machine tool controller design and development …dmlab.nchu.edu.tw/imt/...machine tool controller...

Machine Tool Controller Design and Development Trend

Joe, Chien-Yi Lee

No. 191, 38 Road, Taichung Industrial Area.Taichung, Taiwan 40768, R.O.C.Tel: +886-4-2358-3993 ext.663E-mail: [email protected]

Intelligent Machinery Technology DivisionIntelligent Machinery Technology Center

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Joe LeeCopyright 2016 ITRI

Outline

CNC Controller’s Hardware Design

CNC Controller’s Software Design

CNC Controller’s Current Status

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FAGRO 8070CNC Controller System

3Photo Taken From: Internet

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Joe LeeCopyright 2016 ITRI Copyright 2016 ITRI

Controller Hardware Design一、Hardware Classification

1. Printed-circuit Board1. Large PCB2. Module

2. Microprocessor Number1. Single2. Multi

3. Hardware Manufacturing1. Dedicated2. Universal

4. Openness1. Closed2. PC Embedded NC3. NC Embedded PC4. Pure-soft Open CNC

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Printed-circuit Board Type1. Large PCB Configuration: main PCB, position control board, PLC board, graphic control

board and power unit. Feature: Big circuit board for main board slotted by small circuit boards for

other boards. Representative: FANUC 6MB series

2. Module Function Module: CPU , extended memory , position control , PLC board

graphic and communication boards. Communication Interface:：industry standard architecture bus(PCI, STD

Bus) Representative: FANUC 15 series

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Microprocessor Number1. Single Single CPU: ：centralized control and management of the entire system’s

resources

2. Multi Master-slave: master CPU for host management, slave CPU for client motion

control Distributed: exchange information and share resources by external

communication link Multi-master: common bus, shared memory

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Multi Master Microprocessors Feature: Configuration: two or more CPUs and their function modules. Handshake Mechanism: common bus arbiter for solving priority and

shared memory for exchanging information between multi-master CPUs

Function Module:CNC Management: CNC device management, such as initialization, interrupt

management, and system software/hardware diagnosisCNC Interpolation: pretreatment interpolation and real-time interpolation

calculationPosition Control: motion control and position/velocity control

PLC(PMC): single logic processing for NC file command(S、M、T), operation panel control and limit switch on machine

Input/Output and Display: display for NC file, path, parameter and operation I/O

Memroy: Data transfer for NC file and data storage between function modules.

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Hardware Manufacturing1. Dedicated Feature: closed architecture that designed and manufactured by

manufacturer, with advantages of high reliability, compact and dedicated Representative: FANUC, SIEMENS

2. Universal Feature: IPC as a hardware platform with dedicated control card and CNC

control software, with advantages of high openness and good maintenance Representative: Power Automation PA8000

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Photo Taken From: PA

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Openness1. Closed Feature: user cannot add, change and maintain any function Representative: FANUC 0、MITSUBISHIM 50、SIEMENS 810。

2. PC Embedded NC Feature: PC installed in CNC, with certain openness but system kernel modified

is allowed Representative: FANUC 18i/16i、SIEMENS 840D、NUM 1060

3. NC Embedded PC Feature: composition of motion control card and PC, motion control card is used

for CNC system and usually a high speed DSP is used as CPU Representative: American Delta Tau company PMAC CNC system based on

PMAC multi-axis motion control card, Japan MAZAK company MAZATROL 640 CNCsystem based on Mitsubishi Electric’s MELDAS MAGIC 64

4. Pure-soft Open CNC Feature: RTLinux software development platform as a pure software CNC system Representative: American MDSI company Open CNC, German PA company

PA80009

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PC Embedded CNC

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PC installed inside CNC, bus connection between PC and CNC

Dedicated Bus


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NC Embedded PC

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PCI/ISA

Non real-time process for system monitor management, fault diagnosis, interface display and interpreter

Real-time process for interpolation calculation, tool compensation, position control and velocity control.

