JP2003223206A - Compensation method of nc data for generation-grinding controlling numerically controlled grinder, and numerical control grinder conducting method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method which performs compensation of NC data which can satisfy dynamic characteristics. <P>SOLUTION: In the method, the grinding part of a workpiece is generation-ground by NC data made, based on finishing size at each phase angle from a reference line of the grinding part of the structure, each measurement size at each phase angle from the reference line of the grinding part is measured, each finishing size and measurement size at each phase angle are transformed through Fourier transform, each amplitude ratio of each frequency component of Fourier series of each finishing size to Fourier series of each measurement size is calculated, each amplitude ratio is multiplied by the amplitude of each of the frequency components of Fourier series of the fishing size, the difference between the phase of each frequency component of Fourier series of the measurement size and the phase of each frequency component of Fourier series of the finishing size is taken, the Fourier series of a compensation size is obtained by subtracting each of the differences from the phase of each frequency component of Fourier series of the finishing size, the correction size at each phase angle is obtained through its inverse Fourier transform, and correction NC data are made based on the correction size. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

The present invention relates to a method for correcting NC data for generating grinding that controls a numerical control grinding machine and a numerical control grinding machine that implements the method.

[0001]

2. Description of the Related Art On a bed, a work support device for rotatably supporting a work such as a crankshaft and a camshaft, and a whetstone base for rotatably driving a whetstone are provided. NC controlled grinders that move back and forth in relation to rotation to generate workpieces are well known. When generating ground parts such as the pin of the crankshaft, the dimensional accuracy of the grinding part is strictly required, and the normal feedback control system alone must meet the required accuracy due to the rigidity of the workpiece and changes in grinding resistance. In the past,
The NC data was corrected based on the measurement data of the ground portion obtained by performing the trial grinding.

[0002]

However, in the above-mentioned conventional method, the corrected finished dimension is obtained by multiplying the finished dimension by the ratio of the finished dimension of the ground portion and the measured dimension of the trial ground grinding portion to obtain the corrected finished dimension. Since the NC data was only corrected based on the above, it was not possible to correct the NC data that was satisfactory in terms of dynamic characteristics.

[0003]

In order to solve the above-mentioned problems, the invention according to claim 1 is directed to the grinding position at each phase angle from a reference line including the rotation center of the workpiece and the shape center of the grinding position. Numerical control device for a grinding wheel stand that supports a workpiece in which each finishing dimension in the radial direction from the shape center is defined by deciding the reference line on the spindle of the workpiece supporting device and rotatably driving the grinding stone. In the method of correcting the NC data for generating grinding, which controls the numerical control grinder that moves the workpiece toward and away from the workpiece in association with the rotation of the workpiece based on a command from , A finishing NC for associating and commanding the rotation of the work piece and the advance / retreat movement of the grindstone head in order to create the finishing position in the finishing dimension.
Data is ground by controlling the numerically controlled grinding machine by data, and each measurement dimension in the radial direction is measured from the shape center at each phase angle from the reference line of the ground location of the ground grinding. The Fourier transform of the finished dimension and measured dimension at each phase angle is performed to obtain the finished dimension Fourier series and the measured dimension Fourier series, and the amplitude of each frequency component of the finished dimension Fourier series and the amplitude of each frequency component of the measured dimension Fourier series. And multiplying the amplitude of each frequency component of the finishing dimension Fourier series respectively, the difference between the phase of each frequency component of the measurement dimension Fourier series and the phase of each frequency component of the finishing dimension Fourier series The corrected dimension Fourier series is obtained by subtracting from the phase of each frequency component of the finished dimension Fourier series, and the corrected dimension Fourier series is inverse Fourier Obtain correction dimension in each of the phase angle by conversion, it is to create a corrected NC data based on the correction dimension at respective phase angles.

