CHNG 3:

H THNG IU KHIN MY CNG C CNC

Trong chng ny, khng i su vo cu trc v nguyn l hot ng ca b iu khin
my cng c CNC mt cch chi tit, m ch tp trung vo cc nguyn l v cc khi nim c
bn nht v cu thnh v s hot ng ca h thng iu khin my cng c CNC.
Ni mt cch chung nht, b iu khin my nhn cc m lnh ch dn ca ngi lp trnh
di dng G-code (s c cp sau), sau thng dch v chuyn thnh cc xung iu hng
dn cc ng c chuyn ng trong qu trnh gia cng.
1. Cu thnh ca h thng iu khin s CNC
H thng CNC bao gm 3 b phn:
- H NC (numerical control) lm nhim v tng tc vi ngi vn hnh v tin hnh vic
iu khin v tr.
- H iu khin cc ng c
- H cc driver.
Theo ngha hp, ch c h NC c gi l h iu khin CNC. Chng ny ch tp trung vo cu
thnh th nht, tc l tp trung vo kin trc v chc nng ca h NC.

MMI

NKC

PLC

Hnh 3.1 Cu thnh ca h iu khin CNC

Xt v mt chc nng, h iu khin CNC bao gm b phn giao tip gia ngi v my
(MMI-Man-Machine-Interface), phn li iu khin s (NCK - Numerical Control Kernel) v b
iu khin logic kh lp trnh PLC (Programmable Logic Control) (xem hnh 3.1).
MMI chu trch nhim giao tip gia NC v ngi vn hnh my, thi hnh cc lnh ca
my, hin th thng tin trng thi ca my v thc hin cc chc nng son tho chng trnh gia
cng.
NCK l li ca h thng CNC, n thng dch chng trnh gia cng v tin hnh ni suy,
iu khin v tr v b tr sai s da trn chng trnh c thng dch. Cui cng NCK iu
khin cc ng c servo chuyn ng gia cng chi tit.

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B iu khin PLC iu khin vic thay dao, tc trc chnh, thay chi tit gia cng v nhp
hoc xut cc tn hiu x l. N ng vai tr iu khin cc hot ng ca my (ngoi tr iu
khin cng c servo)
Hnh 3.2 th hin kin trc ca mt h my cng c CNC di gc c phn cng ln
phn mm. Di gc phn cng, my CNC bao gm h iu khin CNC, h thng cc ng
c dn ng, v bn thn my cng c. Tn hiu iu khin v tr, l u ra cui cng ca h
CNC, c truyn n b iu khin ng c (motor drive system), b iu khin ng c iu
khin cc ng c servo bng iu khin vn tc hoc momen. Cui cng, ng c bt bn my
mang chi tit chuyn ng thng qua h thng truyn ng.
Trong h thng CNC, m-un x l cc chc nng ca MMI, NCK v PLC bao gm b
x l trung tm, h thng RAM v ROM lu cc ng dng ca ngi dng (cho MMI),
chng trnh gia cng (cho NCK) v cc chng trnh PLC (cho PLC). M-un x l kt ni vi
h giao din c trang b cc phm nhp d liu, mn hnh hin th v h thng bus. C th ni,
kin trc ca mt h CNC tng t nh mt my tnh a nhim. H CNC cng c cc thit b
nhp/xut cc tn hiu tng t v tn hiu s nhm giao tip trc tip vi cc thit b ngoi vi
khc v to mi lin kt truyn thng gia cc ng c v m-un nhp/xut.
Theo cch nhn v mt phn mm, h thng CNC c th hin trn hnh 3.2. Theo , h
CNC bao gm cc chc nng MMI h tr chc nng son tho chng trnh, giao din ngi
dng v hin th cc thng tin trng thi ca my; cc chc nng NCK thi hnh cng vic thng
dch chng trnh, ni suy v iu khin; cc chc nng PLC thc hin cc chng trnh logic
theo cch tun t.

Hnh 3.2 Cu thnh ca h thng CNC chun

1.1 Chc nng ca MMI (giao tip gia ngi v my)
MMI thc hin chc nng tng tc vi ngi vn hnh my. V th c rt nhiu loi giao
din ngi dng khc nhau ty vo cc nh sn xut my cng c khc nhau. Cc chc nng ca
MMI c chia ra 5 nhm sau:
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1. Cc chc nng lin quan n hot ng ca my: bao gm hin th trn thi ca my khi my
hot ng v d nh khong cch i c, tc dch chuyn dao, tc quay ca trc chnh,
dng lnh no ang c thi hnh... Ngoi ra n cn h tr cc chc nng nh dch chuyn bn
my bng tay, nhp d liu bng tay, tm chng trnh, son tho chng trnh, qun l dng c
ct (xem hnh 3.3).

Hnh 3.3 V d v mn hnh hin th MMI v b bn phm nhp d liu ca h iu khin

FANUC p dng cho my phay
2. Chc nng thit lp (set) cc tham s: Trong h thng CNC, c rt nhiu cc tham s
(parameters) v chng c phn thnh 3 loi sau:
- Tham s ca my dng thit lp cc ch thng thng ca my, h n ng cc ng c
servo v trc chnh, hiu chnh dao, h ta my, cc iu kin bin an ton.
- Tham s chng trnh: thit lp trong qu trnh son tho chng trnh
- Tham s ngi dng: thch nghi vi yu cu ca ngi s dng my.
V d v mn hnh hin th cc tham s v phng php thay i cc tham s bng h
thng bn phm nhp liu c minh ha trn hnh 3.4 (h iu khin FANUC).

Hnh 3.4. V d v thit lp tham s (parameters) cho my thng qua MMI (h iu khin
FANUC), a con tr n tham s cn sa, nhp gi tr mi v nhn phm Input
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3. Chc nng son tho chng trnh gia cng: Chc nng ny cho php nhp v chnh sa
chng trnh gia cng (gi l G-code, da trn tiu chun EIA/ISO Electronics Industry
Association/International Organization for Standardization). V mt thc t, ngi s dng my
phi bit G/M code (s c lm r chng 4). mt s h iu khin CNC, chc nng lp
trnh gia cng s dng ch hi thoi gia ngi v my gip cho vic son tho chng
trnh c d dng hn. V d son tho chng trnh gia cng khoan l, ngi lp trnh
khng cn nh chi tit c php ca tng cu lnh trong chu trnh khoan. Chng trnh h tr lp
trnh trong my s t ng sinh chng trnh G-code, ngi dng ch nhp cc thng s c bn
nh v tr l cn khoan, chiu su l v.v
4. Chc nng gim st v cnh bo (Monitoring and alarm functions): H thng CNC lun lun
thng bo cho ngi dng trng thi v tnh trng ca my. Chc nng ny l rt cn thit khi
my hot ng tc cao. Trn my cng c CNC thng c cc n bo v mc ti ca
my, cc chung hoc n bo li v s c, bo co trng thi ca PLC v.v
5. Cc dch v v tin ch khc: Ngoi 4 chc nng thit yu bn trn, nhiu chc nng tin ch
khc rt hu dng i vi ngi vn hnh my. V d chc nng DNC (Direct Numerical
Control) c nhim v truyn chng trnh gia cng son tho bn ngoi my CNC xung my
CNC tin hnh gia cng (s c lm r thm cui chng), hoc chc nng copy cc tham
s trong my ra bn ngoi v lu thnh file lu tr khi ngi dng cn phc hi cc tham s
nh ban u, hoc chc nng giao tip trao i d liu gia my tnh PC v h iu khin CNC.
1.2. Chc nng NCK (Numerical Control Kernel)
Nhn chung, h NC thng dch d liu nhp, lu gi n trong b nh, gi lnh n h thng dn
ng, v kim tra cc tn hiu phn hi v v tr hoc tc ca h thng dn ng. Cc khi
chc nng ca NCK v dng thng tin trong NCK, c xem l b phn thit yu ca h CNC,
c th hin trn hnh 3.5. Chc nng thng dch, ni suy, iu khin gia tc/gim tc v iu
khin v tr l cc chc nng chnh ca b phn NCK.
a) Chc nng thng dch (interpreter): ng vai tr c chng trnh gia cng (part
program), thng dch cc block lnh di dng m ASCII (American Standard Code for
Information Interchange) trong chng trnh gia cng v lu gi chng trnh c thng
dch vo b nh trong ri chuyn sang b ni suy (interpolator). Cc khi lnh (blocks)
c thc hin tun t, trnh thng dch s c v dch block lnh k tip khi khi lnh pha
trc ang c thi hnh. V th, nu thi gian thng dch khi lnh pha sau di hn thi gian
thc hin lnh th my phi ch cho n khi khi lnh c thng dch xong. Do vy vic my
phi tm dng l khng trnh khi. trnh trng hp ny, ngi ta dng b m (buffer)
lu tr tm thi d liu thng dch. B m lun gi mt lng s cc d liu c thng
dch trnh vic my phi dng tm thi khi c trng hp thi gian thng dch lnh ln
hn thi gian thi hnh lnh.

