JP2002328711A - Numerical control method and its device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a numerical control method and device capable of easily preparing a working program, and ensuring an optimal working time when a plurality of movable objects in numerical control working are interfering each other. SOLUTION: When a plurality of movable objects are interfering each other, one movable object is provided with means 9A, 9B, 10A, 10B, 11A and 11B for automatically escaping mechanical interference by imparting the same moving amounts to the interference escaping direction corresponding to the other movable object.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerical control method for controlling the movement of individual movable objects in a machine tool having two movable objects that can move along a common movement path by using respective individual machining programs, and a numerical control method therefor. The present invention relates to an apparatus, and particularly to control for preventing interference between two movable objects.

[0002]

2. Description of the Related Art Conventionally, when the movement control of a machine tool is performed by a numerical controller, there has been a soft limit function for limiting the movement limit of each axis and preventing mechanical interference. Note that this soft limit function stops the movement of the axis and outputs an alarm when it is determined that the movement of the axis exceeds the limit.

[0003] However, in such a conventional anti-interference measure using a soft limit function, a movable object which can move in a direction approaching and separating from each other along a common moving path as shown in FIG.
When A and B machine according to individual machining programs, 2
There is no problem with simultaneous machining within the range where two movable objects A and B can approach, but when machining a machining location where two movable objects A and B can no longer approach, a soft limit alarm is generated each time, It is necessary to set a large soft limit range and create a machining program in which the movable objects A and B do not interfere with each other.

[0004] However, such a method of avoiding interference in a machining program in consideration of machine interference imposes a heavy burden on a creator of the machining program when the machining program has a large number of steps and is complex. There is. Although the machine tool of FIG. 8 is schematically drawn,
Actually, for example, FIG. 1 of Japanese Patent Application Laid-Open No.
And a machine as disclosed in FIG.

To solve some of these problems, a technique disclosed in Japanese Patent Application Laid-Open No. H11-242511 has been proposed. This is based on the setting of the moving range A based on the position where one movable object (left side in the figure) comes closest to the other movable object (right side in the figure) as shown in FIG. When one movable object moves to the position closest to the other movable object side (the position of machining 2) within the movable range A, and then moves in the opposite direction, which is the opposite direction, within the movable range A Is (time T5-T
6) Means are provided for changing the moving ranges so that the moving ranges A and B of both movable objects are respectively reduced and enlarged.
Accordingly, when the movement of the other movable object exceeds the movement range B, the other movable object is temporarily stopped until the movement range A is reduced and the movement range B of the other movable object is enlarged. After the moving range B of the movable object is expanded, the processing by the other movable object is performed.

[0006]

However, in the above technique, it is the last part of the machining cycle (between time T1 and T8) that one movable object comes closest to the other movable object side, while the other movable object comes closest to the other movable object side. In the case of an animal, if the processing exists at a position that exceeds the movement range B but does not interfere with one movable object (processing 1A), the other movable object cannot move beyond the movement range B and stops for a while. Will be done. That is, in FIG. 9, the processing 1A can be performed without mechanical interference in the time T2-T3, but the processing 1A can be performed in the time T6.
There is a drawback that the machining cycle time is extended.

The present invention has been made in view of the above points, and provides a numerical control method and a numerical control method capable of guaranteeing an optimum machining time without considering interference avoidance measures by a machining program. The purpose is to do.

[0008]

According to a numerical control method of the present invention, it is determined whether or not a first movable object and a second movable object can cause mechanical interference. If it is determined that the retractable movable object is in the retractable state, it is determined whether or not the retractable movable object is in the retractable state. The object is provided with a movement amount capable of avoiding the interference in the interference avoiding direction to the animal so as to avoid the interference.

