Efficient parameterized workflow for numerical control systems

Abstract

In order to parameterize the numerical control system (3), a computing device (10) is coupled to an execution workflow of the numerical control system (3), in which workflow a jerk limit (RG) and a filter frequency (fF) for the position controlled axis (2) are determined and transmitted to the numerical control system (3). In this case, the computing device (10) first transmits a movement command to the numerical control system (3) and receives a time curve for the actual position value (x) of the position-controlled shaft (2) resulting from the movement command. Based on this, a minimum characteristic frequency (fE) of the position-controlled axis (2) is determined. The position-controlled axes (2) are then individually selected in sequence and the respective jerk limit (RG) and the respective filter frequency (fF) are determined by the operator (13). The determination is limited by the computing device (10) to respective lower and upper limits (RUG, fUG, ROG, fOG). For the first selected position controlled axis (2), the computing device (10) determines the lower and upper limits (RUG, fUG, ROG, fOG) taking into account the lowest characteristic frequency (fE) of the first selected axis (2). For other position-controlled axes (2), the determination takes into account the lowest characteristic frequency (fE) of the respective selected axis (2) and the jerk limit (RG) determined for the first selected position-controlled axis (2) or the filter frequency (fF) determined for the first selected position-controlled axis (2).

Description

Technical Field

[0001] This invention relates to a parameterization method for numerical control systems.

[0002] - In normal operation, the CNC system coordinates the control of multiple position-controlled axes of the machine tool to move the tool along an actual trajectory relative to the workpiece to be machined by the tool, thereby adhering to the maximum deviation between the actual trajectory and the truly desired rated trajectory defined by the part program.

[0003] - Wherein, during normal operation, the CNC system adheres to the abrupt change limit of the controlled axis when it moves at that position, and the CNC system filters the position rating of the controlled axis in a rating filter before determining the control value of the controlled axis.

[0004] - Prior to the normal operation being performed in the computing device coupled to the CNC system, in a portion of the workflow, the abrupt change limit value for the position-controlled axis and the filtering frequency for the rated filter are determined, and the computing device transmits the abrupt change limit value and the filtering frequency to the CNC system.

[0005] Furthermore, the present invention starts with a computer program comprising machine code that can be processed by a computing device coupled to a numerical control system, wherein the processing of the machine code by the computing device causes the computing device to implement such a parameterization method.

[0006] The present invention also relates to a computing device that can be coupled to a numerical control system and programmed using such a computer program to execute such a parameterized method during operation. Background Technology

[0007] This parameterization method, along with the corresponding computer programs and computing devices, is generally known.

[0008] As known from DE10200680A1, in machine tools with multiple position-controlled axes, abrupt movement limits are specified and adapted to the abrupt movement characteristic curve, thereby affecting the filtering effect of the abrupt movement limits. The corresponding adaptation is performed individually for each participating axis of the machine tool. A similar disclosure can be found in DE10315525A1.

[0009] An operating method for manufacturing machines is known from EP4130902A1. Within the scope of this operating method, the maximum values ​​of acceleration and jerk can be determined before movement is identified. During movement identification, different operating parameters are detected, and thereby the current limits and / or torque limits of the drive causing the movement are determined. Other parameters can also be determined, particularly the maximum permissible jerk for subsequent operation. EP4130902A1 also mentions that position rating filters can be used for regular continuous operation. The corresponding machines can include multiple position-controlled axes.

[0010] A method is known from DE102017106559A1 in which the abrupt limit value is continuously tracked during the continuous operation of the CNC system.

[0011] As is known from EP2624090A1, the movement of the drive controller is performed in a way that limits abrupt changes, wherein the specific change curve of the abrupt change is determined in such a way that the excitation of vibration is suppressed.

[0012] Machine tools are complex electromechanical systems capable of vibration. In order to traverse a desired rated trajectory with sufficient accuracy (and thereby apply the desired profile to the workpiece), it is particularly necessary that the machine tool's involved positional axes and the machine body as a whole vibrate with only relatively small amplitudes, thus maintaining the required profile accuracy. This is especially applicable, for example, to situations where a very uniform surface must be produced by milling for so-called mold structures.

[0013] In the prior art, it is known in particular that, to limit abrupt movements in order to avoid vibration, a position-controlled shaft moves with the abrupt movement. It is also known to filter the shaft's position rating in a rating filter.

[0014] Determining or identifying sudden limit values ​​and filtration frequencies is a demanding task that can often only be addressed appropriately by a registered mechatronics expert. Summary of the Invention

[0015] The objective of this invention is to provide possibilities by which the abrupt change limits of the position rating of a position-controlled axis and the filtering frequency of the rating filter can be determined in a way that allows for the most dynamic possible movement of the trajectory while adhering to maximum deviation. This determination should be performed as efficiently as possible, especially with as few individual steps as possible. Furthermore, the abrupt change limits and filtering frequencies should be determined not only by registered mechatronics experts but also by the machine tool's commissioning personnel.

[0016] This task is solved by a parameterization method having the features of claim 1. An advantageous design of the parameterization method is the subject of dependent claims 2 to 8.

[0017] According to the present invention, the operating method of this type is designed in the following manner, namely,

[0018] - As part of the processing of the aforementioned workflow, computing devices

[0019] --Based on operator input, a motion command is determined for the position-controlled axis and transmitted to the CNC system, causing the CNC system to move the position-controlled axis according to the transmitted motion command. The CNC system also receives a time curve generated by the motion command for the actual position value of the position-controlled axis.

