CN107272575B - Numerical control device and control method - Google Patents
Numerical control device and control method Download PDFInfo
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- CN107272575B CN107272575B CN201710225651.4A CN201710225651A CN107272575B CN 107272575 B CN107272575 B CN 107272575B CN 201710225651 A CN201710225651 A CN 201710225651A CN 107272575 B CN107272575 B CN 107272575B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Manufacturing & Machinery (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The present invention relates to a kind of numerical control device and control methods.CPU makes block message when reading in NC program.Block message is the time information corresponding with the progress of block type when will execute the block for constituting NC program.CPU executes tool magazine motor power control processing after starting to execute NC program.CPU reads in the NC program of a block, executes cutter changing and instructs search process.CPU adds up the processing time of the block until going to nearest cutter changing instruction.When the cumulative time is more than the stipulated time, CPU cuts off the power supply of tool magazine motor.The consumption electric power of numerical control device saving tool magazine motor.
Description
Technical field
The present invention relates to a kind of numerical control device and control methods.
Background technique
Numerical control device controls the movement of lathe based on NC (Numerical Control: Numerical Control) program.Machine
Bed accessory is for cutter changing device.Cutter changing device carries out the cutter changing of the main shaft of lathe.Cutter changing device is by tool magazine electricity
Motivation drives.Numerical control device drives tool magazine motor to execute when explaining the cutter changing instruction in NC program
Cutter changing.During lathe processes chip being cut part, cutter changing device is without movement.Japanese Patent Publication
Numerical control device disclosed in No. 176503 bulletins in 2010 makes cutter changing device (robot) in lathe to chip being cut part
Stop during being processed, thus inhibits the power consumption of cutter changing device.In NC program, stepped in advance in needed position
Remember halt instruction.Halt instruction is the instruction for notifying the state before chip being cut part processing.Numerical control device is being held
When analyzing halt instruction during row NC program, it is judged as before chip being cut part processing, cutting off tool more changing device
Power supply.
If considering the time required until starting cutter changing device from the power supply for connecting cutter changing device, need
The opportunity of stopping cutter changing device being determined according to the length at the interval until cutter changing next time.User needs to determine
Surely the opportunity for stopping cutter changing device pre-registering halt instruction in the needed position of NC program, therefore expends working hour.
Summary of the invention
The purpose of the present invention is to provide one kind to be automatically cut off according to the time until cutter changing next time
The numerical control device and control method of the power supply for the motor that cutter changing device is driven.
The numerical control device of technical solution 1 is based on the NC program for having multiple blocks with control instruction come to machinery
Movement and the movement of cutter changing device are controlled, and the machinery is described to carry out by relatively moving cutter and chip being cut part
The machining of chip being cut part, the cutter changing device be installed on the cutter of the cutter of the main shaft of the machinery more
It changes, the numerical control device is characterized in that, the NC program includes the cutter changing block that there is cutter changing to instruct, the knife
Tool replacement instruction is the control instruction for indicating the cutter changing, and the numerical control device has: determination unit, in institute
When stating NC program and being read into, each described piece of processing time and the type of each described piece of control instruction are determined；
Storage unit, stores block message, which is the processing time and the institute that the determination unit each of determines described piece
State the information of type；Search section, after the execution of the NC program starts, the block message based on storage unit storage
Search for the cutter changing block after perfoming block and closest to perfoming block, which is currently to start to execute
Block；Cumulative unit, to executing the cutter changing block that described search portion searches out to since starting to execute the perfoming block
Until in a period of each described piece of the processing time added up；And cutting portion, it is accumulative out in the cumulative unit
Processing time when being more than the stipulated time, cut off the power supply of motor driven to the cutter changing device.
Therefore, when the interval until cutter changing next time is long, numerical control device can cut off the power supply of motor, save electricity
The consumption electric power of motivation.
The numerical control device of technical solution 2 can be also equipped with connection portion, the connection portion the cutting portion cut off described in
After the power supply of motor, when than starting needed for starting to execute motor described in the cutter changing block at least pre-cooling
Between when connect the power supply of the motor.Numerical control device is after the power supply of cutting motor, than starting to execute cutter
The power supply for connecting motor when block at least shifts to an earlier date the stipulated time is replaced, therefore can be executed after reliably starting motor by knife
Has the cutter changing that more changing device carries out.
The connection portion of the numerical control device of technical solution 3 can shift to an earlier date than starting to execute the cutter changing block
The execution of the block of the starting time connects the power supply before starting.Numerical control device controls motor in blocks
The opportunity of power supply being switched off and on, therefore control and be easy.
The stipulated time of the numerical control device of technical solution 4 can be and open needed at least starting the motor
Dynamic time or the time longer than the starting time, when the cumulative unit accumulative processing time being out less than the regulation
Between when, the cutting portion does not cut off the power supply of the motor.Numerical control device also can after the power supply of cutting motor
Reliably start motor before cutter changing, therefore can promptly execute cutter changing.
Control method involved in technical solution 5 is the control method of numerical control device, the numerical control device base
It is controlled in the NC program for having multiple blocks with control instruction come the movement of movement and cutter changing device to machinery,
The machinery carries out the machining of the chip being cut part, the cutter changing device by relatively moving cutter and chip being cut part
The cutter changing for being installed on the cutter of the main shaft of the machinery is carried out, the control method is characterized in that, the NC journey
Sequence includes the cutter changing block that there is cutter changing to instruct, and cutter changing instruction is the control for indicating the cutter changing
Instruction, the control method have: determination step, when the NC program is read into, determine each described piece of processing time
And the type of each described piece of the control instruction；Storing step stores block message, which is by the judgement
Step each of determines the information of described piece of the processing time and the type；Search step, in the NC program
After execution starts, searched for after perfoming block based on the block message stored by the storing step and closest to holding
The cutter changing block of row block, the perfoming block are the blocks for currently starting to execute；Accumulating step, to from starting to execute the execution
Each described piece of institute in a period of until block to the cutter changing block for starting to execute to go out by described search step search
State processing the time added up；And cutting step, it is being regulation by the accumulating step accumulative processing time out
When more than the time, the power supply of the motor driven to the cutter changing device is cut off.Numerical control device can pass through
The above method is carried out to obtain effect documented by technical solution 1.
