JP2018005440A - Numerical controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a numerical controller capable of stopping a servo motor for a short time in response to stop of operation relative to an input unit.SOLUTION: A CPU of a numerical controller acquires (S67) a total amount of rotation that is a sum of an amount of rotation relative to a steering wheel for each prescribed period. The CPU determines (S69) whether an absolute value of the total amount of rotation acquired during an n-th period (n is an integer) is larger than a prescribed threshold. When determining that the total amount of rotation is larger than the prescribed threshold (S69: YES), the CPU identifies (S71) a target position based on the total amount of rotation. An A shaft drive controller outputs a pulse signal for rotating an A shaft motor up to the target position during a (n+1) period. When the CPU determines that the total amount of rotation is equal to or smaller than the prescribed threshold, the A shaft drive controller outputs (S75) a stop signal for stopping rotation of the A shaft motor at a time of a start of the (n+1) period.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a numerical controller.

  Patent Document 1 discloses a machine tool and a numerical control device that include a servomotor that drives a stage. The numerical control device includes a drive control unit that drives a servo motor and a control unit that controls the drive control unit. The control unit sequentially outputs a plurality of point signals corresponding to a plurality of position commands for moving the stage to the final target position to the drive control unit. The drive control unit sequentially drives the servo motor according to each point signal. The stage reaches the final target position when the drive of the servo motor according to the plurality of point signals is completed.

  Techniques for controlling machine tools using a manual pulse generator with a handle are well known. The machine tool accumulates the rotation amount of the handle every predetermined period. The machine tool updates the target position at predetermined intervals according to the accumulated amount of rotation. The control unit outputs a point signal for moving the stage to the updated target position to the drive control unit at a predetermined cycle.

JP 2014-106936 A

  The user sometimes stops the rotation of the handle in order to stop the movement of the stage urgently. At this time, the control unit outputs a point signal corresponding to the rotation amount 0 of the handle to the drive control unit according to the stop of the rotation of the handle. However, there is a case in which a delay of a predetermined period occurs from when the rotation of the handle is stopped until the control unit detects the stop of the rotation of the handle. Further, the drive control unit sometimes takes time from the point signal output by the control unit to the start of servo motor control. Therefore, there may be a large delay between the stop of the rotation of the handle and the stop of the rotation of the servo motor.

  The objective of this invention is providing the numerical control apparatus which can stop a servomotor for a short time according to the stop of operation with respect to an input part.

  The numerical control device according to the present invention includes a first acquisition unit that acquires an operation total amount that is a total amount of operation amounts for a first input unit per predetermined period, and an nth period (n is an integer) by the first acquisition unit. Determining means for determining whether the total operation amount acquired during the period is greater than a predetermined threshold, and when the determination unit determines that the total operation amount is greater than the predetermined threshold, the target position is determined based on the total operation amount. A first drive signal for rotating the first specifying means for specifying and the servo motor for moving the stage to the target position specified by the first specifying means is output during the (n + 1) period. A second output that outputs a stop signal for stopping the rotation of the servo motor at the start of the (n + 1) period when the operation amount is determined to be equal to or less than the predetermined threshold by the first output means and the determination means. And a stage.

  The numerical control device specifies a target position corresponding to the total operation amount when the total operation amount with respect to the first input unit during the nth period is larger than a predetermined threshold. The numerical controller outputs a first drive signal for the (n + 1) th cycle in order to rotate the servo motor to the target position. At this time, the servo motor starts rotating in accordance with the first drive signal from the start point of the (n + 2) th cycle. On the other hand, the numerical control device outputs a stop signal at the start of the (n + 1) -th cycle when the total operation amount is equal to or less than the predetermined threshold value. At this time, the servo motor stops rotating at the start of the (n + 1) th cycle. Therefore, the numerical controller can immediately output a stop signal when it is determined that the total rotation amount is equal to or less than the predetermined threshold value. Therefore, the numerical controller can stop the servo motor in a short time when the total operation amount is equal to or less than the predetermined threshold value.

  In the present invention, the first specifying means specifies the target position based on a value obtained by multiplying a magnification set via a second input unit and the total operation amount, and outputs the stop signal by the second output means. Second acquisition means for acquiring the stop position of the servo motor stopped in response to the output, and the plurality of unit positions corresponding to the magnification and arranged at equal intervals, acquired by the second acquisition means A second specifying means for specifying a proximity unit position close to the stop position; and for rotating the servo motor from the stop position acquired by the second acquisition means to the proximity unit position specified by the second specifying means. And a third output means for outputting the second drive signal after the stop signal is outputted by the second output means. At this time, the numerical controller can rotate the servo motor to the proximity unit position after the servo motor is stopped according to the stop signal.

  In the present invention, the proximity unit position may be a position reached when the servo motor rotates in the same direction as the rotation direction before the stop with respect to the position of the servo motor stopped according to the stop signal. . At this time, the rotation direction of the servo motor is the same before and after the stop. Therefore, the user can efficiently restart the setup work using the manual pulse generator after the stop.

  In the present invention, the proximity unit position may be a position reached when the servo motor rotates in a direction opposite to the rotation direction before the stop with respect to the position of the servo motor stopped according to the stop signal. . At this time, the servo motor rotation direction is different between before and after the stop. Therefore, the numerical control apparatus can suppress that the position of the servo motor after resuming the rotation advances beyond the position of the servo motor before the stop.

  In the present invention, the first input unit may be a handle that can be rotated, and the operation amount may be a rotation amount of the handle. At this time, the numerical controller can control the rotation of the servo motor in accordance with the rotation operation of the handle. Further, the numerical control device can stop the rotation of the servo motor when the rotation amount of the handle during a predetermined period is equal to or less than a predetermined threshold value.

