JP5987709B2 - Control device, machine tool and control method - Google Patents

Description

  The present invention relates to a control device that controls the movement of an object, a machine tool including the control device, and a control method that controls the movement of an object.

  The machine tool includes a spindle for attaching a tool and a support portion for supporting a workpiece, and a motor is attached to the spindle and the support portion. The machine tool includes a control device that controls driving of the motor, and the movement of the main shaft and the support portion is controlled by the control device (see, for example, Patent Document 1).

  After the control device outputs an operation command, the machine tool described in Patent Document 1 returns a reception confirmation signal indicating that the operation completion signal indicating that the operation of the spindle or the support portion has been received is returned to the control device. After the output of the operation command, the control device starts timing with a timer, and when the operation completion signal is returned to the control device, the timer is cleared. After the operation command is output, when the operation completion signal is not returned to the control device and a predetermined time has elapsed, the control device issues an alarm signal.

Japanese Patent Laid-Open No. 55-44680

  In general, a machine tool is provided with a switch for temporarily stopping the operation of the spindle or the support portion in order to confirm the position of the tool or the workpiece. When the switch is turned on, the operation of the spindle or the support portion is stopped. While the operation of the spindle or support is stopped, the operation completion signal is not sent back to the control device, but the timer keeps timing, and if a certain time elapses while it is temporarily stopped, an abnormality is notified. .

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a control device, a machine tool, and a control method capable of preventing the occurrence of an unnecessary alarm when the moving speed is changed. To do.

A control apparatus according to the present invention includes a control unit that outputs a movement command and controls movement of the object to a target position, and a power supply source that supplies power to the object based on the movement command output from the control unit A drive control unit that performs open-loop control of the driving of the power supply, and outputs a completion response from the drive control unit to the control unit when the driving of the power supply source is completed. In the case of input, in the control device that outputs a predetermined signal after a predetermined time has elapsed, the control unit determines whether or not a deceleration signal for decelerating the moving speed of the object has been input when the completion response is not input. A first determination unit that determines whether the deceleration signal is not input by the first determination unit, a calculation unit that calculates a location of the object, and a location calculated by the calculation unit Whether or not is the target position When the second determination unit for constant, the location at the deceleration signal is determined not to be input and the second determination unit in the first determination unit it is determined to be the target position, And a timer for starting timing, wherein the predetermined signal is output when the completion response is not input and a predetermined time elapses in the timer.

In the control device according to the present invention, the control unit outputs the movement speed of the object to the drive control unit , and the calculation unit multiplies the movement speed and an elapsed time from the output of the movement speed. It is made to do so.

Control device according to the present invention, is provided with a detector for detecting the position of an object to the driving source, the deceleration signal is a stop signal for stopping the object, wherein the control unit, the stop signal is input In this case, the detection position detected by the detector is taken in, and the location calculated by the calculation unit is changed based on the detection position.

  A machine tool according to the present invention includes the above-described control device, a spindle head that mounts a tool to process a workpiece, and a support portion that supports the workpiece, and the control device moves the spindle head or the support portion. It is characterized by being controlled.

In the control method according to the present invention, the drive control unit performs open-loop control of the driving of the power supply source that supplies power to the object based on the movement command output from the control unit to move the object to the target position. When the driving of the power supply source is completed, a completion response is input from the drive control unit to the control unit, and the control unit outputs a predetermined signal after elapse of a predetermined time when the completion response is not input When the completion response is not input , the control unit determines whether or not a deceleration signal for decelerating the moving speed of the object is input, and when it is determined that the deceleration signal is not input, calculating the location, the location of the computation is equal to or a target position, the deceleration signal is determined not to have been input and before Symbol location is determined to be the target position If timed Started, after counting starts, the completion response is characterized and Turkey to output the predetermined signal when passed a is and predetermined time missing.

