JP6439542B2 - Numerical control device and control method - Google Patents

Description

  The present invention relates to a numerical control device and a control method.

  A machine tool rotates a spindle on which a tool is mounted to process a work material. Roughing of hard work materials such as iron is heavy cutting. When heavy cutting is performed, the processing load increases compared to high-speed processing. Therefore, the operator needs to consider the maximum cutting ability of the machine tool. The maximum cutting ability is determined by the occurrence of chatter vibration, motor torque over, a large change in spindle rotation speed, and the like. In machining using an end mill or the like, the tool cuts the work material intermittently, so if the maximum cutting ability is low, load fluctuations occur and the spindle rotation speed also fluctuates. The numerical controller controls the spindle speed to be constant, and when it deviates greatly from the command speed exceeding the threshold, it is judged to be in an abnormal state, and a servo error is displayed to stop the machine tool. To do. The spindle drive mechanism described in Patent Document 1 includes a high-speed rotation motor and a high-torque low-speed rotation motor, and the motor to be used is changed depending on the machining content.

JP-A-11-99433

  Since the spindle drive mechanism described in Patent Document 1 includes a high-speed rotation motor, a low-speed rotation motor, and a clutch mechanism for switching between the motors to be used, there are problems such as an increase in component costs and an increase in the size of the machine. Further, when the threshold value is changed so as not to cause a servo error, the relationship between the rotation of the tool and the feed rate changes greatly, so that there is a possibility that the cutting load is further increased and the surface roughness of the processed surface is deteriorated.

  The objective of this invention is providing the numerical control apparatus and control method which can improve the processing capability of a machine tool.

A numerical control device according to a first aspect of the present invention is a servomotor that drives a spindle that mounts and rotates a tool, a table that fixes a work material, and a moving mechanism that relatively moves the spindle or the table. A numerical control device that controls the operation of a machine tool that cuts the workpiece with a tool that rotates together with the spindle, and a rotation speed detection means that detects the rotation speed of the spindle, and a rotation speed detection means And changing means for changing a gain related to a speed loop of a servo parameter for determining a control method of the servo motor to be smaller than a reference value when a detection result is a predetermined rotational speed or less. When the numerical control device performs rough machining of a hard work material such as iron, for example, the machining load becomes large, so that a large vibration is generated in the machine tool, and the rotation speed of the spindle greatly fluctuates. When the rotational speed of the main spindle is reduced below a predetermined rotational speed, the machine tool is in a heavy cutting state, and the main spindle may stop. The numerical control device can change the vibration frequency characteristic unique to the machine tool by changing the gain related to the speed loop of the servo parameter to be smaller than the reference value . Therefore, the numerical control device can reduce the vibration generated during heavy cutting, and can continue machining without stopping the spindle. Therefore, the numerical control device can improve the machining capability.

Numerical control apparatus according to claim 2, in addition to the structure of the invention according to claim 1, gain related to the velocity loop, the speed loop integral gain, the changing means, the reference value the speed loop integral gain It is characterized by making it smaller. The numerical control device can reduce the vibration generated in the machine tool by making the speed loop integral gain smaller than the reference value.

The numerical control device according to claim 3, in addition to the structure of the invention according to claim 1, gain related to the velocity loop, the speed loop proportional gain, the changing means, the reference value the speed loop proportional gain It is characterized by making it smaller. The numerical control device can reduce the vibration generated in the machine tool by making the speed loop proportional gain smaller than the reference value.

  In addition to the configuration of the invention according to any one of claims 1 to 3, the numerical control device according to claim 4 is configured such that, after the changing unit has changed the gain related to the speed loop to be smaller than the reference value, A second determining means for determining whether the rotational speed exceeds the predetermined rotational speed; and when the second determining means determines that the rotational speed exceeds the predetermined rotational speed, a gain relating to the speed loop is A return means for returning to the reference value is provided. When the machining load is small so that the rotation speed of the main shaft does not become lower than the predetermined rotation speed, the numerical control device can return the gain related to the speed loop to the reference value. Therefore, since the numerical control device can improve the rigidity of the servo motor and improve the responsiveness, the machining capability can be improved without affecting the machining accuracy.

The control method according to claim 5 includes a spindle that mounts and rotates a tool, a table that fixes a work material, and a servo motor that drives a movement mechanism that relatively moves the spindle or the table, In a control method of a numerical control device that controls the operation of a machine tool that cuts the workpiece with a tool that rotates together with the spindle, a rotation speed detection step that detects a rotation speed of the spindle, and a rotation speed detection step And a changing step of changing a gain related to a speed loop of a servo parameter for determining a control method of the servo motor to be smaller than a reference value when a detection result is equal to or lower than a predetermined rotation speed. The numerical control device can obtain the effect of the first aspect by executing the above steps.

