JP3135738B2 - Numerical control unit - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerical controller for driving a mechanical system, and more particularly to a numerical controller for driving a machine tool, a robot, and the like.

[0002]

2. Description of the Related Art FIG.
FIG. 1 is a block diagram showing a conventional numerical control device having means for changing an operation speed disclosed in Japanese Patent Publication No.
2 is a control object, 3 is a command value generation unit, 22 is a feedback compensator for performing PD control, 109 is a variable speed learning controller, 107 is a speed setting unit, and 108 is a learning control unit.

Next, the operation will be described. The command value generation unit 3 generates a command value that is a target value for operating the control target 2. The feedback compensator 22 performs a PD calculation based on the error between the command value and the output of the controlled object 2 to determine an appropriate input to the controlled object 2. Since the control target 2 cannot properly follow the command value only by the feedback control described above, when the same command value is repeatedly given, the learning control unit 108 calculates an appropriate correction amount based on the error up to the previous time. , Input to the control target 2. When the control target 2 is operated at high speed, an excessive error occurs in the control using only the feedback compensator 22. Therefore, the speed setting unit 107 first sets a low speed to the command value generation unit 3, And the learning control unit 108 performs learning. Then, the speed setting unit 10
7, a high speed is set, the learning operation is performed by the learning control unit 108 by repeating the operation. When changing the set speed, the learning control unit 108 corrects a correction value added to the input to the control target 2 according to the magnitude of the speed to be changed.

FIG. 14 shows, for example, a Mitsubishi numerical controller MELD.
This is a program based on the programming language described in the AS300 / 300V series programming manual (1990). In the drawing, N010, N020, N
030 indicates each step of the operation.

Next, the operation will be described. In N010, the work coordinate system 1 is designated, and X = 0,
Rapid feed is performed to the origin of Y = 0, the main shaft is rotated, and the cutting fluid is turned on. Next, in N020, the speed is 200 mm / m
in, -10 m in the Z-axis direction at a spindle speed of 1000 rpm
Send by m linear interpolation. Finally, at N030, the speed is 250m
Sent by counterclockwise circular interpolation at m / min, center coordinates X = 0, Y = 50.

[0006]

Since the conventional numerical control device is configured as described above, the command speed is changed, but the speed value to be changed must be determined in advance.
There is also a problem that the magnitude of the error is not reflected in the setting of the speed.

Further, the program in the conventional numerical controller has a problem that the operation can be specified only by the speed.

The inventions of claims 1 to 4 have been made in order to solve the above problems, and a numerical control device capable of automatically setting an operation speed and an acceleration in accordance with the size of an error and the capability of an actuator. It is another object of the present invention to provide a numerical controller capable of programming an allowable range of an error.

[0009]

According to a first aspect of the present invention, there is provided a numerical control apparatus comprising: an error allowable value setting unit for setting an error allowable value; an accuracy measuring unit for obtaining an error size; an operating speed; It is provided with a command condition setting unit for setting the length.

A numerical controller according to a second aspect of the present invention further includes a parameter tuning unit for correcting a parameter of the servo control unit in addition to the first aspect of the present invention.

A numerical controller according to a third aspect of the present invention further includes a learning control unit for outputting a correction value to the servo control unit in addition to the first aspect of the present invention.

According to a fourth aspect of the present invention, there is provided a numerical control apparatus further comprising a display section for displaying an error.

According to a fifth aspect of the present invention, there is provided a numerical controller for setting an allowable value of an error, a database unit for storing various relations between a motion trajectory and the magnitude of the generated error, speed, and acceleration; A command condition setting unit for setting the operation speed and the magnitude of the acceleration is provided.

According to a sixth aspect of the present invention, there is provided a numerical controller including a program capable of designating an allowable range of an error.

[0015]

According to a first aspect of the present invention, a numerical control apparatus obtains a magnitude of an error and a necessary current value from data at the time of driving, and compares the designated error allowable value with a known current allowable value to determine a speed. , Change the setting part of the acceleration.

