JP2017102532A - Numerical controller and method of controlling numerical controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a numerical controller and a method of controlling the numerical controller that can shorten a cycle time by performing no unnecessary interpolation type fast forwarding according to a situation.SOLUTION: A numerical controller can execute interpolation type fast forwarding. A CPU interprets one line of a program (S2), and determines whether a fast forwarding command indicates fast forwarding of predetermined sequence operation (S6) when an interpreted control command is the fast forwarding command (S4: YES). The predetermined sequence operation corresponds to, for example, a tool replacement command. The tool replacement command is a command for tool replacement by returning a main axial head to a Z-axial origin and then moving up and down the head in a tool replacement region. When the fast forwarding command is the fast forwarding command for the predetermined sequence operation (S6: YES), the tool collides neither a ground material nor jig, so that CPU performs normal fast-forwarding (S8). Thus, a numerical controller does not perform unnecessary interpolation type fast-forwarding, so the cycle time can be shortened.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a numerical control device and a control method for the numerical control device.

  In the conventional rapid traverse movement of a machine tool, the axes for rapid traverse simultaneously move separately at the highest speed. Therefore, it is difficult to predict the movement path in advance, and the tool and the work material may collide. The acceleration / deceleration control system described in Patent Document 1 proposes a technique for performing interpolation-type fast-forwarding. Interpolation type fast-forward is a fast-forward movement that moves at a high speed and in a straight line to an arbitrary position.

JP-A-8-76827

  When interpolated fast-forward is used, there is a problem that the cycle time increases depending on the situation. For example, when interpolating fast feed is performed simultaneously on an axis having a clamp mechanism that fixes the position of the axis and an axis that does not have a clamp mechanism, it is necessary to start interpolation movement of all axes after the unclamping of the clamp mechanism is completed. So the cycle time increases.

  An object of the present invention is to provide a numerical control device and a control method for the numerical control device that can shorten the cycle time by not performing unnecessary interpolation-type fast-forwarding according to the situation.

  The numerical control device according to claim 1 controls a machine tool having a plurality of movable shafts for moving a tool or a work material, and linearly extends from a movement start position to an end position for rapid feed of two or more movable shafts. In a numerical control apparatus capable of performing interpolating fast-forwarding that performs interpolation and fast-forwarding, when the interpreting means for interpreting the NC program and the control command interpreted by the interpreting means are control commands including the fast-forwarding, the plurality of A judgment means for judging whether or not the tool interferes with the work material or a jig for fixing the work material on a table for all or a part of the movable shaft, and the judgment means, When it is determined that it interferes with the work material or the jig, the interpolation type fast feed execution means for executing the interpolation type fast feed and the determination means determine that the tool does not interfere with the work material or the jig. If, characterized in that a fast-forward execution means for executing the fast-forward without the interpolative fast forward. When the tool does not interfere with the work material or the jig, the numerical control device performs normal fast feed instead of interpolation fast feed. Therefore, the numerical control device can shorten the cycle time as compared with the case where the interpolation type fast-forward is executed. The numerical control device can realize safe rapid feed without the risk of colliding with a work material or a jig by interpolation type rapid feed, and can minimize an increase in cycle time due to interpolation type fast feed.

  According to a second aspect of the present invention, in addition to the configuration of the first aspect of the invention, the determination means includes the fast-forwarding movement start position and the end position indicated by the control command interpreted by the interpretation means. 1 is provided with first determination means for determining whether or not a virtual straight line connecting the two overlaps a machining area where the tool and the work material or the jig may interfere with each other. The processing area is an area where the tool and the work material or jig may interfere with each other. When the virtual straight line overlaps the machining area, there is a possibility of interference, so the numerical control device performs interpolation type fast feed. When the virtual straight line does not overlap the machining area, there is no possibility of interference, so the numerical control device performs normal fast-forwarding. Since the numerical controller does not perform unnecessary interpolation type fast-forwarding, the cycle time can be shortened.

  According to a third aspect of the present invention, in addition to the configuration of the invention according to the second aspect, the processing region is set for each of the plurality of movable shafts, and the first determination unit is configured for each of the plurality of movable shafts. Determining whether or not the virtual straight line overlaps the machining area, the interpolation-type fast-forward execution means, and the fast-forward execution means, according to the determination result determined by the first determination means for each of the plurality of movable axes, The interpolation type rapid traverse or the rapid traverse is executed for each of a plurality of movable axes. The numerical controller sets a machining area for each movable axis. Since the numerical controller determines the possibility of interference for each movable axis, interpolation type fast-forward and fast-forward can be executed for each movable axis. Since the numerical control device does not perform interpolation type fast-forward for a movable axis that has no possibility of interference, the cycle time can be shortened.

  According to a fourth aspect of the present invention, in addition to the configuration of the invention according to any one of the first to third aspects, the numerical control device according to the fourth aspect further includes the determination means that the control command interpreted by the interpretation means is the work material or A second determination for determining whether or not a sequence operation command is for instructing a predetermined sequence operation for performing the fast-forwarding of the other movable shaft after performing a retraction operation of the movable shaft in a predetermined direction from the jig. Means are provided. The predetermined sequence operation is an operation in which a retraction operation is performed on the movable shaft in a predetermined direction from the work material, and then the other movable shaft is fast-forwarded. Therefore, the tool and the work material or the jig do not interfere with each other. When the interpreted control command is a sequence operation command, the numerical control device can determine that there is no possibility of interference between the tool and the work material or the jig.

  According to a fifth aspect of the present invention, in addition to the configuration of the fourth aspect of the invention, the sequence operation command includes a tool change command for instructing tool change or a pallet index command for instructing change of the work material. Or it is an origin return command or a reference point return command. The tool change command, pallet index command, home position return command, and reference point return command are commands for fast-forwarding other movable axes after performing a retraction operation on a movable axis in a specified direction from the work material. After evacuating, it does not interfere with the work material or jig. The numerical control device can shorten the cycle time by not performing interpolation type fast-forwarding.

  According to a sixth aspect of the present invention, in addition to the configuration of the invention according to any one of the first to fifth aspects, the determination means is configured so that the control command interpreted by the interpreting means includes the fast-forwarding control command. If there is a third determining means for determining whether or not there is the movable shaft provided with a clamp mechanism for fixing the position, the fast-forward executing means is configured such that the third determining means includes the movable shaft provided with the clamp mechanism. When it is determined that there is a clamp fast feed execution means for executing the fast feed for the movable shaft provided with the clamp mechanism. The movable shaft provided with the clamp mechanism is usually a rotating shaft. In fast-forwarding other than the machining of a three-dimensional shape, the tool is once retracted and then moved, so that the possibility that the tool interferes with the work material or the jig is low on the movable shaft provided with the clamp mechanism. The numerical control device performs normal fast-forwarding on the movable shaft provided with the clamp mechanism without performing interpolation-type fast-forwarding. A movable shaft without a clamp mechanism can operate in parallel without waiting for the operation of the movable shaft with a clamp mechanism. Therefore, the numerical controller can shorten the cycle time.

