JP2023026358A - Processing apparatus, control method, and program - Google Patents

Abstract

To provide a processing apparatus characterized in that the time elapsing until processing hardly gets longer even when a limit sensor enters an erroneous detection condition.SOLUTION: A processing apparatus includes a main shaft 11 that rotates while retaining a tool, a retention part that retains a processing object to be processed with the tool, moving means that relatively moves the main shaft 11 and the retention part in predetermined directions, limit sensors 402 and 403 that detect an abnormality in the position of the moving means when light emanating from a light emitting part is intercepted from reaching a light receiving part, memory means that stores information on a condition sustained after tools are exchanged until an abnormality is detected by the limit sensor 402 or 403, and control means that controls processing to be performed with the main shaft 11. When an abnormality is detected by the limit sensor 402 or 403, the control means tentatively suspends processing and resumes the processing according to the information stored in the storage means.SELECTED DRAWING: Figure 5

Description

The present invention relates to a processing apparatus, a control method, and a program for processing an object to be processed using a tool.

A linear motion guide mechanism is used for a drive mechanism for each axis of a processing device, an assembling device, or the like. Each drive shaft is often equipped with a sensor called a limit sensor, which stops the drive shaft when it reaches the limit position.

Patent Literature 1 describes a limit sensor that detects when the Z-axis table reaches a limit position.

Patent Publication: Japanese Patent Application Laid-Open No. 2000-311015

Transmissive sensors are often used as limit sensors in consideration of cost and size.
A member that is driven by a motor approaches the sensor and blocks the space between the sensor's light-emitting and light-receiving parts, activating the sensor. The unobstructed state of the sensor becomes inactive.

With such a configuration, even if the drive position of the motor has not reached the end of the movement range, the transmission sensor is an optical sensor, so if chips adhere to the detection surface on the light emitting part side or the light receiving part side, the state of the sensor will change. becomes active for a short period of time, erroneously detecting that the drive position of the motor has reached the end of the movement range, and is judged to be abnormal. If the process ends abnormally, the user must re-register the same machining program and perform machining again from the beginning of the machining program.

ADVANTAGE OF THE INVENTION This invention can provide the processing apparatus which does not become long to process even if it will be in the state which the limit sensor erroneously detected.

In order to solve the above-described problems, the processing apparatus of the present invention includes a spindle that holds and rotates a tool, a holder that holds an object to be machined by the tool, and a machine that rotates the spindle and the holder in a predetermined direction. and a limit sensor for detecting an abnormality in the position of the moving means by blocking the light from the light emitting part from reaching the light receiving part, and after the tool is replaced, storage means for storing state information until the abnormality is detected by the limit sensor; and control means for controlling machining by the tool, wherein the control means When it is detected, the machining is temporarily stopped, and the machining is restarted according to the information stored in the storage means.

Further, in order to solve the above-described problems, a method of controlling a processing apparatus according to the present invention includes a main shaft that holds and rotates a tool, a holding portion that holds a workpiece to be machined by the tool, and a and a limit sensor for detecting an abnormality in the position of the moving means by blocking the light from the light-emitting part from reaching the light-receiving part. A control method for a processing apparatus, comprising: storage means for storing state information from after the limit sensor is detected until the abnormality is detected; and control means for controlling machining by the spindle. a step of temporarily stopping machining by detecting the abnormality by the limit sensor; and a step of restarting machining according to the information stored in the storage means.

According to the present invention, machining can be completed in a shorter period of time even when machining is abnormally stopped due to erroneous detection of a limit sensor.

1 is an external perspective view of a processing apparatus according to one embodiment of the present invention; FIG. The perspective view of the internal structure in the processing apparatus which concerns on embodiment. 1 is a schematic cross-sectional view of an electrical unit according to an embodiment; FIG. FIG. 2 is a control block diagram in the processing device according to the embodiment; 3 is a perspective view of the Z axis according to the embodiment; FIG. Perspective view of the state in which the Z-axis drive mechanism is housed in the fuselage Flowchart for whether or not to retry when the Z-axis rise end limit is reached according to the embodiment

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described in detail below based on embodiments.

<Embodiment>
A processing apparatus according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5. FIG. FIG. 1 is an external perspective view of a processing apparatus according to an embodiment of the present invention. A pressure increasing valve 90 is attached to an air compressor 200 that generates air. Unclamp the chuck. An air pressure detection sensor 91 is provided downstream of the pressure increase valve 90 . An air pressure sensor 91 may be provided inside the processing apparatus to measure how much pressure is applied to the chuck of the tool.

