JP2005096061A - Gear synchronous machining device and its controlling method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gear synchronous machining device capable of performing accurate machining without shortening the service life of a tool and preventing an influence by synchronous origin aligning accuracy and its controlling method. <P>SOLUTION: This device is provided with a tool shaft motor 3, a tool shaft motor driver 4, a workpiece axis motor 5, a workpiece axis motor driver 6, a pulse distributing part 8 for outputting command pulses to the tool shaft motor driver 4 and the workpiece axis motor driver 6, a NC command executing part 7 for interpreting a NC command and giving a position command of the machining to the pulse distributing part 8, a target torque preparing part 9 for determining target torque at the time of the machining, and a synchronous correction value processing part 10 for calculating and correcting a correction value of a synchronous error from a difference between the target torque and motor torque at the time of the machining. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

The present invention synchronously controls a tool axis motor for rotating a tool axis to which a gear-shaped tool is attached and a work axis motor for rotating a work axis to which a work is attached at a rotational speed of the reciprocal ratio of the number of teeth of the tool and the work. The present invention also relates to a gear synchronous machining apparatus that performs machining by engaging a tool and a workpiece by shortening the distance between the tool axis and the workpiece axis, and a control method thereof.

Gear-synchronized machining occurs by rotating while meshing the tool and workpiece teeth by shortening the distance between the axes while keeping the meshing phase of the gear-shaped tool and workpiece synchronized. This is a processing method in which the shape of a tool is transferred to a workpiece by removal processing using relative motion, and is classified into hobbing, shaving, honing, wrapping, etc. depending on the tool. For example, Non-Patent Document 1 shows two types of synchronous processing methods.

Conventional processing will be described with reference to the drawings.
FIG. 9 shows the configuration of a machining apparatus based on a command pulse distribution system that outputs command pulses synchronized with the tool axis and the workpiece axis. In FIG. 9, the tool 1 and workpiece 2 in the shape of a gear rotate so as to mesh at an angle. The tool 1 is driven by position control by a tool axis motor 3 and a tool axis motor driver 4, and the work 2 is driven by position control by a work axis motor 5 and a work axis motor driver 6. Here, the position command is created as follows. First, the NC machining command execution unit 7 creates a position command that becomes a constant speed after acceleration and then decelerates. In the pulse distribution unit 8, the axis speed of the tool axis and the workpiece axis becomes the reciprocal ratio of the number of teeth of the tool 1 and the workpiece 2. In this manner, the position command is multiplied by a coefficient, and the command is issued in synchronization with the tool axis motor driver 4 and the workpiece axis motor driver 6. As a result, the tool 1 and the workpiece 2 rotate while maintaining the meshing phase. In this state, when the distance between the tool axis and the work axis is shortened by using a notch shaft motor, a motor driver, a ball screw, or the like (not shown) according to a command from the NC machining command execution unit 7, the tool 1 and the work 2 The shape of the tool 1 is transferred to the workpiece 2 while the teeth of the teeth mesh with each other in order.

  FIG. 10 shows a configuration of a master-slave type machining apparatus that gives a command to one of the tool axis and the workpiece axis, and creates a command synchronized with the other from the master feedback value. FIG. 10 shows an example in which the tool axis is a master. Reference numerals 1 to 7 in FIG. 10 are the same as those in FIG. Here, the position command is created as follows. First, the NC machining command execution unit 7 creates a position command that becomes a constant speed after acceleration and then decelerates, and commands the tool axis motor driver 4. The rotation angle of the tool axis motor 3 driven by the tool axis motor driver 4 is detected by an encoder 11 built in the tool axis motor 3. By multiplying the rotation angle detected so that the rotation speed of the tool axis motor 3 and the workpiece axis motor 5 becomes the reciprocal ratio of the number of teeth by the gear ratio conversion unit 12 and giving it to the workpiece axis motor driver 6 as a command, The tool 1 and the workpiece 2 are synchronized and rotate while maintaining the meshing phase.

By these methods, in the synchronous processing of the gear, the shape of the tool 1 can be transferred to the work by maintaining the meshing phase of the tool 1 and the work 2. Here, the process will be described in detail with reference to the drawings.

FIG. 11 shows contact between tooth surfaces having a tool and a workpiece, a dotted line represents a target position, and a solid line represents an actual position. In the figure, for simplicity, only the tool is described so as to deviate from the target value, but in reality, the deviation from the target value is distributed to the tool axis and the work axis.

