JP5061558B2 - Numerical control device program description method, numerical control device, and machining device - Google Patents

Description

  The present invention includes a program description method for a numerical control device and a program using the description method, which realizes synthesizing control amounts from a plurality of programs for driving an arbitrary axis in the numerical control device. The present invention also relates to a numerical control device and a processing apparatus that includes the numerical control device and processes a workpiece.

2. Description of the Related Art Conventionally, there are various processing apparatuses and processing methods for processing a workpiece to be processed by rotating a workpiece supported on a spindle. In this case, when the outer peripheral contour of the processed part of the rotated workpiece is a perfect circle, the processed part from a direction (hereinafter referred to as the X-axis direction) orthogonal to the rotation axis of the workpiece (hereinafter referred to as the C-axis). Machining can be performed with a relatively simple control of gradually cutting by bringing a machining tool into contact therewith.
However, if the position of the outer peripheral contour of the workpiece changes according to the rotation angle, such as the cam surface of a camshaft with a non-round cam or the crankpin of a crankshaft, A so-called profile operation in which the machining tool is moved back and forth in the X-axis direction according to the rotation angle is required, and the machining method is complicated. Hereinafter, the “profile operation” refers to an operation of moving the machining tool forward and backward in the X-axis direction (direction perpendicular to the C-axis) according to the rotation angle around the C-axis that supports the workpiece so as to follow the finished shape. .

Here, in the prior art described in Patent Document 1, an operation of cutting by a predetermined amount (ΔX) in each short rotation section in one rotation around the C axis while performing a profile operation is performed for each rotation. A machining method for non-round workpieces has been proposed in which the cam is ground.
Further, in the prior art described in Patent Document 2, when the profile operation is performed based on the initial parameter regarding the distance between the machining tool and the workpiece according to the rotation angle around the C axis supporting the workpiece, the pin diameter of the crankpin With respect to correction of parameter values such as the length of a pin stroke, the base circle diameter of a cam, etc., a machine tool has been proposed in which only the parameter value to be corrected is input without correcting the entire initial parameter.
Further, conventionally, as shown in the example of FIG. 5, the outer diameter is gradually increased at both ends (regions indicated by 11A and 11C in FIG. 5), and the central portion (indicated by 11B in FIG. 5). In the case of processing the crankpin 11 having a circular arc-shaped concave portion whose outer diameter is constant in the region), a general processing method is a method of transferring the shape of the processing tool 30 (in this case, a rotating grindstone). Is used. In this case, the width 30W of the machining tool 30 is substantially the same as the axial length 11W of the crank pin 11, and the outer peripheral contour shape by the regions 30A, 30B, 30C of the machining tool 30 is a region after the crank pin 11 is machined. It is transferred as the outer peripheral contour shape (finished shape) of 11A, 11B, 11C. As described above, when the crankpin 11 having the shape shown in the example of FIG. 5 is machined, conventionally, the workpiece is machined after the shape of the machining tool 30 is shaped in advance.
JP 63-84845 A JP 2001-277072 A

When processing the crankpin 11 as shown in the example of FIG. 5, conventionally, a method of transferring the shape of the processing tool 30 and a combination of the contents described in Patent Document 1 or a method of transferring the shape of the processing tool 30. And a combination of the contents described in Patent Document 2 are generally performed.
However, in the conventional technique described in Patent Document 1, since the cutting is performed in a stepwise manner in a relatively short section at the time of cutting, a sharp grinding load may be generated, and the roundness may be deteriorated or processed. There may be a problem with the workpiece part such as streaking on the surface. In addition, if the amount of cutting in a stepwise manner is large, the load on the processing tool increases and the consumption of the processing tool may increase (the life of the processing tool may be shortened).
In addition, in the method of transferring the shape of the processing tool 30, for small-scale production or when the workpiece size is very large, the processing tool 30 is shaped according to the shape and size of the crankpin, and the processing tool 30 is replaced. It takes time and work efficiency decreases.
Therefore, as shown in the example of FIG. 6, the inventor of the present application uses the machining tool 30 having a width 30 W smaller than the length 11 W of the crankpin 11 to perform the profile operation while moving the machining tool 30 to the circle of the crankpin. If it can be moved in the Z-axis direction and the X-axis direction so as to follow the arcuate shape, it is considered that it is not necessary to transfer the shape of the machining tool 30, and it can be applied to various shapes and sizes of crank pins. However, in the conventional program description method of the numerical control device, the movement in the X-axis direction in accordance with the profile operation that causes the movement in the X-axis direction corresponding to the rotation angle around the C-axis and the diameter of the crankpin are set as target values. One axis (in this case, the X axis) of the movement in the X-axis direction that is cut and ground until it reaches the end, and the movement in the X-axis direction corresponding to the movement distance along the Z-axis according to the shape of the crankpin I couldn't write a program that directed multiple movements.
The present invention was devised in view of the above points, and enables to describe a program for instructing a plurality of movements with respect to one axis in the control by the numerical controller from the above problems. By using this program description method, a numerical control device program description method, a numerical control device including a program using the description method, and the numerical control device, which are efficient even in small-volume production, are provided. It is an object to provide a processing apparatus provided.

As means for solving the above-mentioned problems, the first invention of the present invention is a program description method for a numerical control device as described in claim 1.
A program description method for a numerical control apparatus according to claim 1 is a program description method for a numerical control apparatus that instructs an operation of each axis in control of a plurality of axes provided in a machining apparatus, , A user setting program group composed of one or a plurality of user setting programs for calculating the control amount of the designated axis, and the control amount calculated based on the user setting program are input to each actual axis And an axis drive program group prepared for each axis in order to drive the drive unit. When there are a plurality of user setting programs, the plurality of user setting programs are independently and in parallel. In each user setting program, the control amount of one or more axes arbitrarily specified in each user setting program is displayed. Program for has been described, the respective axes designated in the user setting program, each comprising only be specified in a single user setting program, axes specified by a user configuration program other A program for a numerical control device that cannot be specified by a user setting program, and that causes the shaft drive program to output a drive signal to the drive device of the axis associated with the shaft drive program based on the input control amount. In this description method, at least one of the axes to be controlled can be controlled from a plurality of user setting programs.
In order to enable control from a plurality of user setting programs, in the second and subsequent user setting programs that control overlapping control axes indicating axes controlled by the plurality of user setting programs, the control target is actually A virtual axis that is virtually controlled only from its own user setting program without an axis is specified, and the program is described by replacing the overlapping control axis with the virtual axis.
Further, the control amount calculated based on the user setting program designating the virtual axis is added to the control amount input to the corresponding axis drive program as the control amount of the overlapping control axis before being replaced with the virtual axis. .

