JPH03212707A - Speed clamping control system - Google Patents

Abstract

PURPOSE:To prevent the generation of a servo alarm at the time of synchronizing/superposing operation by clamping the speed of master and slave spindles at respective reduced values when speed including the superposed variable of the slave spindle exceeds a speed clamping value. CONSTITUTION:At first, whether operation is a synchronizing/superposing mode or not is discriminated. In the case of the synchronizing/superposing mode, whether the speed of the slave spindle exceeds the clamping speed or not is checked, and when the speed exceeds the clamping speed, the clamping speed of the master and slave spindles are calculated. Then the operation is executed by the calculated clamping speed. When the speed of the slave spindle does not exceed the clamping speed, the operation is continued at the current speed.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a speed clamp control method in synchronous/superimposed operation, and particularly relates to a speed clamp control method for clamping the speed during synchronous/superimposed operation below a speed clamp value. .

[Conventional technology]

BACKGROUND ART In numerically controlled machine tools, especially numerically controlled lathes, etc., numerically controlled lathes are being used which are equipped with a large number of tool rests and process a workpiece with a plurality of tools in order to speed up the machining of a workpiece. A multi-pass control numerical control device is used to control such a numerically controlled lathe.

A set of axes that can be controlled by one program is called a path.
A control method in which a single numerical control device controls multiple paths is called a multipath control method. In the multi-pass control system, the function of synchronizing the movement of axes between passes is called synchronization control, and the function of superimposing another axis movement on the axis that is synchronized with σ11 is called superimposition control. For this reason, it is not enough for a certain tool rest to move only relative to the movement of the main spindle, but it is necessary to make a movement that overlaps the amount of movement of the main spindle, and this is called synchronous/superimposed operation.

[Problem to be solved by the invention]

Therefore, when synchronization/superimposition control is executed between a path and another path, the axis on the side that is superimposed (hereinafter referred to as the slave axis) has the speed of the axis on the side that is superimposed (hereinafter referred to as the master axis). Because of the addition, even if the commanded speed of the slave axis is less than the clamp value, the actual speed may move at a speed greater than the clamp value, resulting in a servo motor speed alarm. When creating a program, it is difficult to check in advance whether the speed including such a superimposed portion exceeds the clamp value.

The present invention has been made in view of these points, and it is an object of the present invention to provide a speed clamp control method that clamps the speed during synchronous/superimposed operation to a speed clamp value.

[Means for Solving the Problems] In order to solve the above problems, the present invention provides a speed clamp control method when performing synchronized/superimposed operation, in which the speed including the superimposed portion of the slave axis exceeds the speed clamp value. If the speed of the slave axis exceeds the speed clamp value, the speed of the master axis and the slave axis is clamped to a reduced speed. be done.

[Effect]

When the slave axis exceeds the speed clamp value in synchronization/superimposition control, a ramp speed is determined so that the speed of the slave axis becomes less than or equal to the speed clamp value for both the master and slave axes, and the operation is performed at this clamp speed. This can prevent servo alarms.

〔Example〕

Hereinafter, one embodiment of the present invention will be described based on the drawings.

FIG. 2 is a diagram showing the relationship between the main axis and each tool rest of a numerically controlled lathe controlled by a multi-pass numerical control device having a plurality of tool rests. In the figure, the main shaft 61 is controlled in the Z direction, which is referred to as the zl axis. The first tool rest 62 is controlled only in the X direction, and this is defined as the xl axis. Therefore, the main shaft 6
1 and the first tool rest 62 constitute a normal X-2 coordinate.

The second tool rest 63 is controlled in the X-axis and Z-axis directions, which are referred to as the x2-axis and the Z2-axis. The second tool rest 63 is the main shaft 6
When 1 does not move in the Zl axis, it is driven in a single x-z coordinate. However, when the main shaft 61 moves in the Zl-axis direction, it is necessary to make a movement that overlaps the amount of movement of the Zl-axis.
The Z2 axis is operated synchronously and superimposed with respect to the Zl axis of the main shaft 61.

In other words, the Z2 axis has a smaller amount of movement than the original 22 axes.
It is necessary to perform a movement in which the amount of movement of the l-axis is added.

The third tool rest 64 is controlled only in the Z-axis direction, and
Take it as the axis. The Z3 axis is also operated in a superimposed manner with respect to the Zl axis.

FIG. 3 is a block diagram of a numerical control device for multipath control for implementing the present invention. Pass 1 is a multi-mask pass that can combine each pass. Path 1 has a large number of slots 1a, 1b, and 1g, and can connect paths, etc., which will be described later.

The CRT/MDI unit 2 displays the current position of each axis, the cannibal program, the shape of the workpiece, etc. on its display device 2a. Further, necessary data can be input from the keyboard 2b. The axis control modules 3 and 4 are capable of controlling two to three axes of servo motors with one module. The I10 circuit 5 sends and receives input/output signals from the outside. In the figure, a PC (programmable controller) and the like are omitted.

