Control device and computer-readable storage medium
AssigneeFanuc Corporation
InventorsNaoya KOIDE, Hiroyuki KAWAMURA, Hiroki MURAKAMI
Life of this patent
Estimating the term…
Abstract
Provided is a control device including a corner detection unit that detects a command for a corner portion; a command generation unit that generates a curve command path and first command speed information indicating a first provisional feed speed by overlapping a feed speed when a tool moves toward the corner portion and a feed speed when the tool moves away from the corner portion; a second speed planning unit that generates second command speed information indicating a second provisional feed speed; and a command speed generation unit that generates third command speed information indicating an actual feed speed when the tool is to actually move on the curve command path.
Claims9
A control device comprising:
- a corner detection unit that detects, from a machining program, an instruction on a corner part where a direction of machining performed by a tool is changed discontinuously;
- a first rate-planning unit that, based on the instruction, generates a deceleration plan defining a feed rate of a control axis when the tool moves toward the corner part and an acceleration plan defining a feed rate of the control axis when the tool moves away from the corner part;
- an instruction generation unit that overlaps a deceleration period specified by the deceleration plan and an acceleration period specified by the acceleration plan to generate a curve instruction path representing a motion path of the tool and first instruction rate information indicating a first provisional feed rate of the tool on the curve instruction path;
- a second rate-planning unit that generates second instruction rate information indicating a second provisional feed rate of the tool on the curve instruction path so that an acceleration on the curve instruction path generated by the instruction generation unit is less than or equal to a predetermined allowable acceleration;
- and
- an instruction rate generation unit that, based on the first instruction rate information and the second instruction rate information, generates third instruction rate information indicating an actual feed rate when the tool actually moves on the curve instruction path.
A computer readable storage medium storing an instruction that causes a computer to perform:
- detecting, from a machining program, an instruction on a corner part where a direction of machining performed by a tool is changed discontinuously;
- based on the instruction, generating a deceleration plan defining a feed rate of a control axis when the tool moves toward the corner part and an acceleration plan defining a feed rate of the control axis when the tool moves away from the corner part;
- overlapping a deceleration period specified by the deceleration plan and an acceleration period specified by the acceleration plan to generate a curve instruction path representing a motion path of the tool and first instruction rate information indicating a first provisional feed rate of the tool on the curve instruction path;
- generating second instruction rate information indicating a second provisional feed rate of the tool on the curve instruction path so that an acceleration on the generated curve instruction path is less than or equal to a predetermined allowable acceleration;
- and
- based on the first instruction rate information and the second instruction rate information, generating third instruction rate information indicating an actual feed rate when the tool actually moves on the curve instruction path.
Dependencies are inferred from the claim text.