  In the present invention, when the driving of the power supply source of the object (for example, the spindle of the machine tool or the support portion that supports the workpiece) is completed, the drive control unit that controls the driving of the power supply source sends a completion response to the control unit. Output. The control unit calculates the location of the object and determines whether the location is at the target position (the end point where the object should be located). If the completion response is not input to the control unit even though it is determined that the object is at the target position, some abnormality may have occurred. The control unit starts timing when the above condition is satisfied, and outputs a notification signal when a predetermined time has elapsed.

  In the present invention, the control unit obtains the location by multiplying the movement speed of the object output to the drive control device and the elapsed time from the output of the movement speed.

  In the present invention, when a stop signal is input to the control unit, the control unit takes in information indicating the position of the object from the detector, and changes the location obtained by calculation based on the information.

  In the control device, the machine tool, and the control method according to the present invention, the drive control unit that controls the drive of the power supply source outputs a completion response to the control unit when the drive of the power supply source of the object is completed. . The control unit calculates the location of the object and determines whether the location is at the target position. If the completion response is not input to the control unit even though it is determined that the object is at the target position, some abnormality may have occurred. The control unit starts timing when the above condition is satisfied, and outputs a notification signal when a predetermined time has elapsed. Therefore, in the normal operation, when the moving speed of the object is changed and the object has not reached the target position (for example, when it is temporarily stopped), the control unit does not output a notification signal and prevents the generation of an unnecessary alarm. be able to.

1 is a schematic perspective view of a machine tool. It is a simplified front view of a machine tool. It is a simplified right side view of a machine tool. FIG. 3 is a schematic perspective view of a machine tool in which a cover for covering the tool changer and the guide rail is omitted. It is a front side perspective view of a workpiece | work support apparatus. It is a back side perspective view of a workpiece support device. It is a front side perspective view of a rocking body. 1 is a perspective view schematically showing a machine tool surrounded by a machine tool cover. FIG. It is a block diagram which briefly shows the structure of a control apparatus. It is a flowchart explaining the abnormality process with respect to the workpiece | work support apparatus by a control part.

  Hereinafter, the present invention will be described in detail with reference to the drawings showing a machine tool according to an embodiment. In the following description, up and down, left and right, and front and rear indicated by arrows in the figure are used. The front and back surfaces correspond to the front and rear surfaces, respectively. The operator operates the machine tool in front and attaches / detaches the workpiece. 1 is a schematic perspective view of a machine tool, FIG. 2 is a schematic front view of the machine tool, FIG. 3 is a schematic right side view of the machine tool, and FIG. 4 omits a tool changer and a cover for covering the guide rail. 1 is a schematic perspective view of a machine tool.

  The machine tool 100 includes a base 10, a Y-direction moving device 20, an X-direction moving device 21, a column 22, a Z-direction moving device 23, a spindle head 25, a workpiece support device 30, and the like. The machine tool 100 supports the workpiece by the workpiece support device 30 and processes the workpiece with the tool 26 attached to the spindle head 25. The tool 26 is detachably attached to the lower end portion of the spindle head 25 and can be changed by a tool changer (not shown).

  The base 10 includes a gantry 11, a spindle base 13, a work base 14, and the like. The gantry 11 is a substantially rectangular parallelepiped structure that is long in the front-rear direction. Four legs 12 whose heights can be adjusted are provided at the four corners at the bottom of the gantry 11. The legs 12 are arranged on the floor surface. The gantry 11 includes a bottom plate 11a, a side plate 11b, an upper plate 11c, and a support plate 11d inside. The bottom plate 11a has a rectangular shape in plan view. The side plate 11b is connected to the four sides of the bottom plate 11a and surrounds the front, rear, left and right. The upper plate 11c has a deep dish shape having a rectangular shape in plan view, and four sides are fixed to the inner peripheral surface of the upper end portion of the side plate 11b. The upper plate 11 c has a through hole 11 e at a position below the work support device 30. Cutting chips, coolant, and the like generated by the processing fall downward through the through hole 11e and are collected by a collecting device (not shown). Each of the support plates 11d is erected upward from the bottom plate 11a, and the plate surfaces are spaced apart from each other in parallel with the plate surfaces of the left and right side plates 11b. The upper ends of the support plates 11d and 11d abut against the bottom surface of the upper plate 11c and support the upper plate 11c.

