JP5118239B1 - Control device for nozzle forward / reverse motor of injection molding machine - Google Patents

Abstract

Injection molding that solves the problem of increased cycle time and reduced productivity by operating in synchronization with the process from the mold touch position to the completion of mold clamping in the mold closing process. Of a control device for the motor for moving the nozzle forward and backward.
A nozzle clamping servo of an injection molding machine having a mold clamping mechanism that opens and closes a mold with a mold opening / closing servo motor and a nozzle forward / backward moving mechanism that moves the nozzle back and forth with a nozzle forward / backward servo motor. The motor control device closes the mold until the position where the movable mold touches the fixed mold by the servo motor for opening and closing the mold, and the mold clamping is completed from the position where the movable mold touches the fixed mold. The mold is clamped to a position, and the nozzle is moved forward by the nozzle forward / reverse servomotor so that the nozzle touches the mold at the same time when the movable mold touches the fixed mold, and the mold clamping is completed. At the same time, the nozzle is advanced so as to generate a predetermined nozzle touch force.
[Selection] Figure 4

Description

  The present invention relates to a control device for an injection molding machine, and more particularly to a control device for a motor for moving the nozzle back and forth in the injection molding machine.

The injection molding machine includes a mold clamping part and an injection part. In normal injection molding operations other than when resin is discharged, the nozzle of the injection part normally abuts the fixed side mold and touches the mold with a predetermined nozzle. The state where force is generated is maintained. However, if the continuous molding operation is performed with the nozzle touching the mold, the heat at the nozzle tip is taken away by the mold, so the nozzle is removed from the mold after the weighing process is completed, and the heat at the nozzle tip is taken away by the mold. An operation called a sprue break is performed so as not to be interrupted. The sprue break has an effect that when the nozzle is retreated, the sprue is cut between the nozzle and the mold, and when the mold is opened and the molded product is taken out, the molded product is easily removed from the mold.
When the sprue break operation is performed, it is necessary to move the nozzle forward again in the next molding cycle. However, in order to prevent the problem of the above-mentioned fixed mold collapse, the conventional mold clamping has been completed. The operation of moving the nozzle forward has been performed. If the nozzle touch force is generated with the mold open, the nozzle touch force acts on the mold on the fixed side, and the fixed mold falls down. If the mold is closed while the fixed mold is in a tilted state, there are problems that the guide pins of the mold are squeezed when the mold is closed, and the burrs of the molded product and the thickness dimension of the molded product are uneven.

  In order to prevent the mold on the fixed side from collapsing and prevent the heat at the nozzle tip from being removed from the mold, the forward movement of the nozzle has conventionally been performed after the mold closing / clamping operation has been completed. . For example, in paragraph “0003” of Patent Document 1 and FIG. 4, one cycle of the injection process is composed of mold closing, mold clamping, nozzle advance, injection holding pressure, cooling (metering), nozzle retraction, ejector, and the like. Is disclosed. Also, paragraphs “0013” to “0021” of Patent Document 2 and FIG. 2 disclose a technique for sequence control of one molding cycle of an injection molding machine.

JP 2002-178377 A Japanese Patent Laid-Open No. 7-125035

  In the prior art described in the background art, since the nozzle performs the forward movement operation after completion of the mold clamping, there is a problem that the cycle time is increased by the amount of the nozzle forward movement operation and the productivity is lowered. In order to solve the problems of the above-mentioned fixed side mold collapse and nozzle heat loss and the cycle time increase, the timing when the mold touches by closing the mold and the timing when the nozzle touches the mold are the same, In addition, it is desirable that the timing at which the mold clamping is completed and the timing at which the nozzle further advances to generate a predetermined nozzle touch force be the same.

  Therefore, an object of the present invention is to divide the nozzle advancement process into a process until the nozzle touches the mold and a process until a predetermined nozzle touch force is generated after the nozzle touches the mold. Injection molding machine nozzle that solves the problem of increased cycle time and lowering productivity by operating in synchronization with the process from the mold touch position to the completion of mold clamping in the closing process The present invention provides a control device for a forward / reverse motor.