The numerical controller according to the second aspect of the present invention comprises:
When the magnitude of the error exceeds the allowable error value, the parameters of the servo control unit are automatically tuned to improve the error.

The numerical control device according to the invention of claim 3 is
When the magnitude of the error exceeds an error allowable value, learning control by a repetitive operation is performed to improve the error.

The numerical control device according to the invention of claim 4 is
The magnitude of the error obtained from the data at the time of driving is displayed so that the user can recognize it.

The numerical control device according to the fifth aspect of the present invention
Based on the information of the database, the set values of the speed and the acceleration are determined from the specified error allowable value and the characteristic of the motion trajectory.

The numerical controller according to the invention of claim 6 is:
When the error tolerance is specified in the program, the speed and acceleration are automatically set.

[0021]

【Example】

Embodiment 1 FIG. An embodiment of the first aspect of the present invention will be described below with reference to the drawings. In FIG. 1, 21a and 21b are feedforward compensators, 22a and 22b are feedback compensators, 23a and 23b are current control units, 1a and 1b are servo control units, and feedforward compensators 21a and 21b,
Feedback compensators 22a and 22b, current control unit 23
a and 23b. 2 is a control object, 3 is a command value generation unit, 4a and 4b are current measurement units, 5a and 5b are accuracy measurement units, 6 is an error allowable value setting unit, 7 is a command condition setting unit, 1
1a and 11b are operation command values generated by the command value generation unit 3, 12a and 12b are operation amounts to the control target 2 generated by the servo control units 1a and 1b, and 13a and 13b are provided in the control target 2. Position sensor feedback value, 1
4a and 14b are current values during operation, 15 is a command condition set value which is an output of the command condition setting unit 7, 16 is an error allowable value, 1
Reference numerals 7a and 17b denote measured current values, which include a peak current value and an effective current value. 18a and 18b are precision measurement values (errors) as errors. Here, the control target 2 is a two-axis XY table in a machine tool, and the suffixes a and b of the numbers in the figure indicate blocks for the X-axis and Y-axis, respectively.

Next, the operation will be described. The servo controllers 1a and 1b drive the control target 2 in accordance with the operation command values 11a and 11b, and the feedback compensators 22a and 22b calculate the error between the operation command values 11a and 11b and the feedback values 13a and 13b. The feedback current command value is obtained based on the
a and 21b determine feedforward current command values based on the operation command values 11a and 11b and the model of the control target 2. The current control units 23a and 23b receive a current command value, which is the sum of the feedback current command value and the feedforward current command value, and operate the motor 2 of the control target 2 with the operation amount 12
a, 12b. The command value generation unit 3 sets a command condition set value 15, that is, a set value of speed and acceleration, and
Operation command values 11a and 11b for each of the X and Y axes are generated based on a given trajectory.

The accuracy measuring units 5a, 5b and the current measuring units 4a,
In step 4b, the precision measurement values 18a and 18b and the current measurement values 17a and 17b including the peak current value and the effective current value are obtained based on the data at the time of operation. That is, in the accuracy measurement units 5a and 5b, the maximum value of the error between the operation command values 11a and 11b and the feedback values 13a and 13b is set as the accuracy measurement values 18a and 18b. Also, the current measuring units 4a,
In 4b, the maximum value of the current values 14a and 14b during operation is defined as the peak current value, and the value calculated by the equation (1) based on the current value during operation is defined as the effective current value _Irms .

[0024]

(Equation 1)

Here, i indicates the current value during operation, and t ₁ indicates the time during which the current operation command values 11a and 11b are executed.
In the conventional numerical control device, the command condition setting values 15 for speed and acceleration are determined in advance, and the operation command value is generated based on the command condition setting value. Learn appropriate speed and acceleration settings. In other words, the command condition setting unit 7 sets the allowable value of the peak current value and the allowable value of the effective current value based on the error allowable value 16 input by the error allowable value setting unit 6 and the characteristics of the motor. , The accuracy measurement values 18a, 18 respectively
b, the set values 15 of the speed and acceleration in the next operation are determined by comparing with the measured current values 17a and 17b.