  In the present invention, the predetermined threshold value may be zero. At this time, the numerical controller can stop the rotation of the servo motor when the user does not operate the first input unit during a predetermined period.

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. 6 is a timing chart showing the control timing of the X-axis motor 61. 6 is a timing chart showing the control timing of the A-axis motor 65. The flowchart of a rotation amount acquisition process. The flowchart of a main process. 6 is a timing chart showing the control timing of the A-axis motor 65.

  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. The right direction, the forward direction, and the upward direction are positive directions, respectively, and the left direction, the backward direction, and the downward direction are negative directions, respectively. A machine tool 1 shown in FIG. 1 is a composite machine capable of cutting and turning a work material (not shown).

<Structure of machine tool 1>
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. 3), 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 each 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 includes a Y-axis motor 62 (see FIG. 3). The Y-axis moving mechanism moves the substantially flat moving body 15 in the Y-axis direction by driving the Y-axis motor 62. The X-axis moving mechanism is provided on the upper surface of the moving body 15 and includes an X-axis motor 61 (see FIG. 3). The X-axis moving mechanism moves the upright column 5 in the X-axis direction by driving the X-axis motor 61. 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 Z-axis motor 63 (see FIG. 3). The Z-axis moving mechanism moves the spindle head 6 in the Z-axis direction by driving the Z-axis motor 63. The spindle (not shown) is provided inside the spindle head 6 and has a tool mounting hole (not shown) in the lower part of the spindle. A tool is mounted in the tool mounting hole. Therefore, the X-axis movement mechanism, the Y-axis movement mechanism, and the Z-axis movement mechanism can move the work material in the X-axis direction, the Y-axis direction, and the Z-axis direction with respect to the tool mounted on the main shaft, respectively. The spindle is rotated by a spindle motor 66 (see FIG. 3) provided on the spindle head 6.

  The tool changer 9 has a substantially annular shape surrounding the upright column 5 and the spindle head 6. The tool changer 9 changes the tool currently mounted on the spindle while raising and lowering the spindle head 6. The control box is attached to the outer wall of a cover (not shown) that covers the machine tool 1. The numerical controller 40 (see FIG. 3) is stored inside the control box. The numerical controller 40 controls the operation of the machine tool 1 based on the NC program. The cover that covers the machine tool 1 includes an operation panel 10 (see FIG. 3) on the outer wall surface. The operation panel 10 includes an operation unit 18 and a display unit 19. The operation unit 18 performs various settings of the numerical control device 40. The display unit 19 displays various screens, messages, alarms, and the like.

  The work material support device 8 is fixed to the upper surfaces of the right base 13 and the left base 14. As shown in FIG. 2, 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 29, 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 part having a substantially rectangular shape in plan view, in which the inclination angle of the A-shaft pedestal 20 is 0 degree 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 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. The bottom of the left support base 27 is fixed to the upper surface of the left base 14 (see FIG. 1).

  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), an A-axis motor 65 (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. The support shaft of the right connecting portion 22 and the output shaft of the A-axis motor 65 are connected to each other. When the output shaft of the A-axis motor 65 rotates, the A-shaft 20 rotates integrally with the right connecting portion 22 around the support shaft 31 parallel to the X-axis direction. The axis that rotates the A-axis base 20 is the A-axis. The right drive mechanism 28 can rotate the work material about the A axis with respect to the tool. By tilting the A-shaft 20 at an arbitrary angle around the A-axis, the work material can be tilted in an arbitrary direction with respect to the tool mounted on the main shaft. The clockwise rotation direction when viewing the A axis from the left side is referred to as a positive direction, and the counterclockwise rotation direction is referred to as a negative direction. The bottom of the right support base is fixed to the upper surface of the right base 13 (see FIG. 1).

  The turntable 29 is rotatably provided at the approximate center of the top surface of the table 21. The turntable 29 is formed in a disk shape and is provided at the approximate center of the upper surface of the A-shaft table 20. The C-axis drive unit 50 is connected to the turntable 29 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 64 (see FIG. 3), and the like. The rotation axis extends in a direction orthogonal to the turntable 29. The rotating shaft is fixed to the turntable 29. The C-axis motor 64 is fixed to the rotating shaft. Therefore, when the C-axis motor 64 rotates the rotation shaft, the turntable 29 can rotate around an axis parallel to the Z-axis direction. The axis that rotates the turntable 29 is the C axis. The jig 200 on the upper surface of the turntable 29 fixes the work material. The C-axis drive unit 50 can rotate the workpiece with respect to the tool about the C-axis. A clockwise rotation direction when the C-axis is viewed from above is referred to as a positive direction, and a counterclockwise rotation direction is referred to as a negative direction.

<Structure of manual pulse generator 16>
As shown in FIG. 1, the manual pulse generator 16 is connected to a numerical controller 40 (see FIG. 3). The manual pulse generator 16 includes a magnification switch 16A, an axis switch 16B, and a handle 16C. The magnification switch 16A and the shaft switch 16B are dial switches. The magnification switch 16A can select any one of x1, x10, and x100 as a magnification. × 1, × 10, and × 100 correspond to magnifications of 1 ×, 10 ×, and 100 ×, respectively. Hereinafter, the magnification selected by the magnification switch 16A is referred to as a selection magnification.

