JPH0272416A - Play-back type nc machine tool - Google Patents

Abstract

PURPOSE:To effectively produce NC data and to reduce NC data by outputting only the NC data on both end points of a straight line when the teaching is performed with the linear movement of a single axis. CONSTITUTION:A numeral controller 10 contains a microprocessor unit 11, a speed flag 12b which stores whether the moving speed of a feed axis is changed or not, and a straight line flag 12c which stores a fact that only a single feed axis is moved. Then the present position is not outputted when the present positions inputted for each sampling exist on a straight line formed by the movement of the same axis. However, the present position and the speed are outputted for production of the NC data as long as the speed changes even when the present position exists on the straight line. Therefore the NC data is produced only at both end points of the straight line formed by the movement of one axis when only one axis is moved. Then no NC data is produced at the intermediate sections of the straight line. As a result, the NC data is produced with high efficiency and can be reduced.

Description

[Detailed description of the invention] [Industrial application field]

The present invention manually drives the feed axis of an NC machine tool along a predetermined path, sequentially inputs the position of the feed axis, creates NC data for machining from the position data, and automatically processes based on the NC data. Playback type NC work &1
Regarding It.

[Prior art]

Conventionally, there is an NC machine tool that has a teaching function of manually driving the feed axis of the NC machine tool along a predetermined path and sequentially inputting the position of the feed axis to create NC data during machining. This teaching can be done by manually driving each feed axis to each predetermined position on the teaching path, pressing a switch, etc. at that position, inputting and memorizing the position data, or This was done by sampling.

[Problems to be solved by the invention]

Therefore, in this method of number of songs, NC data is created at all teaching points, so there is a problem that the number of data becomes enormous. For example, in the case of linear feed in which only one axis is driven, it is possible to execute one-axis linear feed during actual machining as long as there is NC data at both end positions of the line.
Since NC data is created at all teaching points on the straight line,
As the NC data becomes longer, there is a problem that the execution speed during actual machining decreases. Furthermore, as the NC data becomes longer, a problem arises in that the capacity of the storage medium for storing the NC data increases. The present invention was developed to solve the above problems, and its purpose is to efficiently create NC data and to make the created NC data as short as possible.

[Means to solve the problem]

The structure of the invention for solving the above problems is to manually drive the feed axis of an NC machine tool along a predetermined path, input the position of the feed axis sequentially, and use the position data of the feed axis to control the NC machine tool during machining. Playback 2N that creates data
In the C machine tool, a position input means for inputting the position of the manually driven feed axis, and a comparison between the current position of each feed axis input by the position input means and the previously input position of each feed axis. If it is determined that the moving axis is only one of the feed axes from the comparison result by the comparing means, then N in the movement section of only that one axis.
The present invention is characterized in that it includes an NC data creation means that outputs NC data of a feed axis that changes only at both end positions of a movement section of only one axis without outputting C data.

[Effect]

Each feed axis is driven manually, and the current position of each feed axis is input when a switch is pressed or at fixed time intervals or fixed distance intervals. Then, the current position of each feed axis is compared with the previously input position of each feed axis, and based on the comparison result, it is determined whether or not the mode of movement is movement of only one axis. In the case of movement of only one axis, N in the section where only that one axis is moved
NC data is output at both end points of the movement section of only one axis without outputting C data. Therefore, when teaching by linear movement of one axis, the NC of both end points of the straight line is
Since only data is output, NC data can be created efficiently.