As shown in FIG. 1, the processing apparatus 100 accommodates a processing apparatus main body within an exterior cover 101 . The exterior cover 101 has an opening/closing door 102, and by opening the opening/closing door 102, the work can be replaced.

The processing apparatus 100 supports a frame 1 as a moving mechanism support member, a first moving mechanism 10, a second moving mechanism 20, and a third moving mechanism 30 supported by the frame 1, and a work W as an object to be processed. a support mechanism 40 , a first rotation mechanism (rotation mechanism) 50 and a second rotation mechanism (another rotation mechanism) 60 capable of rotating the support mechanism 40 , a tool magazine 70 , and an electrical unit 80 .

The frame 1 is mounted on a base 2 having a cavity inside, and as shown in FIG. 4. In this embodiment, the first frame portion 3 is arranged along the vertical direction, and the second frame portion 4 is arranged along the horizontal direction. The second frame 4 may be configured by separating a portion along the Y-axis direction and a portion along the Z-axis direction, connecting them with screws or the like, and providing beams.

The first moving mechanism 10 is supported by the first surface 3a of the first frame portion 3 of the frame 1 via the second moving mechanism 20, and rotates the main shaft 11 in the Z-axis direction (vertical direction, first direction). It is movable. A processing tool 12 is detachably attached to the spindle 11 via a tool holder (clamp). The spindle 11 is rotationally driven by a motor 13 . As shown in FIG. 2, the first moving mechanism 10 has a motor 14 and a guide shaft (not shown) arranged in the Z-axis direction. Move back and forth (up and down) in the direction. The main shaft 11 is supported via a Z-axis support member 16 so as to be movable along the guide shaft. For example, the guide shaft is a ball screw, and the Z-axis support member 16 is a member that moves along the guide shaft (ball screw) that rotates when driven by the motor 14 . The guide shaft and Z-axis support member 16 are covered with a cover 17 .

The second moving mechanism 20 is supported on the first surface 3a of the first frame portion 3 of the frame 1, and moves the first moving mechanism 10 in the X-axis direction (horizontal direction, second direction) perpendicular to the Z-axis direction. The main shaft 11 can be moved together with . The second moving mechanism 20 has a motor 21 and a guide shaft (not shown) arranged in the X-axis direction, and driven by the motor 21 reciprocates the first moving mechanism 10 along the guide shaft in the X-axis direction. move. As with the first moving mechanism 10, the second moving mechanism 20 may also use, for example, a ball screw as a guide shaft.

The third moving mechanism 30 is supported on the second surface 4a of the second frame portion 4 of the frame 1, and supported in the Y-axis direction (horizontal direction, third direction) orthogonal to the Z-axis direction and the X-axis direction. Mechanism 40 is movable. The third moving mechanism 30 has a motor (not shown) and a guide shaft (not shown) arranged in the Y-axis direction, and the motor drives the support mechanism 40 to reciprocate along the guide shaft in the Y-axis direction. move. As with the first moving mechanism 10, the third moving mechanism 30 may also use, for example, a ball screw as a guide shaft.

The third moving mechanism 30 also includes a support plate portion 31 that supports the second rotation mechanism 60, and the support plate portion 31 reciprocates along the guide shaft in the Y-axis direction. As shown in FIG. 2, the support mechanism 40 side of the gantry 2 in the Y-axis direction is open. This prevents interference with the frame 2. The third moving mechanism 30 can move the support mechanism 40 in the Y-axis direction together with the second rotating mechanism 60 and the first rotating mechanism 50, as will be described later in detail.

The support mechanism 40 supports a work W as an object to be cut by the processing tool 12, such as a dental prosthesis. Such a support mechanism 40 includes a holding portion 41 that holds the work W, and a support portion 42 that is connected at both ends to the rotating portion 51 of the first rotating mechanism 50 and supports the work W via the holding portion 41. have The holding portion 41 and the support portion 42 are separate bodies, and the holding portion 41 is fixed to the support portion 42, as will be described later in detail. However, the holding portion 41 and the support portion 42 may be integrated.