FIG. 2 is a flowchart showing a procedure for setting the speed and the acceleration. When the operation is started in step ST1, first, in step ST2, the error allowable value setting unit 6 sets the error allowable value 16, and in step ST3, the initial values of the speed and acceleration command condition setting values 15 are determined. Next, using the determined speed and acceleration, the operation command values 11a and 11b are generated in the command value generation unit 3 in step ST4, and the control target 2 is operated by the servo control units 1a and 1b. The peak current value in step ST5 based on the data at the time of operation,
An effective current value is obtained, and an accuracy measurement value 18 is obtained in step ST6.
a and 18b are obtained. In step ST7, the peak current value,
The effective current value and the accuracy measurement values 18a and 18b are compared with respective allowable values.
In step 8, the next speed and acceleration are set to values larger than this time. If any of the values exceeds the allowable value, the next speed and acceleration are set to values smaller than the current speed in step ST9. An end determination is made in step ST10 based on the values of the speed and acceleration operated so far and the values determined in step ST9. If the result of step ST10 is not the end, and speed in step ST8, if setting of the acceleration is completed, again Sir returns to step ST4
Servo control unit 1a, to operate the controlled object 2 by 1b. If the result of step ST10 is completed, step ST11
Then, the learning procedure is completed, and thereafter, the operation is performed at the determined speed and acceleration. The speedup in step ST8 is determined based on the following equation.

[0027]

(Equation 2)

Here, V _now is the speed at the time of this operation, and V
_next and A _next are the speed, acceleration,
V _ng is the speed at which the operation was performed so far and the result of ST7 is N
The minimum speed k among those obtained as O is a constant for determining an appropriate acceleration corresponding to the speed when the speed is determined. Equation (2) shows that the next speed is 1.5 times the current speed and the smaller of the geometric mean of the current speed and the speed at which the error or current became excessive in the past.
The speed reduction in step ST9 is determined based on the following equation.

[0029]

(Equation 3)

Here, V _ok is the maximum speed among the speeds at which the operation has been executed so far and the result of step ST7 is YES. Equation (4) indicates that the geometrical average of the speed at which the error or current did not become excessive in the past and the current speed is used as the next speed. The determination of the end of step ST10 is that when 1.1V _next > V _now ... (6) holds, V _next = V _ok and the process is terminated.

In the first embodiment, the error and the current value are used for evaluating the speed limit. However, when there is no requirement for the error and the speed is determined only from the current value, the error allowable value is sufficiently set. It can be realized by setting the value to a large value.

Embodiment 2 FIG. Another embodiment of the present invention will be described with reference to the drawings. 3, the same reference numerals as those in FIG. 1 denote the same parts, 5c denotes a trajectory accuracy measuring unit (accuracy measuring unit) as an accuracy measuring unit, 11c denotes an operation command value on the trajectory,
18c is a locus accuracy measurement value as an error. Example 1
In the above, the accuracy measuring units 5a and 5b measure the error of each of the X axis and the Y axis and use them in the command condition setting unit 7. In this embodiment, however, the command condition is determined based on the error on the trajectory on the XY plane. The set value 15 of the speed and acceleration in the setting unit 7 is determined.
The error on the trajectory is 2 × XY in the trajectory accuracy measuring unit 5c.
The motion trajectory on the XY plane is obtained based on the axis feedback values 13a and 13b, and the difference between the motion trajectory and the motion command value 11c on the trajectory is obtained. The case of using the error on the trajectory as in the present embodiment is a more direct evaluation of the effect of the error on the machining result by the machine tool, for example.