Since the contact force between the tool and the workpiece is usually larger than the servo force, if there is a cutting allowance, the relative position of the tool and the workpiece is shifted from the target position by the amount of the cutting allowance as pushed by the cutting allowance. When the tool and the workpiece deviate from the target position, torque acts in a direction to match the target position by position control of the tool motor driver and the workpiece axis motor driver, and a pressing force is generated. With this pressing force, the tool cuts or removes the workpiece by grinding.

FIG. 12 shows processing when there is variation in the cutting allowance of each tooth. Since the accuracy is poor in the pre-working state of the workpiece, the size of the cutting allowance is often different for each tooth.
The graph of Fig.12 (a) shows the magnitude | size of the machining allowance of each tooth. FIG. 12B shows a case where a tooth having a small cutting allowance is hit, and FIG. 12C shows a case where a tooth having a large cutting allowance is hit. Deviation from the target value may be considered as a cutting allowance. When using general position proportional control, a control force proportional to the deviation of the target value is generated, so the pressing force is also proportional to the size of the cutting allowance. To do. Further, in a normal tool, the larger the pressing force, the larger the removal amount. Therefore, the larger the machining allowance, the larger the removal amount. As a result, as shown in FIG. The shape is transferred.
"Synchronous gear shaving machine aiming at low noise gear machining", Mitsubishi Heavy Industries Technical Review, Mitsubishi Heavy Industries, Ltd., July 2002, Vol. 39, no. 4, P.I. 212-215

In the conventional method, the machining force is a position control force that tries to eliminate the deviation from the target value, and the magnitude is determined by the position deviation amount and the loop gain, so the magnitude cannot be directly managed. Therefore, the following problems arise.
(1) If the pressing force falls below a certain value due to the characteristics of the tool, the removal amount may become zero just by causing slippage or deflection of the tool, but with normal position control, the deviation from the target position and the pressing force Is proportional, the pressing force becomes a pressing force that does not perform the removal processing at a certain deviation, and no further processing is performed, and the deviation, that is, the machining allowance remains.
(2) When the machining allowance is larger than expected, an excessive pressing force is generated, and the gear teeth are distorted, so that the machining accuracy is deteriorated or the tool life is shortened. If this problem is dealt with by setting an upper limit on the control force, the removal amount becomes constant for a machining allowance greater than or equal to the upper limit, so that the effect of correcting variations in the machining allowance is reduced.
(3) The conventional method requires a special procedure and sensor for the synchronization origin adjustment because the machining accuracy is deteriorated unless the precision of the synchronization origin is good.
(4) If there is an error in the meshing phase of the tool and the workpiece, machining is performed synchronously in a state where the meshing phase has an error, so the forces applied to both sides of the tooth surface of the workpiece are not equalized. Processing is biased toward the tooth surface, and both sides of the tooth surface cannot be processed evenly.
FIG. 4 shows the meshing phase between the tool and the tooth surface of the workpiece. FIG. 4B shows a case where the meshing of the tool and the workpiece is on the center line of each tooth and the meshing phase is matched. When this meshing position is processed as a synchronization reference point between the tool and the workpiece, the tool uniformly processes the R and L surfaces of the workpiece tooth surface. On the other hand, in FIG. 4A, the center of the tooth of the tool moves backward with respect to the rotation direction. When this meshing position is processed as a synchronization reference point between the tool and the workpiece, the tool removes a lot of the R surface of the workpiece tooth surface, and the L surface generates uncut material. In FIG. 4 (c), contrary to FIG. 4 (a), the center of the tooth of the tool is moved forward with respect to the rotation direction. When this meshing position is processed as a synchronization reference point between the tool and the workpiece, the tool removes many L surfaces of the workpiece tooth surface.
In the case of an asynchronous machining method in which only the tool is driven and the workpiece rotates depending on the tool, the workpiece is always machined in the state shown in FIG. For this reason, the R surface of the workpiece tooth surface is insufficiently processed. In the asynchronous machining, in order to avoid insufficient machining of the R surface, there is provided a process of machining the R surface of the workpiece tooth surface in the state of FIG.
In the synchronous machining, by performing the machining in the state of FIG. 4B, it is possible to remove both sides of the workpiece tooth surface evenly, and the machining process in the reverse rotation performed in the asynchronous machining is performed. It can be omitted. However, in actuality, due to the phase error in the engagement between the tool and the workpiece, as shown in FIGS. 4 (a) and 4 (c), machining may be performed with a bias to the workpiece tooth surface. The machining accuracy is not stable because many R surfaces are removed or many L surfaces are removed.