  The axis switch 16B can select any of OFF, X, Y, Z, and 4 as an axis. OFF corresponds to selecting no axis. In other words, OFF corresponds to an invalid operation of the handle 16C described later. X, Y, and Z correspond to the X axis, the Y axis, and the Z axis, respectively. 4, when the display unit 19 (see FIG. 3) displays information indicating the A axis (hereinafter referred to as A axis information), information corresponding to the A axis and indicating the C axis (hereinafter referred to as C axis information and When displaying ")", it corresponds to the C-axis. Hereinafter, the axis selected by the axis switch 16B is referred to as a selected axis. When the display unit 19 displays the A axis information and the axis switch 16B selects 4, the selected axis is the A axis. When the display unit 19 displays C axis information and the axis switch 16B selects 4, the selected axis is the C axis.

  The handle 16C is a dial-type handle that can rotate to the left and right by a predetermined angle. Hereinafter, the clockwise rotation direction in front view of the handle 16C is referred to as a positive direction, and the counterclockwise rotation direction is referred to as a negative direction. The manual pulse generator 16 can output the rotation amount to the numerical controller 40 every time the handle 16C rotates by a predetermined angle. The amount of rotation becomes a positive value +1 when the handle 16C rotates by a predetermined angle in the positive direction, and becomes a negative value -1 when the handle 16C rotates by a predetermined angle in the negative direction.

The machine tool 1 moves the workpiece with respect to the tool when the user uses the manual pulse generator 16. For example, the work material moves in the positive direction along the selection axis when the selection axis is any of the X axis, the Y axis, and the Z axis and the handle 16C rotates in the positive direction. The moving distance of the work material is expressed when the total amount of rotation is expressed as N (N is an integer),
N x unit length x selection magnification ... (first formula)
It is. The unit length is 0.001 mm. Hereinafter, the distance calculated by the first equation is referred to as a converted distance. For example, the conversion distance is +0.001 mm when N is +1 and the selection magnification is x1. That is, when the user rotates the handle 16C of the manual pulse generator 16 in the positive direction by a predetermined angle × 1 minute, the work material moves 0.001 mm in the positive direction along the selected axis. For example, the conversion distance is -0.2 mm when N is -2 and the selection magnification is x100. That is, when the user rotates the handle 16C of the manual pulse generator 16 in the negative direction by a predetermined angle × 2 minutes, the work material moves 0.2 mm in the negative direction along the selected axis.

For example, when the selected axis is the A axis and the handle 16C rotates in the positive direction, the work material rotates in the positive direction around the A axis. At this time, the rotation angle of the work material is such that when the total amount of rotation is N,
N x Unit angle x Selection magnification (2nd formula)
It is. The unit angle is 0.001 degree. Hereinafter, the angle calculated by the second equation is referred to as a converted angle. For example, the conversion angle is +0.001 degrees when N is +1 and the selection magnification is x1. That is, when the user rotates the handle 16C of the manual pulse generator 16 in the positive direction by a predetermined angle × 1 minute, the work material rotates 0.001 degrees in the positive direction around the A axis. For example, the conversion angle is −0.02 degrees when N is −2 and the selection magnification is × 10. That is, when the user rotates the handle 16C of the manual pulse generator 16 in the negative direction by a predetermined angle × 2 minutes, the workpiece rotates 0.02 degrees in the negative direction around the A axis.

  For example, when the selected axis is the C axis and the handle 16C is rotated in the positive direction or the negative direction, the work material rotates around the C axis by a conversion angle in the positive direction or the negative direction. The calculation formula for the conversion angle is the second formula, which is the same as when the selection axis is the A axis.

<Electrical configuration>
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, ROM 42, RAM 43, flash memory 44, input / output unit 45, communication interface (I / F) 46, drive circuits 51 to 54, 56, and A-axis drive control unit 55. The machine tool 1 includes an X-axis motor 61, a Y-axis motor 62, a Z-axis motor 63, a C-axis motor 64, an A-axis motor 65, a main shaft motor 66, and encoders 71 to 76.

  The CPU 41 controls the operation of the machine tool 1. The ROM 42 stores a control program for executing a rotation amount acquisition process (see FIG. 6) and a main process (see FIG. 7), which will be described later. The RAM 43 stores various data generated during execution of various processes. The RAM 43 stores an X-axis direction position, a Y-axis direction position, and a Z-axis direction position. The X-axis direction position, the Y-axis direction position, and the Z-axis direction position indicate the positions of the work material in the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively, with a predetermined origin position as a reference. The RAM 43 stores an A-axis direction angle and a C-axis direction angle. The A-axis direction angle and the C-axis direction angle indicate angles with the A-axis and C-axis of the work material as rotational axes when a predetermined origin angle is used as a reference. The flash memory 44 stores an NC program and the like. The input / output unit 45 inputs / outputs various signals to / from the drive circuits 51 to 54, 56, the encoders 71 to 76, the operation unit 18, the display unit 19, and the manual pulse generator 16. The communication I / F 46 inputs / outputs various signals to / from the A-axis drive control unit 55.

  The drive circuit 51 outputs a pulse signal (described later) output from the CPU 41 to the X-axis motor 61. The encoder 71 detects the rotational position of the X-axis motor 61 and outputs the detection signal to the input / output unit 45. The drive circuit 52 outputs a pulse signal output from the CPU 41 to the Y-axis motor 62. The encoder 72 detects the rotational position of the Y-axis motor 62 and outputs the detection signal to the input / output unit 45. The drive circuit 53 outputs a pulse signal output from the CPU 41 to the Z-axis motor 63. The encoder 73 detects the rotational position of the Z-axis motor 63 and outputs the detection signal to the input / output unit 45. The drive circuit 54 outputs a pulse signal output from the CPU 41 to the C-axis motor 64. The encoder 74 detects the rotational position of the C-axis motor 64 and outputs the detection signal to the input / output unit 45. The drive circuit 56 outputs a pulse signal output from the CPU 41 to the spindle motor 66. The encoder 76 detects the rotational position of the spindle motor 66 and outputs the detection signal to the input / output unit 45. The A-axis drive control unit 55 outputs a pulse signal output from the CPU 41 to the A-axis motor 65. The encoder 75 detects the rotational position of the A-axis motor 65 and outputs the detection signal to the input / output unit 45.