The second invention of the present invention is a numerical control device as defined in claim 2.
The numerical control device according to claim 2 is a numerical control device including a program for instructing an operation of each axis in the control of a plurality of axes provided in the machining apparatus, the program controlling the specified axis. In order to drive a drive device for each actual axis by inputting a user setting program group composed of one or a plurality of user setting programs for calculating the amount and a control amount calculated based on the user setting program And a plurality of user setting programs, each of the plurality of user setting programs is independently processed in parallel, Each user setting program contains a program for calculating control amounts for one or more axes arbitrarily specified in each user setting program. Are, each shaft being specified in the user set program, each comprising only be specified in a single user setting program, axes specified by a user configuration program can not be specified by another user set program In the numerical control device, the shaft drive program causes the drive device of the shaft associated with the shaft drive program to output a drive signal based on the input control amount. One axis can be controlled from a plurality of user setting programs.
In order to enable control from a plurality of user setting programs, in the second and subsequent user setting programs that control overlapping control axes indicating axes controlled by the plurality of user setting programs, the control target is actually A virtual axis that is virtually controlled by only its own user setting program without an axis is specified, and the program is described by replacing the overlapping control axis with the virtual axis.
Further, the control amount calculated based on the user setting program specifying the virtual axis is added to the control amount input to the corresponding axis drive program as the control amount of the overlapping control axis before the replacement with the virtual axis. Has been.

A third aspect of the present invention is a processing apparatus as set forth in the third aspect.
A machining apparatus according to claim 3 is a numerical control apparatus provided with a program described using the program description method of the numerical control apparatus according to claim 1, or the numerical control apparatus according to claim 2, A workpiece in which the position of the outer peripheral contour of the workpiece is changed according to the rotation angle is fixed, and a C-axis drive device that rotates the workpiece around the C axis, and machining that processes the outer contour of the workpiece of the workpiece. A tool, an X-axis drive device for moving the machining tool forward and backward relative to the workpiece in an X-axis direction orthogonal to the C-axis, and a Z-axis direction parallel to the C-axis And a Z-axis drive device that moves relative to the workpiece, and the numerical control device instructs each operation of the C-axis drive device, the X-axis drive device, and the Z-axis drive device. It is a processing device.
A CX-related user for instructing a relative advance / retreat position of the machining tool with respect to the workpiece in the X-axis direction with respect to the rotation angle of the workpiece around the C-axis, which requires operations related to each other. Relative movement of the machining tool relative to the workpiece in the Z-axis direction relative to the workpiece relative to the workpiece in relation to the workpiece, which requires operations related to the setting program. It is possible to control the C-axis drive device, the X-axis drive device, and the Z-axis drive device with two user setting programs, an XZ-related user setting program for instructing the movement amount. .
In order to enable the control, in one of the two user setting programs, the X axis corresponding to the overlapping control axis controlled by the two user setting programs is actually The program is described by replacing the virtual axis controlled virtually only from its own user setting program without the control target axis.
Furthermore, based on the control amount of the virtual axis calculated based on the one user setting program and the remaining user setting programs in the two user setting programs, the axis driving program corresponding to the X axis The calculated X-axis control amount is added and input.

The fourth invention of the present invention is a processing apparatus as set forth in claim 4.
The processing apparatus according to claim 4 is the processing apparatus according to claim 3, wherein the workpiece is a crankshaft, the workpiece is a crankpin, and the processing tool is parallel to the C-axis. The rotary grindstone is a substantially cylindrical grindstone having a rotation axis and having a width in a direction parallel to the rotation axis smaller than a length of the crank pin in a direction parallel to the C axis, and the crank pin has a columnar shape. Moreover, it is a shape which has the circular-arc-shaped recessed part which a diameter becomes large gradually in both ends.
In the CX related user setting program, the X axis of the rotating grindstone with respect to the crankshaft is set with respect to the rotation angle of the crankshaft around the C axis so that the crankpin and the rotating grindstone are in contact with each other. A program for indicating the relative advance / retreat position of the direction is described.
Further, in the XZ related user setting program, the Z axis of the rotary whetstone relative to the crankshaft is traced so that the rotary whetstone traces the contour of the crank pin having the arcuate recess. A program for instructing a relative movement amount in the X-axis direction of the rotating grindstone with respect to the crankshaft is described with respect to a relative movement amount in the direction.
A fifth aspect of the present invention is a processing apparatus as set forth in the fifth aspect.
According to a fifth aspect of the present invention, there is provided a machining apparatus according to a fifth aspect of the present invention, in which a workpiece in which the position of the outer peripheral contour of the workpiece changes according to the rotation angle is fixed, A machining tool for machining an outer peripheral contour of a workpiece; an X-axis drive device for moving the machining tool forward and backward relative to the workpiece in an X-axis direction perpendicular to the C-axis; and the machining tool The operations of the Z-axis drive device that moves relative to the workpiece in the direction of the Z-axis parallel to the C-axis, and the operations of the C-axis drive device, the X-axis drive device, and the Z-axis drive device are as follows. A numerical control device for instructing, the program of the numerical control device includes a user setting program group composed of one or a plurality of user setting programs for calculating a control amount of a specified axis, and the user setting program Based on When the control amount input is input, an axis drive program for driving the actual drive device of each axis is composed of a group of axis drive programs prepared for each axis, and when there are a plurality of the user setting programs, a plurality of The user setting programs are independently executed in parallel, and each user setting program includes a program for calculating control amounts of one or a plurality of axes arbitrarily designated in each user setting program. Each axis that is described and specified in the user setting program can only be specified in one user setting program, and the axis specified in one user setting program can be specified in other user setting programs are those that can not, said shaft driving program, based on the input control amount, associated with the shaft driving program axis To output the drive signal to the drive unit, as a processing device.
A CX-related user for instructing a relative advance / retreat position of the machining tool with respect to the workpiece in the X-axis direction with respect to the rotation angle of the workpiece around the C-axis, which requires operations related to each other. Relative movement of the machining tool relative to the workpiece in the Z-axis direction relative to the workpiece relative to the workpiece in relation to the workpiece, which requires operations related to the setting program. The C-axis driving device, the X-axis driving device, and the Z-axis driving device can be controlled by two user setting programs, an XZ-related user setting program for instructing the movement amount.
In order to enable the control, in any one of the two user setting programs, the X axis that is an overlapping control axis that is controlled in duplicate by the two user setting programs is actually Describes the program that replaces the virtual axis controlled virtually only from its own user setting program without the control target axis, and the axis drive program corresponding to the X axis includes The control amount of the virtual axis calculated based on the user setting program and the control amount of the X axis calculated based on the remaining user setting programs in the two user setting programs are added and input. ing.
Then, the numerical control device moves the machining tool relative to the workpiece so as to draw an arc or a straight line in the XZ plane, which is a plane including the X axis and the Z axis, based on the XZ related user setting program. While moving the machining tool relative to the workpiece, the amount of advancement / retraction in the X-axis direction according to the rotation angle of the workpiece is added to the X-axis direction based on the CX related user setting program. While the workpiece is rotated about the C axis, the machining tool is moved along the outer peripheral contour of the workpiece to move in the X axis direction and the Z axis direction.
A sixth aspect of the present invention is a processing apparatus as set forth in the sixth aspect.
The processing apparatus according to claim 6 is the processing apparatus according to claim 5, wherein the workpiece is a crankshaft, the workpiece is a crankpin, and the shape of the crankpin is in the Z-axis direction. A cross-sectional shape along the Z-axis direction is a circular arc shape so that the diameter gradually increases as it approaches the end portion at both ends, and the processing tool has a rotation axis parallel to the C-axis and The rotating grindstone has a substantially cylindrical shape whose width in the direction parallel to the rotation axis is smaller than the length of the crank pin in the direction parallel to the C-axis.