CNC Card


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Universal Controller

Servo Drive/Motor

NC Kernel and Motion Control Card

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Servo Drive/Motor

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IPC

Multi-axis Mechanism

DSP

RS232COM2

HMI,OS: Windows

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Universal Controller

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Design-Control-Machining

NC File

Input/OutputU

nit

CNC Controller

Auxiliary Control Unit

Servo Drive Unit

Detection Feedback Unit

Machine Tool

PLC


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Control Process Design Control Classification1. NC Control: Numerical control for each axis coordinate2. Auxiliary Control: Sequence control for each responder action

Control Flow1. Control Command, Parameters, Machining Data Input Unit

CNC Storage Unit2. NC File Opened Blocks Interpretation

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Message Input

Storage

Interpreter

Pre-process

PLC Process

Position Control

I/O

Servo Amplifier

Interpolator

PositionFeedback

Motor

Machine

Tools

CNC Kernel Low speed auxiliary information

High speed auxiliary information

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Low Speed Auxiliary Information:Output and process by PLC to realize auxiliary control1. Auxiliary Function(M): Spindle start/stop, coolant on/off, tool change…2. Spindle Speed Function(S): Spindle speed controlled3. Tool Function(T): Tool selection

High Speed Auxiliary Information:Preprocess, interpolation and position control; simultaneously moving coordinate axes1. Tool Compensation Process: Part trajectory convers to tool center

trajectory.2. Feedrate Process: Component velocity calculation and speed limit

process.

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Control Process Design

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Software System Design Software Classification1. CNC Device Operating Characteristics

1. Real-time:

2. Parallel Processing:

3. Multi Processing

Strong real-time

Weak real-time

Periodic: Interpolation, motion controlSudden: Emergency stop, alarm faultDisplay: Trajectory, coordinate

Editor: Parameter, NC file

Display, machining, I/O processing, troubleshooting

Control: Interpreter, tool compensation, path planning, motion control

Management: Input, I/O processing, display, diagnosis

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Software Classification

3. CNC Software Architecture

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Software System Design

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Tool CompensationCompensation KindTool radius compensation: Cutter radius

compensation for machining centers, tool nose radius compensation for turning centersG40(Cancel tool radius comp. G41 and G42)G41(Left tool radius compensation)G42(Right tool radius compensation)

Tool length compensation: Adjust for differences in length between different tools。G43(Tool length compensation plus )G44(Tool length compensation minus)G49(Cancel tool length comp. G43 and G44)

Tool center offset compensation19

Radius

Length

Offset

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Linear radius compensation

Circular radius compensation

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Y

X

A(x,y)

A’(x’,y’)∆y

∆x

O

O’

⍺

r

Y

O

r

X

A′(x0′,Y 0′)

B ′(xe′,Y e′)

B(Xe,,ye)

A(X0,,Y0)

K

R

ΔX

ΔY

α

α

Tool Radius Compensation

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Tool length compensation

G43: tool length compensation in a positive directionZAct=ZCmd+(Hxx)

G44: tool length compensation in a negative directionZAct=ZCmd-(Hxx)

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HxxLength

comp. value

G43

Actual reaching

pointProgram

command point

+Z

HxxLength

comp. value

G44+Z

Tool Length Compensation

Actual reaching

point

Program command point課堂講義

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Feature NC Files:

Lots of small line segments(CAM software) ⇒ curves ⇒ surfaces

Effect of surface accuracy

1. CNC system delay For high speed machining, low workpiece precision from servo delay

caused by deviation between command and actual trajectory

Die and Mold Machining

Command

Actual trajectoryCorner round Arc smaller

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Actual trajectory

Command


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Feature Effect of surface accuracy

2. CAM system output distortion Un-smoothing machining velocity of adjacent trajectories caused by

irregular small line segments of adjacent

Unsmooth surface of surface blemishes caused by servo delay.

Tiny segment deviation, retrograde, ‘S’ mark

Irregular corner

Path BPath A

Inconsistent path lengths or angles

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Die and Mold Machining

Path APath BPath CPath D

Path A

Path B

Path C

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Precision Motion CommandCoordinate movement for desired motion AxesGeneration and interpolationInterpolator: trajectory planningContinuous machining path converted to coordinate movement

Output approximate coordinate movement every fixed time interval

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ퟏ∆풕 2∆풕 ퟑ∆풕 ퟒ∆풕 ퟓ∆풕 ퟔ∆풕 7∆풕 ퟖ∆풕

Motor rotation amount휽(풕) Target trajectory

The target trajectory is

assumed to be piecewise linear

with some

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Feature of CNC MotionMove in pulses• Tool’s basic motion unit(BMU): Pulse• Tool’s displacement magnitude along each coordinate direction:

integer multiple of pulses.• Machine Tool’s motion space: a discretized grid-area which a mesh

size represents a pulse; tool only can be moved a grid node location.