  The control method of the numerical control device according to claim 7 controls a machine tool having a plurality of movable shafts for moving a tool or a work material, and performs rapid feed of two or more movable shafts from a movement start position to an end position. In a control method of a numerical control apparatus capable of executing interpolation-type fast-forwarding that performs linear interpolation between them and performing fast-forwarding, an interpreting step for interpreting an NC program, and a control command interpreted in the interpreting step are control commands including the fast-forwarding In some cases, for all or a part of the plurality of movable shafts, a determination step for determining whether the tool interferes with the work material or a jig for fixing the work material on a table, and the determination step. When it is determined that the tool interferes with the work material or the jig, an interpolation type fast feed execution step for executing the interpolation type fast feed, and the determination step, the tool is moved to the work material or the tool. If it is determined not to interfere with, characterized in that a fast-forward execution step of executing the fast-forward without the interpolative fast forward. The numerical control device can obtain the effect described in claim 1 by performing the above steps.

1 is a perspective view of a machine tool 1. The perspective view of the workpiece support apparatus 8. FIG. FIG. 2 is a block diagram showing an electrical configuration of the numerical control device 40 and the machine tool 1. The figure which shows the path | route L1 of normal fast-forward, and the path | route L2 of interpolation type fast-forward. The figure which shows the difference of the cycle time when the interpolation type rapid feed is performed on all the axes of the X axis, the Y axis, and the C axis and when the normal rapid feed is performed only on the C axis. Explanatory drawing of acceleration / deceleration time constant t1, t2. The flowchart of a program driving | operation process (1st Example). The flowchart of a program driving | operation process (2nd Example). The flowchart of a program driving | operation process (3rd Example). The flowchart of a program driving | operation process (4th Example).

  Embodiments of the present invention will be described with reference to the drawings. In the following description, left, right, front, back, and top and bottom indicated by arrows in the figure are used. The left-right direction, the front-rear direction, and the up-down direction of the machine tool 1 are the X-axis direction, the Y-axis direction, and the Z-axis direction of the machine tool 1, respectively. A machine tool 1 shown in FIG. 1 is a complex machine capable of cutting and turning a work material.

  The structure of the machine tool 1 will be described with reference to FIG. The machine tool 1 includes a base 2, a Y-axis moving mechanism (not shown), an X-axis moving mechanism (not shown), a Z-axis moving mechanism (not shown), a moving body 15, a standing column 5, a spindle head 6, and a spindle (not shown). ), A work material support device 8, a tool changer 9, a control box (not shown), a numerical controller 40 (see FIG. 2), and the like. The base 2 includes a gantry 11, a spindle base 12, a right base 13, a left base 14, and the like. The gantry 11 is a substantially rectangular parallelepiped structure that is long in the front-rear direction. The spindle base 12 is formed in a substantially rectangular parallelepiped shape that is long in the front-rear direction, and is provided behind the upper surface of the gantry 11. The right base 13 is provided on the top right of the top surface of the gantry 11. The left base 14 is provided on the upper left side of the top surface of the gantry 11. The right base 13 and the left base 14 include front support bases 13A and 14A and rear support bases 13B and 14B, respectively. The support bases 13A, 13B, 14A, 14B are formed in a column shape extending in the vertical direction, and support the work material support device 8 on the upper surface.

  The Y-axis moving mechanism is provided on the upper surface of the spindle base 12, and a pair of Y-axis rails 16 (FIG. 1 shows only the right Y-axis rail 16), a Y-axis ball screw (not shown), a Y-axis motor (not shown), etc. Is provided. The pair of Y-axis rails 16 and Y-axis ball screws extend in the Y-axis direction. The pair of Y-axis rails 16 guide the moving body 15 on the upper surface in the Y-axis direction. The movable body 15 is formed in a substantially flat plate shape, and includes a nut (not shown) on the bottom outer surface. The nut is screwed onto the Y-axis ball screw. When the Y-axis motor rotates the Y-axis ball screw, the moving body 15 moves along with the pair of Y-axis rails 16 together with the nut. Therefore, the Y-axis moving mechanism supports the moving body 15 so as to be movable in the Y-axis direction.

  The X-axis moving mechanism is provided on the upper surface of the moving body 15 and includes a pair of X-axis rails (not shown), an X-axis ball screw (not shown), an X-axis motor (not shown), and the like. The X-axis rail and the X-axis ball screw extend in the X-axis direction. The upright column 5 extends in the vertical direction and is provided on the upper surface of the moving body 15. The upright 5 is provided with a nut (not shown) at the bottom. The nut is screwed into the X-axis ball screw. When the X-axis motor rotates the X-axis ball screw, the upright column 5 moves along with the nut along the pair of X-axis rails. Therefore, the X-axis moving mechanism supports the upright column 5 so as to be movable in the X-axis direction. The upright 5 is movable on the base 2 in the X-axis direction and the Y-axis direction by the Y-axis moving mechanism, the moving body 15 and the X-axis moving mechanism.

  The Z-axis moving mechanism is provided on the front surface of the upright column 5 and includes a pair of Z-axis rails (not shown), a Z-axis ball screw (not shown), a Z-axis motor (not shown), and the like. The Z-axis rail and the Z-axis ball screw extend in the Z-axis direction. The spindle head 6 includes a nut (not shown) on the back surface. The nut is screwed onto the Z-axis ball screw. The Z-axis motor is fixed to a bearing (not shown) at the upper end of the Z-axis ball screw. When the Z-axis motor rotates the Z-axis ball screw, the spindle head 6 moves along a pair of Z-axis rails. Therefore, the Z-axis moving mechanism supports the spindle head 6 so as to be movable in the Z-axis direction. The spindle (not shown) is provided inside the spindle head 6, and a tool mounting hole (not shown) is provided below the spindle head 6. A tool is mounted in the tool mounting hole. The spindle is rotated by a spindle motor 64 provided on the spindle head 6.

  The work material support device 8 is fixed to the upper surfaces of the right base 13 and the left base 14. The work material support device 8 holds a work material (not shown) rotatably. The work material support device 8 includes an A-shaft 20 and a turntable 45. The A-shaft 20 is rotatable around an axis (support shaft 31 shown in FIG. 2) parallel to the X-axis direction. The axis that rotates the A-axis base 20 is the A-axis. The turntable 45 is formed in a disk shape and is provided at the approximate center of the upper surface of the A-shaft table 20. The turntable 45 is rotatable around an axis parallel to the Z-axis direction, and a work material is fixed to the upper surface using a jig 200 (see FIG. 2). The axis that rotates the turntable 45 is the C axis. The workpiece support device 8 can tilt the workpiece in an arbitrary direction with respect to the tool mounted on the main shaft by tilting the A-shaft 20 around the A-axis at an arbitrary angle. The specific structure of the work material support device 8 will be described later.

