JPH02279251A - Simultaneous 2-axis interpolation control method for simultaneous 1-axis control using manual handle intervention - Google Patents

Abstract

PURPOSE:To perform simultaneous two spindle interpolating control by coupling one of required simultaneous two spindles which has a large movement value to a manual handle, and by controlling the movement of the other one of the spindles by means of a servo-system while the movement of the latter is computed in accordance with a manipulation of the manual handle. CONSTITUTION:If a workpiece has a surface to be obliquely machined, a control circuit 200 automatically stops the operation under manipulating instructions from a manipulation box 100 in accordance with a linearly interpolated section between the start and terminal points of the surface to be obliquely machined, when the start point of the surface to be obliquely machined is reached, and a manipulation box 100 displays thereon the present positions on X- to Y-axes, a handle turning direction and a coordinate position to be reached while one spindle (for example, X-axis spindle) having a large movement value serving as a shaft to be subjected to manual intervention. When the operator moves a table 600a in the X-axis direction by means of a manual handle 800a, the movement value thereof is fed back from a scale 700a, and accordingly, the control circuit 200 follow-up controls a saddle 600b in the Y-axis direction and a head 600c in the Z-axis direction through the intermediary of a servoamplifier 300, a change-over circuit 400 and servomotors MY, MZ. Thus, it is possible to perform simultaneous two spindle interpolating control.

Description

[Detailed Description of the Invention] "Industrial Application Field" The present invention allows one simultaneous single-axis control device to drive each control axis simultaneously for two or more drive shaft motors via a switching device. In a machine tool, one axis on the side with a large amount of displacement is set as the intervention axis of the manual handle, and the control unit of the single-axis controller moves while performing other axis movement calculations in response to one axis movement by the manual handle operation. This paper relates to a two-dimensional interpolation control method.

"Prior Art and Problems" Machine tools that have two or more control axes and a control device for simultaneous one-axis control are basically capable of only straight-line cutting because of simultaneous one-axis control. For this reason, when there is a diagonal or lining part on the machined surface of the workpiece.

Make a special jig or use NC with linear/circular interpolation function
The problem was dealt with by transferring it to a machine tool with a control device.

Furthermore, as a means to eliminate the above-mentioned complications, when cutting an oblique or circular arc part, Q, a line segment of about 1 mm (X,
In the Y plane, there is a method of dividing the line into X and Y axis line segments and sequentially switching each axis. As shown in FIG. 6, this method requires a complicated program. Cutting speed is sacrificed due to axis switching time constraints, and efficient cutting cannot be expected.

[Problems to be Solved and Means J] In view of the problems in machine tools that have control devices for simultaneous one-axis control, the present invention makes it possible to implement smooth simultaneous two-axis interpolation control for diagonal and circular arc machining of workpieces. The present invention aims to provide a new simultaneous two-axis interpolation control method.

In other words, in a machine tool where one simultaneous single-axis control device drives each control axis simultaneously via a switch for two or more drive axis motors, the side with the largest amount of movement during the required simultaneous two-axis One axis is directly connected to the manual handle as an intervention axis of the manual handle, and the remaining one axis is directly connected to a servo amplifier and a servo motor. This is a simultaneous two-axis interpolation control method that controls movement while performing axis movement calculations.

Yet another option is to automatically connect the side with the smallest amount of movement among the required two axes at the same time directly to the servo amplifier and servo motor.
The shaft is directly connected to the manual handle as a manual handle intervention shaft.
This is a simultaneous two-axis interpolation control method of simultaneous one-axis control and simultaneous one-axis control by manual handle intervention, in which the control unit of the one-axis control device performs movement control while performing other axis movement calculations in response to one-axis movement by manual handle operation. .

As a result, the optimal intervention axis side of the manual handle for single-axis intervention is automatically set, making it possible to perform smoother diagonal cutting, circular cutting, and simultaneous two-axis interpolation for circumferential cutting.

"Example" Fig. 1 is a block diagram showing a control system implementing the simultaneous two-axis interpolation control method of the present invention, Fig. 2 is a diagram showing an example of diagonal cutting,
Fig. 3 is a screen diagram showing an example of screen display, Fig. 4 is a line diagram showing an example of arc cutting, Fig. 5 is a screen diagram showing an example of screen display, and Fig. 6 is a cutting control explanatory diagram showing a conventional example. .

In FIG. 1, 1. OO is an operation box with a display panel for displaying positions and instructing operation procedures, and switches for data input. 200 is a control unit equipped with an interpolation calculation function and a deviation counter, which processes the axis with the larger amount of movement among the two required simultaneous axes as the intervention axis of the manual handle, and uses the side with the smaller amount of movement as the servo axis. It is directly connected to the amplifier and has the function of displaying the axis and direction of manual operation on the display panel. 300 is a servo amplifier that receives commands from the control unit and each pulse encoder PEX, 1
) A motor driving force is output based on the rotational position and speed signal of the motor rotor obtained through a switch 300a that receives and switches feedback signals from EY and PEZ. 400 is a servo motor MX for each axis from one servo amplifier 300.