Tiny linear segments to be machined• Tool is moved to approximate the original curves or surfaces by a

series of broken line;

NC Programming G00 for Rapid Positioning

• Tool is moved along the shortest route to programmed X,Y,Z position G01 for Linear interpolation

• Tool is moved along a line G02 for Circular Interpolation Clockwise

• Tool is moved along an arc from the starting point to an end point G03 for Circular Interpolation Counterclockwise

Interpolation

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Classification Hardware interpolation• High-speed algorithm but lack of flexibility, difficulty with

adaptations and modifications• Early NC system: hardware interpolator consists of digital logic

circuit• It is used for fine interpolation Software interpolation• Low-speed algorithm but high flexibility, ease with adaptations

and modifications• CNC system: interpolation by pure software or

software/hardware combination• It is used for rough interpolation.

CNC’s Common Interpolation• Basic interpolation: linear, circular• Parametric interpolation: helical, parabolic, cubic…

Interpolation


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Point by Point ComparisonFlow

1. Deviation Judgment: According to deviation symbol to determine positional deviation between tool’s current position and part contour.

2. Coordinate Feed: According to deviation judgment to control responding coordinate axis to move one step for approaching workpiece.

3. Deviation Calculation: After moving one step, recalculate new positional deviation for new tool’s position.

4. End Discrimination: ：若If the end point is reached, stop interpolating; else, return step 1.

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Y

Start

Deviation Judgment

Coordinate Feed

Deviation Calculation

End Point Reached？

End

N

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Linear interpolation: Deviation value Fi is defined as the distance between the moving point and contouring OE

Circular Interpolation CCW: Deviation value Fi is defined as the difference between the moving point N and arc radius R

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O X

E（Xe，Ye）Y

F > 0

F < 0

O X

N（Xi，Yi）

E（Xe，Ye）Y

Start point

End point

Moving point

1.Deviation Fi = XeYi – XiYe2.When Fi ≥ 0, the moving point is over the straight line moves one step along +X direction;3.When Fi ＜ 0, the moving point is below the straight line moves one step along +Y direction

1.Deviation Fi = Xi2 + Yi2 – R2

2.When Fi ≥ 0, the moving point is outside the arc moves one step along -X direction;3.When Fi ＜ 0, the moving point is inside the arc moves one step along +Y direction.

X

Y

E(Xe,Ye)N(Xi,Yi)

S(Xs,Ys)O X

Y E(Xe,Ye)

Start point

End point

Moving point

Point by Point Comparison

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Extended DDA InterpolationFeatureDigital Differential Analyzer(DDA)

• solves equations by numerical methods• a kind of increment algorithm• the value of x, y and z in next step will by figured out after x, y and z in

previous step adds a small increment simultaneously and respectively.• high precision machining but simple algorithm• calculation of tool’s displacement along with coordinates to make tool is

moved along the machining trajectory.• computing speed fast• the distribution of the controller pulse overflow is more uniform• easy to implement multi-axis moving simultaneously and complex multi-axis

independent variable space curve interpolation• the most commonly used in numerical contouring control system

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Principle

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Moves from start point Ps(Xs，Ys，Zs) to reach the end point Pe(Xe，Ye，Ze) at time t= TI 。 T is the sampling time.The grid density (number of subintervals N): N is rounded to the nearest

integer, equal to or greater than TI /T.Velocity components of V

Incremental coordinates required to move

V—Programmed feedrate(mm/min)T—Interpolation period(ms)λt—time constant after interpolation, λt=T×10e-3/60。

