Numerical controller and synchronous follow-up control method

• US 10,317,873 B2
• Filed: 04/25/2017
• Issued: 06/11/2019
• Est. Priority Date: 04/28/2016
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Horiguchi, Kouichirou
• Primary Examiner(s): Suryawanshi, Suresh
• Application Number:
  US15/496,050
• Publication Number:
  US 20170315534A1
• Time in Patent Office: 777 Days
• Field of Search: 700 61
• CPC Class Codes: G05B 19/402 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence
• CPC Class Codes: G05B 19/406 characterised by monitoring or safety G05B19/19 takes precedence
• CPC Class Codes: G05B 19/4103 Digital interpolation
• CPC Class Codes: G05B 2219/42186 Master slave, motion proportional to axis
• CPC Class Codes: G05B 2219/42335 If one slave axis out of synchronisation, synchronise all other axes to that one

Abstract

A numerical controller contains a position table where a positional relationship is defined between a position of a master axis and positions of a plurality of slave axes, a slave axis synchronous control unit that drives and controls the plurality of slave axes in accordance with the position table so that the slave axes are synchronized with the master axis, a parent determining unit that determines one slave axis, which is stopped due to a failure, to be a parent of the master axis, and a master axis control unit that drives and controls the master axis based on a command position, and if a slave axis serving as the parent of the master axis is determined by the parent determining unit, drives and controls the master axis in accordance with the position table, so that the master axis is synchronized with the slave axis determined to be the parent.

Claims

1. A numerical controller comprising:

a position table in which a positional relationship is defined between a position of a master axis and a position of a slave axis;

a slave axis synchronous control unit configured to drive and control the slave axis in accordance with the position table so that the position of the slave axis is synchronized with and follows the position of the master axis;

a parent determining unit configured to determine the slave axis to be a parent of the master axis; and

a master axis control unit configured to drive and control the master axis based on a command position, and in an event that the slave axis which serves as the parent of the master axis is determined by the parent determining unit, drive and control the master axis in accordance with the position table, so that the position of the master axis is synchronized with and follows the position of the slave axis determined to be the parent.

2. The numerical controller according to claim 1, wherein, in a case that the slave axis is stopped due to a failure, the parent determining unit determines the stopped slave axis to be the parent of the master axis.

3. The numerical controller according to claim 1, wherein, in a case that a plurality of the slave axes are synchronized with the master axis, and in an event that the slave axis that serves as the parent of the master axis is determined by the parent determining unit, the slave axis synchronous control unit drives and controls a slave axis other than the slave axis determined to be the parent, so that the position of the slave axis other than the slave axis determined to be the parent is synchronized with and follows the position of the master axis.

4. The numerical controller according to claim 1, wherein the slave axis synchronous control unit acquires position information of the master axis, and using the position information of the master axis and the position table, drives and controls the slave axis, so that the position of the slave axis is synchronized with and follows the position of the master axis.

5. The numerical controller according to claim 1, wherein the master axis control unit acquires position information of the slave axis determined to be the parent, and using the acquired position information of the slave axis and the position table, drives and controls the master axis, so that the position of the master axis is synchronized with and follows the position of the slave axis determined to be the parent.

6. The numerical controller according to claim 1, wherein, in an event that the slave axis that serves as the parent of the master axis is determined by the parent determining unit, and in a case that, in the position table, there are a plurality of synchronous positions of the master axis corresponding to the position of the slave axis determined to be the parent, the master axis control unit determines one of the synchronous positions closer to a current position of the master axis to be the position of the master axis.

7. A numerical controller comprising:

a position table in which a positional relationship is defined in advance between a position of a master axis and positions of a plurality of slave axes;

a slave axis synchronous control unit configured to drive and control the plurality of slave axes in accordance with the position table, so that the positions of the plurality of slave axes are synchronized with and follow the position of the master axis;

a parent determining unit configured to determine one slave axis, from among the plurality of slave axes, to be a parent of the master axis; and

a virtual axis position determining unit configured to determine a position of a virtual axis, in which the master axis is constructed virtually, in accordance with the position table, so that the virtual axis is synchronized with and follows the position of the slave axis determined to be the parent;

wherein the slave axis synchronous control unit, in an event that the slave axis that serves as the parent of the master axis is determined by the parent determining unit, drives and controls a slave axis other than the slave axis determined to be the parent in accordance with the position table, so that the position of the slave axis other than the slave axis determined to be the parent is synchronized with and follows the position of the virtual axis.