  The spindle base 13 has a substantially rectangular parallelepiped shape that is long in the front-rear direction, and is disposed in the rear part on the upper plate 11c. The spindle base 13 has two parallel support bases 13a that are long in the front-rear direction and supports a guide rail 20a described later. The work bases 14 are arranged on the left and right of the front part on the upper plate 11c. The work base 14 includes a support base 14a on the front side and a support base 14b on the rear side. Each support base 14a has a columnar shape, and the work support device 30 is seated on the upper surface and fixed.

  The Y-direction moving device 20 includes a pair of guide rails 20a parallel to each other, a plurality of blocks 20b, a Y-direction moving table 20c, and a Y-axis motor 20d (see FIG. 9 described later). The guide rail 20 a extends in the front-rear direction on the upper surface of the support base 13 a of the spindle base 13. The block 20b is fitted to each of the guide rails 20a so as to be movable in the front-rear direction. The Y-direction moving table 20c is fixed on the block 20b. By driving the Y-axis motor 20d, the Y-direction moving base 20c moves in the front-rear direction.

  The X-direction moving device 21 includes a pair of guide rails 21a parallel to each other, a plurality of blocks 21b, a column base 21c, and an X-axis motor 21d (see FIG. 9 described later). The guide rail 21a extends in the left-right direction on the upper surface of the Y-direction moving table 20c with an appropriate interval in the front-rear direction. The block 21b is fitted to each of the guide rails 21a so as to be movable in the left-right direction. The column base 21c is fixed on the block 21b. The column base 21c is moved in the left-right direction by driving the X-axis motor 21d.

  The column 22 has a columnar shape and is fixed on the column base 21c. The column 22 and the column base 21c are integrally formed. The column 22 is moved in the front-rear direction and the left-right direction by the Y-direction moving device 20 and the X-direction moving device 21.

  The Z-direction moving device 23 includes a pair of guide rails 23a parallel to each other, a plurality of blocks 23b, a spindle head base 23c, and a Z-axis motor 23d (see FIG. 9 described later). The guide rail 23a extends in the vertical direction on the front surface of the column 22 with an appropriate interval in the horizontal direction. The block 23b is fitted to each of the guide rails 23a so as to be movable in the vertical direction. The spindle head base 23c is fixed to the front side of the block 23b. The spindle head base 23c is moved in the vertical direction by driving the Z-axis motor 23d.

  The spindle head 25 is fixed to the spindle head base 23c. By driving and controlling the X-axis motor 21d, the Y-axis motor 20d, and the Z-axis motor 23d, the spindle head 25 moves back and forth, left and right, and up and down.

  The spindle head 25 rotatably holds a spindle (not shown) extending in the vertical direction inside the front side. The main shaft detachably holds the tool 26 at the lower end. The spindle is connected to a spindle motor 25b provided at the upper end of the spindle head 25. The spindle motor 25b rotates the spindle around the axis, rotates the tool 26 attached to the lower end of the spindle, and can perform cutting on the workpiece fixed to the workpiece support device 30.

  FIG. 5 is a front perspective view of the workpiece support device 30, FIG. 6 is a rear perspective view of the workpiece support device 30, and FIG. 7 is a front perspective view of the oscillator 40. In FIG. 7, the shaft portion 41 is omitted. The work support device 30 includes a gear box 31, a bearing box 34, an A-axis motor 36 (power supply source), an oscillating body 40, a rotary base 50, a C-axis motor 60, and the like.

  The gear box 31 houses a gear, a bearing, and the like, and supports the shaft portion 41 so as to be rotatable around the X axis via the gear, the bearing, and the like. In the following description, the central axis of the shaft portion 41 is expressed as an A axis. The A axis is an axis parallel to the X axis, and means a swing axis in the workpiece support device 30. The gear box 31 is provided with an A-axis motor 36, and the rotation of the A-axis motor 36 is transmitted to the gear in the gear box 31, so that the shaft portion 41 rotates around the A axis. The gear box 31 has mounting seats 31a at the lower four corners, and is fixed to the right work base 14 by screws or the like.