  The tool changer 9 includes a tool magazine (not shown) and a protective cover 9A. The protective cover 9A covers and protects the tool magazine. The tool magazine has a substantially annular shape surrounding the vertical column 5 and the spindle head 6. The tool magazine includes a plurality of pots (not shown), a chain (not shown), a magazine motor (not shown), and the like. The pot is detachably mounted with tools. The chain is provided in an annular shape along the tool magazine. Multiple pots are installed along the chain. With the drive of the magazine motor, the pot moves along with the shape of the tool magazine along with the chain. The tool change position is the position of the pot located at the bottom of the tool magazine. The tool changer 9 raises the spindle head 6 from the machining area to the Z-axis origin by driving a magazine motor 65 (see FIG. 3), and while raising and lowering the spindle head 6 in the tool change area, the tool change position pot Replace the tool held by the tool currently installed on the spindle. The Z-axis origin is the Z-axis mechanical origin. The machine origin is a position where the machine coordinates of the X axis and the Y axis are zero, and the machine coordinate of the Z axis is a position at which the work material can be machined. The processing area is an area closer to the turntable 45 than the Z-axis origin. The tool change area is an area opposite to the machining area with respect to the Z-axis origin, and is an area between the ATC origin. The ATC origin is a position where the pot can be moved by driving the magazine motor 65.

  The control box is attached to the outer wall of a cover (not shown) that covers the machine tool 1. The numerical controller 40 is stored inside the control box. The numerical controller 40 controls the operation of the machine tool 1 based on the NC program. The NC program is composed of a plurality of lines, and each line includes a control command. The control command is, for example, a G code, an M code, or the like. The cover that covers the machine tool 1 includes an operation panel 10 on the outer wall surface. The operation panel 10 includes an input unit 18 and a display unit 19. The input unit 18 performs various settings, inputs, and the like of the numerical control device 40. The display unit 19 displays various screens, messages, alarms, and the like.

  A specific structure of the workpiece support device 8 will be described with reference to FIG. The work material support device 8 includes an A-axis base 20, a left-side support base 27, a right-side drive mechanism section 28, a rotary base 45, a C-axis drive section 50, and the like. The A-axis base 20 includes a base part 21, a right connection part 22, and a left connection part 23. The pedestal 21 is a plate-like portion having a substantially rectangular shape in plan view, in which the tilt angle of the A-shaft pedestal 20 is 0 ° and the upper surface is a horizontal plane. The right connecting portion 22 extends obliquely upward to the right from the right end portion of the base portion 21 and is rotatably connected to the right drive mechanism portion 28. The left connecting portion 23 extends obliquely to the left from the left end portion of the base portion 21 and is rotatably connected to a left side support base 27 described later. The turntable 45 is rotatably provided at the approximate center of the top surface of the table 21.

  The C-axis drive unit 50 is connected to the rotary table 45 through a hole (not shown) provided on the lower surface of the base part 21 and provided substantially at the center of the base part 21. The C-axis drive unit 50 includes a rotation shaft (not shown), a C-axis motor 66 (see FIG. 3), a clamp device 68 (see FIG. 3), and the like. The rotation axis extends in a direction orthogonal to the turntable 45. The rotating shaft is fixed to the turntable 45. The C-axis motor 66 is fixed to the rotating shaft. Therefore, when the C-axis motor 66 rotates the rotation shaft, the turntable 45 rotates. The clamp device 68 performs clamping and unclamping of the rotating shaft using, for example, compressed air supplied from a compressor (not shown). The turntable 45 can have the jig 200 attached to the upper surface. The jig 200 is a mechanism for holding a work material (not shown).

  The left support base 27 is located on the left side of the A-axis base 20. The left connecting portion 23 has a substantially cylindrical support shaft 31 protruding leftward from the left end surface. The left support 27 supports the support shaft 31 in a rotatable manner at the apex protruding upward. The bottom of the left support base 27 is fixed to the upper surfaces of the support bases 14A and 14B (see FIG. 1) of the left base base 14.

  The right drive mechanism 28 is located on the right side of the A-shaft 20. The right drive mechanism 28 stores therein a right support (not shown), a speed reducer (not shown), an A-axis motor 67 (see FIG. 3), and the like. The right connecting part 22 has a substantially cylindrical support shaft (not shown) protruding rightward from the right end surface thereof. The right support base rotatably supports the support shaft of the right connecting portion 22 and holds the speed reducer and the A-axis motor 67 integrally. The support shaft of the right connecting portion 22 and the output shaft of the A-axis motor 67 are connected to each other via a speed reducer. The reduction gear is a mechanical device that outputs by reducing the rotational speed of power with a gear or the like, and can obtain a torque proportional to the reduction ratio as an output. Therefore, when the output shaft of the A-axis motor 67 rotates, the A-shaft 20 rotates integrally with the right connecting portion 22 via the speed reducer and tilts in an arbitrary direction around the A-axis. The workpiece support device 8 can tilt the workpiece in an arbitrary direction with respect to the tool mounted on the main shaft. The bottom of the right support base is fixed to the upper surfaces of the support bases 13A and 13B (see FIG. 1) of the right base base 13.

  A method for machining a work material by the machine tool 1 will be described with reference to FIGS. When cutting the work material, the machine tool 1 rotates, for example, the turntable 45 and the main shaft (not shown) is not rotated. The work material rotates integrally with the turntable 45 via the jig 39. The machine tool 1 can turn the work material by moving the spindle head 6 and making the tool contact the rotating work material. The machine tool 1 can also cut the work material even when the rotary table 45 is not rotated and the main shaft is rotated, and the tool rotating with the main shaft contacts the stationary work material. The machine tool 1 rotates both the spindle and the turntable 45, and can cut the work material by contacting the work material with the tool.

  The electrical configuration of the numerical controller 40 and the machine tool 1 will be described with reference to FIG. The numerical control device 40 includes a CPU 41, a ROM 42, a RAM 43, a storage device 44, an I / O board 46, and the like. The CPU 41 controls the operation of the machine tool 1. The ROM 42 stores a control program and the like for executing a program operation process (see FIGS. 7 to 10) described later. The RAM 43 stores various data generated during execution of various processes. The storage device 44 is nonvolatile and stores an NC program and the like. The I / O board 46 is a circuit board that inputs and outputs various signals to and from the machine tool 1. The machine tool 1 includes drive circuits 51 to 59. The drive circuits 51 to 59 are connected to the I / O board 46 of the numerical controller 40. The drive circuit 51 outputs a drive current (pulse) to the X-axis motor 61 in accordance with a command signal from the CPU 41. The encoder 71 is connected to the X-axis motor 61 and the I / O board 46. The encoder 71 detects position information (motor absolute position information) of the X-axis motor 61 and inputs the detection signal to the I / O board 46.

