Control device and method for controlling machine tool

Abstract

A control device (2) for operating each of a plurality of systems independently in accordance with a plurality of NC programs (3-1, 3-2), which are machining programs corresponding to each of the plurality of systems of a machine tool, is characterized by having an axis feed speed determination unit (23) for determining the axis feed speed when one of the plurality of systems is set as a monitoring target system, and determining the axis feed speed when the one of the plurality of systems is set as the monitoring target system. And an axis feed speed determination unit (23) that adjusts the feed axis movement speed of a speed adjustment system, which is a system other than the system set as the system to be monitored.

Description

Technical Field

[0001] The present invention relates to a control device for controlling a machine tool having a plurality of systems and a control method for the machine tool. Background Art

[0002] A numerical control device is a device that controls the operation of a machine tool according to a machining program. In a machine tool, vibrations and the like of each part of the machine tool sometimes affect the machining accuracy. For example, Patent Document 1 discloses the following technique: in order to suppress chatter caused by resonance between a tool mounted on a machine tool and a workpiece, a feed speed command signal and a spindle rotation speed command signal are synchronized. In the technique disclosed in Patent Document 1, when the feed speed command signal changes, the spindle rotation speed command signal changes in synchronization with the change in the feed speed command signal.

[0003] Patent Document 1: Japanese Patent Laid-Open No. 11-300578 Summary of the Invention

[0004] However, according to the above prior art, in machining performed by a machine tool having a plurality of systems, during machining in one system, vibrations sometimes occur due to the movement of the feed axis in other systems, resulting in a decrease in machining accuracy. In particular, in machining that requires machining accuracy, such as in finish machining, the influence of vibrations on machining accuracy becomes greater.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to obtain a control device that can reduce the influence of the operation of other systems on the operation of one system that executes a machining instruction in a machine tool having a plurality of systems and improve machining accuracy.

[0006] The control device according to the present invention operates each of the plurality of systems independently according to a plurality of machining programs corresponding to the plurality of systems of the machine tool. The control device is characterized in that it has an axis feed speed determination unit that adjusts the feed axis movement speed of a speed adjustment system, which is a system other than the system set as the monitoring target system, when one of the plurality of systems is set as the monitoring target system.

[0007] Advantages of the Invention

[0008] The control device according to the present invention has the following effect: in a machine tool having a plurality of systems, it is possible to reduce the influence of the operation of other systems on the operation of one system that executes a machining instruction and improve machining accuracy. Brief Description of the Drawings

[0009] Figure 1This is a diagram showing an example of the structure of a machine tool that is the control object in Embodiment 1.

[0010] Figure 2 This is a diagram showing an example of the structure of the control device according to Embodiment 1.

[0011] Figure 3 This is a diagram showing an example of an NC program corresponding to the monitored object system.

[0012] Figure 4 This is a diagram showing an example of an NC program corresponding to the speed adjustment system.

[0013] Figure 5 This is a diagram showing dedicated hardware for implementing the functions of the control device according to Embodiment 1.

[0014] Figure 6 This is a diagram showing the structure of a control circuit for implementing the functions of the control device according to Embodiment 1. Detailed Embodiment

[0015] Hereinafter, the control device and the control method of the machine tool according to the embodiments of the present invention will be described in detail based on the drawings. In addition, the technical scope of the present invention is not limited by the embodiments shown below.

[0016] Embodiment 1.

[0017] Figure 1 This is a diagram showing an example of the structure of a machine tool 1 that is the control object in Embodiment 1. The machine tool 1 is, for example, a lathe. The machine tool 1 has: a tool 11 that performs front machining of a workpiece; a tool 12 that performs back machining of the workpiece; and a conveyor 14 that performs the loading and unloading of the workpiece into and out of the machining chamber 13.

[0018] Here, front machining is an example of the main machining performed by the machine tool 1, the system that operates the tool 11 is an example of the main system that performs the main machining of the machine tool 1, and is called the first system. The system that operates the tool 12 and the system that operates the conveyor 14 are secondary systems other than the main machining. The system that operates the tool 12 is called the second system, and the system that operates the conveyor 14 is called the third system. The machine tool 1 has a plurality of systems including the first system, the second system, and the third system.

