Manual control system for numerically controlled machine

Abstract

A manual control system including a powered feed for a numerically controlled machine tool. The system includes a manually operable differential resolver located in the position feedback loop of the servo control system for each slide and a variable speed motor for driving that differential resolver at a controlled rate so as to effect controlled feeding movement of the slides independent of the numerical control unit.

Having described our invention, we claim: 
     
       1. For use in combination with a numerically programmable machine having a slide and a motor for effecting movement of said slide, a control system for controlling energization of said motor, said control system comprising a first source of .Iadd.numerically controlled, .Iaddend.programmable position and velocity command signals,   .Iadd.a numerically controlled position servo loop including .Iaddend.a comparator,   means for supplying a programmed command signal from said first source of command signals to said comparator,   means for supplying an error signal from said comparator to said motor,   a feedback signal generator,   means for supplying a feedback signal from said feedback signal generator to said comparator such that said error signal is representative of the difference between said command signal and said feedback signal,   a second source of unprogrammed .Iadd.auxiliary .Iaddend.position control signals,   means for .[.supplying.]. .Iadd.superimposing auxiliary .Iaddend.position control signals from said second source .[.to said comparator.]. .Iadd.upon feedback signals from said feedback signal generator of said numerically controlled position servo loop.Iaddend., and   .[.the improvement which comprises.].   variable speed motor means for driving said second source of position control signals at a controlled rate so as to control the velocity of slide movement when said slide is under the control of said second source of unprogrammed position control signals.   
     
     
       2. For use in combination with a numerically programmable machine having a slide and a motor for effecting movement of said slide, a control system for controlling energization of said motor, said control system comprising a first source of .Iadd.numerically controlled, .Iaddend.programmed position and velocity command signals,   a .Iadd.numerically controlled position servo loop including a .Iaddend.comparator,   means for supplying a command signal from a said first source of command signals to said comparator,   means for supplying an error signal from said comparator to said motor,   a feedback signal generator,   means for supplying a feedback signal from said feedback signal generator to said comparator such that said error signal is representative of the difference between said command signal and said feedback signal,   a second manually actuated source of unprogrammed .Iadd.auxiliary .Iaddend.position control signals,   means for .[.supplying.]. .Iadd.superimposing auxiliary .Iaddend.position control signals from said second source .[.to said comparator,.]. .Iadd.upon said numerically controlled position servo loop while said feedback signal generator is operative in said position servo loop.Iaddend.,   .[.the improvement which comprises.].   variable speed motor means for driving said second source of unprogrammed position control signals at a controlled rate so as to control the velocity of slide movement when said slide is under the control of said second source of position control signals.   
     
     
       3. For use in combination with a numerically programmable machine having a slide and a motor for effecting movement of said slide, a control system for controlling energization of said motor, said control system comprising a first source of programmed position command signals,   a comparator,   means for supplying a command signal from a said first source of command signals to said comparator,   means for supplying an error signal from said comparator to said motor,   a resolver for generating a feedback signal,   means for supplying said feedback signal from said resolver to said comparator such that said error signal is representative of the difference between said command signal and said feedback signal,   a manually setable differential resolver for generating unprogrammed control signals,   means for supplying said unprogrammed control signals from said differential resolver to said comparator, and the improvement which comprises   variable speed motor means for driving said differential resolver at a controlled rate so as to control the velocity of slide movement when said slide is under the control of unprogrammed control signals.   
     
     
       4. The control system of claim 3 in which said differential resolver is electrically connected in a feedback loop .[.between.]. .Iadd.containing .Iaddend.said resolver and said comparator. 
     
     
       5. The control system of claim 3 in which said differential resolver comprises a stator and a rotor, said rotor being mechanically connected to a manually rotatable position control dial. 
     
     
       6. The control system of claim 3 in which said variable speed motor is connected to a manually setable speed control setting means. 
     
     
       7. The control system of claim 3 in which said variable speed motor is connected through a closed servo loop with a manually setable speed control setting means. 
     
     
       8. The control system of claim 7 in which said closed servo loop includes a tachometer mechanically connected to said variable speed motor, a source of command speed control signals, and a comparator for generating an error signal representative of the difference between the command speed control signal and the actual speed of said variable speed motor as measured at said tachometer. 
     