Further, the numerical control method according to the present invention determines whether or not the first movable object and the second movable object can cause mechanical interference, and determines that both can cause mechanical interference. If the retractable movable object is in the retractable state, it is determined whether the retractable movable object is in the retractable state.If the retractable movable object is determined to be in the retractable state, the retractable movable object is To avoid the interference by giving the same amount of movement as that of the evacuation control side, and during the operation of avoiding the interference of the evacuation side movable object, the evacuation control side movable object also moves in the direction of the evacuation side movable object. Things that move.

The numerical controller according to the present invention calculates a substantial effective movable range of the first movable object based on the current position of the second movable object which may cause mechanical interference, and calculates the effective movable range of the first movable object. A movable range checking means for determining whether or not the first movable object is present in the range; and the movable range checking means allows the first movable object to exceed the effective movable range and to be in contact with the second movable object. If it is determined that there is mechanical interference, evacuation check means for judging whether the second movable object is in the evacuation state, and the second movable object is When it is determined that the evacuation is possible, there is provided evacuation control means for giving an amount of movement capable of avoiding interference to the second movable object in the interference avoidance direction to perform the interference avoidance.

Further, the numerical controller according to the present invention calculates a substantial effective movable range of the first movable object based on the current position of the second movable object which may cause mechanical interference, and calculates the effective movable range of the first movable object. A movable range checking means for determining whether or not the first movable object is present in the range; and the movable range checking means allows the first movable object to exceed the effective movable range and to be in contact with the second movable object. If it is determined that there is mechanical interference, evacuation check means for judging whether the second movable object is in the evacuation state, and the second movable object is If it is determined that the evacuation is possible, evacuation is performed by giving the same amount of movement as that of the first movable object from the first movable object side to the second movable object to avoid interference. Control means for preventing interference of the second movable object. During work, the first movable object also is to move to the second movable object direction.

In the numerical controller according to the present invention, the evacuation control right is alternately switched between the first movable object and the second movable object.

In the numerical controller according to the present invention, after confirming that the first movable object is stopped, the evacuation control unit moves the evacuation control unit in the interference avoiding direction with respect to the second movable object. It is configured to give an amount.

In the numerical controller according to the present invention, the retractable check means determines that the second movable object can be retracted by using a command by a machining program or a command by an external signal commanded by a ladder program. It is what was constituted.

Still further, the numerical control device according to the present invention comprises:
The evacuation possibility checking means is configured to output an error after a lapse of a certain time when the second movable object is in the evacuation impossible state.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 Hereinafter, a numerical control device according to a first embodiment of the present invention will be described with reference to FIGS. First, in order to facilitate understanding of the first embodiment, basic movements of two movable objects A and B according to the first embodiment will be described with reference to FIG. That is, the first embodiment controls interference prevention between two systems 1 (movable objects A) and 2 (movable objects B) having a common movement path X-axis. ) Reads a certain command block in the machining program and starts moving from the start point Ps to the end point Pe, the movement path L1 connecting the start point Ps and the end point Pe is shown in FIG.
As is clear from FIG.
(Movable object B). So in such a case,
System 1 (movable object A) is located and System 2 (movable object B) is located
If the system 2 (movable object B) is temporarily stopped before the Pm position and the system 2 (movable object B) is not in the processing state, the Pm 'position (the position where it is determined that the system 1 (movable object A) and the system 2 (movable object B) interfere with each other) ) And the end point Pe, this system 2 (movable object B) for the moving distance L2
Is moved in the direction of the arrow to avoid interference between the two. Note that the system 1 (movable object A) that has been temporarily stopped when the system 2 (movable object B) is retracted is also moved.