[0019] Figure 2This is a diagram showing an example of the structure of the control device 2 according to Embodiment 1. The control device 2 is a numerical control device that controls the machine tool 1 according to NC (Numerical Control) programs 3-1 and 3-2. Specifically, the control device 2 can output commands to the drive unit 6 of the machine tool 1 according to the NC programs 3-1 and 3-2, thereby controlling the operation of the machine tool 1. The NC programs 3-1 and 3-2 are also referred to as machining programs. The control device 2 can obtain the information input from the operation panel 4 via the PLC (Programmable Logic Controller) 5. The control device 2 includes a program analysis unit 21, a parameter storage unit 22, an axis feed speed determination unit 23, and a control unit 24.

[0020] In addition, the drive unit 6 is the control object of the control device 2 and is omitted in Figure 1 and is provided on the machine tool 1. In Figure 2 the drive unit 6 is shown as one functional unit, but the drive unit 6 includes a plurality of amplifiers, motors, etc. corresponding to the respective multiple systems of the machine tool 1.

[0021] The control device 2 controls the operations of the respective systems according to a plurality of NC programs 3-1 and 3-2 corresponding to the respective multiple systems of the machine tool 1. As a result, the feed axes of the respective systems of the machine tool 1 move independently. In addition, the control device 2 has a function of adjusting the feed axis movement speed of other systems according to the operation status of one of the multiple systems of the machine tool 1. This function is called the "inter-system speed multiplication mode". In addition, in the inter-system speed multiplication mode, the system that indicates other systems is called the "monitoring target system", and the system that is the object of speed adjustment is called the "speed adjustment system". In addition, the speed adjustment system is a system other than the monitoring target system. When the machine tool 1 has three or more systems, all systems other than the monitoring target system among the multiple systems of the machine tool 1 can be speed adjustment systems, and a part of the systems other than the monitoring target system can also be speed adjustment systems.

[0022] In addition, NC programs 3-1 and 3-2 are examples of machining programs that describe the operations of the machine tool 1. NC program 3-1 corresponds to the main system and describes, for example, commands for indicating cutting feed speed, movement amounts of each axis, start and end of the inter-system speed override mode, designation of the monitored system mode, and the inter-system override mode range. Here, the cutting feed speed is the command value of the movement speed of the feed axis of the main system during cutting, the movement amounts of each axis are the command values of the movement amounts of each axis of the main system, the monitored system mode is the operation mode in which the inter-system speed override mode operates as the monitored system, and the inter-system override mode range is the range in which the inter-system override mode operates.

[0023] In addition, NC program 3-2 corresponds to the secondary system and describes, for example, commands for indicating axis feed speed, movement amounts of each axis, start and end of the inter-system speed override mode, designation of the speed adjustment system mode, and speed override setting values. Here, the axis feed speed is the command value of the movement speed of the feed axis of the secondary system, the movement amounts of each axis are the command values of the movement amounts of each axis of the secondary system, the speed adjustment system mode is the operation mode in which the inter-system speed override mode operates as the speed adjustment system, and the speed override setting value is the speed override setting value used during the operation of the inter-system override mode. In addition, NC program 3-2 is input to the control device 2 according to the number of secondary systems of the machine tool 1.

[0024] The program analysis unit 21 analyzes NC programs 3-1 and 3-2 and outputs the analysis results to the axis feed speed determination unit 23. Specifically, the program analysis unit 21 discriminates commands such as the inter-system speed override mode command, monitored system mode command, and speed adjustment system mode command described in NC programs 3-1 and 3-2, and outputs the discrimination results as analysis results to the axis feed speed determination unit 23. In addition, the program analysis unit 21 outputs the movement amounts of each axis, cutting feed speed, axis feed speed, and override setting value in the inter-system speed override mode specified by NC programs 3-1 and 3-2 as analysis results to the axis feed speed determination unit 23.

[0025] The parameter storage unit 22 stores the axis feed speed, i.e., the rapid feed speed, when a rapid feed command is specified in NC programs 3-1 and 3-2 through NC parameters, and outputs it to the axis feed speed determination unit 23. The parameter storage unit 22 can store, for example, the rapid feed speed input in advance from the outside of the control device 2.

