PCB pinning method directly controlled by CNC software

Abstract

The present application relates to the technical field of PCB processing automation, and particularly relates to a PCB pin punching method directly controlled by CNC software. The special M code is directly parsed by the CNC software to drive the actuator, and the whole process integrated control of the PCB pin punching operation is realized. The scheme saves the external PLC and its supporting hardware, significantly simplifies the device structure, reduces the manufacturing cost and the complexity of subsequent maintenance. Since the instruction transfer link between the CNC and the PLC is eliminated, the system response is more rapid, and the positioning accuracy and operation efficiency of the pin punching are effectively improved. Meanwhile, all the control parameters are integrated in the CNC software, and different specifications of PCB and pins can be quickly adapted by modifying the software parameters, so that the operation flexibility and process adaptability of the device are greatly enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of PCB processing automation, and particularly relates to a PCB PIN punching and pulling method directly controlled by CNC software. BACKGROUND

[0002] In the field of automatic processing of PCBs (printed circuit boards), using PINs (pins) to accurately position the board material is a key link to ensure the accuracy of subsequent drilling and milling processes. In the current industry, the mainstream technical solution to achieve PIN automatic punching and pulling generally adopts an architecture in which a computer numerical control (CNC) system and an external programmable logic controller (PLC) work together. Under this architecture, the CNC system is mainly responsible for processing the processing program and coordinate movement, while the timing control, logic judgment and state feedback of the specific action of punching and pulling PINs are completed by an independent PLC module.

[0003] This architecture has the following disadvantages in practice: first, relying on an external PLC inevitably leads to the complication of the hardware structure, requiring the configuration of additional controllers, signal conversion modules and supporting cables, which not only increases the cost of device manufacturing, but also brings inconvenience to later fault diagnosis and maintenance. Second, there is an intermediate link in the transmission of instructions and states between the CNC and the PLC, which may introduce communication delay. In high-speed and high-precision operation scenarios, this delay may cause deviations in Z-axis height control or X / Y-axis positioning, thereby affecting the success rate of PIN punching and pulling and the processing quality of the PCB. In addition, the control logic of the system is scattered on two independent software and hardware platforms, making device debugging, parameter adjustment and functional adaptation for different PCB specifications complicated, often requiring simultaneous operation of the CNC software and the PLC development environment, increasing the technical requirements for operators and the time cost of process updates. SUMMARY

[0004] In view of the problems existing in the prior art, the present application is proposed.

[0005] Therefore, the present application aims to solve the problems of high hardware cost, instruction response delay, system debugging complexity and insufficient adaptive flexibility of the existing PCB PIN punching and pulling technology due to the reliance on external PLC control.

[0006] To solve the above technical problems, the application provides the following technical scheme: a PCB pin punching method directly controlled by CNC software, which comprises the following steps: S1: instruction presetting and parameter setting step: presetting pin punching special M code in the CNC software, and integrating the M code into a PCB processing comprehensive program; meanwhile, presetting and storing various parameters required for pin punching in the CNC software; the pin punching special M code at least comprises pin pulling instruction M350X#Y# for triggering pin pulling action, pin punching instruction M351D# for triggering pin punching action, and PIN diameter detection instruction M3501T#, wherein X#Y# is the program coordinates of the pin pulling target, D# is the diameter parameter of the PIN to be punched, and T# is the tolerance threshold of the PIN diameter; the parameters at least comprise position parameter, height parameter, timing parameter and detection parameter;

[0007] S2: instruction analysis and parameter verification step: the CNC software reads and analyzes the M code in the processing comprehensive program, extracts corresponding coordinates, diameter and tolerance parameters, and calls the preset parameters for verification; the verification at least comprises position verification, height verification and specification verification;

[0008] S3: motion driving and executing step: after the verification, the CNC software converts the verified parameters into motion instructions, generates motion control signals and directly sends them to the servo driver and pneumatic / electrical control unit of the executing mechanism to complete the pin pulling action or pin punching action;

[0009] S4: abnormality monitoring step: in steps S2 and S3, the CNC software monitors the executing mechanism state and detection data in real time, and when an abnormality is detected, outputs an alarm information and suspends the action.