Next, details for performing the control will be described. That is, FIG. 1 is a block diagram showing the entire configuration of the numerical control devices 1A and 1B according to the first embodiment of the present invention. The numerical control device 1A controls the system 1 (movable object A), and 1B controls system 2 (movable object B). In the figure, 3A and 3B are program analysis means for reading the machining programs 2A and 2B one block at a time and analyzing the movement amount, speed and the like according to a G code, etc., and 4A and 4B are interpolation means for outputting a command speed for each axis. Yes, 5A, 5B are interpolation means 4A,
Acceleration / deceleration means for accelerating / decelerating the output speed of 4B, and is provided for each axis. 6A and 6B are servo control means, acceleration / deceleration means
The drive of the motors 7A and 7B is controlled using the outputs of 5A and 5B as inputs. Reference numeral 8 denotes a parameter setting means for setting a timeout value during evacuation control, etc. 9A and 9B are movable range checking means for checking whether the two movable objects are operating within a range where they do not interfere with each other, and 10A and 10B are movable. Range checking means 9
Evacuation check means for judging whether or not the evacuation control can be performed when it is determined that the evacuation control is performed in A and 9B. Evacuation control is performed when the evacuation control means 10A and 10B determine that the evacuation control is possible. Evacuation control means. When an error occurs, the evacuation check means 10A, 10B
Outputs an alarm. Reference numeral 14 denotes a shared memory for storing the evacuation control right, the machining state, the timeout value, the Xbase, the movement amount, and the like.

Next, the movable range checking means 9A, 9B,
Evacuation check means 10A, 10B and evacuation control means 11A, 11B
3 will be described mainly with reference to FIGS. Note that the movable range checking means 9A and 9B, the evacuation possible checking means 10A and 10B, and the evacuation control means 11A and 11B are called from the interpolating means 4A and 4B at a certain sampling cycle (for example, 10 ms) to perform processing. Will be 3 to 5 described below are all processed in each sampling cycle.
In the first embodiment, the system 1 (movable object A) and the system 2
The initiative (evacuation control right) is alternately exchanged with (movable object B). In FIG. 1 and the following description, system 1 (movable object A) is mainly connected to system 2 (movable object B). ) Has the initiative (evacuation control right) with respect to the system 1 (movable object A).

First, the processing procedure of the movable range checking means 9A will be described with reference to the flowchart shown in FIG. In the movable check means 9A which determines whether the system 1 (movable object A) is interfering with the system 2 (movable object B), the movable check means 9A activated in each sampling period has not interfered with the previous processing. It is determined whether or not the evacuation possible check flag indicating whether the processing has been transferred to the evacuation possible checking means 10A is ON or not (step S1). Here, it is determined that the system 1 (movable object A) has already interfered with the system 2 (movable object B), and the process ends when the evacuation possibility check flag is ON, and when the flag is OFF, Then, the command position (FΔt) after interpolation calculated by the interpolation means 4A is obtained (step S2).

Next, as shown in FIG.
Since the mechanical coordinate origin of A) is different from the mechanical coordinate origin of the system 2 (movable object B), the system 1 (movable object A) and the system 2 (movable object B) are preset by the parameter setting means 8 or the like. The machine origin distance Xbase is obtained from the shared memory 14 (step S3). Next, the X-axis machine coordinates of the system 2 (movable object B) to be checked for interference stored in the shared memory 14 are acquired, and the distance Xbase is added to the X-axis machine coordinates of the system 2 (movable object B). Thereby, the X-axis machine coordinates of the system 2 (movable object B) represented by the machine coordinate system of the system 1 (movable object A) are obtained (step S4). For example, the machine origin distance Xbas
If e is 50,000 and the X coordinate of system 2 (movable object B) is 20,000 (when the X coordinate of system 2 is programmed with the machine origin direction of system 1 as + direction), the system 1 (movable object A) The X-axis machine coordinate of system 2 (movable object B) in the machine coordinate system is 30,000
(= 50,000-20,000).

