control device

Abstract

A control device according to the present disclosure controls, on the basis of a processing program, a machine having at least two shafts, and the control device comprises: a ratio calculation unit that calculates a ratio related to the operation of the shafts; and a set value calculation unit that dynamically calculates a set value for the machine, from the ratio calculated by the ratio calculation unit and a prescribed parameter related to the shafts. According to the ratio related to the operation of the shafts, the set value of the machine is changed.

Description

[Technical Field]

[0001] The present invention relates to a control device. [Background technology]

[0002] When controlling industrial machinery that processes workpieces using a control device, it is sometimes necessary to take into account the responsiveness of each operating part. For example, in a laser processing machine, the responsiveness to commands from the control device varies depending on the operation of the drive unit that moves the table or processing head and the laser output of the laser oscillator. In a laser processing machine, the responsiveness of the laser output of the laser oscillator (the time from issuing a command to output laser light until the laser is actually output) is sufficiently faster than the responsiveness of the operation of the drive unit that moves the table or processing head (the time from issuing a command to move the table or processing head until the table or processing head actually starts moving). In a laser processing machine, to absorb the difference in the responsiveness of each part, a delay time is set in the output command of the laser oscillator to synchronize with the movement of the table or processing head (e.g., Patent Document 1, etc.). In addition, in a water jet processing machine, the responsiveness of the water flow output from the cutting head is slower than the responsiveness of the operation of the drive unit that moves the table or processing head. Therefore, in order to absorb the difference in the responsiveness of each part, the water jet processing machine is set to issue a command to issue a water flow force earlier than the output of a command to move the table or processing head. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3405797 Summary of the Invention [Problem to be solved by the invention]

[0004] If the responsiveness of the multiple drive parts that move the table or processing head differs, it becomes difficult to optimize the operation timing of the other operating parts. For example, in a laser processing machine, the relative position of the processing head and workpiece is controlled by driving and moving the table or processing head along at least two axes (e.g., the X-axis and Y-axis). In such a case, if the responsiveness of the X-axis and the Y-axis differs, the question arises as to how to optimize the timing of issuing output commands from the laser oscillator to each axis. This difference in responsiveness has a particularly large impact on the processing results during high-speed processing. Therefore, there is a demand for more appropriate control that takes into account the responsiveness of each operating part of industrial machinery. [Means for solving the problem]

[0005] One aspect of the present disclosure is a control device for controlling a machine having at least two axes based on a machining program, the control device comprising: a ratio calculation unit that calculates a ratio related to the operation of the axes; Responsiveness and a setting value calculation unit that dynamically calculates the setting value of the machine from the predetermined parameters related to the above, and changes the setting value of the machine according to the ratio of the operation of the axis. The setting value calculation unit calculates a laser output delay time of a laser oscillator from the laser output delay time set for each axis, thereby changing the laser output delay time according to the ratio related to the operation of each axis. It is a control device. Another aspect of the present disclosure is a control device that controls a machine having at least two axes based on a machining program, and includes: a ratio calculation unit that calculates a ratio related to the operation of the axes; and a setting value calculation unit that dynamically calculates a setting value of the machine from the ratio calculated by the ratio calculation unit and a predetermined parameter related to the responsiveness of the axes. The setting value of the machine is changed according to the operation ratio of the axes, and the setting value calculation unit calculates the water flow output delay time of a water jet cutting machine from the water flow output delay time set for each axis, thereby changing the water flow output delay time according to the ratio related to the operation of each axis. [Effects of the Invention]

[0006] According to one aspect of the present disclosure, even when the responsiveness of multiple drive units differs, it is expected that more appropriate control will be performed taking into account the responsiveness of each operating unit. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a schematic hardware configuration diagram of a control device according to an embodiment of the present invention; [Figure 2] 2 is a block diagram showing the schematic functions of a control device according to an embodiment of the present invention; FIG. [Figure 3] 10A and 10B are diagrams illustrating a method for calculating ratios relating to the operation of each operating part by a command ratio calculation unit. [Figure 4] 5 is a diagram showing an example of parameters related to each operation part stored in an operation parameter storage unit. FIG. [Figure 5] 10 is a diagram showing an example of a relationship between a predetermined setting value and a parameter related to each operation part, which is stored in a relationship storage unit; FIG. [Figure 6] 10A and 10B are diagrams illustrating an example of calculation of a setting value by a setting value calculation unit. [Figure 7] Slit processing positions 311 to 314 on the workpiece 300 are shown. [Figure 8] FIG. 10 is a diagram showing an example of slits formed by a control device according to the prior art. [Figure 9] FIG. 10 is a diagram showing an example of slits formed by the control device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic hardware configuration diagram showing the main parts of a control device according to one embodiment of the present invention. The control device 1 according to this embodiment can be implemented as a control device that controls industrial machinery 2 installed at a manufacturing site such as a factory. The industrial machinery 2 has at least two axes. The industrial machinery 2 also has operating parts that are different from the two axes. Below, an example of the control device 1 that controls a laser processing machine as the industrial machinery 2 will be described.