The invention according to claim 2 is the method for correcting NC data for generating grinding for controlling the numerically controlled grinding machine according to claim 1, wherein the numerically controlled grinding machine is controlled by the corrected NC data and the workpiece is controlled. The re-measured dimension in the radial direction from the center of the shape at each phase angle from the reference line of the ground location ground by the corrected NC data is measured, and the re-measured dimension at each phase angle is calculated by Fourier Obtain the remeasured dimension Fourier series by converting, the ratio of the amplitude of each frequency component of the finishing dimension Fourier series and the amplitude of each frequency component of the remeasured dimension Fourier series of each frequency component of the corrected dimension Fourier series The amplitude is multiplied respectively, and the difference between the phase of each frequency component of the remeasured dimension Fourier series and the phase of each frequency component of the finishing dimension Fourier series is calculated as the corrected dimension factor. Re-correction dimension Fourier series is obtained by subtracting from the phase of each frequency component of the Lie series, and each re-correction dimension at each phase angle is obtained by inverse Fourier transforming the re-correction dimension Fourier series, and each re-correction dimension at each phase angle is obtained. This is to create re-correction NC data based on the corrected dimensions.

According to a third aspect of the present invention, in the method of correcting NC data for generating grinding for controlling the numerically controlled grinding machine according to the first or second aspect, measurement of a ground portion ground by the finish NC data or the corrected NC data is performed. The order of the corrected size Fourier series or the re-corrected size Fourier series is set by looking at the amplitude of the size Fourier series or the remeasured size Fourier series.

According to a fourth aspect of the present invention, there is provided a numerical control grinder for carrying out the method for correcting NC data for generating grinding for controlling the numerical control grinder according to any one of the first to third aspects, wherein each Fourier series The amplitude and phase of each frequency component can be parameterized in the numerical control device.

According to a fifth aspect of the present invention, in the numerical control grinding machine according to the fourth aspect, the order of handling the Fourier series can be set in the numerical control device as a parameter.

[0008]

In the invention according to claim 1 configured as described above, the NC is created based on the finish dimension at each phase angle from the reference line of the ground portion of the workpiece.
Generated grinding is performed based on the data, and each measured dimension at each phase angle of the ground location that has been ground is measured, and the finished dimension and measured dimension at each of these phase angles are converted to Fourier to obtain the finished dimension Fourier series and the measured dimension Fourier series. Calculate the amplitude ratio of the finished dimension Fourier series to the measured dimension Fourier series for each frequency component, multiply this by the amplitude of each frequency component of the finished dimension Fourier series, and then calculate the phase of the measured dimension Fourier series and the finished dimension Fourier series. The difference with the phase is taken for each frequency component, and each difference is subtracted from the phase of each frequency component of the finishing dimension Fourier series to obtain the corrected dimension Fourier series, and the inverse Fourier transform is performed on this to obtain the corrected dimension at each phase angle, Compensation NC data is created based on this compensation dimension. Finishing at each phase angle for compensating NC data It is possible to expand the dimension correction to the Fourier series and dig down to each frequency component, and it is possible to perform highly accurate correction in terms of dynamic characteristics, and it is possible to grind the ground portion of the workpiece with high accuracy.

In the invention according to claim 2 configured as described above, the dimension at each phase angle of the ground portion ground by the corrected NC data obtained in claim 1 is remeasured,
This remeasured dimension is expanded to a Fourier series, the amplitude ratio of the finished dimension Fourier series to the remeasured dimension Fourier series is obtained for each frequency component, and this amplitude ratio is multiplied by the amplitude of each frequency component of the corrected dimension Fourier series, Obtain the phase difference between the remeasured dimension Fourier series and the finished dimension Fourier series for each frequency component, and subtract this phase difference from the phase of each frequency component of the corrected dimension Fourier series to obtain the recorrected dimension Fourier series. Inverse Fourier transform to obtain the recorrected dimension at each phase angle, and the corrected NC based on this recorrected dimension
The data is re-corrected, and the correction NC obtained in claim 1
The corrected NC data is recorrected based on the measurement result of the ground portion ground by the data, and the ground portion is secondarily corrected according to the dynamic characteristics of the system, so that the ground portion can be ground more accurately.

In the invention according to claim 3 configured as described above, the corrected dimension Fourier series or the measured dimension Fourier series or the remeasured dimension Fourier series of the ground portion ground by the finish NC data or the corrected NC data is checked. Re-correction dimension Since the order of the Fourier series can be set, the order of the Fourier series is minimized to shorten the correction time, and the NC data is efficiently corrected to obtain the desired dimensional accuracy of the grinding point. be able to.