Hnh 3.5. Cc khi chc nng ca NCK

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2011, XPhng-BM CTM, Khoa CK, HNT

b) Ni suy (interpolator): ng vai tr c cc thng tin c thng dch v lu tr trong

b nh m bn trong, tnh ton v tr, tc trn mi n v thi gian ca cc trc ca my, v
lu tr kt qu ny vo mt b nh m khc c tn l FIFO (first in, first out) iu khin
vic gia tc v gim tc. Ni suy ng thng v ni suy ng trn l hai kiu ni suy in
hnh trong h thng NC. Ni suy parapol, ni suy spline v mt s ni suy khc ch dng trong
mt s my CNC. Cc phng php ni suy s c lm r mc 6.
B ni suy pht mt xung (pulse) ng vi d liu ng ty vo loi ng c ni suy
(thng, trn, prarapol hay spline) v gi xung n b m FIFO. S lng ca xung c
quyt nh da vo vn tc. Trong mt h NC, chuyn v trn mi xung quyt nh chnh xc
dch chuyn (khng xt sai s c kh). V d nu mt trc no c th chuyn ng
0.002mm/xung th chnh xc ca h thng NC l 0.002. Thm vo , h thng NC phi to
ra 25000 xung dch chuyn chi tit mt on 50 mm v 8333 xung/giy dch chuyn vi
tc 1 mt/pht.
c) Nu iu khin v tr thi hnh bng cch s dng d liu to ra t b ni suy, my s b
rung v mt c kh do qun tnh khi chi tit bt u chuyn ng hoc dng. khc phc hin
tng , vic iu khin gia tc v gim tc phi c thc hin trc khi d liu ni suy c
gi n b iu khin v tr. Phng php ny gi l gia tc/gim tc sau ni suy. Ngc li
cng tn ti phng php gia tc/gim tc trc ni suy khi vic iu khin tc/gim tc c
thc hin trc khi ni suy.
1.3 Khi chc nng PLC
B iu khin logic c dng thi hnh cc iu khin mang tnh tun t trong cc my
mc v trong cng nghip. Trong qu kh, iu khin logic c thc hin ch yu bng phn
cng bao gm rle, b m, timer v mch in. Chng c gi l b iu khin da vo phn
cng. Gn y, h thng PLC gm t thit b in hn, chng bao gm b vi x l v b nh.
Chng c kh nng thc hin cc php logic, m, chc nng timer v c b tnh ton s hc. V
vy, PLC c gi l b iu khin logic da vo phn mm (software-based logic controller).
u im ca PCL bao gm:
- Linh hot: iu khin logic c thay i ch cn thng qua thay i chng trnh (phn
mm)
- Kh nng m rng: thc hin d dng bng cch thm cc module v sa li chng
trnh
- Hiu qu kinh t: gim c gi thnh v gim c thi gian thit k, tin cy cao, d
bo tr.
- Tit kim khng gian: c kch thc nh gn so vi iu khin bng hp rle
- Tin cy: xc xut hng do tip im km rt thp th PLC s dng cng ngh bn dn
- Tnh nng hot ng tt: thc hin c cc php ton hc v son tho chng trnh
Kin trc v phn cng ca b phn PLC ca h NC bao gm b vi x l, h thng b
nh, b nh chg trnh v cc module input/output nh trn hnh 3.5. Ngay khi ngun c bt
ln, h thng b nh set mi trng phn cng cho PLC v b nh chng trnh, qun l
input/output, r le, timer, lu gi cc chng trnh ca ngi dng, v cc d liu c thng
dch bi b vi x l. Module input/output giao tip vi cc cng tc hnh trnh, rle
Cc module chc nng ca c thc hin trong PLC th hin trn hnh 3.6 v c th tm
tt nh sau: Ban u, ngi dng to cc chng trnh ng dng bng cch dng mt chng
trnh son tho PLC bn ngoi sau np vo PLC. giai on ny, mt thit b chuyn dng
c dng gip ngi dng son tho chng trnh gi l programer hay loader. Programer
bao gm trnh son tho son chng trnh v b bin dch (compiler, lu bin dch khc
vi thng dch) chuyn chng trnh PLC thnh ngn ng PLC c th hiu v thi hnh c. L
do ti sao phi dng trnh bin dch l v chng trnh c bin dch thc hin nhanh v hiu
qu rt nhiu so vi cha bin dch. Chng trnh PLC c bin dch c truyn qua CPU
module. Trng thi ca PLC ang c thi hnh trong CPU module c gi n chng trnh
PLC ngi dng gim st trng thi hot ng.
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Hnh 3.6. Kin trc v chc nng ca h thng PLC

Module c chng trnh son tho bng Loader v thi hnh tun t cc lnh lnh logic
c gi l Executer. y l b phn ct li ca PLC. Executer lp mt cch tun t cc bc:
c input, thc hin cc php logic ca chng trnh, gi kt qu n output thng qua output
module.
PLC trong my CNC cng tng t nh cc PLC thng dng nhng chng c thm b
iu khin b tr dng h tr chc nng ca khi NCK. Cc chc nng cn thit l:
- Mch giao tip vi NCK
- Dual-port RAM h tr ng truyn tc cao
- B nh trao i d liu trong qu trnh giao tip tc cao vi NCK
- Module input tc cao
Trong thc t, ty vo quyt nh c nhn ca tng nh sn xut my CNC v cc nh sn
xut PLC, nhiu ngn ng PLC c s dng. Cng chnh v th xy ra mt s kh khn
trong qu trnh bo tr v hng dn s dng. gii quyt vn ny, ngn ng PLC
(IEC1131-3) chun c xy dng v c s dng rng ri. Tiu chun IEC1131-3 nh ngha
nm loi ngn ng PLC: 1) Structured Text (ST), 2) Function Block Diagram (FBD), 3)
Sequential Function Charts (SFC), 4) Ladder Diagram (LD), v 5) Instruction List (IL 1).
2. Phn loi h thng iu khin
i vi h thng iu khin my cng c CNC vn c bn quan trng l lm sao t cc
d liu ca chng trnh lp ca ngi dng, b iu khin tin hnh x l, tnh ton v pht
lnh n cc ng c dn ng bn my v trc chnh thc hin cc dch chuyn cn thit to
ra hnh dng hnh hc ca chi tit cn gia cng vi chnh xc nht nh mt cch t ng
hon ton.
Khi vn tc thc v v tr thc c cc sensor nhn bit v hi tip ngc v mch iu
khin, ng c servo dng trong cc my CNC lin tc c iu khin sao cho sai s vn tc
hoc sai s v tr gia v tr cn v v tr tht l nh nht. H thng hi tip y nht s bao
gm 3 vng lp iu khin c lp iu khin cc trc ca my (hnh 3.7). Vng ngoi cng nht
l vng hi tip v tr, vng gia l vng hi tip vn tc, v vng trong cng l vng lp v
dng in. Ni chung, vng lp iu khin v tr c b tr trong h NC, do h NC m nhn,
cc vng lp khc t ngay trong thit b dn ng servo. Tuy nhin cng khng c quy nh
thng nht no v v tr ca cc vng lp iu khin. Chng ph thuc vo nh thit k my cng
c CNC.

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Hnh 3.7. Ba loi vng lp iu khin trong my CNC

Nu phn loi da theo phng php m h iu khin xc nh v kim tra v tr, ngi ta
chia h thng iu khin thnh 4 loi sau:
- iu khin chu trnh h (open loop)
- iu khin theo chu trnh na kn (semi-closed loop)
- iu khin chu trnh kn (closed loop)
- iu khin hn hp (hybrid loop)
Phn ln cc my cng c CNC c chnh xc cao c trang b b iu khin chu trnh
ng v n kim sot v tr dch chuyn dng c ct chnh xc hn, do cht lng gia cng
chi tit tt hn. Tuy nhin iu khin theo chu trnh h vn cn s dng cc my CNC c
chnh xc v tr thp hoc cc my c mmen cn sinh ra trn ng c n ng bn my l nh
v gi tr n nh (v d my gia cng tia la in in cc dy hoc in cc nh hnh) gim
gi thnh ch to.
a) H thng iu khin chu trnh h
h thng iu khin chu trnh h, d liu chng trnh gia cng nhp c a vo b
iu khin MCU (machine control unit) (xem hnh 3.8). N gii m thng tin v lu tr trong b
nh cho n khi ngi vn hnh bm nt bt u chy chng trnh. Tng lnh ca chng trnh
c chuyn i sang cc xung in mt cch tun t v t ng gi ti b iu khin, kch
hot v iu khin cc ng c servo. Lng dch chuyn ca ng c hay ni cch khc l bn
my ph thuc vo s xung in (electric pulses) m ng c nhn c.
/c trc chnh

Trc Y

ai truyn

Trc X

/c Servo
Vt me
/c Servo
ieu khien /c
Servo Y

ieu khien /c
Servo X
Bo K may

Machine cotrol
unit (MCU)

ieu khien toc o

truc chnh
Chng trnh
gia cng
Hnh 3.8 H thng iu khin theo chu trnh h
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H thng ny kh n gin v khng c mch hi tip (feedback), tuy nhin khng c

cch no kim tra xem ng c servo c dch chuyn (quay) ng theo lnh c yu cu
hay khng, tc l chng khng c mi lin h ngc. Do vy h thng iu khin chu trnh h
khng th p dng cho cc my CNC gia cng c c chnh xc ln hn 0,02 mm hoc c lc
ct trong qu trnh gia cng ln. i vi loi iu khin ny ng c servo l cc ng c mt
chiu kiu ng c bc (stepper motor). chnh xc gia cng ch yu ph thuc vo chnh
xc chuyn ng ca ng c bc, vtme v h thng truyn ng. Khi mmen quay nh v t
thay i th chnh xc dch chuyn kh cao, do vy cc my gia cng tia la in hin nay vn
s dng iu khin theo chu trnh h.
b) B iu khin chu trnh na kn
iu khin chu trnh na kn l loi h thng iu khin ph bin c cu trc nh hnh 3.9.
Vi loi ny, thit b kim tra v tr c lp vo trc ca ng c servo v chng kim tra gc
quay. chnh xc cui cng (chuyn ng ca bn my) ph thuc kh ln v chnh xc
ca trc vitme. V th, trc vt me bi c chnh xc cao c dng trong h truyn ng cho
bn my. Khi cn thit, mt s my h NC cn cho php b tr sai s ca bc vt me v khe h
ca trc vitme tng chnh xc. B tr sai s bc vt me bng cch hiu chnh ch th n
h dn ng servo nhm loi b sai s tch ly. B tr sai s khe h khi chiu chuyn ng i
du, mt lng xung tng ng vi khe h c gi n h iu khin ng c servo hiu
chnh.