【Example】

The present invention will be described below based on specific examples. In FIG. 1, numeral 10 is a numerical control device, which includes an MPU (microprocessor unit) 11, a timer setting value memory 12a that stores a timer setting value that determines the sampling period for inputting the position of the feed axis, and a timer setting value memory 12a that stores the moving speed of the feed axis. A speed flag 12b that stores whether or not there has been a change, and a straight line flag 1 that stores that only one feed axis is being moved.
2C and temporarily stores other data, a ROM 13 that stores a control program, and an interface 1.
It is composed of 4. And interface 14
C displays input data, created NC data, etc.
The RT display 15 and the keyboard 16 are used to enter the program number of the NC data created by teaching, to set the sampling period for inputting the position of the feed axis, and to enter other data. A bubble memory 17 for storing data is connected thereto. Further, servo motor drive circuits DUX, DUY, and DUZ are connected to this numerical control device 10, and the feed axis of a machining center type machine tool 20 is controlled by the drive circuit. The machine tool 20 has a servo motor drive circuit D
It has servo motors 21, 22, and 23 driven by each of UX, DUY, and DUZ, and a pulse generator 41, 42, and 43 that measures the amount of rotation of each servo motor. The amount of movement of each feed axis driven by each servo motor is determined by each pulse generator 41, 42, 4.
The pulse signal is detected by the pulse signal outputted from 3, and the pulse signal is counted by the counter 44 for each feed axis, and the counted value is read by the MPU II. The machine tool 20 also includes a workpiece table 25 that supports a workpiece W, and a main shaft 26 driven by a main shaft motor SM.
The workpiece table 25 and the main shaft radial 24 are rotated by rotation of each servo motor.
The relative position between is changed three-dimensionally. Reference numeral 27 denotes a tool magazine that holds a plurality of types of tools, and the tools in the tool magazine 27 are selectively mounted on the spindle 26 by a magazine indexing device (not shown) and a tool changing device 28 (not shown). Processing is performed. On the other hand, a sequence controller 30 is connected to the numerical control device 10 via an interface 40, and the sequence controller 30 connects an MPU 31, a RAM 32 that stores a sequence program, a ROM 33 that stores a control program, and a manual operation panel 50. It also consists of an interface 34. The manual operation panel 50 has a dial 51.5 that commands manual movement of each feed axis (X, Y, Z) of the machine tool 20.
2, 53, jog switches 54a, 54b, 54c for instructing jog operation of each feed axis; keyboard 55 for inputting data; lamp group 56 for displaying operation status; instruction to stop inputting position data for each feed axis; A data input stop switch 57a that instructs to output a mark on NC data at a predetermined sampling time, and a mark output switch 57b that instructs output of a mark on NC data at a predetermined sampling time.
, and a memorizer end switch 57c for ending storage of NC data. A spindle motor drive circuit 45 is connected to the MPU 31 of the sequence controller 30, and the spindle motor SM is rotated by the spindle motor drive circuit 45. Next, the operation will be explained based on a flowchart showing the processing procedure of MPU II of the numerical control device 11. If it is determined in step 100 that the M100 code has been input from the keyboard 16 connected to the numerical control device 10, the process moves to the next step 101, and the speed flag 12 is
b and the straight line flag 12c are both initially set to off. Then, proceeding to the next step 102, the keyboard 16
The program number of the NC data created from and the end M code that determines the end mode are input, and the current position of the feed axis is stored as an initial value. Next step 104
The bubble memory 17 is opened to write the NC data created in step 106, and the operation mode is switched to jog operation by the sequence controller 30 or manual drive by operating the handle. Next, step 108
At step 110, it is determined whether or not the data input stop switch 57a of the operation panel 50, which temporarily stops data input, is in the on state, and if it is not in the on state, it is determined at step 110 whether or not there is a change in the timer setting value using the keyboard 16. If there is a change, the process moves to step 112 and the keyboard 1 is changed.
6 is read, and the value is stored in the timer setting value memory 12a. Next, in step 114, the timer is set to the timer setting value stored in the timer setting value memory 12a, and in the next step 116, the current position (Xn, Yn, Zn) of each feed axis is read from the counter 44. Then, in step 118, the previously read position (X n-1, Y
current position (Xn, Yn,
The amount of change (ΔXn, ΔYn, ΔZn) of Zn) is calculated, and the feed rate Vn is calculated in step 120. next,
Proceeding to step 122, the amount of change in feed rate ΔVn is calculated from the current feed rate Vn and the previous feed rate Vn-1. Then, in step 124, it is determined whether the rate of change in the feed rate 1ΔVn/Vn-1l is within 25%, and if the rate of change in the feed rate is within 25%, it is determined that there is no change in the feed rate Vn. , the process moves to step 126 and the speed flag 12b is set to on. The reference value of 25%, which serves as a reference for determining the amount of change in feed speed, is configured to be changeable by a parameter. Also, if a change occurs in the feed speed Vn,