In the invention according to claim 4 configured as described above, since the amplitude and phase of each frequency component of each Fourier series can be set as parameters in the numerical control device, the NC data correction operation can be easily performed. You can

In the invention according to claim 5 configured as described above, since the handling order of the Fourier series can be set as a parameter, the NC data correction work can be performed quickly and easily.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a method for correcting NC data for generating grinding for controlling a numerically controlled grinding machine according to the present invention and a numerically controlled grinding machine for carrying out the method will be described below with reference to the drawings. In FIG. 1, a table 11 is slidably mounted on a bed 10, and is moved in the Y-axis direction by a feed screw mechanism that is rotationally driven by a servo motor. On the table 11, a pair of headstocks 12, which are work supporting devices, are placed so as to face each other, and a spindle 13 is rotatably supported on each headstock 12 in the Y-axis direction. Thus, it is rotationally driven in synchronization with the C axis. A center is provided at the tip of each main shaft 13 so as to face each other, and both end journals J of a crankshaft W, which is a workpiece, are sandwiched between the centers, and the workpiece W is phased in the rotational direction around the C axis. And is rotatably connected to the main shaft 13. The crankshaft W is formed with a pin portion P, which is a ground portion, eccentric from the journal portion J by an eccentric amount A, and a journal portion J that is the rotation center of the crankshaft W.
Is a reference line S, and the crankpin W is rotationally connected to the main shaft 13 by aligning the reference line S with the center line Wo and the center of the pin portion P which is the shape center Po of the ground portion.
In the creation of the NC data, the finished shape of the pin portion P of the crankshaft W is defined by the finished dimension r in the radial direction from the shape center Po at each phase angle in the counterclockwise direction from the reference line S. In the pin portion P, each finishing dimension r in the radial direction from the shape center Po at each phase angle θ is the radius of the pin portion P.

A guide base 15 provided on the bed 10
A grindstone base 16 is slidably mounted on the servomotor 1
A feed screw mechanism 18 that is rotationally driven by 7 moves back and forth in the X-axis direction that is perpendicular to the Y-axis. A whetstone shaft 19 having a whetstone G mounted on its tip is supported in the Y-axis direction on the whetstone base 16 and is rotationally driven by a whetstone drive motor. As a result, the crankshaft W is supported on the spindle 13 of the spindle stock 12 with the reference line S being phased, and the grindstone base 16 on which the grindstone G is rotatably driven is based on a command from the numerical controller 20. In association with the rotation of the crankshaft W, the pin portion P can be generated and ground by the grindstone G by moving the crankshaft W forward and backward in the X-axis direction.

The numerical controller 20 has an interface 2
1. Connected to the spindle drive servomotor and the grinding wheel head drive servomotor 17 via the driver 22, and sends a drive command to both servomotors based on the NC data for generating grinding such as finishing NC data, which will be described later. In association with the rotation of 13, the whetstone base 16 is moved back and forth.

In FIG. 2, the grindstone base 16 is attached to the crankshaft W.
In order to create NC data for moving the pin part P back and forth in the X-axis direction in relation to the rotation of
6 is an explanatory diagram showing a method of calculating a Wo-Go distance X between a rotation center Wo of a crankshaft W and a rotation center Go of a grindstone G at each rotation angle τ of a crankshaft W, that is, a reference line S. FIG. The crankshaft W is supported by the main shaft 13 and rotated counterclockwise around the rotation center Wo, and the rotation angle τ of the crankshaft W is the rotation center W of the crankshaft W.
The reference line S is an angle rotated counterclockwise with respect to a line segment Wo-Go connecting o and the rotation center Go of the grindstone G. In this state, the pin P is contacted and ground by the grindstone G at the grinding point Q, the angle formed by the line segment Po-Q with the reference line S becomes the phase angle θ, and the shape center Po of the pin P and the grinding point Q. A length r of a line segment Po-Q connecting with and is a finishing dimension r in the radial direction from the shape center Po of the pin portion P at the phase angle θ. The distance X between the rotation center Wo of the crankshaft W and the rotation center Go of the grindstone G at the rotation angle τ of the workpiece W is (X−A
cos τ) ² = (R + r) ² −A ² sin ² τ, X = A cos τ + √ ((R + r) ² −A ² sin
² τ) ... (1) Here, A is the amount of eccentricity between the rotation center Wo of the workpiece W and the shape center Po of the pin portion P, and R is the radius of the grindstone G. When the ground portion is a pin portion, the finishing dimension r is a constant value.