Hnh 3.9 iu khin chu trnh na kn

c) iu khin chu trnh kn (closed loop system)
Mc d b iu khin chu trnh na kn c th th b tr sai s bc vitme v he h vitme
nhng ni chung kh t c chnh xc cao khi nh hng ca khe h s thay i theo khi
lng ca chi tit gia cng. mn ca trc vt me cng khc nhau ti cc v tr khc nhau. Khe
h ca vitme cng thay i theo nhit . Thm vo , chiu di ca trc vitme cng b gii
hn so vi cc my c yu cu hnh trnh ln. Khi c cu bnh rng thanh rng c s dng
i vi cc my c kch thc ln. Tuy nhin, chnh xc ca c cu bnh rng thanh rng
thng km. Do vy, iu khin chu trnh kn s dng trong trng hp ny s khc phc c
sai s ca vitme hoc bnh rng thanh rng (hnh 3.10)
Ch th
v tr

iu khin
v tr

iu khin
vn tc

Thc
quang hc

Ban may
ong c
servo dan
ong
May o toc o
(tachometer)

Vt me- ai oc

Hnh 3.8. H thng iu khin theo chu trnh kn (c hi tip v tr v tc )

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Trong h thng iu khin chu trnh kn, thit b gim st v tr c lp trn bn my v v

tr thc ca bn my c hi tip v h iu khin. Chu trnh kn v chu trnh na kn kh ging
nhau ngoi tr v tr ca thit b gim st v tr (gi l linear scale) c lp bn my hay trc
ca ng c v chnh xc ca thit v nhn bit v tr ca h iu khin chu trnh kn rt cao.
Tuy vy, hin tng cng hng trong dao ng ca khung my, hin tng dnh trt
v.v.. gy nn thit ht chuyn ng bi v bn thn c thn my cng dnh lin vi i tng
gim st (bn my) c nh hng n c tnh ca h servo. H iu khin chu trnh kn lun c
lm gim sai s gia v tr cn n trong lch dch chuyn v v tr tht. gim cc sai s do
cc hin tng ni trn gy ra, b iu khin phi nhy (dp c nh hng ca dao ng rung
ca khung my) v i khi dn n mt n nh trong iu khin. V vy, nu tn s cng hng
ca my thp hn tn s p ng ca h iu khin chu trnh kn th h iu khin v tr tr nn
mt n nh. V th ngi ta c gng tng cng vng ca khung my nhm tng tn s dao
ng cng hng ca my. ng thi c gng gim h s ma st v loi b cc nguyn nhn gy
ra thiu ht chuyn ng.
d) H iu khin chu trnh hn hp
Trong trng hp kh tng c cng vng ca my khi khi lng chi tit gia cng
ln hoc kh loi b c hin tng thiu ht chuyn ng do hin tng dnh hoc trt
chuyn ng trong cc my CNC hng nng, ngi ta s dng b iu khin chu trnh hn hp
nhm bo m chnh xc v tr m khng lm mt tnh n nh iu khin (hnh 3.9).
Trong chu trnh hn hp, c hai vng lp iu khin: vng na kn gim chuyn ng ca
ng c, vng kn s dng thc quang gim st v tr ca bn my. Trong vng lp na kn,
c th dng thut ton iu khin c nhy cao bi v vng lp ny khng b nh hng ca
ton b khung my. Cn trong vng lp kn, chnh xc iu khin c tng ln nh phng
php b tr sai s m vng lp na kn khng thc hin c. V vng lp kn ch b tr sai s
thuc v v tr nn hot ng tt ch nhy thp hn. S kt hp gia vng lp kn v na
kn cho php m bo chnh xc iu khin trong mi trng hp.

Hnh 3.9 B iu khin chu trnh hn hp

3. Nguyn l v iu chnh v tr kiu chu trnh kn ca my cng c CNC
Mc ny gii thiu vn tt nguyn l chung ca iu khin chu trnh kn ni chung (m
rng ra cho c 3 loi, na kn, kn v hn hp).
i vi cc my cng c CNC gia cng ct gt hin nay u phi dng phng php iu
khin v tr theo kiu kn ch khng th dng mch h bi ta bit rng mmen cn trn cc trc
vt me s thay i lin tc v c gi tr rt ln chng li lc cn ct kim loi. Thm ch trn
cng mt ng chuyn dao, lc ct cng thay i do cng vt gia cng thay i cng nh
chiu dy ct thay i. Lc cn thay i lm cho tc ng c dn ng thay i v do vy vi
cng mt xung in do MCU pht ra th bn my khng th lun lun dch chuyn c nhng
khong cch lun bng nhau . V d dch chuyn t im A n im B th b iu khin
ng c servo pht ra mt s lng X xung iu khin no trong iu kin chun khng i.
Tuy nhin khi iu khin ct thay i, nu b iu khin ng c servo pht ra X xung in th
39
2011, XPhng-BM CTM, Khoa CK, HNT

bn my vn cha n hoc vt qu v tr B. Do vy n ng v tr B th trong qu trnh

dch chuyn n phi lun lun gim st v tr hin ti ca n quyt nh khong dch chuyn
cn li. Vic lm ny gi l iu chnh v tr.
Chc nng v nguyn l hot ng ca thit b iu chnh v tr nh sau:
T b ni suy, mi gi tr v tr cn t n c b iu khin MCU a vo mch iu
chnh v tr. Trong b iu chnh v tr gi tr v tr thc c nhn bit qua h thng o v tr.
Ly gi tr v tr thc ny tr i gi tr v tr cn s c mt sai lch iu chnh. Sai lch iu
chnh l i lng iu chnh v i tng iu chnh y l ng c servo.
iu chnh kiu mch chnh ng c servo trong tt c cc trng hp chung vi b m
ho kiu xoay s dng hi tip v tr/ tc c s nh hnh 3.10.
Bo phat lenh:
PLC, computer

Cam bien
v tr/toc o

Cac lenh dch

chuyen hay v tr
Bo ieu khien

Khuech ai
cong suat

Dong ien/ien
the a khuech ai

Servo
motor

Hoi tiep
Hnh 3.10 S o khoi cua ieu khien chu trnh kn ong c servo

B iu chnh v tr lun phi ra lnh ch dn cho ng c servo dch chuyn cho n khi
hai tn hiu t b iu khin v tn hiu hi tip v tr c xem l bng nhau, tc l sai s iu
chnh bng khng. t chnh xc iu chnh cao, khc phc c cc i lng nhiu,
b iu chnh cn phi tho mn cc yu cu sau:
-

C b khuych i tc cao gi cho sai lch iu chnh l thp nht (tt nht l bng
khng).
C gim chn v tn s dao ng ring cao khc phc c hin tng dao ng ti
v tr ch.
Mmen qun tnh ca cc b phn chuyn ng c gi tr nh.
B truyn ng c c hng s thi gian tr nh.
Cc chi tit truyn ng c kh c bn cao, khe h lp ghp nh

4. Cc thit b v h thng o v gim git v tr

4.1 Cc thit b o v gim st v tr (encoders)
Trong mc 2 c cp vai tr ca cc thit b gim st v o c v tr hay tc trong
cc vng lp iu khin t chu trnh na kn cho n chu trnh kn v chu trnh hn hp. Mc
ny s gii thiu c th hn nguyn l lm vic, c im v cu to ca cc thit b ny.
Thit b dng kim tra v tr nhm mc ch gim st v iu khin v tr c tn gi l
encoder. Thng thng n c lp vo u cui ca h thng trc truyn ng hoc lp vo
trc ca ng c servo. iu khin tc , tc c kim tra bng mt sensor gi l
tachometer hoc c tnh thng qua d liu v tr do encoder cung cp. Phng php kim tra
vn tc bng encoder l cch m s xung to ra trn mt thi gian, tc l ng ngha vi
chuyn v trn mt n v thi gian, hay ni cch khc chnh l o vn tc.
(Trong h thng trc chnh ca my cng c, hi tip vn tc thng c p dng duy
tr tc quay ca trc chnh. Thng tin phn hi thng c thc hin bng mt trong hai
cch sau: dng tachometer, l mt thit b to ra hiu in th cm ng (tn hiu tng t ch
khng phi tn hiu s). Gn y ngi ta thng dng encoder da trn nguyn tc quang hc,
sinh ra tn hiu hi tip dng xung s, thay cho tachometer.)
2011, XPhng-BM CTM, Khoa CK, HNT

40

Hin nay ngi ta s dng cc loi encoder sau (hnh 3.11):

Encoder chuyn ng quay

Encoder chuyn ng thng (Phn c nh lp

(lp trn trc vitme, trong ng c)

trn thn my, phn ng lp trn bn my)

Rotary encoder

Linear encoder

Nguyn tc cm
ng in t

Nguyn tc
quang in

Nguyn tc cm
ng in t

Nguyn tc
quang in

Hnh 3.11: Phn loi cc thit b gim st v tr (encoder) trong my CNC

Thit b o v tr s dng mt trong cc nguyn l c bn sau:
- Nguyn l cm ng in t
- Nguyn l quang in
- Nguyn l bin tr (t dng).
a) Theo nguyn l cm ng in t, ngi ta s dng mt thc o (thc t l mt cun
dy c dng in xoay chiu chy qua, do hnh thnh mt trng in t bin thin. T
trng bin thin ny lm xut hin trn mt thc dn in khc (t trong phm vi ca n) mt
in p. in p cm ng ph thuc vo cng t trng tc l ph thuc vo khong cch
gia hai vt dn. Nh vy thng qua o in p c th xc nh c khong cch (v tr).
b) Thit b o v tr kiu quang in
Gm c hai loi:
- H thng o v tr (o hnh trnh) quang in chuyn ng quay
- H thng o v tr (o hnh trnh ) quang in chuyn ng thng

Tn hiu ra

Chu k
chia

lch
pha

Tn hiu chun

Hnh 3.12: Nguyn l o hnh trnh kiu quang in chuyn ng thng

2011, XPhng-BM CTM, Khoa CK, HNT

41

Hnh 3.13 Hnh dng tht ca thc quang in chuyn ng thng (optical scale)
Nguyn l o kiu quang in nh sau:
Xt h thng o quang in chuyn ng thng (hnh 3.12).
Thit b gm c mt ngun sng 1, mt thu knh hi t 2, thc o c khc vch thnh
cc khe hp nh sng c th lt qua li kch quang 4 v cc t bo quang in 5. Khi li
kch quang c chuyn ng tng i vi thc o, ngun sng xuyn qua cc khe h ca thc
o v li kch tc ng ln cc t bo quang in to ra cc xung in hnh sin. Ngi ta b tr
cc t bo quang in cch u nhau v c ti hai lp xp b tr lch nhau khong cch chia
nn s nhn c hai tn hiu hnh sin lch pha nhau 90 vi mc ch gip cho h iu khin
nhn bit c chiu chuyn ng. Cc tn hiu hnh sin ny c chuyn thnh cc xung hnh
ch nht thng qua mt mch in t khc t a vo cc c cu m xc nh v tr
ca bn my.
tng phn gii ca php o (tng chnh xc iu khin) ngi ta c th dng hai
cch :
- Tng s vch chia trn thc (lc vic ch to thc kh hn)
- Bin i cc xung ch nht thnh cc xung c chu k nh hn (5 ln hoc 25 ln) (xem
hnh 3.12)
a c
khc vch
3 t bo
quang in

Tham
chiu
3 ngun
sng

3 chm tia
sng

Track
ngoi
Track gia
Track
trong
Thi gian

Hnh 3.14 Nguyn l hot ng v nguyn l cu to ca encoder quang chuyn ng quay

i vi thit b o v tr quang in chuyn ng quay, thay v dng thc khc vch,

ngi ta s dng a khc vch c cc vng l gi l track, nguyn tc o cng tng t thc
chuyn ng thng (nguyn l xc nh v tr con tr trn mn hnh my tnh khi s dng con
chut). Track bn ngoi dng xc nh v tr. Track gia dng xc nh hng chuyn
2011, XPhng-BM CTM, Khoa CK, HNT

42

ng. Track trong cng dng xc nh kt thc mt vng quay. Mch tch phn dng m
s cc cnh tng v gim ca cc xung.
a c khc rt nhiu vch t 200-18000 vch nh k thut khc ho. S vch cng
nhiu th phn gii o cng cao. chnh xc ca thc quang rt cao vi sai s 5m/m.
Cu trc tht ca encoder quang hc chuyn ng quay nh trn hnh 3.15.

Hnh 3.15: Thc quang chuyn ng quay (optical rotary encoder): cu trc tht bn ngoi
c) Nguyn l bin tr: S dng Potentiometers, L loi vt liu c in tr t l thun vi
chiu di. V tr cn xc nh cng chnh l v tr ca con chy, c tnh ton da vo t s in p
( y in p bng cng dng in khng i nhn vi in tr t l thun vi chiu di ca vt
liu lm potentiometers), hnh 3.16.

Hnh 3.16. Potentiometers chuyn ng quay v chuyn ng tnh tin

4.2 Cc th thng o hnh trnh v gim st v tr
Tt c cc my cng c iu khin theo chu trnh kn u phi c c h thng o hnh
trnh gim st chuyn ng tht ca bn my, xe dao, trc chnh ti v tr hin ti so vi v tr
yu cu.
a) Phn loi

So (Digital)

Tng oi (gia so)

Trc tiep

Gian tiep

Tng t (Analog)

Tng oi (gia so)

Tuyet oi (absolute)

Trc tiep

Gian tiep

Trc tiep

Gian tiep

Hnh 3.17 Phn loi cc phng php o v tr

2011, XPhng-BM CTM, Khoa CK, HNT

43

Tuyet oi (absolute)

Trc tiep

Gian tiep

H thng phn loi h thng o hnh trnh c trnh by trn hnh 3.17
- Phn loi theo phng php o: tuyt i (absolute) v tng i (hay gia s incremental )
- Phn loi theo v tr o: trc tip v gin tip
- Phn loi theo chuyn ng ca thit b o: thit b chuyn ng thng v chuyn ng quay
- Phn loi theo tn hiu o: tng t (analog) v s (digital )
o v tr trc tip:
L phng php gim st v tr cn o, khng cn
qua cc dn ng c kh trung gian. H thng o c
ghp trc tip vi chuyn ng cn o, c th l thc
o gn trc tip ln bn my, h thng c gn ln thn
my c nh (v d hnh 3.18). Phng php o trc tip
c chnh xc v tr cao v n loi tr c sai s do
khe h v bin dng ca b truyn ng c kh.
o gin tip:
Thay v o trc tip chuyn ng tnh tin ca bn
my ta gin tip o chuyn ng quay ca vt me t
thng qua bc vt ca vt me bit v tr hay
dch chuyn ca bn my (xem hnh 3.19).
Cc sai s mc phi do sai lch bc vt me cng
nh khe h ca b truyn s a vo trong sai s ca
Hnh 3.18 He thong o trc tiep
php o. Sai s ny phi nm trong phm vi cho php
thng qua vic ch to b truyn
c chnh xc ln hoc c
b li thng qua cc yu t hiu
chnh c ci t trong chng
Thiet b o v
trnh iu khin. Thit b o gin Khp noi
tr gian tiep
tip c s dng rng ri hin
nay v cc b truyn c ch to
kh chnh xc v b iu khin
cng c kh nng hiu chnh khe
Vt me
h bc vt me. Vic bo v thit
b o gin tip khi bi, phoi v
ong c
nc lm mt d hn so vi thit
b o trc tip.
Hnh 3.19 He thong o v tr gian tiep
Trong thc t thit b hi
tip v tr kiu gin tip c lp t vo u cui ca trc ng c servo (xem hnh 2.17) nhm
ng b vi ng c v thun tin trong vic che kn, bo v v gn nh v kt cu.
Phng php o v tr tuyt i
Trong phng php o ny, mi gi tr o u c so snh vi im O ca thc o.
- i vi phng php o v tr theo kiu tng t / tuyt i, ng vi mi v tr trong phm
vi ng dch chuyn l mt mc in p t bit.
- i vi phng php o v tr s ho / tuyt i, mi mt gia s v tr c nh du ring
bng cc m nh phn cho trc.
- u im ca phng php o tuyt i l ti mi thi im o hay c khi mt in, v tr
tuyt i so vi im O u nhn bit ngay.
- Nhc im ca h thng o tuyt i l phc tp v cu trc nn gi thnh t, v vy cc
my mi hin nay t dng v l do cnh tranh v gi c.
Phng php o v tr kiu gia s (tng i)
Ton b phm vi dch chuyn c chia thnh cc bc tng (increments) c ln nh
nhau. V tr hin ti c tnh bng tng cc bc tng i qua. Cc gia s vt qua u cng
2011, XPhng-BM CTM, Khoa CK, HNT

44

li vi nhau hoc tr i cho nhau xc nh v tr tht tu theo chiu chuyn ng. Gi thnh
ca h thng o gia s khng t lm nn c dng nhiu.
Nhc im ca n l khi khi ng my, v tr tht ca bn my lc khng nhn bit
c, do vy sau khi m my, b iu khin bt ngi vn hnh phi a cc trc ca my v
home (im 0) ca n (referrent zero point) ly im gc ban u nu nh khng c ngun
nui d phng.
5. Phng php dch chuyn v nh v dng c ct trn my CNC
Cc h iu khin CNC c th c hai phng php nh v v dch chuyn dng c ct l:
- Dch chuyn t im n im (point-to- point).
- Dch chuyn theo ng (contouring path).
P2
a) Dch chuyn t im n im
i vi phng php ny, cc im lp trnh
c ni vi nhau bng cc ng thng. Phng
php ny dng nh v chnh xc v tr ca trc
chnh (dng c ct) ti mt hoc mt vi im cho
450
trc trong cc th tc gia cng nh: khoan, khot,
doa, taro, t l. Trong qu trnh dch chuyn t im P1
ny n im kia, dng c ct nhc ln khi chi tit
Hnh 3.20: S o nh v theo iem
mt khong an ton v dch chuyn nhanh n im
tip theo. My khoan s dng phng php dch
chuyn v nh v ny l rt tt. Khi ga cng xong mt l, n chuyn t im lp trnh ny n
im lp trnh kia vi vn tc nhanh nht c th gim thi gian chy khng (v=5-20 m/pht ).
C hai trc (X v Y) dch chuyn ng thi vi cng mt tc chy dao. iu ny c ngha l
chng ch dch chuyn theo cc hng song song vi cc trc to hoc dch chuyn theo
hng 45so vi phng X v Y.
V d: khi chuyn hai im hai nh cho ca hnh ch nht chng s dch chuyn nh
hnh (3.20)
b) iu khin dch chuyn theo ng contour
i vi my phay v my tin buc phi c h iu
khin theo ng contour. Dao ct lun lun tip xc vi
phi to ra cc ng cong hoc ng thng tu theo
trong mt phng hay trong khng gian. iu ny c
c nh chuyn ng ng thi ca bn my theo nhiu
phng (nhiu trc) khc nhau theo cc quan h hm s:
(tuyn tnh) theo ng thng v phi tuyn theo ng
cong.
Tu theo s trc c iu khin ng thi (cng mt
lc) m h iu khin theo ng c chia thnh cc
Hnh 3.21 S o nh v theo
loi iu khin nh: 2D, 2 D, 3D, 4D, 5D v ti a c
ng kieu 2D
th l 6D hoc 7D v.v... S trc c iu khin ng thi
cng nhiu th gi thnh ca b iu khin tng ln rt
nhanh do mc phc tp v mt c kh cng nh v mt
iu khin tng ln khi tng s trc.
iu khin 2D
iu khin 2D cho php gia cng mt ng cong
phnh hay ng thng trong mt phng X-Y (hnh 3.22).
Trc th 3 ( xc nh chiu su) c iu khin c
lp vi hai trc kia tc l khi trc X v Y dch chuyn th
Hnh 3.22 S o nh v theo
bt buc trc th 3 (trc Z) phi ng yn. Hoc l trc
ng 2 D
th 3 c iu khin bng tay (c ng c dn ng
45
2011, XPhng-BM CTM, Khoa CK, HNT

ring bit nhng khng c iu khin

bi b iu khin trung tm.
iu khin 2 D
Khng th gia cng c ng
cong trong khng gian nhng n c kh
nng gia cng c ng cong trong 3
mt phng to XY, XZ, hoc ZX
bng cch xoay trc chnh ca my
vung gc vi cc mt phng ny hoc
h iu khin c kh nng chuyn i
mt phng ni suy ng cong t mt
X-Y sang hai mt cn li v ngc li
(xem hnh 3.22).
iu khin 3D
Mi dao c th chuyn ng theo ng
cong trong khng gian do vy iu khin 3D
c th gia cng c mt cong trong khng
gian. Tuy nhin n c hai hn ch:
- Vt nhp nh li khi gia cng mt
cong c cong ln l ln khi gia cng bng
dao phay ngn u phng
- Khng gia cng c cc mt to cc
hc kiu hm ch (hnh 3.24) hoc cc b mt
nh mt cch tua bin v mt s b mt khc.
iu khin 4D v 5D (c xp vo
loi nhiu trc (multi axes))
i vi h iu khin ny, ngoi cc
trc tnh tin X, Y, Z th chng cn iu khin
cc trc quay (bn quay lp trn bn my hoc
u trc chnh xoay c). Nh vy m n c
kh nng gia cn g c cc mt gia cng
phc tp c bng cao hn vi cng mt
thi gian gia cng so vi my 3D bi v trong
qu trnh gia cng hng ca trc chnh lun
xoay cng vi hng php tuyn ca mt cong
ti im gia cng nn vt nhp nh do cc li
ct li l nh (hnh 3.25). Hn na, iu
khin 5D tr ln c kh nng gia cng c
nhiu mt trn chi tit ch cn mt ln g.

a) ieu khien 4D (X,Y,X,A)

Hnh 3.23 S o nh v theo

ng 3 D

Vung hoc lom

ham ech

Y
X

Cnh turbine

Hnh 3.24 Nhng be mat ma may ieu khien

theo ng 3D khong gia cong c

b) ieu khien 5D (X,Y,X,A,B)

Hnh 3.25 iu khin 4D v 5D

46
2011, XPhng-BM CTM, Khoa CK, HNT

6. Ni suy trong iu khin s CNC

Ni suy ng vai tr sinh ra d liu v tr dch chuyn cc trc t cc block d liu to
ra bi b thng dch. N l mt trong nhng b phn quan trng phn nh chnh xc ca h
iu khin. Trong mc ny, cc loi ni suy khc nhau c gii thiu mt cch c bn. u
im v nhc im ca chng cng c cp.
6.1. Tng quan
Mi my CNC ni chung lun c t nht 2 trc c iu khin gia cng c cc hnh
dng phc tp. Hai phng php iu khin dch chuyn dng c ct (hay cc trc) l im n
im v theo ng nh trnh by mc 5. thc hin cc phng php dch chuyn ny,
chuyn ng ca dng c ct phi c chia thnh cc thnh phn theo cc trc. V d dng
c ct dch chuyn t im P1 n P2 vi vn tc Vf trong mt phng XY nh trn hnh 3.26, b
ni suy chia ton b qung ng thnh cc thnh phn dch chuyn theo trc X v trc Y theo
mt tc dch chuyn xc nh trc. Cui cng tc dch chuyn V1 v V2 cho c hai trc X
v Y minh ha trn hnh 3.26. R rng V2 > V1 v (y2-y1) >(x2-x1).

Hnh 3.26 Khi nim c bn v ni suy

Cc c im yu cu i vi b ni suy n c th thc hin tt vic tnh ton cc v tr
trung gian v tc dch chuyn ca cc trc t d liu hnh dng ca ng cn gia cng v tc
n dao:
1. D liu t b ni suy phi trng vi hnh dng (ng) cn gia cng
2. B ni suy phi xem xt v gii hn tc ty theo cu trc ca my v c tnh ca
ng c servo trong qu trnh tnh ton vn tc.
3. Cn phi trnh sai s tch ly trong qu trnh ni suy hnh dng gia cng c trng
(gn ging nht co th) so vi lnh v v tr trong chng trnh gia cng.
Nu phn chia ni suy theo loi ng cn ni suy, hin nay ngi ta dng cc phng
php ni suy sau (hnh 3.27):
- Ni suy thng dng gia cng cc ng thng i qua cc im.
- Ni suy trn dng gia cng cung trn hoc cc ng trn khp kn.
- Ni suy xon c dng gia cng ren hoc gia cng cc rnh xon c.
- Ni suy bc 2, bc 3, paraplol, hypepol v spline s dng trong cng ngh ch to cc chi tit
phc tp nh cc chi tit trong my bay, khun dp khung hay v ca t.
Ni suy

Thng

Trn

Xon c

Parapol

hypepol

spline

Bc 3

Hnh 3.27 Cc phng php ni suy trong iu khin my CNC

2011, XPhng-BM CTM, Khoa CK, HNT

47

NURBS

Nu phn chia b ni suy theo thit b v phng php thc hin, b ni suy c phn
loi thnh ni suy phn cng (hardware interpolator) v ni suy phn mm (software
interpolator). B ni suy bng phn cng bao gm cc loi thit b in t khc nhau, c dng
cho n khi CNC c pht trin. Tuy nhin, ngy nay, ni suy bng phn mm c s dng
ph bin trong cc h CNC. Khi nim ni suy phn mm bt ngun t ni suy phn phn cng
v ni suy phn cng ch gii hn trong cc h thng iu khin n gin.
6.2 Ni suy bng phn cng
B ni suy phn cng thc hin vic ni suy v to ra cc xung bng mch in t. N
cho php ni suy vi tc cao nhng kh thch nghi trong vic sa i hoc thay th cc
thut ton ni suy mi. Phng php ni suy phn cng in hnh nht l s dng b phn
tch vi phn s DDA (Digital Differential Analyzer).
a) Ni suy thng
Ni suy thng ngha l iu khin chuyn ng theo chuyn ng tuyn tnh t v tr xut
pht n v tr ch. Ni chung, ni suy thng thc hin vic iu khin cc trc chuyn ng
ng thi (2 trc trong mt phng 2D v 3 trc cho khng gian 3D).
Khi thc hin ni suy thng, iu quan trng nht l s ng b ca 2 trc (xt ni suy
trong mt phng) tng ng vi c vn tc v chuyn v. Gi BLU (basis length unit) l chiu
di b nht m mi trc c th dch chuyn c. Khi ng c c cung cp 1 xung, n s to
ra mt dch chuyn bng BLU. Khi V d, gi s trc X dch chuyn A BLU v trc Y dch
chuyn B BLU nh trn hnh 3.28 (a). Trong trng hp ny b ni suy DDA phn cng s to
ra A xung dch chuyn trc X v B xung dch chuyn trc Y. T s gia vn tc gia
trc X v trc Y phi gi bng hng s.

b)

b)

Hnh 3.28 V d v ni suy thng v ni

suy trn

YE
Nguyn l tnh ton cc im trung gian
trong ni suy thng:
Gi s dao cn chuyn t im bt u
PA n im kt thc PE theo mt ng


thng vi mt tc chy dao u = Const
xc nh trc (hnh 3.29). Ton b nhng
on L c phn chia thnh nhng on
S . Khong thi gian ton b dao dch
chuyn t hai im lp trnh A v E l
L
T=
L
Cc gi tr trung gian v v tr m dao
phi ct cn phi i qua c tnh theo hm

YA

2011, XPhng-BM CTM, Khoa CK, HNT

48

Pn+1

Pn
Vy

A VX
XA

XE

Hnh 3.29: S o tnh toan noi suy thang

s theo thi gian:

T

x (t ) = x A + v x dt = x A +
T

y (t ) = y A + v y dt = y A +

xE x A
dt
T
yE y A
dt
T

T
nh php tch phn s c thay thnh php
N
cng s v n c thc hin trong b cng tch phn ca phn cng.

Nu chia thi gian T thnh cc khong t =

n
x xA
xE xA

xE xA
x (t ) = x A +
t n = x A +
n = x A + E
N
T

N
1
n
y yA
y yA

y yA
y(t ) = y A + E
t n = y A + E
n = y A + E
T
N

1
(vi n = 1,2,3,..,N)
Vi mi bc cng, gi tr v v tr li tng thm mt bc bng hng s. m bo
x xA
chnh xc v bin dng ni suy so vi bin dng yu cu, cc bc cng x = E
v
N
y yA
y = E
phi nh hn hoc bng 0.001 mm. Mi bc cng c gi l basic length unit
N
(BLU). Thng thng BLU = 0.001 mm hoc 0.0001 mm.

b) Ni suy ng trn
Gi s cn ct mt bin dng l mt cung trn c bn knh R, im u PA im, cui PE.
cung trn c xc nh l duy nht, cn c thm mt thng s na l ta ca tm cung
trn so vi im im u (xem hnh 3.28 (b)).
Xy dng mt trc to -cc c gc to l tm cung trn. Trc X v trc Y trng
vi cc trc tng ng trong h iu khin (cc trc trn bn my). Theo quan h hnh hc ta c:
x = R.cos
y = R.sin
P
T
E
Ta c thm mt s tnh ton khc:
y
A = arctg A
xA
t
P
R
(x,y)
y
E = arctg E
YA
xE
PA

Chiu di ca cung : PAPE = R (E - A).

Gi T : thi gian i ht cung PAPE
t : thi gian i t im PA n im P(x,y)
trung gian no trn cung trn.
M
Tc tin dao trong ni suy trn
lun hng tip tuyn vi cung trn v h
iu khin lun lun c gng u chnh sao

XA
Hnh 3.30: S tnh ton ni suy trn

cho n bng hng s V = Vx2 + V y2 = const .

Da vo cc yu t trn, gc c xc nh nh sau: = A + (E A ) t

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49

Vy c xc inh hon ton ti thi im t. Khi :

x = Rcos A + ( E A ) Tt

y = Rsin + ( ) t
E
A
A

T
o hm hai v theo thi gian t ta c tc thnh phn trn cc trc
Vx =

A
A
dx
t
sin A + ( E A ) = R E
y (t )
= R E
dt
T
T
T

Vy =

dy
A
t
A

cos A + ( E A ) = R E
x (t )
=R E
dt
T
T
T

T
to im P c xc nh
N
qua php cng gia s cc dch chuyn thay cho php ly tch phn.
E A n
Vi chnh xc dng khi chia nh thi gian t =

x (t ) = x A + Vx t = x A R

y (t ) = y A + V y t = y A + R

E A
N

y(i.t )
i =0
n

x (i . t )
i =0

6.3 Ni suy bng phn mm

Nh gi c cng nh kch thc ca my tnh PC gim dn, phng php ni suy bng
phn mm xut hin. Phng php ni suy ny dng chng trnh my tnh thay v s dng b
phn cng logic v ton hc nh ni suy phn cng. Hin nay c nhiu phng php ni suy
bng phn mm khc nhau. Trong phm vi khun kh ca ti liu ny ch gii thiu 3 phng php ni
suy dng phn mm l: ni suy phng theo DDA, ni suy bc thang v ni suy NURBS.
a) Ni suy phng theo DDA.
Phng phps ni suy ny bt ngun t phng php ni suy bng phn cng v c c
tnh ging ni suy DDA dng phn cng. Hnh 3.31 trnh by lu thut ton ca ni suy
thng v ni suy trn dng DDA v phn mm. Trn hnh 3.31 a), bin L l chuyn v tuyn tnh
v A, B tng ng l chuyn v ca cc trc X v Y. Gi tr ban u ca Q1 v Q2 bng khng.
Trn hnh 3.31 b), gi tr ban u ca cc bin tng t nh ni suy thng, bin R l bn knh
ca ng trn, bin P1 v P1 cho bit v tr tm ca ng trn (cung trn) so vi im ban u
ca cung trn khi im ban u ca cung c ly lm gc ta .

Hnh 3.31. Lu thut ton ni suy thng (a) v ni suy trn (b) theo phng php DDA bng
phn mm
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(a)

(b)

Hnh 3.32 Kt qu ni suy ng trn theo phng php DDA (a) v phng php bc thang (b)
Sau y l mt v d s dng ni suy DDA bng phn mm, chiu di n v ca chng
trnh gia cng c ly bng BLU v vn tc ly bng BLU/giy.
G01 X0.Y10.F10
(ni suy thng, chy n im (X,Y) = (0,10))
G02 G90 X10. Y0. I0. J-10. F10
(Ni suy trn cng chiu kim ng h), im u l
(0,10), im cui ca cung l (10,0), v tr tng i ca tm so vi im u l (0,10). Kt qu
ni suy th hin trn hnh 3.32 (a).

b) Ni suy bc thang
Thut ton ni suy bc thang xc nh
hng ca cc bc nhy bng chiu di n v
BLU v gi tn hiu xung n cc trc tng ng.
Mc ny ch gii thiu ni suy bc thang p
dng cho ni suy cung trn v thut ton p dng
cho ni suy thng d dng suy ra t ni suy trn.
Hnh 3.33 cho thy nguyn l lm vic ca
ni suy trn theo chiu kim ng h gc phn
t th nht ca h trc ta . Gi s dng c ct
cn n im (Xk,Yk) sau i bc lp. Trong php
ni suy ny, bin s Dk c tnh theo phng
trnh sau:
Hnh 3.33 c tnh ca ni suy bc thang
Dk = X k2 + X k2 R 2
Hng ca mi bc nhy c xc nh da trn Dk, hng ca cung trn, v gc phn
t m ca h ta , Gi s chuyn ng theo cung trn xoay theo chiu kim ng h gc phn
t th nht, thut ton nh sau:
1. Dk < 0: Trng hp ny ngha l v tr (Xk,Yk) nm trong ng trn v phi nhy theo
chiu dng ca trc X
2. Dk > 0: Trng hp ny ngha l v tr (Xk,Yk) nm trong ng ngoi v phi nhy theo
chiu m ca trc X
3. Dk = 0: Mt trong hai trng h trn c th chn v p dng ngu nhin hai trng hp
trn. Sau khi mt bc c hon tt, v tr (Xk+1,Yk+1) c cp nht v th tc c th
tin hnh cho n khi t n im ch tron cu lnh v v tr (Xf ,Yf ).
Thut ton ny ch cn mt s php tnh ton nh v cn t b nh, tuy nhin s ln lp ln.
S ln lp c th c tnh theo cng thc:
N = X 0 X f + Y0 Y f
Trong (X0,Y0) l im xut pht
V d, khi ni suy ng trn vi bnh knh R, s ln lp s l N=2R. duy tr lnh vn
tc chy dao F (BLU/giy), b ni suy phi lp vi tn s f0 c tnh theo cng thc:
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f0
2R
4
=
=
F R / 2
Hnh 3.34 minh ha s thut ton ca phng php ni suy bc thang.
Di y l minh ha ni suy bc thang cho trng hp ging ni suy DDA, kt qu ni
suy c trnh by trn hnh 3.32b).
G01 X0.Y10.F10
G02 G90 X10. Y0.(BLU) I0. J-10.(BLU) F10(BLU/giy)

Hnh 3.34 Lu thut ton phng php ni suy bc thang dng phn mm
Bng 1. Kt qu ni suy ng trn theo phng php bc thang

2011, XPhng-BM CTM, Khoa CK, HNT

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c) Ni suy NURBS
i vi cc my CNC tc cao hoc cc my gia cng c chnh xc cao, nhiu
phng php ni suy hnh hc c p dng nh spline, ng thn khai, ni suy xon c. Khi
gia cng cc ng cong t do, cc ng ny c th xp x gn ng bng tp hp cc on
thng hoc cc cung trn. Tuy nhin, t c chnh xc xp x cao th cc on thng
hoc cung trn ny phi tht ngn. Cc on chuyn ng rt ngn ny gy ra hin tng khng
ng nht v tc t ct v lm gim cht lng gia cng b mt. Thm vo iu ny cng dn
n s dng lnh ca chng trnh qu nhiu trong khi ch gia cng mt ng cong ngn.
khc phc nhc im trn, phng php ni suy NURBS ra i. Trong ni suy NURBS, h
iu khin CNC trc tip chuyn d liu ca ng cong NURBS t chng trnh gia cng
thnh cc on nh. Theo cch ny, dung lng ca chng trnh gia cng gim i v c th gia
cng cao tc v lnh tc n dao ph thuc vo ni suy.
C nhiu m hnh ton hc nh spline bc 3, Bezier, B-spline v NURBS dng biu din cc
ng cong t do. Trong s cc loi ny, NURBS (non uniform rational B-spline) l m hnh
tng qut nht bao hm cc loi ng khc. Vi ng cong NURBS hoc mt cong, ngi
thit k c th dng cc mt cong phc tp nhng lng d liu m t l t. NURBS c dng
ph bin trong cc h thng CAD/CAM ngy nay. bit chi tit v phng trnh tng qut ca
ng cong NURBS, c th xem ti liu tham kho [ ].
7) Hiu chnh dng c ct trn my cng c CNC :
a) Hiu chnh bn knh mi dao (dao tin ) v ng knh dao (dao phay )
* Hiu chnh bn knh mi dao (i vi dao tin):
Nu li dao tin c bn knh R hoc li ct l cc mnh hp kim hnh trn c bn knh
R th trong qu trnh gia cng, h iu khin cho php hiu chnh dng c ct, nu khng s gy
ra sai khc trong ng bin dng lp trnh v ng bin dng thc thu c sau khi ct .
Xt v d trn hnh (3.35) v hai trng hp: khng v c hiu chnh bnh knh mi dao.

a) Khong hieu chnh ban knh mui dao

b) Co hieu chnh ban knh mui dao

Hnh 3.35 Hiu chnh bn knh mi dao (khi tin)

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Bi v i vi dao tin, mi dao s chy theo ng bin dng lp trnh. M khi

vi dao c bn knh mi dao th im mi dao P c xc nh nh hnh v 3.35. Khi gia
cng, nu khng hiu chnh bn knh mi dao th s gy ra sai khc bin dng ca on AB
(phn gch cho) hnh 3.35 (a) bi vy h iu khin CNC cho php a vo thng s hiu
chnh (nhp vo b nh hiu chnh ca my bn knh R ca dao), lc b iu khin s
tnh ton li ng chy dao. C th v d trn hnh 3.35 n s t ng li im A v pha
trn mt on Xc v di im B sang tri mt on Zc tnh theo quan h lng gic gia
nghing ca ng AB v bn knh mi dao.
* Hiu chnh bn knh dao (i vi dao phay):
Khi gia cng mt ng bin no bng dao phay ngn, ngi gia cng c th dng cc
con dao c bn knh khc nhau. Khi , nu b iu khin khng c kh nng t ng hiu chnh
ng chy dao theo cc bn knh khc nhau th ngi lp trnh phi hiu chnh bng tay. iu
ny nhiu khi phin phc trong vic tnh ton. Do vy, b iu khin CNC cho php hiu chnh
hiu chnh bn knh mi dao. V d khi gia cng mt ng cng khp kn i qua cc im P1
n P5 (hnh 3.36) bng dao phay c d = 10 mm, ngi lp trnh v gia cng c th ch mt
trong hai cch :
- Thay i ng lp trnh bng
P'4
ng lap
cch offset ng bin tht ra bn
trnh
ngoi 5mm bi qu o dao ct l qu
Quy ao cua dao
o tm ca dao v xc nh li cc
P4
im cc im P1 n P5. Vic lm ny
l khng n gin nu tnh bng tay v
P'3
mt s im Pi c to l cho d Pi l P'5
P5
khng l.
P3
- Cch th hai l s dng chc

nng hiu chnh ng knh (bn

knh) dng c ct (tool radius
compensation) c trong cc h iu
khin CNC. ng lp trnh v
P'1
ng bin tht l nh nhau, ta ch
cn nhp vi b nh hiu chnh bn
knh dao trc tip trn my c gi tr
bng 5.

P1

P2
P'2

Hnh 3.36 Hieu chnh ban knh dao phay

b) Hiu chnh chiu di dao

My cng c CNC l my t ng c kh nng thay dng c ct thc hin nhiu
nguyn cng khc nhau, trong khi trong khi chiu di ca cc dao khc nhau l khc nhau.
Do vy, cn phi hiu chnh chiu di ca cc dao khi thay dao. Phng php v th tc hiu
chnh chiu di dao c trnh by chng 4 ca ti liu ny.
c) Hiu chnh mn dao.
Sau mt thi gian lm vic dao s mn i. i vi dao tin, li ct mn s lm cho
ng knh chi tit gia cng tng. i vi dao phay, dao mn lm cho ng knh dao gim i,
chiu di dao ngn li. hiu chnh lng mn ny, mt s h iu khin s cho php hiu
chnh mn ca dao theo bn ca dao, m bo chnh xc gia cng ca my, sn
phm ch to c ng nht.
d) Hiu chnh khe h v sai lch bc vtme.
H iu khin CNC cho php hiu chnh li sai lch bc ca vtme ai c cng nh khe
h xut hin trong vt me sau mt thi gian lm vic m n b mn i. thc hin hiu chnh
ny, im tham chiu ban u phi c a vo my. H thng s dch chuyn bn dao hay bn
my n hai v tr u cui ca trc vt. Trong qu trnh dch chuyn, h thng o lng s so
snh sai lch bc vt vi im gc ban u hiu chnh li sai lch ny.
2011, XPhng-BM CTM, Khoa CK, HNT

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8. iu khin thch nghi (Adaptive Control)

Khi lp trnh NC, iu cn thit l ta lun nhp tc trc chnh v lng chy dao cho
tng dng c ct v cho tng th tc gia cng gia cng mt chi tit no . Trong qu trnh
gia cng, khi cho my chy tht, nu cn thit ta c th ch ng tng hoc gim tc trc
chnh v lng chy dao bng cc nt iu khin trn panel iu khin khi cm thy ch ct
mnh lp trnh l ln hoc b. C th l dao b mn cn phi gim ch ct trnh v dao
hoc l chiu di c thay i lm tng chiu dy ct, hoc cng ca vt gia cng thay i
theo vng. Tuy nhin y l vic can thip ca con ngi vo qu trnh lm vic ca my m
bo cho n hot ng tt nht trnh cc h hng cho my nng cao nng sut v chnh xc chi
tit gia cng. Cng vic ny ch c nhng ngi vn hnh c kinh nghim mi thc hin c.
Xut pht t yu cu v tnh t ng ho v kh nng iu khin ti u m cc h iu khin
CNC c kh nng iu khin thch nghi tc l t ng thay i cc thng s gia cng theo nh
hng ngu nhin khng th d kin trc trong sut qu trnh gia cng m khng cn tc ng
ca ngi vn hnh my. Cc nh hng ngu nhin l:
- Trong nhiu trng hp, chiu su ct thc t thay i ch khng phi l hng s, nht l
gia cng th.
- Vt liu ca phi c th khng ng u, c tnh ca n c th thay i theo quy lut bit
trc hoc ngu nhin.
- mn ca dao thay i lm lc ct thay i.
- S rung ng hoc bin dng ca cc thnh phn trong h thng cng ngh.
Trong cng ngh ct gt kim loi, iu khin thch nghi c hiu l h thng c kh nng
thng xuyn gim st s thay i ca cc thng s ra ca qu trnh, cn c vo thay i
cc thng s cng ngh sao cho chng lun t gi tr cao nht c th m vn khng ph v cc
iu kin rng buc, m bo cho h thng hot ng bnh thng.
Trn hnh 3.37 l s my CNC c iu khin thch nghi (AC). H khin thch nghi c
ghp thm vo h CNC bnh thng, n c nhim v o cc thng s trng thi v hiu chnh S,
F theo cc rng buc, mc tiu v lut iu khin nh trc. Trong khi CNC ch nhn tn hiu
phn hi v tr ca dao, khng c kh nng t ng hiu chnh tc ct S v lng chy dao F
th AC thng xuyn gim st s bin ng ca kch thc v c tnh ca phi thng qua lc ct
hoc momen, t hiu chnh S, F cho ph hp. Khc vi gia cng CNC thng thng, trong
nng sut gia cng tng ch yu nh gim thi gian khng gia cng (thi gian chy khng, nh
v, thay i ch ct, g t phi, thay dao, o kim,...), CNC c AC tng nng sut gia cng
bng cch gim thi gian gia cng (thi gian chnh) nh tc ct v lng chy dao lun c
tt u. Mc tiu ca hu ht cc h AC l tng khi lng ct gt trong gia cng th. Mt s
cng trnh nghin cu cho thy, nng sut gia cng c AC tng 20-80%, cn chi ph gia cng ch
bng 40-50% so vi gia cng CNC thng thng. Li ch r nht ca AC thy c khi gia cng
vi chiu su ct thay i trong phm vi rng.

Hnh 3.37 S nguyn l iu khin thch nghi trn my CNC

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iu khin thch nghi ph bin nht hin nay l da vo mmen (iu khin mmen) trong
mmen ca lc cn trn trc chnh cng nh trn trc vt me c tnh ton ti trc ng c
dn ng. Ban u momen c o khi trc chnh v bn my chuyn ng nhng khng tham
gia ct gt, gi tr ny c lu vo b nh ca my tnh. Khi my bt u gia cng ct gt, ly
gi tr momen o c hin ti tr i momen khng ti s c momen thun nht ch do lc ct
tc dng, gi tr ny c em so snh vi momen gii hn c lp trnh sn trong b iu
khin. Nu momen ca lc ct gt ln hn gii hn momen c lp trnh th b iu khin s
hn ch tc ct v lng chy dao, bt dung dch trn ngui nu cha bt hoc thm ch c
th dng qu trnh gia cng. Ch ct cng t ng gim xung khi cng sut ct ln hn cng
sut c lp trnh c sn trong my.
Ngoi ra, mt s nghin cu dng sensor lc o cc thnh phn lc trn cc trc. Tn
hiu do cc sensor lc p in vi tn hiu ra l in p. Thng qua b bin i AD, tn hiu
tng t ny s chuyn sang tn hiu s sau c x l v tnh ton trong iu khin AC.
Ngoi thay i ch ct, mt s my v h iu khin thch nghi cn cho php quyt nh thay
dng c ct cng loi khi cm thy dao ang gia cng b cn (lc ct v momen ct tng) v qu
trnh gia cng li tip din.
9. Bn phm v mn hnh trn my CNC
a) Mn hnh
Mn hnh l thit b hin th rt quan trng m mi my CNC u phi c. Mn hnh c th
l mn hnh mu hoc n sc, loi tinh th lng (LCD) hoc loi ng phng tia m cc (CRT).
Cng dng ca mn hnh trn my CNC l:

1)
Hien th trang thai 2) .Hien th v tr 3) Hien th cac thong tin ve truc chnh va
lng chay dao 4) Hien th cac thong tin ve lng chay dao 5.Hien th dong lenh ang
thc hien 6). Ten cua cac phm mem (softkey) nam ngang hien tai 7) Ten cua cac phm
mem (softkey) theo chieu doc hien tai
Hnh 3.27: Mn hnh c bn ca h iu khin SIEMENS Sinmerik 840D
2011, XPhng-BM CTM, Khoa CK, HNT

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- Hin th tt c cc k t v k s nhp t bn phm ngi lp chng trnh kim tra

chng trnh nhp.
- Cho php ngi vn hnh kim tra cc tham s v thng s ci t cho my.
- Hin th cc ta hin hnh khi my ang lm vic, hin th cc thng s cng ngh
nh tc ct, lng chy dao thc t v dng lnh hin hnh m my ang thc hin.
- M phng qu trnh gia cng di dng ha.
Mn hnh c bn ca h iu khin my cng c c thay i theo cc h iu khin khc
nhau (FANUC, SIEMENS, HEIDENHAIN) nhng nhn chung c cu trc nh hnh 3.27.
b) B bn phm
Bn phm l thit b nhp quan trng khng th thiu c trn cc my cng c CNC hin
nay. Nh b bn phm, ta c th nhp tt c cc loi d liu cn thit cho qu trnh gia cng cng
nh ci t cc cc tham s iu khin lin quan n s hot ng ca my.
B bn phm ca my CNC thng gm 2 panel ring bit, mt panel nm cnh ngay
di mn hnh v mt panel nm bn phi mn hnh. Panel bn phi ch yu dng lp
trnh, son tho chng trnh v ci t cc tham s cho my (hnh 3.28 v 3.29).

B bn phm lp trnh ty theo hng ch to, ty theo ngn ng (Anh, Php, c, Nga,
Tung, Hn quc) v ty theo cc h iu khin khc nhau c th c b tr khc nhau. Trn
hnh 3.30 v 3.31 trnh by mt kiu b tr bn phm lp trnh ca h iu khin FANUC p
dng trn my phay di hai dng l ting Anh v dng k hiu.

Hnh 3.28: Panel iu khin trn my tin (h iu khin Fanuc 21i T)

2011, XPhng-BM CTM, Khoa CK, HNT

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Hnh 3.29: Panel iu khin trn my tin (H iu khin SINUMERICK 810D/840D)

Phm SHIFT

Cac phm
so va mau
t a ch

Phm Cancel
Phm INPUT

Cac phm
chc nang
Cac phm
dch chuyen
con tro

Phm EDIT

Phm HELP
Cac phm
chuyen trang

Phm RESET

Hnh 3.30: Sap xep cac phm theo he ieu khien FANUC, kieu tieng Anh

2011, XPhng-BM CTM, Khoa CK, HNT

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Phm SHIFT

Cac phm
so va mau
t a ch

Phm Cancel
Phm INPUT

Cac phm
chc nang
Cac phm
dch chuyen
con tro

Phm EDIT
Phm HELP

Cac phm
chuyen
trang

Phm RESET

Hnh 3.31: Sp xp cc phm son tho chng trnh theo h iu khin FANUC (kiu k hiu)

Ngay k st pha di m hnh c mt dy phm gi l phm mm (softkey) hoc

function keys, (hnh 3.32), y l cc phm khng c in tn v chc nng ca n thay i
theo ng cnh v tn chc nng ca cc phm ny hin ln trn mn hnh ngay st v tr ca
n (ging nh cc phm khng tn st mn hnh trong cc my rt tin t ng). Chng c
rt nhiu chc nng lin quan n h iu khin v la chn cc th mc khc nhau trong
cu trc ca h iu khin
Panel phm pha di dng dng iu khin my trong qu trnh gia cng cng nh
la chn ch hot ng ca b iu khin, la chn chiu chuyn ng ca cc trc khi
chy dao bng tay, thay i tc trc chnh khi my ang chy chng trnh.v.v.. c m
t hnh 3.33.

Cc softkeys hay cn goi l

phm chc nng
Cac phm mem (softkey)

Hnh 3.32: Cc phm softkeys hoc function keys trn panel iu khin.
2011, XPhng-BM CTM, Khoa CK, HNT

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Cac phm OPERATION va PROGRAM SOURCE dung e la chon cac mode

hoat ong khac nhau: AUTO (t ong), EDIT (che o soan thao), MDI
(Manual Data Input - nhap d lieu bang tay), JOG (cho phep dch chuyen
cac truc bang cach bam cac phm AXIS/DIRECTION), TEACH (Playback)
hoac OFFSET (hieu chnh dao)

S dung cac phm nay e

chay hoac dng mot dong
lenh (khi chon SINGLE
BLOCK tren
OPERATION SELECT)
hoac toan bo chng trnh

Quay truc chnh

cung chieu kim
ong ho, dng truc
chnh va quay truc
chnh ngc chieu
kim ong ho

S dung cac phm nay e la

chon truc va hng dch
chuyen, bam cac phm nay
che o JOG th cac truc X, Y,
Z se dch chuyen

La chon che o
phun dung dch
trn nguoi: m, tat
cng bc hoac
tuy theo trong
chng trnh

S dung cac phm nay e chay va th chng trnh. V du khi

chon SINGLE BLOCK, bam CYCLE START, may se thc hien
dong lenh hien hanh, bam CYCLE START lan na, dong lenh
th hai se thc hien; bam CYCLE STOP, may se dng tc th;
bam CYCLE START may se tiep tuc chay

S dung cac phm

nay e lam tang
hoac giam toc o
dch chuyen cua
cac truc khi dung
tay quay MPG tren
panel ieu khien.
Ba phm di cung
lam thay oi toc o
truc chnh

Hnh 3.33: B phm iu khin trn panel iu khin pha di mn hnh (h iu khin FANUC)

10. Thit b nhp d liu (Input Media)

Cng nh nhng g trnh by mc h thng iu khin (phn phn loi), cc thit b
v phng php nhp d liu c trnh by trn (hnh v 3.34). Cc phng tin ny mang
chng trnh hay cn gi l mang tin (bng c l, ba t l, bng t, a t, th nh). Bn
phm khng mang chng trnh nhng n l thit b to ra chng trnh gia cng cng nh nhp
cc d liu vo my rt linh hot nh kh nng son tho, xo, sa rt thun li cng ging nh
bn phm ca my tnh PC.
Nhiu nm trc y, phng tin chnh mang v np d liu vo my l mt bng giy
c l c 8 hng l, c chiu rng l 1 inch (25,4 mm). Hin nay bng c l khng cn c
dng na, ch dng ph bin tng dn theo th t bng t , a t v PCMCIA Card. Th nh
PCMCIA Card l mt thit b lu chng trnh tin li c dung lng ln hn 8 Mbyte, lm vic
theo c ch ca b nh ghi c in t, c kh nng chng chu c rung ng khi lp vo my
cng c.

2011, XPhng-BM CTM, Khoa CK, HNT

60

Cc my CNC hin i u s dng bn phm

s dng m chun ASCII (American Standard Code
for Information Interchange) nhp trc tip thng
tin v chng trnh vo b iu khin.
Ngoi cc thit b nhp bng bn phm, a t
hay th nh, phng php Direct Numerical Control
(DNC) s dng mt my tnh PC hoc mt server
computer v mt phn mm giao tip
(communication software) hin ang tr thnh
phng php truyn d liu xung my tnh CNC.
Vi DNC, chng trnh gia cng c truyn t mt
my tnh ch n mt hay nhiu my CNC gia
cng. Ngc li, tt c cc d liu v tham s
(paremeters) v file chng trnh gia cng cha trong
my CNC u c th truyn ngc v my tnh ch
qua cp truyn RS232 lu tr, d phng v s
dng khi cn thit.
11. CNC data interface v Direct numerical
control
Direct numerical control (DNC), cn c gi
Memory
Memory
l distributed numerical control (cng vit tt l
CARD
CARD
DNC), l mt thut ng trong ngnh ch to my c
s dng cc my CNC kt thnh mng li. mt s
Hnh 3.34 Cc thit b nhp v xut
my CNC, b nh ca my rt nh. Chng khng th
trn my cng c CNC
cha c cc chng trnh gia cng phc tp c
nhiu dng lnh. Trong trng hp ny, chng trnh
gia cng c cha trn mt my tnh khc v c gi mt cch trc tip xung my CNC,
mi block lnh c gi mi ln. Nu mt my tnh c ni vi nhiu my CNC khc nhau,
my tnh c th chia s v phn b cc chng trnh gia cng n cc my CNC khi c yu
cu.
Giao tip gia my tnh PC v my CNC theo phng php DNC c th thc hin qua
chun giao tip ni tip (serial interface) RS-232, RS-422 v RS-423. Ngoi ra cn c th kt ni
theo kiu mng LAN c dy hoc khng dy nh hnh 3.35

Hnh 3.35: S iu khin DNC (Direct Numerical Control) thng qua mng LAN

2011, XPhng-BM CTM, Khoa CK, HNT

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