JP2000284817A - Numerical controller to simultaneously control two movable objects no common track - Google Patents

Abstract

PROBLEM TO BE SOLVED: To decelerate and stop two movable objects moved on a common track so as not to cause interference between them and not to affect the work of the opposite party. SOLUTION: A numerical controller fetches a reference correction coefficient A, a tool correction coefficient B and a precision correction coefficient C from an NC(numerical control) program and a memory (steps 61 to 64) to calculate a tool correction coefficient K (a step 65). The magnitude of the resultant coefficient K is compared with minimum and the maximum correction coefficients stored in the memory (steps 66, 68), the final correction coefficient K is set (steps 67, 69) and the degree of deceleration in the case of interference is calculated (a step 71) by this numerical controller.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerical control device for feeding and controlling two movable bodies movable in directions approaching and separating from each other along a common moving path in accordance with individual numerical control programs. Preferably, the present invention is capable of independently controlling the position of two tool stands individually mounted with rotating or fixed tools on a common moving path with respect to a common workpiece according to separate numerical control programs. The present invention relates to a numerical control device capable of efficiently processing different processing locations on a workpiece simultaneously or individually.

[0002]

2. Description of the Related Art In general, when a plurality of machining points of a workpiece on a machining table are machined by two tool tables individually numerically controlled along a common movement path, the two tool stands are at positions where the two tool stands can approach each other. Simultaneous machining is not a problem, but when machining a machining location where two tool stands cannot be approached any more, a situation occurs where the tool stands physically collide with each other. This collision is generally referred to as interference of a tool table, and such interference is performed by using a numerical control program (hereinafter, referred to as an NC program) that defines a movement path of each tool table as a planned movement path of another tool table. This can be avoided by taking into account the above.

[0003] In the interference avoidance measure on the NC program which creates the NC program so as not to cause interference, the number of steps (number of data blocks) of the NC program is used.
In the case of complicated machining with a large size, a large burden is imposed on the creator of the NC program. For this reason, in order to avoid the above-mentioned interference of the tool table, a conventional numerical controller (hereinafter, NC) for controlling a pair of machine tools with a tool table.
The control function shown in FIG. 15 (Prior Art 1) or the control function shown in FIG. 16 (Prior Art 2) is added to the apparatus.

FIGS. 15 and 16 show that a pair of tool stands laterally separated from each other are advanced from their respective feed origins in a direction approaching each other along a common movement path (for example, X-axis). 6 is a position-time chart expressing the progress of the movement to return to the respective feed origins after finishing the processing at the position in relation to the vertical time axis. According to the prior art 1 shown in FIG. 15, the first tool table TH1 and the second tool table T
A start command for starting H2 is given before and after about the same time, and the first tool stand TH1 is first moved along the X-axis, for example, to the second position.
In the case where the second tool table TH2 is advanced to the tool table TH2 side, the second tool table TH2 is kept waiting at the feed origin even if a start command is already given. The forward feed of the second tool base TH2 toward the first tool base TH1 is started when the first tool base TH1 completes the machining operation at the machining position Pa1 and returns to the feed origin.

According to the prior art 2 shown in FIG. 16, the moving positions of the tool tables TH1 and TH2 are constantly monitored. It is assumed that start commands for activating both tool stands are given before and after about the same time, whereby the first tool stand TH1 first leaves the feed origin, and thereafter the second tool stand TH2 leaves the feed origin. . In this case, the first tool table TH1 having a short feed distance reaches the machining position Pa1 first, and at this time, the machining position Pb
The second tool table TH2 whose feed distance is longer than the processing position Pa1 on the side of the feed origin of the first tool table TH1 continues to advance, and the first tool table TH1 positioned at the processing position Pa1 is still moving forward. When approaching a predetermined distance, the speed is reduced and the first tool stand TH1 is temporarily stopped at a predetermined interference avoidance limit position. Then, when the first tool table TH1 is retracted toward the feed origin and both tool tables are separated by the predetermined interval or more,
The second tool rest TH2 restarts moving toward the machining position Pb1.

[0006]

According to the first prior art described above, even when commands for activating both tool stands are given at substantially the same time, the other tool stand TH2 which is activated later waits at the feed origin. Since it remains as it is, there is a disadvantage that the processing efficiency is low. On the other hand, in the second prior art, the indexing operation of moving both tool stands to the respective processing points is performed partially in parallel.
Superior to prior art.

However, in FIG. 16, the first tool rest TH1 is temporarily stopped after the machining operation at the machining position Pa1, and is positioned at the second machining position Pa2 on the side of the waiting second tool rest TH2. , The function of monitoring the positions of both tool tables works, and both tool tables cannot be moved thereafter. In order to avoid such a situation, it is necessary to set the NC
The programs must be carefully created in consideration of each other, making the program creation cumbersome.

In FIG. 16, the second tool table TH2 having a long feed distance is decelerated when approaching the first tool table TH1 positioned at the machining position Pa1 to a predetermined distance, and the second tool table TH2 is moved with respect to the first tool table TH1. Although it is temporarily stopped at a predetermined interference avoidance limit position, the second tool table TH2
Is stopped at a position very close to the first tool base TH1, the processing accuracy of the first tool base TH1 is deteriorated due to an impact at the time of deceleration, or the tool is damaged when working with a small-diameter tool. May occur.

Accordingly, a main object of the present invention is to provide two movable units which can move toward and away from each other along a common moving path.
It is an object of the present invention to solve the above-mentioned disadvantages of the prior art in a numerical control device for controlling the feeding of two movable bodies in accordance with individual numerical control programs.

[0010]

Means for Solving the Problems and Effects of the Invention The above-mentioned problems relating to the prior art and the object of the present invention are solved and achieved by the following means. In the present invention, as described in claim 1, the deceleration of the other movable body is changed according to the processing situation of the one movable body so that the other movable body is in a position that does not interfere with the one movable body. There is provided deceleration stop means for decelerating and stopping, or for changing the fast-forward speed of the other movable body in accordance with the processing state of the one movable body.

Therefore, according to the first aspect of the present invention, the deceleration at the time of deceleration and stoppage of the other movable body is changed according to the processing condition of one of the movable bodies, or the deceleration is the same even when the deceleration is the same. Since the rapid traverse speed is changed in accordance with the processing situation of one movable body, the impact of the stop of the other movable body is applied to one movable body even if one movable body is processing in any situation. Since the influence is reduced, the possibility of deteriorating processing accuracy and causing tool breakage is reduced.