Next, the soft limit function (system 1 (movable object A) and system 2
(Function to determine the movable range where hindrance of movable object B does not hinder) system 1 (movable object A) and system 2 (movable object B)
Since the soft limit value including the range in which the system 1 interferes is set, the effective movable range in which the system 1 (movable object A) operates without interfering with the system 2 (movable object B) is determined. That is, it is determined whether or not the X-axis machine coordinate of the system 2 (movable object B) obtained in step S4 is on the + side with respect to the X-axis mechanical coordinate system of system 1 (movable object A) (step S5). In some cases,
The soft limit value of the soft limit function of the system 1 (movable object A) is changed on the plus side (step S6), and when it is on the minus side, the soft limit value on the minus side is changed (step S7), and the effective movement is performed. Range. For example, system 1 (movable object A) is at the position of X20,000, and system 2 (movable object B) is X30,000 (X-axis machine coordinate expressed in the machine coordinate system of system 1 (movable object A)). ), System 2 (movable object B)
30,000 is located on the + side from the X coordinate 20,000 of the system 1 (movable object A), so the soft limit value on the plus side of the system 1 (movable object A) is X30,000-α (α: system 1 ( Movable object A)
And a value that takes into account the interference between the two by the mechanical structure of the system 2 (movable object B) and is set to a parameter).

Next, the command position after interpolation is added to the current position of the system 1 (movable object A) (step S8), and it is checked whether the command position after interpolation exceeds the effective movable range (step S9). ). If the command position after interpolation exceeds the effective movable range, the evacuation check flag for starting the evacuation check processing is turned on (step S10), and the evacuation check time-out stored in the shared memory 11 is performed. The value is read and set (step S11). This timeout value can be changed by the parameter setting means 8. If the command position after the interpolation does not exceed the effective movable range, all the flags used in the present embodiment are turned off (step S12).

Next, the processing procedure of the evacuation possibility checking means 10A will be described with reference to the flowchart shown in FIG.
The retractable check means 10A includes the movable range check means 9
When it is determined in A that the system 1 (movable object A) interferes with the system 2 (movable object B), it is determined whether or not the evacuation control means 11A is enabled. First, the evacuation control REQ flag indicating whether or not the evacuation control means 11A has been determined to be valid in the previous processing of the evacuation possibility checking means 10A activated at each sampling cycle is checked (step S20). Here, the evacuation control RE indicating that the evacuation control means 11 is valid
If the Q flag is ON, the process is terminated without performing the subsequent processing. If the evacuation control REQ flag is OFF, the system 1 (movable object) set by the movable range checking means 9A is set.
The evacuation check flag indicating whether or not A) is interfering with the system 2 (movable object B) is checked (step S21). If the retractable check flag is OFF, the process is terminated without performing the subsequent processing. If the retractable check flag is ON, the machining state of the system 2 (movable object B) is Is obtained (step S22).

The data indicating the machining state stored in the shared memory 14 is as follows. That is, for example, the following program (specific command values are omitted for commands other than particularly important commands) is used as the machining program.
(Instruction indicating that processing is in progress) or G150.1
(Instruction to cancel that processing is being performed) is stored as data indicating the processing state. N10 G150 G00 X Y Z N20 G01 Z F N30 Z N40 G150.1; Note that this processing program is set to the processing state by the code G150 in the command block N10. In command blocks N20 and N30, actual cutting is performed, and in command block N40, the machining state is canceled by code G150.1.

Here, it is checked whether or not the system 2 (movable object B) is processing by referring to G150 or G150.1 stored in the shared memory 14 (step S2).
3) If the machining is not being performed, the evacuation control REQ flag for enabling the evacuation control means 11A is turned on (step S25). If the system 2 (movable object B) is being machined, the timeout value set by the movable range check means 9A is updated (step S24).

Next, it is checked whether or not the updated timeout value has timed out (step S26). If it has timed out, various flags used in the first embodiment are turned off (step S27). Error processing such as outputting an error message is executed (step S28).
If the timeout has not occurred, the process ends without performing the subsequent processing. This timeout value is used to determine the time during which the system 1 (movable object A) is stopped.
Although it is determined in consideration of the processing time of a predetermined block in the system 2 (movable object B), the system 1 (movable object A) stops due to a cause other than the system 2 (movable object B) being processed. The system 1 (movable object A) performs error processing when the system 2 (movable object B) is stopped due to a cause other than processing.