The present invention has been made in view of such various problems, and performs machining with high accuracy without shortening the tool life by arbitrarily managing the machining force, and at the same time, the accuracy of synchronization origin adjustment and the tool It is an object of the present invention to provide a gear synchronous machining apparatus and a control method thereof that can prevent the influence of an error in the meshing phase of the workpiece and the workpiece.

In order to solve the above problems, a gear synchronous machining apparatus according to the present invention includes a tool axis motor that rotates a tool axis to which a gear-shaped tool is attached, a tool axis motor driver that controls the tool axis motor, and a workpiece attached to the tool axis motor. A workpiece axis motor that rotates the workpiece axis, a workpiece axis motor driver that controls the workpiece axis motor, the tool axis motor driver, a pulse distribution unit that outputs command pulses to the workpiece axis motor driver, and an NC command In a gear synchronous machining apparatus having an NC command execution unit that interprets and gives a machining position command to the pulse distribution unit in the previous period, a target torque creation unit that determines a target torque during machining, and a difference between the target torque and a motor torque during machining And a synchronization correction value processing unit that calculates and corrects the correction value of the synchronization error from the above.

The gear synchronous machining apparatus of the present invention is characterized in that a target torque switching unit is provided between the target torque creating unit and the synchronous correction value processing unit to switch the target torque by a machining process during machining. .

The gear synchronous machining apparatus of the present invention includes a tool axis motor that rotates a tool axis to which a gear-shaped tool is attached, a tool axis motor driver that controls the tool axis motor, and a work axis to which a work is attached. A workpiece axis motor to be rotated, a workpiece axis motor driver for controlling the workpiece axis motor, one of the tool axis motor or the workpiece axis motor as a master, the other as a slave, and a rotation angle pulse of the master as a slave A target torque generator for determining a target torque at the time of machining in a gear synchronous machining apparatus having a master-slave command unit for commanding to the NC and an NC command execution unit for interpreting the NC command and giving a machining position command to the pulse distribution unit in the previous period And a synchronization correction value processing unit that calculates and corrects the correction value of the synchronization error from the difference between the target torque and the motor torque during machining. It is characterized in that was.

The gear synchronous machining apparatus of the present invention is characterized in that a target torque switching unit is provided between the target torque creating unit and the synchronous correction value processing unit to switch the target torque by a machining process during machining. .

Further, the control method for the gear synchronous machining apparatus according to the present invention obtains a target torque based on a reference according to characteristics of the gear synchronous machining apparatus and the gear, and at least one of the target torque, the tool axis motor, and the work axis motor. The difference between the two motor torques is calculated, the difference value is converted into a position correction value, and the position correction value is subjected to low-pass filter processing having a time constant that is sufficiently longer than the position control cycle of the tool and workpiece axis motor driver. The position command value is corrected.

The gear synchronous machining apparatus control method of the present invention is characterized in that the target torque has a torque pattern for each machining process, and the target torque is switched by the machining process during machining.

Further, the control method of the gear synchronous machining apparatus of the present invention is characterized in that the target torque is determined by a non-linear function having a positional deviation or a synchronous error of either the tool axis motor or the work axis motor as an input. .

  Further, according to the control method of the gear synchronous machining apparatus of the present invention, the output of the nonlinear function has a bias portion having the same sign as the input, or a portion where the inclination of the output becomes large when the absolute value of the input is small, and the input exceeds the threshold. It is characterized by having at least one portion where the output is sometimes saturated.

  Further, the control method of the gear synchronous machining apparatus of the present invention is characterized in that means for selecting a machining condition is provided, and the target torque pattern for each previous machining process is changed according to the machining condition.

According to the present invention, machining can be performed by explicitly manipulating the machining torque so as to follow the target torque. Therefore, by specifying an appropriate machining torque, there is a minimum machining force necessary for removal machining. Even if it is, it can be processed, and high-precision processing can be performed without distorting teeth or shortening the tool life with an excessive processing force. In addition, since the synchronization position is appropriately corrected, there is an effect that it hardly depends on the synchronization origin, and no extra procedure or sensor is required for synchronization origin alignment. Further, it is possible to prevent the influence due to the error in the meshing phase between the tool and the workpiece.