Detailed description of the invention
Fig. 1 is the perspective view of lathe 1.
Fig. 2 is the block diagram for indicating the electrical structure of numerical control device 30 and lathe 1.
Fig. 3 is the concept map for indicating the various storage regions of RAM 33.
Fig. 4 is the figure of NC program P1.
Fig. 5 is the concept map of block message 3311.
Fig. 6 is the flow chart of block message production processing.
Fig. 7 is the flow chart of tool magazine motor power control processing (first embodiment).
Fig. 8 is the flow chart of cutter changing instruction search process.
Fig. 9 be the block processing time for indicating N01~N09 and opportunity for being switched on and off of power supply of tool magazine motor when
Between scheme.
Figure 10 is the concept map for indicating the various storage regions of RAM 133.
Figure 11 is the flow chart of timing processing.
Figure 12 is the flow chart of tool magazine motor power control processing (second embodiment).
Figure 13 is that the power supply for the block processing time and tool magazine motor for indicating N01~N09 in second embodiment connects
The time diagram on logical and cutting opportunity.
Specific embodiment
Referring to Fig.1~Fig. 9 illustrates first embodiment of the invention.In the following description using arrow institute in Fig. 1
The left and right that shows, front and back, up and down.The left and right directions of lathe 1, front-rear direction, up and down direction are the X-direction of lathe 1, Y-axis respectively
Direction, Z-direction.The cutter 4 that lathe 1 shown in FIG. 1 makes to be installed on main shaft 9 rotates, to being held in 13 upper surface of workbench
Chip being cut part 3 implements machining.The movement of numerical control device 30 (referring to Fig. 2) control lathe 1.
Illustrate the construction of lathe 1 referring to Fig.1.Lathe 1 has base station 2, column 5, main tapping 7, main shaft 9, workbench dress
Set 10, cutter changing device 20, control box 6, control panel 15 (referring to Fig. 2) etc..Base station 2 is the made of metal of substantially rectangular parallelepiped
Stylobate.Column 5 is set to 2 upper back of base station.Main tapping 7 can be moved along 5 front surface of column along Z-direction.Main tapping 7
Main shaft 9 is supported in a manner of it can rotate in inside.Main shaft 9 has mounting hole (illustration omitted) in 7 lower part of main tapping.Main shaft
Cutter 4 is installed on the mounting hole by 9, is rotated by the driving of spindle drive motor 52 (referring to Fig. 2).Spindle drive motor 52
It is set to main tapping 7.Main tapping 7 is by being set to the Z axis mobile mechanism (illustration omitted) of 5 front surface of column come along Z-direction
It is mobile.Numerical control device 30 is controlled by the driving to Z axis motor 51, to control main tapping 7 along the shifting of Z-direction
It is dynamic.
Table device 10 have Y-axis moving mechanism (illustration omitted), Y-axis platform 12, X-axis mobile mechanism (illustration omitted),
Workbench 13 etc..Y-axis moving mechanism is set on front side of 2 upper surface of base station, by Y-axis motor 54 by Y-axis platform 12 with can
The mode moved along the y axis supports.
X-axis mobile mechanism is set to 12 upper surface of Y-axis platform, by X-axis motor 53 by workbench 13 with can be along X-axis
The mobile mode in direction supports.Therefore, by Y-axis moving mechanism, Y-axis platform 12, X-axis mobile mechanism, workbench 13 can be in base
It is mobile with Y direction along the x axis on platform 2.
Cutter changing device 20 is set to the front side of main tapping 7, has the tool magazine 21 of collar plate shape.Tool magazine 21 is kept in periphery
Multiple cutters (illustration omitted) pass through the driving of tool magazine motor 55 (referring to Fig. 2) knife that cutter changing instruction is indicated
Tool is positioned at cutter changing position.Cutter changing instruction is the instruction in NC program.Cutter changing position is the most lower of tool magazine 21
Portion position.Cutter changing device 20 replaces the cutter 4 for being installed on main shaft 9 and the cutter in cutter changing position.
It controls box 6 and saves numerical control device 30 (referring to Fig. 2).Numerical control device 30 is to the Z axis electricity for being set to lathe 1
Motivation 51, spindle drive motor 52, X-axis motor 53, Y-axis motor 54 are controlled, and are held on workbench 13 by making
Chip being cut part 3 and the cutter 4 for being installed on main shaft 9 make a relative move to implement various processing to chip being cut part 3.Various processing examples
Processed in this way using the aperture processing of the progress such as drill bit, screw tap, using the side of the progress such as end mill(ing) cutter, milling cutter etc..
Control panel 15 is for example set to cover (illustration omitted) outer wall of covering lathe 1.Control panel 15 has input unit
16 and display unit 17 (referring to Fig. 2).Input unit 16 accepts the input of various information, operation instruction etc., is output to aftermentioned numerical value
Control device 30.Display unit 17 shows various pictures based on the instruction from aftermentioned numerical control device 30.
Illustrate the electrical structure of numerical control device 30 and lathe 1 referring to Fig. 2.Numerical control device 30 and lathe 1 have
Standby CPU 31, ROM 32, RAM 33, storage device 34, input and output portion 35, driving circuit 51A~55A etc..31 logarithm of CPU
Value control device 30 is uniformly controlled.ROM 32 stores main program, block message production process, tool magazine motor power and controls journey
Sequence, cutter changing instruction search program etc..Main program executes main process task.In main process task, NC program is read in one by one, is come
Execute various movements.NC program is made of multiple pieces comprising various control instructions, controls in blocks including lathe 1
The various movements of axis movement, cutter changing etc..Block message production process executes aftermentioned block message production processing (referring to Fig. 6).