[0010] As a preferred scheme of the CNC software directly controlled PCB pin punching method, the executing mechanism comprises an X / Y / Z axis servo moving platform, a pin pulling group and a PIN library for storing PINs; the detection component comprises a contact sensor, a height sensor for monitoring the Z axis height and a force sensor for detecting the clamping force; and the pin pulling group comprises a PIN clamping mechanism and a PIN lifting mechanism.

[0011] As a preferred scheme of the CNC software directly controlled PCB pin punching method, the position parameters comprise the offset of the pin pulling group relative to the main shaft, the PIN recovery position and the program PIN hole coordinates; the program PIN hole coordinates are automatically acquired and stored through the "drilling synchronous recording" function of the CNC software, and can be triggered to reset by the G53 instruction.

[0012] As a preferred scheme of the PCB pin insertion and extraction method directly controlled by the CNC software, the height parameter comprises a Z-axis minimum action limit; the timing parameter comprises a delay action time of a pin top mechanism after the pin clamping mechanism is closed, and a pin release delay time after the pin clamping mechanism is opened; and the detection parameter comprises a pin diameter qualified tolerance range and a pin clamping force range of the pin clamping mechanism.

[0013] As a preferred scheme of the PCB pin insertion and extraction method directly controlled by the CNC software, the position verification comprises calculating actual movement coordinates of the pin extraction group according to program coordinates in the pin extraction instruction and a preset relative spindle offset of the pin extraction group, and judging whether the coordinates are within a device stroke range; and the height verification comprises judging whether a preset action height of the Z-axis is not lower than a corresponding minimum action limit.

[0014] As a preferred scheme of the PCB pin insertion and extraction method directly controlled by the CNC software, the pin extraction action specifically comprises: driving an X / Y-axis movement platform to an actual position calculated based on pin extraction instruction coordinates; driving the Z-axis to move to a Z-axis action height; controlling the pin clamping mechanism to close and clamp the pin; after a first preset time is delayed, controlling a pin top mechanism to act to separate the pin from the PCB; driving the Z-axis to move back up; driving the X / Y-axis movement platform to a preset pin recovery position; and controlling the pin clamping mechanism to open and delay a second preset time to release the pin.

[0015] As a preferred scheme of the PCB pin insertion and extraction method directly controlled by the CNC software, the pin insertion action specifically comprises: driving an X / Y-axis movement platform to a preset pin library position; driving the Z-axis to move to a Z-axis action height and controlling the pin clamping mechanism to close to grab the pin; executing a pin diameter detection instruction M3501T# to drive a detection mechanism to measure an actual pin diameter and compare the actual pin diameter with a tolerance threshold T# in the instruction, and if the actual pin diameter is unqualified, an alarm is given and paused; if the actual pin diameter is qualified, driving the X / Y-axis movement platform to program pin hole coordinates; driving the Z-axis to move to a pin insertion target height; after the pin top mechanism assists in inserting the pin, controlling the pin clamping mechanism to open to release the pin.

[0016] As a preferred scheme of the CNC software directly controlled PCB pin insertion and extraction method, in the step of executing the pin diameter detection instruction M3501T#, a contact sensor reads positions of left and right sides of the pin, and an actual pin diameter is calculated according to a formula: actual diameter=(right side position-left side position)-detection gauge diameter+compensation value.

[0017] As a preferred scheme of the PCB pin punching method directly controlled by the CNC software, the alarm information at least includes a fault type, an occurrence time, an M code instruction triggering the action, and a current position coordinate of an actuator, and is stored in a local log file of the CNC software.

[0018] As a preferred scheme of the PCB pin punching method directly controlled by the CNC software, the CNC software runs on a CNC controller carrying a Windows and RTX real-time system, and the motion driving step is realized by directly controlling a servo motor through calling an RTX real-time API.

[0019] The present application has the advantages that: the present application directly analyzes special M code and drives an actuator through CNC software, realizing the whole-process integrated control of PCB pin punching operation. This scheme eliminates external PLC and its supporting hardware, significantly simplifies the device structure, reduces manufacturing cost and complexity of subsequent maintenance. Since the instruction transfer link between the CNC and the PLC is eliminated, the system response is more rapid, effectively improving the positioning accuracy and operation efficiency of pin punching. At the same time, all control parameters are integrated in the CNC software, which can quickly adapt to different specifications of PCB and pins by modifying software parameters, greatly enhancing the operation flexibility and process adaptability of the device. In addition, the embedded parameter verification and real-time exception monitoring mechanism constitutes a closed-loop safety protection, which can actively intercept operation risks such as coordinate overtravel, insufficient height and unqualified pins, thereby significantly reducing the PCB scrap rate and equipment failure probability, and improving the reliability and safety of machining as a whole. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Fig. 1 The whole principle step diagram of the present application.