[0009] The CPU 11 provided in the control device 1 according to this embodiment is a processor that controls the entire control device 1. The CPU 11 reads a system program stored in the ROM 12 via the bus 22 and controls the entire control device 1 in accordance with the system program. The RAM 13 temporarily stores temporary calculation data, display data, various data input from outside, and the like.

[0010] The nonvolatile memory 14 is composed of, for example, a battery-backed memory (not shown) or an SSD (Solid State Drive), and retains its stored state even when the power to the control device 1 is turned off. The nonvolatile memory 14 stores data acquired from the industrial machine 2, control programs and data read from an external device 72 via the interface 15, control programs and data input via the input device 71, control programs and data acquired from other devices via the network 5, and the like. The control programs and data stored in the nonvolatile memory 14 may be expanded into the RAM 13 when executed / used. In addition, various system programs, such as known analysis programs, are written in the ROM 12 in advance.

[0011] The interface 15 is an interface for connecting the CPU 11 of the control device 1 to an external device 72 such as a USB device. For example, control programs and setting data used to control the industrial machine 2 are read from the external device 72. Furthermore, control programs and setting data edited within the control device 1 can be stored in external storage means via the external device 72. The PLC (Programmable Logic Controller) 16 executes a ladder program and outputs signals via an I / O unit 19 to equipment attached to the industrial machine 2 (e.g., multiple sensors such as temperature sensors and humidity sensors, and actuators such as robots located in the periphery) to control the equipment. The PLC 16 also receives signals from various switches on an operation panel installed on the main body of the industrial machine 2 and from peripheral devices, performs the necessary signal processing, and then passes the signals to the CPU 11. Depending on the configuration of the industrial machine 2, the laser oscillator 60 can also be controlled by the PLC 16.

[0012] The display device 70 displays data and the like obtained as a result of executing various data and programs loaded into memory, output via the interface 17. An input device 71, which is comprised of a keyboard, a pointing device, and the like, passes instructions, data, and the like based on operations by an operator to the CPU 11 via the interface 18.

[0013] The axis control circuit 30 for controlling the axes of the industrial machine 2 receives a command from the CPU 11 to move the axis by a predetermined distance and outputs the axis command to the servo amplifier 40. The servo amplifier 40 receives this command and drives the servo motor 50 that moves the axis of the machine tool. The servo motor 50 for the axis has a built-in position / speed detector, and the position / speed feedback signal from this position / speed detector is fed back to the axis control circuit 30, thereby performing position / speed feedback control. Note that while the hardware configuration diagram in FIG. 1 shows only one axis control circuit 30, servo amplifier 40, and servo motor 50, in reality, there are as many as the number of axes of the industrial machine 2 to be controlled. For example, a laser processing machine has three linear axes, the X-axis, Y-axis, and Z-axis, which move the laser oscillator 60 and the workpiece relative to each other.

[0014] In order to control the laser oscillator 60 provided in the industrial machine 2, the oscillator control circuit 35 receives a laser output control command from the CPU 11 and outputs it to the laser oscillator 60. Although only one oscillator control circuit 35 and one laser oscillator 60 are shown in the hardware configuration diagram of Fig. 1, in reality, there are provided as many as the number of the oscillator control circuit 35 and laser oscillator 60 provided in the industrial machine 2 to be controlled.

[0015] The control device 1 having the above configuration outputs movement commands to the servo motors 50 that drive each axis, thereby relatively moving a machining head (not shown) and a table (not shown) on which a workpiece is placed. When the machining head moves to the machining position for the workpiece, an output command signal is sent to the laser oscillator 60, causing the machining head to emit a laser. The output laser then processes the workpiece. After a command is output to each axis, delays due to the servo mechanism and mechanical movement occur until the servo motors 50 actually drive and the machining head or table moves. Furthermore, delays due to the laser oscillation mechanism and signal transmission occur until the laser is actually output after an output command signal is sent to the laser oscillator 60. These delay times differ for each axis and for each laser oscillator 60.