  The bearing box 34 accommodates a bearing or the like, and supports the shaft portion 41 so as to be rotatable around the A axis via the bearing or the like. The bearing box 34 has mounting seats 34a at the front and rear of the lower part, and is fixed to the left work base 14 with screws or the like.

  The rocking body 40 includes left and right shaft portions 41, a substrate 42, and connecting portions 43 and 43. The left and right shaft portions 41 each have a cylindrical shape, the right shaft portion 41 is supported by the gear box 31 so as to be rotatable around the A axis, and the left shaft portion 41 is supported by the bearing box 34 so as to be rotatable around the A axis. Has been. The shaft portions 41 are arranged so as to be coaxial with each other. The substrate 42 has a substantially rectangular shape in plan view, and is spaced apart from the end of the shaft portion 41 in the axial direction. The connecting portion 43 connects the left and right shaft portions 41 and the substrate 42. The substrate 42 is provided with a turntable 50 on the upper side and a C-axis motor 60 (power supply source) on the lower side.

The substrate 42 has a substantially rectangular shape in plan view, and a hole 42a having a diameter slightly smaller than the dimension of the side of the outer shape is formed in the center. The substrate 42 is formed such that the height in the vertical direction at the front and rear edge portions 42b increases upward from the center toward the left and right outer sides.
A C-axis motor 60 having the turntable 50 attached to the rotation shaft is inserted from below into the central hole 42a of the substrate 42 with the turntable 50 facing upward.

  The C axis means the axial direction of the rotation axis. In general, the C-axis means an axis parallel to the Z-axis, but in the present invention, since the oscillating body 40 oscillates, the C-axis direction is treated as being changed by the oscillation. The turntable 50 is fixed to the upper end surface of the rotating shaft, and rotates around the C axis together with the rotating shaft.

  The connecting portion 43 includes a flange 43a, a beam 43b, and the like. Since the left and right connecting portions 43 and 43 have substantially the same configuration, only one connecting portion 43 will be described in the following description for the sake of brevity. The flange 43a has an annular shape, and a hole penetrating in the X-axis direction is formed at the center. The peripheral surface of the hole is flush with the inner peripheral surface of the shaft portion 41, and includes a through-hole arranged equally at the edge of the hole. The shaft portion 41 is screwed into the through hole, screwed into a screw hole provided in the end surface of the shaft portion 41, and fixed to the flange 43a.

  One end of each of the beams 43b is fixed to the front and rear sides of the peripheral edge of the flange 43a, and the other end is connected to the front and rear edges 42b of the substrate 42. The beam 43b has a plate-like collar portion 43c that is bent inward from the upper edge and faces each other. The opposite edges of the flange 43c are inclined upward from the substrate 42 side toward the flange 43a side. In addition, the board | substrate 42 and the connection parts 43 and 43 can be integrally molded by casting. The work support device 30 includes connecting portion covers 51 and 52 and a central cover 53 on the upper side of the rocking body 40 and a wiring cover 54 and the like on the lower side.

  In the work support device 30, the rocking body 40 is swung and the turntable 50 is rotated by a control signal supplied from the control device described later to the A-axis motor 36 and the C-axis motor 60. The rotor of the A-axis motor 36 is rotated by a control signal to the A-axis motor 36, and the shaft portion 41 in the gear box 31 rotates around the A axis. As the shaft portion 41 rotates, the work supported by the rocking body 40 and the turntable 50 rocks. Assuming that the normal direction of the work placement surface of the turntable 50 faces upward (for example, the state shown in FIG. 5) is 0 degrees, the shaft portion 41 is in the range from +90 degrees to −90 degrees around the A axis. Thus, the workpiece can be rotated to an arbitrary angle and stopped, and the workpiece surface facing the tool 26 can be cut.