8. The numerical controller according to claim 7, wherein the parent determining unit determines one of the slave axes which is stopped due to a failure to be the parent of the master axis.

9. The numerical controller according to claim 7, wherein, in an event that the slave axis that serves as the parent of the master axis is determined by the parent determining unit, and in a case that, in the position table, there are a plurality of synchronous positions of the master axis corresponding to the position of the slave axis determined to be the parent, the virtual axis position determining unit determines one of the synchronous positions closer to a current position of the virtual axis to be the position of the virtual axis.

10. A synchronous follow-up control method in which a position of a slave axis is synchronized with and made to follow a position of a master axis, comprising:

a master axis driving and controlling step of driving and controlling the master axis based on a command position;

a slave axis synchronous controlling step of driving and controlling the slave axis in accordance with a position table in which a positional relationship is defined in advance between the position of the master axis and the position of the slave axis, so that the position of the slave axis is synchronized with and follows the position of the master axis;

a parent determining step of determining the slave axis to be a parent of the master axis; and

a master axis synchronous controlling step of, in an event that the slave axis which serves as the parent of the master axis is determined by the parent determining step, driving and controlling the master axis in accordance with the position table, so that the position of the master axis is synchronized with and follows the position of the slave axis determined to be the parent.

11. The synchronous follow-up control method according to claim 10, wherein, in the parent determining step, in a case that the slave axis is stopped due to a failure, the stopped slave axis is determined to be the parent of the master axis.

12. The synchronous follow-up control method according to claim 10, wherein, in the slave axis synchronous controlling step, in a case that a plurality of the slave axes are synchronized with the master axis, and in an event that the slave axis that serves as the parent of the master axis is determined by the parent determining step, a slave axis other than the slave axis determined to be the parent is driven and controlled, so that the position of the slave axis other than the slave axis determined to be the parent is synchronized with and follows the position of the master axis.

13. The synchronous follow-up control method according to claim 10, wherein, in the master axis synchronous controlling step, in a case that the slave axis that serves as the parent of the master axis is determined by the parent determining step, and in an event that, in the position table, there are a plurality of synchronous positions of the master axis corresponding to the position of the slave axis determined to be the parent, one of the synchronous positions closer to a current position of the master axis is determined to be the position of the master axis.

14. A synchronous follow-up control method in which positions of a plurality of slave axes are synchronized with and made to follow a position of a master axis, comprising:

a slave axis synchronous controlling step of driving and controlling the plurality of slave axes in accordance with a position table in which a positional relationship is defined in advance between the position of the master axis and the positions of the plurality of slave axes, so that the positions of the plurality of slave axes are synchronized with and follow the position of the master axis;

a parent determining step of determining one slave axis, from among the plurality of slave axes, to be a parent of the master axis; and

a virtual axis position determining step of determining a position of a virtual axis, in which the master axis is constructed virtually, in accordance with the position table, so that the virtual axis is synchronized with and follows the position of the slave axis determined to be the parent;

wherein, in the slave axis synchronous controlling step, in an event that the slave axis that serves as the parent of the master axis is determined by the parent determining step, a slave axis other than the slave axis determined to be the parent is driven and controlled, so that the position of the slave axis other than the slave axis determined to be the parent is synchronized with and follows the position of the virtual axis.

15. The synchronous follow-up control method according to claim 14, wherein, in the virtual axis position determining step, in a case that the slave axis that serves as the parent of the master axis is determined by the parent determining step, and in an event that, in the position table, there are a plurality of synchronous positions of the master axis corresponding to the position of the slave axis determined to be the parent, one of the synchronous positions closer to a current position of the virtual axis is determined to be the position of the virtual axis.