[0016] 2 is a schematic block diagram showing functions of the control device 1 according to one embodiment of the present invention. Each function of the control device 1 according to this embodiment is realized by the CPU 11 of the control device 1 shown in FIG. 1 executing a system program and controlling the operation of each part of the control device 1.

[0017] The control device 1 of this embodiment includes an analysis unit 100, an interpolation processing unit 110, a command ratio calculation unit 120, a set value calculation unit 130, and a control unit 140. A machining program 200 for controlling the operation of the industrial machine 2 is pre-stored in the RAM 13 or non-volatile memory 14 of the control device 1. The RAM 13 or non-volatile memory 14 of the control device 1 is also pre-stored with an operation parameter storage unit 210 which is an area for storing parameters related to the operating parts of the industrial machine 2, a relationship storage unit 220 which is an area for storing the relationship between each operating part of the industrial machine 2 and a predetermined set value, and a set value storage unit 230 which is an area for storing predetermined set values ​​related to the control of the industrial machine 2.

[0018] The analysis unit 100 reads each block of the machining program 200 and analyzes the commands in the read block. Each block of the machining program 200 includes a movement command for the servo motor 50 that drives each axis of the industrial machine 2, a command to turn on / off the laser output from the laser oscillator 60 of the industrial machine 2, etc. The analysis unit 100 creates movement command data for the servo motor 50 based on the movement command, for example. Furthermore, the analysis unit 100 creates data for controlling the output signal for the laser oscillator 60 based on the command to turn on / off the laser output from the laser oscillator 60.

[0019] The interpolation processing unit 110 generates interpolation data by calculating the movement destination on the command path for each interpolation period (control period) based on the movement command data generated by the analysis unit 100. The interpolation data is generated for each servo motor 50 that drives each axis of the industrial machine 2. The interpolation data generated by the interpolation processing unit 110 is output to the control unit 140.

[0020] The command ratio calculation unit 120 calculates the ratio related to the operation of each operating part of the industrial machine 2 based on the interpolation data created by the interpolation processing unit 110. The command ratio calculation unit 120 acquires the movement amount of each axis per control cycle from the interpolation data. Then, based on the acquired movement amount of each axis, the command ratio calculation unit 120 calculates the ratio of the movement speed of each axis to the movement speed on the command path as the ratio related to the operation of each operating part.

[0021] FIG. 3 is a diagram illustrating a method for calculating ratios related to the operation of each moving part by the command ratio calculation unit 120. FIG. 3 shows an example of a command path moving on an XY plane. In this case, the command ratio calculation unit 120 calculates the movement velocity Vc on the command path at a predetermined time based on interpolated data. It also calculates the X-axis component Vx and the Y-axis component Vy of the movement velocity. The ratio of Vc to Vx is calculated as the ratio related to the X-axis movement, and the ratio of Vc to Vy is calculated as the ratio related to the Y-axis movement. Generally, for a command path moving on an XY plane, the relationship between Vc, Vx, and Vy can be expressed by the following equation (1). In equation (1), θx is the angle between the command path and the X-axis, and θy is the angle between the command path and the Y-axis. That is, the ratio between the movement velocity Vc, the X-axis component Vx of the movement velocity, and the Y-axis component Vy of the movement velocity is 1:cosθx:cosθy. Therefore, the command ratio calculation unit 120 calculates this value as the ratio related to the operation of each moving part. Although an example of movement on the XY plane is shown here, the ratio between the movement velocity Vc on the commanded path and each axis component Vx, Vy, and Vz of the movement velocity can be calculated in the same way for a commanded path that moves in XYZ space, for example.

[0022]

number

[0023] The set value calculation unit 130 calculates a predetermined set value to be used in the control unit based on the ratio related to the operation of each operating part calculated by the command ratio calculation unit 120 and the parameters related to each operating part stored in the operation parameter storage unit 210. The set value calculation unit 130 stores the calculated predetermined calculated value in the set value storage unit 230.

[0024] FIG. 4 is a diagram showing examples of parameters related to each operating part stored in the operation parameter storage unit 210. As illustrated in FIG. 4, the parameters related to each operating part axis may be, for example, parameters related to the responsiveness of each operating part. In the example of FIG. 4, for example, the responsiveness of the X-axis is tx [msec]. This means that there is a delay of tx [msec] from when a movement command is output for the X-axis until the movement of the X-axis actually starts. These parameters may be measured by conducting an experiment using the industrial machine 2, and the measurement results may be stored in advance in the operation parameter storage unit 210.