     
       9. For use in combination with a numerically controlled machine tool having a pair of slides movable along mutually perpendicular axes and a pair of independently operable motors for effecting movement of said slides, a numerical control system for controlling energization of said motors, said control system comprising a first source of .Iadd.numerically controlled, .Iaddend.programmable position and velocity command signals for each of said motors,   a pair of .Iadd.position servo loops including a pair of .Iaddend.comparators, one of said comparators being in a .Iadd.servo .Iaddend.control circuit for each of said motors,   means in each of said circuits for supplying a programmed command signal from said first source of command signals to each of said comparators,   means in each of said circuits for supplying an error signal from said comparator to the motor controlled by said circuit,   a feedback signal generator in each of said control circuits,   means in each of said circuits for supplying a feedback signal from said feedback signal generator to said comparator such that said error signal is representative of the difference between said command signal and said feedback signal,   a second source of unprogrammed .Iadd.auxiliary .Iaddend.position control signals in each of said circuits,   means in each of said circuits for .[.supplying.]. .Iadd.superimposing auxiliary .Iaddend.position control signals from said second source .[.to the comparator in said circuit.]. .Iadd.upon feedback signals from said feedback signal generators.Iaddend., and   .[.the improvement which comprises.].   variable speed motor means in each of said circuits for driving said second source of position control signals at a controlled rate so as to control the velocity of slide movement when that slide is under the control of said second source of unprogrammed position control signals.   
     
     
       10. The control circuit of claim 9 in which said second source of unprogrammed position control signals is manually movable. 
     
     
       11. The control circuit of claim 9 in which said feedback signal generator is a resolver and said second source of unprogrammed position control signals is a differential resolver in series connection with said resolver. 
     
     
       12. The control system of claim 11 in which said differential resolver is electrically connected in a feedback loop .[.between.]. .Iadd.containing .Iaddend.said resolver and said comparator. 
     
     
       13. The control system of claim 11 in which said differential resolver comprises a stator and a rotor, said rotor being mechanically connected to a manually rotatable position control dial. 
     
     
       14. The control system of claim 11 in which said variable speed motor is connected to a manually setable speed control setting means. 
     
     
       15. The control system of claim 11 in which said variable speed motor is connected through a closed servo loop with a manually setable speed control setting means. 
     
     
       16. The control system of claim 15 in which said closed servo loop includes a tachometer mechanically connected to said variable speed motor, a source of command speed control signals, and a comparator for generating an error signal representative of the difference between the command speed control signal and the actual speed of said variable speed motor as measured at said tachometer. 
     
     
       17. A manual control system for a numerically controlled machine tool, which machine tool has a movable slide, a motor for effecting movement of said slide, a servo system including a feedback loop for controlling said motor, and a numerical control unit for supplying command input information to said servo system, said manual control system comprising a differential resolver located in the position feedback loop of the servo control system, and   a manually setable variable speed motor for driving said differential resolver at a controlled rate so as to effect controlled feeding movement of said slide independently of the numerical control unit.   
     
     
       18. The manual control system of claim 17 in which said differential resolver is connected to a manually movable position control dial for effecting manual positioning of said slide. 
     
     
       19. The control system of claim 17 in which said differential resolver comprises a stator and a rotor, said rotor being mechanically connected to a manually rotatable position control dial. 
     
     
       20. The control system of claim 17 in which said variable speed motor is connected to a manually setable speed control setting means. 
     
     
       21. The control system of claim 17 in which said variable speed motor is connected through a closed servo loop with a manually setable speed control setting means. 
     
     
       22. The control system of claim 21 in which said closed servo loop includes a tachometer mechanically connected to said variable speed motor, a source of command speed control signals, and a comparator for generating an error signal representative of the difference between the command speed control signal and the actual speed of said variable speed motor as measured at said tachometer. 
     
     
       23. A manual control system for a numerically controlled machine tool, which machine tool has movable slides, motors for effecting movement of said slides, servo systems including feedback loops for controlling said motors, and a numerical control unit for supplying command input information to said servo systems, said manual control system comprising differential resolvers located in the position feedback loops of the servo control systems, and   manually setable variable speed motors for driving said differential resolvers at controlled rates so as to effect controlled feeding movement of said slides independently of the numerical control unit.   
     
