Numerical control device and computer-readable storage medium

Abstract

A numerical control device according to the present disclosure comprises: a look-ahead analysis unit which sequentially looks ahead and analyzes a processing program; a control unit which controls a machine; a condition data storage unit which stores condition data including an analysis suppression condition specifying a look-ahead suppression condition and an analysis restart condition corresponding to the analysis suppression condition; an analysis suppression processing unit which suppresses analysis by the look-ahead analysis unit, when the analysis suppression condition is satisfied; an analysis restart processing unit which restarts the look-ahead and the analysis when the control state of the machine satisfies the analysis restart condition while the analysis by the look-ahead analysis unit is suppressed; and a speculation analysis unit which executes speculative analysis, wherein when look-ahead is resumed, the result of speculative analysis by the speculation analysis unit is used.

Description

[Technical field]

[0001] The present invention relates to a numerical control device and a computer-readable storage medium. [Background technology]

[0002] The numerical control device reads blocks from the machining program and stores the data resulting from analyzing the read blocks in a queue (first-in, first-out memory).The data stored in the queue is then read out one by one, and machine control processing is performed based on the read data.When the data stored in the queue runs out, machine control processing stops until the next data is stored.For this reason, the numerical control device reads in advance multiple blocks from the machining program and performs analysis processing.

[0003] A machining program includes macro commands in addition to commands that control the operation of the machine, such as axis movement commands and auxiliary commands. Macro commands include commands that acquire signal values ​​related to the control state of the machine in macro variables, and commands that change the execution flow of the machining program depending on the control state of the machine at the time of execution, such as branch commands and loop commands. The analysis results of these commands change depending on the control state of the machine. Therefore, executing the command with look-ahead may result in erroneous operation. To address this issue, technology has been proposed that makes it possible to suppress or resume look-ahead as necessary (for example, Patent Document 1, etc.). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2008-040542 A Summary of the Invention [Problem to be solved by the invention]

[0005] Excessive suppression of look-ahead reduces the efficiency of machining program execution. Therefore, it is desirable to suppress and resume look-ahead at appropriate times while still being able to suppress erroneous execution of unnecessary macro commands to some extent. [Means for solving the problem]

[0006] In the numerical control device according to the present disclosure, an analysis suppression condition can be set arbitrarily for any address command and any macro variable command. Also, an analysis resumption condition corresponding to each analysis suppression condition can be set arbitrarily. This allows the suppression / resumption of look-ahead at appropriate timing, thereby solving the above problem.

[0007] One aspect of the present disclosure is a numerical control device that controls a machine based on a machining program, the numerical control device comprising: a look-ahead analysis unit that sequentially looks ahead and analyzes blocks of the machining program; a control unit that controls the machine based on an analysis result by the look-ahead analysis unit; a condition data storage unit that stores condition data including an analysis suppression condition that specifies a look-ahead suppression condition for an arbitrary command and an analysis resume condition corresponding to the analysis suppression condition; an analysis suppression processing unit that suppresses analysis by the look-ahead analysis unit when the analysis suppression condition included in the condition data is satisfied; an analysis resume processing unit that monitors a control state of the numerical control device and the machine when analysis by the look-ahead analysis unit is suppressed, and resumes analysis by the look-ahead analysis unit when the monitored control state satisfies the analysis resume condition included in the condition data; and a speculative analysis unit that performs speculative analysis on blocks of the machining program when analysis by the look-ahead analysis unit is suppressed, and the look-ahead analysis unit resumes analysis of the block using a result of the speculative analysis by the speculative analysis unit.

[0008] Another aspect of the present disclosure is a computer-readable storage medium having a program recorded thereon, the computer-readable storage medium having a numerical control device that controls a machine based on a machining program, the numerical control device including a look-ahead analysis unit that sequentially looks ahead and analyzes blocks of the machining program, a control unit that controls the machine based on the analysis result by the look-ahead analysis unit, a condition data storage unit that stores condition data including an analysis suppression condition that specifies a look-ahead suppression condition for an arbitrary command and an analysis resume condition corresponding to the analysis suppression condition, an analysis suppression processing unit that suppresses analysis by the look-ahead analysis unit when the analysis suppression condition included in the condition data is satisfied, an analysis resume processing unit that monitors the control state of the numerical control device and the machine when the analysis by the look-ahead analysis unit is suppressed, and resumes analysis by the look-ahead analysis unit when the monitored control state satisfies the analysis resume condition included in the condition data, and a speculative analysis unit that performs speculative analysis on blocks of the machining program when the analysis by the look-ahead analysis unit is suppressed. When the analysis by the look-ahead analysis unit is resumed, the speculative analysis unit resumes analysis of the block using the result of the speculative analysis by the speculative analysis unit. Effect of the Invention

