Fanuc Corporation

Yusaku Yamada

Kentaro Fujibayashi

Osamu Hanaoka

Soichiro Ide

Tetsuo Hishikawa

Hideaki Inoue

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.

Numerical controller with interference check function

Control programs for machine tools and industrial machines include programs that control axis motion, and programs, that periodically execute machine sequence control. Both the axis motion control programs and the sequence programs are coded in an NC program format. The controller analyzes the sequence programs created in NC program format, converts them into executable form, and executes the executable-form programs periodically from when power to the machine is turned on until the power is shut down.

Controller for machines

An acceleration/deceleration method capable of synchronizing two axes in velocity and also in position is disclosed. A follower axis X continues to be accelerated after a velocity Vx of the follower axis X reaches a target velocity Vy of an objective axis Y and the acceleration is changed over to a deceleration to achieve the target velocity Vy. The time for changing over the acceleration to the deceleration is determined so that the motion amount of the position Px of the follower axis X in excess of the motion amount of the position Py of the objective axis Y is equal to the sum of the displaced motion amount in the acceleration motion and an initial positional difference. Thus, the position and velocity of the follower axis X coincide with the position and velocity of the objective axis Y to achieve complete synchronism of the two axes in the case where there is a positional difference and a velocity difference between the two axes.

Acceleration/deceleration method

A numeric array of move command data Qi constituting a reference cam diagram F (.theta.) is stored in advance in a data table of a CMOS memory. Alternatively, a shift position of a cam corresponding to a rotational angle .theta. of the cam is stored in advance so that move command data can be generated by obtaining the shift position of the cam from the rotational angle of the cam based on the rotational angle value. In response to the input of a shift Ka in the lift direction, shift Kb in the pitch-circle direction, maximum lift Kc, and data number n as a criterion for extension or compression in the pitch-circle direction, the move command data can be corrected by automatic processing by means of a motion controller. Thus, final move command data Pk can be generated and outputted as position commands.

Growing community of inventors

Yamanashi, Japan

Yusaku Yamada