Embodiment 3 FIG. Next, an embodiment of the present invention will be described with reference to the drawings. 4, the same reference numerals as those in FIG. 3 denote the same parts, 8a and 8b denote parameter tuning units, and 19a and 19b denote parameter tuning execution commands. As shown in Japanese Patent Application No. 4-112369, "two-degree-of-freedom control device and servo control device for electric motor", the parameter tuning units 8a and 8b provide operation command values 11a and 11b and current values 14a and 14a during operation. 14b, the parameters of the model of the controlled object 2, such as the magnitude of the moment of inertia of the load and the magnitude of the friction, are identified,
According to the result, the feedforward compensators 21a, 21a
1b, a function of automatically tuning parameters of the feedback compensators 22a and 22b. In theory,
When the parameters of the model of the control target 2 are accurately obtained, appropriate values of the parameters of the feedforward compensators 21a and 21b and the feedback compensators 22a and 22b are set regardless of the speed and acceleration command condition setting value 15. Although it can be determined, in practice, the locus error is often reduced by re-tuning an appropriate parameter for each operation speed because the friction characteristics depend on the operation speed. Therefore, in this embodiment, the speed and acceleration are changed,
If the resulting trajectory accuracy is greater than the error tolerance, parameter tuning is performed to try to reduce the error for the changed speed and acceleration to less than the error tolerance.

FIG. 5 is a flowchart showing the procedure for setting the speed and acceleration in this embodiment. The same reference numerals as in FIG. 2 denote the steps having the same contents. In step ST7,
If any of the error, the peak current value, and the effective current value exceeds the allowable value and is determined to be NO, in step ST12, the parameter tuning is performed with the current speed and acceleration set values, or the parameter tuning is performed. Then, a comparison is made as to whether the parameter change amount due to the tuning is smaller than a reference value. As a result, if the tuning is performed at the current speed and acceleration set values and the parameter change amount due to the tuning is smaller than the reference value, it is determined that the parameter tuning at the current speed and acceleration has been completed. The process proceeds to step ST9 to perform the same processing as in FIG. If the parameter tuning has not been completed, at step ST13,
The parameter is tuned from the data at the time of this operation, and the operation is executed again in step ST4 without correcting the speed and acceleration using the parameters obtained as a result. According to the present embodiment, although the number of operations is increased as compared with the second embodiment, there is a possibility that a higher-speed operation can be realized for the same error allowable value.

Embodiment 4 FIG. A third embodiment of the invention will be described with reference to the drawings. 6, the same reference numerals as those in FIG. 1 denote the same parts, 10a and 10b denote learning control units, and 20a and 2
0b is a learning control execution command. Learning control unit 10a, 1
0b is an operation command value 11 during operation as shown in, for example, "Control Device" of JP-A-63-298501.
By storing data obtained by performing an appropriate calculation on the difference between the feedback values 13a and 13b and the feedback values 13a and 13b, and adding the data stored during the next operation to the outputs of the feedback compensators 22a and 22b, an operation command is issued for each operation. Value 11a, 1
1b and a function of reducing the difference between the feedback values 13a and 13b. Therefore, in the present embodiment, the same effects as in the third embodiment can be obtained by providing the learning control units 10a and 10b instead of the parameter tuning units 8a and 8b in the third embodiment.

Embodiment 5 FIG. A fourth embodiment of the invention will be described with reference to the drawings. 7, the same reference numerals as those in FIG. 3 denote the same parts, and 9 denotes a trajectory accuracy display unit (display unit) as a display unit. In the trajectory accuracy display unit 9, the trajectory accuracy measurement unit 5
Based on the data used in c, the maximum value of the error and the point on the trajectory where the error occurs are displayed as a numerical value or a graph. With the provision of the trajectory accuracy display section 9, the user of the numerical control device can grasp a point on the trajectory having a large error and its value, which can be used as a reference when specifying the trajectory.