Tool magazine motor power controls program and executes aftermentioned tool magazine motor power control processing (referring to Fig. 7).Cutter changing instruction
Search program is the subprogram of tool magazine motor power control processing, executes aftermentioned cutter changing instruction search process (reference
Fig. 8).RAM 33 has aftermentioned various storage regions (referring to Fig. 3), temporarily stores various information.Storage device 34 is non-easy
The property lost, the various information such as storage NC program.What CPU 31 can be inputted operator using the input unit 16 of control panel 15
NC program is stored to storage device 34, in addition to this can also be by the storages such as the NC program read in by external input to storage
Device 34.
Driving circuit 51A is connect with Z axis motor 51 and encoder 51B.Driving circuit 52A and spindle drive motor 52 and volume
Code device 52B connection.Driving circuit 53A is connect with X-axis motor 53 and encoder 53B.Driving circuit 54A and Y-axis motor 54
And encoder 54B connection.Driving circuit 55A is connect with tool magazine motor 55 and encoder 55B.Z axis motor 51, main shaft are electronic
Machine 52, X-axis motor 53, Y-axis motor 54, tool magazine motor 55 are servomotors.Driving circuit 51A~55A is from CPU
31 receive instruction, distinguish output driving current to corresponding each motor 51~55.Driving circuit 51A~55A is from encoder 51B
~55B receives feedback signal, carries out the feedback control of position and speed.The input unit 16 of input and output portion 35 and control panel 15
And display unit 17 connects.
Illustrate the various storage regions of RAM 33 referring to Fig. 3.When RAM 33 has block message storage region 331, adds up
Between storage region 332 etc..Block message storage region 331 stores the (ginseng of aftermentioned block message 3311 produced based on NC program
According to Fig. 5).The storage of cumulative time storage region 332 executes cutter changing block since the perfoming block started in execution NC program to
Until cumulative time.Perfoming block refers to the block executed in NC program.Cutter changing block refers to be instructed comprising cutter changing
(G100) block.Cumulative time refers to carry out adding up the obtained time to each piece of block processing time.
Illustrate NC program P1 referring to Fig. 4.NC program P1 is an example, is made of N01 block~Nn block.Indicate cutter 4
Or the x, y, z coordinate of the position of main shaft 9 is workpiece coordinate and indicates absolute location coordinates, unit is mm.The G0X-100.Y- of N01
100.；It is the fast forward command for being fast-forward to (X, Y)=(- 100, -100).The G4X1.0 of N02；It is standby 1.0 seconds standby commands.
The G100T1X-150.Y-150.Z200. of N03；Be be changed to cutter T1 cutter changing instruction and navigate to (X, Y, Z)=
The positioning instruction of (- 150, -150,200).The M 140 of N04；It is signal output order, e.g. to communication object destination
(such as driving circuit 51A~55A etc.) output confirmation signal simultaneously receives OK signal from communication object destination to have carried out really
Into the instruction of next processing when recognizing.Such as OK is not also being received until passing through given time after exporting confirmation signal
Signal or when not can confirm that, 31 output error of CPU (error) stops the movement of lathe 1.As long as given time is defeated as signal
Acknowledging time is stored in advance in ROM 32 or storage device 34 etc. out.
The G0X-120. of N05；It is the fast forward command for being fast-forward to X=-120.The G1X-200F10000 of N06；It is to feed speed
Degree=10000mm/min is cut to the cutting move of X=-200.The G4X00.5 of N07；It is standby 0.5 second standby finger
It enables.The G0Y-100. of N08；It is the fast forward command for being fast-forward to Y=-100.The G100T2X-200.Y-200.Z300. of N09 is replacement
The positioning instruction of (X, Y, Z)=(- 200, -200,300) is instructed and navigated to for the cutter changing of cutter T2.N10's
G01Z250.F2000 is the cutting move that Z=250 is cut to feed speed=2000mm/min.The M 30 of Nn is knot
Shu Zhiling.
Illustrate block message 3311 referring to Fig. 5.Block message 3311 is the block message of NC program P1 shown in Fig. 4, is by block
Number (N), block processing time (second), the corresponding information of block type progress.The block processing time is each piece of the processing of NC program P1
Time.Block type is each piece of the type of NC program P1.For example, the block processing time of N01 is 0.2 second, block type is G0 (F.F.
Instruction).The block processing time of N02 is 1 second, and block type is G4 (standby command).The block processing time of N03 is sky column (-), block kind
Class is G100 (cutter changing instruction).The block processing time of N04 is 0.5 second, and block type is M 140 (signal output order).
CPU 31 makes block message 3311 by executing aftermentioned block message production processing (referring to Fig. 6).When block processing
Between calculation method be described below.
Illustrate that block message production is handled referring to Fig. 6.When reading in NC program from storage device 34, CPU 31 is from ROM 32
Block message production process is read in execute present treatment.Present embodiment carries out for when reading in NC program P1 shown in Fig. 4
Explanation.CPU 31 reads in the NC program P1 (S1) of a block.CPU 31 judges whether read in block is cutter changing instruction
(S2).N01 is not cutter changing instruction (S2: "No"), therefore CPU 31 judges whether read in block is axis move
(S3).Axis move is, for example, fast forward command, cutting move etc..Cutting move is such as screw tap, drill bit
The side Machining Instruction of aperture instruction, milling cutter, end mill(ing) cutter etc., the fixed cycles including aperture instruction or side Machining Instruction refer to
Enable etc..The fast forward command of N01 is axis move (S3: "Yes"), thus CPU 31 by preset feed speed come based on
Calculated traveling time is registered as block letter by the traveling time (such as 0.2 second) for calculating the origin-to-destination of axis mobile (F.F.)
The block of N01 in breath 3311 handles time (S9).G0 is registered as the block type (S13) of the N01 in block message 3311 by CPU 31.
The control instructions such as G code, M code are registered as block type by present embodiment, but can also register the letter other than control instruction
Breath, such as the distinguished symbol that can identify block type can also be registered.The block that CPU 31 will be registered in block message 3311 is mobile
To next (S14).CPU 31 selects next block to be read in (S15).
