公开(公告)号：EP2031471A2

公开(公告)日：2009-03-04

申请号：EP08105112.0

申请日：2008-08-25

申请人： Fanuc Ltd

发明人： Ide, Soichiro ,  Yamada, Yusaku ,  Hanaoka, Osamu

IPC分类号： G05B19/4061

CPC分类号： G05B19/4061 ,  G05B2219/49138 ,  G05B2219/49157 ,  G05B2219/50179

摘要： A numerical controller having an interference prevention function whereby calculation for preventing interference is reliably performed. The numerical controller has the function of defining interference regions corresponding to multiple machine structural objects, respectively, moving the interference regions in accordance with machine coordinate values of the machine structural objects updated by interpolation, and performing an interference check to determine whether or not the interference regions interfere with each other. Interference check computation period automatic adjusting means automatically adjusts an interference check computation period, based on the value obtained by dividing a computation time required for the interference check by time of occupancy of the interference check within one interpolation period. Interference region expanding means expands the interference regions, based on the highest of feed velocities of respective axes and the interference check computation period. Checking means determines whether or not the expanded interference regions interfere with each other.

摘要翻译： 具有防干扰功能的数值控制器，可靠地进行防止干扰的计算。 数值控制器具有分别对应于多个机械结构物体的干涉区域定义的功能，根据通过插补更新的机器结构对象的机器坐标值移动干扰区域，并执行干扰检查以确定干扰是否 区域相互干扰。 干扰检查计算周期自动调整装置根据在一个内插周期内将干扰检查所占用的计算时间除以干扰检查占用时间而得到的值，自动调整干扰检查计算周期。 干扰区域扩展装置基于各个轴的进给速度和干扰检查计算周期的最高值来扩展干扰区域。 检查装置确定扩展的干扰区域是否彼此干扰。

公开(公告)号：EP1850198A3

公开(公告)日：2008-06-11

申请号：EP07106220.2

申请日：2007-04-16

申请人： FANUC LTD

发明人： Otsuki, Toshiaki ,  Ide, Soichiro

IPC分类号： G05B19/4103

CPC分类号： G05B19/4103 ,  G05B2219/34089 ,  G05B2219/34149 ,  G05B2219/49344

摘要： A numerical controller configured to enable machining of a conical surface such that vectors at a start point, an end point, and an interpolation point of a circular arc and their extensions never cross one another. Normal direction vectors Vnors and Vnore, tangential direction vectors Vtans and Vtane, and tool posture vectors Vts and Vte at the starting and end points are obtained based on programmed positions PA' and PB' of the starting and end points, a circle center position, and rotational positions of two rotary axes. Based on these vectors, tangential direction angles as and ae and the normal direction angles bs and be with respect to tool postures at the starting and end points are obtained. Normal and tangential direction vectors Vnori and Vtani and angles ai and bi at the interpolation point are obtained by interpolating the normal and tangential direction vectors and angles at the starting and end points, whereby a tool posture vector Vti at the interpolation point is obtained. The rotational positions of the rotary axes and positions of linear axes are obtained based on the tool posture vector Vti at the interpolation point. Circular machining can be also performed for a three-dimensional programmed circular arc.

摘要翻译： 一种数字控制器，其配置成能够加工圆锥形表面，使得圆弧的起点，终点和插值点处的矢量及其延长线彼此不交叉。 基于开始点和结束点的编程位置PA'和PB'，圆心位置等，获得起点和终点处的法向矢量Vnors和Vnore，切向方向矢量Vtans和Vtane以及刀具姿态矢量Vts和Vte。 和两个旋转轴的旋转位置。 基于这些矢量，获得切向方向角as和ae以及法向方向角bs和相对于起点和终点处的刀具姿态。 通过在开始点和结束点处插入法向和切向方向矢量和角度，获得内插点处的正常和切向方向矢量Vnori和Vtani以及角度ai和bi，由此获得内插点处的工具姿态矢量Vti。 旋转轴的旋转位置和直线轴的位置根据插补点处的刀具姿势矢量Vti求出。 也可以对三维编程的圆弧进行圆形加工。