  The drive circuits 51 to 54 and the A-axis drive control unit 55 are different from each other in time required for outputting pulse signals to the motors 61 to 65. The time required for the A-axis drive control unit 55 to output the pulse signal to the A-axis motor 65 is longer than the time required for the drive circuits 51 to 54 to output the pulse signal to the motors 61 to 64.

  The motors 61 to 66 are all servo motors. The encoders 71 to 76 are general absolute value encoders, and are position sensors that detect and output the absolute position of the rotational position.

<Operation timing when using the manual pulse generator 16 (motors 61 to 64)>
The operation timing of the motors 61 to 64 when the user controls the machine tool 1 using the manual pulse generator 16 will be described with reference to FIG. A time required for the drive circuits 51 to 54 to output a pulse signal to the motors 61 to 64 is defined as t (ms). The CPU 41 acquires the selected magnification based on the state of the magnification switch 16A of the manual pulse generator 16. The CPU 41 acquires the selected axis based on the display content of the display unit 19 and the state of the axis switch 16B of the manual pulse generator 16. In the following, a case where the user selects the X axis as the selection axis by the axis switch 16B will be exemplified. The user rotates the handle 16C of the manual pulse generator 16 in the positive direction at a constant speed from time 0t to 32t, and stops the rotation of the handle 16C at time 32t.

The CPU 41 acquires the rotation amount from the manual pulse generator 16 every time the handle 16C rotates by a predetermined angle (P11). The CPU 41 repeatedly calculates the total amount of rotation during the period t (hereinafter referred to as the total amount of rotation). Specifically, the CPU 41 calculates the total rotation amount r of the handle 16C acquired during a period t (hereinafter referred to as the nth period) from time n × t (n is an integer) to time (n + 1) × t. It is calculated at the end of the nth cycle. The CPU 41 calculates the conversion distance by applying the first equation based on the calculated total rotation amount r and the selected magnification.
Conversion distance = total rotation amount r × unit length (0.001 mm) × selection magnification The CPU 41 adds the conversion distance to the X-axis direction position stored in the RAM 43 and updates the X-axis direction position. The CPU 41 specifies the rotational position of the X-axis motor 61 when the work material moves from the origin position to the updated X-axis direction position as the target position of the X-axis motor 61.

  The CPU 41 outputs a pulse signal indicating the specified target position to the drive circuit 51 via the input / output unit 45 (P12). The drive circuit 51 outputs a pulse signal for rotating the X-axis motor 61 to the target position to the X-axis motor 61 (P13). As described above, the time required for the drive circuit 51 to output the pulse signal to the X-axis motor 61 is t. That is, the drive circuit 51 outputs a pulse signal based on the total rotation amount r in the nth cycle to the X-axis motor 61 during the next (n + 1) cycle. After all the pulse signals are input, the X-axis motor 61 starts rotating according to the pulse signals. The X-axis motor 61 rotates to a target position at a predetermined rotation speed v based on the pulse signal.

  As described above, the X-axis motor 61 starts the rotation corresponding to the total rotation amount r of the nth cycle from the end point of the (n + 1) th cycle. Therefore, there is a delay of the period t from when the CPU 41 outputs the pulse signal to the drive circuit 51 until the X-axis motor 61 starts rotating according to the pulse signal. Therefore, for example, the timing at which the X-axis motor 61 starts to rotate according to the total rotation amount r (P14) of the 0th period (time 0t to 1t) immediately after the start of rotation of the handle 16C is time 2t (P15).

  When the rotation of the handle 16C stops at time 32t, the CPU 41 calculates 0 as the total amount of rotation during the 32nd cycle (time 32t to 33t) at the end of the 32nd cycle. The conversion distance calculated by applying the first formula based on the acquired total rotation amount 0 is 0 (P16). At this time, even if the conversion distance is added to the X-axis direction position stored in the RAM 43, the X-axis direction position does not change. Therefore, the target position of the X-axis motor 61 specified based on the updated X-axis direction position does not change.

  The drive circuit 51 outputs a pulse signal for rotating the X-axis motor 61 to the target position to the X-axis motor 61 during the 33rd period (time 33t to 34t). Since the target position corresponding to the input pulse signal does not change, the X-axis motor 61 stops rotating when rotated to the target position (P17). In FIG. 4, the X-axis motor 61 stops rotating at time 34t. That is, the time is delayed by 2t from the time 32t when the rotation of the handle 16C is stopped to the time 34t when the X-axis motor 61 stops rotating.

  Although detailed description is omitted, when the user selects the Y axis and the Z axis as the selection axes by the axis switch 16B, the CPU 41 calculates the conversion distance by the same method as described above. The CPU 41 adds the calculated conversion distance to the Y-axis direction position and the Z-axis direction position stored in the RAM 43, and updates the Y-axis direction position and the Z-axis direction position, respectively. The CPU 41 sets the rotational positions of the Y-axis motor 62 and the Z-axis motor 63 when the workpiece is moved to the updated Y-axis direction position and Z-axis direction position as the target positions of the Y-axis motor 62 and the Z-axis motor 63. Identify each one. The CPU 41 outputs a pulse signal to the drive circuits 52 and 53 based on the specified target position.