CPU 31 returns to S1, reads in next piece of N02.N02 is not cutter changing instruction, any in axis move
A (S2: "No", S3: "No"), therefore CPU 31 judges whether N02 is standby command (S4).N02 be standby command (S4:
"Yes"), therefore the stand-by time set in standby command (such as 1 second) is registered as the N02's in block message 3311 by CPU 31
Block handles time (S10).G04 is registered as the block type (S13) of the N02 in block message 3311 by CPU 31.CPU 31 will be stepped on
Remember that the block of block message 3311 is moved to next (S14).CPU 31 selects next block to be read in (S15).
CPU 31 returns to S1, reads in next piece of N03.N03 is cutter changing instruction (S2: "Yes").Present embodiment
Each piece of block in a period of needing until starting to execute perfoming block to nearest cutter changing block handles the time, therefore is not required to
The block of cutter changing block is wanted to handle the time.Therefore, the block of the N03 in 31 non-registration block message 3311 of CPU handles time (S8).
The block that CPU 31 will be registered in block message 3311 is moved to next (S14).CPU 31 selects next block to be read in
(S15)。
CPU 31 returns to S1, reads in next piece of N04.N04 is not cutter changing instruction, axis move, standby finger
Any of order (S2: "No", S3: "No", S4: "No"), therefore CPU 31 judges whether read in block is signal output
It instructs (S6).N04 is signal output order (S6: "Yes"), therefore CPU 31 will be preset in ROM 32 or storage device 34
Signal output acknowledging time (such as 0.25 second) be registered as the N04 in block message 3311 block processing time (S12).CPU 31
M 140 is registered as to the block type (S13) of the N04 in block message 3311.The block that CPU 31 will be registered in block message 3311 moves
Move next (S14).CPU 31 selects next block to be read in (S15).CPU 31 returns to S1, to after N05 also with
It is above-mentioned similarly to execute processing.
The block read in the processing of S1 is not cutter changing instruction, axis move, standby command, signal output order
In any one when (S2: "No", S3: "No", S4: "No", S6: "No"), CPU 31 judges whether it is END instruction (S7).Nn
It is END instruction (S7: "Yes"), therefore CPU 31 terminates present treatment.Block message 3311 completes.It is in the block read in
When control instruction other than above-mentioned cutter changing instruction, axis move, standby command, signal output order, CPU 31 can
To be registered as the block processing time for 0.
Illustrate that tool magazine motor power control is handled referring to Fig. 7~Fig. 9.In the NC journey that execution is read in from storage device 34
When sequence, CPU 31 reads in tool magazine motor control program from ROM 32 to execute present treatment.Present embodiment is to execute shown in Fig. 4
NC program P1 when for be illustrated.When present treatment executes beginning, RAM 33 stores block message 3311 shown in fig. 5
To block message storage region 331.CPU 31 present treatment execute start when, by the cumulative time storage region 332 of RAM 33 (with
Down be known as RAM 33) in store cumulative time be initialized as 0.
As shown in fig. 7, CPU 31 reads in the NC program P1 (S21) of a block.CPU 31 judge read in block whether be
END instruction (S22).N01 is fast forward command rather than END instruction (S22: "No"), therefore CPU 31 judges read in block
It whether is cutter changing instruction (S23).N01 is not cutter changing instruction (S23: "No"), therefore CPU 31 judges in RAM 33
Whether the cumulative time of storage is 0 (S24).Cumulative time is 0 (S24: "Yes"), therefore the block that CPU 31 is stored from RAM 33
The block that information 3311 obtains N01 handles time i.e. 0.2 second (S25).The block processing time that CPU 31 will acquire is added to RAM 33
In (S26).Cumulative time becomes 0.2 second, the time for being t0~t1 (referring to Fig. 9).CPU 31 reads cutter changing from ROM 32
Search program is instructed, cutter changing instruction search process (S27) is executed.
Illustrate that cutter changing instructs search process referring to Fig. 8.The block message 3311 that CPU 31 is stored from RAM 33 is read
Take next piece of block message (S41).CPU 31 judges whether next piece be END instruction (S42).When being END instruction
(S42: "Yes"), CPU 31 terminate present treatment, processing are made to enter the S30 of Fig. 7.
Next piece of N02 is the standby command of G4 rather than END instruction (S42: "No"), therefore CPU 31 judges that N02 is
It is no to instruct (S43) for cutter changing.N02 be not cutter changing instruction (S43: "No"), therefore CPU 31 will acquire it is next
It is upper (S44) that block processing time (1 second) of a block is added to the cumulative time stored in RAM 33.Cumulative time becomes 0.2+1=1.2
Second, the time for being t0~t2 (referring to Fig. 9).CPU 31 reads the block message (S45) of next one block N03 from block message 3311,
Back to the processing of S42.Read next piece of N03 is cutter changing instruction (S42: "No", S43: "Yes"), therefore CPU
31 terminate present treatment, and processing is made to enter the S30 of Fig. 7.
Back to Fig. 7, CPU 31 judges whether the cumulative time stored in RAM 33 is stipulated time or more (S30).Rule
It fixes time the preferably starting time of tool magazine motor 55 or the time longer than the starting time.The stipulated time of present embodiment
It is 0.5 second.Cumulative time is 1.2 seconds of t0~t2, is 0.5 second or more (S30: "Yes"), therefore CPU 31 judges next piece
It whether is cutter changing instruction (S31).Next piece of type is standby command (S31: "No"), therefore CPU 31 is cut off in t0
The power supply (S32) of tool magazine motor 55.Therefore, numerical control device 30 can save the tool magazine until cutter changing next time
The consumption electric power of motor 55.
CPU 31 reads in N02 (S21).N02 is standby command (S22: "No", S23: "No"), therefore CPU 31 judges RAM
Whether the cumulative time stored in 33 is 0 (S24).Cumulative time is 1.2 seconds rather than 0 (S24: "No"), thus CPU 31 from
Cumulative time subtracts block processing time (0.2 second) (S29) of a block N01.Therefore, the cumulative time becomes 1.2-0.2=1.0
Second, the time for being t1~t2 (referring to Fig. 9).CPU 31 judges whether the cumulative time is stipulated time or more (S30).Cumulative time
It is 1.0 seconds of t1~t2, is 0.5 second or more (S30: "Yes"), therefore CPU 31 judges whether next piece be that cutter changing refers to
Enable (S31).Next piece of N03 is cutter changing instruction (S31: "Yes"), therefore in order to execute cutter changing, CPU in N03
31 connect the power supply (S33) of tool magazine motor 55 in t1.Therefore, CPU 31 can be opened in advance than starting execution cutter changing block
The power supply of tool magazine motor 55 is connected in the execution of the block of dynamic time when starting.