  The rotation shaft of the C-axis motor 60 is rotated by the control signal to the C-axis motor 60, and the rotary table 50 connected to the rotary shaft and the work supported by the rotary table 50 rotate around the C-axis. If there is no mechanical interference, the workpiece can be set at an arbitrary angle around the C axis. Combining the rotation around the C axis and the rocking motion by the rocking body 40, the cutting of the workpiece surface with the arbitrary direction on the hemisphere having the normal direction of the mounting surface of the turntable 50 as the zenith direction and the normal direction. Is possible. Furthermore, turning can be performed by rotating the workpiece at a high speed by the C-axis motor 60 and pressing the tool 26 against the workpiece.

  FIG. 8 is a perspective view schematically showing the machine tool 100 surrounded by the machine tool cover. As shown in FIG. 8, the machine tool 100 is surrounded by a machine tool cover. The machine tool cover is provided on the upper side of the gantry 11. The machine tool cover extends in the vertical direction, and includes a rectangular front wall 71, a left wall 72, a right wall 73, and a rear wall 74 that respectively cover the front, rear, left and right sides of the machine body of the machine tool 100. Moreover, the upper side of the machine tool 100 is covered, and the rectangular ceiling 75 parallel to the left-right direction and the front-back direction is provided.

  A vertically long rectangular opening 71a is provided at the center of the front wall 71. An operation panel 71b is provided on the right side of the opening 71a. It is provided. A vertically long rectangular right door 71c and left door 71d are juxtaposed in the opening 71a so as to be movable in the left-right direction. The right door 71c is arranged behind the left door 71d. A handle 71e is provided on the front surface of the right door 71c. When the operator grips the handle 71e and pulls it to the left side, the right door 71c and the left door 71d sequentially move to the left side and open. The rear wall 74 is provided with a control device 80 that controls the operation of the machine tool 100.

  FIG. 9 is a block diagram schematically showing the configuration of the control device 80. The control device 80 includes a control unit 81, an X-axis drive control unit 82, a Y-axis drive control unit 83, a Z-axis drive control unit 84, a main shaft drive control unit 85, an A-axis drive control unit 86, and a C-axis drive control unit 87. Prepare. The control unit 81 includes a CPU 81a connected to each other via a bus, a RAM 81b that temporarily stores information, a rewritable storage unit 81c that stores a control program, an input / output interface (input / output I / F) 81d, A communication interface (communication I / F) 81e and a timer 81f are provided. The timer 81f is configured to be able to measure a plurality of times.

  The CPU 81a reads the control program from the storage unit 81c to the RAM 81b and controls the machine tool. The control unit 81 temporarily stops various commands such as an X-axis drive control unit 82, a Y-axis drive control unit 83, a Z-axis drive control unit 84, and a main shaft drive control unit 85, for example, a drive command for driving the motor. Output a command. The X-axis drive control unit 82, the Y-axis drive control unit 83, the Z-axis drive control unit 84, and the main-axis drive control unit 85 indicate various notifications, for example, the completion of the motor drive and the completion of the motor pause. The notification is output to the control unit 81.

  The control unit 81 inputs / outputs signals to / from the operation panel 71b, the X-axis drive control unit 82, the Y-axis drive control unit 83, the Z-axis drive control unit 84, and the main shaft drive control unit 85 via the input / output I / F 81d. I do. The operation panel 71 b has a start switch, a temporary stop switch, and the like, and ON / OFF of the switch is input to the control unit 81. An image is displayed on the display unit of the operation panel 71b based on a display signal from the control unit 81.

  The machine tool 100 includes an alarm 90, and the control unit 81 outputs a notification signal for notifying the alarm 90 of an abnormality via the input / output I / F 81d. In response to the input of the notification signal, the alarm 90 issues a warning. The alarm is performed by sound or light.