Next, the processing procedure of the evacuation control means 11A and 11B will be described with reference to the flowchart shown in FIG. Here, the evacuation control REQ flag is checked to determine whether the evacuation control means 10A has determined that the evacuation control is possible (step S3).
0), if the evacuation control REQ flag is OFF, the process ends without executing the subsequent processing, and if the evacuation control REQ flag is ON, whether the evacuation control is currently being executed or not. Is checked (step S31). Evacuation control
If the ACT flag is ON and the evacuation control has already been executed, the process proceeds to step S35. Evacuation control ACT flag is OF
When the evacuation control is not performed because of F, the system 1 (movable object A) is determined by using the presence or absence of the servo feedback signal.
It is checked whether or not is stopped (step S32). If not stopped, the movement amount of the system 1 (movable object A) is set to 0, and the stop operation is executed (step S34). If the system 1 (movable object A) has already stopped, the evacuation control ACT flag is turned on (step S33). It is to be noted that whether or not the system 1 (movable object A) is stopped in step S32 is determined before the system 2 (movable object B) starts moving before the system 1 (movable object A) is started. This is to prevent the system 1 (movable object A) from colliding with the system 2 (movable object B).

Next, when the evacuation control ACT flag is turned ON and the evacuation control is being performed, the evacuation control right stored in the shared memory 14 is checked to determine whether the system 1 (movable object A) is on the evacuation control side or the system. It is determined whether 2 (movable object B) is on the retreat control side (step S35). That is, system 1 (movable object A) is the evacuation control side and system 2 (movable object B) is the evacuation control side, or system 1 (movable object A) is the evacuation control side and system 2 (movable object B) is the evacuation control side. It is determined whether it is the evacuation control side. In this case, system 1 (movable object
Since A) is the evacuation control side and the system 2 (movable object B) is the evacuation control side, the flow shifts to step S38 to determine whether or not the currently executing block is completed, and the currently executing block is completed. If not, the current movement amount (command position) of itself is stored on the shared memory 14 so as to be passed as an input to the acceleration / deceleration means 5B of the system 2 (movable object B) on the retreat control side. If the block currently being executed has been completed, the information is written in the shared memory 14 in order to transfer the evacuation control right to the system 2 (movable object B) on the evacuation control side (step S40). Then, various flags are cleared (step S41). At this time, since the system 2 (movable object B) side is the evacuation control side, the evacuation control means 1 of the system 2 (movable object B)
1B acquires the movement amount (command position) of the system 1 (movable object A) from the shared memory 14 (step S36), and registers the acquired movement amount (command position) as an interruption amount (step S36).
S37). The obtained movement amount (command position) is stored in the acceleration / deceleration
By inputting to B, the evacuation behavior of the system 2 (movable object B) is performed.

The system 2 (movable object) on the side of the evacuation control
When B) acquires the evacuation control right and becomes able to perform evacuation control with respect to the system 1 (movable object A) and starts moving, the process of restoring the interrupt amount works, and the system 2 (movable object B) It is restored to its original position. That is, when a command is given to the system 2 (movable object B) from the machining program of the system 2 (movable object B), the movement amount (command) acquired from the system 1 (movable object A) to the command position of the machining program. Position) to the commanded position.

In the above description, mainly the system 1 (movable object)
A) takes control of system 2 (movable object B) (evacuation control right)
The example of the control viewed from the system 1 (movable object A) has been described. However, the system 1 (movable object A) has the initiative (evacuation control right) for the system 2 (movable object B). In this case, the movable range checking means 9B, the retreatable checking means 10B and the retreat control means 11B of the system 2 (movable object B) also operate in parallel in the same manner as described above. In addition, system 2 (movable object
B) takes control of system 1 (movable object A) (evacuation control right)
The same applies to the case of control from the viewpoint of the system 2 (movable object B). The control block diagram in this case is as shown in FIG.