公开(公告)号：EP2071422A3

公开(公告)日：2010-11-03

申请号：EP08170163.3

申请日：2008-11-27

申请人： Fanuc Ltd

发明人： Otsuki, Toshiaki ,  Ide, Soichiro ,  Hanaoka, Osamu ,  Koga, Daijirou

IPC分类号： G05B19/404 ,  G05B19/4103

CPC分类号： G05B19/4103 ,  G05B19/404 ,  G05B2219/35158 ,  G05B2219/49344 ,  G05B2219/50297 ,  G05B2219/50336

摘要： A numerical controller for controlling a five-axis machining apparatus, in which a tool orientation command is corrected to thereby attain a smooth machined surface and a shortened machining time. The numerical controller includes command reading means that successively reads a tool orientation command, tool orientation command correcting means that corrects the tool orientation command so that a ratio between each rotary axis motion amount and a linear axis motion amount is constant in each block, interpolation means that determines respective axis positions at every interpolation period based on the tool orientation command corrected by the tool orientation command correcting means, a motion path command, and a relative motion velocity command such that a tool end point moves along a commanded motion path at a commanded relative motion velocity, and means that drives respective axis motors such that respective axis positions determined by the interpolation means are reached.

公开(公告)号：EP2071422A2

公开(公告)日：2009-06-17

申请号：EP08170163.3

申请日：2008-11-27

申请人： Fanuc Ltd

发明人： Otsuki, Toshiaki ,  Ide, Soichiro ,  Hanaoka, Osamu ,  Koga, Daijirou

IPC分类号： G05B19/4103

CPC分类号： G05B19/4103 ,  G05B19/404 ,  G05B2219/35158 ,  G05B2219/49344 ,  G05B2219/50297 ,  G05B2219/50336

摘要： A numerical controller for controlling a five-axis machining apparatus, in which a tool orientation command is corrected to thereby attain a smooth machined surface and a shortened machining time. The numerical controller includes command reading means that successively reads a tool orientation command, tool orientation command correcting means that corrects the tool orientation command so that a ratio between each rotary axis motion amount and a linear axis motion amount is constant in each block, interpolation means that determines respective axis positions at every interpolation period based on the tool orientation command corrected by the tool orientation command correcting means, a motion path command, and a relative motion velocity command such that a tool end point moves along a commanded motion path at a commanded relative motion velocity, and means that drives respective axis motors such that respective axis positions determined by the interpolation means are reached.

摘要翻译： 一种用于控制五轴加工装置的数值控制器，其中对刀具取向指令进行校正，从而获得平滑的加工表面和缩短的加工时间。 数值控制器包括：命令读取单元，其依次读取刀具取向指令;刀具取向指令校正单元，其对各刀具方向指令进行校正，使得各个转动轴运动量与直线轴运动量的比例在每个程序段中保持不变;插补单元 基于由刀具定向指令校正装置校正的刀具定向指令，运动路径指令和相对运动速度指令，在每个插补周期确定各个轴位置，使得刀具终点沿着命令的命令运动路径移动 相对运动速度，以及驱动各轴电动机的装置，使得到达由插入装置确定的各个轴位置。

公开(公告)号：EP1720085A1

公开(公告)日：2006-11-08

申请号：EP06252015.0

申请日：2006-04-11

申请人： FANUC LTD

发明人： Otsuki, Toshiaki ,  Ide, Soichiro ,  Shiobara, Hisashi FANUC

IPC分类号： G05B19/4103

CPC分类号： G05B19/4103 ,  G05B2219/34171

摘要： The invention provides a method of generating a smooth curve from a commanded sequence of points by a numerical controller for a multi-axis machine tool having three linear axes and two or more rotary axes to perform interpolation along the curve. Corrected command points are obtained for linear axes and for rotary axes, respectively. Components of corrected command points for linear axes and corrected command points for rotary axes are synthesized with each other so as to obtain a synthesized corrected command point. And a curve passing through the synthesized corrected command points is generated to perform interpolation. As a result, curve interpolation which is more appropriate than that in a multi-axis machine tool having two or more rotary axes can be performed.