  The X-axis drive control unit 82 includes a CPU 82a, a RAM 82b, a storage unit 82c, and an interface (not shown) connected to each other via a bus. The storage unit 82c stores a control program. The CPU 82a reads the control program into the RAM 82b, outputs a rotation command to the X-axis motor 21d, and controls driving of the X-axis motor 21d. The X-axis motor 21d rotates based on the rotation command. An encoder 21e is connected to the X-axis motor 21d, the rotational position of the X-axis motor 21d is detected by the encoder 21e, and the detected position is input to the X-axis drive control unit 82. The X-axis drive control unit 82 refers to the input position and feedback-controls the X-axis motor 21d until the rotational position reaches the target position.

  Similar to the X-axis drive control unit 82, the Y-axis drive control unit 83, the Z-axis drive control unit 84, and the main-axis drive control unit 85 each have a CPU, a RAM, a storage unit, an interface, and the like. A rotation command is output to the motor 23d and the spindle motor 25b to control driving of each motor. Each motor rotates based on a rotation command. Encoders 20e, 23e, and 25e are connected to each motor, and the rotational positions of the motors are detected by the encoders 20e, 23e, and 25e, and the detected positions are the Y-axis drive control unit 83 and the Z-axis drive control unit. 84 and the spindle drive control unit 85. The Y-axis drive control unit 83, the Z-axis drive control unit 84, and the spindle drive control unit 85 refer to the input position and perform feedback control of each motor until the rotational position reaches the target position.

  The control unit 81 communicates with the A-axis drive control unit 86 and the C-axis drive control unit 87 via the communication I / F 81e. Each of the A-axis drive control unit 86 and the C-axis drive control unit 87 has a CPU, a RAM, a storage unit, an interface, and the like, similar to the X-axis drive control unit 82, and rotates commands to the A-axis motor 36 and the C-axis motor 60. A temporary stop command or the like is output to control driving of each motor. Each motor rotates based on the rotation command and temporarily stops based on the temporary stop command. The A-axis drive control unit 86 and the C-axis drive control unit 87 transmit various notifications to the control unit 81, for example, notifications indicating that the drive of the motor has been completed and that the motor has been temporarily stopped.

  Encoders (detectors) 36e and 60e are connected to each motor. The rotational positions of the motors are detected and held by the encoders 36e and 60e, but are not fed back to the A-axis drive control unit 86 and the C-axis drive control unit 87, and the A-axis drive control unit 86 and the C-axis drive control unit 87. Performs open loop control of the A-axis motor 36 and the C-axis motor 60. When each motor completes the movement, it outputs a signal indicating that the movement is completed to the A-axis drive control unit 86 and the C-axis drive control unit 87. The A-axis drive control unit 86 and the C-axis drive control unit 87 control a completion response indicating that the movement of the A-axis motor 36 and the C-axis motor 60 is completed when a signal indicating that the movement is completed is input. It transmits to the part 81.

  The A-axis drive controller 86 and the C-axis drive controller 87 are configured to be accessible to the encoders 36e and 60e, and the A-axis drive controller 86 or the C-axis drive controller 87 is the A-axis motor 36 or C-axis motor. When a command referring to the rotational position of 60 is received from the control unit 81, the A-axis drive control unit 86 or the C-axis drive control unit 87 rotates the A-axis motor 36 or the C-axis motor 60 held by the encoders 36e and 60e. The position is transmitted to the control unit 81.

  FIG. 10 is a flowchart for explaining an abnormality process for the workpiece support device 30 by the control unit 81. The CPU 81a of the control unit 81 reads a command of the control program, and determines whether or not the read command is a movement command indicating movement of the work support device 30 (step S1). When it is not a movement command (step S1: NO), the CPU 81a ends the process. When it is a movement command (step S1: YES), the CPU 81a transmits the target position and the movement speed to the A-axis drive control unit 86 or the C-axis drive control unit 87 (step S2). The A-axis drive control unit 86 or the C-axis drive control unit 87 receives the target position and the moving speed, and rotates the A-axis motor 36 and the C-axis motor 60 to the target position at the received moving speed. The CPU 81a measures the elapsed time after transmitting the target position and the moving speed with the timer 81f.