Further, according to the present invention, a range setting means for setting a moving range boundary based on a target position at which one movable body comes closest to the other movable body side, Movement control means for moving one and the other movable body in accordance with a numerical control program corresponding to each of the movable bodies within each of the movement allowable ranges defined by the range boundary, and further comprising movement of the other movable body in accordance with the NC program When trying to exceed the range boundary, the deceleration of the other movable body is changed according to the processing situation of one movable body, and the other movable body is decelerated and stopped at a position that does not interfere with one movable body, or The rapid traverse speed of the other movable body is changed according to the processing state of one movable body.

Thus, according to the second aspect of the present invention, N
Since it is not necessary to consider the interference between the two movable bodies when creating the C program, it is easy to create the NC program, and the moving range boundary is set from the NC program. Whatever the program, interference between the two movable bodies can be easily prevented.

According to a third aspect of the present invention, there is provided a range setting means for setting a moving range boundary based on a target position at which one movable body comes closest to the other movable body. Also, when one movable body moves in the opposite direction, that is, the opposite direction after reaching the target position closest to the other movable body side within the boundary of the movement range, the movable allowable range of both movable bodies is reduced and enlarged, respectively. Boundary changing means for changing the boundary of the movement range so that the movement of the other movable body in accordance with the NC program exceeds the boundary of the movement range. The deceleration of the other movable body to decelerate and stop at a position where it does not interfere with the one movable body, or change the fast-forward speed of the other movable body according to the processing situation of the one movable body Deceleration is stopped in a normal deceleration causes, configured to suspend the other movable body to be subsequently changed movement range boundaries is permissible movable range of the other of the movable body is expanded.

By adopting such a configuration, according to the third aspect of the present invention, one of the movable bodies is controlled to move in accordance with the NC program preferentially over the other movable body. The movement control is not restricted by the movement control of the other movable body, and the work planned in the NC program can be efficiently performed. In addition, the other movable body has its own movable allowable range expanded as the movable allowable range of one movable body is reduced, and its own movable control is controlled in accordance with the progress of the movable control of the one movable body. Let it progress slowly.

In particular, the movable range of one of the movable bodies is initially set as the maximum movable range determined by the NC program, and thereafter, the movable range is reduced. Even when approaching the boundary of the range, interference with the other movable body is avoided, so that there is no effect that both movable bodies will not be able to move forward to the other side and will not be stuck.

Further, according to the present invention, as described in claim 4, the machining state of one movable body is determined from information including at least one of a tool type, a tool diameter and a required machining accuracy. Thus, according to the fourth aspect of the present invention, it is possible to easily grasp the processing state of one movable body with a small amount of information, and to change the rapid traverse speed to the optimum one for the current processing state of the one movable body. The other movable body can be decelerated and stopped at a deceleration optimal for the current machining situation of one movable body.

In each of the above-mentioned inventions, it is preferable that the movable body driven first is one movable body and the movable body driven later is the other movable body. This temporal relationship with respect to the start of driving preferably means a so-called one-cycle operation unit in which each movable body departs from the feed origin and returns to the feed origin again. Needless to say, it can be grasped as a time relationship in terms of whether the body moves first. Regardless of the context of the start of driving, one movable body and the other movable body may be determined based on the number of processing locations to be executed.

[0019]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 and FIG. 2 show a partial cross-sectional plan view and a front view of a pair of machine tools with a spindle head to be controlled by a numerical controller according to the present invention. In these figures,
Reference numeral 10 denotes a bed of the machine tool 9, and a box-shaped column 11 is erected at the rear of the bed 10.

A first U-shaped saddle 13 and a second U-shaped saddle 14 straddle a pair of horizontal guide rails 12 provided in parallel with the front surface of the cross beam 11a on the upper and lower sides of the column 11, respectively. It is movably guided in the direction (X direction). Thus, the first saddle 13 and the second saddle 14 share a common movement path (X-axis guide rail 12).
Can move in the direction of approaching / separating from each other. The guide rails of the first and second saddles 13 and 14 may be provided separately.

On the bed 10 in front of the column 11,
Ball screw 1 rotated by X-axis servo motor 18a
6 is rotatably supported about an axis parallel to the guide rail 12, and a nut 17 screwed to the ball screw 16 is attached to the first saddle 13. On the other hand, column 11
On the front surface of the upper cross beam 11a, a ball screw 20 rotated by a U-axis servo motor 18b is rotatably supported around an axis parallel to the ball screw 16, and the ball screw 20 is attached to the second saddle 14. Nut 22
Is screwed.

A pair of front and rear guide rails 23 are fixed to the left and right inner surfaces of the first saddle 13 and the second saddle 14 so as to extend in the vertical direction (Y direction). The first spindle base 24 and the second spindle base 25 are guided by these guide rails 23 so as to be movable in the vertical direction on the corresponding first saddle 13 and second saddle 14, respectively.

Ball screws 27 a and 27 b are rotatably mounted on the first saddle 13 and the second saddle 14 so as to be rotatable about an axis parallel to the guide rail 23. These ball screws 27a and 27b are connected at their upper ends to a Y-axis servomotor 28a and a V-axis servomotor 28b, respectively.
It is rotated by these motors. Ball screw 27a, 2
Nuts (not shown) are screwed into 7b, respectively, and these nuts are attached to the first spindle base 24 and the second spindle base 25, respectively. A pair of guide rails 30 that are vertically separated from each other are fixed to inner surfaces of the first spindle base 24 and the second spindle base 25 that face each other in the left-right direction so as to extend in the front-rear direction (Z direction) in parallel.

Each pair of guide rails 30 has a first spindle head 31a and a second spindle head 31b, respectively.
Are movably guided in the front-rear direction (Z direction). Ball screws 33a and 33b are respectively mounted on the first spindle base 24 and the second spindle base 25 so as to be rotatable around an axis parallel to the guide rail 30. These ball screws 33a and 33b are respectively connected to a Z-axis servo motor 38a and a W-axis servo motor 38b connected to their rear ends.
Nut 3 which is rotated by
The first spindle head 31a and the second spindle head 31b are driven in the front-rear direction via 4a and 34b.

The first spindle head 31a and the second spindle head 31b rotatably support the first spindle 35a and the second spindle 35b around an axis extending in the Z direction, and can be driven to rotate by a built-in motor (not shown). . First spindle 35
a and a front end of the second spindle 35b, a drill, an end mill,
A tool T such as a grindstone is removably mounted on the first spindle 35a.
The attachment and detachment of the tool T to and from the second spindle 35b are automatically changed between a tool magazine (not shown) and the tool magazine.