  When the target torque is stored in advance as a torque pattern, the optimal torque pattern is stored in advance according to the processing conditions, and the operator selects the processing conditions so that the optimal pattern is reliably reproduced. Optimal machining can be performed. On the other hand, when using a non-linear function to determine the target torque according to the deviation or synchronization error during machining, not only can the minimum and maximum machining forces be adjusted, but the machining force can be increased when the machining allowance is large. In addition, when the machining allowance is small, it is possible to perform efficient machining that reduces the machining force.

Hereinafter, specific examples of the present invention will be described with reference to the drawings.
In addition, about the same component as this invention, the description is abbreviate | omitted and only a different point is demonstrated.

FIG. 1 is a block diagram when the present apparatus is applied to the synchronous processing of the command pulse distribution method.
The present invention is different from the prior art in that a target torque creating unit 9, a synchronization correction value processing unit 10, and a target torque switching unit 13 are provided. The target torque creation unit 9 determines a target torque when the target torque is determined using a nonlinear function. When the target torque is determined using the torque pattern, the target torque switching unit 13 performs target torque switching processing according to the machining process and determines the target torque. The synchronization correction value processing unit 10 calculates and corrects a correction value from the difference between the target torque and the current motor torque. Here, the current motor torque is drawn in FIG. 1 from the workpiece axis motor driver 6 to the synchronization correction processing unit 10 so as to use the value of the workpiece axis. May be used. The tool axis motor driver 4 and the work axis motor driver 6 have a position control unit that causes the motor position to follow a position command, a general speed control unit for realizing position control, and a current control unit. Further, when these control units are realized on a digital processor, the target torque creating unit 9, the target torque switching unit 13, and the synchronization correction value processing unit 10 may be mounted on the same digital processor.

FIG. 2 shows a flowchart for one control period when the correction method of the present invention is performed by discrete control with a constant period. A target torque is determined in steps ST1, ST10, 11, 12, and ST3, a correction value is calculated in steps ST4 to ST6, and correction processing is performed in steps ST8 and ST9. Steps ST1 and ST3 are executed by the target torque generator 9, and steps ST4 to ST9 are executed by the synchronization correction value processor 10. Further, when the target torque is determined using the torque pattern, steps ST 10, 11, and 12 are executed by the target torque switching unit 13. That is, when the target torque is determined using a non-linear function, it corresponds to the portion A in FIG. 1, and when the target torque is determined using a torque pattern, it corresponds to the portion B in FIG.

Here, details of each step will be described. When the target torque creation method is selected in step ST1 and the target torque is determined using a nonlinear function, the process moves to step ST3. When the target torque is determined using the torque pattern, the process proceeds to step ST10, and the target torque is determined from step ST10 to step ST12. Details of the determination method when this torque pattern is used will be described below.

FIG. 3 shows a target torque pattern during processing. The entire machining process is divided into four machining sections, an acceleration section, a machining section 1, a machining section 2 and a deceleration section, and the target torque is switched from the positive direction to the negative direction in the machining section 1 and the machining section 2. In gear machining, a cutting force is generated by pressing a tool and a workpiece together. Therefore, as shown in FIG. 4B, even when the meshing phase is matched, if the pressing force is small, the cutting force is insufficient and high-precision machining cannot be performed. On the other hand, by setting the target torque in the positive direction and the negative direction, the tool and the workpiece can be positively pressed, and a large cutting force can be applied to each of the R side and the L side of the workpiece tooth surface.
Furthermore, even when the meshing phases are not matched as shown in FIGS. 4A and 4C, the cutting force can be applied to the R side and the L side of the workpiece tooth surface because the torque is controlled. .

A larger target torque value (+ a, -b in FIG. 3) increases the cutting force and improves the machining accuracy. However, if the target torque value is too large, there are problems such as elastic deformation of the workpiece and shortened tool life. . Therefore, the target torque value depends on the machining conditions such as the tool and workpiece gear shape, material, etc., giving priority to accuracy and making the target torque as large as possible, or lowering the target torque relatively in preference to tool life. A pattern is prepared in advance and stored in the machining apparatus, and an operator can select an optimum pattern of machining conditions by providing means for selecting machining conditions by key operation or the like.