The invention according to claim 1 of the present application is a mold clamping mechanism that opens and closes a mold with a servo motor for opening and closing the mold, and a nozzle back and forth mechanism that moves the nozzle at the tip of the injection cylinder back and forth with a servo motor for back and forth movement of the nozzle. The mold closing control unit for closing the mold to the position where the movable mold touches the fixed mold by the servo motor for opening and closing the mold, and the servo motor for opening and closing the mold. A mold clamping control unit that performs mold clamping from a position at which the side mold touches the fixed side mold to a mold clamping completion position, and at the same time when the movable mold touches the fixed mold by the mold closing control unit. nozzles by the mold closing movement commands commanded to the servo motor for mold opening and closing the control unit in terms of the nozzle moving command conversion unit servo motor for forward and backward said nozzle to the mold and the touch A nozzle forward control unit for advancing the serial nozzle, mold clamping upon completion nozzle movement command converted motion command is commanded to the servo motor of the die opening and closing the mold clamping control unit to generate a predetermined nozzle touch force And a nozzle touch force control unit that moves the nozzle forward by the nozzle forward / backward servomotor converted in the unit, and a control device for the nozzle forward / backward motor of the injection molding machine.

According to the present invention, the nozzle advancement process is divided into a process until the nozzle touches the mold and a process until a predetermined nozzle touch force is generated after the nozzle touches the mold. By operating in synchronization with the process up to the mold touch position and the process from the mold touch position to the completion of mold clamping, the fixed side mold is prevented from falling due to the nozzle touch force, and the nozzle heat Can be performed without increasing the cycle time.
Further, according to the present invention, since the nozzle operates in synchronization with the mold closing / clamping operation, when the operator changes the mold closing speed or stroke on the screen of the injection molding machine, the nozzle is operated according to the changed speed. The movement command for the servo motor for opening and closing the mold is changed and the movement command for the servo motor for moving the nozzle back and forth is also changed. Therefore, even if the operator changes the mold closing speed, it is not necessary to change any setting regarding the forward / backward movement of the nozzle.

It is a figure explaining schematic structure of the control apparatus of the servomotor for nozzle back-and-forth advance of the injection molding machine which concerns on this invention. It is a control block diagram of the control apparatus of the servomotor for nozzle forward / backward movement of the injection molding machine according to the present invention. It is another control block diagram of the control apparatus of the servomotor for nozzle forward / backward advance of the injection molding machine according to the present invention. It is a figure explaining conversion from the movement command of the servo motor for mold opening / closing to the movement command of the servo motor for nozzle forward / reverse movement.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The present invention is applied to an injection molding machine having a mold clamping mechanism having a servo motor for opening and closing a mold and a servo motor for moving the nozzle back and forth. FIG. 1 is a diagram for explaining the schematic configuration of a control device for a servo motor for moving the nozzle back and forth in an injection molding machine according to the present invention.

The injection molding machine M includes a mold clamping part M ₁ and an injection part M ₂ on a machine base M ₃ . The injection part M ₂ heats and melts a resin material (pellet) and injects the molten resin into the cavity of the mold 46. A nozzle 2 is attached to the tip of the injection cylinder 1, and a screw 3 is inserted into the injection cylinder 1. A hopper 4 for supplying a resin material (not shown) into the injection cylinder 1 is attached to a side portion of the injection cylinder 1.

First, the mold clamping unit M _1. The mold clamping part M ₁ mainly opens and closes the mold 46 (46a, 46b). The mold clamping part M ₁ includes a fixed platen 42 to which the fixed side mold 46b is attached, a movable platen 41 to which the movable side mold 46a is attached so as to face the fixed side mold 46b, and the movable platen 41 in the injection part M ₂ direction. A mold opening / closing servo motor 114 that moves forward and backward, a position / speed detector 116 that detects a rotational position / speed of the mold opening / closing servo motor 114, a rear platen 40, a toggle link 43, a ball screw 44, and a cross head 45 are provided. Yes.

The rotational drive of the mold opening / closing servomotor 114 is transmitted to the ball screw 44 via a transmission mechanism 118 constituted by a belt or the like. In addition, the mold clamping unit M ₁ includes a plurality of tie bars (not shown) that connect the rear platen 40 and the fixed platen 42 and guide the movable platen 41 to move forward and backward relative to the fixed platen 42. The toggle link 43 moves the movable platen 41 forward and backward in the direction of the fixed platen 42 by moving the crosshead 45 attached to the ball screw 44 driven to rotate by the mold opening / closing servomotor 114 in the direction of the fixed platen 42.