In order to memorize this fact, the process moves to step 125 and the speed flag 12b is set to OFF. Next, the process moves to step 128 to create NC data, which will be described later. When the creation of the NC data is completed, the process moves to step 130, where it is determined whether or not the timer set in step 114 has timed up, and this determination is repeated until the timer has timed up. When the time amplifier, that is, the set time has elapsed and the next sampling time has arrived, the process moves to step 132, where it is determined whether the mark output switch 57b of the manual copying board 50 is in the on state, and the switch is turned on. When 57b is on, the sequence Nα is NC
Output as data. Further, if the mark output switch 57b of the manual role board 50 is not in the on state in step 132, the sequence N
The process moves to step 136 without outputting α. In step 136, it is determined whether or not the memorizer end switch 57c of the manual operation panel 50 is in the on state. If it is not in the on state, the process returns to step 108, and the current position of each feed axis at the next sampling time is input from the counter 44. , After predetermined processing, NC data is created from the current position data and feed speed data. By repeatedly executing such processing, the position and moving speed of each feed axis are zumbling over time, and a series of NC data is created in the bubble memory 17 as shown in FIG. If it is determined in step 136 that the memorizer end switch 57c of the manual operation panel 50 is in the ON state, the process moves to step 138, where the end M code is output as NC data, and in the next step 140, the bubble memory 17 is closed. , the teaching mode is terminated in step 142, and the termination of the processing routine by the M100 code is executed in step 144, thereby terminating the program. Next, the NC data creation procedure executed in step 128 will be explained based on the flowchart of FIG. In step 200, it is determined whether or not the straight line flag 12c is on, and if the straight line flag 12c is not on, the process moves to step 202 to determine whether or not it is a 1-axis movement in which only one axis is driven based on the amount of movement at the current position. is determined. If there is a problem with one axis movement, proceed to step 204 and proceed to step 116.
The current position of the feed axis (Xn, Yn, Zn) input in is output as NC data. If it is determined in step 202 that the movement is one axis, the current position corresponds to the teaching point next to the starting point of the straight line of one axis movement, and in order to memorize the start of one axis movement, the straight line flag is set in step 206. 12c is set to on, and its 1-axis movement is x,
Whether it is the y or z axis is stored. Then, in the next step 208, it is determined whether or not the speed flag 12b is on, and if the speed flag 12b is on, step 21
2, the speed data is outputted to the NC data of the previous position, and the process moves to step 210, where the current position is stored and its output is suspended. On the other hand, if the speed flag 12b is off, the current position is stored in step 210 and is held on hold without being output as NC data. Incidentally, since the determination in step 202 is always NO during the first execution cycle, the NC data of the teaching starting point is created in step 204. If the straight line flag is not set, that is, if the movement is not in one axis, the current position is output every time step 204 is executed, and NC data is created. Next, if it is determined in step 200 that the straight line flag 12C is set to ON, in other words, it is determined that the state is in a 1-axis movement state, the process proceeds to step 214, and the current position is moved by 1 axis based on the amount of movement of the current position. It is determined whether 1 i1'll
If it is a 1-axis movement, the process proceeds to step 216, where it is determined whether or not it is coaxial with the axis of 1-axis movement obtained during the previous measurement. If the axis of movement is the same as the axis of the previous one-axis movement, this means that one-axis movement of the same axis is being performed continuously, and the process moves to the next step 208. Step 2
In step 08, it is determined whether or not the speed flag 12b is on. If the speed flag 12b is on, there has been a speed fluctuation, so the process moves to step 212, where the previous position and speed are output and NC data is created. On the other hand, if the speed flag 12b is off, there is no speed change, so the current position is stored in step 210, and the current position is held without being output. In this way, if the current position input for each sampling exists on a straight line due to l-axis movement of the same axis, the current position is not output. However, even if the current position is on a straight line due to uniaxial movement of the same axis, if there is a speed fluctuation, the position and speed are output and NC data is created. If it is determined in step 216 that the 1-axis movement is not the same axis as the previous one, it means that the 1-axis movement on the same axis has ended at the previous measurement position Pn1, and step 218 returns the previous movement. Position (X n-1, Y n-1, Z n-1) is 1
Output as NC data at the end point of axis movement. Since the movement of the current position was determined to be a 1-axis movement in step 214, this means that the current position is on a straight line due to 1-axis movement with a different axis from the previous 1-axis movement. Since the current position corresponds to the teaching point next to the starting point of the next one-axis movement, the process moves to step 206, where the straight line flag 12c is set to ON and the axis name of the one-axis movement is stored. Then, the steps from step 208 described above are executed. Furthermore, if it is determined in step 214 that the movement is not in one axis, that is, the movement is in two or more axes at the same time, this means that the current position has deviated from the straight line of the previous one-axis movement. Then, the process moves to step 220 and the last position where output is suspended, that is, the position at the time of the previous measurement @ (X n