When the user selects the C axis as the selection axis by the axis switch 16B, the CPU 41 calculates the conversion angle by applying the second equation based on the acquired total rotation amount r and the selection magnification.
Conversion angle = total rotation amount r × unit angle (0.001 degree) × selection magnification The CPU 41 adds the conversion angle to the C-axis direction angle stored in the RAM 43 and updates the C-axis direction angle. The CPU 41 specifies the rotation position of the C-axis motor 64 when the workpiece rotates from the origin angle to the updated C-axis direction angle as the target position of the C-axis motor 64. The CPU 41 outputs a pulse signal to the drive circuit 54 based on the specified target position.

<Operation timing when using manual pulse generator 16 (A-axis motor 65)>
With reference to FIG. 5, the operation timing of the A-axis motor 65 will be described assuming that the CPU 41 controls the A-axis drive control unit 55 in the same manner as the control for the drive circuits 51 to 54. The time required for the A-axis drive control unit 55 to output the pulse signal to the A-axis motor 65 is 8t, which is longer than the time t (see FIG. 4) required by the drive circuits 51-54. The user selects the A axis as the selected axis by the axis switch 16B. As in FIG. 4, the user rotates the handle 16C of the manual pulse generator 16 in the positive direction at a constant speed from time 0t to 32t, and stops the rotation of the handle 16C at time 32t.

  The CPU 41 acquires the rotation amount from the manual pulse generator 16 every time the handle 16C rotates by a predetermined angle (P21). The CPU 41 calculates the total rotation amount 8r of the handle 16C acquired during a period 8t (nth period) from time n × 8t to time (n + 1) × 8t at the end of the nth period. The CPU 41 calculates the conversion angle by applying the second formula based on the calculated total rotation amount 8r and the selection magnification. The CPU 41 adds the conversion angle to the A-axis direction angle stored in the RAM 43 and updates the A-axis direction angle. The CPU 41 specifies the rotational position of the A-axis motor 65 when the workpiece rotates from the origin angle to the updated A-axis direction angle as the target position of the A-axis motor 65.

  Based on the identified target position, the CPU 41 outputs a pulse signal to the A-axis drive controller 55 via the communication I / F 46 (P22). The A-axis drive control unit 55 outputs a pulse signal for rotating the A-axis motor 65 to the target position to the A-axis motor 65 (P23). That is, the A-axis drive control unit 55 outputs a pulse signal based on the total rotation amount 8r in the n-th cycle to the A-axis motor 65 during the next (n + 1) cycle. The A-axis motor 65 starts rotation in accordance with the pulse signal after inputting all the pulse signals. Therefore, a delay of 8t occurs after the CPU 41 outputs the pulse signal to the A-axis drive control unit 55 until the A-axis motor 65 starts rotating. For this reason, for example, the time when the A-axis motor 65 starts the rotation corresponding to the total rotation amount 8r (P24) of the 0th period (time 0t to 8t) immediately after the start of the rotation of the handle 16C is time 16t (P25).

  When the rotation of the handle 16C stops at time 32t, the CPU 41 calculates 0 as the total rotation amount during the fourth period (time 32t to 40t) at the end of the fourth period. The conversion angle calculated by applying the second equation based on the acquired total rotation amount 0 is 0 (P26). At this time, even if the converted angle is added to the A-axis direction angle stored in the RAM 43, the A-axis direction angle does not change. Therefore, the target position of the A-axis motor 65 specified based on the updated A-axis direction angle does not change.

  The CPU 41 outputs a pulse signal indicating the target position to the A-axis drive control unit 55. The A-axis drive control unit 55 outputs a pulse signal for rotating the A-axis motor 65 to the target position to the A-axis motor 65 during the fifth period (time 40t to 48t). Since the target position corresponding to the input pulse signal does not change, the A-axis motor 65 stops rotating when rotated to the target position. In FIG. 5, the X-axis motor stops rotating at time 48t (P27). That is, the time 16t is delayed from the time 32t at which the rotation of the handle 16C is stopped to the time 48t at which the A-axis motor 65 stops rotating. As described above, the delay until the rotation of the A-axis motor 65 stops is longer than the time 2t (see FIG. 4) until the motors 61 to 64 stop rotating.

  In this embodiment, the CPU 41 executes a rotation amount acquisition process (see FIG. 6) and a main process (see FIG. 7) in order to reduce the delay. The CPU 41 executes the program stored in the ROM 42 when the numerical controller 40 is turned on. Thereby, the CPU 41 starts the rotation amount acquisition process and the main process.

<Rotation amount acquisition process>
The rotation amount acquisition process will be described with reference to FIG. The CPU 41 determines whether the handle 16C of the manual pulse generator 16 has rotated by a predetermined angle (S51). When the manual pulse generator 16 does not output the rotation amount, the CPU 41 determines that the handle 16C is not rotated by a predetermined angle (S51: NO). CPU41 returns a process to S51. When it is determined that the manual pulse generator 16 has output the rotation amount (S51: YES), the CPU 41 advances the process to S53. The CPU 41 acquires the rotation amount output from the manual pulse generator 16 (S53). The CPU 41 stores the acquired rotation amount in the RAM 43. CPU41 returns a process to S51.