[0022] Fig. 2 The pin punching action flowchart of the present application.

[0023] Fig. 3 The pin punching action flowchart of the present application. DETAILED DESCRIPTION

[0024] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings of the specification.

[0025] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be appreciated that the present application can be practiced in a variety of ways beyond the specific details set forth herein, having regard to the content of the following description, and thus the present application should not be limited to the details of the description.

[0026] Secondly, the "one embodiment" or "embodiment" referred to herein is intended to mean a specific feature, structure, or characteristic under discussion that is included in at least one implementation of the present application. The various appearances of "in one embodiment" or "in an embodiment" in the specification are not all referring to the same embodiment, nor are they mutually exclusive of other embodiments.

[0027] Embodiment 1, Reference Figs. 1-3 For the first embodiment of the present application, the embodiment provides a PCB pin punching method directly controlled by CNC software, the method comprising S1: instruction presetting and parameter setting step: presetting pin punching special M code in the CNC software, and integrating the M code into the PCB processing comprehensive program; at the same time, presetting and storing various parameters required for pin punching in the CNC software;

[0028] The pin punching special M code at least includes pin punching instruction M350X#Y# for triggering pin punching action, pin punching instruction M351D# for triggering pin punching action, and PIN diameter detection instruction M3501T#, wherein X#Y# is the program coordinate of the pin punching target, D# is the diameter parameter of the pin to be punched in, and T# is the tolerance threshold of the PIN diameter;

[0029] The parameters at least include position parameter, height parameter, timing parameter and detection parameter;

[0030] S2: instruction analysis and parameter verification step: the CNC software reads and analyzes the M code in the processing comprehensive program, extracts the corresponding coordinates, diameter and tolerance parameters, and calls the preset parameters for verification;

[0031] The verification at least includes position verification, height verification and specification verification;

[0032] S3: motion driving and executing step: after the verification, the CNC software converts the verified parameters into motion instructions, generates motion control signals and directly sends them to the servo driver and pneumatic / electrical control unit of the executing mechanism, so as to complete the pin punching action or pin punching action;

[0033] S4: abnormality monitoring step: in steps S2 and S3, the CNC software monitors the executing mechanism state and detection data in real time, and when an abnormality is detected, outputs an alarm information and suspends the action.

[0034] This method constructs a complete closed-loop software control system of "instruction-parameter-action-monitoring". The dedicated M-code and conventional machining instructions are seamlessly mixed and executed in the same machining program, realizing the integration of machining and clamping positioning processes. The detection parameters in the parameter system, such as the clamping force range of 5-10N, take into account both clamping reliability and pin protection; the diameter tolerance of ±0.005mm ensures assembly accuracy. The entire control process is completed within the CNC software, without the need for any external PLC to participate in any logic judgment or signal transfer.

[0035] Specifically, the actuator includes an X / Y / Z axis servo moving platform, a PIN removal group, and a PIN library for storing PINs; the detection components include a contact sensor, a height sensor for monitoring the Z-axis height, and a force sensor for detecting the clamping force; the PIN removal group includes a PIN clamping mechanism and a PIN lifting mechanism.

[0036] The PIN extraction unit, as a core functional module, employs a pneumatic PIN gripping mechanism for precise PIN picking and an electric PIN ejection mechanism for smooth PIN ejection, working together to complete a delicate operation. Notably, the PIN magazine is equipped with photoelectric sensors to confirm PIN presence. The contact sensor has an accuracy of ±0.001mm, providing reliable data for diameter detection; the force sensor has a range of 0-50N, providing real-time feedback on clamping status; and the Z-axis height sensor has a resolution of 0.0001mm, ensuring safe height monitoring. All these components are directly controlled by CNC software, forming a unified execution system.

[0037] Specifically, the position parameters include the offset of the PIN pull group relative to the spindle, the PIN retraction position, and the program PIN hole coordinates; wherein, the program PIN hole coordinates are automatically acquired and stored through the "drilling synchronization recording" function of the CNC software, and can be reset by triggering the G53 command.