[0020] --Based on the time curve of the received actual position value, define the minimum characteristic frequency of the controlled axis at that position, or output a preliminary assessment of the time curve of the actual position value to the operator and receive the determination from the operator.

[0021] --The controlled axis at that position is selected sequentially, and the operator receives a determination of the abrupt change limit value and the filtering frequency for the corresponding selected controlled axis.

[0022] --The determined abrupt change limit value and the determined filtering frequency are transmitted to the CNC system.

[0023] The computing device allows the determination of the corresponding abrupt change limit value only between the corresponding abrupt change lower limit and the corresponding abrupt change upper limit, and allows the determination of the corresponding filter frequency only between the corresponding frequency lower limit and the corresponding frequency upper limit.

[0024] - For the first selected position-controlled axis, the computing device determines the abrupt lower and upper abrupt limits, as well as the lower and upper frequency limits, taking into account the lowest characteristic frequency of the first selected position-controlled axis.

[0025] - For other position-controlled axes, the computing device determines the lower limit of abrupt movement and / or the upper limit of abrupt movement, taking into account the lowest characteristic frequency of the corresponding selected axis and the abrupt movement limit value determined for the first selected position-controlled axis, and the computing device determines the lower limit of frequency and / or the upper limit of frequency, taking into account the lowest characteristic frequency of the corresponding selected axis and the filtering frequency determined for the first selected position-controlled axis.

[0026] Motion commands for position-controlled axes are mostly multiple short, rapid movements. The computing device determines the motion command at the start of the workflow, where the degree of movement (i.e., the path of travel) and / or the speed of movement can change between movements. For example, it is possible to specify three movements with displacements of 1 mm, 3 mm, and 10 mm, where the speed of movement is limited to 100 m / s in all three cases. 3The values ​​mentioned are, of course, purely exemplary. It is possible that these movements are fixedly specified, so that the operator's input only initially transmits motion commands to the CNC system. It is also possible that these movements are already parameterized within the controller, so the operator's input consists of only a few parameters of the movement. It is equally possible that the operator's input directly specifies the movement.

[0027] Different processing methods can be used to determine the minimum characteristic frequency of a position-controlled axis based on the detected time curve of the actual position value. In some cases, the computing device can perform automatic evaluation. For example, the computing device can automatically perform frequency analysis (individually for each position-controlled axis), determine the characteristic frequency of the corresponding position-controlled axis based on the frequency analysis, and assign the minimum characteristic frequency found for the corresponding position-controlled axis to the corresponding position-controlled axis. Alternatively, the computing device can, for example, perform frequency analysis on the time curve of the actual position value (again, individually for each position-controlled axis) and display the corresponding frequency analysis to the operator through a user interface. In this case, the operator can perform intelligent evaluation of the corresponding frequency analysis, allowing the operator of the computing device to specify the characteristic frequency of the position-controlled axis or at least specify the minimum characteristic frequency of that position-controlled axis. However, regardless of whether this processing method or other processing methods are adopted, the computing device knows the minimum characteristic frequency of the position-controlled axis after determination.

[0028] The significance and purpose of selecting the first axis whose position is being adjusted is to select the position-controlled axis where the lowest characteristic frequency has the minimum value. Therefore, if (for example) there are three position-controlled axes and the lowest characteristic frequency of axis 1 is 12Hz, the lowest characteristic frequency of axis 2 is 20Hz, and the lowest characteristic frequency of axis 3 is 25Hz, then axis 1 is selected.

[0029] In some cases, it is permissible to select other axes. However, this is only permissible when there are multiple position-controlled axes (which can be said to be competing among themselves), and these axes precisely have the lowest characteristic frequency with a minimum value. For example, when the lowest characteristic frequencies of axes 1, 2, and 3 are 12.5Hz, 12.8Hz, and 20Hz, it is essentially equivalent to selecting axis 1 or axis 2 first. Axis 3 should not be selected first.

[0030] Similar to determining the minimum characteristic frequency, the selection of the first position-controlled axis can also be handled in different ways. Since the minimum characteristic frequency of the axis of the position-adjusted computing device is known, automatic selection can be easily performed by the computing device. However, it is also possible that the operator specifies which position-controlled axis to select. In this case, the operator must ensure that the first position-controlled axis selected is the one with the minimum minimum characteristic frequency.

[0031] Different processing methods are possible to determine the corresponding abrupt change limits and corresponding filtering frequencies. Advantageous design schemes will be discussed later. Crucially, the computing device determines the corresponding lower and upper limits for the abrupt change limits and filtering frequencies, so that the operator can set them only within the corresponding specified range. Furthermore, it is important that, only for the first selected axis, the lower and upper limits are determined solely by the lowest characteristic frequency of the first selected axis. For other axes, the computing device also additionally considers the abrupt change limit or the filtering frequency determined for the first selected position-controlled axis in order to determine the lower and / or upper limits. Therefore, it is also necessary to ensure that the first selected position-controlled axis is the axis with the minimum lowest characteristic frequency.

[0032] Preferably, for the corresponding selected position-controlled axis, the computing device first receives the determination of the abrupt change limit value from the operator and then receives the determination of the filtering frequency. This in particular avoids the adverse effect of the filtering frequency on the proper determination of the abrupt change limit value.