As described above, in the first embodiment, by automatically performing the interference retreat control, the load on the machining program creator can be reduced, and the optimal machining time can be guaranteed. For example, in the first embodiment, FIG.
When performing the processing shown in (1), system 1 (movable object A) and system 2
The operation of (movable object B) is as shown in FIG. 7, and it can be seen that the processing time is clearly reduced.

Embodiment 2 In the first embodiment, the evacuation determination is monitored for the time set in the parameter, but the infinite time is monitored by including a numerical value having a special meaning such as 0 in the parameter setting value. Can be easily done.

In the first embodiment, the time for monitoring the evacuation determination is set by the parameter, but the time by the sequence program can be set.

In the first embodiment, the evacuation control right is exchanged alternately. However, it is also possible to set so that any system is always possessed when the power is turned on by setting parameters.

In the first embodiment, the retreat-possible check means 10A and 10B determine whether or not the partner system is under machining by referring to G150 and GG150.1 described in the machining program. However, the evacuation possibility checking means 10A and 10B may determine whether or not the partner system is being processed by referring to a signal from the ladder program. For example, while the signal of Y300 is ON, it may be considered that processing is being performed, and when it is OFF, it may be considered that processing is not being performed.

Further, in the first embodiment, the amount of movement that can avoid the interference given to the other movable object in the interference avoiding direction is changed by the first movable object after it is determined that there is mechanical interference. Although the amount of movement is the same as the amount given to, the initial purpose can be achieved by giving a larger amount of movement.

In the first embodiment, after confirming that one of the movable objects is stopped, the amount of movement is given to the other movable object in the interference avoiding direction.
Without confirming that one movable object is stopped,
Even if the moving amount is given to the other movable object in the interference avoiding direction, the initial purpose can be achieved.

[0038]

As explained above, according to the present invention, when the first movable object and the second movable object interfere with each other, if it is determined that the movable object on the retreat side can be retracted, The retreat-side movable object is given an amount of movement capable of avoiding interference in the interference avoidance direction to perform interference avoidance, so that mechanical interference between the two is automatically avoided, thereby facilitating creation of a machining program. In addition, an optimum machining time can be guaranteed.

Further, according to the present invention, when the first movable object and the second movable object interfere with each other, if it is determined that the movable object on the retreat side can be retracted, the retreat control side switches to the retreat side. The same amount of movement as that of the evacuation control side is applied to the movable object of the evacuation control side to avoid interference. Since it moves in the animal direction, mechanical interference between the two is automatically avoided, thereby facilitating the creation of a machining program and guaranteeing an optimal machining time. In addition, the retreat distance of the movable object on the retreat side is minimized, and the movable object on the retreat control side can also quickly move to the processing position, so that when the retreat control side starts processing, and after the retreat control side processing is completed, When the retreating side starts processing, processing can be started quickly.

According to the present invention, the evacuation control right is alternately switched between the first movable object and the second movable object.
That is, since only one movable object side does not monopolize the evacuation control right, the processing cycle times of the first movable object and the second movable object are equalized.

Further, according to the present invention, after confirming that the first movable object has stopped, the amount of movement is given to the second movable object in the interference avoiding direction. Accordingly, even when the second movable object does not move in the interference avoiding direction, the first movable object does not interfere with the second movable object, and a safe numerical control device can be obtained.

Further, according to the present invention, the second movable object is determined to be retractable using a command from a machining program or a command from an external signal issued from a ladder program. Can be increased and production efficiency can be improved more safely.

Further, according to the present invention, when the second movable object is in the non-evacuable state, an error is output after a certain period of time. And production efficiency is improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a numerical control device according to Embodiment 1 of the present invention when system 1 has an evacuation control right.

FIG. 2 shows two movable objects according to the first embodiment of the present invention.
It is a figure for explaining the movement of A and B.

FIG. 3 is a flowchart showing a processing procedure of a movable range check unit according to the first embodiment of the present invention.