[0009] One aspect of the present disclosure makes it possible to arbitrarily set condition data for look-ahead suppression and look-ahead restart for any address command and any macro command, allowing analysis to be performed at appropriate timing for various commands, potentially shortening cycle time. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a hardware configuration diagram of a numerical control device. [Diagram 2] FIG. 2 is a block diagram showing the functions of a numerical control device. [Diagram 3] FIG. 4 is a diagram showing an example of a machining program. [Figure 4] FIG. 11 is a diagram showing another example of a machining program. [Diagram 5] 4 is a flowchart showing a schematic operation example of the numerical control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 is a schematic hardware configuration diagram showing the main part of a diagnosis device according to an embodiment of the present invention. A numerical control device 1 of the present invention can be implemented as a control device that controls a machine tool 2 based on a machining program, for example.

[0012] The CPU 11 provided in the numerical control device 1 according to this embodiment is a processor that controls the entire numerical control device 1. The CPU 11 reads out a system program stored in the ROM 12 via the bus 22, and controls the entire numerical control device 1 in accordance with the system program. The RAM 13 temporarily stores temporary calculation data, display data, various data input from the outside, and the like.

[0013] The non-volatile memory 14 is composed of, for example, a memory backed up by a battery (not shown) or an SSD (Solid State Drive), and the stored state is maintained even when the power supply of the numerical control device 1 is turned off. The non-volatile memory 14 stores data and machining programs read from an external device 72 via an interface 15, data and machining programs input via an input device 71, and various data acquired from the machine tool 2. The data and machining programs stored in the non-volatile memory 14 may be expanded in the RAM 13 when executed / used. In addition, various system programs such as known analysis programs are written in advance in the ROM 12.

[0014] The interface 15 is an interface for connecting the CPU 11 of the numerical control device 1 to an external device 72 such as a USB device. For example, a machining program and each parameter used for controlling the machine tool 2 can be read from the external device 72. In addition, the machining program and each parameter edited in the numerical control device 1 can be stored in an external storage means (not shown) via the external device 72.

[0015] A PLC (Programmable Logic Controller) 16 controls the machine tool 2 and its peripheral devices (e.g., a tool changer, an actuator such as a robot, a sensor attached to the machine tool 2, etc.) by outputting signals via an I / O unit 17 using a sequence program built into the numerical control device 1. It also receives signals from various switches on an operation panel installed on the main body of the industrial machine and from peripheral devices, etc., and passes them to the CPU 11 after performing the necessary signal processing.

[0016] The display device 70 displays various data loaded into the memory, data obtained as a result of executing a machining program, a system program, etc., outputted through the interface 18. An input device 71 consisting of a keyboard, a pointing device, etc., transmits commands, data, etc. based on operations by an operator to the CPU 11 through the interface 19.

[0017] An axis control circuit 30 for controlling an axis equipped in the machine tool 2 receives an axis control command amount from the CPU 11 and outputs the command to a servo amplifier 40. The servo amplifier 40 receives this command and drives a servo motor 50 that moves a drive unit equipped in the machine tool 2 along the axis. The servo motor 50 of the axis has a built-in position / speed detector, and a position / speed feedback signal from this position / speed detector is fed back to the axis control circuit 30 to perform feedback control of the position / speed. Although only one axis control circuit 30, one servo amplifier 40, and one servo motor 50 are shown in the hardware configuration diagram of FIG. 1, in reality, the same number of axis control circuits 30, servo amplifiers 40, and servo motors 50 are prepared as there are axes equipped in the machine tool 2 to be controlled. For example, when controlling a general machine tool 2, three sets of axis control circuits 30, servo amplifiers 40, and servo motors 50 are prepared to relatively move a spindle to which a tool is attached and a workpiece in the directions of three linear axes (X-axis, Y-axis, and Z-axis).