A fixed or rotary indexing type table 37 is provided on the bed 10 in front of the column 11, and a single workpiece W is fixed to the table 37 by a clamp mechanism (not shown). Left-right direction of table 37 (X direction)
A loading / unloading device 40 is arranged on both sides. With the above configuration, the first and second spindle heads 31a, 31b
Is moved in the X direction along the common guide rail 12 by the driving of the servo motors 18a and 18b, and is moved in the Y direction by the driving of the servo motors 28a and 28b, so that the tool T on each of the heads 31a and 31b is moved. The servo motor 38 can be positioned at a desired processing position of the workpiece W.
The tool is advanced in the Z direction by driving a and 38, and a hole is drilled in a processing location by a tool T such as a drill.

When the tool T is an end mill, the spindle heads 31a and 31b are simultaneously controlled in two orthogonal or three axes in the X, Y and Z directions orthogonal to each other at the contact position between the tool T and the workpiece W. W can be contoured.
If necessary, a plurality of workpieces may be mounted on the table 37. On the left side of the machine tool 9 configured as described above in FIG. 1, a numerical controller (hereinafter, referred to as a CNC device) 70 containing a computer and a sequence controller 80 are arranged. The numerical controller 70 and the sequence controller 80 control operations of the machine tool 9 and the loading / unloading device 40.

As shown in FIG. 3, the CNC device 70
It is mainly composed of a PU 71, a memory 72, and an interactive data input device 73. A data input device 73 connected to the CPU 71 via the interface 74 has a display device 73a, and inputs an NC program and various parameter data in an interactive manner using a numeric keypad 73b, and inputs various commands through a switch group 73c.

The CPU 7 via an interface (not shown)
The sequence controller 80 connected to 1 receives various auxiliary function commands specified in the NC program, for example, a spindle rotation command, a coolant ON / OFF command and a tool change command, and executes sequence control according to these commands. I do. The memory 72 includes an area 72a that stores a system program that defines the processing operation of the CPU 71, an NC program area 72b that stores an NC program for the first and second spindle heads executed by the CPU 71 according to the system program, And the boundary coordinates BC1 and BC2 which are the movement allowable boundaries in the X direction of the second spindle head.
And a flag area 72 for arithmetic processing in a control process according to the system program.
d, a working area 72e, and an area 72f for storing shift information including correction coefficients corresponding to information such as tools and machining accuracy.

As will be described later in detail with reference to FIG. 11, the boundary coordinate BC1 defines the right end of the allowable range in which the first spindle head 31a advances to the right in FIG. 2, and the boundary coordinate BC2 defines the second spindle head 31b. Defines the left end of the permissible range that advances to the left in FIG. The CPU 71 controls the NC at predetermined small time intervals via the interface 75.
A large number of interpolation points up to a target position specified in each data block of the program are output to drive units 76a to 78a for X, Y, Z axis control and drive units 76b to 78b for U, V, W axis control. Conversely, a position feedback signal is input via an interface 75 from an encoder e attached to the servo motors 18a, 28a, 38a, 18b, 28b and 38b of each control axis.

FIG. 4 is a functional explanatory diagram for explaining the outline of the processing operation of the CPU 71. In FIG. 4, the broken arrows indicate the order of transition to various processes, and the solid arrows indicate the flow of data. Now, assume that the first and second spindle heads 31a and 31b simultaneously and sequentially process a plurality of processing locations on a surface of the workpiece W on the table 37 facing the spindle head in accordance with the respective NC programs. Suppose.

In this case, a command to activate the two spindle heads 31a and 31b is given to the sequencer 80 by operating an individual or single push button switch, and the sequencer 80 gives an NC execution command to the CPU 71. NC program for the spindle head 31a (hereinafter referred to as the first
An NC program) and an NC program (hereinafter, a second NC program) for the spindle head 31b are sequentially executed.

When the sequencer 80 recognizes the input of a command for simultaneously starting the two spindle heads, the sequencer 80 normally executes the built-in interlock program to first move the first spindle head 31a arranged on the left side in FIG. To the CPU 71 to be activated. The CPU 71 first performs a program execution process 101, and in this process, reads the first data block of the first NC program from the memory 72, decodes it, and stores the decoded information in the working area 72e in the memory 72 as movement information 101a. In this process, the CPU 71 searches a plurality of data blocks for the first one-cycle machining operation in the first NC program in order to set the boundary coordinate BC1 of the movement allowable range of the first spindle head. The maximum target position of the X axis specified in these blocks is extracted and registered in the working area 72e.

Here, "one-cycle machining operation" refers to an operation after each spindle head leaves the feed origin, performs a machining operation at one or more machining positions, and then returns to the feed origin again. Step. The “maximum target position” is a coordinate position at which any of a plurality of data blocks defining an indexing step to each machining position positions each spindle head closest to the other spindle head.

Thereafter, the CPU 71 executes a move / check process 102. This process includes an interpolation point calculation process, an interference check process, and a shift process. First, when the movement information 101a in the working area 72e includes an X-axis movement command that may cause interference between the two spindle heads 31a and 31b, an interference check process is required by referring to the interference axis table 72i in the memory 72. Is determined. When it is determined that interference occurs due to this processing, the driving unit 76
The output of the interpolation points to a to 78a is not performed, the shift processing is performed based on the correction coefficient which is the shift information stored in the area 72f in the memory 72, and the deceleration is stopped at a position not exceeding the boundary of the allowable movement range. You. When it is determined from the NC program and the processing parameters that the interference check processing is unnecessary or that no interference occurs as a result of this processing, each control axis is controlled after 1 ms (millisecond) based on the movement information 101a stored in the working area 72e. The interpolation point to be reached is calculated for each control axis, and the drive unit 76a of each control axis is calculated.
To 78a.

After executing the movement / check processing 102 for the first spindle head 31a, the program execution processing 103 for the second NC program is performed in the processing 101 described above.
Is stored in the working area 72e as the movement information 103a, and the movement / check processing 104 is executed. The process 104 is performed in the same procedure as the process 102 described above. When it is confirmed that the second spindle head 31b does not interfere with the first spindle head 31a, the control axes U, V, W of the second spindle head 31b are controlled. Drive unit 7 for controlling
Interpolation points are output from 6b to 78b every minute time.

Subsequently, movement / check processing 102, 10
4 are performed alternately and repeatedly so that each of the drive units 76a-78a and 76b is executed once every 1 ms.
Interpolation points are output every 1 ms for .about.78b. As a result, the X, Y, and Z axis servo motors 18a, 28a, 38
a, and at the same time, the servomotors 18b, 28b, 38b of the U, V, W axes are driven, so that the first spindle head 31a and the second spindle head 32a are in the X axis unless they interfere with each other. It is moved so as to approach the other side, and a single common workpiece W can be simultaneously processed.