  The CPU 81a determines whether a completion response has been received from the A-axis drive control unit 86 or the C-axis drive control unit 87 (step S3). When the completion response has been received (step S3: YES), the CPU 81a returns the process to step S1. When the completion response has not been received (step S3: NO), the CPU 81a determines whether or not a temporary stop signal is input from the operation panel 71b (step S4). When the pause switch of the operation panel 71b is on, a pause signal is input to the control unit 81.

  When the temporary stop signal is not input (step S4: NO), the CPU 81a refers to the timer 81f and transmits the movement speed and the movement speed transmitted to the A-axis drive control unit 86 or the C-axis drive control unit 87. And the location position (rotational position) of the A-axis motor 36 or the C-axis motor 60 is calculated (step S5). The CPU 81a determines whether or not the calculated location is a target position (step S6).

  When the location position is not the target position (step S6: NO), the CPU 81a returns the process to step S3. When the location position is the target position (step S6: YES), the CPU 81a starts measuring time with the timer 81f (step S7). Next, the CPU 81a determines whether or not a predetermined time has elapsed since the start of time measurement in step S7 (step S8). It is assumed that the predetermined time is set in the ROM of the control unit 81 in advance.

  When the predetermined time has not elapsed (step S8: NO), the CPU 81a returns the process to step S3. When the predetermined time has elapsed (step S8: YES), the CPU 81a outputs a notification signal for notifying abnormality to the alarm 90 (step S9).

  In step S4 described above, when a pause signal is input (step S4: YES), the CPU 81a transmits a pause signal to the A-axis drive controller 86 or the C-axis drive controller 87 (step S10). When receiving the temporary stop signal, the A-axis drive control unit 86 or the C-axis drive control unit 87 stops the driving of the A-axis motor 36 or the C-axis motor 60. Then, the CPU 81a waits until receiving a notification indicating that the temporary stop has been completed from the A-axis drive control unit 86 or the C-axis drive control unit 87 (step S11: NO).

  When the notification indicating that the temporary stop has been completed is received (step S11: YES), the CPU 81a positions the A-axis motor 36 or the C-axis motor 60 temporarily stopped from the A-axis drive control unit 86 or the C-axis drive control unit 87. Information is acquired (step S12). Specifically, the CPU 81a requests position information of the A-axis motor 36 or C-axis motor 60 from the A-axis drive control unit 86 or the C-axis drive control unit 87, and receives the request, the A-axis drive control unit 86 or the C-axis. The drive control unit 87 transmits the rotational position of the A-axis motor 36 or the C-axis motor 60 held by the encoders 36e and 60e to the control unit 81.

  The CPU 81a updates the location based on the acquired position information (step S13) and waits until a signal for canceling the temporary stop is input (step S14: NO). When a signal for canceling the pause signal is input (step S14: YES), the CPU 81a retransmits the movement speed and the target position transmitted in step S2 to the A-axis drive control unit 86 or the C-axis drive control unit 87. (Step S15), the process returns to Step S3. The A-axis drive control unit 86 or the C-axis drive control unit 87 re-receives the target position and the moving speed, and rotates the A-axis motor 36 and the C-axis motor 60 to the target position at the received moving speed.

  In the machine tool according to the embodiment, when the driving of the A-axis motor 36 or the C-axis motor 60 is completed, the A-axis drive control unit 86 that controls the driving of the A-axis motor 36 or the C-axis motor 60 or The C-axis drive control unit 87 transmits a completion response to the control unit 81. The control unit 81 calculates the location of the A-axis motor 36 or the C-axis motor 60 (the location of the workpiece) and determines whether or not the location is at the target position. If the completion response is not input to the control unit 81 even though it is determined that the workpiece is at the target position, there is a possibility that some abnormality has occurred. The control unit 81 starts timing when the above condition is satisfied, and outputs a notification signal when a predetermined time has elapsed. Therefore, when the moving speed of the workpiece is changed in the normal operation and the workpiece has not reached the target position (for example, when it is temporarily stopped), the control unit 81 does not output a notification signal, thereby preventing an unnecessary alarm from being generated. be able to.