According to the program description method of the numerical control apparatus according to claim 1, with respect to the duplicate control axis indicating the axis controlled by a plurality of user setting programs, a description that directly designates the duplicate control axis is avoided, and each user is avoided. Describe the program by replacing it with a virtual axis that is controlled only within the setting program. Thereby, the description itself in the user setting program is enabled.
A plurality of user setting programs can be obtained by adding the control amount obtained by the user setting program replaced with the virtual axis to the control amount input to the axis driving program of the axis (overlapping control axis) before the replacement with the virtual axis. Even if the axes are controlled redundantly from each other, it is possible to synthesize the control amount obtained by each user setting program.

Further, according to the numerical control apparatus of the second aspect, as in the first aspect, the overlapping control axis indicating the axis controlled by the plurality of user setting programs is replaced with a virtual axis and the program is described. The description itself in the user setting program is possible.
Then, by adding the control amount obtained by the user setting program replaced with the virtual axis to the control amount input to the axis drive program of the axis (overlapping control axis) before replacement with the virtual axis, each user setting program It is possible to realize a numerical control apparatus that can synthesize the obtained control amounts and control each axis with the synthesized control amounts.

Further, according to the processing apparatus of claim 3 and claim 4, the movement in the X-axis direction by the profile operation instructing the movement in the X-axis direction corresponding to the rotation angle around the C-axis, and the Z-axis direction The movement in the X-axis direction corresponding to this movement can be performed simultaneously while being performed as independent controls.
For example, even if the shape of the crankpin 11 is as shown in FIG. 6, the processing tool 30 having a width 30 W smaller than the length 11 W of the crankpin 11 is used to correspond to the rotation angle around the C axis. The machining tool 30 can be moved in the Z-axis direction and the X-axis direction so as to follow the shape of the arc-shaped concave portion of the crankpin while performing a profile operation for controlling the advance / retreat position in the X-axis direction.
Thereby, even if it is the shape of the crankpin 11 as shown in FIG. 6, for example, the processing tool 30 can be controlled to appropriately trace the outer peripheral contour of the crankpin 11 while rotating the workpiece. For this reason, it is not necessary to use a method for transferring the shape of the processing tool, and an efficient processing apparatus can be realized even in a small amount of production.

  The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 shows an example of the configuration of an embodiment of a numerical control device 40 and a machining device 1 using a program description method for a numerical control device of the present invention. Although the configuration itself is the same as that of the conventional numerical control device and processing device, a processing method that could not be realized conventionally is realized by using the program description method of the numerical control device of the present invention.

●● [First embodiment]
In the first embodiment, in the control of at least one axis in the numerical control apparatus, a description method for instructing independent operations from a plurality of user setting programs that could not be described conventionally, and each instruction A method for synthesizing control amounts will be described. The user setting program will be described later.

● [Configuration of processing device 1 and numerical control device 40 (FIG. 1)]
The processing apparatus 1 includes a base 2, a spindle table TB1, a grindstone table TB2, and a numerical control device 40.
The grindstone table TB2 includes a substantially cylindrical grindstone 30 (corresponding to a processing tool). The grindstone 30 is rotated about a rotation axis parallel to the Z axis by a grindstone rotation drive motor 24 placed on the grindstone table TB2. Further, the width 30W of the grindstone 30 in the direction parallel to the rotation axis is smaller than the length 11W of the crank pin 11 in the Z-axis direction (see FIG. 6). The Z-axis is an axis parallel to the C-axis, which is an axis that is rotated by a main shaft motor 21 that supports and rotates the crankshaft 10 (corresponding to a workpiece), and a feed screw 23B described later is the Z-axis.
The grindstone table TB2 is attached to the base 2 by a grindstone table drive motor 22 (corresponding to an X-axis drive device) provided on the base 2, a feed screw 22B, and a nut (not shown) provided on the grindstone table TB2. Can be moved in the X-axis direction. Note that the X axis is an axis perpendicular to the C axis, and the feed screw 22B is the X axis.

The spindle table TB1 is Z with respect to the base 2 by a spindle table drive motor 23 (corresponding to a Z-axis drive device) provided on the base 2, a feed screw 23B, and a nut (not shown) provided on the spindle table TB1. It can move in the axial direction.
A tailstock 21T is fixed on the spindle table TB1, and the spindle table 21D is arranged so as to be close to or away from the tailstock 21T so as to be able to handle workpieces of various lengths. It is placed at a position facing the push table 21T. The headstock 21D and the tailstock 21T are respectively provided with support portions 21C and 21S (chucks and the like), and the crankshaft 10 as a workpiece is held (supported) between the support portions 21C and 21S. The axis connecting the support portions 21C and 21S is the C axis.

The crankshaft 10 is rotated about a C axis connecting the support portions 21C and 21S by a spindle motor 21 provided on the spindle stock 21D. Further, as shown in FIG. 1, the crankshaft 10 has a shape having a plurality of crankpins 11, 12, 13, 14, etc. having a center at a position eccentric with respect to the C axis.
The grindstone table drive motor 22 is provided with a position detector 22E that detects the position of the grindstone table TB2 in the X-axis direction, and the spindle table drive motor 23 detects the position of the spindle table TB1 in the Z-axis direction. A position detector 23E is provided, and the spindle motor 21 is provided with a position detector 21E that detects the rotation angle of the crankshaft 10. Although various types of position detectors can be used, an encoder is used in this embodiment.

The numerical controller 40 includes a CPU 41, a storage device 42, an input / output device 43 (keyboard, monitor, etc.), an interface 44, drive units 51 to 54, and the like. The numerical controller 40 controls the spindle motor 21, the grindstone table drive motor 22, the spindle table drive motor 23, and the grindstone rotation drive motor 24 based on the machining data and machining program stored in the storage device 42.
The CPU 41 calculates an output command value based on data input from the input / output device 43, programs and data stored in the storage device 42, and external input signals input via the interface 44. Output via.
As an external input signal, a signal from the position detector 21E that detects the rotation angle of the crankshaft 10, a signal from the position detector 22E that detects the position of the grindstone table TB2 in the X-axis direction, and the Z-axis direction of the spindle table TB1 A signal or the like from a position detector 23E that detects the position of is used.

The output command value includes the rotation angle of the crankshaft 10 for machining the crankshaft 10, the position of the grinding wheel table TB2 in the X-axis direction, the position of the spindle table TB1 in the Z-axis direction, and the rotational speed of the grinding wheel rotation drive motor 24. This is a control amount to be controlled and is output to the drive units 51 to 54 via the interface 44.
The drive unit 51 controls the spindle motor 21 and controls the rotational speed of the crankshaft 10 with the C axis as the center of rotation. The drive unit 52 controls the grindstone table drive motor 22 and controls the position of the grindstone table TB2 in the X-axis direction. The drive unit 53 controls the spindle table drive motor 23 and controls the position of the spindle table TB1 in the Z-axis direction. The drive unit 54 also controls the grindstone rotation drive motor 24 to control the rotation speed of the grindstone 30.

The drive units 51, 52, and 53 take in the detection signals from the position detectors 21E, 22E, and 23E, and perform feedback control so as to correct the difference between the detected signals from the acquired position detectors and the output command value from the CPU 41. The spindle motor 21, the grindstone table drive motor 22, and the spindle table drive motor 23 are each controlled.
In the example of FIG. 1, the grindstone rotation drive motor 24 is not provided with a detector, but the grindstone rotation drive motor 24 is also provided with a speed detector and the like, and the rotation speed of the grindstone rotation drive motor 24 is feedback controlled. Is also possible.
Although not shown in the figure, the diameter of the workpiece is detected in real time following the movement of the workpiece rotating around the C axis, and a detection signal is output. A detectable sizing device is also provided. The numerical control device can continuously recognize in real time how much the diameter of the workpiece is based on the detection signal from the sizing device.

