt program will execute every time a 100 Hz clock pulse is received from start to finish. This program polls to see which keys are pressed and stores those values for later retrieval by the main program. In the servo portion of the interrupt program, the desired position is compared to the actual position to form an output error signal to the digital-to-analog converter.
The program determines the desired position by taking movement commands from the command buffer and adding them to the error signal. The changes in encoder readings for a particular calculated axis movement are summed to define the movement that occurred during the last interval. The resulting error signal is the difference between the desired position and the actual position. This is fed into the speed command of the motor control and adjusts the axial speed to obtain the desired position. each
The X, Y, and Z axis movements are inspected every 100Hz clock pulse. To produce any axial movement, it is only necessary to supply a MOVE value to the command buffer. These travel values are 1/
This is the distance you should move in 100 seconds. When successive movement values are loaded into the command buffer, each interrupt takes one value from the movement values and executes. This axial movement occurs at a speed proportional to the value of the movement value. As shown in Table 1, the SET MODE program is executed after BEGIN. This program is also executed each time the machine operator selects a new mode. This program sets initial conditions and selects modes (ENTER, CHECK, SINGLE, OPERATE or
EMERGENCY STOP).

Table 3 describes the first of the five available modes reached from the set mode program of Table 1. For the ENTER mode to which the present invention relates, an ENTER program is executed. The program starts with data block 1, displays the values in this data block, and asks questions about each item in this data block. By pressing various keys on the control panel, the driver can advance to the next item in the data block or alternatively modify or enter values for the particular item being displayed. In enter mode, all items are
will be displayed on the CRT screen and then questions will be displayed at the bottom of the screen for each item in that data block. The driver can make keyboard data and mode selection inputs via the keyboard for each question. The data block progress key and the question item progress key are located on the control panel shown in FIG. When the driver is satisfied with a particular data block, press the data block advance key to increment the data block number and start the next data block.
displayed on a CRT screen. If the next data block has not yet been programmed, it is created by transferring data from the previous data block. This allows values that do not change to continue and the driver does not have to enter them again on the keyboard. If a data block zero is required, another enter program is executed which allows entry of X and Y offsets and tool data. The tool calibration length can be determined by actually moving the Z-axis to a certain position and recording this point.

【table】

[Table] Table 4 shows the enter DB zero routine, and
The table shows the current data block display routine from the enter program in Table 3.

Table Other Routines Table 6 shows the CHECK mode, the second of the five available modes shown in Table 1. This check mode can be entered through the set mode and allows all data blocks programmed to date to be displayed continuously. This mode is for the driver's convenience to ensure that the correct program required has been placed into the Merry.

【table】

[Table] Tables 7 and 8 show the following two modes that the program can enter. The single mode program in Table 7 sets the single step flag and proceeds to the OPERATE program described below. The emergency stop program shown in Table 8 is entered when the emergency stop switch on the control panel is pressed.
Stop all motion and wait until the machine operator presses a button to put the machine into inspection mode. In the inspection mode, the emergency stop condition is canceled.

[Table] Table 9 shows the fifth mode, ie, the OPERATE mode, which is the main mode for automatic processing. As shown in Table 9, the operating program is Z
Allows manual adjustment of the axis spindle and calibration of the table as well as execution of data block partial programs. If you press the START key in JOG mode, the displacement will be input and the feed rate will be 50in/
min (approximately 1270 mm/min), and the movement execution (DOMOVE) program is executed.

[Table] Table 10 shows the DOMOVE program described above.
This program calculates the movement increments and supplies them to the interrupt program, which actually drives the three-axis servos. This program determines whether movement is required in the Z direction or in the XY direction. When movement in the XY directions is required, the program receives the feed rate and modifies it according to the feed rate potentiometer (POT). next,
The required movement in the X direction is the required X position XD
It is calculated by taking the difference between and the current position X.
The same calculation is performed for the Y direction, and the moving distance DL is determined by √ ² + ² . The number of repetitions required to travel this distance at a given feed rate is then calculated. NNN is equal to the distance to be traveled multiplied by the number of steps per minute. This number of steps is in this case 6000, which is based on 100 executions per second of the interrupt program. Now that the number of steps has been calculated, the dimension of each step (eg, the X increment) is calculated by dividing the distance in the X direction to be moved by the number of steps. Similarly, the Y increment is the total Y movement distance divided by the number of steps. This X increment and Y increment are added NNN times to the X and Y positions. This is done by the following INTERPOLATE program. When movement in the Z direction is required, calculate NNN and Z increment in the same way. The INTERPORATE program calls the lead screw correction program five times per second. The interpolation program checks whether the feedrate potentiometer has changed. If JOG mode is running, this program returns whenever the driver releases the start button. After doing the above, the interpolation program should be
Count down NNN. If this value is zero, the movement is complete and the program moves to the final movement (FINISHMOVE). If not,
Add the previously calculated increment to the actual position to update the position for each of the three axes. Next, calculate the movement (MOVE) value, and if there is room in the command buffer, place the three movement values in the buffer. Since the command stress value is a value used by the interrupt program, it is necessary to wait until the value changes in the interrupt program. The interpolation program thereby precalculates the various displacement values and ensures that data is always available to the interrupt program. The interpolation program also displays the current instantaneous values of the X, Y, and Z values on the CRT screen. It then goes through a loop and waits to calculate the movement value and place it in the command buffer. When NNN becomes zero, the movement is complete and the X position reaches the desired X value. The final move (Table 29) sets them exactly equal and returns to the calling program. As can be seen, if the XD, YD, or ZD values are set to a desired position, the DOMOVE program will move the servo to that desired position at the appropriate feed rate. FRATE subroutine and lead screw correction (LEAD SCREW)
COMP) subroutines are shown in Tables 11 and 12.