  The drive circuit 52 outputs a drive current to the Y-axis motor 62 in accordance with a command signal from the CPU 41. The encoder 72 is connected to the Y-axis motor 62 and the I / O board 46. The encoder 72 detects position information of the Y-axis motor 62 and inputs the detection signal to the I / O board 46. The drive circuit 53 outputs a drive current to the Z-axis motor 63 in accordance with a command signal from the CPU 41. The encoder 73 is connected to the Z-axis motor 63 and the I / O board 46. The encoder 73 detects the position information of the Z-axis motor 63 and inputs the detection signal to the I / O board 46. The drive circuit 54 outputs a drive current to the spindle motor 64 in accordance with a command signal from the CPU 41. The encoder 74 is connected to the spindle motor 64 and the I / O board 46. The encoder 74 detects position information of the spindle motor 64 and inputs the detection signal to the I / O board 46.

  The drive circuit 55 outputs a drive current to the magazine motor 65 in accordance with a command signal from the CPU 41. The encoder 75 is connected to the magazine motor 65 and the I / O board 46. The encoder 75 detects the position information of the magazine motor 65 and inputs the detection signal to the I / O board 46. The drive circuit 56 outputs a drive current to the C-axis motor 66 in accordance with a command signal from the CPU 41. The encoder 76 is connected to the C-axis motor 66 and the I / O board 46. The encoder 76 detects position information of the C-axis motor 66 and inputs the detection signal to the I / O board 46. The drive circuit 57 outputs a drive current to the A-axis motor 67 in accordance with a command signal from the CPU 41. The encoder 77 is connected to the A-axis motor 67 and the I / O board 46. The encoder 77 detects the position information of the A-axis motor 67 and inputs the detection signal to the I / O board 46.

  The drive circuit 58 outputs a drive current to the clamp device 68 in accordance with a command signal from the CPU 41. The drive circuit 59 outputs a drive current to the display unit 19 in accordance with a command signal from the CPU 41. The input unit 18 is connected to the I / O board 46. The X-axis motor 61, the Y-axis motor 62, the Z-axis motor 63, the main shaft motor 64, the magazine motor 65, the C-axis motor 66, and the A-axis motor 67 are all servo motors. The encoders 71 to 77 are general absolute encoders, and are position sensors that detect and output the absolute position of the rotational position. The drive circuits 51 to 57 receive feedback signals from the encoders 71 to 77 and perform position and speed feedback control. The drive circuits 51 to 59 may be FPGA circuits, for example.

  The interpolation type fast-forward will be described with reference to FIG. The numerical control device 40 controls various operations of the tool mounted on the spindle according to the control command of the NC program. The control command includes a movement command for moving the tool to the target position. The movement command includes a rapid feed command and a cutting feed command. The rapid traverse command is a command to move to the target position at the highest speed for each axis regardless of the movement path of the tool. The cutting feed command is a command to move while following an accurate cutting path. When the numerical controller 40 moves the tool without cutting, a rapid feed command is used to shorten the cycle time. Since the normal fast-forward command does not consider the movement path, there is a possibility of contact with an obstacle (for example, work material or jig 200). In this case, this embodiment uses an interpolation type fast-forward command. The interpolation-type fast-forward command is a control command for instructing interpolation-type fast-feed that moves the tool to an arbitrary position at a high speed and in a straight line.

  For example, as shown in FIG. 4, when moving at a normal rapid feed from P1 (X0, Y0) to P2 (X300, Y200), the tool moves along a path L1. In normal fast-forwarding, the X-axis and the Y-axis move to the target position (X300, Y200) at the highest speed. In this example, since the Y-axis movement distance is shorter than the X-axis movement distance, the tool reaches Y200 before X300. As a result, since the tool moves from P1 to P2 via P3, the path L1 is bent at P3. When moving by interpolation type fast feed, the tool moves along the path L2. The path L2 is linear. In the interpolation type fast feed, the X axis and the Y axis can move linearly from P1 to P2. In the interpolation type rapid feed, unless there is an obstacle or the like between P1 and P2, the tool does not come into contact with the obstacle or the like, so that safe fast feed is possible.

The shortcomings of interpolation type fast-forward will be described. The following three scenes have a drawback that the cycle time becomes longer than normal fast-forward when interpolation-type fast-forward is used.
-First scene-
The first scene is a case where interpolation-type fast feed is simultaneously performed on an axis having a clamp mechanism and an axis having no clamp mechanism. For example, it is assumed that interpolation fast-forwarding is simultaneously performed on all the X, Y, and C axes. The C-axis includes a clamping device 68 that is a kind of clamping mechanism. The X axis and Y axis do not have a clamping mechanism. As shown in FIG. 5A, first, the unclamping operation of the C-axis clamping device 68 starts at t0. For the C-axis, X-axis, and Y-axis, it is necessary to perform interpolation type fast feed after waiting for t1 when the unclamping operation of the clamping device 68 ends. When the unclamping operation ends at t1, the X axis, the Y axis, and the C axis simultaneously perform interpolation type rapid feed. When the interpolation fast-forward of the X-axis, Y-axis, and C-axis ends at t3, the clamp device 68 starts the C-axis clamping operation and ends at t4. Interpolated fast-forward of the X, Y, and C axes ends at t4.

  For example, in rapid traverse other than processing of a three-dimensional shape, the numerical control device 40 moves after temporarily retracting the tool. In the C-axis provided with the clamp device 68, the possibility that the tool and the work material or the jig 200 interfere with each other is low. Therefore, the numerical control device 40 may perform normal fast-forwarding without performing interpolation-type fast-forwarding for the axis provided with the clamp mechanism. For example, it is assumed that normal fast-forwarding is performed only for the C-axis including the clamp device 68 and interpolation-type fast-forwarding is performed for the X-axis and the Y-axis. As shown in FIG. 5B, the X and Y axes start moving at t0 without waiting for the end of unclamping of the C-axis clamping device 68. At t1 when the unclamping of the clamping device 68 ends, the C-axis performs normal rapid traverse. After the normal rapid traverse of the C axis is finished, the clamp device 68 starts a clamping operation. After the interpolation type fast-forward of the X axis and the Y axis is completed, the clamp device 68 ends the clamping operation at t2. Therefore, in the first scene, the C axis having the clamp device 68 can be expected to shorten the cycle time by performing normal fast-forwarding.

-Second scene-
The second scene is when the axis that takes the longest time for movement differs from the axis that has the longest acceleration / deceleration time constant. The acceleration / deceleration time constant will be described with reference to FIG. The numerical control device 40 calculates a target position, a moving distance, a moving speed, a moving time, etc. for each of the X-axis, Y-axis, Z-axis, C-axis, and A-axis based on the interpolation command in the NC program. . The interpolation command is a control command used when moving the axis at the moving speed specified by the address. The numerical control device 40 performs post-interpolation acceleration / deceleration to smooth the speed change by passing a moving average filter (hereinafter referred to as FIR filter) at least twice through the calculated movement speed for each axis.

