JPH03224006A - Numerical controller - Google Patents

Abstract

PURPOSE:To analyze a working program at high speed by performing the decoding processing immediately after editing the working program and then storing the working program and the decoded information. CONSTITUTION:In a robot numerical controller, a working program editing means 11 carries out the decoding processing 12 immediately after editing a working program. Then the working program and the decoded information are stored in a working program storage means 13. Thus the working program is carried out more quickly by a degree equal to the time required for decoding the working program. Furthermore the interrupting frequency is reduced for the command outputs. As a result, a complicated work can be smoothly and at high speed carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a numerical control device for a robot.

BACKGROUND ART FIG. 4 schematically shows a conventional numerical control device of this type. Conventionally, the machining program edited by the machining program editing means 1 is stored as it is in the Niprogram storage means 2, and after the program is decoded by the program decoding processing means 3, the movement coordinates are calculated by the movement coordinate calculation means 4. Then, after performing interpolation calculation in the interpolation calculation section, the servo control section 6 is controlled.

Problem to be Solved by the Invention However, in such a conventional numerical control device, when analyzing the machining program in the machining program storage means 1, the program decoding processing means 3 takes a lot of time, and the analysis processing cannot be performed at high speed. , it may not be possible to calculate the next movement command before the movement command has been output.
In that case, there is a problem that the cut surface of the workpiece becomes discontinuous.

The present invention is intended to solve such conventional problems, and aims to provide an excellent numerical control device that can perform analysis processing of machining programs at high speed.

Means for Solving the Problems In order to achieve the above object, the present invention executes the decoding processing means immediately after editing the machining program by the machining program editing means, and then stores the machining program and decoding in the machining program storage means. The processed information is stored.

Therefore, according to the numerical control device of the present invention, the processing speed is increased by the time taken to decode the machining program when executing the machining block, and the interruption of command output is reduced compared to the conventional method, making it possible to machine complex workpieces. Can be executed quickly.

Embodiment FIG. 1 shows a schematic configuration of a numerical control device in an embodiment of the present invention. In FIG. 1, 11 is a processing program editing means, 12 is a first program decoding processing means, 1
3 is a machining program storage means, 14 is a second program decoding processing means, 15 is a movement coordinate calculation means, 16 is an interpolation calculation section, and 17 is a servo control section.

Next, the operation of the above embodiment will be explained. First, the machining program editing means 11 edits the machining program. Next, the first program decoding processing means 12 reads the G code and X, Y, I, J.

Decipher the X code. Next, the machining program and the decoded G code, XSY, I, J, and I-code information are stored in the machining program storage means 13, and a flag indicating whether or not other unanalyzed codes exist is stored. do.

When executing a machining program, the machining program is read from the machining program storage means 13, and if there is a code that has not been analyzed by the second program decoding processing means 14, it is analyzed, and the next movement coordinate calculation means 15 calculates the target coordinates. After the calculation is performed and the interpolation calculation is performed in the interpolation calculation unit 16, pulses are distributed to the servo control unit 17 to control the servo motor.

FIG. 2 shows a program storage area in the machining program storage means 13. The area 131 stores the G code decoding flag decoded by the first machining program decoding processing means 12, and also stores the presence or absence of a code that has not been decoded yet. Area 132 stores X code data obtained by converting the X code into mechanical coordinates. Area 133 stores X code data obtained by converting the Y code into mechanical coordinates. Area 13
4 stores Z code data obtained by converting the 2 code into machine coordinates. Area 135 is! Converts the code to machine coordinates and stores I code data. Area 136 stores J code data obtained by converting the J code into machine coordinates. Area 137 stores code data obtained by converting the code into machine coordinates. Area 138 stores a machining program.

FIG. 3 shows an example of a machining program.

The instruction 111 causes the first program decoding processing means 12 to set the G code decoding flag in the program storage area 131 to G9.
0, GOI, and XSX code data, and that there are no other codes. Instructions 112 convert the X and Y codes to machine coordinates and store the data in program areas 132 and 133. Instruction 11
3 is not decoded by the first block diagram decoding processing means 12, but is decoded by the second program decoding processing means 14, and the values of the X code data and the X code data in the movement coordinate calculation means 15 are used as they are. Note that when this instruction 113 is executed, the instruction 111 is not executed by the second program decoding processing means 14.

Effects of the Invention As described above, according to the numerical control device of the present invention, after editing a machining program by the machining program editing means,
Since the decoding processing means is immediately executed and the machining program and decoding processed information are then stored in the machining program storage means, the processing speed is increased by the time taken to decode the machining program when the machining program is executed, and the command There are fewer output interruptions than before, and complex workpieces can be machined smoothly and at high speed.

[Brief explanation of drawings]

FIG. 1 is a schematic block diagram of a numerical control device showing an embodiment of the present invention, FIG. 2 is a diagram showing a program storage area of a machining program storage means in the same numerical control device, and FIG. 3 is a diagram showing a program storage area of a machining program storage means in the same numerical control device. FIG. 4, which is a diagram showing an example of a machining program, is a schematic block diagram of a conventional numerical control device. 11... Machining program editing means, 12... First program decoding processing means, 13... Machining program storage means, 14... Second program decoding processing means, 15.
...Movement coordinate calculation means, 16...Interpolation calculation section, 17.
...Servo control section.

Claims (1)

[Claims] machining program editing means; program decoding processing means for decoding the machining program edited by the machining program editing means; machining program storage means for storing the machining program and decoded information; a moving coordinate calculation unit that calculates the target coordinates; an interpolation calculation unit that performs interpolation between the target coordinates;
and a servo control section that controls a servo motor according to the output of the interpolation calculation section.