-1, Y n-1, Z n-1) are output to create NC data for the end point of one-axis movement, and the current position (X
n, Yn, Zn) are output as NC data. Then, the process moves to step 222 and the straight line flag 12c is turned off. In addition, step 204, step 218, step 220
When outputting the position and outputting NC data, only the data on the position of the axis that has been moved is output, and the data on the position of the axis that has not been moved is not output. Furthermore, if there is no speed variation in the same step, no speed data is output, and only when there is a speed change, speed data is output together with the position data. Next, the operation of this device will be explained along the teaching path shown in FIG. The teaching path in Figure 4 is simple, so the X and Y axes move and the Z
The axis is fixed. Teaching points start from 11 points and PI
Finished with 3 points. Then, it is moved at a constant speed from the 11th point to the P2O point, and from the P2O point, the moving speed is changed to double. Moreover, each point indicates a teaching point sampled at a constant period. Since there is no uniaxial movement between points 11 and 23, the straight line flag 12c remains off, so step 204
Each time this is executed, NC data from 11 points to 23 points shown in FIG. 5 are created. At this time, the Z-axis does not move and moves at a constant speed, so the position and speed of the Z-axis are output only at 11 points. Next, since points 23 to 27 are a single-axis movement on the X axis at a constant speed, when the positions of 14 points are sampled, step 2
The determination in step 00 is NO, the determination in step 202 is YES, the straight line flag 12C is set to ON in step 206, the X-axis of 1-axis movement is memorized, and the determination in step 208 is NO.
0, and the positions of the 14 points are stored and held in step 210. Next, when the positions of 25 points are sampled, the judgments in step 2001, step 214, and step 216 both become YES, and steps 208 and subsequent steps are executed, and since the movement is at a constant speed, the position is held without being output. Ru. The same applies to 26 points and 27 points. Once the 28 points have been sampled, step 200
, the determination in step 214 is YES, but in step 2
Since the determination in step 16 is NO, the positions of 27 previous sampling points are output in step 218, and NC data is created as shown in FIG. That is, point P4. on the linear section of 1-axis movement. P5. No NC data is created in P6. Also, since the 28th point is a point on the path of 1-axis movement on the Y axis from the 27th point, the straight line flag 12 is set in step 206.
c is set to ON, and the Y-axis of the movement axis of one-axis movement is newly stored. The positions of the 28 points are then stored and reserved in steps 208 and 210. Next, since P9, PIO, and pH points are points on a straight line due to uniaxial movement of the Y axis, steps 200 and 214
, the determination in step 216 is YES, but since the velocity fluctuation occurs when sampling the Pll position, the determination in step 208 is YES, and the previous PIO position and velocity are output as shown in FIG. and step 2
10, the current position pH is recorded t0 and held. Below, there is no speed variation up to the final 3 PI points, but the 111th point is the end point of a straight line of 1-axis movement, and when sampling the 3 PI points, the judgment in step 2000 is YIES, and the judgment in step 214 is NO, and the process moves to step 220. Then, the data of the previous position pH and the current position P12 are output, and in the next step 222, the straight line flag is turned off. Then, when three PI points are sampled, the determination in step 200 becomes NO, and P]2.
Since PI3 is not on the straight line of 1-axis movement, the determination in step 202 is NO, and the process moves to step 204 to determine the current position P.
13 data are output. In the end, NC data is created as shown in FIG. 5 through the above processing. In this embodiment, the sampling period for inputting the position of each feed axis is determined by the timer setting value input from the keyboard 16, and the timer setting value is set even while the position of each feed axis is being sampled and input. It is possible to change. Therefore, when teaching along a complex curve with a large curvature, set the sampling period short, and when teaching along a simple curve with a small curvature, including a straight line, set the sampling period long. Necessary N
It is possible to prevent the generation of C data, improve the efficiency of creating NC data, and reduce the storage capacity of NC data. Further, in the above embodiment, the position of the feed axis is automatically sampled, but the present invention can also be applied to a teaching method in which the position of the feed axis is input when a switch is pressed. Further, if the amount of change in the feed rate is within a certain range, it is assumed that there is no change in the feed rate and no NC data regarding the feed rate is created. For this reason, the feed axis may not be fed smoothly due to manual detours, but since the feed rate is smoothed by the above process, the feed is executed smoothly during actual machining based on the NC data. Also, since the sequence Nα can be output to the NC data block created at a predetermined sampling position,
N created by performing marks at critical locations
It can be used for operations such as stopping feeding at a mark position when editing C data or executing NC data.