[0026] The axis feed speed determination unit 23 determines the moving speed of the feed axis and outputs an axis feed speed command indicating the determined moving speed of the feed axis to the control unit 24. The axis feed speed determination unit 23 can determine the moving speed of the feed axis by multiplying a preset value with respect to the feed speed or an instruction value described in the NC programs 3-1 and 3-2 by the axis feed speed magnification setting value. In addition, the axis feed speed determination unit 23 can adjust the moving speed of the feed axis of the speed adjustment system by changing the axis feed speed magnification setting value. The axis feed speed determination unit 23 receives the axis feed speed magnification setting value input from the operation panel 4 via the PLC 5 and obtains the rapid feed speed from the parameter storage unit 22. In addition, the axis feed speed determination unit 23 obtains the analysis result from the program analysis unit 21. The axis feed speed determination unit 23 can determine the moving speed of the feed axis based on the information obtained. Specifically, the axis feed speed determination unit 23 can determine the moving speed of the feed axis by different methods based on the analysis result according to whether it is in the inter-system speed magnification mode. When not in the inter-system speed magnification mode, the axis feed speed determination unit 23 determines the final axis feed speed based on the axis feed speed magnification setting value obtained from the PLC 5 and the axis feed speed specified from the NC programs 3-1 and 3-2. When in the inter-system speed magnification mode, the axis feed speed determination unit 23 does not use the axis feed speed magnification setting value from the PLC 5, but uses the axis feed speed magnification setting value and the axis feed speed specified from the NC program 3-2 to determine the axis feed speed of the speed adjustment system.

[0027] The control unit 24 calculates the position command per control time unit based on the axis feed speed output by the axis feed speed determination unit 23 and the movement amount of each axis, and outputs the calculated position command to the drive unit 6.

[0028] In addition, the program analysis unit 21, the axis feed speed determination unit 23, and the control unit 24 each perform the above actions for each system of the drive object. The position command is output for each drive object.

[0029] Here, an example of the specific NC programs 3-1 and 3-2 is used to explain the operation of the control device 2. Here, Figure 3 is a diagram showing an example of the NC program corresponding to the monitored object system. Figure 4 is a diagram showing an example of the NC program corresponding to the speed adjustment system.

[0030] Here, the first system as the above main system is set as the monitored object system, and the secondary system, the third system that makes the conveyor 14 operate, is set as the speed adjustment system. In Figure 3 and Figure 4In it, "N01" etc. at the beginning of a line are sequence numbers, showing the line numbers of program blocks. In each NC program, the instructions described in the program blocks are executed in the order of the sequence numbers. The time taken for the processing of each program block varies for each system, but Figure 3 and Figure 4 the "N05" is a wait instruction. Therefore, even though the processing times of "N01" to "N05" vary for each system, Figure 3 the instruction of "N06" in Figure 4 and the instruction of "N06" in Figure 3 will be executed simultaneously. Figure 4 "G177 P1" of "N06" in Figure 3 is a start instruction for the inter-system speed override mode. By "P1", this system is set as the monitored target system. Figure 4 "G177 P2 J1 D20" of "N06" in Figure 4 is also a start instruction for the inter-system speed override mode. By "P2", this system is set as the speed adjustment system. By "J1", the first system is set as the monitored target system. By "D20", the axis feed speed override setting value is set to 20%. Figure 4 "G177 P0" of "N16" in Figure 3 is an end instruction for the inter-system speed override mode. Additionally, Figure 3 "G177 P0" of "N19" in Figure 4 is also an end instruction for the inter-system speed override mode. In the speed adjustment system, after the start instruction for the inter-system speed override mode is executed, until the end instruction for the inter-system speed override mode is executed in the monitored target system or this system, the axis feed speed of the speed adjustment system operates at a speed determined by using the axis feed speed override setting value specified by Figure 4 "N06". In the illustrated example, in Figure 4 "N07" and "N08", the speed override setting value is changed from 100% in the normal state to 20%. At the time of executing "N16", when the end instruction for the inter-system speed override mode of Figure 3 "N16" is executed in the monitored target system, therefore Figure 3 the rapid feed instruction of "N16" in Figure 4 executes with the speed override setting value restored to 100%. That is, in the speed adjustment system, if the end instruction for the inter-system speed override mode is executed in the monitored target system, the inter-system speed override mode ends before the end instruction is executed in the speed adjustment system. Therefore, in Figure 4 "N16", it operates at the rapid feed speed × 100% before the end instruction for the inter-system speed override mode in Figure 4 "N19". In addition, depending on the processing time of each program block, at the time of executing the instruction of Figure 4 "N16", sometimes the instruction of Figure 3 "N16" is not executed. In this case,Figure 4 The rapid feed command of "N16" is executed using "20%" as the speed override setting value.