FIG. 6 is a chart showing the results of processing twice the moving speed of the tool moving in the X-axis direction using the FIR filter. The acceleration / deceleration time constant of the FIR filter (hereinafter referred to as the time constant) corresponds to the number of samples that the FIR filter averages. For example, when the sampling time is 1 msec and the time constant of the FIR filter is 10 msec, the FIR filter uses the average of up to 10 commands including the current interpolation command as the current output. The time constant of the first stage of the FIR filter (FIR1) _{t 1,} the time constant of the second stage of the FIR filter (FIR2) and _{t 2.}

As a result of processing the moving speed with the two-stage FIR filter (FIR1, FIR2), the change in the acceleration is less than a certain value, so the tool gradually increases the speed by applying t ₁ + t ₂ and reaches the maximum speed. Apply t ₁ + t ₂ and slow down to stop. Therefore, since the numerical control device 40 can absorb a sudden change in the moving speed by processing the moving speed with a plurality of FIR filters, the vibration of the machine tool 1 and the maximum torque required for the operation can be suppressed. When t1> t2, t1 determines the magnitude of acceleration, and t2 determines the magnitude of jerk. The speed command becomes longer by t1 + t2 (cycle time is extended). All axes that perform interpolated rapid traverse must have the same time constant. The reason is that interpolation error increases during acceleration / deceleration when interpolation fast-forwarding is performed on axes with different time constants.

For example, in the scene of fast moving from P1 to P2 shown in FIG. 4, the feed rates F and time constants t1 and t2 of the X and Y axes are set under the following conditions.
・ X axis: F50000, t1 = 80ms, t2 = 20ms
Y axis: F50000, t1 = 105ms, t2 = 26ms
Under the above conditions, the Y-axis time constant is longer than the X-axis time constant. As described above, the interpolation type fast feed requires the same time constant for all axes. Here, since t1 determines the magnitude of acceleration, the Y-axis acceleration is smaller than the X-axis acceleration. If the Y axis is operated at the X axis acceleration, the maximum torque of the Y axis may be exceeded. Therefore, when interpolation type fast-forward of the X axis and the Y axis is performed, it is aligned with t1 of the Y axis. Since t2 determines the magnitude of jerk, the Y-axis jerk is smaller than the X-axis jerk. Since there is a possibility that the vibration generated in the mechanism for driving the Y axis may become large, therefore, when interpolation type fast-forwarding of the X axis and the Y axis is performed, the Y axis is aligned with t2. Therefore, t1 = 105 ms and t2 = 26 ms.

  When normal fast feed is performed for the X and Y axes under the above conditions, the cycle time of the X axis is 0.46 s and the cycle time of the Y axis is 0.371 s. On the other hand, when the interpolation fast forward of the X axis and the Y axis is performed under the above conditions, the cycle time of the X axis and the Y axis is 0.491 s. Under the above conditions, the movement time is determined by the X axis having a long movement distance. If aligned with the time constant of the Y-axis, the positioning time will increase by 31 msec. From the above, in the second scene, if the tool does not interfere with an obstacle or the like, the cycle time can be shortened by performing normal fast feed without performing interpolation fast feed.

-Third scene-
The third scene is a case where the axis having the smallest limited acceleration is different from the axis having the smallest limited jerk. The limit acceleration is a limit value of acceleration that is set in advance for each axis and takes into account vibrations of a mechanism that moves each axis. The limit jerk is a limit value of jerk set in advance for each axis and considering vibrations of a mechanism that moves each axis. When t1> t2, t1 determines the magnitude of the limited acceleration, and t2 determines the magnitude of the limited jerk. For example, the time constants t1 and t2 of the X axis and the Y axis are set under the following conditions.
・ X axis: t1 = 100ms, t2 = 50ms
Y axis: t1 = 90ms, t2 = 60ms

  In order to perform interpolation type fast-forwarding of the X axis and the Y axis under the above conditions, the numerical controller 40 needs to align time constants. t1 has a large X axis, and t2 has a large Y axis. When the time constant is set to the X axis, t1 = 100 ms and t2 = 50 ms, so t1 + t2 = 150 ms. Since the Y axis t2 is shortened by 10 ms, the jerk increases. An increase in jerk is not preferable because vibration generated in the mechanism that drives the Y-axis may increase. When the time constant is set to the Y axis, t1 = 90 ms and t2 = 60 ms, so t1 + t2 = 150 ms. Since t1 of the X axis is shortened by 10 ms, the acceleration is increased. In this case, the torque for driving the X axis may be insufficient, which is not preferable.

  When t1 is set to the X axis and t2 is set to the Y axis, t1 = 100 ms and t2 = 60 ms, so that t1 + t2 = 160 ms. In this case, since both the acceleration and the jerk are smaller than the limit acceleration and the limit jerk, there is no problem even if the interpolation type fast feed is performed. However, the cycle time is increased by 10 ms as compared with the normal fast-forwarding. From the above, even in the third scene, if the tool does not interfere with an obstacle or the like, the cycle time can be shortened by performing normal fast feed without performing interpolation fast feed.

  With reference to FIG. 8, the program operation process considering the first to third scenes will be described. The operator uses the input unit 18 of the operation panel 10 to select one NC program from among a plurality of NC programs stored in the storage device 44, and instructs the machining start of the selected NC program. When receiving a machining start instruction from the input unit 18, the CPU 41 reads a control program stored in the ROM 42 and executes a program operation process. This embodiment includes four examples of program operation processing. As described in the first to third scenes, the numerical control device 40 sets the cycle time by executing normal fast feed instead of interpolation fast feed if the tool does not collide with the work material or the jig 200. Can be shortened. In the following first to fourth embodiments, the possibility of the tool colliding with the work material or the jig 200 is judged, and if there is no possibility of collision, normal fast-forwarding is performed. In the first to fourth embodiments, the method for determining whether or not the tool collides with the work material or the jig 200 is different.

  In the present embodiment, an interpolation type fast-forward mode for executing interpolation type fast-forwarding can be set for the X axis, Y axis, Z axis, C axis, and A axis. Before executing the NC program, the operator can set the interpolation type fast-forward mode by the input unit 18 of the operation panel 10. The RAM 43 stores a mode flag. When the interpolation type fast-forward mode is set, the CPU 41 turns on the mode flag. When canceling the setting of the interpolation type fast-forward mode, the CPU 41 turns off the mode flag. The CPU 41 can determine whether or not the interpolation type fast-forward mode is set by confirming whether the mode flag is on or off.