The relationship between the rotation angle τ of the workpiece W and the phase angle θ of the grinding point Q is X / sin θ = (R + r) / sin τ and sin θ = X sin τ / (R + r) (2) From the above equations (1) and (2), each phase angle θ of the grinding point Q and each finishing dimension r at each phase angle θ corresponding to each rotation angle τ of the workpiece W, that is, each rotation angle of the spindle 13.
The distance X between the rotation center Wo of the crankshaft W and the rotation center Go of the grindstone G is calculated based on the calculated distance X
The X-axis direction position of the grindstone base 16 at each rotation angle τ of the main spindle 13 is obtained from this, and the grindstone base 16 on which the grindstone G is supported is moved back and forth in the X-axis direction in association with the rotation of the main spindle 13 supporting the crankshaft W. NC data for generating grinding is generated in which the pin portion P is moved and generated by the grindstone G. The finish NC data created based on the finish dimension r of the ground portion in this manner is stored in the NC data storage area 23 of the numerical controller 20.

FIG. 3 is a measurement dimension rm in the radial direction from the shape center Po of the pin portion P at each phase angle θ from the reference line S.
It is explanatory drawing which shows the method of measuring. The crankshaft W is supported between the centers of the measuring machines and is rotated counterclockwise around the rotation center Wo, and the rotation angle τ of the crankshaft W is
Is the angle at which the reference line S rotates counterclockwise with respect to the horizontal line L. In this state, the distance H between the top T of the pin P and the horizontal line L is measured, and the line segment Po-T is the reference line S.
Is the phase angle θ, and the length rm of the line segment Po-T connecting the top portion T and the shape center Po of the pin portion P is measured in the radial direction from the shape center Po of the pin portion P at the phase angle θ. rm
Is. From the distance H, the eccentricity A of the pin P, and the rotation angle τ of the crankshaft W, the measurement dimension rm is H = rm + As
inτ ... Calculated by (3). The phase angle θ of the top portion T is θ = π + (π / 2−τ) = 3 / 2π−τ ...
Calculated in (4). The measured dimension rm at each phase angle θ of the pin portion P ground in this way is stored in the measured dimension storage area 24 of the numerical controller 20.

Next, a method of correcting the NC data for generating grinding for controlling the numerically controlled grinding machine and the operation of the numerically controlled grinding machine will be described. The journal portion J of the crankshaft W is attached to the main spindle 13 by aligning the reference line L with the base line of the main spindle 13, and the main spindle 13 and the grindstone head 16 are driven by the servomotor in association with the finish NC data to drive the pin portion P to the grindstone. Generating grinding is performed by G (step 31). The ground crankshaft W is removed from the main shaft 13, the reference line L is aligned with the spindle of the measuring machine and clamped by the journal portions J at both ends, and the top portion T of the pin portion P with respect to each rotation angle τ of the crankshaft W. Horizontal line L
The distance H from is measured (step 32). From the measured distance H, the measurement dimension rm of the pin portion P at each phase angle θ is obtained based on the equations (3) and (4), and stored in the measurement dimension storage area 24 of the numerical controller 20 (step 33). ). In the numerical controller 20, the finished dimension r and the measured dimension rm at each phase angle θ are subjected to Fourier expansion, and the amplitude Ar _k = √ (ar _k ² of each frequency component of the finished dimension Fourier series.
+ Br _k ² ) and the amplitude of each frequency component of the measurement size Fourier series, Arm _k = √ (arm _k ² + brm _k ² ), and obtain each ratio Ar _k / Arm _k. Multiply Ar _k for each frequency component to obtain the amplitude Arc _k of each frequency component of the corrected dimension Fourier series. Difference between the phase φrm _k = tan- ¹ arm _k / brm _k of each frequency component of the measured size Fourier series and the phase φ r _k = tan- ¹ ar _k / br _k of each frequency component of the finished size Fourier series (φrm _k −φr _k ) is subtracted from the phase φr _k of each frequency component of the finished size Fourier series to obtain the phase φrc _k of each frequency component of the corrected size Fourier series (step 34). The corrected dimension Fourier series is inversely Fourier-transformed and the pin portion P
Each correction dimension rc at each phase angle θ is calculated (step 35), and the finishing NC data is corrected based on the difference (rc−r) between the correction dimension rc and the finishing dimension r at each phase angle θ to correct the correction NC. Data is created and stored in the NC data storage area 23 (step 36). As an example of the correction method of the finish NC data, between the rotation center Go of the grindstone G and the rotation center Wo of the crankshaft W at the rotation angle τ of the workpiece W calculated by the equations (1) and (2), At distance X (rc-r)
× cos (π−τ−θ) is added to correct the distance X, and the corrected NC data is created based on the corrected distance X.