The target torque is selected and switched as follows.
An example of the machining program is shown in FIG. The program in FIG. 5 rotates the tool at bbb [r / min], moves the Z axis to −ccc [mm] at a speed of ddd [mm / min], and further at a speed of ggg [mm / min]. It is a program that moves to -ee [mm] and processes a workpiece. The work speed is determined by the tool speed and the gear ratio.

The acceleration section in FIG. 3 is a section from when the execution of the program starts until the tool speed reaches the command speed (bbb [r / min]). Whether the tool speed has reached the command speed is determined by a detector attached to the tool axis or the tool axis motor. In the acceleration section, the Z-axis has not yet moved and is not cut, so the torque control of the present invention is not performed. (In this case, the flowchart shown in FIG. 2 becomes unexecutable at step ST20 and is not executed.)

When the tool speed reaches the command speed and the NC command execution unit 7 detects “CODE 1”, the target torque switching unit 13 executes a process of switching the target torque to + a% and determines the target torque. (Step ST11 corresponds in FIG. 2). The state shown in FIG. 4C is created by defining the machining section 1 from the start of the movement of the Z axis to the position where the movement amount of the Z axis is −ccc [mm].

When the Z-axis movement amount reaches −ccc [mm], the NC execution command unit 7 detects the target torque switching command “CODE2”, and the target torque switching unit 13 switches the target torque to −b%. A process is executed and a target torque is determined. (Step ST12 corresponds in FIG. 2). The state of FIG. 4A is created by setting the machining distance 2 to the position where the Z-axis movement amount is −ee [mm].
After the Z-axis has moved to -ee [mm], the period from the stop of the tool to the work is defined as the deceleration zone. Since this section is not a machining section like the acceleration section, the torque control of the present invention is not performed.

Returning to the description of each step in FIG. The nonlinear function in step ST3 receives as input the positional deviation or synchronization error of either the tool axis motor or the workpiece axis motor, and the output target torque has a bias with the same sign as the input positive or negative, or when the input is small Has a portion where the slope is steep, and a portion where the output is saturated when the input exceeds a certain threshold. FIG. 6 shows an example of the nonlinear function. The part where the bias or inclination with the same sign as the positive / negative sign of the input is steep is sized according to the minimum required machining force of the tool. For the portion where the output is saturated, the maximum value is determined in advance from the tool life and machining efficiency. In step ST4, a difference between the target torque and the current motor torque is obtained to calculate a torque deviation. In step ST5, unit conversion from the torque deviation to position correction is performed, and a feedback gain is multiplied to calculate a correction amount. In step ST6, the follow-up is delayed by a low-pass filter so as not to interfere with the position control.
Here, in order not to interfere with the position control, the processing for calculating the position correction amount from the target torque and the current torque may be performed in a processing cycle sufficiently longer than the position control cycle of the motor driver instead of the low-pass filter. In step ST7, a correction method is selected, and correction is performed by either position command addition (step ST8) or unit conversion from position deviation to speed and then speed feed forward (step ST9).

FIG. 7 is a conceptual diagram of control according to the present invention. The upper part of the figure shows a state in which the deviation from the servo target position is increased by the pressing reaction force and the motor torque for position control is larger than the target torque. Here, if correction is made to the target position in accordance with the difference between the target torque and the motor torque, the servo deviation is reduced, so that the motor torque is also reduced and approaches the target torque. The torque is small because the target position is shifted, but the position control centered on the target position is moving. Therefore, if synchronous correction is performed with a low-pass filter with a long time constant or a slow update cycle, the tooth is cut for each tooth. The effect of the conventional method that eliminates variation in cost is still effective.

FIG. 8 is a block diagram in which the present apparatus is applied to synchronous processing by the master-slave method. The master-slave method differs from the command pulse method only in the way of obtaining the synchronization pulse applied to the workpiece axis, and therefore the present invention can be applied as it is.

In this way, machining can be performed by explicitly manipulating the machining torque so as to follow the target torque. Therefore, by specifying an appropriate machining torque, there is a minimum machining force necessary for removal machining. Even if it is, it can be processed, and high-precision processing can be performed without distorting teeth or shortening the tool life due to excessive processing force. Further, since the synchronization position is corrected as appropriate, it hardly depends on the synchronization origin, and no extra procedure or sensor is required for synchronization origin alignment. Further, it is possible to prevent the influence due to the error in the meshing phase between the tool and the workpiece.

