JPH0812563B2 - Numerical control unit - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerical control device that controls the rotational position of a motor by pulse distribution.

2. Description of the Related Art Conventionally, as a stroke limit check function, this type of numerical control device conventionally has a function of converting command value coordinate data updated by pulse distribution after stroke distribution processing and stroke limit data that is set final stop position data. If the comparison is made and the prohibition area set by the stroke limit data is entered, the pulse distribution generator is simply stopped.

However, in the above-mentioned conventional stroke limit check function, the pulse distribution processing has already been performed at the time when the prohibited area is recognized, and the prohibited area is stopped even if the pulse distribution generator is stopped. There was a problem of getting in. Further, during the normal movement operation, as shown in FIG. 4, although the pulse distribution generator performs the acceleration / deceleration operation suitable for the machine to be controlled, the prohibited area is generated as shown in FIG. 5 (a). If the pulse distribution generator is stopped unconditionally by recognizing the above, the deceleration distribution operation is deleted, so that the machine driven by the motor is forced to perform a rapid deceleration as shown in FIG. There was a problem that vibration was generated and eventually the machine was destroyed.

The present invention solves the above-mentioned problems of the conventional numerical control device, and does not enter the prohibited area set by the stroke limit data, and the stroke limit coordinate position that enables maximum movement within the set effective movement range. Another object of the present invention is to provide a numerical control device having a stroke check function capable of stopping with a deceleration operation suitable for a machine.

Means for Solving the Problems In order to solve the above problems, the present invention provides a pulse distribution generator that calculates a sequential pulse distribution amount with a certain period from a movement distance command, and a pulse distribution generator that calculates the pulse distribution amount. A command value coordinate management unit that manages the distribution position based on the pulse distribution amount, and an error that actually performs pulse distribution by managing the error between the pulse distribution amount calculated by the pulse distribution generator and the actual movement amount. A numerical controller having a register, wherein the deceleration total pulse for calculating the deceleration total pulse distribution amount when the pulse distribution amount calculated by the pulse distribution generator is virtually distributed to shift to the deceleration distribution operation. Before the distribution amount calculation unit and the pulse distribution amount calculated by the pulse distribution generator are distributed, the deceleration input when the deceleration total pulse distribution amount calculation unit is entered when the deceleration distribution operation is performed after the distribution. Comparing the command value coordinate data at the time of stop and the stroke limit data which is the coordinate data at the time of the final stop, which is expected based on the total pulse distribution amount and the command value coordinate at the current time input from the command value coordinate management unit, If it enters the prohibited area set by the stroke limit data, the pulse distribution generator shifts to the deceleration distribution operation, and the difference between the command value coordinate data at the time of stop and the stroke limit data expected at the time of the previous pulse distribution is also detected. And calculate the shortfall distribution amount,
A stroke limit check unit for additionally distributing the insufficient distribution amount as a pulse distribution amount to the error register at the time of optimum distribution of the deceleration distribution operation is provided.

Action With respect to the action of the above configuration, the action of the stroke limit check unit recognizing the prohibited area and the action when recognizing that it enters the prohibited area will be described with reference to FIG. 3 in relation to the pulse distribution amount and the stroke position. explain.