1 is a perspective view of a machine tool 1. FIG. 3 is a block diagram showing an electrical configuration of the machine tool 1 and the numerical control device 30. The block diagram which shows the structure of 53 A of drive circuits. The chart which shows the vibration frequency characteristic at the time of processing of Y axis table 12. The chart which shows the vibration frequency characteristic peculiar to Y axis table 12. The figure of NC program P1. Flow chart of main processing. The flowchart of a Kvi control process. The chart which shows the maximum processing capability when it processes with each of standard Kvi and heavy cutting Kvi.

  Embodiments of the present invention will be described with reference to the drawings. In the following description, left, right, front, back, and top and bottom indicated by arrows in the figure are used. The left-right direction, the front-rear direction, and the vertical direction of the machine tool 1 are an X-axis direction, a Y-axis direction, and a Z-axis direction, respectively. A machine tool 1 shown in FIG. 1 is a machine that rotates a tool 4 mounted on a spindle 9 and performs a cutting process on a work material 3 held on the upper surface of a table 13. The numerical control device 30 (see FIG. 2) controls the operation of the machine tool 1.

  The structure of the machine tool 1 will be briefly described with reference to FIG. The machine tool 1 includes a base 2, a column 5, a spindle head 7, a spindle 9, a table device 10, a tool changer 20, a control box 6, an operation panel 15 (see FIG. 2), and the like. The base 2 is a substantially rectangular parallelepiped base made of metal. The column 5 is erected on the upper rear side of the base 2. The spindle head 7 is provided so as to be movable in the Z-axis direction along the front surface of the column 5. The spindle head 7 supports the spindle 9 rotatably inside. The spindle 9 has a mounting hole (not shown) in the lower part of the spindle head 7. The main shaft 9 is mounted with the tool 4 in the mounting hole, and is rotated by driving a main shaft motor 52 (see FIG. 2). The spindle motor 52 is provided on the spindle head 7. The spindle head 7 moves in the Z-axis direction by a Z-axis moving mechanism (not shown) provided on the front surface of the column 5. The numerical controller 30 controls the movement of the spindle head 7 in the Z-axis direction by controlling the driving of the Z-axis motor 51.

  The table device 10 includes a Y-axis moving mechanism (not shown), a Y-axis table 12, an X-axis moving mechanism (not shown), a table 13, and the like. The Y-axis moving mechanism is provided on the front surface of the base 2 and includes a pair of Y-axis rails, a Y-axis ball screw, a Y-axis motor 54 (see FIG. 2), and the like. The pair of Y-axis rails and the Y-axis ball screw extend in the Y-axis direction. The pair of Y-axis rails guides the Y-axis table 12 on the upper surface in the Y-axis direction. The Y-axis table 12 is formed in a substantially rectangular parallelepiped shape, and includes a nut (not shown) on the bottom outer surface. The nut is screwed onto the Y-axis ball screw. When the Y-axis motor 54 rotates the Y-axis ball screw, the Y-axis table 12 moves along the pair of Y-axis rails together with the nut. Therefore, the Y-axis moving mechanism supports the Y-axis table 12 so as to be movable in the Y-axis direction.

  The X-axis moving mechanism is provided on the upper surface of the Y-axis table 12, and includes a pair of X-axis rails (not shown), an X-axis ball screw (not shown), an X-axis motor 53 (see FIG. 2), and the like. The X-axis rail and the X-axis ball screw extend in the X-axis direction. The table 13 is formed in a rectangular plate shape in plan view and provided on the upper surface of the Y-axis table 12. The table 13 includes a nut (not shown) at the bottom. The nut is screwed into the X-axis ball screw. When the X-axis motor 53 rotates the X-axis ball screw, the table 13 moves along the pair of X-axis rails together with the nut. Therefore, the X-axis moving mechanism supports the table 13 so as to be movable in the X-axis direction. Therefore, the table 13 can be moved on the base 2 in the X-axis direction and the Y-axis direction by the Y-axis moving mechanism, the Y-axis table 12, and the X-axis moving mechanism.

  The tool changer 20 is provided on the front side of the spindle head 7 and includes a disk-shaped tool magazine 21. The tool magazine 21 holds a plurality of tools (not shown) radially on the outer periphery, and positions the tool indicated by the tool change command at the tool change position. The tool change command is commanded by the NC program. The tool change position is the lowest position of the tool magazine 21. The tool changer 20 exchanges and exchanges the tool 4 mounted on the spindle 9 and the tool at the tool change position.