[0038] The "Drilling Synchronization Recording" function enables automatic inheritance of machining data. When the CNC performs a drilling operation, the software automatically records the coordinates of each hole. The operator only needs to mark which holes are PIN holes on the interface, and the system will automatically establish a PIN hole coordinate library. The G53 command reset mechanism effectively solves the problem of coordinate reference consistency during different batches of machining, preventing positioning errors caused by coordinate accumulation or conflicts.

[0039] Specifically, the height parameter includes the minimum Z-axis movement limit; the timing parameter includes the delay time of the top PIN mechanism after the PIN clamping mechanism closes, and the PIN release delay time after the PIN clamping mechanism opens; the detection parameter includes the acceptable tolerance range of the PIN diameter and the clamping force range of the PIN clamping mechanism.

[0040] The Z-axis limit of 10mm in the height parameter is a safety distance based on the PCB thickness and mechanism stroke optimization. The delay of 0.5s after clamping the PIN and then lifting the PIN ensures stable clamping. The delay of 1s after unclamping and then moving ensures that the PIN is completely separated. The detection parameters provide clear standards for quality judgment, and the tolerance requirement of ±0.005mm and the force range of 5-10N are optimized values verified by practice.

[0041] Specifically, the position verification includes calculating the actual moving coordinates of the PIN pulling group according to the program coordinates in the PIN pulling instruction and the preset relative spindle offset of the PIN pulling group, and judging whether the coordinates are within the device stroke range; the height verification includes judging whether the preset action height of the Z-axis is not lower than the corresponding minimum action limit.

[0042] The position verification converts the program coordinates into mechanical coordinates through coordinate superposition calculation (actual coordinates = program coordinates ± offset), and performs stroke limit judgment before execution, effectively preventing machine collision accidents. The height verification adopts a double protection mechanism, which checks whether the preset height value meets the minimum limit, and monitors the actual position through a real-time height sensor, building a safety protection system combining software preset and hardware feedback.

[0043] Specifically, the PIN pulling action specifically includes: driving the X / Y-axis moving platform to the actual position calculated based on the PIN pulling instruction coordinates; driving the Z-axis to move to the Z-axis action height; controlling the PIN clamping mechanism to close and clamp the PIN; after a delay of a first preset time, controlling the PIN lifting mechanism to act to separate the PIN from the PCB; driving the Z-axis to rise; driving the X / Y-axis moving platform to a preset PIN recovery position; controlling the PIN clamping mechanism to open and delaying a second preset time to release the PIN.

[0044] Delay 0.5s after clamping to lift out, allowing the clamping force to be fully established; lift to a safe height before moving horizontally after lifting out to avoid scratching the PCB surface; delay 1s to release at the recovery position to ensure that the PIN is completely detached.

[0045] Specifically, the PIN pulling action specifically includes: driving the X / Y-axis moving platform to the actual position calculated based on the PIN pulling instruction coordinates; driving the Z-axis to move to the Z-axis action height; controlling the PIN clamping mechanism to close and clamp the PIN; after a delay of a first preset time, controlling the PIN lifting mechanism to act to separate the PIN from the PCB; driving the Z-axis to rise; driving the X / Y-axis moving platform to a preset PIN recovery position; controlling the PIN clamping mechanism to open and delaying a second preset time to release the PIN.

[0046] The PIN punching action innovatively embeds quality detection into the process flow. Diameter detection is performed immediately after the PIN component is grabbed, realizing quality control of "grabbing and detecting immediately, and punching only for qualified products". When the detection is unqualified, an alarm is given to suspend immediately. The target height of PIN punching is dynamically calculated according to the thickness of the PCB, ensuring that the PIN component is punched to a moderate depth. The auxiliary punching action of the PIN top mechanism provides additional stability, ensuring that the PIN component is vertically punched into the hole.

[0047] Specifically, in the step of executing the PIN diameter detection instruction M3501T#, the positions of the left and right sides of the PIN are read by a contact sensor, and the actual diameter of the PIN is calculated according to the formula: actual diameter = (right side position - left side position) - detection gauge diameter + compensation value.