Embodiment 6 FIG. An embodiment of the invention according to claim 5 will be described with reference to the drawings. 8, the same reference numerals as those in FIG. 1 denote the same parts, 7c denotes a command condition setting unit in this embodiment, and 30 denotes a database. In this embodiment, when the error allowable value 16 is set by the error allowable value setting unit 6, the command condition setting unit 7c stores the error allowable value 16 in the database 30 based on the information on the shape of the designated trajectory and the error allowable value 16. An appropriate set value 15 of speed and acceleration is determined from the stored information, and is output to the command value generator 3. FIG. 9 shows database 3
0 is shown, and data indicating the relationship between the radius R of the trajectory, the maximum error E, and the speed V are listed. For example, if the specified trajectory is performing a movement corresponding to a radius of 5 mm and the error tolerance is specified as 8 μm, the speed is 3000 mm / in the case of a radius of 5 mm and a maximum error of 5 μm, taking a margin from the database. min is adopted. Also,
The acceleration in this case is obtained by equation (5).

In the sixth embodiment, the speed under more severe conditions in the database 30 is selected in consideration of safety. However, the speed may be determined by interpolation of a plurality of data. Although the data in the database 30 is only R, E, and V, the optimum parameters of the feedforward compensator 21 and the feedback compensator 22 for the corresponding R and E are stored together. May be. In this case, the command condition setting section 7c sets the set values 15 of the speed and acceleration, and the parameters of the feedforward compensators 21a and 21b and the feedback compensators 22a and 22b.

Embodiment 7 FIG. Another embodiment of the present invention will be described with reference to the drawings. 10, the same reference numerals as those in FIGS. 4 and 8 denote the same parts, and 7d denotes a command condition setting unit in this embodiment. In the command condition setting section of this embodiment, if data valid for the designated trajectory and the allowable error value exists in the database 30, the command condition is determined based on the data and the operation is performed. After the operation, if the obtained speed, accuracy, and current value are inconsistent with those stored in the database 30, the result is updated or added to the database 30. If there is no valid data for the designated trajectory and error tolerance in the database 30, the speed, acceleration and feedforward compensators 21a, 21b and feedback compensator 22 of the command are executed in the same procedure as in the third embodiment.
The parameters a and 22b are determined, and the result is added to the database 30. With the configuration as in this embodiment, the operation under the conditions provided in the database 30 can set the speed and the acceleration without performing the trial of the operation, and under other conditions, the learning is performed by repeating the trial. ,
You can set the acceleration.

Embodiment 8 FIG. An embodiment of the invention according to claim 6 will be described with reference to the drawings. In FIG. 11, reference numeral 40 denotes the entire program. N100 to N230 indicate the respective steps, M300 is an M code indicating the start of learning of the command condition, M301 is an M code indicating the end of the same, α10 is a variable name in which the allowable error value and the command condition are substituted, α Indicates the type of variable, and 10 is its number.

The variable indicated by α has a structure of {error allowable value, speed, acceleration, and compensator parameters}. The user substitutes an error tolerance in advance. N100 to N140 are programs for learning for substituting the contents of α10, and M300 of N100 and M301 of N140 indicate that the steps of N110 to N130 are learning procedures. In N110, the work coordinate system 1 is designated, and X = 0,
Fast forward to the origin of Y = 0. In N120, speed 20
Send by linear interpolation at -10 mm in the Z-axis direction at 0 mm / min. Finally, in N130, the data is sent counterclockwise by circular interpolation at a speed of 250 mm / min, center coordinates X = 0 and Y = 50. By repeating the above operation, the speed of α10, the acceleration,
The parameters of the compensator are determined and substituted by, for example, the method described in the third embodiment. If α10 is used in the program for normal machining after the learning, the operation using the speed, acceleration, and compensator parameters obtained at the time of learning can be realized, and the high-speed operation that satisfies the error tolerance value that has been substituted in advance. Can be realized. That is, from N210 to N230, first, in N210, the work coordinate system 1 is designated, rapid feeding is performed to the origin of X = 0, Y = 0 by the absolute value command, the main spindle is rotated, and the cutting fluid is turned on. Next, in N220, Z speed is set to 200 mm / min and the spindle speed is set to 1000 rpm.
Sent by -10 mm linear interpolation in the axial direction. Finally, in N230, using the velocity, acceleration, and compensator parameters determined by learning, the data is sent by circular interpolation in the counterclockwise direction at the center coordinates X = 0, Y = 50.