[0018] The spindle control circuit 60 receives a spindle rotation command and outputs a spindle speed signal to the spindle amplifier 61. The spindle amplifier 61 receives this spindle speed signal and rotates the spindle motor 62 of the machine tool 2 at the commanded rotation speed to drive a tool. A position coder 63 is connected to the spindle motor 62, and the position coder 63 outputs a feedback pulse in synchronization with the rotation of the spindle, and the feedback pulse is read by the CPU 11. Although only one each of the spindle control circuit 60, spindle amplifier 61, and spindle motor 62 is shown in the hardware configuration diagram of FIG. 1, in reality, the number of spindles provided in the machine tool 2 to be controlled is the same as the number of spindles provided in the machine tool 2. For example, when controlling a general machine tool 2 having multiple systems, multiple spindle control circuits 60, spindle amplifiers 61, and spindle motors 62 are provided in order to provide a spindle to which a tool is attached for each system.

[0019] 2 is a schematic block diagram showing functions of the numerical control device 1 according to the first embodiment of the present invention. Each function of the numerical control device 1 according to this embodiment is realized by the CPU 11 of the numerical control device 1 shown in FIG. 1 executing a system program and controlling the operation of each part of the numerical control device 1.

[0020] The numerical control device 1 of this embodiment includes an analysis processing unit 100 and a control unit 150. A machining program 200 for controlling the machine tool 2 is stored in advance in the RAM 13 or non-volatile memory 14 of the numerical control device 1, and further, a condition data storage unit 210, which is an area for storing condition data including an analysis suppression condition and an analysis resumption condition corresponding thereto, is prepared in advance.

[0021] The analysis processing unit 100 reads out and analyzes the machining program, and stores the data as the analysis result in a queue (first-in, first-out type memory) not shown. The data stored in the queue is successively read out by the control unit 150 and used for controlling the machine tool 2. The analysis processing unit 100 includes a look-ahead analysis unit 110, an analysis suppression processing unit 120, an analysis restart processing unit 130, and a speculative analysis unit 140.

[0022] The look-ahead analysis unit 110 looks ahead at blocks of the machining program 200. The look-ahead blocks are stored in a buffer provided on the RAM 13, for example. This buffer may be capable of storing a plurality of blocks. The look-ahead analysis unit 110 then analyzes the look-ahead blocks in order. In the analysis process performed by the look-ahead analysis unit 110, for example, when the look-ahead block commands axial feed, a movement control command is generated for the servo motor 50 that drives each axis of the machine tool 2. Also, for example, when the look-ahead block commands the rotation of the spindle, a rotation control command for the spindle is generated. The control command analyzed and created by the look-ahead analysis unit 110 is output to the control unit 150 via a queue (not shown). When the analysis suppression processing unit 120 commands the suppression of look-ahead, the look-ahead analysis unit 110 temporarily stops look-ahead and analysis of blocks of the machining program 200. Furthermore, when the look-ahead analysis unit 110 is instructed by the analysis resumption processing unit 130 to resume look-ahead, it resumes look-ahead and analysis of the blocks of the machining program 200 that were temporarily stopped.

[0023] The analysis suppression processing unit 120 refers to the analysis suppression condition included in the condition data stored in the condition data storage unit 210. If the referred analysis suppression condition is satisfied, the analysis suppression processing unit 120 instructs the look-ahead analysis unit 110 to temporarily stop the look-ahead and analysis processing. The analysis suppression processing unit 120 refers to the buffer in which the look-ahead analysis unit 110 looks ahead for blocks of the machining program. The look-ahead analysis unit 110 then pre-analyzes blocks (block N+1 and onward) subsequent to the block (block N) currently being analyzed by the look-ahead analysis unit 110. If the analysis suppression condition is satisfied in the block, the analysis suppression processing unit 120 instructs the look-ahead analysis unit 110 to suppress analysis of the next block and onward (block N+1 and onward).