[0048] The "detection gauge diameter" in the formula compensates for the size of the measuring head itself, and the "compensation value" is used to eliminate system errors such as temperature and mechanical clearance.

[0049] Specifically, the alarm information at least includes fault type, occurrence time, M code instruction triggering the action, and current position coordinates of the actuator, and is stored in a local log file of the CNC software.

[0050] The alarm system designs a structured fault record format. The fault type uses standardized codes, such as height overrun (E0921), coordinate overrun (E0920), height overrun (E0921), diameter overrun (E0922), and PIN clamping failure (E0923); the timestamp is accurate to milliseconds; the M code instruction is recorded completely; and the coordinate information includes real-time positions of X / Y / Z axes. These information are stored in the local log in an encrypted form, forming a complete traceable quality archive, providing data support for subsequent fault analysis, process optimization and equipment maintenance.

[0051] Specifically, the CNC software runs on a CNC controller equipped with Windows and RTX real-time system, and the motion driving step is realized by directly controlling the servo motor through calling RTX real-time API.

[0052] The Windows layer is responsible for non-real-time tasks such as human-computer interaction and file management, and the RTX real-time layer is specially designed to handle real-time tasks such as motion control. By calling RTX real-time API, the CNC software can directly generate control signals to drive the servo motor, ensuring that the response delay of the motion instruction is ≤10 ms, meeting the stringent requirements of real-time for high-speed and high-precision machining.

[0053] Embodiment 2, refer to Figs. 1-3 This is the second embodiment of the present application, which shows a specific application scenario.

[0054] When the processing flow needs to fix the PCB, the system executes the PIN punching program containing M351D2.0 instruction. After the CNC software parses the instruction, it drives the actuator to the PIN library position (X30.000, Y40.000), and then the PIN grabbing mechanism grabs the PIN with a diameter of 2.0 mm at a force of 5N. Then the M3501T0.005 detection instruction is executed, and the contact sensor measures the data, which is calculated to be 2.003 mm by the formula "actual diameter=(10.502-8.500)-1.000+0.001", and it is determined to be qualified within the tolerance range. The system continues to drive to the PIN hole coordinates (X80.000, Y60.000) obtained by synchronous recording of drilling, and punches the PIN into the hole at a height of 12 mm. After completion, in order to take out the processed PCB, the system executes the M350X100Y50 PIN pulling instruction, and calculates the actual coordinates (105.000, 47.000) according to the offset (X+5.0, Y-3.0), and then the PIN grabbing mechanism is clamped at a force of 5N, and after a delay of 0.5s, the PIN separating mechanism is actuated to separate the PIN, and finally the PIN is released at the recycling position (X20.000, Y30.000). The whole process is directly controlled by the CNC software, the response delay is less than 10ms, and the positioning accuracy is ±0.01mm. If any link appears abnormal, such as the detected diameter is out of tolerance or the height is insufficient, the system will immediately pause and record detailed alarm information.

[0055] The specific application embodies the technical effect of the application in actual production. The working accuracy of the system is demonstrated by specific coordinates, forces, and tolerance values, and the feasibility of the CNC software direct control method in the real processing environment is verified. From PIN grabbing, precision detection, accurate punching, and reliable removal, the whole process is completed in one go, which shows the significant advantages of the method in improving operation accuracy, ensuring quality, and improving efficiency, and provides a complete and reliable solution for PCB processing automation.

[0056] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit it. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A PCB pin-pin punching and unpinning method directly controlled by CNC software, characterized in that: Comprising, S1: instruction presetting and parameter setting step: presetting the PIN punching and pulling M code in the CNC software, and integrating the M code into the PCB processing comprehensive program; at the same time, presetting and storing various parameters required for PIN pulling and punching in the CNC software; The M code at least includes PIN pulling instruction M350X#Y# for triggering the PIN pulling action, PIN punching instruction M351D# for triggering the PIN punching action, and PIN diameter detection instruction M3501T#, wherein X#Y# is the program coordinate of the PIN pulling target, D# is the diameter parameter of the PIN to be punched, and T# is the tolerance threshold of the PIN diameter; The parameters at least include position parameters, height parameters, timing parameters and detection parameters; S2: instruction analysis and parameter verification step: the CNC software reads and analyzes the M code, extracts the corresponding coordinates, diameter and tolerance parameters, and calls the preset parameters for verification; The verification at least includes position verification, height verification and specification verification; S3: motion driving and execution step: after the verification, the CNC software converts the verified parameters into motion instructions, generates motion control signals and directly sends them to the servo driver and pneumatic / electronic control unit of the execution mechanism to complete the PIN pulling action or PIN punching action; S4: abnormality monitoring step: in steps S2 and S3, the CNC software monitors the execution mechanism state and detection data in real time through the detection component, and outputs alarm information and suspends the action when an abnormality is detected.