[0025] The predetermined set value calculated by the set value calculation unit 130 may be a value affected by a predetermined parameter stored in the operation parameter storage unit 210. For example, in the case of an industrial machine 2 serving as a laser processing machine, the predetermined set value may be a delay time for sending an output command signal from a laser oscillator. The set value calculation unit 130 calculates the predetermined set value based on the relationship between the predetermined set value and a parameter associated with each operating part. This relationship may be, for example, fixed and set in advance in the relationship storage unit 220. The relationship may be defined as a more specific function for calculating the set value. FIG. 5 shows an example of the relationship between the predetermined set value and a parameter associated with each operating part, stored in the relationship storage unit 220. In the example of FIG. 5, the amount of delay for the output command signal from the laser oscillator is related to the responsiveness of the X-axis and the Y-axis. The set value calculation unit 130 determines the extent to which the related parameter affects the set value based on the ratio of the operation of each operating part, and calculates the set value. For example, consider a command path moving on the XY plane, as illustrated in FIG. 3. Assuming that the parameters for each operating part shown in FIG. 4 are set, the delay on the X-axis relative to the responsiveness of the laser oscillator is (tx-tl) [msec], and the delay on the Y-axis is (ty-tl). As described above, the ratio of the X-axis operation relative to the velocity on the command path is Vx / Vc = cos θx, and the ratio of the Y-axis operation relative to the velocity on the command path is Vy / Vc = cos θy. Considering these ratios as the degree of influence of each parameter on the command path, the set value calculation unit 130 calculates the delay time td of the output command signal of the laser oscillator, which is the set value, using, for example, the following formula (2). Formula (2) is used to calculate the distance between the center O of an ellipse, whose major axis (or minor axis) is the delay on the X-axis (tx-tl) relative to the responsiveness of the laser oscillator and whose minor axis (or major axis) is the delay on the Y-axis (ty-tl), as shown in FIG. 6, and the intersection P of the ellipse with a line passing through the center of the ellipse and tilted θx degrees from the X-axis. The calculation of the set value by the set value calculation unit 130 may be based on the ratio related to the operation of each operation part and the parameters related to each operation part that are related to each operation part.Other calculation methods may be used, such as taking the root mean square of the value obtained by multiplying the parameter value for each operating portion relative to a predetermined setpoint by the operating ratio.

[0026]

number

[0027] The control unit 140 controls the servo motors 50 that drive each axis of the industrial machine 2 based on the interpolation data created by the interpolation processing unit 110. The control unit 140 also controls the operation of the laser oscillator 60 based on data for controlling an output signal to the laser oscillator 60 created by the analysis unit 100. The control unit 140 references predetermined setting values ​​stored in the setting value storage unit 230 and uses the setting values ​​to control each operating part. For example, when a delay time td [msec] of the output command signal for the laser oscillator is stored in the setting value storage unit 230, the control unit 140 delays the timing of sending the output signal to the laser oscillator 60 by td [msec].

[0028] An example in which a laser processing machine is controlled by the control device 1 according to this embodiment to process a slit in a workpiece will be described with reference to FIGS. Fig. 7 shows slit processing positions 311 to 314 on a workpiece 300. In the example of Fig. 7, slits tilted relative to the X-axis and Y-axis are processed. When performing such processing, the processing head is moved sequentially in the direction of the arrow relative to the workpiece 300, and the laser oscillator 60 is turned ON when the processing head reaches the range of processing positions 311 to 314, and the laser oscillator 60 is turned OFF when the processing head leaves the range of processing positions 311 to 314.

[0029] FIG. 8 shows an example of processing using a laser processing machine controlled by a conventional control device. In FIG. 8, the thick black line indicates the position processed by a laser processing machine controlled by a conventional control device. Even with conventional control devices, a delay time can be set for the laser oscillator's command output relative to the command output for a specific axis, taking into account the delay in the axis's response relative to the laser oscillator's response. However, if a delay time is set for the X-axis, for example, as shown in FIG. 8, when processing is performed at an angle relative to the X-axis, the laser oscillator will be turned on before the intended processing position. Furthermore, when processing back and forth, variations will occur at the end depending on whether the processing is performed from the lower left to the upper right or from the upper right to the lower left.