【Effect of the invention】

The present invention includes a position input means for inputting the position of the feed shaft manually driven, and a comparison for comparing the current position of each feed shaft inputted by the position input means with the previously input position of each feed shaft. From the comparison results using the means and comparison means,
If it is determined that the moving axis is only one of the feed axes, no NC data is output during the moving section of only that one axis, and changes occur only at both end positions of the moving section of only that one axis. Since it is equipped with an NC data output means that outputs NC data of the feed axis, when only one axis is moved, NC data is created only at both end points of the straight line due to the movement of that one axis, and the center point of the straight line is created. NC data is not created in this section. Therefore, NC data can be created efficiently,
NC data can be shortened and storage capacity can be saved.

[Brief explanation of the drawing]

Figure m1 is a block diagram showing the configuration of a playback type NC machine tool according to a specific embodiment of the present invention. 2, 'f, and 3 are flowcharts showing the processing procedure of the MPU of the numerical control device used in the same embodiment. 'fJ
FIG. 4 is an explanatory diagram showing a specific example of the teaching route. 'f, FIG. 5 is an explanatory diagram showing NC data created when teaching is performed along the route shown in FIG. 4. 10 Numerical control device 11 ・MPU 15 Display 17 Bubble memory 20-Machine tool 21.22
．． 23 Servo motor 25 ... Workpiece table
SM main shaft motor 26--main shaft 27 tool machining machine 30° sequence controller 44 counter 50 manual hill cutting board 54a, 54b, 54C jog switch 55° parka keyboard 56 lamp group 56.5
7a ・Data input stop switch 57 b-Mark output switch 57C Memorizer end switch Patent applicant: Toyoda Koki Co., Ltd. Fuji Seiko Co., Ltd. Representative Patent attorney Osamu Fujitani

Claims (2)

[Claims] (1) A playback system in which the feed axis of an NC machine tool is manually driven along a predetermined path, the position of the feed axis is input sequentially, and NC data during machining is created from the position data of the feed axis. In the NC machine tool, a position input means for inputting the position of the manually driven feed axis; and a position input means for inputting the current position of each feed axis input by the position input means and the previously input position of each feed axis. If it is determined that the moving axis is only one of the feed axes based on the comparison result by the comparison means and the comparison means, the NC data is not output in the movement section of only that one axis. , and NC data output means for outputting NC data of a feed axis that changes only at both end positions of a movement section of only one axis. (2) a moving speed calculating means for calculating a moving speed from the current position of each feed axis input by the position input means and the position of each feed axis input last time; a determining means that determines that there is no change in the traveling speed if the amount of change in the traveling speed is within a predetermined percentage; and NC data of the traveling speed at the teaching point if the determining means determines that there is no change in the traveling speed. and speed data output means for outputting NC data of the movement speed at the teaching point only when the judgment means determines that the movement speed has changed, without outputting the NC data of the movement speed at the teaching point. The playback type NC machine tool described in item 1.