Extended DDA Interpolation

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Principle

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Number of feedrate

Coordinate values for moving point

step coefficient λd = FRN*λt

Extended DDA Interpolation

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Velocity Design for Linear IPOVelocity CalculationDetermine contouring’s step length and each coordinate axis’s

feed length at a sampling time.Algorithm1.Projection on NC program segment

Lx=xe′-x0′ ; Ly=ye′-y0′2.Cosine on line direction

cosα=Lx/L ; cosβ=Ly/L3.Contouring’s step length (ΔL) for one IPO period

ΔL=(1/60)F·Δt, Feedrate F=[mm/min], IPO period Δt=[ms]，ΔL=[μm]

4.Each coordinate axis’s feed length (Δx , Δy) at a sampling timeΔx =ΔL·cosα=Fcosα·Δt/60 (μm)Δy =ΔL·sinα=Fsinα·Δt/60 =ΔL·cosβ= Fcosβ·Δt/60 (μm)

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VS

VS

Y Y

O OX XX0′ Xe ′

Ye′

Y0′

A(X0 ,Y0) A

BB(Xe ,Ye)A′(X0′,Y0′)

B′(Xe ′,Ye′)

A′

B′β

α

LLX

LY課堂講義

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Velocity Design for Circular IPOVelocity Calculation

AlgorithmEach coordinate axis’s feed length (Δxi , Δyi) at a sampling time

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J

I

X

Y

O

AO

E

Ai-1Ai

C(IO,JO)

∆Xi

∆Yi

αi

α

Ii-1Ji-1

R

:step partition coefficient(speed coefficient)

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N1 N1 N2N2

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Feedrate Design for Feedrate Difference

Tangent feedrate iscontinuous

Feedrate difference limit

Photo Taken From: FANUC

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Acceleration/Deceleration DesignN10 G0 X0 Y0N20 G01 X20 Y20 F1000N30 X40 Y0…M30

O0001

(0, 0)

(20, 20)

(40, 0)

N20 N30

Time

N20

Machine vibrates

N20

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Tangent feedrate Tangent feedrate

Tangent acceleration Tangent acceleration

Machine vibrates

Machine vibration reduces

Machine vibration reduces

Time

Time

Time

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Types of ACC/DEC

Three common types of ACC/DEC for commercial controllersLinear Acceleration/DecelerationExponential Acceleration/DecelerationBell-shaped Acceleration/Deceleration

Time

Feedrate

ExponentialLinear Bell-shaped

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Feedrate Feedrate

Time Time

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Path Error Reduction with G-CodeDesired machining trajectoryActual machining trajectory with using after federate interpolation

Path error due to using after interpolation feedrate controlling could be eliminated by adding G04 or G09 between two blocks.

G04: Dwell For Precise Timing• It keeps the axes unmoving for the period of time in seconds specified by the P number. G09: Exact Stop Check • It causes the machine to wait until the cutter is finished and exactly on position before

continuing.

N2N1


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SIEMENS Exact Stop Function

G function Meaning

G601 Exact stop fine

G602 Exact stop coarse

G603 Interpolation end

Exact stop coarse(MD36010)

Exact stop fine(MD36000)>

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Exact Stop Coarse and Fine

Photo Taken From: SIEMENS

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N1

N2

N3 N4

N5N6 N7

N8

N1 N2 N3 N4 N5 N6 N7 N8 Time

Feedrate

Look-ahead Function

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Look-ahead ONLook-ahead OFF

Sharp Corners

TtradiitonTlook-ahead


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Look-ahead Bell-shaped Acc./Dec.Look-ahead Linear Acc./Dec.

Before InterpolationLook-ahead Bell-Shaped Acc./Dec.

Before Interpolation

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Substitutes bell-shaped with linear acc./dec.


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Deceleration by Acceleration

N8N7

N6

N1N2

N3N4

N5

N9

• Limit for each axis’s max acceleration to reduce a machine vibration caused by large acc/dec.

41Photo Taken From: FANUC

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• Jerk is the derivative of acceleration with respect to time.

N4

N1 N2

N3

N5

X

Y

N1

N2

N3

N4

N5

Feedrate

Time

Y-axisAcc.