  The main process will be described with reference to FIG. The CPU 41 acquires the selected axis selected by the axis switch 16B. When the acquired selected axis is OFF, the CPU 41 determines that the operation mode (hereinafter referred to as the normal mode) in which control by the manual pulse generator 16 is not performed (S61: NO). At this time, the CPU 41 returns the process to S61. When the acquired selected axis is other than OFF, the CPU 41 determines that the operation mode (hereinafter referred to as the handle mode) in which the manual pulse generator 16 performs control (S61: YES). At this time, the CPU 41 advances the process to S63. The CPU 41 determines whether the selected axis is the A axis (S63). When the CPU 41 determines that the selected axis is other than the A axis (S63: NO), the CPU 41 executes the processing (P11, P12, P14, P16, etc.) described with reference to FIG. The CPU 41 returns the process to S61. The process described with reference to FIG. 4 is the same as the conventional process (outputs a pulse signal based on the total amount of rotation), and is not shown in FIG. When the CPU 41 determines that the selected axis is the A axis (S63: YES), the process proceeds to S65.

  The CPU 41 determines whether the period of time 8t has arrived (S65). When the CPU 41 determines that the period of time 8t has not arrived (S65: NO), it returns the process to S61. When the CPU 41 determines that the period of time 8t has arrived (S65: YES), the process proceeds to S67. The CP 41 calculates the total rotation amount stored in the RAM 43 as the total rotation amount (S67). After calculating the total rotation amount, the CPU 41 deletes the rotation amount stored in the RAM 43. As a result, the CPU 41 calculates the total rotation amount 8r of the handle 16C acquired during the nth cycle at the end of the nth cycle.

  The CPU 41 determines whether or not the handle 16C has rotated in the nth cycle based on the calculated total rotation amount (S69). When the absolute value of the calculated total rotation amount is greater than 0, the CPU 41 determines that the handle 16C has rotated in the nth cycle (S69: YES). At this time, the CPU 41 advances the process to S71. The CPU 41 acquires the selection magnification selected by the magnification switch 16A. The CPU 41 specifies the conversion angle by applying the second formula based on the calculated total rotation amount, the acquired selection magnification, and the unit angle. The CPU 41 adds the conversion angle to the A-axis direction angle stored in the RAM 43 and updates the A-axis direction angle. The CPU 41 specifies the rotational position of the A-axis motor 65 when the workpiece rotates from the origin angle to the updated A-axis direction angle as the target position of the A-axis motor 65 (S71). CPU41 outputs the pulse signal according to the specified target position to the A-axis drive control part 55 (S73). The CPU 41 returns the process to S61.

  As shown in FIG. 8, when the CPU 41 repeats the above process at a cycle of 8t, the CPU 41 acquires the rotation amount from the manual pulse generator 16 every time the handle 16C rotates by a predetermined angle (see P31 and FIG. 6). The CPU 41 calculates the total rotation amount 8r of the handle 16C acquired during the period 8t (nth period) from the time n × 8t to (n + 1) × 8t at the end of the nth period (S67 (see FIG. 7)). ). The CPU 41 calculates the conversion angle by applying the second formula based on the calculated total rotation amount 8r, the selection axis, and the selection magnification. The CPU 41 specifies the target position of the A-axis motor 65 based on the calculated conversion angle (S71 (see FIG. 7)). CPU41 outputs the pulse signal according to the specified target position to A-axis drive control part 55 via communication I / F46 (P32, S73 (refer FIG. 7)).

  The A-axis drive control unit 55 outputs a pulse signal to the A-axis motor 65 because the A-axis motor 65 rotates to the target position (P33). As in the case of FIG. 5, the A-axis drive control unit 55 outputs a pulse signal based on the total rotation amount 8r in the nth cycle to the A-axis motor 65 during the next (n + 1) th cycle. Therefore, a delay of 8t occurs after the CPU 41 outputs the pulse signal to the A-axis drive controller 55 (P34) and before the A-axis motor 65 starts to rotate according to the pulse signal (P35). .

  As shown in FIG. 7, when the absolute value of the calculated total rotation amount is 0, the CPU 41 determines that the handle 16C has not rotated more than a predetermined angle in the nth cycle (S69: NO). At this time, the CPU 41 advances the process to S75. The CPU 41 outputs a stop signal for stopping the rotation of the A-axis motor 65 to the A-axis drive control unit 55 (S75).

  As shown in FIG. 8, when the CPU 41 outputs a stop signal to the A-axis drive control unit 55 at time t40 (P36), the A-axis drive control unit 55 outputs a stop signal to the A-axis motor 65 at time t40. (P37). That is, the stop signal (P36) output by the CPU 41 at the end of the fourth period (time t32 to t40), in other words, at the start of the next fifth period (time t40 to t48) is A-axis driven substantially simultaneously. It outputs to the A-axis motor 65 from the control part 55 (P37). When the A-axis motor 65 detects the stop signal output by the A-axis drive control unit 55, the A-axis motor 65 stops the rotation of the A-axis motor 65 (P38). Therefore, the delay from when the CPU 41 outputs a stop signal to the A-axis drive control unit 55 until the A-axis motor 65 stops rotating is substantially zero (see P36, P37, and P38). At this time, there is a delay of time 8t from the time 32t when the rotation of the handle 16C stops until the time 40t when the A-axis motor 65 stops rotating. Thus, the delay until the rotation of the A-axis motor 65 stops is smaller than the delay time 16t in FIG. 5 in which the CPU 41 does not output a stop signal.