In the movement / check processing 102 or 104, the fact that each of the control axes X, Y, Z or U, V, W has reached the target position specified by one block of NC data is determined from the encoder output for those control axes. When checking, that is, 1
When confirming the completion of the positioning control for the block, the program execution processing 101 or 103 corresponding to the movement / check processing 102, 104 confirming the completion is executed, and the NC data of the next one block is read, decoded, etc. Is performed as described above.

As described above, the CPU 71 executes the numerical control processing of the first spindle head 31a and the second spindle head 31b in a time-division manner. In addition, apart from the normal interference check by the movement / check processing of FIG. 4, the movement position monitoring processing is executed as shown in FIG. 4, and the current positions of the first spindle head 31a and the second spindle head 31b, The moving direction and the moving speed are monitored, and when the distance between the two spindle heads becomes shorter than the distance required for stopping, deceleration stop is executed regardless of execution of the normal interference check. FIG. 4 shows the input device 73 that the interference axes X and U forming a pair are stored in the interference axis table 72i, the NC program is stored in the NC program area 72b, and the shift information is stored in the area 72.
f indicates that the setting is registered.

FIGS. 5 to 10 show a system flowchart for causing the CPU 71 to execute the above-described movement / check processing 102 and 104 alternately. Hereinafter, the processing steps based on this flowchart will be described in detail focusing on the movement / check processing 102 for the first spindle head 31a with reference to this flowchart. First, in step S1 shown in FIG. 5, it is determined whether the control based on the NC data of one block stored in the working area 72e is completed, and all the control axes X designated at the target position of the NC data are determined. , Y, and Z have arrived, this processing ends, and the processing shifts to the main routine (not shown) for controlling the shift to the processing 101 to 104 described above.

This main routine is executed by the second spindle head 3
When the NC control process has already been started for 1b, in order to perform the movement / check process 104 in FIG.
The CPU 71 restarts the processing in FIG. 5 from step S1. Although the NC control process for the second spindle head 31b has not been started yet, the sequencer 80
When an instruction to start the NC control process for the spindle head 31b is given, the CPU 71 causes the CPU 71 to execute the program execution process 103 in FIG. When the sequencer 80 does not issue an instruction to start the NC control process for the second spindle head 31b, the main routine is executed such that the CPU 71 executes the program execution process 101 of FIG. 4 for the first spindle head 31a. Drive.

Here, for convenience of explanation, the movement / check processing 102 of FIG. 4 is executed by the CPU in accordance with the flowchart of FIG.
Let's assume that 71 has just started executing. In this case, step S2 is executed next. The first block of each NC program, in this case the first NC program, is X
Includes G code command for axis movement range setting. Therefore, when the moving range setting G code is identified in step S2, the moving range setting process is executed in step S3 based on the subroutine of FIG. In this process,
The boundary coordinates BC1, which is the maximum target position of the one-cycle operation described above, is read from the working area 72e and set as a command allowable range (step S31).

In this case, since the first spindle head 31a is started and controlled by the NC before the second spindle head 31b, the first spindle head 31a is compared with the boundary coordinate BC2 of the second spindle head 31b to check for interference. (Step S3
2) It is determined that there is no interference, and the command allowable range, that is, the maximum target position BC1 is set as it is as the movement allowable range (step S33). That is, the first spindle head 3
1a is a priority control target in this one-cycle operation, and its allowable movement range is the second priority allowable movement range.
It is set without being affected by the subordinate movement allowable range that is the allowable movement range of the spindle head 31b.

Conversely, when the second spindle head 31b is already under the NC control, the first spindle head 31a is moved to t in FIG.
When the next one-cycle operation from the feed origin Pa0 to the processing position Pa4 is executed as at two points in time, the first spindle head 31a is set as a slave control target, and the movement allowable range at that time is set as the slave allowable range. You. in this case,
If it is determined that they interfere with the allowable movement range BC2 of the second spindle head 31b, which is the priority control target (step S
32), the interference clearance IC is added to the boundary coordinate BC2 of the partner.
, That is, the coordinate value that is reduced by the interference clearance IC from the other party's movement allowable range to the own side is set as the movement allowable range (step S34).

In this embodiment, only the G code for setting the X-axis movement range is specified in the first block of the NC program, and the boundary coordinates BC1 are searched from the NC data block instructing one-cycle operation. Although the data registered in the working area 72e is used, the boundary coordinates B
C1 may be directly specified.

As a modified example, the NC program does not specify any information for setting the X-axis movement range, and the CNC device 71 automatically executes the X-block before executing the command of the first block.
The processing for setting the movement range of the axis may be incorporated in the system program. In addition, the allowable movement range set in steps S33 and S34 is determined based on each spindle head 31a,
Although the coordinate position of the tool spindles 35a and 35b of the tool spindle 31b may be designated, in this embodiment, as shown in FIG. 11, the counter spindle is slightly more than the coordinate position of the tool spindles 35a and 35b indicated by double circles. Offset to head side. The offset amount is set to the distance from the tool spindle to the portion of each spindle head that protrudes most toward the mating side. In the processing of steps 33 and 34, this offset amount is added to the calculation of the allowable movement range.

When the movement range setting process S3 is completed, the process returns to the main routine via step 15 described later, and the program execution process of FIG. 4 is performed on the data of the second block of the first NC program. Then, the process proceeds to step S4 via S1 and S2, and it is determined whether or not the interference check is necessary. In this embodiment, since the interference between the first and second spindle heads 31a and 31b occurs when the two heads approach each other on the X axis, the axis designation data designated in the second block of the NC program is If an axis is specified, it is determined that interference check is required.

If it is determined that an interference check is necessary, an out-of-range check is performed in step S5 according to a subroutine shown in FIG. According to this routine, the target position of the X axis specified by the NC data of one block being executed and whether or not the movement path (interpolation point) to the target position is within the command allowable range set in step S31. They are compared (steps S51 and S52). If the target position or the movement route is out of the command allowable range, an abnormal process is executed in step S53, an abnormal alarm is notified by an abnormal alarm means (not shown), and the machine tool is stopped.