  The control box 6 stores the numerical controller 30 (see FIG. 2). The numerical control device 30 controls the Z-axis motor 51, the main shaft motor 52, the X-axis motor 53, and the Y-axis motor 54, and relatively moves the work material 3 held on the table 13 and the tool 4 mounted on the main shaft 9. Thus, various kinds of processing are performed on the work material 3. The various types of processing include, for example, drilling using a drill, a tap or the like, side processing using an end mill, a milling cutter, or the like.

  The operation panel 15 is provided on the outer wall of a cover (not shown) that covers the machine tool 1, for example. The operation panel 15 includes an input unit 16 and a display unit 17 (see FIG. 2). The input unit 16 receives input of various information, operation instructions and the like, and outputs them to the numerical controller 30 described later. The display unit 17 displays various screens based on commands from the numerical controller 30 described later.

  With reference to FIG. 2, the electrical configuration of the numerical controller 30 and the machine tool 1 will be described. The numerical control device 30 and the machine tool 1 include a CPU 31, a ROM 32, a RAM 33, a storage device 34, an input / output unit 35, drive circuits 51A to 55A, and the like. The CPU 31 performs overall control of the numerical control device 30. The ROM 32 stores a main program, various programs including a Kvi control program, which will be described later, and the like. The main program executes main processing (see FIG. 7) described later. The main process reads the NC program line by line and executes various operations. The NC program is composed of a plurality of lines including various control commands, and controls various operations including axis movement of the machine tool 1, tool change, etc. in line units. The Kvi control program executes a Kvi control process (see FIG. 8) described later. The RAM 33 temporarily stores various information. The storage device 34 is nonvolatile and stores various data such as an NC program and servo parameters described later. The CPU 31 can store, in the storage device 34, an NC program read by an external input in addition to the NC program input by the operator through the input unit 16 of the operation panel 15.

  The drive circuit 51A is connected to the Z-axis motor 51 and the encoder 51B. The drive circuit 52A is connected to the spindle motor 52 and the encoder 52B. The drive circuit 53A is connected to the X-axis motor 53 and the encoder 53B. The drive circuit 54A is connected to the Y-axis motor 54 and the encoder 54B. The drive circuit 55A is connected to a magazine motor 55 that drives the tool magazine 21 and an encoder 55B. The Z-axis motor 51, the main shaft motor 52, the X-axis motor 53, the Y-axis motor 54, and the magazine motor 55 are all servo motors. The drive circuits 51A to 55A receive commands from the CPU 31 and output drive currents to the corresponding motors 51 to 55, respectively. The drive circuits 51A to 55A receive feedback signals from the encoders 51B to 55B and perform position and speed feedback control. The input / output unit 35 is connected to the input unit 16 and the display unit 17 of the operation panel 15, respectively.

  With reference to FIG. 3, the configuration of the drive circuit 53A of the X-axis motor 53 will be described. Since the configuration of the drive circuits 51A to 54A is the same, the description of the configuration of the drive circuits 51A, 52A, 54A is omitted. The encoder 53B of the X-axis motor 53 outputs the current position information of the X-axis motor 53 to the numerical controller 30 as a position feedback signal Sb. The numerical control device 30 generates a position command Sa based on the control command acquired from the NC program, and outputs it to the drive circuit 53A.

  The drive circuit 53A controls the drive current output to the X-axis motor 53 so that the X-axis motor 53 operates in accordance with the position command Sa. Specifically, the adder 62 of the drive circuit 53A calculates the position deviation Sa of the position feedback signal Sb that is the position command Sa and the actual position signal, and multiplies the position deviation Se by the position loop gain Kp. A speed command Sf is calculated.

  The adder 63 calculates a speed deviation Sh between the speed command Sf and the actual speed, that is, the speed Sg obtained by differentiating the position feedback signal Sb by the differentiation circuit 64. The adder 66 integrates the current command (proportional) Si obtained by multiplying the speed deviation Sh by the speed loop proportional gain Kvp and the speed deviation Sh by the integration circuit 65, and the speed loop integral gain Kvi is integrated into the integration result. The current command (integration) Sj obtained by multiplication is added to calculate the current command Sk. The current control unit 67 performs energization control of the X-axis motor 53 based on the calculated current command Sk. The current control unit 67 outputs current information of the X-axis motor 53, that is, torque information T (n) of the X-axis motor 53 to the numerical controller 30.

  Next, the gain related to the speed loop of the servo parameter will be described. As described above, the X-axis motor 53, the Y-axis motor 54, and the Z-axis motor 51, which are feed axes, are all servo motors. The servo motor control method is semi-closed loop control. Semi-closed loop control is a control method for monitoring the difference between an input pulse and a pulse fed back from an encoder. In order to perform the optimal semi-closed loop control according to the magnitude of the inertial load, the numerical controller 30 performs gain adjustment. Gain adjustment means adjusting the response in accordance with the magnitude of the load inertia moment.