  The control unit 81 multiplies the movement speed of the workpiece output to the A-axis drive control unit 86 or the C-axis drive control unit 87 and the elapsed time from the output of the movement speed to obtain the location. Therefore, it is possible to quickly grasp the position of the workpiece as compared with the case where the position information is acquired from the encoders 36e and 60e by communication.

  When a pause signal is input to the control unit 81, the control unit 81 takes in information indicating the position of the work from the encoders 36e and 60e, and changes the location obtained by calculation based on the information taken in. Therefore, it is possible to acquire position information from the encoders 36e and 60e during the temporary stop and update the location position, improve the accuracy of the location position, and effectively use the pause time.

  The X-axis motor 21d, the Y-axis motor 20d, the Z-axis motor 23d, and the main shaft motor 25b may be subjected to open loop control, and the above-described abnormality processing may be applied to these motors.

  It should be thought that embodiment disclosed this time is an illustration and restrictive at no points. The technical features described in each embodiment can be combined with each other, and the scope of the present invention is intended to include all modifications within the scope of claims and the scope equivalent to the scope of claims. Is done.

20e, 21e, 23e, 25e, 36e, 60e Encoder (detector)
25 Spindle head 30 Work support device (support part)
36 A-axis motor (power supply source)
60 C-axis motor (power supply source)
80 control device 81 control unit 81a CPU
81b RAM
81c storage unit 81d input / output I / F
81e Communication I / F
81f Timer 86 A-axis drive controller (drive controller)
87 C-axis drive controller (drive controller)
100 machine tools

Claims (5)

A drive that outputs a movement command and controls the movement of the object to the target position, and a drive that performs open-loop control of the power supply source that supplies power to the object based on the movement command output from the control unit And when the driving of the power supply source is completed, the drive control unit outputs a completion response to the control unit. When the completion response is not input, the control unit outputs a completion response after a predetermined time has elapsed. In a control device that outputs a predetermined signal,
The controller is
A first determination unit for determining whether or not a deceleration signal for decelerating the moving speed of the object is input when the completion response is not input;
When the first determination unit determines that the deceleration signal is not input, a calculation unit that calculates the location of the object;
A second determination unit that determines whether the location position calculated by the calculation unit is a target position;
If the location in the deceleration signal is determined not to be input and the second determination unit in the first determination unit it is determined to be the target position, and a timer that starts clocking ,
The control device, wherein the predetermined signal is output when the completion response is not input and a predetermined time has elapsed in the timer. The control unit is configured to output the moving speed of the object to the drive control unit ,
The control device according to claim 1, wherein the arithmetic unit is configured to multiply the moving speed and an elapsed time from the output of the moving speed. A detector for detecting the position of an object is provided in the drive source;
The deceleration signal is a stop signal for stopping the object,
Wherein,
The detection position detected by the detector is taken when the stop signal is input, and the location calculated by the calculation unit is changed based on the detection position. Item 3. The control device according to Item 1 or 2. A control device according to any one of claims 1 to 3, comprising a spindle head for mounting a tool to process a workpiece, and a support portion for supporting the workpiece,
The machine tool according to claim 1, wherein the control device controls movement of the spindle head or the support portion. Based on the movement command output from the control unit to move the object to the target position, the drive control unit performs open loop control of driving the power supply source that supplies power to the object, and the driving of the power supply source is completed. A completion response is input from the drive control unit to the control unit, and the control unit outputs a predetermined signal after a predetermined time when the completion response is not input.
The controller is
When the completion response is not input, it is determined whether or not a deceleration signal for decelerating the moving speed of the object is input,
If the deceleration signal is judged not to be inputted, it calculates the location of the object,
Arithmetic the location is determined whether the target position,
When the deceleration signal is determined not to have been input and before Symbol location is determined to be the target position, and starts counting time,
After the start of timing, the completion response outputs the predetermined signal when passed a is and predetermined time uninput
Control wherein a call.

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