● [Program structure in the numerical controller 40 (FIG. 2)]
As shown in the example of FIG. 2, a program for calculating an output command value (hereinafter, the output command value is described as a controlled variable) output from the CPU 41 to the drive units 51 to 54 via the interface 44 is a single or plural programs. A group of user setting programs configured by a user setting program, and an axis driving program in which an axis driving program for inputting a control amount calculated by the user setting program and outputting a control amount to an associated drive unit is prepared for each axis. It is composed of groups.
The user setting program can describe a program for calculating the control amount of one or a plurality of axes arbitrarily designated by the user, and can be freely described by the user.
The shaft drive program is a program for driving the associated actual shaft drive device (in this case, a drive motor), and is associated one-to-one with the drive unit. Note that the axis output program cannot be freely described by the user.
When a control amount (output command value) is input from the associated shaft drive program, each drive unit receives a position or rotation angle based on a detection signal from the associated position detector, and an input output. Feedback control is performed to correct the difference from the command value.

Further, when there are a plurality of user setting programs, the CPU 41 executes a plurality of user setting programs independently and in parallel. And the input to the axis output program of the controlled variable calculated by each user setting program is processed in parallel. Thereby, a plurality of user setting programs are processed simultaneously, and each axis can be controlled simultaneously.
Each axis specified in the user setting program can be specified only by one user setting program. For example, when there are two user setting programs PU1 and PU2, when a program for calculating the control amount of the X axis and the C axis by specifying the X axis and the C axis is described in the user setting program PU1, the user setting program PU2 It is not possible to write a program that calculates the control amount by specifying the X axis or the C axis.

● [Profile operation of crankshaft 10 and grindstone 30 (FIG. 4)]
Here, a profile operation that moves forward and backward in the X-axis direction according to the rotation angle around the C-axis will be described with reference to FIGS.
As shown in FIG. 4A, when the crankshaft 10 is rotated around the C axis, the position of the outer peripheral contour of the crankpin 11 that is the workpiece (the position in the X-axis direction) depends on the rotation angle. Change.
As shown in FIG. 4B, the center of the shaft of the crankshaft 10 is the point J, the center of the crankpin 11 is the point P, the center of rotation of the grindstone 30 is the point T, the diameter of the crankpin 11 is φp, the point The length (pin stroke) of the straight line connecting J and the point P is Rw, and the radius of the grindstone 30 is Rt. Note that the points J and T are set on a straight line parallel to the X axis.
The angle formed by the straight line connecting point J and point P and the straight line passing through point J and point T is the rotation angle θ (workpiece rotation angle), and the distance in the X-axis direction between point J and point T is X (workpiece , The distance X is a function of the rotation angle θ.

● [Description example of user setting program by conventional description method (Fig. 3) and processing method (Fig. 5)]
Next, a description example of a user setting program by a conventional description method will be described with reference to FIG. In the user setting program, a code specifying each mode starting with “G”, a code indicating the operation content, and the like are described line by line.
For example, in the example shown in FIG. 3, when reading the step N010, the CPU 41 recognizes from “G51” that the profile operation start mode is specified (in this case, “G51” is the profile operation start mode). Is registered in advance). Then, from “S60”, the crankshaft 10 (C-axis) is rotated at 60 rpm, and the rotation around the C-axis is performed according to the rotation angle around the C-axis and the position in the X-axis direction stored in the “P2345” file. Recognizing that this is an instruction to control the grindstone table drive motor 22 so that the position in the X-axis direction is in accordance with the angle, the control amount of the C-axis and the control amount of the X-axis are obtained based on the instruction. In the “P2345” file, for example, the distance X corresponding to the rotation angle θ shown in FIG. 4 is stored for each predetermined rotation angle.

Next, when reading the step N020 shown in FIG. 3, the CPU 41 recognizes from “G01” that it is the cutting mode (in this case, “G01” is registered in advance as the cutting mode). From “G31”, it is recognized that the external positioning mode is in accordance with the dimension measured by the sizing device (device for measuring the dimension of the workpiece) (in this case, “G31” is the external positioning mode). Registered in advance). Then, from “G91 X-0.2 F1.”, It is recognized that the relative position command mode (in this case, “G91” is the relative positioning mode is registered in advance), and the cutting speed is 1 mm / Recognize that it is an instruction to drive the X-axis in a direction of cutting 0.2 mm at min (-0.2 indicates that the grindstone 30 is moved 0.2 mm toward the crankshaft 10 in FIG. 4B). The X-axis control amount based on the instruction is obtained. Then, the CPU 41 adds the X-axis control amount obtained in step N010 and the X-axis control amount obtained in step N020, and inputs the sum to the X-axis axis drive program PJx. Further, the control amount of the C axis obtained in step N010 is input to the C axis drive program PJc.
Then, when the detection signal (signal at address 98765) is output from the sizing device, the CPU 41 reads the next step N030.

Next, when reading step N030, the CPU 41 recognizes from “G01” and “G31” that the cutting mode and the external positioning mode are set. Then, from “G91 X−0.02 F0.5”, it is recognized that the relative position command mode (from “G91”), and the X axis is cut by 0.02 mm at a cutting speed of 0.5 mm / min. Recognizing that the direction is an instruction to drive in the direction, the control amount of the X axis is obtained based on the instruction. Then, the CPU 41 adds the X-axis control amount obtained in step N010 and the X-axis control amount obtained in step N030 and inputs the sum to the X-axis axis drive program PJx. Further, the control amount of the C axis obtained in step N010 is input to the C axis drive program PJc.
Then, when the detection signal (signal at address 98764) is output from the sizing device, the CPU 41 proceeds to the next step N040.

Next, when reading step N040, the CPU 41 recognizes from “G04” that it is in the spark-out mode (in this case, “G04” is registered in advance as being in the spark-out mode). Then, it recognizes from “P1” that it is an instruction to execute the spark-out process for one rotation of the C-axis. “Spark out” means that even if the grindstone is cut, the cutting amount according to the set value may not be obtained due to insufficient rigidity of the processing equipment or the grindstone. Rotate the to bring it closer to the set cut value and finish the surface smoothly.
Then, after performing one revolution of the spark-out process, the CPU 41 reads step N050 and recognizes from “G50” that it is an instruction for the profile operation end mode (in this case, “G50” is the profile operation end mode). The profile operation of the C axis and the X axis is stopped.

  In the conventional user setting program description method shown in FIG. 3 described above, the crankpin 11 can be processed by the conventional “processing method for transferring a grindstone shape” shown in FIG. Since this has already been described, a description thereof will be omitted.