This is a switching circuit that switches and transmits command power to MY and MZ, and opens and closes each relay contact in response to a control command from the program controller 500. 600a, (EOOb, 600r) are tables, saddles, and heads that are movable bodies for each axis driven by servo motors MX, MY, and MZ, and the amount of movement thereof is monitored by scales (detectors) 700a, 700b, and 700c. Ru.

Each of the above tables, saddles, and heads are equipped with manual handles 80
0..., and the movement position is sent from the scale to the control unit 200. 900a,
900b and 900c are brake members for braking and axis ramp for each axis, which are energized by a braking command from the program controller 500. In addition, the program controller 5
00 is.

General control of each member.

First, an example of diagonal cutting shown in FIG. 2 will be explained.

As shown in the figure, the workpiece W has an obliquely machined surface.

Prior to automatic operation of simultaneous one-axis control, start point coordinates P1 (XIF 3') and end point coordinates fiP2 (Xz + yz
) is programmed using, for example, a G coat (GIOI). The tool center coordinates at this time are PIA
, P2A.

Next, the linear machining surface (a) of the workpiece W parallel to the Y-axis is machined by automatic operation under simultaneous single-axis control.

And before the tool approaches the tool center coordinate PIA.

The controller reads G101 in advance and automatically calculates the PIA point including tool diameter correction.
Tool center coordinates PIA, PZA in the first quadrant as follows
It automatically calculates that the straight line connecting the two is smaller than the 45-degree line and reads that the handle should intervene on the X-axis side where the amount of movement is greater. That is, it means the section from 0 degrees to 45 degrees.

Thereafter, the machine tool is automatically stopped and the screen shown in FIG. 3 is displayed on the display panel of the operation box. In the screen, 101, 1
02.103 indicates the current position display of the X-axis, Y-axis, and Z-axis, 104 indicates the axis to be manually intervened, and 105 indicates the direction of rotation of the handle. 106 displays the target coordinate position of the axis to be manually intervened (predicts the next block and displays the result of automatically calculating the geometric position including tool diameter correction) 6 The above display is the Y-axis servo This means that the motor MY should be automatically connected to the servo amplifier 300 and the table 600a should be moved to the left of the X-axis using the X-axis manual handle.

When such a state occurs, the operator slowly moves the table 600a to the left of the X-axis using the X-axis manual handle while looking at the X-axis display . . . xso, ooo on the display panel. This sends the X-axis position feedback pulse to the control unit)-200. The control unit 200 receives this feedback pulse, calculates the amount of Y-axis movement to obtain the shape of the predetermined obliquely machined surface (b), and instructs the servo amplifier to receive the result from time to time. Therefore.

The Y-axis will be automatically controlled by a servo motor,
Since Y$Ill moves with the movement of the manual handle on the X axis, a predetermined composite shape "oblique machined surface (b)" is formed. In this way, the operator changes the cutting state to aS until the position display Jg and the mark match the target coordinate position P2^.
while continuing to rotate the handle.

When a match is reached, pull out the handle, press the cycle start button, and proceed to automatic machining of the next surface to be machined (c).

By the way, as shown in Figure 2 (b), the straight line connecting tool center $118 PIA and PZA in the first quadrant is 4.
If it is larger than the 5 degree line, it is automatically calculated and it is read that the handle should intervene on the Y-axis side where the amount of movement is greater. That is, it means an area from 45 degrees to 90 degrees. Thereafter, the machine tool is automatically stopped and a screen similar to that shown in FIG. 3 is displayed on the display panel of the operation box, except that the handle operation axis and target coordinates are different.

Next, an example of one circular arc cutting will be explained with reference to FIG.

As shown in the figure, the workpiece W has a circular arc machined surface.

Prior to automatic operation of simultaneous one-axis control, the starting point coordinates P ] (X 1. l Y t ) and the ending point coordinates P of the circular machining surface are
The circular interpolation section of 2 (X 2 ty2) and the radius of curvature r□ of the circular arc are programmed using, for example, a G code (G102). The tool center coordinates at this time are PEA, P2A
becomes.

Next, the linear machining surface (a) of the workpiece W parallel to the Y-axis is machined by automatic operation under simultaneous single-axis control.

And before the tool approaches the tool center coordinate PIA/\.

The controller reads G102 in advance and automatically calculates the PIA point including tool radius correction, and also calculates the straight line connecting the center 0 of the arc and the tool center coordinate PIA in the second quadrant as shown in Figure 4 (a). It automatically calculates that it is larger than the 135 degree line and reads that the handle should intervene on the Y-axis side where the amount of movement is greater. i.e. 2151 from lbs degree
It means up to the fifth degree.