     
       24. For use in combination with a numerically programmable machine having a slide and a motor for effecting movement of said slide, a control system for controlling energization of said motor, said control system comprising a first source of .Iadd.numerically controlled, .Iaddend.programmable position and velocity command signals,   a .Iadd.numerically controlled position servo loop including a .Iaddend.comparator,   means for supplying a programmed command signal from said first source of command signals to said comparator,   means for supplying an error signal from said comparator to said motor,   a feedback signal generator,   means for supplying a feedback signal from said feedback signal generator to said comparator such that said error signal is representative of the difference between said command signal and said feedback signal,   manually controllable position means for generating position control signals without the use of program format information, said manually controllable position means including a graduated dial for input of manual position commands and for reading out slide position when said slide is under the control of said manually controllable position means,   means for .[.supplying.]. .Iadd.superimposing auxiliary .Iaddend.position control signals from said manually controllable means .[.to said comparator.]. .Iadd.upon feedback signals from said feedback signal generator of said numerically controlled position servo loop.Iaddend., and   manually controllable velocity means for driving said motor at a controlled velocity without the use of program format information, said manually controllable velocity means being operatively connected to said graduated dial of said manually controllable position means so that said graduated dial remains synchronized with slide movement when said slide is under the control of said manually controllable velocity means.   
     
     
       25. The control system of claim 24 in which said manually controllable position means includes a differential resolver. 
     
     
       26. The control system of claim 25 in which said differential resolver is electrically connected in a feedback loop .[.between.]. .Iadd.containing .Iaddend.said resolver and said comparator. 
     
     
       27. The control system of claim 25 in which said differential resolver comprises a stator and a rotor, said rotor being mechanically connected to a manually rotatable position control dial. 
     
     
       28. A control system for a numerically controlled machine tool which has a movable slide, said control system including a motor for effecting movement of said slide, a servo system including a feedback loop for controlling said motor, .Iadd.a feedback generator within said feedback loop, .Iaddend.a numerical control unit for supplying program format command input information to said servo system, and a manual control system, said manual control system comprising manually controllable position means for generating position control signals without the use of program format information, said manually controllable means including a graduated dial for input of position commands and for reading out slide position when said slide is under the control of said manually controllable position means,   means for .[.supplying.]. .Iadd.superimposing .Iaddend.position control signals from said manually controllable means .[.to.]. .Iadd.upon feedback signals from said feedback signal generator of .Iaddend.said servo system, and   manually controllable velocity means for driving said motor at a controlled velocity without the use of program format information, said manually controllable velocity means being operatively connected to said graduated dial so that said graduated dial remains synchronized with slide movement when said slide is under the control of said manually controllable velocity means. .Iadd. 29. The control system of claim 1 which further includes a manually adjustable indicia bearing speed control setting means operatively connected to said variable speed motor means to enable manual selection of said speed setting of said variable speed motor means, said indicia bearing speed control setting means including graduations demarked in settings of either distance per unit of time or distance per machine spindle revolution to facilitate machine feed rate selections on said speed control setting means. .Iaddend..Iadd. 30. The control system of claim 2 which further includes a manually adjustable indicia bearing speed control setting means operatively connected to said variable speed motor means to enable manual selection of speed setting of said variable speed motor means, said indicia bearing speed control setting means including graduations demarked in settings of either distance per unit of time or distance per machine spindle revolution to facilitate machine feed rate selections on said speed control setting means. .Iaddend. .Iadd. 31. The control system of claim 9 which further includes a manually adjustable indicia bearing speed control setting means operatively connected to said variable speed motor means to enable manual selection of speed setting of said variable speed motor means, said indicia bearing speed control setting means including graduations demarked in settings of either distance per unit of time or distance per machine spindle revolution to facilitate machine feed rate selections on said speed control setting means. .Iaddend..Iadd. 32. The control system of claim 24 in which said manually controllable velocity means includes an adjustable indicia bearing velocity setting dial having graduations demarked thereon in settings of either distance per unit of time or distance per machine spindle revolution to facilitate machine feed rate selection on said velocity setting dial. .Iaddend..Iadd. 33. The control system of claim 28 in which said manually controllable velocity means includes an adjustable indicia bearing velocity setting dial having graduations demarked thereon in settings of either distance per unit of time or distance per machine spindle revolution to facilitate machine feed rate selection on said velocity setting dial.