[0031] As described above, in the monitored system or the speed adjustment system, the speed override setting value is changed until the end command of the inter-system speed override mode is executed. Therefore, in the monitored system, during operations such as finish machining that reduce the influence caused by the operation of the speed adjustment system, it is only necessary to describe the start command and the end command in the corresponding NC program in such a way that the inter-system speed override mode is established. Additionally, in the speed adjustment system, during operations that affect the monitored system, such as operations that cause vibrations in the movement of the feed axis, it is only necessary to describe the start command and the end command in the corresponding NC program in such a way that the inter-system speed override mode is established. At this time, by setting the speed override setting value in the inter-system speed override mode to a value smaller than the normal 100%, the feed axis movement speed of the speed adjustment system can be reduced, and the influence on the monitored system caused by the operation of the speed adjustment system can be decreased.

[0032] Figure 3 The end command of the inter-system speed override mode of "N16" matches the start command of "N06" and becomes a command for specifying the period during which the operation is performed in the inter-system speed override mode. According to the inter-system speed override mode, when the speed of the speed adjustment system is reduced compared to the period outside this mode, the productivity decreases. However, by specifying a specific period and operating in the inter-system speed override mode, the decrease in productivity can be suppressed.

[0033] In addition, in Figure 4 the example shown, in the speed adjustment system, one monitored system is specified, but multiple monitored systems can also be specified according to the NC program. Here, the monitored system does not necessarily have to be the main system, and a secondary system other than this system can also be specified as the monitored system. Additionally, the speed adjustment system does not necessarily have to be a secondary system, and the main system can also be used as the speed adjustment system. For example, when it is desired to adjust the axis feed speed of another system using the axis feed speed override setting value during the finish machining of back machining, the monitored system can be set to the second system, and the first system and the third system can be set as the speed adjustment systems.

[0034] In this embodiment, the set value of the axis feed speed multiplier in the inter-system speed multiplier mode of the speed adjustment system is only valid for the instruction value from the NC program. That is, if the axis feed speed determination unit 23 determines that it is in the inter-system speed multiplier mode based on the analysis result of the NC program, even if the feed axis movement speed is determined using the axis feed speed multiplier set value described in the NC program, and an operation to change the axis feed speed multiplier set value is performed on the operation panel 4 in the inter-system speed multiplier mode, values other than the axis feed speed multiplier set value described in the NC program, such as the axis feed speed multiplier set value input from the operation panel 4 obtained via the PLC 5, will not be used. Therefore, in the inter-system speed multiplier mode, the operator does not particularly need to perform an operation to change the axis feed speed multiplier set value. Additionally, even if the operator erroneously performs an operation to change the axis feed speed multiplier set value using the operation panel 4, the axis feed speed of the speed adjustment system does not change. Therefore, the operator can save the workload of determining the axis feed speed multiplier set value or inputting the determined value, and can prevent the occurrence of a situation where the machining accuracy is reduced due to misoperation.

[0035] In addition, in the dedicated instruction for implementing the functions described in this embodiment, the system corresponding to the NC program can be selected by the "P address" to operate in the monitored object system mode or in the speed adjustment system mode. Additionally, when the speed adjustment system mode is selected, the monitored object system can be specified by the "J address", and the axis feed speed multiplier set value in the inter-system speed multiplier mode can be indicated by the "D address". At this time, in the "J address", by specifying multiple systems, such as "J1J2", multiple systems can be specified as the monitored object systems. "J1J2" means that the first system and the second system are specified as the monitored object systems. As described above, by providing a dedicated programming instruction that can change the axis feed speed multiplier set value of other systems, the load of speed adjustment by the operator can be reduced, the machining accuracy can be improved, and the reduction of productivity can be suppressed.