CPU 31 reads in N03 (S21).N03 is cutter changing instruction (S22: "No", S23: "Yes"), therefore CPU 31 will
The cumulative time stored in RAM 33 is initialized as 0 (S28).CPU 31 judges whether the cumulative time is the stipulated time or more
(S30).Cumulative time is 0 (S30: "No"), therefore CPU 31 keeps the state for connecting the power supply of tool magazine motor 55
(S33).First connect the power supply of tool magazine motor 55 in a upper block N02 of N03, therefore numerical control device 30 can be
Cutter changing is promptly executed in N03.
CPU 31 reads in N04 (S21).N04 is signal output order (S22: "No", S23: "No"), therefore CPU 31 sentences
Whether the cumulative time stored in disconnected RAM 33 is 0 (S24).Cumulative time is 0 (S24: "Yes"), therefore CPU 31 is from RAM 33
The block that the block message 3311 of middle storage obtains read in N04 handles time (0.5 second) (S25), is added to cumulative time memory block
In domain 332 (S26).Cumulative time becomes 0.5 second, the time for being t3~t4 (referring to Fig. 9).CPU 31 reads cutter from ROM 32
Replacement instruction search program, executes cutter changing instruction search process (S27) as described above.
As shown in figure 8, the block message 3311 that CPU 31 is stored from RAM 33 reads the block message of next piece of N05
(S41).Read N05 is standby command (S42: "No", S43: "No"), therefore the block of N05 is handled the time by CPU 31
It is upper (S44) that (0.15 second) is added to the cumulative time stored in RAM 33.Cumulative time becomes 0.5+0.15=0.65 seconds, be t3~
The time of t5 (referring to Fig. 9).CPU 31 reads next piece of block message (S45) from block message 3311, repeats back to S42
Processing.
N05~N08 is not END instruction, cutter changing instruction (S42: "No", S43: "No"), therefore CPU 31 is to N05
~N08 executes the processing of S44, and thus each piece of processing time was added on the cumulative time stored in RAM 33.Therefore, when adding up
Between become 0.65+1+0.5+0.25=2.4 seconds, the time (referring to Fig. 9) for being t3~t8.N09 be cutter changing instruction (S42:
"No", S43: "Yes"), therefore CPU 31 terminates present treatment, and processing is made to enter the S30 of Fig. 7.
Back to Fig. 7, CPU 31 judges whether the cumulative time stored in RAM 33 is stipulated time or more (S30).It is tired
2.4 seconds of t3~t8 between timing, be 0.5 second or more (S30: "Yes"), therefore CPU 31 judge next piece type whether
(S31) is instructed for cutter changing.Next piece of N05 is signal output order rather than cutter changing instruction (S31: "No"), because
The power supply (S32) of this CPU 31 cutting tool magazine motor 55.Therefore, numerical control device 30 can save tool magazine motor 55
Consume electric power.
CPU 31 reads in N05 (S21).N05 is signal output order (S22: "No", S23: "No"), therefore CPU 31 sentences
Whether the cumulative time stored in disconnected RAM 33 is 0 (S24).The cumulative time stored in RAM 33 be 2.4 seconds rather than 0
(S24: "No"), therefore CPU 31 subtracts block processing time (0.5 second) (S29) of a upper block N04 from the cumulative time.Therefore,
Cumulative time becomes 2.4-0.5=1.9 seconds, the time for being t4~t8 (referring to Fig. 9).Cumulative time be 0.5 second or more (S30:
"Yes"), the type of next piece of N06 is not cutter changing instruction (S31: "No"), therefore CPU 31 keeps cutting tool magazine electronic
The power supply (S32) of machine 55.
CPU 31 reads in N06 (S21).N06 is cutting move (S22: "No", S23: "No"), therefore CPU 31 sentences
Whether the cumulative time stored in disconnected RAM 33 is 0 (S24).The cumulative time stored in RAM 33 be 1.9 seconds rather than 0
(S24: "No"), therefore CPU 31 subtracts block processing time (0.15 second) (S29) of a upper block N05 from the cumulative time.Therefore,
Cumulative time becomes 1.9-0.15=1.75 seconds, the time for being t5~t8 (referring to Fig. 9).Cumulative time be 0.5 second or more (S30:
"Yes"), the type of next piece of N07 is not cutter changing instruction (S31: "No"), therefore CPU 31 keeps cutting tool magazine electronic
The power supply (S32) of machine 55.
CPU 31 reads in N07 (S21).N07 is standby command (S22: "No", S23: "No"), therefore CPU 31 judges RAM
Whether the cumulative time stored in 33 is 0 (S24).The cumulative time stored in RAM 33 be 1.75 seconds rather than 0 (S24:
"No"), therefore CPU 31 subtracts block processing time (1 second) (S29) of a upper block N06 from the cumulative time.Therefore, the cumulative time
Become 1.75-1=0.75 seconds, the time for being t6~t8 (referring to Fig. 9).Cumulative time is 0.5 second or more (S30: "Yes"), next
The type of a block N08 is not cutter changing instruction (S31: "No"), therefore CPU 31 keeps the power supply of cutting tool magazine motor 55
(S32)。
CPU 31 reads in N08 (S21).N08 is fast forward command (S22: "No", S23: "No"), therefore CPU 31 judges RAM
Whether the cumulative time stored in 33 is 0 (S24).The cumulative time stored in RAM 33 be 0.75 second rather than 0 (S24:
"No"), therefore CPU 31 subtracts block processing time (0.5 second) (S29) of a upper block N07 from the cumulative time.Therefore, when adding up
Between become 1.75-0.5=0.25 seconds, the time (referring to Fig. 9) for being t7~t8.Less than the 0.5 second cumulative time (S30: "No"), because
The power supply (S32) of this CPU 31 connection tool magazine motor 55.Not instead of when starting to execute cutter changing block N09, starting
The power supply of tool magazine motor 55 is connected when executing a block N08 thereon, therefore numerical control device 30 can be in N09 promptly
Execute cutter changing.CPU 31 returns to S21, also repeats the above later to next piece.