When it is confirmed that both the target position and the movement route are within the command allowable range, a step S to be described later is performed.
9 to determine the deceleration of the spindle head that decelerates and stops when it is determined that the first and second spindle heads 31a and 31b are interfered (the rate of decrease in speed per unit time, which is synonymous with acceleration). Is performed according to the subroutine of FIG. In this process, first, the reference correction coefficient A stored in the area 72f in the memory 72 is extracted in a format as shown in FIG. 13 (step S61). In step S62, a T command in the NC program indicating the tool number is read, and tool information corresponding to the tool number described in the T command is extracted from the tool information table 721. Next, a tool correction coefficient B corresponding to the tool information extracted in step S61 is extracted from the machining correction table 723 (step S63). Next, an accuracy number indicating the rank of the accuracy of the machining is read from the NC program for each machining cycle, and an accuracy correction coefficient C corresponding to the accuracy number is extracted from the accuracy correction table 722 (step S64). Then, a final correction coefficient K is calculated by multiplying these correction coefficients A, B, and C (step S65).

In step S66, the correction coefficient K is
It is determined whether or not the correction coefficient K is larger than the maximum correction coefficient Kmax stored in the limit information table 724. If the correction coefficient K is determined to be larger than the maximum correction coefficient Kmax, the correction coefficient K is set to the maximum correction coefficient Kmax. The coefficient Kmax is set (step S67). If it is determined that the correction coefficient K is not larger than the maximum correction coefficient Kmax, it is subsequently determined whether the correction coefficient K is smaller than the minimum correction coefficient Kmin (step S68). If it is determined that the correction coefficient K is smaller than the minimum correction coefficient Kmin, the correction coefficient K is set to the minimum correction coefficient Kmin (step S6).
9) If it is determined that the correction coefficient K is not smaller than the minimum correction coefficient Kmin, the value calculated in step S65 becomes the correction coefficient K as it is (step S7).
0).

Then, the first and second spindle heads 31a,
The deceleration of the spindle head that decelerates and stops when it is determined that interference occurs at 31b is set as a value obtained by multiplying the deceleration at the time of normal deceleration and stop irrelevant to the interference by the correction coefficient K (step 71). ). When the processing in step S6 is completed,
Step S7 is executed, and a flag (not shown) that stores the start of the interpolation process is set. In step S8, the check of the movement allowable range of the other party is executed according to the subroutine of FIG.

First, it is determined whether or not the own movement allowable range has been set as a value obtained by adding the interference clearance IC to the other party's movement allowable range in step S34 (step S81). It is determined whether or not the command allowable range overlaps with the range obtained by adding the interference clearance IC to the opponent's movement allowable range (step S8).
2) When it is determined that the first spindle head 31a is a priority control target and does not wrap, the above-described command allowable range is set as its own movement allowable range (step S8).
3) The deceleration at the time of deceleration stop is set to the normal deceleration at the time of non-interference (step S85).

On the other hand, when it is determined that the lap is performed in the case of the one-cycle operation in which the first spindle head 31a is the subordinate control object, the interference clearance IC is set within the allowable movement range of the other party.
Is set as its own movement allowable range (step S84), and it is determined whether or not the X-axis target position specified by the NC data of one block being executed exceeds the movement allowable range (step S91). If it exceeds, the deceleration at the time of deceleration stop is set to the deceleration calculated in the above-mentioned step S71 (step S92), and if it is determined that it does not exceed, the normal deceleration is set (step S93). ).

Next, the deceleration stop distance required for deceleration stop is calculated according to the set deceleration (step S8).
6), the deceleration stop distance is added to the current X-axis position to determine a temporary stop position (step S87), and whether or not the temporary stop position exceeds its own allowable movement range set in step S83 or S84. Is determined (step S8).
8) If not exceeded, the flag for storing interference determination (not shown) is reset (step S89). Conversely, if it is determined to exceed, the flag is set (step S9).
0). Then, with reference to the interference determination storage flag set in steps 89 and 90, in step S9, the presence or absence of interference is checked.
At 10, the X-axis interpolation point after 1 ms is calculated in consideration of the speed command, and is output to the X-axis drive unit 76a.
In this case, if the axis designation of the other one or two axes, the Y axis and the Z axis, and the target position associated therewith are designated in the same one block, the interpolation is performed 1 ms after the Y axis or the Z axis. The points are also calculated and the Y-axis or Z-axis drive units 77a, 78
output to a.

As a result, the X-axis servo motor 18a can be used alone, or the Y-axis or Z-axis servo motors 28a and 38b can be used.
Simultaneously, the first spindle head 31a is moved in the X-axis direction or the Y-axis or Z-axis direction to the interpolation point 1 ms later. Subsequent steps S11 and S12 are executed in order to narrow the allowable range of the preferential movement to the own sending origin side, and to expand the dependent moving allowable range to the sending origin side of the other party in step S194 described later. In particular,
During the one-cycle operation in which the first spindle head 31a is a priority control target, N instructs an operation of retreating along the X axis from the second processing position Pa2 to the third processing position Pa3 in FIG.
In the C data block, a movement allowable range change command is designated as information of a G code accompanied by a predetermined number. When the change command is recognized in step S11, a process of narrowing the movement allowable range is executed in step S12. You. This processing is performed by the memory 7 in step S83 or S84.
The movement allowable range set in the second boundary coordinate storage area 72c is read, the movement distance to the interpolation point calculated in step S10 is subtracted from the allowable movement range, and the subtraction result is updated and stored in the boundary coordinate storage area 72c again. This is done by:

The first interpolation point obtained in step S10 is
When the spindle head 31a reaches, the drive units 76a to 76a
All the interpolation completion signals from 78a are turned on. As a result, the process of the CPU 71 shifts from step S13 to step S14. In this step, the second spindle head 31b to be subjected to the subordinate control is moved / checked according to the flowchart of FIG. 5, and then returns to step S8. I do. Thereafter, the processing of steps S8 to S13 is repeatedly executed, and the first spindle head 31a is positioned at the next interpolation point 1 ms later.

By repeating the series of movement control processing from step S8 to step S13 many times, the first spindle head 31a reaches the target position specified by one block of NC data. When reaching the target position, completion of the movement is confirmed in step S13, and the CPU 71 resets each flag in step 15, and then returns to the main routine. As a result, the processing shifts to the program execution processing 101 shown in FIG. 4, where the data of the next block of the NC program is read and analyzed, and this analysis data is stored in the working area 72e as the movement information 101a. Then, the process proceeds to the move / check process of No. 5.

Step S14 is executed in the course of the above-described interpolation processing every 1 ms. At this time, if the interpolation processing execution flag for the second spindle head 13b is set, the interpolation processing for the second spindle head 31b is executed. Is done. Similarly,
When the target position of one block is reached, the first spindle head 31
If the interpolation process execution flag for the second spindle head 13b is in the set state while the process of the CPU 71 controlling the process a shifts from step S13 to the first step S1, the interpolation process for the second spindle head 31b is performed. Be executed.