The mold clamping portion M ₁ is moved after the movable platen 41 is advanced in the direction of the fixed platen 42 by the driving of the mold opening / closing servo motor 114 and the mold is closed, and the movable mold 46a and the fixed mold 46b come into contact with each other. Further, the movable platen 41 is advanced toward the fixed platen 42 to generate a predetermined clamping force. Then, the mold opening is performed by retracting the movable platen 41 toward the rear platen 40.

Next, the injection unit M _2. The injection part M ₂ is a nozzle touch drive device for advancing the injection part M ₂ toward the mold clamping part M ₁ in order to press the nozzle 2 against the fixed platen 42 to which the fixed side mold 46b is attached (nozzle touch). It has. The nozzle touch drive device includes a nozzle forward / reverse servo motor 214 attached to the machine base M ₃ , a position / speed detector 216 for detecting the rotational position / speed of the nozzle forward / reverse servo motor 214, and one end for forward / backward movement of the nozzle. a ball screw 34 rotatably supports the other end is connected to a load shaft of the servo motor 214 to the stationary platen 42, a nut 33 is screwed to the ball screw 34, which is fixed to the lower portion of the injection unit 39 of the injection unit M ₂ A first pressure receiving plate 36, a second pressure receiving plate 37 attached to the nut 33, a sensor for measuring the distance between the first pressure receiving plate 36 and the second pressure receiving plate 37 and detecting the length of the spring 35 (FIG. Not shown).

  Inside the injection unit 39, a screw rotating servo motor (not shown) for rotating the screw 3 around its axis, a screw forward / backward servo motor (not shown) for moving back and forth in the axial direction, A resin pressure sensor (not shown) for measuring the resin pressure is disposed. Since the structure in the injection unit 39 is not related to the present invention, a detailed description is omitted.

  The nozzle touch drive device causes the nut 33 to move forward and backward with respect to the fixed platen 42 by rotating and driving the nozzle forward / backward servomotor 214 and rotating the ball screw 34. The distance between the first pressure receiving plate 36 and the second pressure receiving plate 37 is adjusted by moving the nut 33 back and forth, and the elastic force of the spring 35 is adjusted. When the nozzle pressing force is generated by contracting an elastic body such as the spring 35 shown in FIG. 1, the nozzle pressing force can be obtained by measuring the length of the spring 35 with a sensor (not shown). Thereby, the nozzle pressing force (nozzle touch force) to the fixed mold 46b of the nozzle 2 can be generated.

  The numerical control device of the injection molding machine M includes a CNC CPU 20 which is a microprocessor for numerical control, a PMC CPU 17 which is a microprocessor for a programmable machine controller, and a servo CPU 15 which is a microprocessor for servo control. Thus, the information can be transmitted between the microprocessors by selecting the mutual input / output.

  The servo CPU is connected to a ROM 13 that stores a control program dedicated to servo control that performs processing of a position loop, a speed loop, and a current loop, and a RAM 14 that is used for temporary storage of data. The servo CPU 15 is connected to a mold opening / closing servo motor 114 and a nozzle forward / reverse servo motor 214 which are driven and controlled based on a command from the servo CPU 15. The output signals from the position / speed detectors 116 and 216 attached to the servo motors 114 and 214 are connected so as to be fed back to the servo CPU 15. The rotational positions of the servo motors 114 and 214 are calculated by the servo CPU 15 based on the position feedback signals from the position / speed detectors 116 and 216 and updated and stored in the current position registers.

  The PMC CPU 17 is connected to a ROM 18 storing a sequence program for controlling the sequence operation of the injection molding machine M and a RAM 19 used for temporary storage of calculation data. The CNC CPU 20 is automatically operated to control the injection molding machine as a whole. A ROM 21 storing various programs such as a program and a RAM 22 used for temporary storage of calculation data are connected.

  The molding data storage RAM 23 is a non-volatile memory, and is a molding data storage memory that stores molding conditions relating to injection molding operations, various set values, parameters, macro variables, and the like. The LCD / MDI (manual data input device) 25 includes a liquid crystal display device (LCD) and a manual data input device for inputting various data. The liquid crystal display device (LCD) is controlled by an LCD display circuit (not shown). The LCD / MDI unit 25 is connected to the bus 26 through the interface 24, and can select function menus and input various data. In addition, numeric keys for inputting numeric data, various function keys, and the like are provided. A nozzle touch force set in advance using the LCD / MDI unit 25 can be set in the injection molding machine M.