  Servo motor control is determined by servo parameters. The servo parameter is a parameter that determines the control method of the servo motor connected to the numerical controller 30 and is set for each axis. Each parameter has a reference value and is changed according to the control conditions of each axis. Servo parameters include gain adjustment parameters. The gain adjustment parameter includes a gain related to the speed loop. The gain related to the speed loop is the speed loop proportional gain, the speed loop integral gain (speed loop integral time constant) described above, or the like. When the gain relating to the speed loop is changed, the response (frequency characteristic) of the servo motor changes.

  The velocity loop proportional gain changes the responsiveness across all frequency bands. When the speed loop proportional gain is increased, the servo rigidity is increased and the response is improved. The servo rigidity is a property that generates a holding torque when the servo motor is stopped and prevents movement due to an external force. When the speed loop proportional gain is reduced, the servo rigidity is lowered and the response is lowered. The velocity loop integral gain changes the response at low frequencies. As with the speed loop proportional gain, increasing the speed loop integral gain increases the servo stiffness and improves the responsiveness. When the speed loop integral gain is reduced, the servo rigidity is lowered and the response is lowered.

  The numerical control device 30 of the present embodiment sets a speed loop integral gain with high responsiveness for the X-axis motor 53, the Y-axis motor 54, and the Z-axis motor 51, which are feed axes, during normal cutting that requires contour accuracy. In heavy cutting such as roughing of hard materials such as iron, the speed loop integral gain for heavy cutting is set smaller than that in normal cutting. Processing that requires contour accuracy is, for example, a corner portion in a cutting path. In the following description, the speed loop integral gain is simply referred to as Kvi.

  With reference to FIG. 4, the vibration frequency characteristic at the time of processing the workpiece 3 of the machine tool 1 will be described. In this embodiment, a machining test of the work material 3 was performed in order to analyze vibration frequency characteristics during machining of the machine tool 1. The test conditions are as follows. As shown in FIG. 1, 100 kg of the work material 3 is fixed to the upper surface of the table 13. The tool 4 uses an end mill. In order to analyze the vibration frequency characteristics of the Y-axis table 12, an acceleration pickup (not shown) is attached to the side surface of the Y-axis table 12. The acceleration pickup is a sensor that measures acceleration and vibration of the Y-axis table 12. Since the Y-axis table 12 supports the heavy table 13 on the upper surface, a larger load than the table 13 is applied. Therefore, since the fluctuation of the vibration frequency of the Y-axis table 12 during machining is larger than that of the table 13, the vibration frequency characteristics of the machine tool 1 are confirmed by analyzing the vibration frequency of the Y-axis table 12 in this embodiment.

  Further, in the present embodiment, the Kvi of the X-axis motor 53, the Y-axis motor 54, and the Z-axis motor 51, which are feed axes, is used for normal cutting (hereinafter referred to as reference Kvi) and used for heavy cutting. (Hereinafter referred to as heavy cutting Kvi). An example of the reference Kvi is 200 Hz, and an example of the heavy cutting Kvi is 83 Hz. The heavy cutting Kvi is a gain smaller than the reference Kvi. In the machining test, the workpiece 3 was end milled by moving the table 13 in the Y-axis direction with respect to the tool 4. The end milling was performed twice when the reference Kvi was set and when the heavy cutting Kvi was set. And the vibration which arises in the Y-axis table 12 during each process was measured with the acceleration pick-up, and the measured vibration data were FFT-analyzed.

  The chart shown in FIG. 4 shows the vibration frequency characteristics of the Y-axis table 12, with the vertical axis representing the vibration magnitude [m / s] and the horizontal axis representing the vibration frequency [Hz]. (1) The line shows the vibration frequency characteristics when processed with the reference Kvi. (2) The line shows the vibration frequency characteristics when machining with heavy cutting Kvi. In any vibration frequency characteristic, a large vibration amplitude in the vicinity of 40 to 50 Hz was confirmed in the Y-axis direction. That is, the Y-axis table 12 vibrates greatly in the vicinity of 40 to 50 Hz. Furthermore, when the reference Kvi is set near 40 to 50 Hz and when the heavy cutting Kvi is set, the magnitude of the vibration amplitude is smaller when the heavy cutting Kvi is set. Note that the vibration amplitude generated in the vicinity of 60 Hz in the lines (1) and (2) is generated when the blade of the tool hits the work material 3.

  The vibration frequency characteristic unique to the machine tool 1 will be described with reference to FIG. In this embodiment, in order to confirm the vibration frequency characteristic specific to the machine tool 1, the setting is changed to the reference Kvi and the heavy cutting Kvi with the acceleration pickup (not shown) attached to the Y-axis table 12, respectively, and hammering is performed. A test (excitation test) was performed. In the hammering test, a hammer (not shown) strikes the target Y-axis table 12 in the Y-axis direction, and vibrations generated in the Y-axis table 12 are measured with an acceleration pickup. The vibration frequency characteristics of were analyzed.