CPU 31 reads in Nn (S21).Nn is END instruction (S22: "Yes"), therefore CPU 31 terminates present treatment.
In the above description, the CPU 31 for executing the processing of S2~S6 of Fig. 6 is an example of determination unit of the invention.It holds
The CPU 31 of the processing of row S8~S12 is an example of storage unit of the invention.The CPU 31 for executing the processing of the S43 of Fig. 8 is this
An example of the search section of invention.The CPU 31 for executing the processing of S44 is an example of cumulative unit of the invention.The S30 of execution Fig. 7,
The CPU 31 of the processing of S32 is an example of cutting portion of the invention.The CPU 31 for executing the processing of S30, S33 is of the invention connects
An example in logical portion.The processing step of S2~S6 performed by the CPU 31 of Fig. 6 is an example of determination step of the invention.CPU 31
The processing step of performed S8~S12 is an example of storing step of the invention.The place of S43 performed by the CPU 31 of Fig. 8
Reason is an example of search step of the invention.The processing of S44 performed by CPU 31 is an example of accumulating step of the invention.Figure
The processing of S30, S32 performed by 7 CPU 31 are an examples of cutting step of the invention.
As discussed above, the numerical control device 30 of first embodiment controls lathe 1 based on NC program
With the respective movement of cutter changing device 20.Cutter changing device 20 has tool magazine 21 and tool magazine motor 55.Tool magazine 21 is in knife
It is acted under the driving of library motor 55.The CPU 31 of numerical control device 30 executes block message production when reading in NC program
Processing.In this process, CPU 31 determines to constitute multiple pieces of respective piece of processing times and the block type of NC program, believes as block
RAM 33 is arrived in 3311 storage of breath.After starting to execute NC program, CPU 31 executes tool magazine motor power control processing.At this
In reason, CPU 31 reads in NC program one by one, is searched for after perfoming block based on block message 3311 and closest to holding
The cutter changing block of row block.Since CPU 31 to each in a period of starting to execute until perfoming block executes cutter changing block to
The block of block handles the time.When the cumulative time is more than the stipulated time, CPU 31 cuts off the power supply of tool magazine motor 55.Numerical value
Control device 30 cuts off the power supply of tool magazine motor 55 when the interval until cutter changing next time is long, therefore can save
The consumption electric power of tool magazine motor 55.
CPU 31 is after the power supply of cutting tool magazine motor 55, in the cumulative time until next cutter changing block
When less than the stipulated time, the power supply of tool magazine motor 55 is connected.Therefore, numerical control device 30 can be than starting to execute cutter
Power on when replacing the block pre-cooling time.Numerical control device 30 controls the power supply of tool magazine motor 55 in blocks
The opportunity being switched off and on, therefore control be easy.
In the state of the dump of tool magazine motor 55, even if until from perfoming block to next cutter changing block
Cumulative time is more than the stipulated time, and when next piece of type is cutter changing block, CPU 31 also connects tool magazine motor
55 power supply.Therefore, numerical control device 30 can promptly start cutter changing in cutter changing block.
When the cumulative time until starting to execute perfoming block to cutter changing block being less than the stipulated time, CPU 31 is not cut
The power supply of breaking library motor 55.Therefore, numerical control device 30 can promptly execute cutter changing in cutter changing block.
0~Figure 13 illustrates second embodiment of the present invention referring to Fig.1.Second embodiment is same with first embodiment
Sample in blocks come carry out tool magazine motor 55 power supply cutting, the connection of power supply then be control for starting execute knife
It was carried out before the stipulated time of tool replacement block.
The numerical control device 30 of second embodiment has identical with the numerical control device 30 of first embodiment
Electrical structure, therefore illustrated using the same tag of first embodiment.The numerical control device 30 of second embodiment has
The RAM 33 of first embodiment is replaced for RAM 133 (referring to Fig.1 0).The CPU 31 of numerical control device 30 is in addition to executing
Timing, which is also executed, other than the block message production processing (referring to Fig. 6) of first embodiment handles (referring to Fig.1 1), tool magazine motor
Power supply control handles (referring to Fig.1 2).Timing handles the connection for controlling the power supply of tool magazine motor 55.The electronic electromechanics of tool magazine
Source control handles the cutting for controlling the power supply of tool magazine motor 55.With RAM 133, timing processing, tool magazine motor power
Illustrate second embodiment centered on control processing.
0 illustrates the various storage regions of RAM 133 referring to Fig.1.RAM 133 has block message storage region 331, adds up
Time storage region 332 amounts to processing time storage region 333, clocking value storage region 334, power supply mark storage region 335
Deng.Block message storage region 331 and cumulative time storage region 332 are identical with first embodiment.Amount to the storage of processing time
The storage of region 333 amounts to the processing time.Setting amounts to the processing time in the timing processing (referring to Fig.1 1) being described below, this is total
Since the meter processing time carried out to the block processing time until starting execution perfoming block and executing nearest cutter changing block to
Amount to the obtained time.Clocking value storage region 334 stores clocking value.Clocking value is from executing BOB(beginning of block) when passing through
Between.CPU 31 measures clocking value based on the output valve from timer (not shown).Power supply mark storage region 335 stores electricity
Source indicator.Power supply mark is set as by CPU 31 in the state that the power supply of tool magazine motor 55 is connected in aftermentioned timing processing
1, power supply mark is set as 0 in the state of in addition to this.