[0033] Preferably, in order to determine the corresponding abrupt limit value, the computing device first disables the corresponding rated filter and then iteratively performs the following steps:

[0034] - The calculation device receives the determination of the sudden limit value from the operator.

[0035] - The computing device begins the movement of the corresponding position-controlled axis under the constraints of the received jerk limit value.

[0036] The computing device displays to the operator a time curve showing the actual position of the corresponding position-controlled axis.

[0037] These steps are performed iteratively until the operator gives the instruction to the computing device to specify the final received abrupt limit value as the determined abrupt limit value.

[0038] Preferably, the computing device sets the jerk limit value to the initial jerk before the operator's initial determination, begins movement of the corresponding position-controlled axis under the constraint of the initial jerk, and displays a time curve of the actual position value of the corresponding position-controlled axis to the operator. This avoids in many cases the need for multiple iterations of the cycle consisting of determining the jerk limit value, initiating the corresponding movement, and displaying the time curve of the actual position value, because either the initial jerk has already been defined as the definite jerk limit value, or at least the operator's initial determination of the jerk limit value has already resulted in the desired success.

[0039] Preferably, the computing device sets the initial abrupt change to a value, particularly an average value, between the lower and upper limits of the abrupt change on the selected position-controlled axis. Here, there is the highest probability that the initial abrupt change can be defined as a determined limit value. For example, the computing device can determine the initial abrupt change based on the lowest characteristic frequency of the selected position-controlled axis.

[0040] To determine the appropriate filtering frequency, the computing device enables the corresponding rated filter in a similar manner and then iteratively performs the following steps:

[0041] - The computing device receives the determination of the filtering frequency from the operator.

[0042] - The computing device begins the movement of the corresponding position-controlled axis under the constraints of a determined abrupt change limit and taking into account the received filtering frequency.

[0043] The computing device displays to the operator a time curve showing the actual position of the corresponding position-controlled axis.

[0044] These steps are performed iteratively until the operator gives the computing device an instruction to specify the last received filter frequency as a determined filter frequency.

[0045] Preferably, the computing device sets the filtering frequency to an initial frequency before the operator's initial determination, begins movement of the corresponding position-controlled axis while limiting it to the determined abrupt change limit and taking the initial frequency into account, and displays a time curve showing the actual position value of the corresponding position-controlled axis to the operator. This avoids in many cases the need for repeated cycles consisting of determining the filtering frequency, initiating the corresponding movement, and displaying the time curve of the actual position value, because either the initial frequency has already been defined as the determined filtering frequency, or at least the operator's initial determination of the filtering frequency has already resulted in the desired success.

[0046] Preferably, the computing device sets the initial frequency to a value, particularly an average value, between the lower and upper frequency limits of the selected position-controlled axis. Here, there is a highest probability that the initial frequency can be defined as a definite filtering frequency. For example, the computing device can determine the initial frequency based on the lowest characteristic frequency of the selected position-controlled axis.

[0047] Furthermore, this task is solved by a computer program having the features of claim 9. According to the invention, processing the computer program by a computing device causes the computing device to implement the parameterization method according to the invention.

[0048] Furthermore, this task is solved by a computing device having the features of claim 10. According to the invention, the computing device is programmed using a computer program according to the invention, thereby enabling the computing device to implement the parameterization method according to the invention during operation. Attached Figure Description

[0049] The features, characteristics, and advantages of the present invention described above, as well as the ways and means of achieving these features, characteristics, and advantages, will become clearer and more apparent from the following description in conjunction with embodiments, which are illustrated in more detail with reference to the accompanying drawings. Here, the following are shown in the schematic diagrams:

[0050] Figure 1 The machine tool, CNC system, and computing equipment are shown.

[0051] Figure 2 Showing the segment of the trajectory,

[0052] Figure 3 The adjustment structure of the position-controlled axis is shown.

[0053] Figure 4 The flowchart is shown.

[0054] Figure 5 The frequency response is shown.

[0055] Figure 6 The flowchart is shown.

[0056] Figure 7 The flowchart is shown.

[0057] Figure 8 A timeline is shown.

[0058] Figure 9 The flowchart is shown.

[0059] Figure 10 The flowchart is shown, and

[0060] Figure 11 The flowchart is shown. Detailed Implementation

[0061] root

[0062] according to Figure 1 The machine tool 1 has multiple position-controlled axes 2. At least one of these position-controlled axes 2 is controlled by a CNC system 3. During normal operation, the CNC system 3 coordinates the control of the position-controlled axes 2. By coordinating the control of the position-controlled axes 2, the tool 4 (e.g., a milling cutter) of the machine tool 1 moves relative to the workpiece 5 along an actual trajectory B (see...). Figure 2 ) Move. Thus, the workpiece is processed with the help of tool 4.

[0063] Figure 2 The rated trajectory B is shown as an example.* The section. Rated trajectory B * Through part program 6 (refer to) Figure 1 The CNC system 3 is programmed using the program for this part, defined by the specified parameter B. * This is the actual desired trajectory along which tool 4 should move relative to workpiece 5. In practice, the actual trajectory B differs from the rated trajectory B. * There are slight deviations. However, the movement of tool 4 relative to workpiece 5 always follows the actual trajectory B and the rated trajectory B. * The maximum deviation. For example, the movement of tool 4 relative to workpiece 5 ensures that the actual trajectory B always remains within the cylindrical range defined by the maximum deviation around the nominal trajectory B. * Movement. The tubular range is within... Figure 2 The middle part is represented by a dashed line.