The amplitude and phase of each frequency component of the finished size Fourier series and the measured size Fourier series can be set as parameters for each frequency in the amplitude storage area 25 and the phase storage area 26 of the numerical controller 20. ing. In addition, the Fourier series expansion is terminated at the order in which the amplitude of the measured size Fourier series becomes sufficiently small,
In order to reduce the calculation time, the order of the Fourier series can be set as a parameter in the order storage area 27 of the numerical controller 20.

Further, when it is necessary to correct the corrected NC data, the crankshaft W is attached in phase with the main shaft 13, and the pin portion P is trially generated and ground by the grindstone G based on the corrected NC data (step 41). The ground crankshaft W is attached to the measuring machine, and the distance H from the horizontal line L of the top T of the pin P to each rotation angle τ is measured (step 42). The remeasured dimension rmm at each phase angle θ is obtained from the measured distance H, and is stored in the measured dimension storage area 24 of the numerical controller 20 (step 43). In the numerical controller 20, the finish dimension r at each phase angle θ
And remeasuring dimensions rmm to each Fourier expansion, the frequency and amplitude Ar _k finish dimension Fourier series, the ratio Ar _k / Armm _k of the amplitude of the re-measurement dimension Fourier series ^{_{Arm k = √ (armm k 2}} + brmm k 2) For each component, this ratio is multiplied by the amplitude Arc _k of the corrected size Fourier series for each frequency component to obtain the amplitude Arccc _k of each frequency component of the recorrected size Fourier series. Remeasurement dimension Phase of each frequency component of Fourier series φrmm _k = tan- ¹ armm _k /
and brmm _k, finish dimensions Fourier series of the difference (φrmm _k -φr _k) the corrected dimension Fourier subtraction to recalibrate dimensional Fourier series from the phase .phi.RC _k of each frequency component of the series of the phase [phi] r _k of each frequency component The phase φrcc _k of each frequency component is obtained (step 44). Each recorrected dimension rc at each phase angle θ of the pin portion P is obtained by inverse Fourier transforming this recorrected dimension Fourier series.
c is calculated (step 45), the corrected NC data is corrected based on the difference (rcc-r) between the recorrected dimension rcc and the corrected dimension rc at each phase angle θ, and recorrected NC data is created. It is stored in the storage area 23 (step 46). This re-correction NC data is created by correcting the Go-Wo distance at the rotation angle τ of the workpiece W, X + (rc-r) × cos (π
−τ−θ), and (rcc−r) × cos (π−τ−θ) is added to recorrect the Go-Wo distance, X + (rc + rcc-2
r) × cos (π−τ−θ). The amplitude and phase of each frequency component of the remeasured dimension Fourier series are also set as parameters for each frequency in the amplitude storage area 25 and the phase storage area 26 of the numerical controller 20.

In the above embodiment, the pin portion of the crankshaft is ground, but in the case of the cam portion of the camshaft, the center of rotation of the camshaft and the shape center of the cam portion coincide, so the center of rotation and the shape The other end of the reference line L including the center may be set at the center of the base circle of the cam portion. The known NC method can be used to create the finishing NC data for grinding the cam in which the respective finishing dimensions in the radial direction are defined from the shape center at each rotational phase from the reference line L.

[Brief description of drawings]

FIG. 1 is a schematic view of a numerical control grinding machine according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a method of calculating a distance X between a rotation center of a crankshaft and a rotation center of a grindstone at each rotation angle τ of the crankshaft.

FIG. 3 is an explanatory diagram showing a method of measuring a measurement dimension in a radial direction from a shape center of a pin portion at each phase angle.

FIG. 4 is a flowchart for obtaining the corrected NC data by correcting the finish NC data.