[0024] Meanwhile, the analysis restart processing unit 130 monitors the control state of the machine tool while the look-ahead and analysis processing is temporarily stopped by the analysis suppression processing unit 120. The objects to be monitored include the calculation status of the coordinate data in the control unit 150 and the data indicating the amount of movement per control cycle, data relating to the state of the machine fed back from the machine tool 2, the state of signals of peripheral devices, etc. Then, when an analysis restart condition corresponding to the analysis suppression condition causing the suppression of the current look-ahead and analysis processing is established, an instruction is given to the look-ahead analysis unit 110 to resume the look-ahead and analysis processing.

[0025] The condition data storage unit 210 stores in advance condition data including an analysis suppression condition and at least one corresponding analysis restart condition. The analysis suppression condition included in the condition data defines a condition for suppressing the look-ahead processing and analysis processing by the look-ahead analysis unit 110. The analysis suppression condition includes, for example, a condition related to the look-ahead of a predetermined command or the look-ahead of a command type included in a block of a machining program. The analysis restart condition included in the condition data defines a condition for restarting the look-ahead processing and analysis processing by the look-ahead analysis unit 110. The analysis restart condition includes, for example, a condition related to the state of the control processing of the numerical control device (mode of each function, alarm state, program command value information, movement path information, macro variable value, etc.), the control state of the machine, etc. (coordinate value, axis position, speed, spindle rotation speed, acceleration, signal, feedback information of the motor spindle, etc.). The analysis suppression condition included in the condition data and the corresponding analysis restart condition are created by the developer of the numerical control device, the machine manufacturer, the machine user, etc.

[0026] An example of condition data is shown below. For example, assume that "execution of a command that references #5041" is defined as an analysis suppression condition included in condition data C1. "#5041" is a macro variable command that references the current coordinate value of the X-axis. For this analysis suppression condition, an analysis restart condition can be defined as "start of execution of the block following the block that last commands an X-axis movement, which is a command prior to the command that references #5041." In addition, another analysis restart condition can be defined as "completion of generation of pulse data in the block that last commands an X-axis movement, which is a command prior to the command that references #5041."

[0027] Assume that such condition data is stored in the condition data storage unit 210, and the numerical control device 1 executes the machining program 200 illustrated in FIG. 3. The look-ahead analysis unit 110 sequentially looks ahead and analyzes the machining program 200. Then, when the analysis suppression processing unit 120 pre-analyzes the macro command "#100=#5041" in block N05, the look-ahead and analysis processing by the look-ahead analysis unit 110 is temporarily stopped for the blocks following the macro command "#5041" until the coordinates of the destination of the X-axis movement by the block (block N02) that is the command preceding the macro command and lastly commands the movement of the X-axis are determined. Then, when the coordinates of the destination of the X-axis movement by the block that lastly commands the movement of the X-axis are determined, the look-ahead and analysis processing by the look-ahead analysis unit 110 is resumed.

[0028] Other examples of condition data are shown below. For example, assume that "execution of command G28" is defined as an analysis suppression condition included in condition data C2. Command G28 is a control command that internally generates a cycle command to return to the origin via a specified intermediate point coordinate, and controls machine tool 2, which is the control target, in accordance with the generated cycle command. For this analysis suppression condition, "movement to the intermediate point coordinate specified by command G28" can be defined as an analysis restart condition. In addition, "completion of path calculation for the first cycle specified by command G28" can be defined as another analysis restart condition.

[0029] Assume that such condition data is stored in the condition data storage unit 210, and the numerical control device 1 executes the machining program 200 illustrated in FIG. 4. The look-ahead analysis unit 110 sequentially looks ahead and analyzes the machining program 200. Then, when the analysis suppression processing unit 120 pre-analyzes the command "G28" in block N04, the look-ahead and analysis processing by the look-ahead analysis unit 110 is temporarily stopped for the blocks following the command G28 (from the command for returning to the origin after the midpoint coordinate among the cycle commands generated by the command G28) until the coordinates of the destination of the midpoint commanded by the command G28 are determined. Then, when the coordinates of the destination of the midpoint commanded by the command G28 are determined, the look-ahead and analysis processing by the look-ahead analysis unit 110 is resumed.