● [Machining method in this embodiment (FIG. 6), description example of user setting program (FIG. 7), and reflection in axis drive program (FIG. 8)]
In the conventional “processing method for transferring a grindstone shape (processing method for cutting in the X-axis direction while performing profile operation)” described above, “cutting in the X-axis direction while performing profile operation” as shown in FIG. In addition, the “processing method of moving in the X-axis direction along the shape of the workpiece while moving in the Z-axis direction” cannot be performed. Since the user setting program shown in FIG. 3 has already written a program for calculating the X axis control amount by specifying the X axis, the X axis is specified by another user setting program to calculate the control amount. This is because the program cannot be described. However, in the user setting program shown in FIG. 3, “moving in the Z-axis direction while moving in the Z-axis direction along the shape of the part to be processed (in this case, the shape having an arcuate recess)” It is also not possible to describe the action to be performed simultaneously with the profile action.
A method of adding the distance Z in the Z-axis direction to the P2345 file (data in which the distance X corresponding to the rotation angle θ is stored for each predetermined rotation) is also conceivable, but the X-axis direction can be determined according to the rotation angle θ. And the position in the Z-axis direction are fixed. In this case, for example, if the movement distance in the Z-axis direction is long, it is not preferable because a spiral with a large interval is drawn and a portion that is not ground may occur.

Therefore, in order to enable control from a plurality of user setting programs on at least one of the axes to be controlled (in this case, the C axis, the X axis, and the Z axis), the control is performed from a plurality of user setting programs. In the second and subsequent user setting programs that control the overlapping control axes that indicate the axis to be controlled, a virtual axis that is virtually controlled only from its own user setting program is specified without the control target axis actually existing. Then, a program is described in which the duplicate control axis is replaced with this virtual axis. Then, the axis driving program associated with the axis as the control amount of the actual control target axis (overlapping control axis) before replacing the control amount obtained by the user setting program specifying the virtual axis with the virtual axis Is added as a control amount to be input to.
In this case, a user setting program can be described as in the example of FIG. FIG. 7 shows an example of the user setting programs PU1, PU2, and PU3, and description contents of each step and processing of the CPU 41 will be described.

First, description contents of the user setting program PU1 (corresponding to the CX related user setting program) shown in FIG. 7 and processing of the CPU 41 will be described.
The CPU 41 reads step N010 and recognizes that the profile operation mode is designated from “G51”. Then, from “S60”, the crankshaft 10 (C-axis) is rotated at 60 rpm, and the rotation around the C-axis is performed according to the rotation angle around the C-axis and the position in the X-axis direction stored in the “P2345” file. Recognizing that this is an instruction to control the grindstone table drive motor 22 so that the position in the X-axis direction is in accordance with the angle, the control amount of the C-axis and the control amount of the X-axis are obtained based on the instruction. This is the same as the conventional step N010 shown in FIG.
Next, the CPU 41 reads step N021, recognizes that it is in the spark-out mode from “G04”, and recognizes from “P100” that it is an instruction to execute the spark-out processing for 100 rotations of the C-axis.
Then, after performing the spark-out process 100 rotations, the CPU 41 reads step N031, recognizes from “G50” that it is an instruction for the profile operation end mode, and stops the profile operations of the C axis and the X axis.

Next, description contents of the user setting program PU2 (corresponding to the X related user setting program) shown in FIG. 7 and processing of the CPU 41 will be described. The user setting program PU2 wants to describe a program for instructing the X-axis cutting, but since the X axis has already been specified in the user setting program PU1, a program specifying the X axis cannot be described. Therefore, the X axis (overlapping control axis) is described by replacing it with a Y axis (corresponding to the first virtual axis) which is a virtual axis.
The CPU 41 reads step N110 and recognizes that the cutting mode and the external positioning mode are in effect from “G01” and “G31”. Then, “G91 Y-0.2 F1.” Recognizes that it is in the relative position command mode (from “G91”), and drives the Y axis in the direction of cutting 0.2 mm at a cutting speed of 1 mm / min. To determine the control amount of the Y axis based on the instruction.
Then, when the detection signal (signal at address 98765) is output from the sizing device, the CPU 41 reads the next step N120. In addition, recent sizing devices can follow the trajectory of the crankpin 11 so that the diameter of the crankpin 11 can be measured regardless of the rotation angle of the crankpin 11. is there.
When step N120 is read, it is recognized from “G01” and “G31” that the cutting mode and the dimension measurement mode are set. Then, from “G91 Y−0.02 F0.5”, it is recognized that the relative position command mode (from “G91”), and the Y axis is cut by 0.02 mm at a cutting speed of 0.5 mm / min. Recognizing that this is an instruction to drive in the direction, the control amount of the Y axis is obtained based on the instruction.
Note that the processing in step N130 is also the same as the processing in step N120 described above, and a description thereof will be omitted.

Next, description contents of the user setting program PU3 (corresponding to the XZ related user setting program) shown in FIG. 7 and processing of the CPU will be described. In the user setting program PU3, I would like to write a program of instructions (instructions along the arc-shaped concave portion of the crankpin 11) related to movement in the X-axis direction accompanying movement in the Z-axis direction. Since the X axis is designated, the X axis (overlapping control axis) is described by replacing it with the A axis (corresponding to the second virtual axis) which is a virtual axis.
The CPU 41 reads step N210, and recognizes from “G03” that it is in the arc operation mode (concave arc operation) (in this case, “G03” is registered in advance as the arc operation mode). Then, from “A-1. Z1.R2.0 F10.0”, the speed (F) is 10 mm / min, and the current position is −1 mm in the A-axis direction (moved 1 mm upward in FIG. 6). Position) and 1 mm in the Z-axis direction (position moved by 1 mm in the left direction in FIG. 6), the movement is recognized along an arc having a radius (R) of 2.0 mm. Then, the control amount of the A axis and the control amount of the Z axis based on the instruction are obtained. The grindstone 30 can be moved along the contour of the region 11C of the crankpin 11 in FIG. 6 by arc movement in the A-axis direction (actually the X-axis direction) and the Z-axis direction.

When the process of step N210 is completed (when reaching the instructed position), the CPU 41 reads step N220 and recognizes the cutting mode from “G01”. Then, “Z3. F10.0” recognizes that the instruction is to move 3 mm in the Z-axis direction from the current position at a speed (F) of 10.0 mm / min. Then, a control amount of the Z axis based on the instruction is obtained. By this movement in the Z-axis direction, the grindstone 30 can be moved along the contour of the region 11B of the crankpin 11 in FIG.
When the process of step N220 is completed (when the instruction position is reached), the CPU 41 reads step N230 and recognizes that it is in the arc operation mode (concave arc operation) from “G03” (in this case, “G03 "Is previously registered in the arc operation mode). Then, from “A1.Z1.R2.0 F10.0”, at a speed (F) of 10 mm / min, 1 mm in the A-axis direction relative to the current position (position moved 1 mm downward in FIG. 6), It is recognized that the movement is along an arc having a radius (R) of 2.0 mm at 1 mm in the Z-axis direction (position moved by 1 mm in the left direction in FIG. 6). Then, the control amount of the A axis and the control amount of the Z axis based on the instruction are obtained. The grindstone 30 can be moved along the contour of the region 11A of the crankpin 11 in FIG. 6 by arc movement in the A-axis direction (actually the X-axis direction) and the Z-axis direction.