  The first embodiment will be described with reference to FIG. In the first embodiment, when a predetermined sequence operation is executed, normal fast-forwarding is executed without executing interpolation-type fast-forwarding. The predetermined sequence operation means a composite operation in which, for example, the tool is retracted in the Z-axis direction and then the other axes are fast-forwarded like the tool change operation. The CPU 41 reads the NC program selected by the operator from the storage device 44 (S1) and interprets it as one line (S2). It is determined whether or not the interpreted control command is an end command (S3). If it is not an end command (S3: NO), the CPU 41 determines whether or not the interpreted control command is a fast-forward command (S4). If it is not a fast-forward command (S4: NO), the CPU 41 executes the command according to the interpreted control command (S9). After executing the control command, the CPU 41 returns to S2 and interprets the next line.

  If the interpreted line is a fast-forward command (S4: YES), the CPU 41 determines whether or not the interpolation-type fast-forward mode is set (S5). When the mode flag stored in the RAM 43 is OFF, the interpolation type fast-forward mode is not set (S5: NO), and the CPU 41 executes normal fast-forward according to the fast-forward command (S8).

  On the other hand, when the mode flag stored in the RAM 43 is ON, since the interpolation type fast-forward mode is set (S5: YES), the CPU 41 determines whether or not the interpreted fast-forward command is a fast-forward executed by a predetermined sequence operation command. (S6). The predetermined sequence operation command is, for example, a tool change command, an origin return command, or the like. The tool change command returns the spindle head 6 to the Z-axis origin, retracts it to a safe location, and then moves up and down in the tool change area between the Z-axis origin and the ATC origin, This is a control command for exchanging tools. The origin return command is a control command that returns the spindle head 6 to the Z-axis origin, retracts it to a safe place, and then returns the other axes to the machine origin. The reference point return command can be set, for example, to return the spindle head 7 to a reference point (for example, the Z-axis origin), retreat to a safe place, and then return to the mechanical origin of another axis (XYAC axis). It is a directive. When the interpreted fast-forward command is a fast-forward command of a predetermined sequence operation (S6: YES), the CPU 41 temporarily retracts the tool in a specific axis direction and then moves the other axes. It does not collide with the jig 200. Therefore, since it is not necessary to execute interpolation type fast-forward, the CPU 41 executes normal fast-forward (S8). Therefore, the CPU 41 can shorten the cycle time as compared with the case where the interpolation type fast-forward is executed.

  On the other hand, when the interpreted fast-forward command is not a fast-forward command for a predetermined sequence operation (S6: NO), the CPU 41 executes interpolation type fast-forward (S7). Since the tool moves in a straight line from the movement start position to the movement end position, it is possible to realize safe fast-forwarding without risk of colliding with the work material or the jig 200. The CPU 41 returns to S2 to interpret the next line, and in the case of an end command (S3: YES), the CPU 41 ends this process. Therefore, the numerical control device 40 can realize safe fast feed without risk of colliding with the work material or the jig 200 by interpolation type fast feed, and can minimize increase in cycle time due to the interpolation type fast feed.

  A second embodiment will be described with reference to FIG. In the second embodiment, normal fast-forwarding is performed on the movable shaft provided with the clamp mechanism without performing interpolation-type fast-forwarding. The C axis of this embodiment has a clamp device 68. Since the processes of S1 to S5, S8, and S9 in the program operation process of the second embodiment are the same as those of the first embodiment, the description will be omitted or simplified.

  The CPU 41 interprets the NC program as one line (S1, S2), and when the interpreted control command is a fast-forward command (S4: YES) and the interpolation type fast-forward mode is set (S5: YES), the target of the fast-forward command One axis is selected from the existing axes (S11). For example, when the X axis, the Y axis, and the C axis are the target axes of the fast-forward command and the X axis is selected from them, the CPU 41 determines whether or not the X axis has a clamp mechanism (S12). Since there is no clamping mechanism on the X axis (S12: NO), the CPU 41 turns on the selected X axis interpolation type fast-forward flag (S13). The interpolation-type fast-forward flag is stored in, for example, the RAM 43, and is turned on when the interpolation-type fast-forward is executed, and is turned off when not executed. The CPU 41 determines whether or not all selections have been completed for the target axis for the fast-forward command (S15). When there is an axis that has not been selected (S15: NO), the CPU 41 returns to S11 and selects another axis.

  If the selected axis is the C-axis, the C-axis has a clamping device 68 which is a kind of a clamping mechanism (S12: YES), so the CPU 41 turns off the interpolation type fast-forward flag for the selected C-axis (S14). When selection of all the axes is completed (S15: YES), the CPU 41 executes the interpolation type fast feed only for the axis for which the interpolation type fast feed flag is turned on, and executes the normal fast feed for the turned off axis (S16). Therefore, as explained in the first scene (see FIG. 5 (2)), normal fast-forwarding is performed only for the C-axis, and interpolation fast-forwarding is performed for the X-axis and the Y-axis. The cycle time can be greatly shortened compared to the case where interpolation type rapid traverse is performed for the axis. Therefore, the numerical control device 40 can realize safe fast feed without risk of colliding with the work material or the jig 200 by interpolation type fast feed, and can minimize increase in cycle time due to the interpolation type fast feed.

A third embodiment will be described with reference to FIG. In the third embodiment, interpolation rapid traverse of all axes is performed only when the tool moves in the interference area. The interference region means a space where the tool and the work material or the jig 200 may interfere with each other. The interference region is an example of a processing region of the present invention. The interference area of the third embodiment is, for example, a space defined by the following coordinate values. Each coordinate is a machine coordinate, but may be defined by a work coordinate.
-X: (-50, -100, 200) (-150, -200, 400)
Y: (-50, -100, 200) (-150, -200, 400)
Z: (-50, -10, 200) (-150, -200, 400)
A: (-50, -100, 100) (-150, -200, 200)
C: (-50, -100, 100) (-150, -200, 200)
Since the processes of S1 to S5 and S7 to S9 in the program operation process of the third embodiment are the same as those of the first embodiment, the description will be omitted or simplified.

  The CPU 41 interprets the NC program as one line (S1, S2), and when the interpreted control command is a fast-forward command (S4: YES) and the interpolation-type fast-forward mode is set (S5: YES), the fast-forward command moves. It is determined whether or not a virtual straight line connecting the start start point and the movement end point passes through the interference area (S20). The virtual straight line is calculated from the coordinate values of the movement start point and the movement end point. When the virtual straight line does not pass through the interference area (S20: NO), the tool does not collide with the work material or the jig 200, so that it is not necessary to perform interpolation type rapid feed. The CPU 41 executes normal fast-forwarding for all axes subject to the fast-forwarding command without performing interpolation-type fast-forwarding (S8). Therefore, the CPU 41 can shorten the cycle time as compared with the case where the interpolation type fast-forward is executed.

  On the other hand, when the virtual straight line passes through the interference area (S20: YES), the CPU 41 executes interpolation type fast-forward (S7). Since the tool moves in a straight line from the movement start position to the movement end position, it is possible to realize safe fast-forwarding without risk of colliding with the work material or the jig 200. Therefore, the numerical control device 40 can realize safe fast feed without risk of colliding with the work material or the jig 200 by interpolation type fast feed, and can minimize increase in cycle time due to the interpolation type fast feed.