Each path 10, 20 and 30 has the function of one conventional numerical control device. That is, reading, decoding, and executing numerical control commands can be processed in one pass. In addition, h of CRT/~IDI unit 2 etc.
It is also possible to control the equipment. Therefore, it is possible to process commands for a fixed number of axes, which conventional numerical control devices have processed in individual passes.

For example, on a 2-head numerically controlled lathe, the first
control the principal axes,
30 as a mask path, overall control such as monitoring of other paths can be executed.

Furthermore, each pass 10, 20, 30 is a CRT/
The MDI unit 2 can be controlled.

These paths 10, 20, and 30 are connected to the lotus 1 and share the processing, and when the processing capacity of one path becomes insufficient, part of the processing is transferred to another path. For example, one pass IIO performs a very thin interpolation, and pass I[2
When 0 is performing linear interpolation, pass 1120 may perform some of the interpolation preprocessing operations of pass 110. As a result, it is possible to ensure a balance in processing capacity so that there is no imbalance in processing.

Pass 30 (acts as the master path), performs overall control such as arbitration of historical rights of lotus 1 and monitoring of other paths. Of course, pass 11130 can also control the main axis and axes. In addition, when the number of tasks to be processed by path lll[30 increases and it becomes impossible to perform overall control, and another path has room, the masking right can be transferred to another path.

In the above explanation, the CRT/MDI unit 2 is configured so that it can be controlled from any path.
It can also be configured such that it is connected to the path Ill30 and can be controlled only by the path Ill30.

Here, the XLZI axis is controlled in pass 110, and the pass I[2
Assume that x2 and Z2 are controlled by 0.

Therefore, the main shaft 61 (Zl axis) and the second turret 6 in FIG.
3 (Z2 axis), the Zl axis becomes the master axis and the z2 axis becomes the slave axis.

Now, the command speed of the Z1 axis is Fz l, and the clamp speed is F
Let Fz,2 be the commanded speed of the zc1 and Z2 axes, and F'zo2 be the clamp speed, and have the following values.

Fz l=IOm/min Fzcl=20m/+n
1nFz2=5m/min Fzc2=12m
/min Since the commanded speed of master axis Z1 is superimposed on slave axis Z2, it attempts to move at 15 m/min, but since Z2's clamp speed is 12 m/min, if it continues as it is, Z2 axis will become a servo alarm. Put it away. Therefore, both axes are clamped as follows.

21 (Master axis): 10X (12/ (10+5)) -8m/m1nZ
2 (slave axis): 5x (12/(10+5)) = 4 m/min In this way, by reducing the speed of the 21st and 72nd axes, operation can be continued without exceeding the clamp speed.

FIG. 1 is a flowchart of the process of the present invention.

In the figure, the number following S indicates the step number.

[S1] Determine whether the mode is synchronization/superimposition mode.

If it is the synchronization/superimposition mode, the process advances to S2.

[S2] Check whether the speed of the slave axis exceeds the clamp speed, and if it does, proceed to S3. If the commanded speed is not exceeded, operation continues at the same commanded speed.

[S3] Calculate and obtain the clamping speeds of the master axis and slave axis as described above.

[S4] Operation is performed at the clamp speed determined in S3.

If such processing is included in the system program of the numerical control device, it is possible to prevent servo alarms during synchronous/superimposed operation in advance.

〔Effect of the invention〕

As explained above, in the present invention, when performing synchronization/superimposition control, when the speed of the master axis is superimposed on the slave axis and the speed exceeds the speed clamp value, the slave axis and mask axis are Since the speed is clamped, servo alarms can be prevented and the machine can be operated safely.

4. Page 4 [11j Simple Explanation 1st to I is a flowchart of the process of the present invention, and Fig. 2 shows the main shaft and each tool of a numerically controlled lathe controlled by a multi-pass numerical control device having a plurality of tool rests. FIG. 3 is a block diagram of a numerical control device for multipath control that implements the present invention.

18-1g 3, 4 0 0 0 1 2 2 )＼゛su slot CRT/MDI unit axis control module I10 circuit Pass I Pass■ Pass■ main shaft Turret #1 Turret #2 to No. figure Second figure A drink←－－－－－ 1

Claims (3)

[Claims] (1) In the speed clamp control method when performing synchronous/superimposed operation, it is determined whether the speed including the superimposed portion of the slave axis exceeds the speed clamp value, and the speed of the slave axis exceeds the speed clamp value. A speed clamp control method characterized in that when the speed exceeds the speed, the speed of the master axis and the slave axis is clamped to a reduced speed. (2) The speed clamp control method according to claim 1, wherein the synchronized/superimposed operation is performed by a multi-pass numerical control device. (3) The speed clamp control method according to claim 1, wherein the synchronized/superimposed operation is performed by a numerical control device that controls a numerically controlled lathe having a plurality of tool rests.