The first rotation mechanism 50 can rotate the support mechanism 40 around an a-axis as a rotation axis orthogonal to the Z-axis direction. In this embodiment, the a-axis is parallel to the X-axis direction. Such a first rotating mechanism 50 has a support frame 53 that rotatably supports the rotating portion 51 and a motor that drives the rotating portion 51 to rotate. The support frame 53 is formed in a substantially U-shape so as to surround the periphery of the support mechanism 40, and includes a first support portion 53a that supports the motor and the rotating portion 51, and an unshown support portion that is provided to face the rotating portion 51. It is composed of a second support portion 53b that supports the rotating portion, and a connection portion 53c that connects the first support portion 53a and the second support portion 53b.

The rotating portion 51 supported by the first support portion 53a and the rotating portion supported by the second support portion 53b are arranged so as to face each other in the a-axis direction and are rotatable about the a-axis as a rotation axis. ing. Both ends of the support mechanism 40 in the a-axis direction are respectively supported by the rotating parts. Thereby, the first rotation mechanism 50 supports the support mechanism 40 so as to be rotatable about the a-axis.

The first rotating mechanism 50 can rotate at least 180 degrees and can turn over the workpiece W supported by the supporting mechanism 40 . In this embodiment, the first rotation mechanism 50 can rotate the support mechanism 40 by 360° around the a-axis.

The second rotating mechanism 60 can rotate the support mechanism 40 about the Z-axis direction and the b-axis as another rotating axis orthogonal to the a-axis. In this embodiment, the b-axis is parallel to the Y-axis direction. Such a second rotating mechanism 60 has a rotating portion to which the support frame 53 of the first rotating mechanism 50 is attached, and a motor that drives the rotating portion 61 to rotate. The connecting portion 53c of the support frame 53 is attached to the rotating portion 61, and the rotating portion 61 can rotate the support frame 53 around the b-axis by being rotationally driven by the motor 62. As shown in FIG. Therefore, the second rotation mechanism 60 supports the support mechanism 40 together with the first rotation mechanism 50 so as to be rotatable around the b-axis.

A tool magazine 70 as a tool holding section can hold a plurality of processing tools, is arranged adjacent to the first rotating mechanism 50 , and is supported so as not to rotate together with the second rotating mechanism 60 . Further, the tool magazine 70 can be moved in the Y-axis direction together with the support mechanism 40 and the like by the third moving mechanism 30 .

In the tool magazine 70, a plurality of types of processing tools formed integrally with the tool holders 12a are held and arranged in a plurality of rows along the Y-axis direction. The processing tool attached to the spindle 11 is replaceable. The tool holder 12a is a portion held by the spindle 11, and may be formed integrally with the processing tool or may be formed separately. In this embodiment, after the processing tool 12 is attached to the tool holder 12a with a chuck, the chuck portion for holding the tool of the spindle 11 holds the tool holder 12a via the tool holder 12a. . However, a processing tool may be attached directly to the spindle 11 . The replacement of the processing tool may be performed by an operator, or may be performed automatically by the processing apparatus 100 .

In the case of automatically exchanging the processing tools, the second moving mechanism 20 and the third moving mechanism 30 move an empty space in the tool magazine 70 in which no processing tools are contained below the spindle 11 . By lowering the main spindle 11 by the first moving mechanism 10 and operating a detachable device such as a chuck provided on the main spindle 11, the processing tool 12 attached to the main spindle 11 is removed and the empty space of the tool magazine 70 is removed. to be placed. Next, the first moving mechanism 10 raises the spindle 11, and the second moving mechanism 20 and the third moving mechanism 30 move the position of the tool magazine 70 where the processing tools 12 to be replaced are arranged below the spindle 11. . Then, the spindle 11 is lowered again by the first moving mechanism 10 and the attachment/detachment device is operated to attach the processing tool 12 to be replaced to the spindle 11 . In addition, the processing tool 12 is, for example, a drill or an end mill.

The electrical unit 80 is mounted inside a space surrounded by a rectangular parallelepiped including the maximum sides of the frame 1 in the XYZ directions. In other words, the electrical unit 80 is arranged on the opposite side of the first surface 3 a of the first frame portion 3 and on the opposite side of the second surface 4 a of the second frame portion 4 . By arranging the electric equipment unit 80 inside the L-shaped frame 1 where the moving mechanism and the rotating mechanism are not arranged, the space can be effectively used and the size of the device can be reduced.