FIG. 1 shows a mechanism in which a spring 35 is provided between the nozzle forward / reverse servomotor 214 and the injection unit 39 and generates a nozzle touch force by the reaction force of the spring 35. In the present invention, The spring 35 is not always necessary.
The general configuration of the injection molding machine M has been described above. The above configuration is known.

Next, a control device for the nozzle forward / reverse servomotor 214 of the injection molding machine according to the present invention constituted by the injection molding machine M will be described with reference to FIGS.
FIG. 2 is a control block diagram of the control device for the servo motor 214 for moving the nozzle back and forth in the injection molding machine according to the present invention. When mold closing of the mold clamping unit M ₁ is started, the CNC CPU 20 of the numerical controller that controls the entire injection molding machine M receives a movement command for driving and controlling the mold opening / closing servo motor 114 at predetermined intervals. It is output to the servo CPU 15. The servo CPU 15 further divides the movement command input from the CNC CPU 20 into a movement command having a sampling cycle (position, velocity, current loop processing cycle) into _McCMD , and performs the position / velocity / current loop control shown in FIG. .

The servo CPU 15 dies on the basis of the movement command from the CNC CPU 20 in accordance with the moving distance to the mold touch position and the set speed in accordance with the sampling period in the mold closing direction for servo control of the mold opening / closing servo motor 114. An opening / closing servo motor movement command M _cCMD (hereinafter referred to as “die opening / closing servo motor movement command M _cCMD ” or “movement command M _cCMD ”) is created for each sampling period. This movement command _McCMD is simultaneously converted to a movement command of the servo control unit of the nozzle forward / reverse servomotor 214 and is also output to the control block of the nozzle forward / reverse servomotor 214.

The mold opening / closing motor movement command _McDMD is input to the subtracter 100 and the nozzle movement command converter 300. In the subtracter 100, the position feedback (position FB) fed _back from the position / speed detector 116 is subtracted from the mold opening / closing motor movement command _McDMD , and the position deviation is output from the subtractor 100 to the position compensator 102. The In the position compensator 102, a speed command is obtained by multiplying the position deviation by a position gain (position loop control).

  The speed feedback (speed FB) fed back from the position / speed detector 116 is subtracted by the subtractor 104 from the speed command output from the position compensator 102 and output as a speed deviation. The speed deviation output from the subtractor 104 is output to the speed compensator 106. The speed compensator 106 obtains a torque command (current command) by performing proportionality, integration, and the like based on the speed deviation (speed loop control).

  A current feedback (current FB) fed back from a current detector (not shown) for detecting the drive current of the servo amplifier 112 is subtracted by a subtractor 108 from a torque command (current command) output from the speed compensator 106. The current deviation is output to the current compensator 110. The current compensator 110 generates a PWM signal output to the servo amplifier 112 based on the current deviation input from the subtractor 108 (current loop control). The servo amplifier 112 drives and controls the mold opening / closing servomotor 114 based on the PWM signal input from the current compensator 110.

The mold opening / closing motor movement command _McDMD input to the nozzle movement command converter 300 is a servo motor for moving the nozzle back and _forth for each sampling period based on the equation 1 or equation 2 in the nozzle movement command converter 300. Movement command M _nCMD (hereinafter referred to as “nozzle forward / reverse servo motor movement command M _nCMD ” or “movement command M _nCMD ”).
The subtracter 200 subtracts the position feedback (position FB) fed _back from the position / velocity detector 216 from the nozzle forward / reverse servo motor movement command M _nCMD, and a position _{deviation is generated} from the subtracter 200 to the position compensator 202. Is output. In the position compensator 202, a speed command is obtained by multiplying the position deviation by a position gain (position loop control).

  The speed feedback (speed FB) fed back from the position / speed detector 216 from the speed command output from the position compensator 202 is subtracted by the subtractor 204 and output as a speed deviation. The speed deviation output from the subtractor 204 is output to the speed compensator 206. The speed compensator 206 obtains a torque command (current command) by performing proportionality, integration, etc. based on the speed deviation (speed loop control).

  A current feedback (current FB) fed back from a current detector (not shown) for detecting the drive current of the servo amplifier 212 is subtracted from a torque command (current command) output from the speed compensator 206 by a subtracter 208. The current deviation is output to the current compensator 210. The current compensator 210 generates a PWM signal output to the servo amplifier 212 based on the current deviation input from the subtracter 208 (current loop control). The servo amplifier 212 drives and controls the nozzle forward / backward servomotor 214 based on the PWM signal input from the current compensator 210.