  The chart shown in FIG. 5 shows the vibration frequency characteristics unique to the Y-axis table 12, with the vertical axis indicating the vibration magnitude [m / s / N] and the horizontal axis indicating the vibration frequency [Hz]. (3) A line indicates a vibration frequency characteristic unique to the Y-axis table 12 when the reference Kvi is set. (4) The line shows the vibration frequency characteristic unique to the Y-axis table 12 when the heavy cutting Kvi is set. In any vibration frequency characteristic, a large vibration amplitude in the vicinity of 40 to 50 Hz was confirmed in the Y-axis direction. A large vibration amplitude in the vicinity of 40 to 50 Hz is a vibration frequency specific to the Y-axis table 12 and a vibration frequency specific to the machine tool 1. Therefore, the machining test and the hammering test demonstrated that the vibration frequency characteristics when machining the workpiece 3 and the vibration frequency characteristics unique to the machine tool 1 coincide with each other.

  Since the processing load increases during heavy cutting compared to normal cutting, the spindle rotation speed fluctuates significantly. From the results of the machining test and the hammering test, in the intermittent cutting such as end milling, the component that fluctuates the spindle rotational speed is the vibration frequency component specific to the machine tool 1 in addition to the cutting frequency (integer multiple of the rotational frequency). It was found to contain. The vibration frequency component inherent to the machine tool 1 can be reduced by improving the rigidity of the machine tool 1, but this is not preferable because it may cause problems such as an increase in component costs and an increase in design man-hours.

  In the former machining test, it was confirmed that the magnitude of vibration amplitude in the vicinity of 40 to 50 generated during machining was changed by changing Kvi of the feed shaft. In the present embodiment, a Kvi control process (see FIG. 8) described later is executed, and is set to the reference Kvi during normal cutting, and when heavy cutting is detected, the setting is changed to heavy cutting Kvi, so that the frequency is 40 to 50 Hz. We tried to improve machining capacity as follows by reducing the large vibration amplitude in the vicinity.

  A main process executed by the CPU 31 will be described with reference to FIG. The operator uses the input unit 16 of the operation panel 15 to select one NC program from among a plurality of NC programs stored in the storage device 34, and instructs the machining start of the selected NC program. When receiving a machining start instruction from the input unit 16, the CPU 31 reads the main program stored in the ROM 32 and executes this processing. In the present embodiment, a case where the NC program P1 shown in FIG. 6 is executed will be described as an example.

  As shown in FIG. 6, the N01th line of the NC program P1 is a control command for rotating the spindle 9 at 1000 rpm. M3 is a spindle rotation command. S is a command for setting the spindle rotation speed (rpm). M141 on the N02 line is a control command that is set by switching from the normal mode to the heavy cutting mode. The normal mode is a control method in which the feed shaft Kvi is always set to the reference Kvi, and the heavy cutting mode is based on the fluctuation of the current main shaft rotation speed (hereinafter referred to as the main shaft actual rotation speed), and the feed shaft Kvi is set to the reference Kvi. It is a control system which changes from heavy cutting Kvi. The numerical control device 30 of the present embodiment displays the servo error on the display unit 17 and stops the spindle 9 when the actual spindle rotational speed is less than 50% of the spindle command rotational speed. Control. The CPU 31 stores the currently set mode information in the RAM 33. The mode information is information on the type of control method. The CPU 31 sets the normal mode by default.

  The N03th line is a control command for cutting and feeding the spindle 9 to the position of X = 100 at a feed speed of 500 mm / min by an absolute command. M142 on the N04th line is a control command for canceling the heavy cutting mode and returning to the normal mode. M30 on the N05th line is an end command to end the NC program. The operator can change the reference Kvi and the heavy cutting Kvi with the input unit 16 of the operation panel 15, respectively. In the present embodiment, the feed shaft reference Kvi and the heavy cutting Kvi are stored in the storage device 34 in advance, and the currently set Kvi is stored in the RAM 33. The reference Kvi is a reference value.

  As shown in FIG. 7, the CPU 31 reads the NC program P1 that has been selected by the input unit 16 (S1), and interprets the N01th line (S2). The CPU 31 determines whether there is M30 in the interpreted first line (S3). Since the N01th line is M3S1000 (S3: NO), the CPU 31 drives the spindle motor 52 and rotates the spindle 9 at 1000 rpm (S4). After executing the control command on the first line, the CPU 31 returns to S2 and interprets the N02 line. Since the N02 line is M141 (S3: NO), the CPU 31 switches from the normal mode to the heavy cutting mode and sets it (S4). The CPU 31 stores in the mode information stored in the RAM 33 that the heavy cutting mode is being set. When the heavy cutting mode is set, the CPU 31 changes the feed shaft Kvi from the reference Kvi to the heavy cutting Kvi in accordance with fluctuations in the actual spindle speed in a Kvi control process (see FIG. 8) described later. After executing the control command on the N02 line, the CPU 31 returns to S2 and interprets the N03 line.