Such an electrical unit 80 controls the processing apparatus 100, and as shown in FIG. there is The control board 83 controls driving of the motors of the main axis and each axis. Each of the control units 84a, 84b, 84c, 84x, 84y, and 84z, for example, calculates a pulse to be output to the motor from the signal of the rotary encoder of the corresponding motor, and appropriately controls the rotation of the corresponding motor. be. The controllers 84a, 84b, 84c, 84x, 84y, and 84z, which are servo amplifiers, rotate the motors corresponding to the NC code executed in the circuit of the control board 83 so that the positions and rotation speeds are indicated. Let

That is, the controller 84a controls the motor 54 of the first rotation mechanism 50 to rotate the support mechanism 40 around the a-axis. The control unit 84b controls the motor of the second rotation mechanism 60 to tilt the support mechanism 40 around the b-axis, thereby determining the posture of the support mechanism 40. FIG. The control unit 84x also controls the motor 21 of the second moving mechanism 20 to move the main shaft 11 in the X-axis direction, and determines the position of the main shaft 11 in the X-axis direction. The control unit 84y controls the motor of the third moving mechanism 30 to move the support mechanism 40 in the Y-axis direction, and determines the position of the support mechanism 40 in the Y-axis direction. The control unit 84z controls the motor 13 of the first moving mechanism 10 to move the main shaft 11 in the Z-axis direction, and determines the position of the main shaft 11 in the Z-axis direction. Thereby, the relative positions of the main shaft 11 and the support mechanism 40 on the X, Y, and Z axes are determined.

Moreover, the processing apparatus 100 of this embodiment is an NC processing apparatus that performs automatic processing under computer control. Specifically, machining data is created by a CAD/CAM system using an external terminal such as a personal computer, and the workpiece W is machined by numerical control based on this data. For this reason, an external terminal such as a personal computer that issues commands to the processing apparatus 100 is communicably connected to the control board 83 of the processing apparatus 100 . The external terminal may create the NC code according to the conditions and transmit it to the control board 83 . The processing apparatus 100 itself may be provided with a computer equipped with a CPU and a memory capable of numerical control.

For example, when creating a dental prosthesis with the processing apparatus 100, the data of the dental prosthesis measured by the three-dimensional measuring device is transferred to the CAD/CAM system, and processing data is created by the CAD/CAM system. Then, based on this processing data, the processing apparatus 100 is controlled to cut the workpiece W with the processing tool 12, thereby producing a dental prosthesis.

As shown in FIG. 4, the electrical unit 80 includes a CPU 85 serving as computing means, an input/output port (I/O) 86i, control units 84x, 84y, and 84z for each motor, a control unit 84c for the spindle, and a control unit for the a-axis. 84a and b-axis controllers 84b and the like. The CPU 85 provided on the control board 83 performs various calculations using the memory 86m based on the input data and signals, and controls the connected control units 84x, 84y, 84z, 84a, 84b, and 84c as servo amplifiers. to send rotation speed and position instructions.

The I/O 86i is connected to the air blower 87, the dust collector 88, and the tool length sensor 96 of the processing apparatus main body. The air blower 87 blows air to the tool as described above, and the removed chips are collected by the dust collector 88 . A tool length sensor 96 detects the length of the tool and sends a signal to the CPU 85 .

Control units 84 x , 84 y and 84 z for each motor drive the X, Y and Z motors based on commands from the CPU 85 . Encoders are provided in the controllers 84x, 84y, and 84z of the respective motors. The encoder detects, for example, the number of rotations, the rotation angle, and the rotation direction of the rotation shafts of the control units 84x, 84y, and 84z of each motor. Then, the amounts (positions) by which the stages x, y, and z are moved by driving the control units 84x, 84y, and 84z of the respective motors are detected.

The control unit 84c controls a motor (not shown) that rotates the main shaft 11 to control the rotational speed of the main shaft (spindle). The a-axis and b-axis control units 84 a and 84 b drive the a-axis and b-axis motors based on commands from the CPU 85 .

By controlling each part of the processing apparatus 100 by the CPU 85 in this manner, the workpiece W held as described above is processed in a predetermined manner.

The CPU 85 develops a program in a storage means such as the memory 86m and executes each means and process to be described later.

In general, a processing device has a table of numerical values associated with each processing result, and these numerical values are called error codes. The numerical value of the error code and the state are linked, and by obtaining the error code, it is possible to know in what state the processing was completed.