Time

Machine vibrates

Machine vibrates

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Jerk Plan

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Line block(N1) connects circular block(N2)

Limit axial max. acc. variation(Jerk)

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Jerk Control

Vibration due to acceleration change


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Joe LeeCopyright 2016 ITRI 44

Jerk Control

Max. acc. variation

Jerk Limitation

Photo Taken From: FANUC & SIEMENS

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Linear vs. Parametric Interpolation

• High-end CNC– FANUC : Nano Smoothing I & II – MITSUBISHI : SSS4(Super Smooth Surface4)– SIEMENS : Compressor– HEIDENHAIN : Contour Filter (M124)

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1. No errors for using small line segments to approximate curves

2. Compression for part programming file’s size

3. Increasing machining feedrate

4. Do need to transfer files through DNC


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FANUC Nano Smoothing I/II• Related G-code

– G5.1 Q3(Enable)– G5.1 Q0(Disable)

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Smoothing Control


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MITSUBISHI SSS(Super Smooth Surface)– With look-ahead blocks by judging part program paths, unnecessary deceleration is

reduced, even when fine steps in the program exist. This provides a smooth finish without deviation for die-mold machining.

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It compensates uneven paths output from CAM to smoothly joint the tool center points' path.

This function suppresses the vibrations of the tool by moving the rotary axis smoothly.

Smoothing Control


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Joe LeeCopyright 2016 ITRI 48Photo Taken From: MITSUBISHI

MITSUBISHI SSS4(Super Smooth Surface 4)

Smoothing Control

• Optimum speed control is always performed even with a program with an error, resulting smooth surface in short time.

• Machining time can be shorter by 5 to 30% relative to a conventional system, especially more effective at a higher feed rate.

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SIEMENS Compressor• In accordance with the specified tolerance band, the

compressor takes a sequence of G1 commands, combines them and compresses them into a spline – COMPON/COMPCURV

10 blocks as a set for curve fitting with three or fifth order polynomial equations

– COMPCADAll blocks combined and compressed into a B-Spline

49Photo Taken From: SIEMENS

Smoothing Control

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HEIDENHAIN Contour Filter(M124)

• Shape of Contour Transitions– Tangential circle [MP7415.0 = 0]– Third-degree polynomial (cubic spline)

[MP7415.0 = 1]– Fifth-degree polynomial [MP7415.0 = 2] – Seventh-degree polynomial (standard

setting) [MP7415.0 = 3]

• Rounding of Contour Transitions– Do not round the contour transition

[MP7415.1 = 0]– Round the contour transition

[MP7415 = 1]Constraints:•Permissible contour deviation T•Minimum length E of a contour element

50Photo Taken From: HEIDENHAIN

Smoothing Control

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General Motion Control Platform

HMIModule

Motion Control Chip

CPUCard

Before

Motion

Control

Card

CPUCard

Now

HMIModule

MotionModule

MotionModuleCPU

Digital Motion Control Chip

Dedicated CPU for Motion Module

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Motion

Control

Card

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ITRI CNC ControllerHardware Design

high cost, bulky, poor stability,IPC card Motion

control card

+

IPC Card Motion Control Card

+

SOC-based Precision Motion Control Card

low cost, small size, good stability

Dual-CPU Dual-OS CNC Controller

Before

Now

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• IPC’s CPU for HMI• Motion control card’s CPU for motion control kernel

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Software Design

Feature:

2. Integration of motion control kernel, axes control with FIFO, PLC and HMI communication interface

Feature:

1. Integration of motion control chip, SOC and IPC card in a SOC-based CNC control device課堂講義

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Dual-CPU Dual-OS CNC ControllerGMC Controller(Half-Size Rack)

GMC Motion Control Card

IPC Card

3D Accelerated Graphics Card

Option : 3D simulation with 3D acceleration graphics card

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Joe LeeCopyright 2016 ITRI Copyright 2016 ITRI 55

Controller Hardware ArchitectureCompact Package

15” Industrial touchscreen M100Touch controller Operation panel and full-key keyboard

Handwheel control Adapter plate Universal/Serial servo system

GMC motion control card課堂講義

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Machine Center Controller

1. Spindle System

2. Feed System

3. Controller Rack

4. Controller Hardware

5. Controller Software

6. Electronic Control Applications

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High-speed High-precision ControlMilling for Die and MoldHigh-speed high-precision

contouring control Look-ahead 1000 Blocks S-curve ACC//DEC IPO time 1.0msAutomatic Feedrate