Embodiment 9 FIG. Another embodiment of the present invention will be described with reference to the drawings. In FIG. 12, 50 indicates the entire program. N310 to N330 indicate respective steps, and the contents of each step are described in N210 of FIG.
To N230. The program in this embodiment realizes an operation that satisfies the tolerance without explicitly writing a learning step. That is, when the programs from N310 to N330 are executed, first, an α variable to which the parameters of the speed, acceleration, and compensator are not substituted is searched, and a learning operation necessary for substituting the value of the variable, if any, is performed. Generate and execute automatically. In the ninth embodiment, the learning operation for α10 of N330 is executed, and after the value of α10 is determined, the high-speed operation that satisfies the allowable error value is executed.

In the method using a database as shown in the sixth embodiment, an appropriate command condition can be substituted into α10 from the database without executing the learning operation.

[0044]

As described above, according to the first aspect of the present invention, an allowable error value can be input, and the current and the magnitude of the error can be automatically evaluated and the operating condition can be set. The operation of the machine tool can be limited by the magnitude of the error, and there is an effect that machining with desired accuracy can be realized in a short time.

According to the invention of claim 2, according to claim 1,
In addition to the configuration of the invention, the configuration is such that the compensation parameter inside the servo system is automatically set, so that the operation of the machine tool can be limited by the magnitude of the error, and there is an effect that machining with desired accuracy can be realized in a shorter time. .

According to the third aspect of the present invention, in addition to the first aspect of the present invention, since the learning control for reducing the error of the servo system is automatically performed, the operation of the machine tool can be controlled according to the magnitude of the error. There is an effect that processing can be performed with a desired accuracy in a shorter time.

According to the fourth aspect of the present invention, in addition to the first aspect of the present invention, since the magnitude of the error can be displayed to the user, it is possible to realize a machine tool in which the cause of the error can be easily grasped. effective.

According to the fifth aspect of the present invention, there is provided a database in which the relationship between the magnitude of the error and the operating condition is stored, and the operating condition is set from the allowable error value based on the information. The operation of the machine tool can be limited by the magnitude of the error without requiring the operation for setting conditions,
There is an effect that processing with desired accuracy can be realized in a short time.

According to the sixth aspect of the present invention, since the configuration is such that the allowable error value can be programmed, there is an effect that the operation of the machine tool can be easily realized based on the allowable error value.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a numerical control device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a procedure according to an embodiment of the present invention;

FIG. 3 is a block diagram showing a numerical controller according to another embodiment of the present invention.

FIG. 4 is a block diagram showing a numerical control device according to an embodiment of the present invention.

FIG. 5 is a flowchart showing a procedure according to an embodiment of the present invention.

FIG. 6 is a block diagram showing a numerical control device according to an embodiment of the present invention.

FIG. 7 is a block diagram showing a numerical controller according to an embodiment of the present invention.

FIG. 8 is a block diagram showing a numerical control device according to an embodiment of the present invention.

FIG. 9 is a configuration diagram showing the contents of a database used in one embodiment of the invention of claim 5;

FIG. 10 is a block diagram showing a numerical controller according to another embodiment of the present invention.

FIG. 11 is a configuration diagram showing a program of a numerical control device according to an embodiment of the present invention.

FIG. 12 is a block diagram showing another program of the numerical control device according to another embodiment of the present invention.

FIG. 13 is a block diagram showing a conventional numerical control device.

FIG. 14 is a configuration diagram showing a program of a conventional numerical control device.