摘要翻译： 本发明提供一种通过用于具有三个线性轴和两个或更多个旋转轴的多轴机床的数字控制器从指令的点序列生成平滑曲线的方法，以沿曲线执行内插。 对于直线轴和旋转轴分别获得纠正的指令点。 用于线性轴的校正指令点和用于旋转轴的校正命令点的分量彼此合成，以便获得合成的校正指令点。 并且生成通过合成的校正命令点的曲线来执行插值。 结果，可以进行比具有两个以上旋转轴的多轴机床更适合的曲线插补。

公开(公告)号：EP1850198B1

公开(公告)日：2009-12-09

申请号：EP07106220.2

申请日：2007-04-16

申请人： FANUC LTD

发明人： Otsuki, Toshiaki ,  Ide, Soichiro

IPC分类号： G05B19/4103

CPC分类号： G05B19/4103 ,  G05B2219/34089 ,  G05B2219/34149 ,  G05B2219/49344

公开(公告)号：EP1720085B1

公开(公告)日：2008-11-26

申请号：EP06252015.0

申请日：2006-04-11

申请人： FANUC LTD

发明人： Otsuki, Toshiaki ,  Ide, Soichiro ,  Shiobara, Hisashi FANUC

IPC分类号： G05B19/4103

CPC分类号： G05B19/4103 ,  G05B2219/34171

公开(公告)号：EP1389749A3

公开(公告)日：2007-05-02

申请号：EP03254589.9

申请日：2003-07-23

申请人： FANUC LTD

发明人： Otsuki, Toshiaki ,  Ogino, Hideo ,  Ide, Soichiro ,  Chiba, Takuji, Room 14-502

IPC分类号： G05B19/4103

CPC分类号： G05B19/4103 ,  G05B2219/33077 ,  G05B2219/34124 ,  G05B2219/34127 ,  G05B2219/34135 ,  G05B2219/34145 ,  G05B2219/34171 ,  G05B2219/42207

摘要： A curve interpolation method capable of obtaining a curve approximating an original curve based on a sequence of command points within a tolerance set for the original curve, and performing interpolation on the obtained curve. Points Q1, ..., Q2n are interpolated between respective two adjacent command points (P0, P1), (P1, P2), ..., (Pn-1, Pn) as shape-defining points. The shape-defining points are positioned within a tolerance width 2w set to the original curve. One shape-defining point and shape-defining points surrounding the one shape-defining point are successively selected and an approximate curve for the selected shape-defining points is successively created. The one shape-defining point is moved towards the approximate curve to determine a modified shape-defining point for the one shape-defining point. A smooth curve passing a sequence of the modified shape-defining points is created and interpolation for machining is performed on the created curve. Since the shape-defining points are positioned closer to an original target curve within a tolerance width set to the original curve than the command points, the created smooth curve passing the sequence of modified shape-defining points approximates well to the original target curve within the tolerance width.

公开(公告)号：EP1517205A2

公开(公告)日：2005-03-23

申请号：EP04254670.5

申请日：2004-08-04

申请人： FANUC LTD

发明人： Otsuki, Toshiaki ,  Ide, Soichiro

IPC分类号： G05B19/41

CPC分类号： G05B19/416 ,  B25J9/1623 ,  G05B19/4103 ,  G05B2219/33272 ,  G05B2219/34167 ,  G05B2219/43062 ,  G05B2219/43065 ,  G05B2219/43203