A fourth embodiment will be described with reference to FIG. The fourth embodiment is a modification of the third embodiment. In the third embodiment, interpolation fast feed of all axes is performed only when the tool moves in the interference area. In the fourth embodiment, an interference area is set for each axis and the outside of each interference area is moved. For axes, normal fast-forwarding is performed without interpolation fast-forwarding. The interference area of the fourth embodiment is an area set for each axis as follows, for example. Each coordinate is a machine coordinate, but may be defined by a work coordinate.
-X: (-50, -100, 200) (-150, -200, 400)
Y: (-50, -100, 200) (-150, -200, 400)
Z: (-50, -10, 200) (-150, -200, 400)
A: (-50, -100, 100) (-150, -200, 200)
C: (-50, -100, 100) (-150, -200, 200)
Since the processes of S1 to S5, S8, and S9 in the program operation process of the fourth embodiment are the same as those of the first embodiment, the description will be omitted or simplified.

  The CPU 41 interprets the NC program as one line (S1, S2), and when the interpreted control command is a fast-forward command (S4: YES) and the interpolation type fast-forward mode is set (S5: YES), the target of the fast-forward command One axis is selected from the axes (S31). For example, when the X axis, the Y axis, and the C axis are the target axes of the rapid traverse command and the X axis is selected from them, the CPU 41 displays a virtual straight line connecting the movement start start point and the movement end point of the rapid traverse command. It is determined whether or not it passes through the interference area (S32). When the virtual straight line does not pass through the X-axis interference region (S32: NO), the CPU 41 turns off the selected X-axis interpolation fast-forward flag (S34). The interpolation type fast-forward flag is the same as that of the second embodiment. On the other hand, when the virtual straight line passes through the X-axis interference region (S32: YES), the CPU 41 turns on the selected X-axis interpolation fast-forward flag (S34). The CPU 41 determines whether or not all selections have been completed for the target axis for the fast-forward command (S35). If there is an axis that has not yet been selected (S35: NO), the CPU 41 returns to S31, and processes the other Y, Z, C, and A axes in the same manner as the X axis (S32 to S34).

  When selection of all the axes is completed (S35: YES), the CPU 41 executes interpolation type fast feed only for the axis for which the interpolation type fast feed flag is turned on, and performs normal fast feed for the axis that is turned off (S36). Therefore, since there is no risk of the tool colliding with the work material or the jig 200 for the axis passing outside the interference region, the cycle time can be shortened by performing normal rapid feed without performing interpolation type rapid feed. Therefore, the numerical control device 40 can realize safe fast feed without risk of colliding with the work material or the jig 200 by interpolation type fast feed, and can minimize increase in cycle time due to the interpolation type fast feed.

  Particularly in the fourth embodiment, the numerical control device 40 can perform the interpolation type fast feed only for the axes involved in the machining by designating the interference area for each axis. The fourth embodiment is, for example, a machine tool provided with a table on the base 2 and has a configuration in which a plurality of indexes (rotary tables) are placed on the table and a work material is attached to each of the indexes. Also applicable to machine tools. Since the interference area varies from one index to another, in an index that is not currently involved in machining, the axis can be moved by normal fast-forwarding without performing interpolation, so that the cycle time can be shortened.

  In the above description, the turntable 45 shown in FIG. 2 is an example of the table of the present invention. The CPU 41 that executes S7 of FIGS. 7 and 9, the CPU 41 that executes S13 and S16 of FIG. 8, and the CPU 41 that executes S33 and S36 of FIG. 10 are examples of the interpolation type fast-forward execution means of the present invention. The CPU 41 that executes S8 in FIGS. 7 and 9, the CPU 41 that executes S14 and S16 in FIG. 8, and the CPU 41 that executes S34 and S36 in FIG. 10 are examples of the fast-forward execution means of the present invention. The CPU 41 that executes S20 of FIG. 9 and S32 of FIG. 10 is an example of the first determination means of the present invention. The CPU 41 that executes S6 of FIG. 7 is an example of the second determination means of the present invention. The CPU 41 that executes S12 of FIG. 8 is an example of third determination means of the present invention. The CPU 41 that executes S14 and S16 is an example of the clamp fast-forward execution means of the present invention.

  S7 in FIGS. 7 and 9, S13 and S16 in FIG. 8, and S33 and S36 in FIG. 10 are examples of the interpolation type fast-forward execution process of the present invention. S8 in FIGS. 7 and 9, S14 and S16 in FIG. 8, and S34 and S36 in FIG. 10 are examples of the fast forward execution process of the present invention. S20 in FIG. 9 and S32 in FIG. 10 are examples of the first determination step of the present invention. S6 in FIG. 7 is an example of the second determination step of the present invention. S12 in FIG. 8 is an example of a third determination step of the present invention. S14 and S16 are examples of the clamp fast-forward execution process of the present invention.

  As described above, the numerical control device 40 of the present embodiment controls the operation of the machine tool 1. The machine tool 1 has an X axis, a Y axis, a Z axis, a C axis, and an A axis for moving a tool or a work material. The numerical controller 40 can execute interpolation type fast-forward. Interpolation-type fast-forwarding is a method of performing fast-forwarding by linearly interpolating between a movement start position and an end position for fast-forwarding of two or more axes. The CPU 41 of the numerical controller 40 interprets the NC program line by line. When the interpreted control command is a control command including rapid feed, the CPU 41 determines whether or not the tool interferes with the work material or the jig 200 for all or some of the plurality of axes. When it is determined that the tool interferes with the work material or the jig 200, the CPU 41 executes interpolation type fast feed. When it is determined that the tool does not interfere with the work material or the jig 200, the CPU 41 executes normal fast feed without performing interpolation type fast feed. Therefore, the numerical controller 40 can realize safe fast feed without risk of colliding with the work material or the jig 200 by the interpolation type fast feed, and can minimize an increase in cycle time due to the interpolation type fast feed. Since the cycle time can be shortened by executing the normal fast-forwarding according to the situation when the interpolation-type fast-forwarding is executed, the present embodiment can provide the numerical control device 40 and the machine tool 1 that do not reduce the productivity.

  In the first example of the above embodiment, whether or not the interpreted control command is a sequence operation command for instructing a predetermined sequence operation is determined as to whether or not the tool interferes with the work material or the jig 200. It is done by judging. The predetermined sequence operation means an operation in which a retreat operation is performed for a predetermined distance from the work material or the jig 200 with respect to an axis in a predetermined direction, and then another axis is fast-forwarded. In the predetermined sequence operation, the tool and the work material or the jig 200 do not interfere with each other. Therefore, when the interpreted control command is a sequence operation command, the CPU 41 can determine that there is no possibility of interference between the tool and the work material or the jig 200. When the interpreted control command is a sequence operation command, the numerical control device 40 can shorten the cycle time by performing normal fast-forwarding. The predetermined sequence operation is, for example, a tool change command, an origin return command, a reference point return command, or the like.