  As shown in FIG. 7, the CPU 41 outputs a stop signal to the A-axis drive control unit 55 (S 75), and then the rotation position (hereinafter referred to as stop position) of the stopped A-axis motor 65 via the encoder 75. (S77). The CPU 41 uses the rotational position of the A-axis motor 65 at the origin angle (hereinafter referred to as a reference position) as a reference to each rotational position (hereinafter referred to as a unit position) when the A-axis motor 65 rotates by a unit angle. Is identified. The unit angle is a value obtained by multiplying the selection magnification and the unit angle. The plurality of unit positions are arranged at regular intervals with respect to the reference position.

  For example, as shown in FIG. 8, when the selection magnification is x100, the plurality of unit positions are respectively 0.1 degrees (= 0.001 degrees) on both sides of the A-axis motor 65 from the reference position (origin angle 0 degree). Corresponds to the rotation position (± 0.1 degree, ± 0.2 degree, ± 0.3 degree...) When rotated by (× 100 times). In FIG. 8, for ease of explanation, the rotational position of the A-axis motor 65 will be described with the A-axis base 20 rotated by the A-axis motor 65.

  As shown in FIG. 7, when the rotation of the handle 16C in the forward direction stops, the CPU 41 specifies the unit position closest to the stop position in the forward direction as the proximity unit position among the plurality of unit positions (S79). ). When the rotation of the handle 16C in the negative direction stops, the CPU 41 identifies the unit position closest to the stop position in the negative direction as the proximity unit position among the plurality of unit positions (S79). That is, the CPU 41 specifies the closest position that is reached when the A-axis motor 65 rotates in the same direction as the rotation direction of the A-axis motor 65 before stopping, among the plurality of unit positions, as the proximity unit position. In order to rotate the A-axis motor 65 from the stop position to the proximity unit position, the CPU 41 outputs a pulse signal indicating the proximity unit position to the A-axis drive control unit 55 (S81). The CPU 41 returns the process to S61.

  In FIG. 8, the A-axis motor 65 rotates in the positive direction from the origin angle (P51) to the stop position 0.18 degrees (P52) in accordance with the rotation of the handle 16C, and the A-axis motor is received by the stop signal at the stop position (P52). The time when 65 stops rotation is illustrated. The selection magnification is x100. At this time, the CPU 41 has a unit position 0.2 of the plurality of unit positions (± 0.1 degrees, ± 0.2 degrees, ± 0.3 degrees,...) Close to the stop position 0.18 degrees in the positive direction. The degree is specified as the proximity unit position (S79). The CPU 41 outputs a pulse signal indicating the proximity unit position to the A-axis drive control unit 55 at time t42 (P39, S81 (see FIG. 7)). At this time, the A-axis drive control unit 55 generates a pulse signal for rotating the A-axis motor 65 in the positive direction from the stop position 0.18 degrees to the proximity unit position 0.2 degrees in a cycle of 8t (time 42t to 50t). In the meantime, it is output to the A-axis motor 65 (P40). After inputting all the pulse signals, the A-axis motor 65 starts to rotate according to the pulse signals (P41). The A-axis motor 65 rotates 0.02 degree in the forward direction to the proximity unit position 0.2 degree (P53) and stops rotating (P42).

<Main functions and effects of this embodiment>
When the absolute value of the total rotation amount with respect to the handle 16C of the manual pulse generator 16 during the nth period is larger than 0 (S69: YES), the CPU 41 of the numerical controller 40 specifies a target position according to the total rotation amount (S71). ). The CPU 41 outputs a pulse signal corresponding to the target position to the A-axis drive control unit 55 (S73, P32). The A-axis drive controller 55 outputs a pulse signal for the (n + 1) -th cycle in order to rotate the A-axis motor 65 to the target position (P33). The A-axis motor 65 starts rotating in accordance with the pulse signal from the start point of the (n + 2) -th cycle (P35). When the absolute value of the total operation amount is 0 or less (S69: NO), the CPU 41 outputs a stop signal to the A-axis drive control unit 55 at the start of the (n + 1) period (S75, P36). In response to the stop signal, the A-axis drive control unit 55 stops the rotation of the A-axis motor 65 at the start of the (n + 1) -th cycle (P37, P38). Therefore, the numerical controller 40 can stop the A-axis motor 65 in a short time when the rotation of the handle 16C stops.

  When the user stops the rotation of the handle 16C, the user desires that the A-axis motor 65 stops at any one of a plurality of unit positions corresponding to the selection magnification set by the magnification switch 16A. When the A-axis motor 65 does not stop at any one of the plurality of unit positions, the user needs to reset the magnification switch 16A to finally rotate the A-axis motor 65 to any one of the plurality of unit positions. . On the other hand, the CPU 41 outputs a stop signal to the A-axis drive control unit 55 (S75), and acquires the stop position (S77). The CPU 41 specifies a position close to the stop position among the plurality of unit positions as the proximity unit position (S79). In order to rotate the A-axis motor 65 from the stop position to the proximity unit position, the CPU 41 outputs a pulse signal indicating the proximity unit position to the A-axis drive control unit 55 (S81). The A-axis motor 65 stops rotating in response to the stop signal, and then rotates to the proximity unit position (P41). At this time, when the user restarts the rotation of the handle 16C and finally rotates the A-axis motor 65 to any one of the plurality of unit positions, the resetting of the magnification switch 16A becomes unnecessary. Therefore, the user can easily resume the work.

  The CPU 41 specifies, as a proximity unit position, the closest position reached when the A-axis motor 65 rotates in the same direction as the rotation direction of the A-axis motor 65 before stopping, among the plurality of unit positions (S79). At this time, the rotation direction of the A-axis motor 65 is the same before and after the stop. Therefore, the user can efficiently restart the setup work using the manual pulse generator after the stop.