[0030] FIG. 9 shows an example of processing performed by a laser processing machine controlled by the control device 1 according to this embodiment. In FIG. 9, the thick black line indicates the position processed by the laser processing machine controlled by the control device 1 according to this embodiment. With the control device 1 according to this embodiment, even if the processing shape is tilted relative to the axis, it is possible to calculate a more appropriate delay time as a set value based on the ratio of the operation of each axis. Therefore, as shown in the example of FIG. 9, the laser oscillator is turned on at a position closer to the intended processing position. Furthermore, even when processing back and forth, it is possible to perform processing that is aligned at the end in the direction of movement.

[0031] In the control device 1 according to this embodiment, the responsiveness of each operating part is used as a parameter related to the operation of each operating part. However, the control device 1 according to this embodiment is not limited to this, and for example, a signal output adjustment time set for each axis may be used. More specifically, a delay time of a laser output command signal to the laser oscillator 60 set for each axis may be used as a parameter. Other parameters may also be used.

[0032] As described above, the control device 1 according to this embodiment, which has the above-described configuration, is expected to perform more appropriate control by taking into account the responsiveness of each operating part, even when the responsiveness of multiple drive units differs. The degree of influence of each operating part on the set value is automatically calculated according to its operating state. Therefore, changes in the responsiveness of each operating part (axis) due to factors such as aging of the industrial machine 2 can be addressed by simply changing the parameters of that operating part. In particular, when processing workpieces using a laser processing machine, this is effective not only for conventional cutting, which involves continuous laser irradiation, but also for fly cutting, which processes thin plates by turning the laser on and off at high speed, and for raster operations during additive manufacturing (operations to sinter the interior of a model to create a solid core). This is particularly effective when used with galvanometer scanners, where even small deviations in mechanical characteristics have a significant impact on the processing results.

[0033] 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, while the above-described embodiment illustrates an example of controlling a laser processing machine, the present invention can also be applied to the control of processing machines, such as water jet processing machines, in which the response of the water flow output from the cutting head is slower than the response of the operation of the drive unit that moves the table or processing head. In this case, the advance time of the water flow output signal relative to the axis movement command can be calculated as a predetermined setting value. Furthermore, the present invention can also be publicly used in machines that perform product inspections, such as when an imaging device and a workpiece are moved relative to each other and an imaging trigger signal is output at a predetermined position. In this case, the imaging signal delay time for each axis, including the delay in the transmission path, can be set. [Explanation of symbols]

[0034] 1. Control device 2. Industrial machinery 11 CPU 12 ROM 13 RAM 14 Non-volatile memory 15, 17, 18 Interface 16 PLC 19 I / O units 22 Bus 30-axis control circuit 35 Oscillator control circuit 40 Servo amplifier 50 Servo motor 60 Laser Oscillator 70 Display device 71 Input Device 72 External equipment 100 Analysis Department 110 Interpolation processing unit 120 Command ratio calculation section 130 Setting value calculation unit 140 Control Unit 200 machining programs 210 Operation parameter storage unit 220 Relational Memory 230 Setting value memory section

Claims

1. A control device for controlling a machine having at least two axes based on a machining program, a ratio calculation unit that calculates a ratio related to the operation of the axis; a setting value calculation unit that dynamically calculates a setting value of the machine based on the ratio calculated by the ratio calculation unit and a predetermined parameter related to the response of the axis; Equipped with changing the setting value of the machine in accordance with the ratio of the movement of the axis; The setting value calculation unit calculates a laser output delay time of a laser oscillator from the laser output delay time set for each axis, thereby changing the laser output delay time according to a ratio related to the operation for each axis. Control device.

2. A control device that controls a machine having at least two axes based on a machining program, a ratio calculation unit that calculates a ratio related to the operation of the axis; a setting value calculation unit that dynamically calculates a setting value of the machine based on the ratio calculated by the ratio calculation unit and a predetermined parameter related to the response of the axis; Equipped with changing the setting value of the machine in accordance with the ratio of the movement of the axis; The water flow output delay time of the water jet cutting machine is calculated from the water flow output delay time set for each axis in the setting value calculation unit, and the water flow output delay time is changed according to the ratio related to the operation of each axis. Control device.

3. In the setting value calculation unit, the signal output adjustment time of the machine is calculated from the signal output adjustment time set for each axis, and the output adjustment time of the external output signal is changed according to the ratio related to the operation of the axis. The control device according to claim 1 or 2.

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