【table】

[Table] In the OPERATE program shown in Table 9, when the AUTO position mode is selected and the start button is pressed, the AUTO program is called and the partial program stored in the data block is executed. . XYCAL, ZTCAL, ZZERO and
XYMARKER subroutines 13th, 14th, 15th, 16th
Shown in the table.

【table】

【table】

【table】

[Table] As shown in Table 14, Z-axis spindle calibration is performed by adding the Z offset from the previous tool to the Z position.
This is done by determining the absolute Z position from time to time. The current tool calibration length for the new tool is then entered as the current offset distance, and this distance is subtracted from the absolute Z position described above to obtain the new Z position for the current tool. This new Z offset is then saved for subsequent Z calibration routines. This calibration length (CALLENGTH) is DBZERO shown in Table 4.
This is obtained as one step in the calibration operation.
As mentioned above, when manually moving the Z-axis to the desired zero reference plane, the tool length calibration value is set using the tool calibration button 22.
3 can be input. Generally, a tool length calibration for each tool used is entered and stored in the microprocessor's memory and recalled when each tool is used. The AUTO program follows the data block and defines the type or mode of machining (POSITION, MILL, DRILL, BORE). Each mode is a sequence of operations that causes the milling machine to perform a desired operation. Table 17 shows the automatic sequence starting with NEXTDB.

【table】

[Table] If the selected function or mode is POSITION (Table 18), retraction is performed to raise the Z spindle. To do this, set the desired Z value to 10in (approximately 250mm) and set the RAPID
(Rapid) and run the DOMOVE program until the Z upper limit switch is activated. After raising the Z axis, read the X, Y position from the data block, set rapid, and
Run DOMOVE. This makes the table
It moves in the XY plane and assumes the XY position commanded in the data block. WAIT ERROR
SMALL) delays this program until the servo is within a few thousandths of a second. After this,
Part of the NEXTDB program (Table 17) is executed. NEXTDB in Table 17 checks for datablock stop and either returns to the operating program or advances to the next datablock. If the program is in single cycle mode or if the tool is to be replaced, control returns to the operating program. Otherwise, the loop repeats, jumping to the required program and executing its data block.

[Table] Table 19 shows the milling (MILL) program. First, lower the spindle to the Z downward position,
Take the XY data from the data block and
Run DOMOVE. Therefore, the table moves to that XY value at the programmed feed rate.
After DOMOVE, a small error waiting subroutine is executed and the next data block is checked. If the next data block is not in milling mode, perform Z retraction and raise the spindle. In milling, if an inner or outer frame milling motion has been entered in the data block before the DOMOVE step, the program moves to FRAME. The driver selects inside, outside, or neither for possible frame machining of the milling data block. As shown in Table 19, if inside or outside milling is selected, the FRAME milling subroutine is executed (Table 20).

For example, in the case of milling an inner frame, the first data block positions the tool at the desired location on the workpiece and begins frame milling. The next data block is the milling data block in which the operator has inserted the desired inner frame milling and entered the XY distances that the tool should travel. No.
As shown in Table 20, the Z-axis moves in four directions to complete frame processing, and the spindle is pulled up. next 21st
As shown in the table DRILL, after the intermediate block error wait, if the next data block contains an inner or outer frame milling step, the X, Y position is Offset by 1/2 of the diameter. This allows the operator to program the X and Y dimensions in which the frame milling is actually to be performed and does not have to take them into account. After raising the Z axis in Table 20,
The XY offset is canceled so that the XY positioning returns to its true value on subsequent operations.

[Table] Table 21 shows drilling (BORE) and drilling (DRILL)
Indicates mode. Drilling mode sets the drilling flag and proceeds in the same manner as drilling mode. The drilling mode is performed as follows. First, the spindle can be retracted. Get the XY values from the data block. Move rapidly to the position of that XY value and execute the small error waiting subroutine. Rapidly move to the upper Z position and perform the small error standby subroutine. If repeat drilling (PECK) mode is set, another DOPECK program is executed next. If this is not the case, that is, in the case of normal drilling,
Z is moved to the lower position at the programmed feed rate. Check the next data block type with a delay of 3/10 seconds. When this is milling, processing is performed using the data block without pulling up the spindle.
When the drilling flag is set, the spindle is slowly pulled upwards in Z at the programmed feed rate. If not, a Z retraction is performed to raise the spindle back to the top position and the next data block in the sequence is then executed.