FIG. 5 is a flowchart for re-correcting the corrected NC data to obtain re-corrected NC data.

[Explanation of symbols]

12 ... Headstock, 13 ... Spindle, 16 ... Grindstone, 17 ... Servo motor, 20 ... Numerical control device, 25 ... Amplitude storage area, 26 ... Phase storage area , 27 ... Order storage area, G ... Whetstone, W
..Crank shafts (workpieces), P ... Pins (ground points)

Continued front page    (72) Inventor Toshio Takano             1-1 Asahi-cho, Kariya city, Aichi             Machine Co., Ltd. F-term (reference) 3C043 AC21 CC03                 3C049 AA03 AA11 AB01 BA07 BB01                       BB09 CB01                 5H269 AB07 BB03 EE13 FF06 QB17

Claims (5)

[Claims] 1. A workpiece supporting a workpiece in which each finishing dimension in the radial direction is defined from the shape center of the grinding point at each phase angle from a reference line including the rotation center of the workpiece and the shape center of the grinding point. The reference line is phased and supported on the spindle of the device, and the grindstone supported by the grindstone rotatably driven toward the workpiece in association with the rotation of the workpiece based on a command from the numerical controller. In the method of correcting the NC data for generating grinding, which controls the numerical control grinding machine to move the advancing / retreating to generate the grinding portion by the grinding stone, the rotation of the workpiece and the grinding stone in order to create the finishing position of the grinding portion. In the shape at each phase angle from the reference line of the ground location of the workpiece ground by controlling the numerical control grinding machine by the finishing NC data that commands the movement back and forth with respect to the table. Measure each measurement dimension in the radial direction from, and obtain the finished dimension Fourier series and the measured dimension Fourier series by Fourier transforming the finished dimension and the measured dimension at each phase angle, and obtain the amplitude of each frequency component of the finished dimension Fourier series. And multiplying each ratio of the amplitude of each frequency component of the measured size Fourier series to the amplitude of each frequency component of the finished size Fourier series, and the phase of each frequency component of the measured size Fourier series and the finished size Fourier series. The difference between the phase of each frequency component and the phase of each frequency component of the finishing dimension Fourier series is subtracted to obtain the corrected dimension Fourier series, and the corrected dimension Fourier series is subjected to inverse Fourier transform to correct at each phase angle. A numerical control laboratory characterized by obtaining dimensions and creating corrected NC data based on the corrected dimensions at each phase angle. Correction method generation grinding for NC data for controlling the board. 2. The numerically controlled grinding machine is controlled by the corrected NC data to perform ground grinding of a workpiece, and from the shape center at each phase angle from the reference line of the ground position ground by the corrected NC data. Measuring each remeasured dimension in the radial direction, obtaining the remeasured dimension Fourier series by Fourier transforming the remeasured dimension at each phase angle, and determining the amplitude of each frequency component of the finished dimension Fourier series and the remeasured dimension Fourier series. While multiplying the amplitude of each frequency component of the correction dimension Fourier series by each ratio with the amplitude of each frequency component of the phase component of each frequency component of the remeasured dimension Fourier series and each frequency component of the finishing dimension Fourier series Each difference from the phase is subtracted from the phase of each frequency component of the corrected size Fourier series to obtain a recorrected size Fourier series, and the recorrected size Fourier series is calculated. 4. The numerical control grinder according to claim 1, wherein the Fourier transform is performed to obtain each recorrection dimension at each phase angle, and recorrection NC data is created based on each recorrection dimension at each phase angle. Controlled NC data correction method for generating grinding. 3. The order of the corrected size Fourier series or the re-corrected size Fourier series is set by observing the amplitude of the measured size Fourier series or remeasured size Fourier series of the ground portion ground by the finish NC data or the corrected NC data. A method for correcting NC data for generating grinding for controlling the numerically controlled grinding machine according to claim 1 or 2. 4. A numerical control grinder for implementing the method for correcting NC data for generating grinding for controlling the numerical control grinder according to claim 1, wherein the amplitude of each frequency component of each Fourier series is A numerical control grinding machine characterized in that the parameter and the phase can be set in the numerical control device. 5. The numerically controlled grinding machine according to claim 4, wherein the handling order of the Fourier series can be parameterized in the numerical controller. [Technical field to which the invention belongs]