[0036] Next, the hardware structure of the control device 2 according to Embodiment 1 will be described. The program analysis unit 21, parameter storage unit 22, axis feed speed determination unit 23, and control unit 24 of the control device 2 are implemented using a processing circuit. The processing circuit can be implemented by dedicated hardware or can be a control circuit using a CPU (Central Processing Unit).

[0037] When the above processing circuit is implemented by dedicated hardware, they are implemented using Figure 5 the processing circuit 90 shown. Figure 5This is a diagram showing dedicated hardware for implementing the functions of the control device 2 according to Embodiment 1. The processing circuit 90 is a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof.

[0038] When the above processing circuit is implemented by a control circuit using a CPU, the control circuit is, for example, Figure 6 the control circuit 91 having the structure shown. Figure 6 This is a diagram showing the structure of the control circuit 91 for implementing the functions of the control device 2 according to Embodiment 1. As Figure 6 shown, the control circuit 91 includes a processor 92 and a memory 93. The processor 92 is a CPU and is also referred to as a processing device, an arithmetic device, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), etc. The memory 93 is, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), an EEPROM (registered trademark) (Electrically EPROM), a magnetic disk, a floppy disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disk), etc.

[0039] When the above processing circuit is implemented using the control circuit 91, it is achieved by the processor 92 reading and executing a program corresponding to the processing of each structural element stored in the memory 93. In addition, the memory 93 is also used as a temporary memory in each process executed by the processor 92. Furthermore, the program executed by the processor 92 can be provided in a state stored in a storage medium or via a communication path such as the Internet.

[0040] As described above, the control device 2 according to the first embodiment is a control device 2 that operates a plurality of systems independently according to a plurality of machining programs, i.e., NC programs 3-1 and 3-2, corresponding to the respective plurality of systems of the machine tool 1. The control device 2 includes an axis feed speed determination unit 23. If one of the plurality of systems is set as a monitored target system, the axis feed speed determination unit 23 adjusts the feed axis movement speed of the speed adjustment system, which is a system other than the system set as the monitored target system. With the above-described structure, the control device 2 can adjust the feed axis movement speed of other systems according to the operating condition of one of the plurality of systems of the machine tool 1. In a machine tool 1 having a plurality of systems, the feed axis movement speed of one of the plurality of systems sometimes affects the operation of other systems. For example, during machining that requires machining accuracy such as finish machining in one system, if the feed axis moves in another system, such as the conveyance of a workpiece to be machined by an overhead loader, the machining accuracy may be reduced due to vibration during conveyance. For example, during finish machining, by reducing the feed axis movement speed in other systems outside the period of finish machining, the occurrence of vibration can be suppressed and the machining accuracy can be improved. In addition, when performing operations that are not related to machining accuracy, the productivity can be increased by increasing the feed axis movement speed.

[0041] In addition, at this time, if the operation of other systems is stopped, it will not cause vibration, but the productivity will decrease instead. Therefore, it is preferable to set the feed axis movement speed of the speed adjustment system to a positive value and set it slower than in other periods during the operation in the inter-system speed multiplication mode. Thereby, the decrease in productivity can be suppressed.

[0042] In addition, the axis feed speed determination unit 23 determines the feed axis movement speed by multiplying a preset value of the feed speed or an instruction value described in the machining program by an axis feed speed multiplication setting value, and changes the axis feed speed multiplication setting value, thereby adjusting the feed axis movement speed of the speed adjustment system. In addition, the axis feed speed determination unit 23 can use the axis feed speed multiplication setting value described in the machining program to adjust the feed axis movement speed of the speed adjustment system. In the NC program 3-2, by describing the axis feed speed multiplication setting value used in the inter-system speed multiplication mode, the feed axis movement speed of the speed adjustment system can be adjusted without the workload of adjusting the axis feed speed multiplication setting value.