As shown at time t1 in FIG. 11, when the second spindle head 31b, which is the subject of the slave control, gets too close to the first spindle head 31a, which is the subject of the priority control, the CPU 71 for the second spindle head 31b. In step S9 of the interpolation processing executed according to the flowchart of FIG. 5, it is determined that there is interference, and at this time, the processing of the CPU 71 proceeds to step S9.
Proceed to 16.

In this step S16, it is determined whether or not the temporary stop for avoiding the interference has been completed. If not, the deceleration interpolation point after 1 ms based on the deceleration calculated in step S71 described above. Is calculated, and this interpolation point is output to the U-axis drive unit 76b (step S17). When the U-axis and the other one or two axes are under the control of the NC data block that is controlled simultaneously, the deceleration interpolation point 1 ms after these other control axes is also calculated, and this interpolation point is used for these control axes. It is also output to the drive units 77b and 78b.

After step S17, the process returns to step S8 via step S18.
Is repeatedly executed, and the second dependent control object is finally determined.
The spindle head 31b is moved to the first pause position P in FIG.
Paused at im1. When the pause is completed,
In step S16, the completion of the suspension is confirmed, and a suspension completion flag (not shown) is set. In this case, step S
After step 16, steps S19 to S21 are sequentially executed. In step S19, a subroutine for stop release check shown in FIG. 10 is executed.

Steps S191-S of this subroutine
194 and steps S200 to S202 correspond to steps S81 to S84 and step S84 in the subroutine of FIG.
Boundary coordinates of the range in which the interference clearance IC is added to the movement allowable range of the first spindle head 31a, which is the subject of priority control, for the second spindle head 31b, which is the subject of subordinate control, (Step S194), and the deceleration at the time of deceleration stop is set depending on whether or not the target is the priority control target and whether or not the target position is beyond the allowable movement range (steps S195, 201, S195).
202).

Next, when the re-moving interpolation point after 1 ms is the U-axis and the simultaneous control, the other axes are calculated (step S196), and the calculated U-axis interpolation point is moved by the second spindle head 31b. It is determined whether it is within the allowable range (step S197). In this case, if it is within the range, the re-movement flag is set (step S198), and if it is outside the range, the flag is reset (step S19).
9) The process proceeds to step S20.

In the stop release check subroutine,
Because the slow-up control is performed from the temporary stop state, the check in step S197 is performed without considering the distance required for the temporary stop, which is different from the subroutine for subroutine range check in FIG. According to the setting state of the re-movement flag, it is determined in step S20 whether the movement can be resumed. If the movement cannot be resumed, the re-movement interpolation point calculated in step S196 is determined by the drive unit 76b or this unit and other units. The process proceeds to step S18 without outputting to the units 77b, 77b. If the movement can be restarted, the re-movement interpolation point is output to the drive unit in step S21.

As a result, step S196 is performed every 1 ms.
As long as the re-movement interpolation point calculated by the above is outside the movement allowable range, the second spindle head 31b to be subjected to the dependent control is held at the temporary stop position, but if the re-movement interpolation point is within the movement allowable range, 1 ms Each time, the second spindle head 31b is re-moved and fed. In step S18 executed after steps S17, S20 and S21, when the first spindle head 31a to be subjected to the priority control is performing the interpolation operation, the CPU 7
1 executes the control operation of FIG. 5 for the first spindle head 31a. For this reason, the second spindle head 31b which is the subject of the dependent control is different from the first spindle head 3
The movement is temporarily stopped until the allowable movement range of 1a is reduced in step S12. Then, with the reduction of the allowable movement range of the first spindle head 31a, the second spindle head 31b
When the allowable movement range is expanded in step S194,
Movement is resumed as this enlarges.

That is, when each of the spindle heads 31a and 31b is to be subjected to subordinate control, each of the spindle heads 31a and 31b has its own head as the allowable movement range of one of the spindle heads to be subjected to priority control is reduced in step S12. The allowable movement range is expanded in step S194. Step 22 following step S4 is performed on the Y-axis or Z-axis without interference.
This step is executed for one block of NC data for designating an axis. Although this step is not shown in detail, steps S7, S10, S13 and S14 in FIG.
Is included.

Thus, the Y axis or the Z axis is designated.
When the NC data of the block is to be executed, the process proceeds from step S4 to step S22, in which the above-described interpolation processing start flag is set to store the execution of the interpolation processing, and then the interpolation point 1 ms later specified in the data block is set. Is calculated and output to the drive unit of the designated axis, and this interpolation point calculation and output processing are repeatedly executed every 1 ms until the target position of each control axis designated by the data block is reached.

The above-described movement / check processing operation has been described assuming a one-cycle operation in which the first spindle head 31a is controlled as a priority control object. However, a one-cycle operation in which the second spindle head 31b is controlled as a priority control object is also described. Substantially the same. In this case, the NC for the second spindle head 31b
The program includes the control axes X and X of the first spindle head 31a.
U, V, and W control axes are designated as control axes corresponding to Y and Z, respectively. In the one-cycle operation for controlling the second spindle head 31b as the priority control target, steps S10 to S13 are executed following step S9, and the first spindle head 31a, which is the slave control target in this case, is connected to the second spindle head 31b. In the case of interference, the first spindle head 31a
Are executed for steps S16 to S21.

When creating an NC program for the second spindle head 31b, the control axes may be designated as U, V, and W, but for convenience of the program creator, the NC axes are designated as X, Y, and Z. And the second spindle head 31
The control axes X, Y, and Z may be automatically read as U, V, and W when the program execution processing 103 shown in FIG.

The first and second spindle heads 31 extend in the left-right direction.
FIG. 1 is an explanatory view showing the X-axis movement of both spindle heads with the feed position along the X-axis of a and 31b and the elapse of time in the vertical direction.
1, the feed control of the two spindle heads when the first spindle head 31a is activated first as the priority control target and immediately thereafter is activated as the second spindle head 31b as the subordinate control target will be supplementarily described below. I do. In the figure, the movement of the first spindle head 31a along the Y and Z axes and the movement of the second spindle head 31b along the V and W axes are omitted.