  In the second example of the above embodiment, whether or not the tool interferes with the work material or the jig 200 is determined by determining whether or not there is an axis having a clamp mechanism for fixing the position. In the C-axis provided with the clamp device 68, the possibility that the tool and the work material or the jig 200 interfere with each other is low. The CPU 41 executes normal fast-forwarding for the C-axis provided with the clamp device 68 without performing interpolation-type fast-forwarding. The shaft without the clamping mechanism operates simultaneously in parallel without waiting for the operation of the C-axis with the clamping device. Therefore, the numerical controller 40 can shorten the cycle time.

  In the third example of the above embodiment, a virtual straight line connecting the fast-forward movement start position and the end position instructed by the interpreted control command for determining whether the tool interferes with the work material or the jig 200, This is done by determining whether or not to pass through the interference area. The interference area is a space where the tool may interfere with the work material or the jig 200. When the virtual straight line does not pass through the interference region, there is no risk that the tool collides with the work material or the jig 200, and therefore the CPU 41 performs normal fast-forwarding. Therefore, the numerical control apparatus does not perform unnecessary interpolation type fast-forwarding, so that the cycle time can be shortened.

  In the fourth example of the above embodiment, the interference region is set for each axis. The CPU 41 determines whether or not the virtual straight line passes through the interference area for each axis. The CPU 41 performs normal fast-forwarding without performing interpolation-type fast-forwarding on the axis on which the virtual straight line does not pass through the interference region. The numerical controller 40 can perform interpolation type fast feed only for the axes involved in machining by designating the interference area for each axis.

  Needless to say, the present invention is not limited to the above-described embodiment, and various modifications are possible. The machine tool 1 of the above embodiment is a multi-function machine capable of cutting and turning, but may be a machine capable of only cutting. For example, a machine in which a main shaft on which a tool is mounted can move in the Z-axis direction and a table (not shown) that can move in two directions in the X-axis and Y-axis directions may be provided on the base 2 shown in FIG. . The mechanism of the moving mechanism of the tool 4 that moves relative to the table in the X-axis, Y-axis, and Z-axis directions is not limited to the above embodiment. For example, the main shaft is driven in three axes in the X, Y, and Z axis directions, and the table may be fixed or rotatable. The machine tool 1 of the above embodiment is a vertical machine tool whose main axis is parallel to the Z-axis direction, but may be a horizontal machine tool whose main axis extends in the horizontal direction.

  The first example of the above embodiment is, for example, a machine tool in which a rotary table (not shown) is provided on the base 2, and can be applied to a machine tool in which a plurality of pallets are mounted on the rotary table. . The plurality of pallets each support the work material. By using a plurality of pallets, the next work material can be prepared in parallel during machining. After finishing the processing, the CPU of the numerical control device replaces the pallet by rotating the rotary table based on the pallet indexing command. The pallet indexing command rotates the rotary table after the tool is evacuated to a safe place away from the work material or the jig 200. Therefore, the pallet indexing command corresponds to a predetermined sequence operation in the first embodiment. When the control command obtained by interpreting the NC program is a pallet indexing command, the CPU performs normal fast-forwarding without performing interpolation-type fast-forwarding. Therefore, unnecessary interpolation-type fast-forwarding is not performed, so that the cycle time can be shortened.

  Although the drive circuits 51 to 59 of the above embodiment are provided in the machine tool 1, the drive circuits 51 to 59 may be provided in the numerical controller 40.

1 Machine tool 40 Numerical control device 41 CPU
45 Turntable 200 Jig

Claims (7)

Interpolation-type fast feed that controls a machine tool having a plurality of movable axes that move a tool or work material and performs linear feed interpolation between the movement start position and the end position for the rapid feed of two or more movable axes. In a numerical control device capable of executing
Interpretation means for interpreting NC programs;
When the control command interpreted by the interpretation means is a control command including the rapid feed, the tool fixes the work material or the work material on the table for all or a part of the plurality of movable shafts. A judging means for judging whether or not to interfere with the jig;
When the determination unit determines that the tool interferes with the work material or the jig, an interpolation type fast feed execution unit that executes the interpolation type fast feed;
Numerical control comprising: a rapid feed execution means for executing the fast feed without performing the interpolation type fast feed when the judgment means determines that the tool does not interfere with the work material or the jig apparatus. The determination means includes
A machining region in which a virtual straight line connecting the fast-forward movement start position and the end position instructed by the control command interpreted by the interpretation means may interfere with the tool and the work material or the jig. The numerical control apparatus according to claim 1, further comprising first determination means for determining whether or not the two overlap each other. The machining area is set for each of the plurality of movable axes,
The first determination means determines whether the virtual straight line overlaps the machining area for each of the plurality of movable axes,
The interpolation-type fast-forward execution means and the fast-forward execution means execute the interpolation-type fast-forward or the fast-feed for each of the plurality of movable axes according to the determination result determined by the first determination unit for each of the plurality of movable axes. The numerical control apparatus according to claim 2, wherein: The determination means includes
A predetermined sequence operation in which the control command interpreted by the interpretation means performs the fast-forwarding of the other movable shaft after performing a retraction operation of the movable shaft in a predetermined direction from the work material or the jig. 4. The numerical control device according to claim 1, further comprising: a second determination unit that determines whether or not the sequence operation command is for instructing. The sequence operation command is a tool change command for instructing a tool change, a pallet index command, an origin return command, or a reference point return command for instructing a change of the work material. Numerical control unit. The determination means includes
When the control command interpreted by the interpreting means is a control command including the rapid traverse, a third determining means for determining whether the movable shaft having a clamp mechanism for fixing a position is provided,
The fast-forward execution means includes
When the third determining means determines that there is the movable shaft provided with the clamp mechanism, it comprises a clamp fast-forward executing means for executing the fast-forward on the movable shaft provided with the clamp mechanism. The numerical control apparatus as described in any one of Claim 1 to 5. Interpolation-type fast feed that controls a machine tool having a plurality of movable axes that move a tool or work material and performs linear feed interpolation between the movement start position and the end position for the rapid feed of two or more movable axes. In a control method of a numerical control apparatus capable of executing
An interpretation process for interpreting the NC program;
When the control command interpreted in the interpretation step is a control command including the rapid feed, the tool fixes the work material or the work material on a table for all or a part of the plurality of movable shafts. A determination step for determining whether or not to interfere with the jig;
In the determination step, when it is determined that the tool interferes with the work material or the jig, an interpolation type fast feed execution step for executing the interpolation type fast feed;
A numerical control comprising: a rapid feed execution step of performing the fast feed without performing the interpolation type fast feed when it is determined in the judgment step that the tool does not interfere with the work material or the jig Control method of the device.

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