[0043] When a start command for instructing the start of an inter-system speed multiplication mode, which is an operation mode for adjusting the feed axis movement speed of the speed adjustment system according to the operation state of the monitored object system, is described in the machining program corresponding to any of the multiple systems, the axis feed speed determination unit 23 adjusts the feed axis movement speed of the speed adjustment system using the multiplication setting value described in the machining program in response to the start command. Additionally, when an instruction for specifying the period during which the system operates in the inter-system speed multiplication mode is described in the machining program corresponding to the monitored object system, the feed axis movement speed of the speed adjustment system is adjusted during the period specified by this instruction. Thus, it is possible to specify from the NC program the period during which speed adjustment is performed in the inter-system speed multiplication mode, and perform speed adjustment only during a specific period. Therefore, it is possible to reduce the speed only during the minimum required period, and suppress an unnecessary reduction in productivity.

[0044] In addition, the axis feed speed determination unit 23 can adjust the feed axis movement speed of each of the multiple speed adjustment systems according to the operation status of the monitored object system. By being able to specify multiple systems for which speed adjustment is performed, it is possible to appropriately perform speed adjustment even in the machine tool 1 having a structure with three or more systems.

[0045] In addition, when the system set as the monitored object system is affected by the operation of the speed adjustment system, the speed determination unit can reduce the feed axis movement speed of the speed adjustment system. Thus, it is possible to reduce the influence on the monitored object system caused by the operation of the speed adjustment system.

[0046] The structure shown in the above embodiment represents an example, and it is also possible to combine it with other known technologies, and omit or change a part of the structure without departing from the main idea.

[0047] For example, in the above example, the machine tool 1 is assumed to have three systems, but the number of systems of the machine tool 1 may be multiple, which can be two, or four or more. Additionally, in the above, the control device 2 is set as a device separate from the machine tool 1, but the control device 2 may also be built into the machine tool 1.

[0048] Explanation of reference numerals

[0049] 1 Machine tool, 2 Control device, 3 - 1, 3 - 2 NC programs, 4 Operation panel, 5 PLC, 6 Drive unit, 11, 12 Tools, 13 Machining chamber, 14 Conveyor, 21 Program analysis unit, 22 Parameter storage unit, 23 Axis feed speed determination unit, 24 Control unit, 90 Processing circuit, 91 Control circuit, 92 Processor, 93 Memory.

Claims

1. A control device that operates multiple systems independently according to multiple machining programs corresponding to the multiple systems of a machine tool. The control device is characterized in that it has an axis feed speed determination unit that, if one of the multiple systems is set as a monitored target system, adjusts the feed axis movement speed of the speed adjustment system, which is a system other than the system set as the monitored target system.

2. The control device according to claim 1, characterized in that the axis feed speed determination unit determines the feed axis movement speed by multiplying a preset value for the feed speed or an instruction value described in the machining program by a magnification setting value, and changes the magnification setting value to adjust the feed axis movement speed of the speed adjustment system.

3. The control device according to claim 2, characterized in that the axis feed speed determination unit uses the magnification setting value described in the machining program to adjust the feed axis movement speed of the speed adjustment system.

4. The control device according to claim 2, characterized in that when a start instruction indicating the start of an inter-system speed magnification mode, which is an operation mode for adjusting the feed axis movement speed of the speed adjustment system corresponding to the operation state of the monitored target system, is described in the machining program corresponding to any of the multiple systems, the axis feed speed determination unit adjusts the feed axis movement speed of the speed adjustment system using the magnification setting value described in the machining program in response to the start instruction.

5. The control device according to claim 4, characterized in that when an instruction for specifying the period of operation in the inter-system speed magnification mode is described in the machining program corresponding to the monitored target system, the feed axis movement speed of the speed adjustment system is adjusted during the period specified by this instruction.

6. The control device according to claim 1, characterized in that the axis feed speed determination unit adjusts the feed axis movement speed of each of the multiple speed adjustment systems according to the operation status of the monitored target system.

7. The control device according to claim 1, characterized in that when the system set as the monitored target system is affected by the operation of the speed adjustment system, the axis feed speed determination unit reduces the feed axis movement speed of the speed adjustment system.

8. A control method for a machine tool, in which a control device that operates multiple systems independently according to multiple machining programs corresponding to the multiple systems of the machine tool controls the machine tool. The control method for the machine tool is characterized in that if one of the multiple systems is set as a monitored target system, the feed axis movement speed of the speed adjustment system, which is a system other than the system set as the monitored target system, is adjusted.

Images