When the first spindle head 31a is driven first, the boundary coordinates B of the movement allowable range are set according to the movement range setting G code specified in the first block of the NC program.
C1 is x1 on the second spindle head 31b side from the feed origin x0.
(Step S33). After setting the boundary coordinates, the first spindle head 31a is sequentially positioned at each of the processing positions Pa1, Pa2, and Pa3 by executing a plurality of NC data blocks for X-axis feed, and is moved in the Y direction at these positions. Then, the workpiece W is sent in the Z direction, for example, a hole is formed in the workpiece W, and the workpiece W is returned to the feed start position Pa0 again. The first spindle head 31a is the second spindle head 31
As the machining position Pa2 approaches the b side and returns to the feed origin Pa0, the boundary coordinates BC1 of the preferential movement allowable range
Are sequentially reduced and retracted (step S1).
2).

The second spindle head 31b to be controlled independently
The NC program then sequentially positions the spindle head 31b at the first machining position Pb1 and the second machining position Pb2 according to the data block, performs machining on the workpiece W at these positions, and returns to the feed start position Pb0. Is created as follows. For the second spindle head 31b, the boundary coordinate BC2 is moved from u0 of the feed origin to u1 on the first spindle head 31a side in accordance with the movement range setting G code specified in the first block of the NC program (step S34). ). In this case, the first set boundary coordinates BC2
Is set as the u1 position which is set back from the position x1 of the boundary coordinate BC1 because the boundary coordinate BC1 has already been set to protrude within its own command allowable range. Accordingly, the second tool spindle 31b cannot immediately move to the first machining position Pb1, and is decelerated and stopped just before the first processing position Pb1, and temporarily stopped at the Pim1 position (step S16).

The deceleration stop processing is performed, for example, in the first
The NC program of the spindle head 31a includes a block as shown in FIG.
If the respective tables shown in FIG. 13 are stored in the table, the processing is executed as follows. As shown in step S6, first, the reference correction coefficient A =
0.7 is taken out (step S61). Next, FIG.
Then, T03 described in the NC program shown in (1) is read, and tool information corresponding to the number 03 is taken out from the tool information table 721 (step S62). In this case 03
The numbered tool is a tap, and its diameter is 8 (mm).

Next, a correction coefficient B = 0.5 corresponding to a tap having a diameter of 8 (mm) is extracted from the processing correction table 723 (step S63). Next, N shown in FIG.
The correction coefficient C = 0.8 corresponding to the accuracy number = 4 described in the C program is extracted from the accuracy correction table 722 (step S64). Then, the correction coefficient K is calculated by the following equation: K = A × B × C = 0.7 × 0.5 × 0.8 = 0.28.

The correction coefficient K = 0.28 is equal to 0.3 of the minimum correction coefficient stored in the limit information table 724.
(Step S68), the correction coefficient is set to the minimum correction coefficient of 0.3. Then, the second tool spindle 31b sets the deceleration at the time of normal deceleration to this correction coefficient 0.
It is decelerated and stopped at the deceleration multiplied by 3. As described above, when a certain degree of accuracy is required in tapping with a small tool diameter, the deceleration is stopped at a minimum deceleration when interference is prevented.

Then, as the first spindle head 31a leaves the second machining position Pa2 and moves to the third machining position Pa3, the boundary coordinates BC1 are sequentially reduced and retracted (step S12). The boundary coordinates BC2 are sequentially enlarged and advanced (step S194). Along with this, the second
The spindle head 31b restarts moving toward the first processing position Pb1 (steps S20 and S21), and moves along the enlarged boundary coordinates BC2.

The first spindle head 31a is moved to the third machining position Pa
3, the boundary coordinate BC1 is also set to the X2 position, the boundary coordinate BC2 is temporarily stopped from expanding at the u2 position, the second spindle head 31b is decelerated and stopped at the same deceleration as described above, and the Pim2 position is set. Will be paused again.
Then, when the first spindle head 31a returns to the feed origin Pa0 and completes one cycle operation, the boundary coordinate BC2 is enlarged to the position u3 which is the boundary coordinate position of the command allowable range of the second spindle head 31b, The spindle head 31b is positioned at the first processing position Pb1, and can perform the processing operation.

When the first spindle head 31a is at the feed start position Pa
After returning to 0, a tool change operation is performed, and a second one-cycle operation is started. Based on the G code of the first block for the second one-cycle operation, the boundary coordinates B
C1 is reset. In this case, the first spindle head 3
1a is a slave control target, and the second spindle head 31a is a priority control target. The first processing position in the second one-cycle operation is assumed to be a position Pa4 where the first spindle head 31a is closest to the second spindle head 31b side, but as described above, the allowable movement range of the second spindle head 31b. Since the boundary coordinate BC2 of the first spindle head 31a is enlarged to the position u3, the boundary coordinate BC1 of the first spindle head 31a is located at the position x3.
Is set (step S34), and the second spindle head 31b is set.
Is decelerated and stopped at a deceleration corresponding to the processing state of the above, and is temporarily stopped at the Pim1 position. The boundary coordinate BC1 is gradually enlarged and advanced as the boundary coordinate BC2 of the first spindle head 31 is moved to the machining position Pa4.
It is enlarged to the x4 position that allows the positioning of a.

As is apparent from the above description of the operation, one spindle head (priority head) which advances first from the feed origin toward the other side is different from the other spindle head (subordinate head) which leaves the feed start position later. Also preferentially sets the boundary coordinate BC1 of its own movement allowable range to the maximum command allowable range position x1.
The priority head can advance the processing operation in preference to the subordinate head. On the other hand, when it is determined that the dependent head causes interference with the priority head, the dependent head is decelerated and stopped at a deceleration corresponding to the processing condition of the priority head, and waits until interference is avoided, after which no interference occurs It is advanced to the priority head side to the range.

Then, the priority of processing as the priority head is given until the priority head enlarges its boundary coordinates to the maximum value and then reduces it to the initial value (zero). However, when the priority head is once returned to the feed start position and the priority head leaves the feed start position again in a state where the subordinate head has left the feed start position, the master-slave relationship is reversed, and the previous subordinate head and the priority head Are the priority and subordinate heads, respectively.

FIG. 14 is a block diagram showing a schematic configuration of a CNC device 70 according to a second embodiment of the present invention.
And a second CPU 71b controlling the control axes U, V, W for the second spindle head 31b. Input device 7
3 and memories 172a and 172b respectively corresponding to the CPUs 71a and 71b are connected to the CPUs 71a and 71b by the data bus DB. Each memory 172
a and 172b store the NC programs for the corresponding spindle heads in addition to the system programs shown in FIGS. 5 to 10, and further store the boundary coordinates BC1 and BC2 of the allowable movement range of both spindle heads. Like each CP
U71a and 71b can refer to the set movement range of the other spindle head in step S32 in FIG. 6, steps S81 and S82 in FIG. 9, and steps S191 and S192 in FIG.