In Fig. 3, P ₀ is the stroke limit position, P _0
1 is the pulse calculated when the pulse distribution generator shifts to the deceleration distribution operation without distributing the pulse distribution amount calculated by the pulse distribution generator after recognizing that the stroke limit check unit enters the prohibited area. stop position when the deceleration stop by the distribution amount, P _2, the process proceeds to the deceleration dispensing operation the pulse distribution amount calculated from the pulse distribution generator recognizes that entering the prohibited area by the stroke limit check unit after dispensing Indicates the stop position when decelerating and stopping. Also, s1 is the deceleration total pulse distribution amount after distribution calculated by the deceleration total pulse distribution amount calculation unit when recognizing that it enters the prohibited area, s2
Is the stop position P ₁ when the stroke limit check unit recognizes that it enters the prohibited area and does not distribute the pulse distribution amount calculated by the pulse distribution generator but simply shifts to the deceleration distribution operation to decelerate and stop. Indicates the amount of insufficient distribution from to the prohibited area. Furthermore, ΔX ₁ is the stop when decelerating and stopping by simply moving to the deceleration distribution operation without recognizing that the stroke limit check unit enters the prohibited area and distributing the pulse distribution amount calculated by the pulse distribution generator. Distance between position P ₁ and stroke limit position P _{0 in the} prohibited area (P ₀ −P ₁ ), ΔX ₂
Recognizes that the stroke limit check section enters the prohibited area and shifts to the deceleration distribution operation after distributing the pulse distribution amount calculated by the pulse distribution generator 1 and prohibits the stop position P ₂ when decelerating and stopping. It indicates the distance between the stroke limit position P ₀ of the region (P ₂ -P _0).

The stroke limit check unit calculates the deceleration total pulse distribution amount s1 calculated by the deceleration total pulse distribution amount calculation unit,
Simulation-wise addition is made to the command value coordinate P ₃ before pulse distribution. The position data (P ₂ = P ₃ + s1) which is the command value coordinate data is compared with the stroke limit data P _0, and it is checked whether or not it is in the prohibited area, that is, whether ΔX ₂ is positive or negative.

When it is not in the prohibited area (when ΔX ₂ is negative or zero), it is output to the error register as the current pulse distribution amount of the pulse distribution amount calculated by the pulse distribution generator.

If you recognize that you are in the prohibited area (when ΔX ₂ is positive)
Shifts the pulse distribution generator to the deceleration distribution operation, outputs the pulse distribution amount calculated by the deceleration distribution operation as the pulse distribution amount, and calculates the stroke limit data position P ₀ and the previous deceleration total pulse distribution amount. The pulse distribution amount corresponding to the stop position based on the deceleration total pulse distribution amount calculated in the unit 2, that is, the position difference ΔX _{1 from} the stop position P ₁ is calculated and set as the insufficient distribution amount s2. Then, in the distribution process by the deceleration distribution operation of the pulse distribution generator, the distribution amounts are compared and the insufficient distribution amount is inserted at the optimum distribution time point and output to the error register.

By such movement of the stroke limit check unit, it is possible to perform the deceleration operation as shown in FIGS. 5 (b) and 6 (b) and stop at the stroke limit position P ₀ .

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of a numerical controller according to an embodiment of the present invention.

In FIG. 1, reference numeral 1 denotes a pulse distribution generator, which calculates successive pulse distribution amounts with a certain period from a movement distance command. At the same time, the deceleration total pulse distribution amount calculation unit 2 calculates the deceleration total pulse distribution amount when the calculated pulse distribution amount is virtually distributed and the deceleration distribution operation is started. Reference numeral 3 denotes a stroke limit check unit. This stroke limit check unit 3 calculates the deceleration total pulse calculated by the deceleration total pulse distribution amount calculation unit 2 before distributing the pulse distribution amount calculated by the pulse distribution generator 1. Based on the distribution amount and the current command value coordinate managed by the pulse distribution amount distributed from the stroke limit check unit 3 to the error register 5 in the command value coordinate management unit 4, shift to the deceleration distribution operation after distribution. In this case, the command value coordinate data at the time of stop expected is obtained. Furthermore, the command value coordinate data at the time of this stop is compared with the stroke limit data which is the coordinate data at the time of the final stop, and if it enters the prohibited area, the pulse distribution generator 1 is shifted to the deceleration distribution operation and the deceleration distribution operation is performed. The calculated pulse distribution amount is output to the error register 5 as the pulse distribution amount, and the shortage distribution amount is calculated based on the difference between the command value coordinate data at the time of stop and the stroke limit data expected at the time of the previous pulse distribution. To do. Then, at the time of the optimum distribution of the deceleration distribution operation, the insufficient distribution amount as the pulse distribution amount is registered in the error register 5
Distribute to. The error register 5 manages an error between the pulse distribution amount distributed by the stroke limit check unit 3 and the actual movement amount due to the pulse signal output from the position detector 7 of the motor 6 that is actually driven, and outputs the speed command signal. The pulse is actually distributed by outputting to the speed control device 8 which controls the motor 6. Reference numeral 9 is a machine coordinate management unit that manages the actual moved position.