[0064] Within the range of the controlled axis 2 at the corresponding position, according to Figure 3 The CNC system 3 generates position rating values ​​x for the corresponding position-controlled axis 2. * The sequence. Position rating position rating x * The sequence is transmitted to the corresponding rated value filter 7 implemented within the CNC system 3. In the corresponding rated value filter 7, the position rated value x is adjusted based on the corresponding filtering frequency fF. * The corresponding sequences are filtered. The filtered position values ​​are denoted by x' in the attached figure. * express.

[0065] The position rating after filtering is x' * The corresponding position adjuster 8 is associated with the actual position value x and thus generates the output signal y of the position adjuster 8, which is also implemented within the CNC system 3. The output signal y of at least one underlying structure 9 is further processed so that the output signal y becomes a modified output signal y'. In particular, the abrupt movement is limited so that the current abrupt movement (numerically speaking) is always limited to the corresponding abrupt movement limit value RG. Therefore, during normal operation, the CNC system 3 adheres to the abrupt movement limit value RG of the position-controlled axis 2 when it moves. Based on the corresponding modified output signal y', the corresponding control signal for driving the corresponding position-controlled axis 2 is determined.

[0066] The specific filtration method and approach in the rated filter 7 are secondary. FIR filtration (FIR = Finite Impulse Response) is typically performed in the rated filter 7. The specific design of the rated filter 7 is irrelevant, although its precise design often involves many independent parameters. However, a method known to those skilled in the art is to determine only the filtration frequency fF and then determine the parameters of the rated filter 7 based on fF.

[0067] Before normal operation is implemented, the determination of the abrupt change limit value RG and the filtering sequence fF (individually for the corresponding position-controlled axis 2) is performed in the computing device 10 (see [reference]). Figure 1 The determined abrupt change limit value RG and the determined filtering frequency fF are also transmitted to the CNC system 3 via the computing device 10. The computing device 10 is coupled to the CNC system 3 for this purpose. The computing device 10 is programmed using a computer program 11. The computer program 11 includes machine code 12, which can be processed by the computing device 10. Based on the programming of the computing device 10 using the computer program 11 or through the processing of the machine code 12 by the computing device 10, the computing device 10 executes a parameterization method. The following is in conjunction with... Figure 4 The other diagrams illustrate the parameterization method and the corresponding workflow in more detail.

[0068] according to Figure 4 In step S1, the computing device 10 is first coupled to the numerical control system 3. This coupling is typically achieved not only by the computing device 10, but at least in part by the operator 13 (see [link to CNC system 3]). Figure 1 Therefore, step S1 is achieved. Figure 4 It is shown only by dashed lines.

[0069] In step S2, the computing device 10 receives input from the operator 13. Based on this input, in step S3, the computing device 10 determines a motion command for the position-controlled axis 2 and in step S4, transmits the motion command to the CNC system 3. The CNC system 3 then moves the position-controlled axis 2 according to the transmitted motion command. For example, the computing device 10 can determine the number of short, rapid movements as the motion command for each position-controlled axis 2 and transmit it to the CNC system 3, wherein the movement path and / or the rapid movement may change for each rapid movement. A typical motion command is 80 m / s. 3 and 200m / s 3 Motion commands with a movement path of a few millimeters during rapid movements. For example, computing device 10 can determine motion commands with movement paths of 1 mm, 3 mm, and 10 mm for each position-controlled axis 2, where the rapid movement for the motion command is uniformly 100 m / s. 3 The values ​​mentioned are merely illustrative.

[0070] In CNC system 3, motion commands are translated into actual control of the position-controlled axis 2. A corresponding function generator for broadband excitation is typically present in CNC system 3.

[0071] In step S5, the computing device 10 receives from the CNC system 3 the time curve of the actual position value x of the position-controlled axis 2 produced by the motion command. Based on this, in step S6, frequency analysis is performed using the determination of the lowest characteristic frequency fE of the position-controlled axis 2 based on the received time curve of the actual position value x.

[0072] To achieve step S6, the computing device 10 itself can perform the corresponding frequency analysis and determination. Optionally, the computing device 10 can perform a pre-evaluation of the time curve of the actual position value x, particularly by determining the frequency response through frequency analysis (see, for example, [link to relevant documentation]). Figure 5 The frequency is displayed in Hz on the horizontal axis and the increase is displayed in dB on the vertical axis. In this case, the computing device 10 outputs a preliminary evaluation (e.g., frequency response) to the operator 13. The operator 13 can then determine the minimum characteristic frequency fE for the corresponding position-controlled axis 2. This determination can be made, for example, by inputting a numerical value or by using a positioning cursor 14. The corresponding determination of poles and zeros in the frequency diagram is generally known to those skilled in the art and can even be automated.