Here, in the conversion from the movement command of the mold opening / closing servo motor 114 to the movement command of the nozzle forward / reverse movement servo motor 214, L _1n / L of Formula 1 and Formula 2 are set in advance before the mold is closed. _1c and L _2n / L _2c have been calculated.

Next, the drive control of the mold opening / closing servo motor 114 will be described by dividing it into drive control up to a position where the mold 46 touches and drive control up to a position where the mold is closed after the mold touches. .
First, drive control to the position where the mold 46 of the mold opening / closing servomotor 114 touches will be described. The servo motor 15 for opening and closing the mold is driven and controlled by the servo CPU 15 based on the movement command _McCMD for each sampling period. On the other hand, the nozzle forward / reverse servomotor 214 is driven and controlled in accordance with a movement command M _nCMD obtained by converting the movement command _McCMD in the nozzle movement command converter 300 based on the equation (1).

M _CCMD: movement command of the mold opening and closing servo motor for each sampling period M _NCMD: sampling period for each of the nozzle forward and reverse servo motors move command L _1c: fixed side from the nozzle starts to move forward with movable mold Movement distance (movement amount) of the servo motor for mold opening / closing to the position where the mold touches (mold touch position)
L _1n : Moving distance (moving amount) of the servo motor for moving back and forth from the nozzle to the position where the nozzle touches the mold (nozzle touch position) after the nozzle starts moving forward

  Here, the position (nozzle touch position) at which the nozzle 2 touches the mold (fixed-side mold 46b) is driven at a constant speed toward the fixed platen 42 by driving the servo motor 214 for moving the nozzle back and forth. In this case, the position at which the load or motor torque of the nozzle forward / backward servomotor 214 starts to change when detected is detected, and this position may be stored in advance as a nozzle touch position. In addition, when an elastic member such as a spring 35 is provided between the nozzle forward / backward servomotor 214 and the injection unit 39 as shown in FIG. 1, the position where the nozzle touch force starts to change due to the reaction force of the elastic member. May be stored in advance as a nozzle touch position.

In the above description, the case where the nozzle starts to advance simultaneously with the start of the mold closing has been described. However, when the nozzle starts to advance from the middle position of the mold closing, the mold opening and closing at the time of starting the nozzle advancement is described. The amount of movement of the mold opening / closing servo motor 114 from the position of the servo motor 114 until the mold is touched may be substituted into the above L _1c and similarly converted to the amount of movement of the nozzle forward / reverse servo motor 214.

Thus, the nozzle 2 can touch the mold 46 (46b) at the same time as the mold 46 is closed and touched. In this state, since the nozzle touch force of the fixed side mold 46b is not applied, the fixed platen 42 does not fall, that is, the fixed side mold 46b does not fall.
The drive control of the mold opening / closing servomotor 114 corresponds to the mold closing control unit in claim 1, and the drive control of the nozzle forward / reverse servomotor 214 corresponds to the nozzle advancement control unit in claim 1.

Next, drive control from the position where the mold 46 of the mold opening / closing servomotor 114 touches to the mold clamping completion position will be described. Following the movement to the mold touch position, the mold opening / closing servo motor 114 starts a movement to the mold clamping completion position, that is, a mold clamping operation for generating a predetermined mold clamping force. Similar to the process until the mold 46 touches, the servo CPU 15 of the numerical controller that controls the entire injection molding machine M follows the moving distance from the mold touch position to the mold clamping completion position and the set speed. Then, a movement command _McCMD in the mold clamping direction for controlling the drive of the mold opening / closing servo motor 114 is _generated for each sampling period. This movement command _McCMD is simultaneously output to the control block of the nozzle forward / reverse servomotor 214, and further, by the nozzle movement command converter 300, the nozzle forward / reverse _advancement servomotor 214 as shown in equation (2). Converted to the movement command M _nCMD . The converted movement command is output as a movement command M _nCMD to the control unit of the nozzle forward / backward servomotor 214 at each sampling period.