The operation of the stroke limit check unit 3 will be specifically described based on the block diagram of the stroke limit check unit 3 in FIG.

In FIG. 2, the storage unit 13 for stroke limit coordinates is shown.
Is stored with preset stroke limit data, and the command value coordinate management unit 4 is stored with command value coordinate data before pulse distribution.

First, the pulse distribution amount is calculated in the pulse distribution generator 1 in the preceding stage. At the same time, the deceleration total pulse distribution amount calculation unit 2 calculates the deceleration total pulse distribution amount when the calculated pulse distribution amount is virtually distributed and the deceleration distribution operation is performed after distribution, that is, s1 in FIG. To do.

In the stroke limit check unit 3, first, the previous pulse distribution amount stored in the primary pulse distribution amount storage unit 14 is saved in the secondary pulse distribution amount storage unit 17.
Further, the previous pulse distribution amount deceleration stop coordinate value stored in the primary pulse distribution amount deceleration stop coordinate storage unit 12, that is, the stop position P _{1 in} FIG. It is saved in the stop coordinate storage unit 15.

Secondly, the pulse distribution amount calculated by the pulse distribution generator 1 at the previous stage is stored in the primary pulse distribution amount storage unit 14 through the pulse distribution amount switching unit 10. Then, the deceleration total pulse distribution amount when the pulse distribution amount calculated by the deceleration total pulse distribution amount calculation unit 2 in the previous stage is virtually distributed and the deceleration distribution operation after the distribution is performed is stored in the deceleration total pulse distribution amount storage unit 11. Store.

Thirdly, the current command value coordinate data stored in the command value coordinate management unit 4 and the deceleration total pulse distribution amount stored in the deceleration total pulse distribution amount storage unit 11 are added, that is, FIG. The stop position P ₂ is calculated and stored in the deceleration stop coordinate storage unit 12 for the primary pulse distribution amount.

Fourth, the deceleration stop coordinate data when the primary pulse distribution amount stored in the primary pulse distribution amount deceleration stop coordinate storage unit 12, that is, the stop position P ₂ and the stroke limit coordinate storage unit 13 are stored. Comparing the stroke limit coordinate data, that is, the stroke limit position P _{0 in} FIG.
Compare with 16.

When the comparator 16 recognizes that it does not enter the prohibited area, that is, when ΔX _{2 in} FIG. 3 is negative or zero, the pulse distribution amount stored in the secondary pulse distribution amount storage unit 17 is set to the current pulse. The pulse distribution switching unit 21 is instructed as a distribution amount, and pulses are distributed to the error register 5 at the subsequent stage.

When the comparator 16 recognizes that it is in the prohibited area, that is, when ΔX _{2 in} FIG. 3 is positive, it instructs the pulse distribution generator 1 in the preceding stage to shift the pulse distribution to the deceleration operation and also stroke limit. Corresponds to the data, that is, the difference between the stroke limit position P ₀ and the previous deceleration / stop coordinate value at the time of pulse distribution amount saved in the secondary pulse distribution amount deceleration / stop coordinate storage unit 15, that is, the position from the stop position P _1. The pulse distribution amount to be calculated is calculated in the insufficient distribution amount calculation unit 19, that is, s2 in FIG. 3 is calculated and stored in the insufficient distribution amount storage unit 20. Then, the pulse distribution amount stored in the secondary pulse distribution amount storage unit 17 is instructed to the pulse distribution switching unit 21 as the current pulse distribution amount and pulse distribution is performed to the error register 5 at the subsequent stage.