Block diagram of a command pulse distribution type gear synchronous machining apparatus of the present invention Flowchart of correction processing of gear synchronous machining apparatus of the present invention The figure which shows the target torque pattern at the time of the process of this invention The figure explaining the engagement phase of the conventional tool and the tooth surface of a work Machining program example for implementing the present invention The figure which shows an example of the nonlinear function used by this invention Conceptual diagram of control of the present invention Block diagram of the master-slave type gear synchronous machining apparatus of the present invention Block diagram of a conventional command pulse distribution type gear synchronous machining apparatus Block diagram of a conventional master-slave type gear synchronous processing device Diagram explaining contact between tooth surface of tool and workpiece Diagram explaining processing when there is variation in tooth cutting allowance

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Tool 2 Work piece 3 Tool axis motor 4 Tool axis motor driver 5 Work axis motor 6 Work axis motor driver 7 NC command execution part 8 Pulse distribution part 9 Target torque creation part 10 Synchronization correction value processing part 11 Encoder 12 Tooth ratio conversion part 13 Target torque switching part

Claims (9)

A tool axis motor that rotates a tool axis to which a gear-like tool is attached;
A tool axis motor driver for controlling the tool axis motor;
A workpiece axis motor that rotates the workpiece axis to which the workpiece is attached;
A work axis motor driver for controlling the work axis motor;
A pulse distributor for outputting command pulses to the tool axis motor driver and the work axis motor driver;
In a gear synchronous machining apparatus having an NC command execution unit that interprets an NC command and gives a machining position command to the pulse distribution unit,
A target torque generator for determining a target torque at the time of machining;
A gear synchronous machining apparatus comprising: a synchronous correction value processing unit that calculates and corrects a correction value of a synchronous error from a difference between a target torque and a motor torque during machining. 2. The gear synchronous machining apparatus according to claim 1, wherein a target torque switching unit is provided between the target torque creating unit and the synchronous correction value processing unit to switch the target torque by a machining process during machining. A tool axis motor that rotates a tool axis to which a gear-like tool is attached;
A tool axis motor driver for controlling the tool axis motor;
A workpiece axis motor that rotates the workpiece axis to which the workpiece is attached;
A work axis motor driver for controlling the work axis motor;
Either one of the tool axis motor or the workpiece axis motor is a master, the other is a slave, and a master slave command unit that commands the master rotation angle pulse;
In a gear synchronous machining apparatus having an NC command execution unit that interprets an NC command and gives a position command to the master,
A target torque generator for determining a target torque at the time of machining;
A gear synchronous machining apparatus comprising: a synchronous correction value processing unit that calculates and corrects a correction value of a synchronous error from a difference between a target torque and a motor torque during machining. 4. The gear synchronous machining apparatus according to claim 3, wherein a target torque switching unit is provided between the target torque creating unit and the synchronous correction value processing unit to switch the target torque by a machining process during machining. A control method for a gear synchronous machining apparatus according to claim 1 or 2, or claim 3 or 4,
The target torque is determined according to the reference according to the gear synchronous processing device and the characteristics of the gear,
Calculating a difference between the target torque and at least one motor torque of the tool axis motor and the workpiece axis motor;
Converting the difference value into a position correction value;
The position correction value is subjected to a low-pass filter process having a time constant sufficiently longer than the position control cycle of the tool and the previous work axis motor driver,
A control method for a gear synchronous machining apparatus, wherein a position command value is corrected. 6. The method for controlling a gear synchronous machining apparatus according to claim 5, wherein the target torque has a torque pattern for each machining step, and the target torque is switched by the machining step during machining. 6. The control method for a gear synchronous machining apparatus according to claim 5, wherein the target torque is determined by a non-linear function having a positional deviation or a synchronization error of either the tool axis motor or the workpiece axis motor as an input. The output of the nonlinear function has at least one of a bias portion having the same sign as the input, a portion where the output slope is large when the absolute value of the input is small, and a portion where the output is saturated when the input exceeds a threshold value. The control method of the gear synchronous processing apparatus of Claim 7 characterized by these. The gear synchronous processing apparatus control method according to claim 6, wherein means for selecting a machining condition is provided, and a target torque pattern for each machining process is changed according to the machining condition.

Images