In the user setting programs PU1, PU2, and PU3 described above, a virtual axis (Y axis) instead of the X axis (overlapping control axis) in PU2 and a virtual axis instead of the X axis (overlapping control axis) in PU3 ( Since the control amounts are obtained as the control of the A axis), these control amounts are added to the axis drive program PJx associated with the X axis as the control amount of the X axis.
As shown in FIG. 8, the control amount of the C axis obtained by the user setting program PU1 is input to the axis driving program PJc associated with the C axis . Further, the axis drive program PJx associated with the X axis includes the X axis control amount obtained by the user setting program PU1, the Y axis control amount obtained by the user setting program PU2, and the user setting program PU3. Add the control amount of the A-axis obtained in step 5 and input. Further, the control amount of the Z axis obtained by the user setting program PU3 is input to the axis drive program PJz associated with the Z axis. 6 can be performed while performing the profile operation, and grinding can be performed by cutting a predetermined amount over the entire outer peripheral contour of the crankpin 11.

  In the present embodiment described above, the C setting and X axis profile operations are instructed by the user setting program PU1, the X axis cutting operation is instructed by the user setting program PU2, and the X setting is instructed by the user setting program PU3. An arc-shaped motion (so-called R contouring motion) of the axis and the Z-axis is instructed, but the user setting program PU2 is omitted (in this case, the sizing device is also omitted) and the user setting program PU1 and the user setting program PU3 Thus, while performing the profile operation of the C axis and the X axis, it is also possible to perform an arc-shaped operation (R contouring operation) of the X axis and the Z axis independently of the profile operation.

●● [Second embodiment]
“JP-A-63-84845” described in “Patent Document 1” is an example of a cam, but a part of the C-axis during one rotation while performing profile movement of the C-axis and the X-axis. In a short rotation section, a step-wise cutting is performed in which a predetermined amount (ΔX) is cut. In this method, there is a possibility that the problem described in the above-mentioned “Problem to be solved by the invention” occurs.
Therefore, in the second embodiment, for example, when the crankpin is ground using the program description method described in the first embodiment, the profile operation of the C axis and the X axis and the X axis direction are processed. Instructing the infeeding operation to a different user setting program and performing them independently, performing the profile movements of the C and X axes, over the entire circumference of the crankpin without affecting the workpiece rotation angle A processing apparatus capable of continuously cutting uniformly and grinding will be described.

  Since the machining apparatus 1 according to the second embodiment described below does not move in the Z-axis direction, it relates to the control in the Z-axis direction (spindle table drive motor 23, The position detector 23E, the feed screw 23B, the tribe unit 53, etc.) can be omitted. Although not shown in FIG. 1, a sizing device that can continuously detect the dimension of the workpiece is also provided.

● [Conventional operation (Fig. 9)]
The grindstone 30 when the conventional operation of “cutting by a predetermined amount (ΔX) in a part of a short rotation section for each rotation around the C axis while performing the profile operation of the C axis and the X axis” is performed. If the position of is shown in the graph, it will be as shown in the example of FIG. In the graph, the vertical axis is the J-T distance (the distance between the points J and T shown in FIG. 4B), and the horizontal axis is the rotation angle of the crankshaft 10 around the C axis (2π = 1). Indicating rotation).
In addition, when only the profile operation of the C axis and the X axis is performed without performing the cutting, the position of the grindstone 30 is as shown in the example of FIG. 9A.
In the conventional operation, as shown in the example of FIG. 3, the C-axis and X-axis profile operations and the cutting operation instructions in the X-axis direction are described in one user setting program. As a result, as shown in the example of FIG. 9B, the operation of cutting by a predetermined amount in a short rotation section (section α in FIG. 9B) during one rotation of the C-axis is performed. Repeated every rotation of the shaft. (Note that the cutting amount is zero in the section β in FIG. 9B.)
In addition, with the conventional sizing device, it was not possible to detect a change in the shape of the workpiece during cutting, so it was necessary to shorten the cutting time and reduce the effect of load fluctuations on the workpiece. . However, in this conventional method, as described above, since the cutting is performed stepwise in a relatively short section, a sharp grinding load may be generated. If the cutting amount and the cutting section are not set appropriately, it is true. There is a possibility that problems such as deterioration of circularity, streaks on the machined surface, and a problem that the consumption of the machining tool increases and the service life is shortened.

[Operations (1) to (3) of this embodiment (FIGS. 10A to 10C)]
In recent years, a sizing device that can detect the shape of a workpiece in real time (for example, it can detect how much size it is compared to a conventional sizing device that only detected whether a set value has been reached) ) Can be used, and the shape of the workpiece can be grasped. A machining apparatus capable of providing a stable load by continuous cutting by using this sizing apparatus and a program described below will be described.
In the present embodiment described below, two user setting programs are used, one user setting program describes a program for instructing the profile operation of the C axis and the X axis, and the other user setting program has a fixed value. A program for instructing a cutting operation in the X-axis direction (for example, cutting at a first cutting speed until the first predetermined dimension is reached) based on a dimension related to a workpiece by a detection signal of a sizing device is written.

[Operation (1) of this embodiment (FIG. 10 (A)) Continuous cutting over the entire circumference of rotation around the C axis]
For example, it is described as user setting programs PU1 and PU2 shown in FIG.
In this case, since the control of the X axis is duplicated from the two user setting programs, in one user setting program (the user setting program PU2 in the example of FIG. 7), the X axis (overlapping control axis) is set to the virtual axis ( In this case, the program is described in place of the Y axis).
Note that the control amount of the virtual axis (in this case, the control amount of the Y axis) calculated based on the one user setting program (in this case, PU2) is added to the axis drive program PJx associated with the X axis. The X-axis control amount calculated based on the remaining user setting program (in this case, PU1) is added and input.
Accordingly, the crankshaft 10 is continuously cranked at the first cutting speed until the dimension related to the workpiece detected by the sizing device becomes the first predetermined dimension, regardless of the rotation angle of the crankshaft 10 around the C axis. The grindstone 30 can be cut and machined in the X-axis direction uniformly over the entire circumference of the pin 11.

  In the user setting program PU2 in FIG. 7, the program is described so that the first cutting speed is reached until the dimension related to the processed part becomes the first predetermined dimension in Step N110, and the first predetermined dimension is reached. After that, the program is written so that the second cutting speed is smaller than the first cutting speed until the second predetermined dimension is smaller than the first predetermined dimension. Further, after reaching the second predetermined dimension, the program is described so that the third cutting speed is smaller than the second cutting speed until the third predetermined dimension is smaller than the second predetermined dimension. As a result, the finishing accuracy is gradually improved by rough grinding, fine grinding, and fine grinding.

  When the position of the grindstone 30 in the above operation is shown in a graph, it is shown in the example of FIG. Pf (θ) indicating the position of the center point T of the grindstone 30 can be continuously and uniformly cut regardless of the rotation angle (θ) of the workpiece, along ΔX1 indicating the cut amount. As a result, it is possible to suppress the deterioration of roundness, streaks, etc. generated on the processed surface, and finish the processed part with higher accuracy. In addition, since the grinding load can be reduced by continuously and uniformly cutting, the consumption of the grindstone 30 can also be reduced.

[Operation (2) of this embodiment (FIG. 10 (B)) Processing when changing cutting speed (1)]
In the operation (2) of the present embodiment to be described next, any user setting program (PU1 or PU2 or other user setting program is different from the above-mentioned “operation (1) of the present embodiment”). ), When the dimension related to the workpiece reaches the first predetermined dimension (or when the second predetermined dimension is reached), the grindstone is applied to the workpiece (workpiece) before cutting at the next cutting speed. An instruction is described that temporarily retracts 30 in the X-axis direction (so-called back-off) to temporarily separate the workpiece and the grindstone 30.