  The manual pulse generator 16 includes a dial type handle 16C. At this time, the CPU 41 can control the rotation of the motors 61 to 65 in accordance with the rotation operation of the handle 16C. Further, the CPU 41 stops the rotation of the motors 61 to 65 when the absolute value of the total rotation amount of the handle 16C during a predetermined period is 0. Therefore, the CPU 41 can stop the rotation of the motors 61 to 65 when the user stops the rotation of the handle 16C.

<Modification>
The present invention is not limited to the above embodiment. The times t and 8t necessary for the drive circuits 51 to 54 and the A-axis drive control unit 55 to transmit pulse signals to the motors 61 to 65 are examples, and other values may be used. The CPU 41 may determine that the handle 16C has rotated in the nth period when the absolute value of the total rotation amount calculated in S67 is greater than a predetermined threshold value (eg, 1, 2, etc.) greater than 0.

  The numerical control device 40 may drive at least one of the motors 61 to 65 by a drive control unit that drives in the same manner as the A-axis drive control unit 55. At this time, the CPU 41 may control any of the motors 61 to 65 driven by the drive control unit by executing a main process shown in FIG. The manual pulse generator 16 may have an input device other than the dial type instead of the handle 16C. The manual pulse generator 16 may have two buttons corresponding to the positive direction and the negative direction. The manual pulse generator 16 may output a rotation amount corresponding to the button pressing time to the numerical controller 40. The period in which the CPU 41 calculates the total rotation amount and the time required for the A-axis drive control unit 55 to output a pulse signal to the A-axis motor 65 may be different.

  The selection magnification may always be a predetermined magnification (for example, 1 time). At this time, the manual pulse generator 16 may not have the magnification switch 16A. After stopping the A-axis motor 65 by the stop signal, the CPU 41 may rotate the A-axis motor 65 to the second and third closest positions among the plurality of unit positions. That is, the final rotation position when the rotation of the A-axis motor 65 stopped by the stop signal is restarted may not be the unit position closest to the rotation position of the stopped A-axis motor 65 among the plurality of unit positions. Good.

  The CPU 41 may specify the closest position reached when the A-axis motor 65 rotates in the direction opposite to the rotation direction before the A-axis motor 65 stops among the plurality of unit positions as the proximity unit position. At this time, the rotation direction of the A-axis motor 65 is different between before and after the stop. The CPU 41 can prevent the position of the A-axis motor 65 after resuming rotation from proceeding further than the position of the A-axis motor 65 before stopping.

<Others>
The handle 16C of the manual pulse generator 16 is an example of the first input unit of the present invention. The magnification switch 16A of the manual pulse generator 16 is an example of the second input unit of the present invention. The rotation amount of the handle 16C is an example of the operation amount of the present invention. The total rotation amount is an example of the total operation amount of the present invention. The CPU 41 that performs the process of S65 is an example of a first acquisition unit of the present invention. The CPU 41 that performs the process of S69 is an example of the determination process of the present invention. The CPU 41 that performs the process of S71 is an example of a first specifying unit of the present invention. The jig 200 is an example of the stage of the present invention. The A-axis drive control unit 55 that performs the process of P33 is an example of the first output means of the present invention. The A-axis drive control unit 55 that performs the process of P37 is an example of the second output means of the present invention. The CPU 41 that performs the process of S77 is an example of a second acquisition unit of the present invention. The CPU 41 that performs the process of S79 is an example of the second specifying means of the present invention. The A-axis drive control unit 55 that performs the process of P40 is an example of a third output unit of the present invention.

1: Machine tool 16: Manual pulse generator 16A: Magnification switch 16B: Axis switch 16C: Handle 40: Numerical control device 41: CPU

Claims (6)

A first acquisition means for acquiring a total operation amount that is a total amount for each predetermined period of the operation amount for the first input unit;
Determination means for determining whether the total operation amount acquired during the nth period (n is an integer) by the first acquisition means is greater than a predetermined threshold;
First determination means for specifying a target position based on the total operation amount when the determination unit determines that the total operation amount is larger than the predetermined threshold;
First output means for outputting a first drive signal for rotating a servo motor for moving the stage to the target position specified by the first specifying means during the (n + 1) period;
A second output means for outputting a stop signal for stopping the rotation of the servo motor at the start of the (n + 1) period when the operation amount is determined to be equal to or less than the predetermined threshold by the determination means; A numerical control device characterized by. The first specifying means includes
Specifying the target position based on a value obtained by multiplying the operation total amount by the magnification set through the second input unit;
Second acquisition means for acquiring a stop position of the servo motor stopped in response to outputting the stop signal by the second output means;
Among a plurality of unit positions corresponding to the magnification and arranged at equal intervals, second specifying means for specifying a proximity unit position close to the stop position acquired by the second acquisition means;
A second drive signal for rotating the servo motor from the stop position acquired by the second acquisition means to the proximity unit position specified by the second specification means, and the stop signal by the second output means. The numerical control device according to claim 1, further comprising third output means for outputting after outputting. The proximity unit position is
3. The numerical control according to claim 2, wherein the position is reached when the servo motor rotates in the same direction as the rotation direction before the stop with respect to the position of the servo motor stopped according to the stop signal. apparatus. The proximity unit position is
3. The numerical control according to claim 2, wherein the position is reached when the servo motor rotates in a direction opposite to a rotation direction before the stop with respect to a position of the servo motor stopped according to the stop signal. apparatus. The first input unit is a handle that can be rotated,
The numerical control device according to claim 1, wherein the operation amount is a rotation amount of the handle.   The numerical control apparatus according to claim 1, wherein the predetermined threshold is 0.

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