[0030] When the look-ahead and analysis processing by the look-ahead analysis unit 110 is temporarily stopped, the speculation analysis unit 140 speculatively analyzes the block following the machining program 200 that has not been analyzed. The speculation analysis by the speculation analysis unit 140 targets a block configured by an instruction that is not affected by the result of the analysis restart condition corresponding to the analysis suppression condition that causes the current look-ahead and analysis processing to be suppressed. For example, as in the example shown in the condition data C1 described above, it is assumed that only the condition related to the movement of the X-axis is defined as the look-ahead and analysis restart condition. Here, when the look-ahead analysis unit 110 is instructed by the analysis suppression processing unit 120 to suppress the look-ahead and analysis processing after "#100=#5041", if there is a movement command related to an axis other than the X-axis, such as the Y-axis or Z-axis, after the macro command "#5041", the speculation analysis unit 140 speculatively analyzes the block including the command. More specifically, for block N06, the movement is only on the Y-axis, and is not affected by the change related to the X-axis, so the speculation analysis is performed. On the other hand, block 07 refers to macro variable #100 to which the coordinate value of the X-axis is assigned, and therefore cannot be analyzed until the position of the X-axis is determined, and is therefore not subject to speculative analysis. Note that even if there is a block that cannot be analyzed midway, if there is a subsequent block that is configured by instructions that are not affected by the result of the analysis restart condition, the speculative analysis unit 140 may subject that block to speculative analysis. The results of the speculative analysis by the speculative analysis unit 140 are temporarily stored in the RAM 13 or the non-volatile memory 14.

[0031] Then, when the look-ahead and analysis processing by the look-ahead analysis unit 110 is resumed in response to a command from the analysis resumption processing unit 130, the look-ahead analysis unit 110 refers to whether or not there is an analysis result analyzed by the speculation analysis unit 140. Then, if there is an analysis result analyzed by the speculation analysis unit 140, the analysis result is used in the analysis processing.

[0032] The control unit 150 controls the operation of the machine tool 2 and its peripheral devices based on the analysis result of the machining program 200 output from the analysis processing unit 100. The control unit 150 calculates data related to the movement of the axes (coordinate data, data indicating the movement amount per control cycle, etc.) based on a control command for moving each axis of the machine tool 2, for example. Then, the control unit 150 controls the servo motor 50 based on the calculated data. The control unit 150 also calculates data related to the rotation of the spindle based on a control command for rotating the spindle of the machine tool 2, for example. Then, the control unit 150 controls the spindle motor 62 based on the calculated data. Furthermore, the control unit 150 calculates a predetermined signal for operating the peripheral device of the machine tool 2 based on a command for operating the peripheral device, for example, and outputs the signal to the PLC 16. Meanwhile, the control unit 150 acquires the state of the servo motor 50 and the spindle motor 62 (motor current value, position, speed, acceleration, torque, temperature, etc.) as a feedback value, and stores the state indicative of the control state in the RAM 13 or the non-volatile memory 14.

[0033] FIG. 5 is a flowchart showing an outline of the operation of the analysis processing unit 100 of the numerical control device 1 according to this embodiment. When the execution of the machining program 200 is started in the numerical control device 1, the look-ahead analysis unit 110 sequentially reads ahead the blocks of the machining program 200 into a buffer provided on the RAM 13. Then, it analyzes the commands of each read-ahead block (step SA01).

[0034] In parallel with the processing by the look-ahead analysis unit 110, the analysis suppression processing unit 120 performs a pre-analysis on each block read ahead to the buffer, starting from the block being analyzed by the look-ahead analysis unit 110 (step SA02). Then, based on the result of the pre-analysis, it is determined whether or not the analysis suppression condition included in the condition data stored in the condition data storage unit 210 is satisfied (step SA03). While the analysis suppression condition is not satisfied, the look-ahead and analysis processing, and the pre-analysis processing are repeated.

[0035] When the analysis suppression condition is satisfied, the speculative analysis unit 140 identifies a block including an instruction that can be speculatively analyzed based on the analysis restart condition corresponding to the satisfied analysis suppression condition, and performs speculative analysis on the identified block (step SA04). The analysis result is temporarily stored in the RAM 13 or the non-volatile memory 14.

[0036] While the analysis process is suppressed, the analysis restart processing unit 130 monitors the state of each control process of the numerical control device 1, the control state of the machine, and other control states (step SA05). Then, it determines whether the monitored control states satisfy the analysis restart condition (step SA06). If the analysis restart condition is not met, it repeats monitoring of the control state. If the analysis restart condition is met, it commands the look-ahead analysis unit 110 to resume look-ahead and analysis.