  The N03 line is G90G01X100. Since it is F500 (S3: NO), the CPU 31 moves the spindle 9 to the position of X = 100 at a feed speed of 500 mm / min and performs end milling of the work material 3 (S4). After executing the control command on the N03th line, the CPU 31 returns to S2 and interprets the N04th line. Since the N04th line is M142 (S3: NO), the CPU 31 cancels the heavy cutting mode and returns to the normal mode (S4). The CPU 31 stores in the mode information stored in the RAM 33 that the normal mode is being set. After executing the control command on the N04th line, the CPU 31 returns to S2 and interprets the N05th line. Since the N05th line is M30 (S3: YES), the CPU 31 ends this process.

  The Kvi control process will be described with reference to FIG. When the CPU 31 executes the NC program P1 in the main process of FIG. 7, the CPU 31 reads the Kvi control program from the ROM 32 and executes this process in parallel with the main process.

  The CPU 31 refers to the mode information stored in the RAM 33 and determines whether or not the currently set control method is the heavy cutting mode (S11). When in the normal mode (S11: NO), the CPU 31 determines whether or not the currently set Kvi is the heavy cutting Kvi (S18). When the currently set Kvi is the reference Kvi (S18: NO), the CPU 31 determines whether or not the NC program P1 that is currently executed is finished (S20). When the NC program P1 is being executed (S20: NO), the CPU 31 returns to S11 and repeats the process.

When the currently set control method is the heavy cutting mode (S11: YES), the CPU 31 detects the actual spindle rotational speed based on the signal received from the encoder 52B (see FIG. 2) of the spindle motor 52 (S12). The CPU 31 determines whether or not the detected absolute value of the actual spindle rotational speed is equal to or lower than a predetermined rotational speed (S13). The predetermined rotation speed is calculated by the following formula.
Predetermined rotational speed = | Spindle command rotational speed | × Kvi switching ratio ÷ 100
The Kvi switching ratio is preferably set to a value higher than 50% at which a servo error occurs, for example, 60 to 70%. The Kvi switching ratio can be freely changed on the operation panel 15.

  In S1000 on the N01th line of the NC program P1, the spindle command rotational speed is set to 1000 rpm. Therefore, the predetermined rotation speed is 1000 × 60 ÷ 100 = 600 rpm. CPU31 judges whether it is 600 rpm or less. When the spindle actual rotation speed is higher than 600 rpm (S13: NO), the CPU 31 determines whether or not the currently set Kvi is heavy cutting Kvi (S16). When the currently set Kvi is the reference Kvi (S16: NO), the CPU 31 determines whether or not the NC program P1 is finished (S20). When the NC program P1 is being executed (S20: NO), the CPU 31 returns to S11 and repeats the process.

  When the main spindle actual rotation speed is 600 rpm or less (S13: YES), the machining load is large and the machine tool 1 is vibrated, which is heavy cutting. Therefore, the CPU 31 changes Kvi to heavy cutting Kvi (S14). Since the heavy cutting Kvi is a value smaller than the reference Kvi, the servo rigidity is lowered and the vibration generated in the machine tool 1 is reduced. The actual spindle speed gradually recovers and rises. Therefore, the numerical controller 30 can continue the machining without generating a servo error. Further, since the vibration is reduced, the machined surface of the work material 3 during heavy cutting can be improved.

  The CPU 31 determines whether to execute another spindle rotation command (S15). When another spindle rotation command is executed (S15: YES), the spindle command rotation speed may change, so the CPU 31 returns Kvi to the reference Kvi (S17). For example, when machining with a small cutting load is performed with another spindle rotation command, the servo rigidity is improved and the responsiveness is improved, so that the machining accuracy is improved. When another spindle rotation command is not executed (S15: NO), the CPU 31 determines whether or not the NC program P1 is finished (S20). When the NC program P1 is being executed (S20: NO), the CPU 31 returns to S11 and repeats the process.