  In this case, regardless of the rotation angle, continuously and uniformly at the first cutting speed (or the second cutting speed) until the dimension relating to the workpiece becomes the first predetermined dimension (or the second predetermined dimension), When the grindstone 30 cuts into the workpiece and the first predetermined dimension is reached (or when the second predetermined dimension is reached), the workpiece and the grindstone 30 are temporarily separated. Thereafter, continuously and uniformly at the second cutting speed (or the third cutting speed) until the dimension related to the workpiece reaches the second predetermined dimension (or the third predetermined dimension), regardless of the rotation angle of the workpiece. Next, the grindstone 30 is cut into the workpiece and processed.

  When the position of the grindstone 30 in the above operation is shown in a graph, it is shown in the example of FIG. Pf (θ) indicating the position of the center point T of the grindstone 30 can be continuously and uniformly cut regardless of the rotation angle (θ) of the workpiece so as to be along ΔX2 indicating the cut amount. By performing a so-called back-off operation that temporarily separates the processing portion from the grindstone 30 with respect to the operation shown in FIG. 10 (A), it is possible to eliminate the bending of the processing portion and the processing accuracy. Can be further improved.

[Operation (3) of this embodiment (FIG. 10 (C)) Processing when changing cutting speed (2)]
In the operation (3) of the present embodiment to be described next, filter processing (smoothing is performed on the control amount calculated based on the user setting program PU2 described in the above-mentioned “operation (1) of the present embodiment”. Is added to the control amount input to the axis drive program PJx associated with the X axis. If the control amount calculated based on the conventional user setting program shown in FIG. 3 is filtered, the profile operation is also filtered, which is not preferable. In the present embodiment, the user setting program PU1 for instructing the profile operation and the user setting program PU2 for instructing the cutting operation are configured separately, so that only the cutting operation can be filtered.

  In this case, regardless of the rotation angle, continuously and uniformly with respect to the processed part at the first cutting speed until the dimension related to the processed part reaches the first predetermined dimension (or the second predetermined dimension). Cutting is performed with the grindstone 30, and then the cutting speed is gradually reduced from the first cutting speed to the second cutting speed by the filtering process (smoothly). Further, the grindstone 30 continuously and uniformly at the second cutting speed until the dimension related to the workpiece reaches the second predetermined dimension, regardless of the rotation angle of the workpiece. After the cutting, the cutting speed is gradually decreased from the second cutting speed to the third cutting speed by the filtering process.

  When the position of the grindstone 30 in the above operation is shown in a graph, it is shown in the example of FIG. Pf (θ) indicating the position of the center point T of the grindstone 30 can be continuously and uniformly cut regardless of the rotation angle (θ) of the workpiece, along ΔX3 indicating the cut amount. With respect to the operation shown in FIG. 10A, machining accuracy can be further improved by smoothly changing the cutting speed at an inflection point where the cutting speed changes.

In the above description, the substantially cylindrical grindstone 30 (rotary grindstone) is used as a processing tool, the crankshaft 10 is used as a work, and the crankpin 11 is used as a processed part. However, the processing tool, the work, and the processed part are The present invention is not limited to the above, and can be applied to various machining tools, workpieces, and workpieces.
In the above description, the processing apparatus 1 shown in the example of FIG. 1 moves the grindstone 30 relative to the workpiece in the X-axis direction, but the workpiece is moved relative to the grindstone 30 in the X-axis direction. You can also Therefore, the X-axis drive device can move the grindstone 30 relative to the workpiece in the X-axis direction.
Similarly, with respect to the Z-axis direction, the workpiece is moved in the Z-axis direction with respect to the grindstone 30, but a configuration in which the grindstone 30 is moved in the Z-axis direction with respect to the workpiece can also be adopted. Therefore, the Z-axis drive device can move the grindstone 30 relative to the workpiece in the Z-axis direction.

The description method of the program of the numerical control device of the present invention, the numerical control device 40 (provided with a program using the description method), and the processing device 1 (provided with the numerical control device 40) are described in the present embodiment. The present invention is not limited to the described appearance, configuration, processing, and the like, and various changes, additions, and deletions can be made without changing the gist of the present invention.
The numerical values used in the description of the present embodiment are examples, and are not limited to these numerical values.

It is a figure explaining one embodiment of numerical control device 40 and processing device 1. It is a figure explaining the structure of the program in the numerical control apparatus. It is a figure explaining the example of a description of the user setting program by the conventional description method. It is a figure explaining the profile operation | movement which moves forward / backward in an X-axis direction according to the rotation angle of the C axis periphery. It is a figure explaining the conventional processing method (method to transfer the shape of a processing tool). It is a figure explaining the processing method in this Embodiment. It is a figure explaining the example of a description of the user setting program in this Embodiment. It is a figure explaining a mode that the controlled variable calculated by each user setting program is input into a corresponding axis drive program. It is a figure explaining the operation | movement cut in a X-axis direction, performing profile operation | movement by the conventional processing method. It is a figure explaining the operation | movement cut in the X-axis direction, performing profile operation | movement in this Embodiment.

1 Processing device 2 Base 10 Crankshaft (workpiece)
11-14 Crank pin (machined part)
21 Spindle motor 22 Grinding wheel table drive motor 23 Spindle table drive motor 24 Grinding wheel rotation drive motor 21E, 22E, 23E Position detector TB1 Spindle table TB2 Grinding wheel table 22B, 23B Feed screw 30 Grinding wheel (processing tool)
40 Numerical control device 41 CPU
42 Storage Device 43 Input / Output Device 44 Interface 51-54 Drive Unit

Claims (6)