[0073] For good consistency, it's important to note that while multiple characteristic frequencies can be determined for position-controlled axis 2, only the lowest characteristic frequency fE of that position-controlled axis 2 is relevant. A numerical example of this is:

[0074] Assume there are three position-controlled axes 2 in total. One of the position-controlled axes 2 has characteristic frequencies of 12Hz, 17Hz, 24Hz, 30Hz, and values ​​above these. Another position-controlled axis 2 has characteristic frequencies of 20Hz, 27Hz, 34Hz, 40Hz, and values ​​above these. The last position-controlled axis 2 has characteristic frequencies of 25Hz, 33Hz, 40Hz, 50Hz, and values ​​above these. Therefore, the lowest characteristic frequency fE is 12Hz for the first position-controlled axis 2, 20Hz for the other position-controlled axis 2, and 25Hz for the last position-controlled axis 2. Characteristic frequencies

[0075] In step S7, select one of the position-controlled axes 2. When performing step S7 for the first time, the axis with the lowest characteristic frequency fE with the minimum value should be selected from the position-controlled axes 2. That is, according to the example above, the position-controlled axis 2 with the lowest characteristic frequency fE of 12Hz should be selected.

[0076] In step S8, the computing device 10 receives from the operator 13 the determination of the abrupt change limit value RG for the selected position-controlled axis 2 and the determination of the filtering frequency fF. The implementation of step S8 will be explained in more detail below.

[0077] In step S9, the computing device 10 checks whether the abrupt change limit RG and filter frequency fF have been determined for all position-controlled axes 2. If not, the computing device 10 returns to step S7. Upon re-implementing step S7, another position-controlled axis 2 is selected for which the abrupt change limit RG and filter frequency fF have not yet been determined. Conversely, if this determination has been made for all position-controlled axes 2, in step S10, the computing device 10 transmits the determined abrupt change limit RG and the determined filter frequency fF to the CNC system 3. In the CNC system 3, the independent parameters of the rated filter 7 are determined based on the determined filter frequency fF. The corresponding determination is generally routine and therefore does not need to be explained in detail.

[0078] With the execution of step S10, the parameterization method ends. Subsequently, in step S11, the computing device 10 is decoupled from the CNC system 3. This decoupling is typically achieved not only by the computing device 10, but at least partially by the operator 13. Therefore, step S11 is similar to step S1 in... Figure 4 It is shown only by dashed lines.

[0079] according to Figure 6 Step S8 is typically divided into two separate steps, S21 and S22. In step S21, the corresponding abrupt change limit value RG is determined. In step S22, the corresponding filtering frequency fF is determined. Step S21 is preferably performed before step S22. When performing step S22, the abrupt change limit value RG determined in step S21 has already been taken into account in this case.

[0080] The following is combined Figures 7 to 9 First, a feasible (and currently preferred) implementation of step S21 is described. Then, in conjunction with... Figure 10 and Figure 11 Explain the feasible (and currently preferred) implementation of step S22.

[0081] according to Figure 7 In step S31, the computing device 10 first disables the rated value filter 7 of the selected position-controlled axis 2. For example, the computing device 10 can transmit the corresponding control signal to the CNC system 3. In step S32, the computing device 10 determines the lower abrupt stop RUG and the upper abrupt stop ROG for the selected position-controlled axis 2.

[0082] In step S33, the computing device 10 receives the determination of the sudden movement limit value RG from the operator 13. Here, the sudden movement limit value RG specified by the operator 13 is only allowed within the interval determined by the sudden movement lower limit RUG and the sudden movement upper limit ROG. The computing device 10 rejects the sudden movement limit value RG specified by the operator 13 outside the interval determined by the sudden movement lower limit RUG and the sudden movement upper limit ROG. In step S34, similar to... Figure 4 In steps S3 and S4, the computing device 10 begins the movement of the corresponding position-controlled axis 2. The computing device 10 then limits the abrupt movements to the abrupt limit value RG received in step S33.

[0083] In step S35, with Figure 4 Similar to step S5, the computing device 10 receives the time curve of the actual position value x of the selected position-controlled axis 2 from the CNC system 3. These time curves are triggered or influenced by the motion command in step S34. In step S36, the computing device 10 displays the corresponding time curve of the actual position value x of the corresponding position-controlled axis 2. Figure 8 The actual position value x is shown around the corresponding position rating value x. * Possible curves showing the variation of vibration as a function of time t. If necessary, the region with the highest amplitude can be visually highlighted in the presentation.

[0084] In step S37, the computing device 10 checks whether an OK signal has been specified to it by the operator 13. If so, the computing device 10 specifies the last received abrupt change limit value RG as the determined abrupt change limit value RG. Otherwise, the computing device 10 returns to step S33 and receives confirmation of a change in the abrupt change limit value RG from the operator 13. It is feasible to freely specify the abrupt change limit value RG when re-implementing step S33 (within an allowable range). However, preferably, from the last specified abrupt change limit value RG, only the determined range can be changed, for example, by a maximum of 5%, 10%, or 20% of the size of the allowable range.

[0085] Figure 9 Show Figure 7 The processing method is slightly modified. The main difference is that step S33 is executed in the negative branch of step S37 and then returns to step S34, and step S38 is executed first after step S32. Furthermore, Figure 9 The handling method and Figure 7 The handling method is consistent with that.

[0086] In step S38, the computing device 10 sets the jerk limit value RG of the selected position-controlled axis 2 to the initial value, i.e., the initial jerk. Therefore, step S34 is performed for the first time with the movement limited to the initial jerk. The computing device 10 sets the initial jerk to a value between the lower jerk limit RUG and the upper jerk limit ROG of the selected position-controlled axis 2, typically set to the average value between the lower jerk limit RUG and the upper jerk limit ROG of the selected position-controlled axis 2. Specifically, the following values ​​are provided for the initial jerk:

[0087] - The geometric mean of the abrupt lower limit (RUG) and the abrupt upper limit (ROG) (geometric mean = product and square root),

[0088] - The arithmetic mean of the lower limit of agitation (RUG) and the upper limit of agitation (ROG) (arithmetic mean = summed and divided by 2), and

[0089] - The value between the geometric mean and arithmetic mean of the lower limit of agitation (RUG) and the upper limit of agitation (ROG).