Other operations of the CPUs 71a and 71b are the same as those of the first spindle head 31a in the first embodiment.
Is substantially the same as the operation of the CPU 71 when controlling the control, and a detailed description is omitted. In this mode, each CP
Since U71a and 71b can operate individually according to their own system programs, the partner processing steps (for example, S14, S18, etc.) in FIG. 5 are unnecessary and are not executed.

The following modifications can be made to the above-described embodiment, and the present invention can be implemented even under such modifications. The common control shaft on which the spindle heads 31a and 31b move may be individual guide rails instead of the common guide rails 12 and 12 described above. The direction of movement of the spindle heads 31a and 31b where the interference occurs may be a direction in which the tool T moves back and forth toward the workpiece.

Boundary coordinates BC1 and BC2 are set on the spindle heads 31a and 31b, respectively. A single boundary coordinate is set, and both sides of the single boundary coordinate are set on the spindle heads 31a and 31b.
31b may be set as each allowable movement range. The interference check and the change of the movement range in FIG. 5 may be performed each time one interpolation point is output, or may be a rough process that is performed every time a predetermined number of interpolation points are output.

Although the object to be controlled by the numerical controller 70 is the spindle head of the machine tool, other movable members that move on a common control axis that may cause interference, such as the X axis and the U axis in the above-described embodiment. It may be. The length of the tool, the rotation speed of the tool, and the feed speed may be added to the calculation of the deceleration correction coefficient. The deceleration of the second spindle head 31b is changed in accordance with the machining state of the first spindle head 31a to perform the second
The spindle head 31b is decelerated and stopped at a position where it does not interfere with the first spindle head 31a.
The fast-forward speed at the time of positioning the second spindle head 31b may be changed according to the machining condition 1a, and the deceleration may be stopped at a normal deceleration speed during deceleration for preventing interference.

[Brief description of the drawings]

FIG. 1 is a partially cutaway plan view of a machine tool having two spindle heads to be controlled by a numerical controller according to an embodiment of the present invention.

FIG. 2 is a front view of the machine tool viewed from the direction of arrows AA in FIG. 1;

FIG. 3 is a block diagram showing a schematic configuration of the numerical controller that controls the machine tool of FIG. 1;

FIG. 4 is a control function block diagram for explaining an outline of a control process executed by the numerical control device of FIG. 3;

FIG. 5 is a flowchart of a system control program for causing the numerical control device to execute the movement / check function in the control function block diagram of FIG. 4;

FIG. 6 is a flowchart showing details of a subroutine executed in a movement range setting processing step of the flowchart in FIG. 5;

FIG. 7 is a flowchart showing details of a subroutine executed in an out-of-range confirmation step of the flowchart in FIG. 5;

FIG. 8 is a flowchart showing details of a subroutine executed in a deceleration determination step of the flowchart in FIG. 5;

FIG. 9 is a flowchart showing details of a subroutine executed in a partner range check step in the flowchart of FIG. 5;

FIG. 10 is a flowchart showing details of a subroutine executed in a stop release check step in the flowchart of FIG. 5;

FIG. 11 is a control position illustrating a movement control function when the numerical controller controls two spindle heads according to the present invention.
Time chart.

FIG. 12 is a diagram showing a part of an NC program stored in a memory of the numerical controller according to the present invention.

FIG. 13 is a view showing shift information stored in a memory of the numerical controller according to the present invention.

FIG. 14 is a block diagram showing a schematic configuration of a numerical control device according to another embodiment of the present invention.

FIG. 15 is a control position-time chart for explaining a movement control function when a conventional numerical controller controls two spindle heads.

FIG. 16 is a control position-time chart for explaining a movement control function when another conventional numerical controller controls two spindle heads.

[Explanation of symbols]

 31a, 31b: First and second spindle heads 12, 12, Guide rail 70: Numerical control device 71: CPU 72: Memory 76a to 78a: X, Y, Z axes Drive units 76b to 78b ... U, V, W axis drive units BC1, BC2 ... Boundary coordinates S3 ... Move range setting processing step S6 ... Deceleration determination step S12 ... Move range change step S17 ... Deceleration interpolation point calculation / output step S19 ... Stop release check step

Claims (4)

[Claims] 1. A numerical controller for controlling the movement of two movable bodies movable along a common path in a direction approaching and separating from each other according to an individual NC program,
The deceleration of the other movable body is changed according to the processing situation of the one movable body to decelerate and stop the other movable body at a position that does not interfere with the one movable body, or A numerical control device comprising: deceleration stop means for changing a rapid traverse speed of the other movable body according to a processing situation. 2. A numerical controller for controlling the movement of two movable bodies movable along a common path in a direction approaching and separating from each other in accordance with individual NC programs.
Range setting means for setting a moving range boundary based on a target position where one movable body is closest to the other movable body side;
Movement control means for moving the one and the other movable bodies in accordance with the corresponding numerical control program within respective movement allowable ranges defined by the movement range boundaries, and movement of the other movable body in accordance with the NC program When trying to exceed the boundary of the movement range, the deceleration of the other movable body is changed in accordance with the processing state of the one movable body to decelerate the other movable body to a position where it does not interfere with the one movable body. A numerical control device comprising: deceleration stop means for stopping or changing a rapid traverse speed of the other movable body according to a processing condition of the one movable body. 3. A numerical controller for controlling the movement of two movable bodies movable along a common path in a direction of approaching and separating from each other according to an individual NC program.
Range setting means for setting a moving range boundary based on a target position where one movable body is closest to the other movable body side;
Movement control means for moving the one and the other movable bodies in accordance with the corresponding numerical control program within respective movement permissible ranges defined by the movement range boundary, and wherein the one movable body is within the movement range boundary When moving in the direction away from the other movable body after reaching the target position closest to the other movable body side, the movable permissible ranges of the one and the other movable bodies are respectively reduced and enlarged. Boundary changing means for changing the boundary of the movable range together with the movement of the one movable body in the separating direction; and further comprising the step of: when the movement of the other movable body according to the NC program is going to exceed the boundary of the movable range. The deceleration of the other movable body is changed in accordance with the processing state of the movable body, and the other movable body interferes with the one movable body. Decelerating to a position where there is no deceleration, or changing the rapid traverse speed of the other movable body according to the processing condition of the one movable body and decelerating and stopping at a normal deceleration, and thereafter the moving range boundary is changed A deceleration stop means for temporarily stopping the other movable body until the movement allowable range of the other movable body is expanded. 4. The numerical controller according to claim 1, wherein the machining state of the one movable body is determined from information including at least one of a tool type, a tool diameter, and a required machining accuracy. Numerical control unit characterized.