[0037] The numerical control device 1 having the above configuration can arbitrarily set condition data for look-ahead suppression and look-ahead restart for any address command and any macro command, and can execute analysis at appropriate timing for various commands. This means that unnecessary analysis suppression will not be performed, and it is possible to shorten the cycle time. In addition, while analysis is suppressed, speculative analysis can be performed, and the data can be used when analysis is resumed. This is expected to shorten the time required to generate analysis information for blocks.

[0038] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described examples of the embodiments, and can be embodied in various forms by making appropriate modifications. For example, in the above embodiment, the functions are described as being executed sequentially, but these functions may be executed in parallel. For example, in Fig. 5, the speculative analysis process in step SA04 and the analysis restart process in steps SA05 to SA06 are described as being executed sequentially. However, in a numerical control device capable of parallel processing with a multi-core processor or the like, these processes can be assigned to different CPU cores and executed in parallel without any problem. [Explanation of symbols]

[0039] 1 Numerical control device 2 Machine tools 11 CPU 12 ROM 13 RAM 14 Non-volatile memory 15,18,19 Interface 16 PLC 17 I / O Unit 22 Bus 30-axis control circuit 40 Servo amplifier 50 Servo motor 60 Spindle control circuit 61 Spindle amplifier 62 Spindle motor 63 Position Coder 70 Display device 71 Input Devices 72 External equipment 100 Analysis processing section 110 Look-ahead analysis unit 120 Analysis suppression processing unit 130 Analysis restart processing section 140 Speculative Analysis Department 150 Control section 200 Machining Programs 210 Condition data storage unit

Claims

1. In a numerical control device which controls a machine based on a machining program, A look-ahead analysis unit that sequentially looks ahead and analyzes blocks of the machining program; a control unit that controls the machine based on an analysis result by the look-ahead analysis unit; a condition data storage unit for storing condition data including an analysis suppression condition that specifies a read-ahead suppression condition for an arbitrary command and an analysis restart condition that corresponds to the analysis suppression condition; an analysis suppression processing unit that suppresses analysis by the look-ahead analysis unit when an analysis suppression condition included in the condition data is satisfied; an analysis restart processing unit that monitors a control state of the numerical control device and the machine when the analysis by the look-ahead analysis unit is suppressed, and restarts the analysis by the look-ahead analysis unit when the monitored control state satisfies an analysis restart condition included in the condition data; a speculative analysis unit that performs speculative analysis on a block of the processing program when the analysis by the look-ahead analysis unit is suppressed; Equipped with the look-ahead analysis unit resumes analysis of the block using a result of the speculative analysis by the speculation analysis unit; Numerical control device.

2. The control state of the numerical control device and the machine is at least one of the calculation result by the control unit and the data fed back from the machine. The numerical control device according to claim 1 .

3. the process by the analysis restart processing unit and the process by the speculation analysis unit are executed sequentially or in parallel; The numerical control device according to claim 1 .

4. A numerical control device that controls a machine based on a machining program. A look-ahead analysis unit that sequentially looks ahead and analyzes blocks of the machining program; a control unit that controls the machine based on an analysis result by the look-ahead analysis unit; a condition data storage unit for storing condition data including an analysis suppression condition that specifies a read-ahead suppression condition for an arbitrary command and an analysis restart condition that corresponds to the analysis suppression condition; an analysis suppression processing unit that suppresses analysis by the look-ahead analysis unit when an analysis suppression condition included in the condition data is satisfied; an analysis restart processing unit that monitors a control state of the numerical control device and the machine when the analysis by the look-ahead analysis unit is suppressed, and restarts the analysis by the look-ahead analysis unit when the monitored control state satisfies an analysis restart condition included in the condition data; a speculative analysis unit that performs speculative analysis on a block of the processing program when the analysis by the look-ahead analysis unit is suppressed; and make it work. When the look-ahead analysis unit resumes analysis, the analysis of the block is resumed using a result of the speculative analysis by the speculative analysis unit. A computer-readable storage medium on which a program is recorded.

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