[0090] according to Figure 10 The processing method is basically similar to Figure 7 The handling method. According to Figure 10 In step S41, the computing device 10 first activates the rated value filter 7 of the selected position-controlled axis 2. For example, the computing device 10 can transmit the corresponding control signal to the CNC system 3. In step S42, the computing device 10 determines the lower frequency limit fUG and the upper frequency limit fOG of the selected position-controlled axis 2.

[0091] In step S43, the computing device 10 receives the determination of the filtering frequency fF from the operator 13. Here, the operator 13 is only allowed to specify the filtering frequency fF within the interval defined by the lower frequency limit fUG and the upper frequency limit fOG. The computing device 10 rejects the operator 13 specifying the filtering frequency fF outside the interval defined by the lower frequency limit fUG and the upper frequency limit fOG. In step S44, similar to... Figure 7 In step S34, the computing device 10 begins the movement of the corresponding position-controlled axis 2. The computing device 10 limits the abrupt movement to the (previously) determined abrupt movement limit value RG for these movements and also takes into account the received filter frequency fF.

[0092] In step S45, with Figure 7 Similar to step S35, the computing device 10 receives the time curve of the actual position value x of the selected position-controlled axis 2 from the CNC system 3. These time curves are triggered or influenced by motion commands. In step S46, the computing device 10 displays the corresponding time curve of the actual position value x of the corresponding position-controlled axis 2. This presentation is similar to... Figure 8 The presentation is similar.

[0093] In step S47, the computing device 10 checks whether an OK signal has been specified to it by the operator 13. If so, the computing device 10 accepts the last received filter frequency fF as the determined filter frequency fF. Otherwise, the computing device 10 returns to step S43 and receives confirmation of the change in filter frequency fF from the operator 13. It is feasible to freely specify the filter frequency fF when re-implementing step S43 (within an allowed range). However, preferably, from the last specified filter frequency fF, only the determined range can be changed, for example, by a maximum of 5%, 10%, or 20% of the allowed range.

[0094] Figure 11 Show Figure 10 A slight modification to the processing method. This modification is similar to... Figure 9 Compared to Figure 7 The processing method has been modified. Therefore, the main difference lies in that step S43 is executed in the negative branch of step S47 and then returns to step S44, and furthermore, step S48 is executed first after step S42. Additionally, Figure 11 The handling method and Figure 10 The handling method is consistent with that.

[0095] In step S48, the computing device 10 sets the filtering frequency fF of the selected position-controlled axis 2 to a starting value, i.e., the initial frequency. Therefore, step S44 is performed for the first time with the initial frequency in mind. The computing device 10 sets the initial frequency to a value between the lower frequency limit fUG and the upper frequency limit fOG of the selected position-controlled axis 2, typically to the average value between the lower frequency limit fUG and the upper frequency limit fOG. Similar to the initial jump, for the initial frequency, in particular, the geometric mean, arithmetic mean, and a value between the geometric mean and the arithmetic mean of the lower frequency limit fUG and the upper frequency limit fOG are provided.

[0096] For the purposes of this description, the abrupt change limit value RG and the filtering frequency fF are determined for the corresponding selected position-controlled axis 2 in the same manner and method. The difference lies in which values ​​are accepted as permissible by the calculation device 10, i.e., in the results of the abrupt change lower limit RUG and abrupt change upper limit ROG, as well as the frequency lower limit fUG and frequency upper limit fOG determined by the calculation device 10.

[0097] Specifically, for the first selected position-controlled axis 2 (i.e., the position-controlled axis 2 with the minimum characteristic frequency fE), the calculation device 10 determines the abrupt lower limit RUG, abrupt upper limit ROG, lower frequency limit fUG, and upper frequency limit fOG, taking into account the minimum characteristic frequency fE of the first selected axis 2. No other correlations are considered in any case. For example, to determine the abrupt lower limit RUG, the calculation device 10 can multiply the minimum characteristic frequency fE of the first selected axis 2 by an appropriate coefficient and use the resulting value as the abrupt lower limit RUG. Similarly, the calculation device 10 can also determine the abrupt upper limit ROG, lower frequency limit fUG, and upper frequency limit fOG, taking into account the minimum characteristic frequency fE of the first selected axis 2. Of course, these coefficients can be different. In particular, to determine the corresponding lower limit RUG, fUG, and the corresponding upper limit ROG, fOG, different coefficients must be used.

[0098] To illustrate this further, let's consider a numerical example, again based on the previous example, where the lowest characteristic frequency fE with the minimum value is 12Hz. For example, we can multiply the value "12" by a factor of 0.5 and express the result in "m / s". 3 The unit is used as the lower limit of emergency response (RUG).

[0099] Similarly, it can multiply the value "12" by a coefficient of 2.0 and express the result in "m / s". 3 The unit is used as the upper limit of abrupt movement (ROG). In a similar manner and by means of the first selected position controlled axis 2, the lower limit of frequency (fUG) and the upper limit of frequency (fOG) can also be determined without changing the units and using the same coefficients as when determining the lower limit of abrupt movement (RUG) and the upper limit of abrupt movement (ROG), or other coefficients as needed.