Control(Deceleration based on the feedrate difference at a corner)

B-spline and nano interpolation

TappingRigid tappingZero phase error tracking control

Benz test

Lamp

Darmstadt

Mouse

Rigid Tapping: 8000 rpm, M3

Tapping condition

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Five-axis Precision Interpolation ControlFive-axis Machining Supported three types(TTTRR,

RTTTR, RRTTT)Tool center point controlVirtual tool axis retractTool posture controlTilted working plane machiningRotary axes error compensationWorkpiece setting error

compensation3D online anti-collision3D machining simulation

TCP 3D anti-collisionVirtual tool axis

Impeller

Three types

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3D machining simulation

Tilted machining

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Turn-mill Multi-tasking ControlTurn-mill MachiningDual-spindle simultaneous

controlDual system of turn-millX and C axes milling

synchronously Inside/outside diameter turning Indexing control of the B-axisVirtual Y-axis function

X and C axes synchronously

C

XVirtual Y-axis

C

X

Y

Rigid tapping

主軸,C

Z

3D anti-collision

動力刀塔

尾座主軸

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Industrial ROBOT ControlSix-axis Architecture Robot Kinematics and singular points estimation Point to point, line/circular interpolation Coordinate maintenance for Cartesian,

Joint and Tool All-digital series servo system and

absolute coordinate Modes for teach-in, programming,

guidance PLC embedded Virtual robot-machine simulation

– Collision warning module– Part set ready module– Fixture set ready module– 3D motion simulation module

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Friendly, Open Man-machine Interface Coordinate display

3D machining simulation

Intuitive touchscreen PLC ladder and IO status

Customized software panel

Parameter and search Laser measurement

Common Info and toolbar

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FANUC Controller Architecture

FSSB link servo and spindleSynchronous error reduction between rigid tapping

servo and spindleFSSB: Fiber+ECC(Error Correction Code)

FANUC 30i

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Feature64-bit RISC micro processor chipAI nano contouring controlAI high precision controlHRV4 (High Response Vector 4) controlCNC: 10 paths, 40 axes(32 servo axes, 8 spindles)

PMC: dedicated processor and dedicated LSI, max. supported for five paths

Servo：DSP-base servo processor and high-speed FSSB protocol

Lookahead: 1000 blocks

FANUC AI nano control system

FANUC 30i Series

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FANUC 30i SeriesFeatureAI nano contouring control

- reduction position lag due to acc/dec and servo lagSmooth TCP

- stable/high precision machining process Five-axis machining function

- TCP/tilted work plane/TPCAdaptive predictive control(APC)SERVO GUIDE tuning software3D interference check CIMPLICITY i CELL

- multiple CNC network management

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MITSUBISHI Controller Architecture M700V

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Photo Taken From: MITSUBISHI

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Specification64-bit CPUWindows Xpe OS1nm system resolutionNano control/nano interpolationHigh gain control IICNC：4 paths, 16 controlled axes(16 servo axes, 6 spindles) 。


MITSUBISHI complete nano control system

MITSUBISHI M700V Series

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MITSUBISHI M700V SeriesFeatureComplete nano control

- reduce speed variation- improving interpolation precision

Super smooth surface control (SSS)- Stable/high-precision machining process

Five-axis machining function- TCP/tilted work plane/TPC

High-speed synchronous tapping(OMR-DD)Optimal feedforward control(OMR-FF)3D interference checkNAVI MILL/LATHE

- user friendly programming functionwith simple operation

Online teaching function

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SIEMENS TIA

SIMOTIONMotion Control System

SINUMERIK Computer Numerical Control

SIMATIC ControllersModular/Embedded/PC-based

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Totally Integrated Automation

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SINUMERIK CNC 1. CNC HMI 2. CNC controls3. CNC Operate ShopMill ShopTurn

4. SINUMERIK Safety Integrated

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SIEMENS Sinumerik System

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HMI

NCK

PLC

1. HMI(MMC)

2. NCU

3. PLC

Numerical control unit

Drive unit

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SIEMENS CNC Controls Architecture