Referring to Fig.1 1, Figure 13 illustrates that timing is handled.Present treatment carries out control as follows: than starting to execute cutter changing block
The power supply of tool magazine motor 55 is connected when the stipulated time in advance.Tool magazine motor power control processing (referring to Fig.1 2) is for controlling
The cutting of the power supply of tool magazine motor 55, but the tool magazine motor power of the opportunity of dump and first embodiment controls
Processing (referring to Fig. 7) is identical.Therefore, opportunity and Fig. 9 of the t0 and t3 of the power supply of tool magazine motor 55 are cut off shown in Figure 13
Opportunity is identical.CPU 31 regularly reads timing processing routine from ROM 32, executes the processing.Second embodiment is also to execute
It is illustrated for when NC program P1.As shown in figure 11, CPU 31 obtains the current clocking value of perfoming block from timer, and
The clocking value is set to the clocking value storage region 334 (S51) of RAM 133.The block message that CPU 31 is stored from RAM 133
3311 read the block message (S52) of the perfoming block in NC program P1.CPU 31 judge read block message block type whether
For END instruction (S53).When being END instruction (S53: "Yes"), without connecting the power supply of tool magazine motor 55, therefore CPU
The total processing time stored in total processing time storage region 333 (omitted below) of RAM 133 is initialized as 0 by 31
(S59), the power supply mark stored in the power supply mark storage region 335 (omitted below) of RAM 133 is initialized as 0 (S60),
Terminate present treatment.
When the block type of read block message is not END instruction (S53: "No"), CPU 31 judges read piece
Whether the block type of information is cutter changing instruction (S54).When block type is cutter changing instruction (S54: "Yes"), tool magazine electricity
The power supply of motivation 55 is in the state having been turned on, therefore the total stored in RAM 133 the processing time is initialized as 0 by CPU 31
(S59), the power supply mark stored in RAM 133 is initialized as 0 (S60), terminates present treatment.
When the block type of read block message is not cutter changing instruction (S54: "No"), CPU 31 is calculated to nearest
Cutter changing block until total handle the time, by calculated totals handle the time be set to RAM 133 (S55).CPU
31 judge that the total stored from RAM 33 the processing time subtracts whether the obtained value of clocking value is the stipulated time or less.Regulation
Time is for example, it can be set to for the time (such as 0.5 second) needed for starting tool magazine motor 55 or greater than the time.
As shown in figure 13, such as in t10, perfoming block is N01, and clocking value is 0.1 second.Nearest cutter changing block is N03.
Amounting to the processing time, to be N01 total with respective piece of N02 processing time, therefore is 0.2+1=1.2 seconds.It is handled when from total
Time is 1.2-0.1=1.1 seconds when subtracting clocking value, is greater than stipulated time (S56: "No"), therefore CPU 31 is without connecting knife
The power supply of library motor 55.Therefore, the power supply mark stored in RAM 133 is initialized as 0 (S60) by CPU 31, terminates this place
Reason.
Such as in t11, perfoming block is N02, and clocking value is 0.5 second.Nearest cutter changing block is N03.When amounting to processing
Between be block processing 1 second of the time of N02.It is 1-0.5=0.5 seconds when from the total processing time clocking value is subtracted, when to provide
Between following (S56: "Yes"), therefore CPU 31 connects the power supply (S57) of tool magazine motor 55.CPU 31 can start to execute
The power supply of tool magazine motor 55 is connected before the cutter changing block of N03, thus can execute rapidly by cutter changing device 20 into
Capable cutter changing.The power supply mark stored in RAM 133 is set as 1 (S58) by CPU 31.Therefore, CPU 31 can pass through
Identify the state of the power supply of tool magazine motor 55 always referring to power supply mark.CPU 31 terminates present treatment.
Such as in t12, perfoming block is N07, and clocking value is 0.25 second.Nearest cutter changing block is N09.When amounting to processing
Between to be N07 total with respective piece of N08 processing time, therefore be 0.5+0.25=0.75 seconds.Subtract when from the total processing time
It goes when clocking value to be 0.75-0.25=0.5 seconds, is the stipulated time or less (S56: "Yes"), therefore the connection tool magazine of CPU 31 is electronic
The power supply (S57) of machine 55.Therefore, CPU 31 can connect tool magazine motor 55 before the cutter changing block for starting to execute N09
Power supply, therefore the cutter changing carried out by cutter changing device 20 can be executed rapidly.CPU 31 is by the power supply mark of RAM 133
The power supply mark stored in will storage region 335 is set as 1 (S58), terminates present treatment.
Referring to Fig.1 2 come illustrate tool magazine motor power control handle.The tool magazine motor power of second embodiment controls
The tool magazine motor power control processing to first embodiment is handled to be deformed (referring to Fig. 7), it is additional before S21
The judgement of S101 is handled, and the processing of S102 has been added between S21 and S22, the processing of the S33 of Fig. 7 is omitted.Therefore, with
Illustrate second embodiment centered on the different part of first embodiment.CPU 31 judges whether power supply mark is 1
(S101).When power supply mark is 1 (S101: "Yes"), for be currently in above-mentioned timing processing start to execute it is next
The state that therefore power supply of tool magazine motor 55 is connected within stipulated time before cutter changing block.Therefore, CPU 31 is returned to
S101 is standby to carry out.Power supply mark be 0 when (S101: "No"), timing processing in be not presently within start to execute it is next
Within stipulated time before a cutter changing block, therefore the interval until cutter changing next time is long, needs cutoff tool at this time
The power supply of library motor 55.Therefore, CPU 31 reads in a block (S21) in the same manner as first embodiment, and it is later to execute S22
Processing.Execute S22 processing before, CPU 31 by the clocking value stored in RAM 133 be initialized as 0 and by timer it is initial
Change (S102).Therefore, CPU 31 can be accurately measured in above-mentioned timing processing from starting to execute each piece when passing through
Between.In the same manner as first embodiment, if the cumulative time until starting to execute cutter changing block is more than the stipulated time
(S30: "Yes"), and next piece of type is not cutter changing instruction (S31: "No"), then CPU 31 cuts off tool magazine motor
55 power supply (S32).When cumulative time in S30 until starting execution cutter changing block is less than the stipulated time (S30:
"No"), since the power supply of tool magazine motor 55 is in the state having been turned in the timing processing of Figure 11, CPU 31 is not done
Any movement and reprocessed back to S101.In the state of the dump of tool magazine motor 55, to starting to execute
Cumulative time until cutter changing block is more than the stipulated time (S30: "Yes"), and next piece of type is that cutter changing refers to
When enabling (S31: "Yes"), the control that the power supply of tool magazine motor 55 is connected is carried out by timing processing, therefore CPU 31 is not done
Any movement and reprocessed back to S101.CPU 31 (S22: "Yes") when having read in END instruction terminates present treatment.