摘要： A controller, for a machine, that eliminates an error caused by acceleration/deceleration control, and controls the velocities of drive axes (U1-U6) which are not represented by a rectangular coordinate system, such that maximum allowable values of velocity, acceleration, and jerk of the drive axes (U1-U6) are not exceeded. A program is analysed in a command analysis section (11), and an interpolated position on a motion path in a rectangular coordinate system is determined in a first interpolation section (12), and then converted by means of a transformation section (13) into drive axes' positions not in the rectangular coordinate system. In a tangential acceleration calculating section (14), a tangential acceleration is determined. In a velocity limit calculating section (16), a velocity limit at the time of each position being reached is determined which does not exceed maximum allowable values of velocity, acceleration, and jerk of the drive axes (U1-U6). A deceleration target velocity at the time of each position being reached is determined in a deceleration target velocity calculating section (17). An intermediate memory (15) stores the calculated results. A motion amount for a processing period of a second interpolation section is determined in an acceleration/deceleration processing section (18), and is interpolated in a second interpolation section (19), to be outputted to a servo control section for the drive axes (U1-U6). By performing the acceleration/deceleration processing before the second interpolation, a trajectory error is eliminated.

摘要翻译： 一种用于机器的控制器，其消除由加速/减速控制引起的误差，并且控制不由直角坐标系表示的驱动轴（U1-U6）的速度，使得速度，加速度， 并且不超过驱动轴（U1-U6）的加加速度。 在命令分析部分（11）中分析程序，并且在第一内插部分（12）中确定直角坐标系中的运动路径上的内插位置，然后借助于变换部分（13）转换成 驱动轴“位置不在直角坐标系中。 在切向加速度计算部（14）中，确定切向加速度。 在速度限制计算部分（16）中，确定到达每个位置时的速度极限不超过驱动轴（U1-U6）的速度，加速度和加加速度的最大允许值。 在减速目标速度计算部（17）中确定到达各位置时的减速目标速度。 中间存储器（15）存储计算结果。 在加速/减速处理部分（18）中确定第二内插部分的处理周期的运动量，并且在第二内插部分（19）中内插，以输出到驱动轴的伺服控制部分（ U1-U6）。 通过在第二次插补之前进行加减速处理，消除了轨迹误差。

公开(公告)号：EP1826644A2

公开(公告)日：2007-08-29

申请号：EP07102637.1

申请日：2007-02-19

申请人： FANUC LTD

发明人： Hosokawa, Masahiko, FANUC Manshonharimomi ,  Ide, Soichiro ,  Miyazaki, Takeshi, FANUC Manshonharimomi

IPC分类号： G05B19/4155 ,  G05B19/406

CPC分类号： G05B19/406 ,  G05B19/4155

摘要： A numerical controller capable of automatically determining performing/non-performing of specific miscellaneous functions. The specific miscellaneous functions to be performed only when they are called by a macro program are registered in advance. Each time when a macro program call command is read from a program, a call counter having an initial value of "0" is incremented by "1" and each time when a macro program return command is read from the program, the call counter is decremented by "1". When one of the registered specific miscellaneous function is commanded from the program, such specific miscellaneous function is performed if the value of the call counter has a positive value, and the specific miscellaneous function is inhibited from being performed if the value of the call counter has a value of "0". The specific miscellaneous function is commanded in a macro program taking an appropriate sequence of operations into account, and thus is properly performed. The command of the specific miscellaneous function without taking the appropriate sequence into account has a possibility of causing a malfunction of the machine when it is performed and thus is inhibited.

摘要翻译： 一种数字控制器，能够自动确定执行/不执行特定的其他功能。 只有当宏程序被调用时才执行具体的辅助功能。 每当从程序读取宏程序调用命令时，具有初始值“0”的调用计数器增加“1”，并且每次从程序读取宏程序返回命令时，调用计数器是 减去“1”。 当从程序中指定了一个注册的特定杂项功能时，如果呼叫计数器的值为正值，则执行该特定的辅助功能，并且如果呼叫计数器的值已经被禁止执行特定的辅助功能 值“0”。 在宏程序中指定具体的辅助功能，考虑适当的操作顺序，从而正确执行。 在不考虑适当的顺序的情况下，具体的辅助功能的命令具有在执行时引起机器故障的可能性，因此被禁止。