2. The CNC software directly controlled PCB punch-pull PIN method according to claim 1, wherein: The execution mechanism includes an X / Y / Z axis servo moving platform, a PIN pulling group, and a PIN library for storing PINs; the detection component includes a contact sensor, a height sensor for monitoring the Z axis height, and a force sensor for detecting the clamping force; The PIN pulling group includes a PIN clamping mechanism and a PIN lifting mechanism.

3. The CNC software directly controlled PCB punch-pull PIN method according to claim 2, wherein: The position parameters include the offset of the PIN pulling group relative to the main shaft, the PIN recovery position and the program PIN hole coordinate; the program PIN hole coordinate is automatically obtained and stored through the "drilling synchronous recording" function of the CNC software, and can be triggered to reset by the G53 instruction.

4. The CNC software directly controlled PCB punch-pull PIN method according to claim 3, wherein: The height parameters include the lowest action limit of the Z axis; the timing parameters include the delayed action time of the PIN lifting mechanism after the PIN clamping mechanism is closed, and the PIN release delay time after the PIN clamping mechanism is opened; The detection parameters include the qualified tolerance range of the PIN diameter and the clamping force range of the PIN clamping mechanism.

5. The CNC software directly controlled PCB punch-pull PIN method according to claim 4, wherein: The position verification includes calculating the actual movement coordinates of the PIN pulling group according to the program coordinates in the PIN pulling instruction and the preset offset of the PIN pulling group relative to the main shaft, and determining whether the coordinates are within the device stroke range; The height verification includes determining whether the preset action height of the Z axis is not lower than its corresponding lowest action limit.

6. The CNC software directly controlled PCB punch-pull PIN method according to claim 5, wherein: The PIN pulling action specifically includes: driving the X / Y axis moving platform to the actual position calculated based on the PIN pulling instruction coordinates; driving the Z axis to the Z axis action height; controlling the PIN clamping mechanism to close and clamp the PIN; after a first preset time delay, controlling the PIN ejecting mechanism to act to separate the PIN from the PCB; driving the Z axis to rise; driving the X / Y axis moving platform to the preset PIN recovery position; controlling the PIN clamping mechanism to open, and delaying a second preset time to release the PIN.

7. The CNC software directly controlled PCB punch-pull PIN method according to claim 6, wherein: The PIN punching action specifically includes: driving the X / Y axis moving platform to the preset PIN library position; driving the Z axis to the Z axis action height, and controlling the PIN clamping mechanism to close to grab the PIN; executing the PIN diameter detection instruction M3501T#: driving the detection mechanism to measure the actual diameter of the PIN, and comparing it with the tolerance threshold T# in the instruction, if it is unqualified, alarming and pausing; if the detection is qualified, driving the X / Y axis moving platform to the programmed PIN hole coordinates; driving the Z axis to the PIN punching target height; after controlling the PIN ejecting mechanism to punch the PIN, controlling the PIN clamping mechanism to open to release the PIN.

8. The CNC software directly controlled PCB punch-pull PIN method according to claim 7, wherein: In the step of executing the PIN diameter detection instruction M3501T#, the positions of the left and right sides of the PIN are read by a contact sensor, and the actual diameter of the PIN is calculated according to the formula: actual diameter=(right side position-left side position)-diameter of detection gauge+compensation value.

9. The CNC software directly controlled PCB punch-pull PIN method according to claim 8, wherein: The alarm information at least includes the fault type, the occurrence time, the M code instruction triggering the action, and the current position coordinates of the actuator, and is stored in the local log file of the CNC software.

10. The CNC software directly controlled PCB punch-pull PIN method according to claim 9, wherein: The CNC software runs on a CNC controller carrying Windows and RTX real-time system, and the motion driving step is realized by directly controlling the servo motor through calling RTX real-time API.

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