  When the machining continues with the heavy cutting Kvi set in the heavy cutting mode (S11: YES), the CPU 31 redetects the actual spindle rotational speed (S12). When the detected actual spindle rotational speed exceeds the predetermined rotational speed (S13: NO), the cutting load is reduced, so the current cutting state is not heavy cutting. Therefore, when the currently set Kvi is the heavy cutting Kvi (S16: YES), the CPU 31 returns to the reference Kvi (S17). Since the servo rigidity is improved and the responsiveness is improved, the machining accuracy is improved. The CPU 31 determines whether or not the NC program P1 is finished (S20). When the NC program P1 is being executed (S20: NO), the CPU 31 returns to S11 and repeats the process.

  When the heavy cutting mode is canceled in the N04th line of the NC program P1 (S11: NO), the CPU 31 determines whether or not the currently set Kvi is heavy cutting Kvi (S18). Since the currently set Kvi is the heavy cutting Kvi (S18: YES), the CPU 31 returns to the reference Kvi (S19) and determines whether the NC program P1 is finished (S20). When the NC program P1 is finished (S20: YES), the CPU 31 finishes this process.

  With reference to FIG. 9, the maximum machining capability when the standard Kvi is set and the maximum machining capability when the heavy cutting Kvi is set will be described. FIG. 9 shows the vibration frequency [Hz] on the lower horizontal axis, the spindle rotational speed [rpm] on the upper horizontal axis, the magnitude of vibration [m / s / N] on the left vertical axis, The vertical axis indicates the maximum processing capacity [mm]. Lines (3) and (4) are the same as those shown in FIG. The line (5) indicates the maximum machining capacity when the reference Kvi is set, and the line (6) indicates the maximum machining capacity when the heavy cutting Kvi is set. The maximum machining capability was measured as the maximum cutting width (ae) at which no servo error occurred when the workpiece 3 was end milled. The vertical axis on the right side showing the maximum machining capacity in FIG. 9 indicates that the maximum cutting width increases from top to bottom.

  As shown in FIG. 9, it was proved that the maximum machining capability was larger when the heavy cutting Kvi was set than when the standard Kvi was set. Even in the vicinity of 40 to 50 Hz where the vibration amplitude is large, the maximum machining capability is larger when the heavy cutting Kvi is set, and therefore Kvi is changed from the reference Kvi to the heavy cutting Kvi during heavy cutting where the actual spindle rotational speed is greatly reduced. Thus, it was proved that the vibration generated in the machine tool 1 can be reduced and that a hard material or the like can be cut well.

  In the above description, the table device 10 corresponds to the moving mechanism of the present invention, the CPU 31 that executes the processing of S12 in FIG. 8 corresponds to the rotational speed detecting means of the present invention, and the CPU 31 that executes the processing of S14 is the present invention. Corresponds to the changing means. The step S12 executed by the CPU 31 corresponds to the rotational speed detecting step of the present invention, and the step S14 executed by the CPU 31 corresponds to the changing step of the present invention.

  As described above, the numerical control device 30 of the present embodiment controls the operation of the machine tool 1 that cuts the work material. The machine tool 1 includes a spindle 9, a table device 10, an X-axis motor 53, and a Y-axis motor 54. The spindle 9 is mounted with a tool 4 and rotates. The table device 10 includes an X-axis moving mechanism and a Y-axis moving mechanism, and moves the table 13 in the X-axis direction and the Y-axis direction relative to the main shaft 9. The X-axis motor 53 and the Y-axis motor 54 are servo motors that drive the X-axis movement mechanism and the Y-axis movement mechanism. The numerical control device 30 detects the actual rotation speed of the main shaft 9. When the detection result is equal to or lower than the predetermined rotation speed, Kvi of the X-axis motor 53 and the Y-axis motor 54 is changed to heavy cutting Kvi. The numerical controller 30 can change the vibration frequency characteristics of the table 13 by changing Kvi to heavy cutting Kvi. Since the numerical control device 30 can reduce the vibration generated during heavy cutting, the machining can be continued without generating a servo error. Therefore, since the numerical control apparatus 30 can improve a processing capability, it can cut more volume and can improve productivity.

  Needless to say, the present invention is not limited to the above-described embodiment, and various modifications are possible. In the above embodiment, when the speed loop integral gain (Kvi), which is one of the gains related to the speed loop, is provided with the reference Kvi and the heavy cutting Kvi smaller than the reference Kvi, respectively, and when heavy cutting is detected at the actual spindle rotational speed, The vibration generated in the machine tool 1 is reduced by changing the reference Kvi to the heavy cutting Kvi. In addition, for example, when heavy cutting is detected during machining, the speed loop proportional gain (Kvp) may be changed. As described above, when the speed loop proportional gain is increased, the servo rigidity is increased and the response is improved. When the speed loop proportional gain is reduced, the servo rigidity is lowered and the responsiveness is lowered. Therefore, when heavy cutting is detected during machining, the numerical control device 30 may change to a gain lower than the reference value when heavy cutting is detected, similarly to the speed loop integral gain. The numerical controller 30 may perform the same process as the Kvi control process shown in FIG. 8 for the speed loop proportional gain. Therefore, the numerical control device 30 can obtain the same effect as the above embodiment.