【table】

【table】

【table】

【table】

【table】

[Table] Table 22 is the spindle retraction subroutine,
Table 24 shows the subroutine for obtaining the XY value from the data block, Table 24 shows the differential small standby subroutine, Table 25 shows the Z downward subroutine, Table 26 shows the Z upward rapid subroutine, and Table 27 shows the Z upward slow subroutine. During every movement, a lead screw correction value is calculated and applied to the movement. This multiplies the position against the lead screw error programmed by the jumper wire and calculates the lead screw correction value. This modified value is added to the desired position when provided to the interrupt program.

Table 28 shows the Repeated Drilling (PECK) program, which is a drilling mode option that divides the distance between the drill strokes, ZUP and ZDOWN, by the desired number of repeated drillings. This distance ZD is used to move the Z desired position into the workpiece N repeated drillings, pulling it into the ZUP between each drilling. This facilitates removal of chips when drilling large holes.

【table】 Table 29 shows the final transfer program.

[Table] Table 30 shows the REPEAT program, which allows the execution of overlapping steps and repetitions. This allows a pattern to be repeated N times at various X or Y offset distances. When steps and repeats are initiated, certain conditions are stored in the step/repeat (STP/REP) stack. When the repeat block is reached, the repeat numbers NX, NY are stored on the stack and a loop is formed back to the starting data block. Each time a REPEAT is reached in this loop, the X or Y position is modified by the step value and the counter is decremented. When both the X and Y counters reach zero, it indicates that the pattern has been repeated a predetermined number of times, and the next data block is executed. A repeating program can be configured such that up to three loops can be stacked, for example.
The start data block of one loop is flagged by selection by the driver as the STP/REP block shown in the automatic program in Table 17. This data block designated as STP/REP also includes normal information such as MILL, DRILL, etc. This flagged block can be followed by one or more data blocks containing the remainder of the subsequent steps to be repeated. The repeat block includes an incremental X dimension and count of X actuations, an incremental Y dimension and a count of Y actuations. This program performs all X-direction iterations for a given Y dimension and then works on the next Y dimension to perform another series of X-direction repeats. A simple type of repetitive program performed by a milling machine operator is a pattern of drilling holes in a workpiece in an array, such as a 2 x 3 or 4 x 5 array. The use of repeat blocks saves the effort of entering data into data blocks each time for the same type of work. The use of frame milling operations described above is an exemplary programming tool for the machine operator.

[Brief explanation of the drawing]

FIG. 1 is a front view of a milling machine suitable for operation with a control device according to the invention. FIGS. 2a and 2b are hardware block diagrams related to the control device. Figures 3-8 are detailed views of the peripheral interface adapter PIA of Figures 2a and 2b, along with the external devices with which they interface. FIG. 9 is an enlarged front view of the control panel shown in FIG. 1. 10th
The figure is a feed speed adjustment circuit diagram. Figure 11a, 11th
Figure b is a diagram showing adjustment by the feed speed adjustment potentiometer when the control device is in the AUTO mode and the JOG mode, respectively. 13: Three-axis milling machine, 16, 17, 18: Servo device, 19: Limit switch subassembly, 2
0: Table, 21: Spindle, 31: Microprocessor, 36: RAM: (Random Access Memory), 37: PROM (Programmable Read Only Memory), 39: MUX (Multiplexer), 43, 53, 55, 57, 65, 71, 7
7, 82: PIA (peripheral interface adapter), 42, 45, 66: Transceiver, 67,
68: Potentiometer (for adjusting feed speed).

Claims (1)

[Scope of Claims] 1. An interactive input device used in a numerical control device for interactively inputting data used to perform machining operations on a workpiece, comprising: (a) for storing data; (b) Question generation means 36, 31 for generating questions for a plurality of data blocks each including at least one item regarding an operation mode and dimensions for a machining operation; (c) Question generation means 36, 31 for generating a question for a driver. display means 212, 43, 51 for displaying data so that the data can be observed; (d) data input means 213, 39 for inputting data into the memory, operated by the driver who responds to data questions; (e) data input means 213, 39 for inputting data into the memory; item progression means 215, 39, which are operated when the question generation means completes data entry in response to a question regarding one item of a particular data block, causing said question generation means to generate a question concerning the next item of said particular data block; (f) Operated when the driver completes data input in response to all the questions for the items of the specific data block, causing the question generating means to generate a question regarding the next data block among the plurality of data blocks. Block progression means 21
4.39. An interactive input device comprising: