1

MC LC
LI NI U ................................................................................................................ 5
Chng 1 MY IU KHIN S .............................................................................. 7
1.1. S ra i v pht trin ca my iu khin s .................................................. 7
1.1.1. Lch s ra i v pht trin my iu khin s ............................................. 7
1.1.2. Cc tnh nng k thut ca my iu khin s ........................................... 10
1.1.3. Hiu qu s dng my CNC ....................................................................... 12
1.2. Cu trc chung ca my NC ............................................................................ 17
1.2.1. S ng hc ca xch chy dao ............................................................. 17
1.2.2. Cu trc chung ca my tin NC ................................................................ 21
1.2.3. Cu trc chung ca my phay NC .............................................................. 21
1.3. Cc h thng c kh ca my CNC .................................................................. 22
1.3.1. Dn ng chy dao ..................................................................................... 22
1.3.2. Dn ng trc chnh .................................................................................... 38
1.3.3. ng hng ca my CNC ...................................................................... 39
1.3.4. H thng thay dao t ng .......................................................................... 43
1.3.5. Dao ct trn my CNC ................................................................................ 46
1.3.6. g trn my CNC .................................................................................. 51
Chng 2 H THNG IU KHIN S ................................................................ 52
2.1. Khi nim v h thng iu khin s ............................................................... 52
2.1.1. iu khin s trc tip v iu khin s phn phi (DNC) ....................... 53
2.1.2. iu khin s c my tnh (CNC) .............................................................. 55
2.2. Phn loi iu khin s ..................................................................................... 56
2.2.1. iu khin im PTP .................................................................................. 56
2.2.2. iu khin ng lin tc........................................................................... 58
2.2.3. Cc h thng iu khin theo s trc c iu khin ng thi .............. 59
2.2.4. iu khin NC v CNC .............................................................................. 61
2.2.5. iu khin h v iu khin kn ................................................................. 63
2.2.6. iu khin thch nghi .................................................................................. 64
2.3. Phn cng ca h thng iu khin s ............................................................ 65
2.3.1. Cm iu khin my MCU ......................................................................... 66
2.3.2. B vi x l CPU .......................................................................................... 67
2.3.3. B nh ROM v RAM ................................................................................ 68
2.3.4. Cc thnh phn giao tip khc .................................................................... 68
2.3.5. B iu khin my kh trnh PMC ............................................................. 70
2.4. Cc phn mm ca CNC ................................................................................... 71
2.4.1. H iu hnh (phn mm h thng) ............................................................ 72
2.4.2. Phn mm giao tip my ............................................................................. 72
2

2.4.3. Phn mm ng dng ................................................................................... 74
2.4.4. Chng trnh ni suy .................................................................................. 74
2.5. H thng phn hi (feedback) .......................................................................... 80
2.5.1. Cc kiu h thng phn hi ........................................................................ 80
2.5.2. H thng phn hi kiu s - tng i. ...................................................... 82
2.5.3. H thng phn hi kiu s - tuyt i ......................................................... 85
2.5.4. H thng phn hi tng t (analog) .......................................................... 86
Chng 3 C S LP TRNH GIA CNG CHO MY CNC .............................. 89
3.1. Cc trc to v chiu chuyn ng ............................................................. 89
3.1.1. H thng cc to .................................................................................... 89
3.1.2. Quy nh cc to trn my ..................................................................... 89
3.1.3. Cc im gc (ZERO) v cc im chun (tham kho) ............................. 91
3.2. M ho thng tin ............................................................................................... 95
3.2.1. H thng s v cch biu din i lng trong iu khin s .................... 95
3.2.2. Cu trc ca chng trnh gia cng ............................................................ 97
3.2.3. D liu ca chng trnh .......................................................................... 103
3.3. Cc bc lp trnh NC .................................................................................... 103
3.3.1. Nghin cu bn v chi tit ........................................................................ 104
3.3.2. Phn tch chi tit thnh cc khi hnh hc ................................................ 104
3.3.3. Ghi kch thc cho chi tit........................................................................ 105
3.4. Cc hnh thc bo m chng trnh ............................................................ 108
3.4.1. Lp trnh bng tay trc tip trn my CNC .............................................. 108
3.4.2. Lp trnh trn mng DNC ......................................................................... 108
3.4.3. Lp trnh bng tay ti phng chun b chng trnh................................. 109
3.4.4. Lp trnh vi s h tr ca my tnh ........................................................ 109
3.5. Ngn ng lp trnh .......................................................................................... 110
3.5.1. Ngn ng lp trnh ISO (ngn ng my) .................................................. 110
3.5.2. Ngn ng giao thoi ................................................................................. 110
3.5.3. Ngn ng lp trnh t ng APT .............................................................. 111
3.5.4. Lp trnh bng cc phn mm CAD/CAM ............................................... 114
Chng 4 LP TRNH C BN CHO MY PHAY CNC .................................. 116
4.1. Cc m lnh ch yu ca my phay ............................................................... 116
4.1.1. Chc nng chun b (G) ............................................................................ 116
4.1.2. Cc lnh b dao v b h to . .............................................................. 116
4.1.3. Cc chu k ................................................................................................ 116
4.1.4. Chc nng b tr hay chc nng ph M-code (M). ................................. 116
4.2. Cc m lnh c bn ......................................................................................... 117
4.2.1. Chy dao nhanh, G0 hoc G00 ................................................................. 117
4.2.2. Gia cng ng thng G01 ....................................................................... 118
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4.2.3. Gia cng cung trn, ng trn G02 v G03 ........................................... 121
4.2.4. Chn mt phng to , G17, G18, G19 .................................................. 124
4.2.5. H to tuyt i, tng i, G90 v G91............................................. 124
4.2.6. n v o G70 hoc G71 .......................................................................... 125
4.2.7. Xc lp im 0 ca chi tit, G92 ............................................................... 125
4.2.8. Tr v im tham chiu G28, G29, G30. ................................................. 125
4.2.9. La chn v thay th dao ct .................................................................... 126
4.2.10. n v tc chy dao G94 v G95 ...................................................... 127
4.2.11. S vng quay trc chnh S ...................................................................... 127
4.2.12. Lp trnh t l, i xng G51 ................................................................. 128
4.2.13. Quay h ta G68 ................................................................................ 128
Chng 5 LP TRNH C BN CHO MY TIN CNC ................................... 133
5.1. Cc nhm m lnh ch yu ca my tin ...................................................... 133
5.1.1. Cc m lnh chun b (m G) ................................................................... 133
5.1.2. Cc m lnh M .......................................................................................... 134
5.2. Cc m lnh c bn ......................................................................................... 135
5.2.1. Chc nng dao T ....................................................................................... 135
5.2.2. Chc nng vn tc chy dao F .................................................................. 135
5.2.3. Chc nng tc trc chnh S .................................................................. 136
5.2.4. Xc lp h to lm vic ........................................................................ 137
5.2.5. Lp trnh theo ng knh v bn knh ..................................................... 138
5.2.6. Lp trnh tuyt i v lp trnh tng i ................................................. 139
5.2.7. Cc m lnh chuyn ng ca dao ........................................................... 140
5.2.8. Li v im tham kho G28 v G30 ......................................................... 145
5.2.10. Gia cng ren G32 .................................................................................... 146
5.2.11. Ct ren c bc thay i G34 ................................................................. 149
Chng 6 R-BT CNG NGHIP ...................................................................... 150
6.1. S lc qu trnh pht trin ca r-bt cng nghip .................................... 150
6.2. Cu trc c bn ca r-bt cng nghip ........................................................ 150
6.3. Kt cu ca tay my ........................................................................................ 151
6.4. H ta .......................................................................................................... 153
6.5. Trng cng tc ca r-bt ............................................................................ 154
6.6. Phn loi r-bt cng nghip ......................................................................... 155
6.6.1. Phn loi theo ng dng ........................................................................... 155
6.6.2. Phn loi theo phng php iu khin .................................................... 155
6.7. ng dng ca r-bt cng nghip trong sn xut......................................... 156
PH LC ................................................................................................................... 160
Ph lc 1 Cc h thng s ..................................................................................... 160
P1.1. H thp phn .............................................................................................. 160
4

P1.2. H nh phn ................................................................................................ 160
P1.3. H bt phn ................................................................................................ 161
P1.4. H thp lc phn (hex) .............................................................................. 162
P1.5. S hc s nh phn ..................................................................................... 163
Ph lc 2 Bng m G, M ca hng FANUC ........................................................ 166
P2.1. M G .......................................................................................................... 166
P2.2. M M ......................................................................................................... 169
Ph lc 3 Ch ct trn my CNC ..................................................................... 173
P3.1. Ch ct khi phay ................................................................................... 173
P3.2. Ch ct khi khoan ................................................................................. 174
P3.3. Ch ct khi doa ..................................................................................... 174
P3.4. Ch ct khi tar ..................................................................................... 176


5

LI NI U
Trong mt vi nm t u thp k 90 tr li y, my iu khin s (CNC)
xut hin Vit Nam v dn dn khng nh c vai tr ca n trong sn xut c kh
c th l trong mt s cng ngh quan trng nh: gia cng cc loi khun mu, gia
cng cc chi tit phc tp, c chnh xc cao. Trong khu vc kinh t Nh nc,
nhiu c s u t lp t cc dy chuyn sn xut hin i, trong c cc trung
tm gia cng CNC, cc phn mm tr gip thit k v sn xut (CAD/CAM) c
trang b ng b.
Trong khu vc cng nghip Quc phng, do nhim v l ch to cc chi tit v
kh c phc tp v chnh xc cao nn nhiu c s nghin cu, o to v cc nh
my Quc phng trang b cc loi my CNC thc hin cc phng php cng
ngh khc nhau. Cc my CNC c trang b phn ln thuc nhm my phay, tin,
ct dy, gia cng in cc (xung in). Bn cnh cc my hin i, c chnh xc
cao, nh cc my ca Trung tm khoa hc cng ngh v k thut qun s, Vin cng
ngh - Tng cc cng nghip QP; cn li phn ln cc my c trang b cho cc nh
my u c tnh nng cng ngh mc trung bnh.
Mc d cng ngh CAD/CAM v CNC xut hin Vit Nam trong mt thi
gian kh di, nhng vic ng dng n trong sn xut vn ang ch giai on khi
u do trang b cn l t, tnh ng b khng cao. Cc c s sn xut trang b
nhiu my CNC nhng cha ni mng nn cha c kh nng trao i chng trnh v
d liu vi thit b bn ngoi; mt s c s c thit b hin i th li khng c cng
c lp trnh tng xng. Ngoi ra vn o to mt i ng lp trnh vin c
nng lc khai thc cc thit b ny cng l vn ng ch .
Gio trnh ny phc v cho cng tc o to k s cng ngh ch to my v
cng ngh ch to v kh ti Hc vin k thut qun s (KTQS). Mc ch l cung cp
nhng hiu bit chung nht v my iu khin s, h thng iu khin s v cc k
nng lp trnh gia cng c bn cng nh vn hnh my CNC phc v cho mn hc
"My iu khin s v r bt cng nghip".
Gio trnh gm 6 chng v 3 ph lc:
Chng 1. My iu khin s CNC
Chng 2. H thng iu khin s CNC
Chng 3. C s lp trnh gia cng cho my iu khin s
Chng 4. Lp trnh c bn cho my phay CNC
Chng 5. Lp trnh c bn cho my tin CNC
Chng 6. R-bt cng nghip
6

Cc tc gi xin cm n ng ch Dng Xun Bin, Phng th nghim cng
ngh cao, Trung tm cng ngh, Hc vin KTQS cung cp ti liu v vn hnh
my; cc ng ch Nguyn Trung Thnh, L Xun Hng, ging vin B mn Ch to
my, Khoa C kh gip trong qu trnh ch bn.
Gio trnh l kt qu ca nhiu nm ging dy cc mn hc trong lnh vc
CAD/CAM-CNC. Tuy nhin ln u tin xut bn chc vn cn sai st. Chng ti
mong nhn cc kin ng gp hon thin cho nhng ln ti bn. a ch lin h:
Nguyn Trng Bn, B mn Ch to my, Khoa C kh, Hc vin KTQS; in thoi
CQ: 069515368, D 0982502954; email: trong_ban29@yahoo.com.vn

Cc tc gi

7

Chng 1 MY IU KHIN S
1.1. S ra i v pht trin ca my iu khin s
1.1.1. Lch s ra i v pht trin my iu khin s
T nm 1807 Joseph M. Jacquard s dng cc ba c l iu khin my
dt. Nhng nm tip theo ngnh cng nghip du m v ha cht cng s dng
nguyn l ny.
Nm 1947 John Parsons ca cng ty Pasrons c tr s Traverse City,
Michigan (M) bt u th nghim tng s dng nhng d liu ng cong ba
chiu iu khin my cng c gia cng mt s b phn phc tp ca my bay. ng
s dng thnh cng nguyn l xp x ton hc (nguyn l ni suy) ct gt bin
dng cnh my bay trc thng (helicopter rotor blade) vo thng 12 nm 1948.
Thng 6 nm 1949 Parsons lin kt vi phng th nghim
Servomechanisms (c cu bm) ca Vin cng ngh Masachuset (Massachusetts
Insutute of Technology - MIT) nhm pht trin my t ng iu khin s m kt qu
l vo nm 1952 ch to thnh cng my t ng iu khin s u tin, my phay
trc ng Cincinnati Hydrotel. Cm iu khin my (Machine Control Unit - MCU)
c thit k t cc n in t chn khng v chim nhiu khng gian hn my cng
c. MCU tip nhn d liu my t cc ba c l to ra cc chuyn ng theo ba
trc to nh b ni suy tuyn tnh.
Ngay sau , mt phng n ch to my NC cng nghip c ngh vi 3
nguyn tc sau:
- S dng my tnh
1
tnh ton qu o chy dao v lu d liu vo ba c
l.
- Dng thit b c ti my t ng c d liu t ba c l.
- H thng iu khin c nhim v x l v lin tc a ra thng tin iu
khin cc ng c dn ng c cu chp hnh.
Nm 1959 trin lm my cng c ti Pari trng by nhng my NC u tin
trn th gii. Thng tin iu khin (chng trnh gia cng chi tit) ca nhng my ny
c ghi trn ba c l. Mi khong gia thp k 60, my NC mi c sn xut v
s dng trong cng nghip. Tuy nhin cc b iu khin s u tin dng n in t
nn tc x l chm, cng knh v tiu tn nhiu nng lng. Vic s dng chng
cng rt kh khn, nh chng trnh c cha trong cc bng hoc ba c l, kh
hiu v khng sa cha c. Giao tip gia ngi v my rt kh khn v khng c
mn hnh, bn phm. Sau khi cc linh kin bn dn c s dng ph bin trong cng

1
Chic my tnh in t u tin mang tn ENIAC (Electronic Numerical Integrator
and Computer) do Mauchly v Eckert ch to vo nm 1943.
8

nghip (khong nm 1960) th my gn hn, tc x l cao hn, tiu tn t nng
lng hn,... Cc bng, ba c l sau ny c thay bng bng hoc a t,... Nhng
ni chung, tnh nng s dng ca cc my NC vn cha c ci thin ng k, cho
n khi my tnh c ng dng vo y.
Nhng hot ng tch cc trong lnh vc tiu chun ho, nhng bin i xung
quanh phn cng v phn mm ca cc h thng iu khin s din ra theo ba hng:
- Kiu v nh dng ca thit b vo.
- Cu hnh h thng ni suy.
- Ngn ng lp trnh gia cng chi tit.
S xut hin IC (1959), LSI (1965), vi x l (1974) v cc tin b k thut v
lu tr v x l s liu lm nn cuc cch mng trong k thut iu khin s my
cng c. Cc b iu khin s trn my cng c c tch hp thm my tnh v thut
ng CNC (vit tt ca Computer Numerical Control) c s dng t u thp k 70.
My CNC u vit hn my NC thng thng v nhiu mt, nh tc x l cao, kt
cu gn,... nhng u im quan trng nht ca chng l tnh nng s dng, giao din
thn thin ng v cc thit b ngoi vi khc. Cc my CNC ngy nay c mn hnh, bn
phm v nhiu thit b khc trao i thng tin vi ngi dng (hnh 1-1 v 1-2).
Nh mn hnh, ngi dng c thng bo thng xuyn v tnh trng ca my, cnh
bo bo li v cc nguy him c th xy ra, c th m phng kim tra trc qu
trnh gia cng,... . My CNC c th lm vic ng b vi cc thit b sn xut khc
nh r-bt, bng ti, thit b o,... trong h thng sn xut. Chng c th trao i thng
tin trong mng my tnh cc loi, t mng cc b (LAN) n mng din rng v
Internet.
Ngoi k thut iu khin t ng, s pht trin ca my CNC v cng ngh
gia cng trn chng cn gn lin vi mt lnh vc khc ca cng ngh thng tin: thit
k v sn xut c tr gip ca my tnh m chng ta quen gi l CAD/CAM. l
lnh vc ng dng my tnh vo cng tc thit k, tnh ton kt cu, chun b cng
ngh, t chc sn xut, hoch ton kinh t,... Mt h thng sn xut t ng, c kh
nng t thch ng vi s thay i i tng sn xut c gi l h thng sn xut linh
hot (Flexible Manufacturing System - FMS). FMS gm my cc CNC, r-bt, cc
thit b vn chuyn, thit b kim tra, o lng,... lm vic di s iu khin ca mt
mng my tnh. S tch hp mi h thng thit b sn xut v tch hp mi qu trnh
thit k - sn xut - qun tr kinh doanh nh mng my tnh vi cc phn mm tr gip
cng tc thit k v cng ngh, kinh doanh,... to nn h thng sn xut tch hp nh
my tnh (Computer Integrated Manufacturing - CIM).
9


Hnh 1-1. Trung tm gia cng CNC hin i

Hnh 1-2. My tin CNC hin i
CAD/CAM l lnh vc c lin quan mt thit vi k thut iu khin s cc
thit b sn xut. CAD (Computer Aided Design), c dch l "thit k c tr gip ca
my tnh", l mt lnh vc ng dng ca CNTT vo thit k. N tr gip cho cc nh
thit k trong vic m hnh ho, lp v xut cc ti liu thit k da trn k thut
ho. CAM (Computer Aided Manufacturing), c dch l "sn xut c tr gip ca
my tnh", xut hin do nhu cu lp trnh cho cc thit b iu khin s (my CNC, r-
10

bt, thit b vn chuyn, kho tng, kim tra) v iu khin chng. Chng vn xut hin
c lp vi nhau, nhng ngy cng xch li gn nhau. CAD/CAM l thut ng ghp,
dng ch mt mi trng thit k - sn xut vi s tr gip ca my tnh.
Qu trnh xut hin, pht trn ca my CNC v cc lnh vc lin quan l h
thng CAD/CAM, CIM (hnh 1-3). Cng t hnh trn v qua thc t chng ta thy
CAD/CAM, CNC ang trong thi k pht trin mnh v k nguyn ca CIM mi
c khi u.

Hnh 1-3. Cc giai on pht trin ca my CNC v CAD/CAM
1.1.2. Cc tnh nng k thut ca my iu khin s
a) Cc tnh nng k thut chung
L mt h thng iu khin t ng, cc tnh nng ca h thng CNC ph
thuc vo rt nhiu yu t. Nhng ngi s dng cn phi ra chnh xc mong
mun hoc cc ch tiu nh gi tnh hiu qu s dng. Thng thng ngi ta da
vo 4 tnh nng k thut sau y:
1. chnh xc
chnh xc c nh gi bng tng sai lch trong phm vi no . V d
bn trt c sai lch 0,002 mm (0,0008 inch) khi dch chuyn 500 mm (20 inch).
chnh xc cn thit c trng cho mt my CNC l 0,001mm/250 mm (tc l khong
0,0004 inch/10 inch).
2. phn gii
phn gii l gi tr di (hoc gc) nh nht m h thng CNC c th nhn
bit v thc hin c, thc cht y l n v c s hay n v lp trnh nh nht. Cc
h thng CNC thng thng t n 0,001 mm (0,0001 inch) v 0,001
o
.
3. chnh xc lp li
chnh xc lp li l sai lch v tr ca bn my khi tr v v tr c lp
trnh trc . chnh xc lp li c coi trng hn chnh xc khi nh gi h
11

thng CNC v my CNC. Thng thng chnh xc lp li t 0,005 mm (0,002
inch).
4. nhy
nhy l thi gian tr gia thi im nhp mt tn hiu vo h thng v thi
im t c iu kin mong mun. S vng lp iu khin cng ln th nhy
cng cao. Tuy nhin nu s vng lp iu khin qu ln th h thng s mt n nh.
Gii php dung ho l gim thi gian tr nhng vn duy tr tnh n nh ca h thng.
Hng s thi gian ca cc h thng servo (bm) l yu t chnh quyt nh nhy ca
h thng. Thng thng hng s thi gian cho cc h thng CNC bng 0,033 giy.
b) Cc tnh nng tiu chun
S pht trin mnh m ca cng ngh CNC lm mt s chc nng tr thnh
cc tnh nng tiu chun (standard). Cc tnh nng nh sau:
- Cc m chun b v cc chc nng ph.
- Ni suy tuyn tnh v cung trn.
- B kch thc dao ct.
- Cc chu k c nh.
- Lp trnh cc th tc tham s.
- Lp trnh Macro.
- Tng hoc gim t ng.
- La chn h to .
- Dung lng b nh c s.
- Truy nhp chng trnh gia cng.
c) Cc tnh nng m rng
Cc tnh nng m rng cn c gi l cc tnh nng la chn (option). Chng
bao gm:
- B nh m rng.
- Giao tip DNC.
- Ni suy parabol v xon c.
- Cc chu k c bit.
- B li dch chuyn.
- Qun l tui bn dao ct.
- Kim sot thi gian cht (khng gia cng).
d) Cc tnh nng vn hnh
Cc tnh nng vn hnh cung cp cc h tr vn hnh thun li:
- Phc hi im chun th cng hoc t ng.
12

- Ci t h thng to th cng hoc t ng.
- Chy kh (dry run), chy khng gia cng.
- Thay i tc chy dao.
- Thay i tc trc chnh.
- Chn tc chy dao nhanh.
- Hin th trng thi v thng bo li.
- Hin th ng chy dao.
- ...
e) Cc tnh nng b tr
Cc tnh nng b tr gm:
- Nhp chng trnh th cng (t panel iu khin ca my).
- Bin tp chng trnh.
- Chn on ti ch v kim tra mch in.
- Chn on trong qa trnh v trc tuyn.
- Cc cng giao tip khc.
1.1.3. Hiu qu s dng my CNC
V bn cht vt l, qu trnh gia cng trn my thng thng v my CNC
hon ton nh nhau: kch thc v cht lng b mt ca chi tit gia cng c hnh
thnh v iu khin bi s tng tc c, l, ho gia dao v chi tit gia cng. Nn tng
l thuyt ct gt kim loi c nghin cu v ng dng hng trm nm nay da trn
my truyn thng vn ng cho my CNC. Hiu qu do iu khin s mang li, thc
cht l cho php thc hin hp l hn cc ch gia cng, pht huy nng lc ca my
mc cao hn m trn my thng thng, do hn ch ca iu khin th cng,
khng thc hin c. S tch hp gia k thut c kh, iu khin t ng v cng
ngh thng tin to ra cho my CNC cc tnh nng mi, vt tri so vi my thng
thng.
Vic chuyn vai tr iu khin ca con ngi cho my mc to nn s chnh
xc, linh hot, nhanh nhy, bn vng ca h thng cng ngh.
Bng 1-1 cho php so snh mt cch tm tt phng thc thc hin v vai tr
ca con ngi trong cc trng hp: gia cng trn my thng thng, trn my NC v
trn my CNC, qua chng ta c th phn no hiu c ti sao my CNC li cho
hiu qu kinh t, k thut cao hn so vi my thng thng.
Nh cc tnh nng ngy cng u vit ca h thng tch hp c kh - iu khin
t ng - cng ngh thng tin m my CNC c rt nhiu u im. Hiu qu kinh t - x
hi ca vic s dng my CNC c th hin cc kha cnh sau y:
- Nng sut gia cng cao
13

- Cht lng gia cng cao
- Tnh linh hot cao
- Chi ph gia cng gim, hiu qu kinh t cao
a) Nng sut gia cng cao
Tng thi gian gia cng mt lot chi tit T gm 3 thnh phn:
T = T
c
+ T
p
+ T
ck
,
Trong , T
c
- thi gian chnh (trc tip ct gt); T
p
- thi gian ph (thi gian chy
khng, thay dao, thay i ch ct, kim tra,...); T
ck
- thi gian chun b - kt thc
lot gia cng (chun b dao c, g, dao o, phi liu,...).
Bng 1-.1
Phng thc thc hin qu trnh gia cng trn my thng thng,
my NC v my CNC
My thng thng My NC My CNC
T
r
u
y

n

l

n
h

K

Cng nhn tho ngh
trc tip iu khin
theo kch thc v
iu kin k thut
ghi trong bn v.
Chng trnh NC
truyn vo b nh t
bng hoc ba c l.
Chng trnh NC c nhp
vo b nh t bn phm, a t,
ng truyn thng. Mt s
chng trnh c th c lu
b nh trong hoc b nh ngoi
(VD a cng, card nh).

u

k
h
i

n

c
h

n
g

n
g
h

Cng nhn t cc
thng s (tc trc
chnh, tc n
dao,...) bng tay v
iu khin my bng
cc v lng, cn gt,
phm,...
Ch cng ngh
c ghi trong
chng trnh NC. B
iu khin c, tnh
ton tc chuyn
ng v truyn lnh
cho cc h truyn
ng tng ng.
My tnh vi phn mm chuyn
dng thc hin mi chc nng
tnh ton cng ngh (nh
chng trnh v d liu cng
ngh, thng s my, dao,...
c lu sn trong my) v
iu khin gia cng. Thng
phn mm c c chc nng
gim st qu trnh, cnh bo li
v s c. Khi cn c th trc
tip thay i ch cng ngh
t bn ngoi chng trnh.
14

My thng thng My NC My CNC

m

b

o

k

c
h

t
h

c

G
C

Cng nhn nh phi
k o kch thc b
mt gia cng.
B iu khin thng
xuyn gim st kch
thc gia cng nh tn
hiu phn hi v tr
hoc t thit b o tch
cc km theo.
B iu khin thng xuyn
gim st kch thc gia cng
theo chng trnh, nh tn hiu
phn hi v tr v iu khin
ng c servo. Ngoi ra c th
can thip vo qu trnh gia
cng nh cc thit b o khc,
v d u d, my o 3 chiu.
Thi gian chnh Tc c ci thin nh pht huy ti a cng sut gia cng ca
my, trong khi trn my thng thng, do hn ch v tay ngh hoc tnh trng tm sinh
l ca cng nhn iu khng t c. V d, tc trc chnh trn my tin CNC
c th ti hng vn vng/pht, cn khi lm vic trn my thng thng, cng nhn ch
c th chy ti vi ngn vng/pht. My CNC c kt cu c kh cng vng, n nh v
c, nhit nn tc v cng sut gia cng c th pht huy ti a. Ch cng ngh
trn my CNC dng nh ch ph thuc vo bn, cng vng ca h thng cng
ngh v yu cu k thut ca chi tit gia cng. Cng ngh ct cao tc (High Speed
Cutting) ch pht huy c hiu qu cao trn my CNC. Vic gia cng bng nhiu dao,
nhiu v tr ng thi cng lm gim ng k thi gian chnh.
Thi gian ph Tp gim trc ht nh tng tc chy khng v gim thi
gian nh v. Cc my CNC hin i cho php tng tc chy khng ln ti vi chc
mt/pht m khng gy va chm v nh v vn chnh xc. Trn cc my c h thng
thay dao t ng, thi gian thay dao ch tnh bng giy. Ch cng ngh c thay
i t chng trnh, cng nhn khng mt thi gian gt s. Vic dng my kim tra
kch thc trong cc nguyn cng hu nh c loi b do kh nng iu khin chnh
xc v tr v qu o ca my CNC rt cao. Cc trung tm gia cng thng c h
thng cp phi, kp nh phi, ly chi tit t ng nn thi gian g kp phi rt ngn.
Khi lm vic vi my CNC, cng nhn ch ng vai tr gim st ch khng tham gia
trc tip vo qu trnh gia cng nn my c th lm vic c khi vng mt cng nhn v
mt cng nhn c th trng coi nhiu my.
Vic chun b my CNC gia cng mt loi sn phm mi rt nh nhng: np
chng trnh gia cng v chun li cc to . Ton b thi gian trn ch cn khng qu
30 pht. Trong khi , nu chi tit i hi thit k v ch to g th thi gian trn c
th ko di hng tun. Kh nng iu khin v phi hp chnh xc cc trc theo chng
trnh cho php loi b cc g v dao nh hnh phc tp. Nh vy khng nhng gim
c thi gian lp t, cn chnh g m cn loi b cc sai s truyn ng do ch to
v hao mn c kh, tng chnh xc gia cng. Vic lp chng trnh mi c th tin
15

hnh ngoi my (trn my tnh c lp) hoc thc hin ngay trong khi my gia cng nn
chim thi gian my khng ng k.
Cc my v cc trung tm gia cng CNC cho php tp trung nguyn cng cao
. Trn mt my c th gia cng nhiu b mt, bng cc phng php cng ngh
khc nhau; c th gia cng th v tinh trn cng mt my, trong cng mt ln g, bng
nhiu dao, nhiu trc ng thi. iu gim bt vic vn chuyn, g t nn khng
nhng lm tng nng sut m cn gim sai s gia cng.
Ngi ta tng kt rng, thi gian trc tip gia cng (Tc) trn my thng
thng ch chim khng qu 10% trong tng s thi gian gia cng (T). Trn my CNC
thi gian ln ti 70%.
Nng sut gia cng trn my CNC hu nh khng ph thuc vo tay ngh v
trng thi tm, sinh l ca cng nhn.
b) Cht lng gia cng cao
Cht lng gia cng ( chnh xc kch thc, hnh dng v cht lng b mt
gia cng) suy n cng ph thuc 3 yu t: nguyn vt liu, thit b v cng nhn.
Yu t nguyn vt liu gi thit l khng thay i. So snh v thit b th my
CNC m bo chnh xc cao v ng u nh h thng iu khin - o lng rt
chnh xc (c 0,01 - 0,001 mm), h thng c kh cng vng v n nh, qu trnh ct
c iu khin hon ton nh chng trnh nn loi tr c cc sai s do ch to v
hao mn cc c, dng. Cc my CNC hin i u c kh nng b kch thc v
mn dao, b khe h v bin dng nhit c kh. Trn my thng thng, tay ngh v
tnh trng tm, sinh l ca ngi th nh hng rt ln n cht lng gia cng. Khi
gia cng trn my CNC, cng nhn ch c nhim v np chng trnh, gim st vic g
phi, thay dao v tnh trng lm vic ca my. V vy tm sinh l, tay ngh ca cng
nhn hon ton khng nh hng n cht lng gia cng.
c) Tnh linh hot cao
My CNC hn hn my thng thng tnh linh hot. iu biu hin hai
kha cnh. Th nht, trn mt my CNC c th thc hin nhiu chc nng cng ngh
khc nhau v vic chuyn i gia cc chc nng rt d dng. V d, trn my phay
CNC c th thc hin cc nguyn cng khoan, khot, doa, gia cng mt phng, nh
hnh, rng, ren, gia cng cc rnh, hc phc tp nh hc trn, ch nht, elip,... Cc mt
cong khng gian, nh mt cu, mt xon c,... cng c th gia cng trn my phay 3
trc. Cc my phay 4-5 trc ci thin ng k nng sut v cht lng gia cng v c
th gia cng cc sn phm ngh thut, nh tc tng. My tin CNC, ngoi cc chc
nng nh my thng, c th gia cng ren vi bc thay i, ren trn mt cn. iu
quan trng l cc mt cong nh hnh c th gia cng trn my CNC mt cch d dng,
dng g v dao thng thng ch khng cn g v dao chuyn dng. Trn cc
trung tm gia cng c th thc hin cc cng vic phay, khoan, doa, tin, mi,... ng
16

thi. Chnh v vy m my CNC c kh nng tp trung nguyn cng cao gia cng
cc chi tit phc tp. Biu hin th hai ca tnh linh hot l vic thay i i tng gia
cng trn my CNC rt d dng, gn nh ch thay i chng trnh ch khng cn
thay g, dao c phin phc nh trn my thng thng. Nh c kh nng thch ng
linh hot vi i tng gia cng m my CNC l thit b c bn ca cc h thng sn
xut linh hot.
Nh tnh linh hot cao ca mnh
m my CNC c s dng ph bin
khng ch trn cc dy chuyn, trong cc
t bo sn xut t ng m cn c s
dng ring l trong loi hnh sn xut
n chic, lot nh, thm ch c ch th.
Hnh 1-4 th hin mi lin h gia gi
thnh chi tit v sn lng ca mt s
loi my cng c.
d) Chi ph gia cng gim, hiu
qu kinh t cao
Chi ph gia cng mt lot N chi
tit c th c biu din qua cng thc
sau:
C = Ctx(1 + p)N + Ccb
Trong , C - chi ph tng cng; Ctx - chi ph thng xuyn cho mt chi tit gm
lng cng nhn, nguyn vt liu, nng lng chy my,...; p - t l ph phm trung bnh;
N - s lng chi tit trong lot; Ccb - chi ph c bn, gm khu hao thit b, nh xng,...
My CNC c nng sut cao, khng i hi cng nhn bc cao, t sinh ph
phm nn cho php gim chi ph thng xuyn. Tuy nhin, chi ph mua sm, bo tr,
lp trnh, m bo mi trng cho my CNC ln hn nhiu ln so vi my thng
thng. V vy cn phi cn nhc v kinh t khi mua sm my CNC.
Xu th hin nay l gi tr phn cng ca b iu khin gim rt nhanh, trong
khi gi tr phn c kh v phn mm li tng. V vy cc my CNC c trung bnh, b
iu khin contour n gin trn c s PC (PC Based CNC) khng t hn nhiu so
vi my vn nng. Nh tr gip ca cng ngh CAD/CAM, my o hoc u d 3
chiu,... vic thit k v chun b chng trnh cho my CNC tr nn n gin. My
CNC ngy cng c s dng ph bin v dn dn thay th my vn nng c trong gia
cng cc b mt thng thng.

Hnh 1-4. Lnh vc s dng my CNC
I.My c in; II. My c in c dao
chuyn dng; III. My CNC; IV. My
chuyn dng; V.Dy chuyn t ng.
17

Hnh 1-5 biu din
khu vc s dng hiu qu
ca my thng thng v
my CNC. Theo , my vn
nng thng thng gi r
nhng chnh xc thp
c dng ch yu trong sn
xut n chic lot nh cc
chi tit c phc tp v
chnh xc thp (vng I). Khi
yu cu phc tp v
chnh xc cao th my CNC
ph hp hn. Trong iu
kin , my CNC vn cho
hiu qu kinh t cao c khi
sn xut n chic, lot nh
v ch th, thm ch sn xut theo yu cu cc bit.
1.2. Cu trc chung ca my NC
1.2.1. S ng hc ca xch chy dao
S ng hc ca xch chy dao my CNC rt khc so vi cc my cng c
thng thng. S khc nhau ch yu khu iu chnh cc chuyn ng cng tc v
chy khng: trn my CNC cc chuyn ng ny c iu chnh nh s liu trong
chng trnh gia cng. V d, xc lp tc trc chnh, thay i tc trc chnh trn
khong gia cng nht nh, xc lp v thay i lng chy dao trong qu trnh gia
cng, phi hp chuyn ng ca phi v dao.
Nhn tng qut, xch cng sut ct gt thng bt u t mt ng c c tc
thay i v cp, dn ng trc chnh thng qua mt hp tc ch c 2 n 3 cp,
nhm khuych i cc m men ct t tr s cn thit trn c s tc ban u. Hin
nay hp tc nh vy khng cn dng na, ng c dn ng lp trc tip trn trc
chnh hoc thng qua b truyn ai thang.
Trong my CNC ngi ta s dng ng c in c th iu chnh tc vng
quay hoc ng c bc, cc h thng truyn ng khng khe h, truyn ng vt me -
ai c bi, h thng phn hi Trong xch ng hc ca chuyn ng chnh khi thay
i tc trc chnh phn cp ngi ta s dng ng c khng ng b truyn chuyn
ng cho trc chnh thng qua hp tc t ng v hp tc c s tc nh. Khi
yu cu iu chnh tc trc chnh v cp ngi ta s dng ng c mt chiu kt
hp vi hp s c s tc nh nhm t c phm vi iu chnh rng.

Hnh 1-5. Vng hiu qu kinh t ca my thng
thng (I) v ca my CNC (II).
18

=Dng S nguyn l ng hc Dng phn hi

C
hp s









Khng c.






Quay, lp trn trc ng
c.


Quay, lp trn vt me.





Quay, lp trn c cu chp
hnh.



Tuyn tnh, lp trn c cu
chp hnh.
Hnh 1-6. S ng hc dn ng chy dao in hnh ca my CNC



19

Dng S nguyn l ng hc Dng phn hi

Khng
hp s










Quay, lp trn vt me





Quay, lp trn trc
ng c


Quay, lp trn c cu
chp hnh
Hnh 1-6. S ng hc dn ng chy dao in hnh ca my CNC (tip).
B: ng c bc; C: ng c; KT: Khuch i thu lc;
CH: C cu chp hnh; DC: o dch chuyn
Trn hnh 1-6 th hin cc s ng hc in hnh to chuyn ng chy
dao ca my CNC. Ngi ta s dng dn ng chy dao c phn hi (s kn) v
khng c phn hi (s h).
Dn ng khng c phn hi c xy dng trn c s s dng cc ng c
bc B cng sut ln hoc cng sut nh. Khi s dng ng c bc cng sut nh,
ngi ta t hp chng vi h khuch i thu lc KT (hnh 1-6a). Do khng kim sot
v tr thc ca c cu chp hnh CH, cc h dn ng ny, chu sai s ca ng c
bc, khuch i thu lc v c cu truyn ng (bnh rng 1, cp vt me ai c 2,).
Dn ng chy dao c phn hi bo m kim sot dch chuyn v v tr thc
ca c cu chp hnh. Loi ny c mt s dng: Trn dn ng hnh 1-6b, gia ng
c dn ng C v vt me 3 c hp s 2, t s truyn ca hp s c chn sao cho
20

khi ng c quay vi tc nh mc th lng chy dao l ln nht. t trc phn
hi T (dng quay) lp vi ng c thng qua b truyn bnh rng 1.
Trong dn ng chy dao (hnh 1-6c) ngi ta tin hnh o dch chuyn ca
c cu chp hnh CH nh cm bin quay T, lp trc tip trn trc vt me. Chnh v
vy m bin dng n hi ca hp s khng nh hng n chnh xc gia cng. S
ny tng i n gin v tin li trong lp t cm bin. Trong trng hp ny vt
me c yu cu cao v chnh ch to, dch chuyn n hi nh, khng c khe h.
Trong dn ng chy dao (hnh 1-6d) ngi ta s dng cm bin quay, trc
tip o dch chuyn ca c cu chp hnh CH thng qua thanh rng - bnh rng. Tuy
h thng phn hi bao gm c cc c cu dn ng chy dao, trong c truyn ng
vt me - ai c, php o chu sai s ca cp truyn thanh rng bnh rng. V vy
ngi ta phi s dng b truyn bnh rng thanh rng c chnh xc cao, chiu
di ca thanh rng ph thuc vo hnh trnh ca c cu chp hnh.
Trong s (hnh 1-6e) ngi ta s dng cm bin tuyn tnh. S nh vy
bo m o trc tip lng dch chuyn ca c cu chp hnh. iu ny cho php h
thng phn hi bao ht cc c cu truyn ng chy dao, do t c chnh cao.
chnh xc dch chuyn ca CH ph thuc nhiu vo sai s ca my (v d nh mn
dn hng, bin dng nhit).
Nhng yu cu c bn i vi xch ng hc chy dao theo quan im nng
cao chnh xc truyn ng l: loi tr khe h trong cc b truyn, gim bin dng
n hi, loi tr truyn ng bnh rng ra khi xch ng hc hoc n gin ti a.
p ng tt c cc yu cu trn, trong cc my CNC ngi ta s dng dn
ng chy dao dch chuyn thng khng hp s v dn ng vi hp s n gin c s
dng ng c in c mment khi ng ln. Cc ng c ny c chnh xc tnh
cao v tc ng nhanh. Trong cc h dn ng khng hp s (hnh 1-6f) trc ng c
in C lp vi trc vt me 2 thng qua ly hp 1 c cng vng xon ln. t trc
phn hi T lp trc tip vi trc vt (cm bin quay) hoc lp gin tip nh b truyn
bnh rng thanh rng (hnh 1-6g). Trn hnh 1-6h, s lp cm bin phn hi T
dng tuyn tnh (dch chuyn thng).
Dn ng khng hp s cho php nhn c vn tc ca hnh trnh chy
khng n 10 15 m/pht. Khi s dng dn ng chy dao c mment khi ng ln
v dn ng trc chnh c phm vi iu chnh rng, vic n gin s ng hc cho
php t c chnh xc cao v bn lu. S dng cm bin quay cho php ta n
gin ho s ng hc. iu ny rt quan trng cho cc my gia cng rng nh phay
rng, xc rng, mi rng
21

1.2.2. Cu trc chung ca my tin NC
a. My tin NC c trc chnh nm ngang (hnh 1-6a): loi ny thng c bng
nghing hoc thng ng, trn c lp mt n hai bn dao mang u dao quay
(dng revonve) g nhiu dao ct khc nhau.
Cc bn dao c th mang theo dao v thng qua mt tay my chuyn dng
chuyn i dao ct gia dao v trc mang dao.
Trn nhng my tin NC hai bn dao, c th tin hnh ct gt ng thi, c
gi l my tin NC iu khin 4 trc t ng.
C cu thi phoi ct c lp t trong gm my v c bao che ton b.
Thit b iu khin NC gn lin vi cu trc my.

Hnh 1-7. Cu trc my tin NC
A- Bng my; B- u dao revonve; C- Chi tit; D- g chi tit;
E: u dao revonve c hai chuyn ng ct nhau vung gc.
b. My tin NC c trc chnh thng ng.
Trn hnh 1-7b v 1-7c trnh by cc mu b cc loi my ny.
Chng c th c mt hoc hai trc chnh, cc bn dao mang nhiu dao ct
c truyn cc chuyn ng chy dao vung gc vi nhau.
Trn mt s my tin, m rng kh nng cng ngh c th g lp cc u
phay chuyn dng vi vai tr l cm my km theo cu trc tng th ca my.
1.2.3. Cu trc chung ca my phay NC
Trn hnh 1-8 tng kt cc phng n cu trc khc nhau ca mt s h my
phay CNC. S lng cc chuyn ng ca bn my chnh v ph quy nh tnh
nng iu khin my vi 4, 5, 6 trc hoc nhiu hn na.
i vi nhng my phay c t trc iu khin hn, u trc chnh thng
c trang b i dao revonve mang nhiu dao hoc mt u trc c hp truyn ng
22

cho nhiu trc quay, ghp ni t ng vo trc quay chnh ca my trong qu trnh
lm vic.

Hnh 1-8. Cu trc chung ca mt s my phay CNC
Nghin cu tng th ca my CNC, c th thy trong b cc ca chng ngi
ta quan tm ti khng nhng tnh nng k thut ca my m cn rt coi trng cc yu
t t chc lu thng cho dng vn ng ca chi tit, ca dao v cc yu t ph tr
trong trng cng tc ca r-bt cng nghip l kha cnh khng th b qua.
1.3. Cc h thng c kh ca my CNC
1.3.1. Dn ng chy dao

Hnh 1-9. Cu trc chung ca mt h dn ng chy dao
iu khin dn ng chy dao cn phi chuyn i cc xung s do CPU
pht ra thnh cc tn hiu cung cp cho ng c dn ng. Thng thng h thng dn
ng chy dao c hai giao tip: Giao tip iu khin dn ng v giao tip phn hi
(hnh 1-9). Giao tip iu khin dn ng nhn tn hiu v v tr v vn tc dch
chuyn t CPU. Do tn hiu ny rt yu nn cn phi khuych i trc khi cp cho
ng c dn ng. Bn thn mch khuych i cng sut khng phi l mt b phn
23

ca h thng CNC nhng cn thit nh l mt thnh phn b tr ca h thng dn
ng. H thng phn hi thng thng l b o s ho (encoders) hoc b o tng t
(resolvers) c nhim v kim sot v tr v tc dch chuyn ca dao ct theo cc trc
to . Tn hiu t h thng ny c a v CPU qua giao tip phn hi.

Hnh 1-10. S kt ni ca h thng dn ng chy dao
H thng dn ng chy dao phi bo m cc tnh cht sau y:
- C tnh ng hc rt cao: nu i lng dn bin i th bn my phi theo
kp bin i trong thi gian ngn nht.
- C n nh vng quay cao: Nhng bin i ca lc cn chy dao khng
lm nh hng n tc chy dao. Ngay c khi tc chy dao nh cng
i hi tc n nh.
24

- Phm vi iu chnh s vng quay ln, thng thng bng 1:10000 n
1:30000.
- nhy cao, phn ng tt vi nhng dch chuyn nh: s 1 mk.
Cu trc chung ca mt h thng dn ng chy dao gm: mt ng c dn
ng; mt hp gim tc, thng l mt b truyn ai rng; mt b truyn vt me ai c
bi bin chuyn ng quay thnh chuyn ng thng (hnh 1-10). Cc cm kt cu m
bo cc chuyn ng ca cc bn my.
V mt chc nng xch chy dao phi tho mn nhng yu cu t ra l:
- Truyn ng cho cc b phn dch chuyn vi tc u, chy m v n
nh.
- Thc hin c cc thay i vn tc theo chng trnh, xc nh c v tr
s v chiu, khng c s tho lng chi tit hoc sai lch v tr tng i
gia dao v chi tit gia cng.
- Cung cp lc cn thit thng nhng thnh phn lc ct theo chiu
chuyn ng.
- Trong trng hp cn thit, mt b phn no ca xch chy dao cn
phi m nhim chc nng o lng cc dch chuyn ca xe dao.
- tho mn hai yu cu u tin, xch chy dao cn c tn s dao ng
ring ln nht theo iu kin c th, tnh ngay t u ngun ng lc ca
xch.
Vi gi nh rng khi lng bn my v chi tit gia cng l mt d kin, ta
c gng dng nhng c cu c qun tnh (quay v tnh tin) nh nht c th, ng thi
li c cng vng cao nht.
C th thy ngay rng mi l thuyt tnh ton thit k ng hc cc xch
truyn ng trong my cng c vn nng thng thng i vi my CNC khng cn
ngha na. Do cc nguyn tc nh truyn dn v cp, truyn dn c lp v nht l
nguyn tc modul ho kt cu, ngi ta quan tm nhiu n cc cm kt cu c th,
u t nghin cu theo chiu su v ng dng nhanh nht cc tin b khoa hc k
thut trong khi ch to cc modul.
a) Kt cu vt me - ai c bi
m bo chnh xc v m du chuyn ng, trong cc xch truyn ng
c kh ca my CNC u dng c cu vt me - ai c bi (hnh 1-11). Mt u ca trc
vt me c lp ng c truyn ng 1. ng c thng c lp trc tip ln trc vt
me hoc qua b truyn ai rng, c kh nng truyn ng m v chng trt. Mt u
ca trc c th (nu khng dng thc thng) c gn thit b o v tr, encoder quay
3. Bn my 2 c gn trn ai c 5. Kt cu ny c ng dng ph bin trong xch
ng chy dao. Bn thn vt me-ai c bi phi l c cu khng khe h.
25


Hnh 1-11. V tr ca c cu vt me - ai c bi trong dn ng chy dao.
1. ng c; 2. Bn my; 3. Encoder; 4. Vt me; ai c bi.
C ba phng php iu chnh ban u
cho vt me- ai c bi:
- iu chnh v tr dc trc ca ai c.
- Quay ai c ti ch, hay quay mt
na ai c (hnh 1-12).
- To di cng ngh.
K c sau khi p dng cc bin php
trn th vn cn sai s ch to c kh, v d sai s
bc vt me, hoc sai s do bin dng c v bin
dng nhit khi gia cng. Phn ln cc b iu
khin hin i u c kh nng b khe h v cc
sai s c kh ni trn. Tuy nhin, xc nh gi tr
cc sai s v quy lut thay i ca chng l vic lm phi rt t m v tn cng.
Vt me ai c bi c ch to theo nhm kch thc t 82,5 n 20020;
chnh xc theo tiu chun DIN 69051 (c); sai s tch lu trong khong dch chuyn
300mm l 5, 10, 25, 50 m i vi ren mi v 25, 50, 100, 200 m i vi ren phay
mng; nhit lm vic t -20
0
- 100
0
C. Trc khi to di ban u khe h hng
knh gia trc vt v ai c ln nht l 0,093 - 0,25 mm, nh nht l 0,067 - 0,18 mm
ph thuc vo kch thc ca trc vt. Bng 1-2 l thng s ca mt s b truyn vt
me ai c bi.
Bng 1-2
ng knh
danh ngha
d
0
, mm
Bc ren
P, mm
cng vng hng
tm, khng nh hn
N/m
Ti trng, N
Tnh Co

ng C
20 5 300 15500 6200
25 5 420 20000 8900
32 5 590 26700 11000
32 6 550 19900 1200
40 5 740 35300 12300


Hnh 1-12. Vt me-ai c bi.
1. ai c bi; 2. Vng cch; 3. Bi;
4. Vt me.
26

40 6 700 37800 13400
40 10 620 61700 30400
50 5 960 44900 15800
50 6 910 52920 15800
50 10 840 80200 34100
50 12 750 81900 38500
63 10 1090 107000 88300
80 10 1430 141000 42800
Bng 1-3
Cp
chnh
xc
Sai s tch lu
trong mt bc
m
Sai s tch lu di
Di
250
T 250
n di
315
T 315
n di
400
T 400
n di
630
T 630
n di
1000
1 3 7 9 11 13 16
2 4 11 13 16 20 25
3 6 16 20 25 30 38
4 8 25 30 36 45 60
chnh xc ng hc ca b truyn l chnh xc dch chuyn tng i
ca ai c so vi vt me. i lng ny c xc nh bng sai s tch lu di trong
gii hn chiu di dch chuyn cho v sai s tch lu trong mt bc. Bng 1-3 l
chnh xc ng hc ca b truyn vt me ai c bi.
chnh xc v bc theo tiu chun ISO 3408 c cc cp IT1, IT3, IT5, IT7,
IT10; theo tiu chun DIN c cc cp: 5, 10, 25, 50, 100, v 200. Bng 1-4 l chnh
xc ca b truyn theo DIN 69051.
Bng 1-4
Loi
ren
Cp
chnh
xc
Sai s tch lu ca bc (m) trn chiu di dch chuyn
(mm)
300 600 900 1200 1500 2000 3000
Ren
mi

5 5 8 11 13 15 19 25
10 10 16 22 26 31 38 50
25 25 41 54 66 77 94 125
50 50 81 108 132 154 189 250
Ren
phay

25 15 50 75 100 125 167 250
50 50 100 150 200 250 333 500
100 100 200 300 400 500 666 1000
200 200 400 600 800 1000 1330 2000
Cc vt me trong b truyn ny b hn ch v chiu di. di 3 hay 4m n
kh thc hin c cc tc dch ng cao.
Truyn ng quay cho vt me c thc hin theo mt s phng n sau y:
27

- Thng qua mt hp tc gm cc b truyn bnh rng, trong phi
dng kt cu kh h n khp v dn ng bng ng c tc cao
(ng c in qun tnh nh hoc ng c thu lc kiu quay).
- Da vo nhng khong cch gia hai gi ta, s dng mt b truyn ai
(c t s gim tc ln) c dn ng bi cc ng c c tc chm.
- Dng cc khp ni trc tip vi trc ca ng c dn ng (ng c c tc
chm).
i vi cc hnh trnh ln, ngi ta thay vt me c chiu di ln bng mt vt
me ngn v thay ai c bng mt bnh rng xon (helicodal).
b) Kt cu thanh rng/bnh rng


Hnh 1-13. Cc trc trn my tin


Hnh 1-14. Cc trc trn my phay
Kt cu ny c p dng trc ht cho cc my NC c ln, c hnh trnh
chy dao di. y khng c s hn ch v tc nh trng hp vt me-ai c bi,
nhng cc bin php kh khe h n khp bnh rng nht thit phi c thc hin.
Thng thng ngi ta thit k hai xch ng nht cng lm vic nhng theo nhng
hng i ngc nhau trn thanh rng. Cc tc dch chuyn chm ca bn my
cng yu cu cc bnh rng quay vi tc rt thp, ta buc phi dng cc hp gim
tc to ra vng s vng quay nh ny.
Chuyn ng theo cc trc to c iu khin t ng t chng trnh
(hnh 1-13 v hnh 1-14). Trn cc my khng i hi chnh xc cao, cng sut nh
thng dng ng c bc. Trn cc my CNC cng nghip thng dng h thng
iu khin kn, ngha l phi c h thng phn hi v tr.
c) ng c dn ng
Cc loi ng c dn ng trn cc my CNC rt a dng. Mi ng c u c
mch iu khin (driver) ring. Cc mch ny u da vo nguyn l iu khin PID
(P-Khu t l, I-Khu tch phn, D-Khu vi phn). Tc v v tr ca trc ca ng
28

c servo c nh v nh vo k thut gi l iu bin rng xung (PWM). Mc
ny chng ti ch gii thiu chung v cc loi ng c m khng cp n cc ni
dung iu khin chng.
1. ng c bc (step motor)
Cu to ca ng c bc th hin trn hnh 1-15; cn trn hnh 1-16 th hin
nguyn l hot ng ca ng c bc. Sau mi mt xung r - to quay mt gc nht
nh bng S. Cc xung c cp cho cc cun dy I, II, III ca ng c theo trnh t
lp i lp li. H iu khin dng ng c bc c gi l h iu khin h, v
khng c mch phn hi v tr. Gc quay ca ng c ph thuc s xung v tn s pht
xung ca b iu khin. u im ca h iu khin dng ng c bc l n gin v
r tin. Nhc im chnh ca n l chnh xc thp v cng sut nh. Cng sut
truyn ng c th tng nu dng ng c bc kt hp vi h thng thu lc, nhng
chnh xc th khng th tng c.

Hnh 1-15. Cu to ca ng c bc.
C hai nhm ng c bc c bn c s dng l:
ng c bc chy in thun ty hot ng vi mt h thng cc cc l nam
chm vnh cu trong cc khong tn s tng i b ( < 100 Hz). Cng sut ca cc
ng c ny ch dng cho dch ng bn my ca cc my nh vi khong tc
vi m/ph.
ng c bc c khuych i thu lc. Trong trng hp ny ng c bc
ng vai tr dn ng iu khin mt ng c thu lc cng sut ln. Bn thn ng
c bc chy in thun tu c cng sut thp v thit k hot ng trong vng tn s
16 - 18 KHz. Cc h thng ng c bc c khuych i mmen bng thu lc thng
c dng trong cc my NC hng nng nhng v l do gi thnh cao v nhng vn
c lin quan quan n s dng h thng thu lc nn ngy mt him thy hn cc
trng hp p dng.
29


Hnh 1-16. S nguyn l ca ng c bc.
2. ng c servo mt chiu (DC).
ng c servo c thit k cho nhng h thng phn hi vng kn. Tn hiu
ra ca ng c c ni vi mt mch iu khin. Khi ng c quay, vn tc v v tr
s c phn hi v mch iu khin ny. Nu c bt k l do no ngn cn chuyn
ng quay ca ng c, h thng phn hi s nhn thy tn hiu ra cha t c v tr
mong mun. Mch iu khin tip tc chnh sai lch cho ng c t c im chnh
xc.
C 3 loi ng c servo c s dng hin nay l ng c servo DC da
trn nn tng ng c DC; ng c servo AC da trn nn tng ng c AC lng sc;
v ng c servo AC khng chi than da trn nn tng ng c khng ng b.
ng c servo DC nam chm vnh cu c chi qut
a s ng c servo DC c chi qut. S dng ng c nam chm vnh cu
(permanent magnet - PM) DC rt tin cy v hiu qu cao, mmen khi ng ln, c
tnh tc - m men l tuyn tnh. Cc nam chm vnh cu c lm t cc loi vt
liu neodim-st-bo v thc t l nhng ng c ny c th c iu khin bng vi x
l d dng bng cch da trn b iu khin. C hai loi ng c servo DC c s
dng rng ri trn my CNC: c chi qut (Brush-Type) v khng c chi qut
(Brushless).
phn bit cc loi ng c servo nam chm vnh cu c chi qut vi cc
loi ng c DC khc l ng c ny s dng mt nam chm vnh cu thay th cc
cun dy.
Cu to ca ng c servo nam chm vnh cu c chi qut th hin trn hnh
1-17.
30


Hnh 1-17. Hnh ct ca ng c servo nam chm vnh cu c chi qut

Cng nh tt c cc ng c DC, ng c DC nam chm vnh cu c chi
than v c gp. Trong khi tt c cc ng c DC hot ng trn cng mt nguyn tc,
ch ng c DC nam chm vnh cu c tc bin i tuyn tnh theo momen lm cho
chng l tng trong cc ng dng. C th nhn thy rng c vic bin i tc v
mmen xon tng tuyn tnh vi in p.
Sta-to ca cc loi ng c in DC nam chm vnh cu c chi qut c cc
cp cc t. Khi cp in cho ng c, cc cc i ngc nhau ca cc cun dy sta-to
c kch thch v lm quay r-to. Cc chi than dch chuyn trn cc on ca c gp
lin tc khi r-to quay.
- ng c DC nam chm vnh cu loi a

Hnh 1-18. Cu to ca mt ng c servo nam chm vnh cu vi phn ng in
dng a.
31

Trn a mng c cc nam chm vnh cu nh v mng. Cc a bng kim loi
mu cc nam chm vnh cu c gn trn a bng keo epoxy thnh tng lp v cch
in vi a (hnh 1-18). Sta-to l mt hnh trn xoay bng vt liu gm. Nhng ng
c ny gi l ng c a, v chng rt mng, ng knh ca chng ln hn chiu di.
- ng c nam chm vnh cu DC loi vng bt, hay ng bc
ng c nam chm vnh cu loi vng bt hoc ng bc (Cup- or Shell-Type)
l loi ng c c qun tnh thp, lc qun tnh thp nhng gia tc cao, c im l
c dng trong cc ng dng servo. Chng c cc hc hnh tr phn ng in c
lm bng cc si nhm hoc ng c gn vi nhau bng nha polymer v si thy
tinh to thnh mt khi rt vng (hnh 1-19).

Hnh 1-19. Cu to ca ng c DC nam chm vnh cu loi vng bt

Hnh 1-20. Cc b phn ca ng c servo DC c chi qut
Mt loi khc ca ng c servo DC kiu ng bc c th hin trn hnh 1-
20. ng bc ca phn ng in gn chc chn vi trc bng dy.
Nhc im ch yu ca ng c ny l phn ng in v nhit c tn x
bn trong v lm nng cc b phn iu khin.
32

ng c servo DC nam chm vnh cu khng chi qut
ng c servo DC nam chm vnh cu khng chi qut c c im ging
nh cc loi ng c in DC nam chm vnh cu c chi qut (hnh 1-21). Cc khi
nam chm r-to hnh tr ca ng c DC khng c chi qut c t ha theo hng
ngang v cc in cc ca r-to c t ha theo hng ngang theo ng knh.
Nhng r-to thng c lm t neodim-st-bo hay samami-coban-t him. Cc vt
liu ny cho php ng c cung cp hiu sut cao hn khi cng mt kch thc so vi
cc loi ng c khc.

Hnh 1-21. Cu to ca ng c in DC khng c chi qut.


Hnh 1-22. S n gin ca c cu phn ng (HED)
Mt s n gin ca mt ng c DC khng c chi qut s dng hiu ng
Hall (Hall Effect Device - HED) c th hin trn hnh 1-22. Cc HED l mt bin
tch hp vi mt b khuych i trong mt chip IC c kh nng iu khin t trng
ca r-to v sau gi tn hiu n cc transistors T1 v T2 lm thay i tn hiu
lin tc trn cc cc t ca r-to. S chuyn mch ca ng c DC khng chi qut
th hin nh sau:
33

(1) Vi r-to ang ng yn, cc HED pht hin cc i cc bc ca r-to, to
ra mt tn hiu chuyn v transistor T2. Cung cp dng cm ng cho cun W2. Ht
cc i cc Nam ca r-to v do lm cho r-to quay theo hng ngc chiu kim
ng h.
(2) Qun tnh ca r-to lm quay r-to, HED nhn tn hiu, chuyn v
transistor T1, c lin tc qu trnh nh vy s to chuyn ng quay cho r-to.
Trong thc t thng c hai hoc ba HED trong ng c in khng c chi
qut c phn b vi gc 90
0
hoc 120
0
quanh r-to ng c. Chng gi cc tn hiu
kim sot cc chuyn ng ca ng c.

Hnh 1-23. Cu to ca ng c DC c chi qut vi ng dng (HED).

Hnh 1- 24. Cm bin v tr ca r-to: cc cun dy c nh ca chi qut (1), r-to
nam chm vnh cu (2), v tr gn cm bin (3), ba cm ng t (4), v cc bng mch
in t ( 5).
Hnh 1-23 minh ha cu to ca mt ng c DC khng chi qut trong
ng dng cm bin hiu ng Hall (Hall-Effect sensor). Sta-to l mt ng thp ng
trc c gn bng polyme v si thy tinh, to thnh r-to c dng ng bc.
V tr gn cc cm bin trong ng c c chi qut c th hin trong hnh 1-
24. C 3 cm bin c gn trn r-to vi 1 gc cch nhau 120
0
hin th 3 giai on
ca ng c in c chi qut.
34


Hnh 1- 25. Resolver kim sot v tr ca r-to: cc cun dy c nh (1), r-to nam
chm vnh cu (2), v tr gn cm bin (3), ba cm ng t (4), v cc bng mch in
t (5) .
Cc u im ca ng c DC khng chi qut. ng c DC khng chi
qut c cc u im sau:
- Khng cn phi thay th chi than hay loi b cc bi bn gy ra bi chi
than.
- Khng gy h quang, khng nh la trong qu trnh lm vic; lm vic
c mi trng d chy, bi, cht lng.
- Nhiu sng in t (Electromagnetic interference - EMI) gim n ti thiu
nh thay th chuyn mch c kh bng chuyn mch in t (electronic
commutation).
- ng c khng chi qut c th chy nhanh hn v hiu qu hn
2
. Tc
ln ti 50.000 vng/ph c th t c so vi gii hn trn khong 5.000
vng/ph cho ng c c chi than DC.
Cc nhc im ca ng c DC khng chi qut. ng c DC khng chi
qut c cc nhc im sau:
- Cc ng c servo nam chm vnh cu khng chi qut khng o chiu
bng cc b o cc ngun in.
- Chi ph ch to nhiu hn ng c servo c chi qut.
- S dng cc cun dy chnh lu dng in.

2
Theo nghin cu ca trng Tokai University, Japan (nm 2009) [9] th hiu sut
ca ng c servo khng chi qut t 96,5% (trung bnh 85-90%), trong khi hiu sut
ca ng c servo c chi qut ch khong 75-80%.

35

- Cc mch (driver) iu khin in t vn hnh mt ng c servo DC
khng chi qut phc tp hn v tn km hn mt ng c servo DC c
chi qut.
c tnh ca ng c servo DC khng chi qut. Rt kh khi qut ha v
cc c tnh chuyn ng quay ca ng c servo DC khng c chi qut. Tuy nhin,
chng thng c nh gi theo mmen xon, t 0,62 lb-ft (0,84 Nm) n 5,0 lb-ft
(6.8 Nm), c bit 1,9 lb-ft (2,6 Nm) n 14 lb-ft (19 Nm), cng sut tiu th 0,73 hp
(0,54 kW) n 2,76 hp (2,06 kW). Tc ti a c th khc nhau t 1.400 n 7.500
vng/ph, v trng lng ca cc ng c ny c th c t 5,0 lb (2,3 kg) ln 23 lb
(10 kg). Cc h thng phn hi c th l resolver hoc encoder.
3. ng c tuyn tnh
V bn cht ng c tuyn tnh cng da trn nhng nguyn l ca ng c
chuyn ng quay. Khc vi ng c chuyn ng quay, ng c tuyn tnh m ra
mt hng i mi. ng c servo DC nam chm vnh cu tuyn tnh tng t vi mt
ng c nam chm vnh cu chuyn ng quay, v mt lng cm ng in xoay chiu
(AC) ng c l tng t vi mt cm ng thng ca ng c.
Trc khi c ng c tuyn tnh, chng ta s dng c cu bin i chuyn
ng quay ca ng c thnh chuyn ng thng: vt me bi hoc dy ai v pu ly; c
th s dng xi lanh kh nn hoc thy lc.
Mt ng c tuyn tnh bao gm hai cm c kh: cun dy v nam chm,
c hin th trn hnh 1-25. Dng in ca cun dy trong t trng s sinh lc.
Cun dy ng iu khin dng in (I) v cm ny sn sinh t trng vi thng
lng (B). Khi dng in v t trng tng tc vi nhau th sinh lc (F) theo hng
trn hnh 1-25, trong F = I x B.

Hnh 1-26. Nguyn tc vn hnh ca mt ng c servo tuyn tnh.
36

Vi kch thc nh gn ng c hot ng vi hiu sut cao, v to ra cc lc
ln, nu vi s lng ln cc cun dy v cc nam chm. Cc cun c b tr lch
pha 120
0
, v chng phi c duy tr s lun chuyn trong ng c.
C hai loi ng c c ng dng rng ri nht: thp-li hay li st (steel-
core hay iron-core) v epxy- li hay li khng st (epoxy-core hay ironless). Mi
mt loi ng c ny c nhng c tnh ng dng hiu trong nhng trng hp
khc nhau.
Cc vng dy ca li thp ng c c cun trn cc tm thp silic pht sinh
cc lc t ln nht vi cc khi nam chm. Hnh 1-26 cho thy mt li thp ca ng
c tuyn tnh khng c chi qut.

Hnh 1-27. ng c servo tuyn tnh st - li t bao gm mt t trng nam chm v
mt h thng dy ni tip

Hnh 1-28. ng c servo tuyn tnh khng li thp bao gm cc tm thp t v cc
cun dy t bin
Cc di nam chm ang b tch to khng kh vo khong cch gia chng.
Vi cc thit k ny to ra p lc ln cung cp cho t ln cho cc nam chm.
37

ng c servo tuyn tnh c th t c chnh xc 0,1m. Gia tc trung
bnh 2 3g, c bit mt s ng c c th t 15g. Vn tc b hn ch bi cc
encoder t l v b khuych i in p. Trung bnh trong khong t 0,04ft/s (1mm/s)
6,6ft/s (2m/s), nhng cng c th vt qu 26ft/s (8m/s).
Lc ca ng c tuyn tnh khng li thp c th t 5 55lbf (t 22 245N)
v c bit t 25 180 lbf (110 800N). Ngc li, cc ng c tuyn tnh c li thp
trong khong 30 1.100lbf (130N 4900N) v c bit ln 60 1.800lbf (270N
8000N).
Chuyn mch. Cc ng c tuyn tnh c cc pha l 120 ngu nhin duy
tr chuyn ng. C hai cch duy tr chuyn ng ca ng c tuyn tnh: dng hnh
sin v HED (Hall-Effect Device), hoc hnh thang. ng c c hiu qu cao nht t
c l bin i hnh sin, trong khi HED l khong 10 n 15%.
Trong bin i hnh sin, cc encoder cung cp cc thng tin phn hi v tr
trong h thng servo ny cng c s dng bin i trong cc ng c. Mt qu
trnh c gi l "giai on tm kim" trong ng c. Cc HED cm ng phn cc
pht hin nhng thay i trong cc nam chm theo di v chuyn i cc cc ng c.
u im ca ng c servo tuyn tnh so vi ng c c chuyn ng
quay. u im ca ng c servo tuyn tnh so vi ng c c chuyn ng quay l:
- C cng vng cao: ng c tuyn tnh c kt ni trc tip n cc v
tr mang ti.
- C kh n gin.
- C vn tc v gia tc ln.
- C vn tc ln: Trung bnh vn tc c th ln n 6,6ft/s (2m/s), mt s
ng c c th t 26ft/s (8m/s). iu ny so snh vi tc ca cc trc
vt truyn chuyn ng thng, thng c gii hn n 20 30 in/s (0,5
0,7 m/s).
- C chnh xc v kh nng lp li cao: Cc ng c tuyn tnh c gn
vi v tr thng tin phn hi encoders c th t c chnh xc 1.
- Khng lm mn cc trc.
- C th thu nh c kch thc.
- C kh nng tng thch.
38

1.3.2. Dn ng trc chnh

Hnh 1-29. Trc chnh my CNC c h thng thay dao t ng
Trc chnh my CNC rt phc tp (hnh 1-29). Thng thng trong l trc
chnh c h thng kp rt dao vi dn ng bng kh nn v thy lc. Nhng my
CNC c h thng thay dao t ng, trc chnh cn c v tr chnh xc tay my c
th ly dao ra v lp dao mi vo.

Hnh 1-30. B bin i in p v bin tn dng cho ng c xoay chiu.
a) S tng th; b) S bin tn dng thirisstor; 1 - Nn dng 3 pha thnh mt
chiu; 2- Bin tn dng thiristor; 3- ng c xoay chiu 3 pha; 4- Mch ng m
thiristor; 5- Thiristor SD1 - SD6; 6 - Diod VD1 - VD6.
Dn ng trc chnh ca my CNC phc tp hn rt nhiu so vi my cng c
thng thng v cc l do sau:
39

- Mc n nh tc cao, khong thay i s vng quay rng, vi momen
ln, kh nng qu ti cao.
- Cn bo m chnh xc nh v trc chnh khi thay th dao ct hoc thay
phi.
iu ny c th thc hin c nh s dng cc loi ng c in mt chiu.
Cc loi ng c in mt chiu tuy t hn ng c xoay chiu v c kch thc ln
hn vn c s dng trn cc my CNC dn ng trc chnh. Thi gian gn y
th gii s dng h thng dn ng trc chnh da vo ng c xoay chiu, gi l
ng c servo AC, thay i tc bng b bin tn. Trn hnh 1-30 l mt s ca
b bin tn s dng mch in t cng sut.
B bin i in p bin i in p xoay chiu 3 pha thnh in p mt chiu
2 pha. u ra ca b bin i in p ni vi b bin tn s dng thiristor (hnh 1-
30b). u ra ca b bin tn l dng xoay chiu 3 pha c tn s iu khin c.
Cng nh trn cc my thng thng, trc chnh trn my CNC m bo
chuyn ng ct chnh. Trn my phay, trc chnh mang dao phay; trn my tin trc
chnh mang phi; cn trn my mi, trc chnh mang mi. Trc chnh l b phn
tiu tn nng lng nhiu nht trn my. V vy cng sut trc chnh thng c
dng lm ch tiu nh gi cng sut gia cng ca my.
Trn my CNC, tc trc chnh cn c iu khin v cp, t ng theo
chng trnh, trong phm vi rng. iu rt cn thit, nht l khi thay i ng
knh dao phay hoc ng knh phi tin m li cn duy tr vn tc ct khng i. Mt
s cng vic, v d gia cng ren bng u ta r cng, gia cng ren nhiu u mi,...
cn i hi phi nh v chnh xc gc trc chnh. T cc yu cu trn, ngi ta s
dng cc loi ng c d iu khin t ng tc , nh ng c mt chiu, xoay
chiu ng b. Gn y, nh tin b v k thut iu khin s, cc ng c khng
ng b iu khin bng bin tn c s dng rng ri. Khi cn nh v gc trc
chnh, ngi ta gn encoder ln trc ng c (ng c servo).
So vi trc chnh ca my thng thng, trc chnh ca my CNC lm vic vi
tc cao hn (ti hng vn v/ph), thng xuyn c gia tc ln. V vy, yu cu cn
bng, bi trn c bit cao cc my CNC. Ngoi ra, do nhu cu thay dao nhanh, thay
dao t ng, kt cu kp dao trn my phay CNC khc so vi my thng thng. C cu
kp dao, phi trn cc my CNC thng c iu khin t ng bng kh nn hoc thu
lc.
1.3.3. ng hng ca my CNC
ng hng ca my CNC bo m hai chc nng quan trng l:
- chnh xc dn ng cc bn dao v bn my
- Kh nng chu lc trong sut qu trnh ct gt.
40

Xut pht t cc chc nng k thut do ng hng ca my CNC m
nhn, nhng yu cu k thut t ra khi thit k, ch to ng hng phi p ng l:
- C cng vng tt i vi cc lc lm vic
- C ht rung ng tt trong mt phng vung gc vi phng chuyn
ng.
- Lc i ngc vi chuyn ng ca b phn dn hng (bn dao, bn
my...) cn phi nh v nht l t thay i theo tc dch chuyn.
- Cn c gim chn trn phng chuyn ng.
Trong nhiu trng hp,
cc xe dao ca my NC dch
chuyn vi tc thp (khong vi
m/ph). C nhng chuyn dch chm
nh th cng phi c iu khin
v dch chuyn chnh xc. Cht
lng ca cc dch ng c tc
thp ph thuc trc ht vo quan
h hm s gia lc ma st v tc
. Trong nhng trng hp nht
nh, c mt dao ng thc, t duy
tr, trm ln vng tc dch
chuyn. Dao ng ny c th c gi
tr bin trit tiu c gi tr tc
thp bng cch ho nhp dch
chuyn chm vo bn thn qu
trnh dao ng.
Trn hnh 1-31 trnh by c tnh quan h gia lc ma st v tc , n cho
php xc nh c cc tc chm hp l, ti lc ma st ca cp b mt ma st c
dch chuyn tng i l nh nht. Mt khc ngi ta cng quan tm n cc tiu
chun la chn dng ng hng, ch ma st, vt liu v ch bi trn nhm
trnh c cc hin tng mt ht dch chuyn chm ni trn.
a) ng hng ma st kh hay ma st na t.
y l nhng ng hng u tin p dng trong ngnh c kh. B mt chu
lc ma st chnh l b mt tip xc, hoc l trc tip hoc qua lp mng du ti vo
nh k. Nhng ng hng dng ny c cht lng cao v cng v ht rung
ng. Tuy nhin ch c nhng ng hng c bi trn l t c tui th kh d
chp nhn.
0.08
0.2
0.1
V(m/ph)
F

Hnh 1-31. S gia tng h s ma st trong quan
h vi tc dch chuyn. I: ng hng c
cp vt liu gang-gang c bi trn; II:
ng hng l vt liu compit dn trn thp
ti (PolyTetraFluorEthylene = PTFE).
41

Cho n nay, nhng vt liu mi nht dng ch to ng hng cng
khng th lm vic trng thi ma st kh m khng gy cho my nhng mn
ng k.
Mt s vt liu composite (v d Polytetra Fluorethylene - vit tt l PTFF)
cho php gim c h s ma st dng (hnh 1-31). Nhng ng hng ch to bng
vt liu ny thng c mt h chc nng khi lp rp kt cu. Chng loi tr c
hin tng cn, do trong kt cu c s dng cc tm trt mang bi hoc con ln.
trng hp ny, khe h hnh thnh trong lc dch chuyn s to ra mt mng du ng
hc, nh h thng thc hin bi trn bi dng du c p lc, ngay c trong qu
trnh khi ng hay phanh hm. Ngi ta thng dng cc loi du bi trn c ph gia
dnh kt nhm gim h s ma st.
b) ng hng c phn t ln.
Nhng phn t ln c th l nhng vin bi, cc con ln hoc kim ln (t l 1/d
rt ln). C th chia ra hai nhm ng hng s dng cc phn t ln:
- Nhm ng hng khng c hnh trnh lp: on dch chuyn hn ch.
- Nhm ng hng c hnh trnh lp: on dch chuyn khng hn ch.
Cc ng hng ch to dng c s dng cc phn t ln c ng dng
ch yu trn cc my CNC hng nh, nhng cng c th gp mt s cm kt cu
trn my CNC hng nng. c tnh c bn ca chng l lc dch chuyn cn thit kh
nh, h s ma st thp (khong mt vi phn nghn). cng vng ca h thng
ng hng tng ln theo thng s ng knh con ln v s lng ca chng. Khi
s dng ng hng dng ny cn m bo mt h s qu ti ln c c
cng vng n nh. ng dn hng dc theo phng dch chuyn phi c
thng xuyn bo dng v kim tra, c bit l vic cn chnh khe h c th dn n
cc phn lc mt bn, hn ch kh nng hot ng v dn n hin tng mn khng
bnh thng.
Mt khc lu rng kh nng ht dao ng theo phng vung gc vi
phng chuyn ng ca cc ng hng dng phn t ln l rt km. Ch bo
dng cng cn phi thc hin ng yu cu k thut nhm m bo hiu qu hot
ng ca cm ng hng.
c) ng hng thu kh
1. H thng thu tnh
Trn hnh 1-32 l nhng s nguyn tc ca ng hng thu tnh vi cc
c tnh sau y:
- Trit thoi tip xc gia cc chi tit dn hng v c dn hng do
khng b mn.
42

- H s ma st tng cng vi tc dch chuyn (f = 0 khi v = 0). iu ny
khng phi lun l u im ca h thng.
- C cng vng cao v kh nng gim chn tt.
P = const
b)
a
b
a)
c
P = const
d
d)
c)
f
e

Hnh 1-32. S nguyn tc ca ng hng thu tnh.
a) H thng cp du p lc khng i; b) H thng cp du lu lng khng i; c) H thng
cp du ph thuc kt qu o chiu dy mng du; d) H thng cp du ph thuc o p lc;
A-Bm; B-Van chnh p;C-Chiu dy mng du; D-Tit lu c nh; E, F-Cm iu chnh lu
lng theo chiu dy mng du; P-p sut; Q-Lu lng.
iu quan trng l cc c tnh ny c th c tnh ton mt cch chnh xc.
Cn ch l h thng c th b nng ln, nhng c iu ny na cng c th tnh c
v cn tnh trc nhng gi tr c nh.
Ta c th thit k thm nhng ng hng ph tr nhm bo m gi khe h
n nh gia cc phn t, hoc gi thng ca phn t dn ng.
H thng thy tnh cn c mt cm thit b sinh du p lc v cm ng ng
dn du v b sau khi thot ra khi ng hng.
ng hng thu tnh c dng cc my NC hng nng v cc my NC
chnh xc cao.
H thng kh tnh c thit lp trn cng mt nguyn tc vi h thng thu
tnh. Chng s dng dng kh p lc cao, tuy nhin mc ti trng t ln ng
hng kh tnh thng nh hn.
2. H thng kh tnh
Trong cng mt kch thc h thng, ng hng kh tnh thng c
cng vng thp hn ng hng thu tnh. u im ring ca h thng kh tnh l
khng cn cm ng ng dn ngc. Trong thc t, lnh vc s dng ca ng
hng kh tnh l cc my NC c chnh xc cao hoc my NC c dao ng v
mc ti trng thp.
43

1.3.4. H thng thay dao t ng
Ct gt l kt qu ca qu trnh tng tc gia dao v phi. V vy tnh trng
ca dao nh vt liu, hnh hc li ct, tnh trng mn, cng vng ca dao nh
hng trc tip n nng sut v cht lng gia cng.
Nhim v ca h thng thay dao l ct tr c mt s lng dao cn thit v
a nhanh mi dao vo v tr lm vic khi c yu cu. Cc my CNC hin i thng
c trang b h thng thay dao t ng (Automatic Tool Changer - ATC). Yu cu c
bn i vi h thng thay dao t ng l:
Ct gi v thay i chnh xc dao khi chng trnh gia cng yu cu. Mi dao
u c cc c trng hnh hc v c hc ring. Nu h thng lp nhm dao th khng
ch nh hng n nng sut, cht lng gia cng m cn gy nguy him. Trn my
CNC, mi dao c c trng bi mt m ring gi l s hiu dao. S hiu dao cng
vi cc thng s b dao c lu tr trong mt CSDL c bit. Bnh thng cc dao
c lp sn trn i dao, ti mt v tr xc nh. Khi dao c a vo v tr lm vic
th b iu khin phi tham chiu n d liu ca n xc nh lng b.
Trn hnh 1-33 l dng v cc thng s hnh hc chnh ca dao phay. V tr ca
dao c b iu khin xc nh qua to im B nm trn mt u ca trc g dao
v ng tm l g. Chiu di dao L v bn knh dao R xc nh v tr ca cc li ct,
c gi l thng s b dao. Tu theo dao to hay nh, di hay ngn m b iu khin
tnh ton m bo kch thc gia cng.
Tng t nh vy, kt cu v cc thng s b dao tin c biu din trong hnh 1-
34. Chng gm khong cch t mi dao n im gc tnh theo hai phng X, Z v bn knh
mi dao. Ni dung v nguyn tc b dao s c trnh by chng sau.


Hnh 1-33. Thng s b ca dao phay Hnh 1-34. Thng s b ca dao tin


Hnh 1-35. Kho cha dao dng xch Hnh 1-36. i revonve
44

Yu cu th hai ca h thng thay dao l gim thi gian ch. Thng dao
c ct gi di 2 dng: u quay dng a hay trng (nh i Revonve) v kho cha
dng xch, (gi chung l Tool Magazine).
i revonve c dng a (hnh 1-36) hay c dng trn my tin, nhng i
khi cng dng cho my phay. Cc dao c lp trn mt ngoi hoc trn mt u ca
a quay. a c ng c truyn ng ring, c iu khin theo chng trnh. Khi
mt dao no c gi theo lnh trong chng trnh th i s quay cho n khi dao
v tr ch gia cng. Thng thng thi gian thay dao ch tnh bng giy. Trn mt
s my, b iu khin c kh nng xc nh chiu quay sao cho gc quay ca i nh
hn 180
o
.
Thng mi i dao c th cha 8 n 16 dao. My ln c th c 2
- 3 i dao. Khi c trn 48 dao th thng dng kho cha dng nh trn
hnh 1-35.
C nhiu dng kho cha: dng thng vi cc dao xp theo hng;
dng vng vi cc dao xp theo cc vng trn ng tm; dng a vi cc
dao xp trn mt u ca a; dng xch vi cc dao b tr trn tng mt
xch. Khi dng kho cha, thay dao cn c tay gp c 2 cng gp (hnh
1-37).
Khi c lnh thay dao, h thng
lm vic theo trnh t sau:
- Chuyn dao cn lp trn kho
n v tr thay;
- Dch chuyn trc chnh n
v tr tng ng, ch thay
dao;
- Quay tay gp i din vi
dao c trn trc chnh v dao
mi trn kho;
- Chuyn ng dc trc rt
dao c khi trc chnh v dao
mi khi kho cha;
- Quay 180
o
i ch 2 dao;
- t cc dao vo v tr mi
trn trc v trn kho cha;
- Chuyn ng v v tr ch.
Thng thi gian thay dao ko di khong vi giy. Trn cc my hin i v
s dao t, thi gian thay dao ch cn khong 0,1 giy.

Hnh 1-37. H thng thay dao t ng ca
my phay.
45

Trn cc hnh 1-38 v 1-39 l cc trung tm gia cng vi h thng thay dao t
ng c kho cha dng a (trng) v dng xch.

Hnh 1-38. Trung tm gia cng vi h thng thay dao t ng kho cha dng a

Hnh 1-39. H thng sn xut linh hot vi h thng thay dao t ng
c kho cha dng xch.
46

1.3.5. Dao ct trn my CNC
Nng sut v chnh xc gia cng trn my CNC ph thuc rt nhiu vo
dao ct. My CNC c cng vng rt cao nn c th s dng cc thng s ct ln
hn so vi my thng thng. Chnh v vy dao ct trn my CNC phi p ng c
cc yu cu sau y:
- C tnh ct n nh.
- C kh nng to phoi v thot phoi tt.
- C tnh vn nng cao gia cng c nhng b mt in hnh ca nhiu
chi tit khc nhau.
- C kh nng thay i nhanh khi cn thay dao.
- C kh nng iu chnh kch thc ngoi vng gia cng khi s dng nhng
dng c ph.
Nh vy trong nhiu trng hp ta khng th s dng dao thng thng gia
cng trn my CNC. Dao v nhng dng c ph g kp dao trn my CNC c
tiu chun ha.
a) Dao tin
1. K hiu chung
Dao tin cho my CNC rt a dng v c tiu chun ha. Dao tin ngoi
(External toolholders) v dao tin trong (Internal toolholders) c tiu chun ha
bng 10 m s nh trn hnh 1-40 (ly theo cng ty SECO- c).

Hnh 1-40. H thng m s ca dao tin ngoi (a) v tin trong (b).
Cc m s ca dao tin ngoi nh sau:
1. Kiu kp mnh hp kim (Insert clamping).
2. Kiu mnh hp kim (Insert shape).
47

3. Kiu dao (Tool type).
4. Gc sau ca mnh hp kim (Insert side clearance angle).
5. Dao tri, dao phi hay v tr li ct (Version)
6. Chiu cao thn dao (Shank height).
7. Chiu rng thn dao (Shank width).
8. Chiu di dao (Tool length).
9. Chiu di li ct (Cutting edge length).
10. Ty chn (Internal designation).
V d : PWLNR2525M06. Chi tit c th xem trong Ph lc 6.
Cc m s ca dao tin trong nh sau:
1. Kiu u dao: c hay khng l dn cht trn ngui (Toolholder type).
2. ng knh thn dao (Shank diameter).
3. Chiu di dao (Tool length).
4. Kiu kp mnh hp kim (Insert clamping).
5. Kiu mnh hp kim (Insert shape).
6. Kiu dao (Tool type).
7. Gc sau ca mnh hp kim (Insert side clearance angle).
8. Dao tri, dao phi hay v tr li ct (Version).
9. Chiu di li ct (Cutting edge length).
10. Ty chn (Internal designation).
V d : A20Q-PWLNR06. Chi tit c th xem trong Ph lc 6.
2. Mnh hp kim cng

Hnh 1-41. K hiu mnh hp kim cng (ISO 18321991)
Mnh hp kim cng c sn xut theo tiu chun quc t ISO 18321991.
Cc m s th hin trn hnh 1-41.
1. Hnh dng mnh hp kim (Shape).
2. Gc sau (Side clearance angle).
3. Dung sai kch thc (Tolerances).
48


Hnh 1-42. H thng dng c ph cho my tin CNC (Mori Seiki Co. Ltd)
4. Kiu mnh hp kim: c l, khng l, c kt cu b phoi... (Type).
5. Chiu dai li ct (Cutting edge length).
6. Chiu dy mnh hp kim (Thickness).
7. C vt gc/v trn (Insert with corner chamfers/nose radius).
8. V tr li ct so vi mt trc (Cutting edge designation).
9. Kiu phi/tri (Version).
49

10. Ty chn - Tnh cht gia cng: Th, bnh thng, tinh (Internal
designation).
V d : WNMG060408-M3. Chi tit c th xem trong Ph lc 6.
Ngi ta c th g lp dao tin trc tip ln i dao (thng gi l u dao hay
u revonve, ting Anh l Turret Head) nh cc tm g. Tuy vy trong nhiu trng
hp th cn s dng mt s dng c ph. Cc dng c ph l cc khi lp dao
(mouting block), ng lt, ng ni, tm g... Mt s dng c ph thng dng trn my
tin c th hin trn hnh 1-42.
Mt s s tin trong v tin ngoi thng s dng trn my CNC c th
hin trong Ph lc 6.
b) Dao phay
Cc loi dao phay c dng trn my CNC ch yu gm hai loi: dao phay
ngn v phay mt u. Cc loi dao phay khc nh phay rnh t c dng hn.
Nhng dao phay ngn ng knh nh (nh hn 12 mm) c lm t thp gi; khi
ng knh ln th phn ct lm t thp gi cn phn thn dao lm t thp cc bon
C45. Tt nhin dao phay ngn cng c loi vi phn ct lm t hp kim cng. Mt s
loi dao phay ngn c li ct mt u.
lp dao ln trc chnh my ngi ta s dng trc g dao v cc dng c
ph (hnh 1-43). Trc g dao v chui c tiu chun ha (ISO 7388, ISO 5414, ISO-
297...).

Hnh 1-43. H thng trc g dao phay v dng c ph
1-15: Cc loi trc g; 16-29:trc g trung gian (dng c ph)
50

Trc g dao phay cho trung tm gia cng gm 5 b phn (hnh 1-44): 1. chui
cn (tapered shank); 2. kiu vnh bch (flange); 3. cht rt (retention knob); 4. rnh
truyn lc (opposed slots); 5. kt cu lp dao hoc dng c ph (adaptor).
i vi cc trung tm gia cng trc g dao hay dng nht l trc g kiu BT
v V hoc CV. Trc g kiu V (CV) l trc g cho cc loi dao n v inch, thng
dng bc M, cn kiu BT - dao n v mm, s dng rng ri chu u v chu .

Hnh 1-44. Cc b phn ca trc g dao phay
1. chui cn; 2. kiu vnh bch; 3. cht rt; 4. rnh truyn lc;
5. kt cu lp dao hoc dng c ph.
Cht rt (hnh 1-45) c nhim v lin kt vi h thng kp dao bn trong trc
chnh (hnh 1-46). Mt s kch thc ca cht rt cho trc g BT 30 v BT40 th hin
trong bng 1-5.

Hnh 1-45. Kt cu v kch thc ca cht rt.
Bng 1-5

51


Hnh 1-46. Trc chnh vi h thng kp rt dao
c) Dao khoan
Trn my CNC ngi ta s dng nhiu loi dao khoan khc nhau, ch yu l:
dao khoan rut g (ui tr hoc ui cn), dao khoan bc, dao khot... a s dao
khoan, dao khot u c phn ct gt lm t kp kim cng. Vi ng l c ng
knh ln th gn cc mnh hp kim cng. Mt s dao khoan c bit ca hng SECO
c th hin trong Ph lc 6.
1.3.6. g trn my CNC
V c bn, cc c cu ca g (kp chi tit, nh v...) trn my CNC khng
khc vi trn my thng thng. Mt s im khc c th c do cc nguyn nhn sau:
- My CNC lm vic tc cao, gia tc gc ln. V vy cn bng ng
phi rt cao gim lc ly tm cng nh rung ng. H thng v bi trn
cng phi c kh nng lm vic tc cao. Do g phi c cng
vng ln hn so vi trn my thng thng.
- H thng kp phi c kh nng c iu khin t ng. V d, trn cc
my CNC, h thng kp t ng dng in c, thu lc, kh nn tc ng
nhanh t chng trnh hoc t r-bt hay c dng.
- Thng c cu kp phi c ni ghp v lm vic vi c cu cp phi t ng.
- Do my CNC c s dng ch yu trong sn xut nh nn g phi c tnh
vn nng cao, linh hot trong tho lp. Do g th hin mt s c tnh ca
g gia cng nhm hoc g vn nng - iu chnh.
Ni dung chi tit ca mc ny c th tham kho trong gio trnh g do Trn
Hu Quang v T ng Doanh, ging vin B mn Ch to my, Khoa C kh bin
son.
52

Chng 2 H THNG IU KHIN S
2.1. Khi nim v h thng iu khin s
iu khin s (Numerical Control - NC) l mt trong nhng thnh tu quan
trng nht ca nhng bin i trong sn xut cng nghip k t cuc cch mng k
thut cng nghip ln th nht. Ra i trong nhng nm u ca thp k 50 ca th k
XX, cng ngh NC tri qua mt s mc pht trin quan trng c v phn cng ln
phn mm. Ngy nay hng trm ngn my cng c NC lm vic trong cc phn xng
ca rt nhiu nc trn th gii. Vy iu khin s l g ? Hip hi cng nghip in
t (EIA, M) nh ngha v NC nh l mt h thng m hot ng ca n c iu
khin bng d liu s c m ha v lu tr, c a vo trc tip ti mt thi
im no . H thng ny cn bin dch t ng t nht l mt phn d liu ny.
iu khin s l t ng iu khin cc hot ng ca my (nh cc my ct kim loi,
r-bt, bng ti vn chuyn phi liu hoc chi tit gia cng, cc kho qun l phi v
sn phm...) trn c s cc d liu dng ch s, s thp phn, cc ch ci v mt s k
t c bit c cung cp dng m s nh phn trong chng trnh lm vic ca thit
b hay h thng. Ngy nay iu khin s c hiu l phng php iu khin qu
trnh sn xut nh trc tip a vo my cc lnh dng m s
3
. Cng c th coi NC l
mt hnh thc thng minh ca cc h thng t ng kh trnh (c kh nng lp trnh),
trong my cng c c iu khin bi mt lot cc lnh (ch dn) c m ho
bng cc ch ci, s, k hiu, biu tng (symbol)... Nhng lnh m ho ny c
chuyn i thnh hai dng tn hiu iu khin: tn hiu ra dng xung in v tn hiu
iu khin dng ng/m (ON/OFF). Cc xung in iu khin v tr ca dao ct so
vi phi v tc dch chuyn ca n. Chc nng ca cc tn hiu ON/OFF bao gm:
iu khin tc v hng quay ca trc chnh, iu khin ng m dung dch trn
ngui, la chn dao ct, dng my hoc cc tc ng khc nh tho v kp phi, tm
dng...
Trong nhng nm 70 ca th k trc, iu khin s nhanh chng p dng
cc thnh tu pht trin ca k thut vi in t, mch tch hp, vi x l... Nhng phn
cng chuyn dng ca h thng NC to ln ni cng c thay th bng cc cm vi
tnh v cc phn mm linh hot hn. Dung lng nh ngy cng m rng, to iu
kin lu tr trong h iu khin s trc ht l tng chng trnh, sau l c th vin
chng trnh, li c th sa i chng trnh lp mt cch d dng nh phn mm
son tho trong h iu hnh ca my. Trong thi gian ny giao din ca h thng thay
i trit : s dng mn hnh mu, phn gii cao, hin th nhiu thng tin; bng

3
Nguyn vn ting Anh: Numerical Control (NC) refers to the method of controlling the
manufacturing operation by means of directly inserted coded numerical instructions into the
machine tool.
53

iu khin truy nhp lnh trc tip, son tho, sa i chng trnh... Cc h thng
iu khin s ngy nay cho php ghp ni mng cc b hay mng m rng qun l
iu hnh tng th h thng sn xut.
2.1.1. iu khin s trc tip v iu khin s phn phi (DNC)
V thit b c d liu t bng c l ca cc my NC c ch to t cc linh
kin c in t hoc quang in t nn chng rt h hng rt nhanh, khng thch hp
vi mi trng phn xng. Hai hng pht trin khc phc tnh trng ny nh sau:
- Ghi thng tin t bng c l ln bng t.
- S dng my tnh trc tip iu khin my cng c.

Hnh 2-1. H thng iu khin s trc tip DNC
Gia thp k 60 hai hng Cincinnati Milacron v General Electric (M) c
lp nghin cu pht trin h thng iu khin s trc tip (Direct Numeral Control -
DNC), trong mt s my NC hot ng di s iu khin trc tip ca mt my
tnh. H thng DNC c trnh din vo nm 1966. My tnh t cch my phay
NC trn 900 mt (3000 feet), v truyn d liu cho MCU qua ng dy in thoi.
Rt nhiu h thng DNC nhanh chng pht trin sau v c trin lm nm
1970. Hip hi sn xut my cng c quc gia (National Machine Tool Builders
Association - NMTBA, M) th hin h thng iu khin s trc tip nh trn hnh 2-
1, trong my tnh dng chung s lu tr v np cc chng trnh gia cng cho my
cc my NC.
54


Hnh 2-2. Mng ca h thng iu khin s phn phi DNC
Hai kh nng mong mun ca cc h iu khin CNC l kh nng thc hin
mt chng trnh t b nh v c th lu tr nhiu chng trnh khc nhau trong b
nh. iu ny lm cho cc my CNC tr nn c lp so vi my tnh ch. S pht
trin nhanh chng ca cng ngh my tnh trong nhng nm 80 ca th k XX v xu
th pht trin trong cc ng dng DNC a n s dng mng my tnh. Hnh thc
ny ca DNC (thng c gi l h thng iu khin s phn phi Distribute
Numerical Control) rt khc vi nhng h thng DNC trc kia khi m ch c mt
my tnh ch c s dng (hnh 2-2). Trong cc h thng iu khin phn phi, mng
my tnh c s dng phi hp cc hot ng ca mt nhm my CNC v cc
thnh phn khc nh CAD/CAM... H thng DNC hin nay cho ta nhiu kh nng mi
kt ni my CNC v lm cho mng my tnh tr nn linh hot hn v hiu qu hn.
Hn na mng DNC tr thnh mt b phn ca mng m rng ca nh my, trong
tch hp nhiu thnh phn t khu vc sn xut (cc my CNC), khu vc thit k
(CAD), khu vc chun b sn xut (CAM) v khu vc kinh doanh.
Mt s chc nng mi ca h thng DNC l:
- Qun l chng trnh gia cng.
- Bo mt v son tho chng trnh.
- Phn phi d liu cho cc my CNC.
- Kt ni cc my CNC ca cc hng khc nhau.
- Cung cp d liu v dao v g kp cho ngi iu khin.
55

- Tng hp v qun l d liu gia cng lin quan n thi gian kt thc, thi
gian gia cng, tui th dao, thng k cht lng sn phm, s lng chi tit
gia cng...
Cu hnh c bn ca mt h DNC kiu mi bao gm c phn cng v phn
mm. Phn cng c:
- My ch vi cu hnh mnh, tc cao, b nh rt ln.
- Cc my tnh u cui s dng trc tip ti xng sn xut. Chng kt ni
vi my ch v vi mt nhm my CNC.
- Giao tip DNC. y l cc cng RS-232-C kt ni my CNC vo mng.
Mt s my NC i hi c giao tip bng u c bng c l.
- Dy cp mng dng truyn d liu trong mng.
- Cc my CNC v c th c my NC, PLC.
Phn mm gm c:
- Phn mm qun tr mng.
- Cc phn mm ng dng: Phn mm son tho, phn mm ho, phn
mm APT, phn mm CAD/CAM...
- H qun tr d liu.
2.1.2. iu khin s c my tnh (CNC)
tng pht trin h thng ny c hnh thnh t h thng iu khin s
trc tip DNC khi xut hin kh nng a my tnh (cm vi x l P -
microprocessor) vo cm iu khin my cng c MCU. Nh cc my vi tnh da trn
cc mch tch hp nh gn v cc mn hnh gi r m h thng CNC mi tr thnh
hin thc: my vi tnh tr thnh ht nhn ca MCU iu khin mt my cng c.
Hin nay hu ht cc my cng c iu khin s l my CNC. Cc my CNC c b
nh ln cha nhiu chng trnh gia cng v tch hp nhiu chc nng thng
minh khc. My CNC c, lu v thc hin ton b chng trnh trong b nh.
Chng trnh iu hnh c bn (phn cng = Hardware) c ci t x l
nhim v vn c ca mt h thng iu khin s bao gm:
- Np d liu chng trnh.
- Ghi nh cc d liu.
- X l cc d liu nhn c cc chuyn ng ca my v cc chc nng
ph.
- iu khin cc chuyn ng trn my.
- Cm x l trung tm CPU (Central Procesing Unit) c th l mt cm vi
tnh n chc (Mono - Microprocesing) hoc mt cm vi tnh a chc nng
(Multi - Microprocesing).
56

Chng trnh hot ng trn cc my tnh ny c lp ra t bng iu khin
v cc cm t ng lp trnh trn my.
Nhng phn t khc nhau ca h thng iu khin s c tp hp thnh
nhm, c xp t trong mt t iu khin gn lin vi bng phm iu khin v u
c thng tin.
Cu trc CNC c th c mun ho nh sau:
- Mun ho cc cm chc nng iu khin s v cc b ni ghp c th lp
trnh t ng.
- Mun ho bng iu khin ni ghp hai a ch vi hng lot quan h.
Cm ny c th gn trn cn cnxon di ng c.
Cc mun ni trn c gn trc tip trn thn my. Nh s gim ti a kch
thc ca cc phn t t ng, cho php thu nh kch thc ca cm CNC v c
th ci t thng vo bng iu khin gn trn cnxon di ng.
2.2. Phn loi iu khin s
- Cc h thng iu khin s c phn loi theo:
- Dng ng chy dao c th iu khin c.
- Cu trc h thng.
- Ngun thng tin iu khin.
- S trc c th iu khin ng thi.
Theo dng ng chy dao c th iu khin c ta c: iu khin im
(point to point - PTP) v iu khin ng lin tc (continuouse-path). Theo cu trc
h thng ta c iu khin NC v CNC. Theo ngun thng tin iu khin ta c iu
khin h v iu khin kn (c phn hi) v iu khin thch nghi. Theo s trc c th
iu khin ng thi ta c h iu khin 2D, 2,5D v 3D, 4D, 5D...
2.2.1. iu khin im PTP
Cc h thng iu khin im cn c gi l h thng iu khin v tr
(positioning). Chc nng ch yu ca chng l l dch chuyn dao t im ny n
im khc. V d dch chuyn t A n B. C 3 cch dch chuyn khc nhau:
Dch chuyn dc theo tng trc to . u tin dao dch chuyn theo trc to
no (v d theo trc Y n im A', hnh 2-3), sau dao mi dch chuyn n
im ch B dc theo trc to th hai (trc X).
Dch chuyn thng nghing 45
0
. u tin dao dch chuyn theo c 2 trc to
X v Y cho n khi t c to no ca im ch (v d Y
B
, ti im C,
hnh 2-3), sau dch chuyn theo trc to cn li (X) n im ch B.
57


Hnh 2-3. H thng iu khin PTP
Dch chuyn theo ng thng. H thng iu khin phi ng b cc chuyn
ng theo 2 trc to sao cho dao dch chuyn theo ng thng t im u ti
im ch. Cch ny t c qung ng ngn nht gia 2 im nhng phi c thit
b cn thit bo m tc dch chuyn theo cc trc duy tr ng thng. Nh
vy cc chi ph c th khng hp l i vi nhng h iu khin im n gin.
Hu ht cc ng dng ca h thng iu khin im u thuc v cc nhm
my khoan, khot, doa v t l. Hot ng ca cc my ny thng din ra trong 4
bc:
- nh v. Dao dch chuyn n v tr cn thit nhng khng gia cng.
- Gia cng. Thng thng cc chuyn ng gia cng tin hnh dc theo trc
Z vi tc ct V, lng chy dao s v chiu su no .
- Li dao nhanh. Khi t c chiu su gia cng dao li nhanh ln cao
ban u.
- Lp li chu k. Dao dch chuyn sang im khc v qu trnh gia cng c
lp li cho n khi kt thc.
Hnh 2-3 th hin ng dng h thng iu khin im gia cng cc l trn
chi tit. Ngoi kh nng ng v khi gia cng l, cc h thng iu khin im c th
s dng gia cng cc cnh thng dc theo cc trc to X v Y v cc cnh thng
nghing 45
0
khi kim sot c tc chy dao
4
. Cc h iu khin ny thng dng
trn cc my tin ( tin bc) v my phay n gin. Cc h thng iu khin im
khng th gia cng cc bin dng cung trn, ng trn hoc cnh thng khc 45
0
.
Trong trng hp sai lch ln c th xp x cc cung trn hoc ng thng bng cc

4
Mt s ti liu [1, 2] coi kh nng ny ca h iu khin PTP l mt phng thc iu
khin khc gi l h iu khin on thng.
58

on thng ngn mt ln v lp trnh gia cng theo cc on thng ny. Tuy nhin
chng trnh gia cng s rt ln.
Theo quan im cng ngh th gim thi gian nh v ng thi vn bo
m chnh xc gia cng cn phi s dng h truyn ng phn cp (hnh 2-4).
Nhiu cng trnh nghin cu cho thy qu trnh nh v chnh xc cn c
thc hin theo ba cp tc V
1
, V
2
, V
3
ng vi t l sau:
3 1 2
.V V V =
Ngi ta cng a ra nhiu phng php tnh ton chnh xc cc cp trung
gian nhiu tu . Vn tc v thi gian chy chm c la chn sao cho chnh xc
nh v nm trong phm vi cho php. Trong nhng h iu khin NC t tin, nhm
nng cao chnh xc nh v, s liu giai on qu c h thng o thu thp
nhm tnh ton h tr cho cc qu trnh tip theo. Cng cn ni thm l dn ng phn
cp c ng dng trong cc h iu khin khc vi mc ch nu trn. Nhm t vn
tc nh v hoc vn tc chy khng ln hn 10 m/ph, ngoi gii php trn ngi ta t
ra nhng yu cu c bit i vi ng c dn ng: rto ca ng c phi c mmen
qun tnh nh, mmen khi ng ln phm vi iu chnh tc rng (n
min
/n
max
>
10000).

Hnh 2-4. iu khin chy dao nhanh phn cp
2.2.2. iu khin ng lin tc
H thng iu khin ng lin tc cn c gi l iu khin bin dng, iu
khin con-tua [1, 2]. H iu khin ny phi hp ng b chuyn ng theo cc trc
to to ra cc ng chy dao mong mun (thng l ng thng hoc cung
trn). iu khin ng lin tc c kh nng c lp iu khin ng c dn ng
theo nhng tc khc nhau v theo hng nh trc. Qu trnh ny c th thc hin
trong hai, ba trc hoc nhiu hn. iu khin ng lin tc c cu trc phc tp v
dn ng cc trc v vn tc chuyn ng phi c lp vi nhau. Tt c cc h iu
khin ng lin tc c kh nng ct gt cc bin dng phc tp trong mt phng. Mt
59

s ln c th gia cng c cc bin dng 3 chiu v mt s t hn gia cng c bin
dng 4 chiu (tuyn tnh 3 chiu v quay xung quanh trc th 4). Rt t my CNC c
kh nng ng thi iu khin 5 hoc 6 trc. Nh vy iu khin ng lin tc bao
hm c iu khin PTP. N c dng trn cc my tin, my phay, trung tm gia
cng, cc my ct dy (cng ngh tia la in, n mn in ho)... Hnh 2-5 biu din
ng chy dao khi gia cng bin dng chi tit trn my c h iu khin bin dng.

Hnh 2-5. Qu o ca dao trong h iu khin bin dng
a) Bin dng n gin; b) Bin dng phc tp
2.2.3. Cc h thng iu khin theo s trc c iu khin ng thi
Theo s trc iu khin ng thi ta c:
- H thng iu khin 2D
- H thng iu khin 2,5D
- H thng iu khin 3D
- H thng iu khin 4D, 5D
2.3.1. H thng iu khin 2D
H thng ny cho php thc hin chuyn ng chy dao theo hai trc ng
thi trong mt mt phng gia cng. Trc th ba c iu khin hon ton c lp vi
hai trc kia.
Th d nh trn my tin, dao tin s dch chuyn trong mt phng XZ to
nn ng sinh khi tin cc b mt trn xoay; trn cc my phay 2D, dao phay s thc
hin cc chuyn ng trong mt phng XY to nn cc rnh hay cc mt c bin
dng bt k (hnh 2-6).
60


Hnh 2-6. Qu o ca dao trn my tin (a) v trn my phay (b)
2.3.2. iu khin 2,5D
H thng ny cng cho php dao dch chuyn theo 2 trc ng thi trong mt
mt phng no to nn mt bin dng, cn trc th 3 c iu khin chuyn
ng c lp. iu khc bit ca h iu khin ny so vi iu khin 2D ch 2 trc
c iu khin ng thi c th c i v tr cho nhau: c ngha l gia cng hoc
trong mt phng XY hoc XZ hoc YZ. Thng qua chc nng G17, G18 v G19 trong
chng trnh ta c th chuyn t mt phng gia cng ny sang mt phng gia cng kia
(hnh 2-7). V d gia cng trong mt phng XY sau - trong mt phng YZ.

Hnh 2-7. Gia cng trn h thng 2,5D:
trong mt phng XY v trong mt phng YZ.
2.3.3. iu khin 3D
H iu khin 3D cho php dao ct dch chuyn ng thi trong 3 mt phng
to nn mt ng cong hay mt mt cong khng gian bt k (hnh 2-8). iu ny
cng tng ng vi qu trnh iu khin ng thi c 3 trc X, Y, Z ca my theo mt
quan h rng buc no ti tng thi im to nn qu o ca dao theo yu cu.
Thng thng cc trc ny c mi quan h rng buc hm s. ng dng ch
yu trong gia cng khun mu, cc b mt phc tp.
61

2.3.4. iu khin 4D, 5D
Trong h thng ny, ngoi cc trc
tnh tin X, Y, Z cn c cc trc quay chuyn
ng trong qu trnh gia cng theo mt quan
h rng buc no to ra cc b mt phc tp
4D, 5D.
Thng thng trn c s ca iu
khin 3D, ngi ta cn b tr cho dao ct hoc chi tit c thm 1 hoc 2 chuyn ng
quay xung quanh 1 trc no theo mt quan h rng buc vi cc chuyn ng trn
cc trc khc ca my 3D (hnh 2-9). Vi kh nng nh vy, cc b mt phc tp nh
cnh tua-bin hay cc b mt c trc quay c th c thc hin d dng hn so vi khi
gia cng trn my 3D.
Mt khc, v l do cng ngh nn c
nhng b mt khng th thc hin c vic
gia cng bng 3D v c th tc ct s khc
nhau hoc s c nhng im c tc ct
bng khng (nh ti nh ca dao phay cu)
hay li ct ca dng c khng th thc hin
vic gia cng theo mong mun (v d nh gc
ct khng thun li hay c th b vng thn
dao vo cc phn khc ca chi tit...).
Tm li, ty thuc vo yu cu b mt
gia cng c th m c th la chn my thch hp v my cng phc tp th gi thnh
my cng cao v cn phi b sung thm nhiu cng c khc nh cc phn mm
CAD/CAM h tr lp trnh... Hn th na, my cng phc tp (cng nhiu trc iu
khin) th tnh an ton trong qu trnh vn hnh v s dng my cng thp (d b va
chm dao vo phi v my). V th s dng c cc my ny, ngi iu khin
trc ht s dng rt thnh tho cc my iu khin theo chng trnh s 2D v 3D.
Cng d thy l my phc tp hn c th hon ton m nhim c vai tr
ca my n gin hn, v d nh my 3D c th m nhim cho my 2D v 2,5D.
2.2.4. iu khin NC v CNC
H thng NC thng c gi l h thng iu khin cng. Cc thut ton
iu khin do cc bo mch in t tch hp c trung bnh thc hin. Cc mch in
ny c lp rp trn cc mch in v lin kt vi nhau do cng c th gi NC l h
thng iu khin c cu trc c nh. iu ny thy rt r l khng th hoc rt kh
khn b sung thm chc nng iu khin mi. Mt c im ca cc h thng ny l
cc tn hiu iu khin u c dng xung in p. Mi mt xung to ra dch chuyn
mt n v lp trnh hay mt n v chiu di c s BLU (Basic Length Unit). S

Hnh 2-8. iu khin 3D

Hnh 2-9. iu khin 4D
62

lng xung xc nh chiu di dch chuyn cn tn s pht xung qui nh tc dch
chuyn theo trc no . Mt c trng quan trng na ca h thng NC l chng
khng c b nh chng trnh gia cng. Chng trnh gia cng thng c lu tr
trn bng c l truy nhp vo NC tng cu lnh mt. Thc hin xong cu lnh ny
mi c cu lnh tip theo, c nh vy cho n ht chng trnh gia cng. Sau khi
bng c l cn cun ngc li xong th mi bt u gia cng chi tit tip theo.
H thng CNC l h thng mm do v chng s dng my tnh v b nh
ROM v RAM iu khin my. Do s dng my tnh nn loi tr c nhiu
mch in chuyn dng nh mch ni suy hay cc mch r-le. Tn hiu iu khin ca
CNC l tn hiu s nh phn dng WORD. WORD gm 16, 32 hoc 64 bt ph thuc
vo loi CHIP vi x l ca my tnh. Mi mt bt d liu lm chuyn dch mt n v
di c s BLU. Nh sc mnh ca cng ngh my tnh m nhiu tnh nng iu khin
khc c b sung vo h thng CNC. Bng 2-1 so snh hai h thng NC v CNC.
Bng 2-1
Tnh nng H thng NC H thng CNC
Thi gian ra i 1954 n u nhng
nm 70
T u nhng nm 70 n nay
Thc hin chc
nng iu khin
Cc mch iu in t
ni cng.
My vi tnh vi cc chng trnh iu
khin my khc nhau.
Tn hiu iu
khin
Xung in p. S nh phn.
Truy nhp
chng trnh gia
cng
Nhp v thc hin
tng cu lnh t bng
c l cho n khi ht
chng trnh gia cng.
Truy nhp ton b chng trnh gia cng
mt ln vo b nh ca my tnh. Trong
qu trnh gia cng chng trnh vn lu
trong b nh. C kh nng truy nhp cc
d liu bng:
u c bng c l.
Cng ni ghp RS-232-C
Th cng t bn phm.
u c bng t (My cassette).
Gi t v ni suy v cc
chc nng iu khin
khc u c thc
hin bng mch in
t.
Tng i r bi v ni suy v cc chc
nng iu khin khc c thc hin
bng phn mm.
Kh nng Hn ch trong mt s
chc nng sau:
Ni suy tuyn tnh v
cung trn.
Chp nhn nh dng
bng c l.
S dng v tr tuyt
i v tng i.
Gm cc chc nng c s v m rng:
Ni suy tuyn tnh, cung trn, parabol,
xon c, cubic.
Son tho.
Kt ni vi cc thit b khc (my tnh
chng hn).
B nh.
Mn hnh mu.
63

Tnh nng H thng NC H thng CNC
Chp nhn m k t. Giao tip vo/ra.
Mt s chc nng khc.
Cu trc phn
cng
Phc tp v tt c chc
nng iu khin u
thc hin bng mch
in t.
n gin vid tt c chc nng iu khin
u thc hin bng phn mm.
B nh lu
gi chng trnh
gia cng
Khng c C b nh ngoi lu gi. Chng
trnh gia cng c lu gi trn a cng
hoc b nh t ho bubble.
2.2.5. iu khin h v iu khin kn

Hnh 2-10. S iu khin h (open loop)
H thng iu khin s kim sot c v tr v tc dch chuyn ca cc c
cu chp hnh ca my cng c. Mi mt trc chy dao u c h thng dn ng
chy dao ring thc hin cc lnh iu khin t MCU. Chy dao trn my cng c
CNC c th lm vic theo nguyn tc iu khin h (open-loop) v iu khin kn
(closed-loop). iu khin mch h khng c h thng phn hi kim sot v tr v
tc dch chuyn ca bn my (hnh 2-10). Do chnh xc v tr trn cc my
ny khng cao (khong 0,025 mm) v ch p dng cho cc h thng iu khin im
khi mment cn khng bin i ln, hoc cc h thng hc tp. H thng iu khin
h thng s dng ng c bc v vt me ai c bi. V cng sut ng c bc
khng ln nn cc my NC thng lp thm b khuych i thu lc (hnh 2-11). S
ny dng van iu khin thu lc, ng c thu lc, b truyn trc vt v mi ghp
64

then hoa. Dn ng quay t ng c bc qua ai c lm dc chuyn trc vt v con
trt ca van iu khin. Con trt ca van iu khin tr v v tr ban u qua ng c
thu lc, mi ghp then hoa. Cng c th s dng xi lanh thu lc thay th cho ng c
thu lc. Mt ng dng thng gp ca iu khin h l trn cc my CNC dng cho
o to.

Hnh 2-11. S iu khin h c s dng khuych i thu lc
Trong cc my cng c ct gt kim loi, cc iu kin bo m lc cn n
nh thng khng c c v tn ti hng lot cc i lng nh hng v tc ng
n lc cn ( cng ca chi tit; lng d gia cng khng u; trng thi gia cng
nh ma st, bi trn, nhit cng thay i...). V vy cc my CNC hu nh ch ng
dng chy dao mch kn c phn hi ca hai thng s: v tr v tc .
H thng phn hi o v tr v tc thc ca c cu chp hnh (bn my) ri
gi vo b so snh hoc b m ngc ca h thng dn ng chy dao. H thng ny
so snh gi tr cn (t MCU) v gi tr thc v v tr v tc a ra tn hiu li.
Tn hiu ny l i lng iu khin ng c dn ng chy dao. Mt h thng phn
hi thng s dng xc nh v tr dng encodes hay resolver v xc nh tc
dng tachometer (hnh 2-12).

Hnh 2-12. S iu khin kn, c phn hi (closed loop).
2.2.6. iu khin thch nghi
H iu khin thch nghi (Adaptive Control) l h thng iu khin c tnh n
tc ng bn ngoi ca h thng cng ngh iu chnh qu trnh gia cng (v d
thay i ch cng ngh) nhm loi b nh hng ca cc yu t ti chnh xc
gia cng.
65

H thng iu khin thch nghi c th n nh c kch thc gia cng, cng
sut ct, mmen ct hay nhit ct.

Hnh 2-13. S phay c chiu su ct (a) v chiu rng ct (b) bin i tng
Trn hnh 2-13 l s phay b mt c chiu su ct thay i tng (hnh 2-
13a) v chiu rng ct thay i tng (hnh 2-13b). Khi lng chy dao s bin thin
nh trn hnh 2-13c.

Hnh 2-14. S tin c iu khin thch nghi
Trn hnh 2-14 l mt ng dng ca iu khin thch nghi. Nhit ca b
mt gia cng c o ri a vo cm iu khin. Ty thuc nhit m cm iu
khin xut tn hiu iu khin my nhm gim sai s ca ng knh gia cng.
u im ca iu khin thch nghi l:
- Ti u ha cc qu trnh gia cng.
- Nng cao chnh xc gia cng.
- Gim thiu tc ng ca cc yu t bn ngoi (rung ng, nhit ct, s
khng ng u ca phi liu).
2.3. Phn cng ca h thng iu khin s
Cc my iu khin s gm 6 thnh phn c bn sau y:
- Chng trnh gia cng.
- Thit b truy nhp chng trnh gia cng.
- Cm iu khin my.
66

- H thng dn ng.
- My cng c.
- H thng phn hi.
2.3.1. Cm iu khin my MCU
thc hin qu trnh gia cng my NC v CNC cn phi hp tt phn cng
v phn mm. H thng NC thc hin qu trnh iu khin bng cc bo mch in t
chc nng, trong khi h thng CNC lm vic bng sc mnh ca my tnh. V
hin nay cc h thng iu khin s u l CNC nn mc ny ch trnh by cc phn
cng v phn mm ca my CNC.
Cm iu khin my MCU (hnh 2-15l ht nhn ca h thng CNC. N phi
hp tt c cc hot ng ca my cng c, bao gm truy nhp d liu, x l d liu,
xut d liu v cc giao tip vo/ra khc ca my.

Hnh 2-15. S cu trc cm iu khin my MCU
MCU c th c chia thnh b x l trung tm DPU (Data Processing Unit -
DPU) v b iu khin lp CLU (Control Loop Unit - CLU). Nhim v ca DPU l
c chng trnh gia cng, x l (gii m) cc cu lnh trong chng trnh, truyn cc
d liu lin quan n v tr, tc dch chuyn v cc chc nng ph khc cho CLU.
CLU thc hin qu trnh ni suy trn c s d liu nhn c t DPU v pht ra cc
tn hiu iu khin gi n mch khuych i ca dn ng chy dao, nhn tn hiu v
v tr v tc n t h thng o phn hi, thc hin cc chc nng ph nh ng/m
h thng lm mt, thay dao ct...
67

a) Truy nhp d liu.
Chc nng ny bao gm c d liu t vt mang tin v lu tr d liu s m
t ng chy dao v cc iu kin gia cng.
b) X l d liu.
Cc d liu c thu thp, c m ho v c lu tr trong vng nh m.
B x l trung tm (Central Processing Unit - CPU) thc hin cc tnh ton kch
thc, tc chy dao, tc ct, b bn knh dao, b kch thc dao. Cc d liu ri
rc cn iu khin ng/m h thng lm mt v cc giao tip vo/ra khc ca my.
Kt qu tnh ton ca CPU l d liu s sn sng chuyn sang mch iu khin ng
c dn ng (drive) v cc b phn khc ca my cng c.
c) Xut tn hiu iu khin.
Cc tn hiu v v tr v tc chy dao c chuyn n mch iu khin
to ra v khuych i tn hiu iu khin cc ng c dn ng.
d) Giao tip vo/ra ca my.
Cc d liu ri rc cn thit iu khin chiu quay ca trc chnh, ng/m
h thng lm mt v cc chc nng khc nh dng khn cp, bt u chu trnh...
Cm iu khin my MCU c cc thnh phn sau:
- B vi x l CPU.
- B nh.
- Cng giao tip.
- Bo mch iu khin (drive) dn ng chy dao.
- Bo mch iu khin (drive) dn ng trc chnh.
- B iu khin lp trnh PMC.
2.3.2. B vi x l CPU

Hnh 2-16. S b vi x l CPU
68

CPU l tri tim ca mi my tnh v ca cc h thng iu khin CNC. N
kim sot tt c cc thit b (mch) khc nhau thng qua bus h thng. CPU gm 3
cm: cm iu khin, cm tnh ton l gc s hc, b nh trung gian (hnh 2-16.
Cm iu khin thc hin cc chc nng sau:
- Phi hp v iu khin tt c cc chc nng ca my tnh.
- Gi v m ho d liu trong RAM v ROM ca b nh chnh.
- Gi cc tn hiu n cc b phn khc ca h thng iu khin thc hin.
Cm tnh ton lgc s hc thc hin cc chc nng sau:
- Thi hnh cc tnh ton s hc nh cng, tr, nhn v m cn thit.
- Thc hin cc php tnh lgc nh so snh, phn nhnh v lp.
B nh trung gian lu d liu v kt qu tm thi ca qu trnh tnh ton.
2.3.3. B nh ROM v RAM
B nh trung gian (b nh trong) cung cp cho CPU khng gian rt hn ch.
H iu khin CNC cn b nh ln hn nhiu lu tr chng trnh gia cng, cc
chng trnh ca h iu hnh CNC v d liu x l. B nh ca my tnh chia thnh
2 loi: b nh trong (chnh) v b nh ngoi (ph). B nh trong c: ROM (Read-
Only Memory - ROM) v RAM (Random-Access Memory - RAM). ROM l b nh
m CPU ch c th c. Cc chng trnh giao tip v iu hnh c lu gi trong
ROM v khng b xo (mt) khi tt in. RAM l b nh truy cp ngu nhin. N c
th c CPU c, xo v ghi li. Khi tt in thng tin trong RAM s b mt.
B nh ngoi thng l dng a: a cng v a mm v CD-ROM. a
mm dng trao i d liu t my tnh ny n my tnh khc. a cng lp bn
trong MCU v c dung lng ln cha cc chng trnh phn mm ng dng khc
nhau. Cc phn mm, chng trnh gia cng c lu tr dng khng hot ng v
khi cn mi a chng vo RAM s dng.
B nh bt (bubble) t ho cng l mt dng b nh c s dng ngy cng
rng ri trn cc my CNC tuy tc truyn d liu ca loi b nh ny khng ln
bng b nh RAM. Bt t ho l cc ht tinh th garnet nhim t gn trn mng
mng khng nhim t. Do c dung lng nh ln, li khng ph thuc vo in p
ngun m b nh bt t ho c s dng lu tr cc chng trnh gia cng,
chng trnh iu khin v cc th tc kim tra.
2.3.4. Cc thnh phn giao tip khc
CPU cn kt ni vi cc thnh phn khc trong h thng CNC. Xng sng
ca cc kt ni l ng truyn h thng (BUS System). Nh BUS h thng m d
liu c gi i v tip nhn gia cc thnh phn khc nhau trong h thng CNC.
Ngi s dng cn ba thnh phn giao tip c bn sau y:
- Hin th.
69

- Panel (bng) iu khin.
- Xut/nhp chng trnh gia cng.
a) Hin th.
Hin th gm mn hnh thng l loi ng tia m cc Cathode Ray Tube -
CRT, v mt s ch th nh sng, loi n si t hoc diode pht quang (Light-
Emitting Diode -LED). Chng hin th nhng thng tin khc nhau nh:
- Chng trnh gia cng ang thc hin.
- V tr to ca dao trn cc trc.
- ng chy dao.
- B dao.
- Cc tham s la chn mt phng gia cng, tc truyn qua cng RS-232-
C d liu iu khin ca cc trc, gii hn mm.
- Bo li chng trnh, cc li gia cng v ng c dn ng.
b) Bng iu khin.

Hnh 2-17. Bng iu khin ca my CNC (ANILAM 6000M)
1. Mn hnh hin th; 2. Cc phm chc nng (phm mm);
3. Bng iu khin tay; 4. Bn phm.
70

Bng iu khin (hnh 2-17) l phng tin ngi s dng giao tip vi h
thng iu khin. Cc chc nng m n thc hin chia thnh 2 nhm: iu khin my
v iu khin chng trnh gia cng. iu khin my s dng cng tc ng/m
(ON/OFF), chuyn mch chn, nt n, tay quay in t (Electronic handwheel) v cc
cng tc quay thay i tc chy dao...
Cc hot ng ca bng iu khin bao gm ng/m trc chnh, ng m h
thng lm mt, chy tng cu lnh n l, chy kh (chy khng gia cng), chn ch
gia cng, chn trc dch chuyn, thay i tc chy dao v trc chnh... Trn bng
iu khin cn c bn phm nhp, sa, np chng trnh gia cng.
c) Nhp v xut chng trnh gia cng.
Phng php nhp chng trnh gia cng t bn phm nh trn gi l phng
php lp trnh trn my (th cng). Chng trnh gia cng cha trn cc loi vt mang
tin khc nh ba c l, bng c l, a t, bng t, a CD-ROM... cn nhng thit b
chuyn dng truy nhp vo RAM ca CPU. Cc thit b truy nhp c th l cng
kt ni RS-232-C (kt ni vi my tnh), u c bng c l, u c bng t, a
mm, USB. Cc thit b ny kt ni vi BUS h thng ca CPU qua mch (card) giao
tip vo/ra (Input/Ouput - I/O).
2.3.5. B iu khin my kh trnh PMC
Tn hiu iu khin do CNC to ra c hai dng: tn hiu s v tn hiu lin tc.
Tn hiu s m t d liu v tr, d liu vn tc, d liu b ng knh v b kch
thc dao... cn cc tn hiu lin tc c s dng thc hin nhiu tc ng t my
cng c, thc cht y l cc tn hiu ri rc v cng cn n kh nng x l ca my
tnh. x l cc tn hiu ny, h thng iu khin CNC i hi s lng cng vo/ra
vt qu kh nng ca my tnh. Do h iu khin ca cc my CNC hin i u
c b sung thm phn cng l b iu khin lgc kh trnh PLC thc hin cc tn
hiu lin tc. B PLC ny thng c gi b iu khin my kh trnh PMC
(Programmable Machine Controler - PMC).
Cc chc nng ch yu ca PMC l:
- iu khin t ng thay th dao.
- iu khin t ng h thng lm mt.
- iu khin t ng h thng kp chi tit ( g).
- Giao tip vi cc cng tc gii hn (khng gian lm vic ca my).
- Tnh thi gian.
- Dng my khn cp.
- Kho my.
- Giao tip vo/ra ca CNC.
- Giao tip vo/ra ca my cng c.
- Cc chc nng khc.
71


Hnh 2-18. Chc nng v v tr ca b iu khin my kh trnh PMC trong CNC
Trn hnh 2-18 th hin cc chc nng c bn ca PMC. Chng trnh thc
hin cc chc nng PLC c gi l chng trnh ng dng my, chng trnh iu
khin my hay chng trnh giao tip my. Chng trnh ny c vit v ci t sn
trong qu trnh sn xut h iu khin CNC.
2.4. Cc phn mm ca CNC
My tnh l nhng phn cng cm lng v n khng lm g c cho n khi
nhn c cc thng tin cn thit. Cc thng tin ny l cc chng trnh hoc phn
mm my tnh. C 3 nhm chng trnh my tnh c s dng trong cc my CNC:
- Phn mm h thng hay h iu hnh.
- Phn mm giao tip my.
- Phn mm ng dng.
72

2.4.1. H iu hnh (phn mm h thng)
H iu hnh ca CNC l chng trnh chnh cung cp cc chc nng CNC.
N c cc nh sn xut my chun b v ci sn trong ROM ca MCU v c th d
dng thay i, d dng cp nht bng cch thay th chp ROM ci t h iu hnh
mi.
Chc nng c bn ca h iu hnh l tip nhn chng trnh gia cng nh l
d liu u vo v pht sinh cc tn hiu iu khin cc ng c dn ng bn my
theo cc trc. H iu hnh gm 4 chng trnh sau: Chng trnh gim st, chng
trnh lgic, chng trnh son tho v chng trnh chn on li.
a) Chng trnh gim st.
Chng trnh gim st thng c gi l chng trnh thc thi . N qun l
mi hot ng ca tt c cc phn mm v cc cng giao tip ca thit b vo/ra.
b) Chng trnh lgc.
Chng trnh lgc cng c gi l chng trnh iu khin. N gii m v
ni suy cc lnh NC, pht sinh cc tn hiu iu khin chuyn ng cho cc trc. N
bao gm cc th tc khc nhau thc hin ni suy (tuyn tnh, cung trn, xon c),
iu khin tc ct, thc y hoc gi chm qu trnh tnh ton.
c) Chng trnh son tho.
y l chng trnh h tr ngi s dng. N cho php ngi s dng nhp,
xut, hiu chnh v xo chng trnh gia cng cng nh hin th chng trnh gia cng
ln mn hnh.
d) Chng trnh chn on li.
Chng trnh ny bao gm mt s th tc kim tra li ca bt k qu trnh
no xy ra trong h thng CNC. S hiu v thng bo li s c hin th ln mn
hnh nu n pht hin thy li trong cc hot ng ca CNC, h thng dn ng v
chng trnh gia cng.
2.4.2. Phn mm giao tip my
Phn mm giao tip cng c coi l phn mm iu khin my. N cho php
CPU kt ni vi my cng c thng qua PMC. PMC cha b lgc kh trnh PLC.
Phn mm ny x l hai nhm tn hiu: Tn hiu vo v tn hiu ra.
Tn hiu ra c gi n my cng c thc hin cc chc nng ng/m
(ON/OFF) nh ng m h thng lm mt, ng m g kp chi tit gia cng, t
ng thay i dao ct... Tn hiu vo c th l tn hiu kim tra gii hn chuyn ng,
tn hiu phn hi.
Phn mm giao tip my l chng trnh c u tin cao nht trong qu trnh
x l d liu CNC v c thc hin lin tc sau tng khong thi gian c nh. Phn
73

mm giao tip my c ghi sn trong qu trnh ch to h thng CNC. Ngn ng giao
tip thng dng nht l s ladder (s hnh thang).
Trn hnh 2-19 l mi quan h gia PMC vi CNC v my cng c.

Hnh 2-19. Mi quan h gia PMC vi CNC v my cng c.
Tn hiu vo t CNC thng l cc chc nng h tr (ph) M, chc nng dao
T. Cc tn hiu ny a vo b nh ca CNC v np cho PMC trong tng khong thi
gian nht nh, v d 16s. Cc tn hiu vo PMC t my cng c rt a dng: bt u
chu k gia cng, duy tr tc dch chuyn, chn mt phng lm vic, chy tng cu
lnh, chy kh (chy khng ct gt) v mt s t tn hiu t bng iu khin. V tr ban
u v im zero ca phi cng l tn hiu vo t my cng c. Trn hnh 2-20 l V
d v mch vo in hnh c dng truyn tn hiu t my cng c vo PMC.

Hnh 2-20. Mch vo ca PMC Hnh 2-21. Mch ra ca PMC
74

Tn hiu ra t PMC c th l iu khin quay phn cha dao ct, dng
trc chnh my. Cc tn hiu ny chuyn cho my cng c qua b nh v thc hin
lin tc sau khong 2s. Mt s mch ra th hin trn hnh 2-21.
2.4.3. Phn mm ng dng
y l cc chng trnh gia cng (chng trnh chi tit). Cc chng trnh ny
cha cc thng tin cn thit to ra ng chy dao: phng thc chy dao (nhanh,
ni suy tuyn tnh, ni suy cung trn), iu kin gia cng (tc ct, tc chay dao).
Chng trnh gia cng c lp ra theo 2 dng: m G (G-Codes) v tham s.
Lp trnh m G l s dng cc m G tiu chun cng nh cc chc nng ph M, dao T,
tc ct F, tc chy dao S to ra chng trnh. Lp trnh tham s s dng cc
bin, cc ton t, iu kin la chn, r nhnh v cc chc nng iu khin khc to
ra cc chng trnh con, chng trnh macro nhm gia cng cc kt cu lp trn chi
tit.
2.4.4. Chng trnh ni suy
thc hin qu trnh gia cng bin dng ca chi tit, cn phi trong tng
im m bo s phi hp ng b chuyn ng ca cc c cu chp hnh theo 2, 3
hoc nhiu hn trc to . t c iu thng tin cn a n cc c cu chp
hnh mt cch lin tc. Nhng chng trnh iu khin ca chng ta ch c tnh
ton trc cho mt s im hu hn trn bin dng chi tit, gi l cc im chuyn
tip nn bin dng ca chi tit gia cc im c xp x nh ni suy. i vi cc
h iu khin NC th qu trnh ni suy c thc hin nh mch in t chuyn dng.
T in bch khoa v iu khin v t ng ho nh ngha v thit b ni suy nh sau:
l thit b tnh ton in t xc nh to ca mt im lin tc chuyn ng theo
mt ng cong gii tch vi cc thng s cho trc. Tn hiu ra ca cc thit b ni
suy l cc xung in ri rc, mi xung in ng vi mt khong dch chuyn ca c
cu chp hnh. Trn cc my CNC hin i ni suy c thc hin bng cc chng
trnh phn mm. Cc chng trnh phn mm ny cho php cng lin tc cc on gia
tng bng nhau vo cc gi tr to ca im ban u. Ni suy thc hin 2 chc nng
sau:
- Tnh ton cc vn tc ring dn ng dao dc theo ng lp trnh
ph hp vi vn tc cho.
- Cung cp to cc im trung gian dc theo ng lp trnh.
C 5 dng ni suy c bn: tuyn tnh, cung trn, xon c (helical), parabol
(bc hai) v cubic. Hu ht cc my CNC c chng trnh ni suy tuyn tnh v ni
suy cung trn; mt s my CNC c thm ni suy xon c; rt t my c ni suy
parabol v ni suy cubic.
Ni suy xon c c s dng hu ht trn cc my CNC hin i. y l s
kt hp ni suy tuyn tnh 2 trc trong mt phng v ni suy tuyn tnh dc theo trc
75

th 3. Ni suy xon c iu khin tt c cc trc trong khng gian v ch yu gia
cng cc mt xon c (hnh 2-24). Tuy nhin ni suy xon c cng c s dng
gia cng mt ren ng knh ln.
Ni suy parabol s dng 3 im khng thng hng xp x ng cong t
do. N c dng ct gt mt cong hai chiu hoc trong khng gian. Trn hnh 2-
22 l s ni suy parabol xp x ng cong bng ba im P1, P2, P3. im P1
v P3 l hai im cui ca ng cong, cn im P2 l im gia ca on thng ni
hai im P4 v P5. im P4 l im gia ca on thng ni hai im P1 v P3. Cc
on thng L1 v L2 l ng cu trc c b sung thm xy dng ng cong.
ng cong c hai im cui tip xc vi hai on thng L1 v L2 ti P1 v P3 v i
qua P2. im P1 bit t cu lnh trc, cn P2, P3 c a vo hai cu lnh tip
theo. C th xp x ng cong bc cao bng ni suy parabol nu cc on lin tip
ca ng cong c tip tuyn chung (hnh 2-23).
Ni suy cubic l ni suy bc 3 v c th to ra ng dch chuyn dao gia
cng cc hnh khi rt phc tp nh khun dp cc chi tit v xe t. Dng ni suy
ny khng ch xp x cc ng cong m cn to ra ng chuyn tip trn gia
chng. Chng trnh ni suy cubic rt phc tp nn i hi my tnh mnh v b nh
ln. Rt may l hin nay cng ngh my tnh cung cp cho chng ta nhng my
tnh mnh vi gi tng i r. v th chng trnh n suy cubic c iu kin s
dng.
Ngi ta xy dng cc mch in t hoc cc chng trnh phn mm ni suy
theo hai phng php:
- Phn tch vi phn s (Digital Differential Analyser - DDA).
- Hm nh gi.
C s ca phng php phn tch vi phn s th hin php bin i hm s
xc nh to cc im trung gian trn ng dch chuyn sang dng tng cc tch
phn ri tm cch lin tc cng thm gia s sau mi bc dch chuyn.

Hnh 2-22. Ni suy para bol Hnh 2-23. Xp x ng cong bc cao
bng ni suy parabol
76

Ni dung ch yu ca phng
php hm nh gi l ta xy dng
hm nh gi (so snh) trn cc d
liu cho trc. Sau mi bc dch
chuyn, hm nh gi nhn gi tr
mi. Da vo gi tr ca hm ny (> 0
hay < 0) m lnh cho dn ng thc
hin bc dch chuyn tip theo. Di
y chng ta xem xt c s ton hc
ca hai dng ni suy ch yu l ni
suy tuyn tnh v ni suy cung trn.


Hnh 2-24. Ni suy xon c gia
cng rnh xon
a) Ni suy tuyn tnh
Trong ni suy tuyn tnh, dao ct dch chuyn t im ban u n im ch
theo mt ng thng. khi lp trnh ch cn a vo to im ch v im ban u
c xc nh khi my kt thc lnh trc . Ni suy tuyn tnh c th thc
hin trong 5 trc to (X, Y, Z v hai trc quay A, B). Tuy nhin hu ht cc my
NC/CNC ch s dng ni suy trong 2 hoc 3 trc. Ni suy tuyn tnh cn cc tham s
sau:
- To im ban u.
- To im ch.
- Tc dch chuyn.
V mt l thuyt, ni suy tuyn tnh cho php dao ct dch chuyn theo tt c
cc loi ng chy dao: ng thng, cung trn, ng trn, ng cong, xon c...
Tuy nhin do d liu lp trnh qu ln ngi ta ch s dng trong gii hn ng
thng. gia cng cc ng cong khc ngi ta s dng ni suy cung trn, xon c,
parabol...
1. Ni suy tuyn tnh theo phng php DDA.
Gi s dao ct dch chuyn t im S

n im

E (hnh 2-25a) theo mt ng
thng vi tc s (lng chy dao). Trong thi gian T = l/s cc on thng l
X
= x
E
- x
S

v l
Y
= y
E
- y
S
phi c dn ng chay dao theo cc trc X v Y thc hin. Gi tr to
cc im trung gian cn c tnh nh mt hm s theo thi gian thc:
( ) t u x t x
x S
+ =
(1a)
( ) t u y t y
y S
+ = (1b)
Hay:
dt u dx
x
= (2a)
77

dt u dy
y
= (2b)
Tch phn cc cng thc 2a, 2b ta c:
( )
}
+ =
0
dt u x t x
x S
(3a)
( )
}
+ =
0
dt u y t y
y S
(3b)

a) b)
Hnh 2-25. Ni suy tuyn tnh
Theo phng php DDA (a) v Theo phng php hm nh gi (b).
Bng cch chia thi gian T thnh cc phn nh t = T/N ta c th tnh cc
tch phn 3a, 3b bng cc cng thc:
( ) t u x t x
x S
A + =


( ) t u y t y
y S
A + =


( ) n
N
x x
x t x
S E
S

+ =
( ) n
N
y y
y t y
S E
S

+ =
Trong :
n = 1, 2, 3...N.
N t
x x
T
l
u
S E x
x
. A

= =
N t
y y
T
l
u
S E
y
y
. A

= =
Vi mi bc dch chuyn sau thi gian t, to cc im trung gian tng ln
mt gi tr bng hng s. bo m chnh xc gia cng, gia s thi gian t phi
nh sao cho gia tng x, y phi nh hn rt nhiu n v lp trnh c bn. Thng thng
n v lp trnh c bn ca cc my CNC bng 0,001 mm.
78

Theo cc cng thc trn ta thy vn tc dch chuyn trn mi trc t l thun
vi cc khong cch gia im u v im ch trn mi trc:
s
x
: s
y
= l
X
: l
Y

Cc b mt phc tp c th c gia cng nu xp x chng bng tp hp cc
on thng ni tip. Hu ht cc phn mm CAD/CAM hin nay u s dng ni suy
tuyn tnh xut ra chng trnh NC gia cng cc mt phc tp.
2. Ni suy tuyn tnh theo hm nh gi.
on thng SE (hnh 2-25b) chia mt phng to thnh hai min: pha trn
on SE hm nh gi F > 0; pha di on SE hm nh gi F < 0; khi F = 0 to
im tc thi nm ngay trn on SE.
Theo hnh 2-25b th khi F > 0 dch chuyn thc hin theo trc X, ngc li -
theo Y. Gi s to im tc thi ca dao ct l xi v yj, ta lp hm nh gi nh
sau:
E ,
. . y x y x F
i j E j i
=

Ti thi im bt u gia cng (ti im S) gi tr hm F
0,0
= 0.
Sau mt bc dch chuyn theo trc X, gi tr hm F nh sau:
E 1 , 1
. . y x y x F
i j E j i + +
=

Nhng
1
1
+ =
+ i i
x x
nn:
E i j E j i
y y x y x F =
+ E , 1
. .

Do ;
E j i j i
y F F =
+ , , 1

Tng t nh trn, kt qu sau mt bc dch chuyn theo trc Y l:
E j i j i
x F F + =
+ , 1 ,

xc nh gi tr hm F sau mt xung dch chuyn theo trc X ta ly gi tr
ca hm F trc tr i to y
E
, cn sau mt bc dch chuyn theo trc Y - cng
thm x
E
.
b) Ni suy cung trn
Trn cc my NC ni suy cung trn b gii hn trong cung nh hn 90
0
. Nh
vy mt ng trn cn lp trnh 5 cu lnh. Ngy nay, trn my CNC lp trnh gia
cng cung trn, ng trn ngi ta ch cn mt cu lnh n gin. Ni suy cung trn
rt phc tp c v mt xy dng mch in t v phn mm my tnh, do n c
gii hn trong mt phng (2 chiu). Trong thc t trn cc my CNC ta c th lp trnh
79

gia cng cung, ng trn theo cc mt phng XY, YZ hoc ZX. Cc tham s ni
suy cung trn bao gm:
- To im ban u S.
- To im ch E.
- Bn knh cung trn hoc to tm ca cung trn.
- Chiu dch chuyn ca dao ct (cng hay ngc chiu kim ng h).
1. Ni suy cung trn theo phng php DDA

a) b)
Hnh 2-26. S ni suy cung trn
Theo phng php DDA (a) v theo hm nh gi (b).
Xt trng hp dao ct dch chuyn theo cung trn trong mt phng XY (hnh
2-26a) c phng trnh tham s:
cos . R x = (4a)
sin . R y = (4b)
Trong :
t
R
u
t . . = =e
e - Vn tc gc
R Bn knh cung trn
u - vn tc di ca dao ct (lng chy dao).
T cc cng thc 4a, 4b ta c:
dt y dt R dx . . . sin . . e e = = (5a)
dt x dt R dy . . . cos . . e e = = (5b)
Tch phn 5a v 5b theo thi gian ta c:
}
=
t
S
dt y x t x
0
. . ) ( e

80

}
+ =
t
S
dt x y t y
0
. . ) ( e

C th tnh cc tch phn trn bng cc cng thc gn ng:
( )

A = t y x t x
S
. e (6a)
( )

A = t x y t y
S
. e (6b)
Theo cc cng thc 6a, 6b th cc gia s khng phi l hng m bin i cng
vi s cc to x(t) v y(t).
2. Ni suy cung trn theo hm nh gi
Xt trng hp dao ct dch chuyn theo cung trn nm gn trong gc th
nht (hnh hnh 2-26b). Lc ny i vi min nm ngoi cung trn hm nh gi F
i,j
>
0; ngc li : F
i,j
< 0. Dao ct s dch chuyn nh sau:
Nu im trung gian nm trn hoc bn ngoi cung trn, dao ct dch chuyn
theo chiu -X; ngc li - theo chiu +Y. Hm nh gi c cng thc nh sau:
2 2 2
,
R y x F
i j i
+ =
Ti im ban u F
0,0
= 0;
Sau mt bc dch chuyn theo chiu -X, to tc thi x
i+1
= x
i
- 1, cn theo
chiu +Y to y
j+1
= y
j
+ 1.
Gi tr hm nh gi s l:
1 . 2
,
2 2 2
1 , 1
+ = + =
+ + i j i j i j i
x F R y x F

1 . 2
,
2 2
1
2
1 ,
+ + = + =
+ + j j i j i j i
y F R y x F
Nh vy xc nh gi tr tc thi ca hm F
i,j
ta ly gi tr trc ca n
tr i 2.x
i
nu chiu dch chuyn l -X, hoc cng thm 2.y
j
nu chiu chuyn ng l
+Y.
2.5. H thng phn hi (feedback)
2.5.1. Cc kiu h thng phn hi
Cc cm bin o ca my CNC cn phi m bo chnh xc cao trong khi
gii hn o rt rng. V vy cc cm bin o ny c mt s c im khc vi nhng
cm bin truyn thng thng dng o dch chuyn di. V d nhiu cm bin o
kiu in c chnh xc 1 - 2 m trong gii hn o 100 - 200 m cho ta sai s tng
i khong 1%. Nh vy chng c coi l nhng cm bin o c chnh xc yu
cu. Nhng i vi nhng my CNC sai lch 10 - 20m trong gii hn o 1000 mm
hoc ln hn cho sai s tng i 0,0001%. Vi chnh xc nh vy nhng cm
bin o truyn thng khng th p ng yu cu t ra. Trn cc my cng c trc
81

kia bo m chnh xc gia cng ngi ta cn s dng cc phng tin o tch
cc trc tip o kch thc ca chi tit gia cng. Tuy nhin nhng phng tin ny l
nhng phng tin chuyn dng, do cng khng thch hp trong vic kim tra kch
thc ca nhng chi tit gia cng trn my CNC.
i vi nhng my CNC ngi ta phi tm nhng gii php o lng khc
hn nhm bo m chnh xc gia cng: l phng php o gin tip bo m
chnh xc v tr ca dao so vi chi tit. Cc tn hiu o qung ng dch chuyn
5
lin
tc c a v h thng iu khin hiu chnh v tr ca dao so vi chi tit. Ngoi
ra i b phn cc my CNC lm vic theo nguyn tc phn hi hay tc dng kn,
trong tn hiu phn hi c ly t h thng phn hi (o ng dch chuyn).
chnh xc ca my CNC v th ph thuc rt nhiu vo h thng phn hi. R rng l
cn phi hiu bit tt v cc h thng phn hi trc khi xem xt bao qut ton b
qu trnh iu khin my. C rt nhiu h thng phn hi c thit k ch to m s
khc bit gia chng ch yu do gii php k thut linh kin. Trn c bn chng u
da vo mt s nguyn tc, m theo ta c th chia cc h thng phn hi thnh cc
nhm sau:
- Theo hnh thc truyn ng, t trch ly gi tr o:
o H thng phn hi tnh tin.
o H thng phn hi quay.
- Theo hnh thc nh lng gi tr o:
o H thng phn hi s.
o H thng phn hi tng t.
- Theo nguyn tc o:
o H thng phn hi gia s.
o H thng phn hi tuyt i.
Khi xy dng h thng phn hi ngi thit k ng trc s la chn h
thng tnh tin hay quay, bi v y l hai cch duy nht c th ly tn hiu v
qung ng dch chuyn ca bn my hay ca chi tit.
Vi mt h thng tnh tin, ngha l vi mt thc thng ta c th t c
chnh xc cao nht. l v h thng tnh tin khng cn ti mt hnh thc truyn dn
c kh trung gian no gia bn my hay h thng phn hi. Ngay c vt me v h thng
khng ph thuc vo lc tc ng ln trc dn ng v chnh xc ca cc khu
ng hc.
H thng quay phn hi thng qua o s vng quay ca trc vt me dn ng
hoc qua khu truyn ng trung gian bnh rng - thanh rng. Do c khu truyn ng
c kh trung gian m h thng quay khng th c s vch chia ln v chnh xc

5
Thc ra y l cc h thng o v tr ca bn my hoc dao ct so vi im chun
(thng l im zero phi).
82

cao nh thc o thng trong h thng tnh tin. Nhng mt h thng quay trong
nhiu trng hp li n gin hn, r tin hn h thng tnh tin. Trng hp ph bin
nht v n gin nht l s dng trc tip vt me bn my lm trc o. Nh vy t ra
nhng yu cu k thut cao khi ch to trc vt me ny. Chng chng ta cng vng
v chnh xc cao s kh b c hiu ng bc nhy do h s ma st trn tng
on dch chuyn khng u nhau, hoc do cng vng ca cc chi tit my khng
m bo, c bit khi trt.
Hiu ng ny gy ra li ch th khng mong mun trn thang o, nh hng
n chnh xc nh v (hiu ng ny thng c gi l hiu ng S-S-E: Stick-Slip-
Effekt). Khu dn ng phi kh b c mi khe h iu chnh v bn thn chng
phi t mn. Nhng yu cu k thut ni trn ch c th tho mn khi s dng vt me -
ai c ln.
Khi dng bnh rng - thanh rng lm khu truyn ng trung gian cho h
thng o th kt qu o khng ph thuc vo vt me bn my na nhng bn thn b
truyn thanh rng - bnh rng phi c chnh xc cao nht. Ngoi i hi phi c
mt bnh rng o trung gian gia h thng o v h thng truyn ng vi chnh
xc rt cao. Nu ch c thn tu cp truyn ng bnh rng - thanh rng th kh nng
chia vn cha .
2.5.2. H thng phn hi kiu s - tng i.
Khi biu th gi tr o bng s, chiu di qung ng dch chuyn cn o S
c chia thnh cc bc tin nh lin tc bng nhau (xem mc thit b ni suy) gi l
n v lp trnh nh nht q. Nh vy cc i lng o dng s l mt s nguyn ca
cc bc o n v ny. Dng n gin nht ca mt h thng phn hi kiu s l s
dng mt a chia vch o lp trn u trc vt me dn ng. T bo quang in c
kch thch v sn sinh ra mt xung in ng vi mt bc dch chuyn q ca bn my.
Cc xung in c cng li trong mt b m in t. Thng qua b m,
ch c on ng dch chuyn c o. V tr ca bn my ti thi im no c
khai bo v ch th sau khi tng hp cc qung ng dch chuyn. V mi v tr ca
bn my ch c th c tm ra thng qua s gia tng hoc gim i ca on ng k
t v tr trc nn h thng o ny c gi l h thng o gia s hay tng i. V
mt k thut, do xut hin chui o lng m cn thit phi m bo tuyt i loi b
c cc li kch t, li m v cc xung nhiu. Nu khng ch cn sai v tr u tin
th ton b cc v tr tip theo s b sai lch.
Mt h thng o kiu s - tng i cho php lp trnh khng nhng i vi
nhng s o tuyt i m c vi nhng s o tng i (hnh 2-27 v 2-28). iu ny
c th thc hin c khi b m c chnh v gi tr chnh lch so vi v tr tip
theo. Cc xung t h thng o c pht ra v c m cho n khi t tr s xc
83

nh trc. B m lc ny tr thnh b so snh trong h thng iu khin ca my.
Cc h thng phn hi kiu s - tng i c ng dng hin nay l:
- a chia vch o quay (encoder quay).
- Thc chia vch o tnh tin (encoder tnh tin).

Hnh 2-27. H thng o gin tip quay
1. Bn my;2.a vch chun;3. Vt
me;4. u pht.

Hnh 2-28. H thng o gin tip tnh tin
1. Vch chun; 2. V tr trc;3. V tr hin
thi;4. im tham chiu.
Cc thc chia vch o c th c ch to t thu tinh quang hc hoc t
kim loi (dng vt liu phn quang chia vch o). vch chia kch thch quang
in v to xung tin cy ng thi bit c chiu m ngi ta dng nhiu phng n
b tr kch thch quang in khc nhau. Qu trnh c xy ra trn li chn (mt n),
do khng ch c trn mt vch chia m cn nhiu vch chia khc i ti lin tc,
tun t (hnh 2-29). Nh vy lm cc t bo quang in nhn c quang lng ln.
Ngoi ta s hn ch c cc li chia vch xut hin cc b trn thc o do s hnh
thnh cc gi tr trung gian.
xc nh chiu m ng theo chiu dch chuyn, cc h thng o s - gia
s s dng b m thun nghch. iu ny thc s cn thit v hai nguyn nhn:
- Trn b m thun nghch c th a ra c gi tr o tuyt i cho mc
ch hin th v tr ca bn my hoc x l tip tc trong h thng iu
khin.
- C th bit c v hn ch c sai lch gi tr o do kh nng chy qu
im dng cng nh do cc rung ng trn my gy ra. Cc rung ng c
th dn ti hu qu mt bc dch chuyn b ln i hoc cng thm xung
khng mong mun. Mt h thng o nhy cm vi chiu o c th cng
thm hay tr bt i mt cch ng n nhng xung nhiu ny sao cho kh
c sai lch v lng gia tng ng dch chuyn.
H thng t c nhy cm v chiu nh 2 t bo quang in 3 v 4 t
lch nhau 1/4 bc chia vch T. Li chn 5 phc v cho mc ch ny, cng c
chia thnh hai hng l lch nhau 1/4 bc chia vch T. Cc xung pht ra theo th t
lch nhau 90
o
v in v c dn vo mch chn chiu m sau khi c nn
thnh dng xung ch nht (xung vung).
84

nng cao tinh ca thc chia vch o ngi ta s dng cc gii php k
thut sau:
- Chia nh hn na chia vch trn thc bng phng php nhn xung.
- Khuych i vch chia.
- Ni suy gia cc vch chia.
Trong trng hp s dng phng php nhn xung chng ta cn b tr 2 t
bo quang in lch pha nhau 90
o
v mt mch nh gi thch hp.


Hnh 2-29. Thc o s tng i (encoder)
85

2.5.3. H thng phn hi kiu s - tuyt i
phng php phn hi s - tuyt i, qung ng dch chuyn cng c
chia thnh cc n v lp trnh nh nht. S o qung ng dch chuyn c so snh
vi im gc c nh (im Zero), ngha l ti mi v tr u c tn hiu phn bit r
rng vi tt c cc v tr khc (hnh 2-32). nhn bit chng, ngha l xc nh ng
v tr ca bn my hin thi, ngi ta s dng h thng m nh phn hoc nh - thp
phn. Cc gi tr o lc ny l t hp ca cc ch s 0 v 1 ng vi vng trng hay en
trn thc o (hnh 2-30, 2-31, 2-32, 2-33). Thc o thng c ch to t thu tinh
quang hc hoc t kim loi nhn bng c gn cht dn in, dn t hay phn quang.
Vch chia tinh nht xc nh n v lp trnh nh nht. Chng hn mt thc o nh
vy s rt tn km khi ch to, m ho v lp rp. Chnh v vy thng thng cc h
thng ny dng a o quay (hnh 2-33).



Hnh 2-30. Thc o s tuyt i
1. u thu; 2. Thc quang

Hnh 2-31. Thc o s tuyt i quang hc
Nu khong cch vch chia 0,01 mm th mt vng quay a 12 rnh o c
dch chuyn 10 mm ng vi 1 vng quay ca vt me c bc 10 mm. o c
qung ng di hn ngi ta s dng nhiu a o v hp s truyn ng trung gian
vi t s truyn thch hp.

Hnh 2-32. Thc o cm bin tnh tin
tuyt i. 1. Thc o m nh phn;
2. Bn my.

Hnh 2-33. Thc o cm bin
(encoder) quay tuyt i.
86

m bo chc chn cho qu trnh kch thch quang in ngi ta pht trin
nhiu phng php kch thch chuyn dng. Mt trong cc phng php l kch
thch hnh V dng cho thc o m nh phn.
2.5.4. H thng phn hi tng t (analog)
Trong cc h thng phn hi kiu tng t, chiu di qung ng S s bin
i thnh mt i lng tng t, thng l dng in p. Phn t n gin nht v
ph bin nht l bin tr (Potentiometer). Tuy nhin hin nay n c dng rt hn
ch trong cc my cng c. Cc my cng c hin i dng ph bin cc h thng o
theo nguyn tc cm ng. S bin i sang i lng tng t c thc hin v cp
lin tc. Tuy nhin chia vch khng phi nh tu . Tng chiu di on dch
chuyn cn o S phi c chn cho mt phn t tng t xc nh, sao cho n v
lp trnh nh nht vn cn o c mt cch d dng v gi tr o c th c x l
khng kh khn g. Gi tr cc gii hn a ra trc ht cn c vo cc li trong c
tnh bin i ca h thng o (v d li v tnh tuyn tnh v h s nhit trong bin tr
k) cng nh do hin tng tr trong h thng khuych i, ca ngun in p v do
nh hng nhiu i vi cc in p rt nh.
V d cn o mt on dch chuyn di 10 mm vi chia vch 0,01 mm th
li tng cng do tt c cc nh hng nu trn phi nm di 1% khong o. iu ny
i hi trong k thut tng t mt s tn km ln. Bi vy khong o ca mt b
bin i (t trc) cn phi nh hn 10 mm vi chia vch yu cu. o c
nhng on dch chuyn ln hoen, khong o c th dng chy lp, v d trng hp
cc h thng o quay c dn ng bng mt trc vt me. Khong o v bc vt me
phi c xc nh trn c s ca nhau, trng hp c th l thng qua khu trung
gian ca truyn ng o. Qua ln ca on dch chuyn m xc nh chnh xc
ca trc vt me.
Trong cc h thng o tnh tin, tng khong o trng nhau thng c xp
t dng cc ng c cm ng. Trn ln ca chiu di ng dch chuyn
chnh xc tng cng s c xc nh bi chnh xc ca cc on k cn nhau. Nh
s dch chuyn lp li ca cc on o nh, cc h thng o tng t - c trong trng
hp quay v tnh tin - u a ra mt s r nt cao. c s tng hp r nt ca cc
chiu di on dch chuyn ln hn ngi ta ng dng cc phng thc khc nhau sau
y:
Dng cc h thng o tng t ghp ni phn cp c kh. Thng thng chia
thnh 2 hoc 3 cp v gi l h th, h trung gian v h tinh. H th bao gm tng
chiu di on dch chuyn v ch iu khin bn my n v tr cn mong mun. Sau
h trung gian v h tinh m nhn dch chuyn chnh xc n v tr . Nh vy
thc cht ca php o l tuyt i.
87

Dng mt h thng o tng t trong mt mch iu chnh c phn hi lm
nhim v ng ho mt i lng dn thng xuyn thay i (gi tr cn) vi cc i
lng o (gi tr thc). Ta gi l nguyn tc dng in hay nguyn tc ng b. y
khng cho php sai s iu chnh vt qu khong o tinh, nu khng s mt tnh
ng b.
i lng dn c cp trc nh mt cm tnh ni suy. Phng php o tu
thuc cch lm vic ca cm tnh ton, chng c th l phng php s gia hoc tuyt
i.

Hnh 2-34. Resolver. a) Stato; b) R-to
Dng mt h thng o tng t, trong cc on dch chuyn c m
bng cc khong o tinh cho n khi t chiu di mong mun. Phm vi ca cc
khong ny c o theo kiu tng t. Phng php o trong khong o tinh l tuyt
i, nhng trn ton b chiu di o li l gia s. S phi hp cc phng php o nh
vy gi l phng php o chu k - tuyt i. Cc gi tr o thu thp c s c x
l tip tc trong b so snh kiu tng t, m gi tr o c chuyn i thnh mt i
lng s nh b bin i tng t s (bin i D/A). Nh vy m c th hin th v tr
ca bn my bng s.
Cc h phn hi hin i thng dng cm bin tng t dng resolver v
tachometer.
88


Hnh 2-35. S in ca resolver
Resolver thc cht l mt bin p quay (hnh 2-34). Resolver pht ra tn hiu
in AC cho mi vng quay ca r-to. Resolver gm mt cun dy trn r-to v hai
cun dy trn sta-to t lch nhau 90
o
(hnh 2-35).
Tachometer l my pht tn hiu DC (hnh 2-36). ln ca tn hiu t l
thun vi vn tc quay ca trc m n gn trn (thng l trc ng c). Da trn
tn hiu ny m ngi ta c th iu khin hoc duy tr tc quay ca ng c in
dn ng trc chnh.

Hnh 2-36. S tachometer trn trc ng c in
89

Chng 3 C S LP TRNH GIA CNG CHO MY CNC
3.1. Cc trc to v chiu chuyn ng
K hiu cc trc to cng nh chiu chuyn ng trn my NC v CNC
c tiu chun ho quc t.
3.1.1. H thng cc to
H thng cc to cc c xc nh theo qui tc bn tay phi. Theo
ngn tay gia hng theo trc Z ca my NC; ngn tr theo hng trc Y, cn ngn
ci - trc X. Nu trc chnh nm ngang th ngn tay gia t nm ngang (hnh 3-1a),
nu trc chnh thng ng th ngn tay gia t thng ng (hnh 3-1b).
Trn my NC v CNC cn c cc trc quay nh: trc ca bn quay, quay.
Cc trc ny c k hiu bng cc ch A, B v C v c th t tng ng vi cc trc
tnh tin X, Y v Z. Nu ta nhn theo hng dng ca mt trc to th chuyn
ng quay theo chiu kim ng h l chiu quay dng (hnh 3-2b).

a) b)
Hnh 3-1. Qui tc bn tay phi xc nh trc to my CNC
a) Khi trc chnh nm ngang; b) Khi trc chnh thng ng
3.1.2. Quy nh cc to trn my
a) H to trn my phay.
Trn cc my phay, trc chnh mang dao ct.
Cng nh cc my tin, cc trc Z chy song song vi trc chnh ca my.
Chiu dng ca trc Z (+Z) chy t chi tit n dao. Khi dao chuyn ng n gn
chi tit theo trc Z th chuyn ng ny theo chiu m.
Cc trc X thng nm trong mt phng g t chi tit, ni chung nm song
song vi mt phng kp cht chi tit gia cng.
Thng qua v tr khc nhau ca trc chnh m ngi ta phn bit cc trc X
trn my phay ng v trn my phay ngang.
Trn cc my phay ngang, khi ta nhn theo hng t trc chnh n chi tit gia
cng th chiu dng ca trc X chy sang phi.
90

Khi ta xc nh c cc chiu ca trc X v Z ta c v tr v chiu ca trc Y.
Ngoi cc trc to X, Y v Z cn c cc trc to khc song song vi
chng. Cc trc ny c k hiu l U, V v W tng ng song song vi X, Y v Z.
V d, trn trung tm gia cng c cc b phn trt theo cc trc U v W (hnh 3-2b).

a) b)
Hnh 3-2. H thng trc to (a) v chiu ca cc chuyn ng quay (b)
trn my phay CNC trc ng.
b) H to trn my tin
Trn cc my tin, trc chnh mang chi tit quay trn, dao ct (dao tin) thc
hin chuyn ng tnh tin theo hng X v Z.
Cc trc Z chy song song hoc trng vi trc chnh ca my. Chiu dng
ca trc Z (+Z) chy t chi tit n dao tin, ngha l dao chy xa khi chi tit. Khi
chuyn ng theo hng +Z cc gi tr to tng ln.
Chiu dng ca cc trc X (+X) chy t tm quay ca chi tit n gi dao.
Theo qui nh ny th chiu ca cc trc X s khc nhau khi g dao tin pha trc
hoc pha sau tm quay.
Hin ti c mt s my tin CNC: loi hai trc to , trung tm tin 4 trc,
trung tm tin nhiu chc nng c kh nng phay, trung tm tin hai trc chnh. Trong
khun kh ti liu ny chng ta ch cp n my tin CNC hai trc to .
Trc Z khi no cng i qua trc chnh dc theo my. Trc X vung gc vi
trc Z v hng v pha ngi vn hnh nu bn xe dao nm pha ngi vn hnh
(hnh 3-3a). Khi bn dao nm pha bn kia chi tit th trc X hng ra xa ngi vn
hnh (hnh 3-3b).
91


a) b)
Hnh 3-3. H thng to trn my tin. Trc X hng v ngi vn hnh (a) v
hng ra xa ngi vn hnh (b).
Cc trc to ca my tin CNC nh sau:
a ch trc CNC Trc ca my
Trc th nht: X (lp trnh tuyt i).
U (lp trnh tng i)
X
Trc th hai: Z (lp trnh tuyt i).
W (lp trnh tng i)
Z
U (lp trnh tng i).
Trc th ba: C (lp trnh tuyt i)
H (lp trnh tng i)
U, V hoc trc quay
Trc th t: Y (lp trnh tuyt i)
V (lp trnh tng i)
U, V hoc trc quay
Chiu ca cc trc to nh sau:
+X hoc +U khi bn trt ngang dch chuyn ngang ra xa trc chnh.
-X hoc -U khi bn trt dch chuyn ngang v pha trc chnh.
+Z hoc +W khi bn dao dch chuyn dc ra xa trc chnh.
-Z hoc -W khi bn dao tin dc v pha trc chnh.
c) Chiu chuyn ng trn my.
Trong trng hp chi tit gia cng chuyn ng thay cho dao, chuyn ng
ca g mang chi tit c k hiu l X, Y v Z, A, B v C v ngc vi chiu
chuyn ng ca dao.
Chuyn ng ca dao theo chiu dng ca trc X (+X) cng c cng mt tc
ng nh chuyn ng theo chiu dng ca chi tit (+X).
3.1.3. Cc im gc (ZERO) v cc im chun (tham kho)
V tr chnh xc ca cc h thng to do cc im ZERO quyt nh.
n gin ho trong vn hnh v trong lp trnh, ngoi cc im ZERO cn cc im
chun khc.
92

a) im gc ca my M
im gc ca my k hiu l M. y l gc ca h thng to my do nh
sn xut xc nh theo kt cu ng hc ca my. Trn my phay im ZERO thng
nm ti im gii hn dch chuyn ca bn my. Trn my tin im ny l giao im
ca trc quay v mt bch ca trc chnh (ni lp mm cp). Nh vy gc to my
to ra khng gian lm vic ca my CNC.
p
N
E
T
F
Ww
iem ZERO may
iem ZERO phoi
iem tham khao tr ve
iem chuan cua ban trt
iem cat cua dao
iem ZERO chng trnh
iem ieu chnh dung cu
iem ga lap dung cu
iem chuan cua ai dao
iem thay dung cu j)
h)
e)
d)
b)
a)
c)
f)
g)
i)
A iem ty k)
W
R
P
M

Hnh 3-4. K hiu cc im ZERO v im chun
im ZERO my c s dng trong cc trng hp sau:
- Ci t my. Rt nhiu my CNC cn c im ZERO trc khi thc hin
chng trnh no .
- im ZERO my c coi nh im tham kho (im chun) xc lp
cc im khc. Cc im gc lm vic, gc ca chng trnh, im tham
kho tr v c nh ngha v xc lp t im ZERO my.
- im thay dao. y l im trc chnh my tr v (theo trc Z) khi cn
thay dao.
K hiu ca im ZERO my th hin trn hnh 3-4a.
b) im gc ca chi tit W
im gc ca chi tit k hiu l W. y l gc ca h thng to chi tit. V
tr ca im ny do ngi lp trnh t la chn v xc nh. Thng thng ngi lp
trnh cn phi chn im W sao v tr thun li trn bn my sao cho kch thc trn
bn v gia cng cng l cc gi tr to trong h thng to ca chi tit.
93

K hiu ca im ZERO phi th hin trn hnh 3-4b.
P
M
W
X
Y
50
3
0
Mat ban may

Hnh 3-5. Ba im zero (im chun) khi gia cng chi tit
c) im gc ca chng trnh P
Cc to da trn h to my khng c ngha thc tin cho vic lp
trnh bi v n khng lin quan trc tip (do not mach) vi h to l vic. iu ny
i hi ngi lp trnh chn im thun li m t cc to trn bin dng chi tit
c o v th hin. im ZERO ca chng trnh l im cn phi c chn trc
khi lp trnh v tt nht l dao s khi bt u thc hin chng trnh. Theo nh
ngha ny th i vi chi tit phc tp ta c th chn nhiu hn mt im gc chng
trnh, trong im gc ca chng trnh c th trng vi im gc ca h to lm
vic. Nhiu im gc ca chng trnh c th xc nh trn c s im gc ca h to
lm vic.
K hiu ca im ny trn hnh 3-4c.
Mi quan h ca cc im ZERO my, ZERO phi v im ZERO chng
trnh th hin trn hnh 3-5. im ZERO ca chng trnh l tm ca ng trn phn
b l cn khoan, trong khi gc ca h to chi tit im bn tri pha di ca chi
tit. Ch rng im gc ca chng trnh cn c xc nh ti to X50 v Y30
trong h to chi tit. H to chi tit c xc nh bng m G92 hoc G54.
d) im chun tr v ca my R (im tham kho)
im chun tr v ca my k hiu l R. y l im dng bn my hoc
trc chnh li v. C th c nhiu hn mt im chun tr v, trong im u tin
l im ZERO my. Cc im khc c ci t cho nhng mc ch chuyn bit.
Trong cc my c h thng o chiu di dch chuyn, cc gi tr o s mt khi b mt
ngun in. h thng o tr li trng thi trc cn phi thit lp mt im
94

chun xc nh v tr ban u. Trong trng hp gp s c cn phi ly li im
chun ny.
K hiu ca im ny trn hnh 3-4d.
e) im t A
im t A l giao im ca cc ng trc v mt phng t. Trn cc my tin,
mt phng t nm ngay ti mm cp hoc ng kp.
K hiu ca im ny trn hnh 3-4k.
f) im thay dao Ww
trnh va p vo chi tit gia cng, khi thay dao, dao phi chy n im
thay dao Ww. K hiu ca im ny trn hnh 3-4j.
g) im iu chnh dao E
im iu chnh dao k hiu l E. y l im xc nh v tr ca dao khi
lp ln my cng nh iu chnh (hoc o) chiu di ca dao.
K hiu ca im ny trn hnh 3-4i.
h) im g dao N
im g dao k hiu N. Trn cc my phay im g dao nm mt u trc
chnh, cn trn cc my tin im g dao nm trn cc mt phng ca u revonve.
Khi lp dao im g dao N v im iu chnh dao E s trng nhau. K hiu ca im
g dao phay v im iu chnh chiu di dao phay th hin trn hnh 3-6. K hiu ca
im ny trn hnh 2-4h.
iem E,N
E
N
Vach chuan
iem ieu chnh dao E
iem ga dao N

Hnh 3-6. im chun lp dao v iu chnh chiu di dao
i) im ct ca dao p
im ct ca dao c k hiu l p. l im thc khi bn knh li ct (nh
dao) rt nh hoc bng 0. Nu bn knh nh ct ln th d lp trnh ta chn im o
95

(ko di cc li ct). Khi bn knh nh dao qu ln th ta chn im tm ca cung
trn nh dao lm im lp trnh (hnh 3-7). K hiu ca im ny trn hnh 3-4e.
p p

Hnh 3-7. im ct ca dao p
j) im chun ca bn trt F
im chun ca bn trt k hiu l F c s dng xc nh cc im
khc trn bn trt. K hiu ca im ny trn hnh 3-4f.
k) im chun i dao T
im chun ca i dao (u revonve) k hiu l T. im ny xc nh v tr
ca u revonve khi my hot ng. N cng c dng xc nh cc kch thc
khc (cc im khc) trn u revonve. K hiu ca im ny trn hnh 3-4g.
3.2. M ho thng tin
3.2.1. H thng s v cch biu din i lng trong iu khin s
B x l trung tm (CPU - Central Processing Unit) ca iu khin s ch lm
vic vi 2 trng thi 0 hoc 1 (d liu s) hay ON/OFF, do cn thit phi biu din
cc i lng lin tc thng gp hng ngy di dng cc dy s 0 v 1 da trn cc
h m (xem thm ph lc 1).
a) H thp phn (Decimal)
L h m c s 10, s dng 10 ch s 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 biu din
cc con s v i lng. y l h m thng dng hng ngy. c trng ca h m
ny l cc ch s bn tri ln hn 10 ln cc ch s bn phi lin k. Do t phi
qua tri ta c hng n v, hng chc, hng trm...
V d: 235 = 210
2
+ 310
1
+ 510
0

b) H nh phn (Binary system)
L h m c s 2 trong ch s dng 2 ch s l 0 v 1 biu din tt c
cc s v i lng. Dy s nh phn c nh s t phi sang tri. Mi ch s trong
dy nh phn c gi l bit, bt u t bt 0, k n bt 1, ri n bt 2... c nh vy
cho n bt ngoi cng bn tri l bt n. Bt nh phn th n c trng s l 2
n
, trong n
l th t ca bt trong dy s nh phn; gi tr ca bt n c th bng 0 hoc 1. Gi tr
ca dy s nh phn bng tng trng s ca tng bt trong dy. S dng h nh phn n
bt chng ta c th m ho 2
n
k t. Nhc im ca h m ny l dy s rt di.
Trong bng 3-1 di y cho thy iu .
Bng 3-1
H thp phn H nh phn S bt
96

Theo bng 3-1 th cn 3 bt
th hin s 5; 11 bt th hin con s
1150. y l dy s rt di. Chnh v l
do ny m h iu khin s khng p
dng trc tip h nh phn m ho
thng tin iu khin (do cn nhiu u c gii m). Mt nhc im na h m
nh phn l khng th biu din hn s. Trong cc h iu khin s trc kia ngi ta
hay dng h nh-thp phn hay h BCD.
Trong iu khin CNC hin i v PLC s thp phn thng c biu din
bng mt dy s nh phn 8 (hoc 16, 32, 64) bt. biu din nh vy, ngi ta
thng lm nh sau: ly s thp phn chia lin tip cho 2 sau ly phn d v vit
theo th t ngc li. Nu dy ny cha 16 bt th ta chn thm s 0 vo.
V d: s: (17)
10
= (0000 0000 0001 0001)
2

Nh trn ta thy, vic biu din mt s thp phn bng mt dy s nh phn l
rt di v mt thi gian. Hn na cc th h my NC s dng bng c l khng th
ng dng ngay c cc s di nh vy. Do ngi ta c mt cch biu din s
thp phn di dng n gin hn. l dng BCD v c dng ph bin trong iu
khin NC v PLC.
c) H nh-thp phn BCD
Nh-thp phn
BCD l h thng biu
din cc ch s ca h
thp phn bng t hp 4
bt ca h nh phn.
Cch biu din ny gi
l m BCD (Binary -
Code - Decimal) hay b
m 8421. Nh vy khi
biu din bng m BCD,
mi ch s ca s thp
phn c biu din
ring bit bng nhm 4
bit nh phn. Bng 3-2
th hin quan h gia
hai h thng s thp
phn v nh phn.
V d:
32
10
= 0011 0010
756
10
= 0111 0101 0110
359
10
= 0011 0101 1001
5 101
3
55 11 0111
6
165 1010 0101
8
1150 100 0111 1110
11
Bng 3-2
S
thp
phn
S nh phn tng ng
V tr bt 4 3 2 1
Gi tr thp phn 8 4 2 1
0 0 0 0 0
1 0 0 0 1
2 0 0 1 0
3 0 0 1 1
4 0 1 0 0
5 0 1 0 1
6 0 1 1 0
7 0 1 1 1
8 1 0 0 0
9 1 0 0 1
97

Cc ch s thp phn t 1 n 9 v s 359 c m ho trn bng c l c
th hin trn hnh 3-4. Trong ph lc 1 l tng quan v cc h thng s thng dng,
cch biu din i lng dng v m v cc php tnh s nh phn.

Hnh 3- 8. Th hin s thp phn 359 trn bng c l
3.2.2. Cu trc ca chng trnh gia cng
a) Vt mang tin
Sau khi vit xong chng trnh gia cng, cn phi ghi chng trnh ln vt
mang tin. Trn cc my NC v CNC ngi ta s dng cc vt mang tin sau:
- Ba c l.
- Bng c l.
- Bng t.
- a t.
Ngoi ra thng tin iu khin c th c th truy nhp trc tip t bn phm v
kt ni my tnh qua cng RS 232C.
Trong nhng nm u ca s pht trin NC, cc chng trnh c ghi (m
ho) trn ba hoc bng c l. u c trn my NC c nhim v a bng vo h
thng iu khin v c thng tin trn . Cc u c c th l loi c-in, quang
hc, kh nn... nh dng (kch thc v cc l) ca bng c EIA xut v c
ANSI, T chc tiu chun quc t ISO (International Standards Organization - ISO)
pht trin. Mi hng l trn bng c 8 l to thnh 8 knh (Chanel) thng tin.
Nguyn l hot ng ca u c kiu quang in nh sau: nhng v tr c
l nh sng chiu vo (bit = 1) t bo quang in pht sinh ra mt xung in, cn v
tr khng c l (bt = 0) th xung in khng pht sinh. Trn u c loi ny c 8 t
bo quang in b tr thnh mt dy theo chiu ngang ca bng c l.
98

b) H thng m ASCII cho bng c l
Bng c l thng s dng hai h thng m: EIA v ASCII. C hai h thng
m ny u dng mt loi bng c l 8 knh v h thng s BCD. H thng m EIA
ra i trc, cn m ASCII c s dng rng ri hn c.
Bng 3-3
Bng m cc ch s, ch ci a ch, v k t c bit
Knh K t
ngha
P(8) 7 6 5 4 C* 3 2 1
0 0 0 0 0 + 0 0 0 NULL B mt dng
0 0 0 0 1 + 0 1 0 LF Kt thc cu lnh
1 0 1 0 0 + 1 0 1 % Bt u chng trnh
0 0 1 0 1 + 0 0 0 ( Bt u 1 ghi ch
1 0 1 0 1 + 0 0 1 ) Kt thc 1 ghi ch
0 0 1 0 1 + 0 1 1 + Du cng
0 0 1 0 1 + 1 0 1 - Du tr
1 0 1 0 1 + 1 1 1 / B qua cu lnh
0 0 1 1 0 + 0 0 0 0
Cc ch s
1 0 1 1 0 + 0 0 1 1
1 0 1 1 0 + 0 1 0 2
0 0 1 1 0 + 0 1 1 3
1 0 1 1 0 + 1 0 0 4
0 0 1 1 0 + 1 0 1 5
0 0 1 1 0 + 1 1 0 6
1 0 1 1 0 + 1 1 1 7
1 0 1 1 1 + 0 0 0 8
0 0 1 1 1 + 0 0 1 9
0 0 1 1 1 + 0 1 0 : Khi chnh (u tin)
0 1 0 0 0 + 0 0 1 A
Cc ch ci a ch
0 1 0 0 0 + 0 1 0 B
1 1 0 0 0 + 0 1 1 C
0 1 0 0 0 + 1 0 0 D
1 1 0 0 0 + 1 0 1 E
1 1 0 0 0 + 1 1 0 F
0 1 0 0 0 + 1 1 1 G
0 1 0 0 1 + 0 0 0 H
1 1 0 0 1 + 0 0 1 I
1 1 0 0 1 + 0 1 0 J
0 1 0 0 1 + 0 1 1 K
99

Knh K t
ngha
P(8) 7 6 5 4 C* 3 2 1
1 1 0 0 1 + 1 0 0 L
0 1 0 0 1 + 1 0 1 M
0 1 0 0 1 + 1 1 0 N
1 1 0 0 1 + 1 1 1 O
0 1 0 1 0 + 0 0 0 P
1 1 0 1 0 + 0 0 1 Q
1 1 0 1 0 + 0 1 0 R
0 1 0 1 0 + 0 1 1 S
1 1 0 1 0 + 1 0 0 T
0 1 0 1 0 + 1 0 1 U
0 1 0 1 0 + 1 1 0 V
1 1 0 1 0 + 1 1 1 W
1 1 0 1 1 + 0 0 0 X
0 1 0 1 1 + 0 0 1 Y
0 1 0 1 1 + 0 1 0 Z
1 1 1 1 1 + 1 1 1 Kt thc chng trnh
Ghi ch: C* - Knh dn ng cho bng c l
Vin tiu chun quc gia (M) xut h thng m ho thng tin cho cc lnh
vc khc nhau nh in thoi, in tn, my tnh v cc ngnh cng nghip khc. Mt
s nguyn tc chung ca b m ny c th pht biu nh sau:
- Bt kim tra tnh chn: Knh th 8.
- Cc ch s t 1 n 9: S dng 4 knh 1 - 4. Tt c cc ch s cn c b
sung thm 2 knh 5, 6. V d ch s 2 c m ho s c cc l trn knh 8,
6, 5, 2, ch s 5 c cc l 6, 5, 3, 1 (knh 8 khng c l kim tra v s l l
s chn).
- Cc ch ci (A-Z): Cc ch ci c m ho trn cc knh 1 - 5 lun lun
b sung thm knh 7. V d ch B c m ho c cc l knh 7 v knh
2, tng t ch S c cc l trn cc knh 7, 5, 2 v 1.
M ASCI ph hp hon ton vi m ca ISO v khng c phn bit trong s
dng (bng 3-3).
c) M NC
Mt chng trnh gia cng (iu khin) NC cha ng tt c cc thng tin cn
thit thc hin mt hay nhiu bc cng ngh gia cng xc nh trn mt my
CNC. Chng trnh gm: du hiu bt u chng trnh; sau l trnh t cc cu
lnh. Kt thc chng trnh bng mt chc nng ph.
Trc du hiu bt u chng trnh c th c mt on vn bn (text) bt
k gii thch chng trnh. on ny ch khng c php cha du hiu bt u
100

chng trnh. H iu khin khng hiu c tt c nhng thng tin ng trc du
hiu bt u chng trnh. Cng nh vy, h iu khin b qua khng c mi iu
lu thuc chng trnh, nm gia du hiu bt u ch v du hiu kt thc cc
ch .
Cu trc ca mt chng trnh gia cng iu khin CNC cng c tiu chun
ho ( c theo DIN 66025). Cc cu lnh (block) c lp t cc t my NC
(WORD), k t v ch ci a ch. C 3 loi k t c s dng khi lp trnh NC: ch
s, ch ci v cc k t c bit (symbol). Mi mt k t c th hin bng 8 bit,
hnh thc n gin ca thng tin.
d) Bit
Bit m t tng trng mt trong hai trng thi c th, v d ON hoc OFF,
1 hoc 0, cao hoc thp... Trn bng c l, bit th hin bng c (1) hoc
khng c l (0) trong hng.
e) K t
Tp hp 8 bit thnh mt dy trn bng c l biu th mt s, mt ch ci
hoc biu tng, gi chung l k t. V d k t A th hin nh sau: 01000001.
f) Ch ci a ch (Adresse)
Cc ch ci in hoa c dng bt u mt t my NC v xc nh ngha
ca con s k tip. Nhng ch ci a ch theo tiu chun EIA, ISO v DIN 66025
(c) th hin trong bng 3-3. Th d di y cho thy G, Z v F l cc ch ci a
ch.

g) T my NC
Mi t my hm cha mt thng tin v k thut lp trnh, v hnh hc hoc v
cng ngh. T my c thit lp thng qua phi hp cc con s v a ch, cho php
lng ho chnh xc cc chc nng yu cu.
V d: X420: Chuyn ng trn trc X n im c ta X = 420 mm.
Cc t my xc nh mt cch tng thch vi kiu nh dng trn tng my.
Trong phng thc vit lin tc kiu thng dng, mi t my NC bao gm
mt ch ci a ch v mt con s vit lin sau gi l d liu. Ngoi ra, cc thng
tin khc a vo h thng NC cho vic gia cng phi cng c gi l d liu. Cc t
my NC cch nhau bng mt du cch. H iu khin nhn bit dng ca t my NC
nh ch ci a ch. D liu c h iu khin hiu l s dng nu n khng c du
m ng trc. Th d 01, 0, 2000 l d liu trong dng lnh di y:
101


To nh dng (format) l to lp cc lnh iu hnh thuc phn cng
(hardware) trong thng tin iu hnh c m ho. S lng cc con s cn
dng biu din d liu ph thuc vo tng kiu ca h thng iu khin s. Thng
thng cc d liu c vit nh chng ta bit v dng hng ngy. Tuy nhin c
th dng nh dng 4x4 (theo h inch) hoc 5x3 (theo h mt). Th d theo nh dng
4x4 th t my X50000 c d liu 5.0 inch; nu vit X5000 th d liu l 5.0 mm.
Trong phng thc vit a ch kiu Tab, mi t my u c vit vo pha
trc ch ci a ch mt du Tab. Khong cch gia cc t my bng 1 Tab. Cch
vit ny c u im khi phn tch chng trnh thnh danh mc chng trnh s a ra
c mt din t tng quan, bi v tt c mi t my c cng a ch u ng di
nhau theo mt ct. Nhc im l chng trnh s chim dng nhiu ch trn vt
mang tin (trn bng c l), hay chim nhiu b nh ca my CNC.
Cc t my c xp vo cu lnh theo mt trnh t cht ch (my NC),
nhng cng c th khng cn theo trt t no (my CNC).
Hu ht cc ch ci v biu tng c n nh mt chc nng NC. Cc chc
nng NC c phn thnh 8 nhm sau:
- S th t (N).
- Cc chc nng chun b (G).
- Cc a ch to hnh hc (X, Y v Z).
- Cc a ch to tm ca cung v ng trn (I, J v K).
- Chc nng tc trc chnh (S).
- Chc nng dao (T).
- Chc nng tc chy dao (F).
- Cc chc nng b tr (M).
V d v cc t my NC:
N10 - Cu lnh th 10.
G01 - Ni suy tuyn tnh, dch chuyn thng.
X1.0 - To X bng 1.
F10.0 - Tc chy dao bng 10.
T1, T01, T0103, T0100 Dao s 1.
M06 - Lnh thay i t ng dao ct.
h) Cu lnh (block)
Cu lnh l mt tp hp cc t my NC to thnh mt n v ca chng trnh
gia cng v c h thng iu khin x l (thc hin) ring bit trong mt bc cng
102

ngh. Cu lnh c th n gin (gm mt t my NC), hoc phc hp (gm nhiu t
my NC). V d:
N05 G90 G80 G17 Cu lnh c 4 t my.
N10 M06 T01 Cu lnh c 3 t my.
N15 G01 X2.0 Y1.5 F7.5 Cu lnh c 5 t my.
N20 S th t ca cu lnh
G01 Dch chuyn chy dao thng.
Xx, Yy To im m dao phi n
Ff Vn tc chuyn ng (lng chy dao).
i) S th t cu lnh
S th t c s dng tm kim hoc gi ti v tr mt dng lnh no ,
hoc tm mt v tr m chng ta mun sa cha chng trnh d dng. S th t
c th hin bng mt s gm 5 ch s theo sau k t N. S th t c th hin
cho tng dng lnh v tng vi gia s bt k, khng nht thit l 1. V d sau y s
th t tng dn vi gia s l 5:
N05 G90 G80 G17
N10 M06 T01
N15 G01 X2.0 Y1.5 F7.5
Trn cc my CNC hin i, s t t cn dng ch nh mt phn chng
trnh, s dng mt dao ct xc nh. V d:
O0001
G91 G28 Z0 T9001
M06
N1;------------------------------------------------ S th t
G90 G00 G54 X90.0 Y105.0
G91 G28 Z0 M05
M01;
M06;
N2;------------------------------------------------ S th t
G90 G00 G54 X0 Y0;
M30;
Ch :
1. Nu s ch s th t ln hn 5, th 5 ch s t v tr c gi tr nh nht
c nhn l s th t.
2. Khng nht thit phi s dng s th t.
103

3. Nu mt dung lng chng trnh qu di v vt qu sc cha ca b nh
th t s th t vo v tr bt u ca mi nguyn cng (hay bc), hoc
khng s dng s th t, iu ny s gip tit kim b nh.
3.2.3. D liu ca chng trnh
Vn bn chng trnh gia cng trn cc my NC c thit lp v qun l theo
tiu chun ISO-6983. Tiu chun ny nh ngha v phn loi d liu cn thit khc
nhau nhm thc hin cc cng vic k thut trn my NC. Di y xin ghi nh
nhng nhm d liu c bn, l:
D liu hnh hc: Gm cc to xc nh hnh dng v kch thc ca chi
tit gia cng. Chng gm c:
- Cc to gc v cc ta iu chnh gc.
- Kch thc xc nh hnh dng dao (chiu di dao L, ng knh dao C...)
- Kiu ni suy hay kiu hnh hc ca qu o chuyn ng.
- V tr dao so vi bin dng gia cng.
Cm iu khin s s thit lp t cc d liu ny nhng tc v tr trong
chuyn ng tng i gia chi tit v dao ct.
D liu h tr x l: Cc d liu hnh hc khng xc nh mt tp hp
cc chuyn ng ring to thnh chu k lm vic. Do vy phi b sung cc d liu x
l, bao gm.:
- Cc chu k gia cng khc nhau.
- Cc chu k kch thc.
- Thi im dng kim tra.
- La chn iu chnh.
- La chn dao.
Cc d liu k thut hay d liu cng ngh l nhng d liu xc nh cc iu
kin gia cng: tc quay ca trc chnh, tc d chy dao, la chn bi trn...
Khuynh hng mi nht v nhanh nht xc nh cc d liu k thut ny l a vo
cc d liu v c trng vt liu, dao ct v cht lng yu cu ca b mt gia cng; t
cm iu khin thit lp cc iu kin ct gt.
3.3. Cc bc lp trnh NC
vit c mt chng trnh NC tt, khng b li chng ta cn phi thc
hin cc bc sau y:
- Nghin cu bn v chi tit.
- La chn phi, lp bn v phi.
- Phn tch chi tit thnh cc khi hnh hc (feature) v chn phng php
cng ngh gia cng.
104

- Lp th t gia cng (thng tin trnh t).
- Xc nh ng chy dao, lp bng to cc im chuyn tip, xc nh
cc im chun (im 0) ca chi tit (thng tin hnh hc).
- Lp s cc bc cng ngh gia cng.
- La chn hoc tnh ton thng s cng ngh (thng tin cng ngh).
- Vit chng trnh gia cng, lp bng chng trnh.
Di y ta ch xem xt mt s bc c th ca qu trnh lp trnh gia cng
trn my CNC. Cc bc khc c xem xt k trong cc mn hc khc nh cng
ngh ch to my, g, dao ct...
3.3.1. Nghin cu bn v chi tit
Nghin cu bn v chi tit l bc u tin lp trnh gia cng. Cn phi
nghin cu bn v chi tit theo cc vn sau y:
- Kiu, hnh dng v kch thc bin ca phi.
- Cc khi hnh hc to nn chi tit.
- Kch thc v dung sai hnh hc.
- Nhng b mt cn gia cng tinh.
- Cc b mt lm chun nh v v chun o.
- Vt liu ca phi.
Kch thc ca mt s chi tit c cho c th khng ph hp cho lp trnh
NC, v vy cn thit chuyn i sao cho c th trc tip s dng chng khi lp trnh.
thc hin ng iu ny cn da vo cc cn c sau y:
- H thng to c sn trn my CNC.
- H thng d liu ca my.
- La chn cc im tham kho (im ZERO phi).
- Khng gian gia cng ca my.
- Cc thng s cng ngh.
Khi la chn mt chun cng ngh cn ch n:
- Cc b mt lm vic quan trng ca chi tit hoc cm lp rp.
- Cc b mt dng lp rp chi tit hoc cm lp rp khc.
- Cc b mt c gia cng trc.
- Cc b mt m dao d dng tip cn.
- Cc b mt song song vi phng chuyn ng ca bn my hoc dao.
3.3.2. Phn tch chi tit thnh cc khi hnh hc
Vic phn tch chi tit thnh cc khi hnh hc l rt cn thit bi v cc khi
hnh hc hc ny quy nh phng php cng ngh gia cng, loi v kch thc dao,
nhng trang b cng ngh v dao ph cng nh ng chy dao. C hai loi khi hnh
hc: khi hnh hc c bn v khi hnh hc kt hp. Khi hnh hc c bn c hnh
dng n gin v thng ch cn mt nguyn cng (bc) cng ngh. V d v khi
105

hnh hc c bn c th l: cc l tr, rnh, hc. Mt s khi hnh hc c bn cn n
hai hoc nhiu hn bc cng ngh, v d l khng xuyn cn khoan ht chiu su sau
khot phng y.
Cc khi hnh hc kt hp c to thnh t 2 hoc nhiu hn khi hnh hc
c bn. Chng cn mt s nguyn cng cng ngh gia cng. V d cc l bc, l ren...
3.3.3. Ghi kch thc cho chi tit
a) Lp trnh trong ta tuyt i
Lp chng trnh gia cng theo ta tuyt i l tham chiu ta ca tt c
cc im nm trn bin dng chi tit n gc ta c nh. Trn my tin cc kch
thc di xut pht t mt im (hnh 3-9). Trong trng hp ny, im gc h ta
chnh l im gc chng trnh P. Trong chng trnh gia cng trn my CNC, n
c xc nh bng lnh a ch G90.

Hnh 3-9. Ghi kch thc theo to tuyt i
b) Chng trnh trong ta tng i (Incremental)
Vi kiu lp trnh ny, ta ca im lp trnh tip theo s c xc nh
bng cch ly gc ta ngay im st trc, iu ny c ngha l ta phi dch
chuyn im gc P ca h ta sau mi mt ln xc nh to ca im lp trnh
tip theo (hnh 3-10). Trong chng trnh gia cng trn my CNC, n c xc nh
bng lnh a ch G91.
106


Hnh 3-10. Ghi kch thc theo to tng i
c) Chng trnh vi vic lp trnh hn hp
Trong mt s trng hp, ty theo c im c th ca bn v chi tit ch to
m vic lp trnh c th phi c tin hnh theo kiu hn hp gia chng trnh gia
cng trong h to tuyt i v chng trnh gia cng trong h to tng i
(hnh 3-11).
Vi phng php ny n cho php chng ta mt mt c th s dng c ton
b min dung sai m nh thit k tnh ton v khng tin hnh gii li chui kch
thc, mt khc s trnh c sai st khng ng c trong qu trnh tnh ton v do
c th t c chnh xc cao nht. Tuy vy trong qu trnh lp trnh gia cng cn
phi ch v cn thn hn v d b nhm ln v gi tr to (c bit vi trng hp
khi tin s ly theo to ca ng knh hoc bn knh).

Hnh 3-11. Ghi kch thc theo h to hn hp
d) Lp trnh vi vic chn trc gc cc (Polar origin preset G93)
C mt s b mt m iu kin lp trnh tr thnh n gin nu ta s dng h
to cc vi gc cc c chn trc. Trong trng hp ny h iu khin CNC
cho php chng ta tin hnh lp trnh thun li hn. Mt s h iu khin cn cho
107

php ta lp h ta cc vi gc cc ti mt im trong h ta cc (hnh 3-12).
Mt im bt k trong h ta cc c xc nh bng gc quay PA v bn knh cc
PR (tng ng trong FANUC l Q v R).

Hnh 3-12. Xc lp h ta cc trong Heidenhain-TNC

Hnh 3-13. Ghi kch thc theo h to cc (FANUC)
V d gia cng bin dng nh trn hnh 3-12 c s dng h ta cc (theo
FANUC).
Trong h ta tuyt i Trong h ta tng i
G90 X0 Y0 [ im P0] G90 X0 Y0 [im P0]
G01 R100 Q0 [im P1] G91 G01 R100 Q0 [im P1]
G03 Q30 [im P2] G03 Q30 [ im P2]
G01 R50 Q30 [im P3] G01 R-50 Q0 [im P3]
G03 Q60 [im P4] G03 Q30 [im P4]
G01 R100 Q60 [im P5] G01 R50 Q0 [im P5]
G03 Q90 [im P6] G03 Q30 [im P6]
108

G01 R0 Q90[ im P0] G01 R-100 Q0 [im P0]
3.4. Cc hnh thc bo m chng trnh
3.4.1. Lp trnh bng tay trc tip trn my CNC
Nh cc c im ca my tnh, cc my CNC th h gn y c kh nng
nhn c cc lnh iu khin trc tip t cc phm trn bn iu khin. y l mt
phng php lp trnh mi: lp trnh ti my. s dng phng php lp trnh ti
my t hiu qu cao, cc hng sn xut ci tin phn cng v phn mm rt nhanh
nh s dng phm t hp gim bt s ln g, dng cc phm biu tng gip cho
lp trnh vin NC d nh, dng cc phn mm tr gip lp trnh v cc cng c m
phng kim tra chng trnh.
Cc my CNC c trang b cc bn phm chc nng v mn hnh ha cho
php nhp trc tip cc cu lnh vo cm CNC. gim thi gian chi ph cho vic
tnh ton cc im trung gian, cc chiu dy lt ct v thi gian dng cn thit ti mi
thi im ca mi khoan... thng th ngi ta b tr vo cm CNC cc chng trnh
con, cc s liu v ta cc im cn thit ngi lp trnh c th ly chng ra bt
k lc no cn thit.
lp trnh trc tip trn my CNC, ngi lp trnh phi bit s dng cc
MENU v cc phm mm (Soft-key) trn bng iu khin CNC.
Sau khi lp xong chng trnh, mun kim tra liu chng trnh c lp
c ng hay khng, c nguy c mt an ton hay gy ra va chm vi my, g hay
khng ...Ngi ta s chy chng trnh m phng qu o chuyn ng ct ca dao
trn mn hnh theo chng trnh c thit lp. Nu cn c sai st no th c th
sa cha li v kim tra cho n lc chn chn l ng th mi tin hnh gia cng.
i vi ngi bt u hc lp trnh gia cng cn thit phi theo phng php
ny v phi t n mt trnh thnh tho trong x l, thao tc v sa cha cc li
gp phi mi c th chuyn sang cc phng php lp trnh khc.
3.4.2. Lp trnh trn mng DNC
Lp trnh ti my c nhiu nhc im c bn :
- Khi lp trnh, phi ngng gia cng, gy thi gian cht, dn n mi chi ph
khu hao nng lng, vt liu, khng to ra sn phm, gy lng ph ln.
- Do trong qu trnh lp trnh NC, lp trnh vin lun phi tnh ti ch
cng ngh v cc php tnh hnh hc kh phc tp. ng thi, do kt cu
ca my khin ngi lp trnh lun phi ng d gy mt mi v nng sut
thp.
- Mc d nng lc ca my tnh trn cc b iu khin c ci thin nhanh
v cc tin ch lp trnh c tng cng kh nhiu song cng ch mc
109

gii hn, do trn cc b iu khin chc nng u tin s mt vn l iu
khin ch khng phi l chc nng lp trnh v lu tr chng trnh.
Theo hnh thc lp trnh trn mng DNC th trong khi my CNC ang hot
ng, ngi ta c th chun b cho chng mt chng trnh gia cng tip theo bng
cch dng cc bng lp trnh CNC khc hay cc my tnh trong h thng DNC. iu
ny c bit rt thun li cho trong qu trnh ging dy, o to v thc hnh cng nh
gia cng cc chi tit n gin trong dng sn xut n chic hay lot nh.
Vi phng php ny, ta c th b tr cc cm lp trnh hay cc my tnh ngay
trong phn xng sn xut thun li cho qu trnh dy v thc hnh.
Mt u im na ca lp trnh DNC l ta c th tin hnh gia cng vi chng
trnh rt ln (v d gia cng khun mu) vt qu b nh ca my CNC. My tnh s
truyn tng gi chng trnh sang b m ca my CNC trc khi a vo b nh
gia cng.
3.4.3. Lp trnh bng tay ti phng chun b chng trnh
Kiu lp trnh ny thch hp vi cc c s sn xut ca cc nh my c nng
lc sn xut ln hay thc hin mt hp ng bao gm nhiu chi tit lp ghp m cn
phi thc hin trn nhiu my CNC. Khi yu cu phi c phng lp trnh v c cc
k s lp trnh trnh v chuyn mn v kinh nghim v ngh nghip, c bit l
vi cc my 3D, 4D v 5D. Cc k s lp trnh ny trc ht phi c tri qua qu trnh
lp trnh trc tip trong phn xng v phi t n trnh thnh tho v c kinh nghim
mi c th m nhim c cng vic.
Thng thng vic lp trnh c thc hin trn cc my tnh. V th nn ch
c nhng cn b c trnh kin thc v kinh nghim mi c th thc hin c
cng vic ny.
3.4.4. Lp trnh vi s h tr ca my tnh
T d liu CAD, ngi ta a vo mt h thng bin dch tr gip cho qu
trnh lp trnh. Sau khi thit k xong chi tit, ngi ta c th la chn qu trnh
cng ngh gia cng v cch thc gia cng (nh ct th, ct bn tinh hay ct tinh v rt
tinh, cc kiu tin hnh chy dao...) v t kiu c la chn my tnh s thng qua
b vi x l (preprocessor) xc nh mt chng trnh gia cng thch hp di dng m
t cc qu o dch chuyn ca dao v cc ch cng ngh tng ng. Cng vic tip
theo l m ha chng trnh gia cng trn do b hu x l (postprocessor) theo m ca
h thng iu khin tng thch c lp trn my cho ra chng trnh gia cng
thch hp vi ngn ng my. K thut gi l CAM. Hin nay, cc phn mm
CAD/CAM cng ngy cng mnh hn v c nhiu chc nng hn cng nh gi thnh
ngy cng r hn cho php ngi s dng lp chng trnh gia cng rt thun li.
c bit l vi cc my 3D, 4D, 5D.
110

3.5. Ngn ng lp trnh
V ngn ng lp trnh cho cc my NC, ngi ta phn chia thnh 2 nhm:
ngn ng lp trnh bng tay v ngn ng lp trnh t ng.
3.5.1. Ngn ng lp trnh ISO (ngn ng my)
6

i vi ngn ng lp trnh bng tay, v c bn th hin nay c tiu chun
ha bi ISO. Tuy nhin cng cn mt s quc gia, mt s hng ch to my vn c
mt s m (code) ring khc vi tiu chun m n ch c th dng thch hp trn cc
thit b . y cng l mt trong nhng vn gy kh khn v tr ngi cho cc cn
b lp trnh v thi quen khi s dng ngn ng c trc , c bit l khi m nh
my hoc x nghip ca h c rt nhiu loi my c sn xut t nhiu hng khc
nhau (c th t nhiu ngun cung cp v ti tr...). V th, y cng l vn m cc
nh u t cn phi tnh n khi mua sm my CNC.
3.5.2. Ngn ng giao thoi
Do m ISO kh hiu vi ngi mi lp trnh v t kinh nghim nn thng
hay mc li. gip cc nh lp trnh ngi ta xy dng ngn ng lp trnh giao
thoi, ngha l c s tng tc gia ngi v my. Cc lnh NC c xy dng theo
th tc (procedure) hay kch bn mt chui cc lnh vi ch dn rt r rng ngi
lp trnh nhn din v cung cp s liu.

a)


6
Trn h iu khin ANILAM (M) lp trnh theo ngn ng ISO c phn mm ha
h tr lp trnh gi l lp trnh CAM.
111

b)
Hnh 3-14. Lp trnh theo ngn ng giao thoi
a) Chng trnh; b) Qu o chuyn ng ca dao phay
C th coi y l ngn ng lp trnh bc cao. Cn ngn ng ISO l ngn ng
my. Ni ting vi ngn ng giao thoi l phn mm ca hai hng SIEMENS vi
CINUMERIC v HEIDENHAIN vi TNC. y l cc cc ngn ng giao thoi vi
menu ha rt r rng, d s dng.
Trn hnh 3-13a l on chng trnh lp theo h iu khin TNC530 ca
hng HEIDENHAIN dch chuyn dao theo qu o trn hnh 3-13b. Di y l
kch bn khi ng mt lnh gia cng tuyn tnh G01.


V d lp trnh:
Khi ng lnh chuyn ng
gia cng thng G01.
Ta ?
Nhp ta im ch
X10
Y5
Bm phm ENTER
B bn knh: .... ?
Chn b bn knh bn tri
bng soft-key RL.
Tc chy dao F=?
Nhp gi tr tc chy dao
100 mm/pht.
Bm phm ENTER
Nu dch chuyn nhanh th
chn phm FMAX.
Chn phm mm FAUTO
tnh ton t ng.
M lnh h tr ?
Chn M3
Bm phm ENTER
Cu lnh trong chng trnh
c dng :
L X+10 Y+5 RL F100 M3
3.5.3. Ngn ng lp trnh t ng APT
Ngn ng lp trnh t ng APT (Automatically Programmed Tools - cng c
lp trnh t ng) l ngn ng lp trnh bc cao. Ngn ng ny c Vin cng ngh
Massachusetts ca M (Massachusetts Institute of Technology - MIT) pht trin t
112

1956 (APT I). APT II l sn phm hp tc gia hip hi cng nghip hng khng
(Aerospace Industries Association - AIA) v MIT. C rt nhiu phin bn APT,
nhng phin bn APT III c s dng ph bin nht. APT gm trn 300 t lnh cho
php lp chng trnh vi cc my 5D.
Ct li ca APT chnh l b x l APT- mt chng trnh my tnh dng
x l cc cu lnh chng trnh v a ra mt tp tin (file) cha v tr ct (cutter
locations-CL file) v cc m lnh khc c yu cu iu khin my cng c.
Nhng thng tin trong CL file c chuyn i sang nh dng m NC ph hp cho
my NC c th nh mt b hu x l (postprocessor).
APT c 3 m un c bn sau:
- M un m t kch thc v hnh dng hnh hc ca chi tit gia cng.
- M un m t trnh t v qu o chuyn ng ca dao ct.
- M un hu x l.
C 6 loi cu lnh trong mt chng trnh APT:
- Cc cu lnh nh ngha ban u (nh ngha hnh hc, kch thc ca phi,
nh ngha hnh hc, kch thc chi tit cn gia cng, vt liu gia cng, cc
c tnh v thng s ca dng c gia cng)
- Cc lnh dch chuyn (nh v dng c gia cng, m t qu o chuyn
ng ca dng c gia cng)
- Cc lnh m t nguyn cng (xc nh/t ch ct, chn dao, bt/tt
dung dch trn ngui)
- Cc lnh ph tr cng ngh (nh ngha dung sai, ch dng my, cc
lnh hiu chnh dao)
- Cc cu trc iu khin (vng lp, chng trnh th cp, chng trnh con,
cc chu trnh gia cng)
- Cc lnh tnh ton (thc hin cc php ton thng thng, tnh ton cc
hm ton hc vi phn/tch phn.
Cu trc mt chng trnh vit theo ngn ng lp trnh APT:
Tn chng trnh PROGRAM <Tn chng trnh>
S dng cc tp tin
c sn
USEMAC <Tn tp chng trnh con>
USEDAT T <Tn tp cha d liu v dng c gia cng>
USEDAT M <Tn tp cha dliu vmy gia cng>
nh ngha cc
hng s
DEFCON
<Tn hng s> = <Bng gi tr c th>
ENDCON;
nh ngha cc
bin s
DEFVAR
113

<Cc cu lnh khai bo bin>
ENDVAR;
nh ngha dng
c g/c
DEFTUR
< Cc cu lnh xc nh dng cgia cng>
ENDTUR;
nh ngha bin
dng hnh hc chi
tit cn g/c
DEFGEO
< Cc cu lnh nh ngha hnh hc>
ENDGEO;
nh ngha chi tit
cn gia cng
DEFPRD;
PROFIL
ENDPRD;
nh ngha phi

DEFWP
< Cc cu lnh nh ngha phi>
ENDWP;
Phn chng trnh
chnh
START
<Cc cu lnh APT gia cng chi tit>
FINI;
nh dng chung ca cu lnh APT nh sau:
Tn hnh thc (simbolic name) = tn hm / tham s nh ngha hm

Hnh 3-15. V d v nh ngha hnh hc trong ngn ng APT
V d:
- L1 = LINE / 10,15,0,25,40,0 (nh ngha ng thng L1 i qua 2 im c
to tng ng X,Y,Z l 10,15,0 v 25,40,0).
- D5 = LINE / P1, PARLEL, D1 (nh ngha ng thng D5 i qua im P1
v song song vi ng thng D1).
- D10 = LINE / RIGHT. TANTO, C1. LEFT, TANTO, C2 (nh ngha ng
thng D10 tip tuyn vi vng trn C1 pha bn phi v tip tuyn vi vng trn C2
pha bn tri, hnh 3-14).
114

3.5.4. Lp trnh bng cc phn mm CAD/CAM
Khi lp trnh NC trn h thng CAD/CAM th vic u tin l ngi thit k
phi xy dng v lu tr m hnh hnh hc ca chi tit trong c s d liu ca h
thng, m hnh ny bao gm ton b cc thng s hnh hc, kch thc, chnh xc,
vt liu phi...
xy dng m hnh hnh hc ca chi tit, ngi thit k s dng cc phng
trnh ton hc trong CAD m t cc vt th hnh hc, s m t ny c lu tr
trong b nh my tnh v c th c hin th trn mn hnh ho tin hnh cc
thao tc trn m hnh . Cc thao tc ny bao gm vic to mi cc m hnh hnh hc
t cc lnh v c bn cha sn trong h thng, dch chuyn cc hnh nh trn mn
hnh, phng to hay thu nh, sa cha, hiu chnh hnh nh mt cch d dng. C nhiu
loi m hnh c s dng trong mt h thng nh m hnh hai chiu (2D) hoc m
hnh ba chiu (3D). Ngoi ra ngi ta cn phn cc m hnh hnh hc trong h thng
CAD/CAM ra cc loi sau:
- M hnh dng khung li (wire frame).
- M hnh dng b mt (surface) c to nn bi vic nh ngha cc b mt
xung quanh da trn m hnh khung li.
- M hnh khi rn hay khi c (solid).
Khi kt cu ca chi tit phc tp, nu s dng m hnh wire frame biu
din s rt rc ri bi tt c cc ng m t hnh dng ca vt th u c th hin
(k c nhng ng nm mt khut ca vt th). Mc d c sn cc k thut loi
b cc ng khut ny nhng m hnh dng khung li vn cn nhiu iu cha tho
ng.
Cc m hnh dng vt rn (solid) gip cho ngi s dng c th nhn vt th
ging nh tht. ng thi vic th hin vt th trong h thng di dng solid t
chnh xc hn v vy vic tnh ton cc c tnh ca vt th, thc hin vic kim tra s
lp rp cc chi tit vi nhau d dng hn.
Do dng m hnh solid ngy cng c pht trin nhanh chng v s dng
ph bin m hnh ho hnh hc cc chi tit.
Sau , ngi ta phi tin hnh t tn nhn cho cc yu t hnh hc ca chi
tit s c s dng trong qu trnh lp trnh sau ny. Cc tn nhn l cc tn biu
tng c gn cho cc ng thng, ng cong, cc b mt khc nhau ca chi tit.
Bc th hai trong qu trnh lp trnh NC l to qu o dao ct (tool path).
Trc ht ta phi chn c dao ct thch hp. Hu ht trong h thng CAD/CAM u
c sn th vin dao cho ngi lp trnh la chn. Nu dao ct mun s dng khng c
sn trong th vin th h thng CAD/CAM c kh nng cho php ngi lp trnh nh
ngha thm dao vo th vin s dng khi cn thit. Nu ngi lp trnh quyt
115

nh chn mt dao no th ng knh dao v cc kch thc khc ca n s c
t ng np vo tnh ton lng b dao (tool offset).
Tip theo l vic m t qu o dao c th gia cng chi tit.
Sau khi nh ngha cc bc gia cng, ngi s dng c th chy chng
trnh tin x l (preprocessor) to ra qu o dao hay cc d liu v tr dao
(CLDATA).
Phn ln cc h CAD/CAM u c phn chuyn ng ho tng tc cho
php kim tra chng trnh NC. Kh nng ny rt c ch trong vic xc nh mt trnh
t gia cng hp l v trnh c cc s c khi gia cng.
u ra ca cc mun NC l cc file dng CL data cho bit cc v tr ca dao
khi gia cng nhng cc tp tin ny khng th s dng trc tip trong cc b iu khin
NC. N phi c bin dch ra cc dng m ISO thng qua b hu x l
(postprocessor). Cc h iu khin NC khc nhau cn phi c cc b hu x l tng
ng.
116

Chng 4 LP TRNH C BN CHO MY PHAY CNC
Trn my phay hoc trung tm gia cng CNC ngi ta thc hin cc nguyn
cng phay, khoan l, doa v gia cng ren...
4.1. Cc m lnh ch yu ca my phay
Trong mc ny gii thiu nhng m lnh thng dng nht.
4.1.1. Chc nng chun b (G)
M lnh (chc nng) chun b bt u t ch ci a ch G theo sau l hai
ch s th hin chc nng ca cng vic s thc hin. Thut ng chun b ngha l h
thng iu khin sng sng thc hin nhng thng tin tip theo trong cu lnh. Chc
nng ny thng c gi l m G (G - code). cc h thng iu khin CNC c rt
nhiu m G, c th phn bit mt s loi nh sau:
- Chy nhanh (G00).
- Ni suy (G01, G02, G03).
- Chn mt phng gia cng (G17, G18, G19).
- Chuyn sang h to cc G15, G16
- H thng to tuyt i hay tng i (G90, G91).
- Kiu n v o inch hay mm (G70, G71 hoc G20, G21).
- Xc lp h to lm vic (G92).
- Tr v im tham chiu (reference point)- (G28, G29, G30).
- Chn n v chy dao (G94, G95).
4.1.2. Cc lnh b dao v b h to .
- B h to (G54 - G59).
- B kch thc (ng knh) dao (G40, G41, G42).
- B chiu di dao (G43, G44, G49).
4.1.3. Cc chu k
- Cc chu k c nh chun (G80 - G89).
- Cc chu k c bit.
- Cc chu k do ngi s dng nh ngha.
4.1.4. Chc nng b tr hay chc nng ph M-code (M).
Chc nng b tr dng ch ci a ch M theo sau l 2 ch s. Mt s chc
nmg b tr M nh sau:
- Dng chng trnh khng iu kin (M00).
- Dng c iu kin (M01). Chc nng c hiu lc nu cng tc dng t
v tr ON.
- Kt thc chng trnh (M02).
- Trc chnh quay theo chiu kim ng h (M03).
117

- Trc chnh quay ngc chiu kim ng h (M04).
- Dng trc chnh (M05).
- Thay i dao (M06).
- M dung dch trn ngui ch nh git mis (M07).
- M dung dch trn ngui ch phun trn flood (M08).
- ng dung dch trn ngui (M09).
- Kp t ng (M10).
- Nh kp t ng (M7).
- Kt thc chng trnh (M30).
Trong mt cu lnh, c th b qua cc T my m khi vit n trong cu khng
cn dng n cc thng tin dng s.
Di y l mt s lnh lp trnh c bn.
4.2. Cc m lnh c bn
4.2.1. Chy dao nhanh, G0 hoc G00
nh dng chung ca m lnh ny nh sau:
G00 Xx Yy Zz
Trong x, y, z l to im ch.
Nh vy im ch c lp trnh vi chuyn ng chy dao nhanh.
Thng thng trong cc h iu khin hin i, on ng cn dch chuyn
tng ng vi tng cc vect ca cc chuyn ng trn tng trc ring ring l.
Nh cc d liu iu chnh, my c th xc nh c trc xem liu c cn
chy vi tc nhanh ti a trn trc to c on dch chuyn di hn; hoc liu c
cn thch ng tc dch chuyn tnh ra vi tc chy nhanh cho php ti a hay
khng.
ln ca tc chy dao nhanh thng khng cn lp trnh. N c nh
trong h iu khin nh mt hng s my v c ci t trc. Tuy nhin trn bng
iu khin c nt xoay cho php ngi vn hnh gim tc chy dao nhanh.
C mt vi h iu khin c x l lnh G00 theo kiu ng thi c dch
chuyn vi tc chy nhanh ti a trn tt c cc trc.
an ton khi chuyn ng chy dao nhanh, trnh va chm vo chi tit cng
nh cc phn t g kp, ngi lp trnh nn tch cu lnh trn thnh hai cu lnh. Nu
dao tin vo vng gia cng (hnh 4-1a) ta c:
N15 G00 Xx Yy
N20 Zz
Ngha l dao chy theo trc XY trc (ng 1), sau mi chy theo trc Z
(ng 2). Nu dao li ra khi vng gia cng th ta c:
118

N15 G00 Zz
N20 Xx Yy
Ngha l dao chy theo ng 1 2 (hnh 4-1b).

X
Y
Z
1
2
OX
OY
OZ OZ
OY
OX
1
2
Z
Y
X
V tr hien
thi
V tr lap
trnh
V tr hien
thi
V tr lap
trnh
a) b)

Hnh 4-1. Chy dao nhanh vo vng gia cng (a) v ra khi vng gia cng (b)
4.2.2. Gia cng ng thng G01
nh dng ca m lnh ny nh sau:
G01 Xx Yy Zz Ff
M lnh G01 l ni suy tuyn tnh, h iu khin cho php im chun (p) ca
dao dch chuyn vi chuyn ng chy dao lp trnh Ff theo ng thng ni t
im hin ti (current point, postion) n im ch (end point), (hnh 4-2). Cn nh
rng khi dng m lnh G01 phi cho thm m h thng o to (G90 hoc G91) v
tc chy dao (m lnh Ff). Tc chy dao c th gn trc m lnh G01.
119

V tr hien thi
V tr lap trnh
X
Y
Z
Yy Zz Xx

Hnh 4-2. Lp trnh theo m G01
Trong trng hp gia cng theo ng thng trong mt phng XY ta c: vi
G90 (hnh 4-3a): G01 X20 Y50; vi G91 (hnh 4-3b): G01 X-10 Y40.

Hnh 4-3. Lp trnh m G01 theo G90 (a) v G91 (b).
V d lp trnh m G01:

a) b)
120

Hnh 4-4. Lp trnh G01 vi to tuyt i (a) v tng i (b).
Hnh Theo G90 Theo G91
Hnh 4-4a N25 G01 X15 Y5 F120 N25 X-35 Y-25 F120
Hnh 4-4b N25 G01 X-10 Y-5 F120 N25 X30 Y25 F120
Ch :
1. Cng c th s dng m G01 gia cng cc cung trn v ng trn nu
xp x cc cung trn v ng trn bng cc on thng (cc cnh ca
a gic u). S cnh cng ln th chnh xc cng cao.
2. Trong trng hp c bit, ni suy tuyn tnh gia mt chuyn ng thng
theo trc Z v mt chuyn ng quay trn trong mt phng XY th chuyn
ng tng hp ca im chun dao p l mt ng xon helix (ren vt).
Trong mt s h iu khin, v d FANUC tham s ca G00 v G01 c th
thm C hoc R. Tham s C dng khi vt gc, cn tham s R dng khi v trn gc.
nh dng ca G00 v G01 s nh sau:
Vt gc: G00/G01 Xx Yy Cc
V trn gc: G00/G01 Xx Yy Rr.
Ch : Lp trnh G00/G01 c tham s C hoc R ch th hin trong mt phng
lm vic.
Th d lp trnh c tham s C hoc R th hin trn hnh 4-5.
Chng trnh nh sau:
N10 G01 X270 Y565 R6
N15 G01 X270 Y860 C3
N20 G01 X0 Y860
Vi tham s v trn mp R6 cu lnh N10 dao dch chuyn t im A n
im B theo qu o A a b. Vi tham s C3 cu lnh N15 dao dch chuyn n
im C theo qu o b c d, tip theo dch chuyn tip n im D.
121

R
6
530
270
8
6
0
5
6
5
C3
W
A
B
C
D
b
a
c
d

Hnh 4-5. Lp trnh G00/G01 vi tham s C v R
4.2.3. Gia cng cung trn, ng trn G02 v G03
G02 sn sinh mt chuyn ng theo cung trn gia im xut pht (im hin
thi) ca dao v im ch theo chiu kim ng h; vi G03 th chuyn ng ngc
chiu kim ng h. Dao i theo cung trn vi tc chy dao lp trnh Ff.
Xc nh chiu thun G02 hay chiu ngc G03 kim ng h l da theo quan
st cc tc to t chiu dng n m trn mi trc.
nh dng chung ca ni suy cung trn, ng trn c hai dng: lp trnh theo
bn knh R ca cung trn, ng trn v lp trnh theo tm cung trn, ng trn
(phng php IJK). Lp trnh theo bn knh R cung trn, ng trn ta c:
G17 G02/G03 Xx Yy Rr Ff
G18 G02/G03 Xx Zz Rr Ff
G19 G02/G03 Yy Zz Rr Ff
Lp trnh theo tm cung trn, ng trn ta c:
G17 G02/G03 Xx Yy Ii Jj Ff
G18 G02/G03 Xx Zz Ii Kk Ff
G19 G02/G03 Yy Zz Jj Kk Ff
Trong :
G17, G18, G19 - La chn mt phng gia cng.
Xx, Yy, Zz - to im ch.
Ii, Jj, Kk - to tm cung trn, ng trn ly tng i so vi im xut
pht.
Rr - bn knh cung trn, ng trn.
Ff - tc chy dao.
122

gip h iu khin sn sinh ra bin dng cung trn mong mun, ngoi m
lnh G02 hay G03, cn c cc d liu v to ca tm cung trn hoc ln ca bn
knh cung trn. Khi lp trnh gia cng cung trn, ng trn cn phi c lnh chn mt
phng gia cng trc (G17, G18 hoc G19) v tng ng vi la chn l mt
phng XY (hnh 4-6a) hoc XZ (hnh 4-6b) hoc YZ (hnh 4-6c) cng nh a ch I, J
hoc I, K hoc J, K ca tm cung trn, ng trn tng ng vi cc trc to X, Y,
Z. Khi gia cng ng trn, do to XY (hoc XZ, YZ) ca im xut pht v im
ch trng nhau nn chng khng c trong cu lnh.
X
Y
V tr lap trnh
Tam cung tron
V tr hien thi
J
I
K
I
V tr hien thi
Tam cung tron
V tr lap trnh
Z
X
J
K
V tr hien thi
Tam cung tron
V tr lap trnh
Z
Y
a) b) c)

Hnh 4-6. Lp trnh theo tm cung trn trong mt phng XY (a);trong mt phng XZ
(b); trong mt phng YZ (c).
Ch :
1. C th b cc thng tin I0, J0 hoc K0 trong cu lnh gia cng cung trn.
2. Nu gia cng ng trn (im xut pht v im ch trng nhau) th b
to X, Y hoc Z trong cu lnh.
3. Nu lp trnh theo bn knh R th cung trn phi nh hn 359,9
0
. Khi cung
trn ln hn 359,9
0
,

phi s dng hai cu lnh.
4. Nu c y thng tin hnh hc th nn chn s dng m R lp trnh.
V d cn gia cng bin dng ca chi tit th hin trn hnh 4-7 Bin dng chi
tit i qua cc im 1, 2, 3, 4, 5, 6, 7. To cc im nh sau:
Ta \im 1 2 3 4 5 6 7
X 5 5 30 70 95 95 40
Y 5 85 85 95 95 40 5
123


Hnh 4-7. Lp trnh gia cng cung trn trong mt phng XY
Chng trnh gia cng nh sau:
N5 G17
N10 G00 X-5 Y-5
N15 Z3
N20 G01 Z-5 F50 Gia cng theo Z su 5 mm
N25 X5 Y5 F75 Gia cng n im 1
N30 Y75 Gia cng n im 2a
N35 G02 X15 Y85 R10 Gia cng n im 2b
N40 G01 X30 Gia cng n im 3
N45 G02 X70 Y95 R30 Gia cng n im 4
N50 G01 X95 Gia cng n im 5
N55 Y40 Gia cng n im 6
N60 G02 X40 Y40 I-38.636 J0 (R=38,6364) Gia cng n im 7
N65 G01 X5 Y5 Gia cng n im 1
N70 G00 Z200 Li dao theo trc Z
N75 M30 Kt thc chng trnh
124

4.2.4. Chn mt phng to , G17, G18, G19
Vi chc nng ny ta chn c mt
mt phng gia cng c to bi hai trc to
hoc l mt mt phng song song vi mt
to ny, trn lnh gia cng cung trn,
ng trn v gi tr b bn knh u dao c
hiu lc tc dng (hnh 4-8). V d:
N10 G17
N20 G01 Xx Yy Ff
4.2.5. H to tuyt i, tng i,
G90 v G91
Cc to ca im ch c a
vo dng cc gi tr to tuyt i, c
ngha l gc o trng vi im zero chi tit.
H iu khin thc hin chuyn ng
trn cc trc lp trnh vi cc gi tr ch a
ra trc trong chng trnh.
Lp trnh theo h to o tuyt i
(G90) c u im l nhng bin i hnh hc
trong mt cu lnh ch c tc dng i vi cu lnh ny m khng nh hng n cc
cu lnh tip theo. Lp trnh vi cc gi tr to tuyt i cng c coi l lp trnh
theo chun o tuyt i.
Chng trnh cho chuyn ng gm c:
N10 G90 H iu khin chuyn sang to o tuyt i.
N20 G01 X7 Z4 F100 Chy dao n ta tuyt i (X7; Z4) theo ng thng
t v tr hin ti. Tc chy dao 100mm/ph.
Nu gp m G91, h iu khin s hiu lnh dch chuyn trn tng trc ring
l l kiu dch chuyn theo to tng i (gia s) v x l cc gi tr to lp
trnh theo kiu o gia s.
Vic lp trnh vi cc s liu o kiu tng i cng c gi l lp trnh theo
chui kch thc. Lp trnh kiu ny phi thc hin nh sau:
Cu lnh ngha
N10 G91 H iu khin chuyn sang to o tng i (kch
thc ghi theo chui).
N20 G01 X5 Z2 F100 Chuyn ng gia cng n v tr ch theo mt ng
thng. Chiu di chuyn ng so vi im hin ti theo
trc X l 5, theo trc Z l 2.

Hnh 4-8. Cc mt phng lm vic
125

Trong mt s h iu khin, c th lp trnh trong mt cu lnh c to tuyt
i ln to tng i. Khi lp trnh ta phn bit cc a ch X, Y, Z dnh cho to
tuyt i cn cc a ch U, V, W dnh cho to tng i.
4.2.6. n v o G70 hoc G71
G70 bo cho h thng iu khin bit n v o l inch, cn G71 - n v o l
mm. Mt s h iu khin (v d FANUC) s dng m G20 v G21 thay cho hai m
tng ng. n v o l m lnh ton cc. Nu trong chng trnh khng c m G70
hay G71 th h thng iu khin s dng n v o mc nh c gn mc nh
khi ci t my CNC (ch SETUP).
4.2.7. Xc lp im 0 ca chi tit, G92
im 0 ca chng trnh hay im 0 ca chi tit c th c xc nh ti im
bt k trong vng lm vic ca h iu khin.
Khi lp trnh, cc tnh ton to s n gin hn hoc thm ch c th b
qua, nu im gc 0 ca h to c la chn nhng im thun li.
Nh G92, ta xc lp c im 0 ca chng trnh hay im 0 ca chi tit
(gc ca h to lm vic) so vi im chun ca my theo cc gi tr cho ti a
ch X, Y, Z. Cc bn my khng chuyn ng vi lnh ny.
Lnh G92 s c tc dng cho n khi n b thay i bi mt lnh khc.
Di cc a ch X, Y, Z, U, V, W, P, Q, R, A, B, C, h iu khin nhn c
cc thng tin v nhng on ng cn dch chuyn trn tng trc ring l hoc l v
cc gc quay xung quanh cc trc xc nh.
4.2.8. Tr v im tham chiu G28, G29, G30.
a) Tr v im tham chiu c i qua im trung gian G28
nh dng chung:
G28 Xx Yy Zz
Trong x, y, z l to im trung gian (hnh 4-9).
126

Chi ti t gia cng
Y
X
W
R
Vi tri hin tai cua dao
(X,Y,Z)
im trung gian
G29
G28
Vi tri lp trinh (X,Y,Z)

Hnh 4-9. Qu trnh thc hin m lnh G28 v G29.
b) Tr v im lp trnh t gc to hoc im tham chiu c i qua im
trung gian.
nh dng chung:
G29 Xx Yy Zz
Trong x, y, z l to im lp trnh (hnh 4-9). im trung gian l im
c lp trnh trong lnh G28 trc . Nh vy lnh G28 phi c s dng th G29
mi c hiu lc.
c) Tr v im tham chiu th hai, th ba hoc th t.
Nhiu my CNC c th c mt s im tham chiu (nhiu nht l 4). im
u tin c s dng lm im gc ca my v cng l ni tin hnh thay dao t
ng. Mun bit cc im tham chiu u cn tham chiu hng dn s dng. G30
c nh dng chung:
G30 Pp Xx Yy Zz
Trong p l tham s (P2 l mc nh v c th khng th hin trong cu
lnh). V d: G30 P3 X7.0 Y3.0
Cu lnh ny c hiu nh sau: Dao dch chuyn t im hin thi qua im
trung gian (7,0; 3,0) ri v im tham chiu th ba qui nh ti t lnh P3.
4.2.9. La chn v thay th dao ct
a ch dao ct T (T - TOOL) v cc ch s tip theo c trng cho mt con
dao xc nh.
nh dng chung ca m lnh: Txx M06 hoc Txxxx M06.
127

a ch dao c nhng nhim v sau:
- Nh cc kch thc ca dao (TOOL DATA) trong b nh d liu v dao
ca h iu khin. Khi lp trnh cho cc chuyn ng cong, khng cn phi
quan tm n cc kch thc dao, b qua cc lo ngi v va chm. Cc kch
thc chnh xc ca dao c tm ra nh qu trnh iu chnh dao hoc o
dao trn my s c np vo h iu khin bng tay trn bng iu khin
hoc thng qua vt mang tin a vo b nh v d liu dao ca h iu
khin.
- Nh cc gi tr b dao. Cc gi tr sai lch khi iu chnh g lp dao cng
nh lng mn ca li ct dn n sai lch gia cc d liu dao ghi
trong b nh v v tr tht ca cc li ct. H iu khin khi nh thm cc
gi tr b dao (TOOL OFFSET) s to kh nng khc phc cc sai lch ca
dao ng vi tng s hiu dao trong b nh.
- Gi dao t cha dao. Lnh T cho php gi dao t cha vo v tr lm
vic, cho php h iu khin quan tm n nhng d liu v dao.Trong mt
s trng hp, quan tm c nhng gi tr b dao ph hp vi iu kin
chnh dao (G41 n G44) cng nh b mt ni suy lp trnh.
4.2.10. n v tc chy dao G94 v G95
Tc m bn my cn dch chuyn c lp trnh trc tip trong cc h iu
khin CNC vi a ch F (F = FEED) vi n v o theo pht hoc theo vng quay trc
chnh. G94 n v chy dao theo pht, cn G95 - theo vng. ng nhin n v o
ny cn ph thuc n v di. V d:
G70 G94 - inch/pht
G70 G95 - inch/vng.
G71 G94 - mm/pht.
G71 G95 - mm/vng.
V d :
G71 G95 F1.5 - lng chy dao l 1,5 mm/vng.
G70 G94 F7.5 - lng chy dao 7,5 inch/pht.
4.2.11. S vng quay trc chnh S
S vng quay trc chnh c th c lp trnh trc tip di a ch S (S-
SPEED).
Lp trnh trc tip: s vng quanh trc chnh c lp trnh vi n v
vng/pht (round per minute - RPM). V d, s vng quay trc chnh mong mun l
710 vng/pht th m lnh phi lp trnh l S710. Trong trng hp ny h iu khin
128

cp ra mt tn hiu tng t c tc dng nh mt tn hiu iu chnh, t trc tip vo
ng c dn ng trc chnh.
Lp trnh bng m s (code): trong cc truyn ng chnh phn cp (my c),
s vng quay trc chnh thng c ghi bng cc m s hai v tr.
Lp trnh m S cn c thm m M03 (trc chnh quay theo chiu kim ng h)
hoc M04 (trc chnh quay ngc chiu kim ng h). V d:
S1000 M03 - trc chnh quay 1000 vng/pht theo chiu kim ng h.
S1500 M04 - trc chnh quay 1500 vng/pht ngc chiu kim ng h.
M05 - trc chnh ngng quay.
4.2.12. Lp trnh t l, i xng G51
nh dng chung:
G51 Xx Yy Zz Ii Jj Kk
Trong :
Xx, Yy, Zz - ta im gc ly t l.
Ii, Jj, Kk - h s t l v i xng theo phng X, Y, Z (t l 1/1000).
V d: G51 X0 Y0 Z0 I2000 J1000 K1000.
Ch :
1. Nu ly h s t l khc nhau trn cc trc th bin dng gia cng b bin
dng.
2. Khi tit din c cung trn th khng c php ly t l khc nhau.
3. Nu t l m ta c bin dng i xng qua trc tng ng.
4. G50 hy b ch t l, i xng.
4.2.13. Quay h ta G68
nh dng chung ca m G68:
G68 o...|...Rr
...
G69
Trong :
G68 - M lnh quay h ta .
o, | - Ta tm quay.
Rr - Gc quay (hnh 4-10).
G69 - Hy lnh quay h ta .
Ch : Nu khng c tham s o, | th tm quay s l v tr hin thi ca dao. Nu
khng c tham s Rr th gc quay s ly gi tr tham s 5410 ca my.
129


Hnh 4-10. Quay h ta G68.
2
2
.
5

2
2
.
5

10;10
W
2
1
6
2
2
.
5

Hnh 4-11. Th d lp trnh c s dng quay h ta G68.
Trn hnh 4-11 l v d v lp trnh gia cng c ng dng quay h ta G68.
Chng ta cn gia cng 3 rnh b tr cc nhau gc 22,5
o
. Chng trnh phay mt rnh
c t chc thnh mt chng trnh con (xem thm mc 10.2 hiu r v chng
trnh con).
Chng trnh gia cng nh sau:
N5 G54 H ta lm vic
N10 G43 T10 H10 M06 B chiu di dao, thay dao T10
N15 S200 M3 F300 Tc trc chnh v lng chy dao
N20 M98 P030100 Gi chng trnh con 0100 3 ln
N25 G0 Z50 Chy dao nhanh theo Z
O0100 Chng trnh con 0100
N10 G91 G68 X10 Y10 R22.5 Lp trnh tng i vi quay h ta ti X10,Y10
130

gc quay l 22,5
o

N15 G90 X30 Y10 Z5 Lp trnh tuyt i, chy dao nhanh n ta
X30Y10Z5
N20 G1 Z-2 Gia cng theo n chiu su 2 mm.
N25 X45 Gia cng theo trc X n ta X45
N30 G0 Z5 Rt dao nhanh theo Z
N35 M99 Kt thc chng trnh con
Di y l v d ng dng cc m lnh lp trnh c bn.
gia cng chi tit nh trn hnh 4-11 (phay bin dng v khoan 4 l) cn s
dng:
- Dao phay T1 ng knh 10 mm. Chiu su phay l 10 mm.
- Dao khoan T2 ng knh 20 mm.
Chn im zero phi v im zero chng trnh ti A.

131

5
0
135
1
0
R
1
5
K
M
L
J I
H
G
F
E
D C
B
A
(-15,-15)
(-45,57,40)
R
2
2
,
5
1
3
5
4
5
4
5
45

2
0

6
0

Hnh 4-12. V d lp trnh
Mt on ca chng trnh (khng s dng b bn knh dao) nh sau:
Cu lnh ngha
N5 G90 G71 G94 G17 Xc lp mi trng gia cng: H to o
tuyt i, mm, mm/pht, mt phng XY,
N10 T01 M06 Thay dao T01
N15 G92 X-45 Y57.5 Z40 Xc lp h to lm vic, gc to ti im
A trn b mt chi tit.
N20 G00 X-15 Y-15 Z1 S1500 M3 Chy nhanh n im c to X-15, Y-15,
Z1. Trc chnh quay 1500 vng/pht cng
chiu kim ng h.
N25 G01 Z-10 F200 n dao chiu su 10 mm, lng chy dao
200 mm/pht.
132

Cu lnh ngha
N30 X-5 Y0 F250 Chy dao n im A, lng chy dao 250
mm/pht.
N35 Y50 Chy dao n im n C
N40 X45 Chy dao n im n D
N45 G03 Y85 I0 J17.5 Chy dao n im n F
N50 G1 X-5 Chy dao n im n G
N55 Y120 Chy dao n im n H
133

Chng 5 LP TRNH C BN CHO MY TIN CNC
Trong chng ny v cc chng tip theo v lp trnh gia cng trn my tin,
chng ta ch gii thiu v cc my hai trc to . Tuy nhin k thut lp trnh my
tin hai trc to cng c th m rng cho my c nhiu hn hai trc.
Cc trc to v hng ca chng trn my tin hai trc c gii thiu
trong chng 3: trc Z trng vi trc chnh v hng +Z ra ngoi th hin chiu
chuyn ng ca bn dao. Trc X vung gc vi trc Z v hng +X v pha bn dao
(dao ct). Nh vy trc +X hng v pha ngi vn hnh khi bn dao nm gia ngi
vn hnh v chi tit (h to tay phi - right-hand coordinate system), cn khi bn
dao nm pha bn kia chi tit th trc +X hng ra xa ngi vn hnh (left-hand
coordinate system). Theo qui nh ny th:
+Z (hoc +W) - bn dao dch chuyn ra xa trc chnh.
-Z (hoc -W) - bn dao dch chuyn vo gn trc chnh.
+X (hoc +U) - bn dao dch chuyn ra xa trc chnh.
-X (hoc -U) - bn dao dch chuyn vo gn trc chnh.
Qu trnh tin bao gm cc dng: tin mt u, tin mt tr, tin rnh, khoan
l, tin trong, ct ren...
5.1. Cc nhm m lnh ch yu ca my tin
5.1.1. Cc m lnh chun b (m G)
Cc m lnh chun b G-codes cho my tin c ba nhm: A, B v C. Nhm A
s dng ti Nht, nhm B s dng ti M v nhm C cho cc nc khc. Bng 5-1
thng k mt s m G hay dng.
- Chy nhanh (G00).
- Ni suy (G01, G02, G03).
- B bn knh dao ct (G40, G41, G42).
- Cc chu trnh chun: gia cng ren (G32, G34, G76, G92); tin th chy dao
ngang (G72); chu trnh tin th chy dao dc (G71); chu trnh tin th theo
bin dng G73; chu trnh tin tinh G70; chu trnh phay rnh then (G75); chu
trnh khoan hc (G74); chu trnh tin rnh (G77); chu trnh khc (G90,
G94).
- iu khin tc b mt c nh (G96, G97).
- n v lng chy dao (G98, G99 hoc G94, G95).
- Xc lp h to (G50 hoc G92).
Bng 5-1
Nhm M lnh Chc nng
134

01 G00 Chy dao nhanh
01 G01 Chy dao thng ct gt (ni suy tuyn tnh)
01 G02 Chy dao theo cung trn cng chiu kim ng h (ni suy
cung trn)
01 G03 Chy dao theo cung trn ngc chiu kim ng h (ni suy
cung trn)
06 G20 n v o inch
06 G21 n v o mm
G24 Lp trnh theo bn knh
00 G28 Tr v im tham kho
00 G29 Tr v t im tham kho
G32 Chu trnh ct ren
07 G40 Hu b bn knh nh dao
07 G41 B bn knh bn tri
07 G42 B bn knh bn phi
08 G43 B chiu di dao dng (hng +)
08 G44 B chiu di dao m (hng -)
08 G49 Hu b chiu di dao
G84 Chu trnh tin
03 G90 Lp trnh tuyt i
03 G91 Lp trnh tng i
(*) - Mt s h iu khin s dng G70 v G71.
(**) - Ch s dng cho trung tm tin.
1) Cc m G94, G90, G80, G70, G67, G64, G60, G40, G17 l m G c hiu lc ti
lc khi ng hoc lc ci t (mc nh) vi iu kin l mt m khc trong nhm
trc tip ca n khng c ch dn qua thng s.
2) Cc m G ca nhm 00, 05, 06, l cc m khng phng thc. chng ch c hiu
lc trong cu lnh m chng c ch r.
3) Cc m G ca nhm 01 v 04 l cc m theo phng thc v lun c hiu lc cho
ti khi chng c thay th bi mt m khc trong nhm trc tip ca n.
4) Cc m G ca nhm 02, 03, v 07 l cc m phng thc (modal).
5.1.2. Cc m lnh M
Nhm m lnh c chc nng ph tr c th hin trong bng 5-2
Bng 5-2
M lnh Chc nng
M00 Dng chng trnh
M02 Kt thc chng trnh
135

M03 Trc chnh quay cng chiu kim ng h (CW)
M04 Trc chnh quay ngc chiu kim ng h (CCW)
M05 Trc chnh dng quay
M06 Thay dao
M08 M dung dch trn ngui
M09 Ngt dung dch trn ngui
M10 Mm cp kp chi tit
M7 Mm cp nh kp
M12 Tailstock spindle out
M13 Tailstock spindle in
M17 Toolpost rotation normal
M18 Toolpost rotation reverse
M30 Kt thc v tr v u chng trnh
M98 Gi chng trnh con
M99 Kt thc chng trnh con
5.2. Cc m lnh c bn
5.2.1. Chc nng dao T
Cc my tin CNC c mt n hai i dao, lp cc loi dao khc nhau. a s
my tin CNC c 8 n 12 v tr lp dao (01 n 12) v n 32 s hiu b dao (01 n
32). Mt s v tr lp dao cho php lp cc loi u dao quay c (nh u phay hoc
u khoan gia cng cc hc hoc l khng ng tm vi trc chnh.
M a ch ca dao l T tip theo l s c 4 ch s chia thnh hai nhm: Nhm
hai ch s u l s hiu dao trn i dao. Nhm hai s tip theo l s hiu b dao.
Nu nhm sau l 00 th xo b dao.
V d:
T0101 - Chn dao s 01 v b dao 01.
T0313 - Chn dao s 03 v b dao 13.
T0500 - Chn dao s 05 v xo b dao.
5.2.2. Chc nng vn tc chy dao F
Tc chy dao nhanh l G00. C th thay i tc ny theo 25%, 50% v
100% bng nm xoay (chuyn mch) trn bng iu khin.
136

Tc chy dao ct gt: G01, G02, G03 l m dch chuyn ct gt. Tc
chy dao lc ny c th hin bng m a ch F vi con s tip theo th hin gi tr
tc chy dao. Trn cc h iu khin FANUC, tc chy dao c th l theo pht
G98 hoc theo vng quay chi tit G99. Cc m G98 v G99 l m phng thc (modal
code), ngha l tc ng n my cho n khi c thay i bng m lnh khc.
Vi h iu khin FANUC m G20 dng n v o l inch, m G21 - n v
o l mm.
FANUC:
G20 G98 F10.0 - Tc chy dao l 10 IPM (10 inch/pht).
G20 G99 F0.003 - Tc chy dao l 0.003 IPR (0,003 inch/vng).
G21 G98 F250.0 - Tc chy dao l 250 MMPM (250 mm/pht).
G21 G99 F0.01 - Tc chy dao l 0.01 MMPR (0,01 mm/vng).
i vi h iu khin ti M ta c:
G70 G94 F10.0 - Tc chy dao l 10 IPM (10 inch/pht).
G70 G95 F0.003 - Tc chy dao l 0.003 IPR (0.003 inch/vng).
G71 G94 F250.0 - Tc chy dao l 250 MMPM (250 mm/pht).
G71 G95 F0.01 - Tc chy dao l 0.01 MMPR (0.01 mm/vng).
5.2.3. Chc nng tc trc chnh S
M a ch ca tc trc chnh l S. Tc trc chnh c th l s vng quay
trong mt pht (RPM vng/pht) hoc vn tc ct MPM (mt/pht) v FPM
(feet/pht) vi 1 feed = 304.8 mm.
- S dng m G50 t s vng quay (spindle speed) ln nht ca trc
chnh theo RPM.
- S dng G96 t vn tc ct (surface speed) c nh FPM (Feet/pht-G20)
hoc MPM (mt/pht-G21).
- S dng G97 t s vng quay c nh theo vng pht RPM (vng/pht) v
hu ci t vn tc ct.
- t vn tc ct c nh v tc ln nht ca trc chnh th ta kt hp
G96 v G50.
V d:
G20 G96 S600 Vn tc ct 600 FPM.
G20 G96 S200 Vn tc ct 200 FPM.
G21 G96 S200 Vn tc ct 200 MPM.
G21 G96 S75 Vn tc ct 75 MPM.
N25 G50 S1500 t s vng quay ln nht ca trc chnh l 1500
137

vng/pht.
N30 G21 G96 S100 t tc ct c nh l 100 MPM. Khi trc chnh thay
i s vng quay (do thay i ng knh chi tit) duy
tr vn tc ct 100 MPM nhng khng vt qu 1500
vng/pht.
N... G97 S1000 t s vng quay c nh ca trc chnh l 1000 vng/pht.
Ly on chng trnh sau lm v d:
N05 T0101 Chn dao 01 v b dao 01.
N10 G97 S700 M03 t s vng quay c nh ca trc chnh l 700 vng/pht.
....
N 35 T0100 Xo b dao.
N40 T0303 Chn dao 03 v b dao 03.
N45 G50 S1200 t s vng quay ca trc chnh ln nht l 1200
vng/pht.
N50 G96 S200 M3 t tc ct c nh l 200 FPM. S vng quay ca trc
chnh thay i nhng khng vt qu 1200 vng/pht.
5.2.4. Xc lp h to lm vic
im tham kho trn my CNC l im c nh. c th l gii hn dch
chuyn ca bn my. im ny c quan h vi im ZERO ca my. im ZERO
my ca my tin CNC l im trn mt u ca trc chnh, ni lp mm cp. im
tham kho c th s dng trc tip nh gc to lm vic m t c th xc nh
to cc im khc trn phi. Bnh thng sau khi khi ng my, bn dao dch
chuyn v im tham kho. C th tr v im tham kho bng m lnh G28 trong
chng trnh gia cng. Khi lp trnh thng dng m lnh ny trc khi thay dao v c
khi kt thc chng trnh.
S dng im tham kho trc tip nh ngha mt h to lm vic c th
d dng tnh ton cc to chi tit. a s h iu khin CNC c M lnh chuyn
dng nh ngha h to lm vic. FANUC s dng m G50 nh ngha h to
lm vic.
nh dng ca M lnh ny nh sau:
G50 Xx Zz hoc G50 Uu Ww (lp trnh tng i)
M lnh ny xc nh h to lm vic c gc to ti Xx v Zz so vi
im tham kho. Theo hnh 5-1 ta xc lp h to lm vic nh sau:
G50 X20.0 Z34.5
138

iem tham khao
X
Z

2
0
.
0
34.5
W

Hnh 5-1. Xc lp h to bng G50
5.2.5. Lp trnh theo ng knh v bn knh
C hai kh nng lp trnh cho trc to X: theo ng knh v bn knh.
V trn bn v gia cng tin cc kch thc song song vi trc X c cho
theo ng knh. Khi lp trnh theo ng knh, to X c cho theo gi tr ng
knh ca bn v, cn to Z cho c lp vi trc X.
R
1
.
0
E
F
W
C D

5
.
0

3
.
0
2.5 2.5
A
X
Z
2.5
10.0

2
.
0
B

Hnh 5-2. Lp trnh ng knh v bn knh
V d:
ng knh ca chi tit cho l 50.0 th to X cho nh sau: X50.
Vi lp trnh theo bn knh th to theo trc X cho theo bn knh ca chi
tit. Theo v d trn to theo trc X cho nh sau: X25.
139

Vic chn lp trnh theo ng knh hay bn knh c xc lp trong qu trnh
SETUP (ci t my). Thng thng lp trnh theo ng knh c cho mc nh.
Mt s my s dng G24 cho lp trnh bn knh.
V d v lp trnh ng knh (hnh 5-2).
To ca cc im A, B, C, D, E, F cho trong bng 5-3.
Bng 5-3
im Lp trnh ng knh Lp trnh bn knh
X Z X Z
A 2.0 10.0 1.0 10.0
B 2.0 7.5 1.0 7.5
C 3.0 5.0 1.5 5.0
D 3.0 2.5 1.5 2.5
E 5.0 1.5 2.5 1.5
F 5.0 0 2.5 0
5.2.6. Lp trnh tuyt i v lp trnh tng i
Mt s h iu khin CNC ca M dng G90 (lp trnh tuyt i) v G91 (lp
trnh tng i). H iu khin FANUC thay i k hiu trc to th hin iu
ny: M a ch X v Z c dng khi lp trnh tuyt i, m a ch X thay bng U v
m a ch Z thay bng W khi lp trnh tng i.
V d:
G50 X20.0 Z25.5 Xc lp h ta lm vic (xem hnh 5-3)
G00 X3.0 Z7.0 Chy nhanh n B (to tuyt i X3,0;Z7,0).
G01 U3.0 W3.5 Chy ct gt n C, (to tng i U3,0; W3,5).

140

A
B
X
Z
7.5
11.0

6
.
0

3
.
0
25.5

2
0
.
0 C
W

Hnh 5-3. Lp trnh tuyt i v tng i
5.2.7. Cc m lnh chuyn ng ca dao
Trn my tin CNC hai trc cc m lnh dch chuyn dao gm: G00, G01,
G02 v G03.
a) Dch chuyn nhanh: m G00 hoc G0.
Dch chuyn nhanh trn my tin tun th qui tc tip cn nghing 45
o
khi vo
gn chi tit (hnh 5-4a) v khi ra xa chi tit (hnh 5-4b) .
nh dng chung ca m lnh ny l:
Theo kch thc tuyt i:
G00 Xx Zz hoc G00 Uu Ww (theo kch thc tng i).
141

Z
X
B
A
Z
X
V tr lp trnh
B
A
V tr lp trnh
V tr hin thi
W
W
4
5

V tr hin thi
4
5

a)
b)

Hnh 5-4. Dch chuyn vi m lnh G00
Cng c th lp trnh theo kch thc tng i cho mt trc to , trc to
cn li th theo kch thc thng i:
G00 Xx Ww hoc G00 Uu Zz.
V d (hnh 5-5):
G50 X8.6 Z9.3
G0 X3.6 Z0.3
142

6.0
15.3
9.3
A
B
im tham kho
X
Z

3
.
6

8
.
6
W
0.3

Hnh 5-5. G00 dch chuyn nhanh t A n B
b) Dch chuyn thng c ct gt G01 hoc G1.
M lnh G01 dch chuyn ct gt theo ng thng. nh dng chung ca m
lnh ny nh sau:
G01 Xx Zz Ff hoc G01 Uu Ww Ff
8.8
im kt thc
im xut pht
G01
G00

2
0
.
5
X
im tham kho
8.5
5.5
Z
W

6
.
0
0.3

Hnh 5-6. Tin mt tr ngoi
Trong f l tc chy dao v l tham s phi c trong cu lnh hoc trc
.
V d:
143

Khi gia cng bc tr ngoi theo hnh 5-7 ta c on chng trnh sau:
G50 X20.5 Z8.8 Xc lp h to lm vic.
G00 X7.0 Z0.3 Chy nhanh n to (7,0;0,3).
G01 Z-5.5 F0.01 Gia cng bc di 5,5, lng chy dao 0,01.

Tng t nh vy ta c th lp trnh gia cng mt cn (hnh 5-7).

1
6
.
5
E(0;6.5) W
D(-0.05;2.0)
C(1.4;2.0)
B(2.8;6.0)
A(4.4;6.0)
Z
X
20.5

Hnh 5-7. Tin mt cn trong
Chng trnh gia cng nh sau:
Cu lnh ngha
N5 G50 X17.5 Z20.5 Xc lp h to lm vic.
N10 T0303 Thay dao 03 v b dao 03.
N15 G50 S1500 t tc ln nht ca trc chnh 1500 vng/pht.
N20 G97 S200 M3 t tc ct 200 FPM
N25 G0 X4.4 Z7.0 Chy nhanh n im A(X4,4;Z7,0)
N30 G01 X2.8 F0.003 Chy ct gt n im B(X2,8;Z7,0) tc 0.003
IPR
N35 X1.4 Z2.0 Chy ct gt n im C(X1,4;Z2,0)
N40 X-0.05 Chy ct gt n im D(X-0,05;Z2,0)
N45 G0 Z7.5 Chy nhanh im E(X0,0;Z7,5)
N50 X17.0 Z20.5 T0300 Xo b dao
N55 M30
Ch : Trn my tin FANUC ta cng c th lp trnh G00/G01 vi tham s
v trn R v vt gc C (xem mc 4.2.2).
c) Dch chuyn ct gt cung trn G02 v G03
Dch chuyn ct gt cung trn theo chiu kim ng h G02 v ngc chiu
kim ng h G03. Ta c th lp trnh theo to tm cung trn (Ic, Kc) hoc theo bn
knh cung trn R.
144


G
0
3 G
0
2
G
0
2 G
0
3
G
0
2
G
0
3
G
0
3 G
0
2

Hnh 5-8. Tin cung trn bng m lnh G02 v G03
nh dng chung nh sau:
Lp trnh theo bn knh R:
G02/G03 Xx Zz Rr Ff Lp trnh tuyt i theo R
G02/G03 Uu Ww Rr Ff Lp trnh tng i theo R
G02/G03 Xx Zz Ic Kc Ff Lp trnh tuyt i theo tm cung trn IK
To tm cung trn a ch I v K ly tng i theo im xut pht (to
hin thi).
V d lp trnh bng m lnh G00, G01, G02 v G03 th hin trn hnh 5-9.
145

R
4
.
0
R
0
.
5
X
Z
A
2.0 2.0 3.0
10.0

4
.
5

3
.
0

3
.
0
R
0
.
7
5
20.0
im tham kho
A
B
C D E F G
H

1
2
.
5
W

Hnh 5-9. V d lp trnh tng hp
Chng trnh nh sau:
Cu lnh ngha
N5 G50 X12.5 Z20.0 Xc lp h to lm vic.
N10 T0101 Thay dao 01 v b dao 01.
N15 G50 S2000 t tc ln nht ca trc chnh 2000
vng/pht.
N20 G97 S700 M3 t tc ct 700 FPM
N25 G00 X0 Z10.3 Chy nhanh n im (0,10.3)
N30 G01 W-0.3 F0.003 Chy ct gt tng i n im A(0, 10.0) tc
0.003
N35 U1.5 Chy ct gt tng i n B(1.5,10.0)
N40 G03 U1.5 W-0.75 R0.75 Ct cung trn BC n C(3, 9.25)
N45 G01 W-2.25 Ct bc CD n D(3,7)
N50 G02 W-3.0 R4.0 Ct cung trn DE n im E(3,4)
N55 G01 W-1.5 Ct bc n im F (3, 2.5)
N70 G02 U1.0 W-0.5 R0.5 Ct cung trn FG n G(4,2)
N75 G1 U0.5 Ct mt u GH n H(4.5,2)
N70 G00 U8.0 W18 Chy nhanh v im tham kho
N75 T0100 Xo b dao.
N80 M30 Kt thc chng trnh.
5.2.8. Li v im tham kho G28 v G30
C hai lnh t ng li v im tham kho l G28 v G30. G28 li v im
tham kho c nh dng sau:
146

G28 Xx Zz hoc G28 Uu Ww
Trong x v z l to tuyt i, u, w l to tng i.
G30 s dng khi cn li v im tham kho th hai, th ba hoc th t. nh
dng nh sau:
G30 Pp Xx Zz, trong p l s hiu ca im tham kho. G30 c dng khi
mun thay dao im khc vi im tham kho c sn ca my.
5.2.10. Gia cng ren G32
G32 l m lnh gia cng ren tr, ren cn v ren phng (ng xon c) vi
bc ren khng i. Khi s dng G32 cn kt hp vi m G00 li dao v v chun b
cho ln ct tip theo. C im khc bit khi gia cng ren nh sau:
- i vi ren Anh - M k hiu v kch thc ghi theo n v inch. V d:
1/2-20 UNF-1A. Trong ng knh bc ren l 1/2 inch, 20 vng ren trn
1 inch. Do phi tnh ra bc ren theo cng thc: p = 1/20 = 0.05 inch
hay = 0.05*25.4 = 1.270 mm.
- Chiu cao ca ren (su rnh ren) tra theo s tay hoc tnh theo cng thc:
o h = 0,7403.p (ren Anh - M).
o h = 0,7495.p (ren h mt), trong p l bc ren.
- Khi gia cng ren cn chia ra mt s ln ct, thng l 3 n 7 ln tu theo
mc chnh xc v bng cn t c. Ln u ct dy hn ln sau,
ln cui cng ct lp mng nht (gia cng tinh).
nh dng ca m gia cng ren c bc khng i:
G32 Xx Zz Ff hoc G32 Uu Ww Ff
Trong :
x, z - To tuyt i;
u, w - To tng i ca im kt thc bc ren;
f - Tc chy dao bng bc ren.
Khi gia cng ren bng G32 cn ch cng thm phn vt qu (khong 0,15
inch) v phn an ton (khong 0,3 inch).
147

2.75
X
Z
0.15
0.3
5.3

0
.
7
5
2.0 0.35
(0.95,3.05)

4
.
5
W

Hnh 5-10. Ct ren tr bng m G32
V d ct ren tr bng m G32 th hin trn hnh 5-10.
Ren 3/4-10 UNC c 10 vng ren trn 1 inch. Do bc xon L = 1/10 = 0,1
inch; bc ren p = 0,1 inch (ren mt u mi); chiu su ren h = 0,074 inch. Chiu dy
cc lp ct phn b ln lt nh sau: 0.0394, 0.0277, 0.0237, 0.0157, 0. 0157, 0.007.
Nh vy:
Lp 1: ng knh gia cng 0.7107 (0.75 - 0.0394)
Lp 2: ng knh gia cng 0.7830 (0.7107 - 0.0277)
Lp 3: ng knh gia cng 0.7594 (0.783 - 0.0237)
Lp 4: ng knh gia cng 0.7437 (0.7594 - 0.0157)
Lp 5: ng knh gia cng 0.7280 (0.7437 - 0. 0157)
Lp 7: ng knh gia cng 0.7220 (0.728 - 0.007)
Chng trnh gia cng nh sau:
Cu lnh ngha
N5 G50 X4.5 Z5.3 Khi to h to lm vic ( u mm cp)
N10 T0101 Thay dao 01, b dao 01
N15 G97 S200 M3 Tc trc chnh 200 vng/pht
N20 G0 X0.95 Z3.05 Chy nhanh n to (0,95; 3,05)
N25 X0.7107 Chy nhanh n chiu su ct lp 1
N30 G32 Z0.7 F0.1 Ct lp u tin dy 0,0394 inch
N35 G0 X0.95 Li dao nhanh theo X
N40 Z3.05 Li dao nhanh theo Z
N45 X0.7830 Tin nhanh n chiu su ct lp 2
148

N50 G32 Z0.7 F0.1 Ct lp th hai dy 0,0277 inch
N55 G0 X0.95 Li dao nhanh theo X
N70 Z3.05 Li dao nhanh theo Z
N70 X0.7594 Tin nhanh n chiu su ct lp 3
N75 G32 Z0.7 F0.1 Ct lp th ba dy 0,0237 inch
....
4.0
X
A'(0.4333,2.4)
1.5
2.2
0.2
Z

0
.
5
A(0.5,2.2)
C(1.4,0.6)
D(1.4,2.4)
B(1.0,0.7)
B'(1.0333,0.6)

1
.
0

3
.
0
W
0.1

Hnh 5-11. V d ct ren cn bng G32
i vi ren cn ta cn xc nh to im cui ca ren cho tng ln ct. V
d ct ren cn trn hnh 5-7.
Bc ren p = 1/24 = 0,0417 inch
Bc xon L = p = 0,0417 inch (ren mt u mi)
Chiu cao ren h = 0,7403.p = 0,0277 in
Gc cn u = tan
-1
(D-d)/2S = 9,472
o

To cc im A
'
nh sau:
X
A'
= X
A
-2.0,2.tgu = 0,5 - 2.0,2.tg9,472
o
= 0,4333 inch
Z
A'
= Z
A
+0,2 = 2,2+0,2 = 2,4 inch
X
B'
=X
B
+2.0,2.tg9.472
o
= 1,0333 inch
Z
B'
=Z
B
-0,1 = 0,7 - 0,1 = 0,7 inch
To cc im bt u v kt thc cho ba ln ct c th hin trong bng 5-
4.
Bng 5-4
Ln Chiu su ct h im bt u im kt thc
149

ct
(theo ng knh) X
A'
-h Z
A'
X
B'
-h Z
B'
Ln 1 0.0315
0.4018 (0.4333-0.0315)
2.4 1.0018 0.7
Ln 2 0.0157
0.3871 (0.4018-0.0157)
2.4 0.9871 0.7
Ln 3 0.0072
0.3799(0.3871-0.0072)
2.4 0.9799 0.7
5.2.11. Ct ren c bc thay i G34
G34 c s dng khi bc ren thay i theo qui lut gia tng (hoc gim) sau
mi vng ren.
nh dng nh sau:
G34 Xx Zz Ff Kk hoc G34 Uu Ww Ff Kk
L+3k L+2k L+1k L
L-3k L-2k L-1k L

Hnh 5-12. Bc ren gia tng (k dng) v gim (k m).
Trong :
x, z - To tuyt i ca im cui phn ren.
u, w - Khong cch c o t im u n im cui ca ren theo trc X v
Z.
f Vn tc chy dao (bng bc ren).
k - Lng gia tng (hoc gim) bc ren sau mi vng ren (xem hnh 5-12).
150

Chng 6 R-BT CNG NGHIP
6.1. S lc qu trnh pht trin ca r-bt cng nghip
Gi v mt tng cho cc nh sng ch k thut v nhng c cu, my
mc bt chc nhng hot ng c bp ca con ngi c l xut pht t Cng ha
Czech. T nm 1921, trong v kch Rossums Universal Robots, b con nh
Rossum ch to ra nhng chic my gn ging vi con ngi phc v con
ngi. Thut ng R-bt xut pht t ting Czech Robota c ngha l cng vic tp
dch.
Trn thc t, mt trong nhng r-bt cng nghip u tin c cng ty AMF
(M) ch to vo u nhng nm 60 ca th k trc, l r-bt Versatran. Cng
vo khong thi gian ny, M xut hin loi r-bt Unimate-1900, chng c dng
u tin trong ngnh cng nghip t. Tip theo M, cc nc khc bt u sn xut
r-bt cng nghip: Anh (1967), Thy in v Nht (1968, theo bn quyn ca M),
CHLB c (1971), Php (1972), (1973),
V mt k thut, nhng r-bt cng nghip ngy nay, c ngun gc t hai lnh
vc k thut ra i sm hn, l cc c cu iu khin t xa v cc my cng c
iu khin s. C th ni, r-bt l s t hp kh nng hot ng linh hot ca cc c
cu iu khin t xa vi mc tri thc ngy cng phong ph ca h thng iu
khin theo chng trnh s, cng nh k thut ch to cc b cm bin, cng ngh lp
trnh, s pht trin ca lnh vc tr tu nhn to, h chuyn gia,
Tnh nng lm vic ca r-bt ngy cng c nng cao, nht l v kh nng
nhn bit v x l. Cc r-bt c trang b thm cc loi cm bin khc nhau nhn
bit mi trng xung quanh. Cng vi nhng thnh tu to ln ca lnh vc in t -
tin hc to ra cc th h r-bt vi nhiu tnh nng c bit. S lng r-bt ngy
cng tng, gi thnh ngy mt gim. Do vy, r-bt cng nghip c v tr quan
trng trong cc dy chuyn sn xut t ng.
M l nc pht minh ra r-bt, nhng nc c nhng pht trin cao nht
trong lnh vc nghin cu, ch to v s dng r-bt li l Nht Bn.
6.2. Cu trc c bn ca r-bt cng nghip
Mt r-bt cng nghip thng bao gm cc thnh phn chnh nh: cnh tay
chp hnh, ngun ng lc, dng c gn ln khu chp hnh cui, cc cm bin, b
iu khin, thit b dy hc, my tnh,Cc phn mm lp trnh cng c th c coi
l mt thnh phn ca h thng r-bt. Cc thnh phn ny c quan h nh hnh 6-1.
Cnh tay r-bt: l kt cu c kh gm cc khu lin kt vi nhau bng cc
khp ng c th to nn cc chuyn ng c bn ca r-bt.
151

Ngun ng lc: l cc ng c in (mt chiu hoc ng c bc), h
thng xilanh to ng lc cho tay my hot ng.
Dng c thao tc: c gn ln khu chp hnh cui ca r-bt, chng c
nhiu kiu khc nhau ty theo loi cng vic thc hin: dng bn tay nm bt i
tng hoc cc cng c lm vic nh m hn, mi, u phun sn,

Hnh 6-1. Cc thnh phn chnh ca h thng r-bt.
Thit b dy-hc: Dy cho r-bt cc thao tc cn thit theo yu cu ca qu
trnh lm vic, sau r-bt c th t lp li cc ng tc c dy lm vic.
Cc phn mm lp trnh v cc chng trnh iu khin r-bt c ci t
trn my tnh, dng iu khin r-bt thng qua b iu khin.
6.3. Kt cu ca tay my
Tay my l mt thnh phn quan trng, quyt nh kh nng lm vic ca r-
bt. Kt cu ca nhiu tay my c phng theo cu to v chc nng ca tay con
ngi. Ngy nay, tay my c thit k rt a dng. Trong qu trnh thit k v s
dng, ta cn quan tm n cc thng s hnh hc, ng hc ca tay my, y l nhng
thng s lin quan n kh nng lm vic ca r-bt: trng cng tc (tm vi), s bc
t do (th hin s linh hot ca r-bt), cng vng, ti trng nng cho php, lc
kp,
Cc khu ca r-bt thng thc hin 2 chuyn ng c bn:
- Chuyn ng tnh tin (k hiu l: T) theo 3 trc x, y, z trong khng gian 3
chiu.
- Chuyn ng quay (k hiu l: R) quanh 3 trc .
Ty thuc vo s khu v s t hp cc chuyn ng m tay my c cc kt
cu khc nhau vi vng lm vic khc nhau. Cc kt cu thng gp ca r-bt l:
kiu to cc, to tr, to cu, r-bt kiu SCARA, h to gc...
152

R-bt kiu to cc: l tay my c 3 chuyn ng c bn tnh tin theo
phng ca cc trc h to gc. Trng cng tc c dng khi ch nht. Do kt cu
n gin, loi tay my ny c cng vng cao, chnh xc c kh m bo v vy
n thung dng vn chuyn phi liu, lp rp, hn trong mt phng... Trn hnh 6-2
l m hnh ca mt r-bt kiu to -cc.

Hnh 6-2. R-bt kiu ta cc. Hnh 6-3. R-bt kiu ta tr.
R-bt kiu to tr (hnh 6-3): Vng lm vic ca r-bt c dng hnh tr
rng. Thng khp th nht chuyn ng quay. C nhiu r-bt kiu to tr, nh:
r-bt Versatran ca hng AMF (M).
R-bt kiu to cu (hnh 6-4): Vng lm vic ca r-bt c dng hnh cu.
Thng cng vng ca loi r-bt ny thp hn so vi hai loi trn. V d r-bt 3
bc t do, cu hnh R.R.T lm vic theo kiu to cu (r-bt Unimate).

Hnh 6-4. R-bt kiu ta cu. Hnh 6-5. R-bt kiu ta gc.

R-bt kiu to gc: y l kiu r-bt c dng nhiu hn c. Ba
chuyn ng u tin l cc chuyn ng quay, trc quay th nht vung gc vi hai
trc kia. Cc chuyn ng nh hng khc cng l cc chuyn ng quay. Vng lm
vic ca tay my ny gn ging mt phn khi cu. Tt c cc khu u nm trong mt
phng thng ng nn cc tnh ton c bn l bi ton phng. Trn hnh 6-5 l v d
mt r-bt hot ng theo h to gc, c cu hnh RRR.RRR.
153

u im ni bt ca cc loi r-bt hot ng theo h to gc l gn nh,
tc l c vng lm vic tng i ln so vi kch c ca bn thn r-bt, linh hot
cao.
Cc r-bt hot ng theo h to gc nh: r-bt PUMA ca hng
Unimation - Nokia (M - Phn Lan), IRb-6, IRb-60 (Thy in), Toshiba, Mitsubishi,
Mazak (Nht Bn),...
R-bt kiu SCARA: R-bt SCARA ra i vo nm 1979 ti trng i hc
Yamanashi (Nht Bn), l mt kiu r-bt mi nhm p ng s a dng ca cc qu
trnh sn xut. Tn gi SCARA l vit tt ca Selective Compliant Articulated R-bt
Arm (Tay my mm do tu ). Loi r-bt ny thng dng trong cng vic lp rp
nn SCARA i khi c gii thch l t vit tt ca Selective Compliance Assembly
R-bt Arm. Ba khp u tin ca kiu R-bt ny c cu hnh R.R.T, cc trc khp
u theo phng thng ng. S ca r-bt SCARA nh hnh 6-6.

Hnh 6-6. R-bt kiu SCARA.
6.4. H ta
Mi r-bt thng gm nhiu khu lin kt vi nhau qua cc khp, to thnh
mt xch ng hc xut pht t mt khu c bn. H ta gn vi khu c bn gi l
h ta chun. Cc h ta trung gian khc gn vi cc khu ng gi l h ta
suy rng. Trong tng thi im hot ng, cc ta suy rng xc nh cu hnh ca
r-bt bng cc dch chuyn di hoc dch chuyn gc ca cc khp tnh tin hoc
khp quay.
Trong r-bt ngi ta thng dng ch O v ch s n ch h ta gn ln
khu th n. Nh vy, h ta c bn s c k hiu l O
0
, h ta gn ln khu
trung gian tng ng s l O
1
, O
2
,, O
n-1
, h ta gn ln khu chp hnh cui l O
n

(hnh 6-7).
154


Hnh 6-7. V d h to ca r-bt.
Quy tc bn tay phi i vi cc h ta ca r-bt (hnh 6-8): Dng bn tay
phi, xe 3 ngn: ci, tr, gia theo 3 phng vung gc nhau, chn ngn ci l
phng v chiu ca trc z, khi ngn tr ch phng chiu ca trc x v ngn gia
biu th phng chiu ca trc y.

Hnh 6-8. Quy tc bn tay phi.
6.5. Trng cng tc ca r-bt
Trng cng tc (vng lm vic, khng gian cng tc) ca r-bt l ton b
vng khng gian c qut bi khu chp hnh cui khi r-bt thc hin tt c cc
chuyn ng c th. Trng cng tc b rng buc bi cc thng s hnh hc ca r-
bt cng nh cc rng buc c hc ca cc khp. Ngi ta thng dng hai hnh chiu
vung gc m t trng cng tc ca mt r-bt (hnh 6-9).
155


Hnh 6-9. Trng cng tc ca r-bt.
6.6. Phn loi r-bt cng nghip
R-bt cng nghip rt phong ph a dng, c th c phn loi theo cc
cch sau:
Phn loi theo kt cu: Theo kt cu ca tay my ngi ta phn thnh r-bt
kiu to - cc, kiu to tr, kiu to cu, kiu to gc, r-bt kiu
SCARA (nh trnh by trn).
Phn loi theo h thng truyn ng: C cc dng truyn ng ph bin l:
H truyn ng in: Thng dng cc ng c in mt chiu hoc cc ng
c bc. Loi truyn ng ny d iu khin, kt cu gn.
H truyn ng thu lc: c th t c cng sut cao, p ng nhng iu
kin lm vic nng. Tuy nhin h thng thu lc thng c kt cu cng knh, tn ti
phi tuyn ln kh x l khi iu khin.
H truyn ng kh nn: c kt cu gn nh hn do khng cn dn ngc
nhng li phi gn lin vi trung tm to ra kh nn. H ny lm vic vi cng sut
trung bnh v nh, km chnh xc, thng ch thch hp vi cc r-bt hot ng theo
chng trnh nh sn vi cc thao tc n gin nhc ln - t xung (Pick and Place
or PTP: Point To Point).
6.6.1. Phn loi theo ng dng
Da vo ng dng ca r-bt trong sn xut c R-bt sn, r-bt hn, r-bt
lp rp, r-bt chuyn phi,...
6.6.2. Phn loi theo phng php iu khin
C r-bt iu khin h (mch iu khin khng c cc quan h phn hi), r-
bt iu khin kn (hay iu khin servo): s dng cm bin, mch phn hi tng
chnh xc v mc linh hot khi iu khin.
Ngoi ra cn c th c cc cch phn loi khc tu theo quan im v mc
ch nghin cu. V d:
156

- Theo dng di chuyn ca r-bt: c r-bt c nh v di ng.
- Theo v tr trm iu khin: c r-bt vi trm iu khin ring bit (c
lp) v trm iu khin trn r-bt.
- Theo sc nng ca r-bt (t 1 7200)kG.
- Theo khong cch di chuyn ca cnh tay r-bt (t 400 2000)mm.
- Theo cng dng: vn nng v chuyn dng.
6.7. ng dng ca r-bt cng nghip trong sn xut
T khi ra i, r-bt cng nghip c p dng trong nhiu lnh vc di gc
thay th sc ngi. Nh , nng sut v hiu qu sn xut tng ln r rt.
Ngi ta s dng r-bt cng nghip nhm nng cao nng sut, gim gi
thnh, nng cao cht lng v kh nng cnh tranh ca sn phm, ci thin iu kin
lao ng.
Trong ngnh c kh, r-bt cng nghip c s dng nhiu trong cng ngh
c, hn, ct gt kim loi, sn, phun, ph kim loi, tho lp vn chuyn phi, vn
chuyn sn phm
Hin nay xut hin cc dy chuyn sn xut t ng gm h thng cc my
CNC vi r-bt cng nghip, cc dy truyn ny c mc t ng ha cao, linh hot
cao.
Ngoi ra, k thut r-bt cng c s dng trong nhiu lnh vc khc: khai
thc thm lc a v i dng, y hc, quc phng, v tr; r-bt c dng t
ng ha cc qu trnh sn xut gy c hi cho con ngui (nhng mi trng c tia
phng x, kh c, nhit cao,); hay dng trong nhng cng vic n iu d gy
mt mi cho con ngi.
Khi gia cng trn my cng c, r-bt nht phi t bn ngoi ri t n vo v
tr gia cng trn my th nht, sau , trong khi chi tit ang c gia cng trn my
th nht, r-bt nht phi c gia cng trn my th nht v t n vo my th
hai,Sau , cnh tay r-bt quay v my th nht ly chi tit va c gia cng
xong ra, cp chi tit khc vo my ny. C th, r-bt nhp nhng thc hin mt s
lng cc nguyn cng c th bng hai ba cng nhn thc hin bng tay.
Trn hnh 6-10 l r-bt SR-10 Shinko (Nht Bn) c s dng cp phi
cho my khoan.
Dy chuyn t ng gm c cu cp phi 2, my khoan nhiu trc 4, bng ti
3 v r-bt 1. C cu cp phi g t phi vo bng ti, tay my ca r-bt 1 chuyn
phi ti my khoan, t phi vo v tr gia cng, sau khi khoan xong chuyn phi ti
bng ti 3. Chu k c lp li t ng.
157


Hnh 6-10. R-bt phc v my khoan

Hnh 6-11. R-bt phc v my tin.
1. Bn t cc g v tinh c chi tit gia cng; 2. Cc my tin t ng;
3. R-bt; 4. g v tinh vi chi tit cha gia cng;
5. Panel iu khin r-bt;6. H thng thy lc.
Trn hnh 6-11 l t hp cng ngh s dng r-bt cp phi. T hp ny gm
hai my tin 2 gia cng cc chi tit dng trc v a vi kt cu a dng. Trong t
hp ny ngi ta s dng r-bt cp palet ( g v tinh) c phi 4 cho hai my tin 2.
Sau khi gia cng xong r-bt t palet vi chi tit ln bn 1.
158

Trn hnh 6-12 l t hp cng ngh c r-bt phc v. T hp cng ngh
gm 4 trung tm gia cng, hon thnh chu trnh cng ngh gia cng cc chi tit tng
i nh vi thi gian chu trnh di 5 pht. T hp c trang b h thng bng ti
trung tm vi r-bt ng gia thc hin cp phi v ly chi tit gia cng ra khi
my. Cc trung tm gia cng b tr hai bn bng ti.
Hin nay, r-bt lp rp c s dng rng ri trong cc dng sn xut. Chng
c gi thnh khng cao, c kh nng iu chnh nhanh khi chuyn i tng lp rp,
v n nh cao.

Hnh 6-12. R-bt phc v cc trung tm gia cng
1. Bng ti chi tit gia cng; 2. Cc trung tm gia cng; 3. T iu khin r-bt; 4.
R-bt; 5. Bng ti chi tit cha gia cng; 6. H thng thy lc.

Nhn chung, mt r-bt lp rp c cu to gm 2 phn: phn thn v phn
chp hnh. Cc r-bt lp rp c th c s dng c lp hoc kt hp vi nhau trong
dy chuyn lp rp. Trn hnh 6-13 l cc s s dng r-bt thc hin mi ghp
hnh tr c khe h. Tay kp xoay 15 ca r-bt chnh 1 ly chi tit (trc) 5 t mng
cha 6 v chuyn ti vng lp rp nh bn trt 2 v 4. R-bt ph 11 dng tay kp 9
ly bc 7 t mng cha 8 v dng tay quay 10 di chuyn bc ti v tr lp rp (v tr ca
trc 5). R-bt 1 thc hin chuyn ng tm kim a tm ca trc trng vi tm
bc. V tr tng i gia hai chi tit trc - bc c xc nh bng cc cm bin 14
gn trn cc l xo phng 16 ca c cu chp hnh 3 (r-bt chnh 1). Sau khi dch
chuyn tm kim, khi tm ca cc chi tit lp ghp trng nhau, tay kp 15 dch
159

chuyn xung, thc hin vic lp trc vo bc. Sau , n v lp c g trn l ca
chi tit c s 13 v c dch chuyn theo chu k nh bng ti 12.

Hnh 6-13. R-bt thc hin lp rp mi ghp tr c khe h.
i vi mt quy trnh cng ngh lp rp c th s dng mt hoc nhiu r-bt
ty theo mc phc tp ca sn phm. Cc r-bt c dng trng h thng lp rp
t ng c gi l t hp r-bt cng ngh. Thng thng chia ra lm 4 loi t hp
chnh sau:
Mt r-bt cng nghip phc v mt thit b cng ngh (hoc mt v tr lm
vic).
Mt r-bt cng nghip c kh nng phc v mt s thit b (hoc mt s ch
lm vic)
Mt s r-bt cng nghip phc v mt thit b (hoc mt ch lm vic)
Mt vi r-bt cng nghip phc v mt s thit b (hoc mt s ch lm
vic).
Nhng yu cu chnh i vi r-bt cng nghip dng trong lp rp:
chnh xc nh v cao (0,011)mm.
Tc dch chuyn nhanh (0,60,8)m/s.
Sc nng tng i ln (ti 60kG).
Tnh vn nng cao.
Gi thnh tay tm thp.
H thng iu khin r-bt phi c kh nng iu chnh nhanh khi thay i i
tng lp rp.
160

PH LC
Ph lc 1 Cc h thng s
P1.1. H thp phn
H thng s c s dng trong cc tnh ton thng ngy l h thp phn. H
thng ny da trn vic s dng 10 ch s: 0, 1, 2, 3, 4, 5, 6, 7, 8, 9. i vi s c
biu din theo h ny, v tr ch s trong s cho bit gi tr c gn cho ch s ,
gi tr ny tng theo c s 10 khi i t phi sang tri. T :
10
3
10
2
10
1
10
0

hng ngn hng trm hng chc hng n v
P1.2. H nh phn
H nh phn ch dng hai ch s: 0 v 1, c gi l cc s nh phn hoc cc
bit. Khi s c biu din theo h ny, v tr ch s trong s cho bit gi tr c gn
cho ch s , gi tr ny tng theo c s 2 khi i t phi sang tri. Do vy:
2
3
2
2
2
1
2
0

bit 3 bit 2 bit 1 bit 0
Bit 0 c gi l bit ngha thp nht (Least Significant Bit - LSB) cn bit
cao nht l bit ngha cao nht (Most Significant Bit - MSB). V d, vi s nh phn
1010, bit ngha hp nht l bit cui (cng bn tri, 1. Khi i thnh s thp phn,
1010 tr thnh:
2
3
2
2
2
1
2
0

bit 3 bit 2 bit 1 bit 0
MSB LSB
S nh phn 1 0 1 0
S thp phn 8 0 2 0
Nh vy s nh phn 1010 tng ng s thp phn l 10. Php chuyn i
s nh phn thnh s thp phn l cng cc ly tha ca 2 c xc nh bng s .
Php chuyn i s thp phn sang s nh phn l tm cc s ly tha tng
ng ca 2. C th thc hin iu ny bng cch chia lin tc s thp phn cho 2, ch
cc s d sau mi ln chia. V d, s thp phn 31:
31 : 2 = 15 d 1 (LSB).
15 : 2 = 7 d 1
7 : 2 = 3 d 1
3 : 2 = 1 d 1 (MSB).
161

S nh phn l 11111. Php chia th nht cung cp bit ngha thp nht, v ch
mi chia 31 cho 2, tc l 2
1
v s d 1 tng ng vi s 2
0
. Php chia cui cng cung
cp bit ngha ln nht v 31 c chia 2 c 4 bn ln, ngha l 2
4
v s d l 1.
Cc s nh phn dc s dng trong my tnh do hai trng thi c biu din
bng 0 v 1 d s dng vi cc b chuyn mch, trong chng c th biu din trng
thi ngt v ng. Mt vn i vi cc s nh phn l s tng i nh i hi
nhiu ch s. V d, s 9 trong h thp phn ch cn mt ch s, nhng khi c vit
theo h nh phn phi s dng bn ch s 1001. S thp phn 181 gm ba ch s, di
dng nh phn phi cn tm ch s l 10110101. Do vy, cc s bt phn hoc thp lc
phn di khi c s dng d x l cc s hn.
P1.3. H bt phn
H bt phn da trn tm ch s. 0, 1, 2, 3, 4, 5, 6, 7. Khi s c biu din
theo h ny, v tn ch s trong s cho bit gi tn c gn cho ch s , gi tr ny
tng theo c s 8 khi i t phi sang tri. Do vy:
8
3
8
2
8
1
8
0

i s thp phn sang h bt phn, bn hy chia lin tip s thp phn cho
8 v ch cc s d. S thp phn 15 chia cho 8 bng 1 vi s d 7, t s 15 trong
h thp phn l s 17 trong h bt phn. chuyn t h bt phn sang h thp phn,
bn hy nhn cc ch s vi ly tha ca 8 tng ng vi v tn ca ch s trong s
bt phn. V d, s bt phn 365 l 3 x 8
2
+ 6 x 8
1
+ 5 x 8
0
= 245. chuyn t h nh
phn sang h bt phn, s nh 'phn c vit theo cc nhm gm ba bit, bt u bng
bit ngha nh nht. V d, s nh phn 11010110 c vit nh sau:
11 010 110
Sau , mi nhm c thay bng ch s tng ng t 0 n 7. S nh phn
110 l 6, 010 l 2 v 11 l 3. T s bt phn l 326. .Mt v d khc, s nh phn
100111010 c vit thnh:
100 111 010 H nh phn
4 7 2 H bt phn
Php chuyn i t h bt phn sang h nh phn l chuyn tng ch s bt
phn thnh s tng ng 3-bit ca s bt phn . Nh vy, i vi s bt phn 21
th 1 tng ng vi 001 v 2 tng ng vi 010. Do :
2 1 S bt phn.
010 001 S nh phn.
Nh vy s nh phn l 010001.
162

P1.4. H thp lc phn (hex)
H thp lc phn da trn 16 ch s/k hiu: 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, A, B, C.
D, E, F. Khi s c biu din theo h ny, v tr ch s trong s cho bit gi tr c
gn cho ch s , gi tr ny tng theo c s 16 khi i t phi sang tri nh sau:
... 16
3
16
2
16
0
16
0

V d, s thp phn 15 l F trong h thp lc phn. chuyn cc s thp
phn sang h thp lc phn, bn chia lin tip s thp phn cho 16 v ch cc s d.
S thp phn 156 khi c chia cho 16 s bng 9 vi s d 12, do , theo h thp lc
phn l 9C. chuyn t h thp lc phn sang h thp phn, bn nhn cc ch s
trong h thp lc phn vi ly tha ca 16 tng ng vi v tr ca ch s trong s
thp lc phn. Nh vy, s 12 thp lc phn s thnh 1 x 16
1
+ 2 x 16
0
= 18.
chuyn cc s nh phn thnh cc s thp lc phn, ta tch cc s nh phn thnh
nhm bn ch s bt u t s c gi tr nh nht.
Nh vy, s nh phn 1110100110 s l:
11 1010 0110 S nh phn.
3 A 6 S thp lc phn.
i vi php chuyn i t h thp lc phn sang h nh phn, mi s thp lc
phn c i thnh s tng ng 4-bit ca s thp lc phn . Nh vy s thp
lc phn 1D s c s tng ng 4-bit l 0001 i vi 1 v 1101 i vi D:
1 D S thp lc phn
0001 1101 S nh phn
Nh vy s nh phn l 00011101.
Do th gii thc c khuynh hng s dng ch yu cc s theo h thp phn
v cc my tnh s dng cc s theo h nh phn, nn lun lun c bi ton chuyn
i. Tuy nhin, khng c lin h n gin gia v tr ca cc ch s trong s thp phn
v v tr ca cc ch s trong s nh phn. Phng php thng c s dng l h
thp phn m ha nh phn (BCD). Vi h thng ny, mi ch s thp phn c m
ha ring bit trong h nh phn. V d, s thp phn 15 c s 5 c chuyn thnh s
nh phn 0101 v s 1 thnh 0001:
1 5 S thp phn
0001 0101 S nh phn
Nh vy ta c s 0001 0101 theo BCD.
Bng PL-1 nu cc v d v s biu din theo h thp phn, h nh phn, h bt
phn, h thp lc phn v h BCD.
Bng P1-1
Cc s theo cc h thng m
163

Thp phn Nh phn Bt phn Thp lc phn BCD
0 00000 0 0 0000 0000
1 00001 1 1 0000 0001
2 00010 2 2 0000 0010
3 00011 3 3 0000 0011
4 00100 4 4 0000 0100
5 00101 5 5 0000 0101
6 00110 6 6 0000 0110
7 00111 7 7 0000 0111
8 01000 10 8 00001000
9 01001 11 9 00001001
10 01010 12 A 0001 0000
11 01011 13 B 0001 0001
12 01100 14 C 0001 0010
13 01101 15 D 0001 0011
14 01110 16 E 0001 0100
15 01111 17 F 0001 0101
P1.5. S hc s nh phn
P1.5.1. Php cng
Php cng cc s nh phn s dng cc nguyn tc sau:
0 + 0 = 0
0 + 1 = 1 + 0 = 1
1 + 1 = 10
1 + 1 + 1 = 11
Hy xt php cng cc s nh phn 01110 v 10011
+
01110
10011
Tng 100001
i vi bit 0 trong tng, 0 + 1 = 1. i vi bit 1 trong trng, 1 + 1 = 10 v
c ghi 0 vi 1 c mang sang ct k tip. i vi bit 3 trong tng, 1 + 0 + 1 mang
sang = 10. i vi bit 4 trong tng s, 1 + 0 + 1 mang sang : 10, tip tc vi cc bit
khc s c kt qu 100001.
P1.5.2. Php tr
Php tr cc s nh phn tun theo cc nguyn tc sau:
0 - 0 = 0
1 - 0 = 1
164

1 - 1 = 0
Khi tnh gi tr 0 - 1, 1 c mn t ct k tip bn tri ang cha 1. V d
sau y s minh ha iu ny.
-
11011
01110
Hiu 01101
i vi bit 0, c 1 - 0 = 1. i vi bit 1, c 1 - 1 = 0. i vi bit 2, c 0 - 1
cn mn 1 t ct k tip c 10 - 1 : 1. i vi bit 3, c 0 - 1, hy nh c mn 1.
Tip tc mn 1 t ct k tip c 10 - 1 : 1.
i vi bit 4, c 0 - 0 = 0, hy nh c mn 1.
P1.5.3. Cc s c du
Trc y, cc s nh phn c kho st khng c du cho bit chng dng
hoc m. T khi c nhu cu s dng c s m v s dng, pht sinh cch phn bit
chng. iu ny c th c thc hin bng cch thm bit du. Khi s c gi l
c du, bit c gi tr ln nht c s dng cho bit du ca s , 0 c s dng
cho s dng v 1 cho s m. Nh vy, i vi s 8 - bit, s c dng:
XXXX XXXX


S dng c vit theo cch thng thng vi 0 ng trc. T , s nh
phn dng 10110 s c vit 010110. S m 10110 s c vit 110110. Tuy nhin,
y khng phi l cch vit cc s m thng dng i vi trng hp vn hnh bng
my tnh. Cch vit cc s'c du m thng ng hn l s dng phng php phn t
b hai. S nh phn c hai phn t b, c gi l phn t b mt v phn t b hai .
Phn t b mt trong s nh phn c c bng cch thay i tt c cc s ls trong s
khng du thnh cc s Os v cc s Os thnh s ls. Do , vi s nh phn 101101,
phn t b mt ca s ny l 010010. Phn t b hai c c t phn t b mt bng
cch cng 1 vo bit ngha nh nht trong phn t b mt. Nh vy, phn t b mt
ca 010010 tr thnh 010011.
Khi c s m, nhn c phn t b hai c du, hy tm phn t b hai sau
gn du cho phn t bng cch thm s 1 vo bit du. Xt cch biu din s thp
phn -6 di dng phn t b hai c du khi tng s bit l tm.
Trc ht, hy vit s nh phn tng ng vi + 6, l 0000110, sau
tm c phn t b mt l 1111001, cng 1 s c 1111010, v cui cng gn du
cho phn t ny cho bit l s m. Kt qu s l 11111010.
S nh phn khng du khi b qua du
0000110
Bt du
165

Phn t b mt
1111001
Cng 1
1
Phn t b hai cha c du
1111010
Phn t b hai c du
11111010
Bng P1-2 lit k cc phn t b hai c du (c cho n 4 bit) i vi cc s
thp phn.




Bng P1-2
Cc phn t b hai c du
S thp phn Phn t b 2 c du
- 5 1011
- 4 1100
-3 1101
-2 1110
-1 1111
i vi s dng, hy gn du cho s nh phn ny bng s 0, tc l ch vit
cc s m theo dng phn t b hai. Tm quan trng ca phng php ny trong vic
vit cc s dng v m l khi cng hai s bng nhau nhng c du ngc nhau th
cho kt qu bng 0. V d: (+4)+ (-4) = 0 hay 0000 0100 + 111 1100 = (1) 0000 0000.
Bit 1 trong kt qu b b qua.
Php tr s dng cho s dng c th coi nh php cng s m vi s
dng. Cn tm phn t b hai c du i vi s m, sau cng phn t ny vi s
dng c du. Nh vy, i vi php tr 4 - 6, c th xt bi ton ny di dng (+4)
+ (-6). T cng s dng c du vi phn t b hai c du i vi s m.
Dng nh phn ca +4
0000 0100
Phn t b hai c du ca -6
1111 1010
Tng
1111 1110
Bit ngha ln nht, tc l bit du, trong kt qu l 1, nh vy kt qu ny l
s m. y l phn t b hai c du 8-bit i vi -2.
Nu cn cng hai s m, hy tm phn t b hai c du i vi tng s sau
cng chng vi nhau. Lun lun s dng phn t b hai c du i vi s m, cn
dng ch l s c du.

166

Ph lc 2 Bng m G, M ca hng FANUC
P2.1. M G
M Nhm Chc nng ca m lnh
G00

01
Xc nh v tr
G01
Ni suy tuyn tnh
G02
Ni suy cung trn / xon vt / xon Acsimet / hnh nn cng
chiu kim dng h
G03
Ni suy cung trn / xon vt / xon Acsimet / hnh nn ngc
chiu kim dng h
G04

00
Dng tnh tin dng c / Dng chnh xc
G09
Dng chnh xc
G10
Thay i h ta phi
G10.6

G11
Hy ch G10
G17
02
Chn mt phng gi cng XY
G18
Chn mt phng gi cng XZ
G19
Chn mt phng gi cng ZY
G20 06
t n v lm vic theo h inch
G21
t n v lm vic theo h mm
G27

00
Quay v gc my
G28
Tr quay v gc my t ng
G29
Quay v gc my th hai, th ba hoc th t
G30
im 0 th hai / th ba / th t
G30.1

G31
B qua m lnh
G33 01
Ct ren
G40

07
Hy b hiu chnh b bn knh
G41
Hiu chnh bn knh dng c ct, dao ben tri contour gia
cng
G42
Hiu chnh bn knh dng c ct, dao ben phi contour gia
cng
G43 08
B chiu di dng c, +
G44
B chiu di dng c, -
G45
B v tr dng c, tng
167

M Nhm Chc nng ca m lnh
G46

00
B v tr dng c, gim
G47
B v tr dng c, tng 2 ln
G48
B v tr dng c, gim 2 ln
G49 08
Hy b chiu di dng c
G52 00
t h ta a phng
G53
La chn h ta my
G54
14


14
La chn h ta phi th nht
G55
La chn h ta phi th hai
G56
La chn h ta phoi th ba
G57
La chn h ta phi th t
G58
La chn h ta phi th nm
G59
La chn h ta phi th su
G60 00
Tip cn theo mt hng
G61
15
M lnh dng chnh xc
G62

G63
Ch Taro
G64
Ch ct gt (ch kim tra dng chnh xc)
G65 00
Gi marco
G66 12
Gi nhm marco
G67
Hy gi nhm marco
G72.1

G72.2

G73






09




Chu trnh
gia cng l
Gia cng l su tc cao
G74
Chu trnh taro
G76
Chu trnh khot l
G80
Hy chu trnh gia cng l
G81
Chu trnh khoan l nng
G82
Chu trnh khot l bc
G83
Chu trnh gia cng l su
G84
Chu trnh taro
G84.2
Chu trnh taro cng
168

M Nhm Chc nng ca m lnh
G84.3
Chu trnh taro cng, ren tri
G85
Chu trnh khot l
G86
Chu trnh khot l
G87
Chu trnh khot l, mt sau
G88
Chu trnh khot l
G89
Chu trnh khot l
G90
t h ta tuyt i
G91
t h ta gia s
G92
i h ta phi / t tc quay ln nht
G94
t tc tin dao / pht
G95
t tc tin dao / vng
G96
Tc b mt khng di
G97
Hy tc b mt khng i
G98
t kiu rt dao, trong chu trnh gia cng l
G99
t kiu rt dao, trong chu trnh gia cng l

169

P2.2. M M
M lnh Chc nng ca m lnh Miu t
M00
Dng chng trnh Dng chng trnh tm thi
M01
Dng la chn Dng chng trnh tm thi khi bt
chc nng OSP, chng trnh s tm
dng khi gp lnh M01. N s khng
c tc dng khi chc nng ny chuyn
sang OFF.
M02
Kt thc chng trnh Kt thc chng trnh v t li NC,
con tr khng quay li u chng
trnh
M03
Quay trc chnh bn phi Khi ng trc chnh theo kim dng
h.
M04
Quay trc chnh bn tri Khi ng trc chnh quay ngc chiu
kim ng h
M05
Dng trc chnh Dng trc chnh
M06
Thay dng c Khi ng chu trnh thay dao
M07
Kch hot qu trnh bm du
trn ngui
Kch hot qu trnh bm du
M08
Phun du ti ngui Phun du ti ngui
M09
Tt dung dch trn ngui, tt
bm du
Tt tt c cc ch bm du, v phun
du ti ngui
M10
Kp trc th t Kp trc th t
M11
Nh kp trc th t Nh kp trc th t
M19
nh hng trc chnh nh hng trc chnh
M20
T ng tt ngun in ca
my
T ng tt ngun in ca my
M21
M lnh ngoi vi
M22
M lnh ngoi vi
M23
M lnh ngoi vi
M24
M lnh ngoi vi
M25
M lnh ngoi vi
M26
M lnh ngoi vi
M27
M lnh ngoi vi
M28
M lnh ngoi vi
M29
Dng taro cng
170

M lnh Chc nng ca m lnh Miu t
M30
Kt thc chng trnh Kt thc chng trnh, t li NC, quay
tr li u chng trnh
M31
Kch hot m lnh kha trc
M32
Hy lnh kha trc Hy b M31
M33
Ct dng c Tr dng c t trc chnh v magazine
M40
Bnh rng iu khin trc
chh v tr trung gian
(ch c MV 653/50, 1003/50.1)
M41
Bnh rng iu khin trc
chh v tr 1
(ch c MV 653/50, 1003/50.1)
M42
Bnh rng iu khin trc
chh v tr 2
(ch c MV 653/50, 1003/50.1)
M43
Bnh rng iu khin trc
chh v tr 3
(ch c MV 653/50, 1003/50.1)
M46
Tn hiu la chn cm bin
ON
Chn cm bin lp trn trc chnh
M47
Tn hiu la chn cm bin
OFF
Chn cm bin lp trn bn my
M48
Hy m lnh Override Lm mt hiu lc chc nng iu khin
Override trn bng iu khin
M49
Kch hot m lnh Override Kch hot chc nng ddieuf hienr
override trn bng iu khin
M50
Phun du trn ngui qua l
mi khoan
Khi ng du hoan
M51
Thi kh ON Khi ng thi kh
M52
Thi kh lm sch Thi kh lm sch
M53
Thi kh lm sch cm bin
ON
Thi kh lm sch cm bin ON
M55
Phun du dng sng m Bt phun du dng sng m
M58
Cc m lnh phun kh lm
sch v cm bin OFF
Tt tt c cc m lnh phun kh lm
sch v cm bin
M59
Thi kh OFF Dng thi kh
M60


Thng s k thut APC
M62

M62

M63

M64

171

M lnh Chc nng ca m lnh Miu t
M65
Kim tra v tr trc z
M66
B qua dng c ON Bt tn hiu b dng c
M67
Kim tra tui bn dng c
M68
Kp trc th nm
M69
M kp trc th nm
M70
m phi
M73
i xng qua trc Y OFF Tt m lnh ly i xng qua trc Y
M7
i xng qua trc Y ON Bt m lnh ly i xng qua trc Y
M75
i xng qua trc X OFF Tt m lnh ly i xng qua trc X
M76
i xng qua trc X ON Bt m lnh ly i xng qua trc X
M77
M lnh ngoi vi
M80
Vi phun ra ON Lm sch phoi
M81
Vi phun ra OFF
M82
Ca t ng ON Thng s ca
M83
Ca t ng OFF
M84
Bt mn hnh
M85
Tt mn hnh
M86
iu khin thch nghi ON
M88
Lm ngui trc chnh ON
M89
Lm ngui trc chnh OFF
M96
Ch ngt marco Ngt marco ON
M97
Hy dng ngt marco Ngt marco OFF
M98
Gi chng trnh con
M99
Kt thc chng trnh con Quay v chng trnh chnh t chng
trnh con hin ti
M120
M lnh ngoi vi
M121
M lnh ngoi vi
M122
M lnh ngoi vi
M123
M lnh ngoi vi
M123
M lnh ngoi vi
M125
M lnh ngoi vi
172

M lnh Chc nng ca m lnh Miu t
M126
M lnh ngoi vi
M127
M lnh ngoi vi
M128
M lnh ngoi vi
M129
M lnh ngoi vi
M144
Cm bin quang hc ON S dng ly tm t ng
M145
Cm bin quang hc OFF
M164
Thi trc chnh ON
M165
Thi trc chnh OFF




173

Ph lc 3 Ch ct trn my CNC
P3.1. Ch ct khi phay
Vt liu
(Type of Material)
Vn tc ct m/p
(Speed)
Tc chy dao rng
(Feed per teeth-FPT)
HSS Carbide HSS Carrbide
Nhm v Magi
180 300 0,12-0,60 0,12-0,76
ng thau v ng thic
(mm)
75 - 90 120 0,12-0,50 0,25-0,50
ng thau v ng thic
(cng)
45 - 60 120 0,06-0,25 0,12-0,75
ng
45 - 60 300 0,12-0,38 0,12-0,38
Gang c (mm)
22 - 30 75 - 100 0,12-0,38 0,25-0,50
Gang c (cng)
15 - 22 60 - 75 0,08-0,18 0,12-0,25


Thp
100HBN
38 - 53 135-180 0,10-0,25 0,12-0,50
200HBN
21 - 27 110 - 135 0,10-0,25 0,12-0,25
300HBN
12 - <15 60 - 75 0,09-0,12 0,12-0,25
400HBN
6 - <9 30 - 60 0,02-0,08 0,10-0,15
500HBN
3 - <5 22 - 45 0,02-0,08 0,10-0,15
Thp
khng g
Ti
10 - <21 75 - 120 0,08-0,12 0,08-0,30
Cha ti
21 - <31 75 - 120 0,08-0,12 0,08-0,30

Titan
Di 100 K PSI
10 - <17 45 - 55 0,08-0,12 0,10-0,20
100K 135K
PSI
7 - <10 35 - 45 0,05-0,12 0,08-0,2
135K PSI
5 - <8 24 - 36 0,02-0,12 0,05-0,20
Thp chu
nhit cao
Hp kim thp
ferritic
12 - <18 45 - 90 0,05-0,12 0,08-0,20
Hp kim
Austenitic
6- <9 30 - 70 0,02-0,10 0,05-0,15
Hp kim nn
Nickel Base
2 - <6 15 - 45 0,02-0,08 0,05-0,15

174

P3.2. Ch ct khi khoan
Vt liu
cng BHN-
3000KG
Tc chy ct
HSS Carbide
Nha, Bakelite, cc loi khc

60 - 150

Nhm v thp hp kim



30 - 75

Nhm c
22 - 45
ng
30 - 75
ng thau (mm), ng vng



30 - 75

ng thau (cng), thic



25 - 45


Gang c
Dt mng
<=150 25 - 45 60 - 90
Ko si
150 - 250 20 - 25 45 - 60
Loi nh
250 - 350 12 - <18 30 - 45
Thp cacbon v thp hp kim
<= 250 15 - 30
200 - 300 15 - 20
300 - 400 6 - <12

Thp hp kim
<= 200 12 - <15
200 - 300 9 - <12
300 - 400 5 - <9
Hp kim nn Niken
6 - <9
Hp kim nn Cobalt
2 - <5
Thp cao
250 - 350 5 - <9
350 - 450 3 - <5
Titan v hp kim
<= 250 15 - <21
250 - 400 5 - <9

P3.3. Ch ct khi doa
Vt liu
Vn tc ct (m/pht)
HSS Carbide
Magi
60 - 120 150 - 300
175

Nhm
45 - 90 150 - 300
ng thau, ng thic
38 - 60 76 - 120
ng v ng thic cng
15 - 22 30 - 45

St
Mm
15 - 30 45 - 75
Trung bnh
8 - 15 22 - 45
Cng
5 - 8 12 - 22


Thp
Di 200HBN
16 - 24 60 - 90
200 300HBN
9 - 16 38 - 60
300 400 HBN
6 - 10 15 - 38
400 500 HBN
3 - 10 10 - 15
500HBN
3 - 6 4 - 10
Thp khng g Thp cha ti
12 - 18 45 - 76
Seri 300
6 - 9 24 - 36
Seri 400 v P.H
4 - 8 18 - 30
Thp hp kim
chu nhit cao
Nn Nikel
3 - 6 12 - 21
Nn Cobalt
3 - 4 9 - 15
Titan Sch
10 - 15 15 - 30
Hp kim
3 - 6 10 - 15

176

P3.4. Ch ct khi tar
Vt liu
cng
BHN (3000kg)
Tc ct
(m/ph)
Bakelite
18-30
Nha
30-75
Nhm v thp non
22-45
ng thau (ng cng, mm)
18-30
Hp kim ng
18-30
Gang c
<150
150-250
250-300
15-24
9-12
5-6
Thp hp kim v thp cacbon
<200
200-300
300-400
6-8
5-6
2-5
Thp khng g
<200
200-300
300-400
6-9
2-5
-
Thp bn cao
<200
200-300
3-8
3-3
Titan v hp kim ITS
<255
250-400
8-10
2-5