  The speed loop integral gain may be changed by changing the value of the speed loop integral time constant. In this case, the speed loop integration time constant is increased in order to reduce the speed loop integration gain.

  The heavy cutting Kvi and the Kvi switching ratio in the above embodiment may be set as parameters that can be freely selected by the operator. For example, the selection may be made on the operation panel 15.

  In the above embodiment, the heavy cutting mode is set and canceled using M141 and M142 in the NC program executed in the main process, but may be set by other methods. For example, the heavy cutting mode may be set and canceled by the input unit 16 of the operation panel 15.

  In the above embodiment, the actual rotational speed of the main shaft is detected and it is determined whether or not the current machining is heavy cutting. For example, the main shaft torque value, the feed shaft (X-axis motor 53, Y-axis motor 54, Z-axis motor 51). ) Rotation speed, feed shaft torque value, etc. may be detected to determine whether heavy cutting is to be performed.

  In the above embodiment, the acceleration pickup is attached to the side surface of the Y-axis table 12, and the dynamic characteristics of the machine tool 1 are confirmed by measuring the vibration of the Y-axis table 12, but the acceleration pickup is attached to the side surface of the table 13. The dynamic characteristics of the machine tool 1 can also be confirmed by measuring the vibration of the table 13.

  In the above embodiment, for example, when heavy cutting is detected during machining, the three axes Kvi of the X-axis motor 53, the Y-axis motor 54, and the Z-axis motor 51, which are feed axes, are changed to heavy cutting Kvi. What is necessary is just to change to heavy cutting Kvi about two or more feed axes.

  The machine tool 1 of the above embodiment is a machine tool in which the main shaft on which the tool 4 is mounted is movable in the Z-axis direction, and the table 13 is movable in two axes in the X-axis direction and the Y-axis direction. The mechanism of the moving mechanism of the tool 4 that moves relative to the table 13 in the X-axis, Y-axis, and Z-axis directions is not limited to the above embodiment. For example, a machine tool in which the main shaft is movable in three axes in the X-axis, Y-axis, and Z-axis directions and the work table is fixed may be used. The machine tool 1 of the above embodiment is a vertical machine tool, but may be a horizontal machine tool.

  Although the said embodiment demonstrated by the end mill process, it is applicable also to other processing methods, such as a milling process.

  Although the drive circuits 51 </ b> A to 55 </ b> A of the above embodiment are provided in the machine tool 1, the drive circuits 51 </ b> A to 55 </ b> A may be provided in the numerical controller 30.

DESCRIPTION OF SYMBOLS 1 Machine tool 4 Tool 9 Spindle 10 Table apparatus 13 Table 30 Numerical control apparatus 31 CPU
51 Z-axis motor 53 X-axis motor 54 Y-axis motor

Claims (5)

A spindle that mounts and rotates a tool; a table that fixes a work material; and a servomotor that drives a movement mechanism that relatively moves the spindle or the table, and the tool is rotated by the tool that rotates together with the spindle. In the numerical control device that controls the operation of the machine tool that cuts the work
A rotational speed detecting means for detecting the rotational speed of the spindle;
And changing means for changing a gain related to a speed loop of a servo parameter for determining a control method of the servo motor to be smaller than a reference value when a detection result of the rotation speed detecting means is equal to or lower than a predetermined rotation speed. A numerical control device. The gain for the speed loop is a speed loop integral gain,
The changing means, the numerical control device according to the speed loop integral gain in claim 1, characterized in that the smaller than the reference value The gain for the speed loop is a speed loop proportional gain,
The changing means, the numerical control device according to the speed loop proportional gain in claim 1, characterized in that the smaller than the reference value. After the changing means has changed less than the reference value a gain related to the velocity loop, a second determination unit that the rotational speed is determined whether it exceeds the predetermined rotational speed,
4. A return means for returning a gain related to the speed loop to the reference value when the second judging means judges that the rotational speed exceeds the predetermined rotational speed. The numerical control device according to any one of the above. A spindle that mounts and rotates a tool; a table that fixes a work material; and a servomotor that drives a movement mechanism that relatively moves the spindle or the table, and the tool is rotated by the tool that rotates together with the spindle. In the control method of the numerical control device for controlling the operation of the machine tool for cutting the cutting material,
A rotational speed detecting step for detecting the rotational speed of the spindle;
A change step of changing a gain related to a speed loop of a servo parameter for determining a control method of the servo motor to be smaller than a reference value when a detection result in the rotation speed detection step is equal to or lower than a predetermined rotation speed. Control method.