FIG. 4 is a flowchart showing a processing procedure of an evacuation possibility checking unit according to the first embodiment of the present invention.

FIG. 5 is a flowchart showing a processing procedure of an evacuation control unit according to the first embodiment of the present invention.

FIG. 6 is a block diagram showing a configuration of a numerical control device according to Embodiment 1 of the present invention when the system 2 has the evacuation control right.

FIG. 7 is a diagram showing an effect according to the first embodiment of the present invention.

FIG. 8 is a diagram showing a machine tool controlled by the numerical control device according to the first embodiment of the present invention.

FIG. 9 is a diagram for explaining a conventional example.

[Explanation of symbols]

1A, 1B Numerical controller, 2A, 2B Machining program, 3A, 3
B Program analysis means, 4A, 4B Interpolation means, 5A, 5B
Acceleration / deceleration means, 6A, 6B servo control means, 7A, 7B motor,
8 Parameter setting means, 9A, 9B Movable range check means, 10A, 10B evacuation possible check means, 11A, 11B evacuation control means, 14 shared memory.

Claims (8)

[Claims] In a numerical control method for controlling first and second movable objects existing on a common movement path, the first movable object and the second movable object may cause mechanical interference. It is determined whether or not both may cause mechanical interference, and it is determined whether or not the retractable movable object is in a retractable state. When it is determined that there is a moving object, a moving amount capable of avoiding interference in the interference avoiding direction is given to the retreat-side movable object to perform the interference avoidance. 2. A numerical control method for controlling first and second movable objects existing on a common moving path, wherein the first movable object and the second movable object may cause mechanical interference. It is determined whether or not both may cause mechanical interference, and it is determined whether or not the retractable movable object is in a retractable state. If it is determined that there is, the evacuation control side gives the same amount of movement as that of the evacuation control side to the evacuation side movable object so as to avoid the interference, and to avoid the interference of the evacuation side movable object. A numerical control method, wherein a movable object on the evacuation control side also moves in the direction of the movable object on the evacuation side during operation. 3. A numerical control device for controlling first and second movable objects existing on a common movement path, based on a current position of the second movable object that may cause mechanical interference. A movable range check unit that calculates a substantial effective movable range of the movable object and determines whether the first movable object exists within the effective movable range; If it is determined that the movable object exceeds the effective movable range and there is mechanical interference with the second movable object,
Evacuation check means for judging whether or not the second movable object is in an evacuation state; and if the evacuation check means determines that the second movable object is evacuation, A numerical control device, comprising: evacuation control means for giving a movement amount capable of avoiding interference to the two movable objects in the interference avoidance direction to perform interference avoidance. 4. A numerical control device for controlling first and second movable objects existing on a common movement path, wherein the first and second movable objects are controlled based on a current position of the second movable object which may cause mechanical interference. A movable range check unit that calculates a substantial effective movable range of the movable object and determines whether the first movable object exists within the effective movable range; If it is determined that the movable object exceeds the effective movable range and there is mechanical interference with the second movable object,
Evacuation check means for judging whether or not the second movable object is in an evacuation state; and if the evacuation check means determines that the second movable object is evacuation, Evacuation control means for giving the same amount of movement as that of the first movable object to the second movable object from one movable object side to avoid interference, and A numerical control device, wherein the first movable object also moves in the direction of the second movable object during the interference avoiding operation. 5. The numerical control device according to claim 4, wherein the evacuation control right is alternately switched between the first movable object and the second movable object. 6. The retreat control means is configured to give a movement amount to the second movable object in the interference avoiding direction after confirming that the first movable object is stopped. The numerical control device according to any one of claims 3 to 5, wherein 7. The retractable check means is configured to determine that the second movable object can be retracted using a command from a machining program or a command from an external signal commanded by a ladder program. The numerical control device according to any one of claims 3 to 6. 8. The retreat-possible check means is configured to output an error after a certain period of time when the second movable object is in a retreat-impossible state. The numerical control device according to claim 7.