M _CCMD: movement command of the mold opening and closing servo motor for each sampling period M _NCMD: sampling period for each of the nozzle forward and reverse servo motors move command L _2c: for mold opening and closing of the mold touch position to the clamping completion position Servo motor travel distance (
Amount of movement)
L _2n : Movement distance (movement amount) of the servo motor for moving the nozzle back and forth from the nozzle touch position until the predetermined nozzle touch force is generated

In the embodiment of the present invention shown in FIG. 2, the movement command of the mold opening / closing servomotor 114 is converted into the movement command of the nozzle forward / backward movement servomotor 214. May be converted into the amount of movement of the servo motor 214 for moving the nozzle back and forth. In this case, as shown in FIG. 3, the movement amount of the mold opening / closing servomotor 114 for each sampling period detected by the position / speed detector 116 attached to the mold opening / closing servomotor 114 is shown in FIG. In the same manner as the embodiment shown in FIG.
The drive control of the mold opening / closing servo motor 114 corresponds to the mold clamping control unit in claim 1, and the drive control of the nozzle forward / backward movement servo motor 214 corresponds to the nozzle touch force control unit in claim 1. .

FIG. 4 is a diagram for explaining the conversion from the movement command for the mold opening / closing servomotor to the movement command for the nozzle forward / backward movement servomotor. FIG. 4A is a diagram for explaining a movement command _McCMD for each sampling cycle of the mold opening / closing servomotor 114. FIG. 4B is a diagram for explaining the movement command M _nCMD for each sampling period of the servo motor 214 for moving the nozzle back and _forth . The movement command _McCMD to the mold opening / closing servo motor 114 is converted based on the equation 1 until the nozzle 2 touches the mold 46. From the time when the nozzle 2 touches the mold 46 until the mold clamping is completed, conversion is performed based on the formula (2). When the mold clamping is completed (a predetermined mold clamping force is generated), a predetermined nozzle touch force is generated.

By the way, the mold clamping mechanism of the mold clamping unit M ₁ includes a mechanism for converting the linear motion of the ball screw 44 into an opening / closing operation of the mold 46 by a speed amplification mechanism such as a toggle link 43 as shown in FIG. There are some which directly open and close the mold with a ball screw without having an amplification mechanism. In the case of the mold clamping mechanism having the speed amplification mechanism of FIG. 1, the movement command to the mold opening / closing servomotor 114 or the actual movement amount of the mold opening / closing servomotor 114 is determined according to the amplification factor of the speed amplification mechanism. It may be converted into the opening / closing speed of the mold, and the movement amount for each sampling period may be obtained from the converted speed, and the movement command of the servo motor 214 for moving the nozzle back and forth may be used. In this case, L _1c and L _2c are the movement amount of the mold from the start of the nozzle to the mold touch position and the movement distance of the mold from the mold touch position to the mold clamping completion position, respectively. .

  In order to operate the nozzle 2 back and forth independently of the mold opening / closing servomotor 114 by manual operation or the like, FIG. 2 and FIG. A change-over switch 302 is provided for operation and for independent operation. When the switch 302 is instructed to connect to the contact b, the mold opening / closing servomotor 114 and the nozzle forward / backward servomotor 214 can be operated independently.

M _cCMD Servo motor movement command for mold opening / closing M _nCMD Nozzle forward / backward servo motor movement command

1 cylinder 2 nozzle 3 screw 4 hopper

10 Servo amplifier 12 Servo amplifier

114 Servo motor for mold opening / closing 214 Servo motor for nozzle back and forth

Claims (1)

In an injection molding machine having a mold clamping mechanism that opens and closes a mold with a servo motor for opening and closing the mold and a nozzle back and forth mechanism that moves the nozzle at the tip of the injection cylinder back and forth with a servo motor for back and forth movement of the nozzle,
A mold closing control unit for closing the mold to a position where the movable mold touches the fixed mold by the servo motor for opening and closing the mold; and
A mold clamping control unit that performs mold clamping from a position where the movable mold touches the fixed mold by the servo motor for opening and closing the mold to a mold clamping completion position;
Movement command instructed by the mold closing controller to the mold opening / closing servo motor so that the nozzle touches the mold at the same time that the movable mold touches the fixed mold by the mold closing controller. A nozzle advancement control unit that converts the nozzle movement command conversion unit to advance the nozzle by the servomotor for moving the nozzle back and forth, and
The nozzle movement command conversion unit converts a movement command commanded to the mold opening / closing servo motor to the mold clamping control unit so that a predetermined nozzle touch force is generated at the same time as the mold clamping is completed. A nozzle touch force control unit that advances the nozzle by a servo motor;
Control device for nozzle forward / reverse motor of injection molding machine.

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