Then, as the tool approaches the tool center coordinate PN, it is automatically determined that the straight line connecting the center O of the arc and the tool center point #jlP1 in the second quadrant becomes smaller than the 135 degree line as shown in Figure 4 (a). A command is issued to intervene the handle on the X-axis side, where the amount of movement is larger based on the calculation. That is, it means a range from 90 degrees to 13,535 degrees.

Thereafter, the control unit 200 automatically stops the machine tool and displays the screen shown in FIG. 5 on the display panel of the operation box. In the above state, when the Y-axis servo motor MY is automatically connected to the servo amplifier 300 and the table 600a is to be moved to the left of the X-axis using the X-axis manual handle, the operator While looking at the X-axis display...X150.000 on the display panel, slowly move the table 600a to the left of X@ using the X-axis manual handle. The X-axis position feedback pulse is now sent to the control unit 200. The control unit 200 receives this feedback pulse, calculates the amount of Y-axis movement to obtain the shape of the predetermined circular arc surface (b), and instructs the servo amplifier to receive the result from time to time. Therefore, the Y-axis is automatically controlled by the servo motor, and as the Y-axis moves in accordance with the movement of the manual handle on the X-axis, a predetermined composite shape (r) is formed. In this way, the operator continues to rotate the handle while observing the cutting state #1 until the position display coordinates match the target coordinate position P2A, and when they match, the operator pulls out the handle and presses the cycle start button to start the secondary machining surface. will move to automatic processing. The above embodiment has been explained with the second quadrant as the object limit, but when cutting the entire circumference of a circle as shown in Figure 4 (b), the intervention timing of the manual handles on the X and Y axes will be as follows. 6 Table-1 "Effects" When the present invention is used, one axis with a large amount of M movement among the two required simultaneous axes is directly connected to the manual handle as the intervention axis of the manual handle, and the remaining l axes are connected to the servo amplifier and servo motor. Since the control unit of the single-axis controller performs movement control while calculating the movement of other axes in response to 1@movement caused by manual handle operation, this is a problem for machine tools with simultaneous single-axis control controllers. Simultaneous two-axis interpolation control for machining surfaces of diagonal or arcuate portions of workpieces can be performed using simple means. In addition, machining of diagonal or arcuate parts of a workpiece can be performed mainly by manual handle operation, allowing the operator to utilize his unique skills. Furthermore,
Even if the quadrant of the tool movement direction, that is, the movement angle changes, the side with the smaller amount of movement is automatically switched as the servo motor axis, which eliminates operational errors.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing a control system implementing the simultaneous two-axis interpolation control method of the present invention, FIG. 2 is a diagram showing an example of diagonal cutting,
Fig. 3 is a screen diagram showing an example of screen display, Fig. 4 is a line diagram showing an example of arc cutting, Fig. 5 is a screen diagram showing an example of screen display, and Fig. 6 is a cutting control explanatory diagram showing a conventional example. . 100...Operation box, 200...Control unit, 300...Servo amplifier, PEX. PEY, PEZ...-ba/L/su! N: l-da, 3
00a...Switcher, MX, MY, MZ...Servo motor, 500...Program controller. 600a, 600b, 600G...movable body for each axis, 7
00a, 700b, 700c + @ 'Scale (detector), 800...Manual handle, 900a, 900
b, 900c...Brush key member, (c)...Diagonal and circular cutting surface, W...Work, Pl (X1+ Y
□)...Start W coordinate of circular arc machining surface, p2(X2? yz
)... End point coordinates of the lining machined surface, r... Radius of curvature of the circular arc.

Claims (2)

[Claims] (1) In a machine tool where one simultaneous single-axis control device drives each control axis simultaneously via a switch for two or more drive axis motors, the required amount of movement during the two simultaneous axes is large. One axis on the side is directly connected to the manual handle as the intervention axis of the manual handle, and the remaining one axis is directly connected to the servo amplifier and servo motor.
Simultaneous 2-axis interpolation control method for simultaneous 1-axis control using manual handle intervention, characterized in that a control unit of a 1-axis control device performs movement control while performing other axis movement calculations in response to 1-axis movement caused by manual handle operation. . (2) In a machine tool where one simultaneous single-axis control device drives each control axis simultaneously via a switch for two or more drive shaft motors, the required amount of movement during the two simultaneous axes is small. The side is automatically directly connected to the servo amplifier and servo motor, and the remaining one axis is directly connected to the manual handle as a manual handle intervention axis, and the control unit of the one-axis control device moves the other axis in response to movement of one axis by manual handle operation. A simultaneous two-axis interpolation control method for simultaneous one-axis control and simultaneous two-axis control using manual handle intervention, characterized in that movement is controlled while performing axis movement calculations.