[0100] For other position-controlled axes 2, the computing device 10 determines the lower abruptness limit RUG and / or the upper abruptness limit ROG, taking into account not only the lowest characteristic frequency fE of the corresponding selected axis 2 but also, additionally, the abruptness limit value RG specifically determined for the initially selected position-controlled axis 2. For example, the computing device 10 can multiply the lowest characteristic frequency fE of the currently selected axis 2 by a suitable coefficient and multiply the abruptness limit value RG of the initially selected position-controlled axis 2 by another suitable coefficient. The computing device 10 can use the larger of the two obtained values ​​as the lower abruptness limit RUG. Similarly, the computing device 10 can multiply the lowest characteristic frequency fE of the currently selected axis 2 by a suitable coefficient and multiply the abruptness limit value RG of the initially selected position-controlled axis 2 by another suitable coefficient. The computing device 10 can use the smaller of the two obtained values ​​as the upper abruptness limit ROG.

[0101] Similarly, the computing device 10 determines the lower frequency limit fUG and / or upper frequency limit fOG for other position-controlled axes 2, taking into account not only the lowest characteristic frequency fE of the correspondingly selected axis 2 but also, additionally, the filtering frequency fF specifically determined for the first-selected position-controlled axis 2. For example, the computing device 10 can multiply the lowest characteristic frequency fE of the currently selected axis 2 by a suitable coefficient and multiply the filtering frequency fF of the first-selected position-controlled axis 2 by another suitable coefficient. The computing device 10 can use the larger of the two resulting values ​​as the lower frequency limit fUG. Similarly, the computing device 10 can consider the lowest characteristic frequency fE of the currently selected axis 2 and multiply it by a suitable coefficient, and multiply the filtering frequency fF of the first-selected position-controlled axis 2 by another suitable coefficient. The computing device 10 can use the smaller of the two resulting values ​​as the upper frequency limit fOG.

[0102] Therefore, in general, the present invention relates to the following:

[0103] To parameterize the CNC system 3, the computing device 10 coupled to the CNC system 3 executes a workflow in which the abrupt change limit RG and the filtering frequency fF of the position-controlled axis 2 are determined and transmitted to the CNC system 3. Here, the computing device 10 first transmits motion commands to the CNC system 3 and receives the resulting time curve for the actual position value x of the position-controlled axis 2. Based on this, the minimum characteristic frequency fE of the position-controlled axis 2 is determined. Then, the position-controlled axes 2 are selected individually and sequentially, and the operator 13 determines the corresponding abrupt change limit RG and the corresponding filtering frequency fF. This determination is limited by the computing device 10 to corresponding lower and upper limits RUG, fUG, ROG, and fOG. For the first selected position-controlled axis 2, the computing device 10 determines the lower and upper limits RUG, fUG, ROG, and fOG, taking into account the minimum characteristic frequency fE of the first selected axis 2. For other position-controlled axes 2, the determination is made by taking into account the lowest characteristic frequency fE of the corresponding selected axis 2 and the abrupt change limit value RG determined for the first selected position-controlled axis 2 or the filtering frequency fF determined for the first selected position-controlled axis 2.

[0104] This invention has many advantages. Since the abrupt limit value RG and the filtering frequency fF are first determined for the position-controlled axis 2 with the lowest characteristic frequency fE having the minimum value, and these values ​​are subsequently considered when determining the abrupt limit values ​​RG and the filtering frequency fF for other position-controlled axes 2, the abrupt limit value RG and the filtering frequency fF can be determined "directly and clearly" for the position-controlled axis 2. In particular, this ensures the necessary coordination between the position-controlled axes 2 and thus guarantees good profile accuracy. Based on determining the abrupt limit value RG for the corresponding position-controlled axis 2 before determining the filtering frequency fF for the corresponding position-controlled axis 2, this can also be determined "directly and clearly." By displaying the time curve of the actual position value x within the range of steps S35 and S45 and the overall evaluation performed by the operator 13, the "better" values ​​for the corresponding abrupt limit value RG and the corresponding filtering frequency fF can be determined simply and reliably. Vibration damping effect is significantly improved, especially in the critical frequency range between 10Hz and 50Hz. At the same time, relatively high dynamics are maintained. The rated trajectory B * It can be passed through with high precision and high dynamics during the normal operation of the CNC system 3.

[0105] Although the invention has been shown and described in more detail by way of preferred embodiments, the invention is not limited to the disclosed examples and other variations can be derived by those skilled in the art without departing from the scope of protection of the invention.