In the above description, the CPU 31 for executing the timing processing of Figure 11 is an example in connection portion of the invention.
As discussed above, the numerical control device 30 of second embodiment in the same manner as first embodiment with
The cutting that block is unit to carry out the power supply of tool magazine motor 55, the connection of power supply are then that control is to start to execute cutter changing
It was carried out before the stipulated time of block.Stipulated time for example can be set to the starting time of tool magazine motor 55.Therefore, Numerical Control fills
30 are set after the power supply of cutting tool magazine motor 55, it can be than starting to execute cutter changing block at least pre-cooling tool magazine electricity
Power on when the starting time needed for motivation 55.Therefore, numerical control device 30 is when reading in cutter changing block, can be can
By ground start tool magazine motor 55 in the state of execute the cutter changing that is carried out by cutter changing device 20.
The present invention is not limited to the above embodiments, is able to carry out various modifications.The lathe 1 of above embodiment is can be into
The machinery of row machining, but be for example also possible to be able to carry out the compounding machine of machining and rotary cut processing.Make cutter 4 with
The structure for the mobile mechanism that workbench 13 is relatively moved along X-axis, Y-axis, Z-direction is not limited to the structure of above embodiment.
For example, it can be along these three axis driving spindles 9 of X, Y, Z axis direction, workbench 13 is fixed or can rotate.Lathe 1 is main
Axis 9 is parallel to the vertical lathe of Z-direction, but is also possible to the horizontally extending horizontal machine tool of main shaft.
The block processing time of block message 3311 shown in fig. 5 is an example, can freely be changed.Above embodiment
Fast forward command, cutting move can be found out come operation according to moving distance, movement speed, Acceleration and deceleration time constant.
Driving circuit 51A~55A of above embodiment is set to lathe 1, but also can be set and fill in Numerical Control
Set 30.
Claims (5)
1. a kind of numerical control device (30), based on the Numerical Control program for having multiple blocks with control instruction come to machinery
(1) movement of movement and cutter changing device (20) is controlled, and the machinery is by making cutter (4) and chip being cut part (3) phase
The machining of the chip being cut part is carried out to mobile, which carries out the main shaft (9) for being installed on the machinery
The cutter cutter changing, the numerical control device is characterized in that,
The Numerical Control program includes the cutter changing block that there is cutter changing to instruct, and cutter changing instruction is described in instruction
The control instruction of cutter changing,
The numerical control device has:
Determination unit (31) determines the place of each block with control instruction when the Numerical Control program is read into
Manage the type of the control instruction of time and each block with control instruction；
Storage unit stores block message (3311), which is that the determination unit each of determines and described there is control to refer to
The information of the processing time and the type of the block of order；
Search section, after the execution of the Numerical Control program starts, based on the storage unit storage the block message come
After perfoming block and closest to the cutter changing block of perfoming block, which is the block for currently starting to execute for search；
Cumulative unit, to executing the cutter changing block that described search portion searches out to since starting to execute the perfoming block
Until in a period of processing time of each block with control instruction added up；And
Cutting portion is cut off when the cumulative unit accumulative processing time out is more than the stipulated time to the cutter
The power supply for the motor (55) that more changing device is driven.
2. numerical control device according to claim 1, which is characterized in that
It is also equipped with connection portion, the connection portion is after the power supply that the cutting portion cuts off the motor, than starting to execute institute
State the power supply that the motor is connected when starting the time needed for motor described in cutter changing block at least pre-cooling.
3. numerical control device according to claim 2, which is characterized in that
The connection portion connects before the execution than starting to execute the block that the cutter changing block shifts to an earlier date the starting time starts
The power supply.
4. numerical control device described according to claim 1~any one of 3, which is characterized in that
The stipulated time is starting time or the time longer than the starting time needed for the starting motor,
When the cumulative unit accumulative processing time being out less than the stipulated time, the cutting portion does not cut off the electricity
The power supply of motivation.
5. a kind of control method of numerical control device, the numerical control device is based on having multiple blocks with control instruction
Numerical Control program the movement of mechanical movement and cutter changing device controlled, the machinery is by making cutter and quilt
Cutting members relatively move to carry out the machining of the chip being cut part, which carries out being installed on the machinery
The cutter changing of the cutter of main shaft, the control method be characterized in that,
The Numerical Control program includes the cutter changing block that there is cutter changing to instruct, and cutter changing instruction is described in instruction
The control instruction of cutter changing,
The control method has:
Determination step, when the Numerical Control program is read into, when determining the processing of each block with control instruction
Between and the block with control instruction the control instruction type；
Storing step, stores block message, which is each of to determine described to there is control to refer to by the determination step
The information of the processing time and the type of the block of order；
Search step, after the execution of the Numerical Control program starts, based on described piece stored by the storing step
Information searches for the cutter changing block after perfoming block and closest to perfoming block, which is currently to start to execute
Block；
Accumulating step, to executing the cutter gone out by described search step search to since starting to execute the perfoming block
The processing time of each block with control instruction in a period of until replacement block is added up；And
Step is cut off, when being more than the stipulated time by the accumulating step accumulative processing time out, is cut off to institute
State the power supply for the motor that cutter changing device is driven.
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| JP2016077854A JP6665645B2 (en) | 2016-04-08 | 2016-04-08 | Numerical control device and control method |
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| JP6680811B2 (en) * | 2018-01-26 | 2020-04-15 | ファナック株式会社 | Processing time prediction device |
| JP6569825B1 (en) * | 2018-07-10 | 2019-09-04 | 三菱電機株式会社 | Numerical controller |
| JP2020201982A (en) * | 2020-08-31 | 2020-12-17 | ファナック株式会社 | Operation management device |
| WO2024084710A1 (en) * | 2022-10-21 | 2024-04-25 | ファナック株式会社 | Machine tool |
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