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SIEMENS 840D Architecture

Three CPUs：1. MMC-CPU2. NC-CPU3. PLC-CPU

Four software：1. MMC2. NC3. PLC4. communication/

drive interfaceSIMATIC S7-300 PLC

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Spindle motor

I/R

Operator panel/keyboard/handwheel

Windows

Feed motors

NC+PLC Drives

PCU50

Power module

Control module

System control and display module

Servo drive module

611D

840D + 611D

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SIEMENS NC Control and Servo

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SIEMENS Controller Structure 840D + 611D

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Regulator-speedPos i tion loop

Reference pos ition Reference speed

calculation speed

Current controller

InterpolatorePower section

Motore e S.M.

Input of the measuring systemPos i tion feedback

Current Feedback

Iret / Irif

Iret

Irif

Nret / Iret

Nret

Nret / Nrif

Risp. in freq. reg. speed

Risp. in freq. reg. corr.

Risp. in freq. of the systme

Pret / Prif

Risp. in freq. reg. position

Pret

NrifPrif

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Specification32-bit micro processor(828D:80bits nano precision floating operation)

High-speed and high-precisionNC file compressorAcc/dec feedforward control

for contouring error supressionJerk limit control

for surface qualityActive vibration controlCNC: 10 paths, 31 controlled axes(12 servo axes, 12 spindles)


SIEMENS SINUMERIK control system

SIEMENS 840 Series

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SIEMENS 840D sl SeriesFeatureAdvanced surface control

- high order surface +Look-aheadShopMill/ShopTurn sequence programming editor

- Flexible readability editor language Five-axis machining function

- TRAORI/ CYCLE996/CYCLE800High-speed machining function(CYCLE832)

- Speed/accuracy/surface auto adjustmentDynamic Stiffness Control (DSC)

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High contouring precision


Flexible machining combined cycle課堂講義

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SIEMENS Simulation and ValidationVirtual NC Kernel (VNCK)Machining process graphic simulation/verification

Mechatronic SupportMechatronics design and developmentDynamic response analysisOptimal control parameters Shorten process development

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HEIDENHAIN Controls Architecture

iTNC 530

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Photo Taken From: HEIDENHAIN

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Specification32-bit micro processorMC 6341 main CPU - Pentium Dual Core with 2.2GHz processor

Machine Controlled: HEIDENHAIN dedicated real-time OS(HeROS 5)Man-machine interface: Windows 7 OS

CC 6110 control unit - DSPCNC: 1 path, 20 controlled axes(3 rotary axes, 2 spindles)


HEIDENHAIN contouring control system

HEIDENHAIN iTNC530 HSCI Series

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Feature SmarT.NC programming editor

- dialogue without remembering G-code DXF converter

- DXF files imported to direct generate NC file Five-axis machining function

- tool center point management/tilted plane/five-axis errors measurement and compensation

Dynamic collision monitoring technology(DCM)- real-time multi-axis machining interference collision inspection

Adaptive feedrate control(AFC)- machining time reduction- tool monitoring- machine failure rate reduction

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CAD/CAM Seamless Integration


HEIDENHAIN iTNC530 Series

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FIDIA Controller Architecture C20/C40

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Photo Taken From: FIDIA

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Specification32-bit micro processorTwo independent processors400 MHz RISC Power CPUReal-time motion control

3.4HGz Intel Core i7 Quad coreCPU，Window 7 Ultimate 64bitMan-machine interface management

CNC：1 path, 32 controlled axes


FIDIA new age control system

FIDIA C40 Vision Series

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FIDIA C40 Vision SeriesFeature LookAhead(L.A. FIVE) auto tuning function

- machine types, workpiece types, machining demand(rough, semi-finishing, finishing) Five-axis machining function

- RTCP/tilted plane/virtual tool axis Look Ahead Virtual Milling SimulationHI-MILL - 3D CAMPLP – copying functionHMS rotary axes measurement system

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Thank You for Your Attention!

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machine tool controller design and development …dmlab.nchu.edu.tw/imt/...machine tool controller...

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