Claims

1. A parameterization method for a numerical control system (3), -in, During normal operation, the CNC system (3) coordinates the control of multiple position-controlled axes (2) of the machine tool (1) to move the tool (4) of the machine tool along the actual trajectory (B) relative to the workpiece (5) to be processed by the tool (4), thereby conforming to the actual trajectory (B) and the truly desired nominal trajectory (B) defined by the part program (6). * The maximum deviation, - Wherein, the CNC system (3) adheres to the abrupt change limit (RG) of the position-controlled axis (2) during normal operation when the position-controlled axis (2) moves, and the CNC system filters the position rating (x) of the position-controlled axis (2) in the rating filter (7) before determining the control value of the position-controlled axis (2). * ), - Prior to the normal operation being performed in the computing device (10) coupled to the numerical control system (3), as part of the workflow, the abrupt change limit (RG) for the position-controlled axis (2) and the filtering frequency (fF) for the rated filter (7) are determined, and the computing device (10) transmits the abrupt change limit (RG) and the filtering frequency (fF) to the numerical control system (3). -In which, as part of the processing of the workflow, the computing device (10) --Based on the input of the operator (13), a motion command for the position-controlled axis (2) is determined and the motion command is transmitted to the CNC system (3) so that the CNC system (3) moves the position-controlled axis (2) according to the transmitted motion command, and receives from the CNC system (3) a time curve generated by the motion command for the actual position value (x) of the position-controlled axis (2). --Based on the time curve of the received actual position value (x), define the minimum characteristic frequency (fE) of the position-controlled axis (2), or output a pre-evaluation of the time curve of the actual position value (x) to the operator (13) and receive the determination from the operator (13). --The position-controlled axis (2) is selected sequentially, and the operator (13) receives the determination of the abrupt change limit (RG) and the filtering frequency (fF) for the correspondingly selected position-controlled axis (2), and --The determined abrupt change limit value (RG) and the determined filter frequency (fF) are transmitted to the numerical control system (3). - Wherein, the computing device (10) only allows determining the corresponding abrupt limit value (RG) between the corresponding abrupt lower limit (RUG) and the corresponding abrupt upper limit (ROG), and only allows determining the corresponding filter frequency (fF) between the corresponding frequency lower limit (fUG) and the corresponding frequency upper limit (fOG). - Wherein, for the first selected position-controlled axis (2), the computing device (10) determines the abrupt lower limit (RUG) and the abrupt upper limit (ROG), as well as the frequency lower limit (fUG) and the frequency upper limit (fOG), taking into account the lowest characteristic frequency (fE) of the first selected axis (2), and - Wherein, for other position-controlled axes (2), the computing device (10) determines the lower abruptness limit (RUG) and / or the upper abruptness limit (ROG) taking into account the lowest characteristic frequency (fE) of the corresponding selected axis (2) and the abruptness limit value (RG) determined for the first selected position-controlled axis (2), and the computing device determines the lower frequency limit (fUG) and / or the upper frequency limit (fOG) taking into account the lowest characteristic frequency (fE) of the corresponding selected axis (2) and the filtering frequency (fF) determined for the first selected position-controlled axis (2).

2. The parameterization method according to claim 1, characterized in that, For the corresponding selected position-controlled axis (2), the computing device (10) first receives from the operator (13) the determination of the abrupt limit value (RG) and then the determination of the filtering frequency (fF).

3. The parameterization method according to claim 1 or 2, characterized in that, To determine the corresponding sudden limit value (RG), the computing device (10) disables the corresponding rated value filter (7) and iteratively... - Receive the determination of the sudden limit value (RG) from the operator (13), -The movement of the corresponding position-controlled axis (2) begins under the condition of being limited by the received abrupt change limit (RG), and - Display the time curve of the actual position value (x) of the corresponding position-controlled axis (2) to the operator (13). Until the operator (13) gives the instruction to the computing device (10) to specify the last received abrupt limit value (RG) as the determined abrupt limit value (RG).

4. The parameterization method according to claim 3, characterized in that, Before being determined by the operator (13) for the first time, the computing device (10) sets the jerk limit value (RG) as the initial jerk, starts the movement of the corresponding position-controlled axis (2) under the limitation of the initial jerk, and displays to the operator (13) the time curve of the actual position value (x) of the corresponding position-controlled axis (2).

5. The parameterization method according to claim 4, characterized in that, The computing device (10) sets the initial jolt to a value, in particular an average value, between the lower jolt limit (RUG) and the upper jolt limit (ROG) of the selected position-controlled axis (2).

6. The parameterization method according to any one of the preceding claims, characterized in that, To determine the corresponding filter frequency (fF), the computing device (10) enables the corresponding rated filter (7) and iteratively... - Receive the determination of the filtering frequency (fF) from the operator (13), -Under the constraint of the determined abrupt change limit (RG) and taking into account the received filter frequency (f), the movement of the corresponding position-controlled axis (2) begins, and - Display the time curve of the actual position value (x) of the corresponding position-controlled axis (2) to the operator (13). Until the operator (13) gives the computing device (10) an instruction to specify the last received filter frequency (fF) as the determined filter frequency (fF).

7. The parameterization method according to claim 6, characterized in that, Before being initially determined by the operator (13), the computing device (10) sets the filter frequency (fF) to the initial frequency, starts the movement of the corresponding position-controlled axis (2) under the constraint of the determined abrupt change limit value (RG) and taking into account the initial frequency, and displays to the operator (13) the time curve of the actual position value (x) of the corresponding position-controlled axis (2).

8. The parameterization method according to claim 7, characterized in that, The computing device (10) sets the initial frequency to a value, in particular an average value, between the lower frequency limit (fUG) and the upper frequency limit (fOG) of the selected position-controlled axis (2).

9. A computer program comprising machine code (12) capable of being processed by a computing device (10) coupled to a numerical control system (3), wherein, The processing of the machine code (12) by the computing device (10) causes the computing device (10) to execute the parameterization method according to any one of the preceding claims.

10. A computing device capable of being coupled to a numerical control system (3) and programmed using a computer program (11) according to claim 9, so that the computing device performs the parameterization method according to any one of claims 1 to 8 during operation.

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