[Explanation of symbols]

 1a, 1b Servo control unit 2 Control target 3 Command value generation unit 5a, 5b Accuracy measurement unit 5c Locus accuracy measurement unit (accuracy measurement unit) 6 Error allowable value setting unit 7, 7c, 7d Command condition setting unit 8a, 8b Parameter tuning Unit 9 Trace accuracy display unit (display unit) 10a, 10b Learning control unit 11a, 11b, 11c Operation command value 13a, 13b Feedback value 16 Error tolerance value 17a, 17b Current measured value 18a, 18b Accuracy measured value (error) 18c Locus Accuracy measurement value (error) 19a, 19b Parameter tuning execution command 20a, 20b Learning control execution command 30 Database 40, 50 Program

Claims (6)

(57) [Claims] A servo control unit that controls a control target according to an operation command value; an error allowable value setting unit that sets an allowable value of an error between a feedback value from the control target and the operation command value; A precision measuring unit for measuring the error during the operation of the controlled object, and an error allowable value set by the error allowable value setting unit, an error measured by the accuracy measuring unit, and a current obtained by measuring a current flowing through the controlled object. A command condition setting unit that sets the speed and acceleration of the operation command value based on the measured value, and generates the operation command value to the servo control unit based on the speed and acceleration determined by the command condition setting unit A numerical control device comprising: A servo control unit that controls a control target in accordance with an operation command value; an error allowable value setting unit that sets an allowable value of an error between a feedback value from the control target and the operation command value; A precision measuring unit for measuring the error during the operation of the controlled object, and an error allowable value set by the error allowable value setting unit, an error measured by the accuracy measuring unit, and a current obtained by measuring a current flowing through the controlled object. A command condition setting unit that sets the speed and acceleration of the operation command value based on the measured value, and generates the operation command value to the servo control unit based on the speed and acceleration determined by the command condition setting unit A command value generating section that performs the parameter tuning execution command of the command condition setting section, and a parameter of the servo control section based on the operation command value and the current measurement value obtained during the operation of the control target. A numerical control device comprising a parameter tuning unit for correcting parameters. A servo control unit that controls a control target according to the operation command value; an error allowable value setting unit that sets an allowable value of an error between a feedback value from the control target and the operation command value; A precision measuring unit for measuring the error during the operation of the controlled object, and an error allowable value set by the error allowable value setting unit, an error measured by the accuracy measuring unit, and a current obtained by measuring a current flowing through the controlled object. A command condition setting unit that sets the speed and acceleration of the operation command value based on the measured value, and generates the operation command value to the servo control unit based on the speed and acceleration determined by the command condition setting unit And a learning control unit that outputs a correction value to the servo control unit based on a previous error obtained when the controlled object is repeatedly driven according to a learning control execution command of the command condition setting unit. When Numerical control device equipped with. 4. A servo control unit for controlling a controlled object according to an operation command value, an error allowable value setting unit for setting an allowable value of an error between a feedback value from the controlled object and the operation command value, A precision measuring unit for measuring the error during the operation of the controlled object, and an error allowable value set by the error allowable value setting unit, an error measured by the accuracy measuring unit, and a current obtained by measuring a current flowing through the controlled object. A command condition setting unit that sets the speed and acceleration of the operation command value based on the measured value, and generates the operation command value to the servo control unit based on the speed and acceleration determined by the command condition setting unit A numerical control device, comprising: a command value generation unit that performs the operation; and a display unit that displays the magnitude of the error measured by the accuracy measurement unit. 5. A servo control unit for controlling a control target according to an operation command value, an error allowable value setting unit for setting an allowable value of an error between a feedback value from the control target and the operation command value, The database that stores the relationship between the error, the shape of the motion trajectory, the speed, and the acceleration during the operation of the controlled object, and the database based on the error permissible value set by the error permissible value setting unit and the required motion locus. A command condition setting unit for setting the speed and acceleration of the command value based on the
A numerical value control device comprising: a command value generation unit that generates an operation command value to the servo control unit based on the speed and acceleration determined by the command condition setting unit. 6. The numerical control device according to claim 1, further comprising a program for designating an error allowable value set by said error allowable value setting section.