Table 1 shows a list of associations between error codes and states.

If the error code is 0000, the machining has been completed normally.

If the error code is 1000, the NC code described in the NC file is grammatically incorrect due to a writing error or the like, and cannot be deciphered.

If the error code is 2000, the board firmware has detected that the X-axis servo amplifier has issued an abnormal signal. There are multiple cases where the servo amplifier becomes abnormal. For example, when the actual position does not follow the indicated position and a positional deviation occurs, the positional deviation is abnormal. In addition, when heavy cutting is performed and the processing load is large, the indicated torque to the motor becomes large, and overload protection becomes abnormal.

If the error code is 2001, it is an X-axis advance end limit sensor error.

A limit sensor error will be explained. In general, there is a mechanism in which the servo amplifier forcibly stops movement to prevent an overrun when the end of the movement range of the stage is approached. A sensor is provided at the end of the stage, a signal from the sensor is input to the servo amplifier, and when the sensor responds, the servo amplifier holds the stage in place and prohibits further movement. This sensor is called a limit sensor, and an error stop due to this sensor is called a limit sensor error.

Error codes 3000, 3001, and 3002 are errors related to the Y axis, which are the same as those for the X axis.

Error codes 4000, 4001, and 4002 are errors related to the Z axis, which are the same as those for the X axis. However, since the Z-axis is an axis that moves up and down, limit abnormalities occur at two end points, the lower end and the upper end.

Error codes 5000, 5001, and 5002 are errors related to the A axis. Since the A-axis is a rotation axis and can rotate 360 degrees or more, no limit sensor is provided.

Error codes 6000, 6001, and 6002 are errors related to the B axis. The B-axis can rotate up to ±30 degrees, but due to space limitations, no limit sensor is provided.

FIG. 5 is a perspective view of the Z-axis drive mechanism. The first moving mechanism 10 as a Z-axis driving mechanism will be described. The first moving mechanism 10 of this embodiment is a mechanism that relatively moves the main shaft 11 and the holding device 41 in the Z-axis direction (predetermined direction), and in this embodiment, reciprocates the main shaft 11 in the Z-axis direction.

In the first moving mechanism 10 for moving the dental milling machine in the Z direction, the ascending side of the Z axis is called a Z axis ascending end limit sensor 403, and the descending side of the Z axis is called a Z axis descending end limit sensor 402. there is As shown in FIG. 5, limit sensors 402 and 403 for detecting passage of the detection piece 401 are provided at positions on both sides in the Z-axis direction through which the detection piece 401 can pass. Limit sensors 402 and 403 are optical sensors such as photointerrupters.

FIG. 6 is a perspective view of the state in which the Z-axis drive mechanism is accommodated in the body. The housing portion 300 is provided inside the exterior cover 101 of the processing apparatus 100 (see FIG. 1). The distal end side of the spindle 11, the holding section 41, the tool magazine 70, and the like are arranged inside the accommodation section 300 to form a machining space for tools. An opening 301 is formed to allow access to the machining space when the opening/closing door 102 (see FIG. 1) of the exterior cover 101 is opened. Further, an opening 302 is formed on the upper surface side so that the first moving mechanism 10 can move in the X-axis direction. A roll curtain 303 that moves along with the movement of the main shaft 11 is provided so as to cover the opening 302 . Chips tend to flow into the storage section from the opening 302, and although a roll curtain 303 is installed to prevent the flow, chips may leak from between the roll curtain 303 and the opening 302. . In that case, chips that spread inside the machine body adhere to the Z-axis rising end limit sensor 403 and Z-axis falling end limit sensor 402, which activates the sensor state and moves the motor drive position to the end of the movement range. It may erroneously detect that it has arrived and determine that it is abnormal.

FIG. 7 is a flowchart showing whether or not to retry when the Z-axis ascending end limit (limit sensor 403) detects a limit abnormality.

In step S1, the CPU 85 substitutes 0 for the retry counter.

At step S2, the CPU 85 executes a machining operation. The machining operation is to carry out machining according to the contents described in the NC file. It includes tool change, tool length measurement, rotation of the tool mounted on the spindle, and movement of each axis. A desired shape can be obtained by this processing operation.

In step S3, the CPU 85 acquires the result of machining after the machining operation. The processing result is the aforementioned error code.