In the pulse distribution operation after the comparator 16 recognizes that it is in the prohibited area, the pulse distribution amount calculated by the pulse distribution generator 1 is switched by the pulse distribution amount switching unit 10 and the comparator is operated.
Taken to 18. The comparator 18 compares the pulse distribution amount with the shortage distribution amount data in the shortage distribution amount storage unit 20, and when the shortage distribution amount data becomes larger than the pulse distribution amount, is generated by the pulse distribution generator 1 only once. The pulse distribution amount switching unit 21 is connected via the pulse distribution amount switching unit 10 and the comparator 18.
Insufficient distribution amount is inserted between the pulse distribution amounts during deceleration operation output to the error register 5, and the pulse distribution switching unit 21 is instructed as the pulse distribution amount at each time point to perform pulse distribution to the error register 5 at the subsequent stage.

In this way, the stroke limit check unit 3 can stop the machine driven by the motor 6 on the stroke limit position P ₀ by decelerating. Therefore, it is possible to move the set effective movement range to the maximum without giving vibration to the machine, and it is possible to provide a wider working range than before.

EFFECTS OF THE INVENTION As described above, according to the present invention, the machine can be stopped at the stroke limit position, so that the machine is moved to the maximum within the set work range without entering the prohibited area set by the stroke limit. In addition, since the machine stops at the coordinates set by the stroke limit by deceleration operation suitable for the machine, it is possible to provide a wider working range than before without actually giving vibration to the machine, and in terms of machine control. The effect is great.

[Brief description of drawings]

FIG. 1 is a block diagram of a numerical control device showing an embodiment of the present invention, FIG. 2 is a block diagram of a stroke limit check unit of the numerical control device, and FIG. 3 is a pulse distribution amount control operation of the numerical control device. Explanatory drawing of FIG. 4, (a) and (b)
5A and 5B are characteristic diagrams of the pulse distribution amount and moving speed of the numerical control device during normal movement, and FIGS. 5A and 5B are pulse distribution amount characteristics of the conventional and inventive numerical control devices when the prohibited area is recognized. FIGS. 6 (a) and 6 (b) are moving speed characteristic diagrams when the prohibited areas are recognized by the conventional numerical control device and the numerical control device of the present invention, respectively. 1 ... Pulse distribution generator, 2 ... Deceleration total pulse distribution amount calculation unit, 3 ... Stroke limit check unit, 4 ... Command value coordinate management unit, 5 ... Error register.

Claims (1)

[Claims] 1. A pulse distribution generator for calculating successive pulse distribution amounts with a certain period from a moving distance command, and managing distribution positions based on the pulse distribution amount calculated by the pulse distribution generator. A numerical control device comprising a command value coordinate management unit and an error register for actually performing pulse distribution by managing an error between the pulse distribution amount calculated by the pulse distribution generator and the actual movement amount, From the pulse distribution generator, a deceleration total pulse distribution amount calculation unit that calculates the deceleration total pulse distribution amount when the pulse distribution amount calculated by the pulse distribution generator is virtually distributed and the deceleration distribution operation is started. Before distributing the calculated pulse distribution amount, the deceleration total pulse distribution amount input from the deceleration total pulse distribution amount calculation unit and the command value coordinate management unit when the deceleration distribution operation is performed after the distribution. A command value coordinates at the present time that the force is compared with the stroke limit data is a coordinate data of the command value coordinate data and the final stop of the stop expected on the basis,
If it enters the prohibited area set by the stroke limit data, the pulse distribution generator shifts to the deceleration distribution operation, and the difference between the command value coordinate data at the time of stop and the stroke limit data expected at the time of the previous pulse distribution is also detected. And a stroke limit check unit for additionally distributing to the error register, by calculating the shortage distribution amount, and using the shortage distribution amount as a pulse distribution amount at the time of optimum distribution of the deceleration distribution operation.