A method for describing a program of a numerical control device that instructs an operation of each axis in control of a plurality of axes provided in a machining apparatus,
The program includes a user setting program group composed of one or a plurality of user setting programs for calculating a control amount of a designated axis, and a control amount calculated based on the user setting program is input and an actual amount is input. An axis drive program for driving the drive device of each axis is composed of an axis drive program group prepared for each axis, and
When there are a plurality of the user setting programs, a plurality of user setting programs are executed independently and in parallel,
Each user setting program describes a program for calculating the control amount of one or more axes arbitrarily specified in each user setting program,
Each axis specified in the user setting program can be specified by only one user setting program, and an axis specified by a user setting program cannot be specified by another user setting program.
In the description method of the program of the numerical controller, the shaft drive program causes the drive device of the shaft associated with the shaft drive program to output a drive signal based on the input control amount.
In order to enable control from a plurality of user setting programs for at least one of the axes to be controlled,
In the second and subsequent user setting programs that control the overlapping control axes indicating the axes controlled by the plurality of user setting programs, there is actually no control target axis, and only the user setting program itself is virtual. Specify the virtual axis to be controlled, and write the program by replacing the duplicate control axis with the virtual axis,
Adding the control amount calculated based on the user setting program designating the virtual axis to the control amount input to the corresponding axis drive program as the control amount of the overlapping control axis before replacing with the virtual axis,
A method for describing a program for a numerical control device. A numerical controller provided with a program for instructing the operation of each axis in the control of a plurality of axes provided in the machining apparatus,
The program includes a user setting program group composed of one or a plurality of user setting programs for calculating a control amount of a designated axis, and a control amount calculated based on the user setting program is input and an actual amount is input. An axis drive program for driving the drive device of each axis is composed of an axis drive program group prepared for each axis, and
When there are a plurality of the user setting programs, a plurality of user setting programs are executed independently and in parallel,
Each user setting program describes a program for calculating the control amount of one or more axes arbitrarily specified in each user setting program,
Each axis specified in the user setting program can be specified by only one user setting program, and an axis specified by a user setting program cannot be specified by another user setting program.
In the numerical control device, the shaft drive program causes the drive device of the shaft associated with the shaft drive program to output a drive signal based on the input control amount.
In order to enable control from a plurality of user setting programs for at least one of the axes to be controlled,
In the second and subsequent user setting programs that control the overlapping control axes indicating the axes controlled by the plurality of user setting programs, there is actually no control target axis, and only the user setting program itself is virtual. A virtual axis to be controlled is specified, and the program is described by replacing the overlapping control axis with the virtual axis,
The control amount calculated based on the user setting program that designates the virtual axis is added to the control amount input to the corresponding axis drive program as the control amount of the overlapping control axis before replacement with the virtual axis. Yes,
A numerical controller characterized by that. A numerical controller provided with a program described using the program description method of the numerical controller according to claim 1, or the numerical controller according to claim 2,
A C-axis driving device that fixes a workpiece in which the position of the outer peripheral contour of the workpiece changes according to the rotation angle, and rotates the workpiece around the C-axis;
A machining tool for machining the outer peripheral contour of the workpiece of the workpiece;
An X-axis drive device that moves the machining tool forward and backward relative to the workpiece in the X-axis direction orthogonal to the C-axis;
A Z-axis drive device that moves the machining tool relative to the workpiece in a Z-axis direction parallel to the C-axis;
In the numerical control device, a processing device for instructing operations of the C-axis drive device, the X-axis drive device, and the Z-axis drive device,
CX-related user setting program for instructing a relative advance / retreat position of the machining tool with respect to the workpiece in the X-axis direction with respect to the rotation angle of the workpiece around the C-axis, which requires operations related to each other When,
The relative movement amount of the machining tool in the Z-axis direction with respect to the workpiece, which indicates the relative movement amount of the machining tool in the X-axis direction with respect to the workpiece, which requires operations related to each other. XZ-related user setting program for
In order to enable control of the C-axis drive device, the X-axis drive device, and the Z-axis drive device with the two user setting programs
In any one of the two user setting programs, the X axis corresponding to the overlapping control axis controlled by the two user setting programs does not actually have an axis to be controlled. The program is described by replacing the virtual axis controlled virtually only from its own user setting program,
The axis drive program corresponding to the X axis is calculated based on the control amount of the virtual axis calculated based on the one user setting program and the remaining user setting programs in the two user setting programs. The X-axis control amount is added and input,
A processing apparatus characterized by that. The processing apparatus according to claim 3,
The workpiece is a crankshaft, the workpiece is a crankpin, the machining tool has a rotation axis parallel to the C axis, and a width in a direction parallel to the rotation axis is the C axis of the crankpin. Is a substantially cylindrical rotating whetstone that is smaller than the length in the direction parallel to
The shape of the crankpin is a columnar shape and a shape having an arc-shaped recess whose diameter gradually increases at both ends,
In the CX related user setting program, with respect to the rotation angle of the crankshaft around the C axis so that the crankpin and the rotating grindstone are in contact with each other, the rotational grindstone of the rotating grindstone with respect to the crankshaft A program to indicate relative advance and retreat positions is described.
In the XZ-related user setting program, the rotating grindstone in the Z-axis direction of the rotating grindstone with respect to the crankshaft is traced so that the contour of the crankpin having the arc-shaped recess is traced in the Z-axis direction. A program for indicating a relative movement amount in the X-axis direction of the rotating grindstone with respect to the crankshaft is described with respect to a relative movement amount.
A processing apparatus characterized by that. A C-axis driving device that fixes a workpiece in which the position of the outer peripheral contour of the workpiece changes according to the rotation angle, and rotates the workpiece around the C-axis;
A machining tool for machining the outer peripheral contour of the workpiece of the workpiece;
An X-axis drive device that moves the machining tool forward and backward relative to the workpiece in the X-axis direction orthogonal to the C-axis;
A Z-axis drive device that moves the machining tool relative to the workpiece in the direction of the Z-axis parallel to the C-axis;
A numerical control device for instructing operations of the C-axis drive device, the X-axis drive device, and the Z-axis drive device;
With
The program of the numerical controller is inputted with a user setting program group composed of one or a plurality of user setting programs for calculating a control amount of a specified axis, and a control amount calculated based on the user setting program. The axis drive program for driving the actual drive device for each axis is composed of a group of axis drive programs prepared for each axis,
When there are a plurality of the user setting programs, a plurality of user setting programs are executed independently and in parallel,
Each user setting program describes a program for calculating the control amount of one or more axes arbitrarily specified in each user setting program,
Each axis specified in the user setting program can be specified by only one user setting program, and an axis specified by a user setting program cannot be specified by another user setting program.
In the machining apparatus, the shaft drive program causes the drive device of the shaft associated with the shaft drive program to output a drive signal based on the input control amount.
CX-related user setting program for instructing a relative advance / retreat position of the machining tool with respect to the workpiece in the X-axis direction with respect to the rotation angle of the workpiece around the C-axis, which requires operations related to each other When,
The relative movement amount of the machining tool in the Z-axis direction with respect to the workpiece, which indicates the relative movement amount of the machining tool in the X-axis direction with respect to the workpiece, which requires operations related to each other. XZ-related user setting program for
In order to enable control of the C-axis drive device, the X-axis drive device, and the Z-axis drive device with the two user setting programs
In any one of the two user setting programs, the X-axis that is the overlapping control axis that is controlled by the two user setting programs overlaps, and the axis to be controlled actually exists. Instead, the program is described by replacing it with a virtual axis controlled virtually only from its own user setting program,
The axis drive program corresponding to the X axis is calculated based on the control amount of the virtual axis calculated based on the one user setting program and the remaining user setting programs in the two user setting programs. The X-axis control amount is added and input,
The numerical control device moves the machining tool relative to the workpiece so as to draw an arc or a straight line in the XZ plane, which is a plane including the X axis and the Z axis, based on the XZ related user setting program. , By adding an advance / retreat amount in the X-axis direction in accordance with the rotation angle of the workpiece in the X-axis direction based on a CX related user setting program and moving the machining tool relative to the workpiece, thereby moving the workpiece Machining the machining tool by moving the machining tool in the X-axis direction and the Z-axis direction along the outer peripheral contour of the workpiece while rotating around the C-axis.
A processing apparatus characterized by that. The processing apparatus according to claim 5,
The workpiece is a crankshaft, the workpiece is a crankpin, and the shape of the crankpin extends along the Z-axis direction so that the diameter gradually increases toward the ends at both ends in the Z-axis direction. The cross-sectional shape is a circular column shape, and the machining tool has a rotation axis parallel to the C axis, and the width in the direction parallel to the rotation axis is longer than the length of the crank pin in the direction parallel to the C axis. Is a small, generally cylindrical rotating grindstone,
A processing apparatus characterized by that.

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