In step S4, the CPU 85 determines whether the processing result is normal or an error. The determination method is whether or not the numerical value of the error code is zero (normal). If normal, the process ends. If there is an error, go to S5.

In step S5, the CPU 85 determines whether the error code indicates Z-axis ascending end limit abnormality. The determination method is whether the numerical value of the error code is 4002 or not. In the case of the Z-axis ascending end limit abnormality, the process proceeds to S6. Otherwise, proceed to S10.

In step S10, the CPU 85 executes error processing. For example, the display of error codes and the color setting of indicators such as indicators. Since an error has occurred at this time, the machining operation is temporarily stopped.

In step S6, the CPU 85 determines whether or not the retry counter is less than one. If it is less than 1, proceed to S7, and if it is 1 or more, proceed to S10.

In step S7, the CPU 85 counts by adding 1 to the retry counter. The retry counter is initialized in S1 at the start of machining, and is incremented in S7 when a Z-axis ascending end limit abnormality occurs.

In step S8, the CPU 85 resets the error. An error reset is required to resume machining. Error resetting means returning the control state from the error state to the normal state so that each axis can operate.

In step S9, the CPU 85 restores the state immediately after the tool change in order to restart machining based on various variables stored in the memory 86m, which will be described later. The reason for restoring the state immediately after the tool change is that in that state the cutting edge of the tool does not actually cut into the work material and is retracted into the sky, making it an appropriate point to restart. In order to restore the state, it is necessary to save various variables used in the machining operation each time the tool is changed. Various variables include, for example, an execution point variable of an NC file, a variable for managing the state of the NC code that has been executed up to that point, and the coordinate position of each axis. Based on this information, the state before the limit error occurred after the tool was changed is restored.

In the above-described embodiment, the abnormality caused by the limit sensor 403 is determined by the error code, but the output of the sensor may be used as it is or another method may be used. Although the retry processing for the Z-axis rising end limit has been described, retry processing may also be performed when an error occurs for each of the other axes. Although the predetermined value of the retry counter is set to 1, it may be repeated several times. Prevents retry processing from being repeated due to limit errors.

11 Spindle 12 Processing Tool 40 Support Mechanism 70 Tool Magazine 85 CPU
86m Memory 87 Air Blow Part 96 Tool Length Sensor 100 Machining Device 300 Storage Part 402 403 Limit Sensor

Claims (7)

a spindle that holds and rotates the tool;
a holding part that holds an object to be machined by the tool;
moving means for relatively moving the main shaft and the holding portion in a predetermined direction;
a limit sensor that detects an abnormality in the position of the moving means by blocking light from the light emitting unit from reaching the light receiving unit;
storage means for storing state information from after the tool is changed until the abnormality is detected by the limit sensor;
and a control means for controlling machining by the tool,
The processing apparatus, wherein the control means temporarily stops the machining when the abnormality is detected by the limit sensor, and restarts the machining according to the information stored in the storage means. the moving means is a Z-axis moving mechanism for moving the main axis in the Z-axis direction;
2. The processing apparatus according to claim 1, wherein said limit sensor detects said abnormality of said Z-axis movement mechanism. an accommodating portion that accommodates the holding portion therein and forms a machining space in which the workpiece is machined by the tool;
3. The processing apparatus according to claim 2, wherein an opening is formed on an upper surface side of said accommodating portion. counting the number of times that machining is restarted when the abnormality of the limit sensor is detected;
2. The processing apparatus according to claim 1, wherein processing is restarted only a predetermined number of times. 2. The processing apparatus according to claim 1, wherein the processing is restarted from the state immediately after the tool exchange is performed according to the information stored in the storage means. A program that causes a computer to function as the control means of the processing apparatus according to any one of claims 1 to 5. a spindle that holds and rotates the tool;
a holding part that holds an object to be machined by the tool;
moving means for relatively moving the main shaft and the holding portion in a predetermined direction;
a limit sensor that detects an abnormality in the position of the moving means by blocking light from the light emitting unit from reaching the light receiving unit;
storage means for storing state information from after the tool is changed until the abnormality is detected by the limit sensor;
A control method for a processing apparatus comprising control means for controlling processing by the spindle,
a step of temporarily stopping machining by detecting the abnormality by the limit sensor;
and resuming the machining according to the information stored in the storage means.

Images